AJ65BT-D75P2-S3 Positioning Module User's Manual
SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. For the safety precautions of the programmable controller system, refer to the user's manual for the CPU module used. WARNING" and " CAUTION".
[Design Precautions] WARNING Failure to observe this could lead to accidents for incorrect outputs or malfunctioning. Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the programmable controller. Failure to do so may result in an accident due to an incorrect output or malfunction.
[Installation Precautions] CAUTION Use the programmable controller in an environment that meets the general specifications in this manual. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product. Securely fix the module using the DIN rail or mounting screws and fully tighten the mounting screws within the specified torque range. If the screws are loose, it may result in fallout, short circuits, or malfunctions.
[Startup and Maintenance Precautions] ! CAUTION Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction. Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires. Switch off all phases of the externally supplied power used in the system before cleaning or tightening the screws. Failure to turn all phases OFF could lead to electric shocks.
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.
REVISIONS * The manual number is given on the bottom left of the back cover. Print Date * Manual Number Revision Apr., 1998 Apr., 2003 Oct., 2003 Feb.,2004 IB (NA)-66824-A IB (NA)-66824-B IB (NA)-66824-C IB (NA)-66824-D Jun., 2005 IB (NA)-66824-E Jul., 2006 IB (NA)-66824-F Sep., 2007 IB(NA)-66824-G First printing Complete review Complete review Partial correction addition CONTENTS, Section 3.5, Section 5.6.2, Section 7.1.2, Section 8.2.5, Section 8.2.6, Section 10.1.2, Section 10.3.
MEMO A-7
INTRODUCTION Thank you for purchasing the Mitsubishi general-purpose programmable controller MELSEC-A Series. Always read through this manual, and fully comprehend the functions and performance of the A Series PLC before starting use to ensure correct usage of this product. When applying the program examples introduced in this manual to an actual system, ensure the applicability and confirm that it will not cause system control problems. CONTENTS SAFETY PRECAUTIONS ..........................................
3. SPECIFICATIONS AND FUNCTIONS 3- 1 to 3- 44 3.1 General specifications ............................................................................................................................ 3- 2 3.2 Performance specifications.................................................................................................................... 3- 4 3.3 List of functions .....................................................................................................................................
5. DATA USED FOR POSITIONING CONTROL (List of buffer memory addresses) 5- 1 to 5-112 5.1 Types of data.......................................................................................................................................... 5- 2 5.1.1 Parameters and data required for control....................................................................................... 5- 2 5.1.2 Setting items for positioning parameters ..............................................................................
7. MEMORY CONFIGURATION AND DATA PROCESS 7- 1 to 7- 16 7.1 Configuration and roles of D75P2 memory ........................................................................................... 77.1.1 Configuration and roles of D75P2 memory .................................................................................... 77.1.2 Buffer memory area configuration .................................................................................................. 77.2 Data transmission process .................
10. ADVANCED POSITIONING CONTROL 10- 1 to 10- 22 10.1 Outline of advanced positioning control ............................................................................................ 10- 2 10.1.1 Data required for advanced positioning control ......................................................................... 10- 3 10.1.2 "Start block data" and "condition data" configuration ................................................................. 10- 4 10.
12.3.3 Near pass mode function ............................................................................................................. 12- 18 12.4 Functions to limit the control ............................................................................................................... 12- 22 12.4.1 Speed limit function ...................................................................................................................... 12- 22 12.4.2 Torque limit function ..........................
Appendix 5 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Coporation ............................................................................Appendix- 16 Appendix 5.1 Connection example of D75P2 and MR-H A (Differential driver (Open collector)) ......................................................................Appendix- 16 Appendix 5.2 Connection example of D75P2 and MR-J2/J2S- A (Differential driver (Open collector)) ....................................................
ABOUT MANUALS The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below. Related Manuals Manual Number Manual Name (Model Code) AJ65BT-D75P2-S3 Positioning Module User's Manual (Hardware) This manual describes performance specifications, input/output interface, names of each part and startup procedures of the AJ65BT-D75P2-S3 positioning module.
COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES (1) Method of ensuring compliance To ensure that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated into other machinery or equipment, certain measures may be necessary. Please refer to one of the following manuals. User's manual for the CPU module or head module used Safety Guidelines (This manual is included with the CPU module, base unit, or head module.
USING THIS MANUAL (1) The symbols used in this manual are shown below. Unless otherwise specified, the "buffer memory" indicates the buffer memory of the D75P2. M Pr.* ....... Symbol indicating master module buffer memory address. ....... Symbol indicating positioning parameter and zero point return parameter item. Da.* ....... Symbol indicating positioning data, start block data and condition data item. Md.* ....... Symbol indicating monitor data item. Cd.* ....... Symbol indicating control data item.
USING THIS MANUAL (2) The methods for reading this manual are shown below. 1) 2) 3) 4) 5) Test operation 6) Actual operation Chapter 1 PRODUCT OUTLINE 1) Understand the product functions and specifications, and design the system.
USING THIS MANUAL (3) The contents of each chapter are shown below. SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING 1 PRODUCT OUTLINE The basic contents for understanding positioning control using D75P2 are described. 1 2 SYSTEM CONFIGURATION The devices required for positioning control using D75P2 are described. 2 3 SPECIFICATIONS AND FUNCTIONS The D75P2 functions and performance specifications, etc., are described.
GENERIC TERMS AND ABBREVIATIONS Unless specially noted, the following generic terms and abbreviations are used in this manual. Generic term/abbreviation Details of generic term/abbreviation D75P2 Generic term for positioning module AJ65BT-D75P2-S3 type. Peripheral device Generic term for DOS/V personal computer that can run the following "AD75 Software Package".
ENCLOSED PARTS The D75P2 product configuration is shown below.
MEMO A - 22
PRODUCT SPECIFICATIONS AND HANDLING SECTION 1 SECTION 1 SECTION 1 is configured for the following purposes (1) to (5).
MEMO
Chapter 1 1 2 3 4 PRODUCT OUTLINE 5 The purpose and outline of positioning control using D75P2 are explained in this chapter. By understanding "What can be done", and "Which procedures to use" beforehand, the positioning system can be structured smoothly. 6 7 1.1 Positioning control ........................................................................................................ 1- 2 1.1.1 Features of D75P2 .........................................................................................
1 PRODUCT OUTLINE MELSEC-A 1.1 Positioning control 1.1.1 Features of D75P2 The features of the D75P2 are shown below. (1) Compatibility with distributed system The D75P2 can be installed near distributed servo amplifiers and stepping motors. (2) Ease of compatibility with absolute position detection system (a) Connection of an absolute position-compatible servo system provides compatibility with an absolute position detection system.
1 PRODUCT OUTLINE MELSEC-A (d) The zero point return control has been strengthened. 1) The near-point dog method (one method), stopper stop method (three types), and count method (two types) zero point return methods have been prepared as the "machine zero point return" zero point return method. 2) To realize zero point return control to the machine zero point from a random position, the zero point return retry function has been prepared.
1 PRODUCT OUTLINE MELSEC-A 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.
1 PRODUCT OUTLINE MELSEC-A Lifter (Storage of Braun tubes onto aging rack) Unloader Loader/unloader B conveyor C conveyor A conveyor Counterweight storage onto the rack is carried out by positioning with the servo. The up/down positioning of the lifter is carried Aging rack Lifter During the aging process of braun tubes, Servo amplifier out with the 1-axis servo, and the horizontal position of the aging rack is positioned with the 2-axis servo.
1 PRODUCT OUTLINE MELSEC-A 1.1.3 Mechanism of positioning control Positioning control using the D75P2 is carried out with "pulse signals". (The D75P2 is a module that generates pulses). In the positioning system using the D75P2, various software and devices are used for the following roles. The D75P2 realizes complicated positioning control when it reads in various signals, parameters and data and is controlled with the PLC CPU. Stores the created program.
1 PRODUCT OUTLINE MELSEC-A The principle of "position control" and "speed control" operation is shown below. Position control The total No. of pulses required to move the designated distance is obtained in the following manner. Total No. of pulses required to move designated distance Designated distance No. of pulses required for motor to rotate once Movement amount of machine (load) side when motor rotates once * The No.
1 PRODUCT OUTLINE MELSEC-A 1.1.4 Outline design of positioning system The outline of the positioning system operation and design, using the D75P2, is shown below. PLC CPU Master module Positioning module D75P2 RX, RWr Program Buffer Write, memory RY, read, RWw etc. Drive unit Forward run pulse train Set data Reverse run Deviation counter D/A converter Speed command Servomotor Servo amplifier M pulse train Interface Feedback pulse PLG Write, read, etc.
1 PRODUCT OUTLINE MELSEC-A Servomotor speed Speed V Pulse droop Pulse amount distribution Acceleration Deceleration Time t Stop settling time Pulse train Rough Dense Rough Fig. 1.
1 PRODUCT OUTLINE MELSEC-A 1.1.5 Communicating signals between D75P2 and each module The outline of the signal communication between the D75P2 and PLC CPU, peripheral device and drive unit, etc., is shown below.
1 PRODUCT OUTLINE MELSEC-A D75P2 Peripheral device The D75P2 and peripheral device communicate the following data via the peripheral device connection connector.
1 PRODUCT OUTLINE MELSEC-A 1.2 Flow of system operation 1.2.1 Flow of all processes The positioning control processes, using the D75P2, are shown below. AD75 software package 1) Design D75P2 Servo, etc.
1 PRODUCT OUTLINE MELSEC-A The following work is carried out with the processes shown on the left page. Details Reference Understand the product functions and usage methods, the configuration devices 1) and specifications required for positioning control, and design the system. Install the D75P2 onto the DIN rail or enclosure surface, wire the D75P2 and 2) external connection devices (drive unit, etc.), and connect the D75P2 and peripheral devices. Check that the D75P2 operates correctly.
1 PRODUCT OUTLINE MELSEC-A 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. Flow of starting Installation and connection of master module and D75P2 Preparation Setting of master module and D75P2 (transmission speed, station number, etc.
1 PRODUCT OUTLINE MELSEC-A Setting method : Indicates the sequence program that must be created. Write Set with AD75 software package D75P2 * Set the parameter and data for executing this function, and the auxiliary functions that need to be set beforehand. Create sequence program for executing main function * Create sequence program for outputting control signals, such as start signal, to D75P2.
1 PRODUCT OUTLINE MELSEC-A 1.2.3 Outline of stopping Each control is stopped in the following cases. (1) (2) (3) (4) When each control is completed normally. When the drive unit READY signal is turned OFF. When the data link of CC-Link stops. When Initial data setting request (RY(n+7)9) turns ON and Remote station READY (RX(n+7)B) turns OFF. (5) When an error occurs in the D75P2. (6) When control is intentionally stopped (Stop signal from master module turned ON, stop from peripheral device, etc.
1 PRODUCT OUTLINE MELSEC-A 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 restart command [RY(n+2)5, RY(n+4)5].
1 PRODUCT OUTLINE MELSEC-A 1.3 Outline of communication For communication between the D75P2 and master module, the two different transmission formats, cyclic transmission and transient transmission, are used. When AJ61BT11 or A1SJ61BT11 is used PLC CPU Read/write with FROM/TO command Automatic refresh with dedicated command D75P2 Master module Cyclic transmission Remote input/output Remote registers Transient transmission Buffer memory Fig. 1.
1 PRODUCT OUTLINE MELSEC-A 1.3.1 Cyclic transmission This section explains cyclic transmission between the D75P2 and master module. PLC CPU D75P2 Master module Buffer memory 2) Remote input (RX) 3) Remote output 1) Link scan 4) (RY) Remote input (RX) Remote output (RY) Link scan 5) Remote register (RWw) 8) Remote register (RWr) 6) Link scan 7) Link scan Remote register (RWw) Remote register (RWr) Fig. 1.
1 PRODUCT OUTLINE MELSEC-A 1.3.2 Transient transmission This section explains transient transmission between the D75P2 and master module. When FROM/TO commands are used PLC CPU Master module D75P2 (Station No. 1) Buffer memory (Transmission/reception area) 1) 4) Transmission area Reception area 2) 3) Buffer memory Transmission/ reception area for station No. 2 : Transmission/reception area of station No. 1 Fig. 1.
1 Chapter 2 2 3 4 SYSTEM CONFIGURATION 5 In this chapter, the general image of the system configuration of the positioning control using D75P2, the configuration devices, applicable CPU module and the precautions of configuring the system are explained. Prepare the required configuration devices to match the positioning control system. 6 7 2.1 2.2 2.3 2.4 General image of system .............................................................................................
2 SYSTEM CONFIGURATION MELSEC-A 2.1 General image of system The general image of the system, including the D75P2, PLC CPU and peripheral devices is shown below. (The Nos. in the illustration refer to the "No." in section "2.2 List of configuration devices". Extension cable Main base unit CC-Link master/local module *1 CPU module I/O module CC-Link dedicated cable 1 Extension system 5 D75P2 Conversion cable 6 RS-422 cable 6 RS-232 cable Converter *2 REMARK *1 Refer to section "2.
2 SYSTEM CONFIGURATION MELSEC-A 7 Drive unit Motor Manual pulse generator 8 Cable 9 Machine system input (switch) 10 · Near-point dog · Limit switch · External start signal · Speed/position changeover signal · Stop signal AD75TU 4 Peripheral device 2 SW1IVD -AD75P-E 3 Personal computer Either of 2 and AD75 software package SW0D5C -AD75P-E 4 (Refer to the AD75 Software Package Operating Manual for details.) is required to use the D75P2.
2 SYSTEM CONFIGURATION MELSEC-A 2.2 List of configuration devices The positioning system using the D75P2 is configured of the following devices. No. Part name Type Remarks AJ65BT-D75P2S3 – 1 Positioning module 2 AD75 software package 3 Personal computer DOS/V personal (Prepared by user) computer Refer to the AD75 Software Package Operating Manual for details. 4 Teaching unit AD75TU Ver.
2 SYSTEM CONFIGURATION MELSEC-A Specifications list of recommended manual pulse generator Item Specifications Model name MR-HDP01 Pulse resolution 25pulse/rev (100 pulse/rev after magnification by 4) Output method Voltage-output (power supply voltage -1V or more), Output current = Max. 20mA Power supply voltage 4.5 to 13.2VDC Current consumption 60mA Life time 100 revolutions (at 200r/min) Radial load : Max. 19.6N Permitted axial loads Thrust load : Max. 9.
2 SYSTEM CONFIGURATION MELSEC-A 2.3 Applicable system This section explains the CC-Link system master modules that can use the D75P2 and the PLC CPUs that can use the CC-Link dedicated commands. About the master modules that can use the D75P2 (1) When AJ61BT11, A1SJ61BT11, AJ61QBT11 or A1SJ61QBT11 is used Use the master module whose rating plate has the following designation (9707B or later) in the DATE field.
2 SYSTEM CONFIGURATION MELSEC-A PLC CPUs that can use the CC-Link dedicated commands The PLC CPUs that can use the CC-Link dedicated commands are the following models.
2 SYSTEM CONFIGURATION MELSEC-A 2.4 Precautions for use Precautions for use of D75P2 (1) Necessity of AD75 Software Package When using the D75P2, preset the positioning data to the D75P2 using the AD75 Software Package. (2) About D75P2 functions The D75P2 has the basic functions (functions indicated in (a)) that can be achieved by use of cyclic transmission and the functions (functions indicated in (b)) that can be achieved by use of transient transmission.
2 SYSTEM CONFIGURATION MELSEC-A *1 Limited to the case where " Cd. 21 Speed/position changeover control movement amount change register" and " Cd. 36 Speed/position changeover control (ABS mode) function valid flag" is not set. 2 * Limited to the case where " Cd. 31 Positioning starting point number" is used as "0 (default value)". *3 Limited to the case where " Cd. 23 Manual pulse generator 1 pulse input magnification" is used as "1 time (default value)".
2 SYSTEM CONFIGURATION MELSEC-A Function Data for use of transient transmission Reference When the following values are set Cd. 21 Speed/position changeover control movement amount change register Main positioning control Main functions Speed/position changeover Cd. 36 Speed/position changeover control control (ABS mode) function valid flag (When the above values are not set, the function can be used by cyclic transmission only.) Block start Condition start When " Cd.
2 SYSTEM CONFIGURATION MELSEC-A Precautions for using stepping motor When configuring the positioning system using a stepping motor, the following points must be observed. Refer to section "12.7.6 Stepping motor mode functions" for details. (1) Setting the stepping motor mode (a) When using a stepping motor with the D75P2, the stepping motor mode must be set. If the stepping motor mode is not set, the stepping motor cannot be controlled correctly.
2 SYSTEM CONFIGURATION MELSEC-A MEMO 2 - 12
Chapter 3 1 2 3 4 SPECIFICATIONS AND FUNCTIONS 5 The various specifications of the D75P2 are explained in this chapter. The "General specifications", "Performance specifications", "List of functions", "Specifications of input/output signals with master module", and the "Specifications of input/output interfaces with external devices", etc., are described as information required when designing the positioning system. Confirm each specification before designing the positioning system. 3.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.1 General specifications The general specifications of the D75P2 are given below. Item Specifications Operating ambient temperature 0 to 55°C*6 -20 to 75°C*6 Storage ambient temperature Operating ambient humidity 10 to 90% RH, non-condensing (The waterproof type remote I/O module is compliant with IP67.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Item Specifications Operating ambient temperature Storage ambient temperature 0 to 45C Not wired (individual product) -20 to 65C Wired (after cable installation) -10 to 55C REMARK To ensure that the product maintains EMC and Low Voltage Directives, certain measures may be necessary. Please refer to the user’s manual for the CPU module used.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.2 Performance specifications Item No. of control axes Interpolation function Control method Control unit Positioning data Backup Positioning method Specifications 2 axes 2-axis linear interpolation 2-axis circular interpolation *1 PTP (Point To Point) control, path control (both linear and arc can be set), speed control, speed/position changeover control mm, inch, degree, pulse 600 data (positioning data No.
3 SPECIFICATIONS AND FUNCTIONS Item CC-Link station type Number of occupied stations External power supply (V) Applicable conductor size (mm2) Module mounting screw (mm) Applicable DIN rail Applicable crimping terminal Internal current consumption (24VDC) (A) Flash ROM write count Noise immunity Dielectric withstand voltage MELSEC-A Intelligent device station 4 stations (RX/RY 128 points each, RWr/RWw 16 points each) 24VDC (20.4 to 26.4VDC) 0.75 to 2.00mm2 M4 0.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.3 List of functions 3.3.1 D75P2 control functions The D75P2 has several functions. In this manual, the D75P2 functions are categorized and explained as follows. Main functions (1) Zero point return control "Zero point return control" is a function that established the start point for carrying out positioning control, and carries out positioning toward that start point.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Main functions Zero point return control Auxiliary functions Control registered in D75P2 (Functions characteristic to machine zero point return) [Positioning start No.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.3.2 D75P2 main functions Zero point return control The outline of the main functions for positioning control with the D75P2 are described below. (Refer to "SECTION 2" for details on each function.) Main functions Details Reference section Machine zero point return control Mechanically establishes the positioning start point with a nearpoint dog or stopper. (Positioning start No. 9001) 8.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 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 "start block data". When the condition is established, the "start block data" is executed.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.3.3 D75P2 auxiliary functions and common functions Auxiliary functions The functions that assist positioning control using the D75P2 are described below. (Refer to "SECTION 2" for details on each function. Auxiliary function Functions characteristic to machine zero point return Details Zero point return retry function This function retries the machine zero point return with the upper/lower limit switches during machine zero point return.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Details Reference section 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". 12.7.1 Skip function This function stops (decelerates to a stop) the positioning being executed when the skip signal is input, and carries out the next positioning. 12.7.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.3.4 Combination of D75P2 main functions and auxiliary functions With positioning control using the D75P2, the main functions and auxiliary functions can be combined and used as necessary. A list of the main function and auxiliary function combinations is given below.
3 SPECIFICATIONS AND FUNCTIONS Functions that change control details Torque limit function Software stroke limit function Speed change function Override function Acceleration/ deceleration time change function Torque change function Step function Skip function M code output function Teaching function Command in-position function Stepping motor mode function Acceleration/deceleration process function – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – – –
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.4 Specifications of input/output signals for master module 3.4.1 List of input/output signals The D75P2 uses 128 input points and 128 output points for exchanging data with the master module. The input/output signal assignment and signal names are shown below. Device RX refers to the signals input from the D75P2 to the master module, and device RY refers to the signals output from the master module to the D75P2. Signal direction: D75P2 master module Device No.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Signal direction: D75P2 master module Signal direction: Master module D75P2 Device No. Signal name Device No.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Signal direction: D75P2 master module Device No. Signal name RX(n+6)0 to Use prohibited RX(n+7)7 RX(n+7)8 Initial data processing request RX(n+7)9 Initial data setting complete RX(n+7)A Use prohibited RX(n+7)B Remote station READY RX(n+7)C Use prohibited RX(n+7)D Intelligent device station access RX(n+7)E complete RX(n+7)F Use prohibited Signal direction: Master module D75P2 Device No.
3 SPECIFICATIONS AND FUNCTIONS 3.4.2 Details of input signals (D75P2 MELSEC-A Master module) The ON/OFF timing and conditions, etc., of the input signals are shown below. Device No. RXn0 D75P2 READY RXn1 RXn2 Axis 1 Start Axis 2 complete Signal name Details OFF : READY complete ON : Not ready/WDT error When the remote station READY (RX(n+7)B) turns from OFF to ON, the parameter setting range is checked, and if there is no error, D75P2 READY complete turns OFF.
3 SPECIFICATIONS AND FUNCTIONS Device Signal name No.
3 SPECIFICATIONS AND FUNCTIONS Device Signal name No.
3 SPECIFICATIONS AND FUNCTIONS Device Signal name No. RX(n+7)9 Initial data setting OFF: Initial data setting incomplete complete ON: Initial data setting complete RX(n+7)B Remote station OFF: Positioning operation disable READY ON: Positioning operation enable MELSEC-A Details This signal turns ON at completion of initial data setting after Initial data setting request (RY(n+7)9) has turned ON.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.4.3 Details of output signals (Master module D75P2) The ON/OFF timing and conditions, etc., of the output signals are shown below. Device Signal name No.
3 SPECIFICATIONS AND FUNCTIONS Device Signal name No.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.5 Remote registers The D75P2 has remote registers for transfer of data to/from the the master module. This section explains the assignment and data structure of the remote registers. (1) Remote register assignment The following table indicates the remote register assignment.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A (2) Remote register details Setting item Setting details Positioning start No. • Set the start No. for positioning. Positioning operation speed override Set the "override" value when overriding the speed during positioning operation. *For details of "override", refer to section "12.5.2 Override function". • Set a new current feed value when changing the current feed value using the start No. "9003". • The setting value should be within the following range.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Setting value Default value Addresses Axis 1 Axis 2 0 RWwm RWwm+8 100 RWwm+1 RWwm+9 Set with a decimal. Setting value K Positioning data No. : Positioning data No.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Setting item Setting details • Set the JOG speed for JOG operation. • The setting value should be within the following range. Pr.1 JOG speed Pr.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Setting value Default value Addresses Axis 1 Axis 2 Set with a decimal. Actual value JOG speed Conversion into integer 10 Setting value (Decimal) n R Unit conversion table (JOG speed) n Unit 2 mm/min 3 inch/min 3 degree/min 0 pulse/s Example) When setting "20000.00 mm/min" to JOG speed, set "2000000" to the remote register.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Storage item Current feed value Feedrate Storage details The currently commanded address is stored. (Differs from the actual motor position during operation.) The address of the current position is stored. • Update timing : 56.8ms • At completion of a machine zero point return, the zero point address is stored. • When the current value is changed by the current value change function, a new value is stored.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Factory setting Monitor value definition Addresses Axis 1 Axis 2 0000H RWrn RWrn+1 RWrn+8 RWrn+9 0000H RWrn+2 RWrn+3 RWrn+10 RWrn+11 0 RWrn+4 RWrn+12 0 RWrn+5 RWrn+13 Monitor with a hexadecimal display.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Storage item Storage details Axis warning No. At axis warning detection, the warning code corresponding to the warning definition is stored. • The latest warning code is always stored. (When a new axis warning occurs, the warning code is overwritten.) • When warning reset [RY(n+2)4, RY(n+4)4] is turned ON, the axis warning No. is cleared (set to 0). Axis operation status The operation status of the axis is stored.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Monitor value definition Addresses Factory setting Axis 1 Axis 2 0 RWrn+6 RWrn+14 0 RWrn+7 RWrn+15 Set with a decimal. Monitor value Warning No. For details of the warning No. (warning code), refer to section "14.4 List of warnings" in this manual. Set with a decimal.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.6 Transmission delay time This section indicates the transmission delay time (time required until data is transmitted). Cyclic transmission (Common to AJ61BT11, A1SJ61BT11, AJ61QBT11, A1SJ61QBT11 and QJ61BT11N) (1) Calculation expression Details Calculation expression (Unit: ms) Master module (RY/RWw) (RY/RWw) Master module (RX/RWr) (RX/RWr) D75P2 D75P2 SM + LS 3 + 1.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Transient transmission (1) When master module is AJ61BT11, A1SJ61BT11, AJ61QBT11 or A1SJ61QBT11 (a) Calculation expression Details Master module (write) Master module (read) Calculation expression (Unit: ms) D75P2 {SM 2 + LS bps constant} D75P2 {SM 2 + LS bps constant} 6 (number of write points*1 + 16)/72*2 LS + N 5 (number of read points*1 + 16)/16*2 LS + N *1: Set in word unit *2: Rounded up to the one place SM : Scan time of master module sequence program L
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A (2) When master module is QJ61BT11N (a) Calculation expression Details Calculation expression (Unit: ms) Master module D75P2 OT + LS {BC + (number of write points*1 + 16)/72*2 1.13} (write (RIWT command)) Master module D75P2 OT + LS {BC + (number of read points*1 + 16)/16*2 1.067} (read (RIRD command)) *1: Set in word unit *2: Rounded up to the one place OT : QCPU dedicated command processing time QnCPU : 1[ms] QnHCPU : 0.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.7 Specifications of input/output interfaces with external devices 3.7.1 Electrical specifications of input/output signals Input specifications Signal name Drive unit READY (READY) In-position signal Rated input Working voltage/current voltage range ON voltage/current OFF voltage/current Input resistance Response time 24VDC/5mA 19.2 to 26.4VDC 5VDC/5mA 4.5 to 6.1VDC 2.5VDC or more/ 0.5VDC or less/ Approx. 0.5k 0.8ms or less 2mA or more 0.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A Output specifications Leakage current at OFF Rated load voltage Operating load voltage range Max. load current/inrush current Deviation counter clear (CLEAR) 5 to 24VDC 4.75 to 30VDC 0.1A/1 point/0.4A 10ms or less 1VDC (TYP) 0.1mA or less 2.5VDC (MAX) 2ms or less (resistance load) Servo ON Proportional control (ABS data transfer mode) Torque limit (ABS data request) 5 to 24VDC 4.75 to 30VDC 0.1A/1 point/0.4A 10ms or less 1VDC (TYP) 0.1mA or less 2.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A POINT Set the parameters, " Pr.5 Pulse output mode" and " Pr.24 Logic selection for pulse output to the drive unit", in accordance with the specifications of a connected servo amplifier. If not, the motor may rotate in the opposite direction or may not rotate at all. Connection examples with a MELSERVO-J2 series servo amplifier are shown below. Open collector connection Pr.5 Pulse output mode CW/CCW PULSE/SIGN A phase/ B phase AJ65BT-D75P2-S3 ( Pr.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.7.2 Signal layout for external device connection connector The specifications of the connector section, which is the input/output interface for the D75P2 and external device, are shown below. The signal layout for the D75P2 external device connection connector (for one axis) is shown. (The signal layout for the external device connection connector is the same for axis 1 to axis 2.) Pin layout Pin No.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.7.3 List of input/output signal details The details of each D75P2 external device connection connector (for 1 axis) signal are shown below. Signal name Common Pin No. 36 35 Signal details Signal that indicates that transmission data is ready in the ABS transfer mode.
3 SPECIFICATIONS AND FUNCTIONS Signal name Pulse sign common Pulse output common (Open collector) Pulse sign Pulse output (Open collector) ABS data bit 1 ABS data bit 0 MELSEC-A Pin No. 20 19 2 1 18 17 Signal details Output the positioning pulses and pulse sign for the open collector compatible drive unit. ABS data to be transferred from the servo to the D75P2 during the ABS operation mode. bit 0 indicates the lower-order bit, and bit 1 the highorder bit.
3 SPECIFICATIONS AND FUNCTIONS Signal name MELSEC-A Pin No. Signal details Output during machine zero point return. (Note that this signal is not output during the count method 2).) (Example) When carry out machine zero point return with stopper stop metohd 2) Speed Pr.48 Zero point return speed Stopper Pr.49 Creep speed Time Near-point dog Deviation counter clear 5 Zero point signal OFF ON 10ms OFF CLEAR After feed pulse output stop ON The deviation counter clear is output for approx.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A 3.7.4 Input/output interface internal circuit The outline diagram of the internal circuit for the D75P2 external device connection interface is shown below. : Wiring is necessary in positioning. Input/out -put class External wiring Pin No. Internal circuit Signal name 11 Near-point dog signal : Perform wiring when necessary.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A : Wiring is necessary in positioning. Input/out -put class External wiring Pin No. Internal circuit Signal name 5 Deviation counter clear 23 Common CW A phase PULSE 1 19 Open collector 2 Output CCW B phase SIGN 20 3 (+) 21 (–) Differential driver 4 (+) 22 (–) : Perform wiring when necessary. Details CLEAR Need for wiring • Signal that resets the droop pulses of the deviation counter on the drive unit side.
3 SPECIFICATIONS AND FUNCTIONS MELSEC-A MEMO 3 - 44
Chapter 4 1 2 3 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT 4 5 The installation, wiring and maintenance of the D75P2 are explained in this chapter. Important information such as precautions to prevent malfunctioning of the D75P2, accidents and injuries as well as the proper work methods are described. Read this chapter thoroughly before starting installation, wiring or maintenance, and always following the precautions. 6 7 4.1 Outline of installation, wiring and maintenance ..................
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.1 Outline of installation, wiring and maintenance 4.1.1 Installation, wiring and maintenance procedures The outline and procedures for D75P2 installation, wiring and maintenance are shown below. STEP 1 Preparation Refer to section 4.1 Installing the module Refer to section 4.2 STEP 2 STEP 3 Connection and setting as CC-Link Refer to section 4.3 STEP 4 Refer to section 4.4 STEP 5 Refer to section 4.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.1.2 Names of each part The names of each D75P2 part are shown below. *1: Since a hardware version L or later, or serial number (first five digits) of "16041" or later, the indicator components have been changed to LED modules. (No change is made to the information to be indicated.) For details, refer to "13.4 LED display function".
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT 7) 8) 9) 10) 11) MELSEC-A External device connection connectors (AX1, AX2) Connectors for connection of the drive unit, mechanical system input and manual pulse generator. 17-segment LED Display the message that indicates the operation status according to the mode. Peripheral device connection connector Connector for connection with the peripheral device. Terminal block Terminals for connection with the master module.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.1.3 Handling precautions Handle the D75P2 and cable while observing the following precautions. (1) Handling precautions ! WARNING Use the PLC within the general specifications environment given in this manual. Using the PLC outside the general specification range environment could lead to electric shocks, fires, malfunctioning, product damage or deterioration.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (2) Other precautions (a) Main body The main body case is made of plastic. Take care not to drop or apply strong impacts onto the case. (b) Installation environment Do not install the module in the following type of environment. Where the ambient temperature exceeds the 0 to 55°C range. Where the ambient humidity exceeds the 10 to 90%RH range. Where there is sudden temperature changes, or where dew condenses.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.2 Installation 4.2.1 Precautions for installation This section explains the installation of the D75P2. The D75P2 is installed in either of the following two methods. • Installed on DIN rail • Installed on control box Refer to this section as well as section "4.1.3 Handling precautions" when carrying out the work. (1) Precautions for installation ! CAUTION Use the PLC within the general specifications environment given in this manual.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (2) Precautions for installation into control box • Control box hole The diameter of a control box hole should be 10cm or less. If the hole is more than 10cm, radio waves may leak. Also, eliminate gaps between the control box door and module as far as possible since radio waves will leak through them. Radio wave leakage can be suppressed by applying the following EMI gasket directly to the painted surface to stop up gaps.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.2.2 Installation/removal of module This section explains the procedures for installing and removing the D75P2. [1] Installation (removal) to (from) DIN rail Installation procedure (1) Confirm if all phases of the externally supplied power for the system are switched off or not. *If not, switch off all phases. (2) Match the DIN rail groove in the module bottom with the top of the DIN rail.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A Removal procedure (1) Confirm if all phases of the externally supplied power for the system are switched off or not. *If not, switch off all phases. (2) Insert a flat-blade screwdriver into portion A, and while simultaneously pulling it slightly outward (1)), remove the module (2)).
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A [2] Installation (removal) to (from) enclosure surface Installation procedure (1) Confirm if all phases of the externally supplied power for the system are switched off or not. *If not, switch off all phases. (2) Fix the module to the enclosure surface with screws. *Tighten the module mounting screws within the range 78 to 118N•cm. [After-work checks] After installing the module, check the work as in the following list.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.3 Connection of CC-Link dedicated cable Connect the D75P2 with the master module by the "CC-Link dedicated cable". Make connection in the following procedure. [1] Connection procedure (1) Confirm if all phases of the externally supplied power for the system (the master modules, peripheral devices, etc.) are switched off or not. *If not, switch off all phases.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A [2] Advice The terminal block can be removed from the module. When removal of the terminal block makes connection easier, loosen the screw in the following figure, remove the terminal block, and connect the cable. [Work checks] After cable connection, check the work as in the following list. Check the cable for looseness (portion likely to come off). Check for wrong terminal layout and connection.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.4 Module setting This section explains the setting of the D75P2. 4.4.1 Station number setting of module Set the station number of the D75P2. *The default value (factory setting) is station No. "01". [1] Setting bases 1) 2) The setting number should be within the range "01" to "61". (The D75P2 occupies four stations, starting with the setting number.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.4.2 Transmission speed setting of module Set the transmission speed of the D75P2. *The default value (factory setting) is "0". [1] Setting bases 1) 2) The number that can be set is within the range "0" to "4". The number is as indicated in the following table. Communication speed to be set Setting number 156[kbps] 0 625[kbps] 1 2.5[Mbps] 2 5[Mbps] 3 10[Mbps] 4 * Setting numbers "5" to "9" cannot be used.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.5 Wiring/connection This section explains the wiring and connection of the D75P2. "External wiring insusceptible to noise" and "correct connection" are among the conditions to fully exhibit the D75P2 functions and ensure high reliability for the system. To avoid malfunctions due to noise and faults, accidents, etc.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (10) Do not pull the cable when removing the cable from the D75P2 or drive unit. Hold and pull the connector connected to the D75P2 or drive unit. If the cable connected to the D75P2 or drive unit is pulled, a malfunction may be caused. As well, the D75P2, drive unit or cable may be broken. (11) Disconnect the external device connection connector when the system is stopped.
INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A (14) Route the cables connected to the D75P2, in a duct, or fix them. If cables are not routed in the duct or no fixing measures are taken to them, drifting or moving cables, breakage of the D75P2, drive unit or cable due to a carelessly pulled cable, or malfunction caused by a poorly connected cable may be caused.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT c) MELSEC-A Cable clamp fitting position and shielded cable grounding method Inside control box D75P2 20 to 30cm AD75CK For details, refer to the AD75CK Cable Clamp Instruction Manual .
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.5.2 Wiring the external device connection connector pins The pins for the external device connection connector are wired in the following manner. ..... Disassemble the connector section, and remove the connector. (1) Disassembling the connector section (2) Connecting the connector and wire ..... Solder the wire onto the connector pin. (3) Assembling the connector section ..... Assemble the connector section.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT (2) MELSEC-A Connecting the connector and wire * Refer to section "3.7 Specifications of input/output interfaces with external devices" when connecting. (a) Loosen the cable fixture screw B, pass the cable through, and then tighten screw B. (Screw B may be removed once, and then tightened after sandwiching the cable.) (Take care not to lose the screw and nut.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT (c) MELSEC-A After connection, the state will be as shown below.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT (3) MELSEC-A Assembling the connector section (a) Fit the soldered connector and cable fixture into the connector cover. * The cable fixture acts as a stopper to protect the signal wire connection section when the cable is pulled on. If the cable is not sufficiently tightened with the cable fixture, wind insulation tape around the cable so that it can be sufficiently tightened and pressed down.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.5.3 Connecting the connector The D75P2 is connected to the drive unit or peripheral device with the connector. Use the following procedure to connect. (1) Connecting (a) Confirm if all phases of the externally supplied power for the system are switched off or not. * If not, switch off all phases. (b) Confirm the module connector connection state and connector shape, and match the engagement orientation.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.6 Confirming the installation and wiring 4.6.1 Items to confirm when installation and wiring are completed Check the (1) and (2) points when completed with the D75P2 installation and wiring. (1) Does the D75P2 operate correctly? ... "Single module test" With the "single module test", correct operation of the D75P2 is confirmed by the LED displays on the D75P2. (Change the mode switch following the procedures given in section "4.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.7 Single module test Whether the D75P2 is operating correctly is confirmed with the LED displays on the D75P2 main body. The "single module test" methods are described below. The "single module test" can be carried out when there is no sequence program stored in the PLC CPU, when there is no data stored in the D75P2, and when the D75P2 is running. Carry this test out after connecting the D75P2, drive unit, motor and external devices.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT (Step 3) MELSEC-A Operation monitor 2 1) The axis display LED for each axis will turn ON sequentially at an approx. 0.5 second interval. One of the following states will appear on the 17-segment LED to indicate the state of the axis for which the axis display LED is ON. Confirm that the display matches each axis state.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT (Step 5) MELSEC-A Internal information 2 monitor 1) The D75P2 OS version will appear on the 17-segment LED for reference. [V000] Version 2) The axis display LED for each axis will turn OFF. 3) When the mode switch is pressed, the state will shift to the input/output information n monitor state described in (Step 6).
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A POINT (1) The operation monitor described in this section is a function that allows the D75P2 state, control state of each axis and state of the input/output signals to be confirmed. This monitor can be operated at any time. (2) If the D75P2 is not operating correctly, use the operation monitors as necessary. (3) As another display on the above 17-segment LED, if a watch dog timer error occurs in the D75P2, "FALT" will appear.
4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-A 4.8 Maintenance 4.8.1 Precautions for maintenance The precautions for servicing the D75P2 are given below. Refer to this section as well as section "4.1.3 Handling precautions" when carrying out the work. WARNING Switch off all phases of the externally supplied power used in the system before cleaning or tightening the screws. Failure to turn all phases OFF could lead to electric shocks. ! CAUTION Never disassemble or modify the module.
Chapter 5 1 2 3 DATA USED FOR POSITIONING CONTROL The parameters and data used to carry out positioning control with the D75P2 are explained in this chapter. With the positioning system using the D75P2, the various parameters and data explained in this chapter are used for control. The parameters and data include parameters set according to the device configuration, such as the system configuration, and parameters and data set according to each control.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 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 D75P2 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.) Positioning parameters Parameters ( Pr.1 to Pr.58 ) Basic parameters 1 ( Pr.1 to Pr.
5 DATA USED FOR POSITIONING CONTROL ◊ MELSEC-A Even when the remote station READY signal [RX(n+7)B] is ON, the values or contents of the following can be changed: basic parameters 2*1, detailed parameters 2*2, positioning data and positioning start information. The changed values are reflected at the time of positioning start or JOG operation start. To make sure that the changes are reflected, change the set values before positioning start or JOG operation start.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.2 Setting items for positioning parameters The setting items for the "positioning parameters" are shown below. The "positioning parameters" are commonly set for each axis for all control using the D75P2. Refer to "SECTION 2" for details on each control, and section "5.2 List of parameters" for details on each setting item. Basic parameters 1 Pr.1 Pr.2 Pr.3 Pr.4 Pr.5 Basic parameters 2 Pr.6 Pr.7 Pr.8 Pr.9 Pr.10 Pr.11 Pr.12 Pr.13 Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.27 Pr.28 Pr.29 Pr.30 Pr.31 Pr.32 Detailed parameters 2 Pr.33 Pr.34 Pr.35 Pr.36 Pr.37 Pr.38 Pr39 Pr.40 Pr.41 Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.3 Setting items for zero point return parameters When carrying out "zero point return control", the "zero point return parameters" must be set. The setting items for the "zero point return parameters" are shown below. The "zero point return parameters" are set commonly for each axis. Refer to "Chapter 8 ZERO POINT RETURN CONTROL" for details on the "zero point return control", and to section "5.2 List of parameters" for details on each setting item.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.4 Setting items for positioning data The "positioning data" must be set when carrying out "main positioning control". The setting items for the "positioning data" are shown below. One to 600 "positioning data" items can be set for each axis. Refer to "Chapter 9 MAIN POSITIONING CONTROL" for details on the "main positioning control", and to section "5.3 List of positioning data" for details on each setting item.
5 DATA USED FOR POSITIONING CONTROL Checking the positioning data Da.1 to Da.9 are checked with the following timing.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.5 Setting items for start block data The "start block data" must be set when carrying out "advanced positioning control". The setting items for the "start block data" are shown below. Up to 50 points of "start block data" can be set for each axis. Refer to "Chapter 10 ADVANCED POSITIONING CONTROL" for details on the "advanced positioning control", and to section "5.4 List of start block data" for details on each setting item.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.6 Setting items for condition data When carrying out "advanced positioning control" or using the JUMP command in the "main 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 ADVANCED POSITIONING CONTROL" for details on the "advanced positioning control", and to section "5.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.7 Types and roles of monitor data Data that indicates the positioning system's operation state is stored in the buffer memory's monitor data area remote registor (RWr). When using the positioning system, this data must be monitored as necessary. The data that can be monitored is shown below. Monitoring the system Monitors the D75P2 specifications, such as the module name and OS type, and the operation history. (System monitor data Md.1 to Md.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Monitoring the positioning system operation history Monitor details Corresponding item Md.1 In test mode flag Start axis Md.7 Start axis Operation type Md.8 Operation type Md.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Monitoring the speed Monitor details During independent axis control Monitor the current speed Corresponding item Indicates the speed of each axis When "0: Composite speed" is Indicates the composite set for " Pr.21 Interpolation speed speed designation method" During interpolaWhen "1: tion Reference axis control Indicates the speed" is set for reference axis " Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.1.8 Types and roles of control data Several controls are carried out as necessary when using the positioning system. (When the power is turned ON, the default values of the data used for control are set. However, these values can be set with the sequence program when necessary.) The items that can be controlled are shown below. Controlling the system data Sets the clock data in the D75P2, and reads/writes the "positioning data". (System control data Cd.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A (2) Controlling the operation Controlling the operation Control details Corresponding item Set which positioning to execute (start No.) Positioning start No. (RWrm, RWrm+8) Clear (reset) the "Axis error No. (RWrn+5, RWrn+13)" and "Axis warning No.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Making settings related to operation Control details Corresponding item Turn M code ON signal OFF M code OFF request (RY(n+2)6, RY(n+4)6) Set new value when changing current value New current value (RWwm+2 to 3, RWwm+10 to 11) Validate speed/position changeover signal from external source Speed/position changeover enable flag (RY(n+2)8, RY(n+4)8) Change movement amount for position control during speed/position Cd.
5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 17 MELSEC-A
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2 List of parameters 5.2.1 Basic parameters 1 Setting value, setting range Item Movement amount per pulse Pr.1 Value set with peripheral device Unit setting Pr.2 No. of pulses per rotation (Ap) (Unit : pulse) 0 : mm 0 1 : inch 1 2 : degree 2 3 : pulse 3 1 to 65535 Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.2 to Pr.4 Movement amount per pulse Set the movement amount per pulse count when outputting a pulse train from the D75P2. The setting is made with Pr.2 to Pr.4 . (The case for the " Pr.1 Unit setting" is "mm" is explained below.) The movement amount per pulse is expressed with the following expression. Movement amount per pulse = Movement amount per rotation (Al) No.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.3 Movement amount per rotation (Al), Pr.4 Unit magnification (Am) The amount how the workpiece moves with one motor rotation is determined by the mechanical structure. If the worm gear lead (mm/rev) is PB and the deceleration rate is 1/n, then Movement amount per rotation (AL) = PB 1/n However, the maximum value that can be set for this "movement amount per rotation (Al)" parameter is 6553.5 m (approx. 6.5mm).
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value, setting range Item Pr.5 Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A (2) CW/CCW mode During forward run, the forward run feed pulse (PULSE F) will be output. During reverse run, the reverse run feed pulse (PULSE R) will be output. Positive logic Negative logic PULSE F PULSE F PULSE R PULSE R Forward run Forward run Reverse run Reverse run (3) A phase/B phase mode Forward run and reverse run are controlled with the phase difference of the A phase (A) and B phase (B).
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.6 Rotation direction setting Set the relation of the motor rotation direction and current value address increment/decrement. [Setting procedure] 1) Set "0" in Pr.6 , and carry out forward run JOG operation. ("0" is set as the default value for Pr.6 .) 2) When the workpiece "W" is moving toward the address increment direction defined in the system the address increment direction, the current setting is O.K.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.2 Basic parameters 2 Setting value, setting range Item Pr.7 Value set with peripheral device Value set with sequence program The setting value range differs depending on the " Pr.11 Stepping motor mode selection" or " Pr.1 Unit setting". Here, the value within the [Table 1] range is set.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 1) If the positioning speed setting is slower than the parameter speed limit, the actual acceleration/deceleration time will be relatively short. Thus, set the maximum positioning speed value to be equal to the parameter speed limit value or a close value under the speed limit value. 2) These settings are value for zero point return, positioning and JOG operation.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.11 Stepping motor mode selection The type of motor controlled with the D75P2 is set with the "stepping motor mode selection". 1 : Stepping motor mode ............... When using a stepping motor 0 : Standard mode ......................... When using a different type of motor When carrying out 2-axis interpolation control using both the stepping motor and servomotor, set both axes to "1: Stepping motor mode".
5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 27 MELSEC-A
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.3 Detailed parameters 1 Setting value, setting range Item Value set with peripheral device Pr.12 Backlash compensation amount Pr.13 Software stroke limit upper limit value Pr.14 Software stroke limit lower limit value Pr.15 Software stroke limit selection Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 1) The backlash compensation is valid after completed the machine zero point return. Thus, if the backlash compensation amount is set or changed, always carry out machine zero point return once. 2) The backlash compensation amount setting range is 0 to 65535, but it should be set to 255 or less by using the following expression.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 1) Generally, the zero point is set at the lower limit or upper limit of the stroke limit. 2) By setting the upper limit value or lower limit value of the software stroke limit, overrun can be prevented in the software. However, an emergency stop limit switch must be installed nearby outside the range. 3) To invalidate the software stroke limit, set the setting value to "upper limit value = lower limit value".
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.18 Torque limit setting value With this function, the torque generated by the motor is limited to within the set range. * The torque exceeding the limit is reduced to the specified torque limit. Set the maximum torque value necessary for the control in the range between 1 and 500%. Usage conditions Limits for pulse train output type (a) A drive unit that can issue a torque limit command with the analog voltage is required.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.19 M code ON signal output timing Set the timing to output the M code ON signal. The WITH mode and AFTER mode can be used for the M code ON signal output timing. WITH mode ..... The M code is output simultaneously with the start of positioning, and the M code ON signal turns ON. AFTER mode ........ The M code is output simultaneously with the end of positioning, and the M code ON signal turns ON.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value, setting range Item Value set with peripheral device Pr.20 Speed changeover mode Pr.21 Interpolation speed designation method Value set with sequence program 0 : Standard speed changeover mode 0 1 : Front-loading speed changeover mode 1 0 : Composite speed 0 1 : Reference axis speed 1 0 : Do not update current feed value Pr.22 Current feed value 1 : Update current feed value during speed control 2 : Clear current feed value to zero Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.21 Interpolation speed designation method When carrying out linear interpolation, set whether to designate the composite speed or reference axis speed. 0: Composite speed .................. The movement speed for the control target is designated, and the speed for each axis is calculated by the D75P2. 1: Reference axis speed ...........
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.23 Manual pulse generator selection Set which manual pulse generator to use for control for each axis (motor). 0 : Ignore manual pulse generator operation ...... Manual pulse generator operation is not carried out. 1 : Use manual pulse generator 1 ....................... Control with manual pulse generator connected to axis 1. 2 : Use manual pulse generator 2 ....................... Control with manual pulse generator connected to axis 2.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.4 Detailed parameters 2 Setting value, setting range Item Value set with peripheral device Value set with sequence program Default value Setting value buffer memory address Axis 1 Axis 2 36 37 186 187 38 39 188 189 40 41 190 191 42 43 192 193 Pr.30 Deceleration time 2 44 45 194 195 Pr.31 Deceleration time 3 46 47 196 197 20000 48 49 198 199 0 50 200 0 51 201 Pr.26 Acceleration time 1 Pr.27 Acceleration time 2 Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.25 setting value Value set with peripheral device Value set with sequence program (ms) (ms) 0 : 1-word type 1 to 65535 1 to 65535* 1 : 2-word type 1 to 8388608 1 to 8388608 * 1 to 32767 : Set as a decimal 32768 to 65535 : Convert into hexadecimal and set [Table 2] Pr.11 setting value 0 : Standard mode 1 : Stepping motor mode Pr.1 setting value Value set with peripheral device (unit) Value set with sequence program (unit) 0 : mm 0.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value, setting range Item Value set with peripheral device Pr.35 Acceleration/deceleration process selection Value set with sequence program 0 : Automatic trapezoid acceleration/deceleration process 0 1 : S-curve acceleration/deceleration process 1 1 to 100 (%) 1 to 100 (%) Pr.36 S-curve ratio The setting value range differs according to the " Pr.25 Size selection for acceleration/deceleration time" setting.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.36 S-curve ratio Set the S-curve ratio (1 to 100%) for carrying out the S-curve acceleration/deceleration process. The S-curve ratio indicates where to draw the acceleration/deceleration curve using the sine curve as shown below. (Example) A Positioning speed B B/2 V B/2 t When S-curve ratio is 100% V Positioning speed b sine curve a S-curve ratio = B/A 100% b/a = 0.7 t When S-curve ratio is 70% [Table 1] Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.37 Sudden stop deceleration time Set the time to reach speed 0 from " Pr.7 Speed limit value" during the sudden stop. The setting value size is determined by " Pr.25 Size selection for acceleration/deceleration time". The relation with the other parameters is as shown below. 1) Positioning start ·When positioning is started, the acceleration starts following the "acceleration time".
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.38 Stop group 1 sudden stop selection to Pr.40 Stop group 3 sudden stop selection Set the method to stop when the stop causes in the following stop groups occur. Stop group 1 .............. Stop with hardware stroke limit Stop group 2 .............. Stop with software stroke limit Stop signal from peripheral device, remote station READY signal OFF Stop group 3 ..............
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value, setting range Item Value set with peripheral device Pr.41 Positioning complete signal output time Default value Value set with sequence program 0 to 65535 (ms) 0 to 32767 : Set as a decimal 32768 to 65535: Convert into hexadecimal and set 0 to 65535 (ms) The setting value range differs depending on the " Pr.1 Unit setting". (When the stepping motor is used, circular interpolation control cannot be performed. Set " Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.11 setting value 0 : Standard mode Pr.1 setting value Value set with peripheral device (unit) Value set with sequence program (unit) 0 : mm 0 to 10000.0 (m) 0 to 100000 ( 10-1m) 1 : inch 0 to 1.00000 (inch) 0 to 100000 ( 10-5inch) 2 : degree 0 to 1.00000 (degree) 0 to 100000 ( 10-5degree) 3 : pulse 0 to 100000 (pulse) 0 to 100000 (pulse) Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Pr.43 External start function selection Set which function to use the external start signal with. 0 : External positioning start ............... Carry out positioning operation with external start signal input. 1 : External speed change request ..... Change the speed of the positioning operation currently being executed with the external start signal input. In this case, set the new speed value in "New speed value (RWwm+4 to 5, RWwm+12 to 13)".
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.5 Zero point return basic parameters Setting value, setting range Item Pr.45 Zero point return method Value set with peripheral device Value set with sequence program 0 : Near-point dog method 0 1 : Stopper stop method 1) 1 2 : Stopper stop method 2) 2 3 : Stopper stop method 3) 3 4 : Count method 1) 4 5 : Count method 2) 5 Default value 0 Setting value buffer memory address Axis 1 Axis 2 70 220 Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 1 : Stopper stop method 1) (1) Start machine zero point return. (Start movement at the " Pr.48 Zero point return speed" in the " Pr.46 Zero point return direction".) V Pr.48 Zero point return speed (2) (2) Detect the near-point dog ON, and start deceleration. Pr.49 Creep speed (3) Decelerate to " Pr.49 Creep speed", and move with the creep speed. (5) (3) (4) (At this time, setting for the " Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 4 : Count method 1) (1) Start machine zero point return. (Start movement at the " Pr.48 Zero point return speed" in the " Pr.46 Zero point return direction".) (2) Detect the near-point dog ON, and start deceleration. (3) Decelerate to " Pr.49 Creep speed", and move with the creep speed. (4) After the near-point dog turns ON and the movement amount set in " Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value, setting range Item Value set with peripheral device Pr.46 Zero point return direction Pr.47 Zero point address Default Value set with sequence value program 0 : Positive direction (address increment direction) 0 1 : Negative direction (address decrement direction) 1 The setting value range differs depending on the " Pr.11 Stepping motor mode selection" or " Pr.1 Unit setting". Here, the value within the [Table 1] range is set.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.11 setting value 0 : Standard mode 1 : Stepping motor mode Pr.1 setting value Value set with peripheral device (unit) Value set with sequence program (unit) 0 : mm –214748364.8 to 214748364.7 (m) –2147483648 to 2147483647 ( 10-1m) 1 : inch –21474.83648 to 21474.83647 (inch) –2147483648 to 2147483647 ( 10-5inch) 2 : degree 0 to 359.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value, setting range Item Value set with peripheral device Value set with sequence program Default value The setting value range differs depending on the " Pr.11 Stepping motor mode selection" or " Pr.1 Unit setting". Here, the value within the [Table 1] range is set. Pr.49 Creep speed Setting value buffer memory address Axis 1 Axis 2 1 76 77 226 227 0 78 228 [Table 1] on right page Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.11 setting value 0 : Standard mode 1 : Stepping motor mode Pr.1 setting value Value set with peripheral device (unit) Value set with sequence program (unit) 0 : mm 0.01 to 6000000.00 (mm/min) 1 to 600000000 ( 10-2mm/min) 1 : inch 0.001 to 600000.000 (inch/min) 1 to 600000000 ( 10-3inch/min) 2 : degree 0.001 to 600000.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.2.6 Zero point return detailed parameters Setting value, setting range Item Value set with peripheral device Value set with sequence program 0 to 65535 (ms) 0 to 65535 (ms) 0 to 32767 : Set as a decimal 32768 to 65535 : Convert into hexadecimal and set Pr.51 Zero point return dwell time Pr.52 Setting for the movement amount after near-point dog ON The setting value range differs depending on the " Pr.11 Stepping motor mode selection" or " Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.11 setting value 0 : Standard mode 1 : Stepping motor mode Pr.1 setting value Value set with peripheral device (unit) Value set with sequence program (unit) 0 : mm 0 to 214748364.7 (m) 0 to 2147483647 ( 10-1m) 1 : inch 0 to 21474.83647 (inch) 0 to 2147483647 ( 10-5inch) 2 : degree 0 to 21474.83647 (degree) 0 to 2147483647 ( 10-5degree) 3 : pulse 0 to 2147483647 (pulse) 0 to 2147483647 (pulse) 0 : mm 0 to 13421772.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value, setting range Item Value set with peripheral device Value set with sequence program Default value The setting value range differs depending on the " Pr.11 Stepping motor mode selection" or " Pr.1 Unit setting". Here, the value within the [Table 1] range is set. Pr.55 Zero point shift amount Setting value buffer memory address Axis 1 Axis 2 0 84 85 234 235 300 86 236 0 88 238 0 89 239 [Table 1] on right page Pr.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.11 setting value 0 : Standard mode 1 : Stepping motor mode Pr.1 setting value Value set with peripheral device (unit) Value set with sequence program (unit) 0 : mm –214748364.8 to 214748364.7 (m) –2147483648 to 2147483647 ( 10-1m) 1 : inch –21474.83648 to 21474.83647 (inch) –2147483648 to 2147483647 ( 10-5inch) 2 : degree –21474.83648 to 21474.
5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 56 MELSEC-A
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.3 List of positioning data Before explaining the positioning data setting items Da.1 to Da.9 , the configuration of the positioning data will be shown below. The positioning data stored in the D75P2 buffer memory has the following type of configuration. 1 2 3 4 5 Da. 6 7 8 9 10 11 12 The positioning data setting items ( Da.1 to Da.9 ) are explained in the following section. (The buffer memory addresses for the axis 1 to axis 2 "positioning data No.
5 DATA USED FOR POSITIONING CONTROL Setting value Item Value set with peripheral device Positioning identifier Da.1 Operation pattern Da.2 Control method Da.3 Acceleration time No.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 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 ..........
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value, setting range Item Value set with peripheral device Da.5 Positioning address/ movement amount Value set with sequence program Default value The setting value range differs according to the " Da.2 Control method". Here, the value within the following range of [Table 1] range is set. Setting value buffer memory address 0 Axis 1 Axis 2 1306 1307 2306 2307 [Table 1] on right page Da.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] When " Pr.1 Unit setting" is "mm" Value set with sequence program *1 ( 10-1m) Value set with peripheral device (m) Da.2 setting value ABS Linear 1 ABS Linear 2 Current value change : 01H Set the address Set the address –214748364.8 to 214748364.7 *2 : 04H –2147483648 to 2147483647 : 11H [–134217728 to 134217727] [–13421772.8 to 13421772.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A When " Pr.1 Unit setting" is "degree" Da.2 setting value Value set with peripheral device (degree) Value set with sequence program *1 ( 10-5 degree) ABS Linear 1 ABS Linear 2 Current value change : 01H Set the address Set the address 0 to 359.99999 *2 : 04H 0 to 35999999 : 11H [0 to 35999999] [0 to 359.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A When " Pr.1 Unit setting" is "inch" Da.2 setting value Value set with peripheral device (inch) Value set with sequence program *1 ( 10-5 inch) ABS Linear 1 ABS Linear 2 Current value change : 01H Set the address Set the address –21474.83648 to 21474.83647 *2 : 04H –2147483648 to 2147483647 : 11H [–134217728 to 134217727] [–1342.17728 to 1342.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value, setting range Item Da.6 Arc address Value set with peripheral device Value set with sequence program The setting value range differs according to the " Da.2 Control method". Here, the value within the [Table 1] range is set. Default value 0 Setting value buffer memory address Axis 1 Axis 2 1308 1309 2308 2309 [Table 1] on right page Da.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] When " Pr.1 Unit setting" is "mm" Value set with peripheral device (m) Da.2 setting value Value set with sequence program *1 ( 10-1m) ABS Circular interpolation : 07H Set the address ABS Circular right : 09H –214748364.8 to 214748364.7 *2 ABS Circular left : 0AH Set the address –2147483648 to 2147483647 INC Circular interpolation : 08H Set the movement amount INC Circular right : 0BH –214748364.8 to 214748364.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A When " Pr.1 Unit setting" is "pulse" Da.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A When " Pr.1 Unit setting" is "inch" Da.2 setting value Value set with peripheral device (inch) Value set with sequence program *1 ( 10-5 inch) ABS Circular interpolation : 07H Set the address ABS Circular right : 09H –21474.83648 to 21474.83647 *2 ABS Circular left : 0AH Set the address –2147483648 to 2147483647 INC Circular interpolation : 08H Set the movement amount INC Circular right : 0BH –21474.83648 to 21474.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value, setting range Item Value set with peripheral device Value set with sequence program Default value Setting value buffer memory address Axis 1 Axis 2 0 1304 1305 2304 2305 0 1302 2302 0 1301 2301 The setting value range differs depending on the " Pr.11 Stepping motor mode selection" or " Pr.1 Unit setting". Here, the value within the [Table 1] range is set. [Table 1] on right page Da.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A [Table 1] Pr.11 setting value Pr.1 setting value 0 : Standard mode 1 : Stepping motor mode Value set with sequence program (unit) Value set with peripheral device (unit) 0 : mm 0.01 to 6000000.00 (mm/min) 1 to 600000000 ( 10-2mm/min) 1 : inch 0.001 to 600000.000 (inch/min) 1 to 600000000 ( 10-3inch/min) 2 : degree 0.001 to 600000.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.8 Dwell time/JUMP designation positioning data No. Set the "dwell time" or "positioning data No." corresponding to the " Da.2 Control method". When a method other than "JUMP command" is set for " Da.2 Control method" ..... Set the "dwell time". When "JUMP command" is set for " Da.2 Control method" ..... Set the "positioning data No." for the JUMP destination.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.4 List of start block data Before explaining the start block data setting items Da.1 to Da.13 , the configuration of the start block data will be shown below. The start block data stored in the D75P2 buffer memory has the following type of configuration. 50th point Buffer memory address Setting item Up to 50 start block data points can be set (stored) for each axis in the buffer memory address shown on the left.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value Item Value set with peripheral device 0 : End Value set with sequence program Setting value buffer memory address Axis 1 Axis 2 0000H 4300 4550 0000H 4350 4600 0 Da.10 Shape 1 : Continue Default value 1 b15 b11 0 0 0 b7 b3 b0 Shape Da.11 Positioning data No.: 1 to 600 Start data No. (01H to 258H) Da.12 Special start command Da.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.10 Shape Set whether to carry out only the local "start block data" and then end control, or to execute the "start block data" set in the next point. Setting value Setting details 0 : End Execute the designated point's "start block data", and then complete the control. 1 : Continue Execute the designated point's "start block data", and after completing control, execute the next point's "start block data". Da.11 Start data No.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.13 Parameter Set the value as required for " Da.12 Special start command". Da.12 Special start command Block start (Normal start) Setting value – Condition start Wait start 1 to 10 Simultaneous start Stop – Repeated start (FOR loop) Repeated start (FOR condition) 5 - 74 Setting details Not used. (There is no need to set.) Set the condition data No. (No.
5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 75 MELSEC-A
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.5 List of condition data Before explaining the condition data setting items Da.14 to Da.18 , the configuration of the condition data will be shown below. The condition data stored in the D75P2 buffer memory has the following type of configuration. No.10 Buffer memory address Setting item No.2 No.1 Setting item Setting item b15 b12 b11 b8 b7 Buffer memory address Buffer memory address b0 4410 Da.15 Da.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value Item Condition identifier Da.14 Condition target Da.15 Condition operator Value set with peripheral device Default value Value set with sequence program 01 : Device X 01H 02 : Device Y 02H 03 : Buffer memory (1-word) 03H 04 : Buffer memory (2-word) 04H 05 : Positioning data No.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.14 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.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Da.17 Parameter 1 Set the parameters as required for the " Da.15 Condition operator". Da.15 Condition operator 01H : Setting value Setting details =P1 Value 06H : P1, P2 07H : DEV=ON 08H : DEV=OFF 09H : Axis 1 designation 0AH : Axis 2 designation Set the "P1" value. Value (Bit No.) Set the device's bit No. X : 0H to FH, Y : 10H to 1FH* Set the positioning data No. for starting axis 1 and axis 2.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.6 List of monitor data 5.6.1 System monitor data Storage item Storage details Md.1 In test mode flag Whether the mode is the test mode from the peripheral device or not is stored. When not in test mode : OFF When in test mode : ON Md.2 Module name The D75P2 module name is stored. Md.3 OS type The D75P2 OS type is stored. (Stored with an 8-character ASCII code.) Md.4 OS version The D75P2 OS version is stored. (Stored with a 4-character ASCII code.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Reading the monitor value Default value Storage buffer memory address (common for axis 1 to axis 2) Monitoring is carried out with a decimal. Monitor value Storage value 0: Not in test mode 1: In test mode 0 2 3 Monitoring is carried out with a decimal. Monitor value 450 1 Storage value 1: AJ65BT-D75P2-S3 – (Corresponding name) 451 – (Corresponding OS name) 452 453 454 455 4 Monitor value Monitoring is carried out with a hexadecimal.
5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-A Storage details Reading the monitor value Monitoring is carried out with a decimal. Md.7 Start axis The No. of the axis that started is stored. Monitor value Storage value 1: Axis 1 2: Axis 2 [Stored contents] The operation information (restart flag, start origin, operation type) is stored.
5 DATA USED FOR POSITIONING CONTROL Default value MELSEC-A Storage buffer memory address (common for axis 1 to axis 2) 0 Md.12 542 Starting history pointer The pointer No. following the pointer No. where the latest start history is stored is stored. 0000H Pointer No. Pointer No. 0 1 Md.7 Start axis 0000 Starting history Md.8 Operation type Md.9 Start time (Hour: minute) Md.10 Start time (Second: 100ms) Md.
5 DATA USED FOR POSITIONING CONTROL Storage item Md.13 Start axis Storage details Reading the monitor value Monitoring is carried out with a decimal. The No. of the axis for which an error was detected when starting is stored. [Stored contents] A Buffer memory b15 Storage value 1: Axis 1 2: Axis 2 Monitoring is carried out with a hexadecimal. B C b12 b8 a Md.14 Operation type Monitor value The operation information (restart flag, start origin, operation type) is stored.
5 DATA USED FOR POSITIONING CONTROL Default value MELSEC-A Storage buffer memory address (common for axis 1 to axis 2) 0 Md.18 623 Starting history pointer at error The pointer No. following the pointer No. where the latest start history during errors is stored is stored. 0000H Pointer No. Pointer No. 0 1 Md.7 0000 Start history during errors Start axis Md.8 Operation type 2 543 544 Md.9 Start time (Hour: minute) 545 Md.10 Start time (Second: 100ms) Md.
5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-A Storage details Reading the monitor value Monitoring is carried out with a decimal. Md.19 The axis No. for which an Axis in which the error was detected is stored. error occurred Monitor value Storage value 1: Axis 1 2: Axis 2 Monitoring is carried out with a decimal. Error history (up to 16 items can be stored) Md.20 Axis error No. The axis error No. is stored Monitor value Error No. Refer to section "14.
5 DATA USED FOR POSITIONING CONTROL Default value MELSEC-A Storage buffer memory address (common for axis 1 to axis 2) 0 Md.23 Error history pointer 688 The pointer No. following the pointer No. where the latest error history is stored is stored. Pointer No. 0 Pointer No. 0 1 Md.19 Error history Axis in which the error occurred 0000 Md.20 Axis error No. Md.21 Axis error occurrence time (Hour: minute) Md.
5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-A Storage details Reading the monitor value Monitoring is carried out with a decimal. Md.24 The axis No. for which a Axis in which the warning was detected is warning stored. occurred Monitor value Storage value 1: Axis 1 2: Axis 2 Monitoring is carried out with a decimal. Warning history (up to 16 items can be stored) Md.25 The axis warning No. is Axis warning No. stored. Monitor value Warning No. Refer to section "14.
5 DATA USED FOR POSITIONING CONTROL Default value MELSEC-A Storage buffer memory address (common for axis 1 to axis 2) 0 Md.28 753 Warning history pointer The pointer No. following the pointer No. where the latest warning history is stored is stored. Pointer No. 0 Pointer No. 0 1 Md.24 Warning history 3 Md.25 690 694 Axis warning No. Md.26 Axis warning occurrence time (Hour: minute) Md.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.6.2 Axis monitor data Storage item Md.29 Md.30 Machine feed value Storage details System-used area The address of the current position obtained with the machine coordinates is stored. (Different from the actual motor position during operation) The machine feed value is not changed by the current value change function. Updated during speed control regardless of the parameter setting. Not cleared to 0 when fixed-dimension feed is started.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Reading the monitor value Default value Use prohibited Storage buffer memory address Axis 1 Axis 2 800 801 900 901 802 803 902 903 804 to 809 904 to 909 810 811 910 911 Monitoring is carried out with a hexadecimal.
5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-A Storage details The output speed commanded by the D75P2 to each axis is stored. Md.37 Axis feedrate (May be different from the actual motor speed.) "0" is stored when the axis is stopped. The average speed per 910ms is stored. Therefore, the update interval is 910ms. Md.38 Speed/position changeover control positioning amount Md.39 , Md.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Reading the monitor value Default value Storage buffer memory address Axis 1 Axis 2 0000H 812 813 912 913 0000H 814 815 914 915 816 817 916 917 818 819 918 919 Monitoring is carried out with a hexadecimal.
5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-A Storage details During operation with positioning data Md.42 Target speed : The actual target speed, considering the override and speed limit value, etc., is stored. "0" is stored when positioning is completed. During interpolation : The composite speed or reference axis speed is stored in the reference axis address, and "0" is stored in the interpolation axis address.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Reading the monitor value Default value Storage buffer memory address Axis 1 Axis 2 0000H 820 821 920 921 0000H 822 823 922 923 0000H 824 825 924 925 0 826 926 Monitoring is carried out with a hexadecimal display.
5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-A Storage details Md.46 Special start data command The "command code" used with special start and indicated by the start data code setting value pointer currently being executed is stored. The "command parameter" used with special start and indicated by the start data Md.47 Special start data command pointer currently being executed is stored. parameter setting value The stored value differs according to the value set for Md.46 . Md.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Reading the monitor value Default value Storage buffer memory address Axis 1 Axis 2 0 827 927 0 828 928 0 829 929 830 831 930 931 Monitoring is carried out with a decimal display. Monitor value Storage value 00: Block start (Normal start) 01: Condition start 02: Wait start 03: Simultaneous start 04: Stop 05: FOR loop 06: FOR condition 07: NEXT Monitoring is carried out with a decimal display. Monitor value Storage value Md.
5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-A Storage details Md.51 Start data pointer being executed The point No. (1 to 50) of the start data currently being executed is stored. "0" is stored when positioning is completed. Md.52 Last executed positioning data No. The positioning data No. executed last is stored. The value is held until the next positioning is executed. Md.53 Repeat counter Md.54 Positioning data No.
5 DATA USED FOR POSITIONING CONTROL Reading the monitor value MELSEC-A Default value Storage buffer memory address Axis 1 Axis 2 0 832 932 Storage value 1 to 600 0 833 933 Storage value 0 to 255 0 834 934 Storage value 1 to 600 0 835 935 0 836 936 Monitoring is carried out with a decimal display. Monitor value Storage value 1 to 50 Monitoring is carried out with a decimal display. Monitor value Monitoring is carried out with a decimal display.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.7 List of control data 5.7.1 System control data Setting item Cd.1 Clock data setting (hour) Cd.2 Clock data setting (minute, second) Setting details The clock data (hour) from the PLC CPU is set after the D75P2 power is turned ON. The clock data (minute, second) from the PLC CPU is set after the D75P2 power is turned ON. After setting the clock data in Cd.1 and Cd.2 , when setting the data in Cd.3 Clock data writing Md.5 and Md.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value Default value Storage buffer memory address (common for axis 1 to axis 2) Set with a BCD code. 2 00 to 23 (hour) Setting value 0 0 1 1 3 0 0000 1100 4 b15 b12 b8 b4 b0 Buffer memory 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 to 2 No setting 0 to 9 Set with a BCD code.
5 DATA USED FOR POSITIONING CONTROL Setting item Cd.5 Positioning data No. MELSEC-A Setting details Set the positioning data No. targeted for reading or writing. When writing the positioning data stored in the Cd.8 data storage address into the positioning data designated with Cd.5 , set the type of the data targeted for writing. * When reading, all data types are unconditionally read. Cd.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value Default value Storage buffer memory address (common for axis 1 to axis 2) 0 1104 0000H 1105 0 1106 Set with a decimal. Setting value K Positioning data 1 to 600 Set with a hexadecimal.
5 DATA USED FOR POSITIONING CONTROL Setting item MELSEC-A Setting details Cd.8 Read/write positioning data I/F*1 Store the data when reading or writing. Cd.9 Flash ROM write request*2 Write the OS memory contents into the flash ROM. Set whether the setting data will be initialized or not. Initialization: Indicates that the setting values of the setting data are returned to the default values.
5 DATA USED FOR POSITIONING CONTROL Setting value MELSEC-A Default value Storage buffer memory address (common for axis 1 to axis 2) 0 1108 to 1137 0 1138 0 1139 Each stored item is stored in the following storage address. Storage address Axis 1 Axis 2 Stored item 1108 1118 Positioning identifier Reference Da.1 to Da.4 1109 1119 M code Da.9 1110 1120 Dwell time Da.8 1111 1121 Not used 1112 1122 Command speed 1113 1123 1114 1124 1115 1125 1116 1126 1117 1127 Da.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A 5.7.2 Axis control data Setting item Setting details Cd.11 to Cd.20 System-used area To change the movement amount for the position control during speed control of speed/position changeover control (INC mode), set the movement amount after changing to position control. Make the setting during the speed control of speed/positioning changeover control (INC mode). The setting value is cleared to 0 at the next start.
5 DATA USED FOR POSITIONING CONTROL MELSEC-A Setting value Default value Use prohibited Storage buffer memory address Axis 1 Axis 2 1150 to 1163 1200 to 1213 1164 1165 1214 1215 1167 1217 1168 1169 1218 1219 1170 1171 1220 1221 1172 1222 Set with a decimal. Cd.21 Speed/position changeover control movement amount change register Integer value 10 n Setting value (decimal) R Example) Unit conversion table Cd.
5 DATA USED FOR POSITIONING CONTROL Setting item MELSEC-A Setting details Cd.27 Step mode When using step operation, set which unit to step with. Cd.28 Step start information When using step operation, set whether to continue or restart operation. Cd.29 Skip command Set "1" to skip the current positioning. To change the " Md.45 Torque limit stored value", set the new estimated torque Cd.30 New torque value limit stored value. Set the value within the " Pr.
5 DATA USED FOR POSITIONING CONTROL Setting value MELSEC-A Default value Storage buffer memory address Axis 1 Axis 2 0 1173 1223 0 1174 1224 0 1175 1225 0 1176 1226 0 1178 1228 Set with a decimal. Setting value K Step mode 0: Carry out step operation with deceleration unit 1: Carry out step operation with data No. unit Set with a decimal. Setting value K Step start information 1: Step continue 2: Restart After the step start request is accepted, "0" is stored by the OS.
5 DATA USED FOR POSITIONING CONTROL Setting item MELSEC-A Setting details To interrupt the operation during continuous operation, set "1". Cd.32 Interrupt request during continuous operation (In the non-operation mode (when the BUSY signal [RXn4, RXn5] is OFF), the interrupt request during continuous operation is not accepted.) Cleared to 0 at a start or at a restart. If the interrupt request is received after setting "1", "0" will be automatically stored by the OS.
5 DATA USED FOR POSITIONING CONTROL Setting value MELSEC-A Default value Storage buffer memory address Axis 1 Axis 2 0 1181 1231 0 1184 1185 1234 1235 0 1186 1187 1236 1237 0 1188 1238 0 1188 1238 Set with a decimal. Setting value K 1 Continuous operation interrupt request 1: Interrupt continuous control or continuous path control. (Set by sequence program) After the control interrupt request is accepted, "0" is stored by the OS.
5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 112 MELSEC-A
Chapter 6 1 2 3 4 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 5 The programs required to carry out positioning control with the D75P2 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, start block data and condition data, etc.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.1 Information necessary for program creation 6.1.1 When ACPU/QCPU (A mode) is used [1] System used in this chapter An example of the sequence program explained in this chapter for use of the ACPU/QCPU (A mode) is described for the following system.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A [2] About bank changing When using the D75P2, the master station's automatic transmission/reception buffer is used. With the A Series master module (AJ61BT11/A1SJ61BT11), the automatic update buffer and transmission/reception buffer are divided with banks. When accessing these buffers, the bank must be changed.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A [3] Program basic format The basic format for creating a program is shown below. The program is created with the following arrangement.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL (5) MELSEC-A Create the following program and write Y100 to Y17F into RYn0 to RY(n+7)F.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A [4] Initializing the master station Create the following program to initialize (set the parameters, start the data link) the master station. Refer to section 6.1.1 for details on the program conditions. (1) Set the No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (2) Station information ( M 20H (1st module) to M 5FH (64th module)) Set the type of remote I/O station, remote device station, intelligent device station and local station connected to the master station. This must be set for each module connected. 15 14 13 12 11 10 9 Station type 8 7 N o . o f o c cu p ie d sta tio n s 6 5 4 3 2 1 0 (bit) Station No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A [5] Reading and writing the D75P2 buffer memory This section explains the method of reading and writing the D75P2 buffer memory using transient transmission. (1) Outline When reading and writing the D75P2 buffer memory, reading and writing are carried out using the intelligent device station access request signal (RY(n+7)E) and the intelligent device station access complete signal (RX(n+7)E).
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (2) About control data When transmitting data using the transient transmission, the control data must be added to the transmission data before transmitting. When receiving data, the control data will be added to the head of the reception data. The following examples are explained in this section for the control data.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (b) When using the TO command This is used only when writing to the D75P2-designated buffer memory. When using the TO command, the master module buffer memory will be used as the transmission buffer for the control data and write data. The complete status will be stored in the reception buffer.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL *1 MELSEC-A When writing data to the D75P2 buffer memory using the TO command, the control data and write data are designated in the transmission buffer of the corresponding master module. Designated data Details Setting range Setting side – – System 0 to 64 User 12H User 8 + No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (c) When using the RIRD command This is used only when reading to the D75P2-designated buffer memory. When the RIRD command is used, the master module buffer memory is used for the control data size transmission buffer, and the master station buffer memory is used for the read data size reception buffer.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (d) Using the FROM command This is used to read the D75P2-designated buffer memory. When the FROM command is used, the transmission buffer (master module buffer memory) for the control data size, and the reception buffer (master module buffer memory) for the read data size are used.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL *1 MELSEC-A When reading data from the D75P2 buffer memory using the FROM command, the control data is designated in the transmission buffer of the corresponding master module. Designated data Details Setting range Setting side – – System Station No. (designate with high-order bytes (bits 8 to 15)) Designate the station No. of the intelligent device station to be accessed. 0 to 64 User 10H User Item Dummy area Station No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.1.2 When QCPU (Q mode)/QnACPU is used [1] System used in this chapter An example of the sequence program explained in this chapter for use of the QCPU (Q mode)/QnACPU is described for the following system. Refer to the CC-Link Master Module User's Manual for details on the sequence program for the entire CC-Link system.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (b) Remote registers (RWw, RWr) The contents of RWrn to RWrn+15 are read to D200 to D215, and the contents of D100 to D115 are written to RWwm to RWwm+15 and used.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A * If the dedicated commands (RIRD, RIWT) are used when the QnACPU is used, RY(n+7)E, RY(n+7)F are used with the dedicated commands, so the user must make sure that this signal information is not rewritten. Insert the following program at the end of the program. When the QCPU (Q mode) is used, the following program is not required.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (2) About control data When transmitting data using the transient transmission, the control data must be added to the transmission data before transmitting. When receiving data, the control data will be added to the head of the reception data. The following examples are explained for the control data.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (b) When using the TO command (Unusable when QCPU (Q mode) is used) This is used only when writing to the D75P2-designated buffer memory. When using the TO command, the master module buffer memory will be used as the transmission buffer for the control data and write data. The complete status will be stored in the reception buffer.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (c) When using the RIRD command This is used only when reading to the D75P2-designated buffer memory. When the RIRD command is used, the master module buffer memory is used for the control data size transmission buffer, and the master module buffer memory is used for the read data size reception buffer.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (d) When using the FROM command (Unusable when QCPU (Q mode) is used) This is used only when reading from the specified buffer memory of the D75P2. When using the FROM command, the transmission buffer (master module buffer memory) for the control data and the reception buffer (master module buffer memory) for the number of read data will be used.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.2 Precautions for creating program (1) Restrictions to speed change execution interval Provide an interval of 100ms or more when changing the speed with the D75P2. (2) Process during overrun Overrun is prevented with the D75P2's upper and lower stroke limit. However, this applies only when the D75P2 is operating correctly.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.3 List of devices used The application of the input/output Nos. [X] [Y], internal relays [M] and data registers [D] used in this chapter are shown below.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Device name Device Y12A Y12B D75P2 Output Y178 Y179 Y17E X20 X21 X22 X23 X24 X25 X26 X27 X28 X29 X2A X2B External Input signal X2C X2D X2E X2F X30 X31 X32 X33 X34 X35 X36 X37 X38 X39 X3A Output Y90 Application Details when ON Axis 1 zero point return request OFF request Axis 1 external start valid Initial data process complete Initial data setting request Intelligent device station access request Parameter change request command Zero point return request
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Device name Device M0 M1 M5 M6 M10 M11 M20 M21 M30 M31 M40 M41 M100 M101 M102 Internal relay M103 M104 M105 M106 M107 M108 M109 M110 M111 M112 M113 M114 M115 M116 M117 M118 M119 M120 M9036 Special relay M9052 Application Details when ON Initial setting flag D75P2 data link status Master module initialization normal completion Master module initialization abnormal completion Initial setting flag D75P2 data link error Master module initialization normal
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Device name Device Application D0 Number of connected modules D2 Synchronization mode D3 Number of connected modules D4 D5 D6 D75P2 station information Transmission buffer size Reception buffer size D7 Automatic update buffer size Storage details D8 Error-time parameter status D10 Dummy area setting D11 Station number/request code setting D12 Transmission buffer write data size D13 Quantity (fixed) D14 Access code/attribute D15 Access target D75P
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Device name Device Data register Application Storage details Access target D75P2 buffer memory storage D33 Access target D75P2 buffer memory (for Q (Q mode)/QnACPU RIRD command) Number of read points storage D34 Number of read points (for Q (Q mode)/QnACPU RIRD command) Read data (axis 1 machine feed Read data (axis 1 machine feed value (low-order) storage (for Q (Q D35 value (low-order)) mode)/QnACPU RIRD command) Read data (axis 1 machine feed Read data
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Device name Device D65 D70 D71 D72 D73 D74 Data register D75 D100 D101 D104 D105 D106 D107 D205 D207 Application Storage details MELSEC-A Program example that uses device A Ad Q/QnA Read data (axis 1 machine feed value (high-order) storage (for A/Q (A mode) RIRD command) Complete status storage Complete status (for A/Q (A mode) RIWT command) Number of write points storage Number of write points (for A/Q (A mode) RIWT command) Access code/attribute stora
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.4 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.) 6.4.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.4.2 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 "6.5 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.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Continued from previous page Start details setting program * Program required to carry out • "Zero point return control" • "Main positioning control" • "Advanced positioning control" No.7 Positioning start No. setting program Refer to section 6.6.2 Start program No.8 Positioning start signal input program No.9 Reset, M code OFF program Refer to section 6.6.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Continued from previous page Auxiliary program No.12 No.13 No.14 No.15 No.16 * Program added according to control details. (Create as required.) Speed change program Refer to section 12.5.1 Override program Refer to section 12.5.2 Restart program Refer to section 6.5.4 Absolute position restoration program Refer to section 12.6 Error reset program Program required to reset errors Buffer memory reading program No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.5 Positioning program examples 6.5.1 When using FROM/TO command with ACPU/QCPU-A (A mode) An example of the program for using the FROM/TO command with the ACPU/QCPU-A (A mode) when using the buffer memory automatic update function is shown below. [No. 1] to [No. 2] parameter and data setting program * When setting the parameters or data with the sequence program, set them in the D75P2 using the transient transmission.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A * *D75P2 data link status checking program * Read D75P2 data link state (SW0080) D75P2 data link normal D75P2 data link error * *No. 1 Parameter setting program * Convert Speed limit value writing command into pulse Speed limit value writing command held Change to bank 1 Set dummy area Set station No., request code Transmission buffer write data size Quantity (Fixed value) Access code, attribute (Fixed value) D75P2 buffer memory address No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A * *No. 3 Initial setting program * * *(1) At power on * Turn ON Initial data process complete Turn ON Initial data setting request Turn OFF Initial data process complete Turn OFF Initial data setting request Turn ON Initial setting complete flag * *(2) At parameter change * Turn ON Initial data setting request Turn OFF Initial data setting request * *No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A * *(5) Positioning data No. 1-based positioning (speed/position changeover control) * Write positioning data No. 1 Enable Speed/position changeover Disable Speed/position changeover * *(6) Advanced positioning control * Write block positioning (7000) * *(7) High-speed zero point return command storage OFF *(Not required when high-speed zero point return is not used) * Turn OFF High-speed zero point return command storage * *No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A * *No. 10 JOG operation program * Set JOG operation speed Write JOG operation speed Turn ON JOG operating flag End JOG operation Execute forward run JOG operation Execute reverse run JOG operation * *No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A * *No. 15 Absolute position restoration program * Write absolute position restoration (9900) * *No. 16 Error reset program * Read error code Execute error reset Error reset complete * *No. 17 Buffer memory reading program * Convert Machine feed value reading command into pulse Machine feed value reading command held Change to bank 1 Set dummy area Set station No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A * *No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.5.2 When using dedicated commands with ACPU/QCPU-A (A mode) An example of the program for using the dedicated commands with the ACPU/QCPUA (A mode) when using the buffer memory automatic update function is shown below. [No. 1] to [No. 2] parameter and data setting program * When setting the parameters or data with the sequence program, set them in the D75P2 using the transient transmission.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL * *No. 1 Parameter setting program * MELSEC-A Convert Speed limit value writing command into pulse Number of write points Access code, attribute Access target D75P2 buffer memory Write data Master module head I/O No. Station number of access target Writ data designation Device to turn one scan ON at completion * *No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A * *No. 7 Positioning start number setting program * * *(1) Machine zero point return * Write machine zero point return (9001) * *(2) Data setting method zero point return * Write data setting method zero point return (9901) * *(3) High-speed zero point return * Write high-speed zero point return (9002) * *(4) Positioning data No. 1-based positioning (other than speed/position changeover control) * * *(5) Positioning data No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A * *No. 9 Reset, M code OFF program * Turn OFF Positioning start signal Convert M code OFF request into pulse Turn ON M code OFF request Turn OFF M code OFF request * *No. 10 JOG operation program * Set JOG operation speed Write JOG operation speed Turn ON JOG operating flag End JOG operation Execute forward run JOG operation Execute reverse run JOG operation * *No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A * *No. 14 Restart program * Convert Restart command into pulse Read axis status Turn ON Restart command during stop Turn OFF Restart command * *No. 15 Absolute position restoration program * Write absolute position restoration (9900) * *No. 16 Error reset program * Read error code Execute error reset Error reset complete * *No. 17 Buffer memory reading program * Convert Machine feed value reading command into pulse No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A * *Remote output (RY) writing * Change to bank 0 Write latest RYn0 to RY(n+7)F Get RY(n+7)E, RY(n+7)F Clear previous information Reflect gotten information on RY Write RYn0 to RY(n+7)F * *Change to bank 0 * P0 6 - 45
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.5.3 When using dedicated commands with QCPU (Q mode)/QnACPU An example of the program for using the dedicated commands with the QCPU (Q mode)/QnACPU is shown below. The QnACPU that can use the dedicated commands is only the QnACPU of function version "B" or later. This program assumes that the CC-Link parameters have been set as indicated below. Parameter setting item Setting value Number of modules 1 Module head I/O No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Set interlocks in the programs according to the used system. [No. 1] to [No. 2] parameter and data setting program * When setting the parameters or data with the sequence program, set them in the D75P2 using the transient transmission. * When setting the parameters or data with the AD75 software package, the [No. 1] to [No. 2] program is not necessary. *Create the [No. 2] program by changing the access target buffer memory of the [No. 1] program.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL * *No. 5 Zero point return request OFF program * MELSEC-A Turn ON Axis 1 zero point return request OFF request * *No. 6 External start function valid setting program * Axis 1 external start valid Axis 1 external start invalid * *No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A * *No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A * *No. 14 Restart program * Turn ON Restart command during stop Turn OFF Restart command * *No. 15 Absolute position restoration program * Write absolute position restoration (9900) * *No. 16 Error reset program * Execute error reset Error reset complete * *No. 17 Buffer memory reading program * Station No. setting Access code, attribute D75P2 buffer memory address No. of read points Execute read * *No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.6 Program details 6.6.1 Initialization program (1) Zero point return request OFF program This program forcibly turns OFF the "zero point return request flag" (RX(n+1)F, RX(n+4)F) which is ON. When using a system that does not require zero point return, assemble the program to cancel the "zero point return request" made by the D75P2 when the power is turned ON, etc.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.6.2 Start details setting program This program sets which control, out of "zero point control", "main positioning control" or "advanced positioning control" to execute. Procedures for setting the starting details (1) Set the "positioning start No." corresponding to the control to be started in "Positioning start No. (RWwm, RWwm+8)". Setting item Setting value Setting details 1 to 600 9001 9002 9003 7000 to 7010 Positioning start No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.6.3 Start program This program is used to start the control with start commands. The control can be started with the following two methods. (1) Starting by inputting positioning start signal [RY(n+1)0, RY(n+1)1] (2) Starting by inputting external start signal Remote register Drive unit 3) 1) 1 Control with positioning data No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (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.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Starting time chart The time chart for starting each control is shown below. (1) Time chart for starting "machine zero point return" V t Near-point dog Zero point signal ON Positioning start signal OFF [RY(n+1)0] ON Remote station READY signal [RX(n+7)B] OFF ON D75P2 READY signal OFF [RXn0] ON Start complete signal [RXn1] OFF ON BUSY signal [RXn4] Error detection signal [RXnA] Positioning start No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL (2) MELSEC-A Time chart for starting "data setting method zero point return" ON Positioning start signal [RY(n+1)0] OFF ON Remote station READY signal [RX(n+7)B] OFF ON D75P2 READY signal [RXn0] Start complete signal [RXn1] OFF BUSY signal [RXn4] Error detection signal [RXnA] Positioning start No. [RWwm] OFF ON ON OFF OFF 9901 Fig. 6.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL (4) MELSEC-A Time chart for starting "main positioning control" Operation pattern V Positioning data No. Dwell time 1(11) 2(00) t Positioning start signal [RY(n+1)0] Remote station READY signal [RX(n+7)B] D75P2 READY signal [RXn0] Start complete signal [RXn1] BUSY signal [RXn4] Positioning complete signal [RXn7] Error detection signal [RXnA] Positioning start No. [RWwm] 1 Fig. 6.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Machine zero point return operation timing and process time Positioning start signal [RY(n+1)0, RY(n+1)1] [RXn4, RXn5] BUSY signal t1 Start complete signal [RXn1, RXn2] Axis operation status [RWrn+7, RWrn+15] Waiting t4 Waiting In zero point return t2 Output pulse to external source (PULSE) Positioning operation Zero point return request flag [RX(n+1)F, RX(n+4)F] t3 Zero point return complete flag [RX(n+2)0, RX(n+5)0] Fig. 6.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A Position control operation timing and process time Positioning start signal [RY(n+1)0, RY(n+1)1] BUSY signal [RXn4, RXn5] t1 M code ON signal (WITH mode) [RXnD, RXnE] t2 M code OFF request [RY(n+2)6, RY(n+4)6] Start complete signal [RXn1, RXn2] Axis operation status [RWrn+7, RWrn+15] t3 Controlling position Waiting Waiting t4 Output pulse to external source (PULSE) Positioning operation t5 Positioning complete signal * [RXn7, RXn8] M code
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (2) Starting by inputting external start signal When starting positioning control by inputting the external start signal, the start command can be directly input into the D75P2. 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.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.6.4 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" (RY(n+2)5, RY(n+4)5). ("Restarting" is not possible when "continuous operation is interrupted.") (1) Restart operation Axis 1 Positioning with positioning data No. 11 Positioning data No.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (3) Control data requiring setting Set the following data to execute restart. Setting item Restart command Setting value 1 Remote input/output Setting details Set "1: restarts ". Axis 1 Axis 2 RY(n+2)5 RY(n+4)5 * Refer to section "3.4 Specifications of input/output signals for master module" for details on the setting details. (4) Starting conditions The following conditions must be satisfied when restarting.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (5) Time chart for restarting Dwell time V t Positioning start signal [RY(n+1)0] Axis stop signal [RY(n+1)3] Remote station READY signal [RX(n+7)B] D75P2 READY signal [RXn0] Start complete signal [RXn1] BUSY signal [RXn4] Positioning complete signal [RXn7] Error detection signal [RXnA] Axis operation status [RWrn+7, RWrn+15] 0 8 Positioning start No. [RY(n+2)5, RY(n+4)5] Fig. 6.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A 6.6.5 Stop program The axis stop signal [RY(n+1)3, RY(n+1)4] or a stop signal from an external source is used to stop the control. Create a program to turn the axis stop signal [RY(n+1)3, RY(n+1)4] ON as the stop program. The process for stopping control is explained below. Each control is stopped in the following cases. (a) (b) (c) (d) When each control is completed normally. When the drive unit READY signal is turned OFF.
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (2) Types of stop processes The operation can be stopped with deceleration stop, sudden stop or immediate stop. (1) Deceleration stop The operation stops with "deceleration time 0 to 3" ( Pr.9 , Pr.29 , Pr.30 , Pr.31 ). Which time from "deceleration time 0 to 3" to use for control is set in positioning data ( Da.4 ). (2) Sudden stop The operation stops with " Pr.37 Sudden stop deceleration time".
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-A (3) Order of priority for stop process The order of priority for the D75P2 stop process is as follows. Deceleration stop < Sudden stop < Immediate stop (1) During deceleration (including automatic deceleration), the operation will stop at that deceleration speed even if the decelerations to command turns ON (stop signal ON) or a deceleration stop cause occurs.
1 Chapter 7 2 3 4 MEMORY CONFIGURATION AND DATA PROCESS 5 The D75P2 memory configuration and data transmission are explained in this chapter. The D75P2 is configured of three memories. By understanding the configuration and roles of these memories, the D75P2 internal data transmission process, such as "when the power is turned ON" or "when the remote station READY signal changes from OFF to ON" can be easily understood.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A 7.1 Configuration and roles of D75P2 memory 7.1.1 Configuration and roles of D75P2 memory The D75P2 is configured of the following three memories. Area that can be directly accessed Buffer memory with sequence program from PLC – Backup Block transmission area PLC CPU memo area Control data area Monitor data area Positioning start information area (No.7001 to 7010) Positioning start information area (No.7000) Positioning data area (No.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A Details of areas Parameter area Area where parameters, such as positioning parameters and zero point return parameters, required for positioning control are set and stored. (Set the items indicated with Pr.1 to Pr.58 for each axis.) Positioning data area (No.1 to 100) Area where positioning data No.1 to 100 is set and stored. (Set the items indicated with Da.1 to Da.9 for each positioning data.) Positioning data area (No.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A User accesses this memory from sequence program. Data is backed up here. Flash ROM Buffer memory The data used for actual control is stored here. OS memory Parameter area Parameter area Positioning data area (No. 1 to 100) Positioning start information area (No. 7000) Positioning start information area (No. 7001 to 7010) Positioning data area (No. 101 to 600) Positioning data area (No.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A 7.1.2 Buffer memory area configuration The D75P2 buffer memory is configured of the following types of areas.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A 7.2 Data transmission process The data is transmitted between the D75P2 memories with steps (1) to (10) shown below. The data transmission patterns numbered (1) to (10) on the right page correspond to the numbers (1) to (10) on the left page. PLC CPU + MASTER MODULE (4)Read (3)Write D75P2 Buffer memory, Remote Resister Parameter area (a) Parameter area (a) Pr.1 to Pr.6 Pr.10 to Pr.25 Parameter area (b) Pr.45 to Pr.58 Positioning data area (No.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (1) Transmitting data when power is turned ON or D75P2 is reset ( ) When the power is turned ON or the D75P2 is reset, the "parameters", "positioning data" and "positioning start information" stored (backed up) in the flash ROM is transmitted to the buffer memory and OS memory. (The "positioning data (No. 101 to 600)" and "positioning start information (No. 7001 to 7010)" data is not transmitted to the buffer memory.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (4) Data read from D75P2 ( ) (a) Read from D75P2 buffer memory Using the RIRD command*2 (transient transmission), read data from the buffer memory to the PLC CPU. (b) Read from D75P2 remote register Using the FROM command (automatic refresh*4), read data from the remote register to the PLC CPU . (5) Flash ROM request (reading) ( ) The following transmission process is carried out with the "flash ROM request" from the peripheral device.
7 MEMORY CONFIGURATION AND DATA PROCESS MEMO 7-9 MELSEC-A
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A PLC CPU + master module (7) Flash ROM write (Set "1" in Cd.9 , using RIWT command (transient transmission)) (6) Block transmission request (Set data in bufer memory [5100] to [6109] using RIWT command (transient transmission)] D75P2 Buffer memory, remote register Parameter area (a) Parameter area (a) Pr.1 to Pr.6 Pr.10 to Pr.25 Parameter area (b) Pr.45 to Pr.58 Positioning data area (No.1~100) Parameter area (b) Pr.7 to Pr.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (6) Transmitting blocks from PLC CPU ( ) When setting data in positioning data No. 101 to 600 using the sequence program, first the data is set in the "block transmission area" (buffer memory address [5100] to [6109]). Then, the data is set in positioning data No. 101 to 600 by transmitting the data to the OS memory. Refer to section "7.2 Data transmission process (B)" for the procedures.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A PLC CPU + master module D75P2 Buffer memory, remote register Parameter area (a) Parameter area (a) Pr.1 to Pr.6 Pr.10 to Pr.25 Parameter area (b) Pr.45 to Pr.58 Positioning data area (No.1 to 100) Parameter area (b) Pr.7 to Pr.9 Positioning start information area (No.7000) Pr.26 to Pr.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (9) Reading data from buffer memory or OS memory to peripheral device ( ) The following transmission processes are carried out with the [AD75 read] from the peripheral device. 1) The "parameters", "positioning data (No. 1 to 100)" and "positioning start information (No. 7000)" in the buffer memory area are transmitted to the peripheral device. 2) The "positioning data (No. 101 to 600)" and "positioning start information (No.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A The data transmission is carried out as shown in the previous pages, but the main method of using this data process is shown below. (A) Correcting the execution data (OS memory) The following methods can be used to correct the OS memory.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (B) Setting positioning data No. 101 to 600 data The positioning data is set with the following procedures. From peripheral device Using sequence program (brock transmission) No.1 to 100 Positioning data Write positioning data into buffer memory No.101 to 600 Turn OFF the remote station READY signal [RX(n+7)B].(Refer to section 3.
7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-A (Example) When setting the positioning data No. 101 to 300 of axis 1 to the OS memory (The number of data that can be set for block transmission at one time is up to 100 pieces.) Start Turn OFF the remote station READY signal [RX(n+7)B]. Set as follows. Target axis: Axis 1 Head positioning data No.: 101 No.
CONTROL DETAILS AND SETTING SECTION 1 SECTION 2 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 ZERO POINT RETURN CONTROL ........................................................ 8- 1 to 8- 24 MAIN POSITIONING CONTROL ..........................................
MEMO
Chapter 8 1 2 3 4 ZERO POINT RETURN CONTROL 5 The details and usage of "zero point return control" are explained in this chapter.
8 ZERO POINT RETURN CONTROL MELSEC-A 8.1 Outline of zero point return control 8.1.1 Three types of zero point return control In "zero point return control" a position is established as the starting point (or "zero point") when carrying out positioning control, and positioning is carried out toward that starting point.
8 ZERO POINT RETURN CONTROL MELSEC-A Zero point return auxiliary functions Refer to section "3.3.4 Combination of D75P2 main functions and auxiliary functions" for details on "auxiliary functions" that can be combined with zero point return control. Also refer to "Chapter 12 CONTROL AUXILIARY FUNCTIONS" for details on each auxiliary function. [Remarks] The following two auxiliary functions are only related to machine zero point returns.
8 ZERO POINT RETURN CONTROL MELSEC-A 8.2 Machine zero point return 8.2.1 Outline of the machine zero point return operation Important Use the zero point return retry function when the zero point position is not always in the same direction from the workpiece operation area (when the zero point is not set near the upper or lower limit of the machine). * The machine zero point return may not complete unless the zero point return retry function is used.
8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.2 Machine zero point return method The method by which the machine zero point is established (method for judging the zero point position and machine zero point return completion) is designated in the machine zero point return according to the configuration and application of the positioning method. The following table shows the six methods that can be used for this zero point return method.
8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.3 Zero point return method (1): Near-point dog method The following shows an operation outline of the "near-point dog method" zero point return method. Operation chart 1) The machine starts a machine zero point return. (The machine starts acceleration specified in " Pr.53 Zero point return acceleration time selection" in the direction set in " Pr.46 Zero point return direction", and moves at " Pr.48 Zero point return speed".
8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions A pulse generator with a zero point signal is required. When the pulse generator is not provided with a zero point signal, create a zero point signal with an external signal. Precautions during operation (1) An error "Start at zero point" (error code: 201) will occur if another machine zero point return is attempted after a machine zero point return completion when the zero point return retry function is not set ("0" is set in " Pr.
8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.4 Zero point return method (2): Stopper stop method 1) The following shows an operation outline of the "stopper stop method 1)" zero point return method. Operation chart 1) The machine starts a machine zero point return. (The machine starts acceleration specified in " Pr.53 Zero point return acceleration time selection" in the direction set in " Pr.46 Zero point return direction", and moves at " Pr.48 Zero point return speed".
8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions (1) Make sure to limit the torque for the servomotor after starting the deceleration to " Pr.49 Creep speed". If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to section "12.4.2 Torque limit function".) (2) The zero point return retry function cannot be used with the “stopper stop method 1).” Precautions during operation (1) Set a value in the " Pr.
8 ZERO POINT RETURN CONTROL MELSEC-A (3) If the " Pr.51 Zero point return dwell time" elapses before the stop at the stopper, the workpiece will stop at that position, and that position will be regarded as the zero point. V Pr. 48 Zero point return speed Pr.
8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.5 Zero point return method (3): Stopper stop method 2) The following shows an operation outline of the "stopper stop method 2)" zero point return method. Operation chart 1) The machine starts a machine zero point return. (The machine starts acceleration specified in " Pr.53 Zero point return acceleration time selection" in the direction set in " Pr.46 Zero point return direction", and moves at " Pr.48 Zero point return speed".
8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions (1) Make sure to limit the torque for the servomotor after starting the deceleration to " Pr.49 Creep speed". If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to section "12.4.2 Torque limit function".) (2) Use an external input signal as the zero point signal. (3) "Stopper stop method 2)" cannot use the zero point return retry function.
8 ZERO POINT RETURN CONTROL MELSEC-A (3) If the zero point signal is input before the workpiece stops at the stopper, the workpiece will stop at that position, and that position will be regarded as the zero point. V Pr. 48 Zero point return speed Pr.
8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.6 Zero point return method (4): Stopper stop method 3) The following shows an operation outline of the "stopper stop method 3)" zero point return method. The "stopper stop method 3)" is effective when a near-point dog has not been installed. (Note that the operation is carried out from the start at the " Pr.49 Creep speed", so it will take some time until the machine zero point return completion.) Operation chart 1) The machine starts a machine zero point return.
8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions (1) Always limit the servomotor torque after the " Pr.49 Creep speed" is reached. If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to section "12.4.2 Torque limit function".) (2) Use an external input signal as the zero point signal. (3) The zero point retry function cannot be used in "stopper stop method 3)".
8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.7 Zero point return method (5): Count method 1) The following shows an operation outline of the "count method 1)" zero point return method. Operation chart 1) The machine starts a machine zero point return. (The machine starts acceleration specified in " Pr.53 Zero point return acceleration time selection" in the direction set in " Pr.46 Zero point return direction", and moves at " Pr.48 Zero point return speed".
8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions A pulse generator with a zero point signal is required. When the pulse generator is not provided with a zero point signal, create a zero point signal with an external signal. Precautions during operation (1) If “ Pr.52 Setting for the movement amount after near-point dog ON” is smaller than the deceleration distance traveled from “ Pr.48 Zero point return speed” to “ Pr.
8 ZERO POINT RETURN CONTROL MELSEC-A 8.2.8 Zero point return method (6): Count method 2) The following shows an operation outline of the "count method 2)" zero point return method. The "count method 2)" method is effective when a "zero point 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 zero point returns.) Operation chart 1) The machine zero point return is started.
8 ZERO POINT RETURN CONTROL MELSEC-A Restrictions As the import of near-point dog ON has an error of about 1ms, this zero point return method will vary in stop position (zero point) as compared to the other methods. Precautions during operation (1) If “ Pr.52 Setting for the movement amount after near-point dog ON” is smaller than the deceleration distance traveled from “ Pr.48 Zero point return speed” to “ Pr.
8 ZERO POINT RETURN CONTROL MELSEC-A 8.3 Data setting method zero point return The data setting method zero point return is a method in which the position reached by manual operation (JOG operation/manual pulse generator operation) in an absolute position detection system is defined as the zero point. (The axis is not moved in the data setting method zero point return.
8 ZERO POINT RETURN CONTROL MELSEC-A 8.4 High-speed zero point return 8.4.1 Outline of the high-speed zero point return operation High-speed zero point return operation In a high-speed zero point return, positioning is carried out by a machine zero point return to the " Md.43 Zero point absolute position" stored in the D75P2. The following shows the operation during a high-speed zero point return start. 1) The high-speed zero point return is started. 2) Positioning control begins to the " Md.
8 ZERO POINT RETURN CONTROL MELSEC-A Operation timing and processing time of high-speed zero point returns The following shows details about the operation timing and time during high-speed zero point returns Positioning start signal [RY(n+1)0, RY(n+1)1] BUSY signal [RXn4, RXn5] t1 Start complete signal [RXu1, RXn2] t3 Axis operation status [RWrn+7, RWrn+15] Standing by In position control Standing by t2 Output pulse to external source (PULSE) Positioning operation Fig. 8.
8 ZERO POINT RETURN CONTROL MELSEC-A 8.5 Positioning to the zero point Positioning to the zero point is explained in this section. To carry out positioning to the zero point, "1-axis linear control (ABS) positioning data" is created in which the " Md.43 Zero point absolute position" is set in the positioning address ( Da.5 ). In this case, the other positioning data items are set beforehand in the flash ROM. (This control is called a "high-speed machine zero point return".) The " Pr.
8 ZERO POINT RETURN CONTROL MELSEC-A Start time chart V t ON Positioning start signal [RY(n+1)0] Remote station READY signal [RX(n+7)B] OFF OFF ON ON D75P2 READY signal [RXn0] Start complete signal [RXn1] OFF BUSY signal [RXn4] OFF Error detection signal [RXnA] OFF ON ON Positioning start No. OFF 100 [RWwm] Zero point absolute position overflow flag [RX(n+2)3] OFF Zero point absolute position underflow flag [RX(n+2)4] OFF Fig. 8.
Chapter 9 1 2 3 4 MAIN POSITIONING CONTROL 5 The details and usage of the main positioning controls (control functions using the "positioning data") are explained in this chapter.
9 MAIN POSITIONING CONTROL MELSEC-A 9.1 Outline of main positioning controls "Main positioning controls" are carried out using the "positioning data" stored in the D75P2. 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 method for the "main positioning controls" is set in setting item " Da.2 Control method" of the positioning data.
9 MAIN POSITIONING CONTROL MELSEC-A 9.1.1 Data required for main positioning control The following table shows an outline of the "positioning data" configuration and setting details required to carry out the "main positioning controls". Positioning data No. 1 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.
9 MAIN POSITIONING CONTROL MELSEC-A 9.1.2 Operation patterns of main positioning controls In "main positioning control" (advanced 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.
9 MAIN POSITIONING CONTROL MELSEC-A (1) Independent positioning control (Positioning complete) This control is set when executing only one designated data item of positioning. If a dwell time is designated, the positioning will complete after the designated time elapses. This data (operation pattern [00] data) becomes the end of block data when carrying out block positioning. (The positioning stops after this data is executed.
9 MAIN POSITIONING CONTROL MELSEC-A (2) Continuous positioning control (a) The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the D75P2 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. (b) In operation by continuous positioning control (operation pattern "01"), the next positioning No. is automatically executed.
9 MAIN POSITIONING CONTROL MELSEC-A (3) Continuous path control (a) Continuous path control 1) 2) 3) 4) 5) The speed is changed between the speed of the positioning data currently being positioned and the speed of the positioning data that will be positioned next. The speed is not changed if the current speed and the next speed are equal. The speed will become the speed used in the previous positioning operation if the command speed is set to "-1". Dwell time will be ignored, even if set.
9 MAIN POSITIONING CONTROL MELSEC-A (b) Deceleration stop conditions during continuous path control Deceleration stops are not carried out in continuous path control, but the machine will carry out a deceleration stop to speed "0" in the following cases 1) to 4). 1) When the operation pattern of the positioning data currently being executed is "continuous path control: 11", and the movement direction of the positioning data currently being executed differs from that of the next positioning data.
9 MAIN POSITIONING CONTROL MELSEC-A POINT (3) For sudden reversal of rotation, the command pulses from the D75P2 are output as shown below. Forward run command Reverse run command t1 t2 Supposing that the command frequency is f[pps], calculate t1 and t2 with the following expression. t1 = 1/2f[s] t2 = 1/f[s] Depending on the drive unit, time t1 must be secured for longer than the given time T[s]. (T changes depending on the drive unit specifications.
9 MAIN POSITIONING CONTROL MELSEC-A (c) Speed handling 1) Continuous path control command speeds are set with each positioning data. The D75P2 then carries out the positioning at the speed designated with each positioning data. 2) 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".
9 MAIN POSITIONING CONTROL MELSEC-A (d) Speed changeover (Refer to " Pr.20 Speed changeover mode".) 1) Standard speed changeover mode (1) When the "positioning data for current operation" and "positioning data for next operation" differ in command speed, acceleration or deceleration to the speed set in the "positioning data for next operation" starts at completion of positioning executed with the "positioning data for current operation".
9 MAIN POSITIONING CONTROL MELSEC-A [When the movement amount is small during automatic deceleration] The movement amount required to carry out the automatic deceleration cannot be secured, so the machine immediately stops in a speed 0 status. [When the speed cannot change over in P2] When the relation of the speeds is P1 = P4, P2 = P3, P1 < P2. P1 P2 P3 P4 Positioning address.
9 MAIN POSITIONING CONTROL MELSEC-A (3) Speed changeover 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.
9 MAIN POSITIONING CONTROL MELSEC-A 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 zero point as a reference. This address is regarded as the positioning address. (The start point can be anywhere.
9 MAIN POSITIONING CONTROL MELSEC-A 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 D75P2. 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 Machine feed value This is the value stored in "RWrn + 0 to 1, RWrn + 8 to 9".
9 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) A 56.8ms error will occur in the current value update timing when the stored "current feed value" and "machine feed value" are used in the control. (2) The "current feed value" and "machine feed value" may differ from the values set in " Da.5 Positioning address/movement amount" of the positioning data if the movement amount per pulse is not set to "1".
9 MAIN POSITIONING CONTROL MELSEC-A 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 When the control unit is set to "degree", "Current feed value (RWrn + 0 to 1, Rwrn + 8 to 9)" becomes the ring address of 0 to 359.99999° " Md.30 Machine feed value" does not become the ring address of 0 to 99999°. Current feed value (RWrn+0 to 1, Rwrn+8 to 9) Md.
9 MAIN POSITIONING CONTROL 2) MELSEC-A 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.
9 MAIN POSITIONING CONTROL MELSEC-A 9.1.6 Interpolation control Meaning of interpolation control In "2-axis linear interpolation control", "2-axis fixed-dimension feed control", and "2-axis circular interpolation control", control is carried out so that linear and arc paths are drawn using a motor set in two axis directions. This kind of control is called "interpolation control".
9 MAIN POSITIONING CONTROL MELSEC-A Starting the interpolation control The positioning data Nos. of the reference axis (axis in which interpolation control was set in " Da.2 Control method") are started when starting the interpolation control. (Starting of the interpolation axis is not required.) The following errors will occur and the positioning will not start if both reference axis and the interpolation axis are started.
9 MAIN POSITIONING CONTROL MELSEC-A Limits to interpolation control There are limits to the interpolation control that can be executed and speed ( Pr.21 Interpolation speed designation method) that can be set, depending on the " Pr.1 Unit setting" of the reference axis and interpolation axis. (For example, circular interpolation control cannot be executed if the reference axis and interpolation axis units differ.) The following table shows the interpolation control and speed designation limits. Pr.
9 MAIN POSITIONING CONTROL MELSEC-A 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 method". 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.
9 MAIN POSITIONING CONTROL MELSEC-A 9.2.2 1-axis linear control In "1-axis linear control" (" Da.2 Control method" = 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, addresses established by a machine zero point return are used. Positioning is carried out from the current stop position (start point address) to the address (end point address) set in " Da.
9 MAIN POSITIONING CONTROL MELSEC-A (2) 1-axis linear control (INC linear 1) Operation chart In increment system 1-axis linear control, addresses established by a machine zero point return are used. 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.5 Positioning address/movement amount". The movement direction is determined by the sign of the movement amount.
9 MAIN POSITIONING CONTROL MELSEC-A 9.2.3 2-axis linear interpolation control In "2-axis linear interpolation control" (" Da.2 Control method" = 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.
9 MAIN POSITIONING CONTROL MELSEC-A 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)" at the setting of "0: Composite speed" in " Pr.21 Interpolation speed designation method" An error "outside linear movement amount range" (error code: 504) will occur at the positioning start.
9 MAIN POSITIONING CONTROL MELSEC-A (2) 2-axis linear interpolation control (INC linear 2) Operation chart In increment system 2-axis linear interpolation control, addresses established by a machine zero point return on a 2-axis coordinate plane 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.5 Positioning address/movement amount".
9 MAIN POSITIONING CONTROL MELSEC-A 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)" at the setting of "0: Composite speed" in " Pr.21 Interpolation speed designation method" An error "outside linear movement amount range" (error code: 504) will occur at the positioning start.
9 MAIN POSITIONING CONTROL MELSEC-A 9.2.4 1-axis fixed-dimension feed control In "1-axis fixed-dimension feed control" (" Da.2 Control method" = fixed-dimension feed 1), one motor is used to carry out fixed-dimension feed control in a set axis direction. In fixed-dimension feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.
9 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) An 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 fixeddimension feed control.) (2) "Fixed-dimension feed" cannot be set in " Da.2 Control method" in the positioning data when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data.
9 MAIN POSITIONING CONTROL MELSEC-A 9.2.5 2-axis fixed-dimension feed control (interpolation) In "2-axis fixed-dimension feed control" (" Da.2 Control method" = fixed-dimension feed 2), two motors are used to carry out fixed-dimension feed control in a linear path while carrying out interpolation for the axis directions set in each axis.
9 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) An 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-dimension feed control.) (2) If the movement amount of each axis exceeds "1073741824 (=230)" at the setting of "0: Composite speed" in " Pr.
9 MAIN POSITIONING CONTROL MELSEC-A 9.2.6 2-axis circular interpolation control with auxiliary point designation In "2-axis circular interpolation control" (" Da.2 Control method" = ABS circular interpolation, INC circular interpolation), two motors are used to carry out position control in an arc path passing through designated auxiliary 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.
9 MAIN POSITIONING CONTROL MELSEC-A 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 "stepping motor mode" is set in " Pr.11 Stepping motor mode selection" When "reference axis speed" is set in " Pr.
9 MAIN POSITIONING CONTROL MELSEC-A Positioning data setting example The following table shows setting examples when "2-axis circular interpolation control with auxiliary point designation (ABS circular interpolation)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.) Axis 1 Axis 2 (reference (interpolation axis) setting axis) setting example example Axis Setting item Da.
9 MAIN POSITIONING CONTROL (2) MELSEC-A 2-axis circular interpolation control with auxiliary point designation (INC circular interpolation) In the increment system, 2-axis circular interpolation control with auxiliary point designation, addresses established by a machine zero point return on a 2-axis coordinate plane are used. 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.
9 MAIN POSITIONING CONTROL MELSEC-A 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 "stepping motor mode" is set in " Pr.11 Stepping motor mode selection" When "reference axis speed" is set in " Pr.
9 MAIN POSITIONING CONTROL MELSEC-A Positioning data setting example The following table shows setting examples when "2-axis circular interpolation control with auxiliary point designation (INC circular interpolation)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.
9 MAIN POSITIONING CONTROL MELSEC-A 9.2.7 2-axis circular interpolation control with center point designation In "2-axis circular interpolation control" (" Da.2 Control method" = ABS right arc, INC right arc, ABS left arc, INC left arc), two motors are used to carry out position control in an arc path centered around the center point specified by an arc address, while carrying out interpolation for the axis directions set in each axis. (Refer to section "9.1.
9 MAIN POSITIONING CONTROL MELSEC-A Circular interpolation error compensation In circular interpolation control with center point designation, the arc path calculated from the start point address and the center point address may deviate from the position of the end point address set in " Da.5 Positioning address/movement amount". (Refer to " Pr.42 Allowable circular interpolation error width".) (1) Calculated error " Pr.
9 MAIN POSITIONING CONTROL (1) MELSEC-A 2-axis circular interpolation control with center point designation (ABS right arc, ABS left arc) Operation chart In the absolute system, 2-axis circular interpolation control with center point designation, addresses established by a machine zero point return on a 2-axis coordinate plane are used. Positioning is carried out from the current stop position (start point address) to the address (end point address) set in " Da.
9 MAIN POSITIONING CONTROL MELSEC-A 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 "stepping motor mode" is set in " Pr.11 Stepping motor mode selection" When "reference axis speed" is set in " Pr.
9 MAIN POSITIONING CONTROL MELSEC-A POINT Set a value in " Da.7 Command speed" so that the speed of each axis does not exceed the " Pr.7 Speed limit value". (The speed limit does not function for the speed calculated by the D75P2 during interpolation control.
9 MAIN POSITIONING CONTROL MELSEC-A 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.
9 MAIN POSITIONING CONTROL Axis 1 Axis 2 (reference (interpolation axis) setting axis) setting example example Axis Setting item Da.1 Operation pattern Positioning data No. 1 Da.2 Control method Axis 1 MELSEC-A Setting details Positioning complete – Set "Positioning complete" assuming the next positioning data will not be executed. INC right arc INC left arc – Set increment system, 2-axis circular interpolation control with center point designation.
9 MAIN POSITIONING CONTROL MELSEC-A 9.2.8 Speed control In "speed control"(" Da.2 Control method" = Forward run: speed control, Reverse run: speed control), 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.7 Command speed" until the input of a stop command.
9 MAIN POSITIONING CONTROL MELSEC-A Current feed value during speed control The following table shows the "Current feed value (RWrn + 0 to 1, RWrn + 8 to 9)" during speed control corresponding to the " Pr.22 Current feed value during speed control" settings. Current feed value (RWrn + 0 to 1,RWrn + 8 to 9) " Pr.22 Current feed value during speed control" setting 0: Do not update current feed value The current feed value during speed control start is maintained.
9 MAIN POSITIONING CONTROL MELSEC-A 9.2.9 Speed/position changeover control In "speed/position changeover control" (" Da.2 Control method" = Forward run: speed/position, Reverse run: speed/position), the pulse of the speed set to " Da.7 Command speed" is kept output until the stop command is input in the axis direction set to the positioning data, and speed control is switched to position control when the "speed/position changeover signal" is input.
9 MAIN POSITIONING CONTROL MELSEC-A V Movement amount set in" Da. 5 Positioning address/movement Da. 7 Command speed amount" (In INC mode) Address set in " Da.
9 MAIN POSITIONING CONTROL MELSEC-A Operation timing and processing time during speed/position changeover control (Common to INC mode and ABS mode) Positioning start signal [RY(n+1)0, RY(n+1)1] BUSY signal [RXn4, RXn5] t1 M code ON signal [RXnD, RXnE](WITH mode) t2 M code OFF request [RY(n+2)6, RY(n+4)6] Start complete signal [RXn1, RXn2] Standing by Axis operation status [RWrn+7, RWrn+15] In speed control In position control t3 Standing by t4 Output pulse to external source (PULSE) Speed control
9 MAIN POSITIONING CONTROL MELSEC-A Current feed value during speed/position changeover control (Common to INC mode and ABS mode) The following table shows the "Current feed value (RWrn + 0 to 1, RWrn + 8 to 9)" during speed/position changeover control corresponding to the " Pr.22 Current feed value during speed control" settings. " Pr.
9 MAIN POSITIONING CONTROL MELSEC-A Changing the position control movement amount (INC mode only) In "speed/position changeover control", the position control movement amount can be changed during the speed control section. (1) The position control movement amount can be changed during the speed control section of speed/position changeover control. A movement amount change request will be ignored unless issued during the speed control section of the speed/position changeover control.
9 MAIN POSITIONING CONTROL MELSEC-A Restrictions (1) If “continuous path control” is specified for “ Da.1 Operation pattern”, an error “continuous path control not possible” (error code: 516) occurs, resulting in a failure to start. (In the speed/position changeover control, “continuous path control” cannot be set.) (2) If “continuous path control” is specified for “ Da.
9 MAIN POSITIONING CONTROL MELSEC-A (8) When the positioning address is reached midway during deceleration if automatic deceleration is started at the input of the speed/position changeover signal, the machine will not stop immediately at the positioning address. The machine will stop at the positioning address after N revolutions to ensure that automatic deceleration can be made without fail.
9 MAIN POSITIONING CONTROL MELSEC-A Positioning data setting examples The following table shows setting examples when "speed/position changeover control (forward run: speed/position)" is set in positioning data No. 1 of axis 1. Setting item Da.1 Operation pattern Setting example Setting details Positioning complete Set "Positioning complete" assuming the next positioning data will not be executed. ("Continuous path control" cannot be set in speed/position changeover control.
9 MAIN POSITIONING CONTROL MELSEC-A 9.2.10 Current value change When the current value is changed to a new value, control is carried out in which the "Current feed value (RWrn + 0 to 1, RWrn + 8 to 9)" of the stopped axis is changed to a random address set by the user. (The " Md.30 Machine feed value" is not changed when the current value is changed.) The two methods for changing the current value are shown below.
9 MAIN POSITIONING CONTROL MELSEC-A Positioning data setting examples The following table shows setting examples when "current value change" is set in positioning data No. 1 of axis 1. Setting item Setting example 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 current value change.) Positioning data No. 1 Da.
9 MAIN POSITIONING CONTROL MELSEC-A (2) Current value change using the start No. (No. 9003) for a current value change Operation chart The current value is changed by setting the new current value "Current value change (RWwm+2 to 3, RWwm+10 to 11)", setting "9003" in the " Cd.11 Positioning start No.", and turning ON the positioning start signal.
9 MAIN POSITIONING CONTROL MELSEC-A Setting method for the current value change 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 " Current feed value (RWrn + 0 to 1, RWrn + 8 to 9)" 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).
9 MAIN POSITIONING CONTROL MELSEC-A 9.2.11 JUMP command The JUMP command 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 commands include the following two types of JUMP.
9 MAIN POSITIONING CONTROL MELSEC-A (3) Positioning control such as loops cannot be executed by JUMP commands alone until the conditions have been established. To the JUMP instruction destination, specify the positioning data whose control method is other than the JUMP instruction. Positioning data setting example The following table shows setting examples when "JUMP command" is set in positioning data No. 1 of axis 1. Setting item Da.1 Operation pattern Positioning data No. 1 Da.
9 MAIN POSITIONING CONTROL MELSEC-A MEMO 9 - 62
Chapter 10 1 2 3 4 ADVANCED POSITIONING CONTROL 5 The details and usage of advanced positioning control (control functions using the "start block data") are explained in this chapter. Advanced positioning control is used to carry out applied control using the "positioning data". Examples of advanced control are using conditional judgment to control "positioning data" set with the main positioning control, or simultaneously starting "positioning data" for several different axes.
10 ADVANCED POSITIONING CONTROL MELSEC-A 10.1 Outline of advanced positioning control In "advanced 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 "start block data" and "condition data".) The following applied positioning controls can be carried out with "advanced positioning control".
10 ADVANCED POSITIONING CONTROL MELSEC-A 10.1.1 Data required for advanced positioning control "Advanced positioning control" is executed by setting the required items in the "start block data" and "condition data", then starting that "start block data". Judgment about whether execution is possible, etc., is carried out at execution using the "condition data" designated in the "start block data". "Start block data" can be set for each No. from 7000 to 7010 (called "block Nos.
10 ADVANCED POSITIONING CONTROL MELSEC-A 10.1.2 "Start block data" and "condition data" configuration The "start block data" and "condition data" corresponding to "block No. 7000" can be stored in the buffer memory. (The following drawing shows an example for axis 1.
10 ADVANCED POSITIONING CONTROL MELSEC-A Set in D75P2 the "start block data" and "condition data" corresponding to the following "block Nos. 7001 to 7010" using the AD75 software package. (The following drawing shows an example for axis 1.
10 ADVANCED POSITIONING CONTROL MELSEC-A 10.2 Advanced positioning control execution procedure Advanced positioning control is carried out using the following procedure. Preparation STEP 1 Refer to Chapter 9 STEP 2 Refer to Section 10.3 STEP 3 Refer to Section 10.4 STEP 4 Refer to Section 10.5 Carry out the "main positioning control" setting. Set the start block data corresponding to each control. ( Da. 10 to Da. 13 ) × required data amount.
10 ADVANCED POSITIONING CONTROL MELSEC-A 10.3 Setting the start block data 10.3.1 Relation between various controls and start block data The "start block data" must be set to carry out "advanced positioning control". The setting requirements and details of each "start block data" item to be set differ according to the " Da.12 Special start command" setting. The following shows the "start block data" setting items corresponding to various control methods.
10 ADVANCED POSITIONING CONTROL MELSEC-A 10.3.2 Block start (normal start) In a "block start (normal start)", the positioning data groups of a block are continuously executed in a set sequence starting from the positioning data set in " Da.11 Start data No." by one start. Section [2] shows a control example where the "start block data" and "positioning data" are set as shown in section [1].
10 ADVANCED POSITIONING CONTROL (2) MELSEC-A Control examples The following shows the control executed when the "start block 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.
10 ADVANCED POSITIONING CONTROL MELSEC-A 10.3.3 Condition start In a "condition start", the "condition data" conditional judgment designated in " Da.13 Parameter" is carried out for the positioning data set in " Da.11 Start data No.". If the conditions have been established, the "start block data" set in "1: condition start" is executed. If the conditions have not been established, that "start block data" will be ignored, and the "start block data" of the next point will be executed.
10 ADVANCED POSITIONING CONTROL MELSEC-A 10.3.4 Wait start In a "wait start", the "condition data" conditional judgment designated in " Da.13 Parameter" is carried out for the positioning data set in " Da.11 Start data No.". If the conditions have been established, the "start block data" is executed. If the conditions have not been established, the control stops (waits) until the conditions are established.
10 ADVANCED POSITIONING CONTROL MELSEC-A 10.3.5 Simultaneous start In a "simultaneous start", the positioning data*1 set in the " Da.11 Start data No." and positioning data of other axes set in the "condition data" are simultaneously executed (Outputs pulses at the same timing). (The "condition data" is designated with " Da.13 Parameter".) Section (2) shows a control example where the "start block data" and "positioning data" are set as shown in section (1).
10 ADVANCED POSITIONING CONTROL MELSEC-A "Error". <4> After the execution of the axis 1 "positioning data No. 50" is completed, stop the control. 10.3.6 Stop In a "stop", the control is stopped with the "start block data" set in "4: stop". The control after the point in which the "stop" is set can be restarted by issuing a "Restart command (RY(n+2)5, RY(n+4)5)". Section (2) shows a control example where the "start block data" and "positioning data" are set as shown in section (1).
10 ADVANCED POSITIONING CONTROL MELSEC-A 10.3.7 Repeated start (FOR loop) In a "repeated start (FOR loop)", the data between the "start block data" in which "5: FOR loop" is set in " Da.12 Special start command" and the "start block data" in which "7: NEXT start" is set in " Da.12 Special start command" is repeatedly executed for the No. of times set in " Da.13 Parameter". An endless loop will result if the No.
10 ADVANCED POSITIONING CONTROL MELSEC-A 10.3.8 Repeated start (FOR condition) In a "repeated start (FOR condition)", the data between the "start block data" in which "6: FOR condition" is set in " Da.12 Special start command" and the "start block data" in which "7: NEXT start" is set in " Da.12 Special start command" is repeatedly executed until the establishment of the conditions set in the "condition data".
10 ADVANCED POSITIONING CONTROL MELSEC-A 10.3.9 Restrictions when using the NEXT start The "NEXT start" is a command indicating the end of the repetitions when executing section "10.3.7 Repeated start (FOR loop)" and section "10.3.8 Repeated start (FOR condition)". The following shows the restrictions when setting "7: NEXT start" in the "start block data". (1) The processing when "7: NEXT start" is set before execution of "5: FOR loop" or "6: FOR condition" is the same as that for a "0: normal start".
10 ADVANCED POSITIONING CONTROL MELSEC-A 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 "9.2.11 JUMP command" (main positioning control) (2) When setting conditions during execution of "advanced positioning control" The "condition data" to be set includes the 5 setting items from Da.14 to Da.
10 ADVANCED POSITIONING CONTROL MELSEC-A The setting requirements and details of the following "condition data" Da.15 to Da.18 setting items differ according to the " Da.14 Condition target" setting. The following shows the Da.15 to Da.18 setting items corresponding to the " Da.14 Condition target". Other setting item Da.15 Condition operator Da.
10 ADVANCED POSITIONING CONTROL MELSEC-A 10.4.2 Condition data setting examples The following shows setting examples for "condition data". (1) Setting the device ON/OFF as a condition [Condition] Device "RXn0" (=D75P2 READY) is ON (2) Da.14 Condition target Da.15 Condition operator Da.16 Address Da.17 Parameter 1 Da.
10 ADVANCED POSITIONING CONTROL MELSEC-A 10.5 Starting advanced positioning control 10.5.1 Starting advanced positioning control To execute advanced positioning control, a sequence program must be created to start the control in the same manner as for main positioning control. The following shows the procedure for starting the "1st point start block data" (regarded as block No. 7000) set in axis 1.
10 ADVANCED POSITIONING CONTROL MELSEC-A 10.5.2 Example of a start program for advanced positioning control The following shows an example of a start program for advanced positioning control in which the 1st point "start block 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 advanced positioning control. Setting item Positioning start No. Cd.31 Positioning starting point No.
10 ADVANCED POSITIONING CONTROL MELSEC-A Start time chart The following chart shows a time chart in which the positioning data 1, 2, 10, 11, and 12 of axis 1 are continuously executed as an example. (a) Start block data setting example Da.11 Start data No. Da.12 Special start command Da.13 Parameter Axis 1 start block data Da.10 Shape 1st point 1: Continue 1 0: Normal start – 2nd point 0: End 10 0: Normal start – (b) Positioning data setting example Axis 1 positioning data No. Da.
Chapter 11 1 2 3 4 MANUAL CONTROL 5 The details and usage of manual control are explained in this chapter. In manual control, pulse output commands are issued during a JOG operation executed by the turning ON of the JOG START signal, or from a manual pulse generator connected to the D75P2. Manual control using a sequence program from the PLC CPU is explained in this chapter.
11 MANUAL CONTROL MELSEC-A 11.1 Outline of manual control 11.1.1 Two 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 source. The two 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 (pulses are continuously transmitted while the JOG START signal is ON).
11 MANUAL CONTROL MELSEC-A Manual control auxiliary functions Refer to section "3.3.4 Combination of D75P2 main functions and auxiliary functions" for details on "auxiliary functions" that can be combined with manual control. Also refer to "Chapter 12 CONTROL AUXILIARY FUNCTIONS" for details on each auxiliary function.
11 MANUAL CONTROL MELSEC-A 11.2 JOG operation 11.2.1 Outline of JOG operation Important Use the hardware stroke limit function when carrying out JOG operation near the upper or lower limits. (Refer to section 12.4.4). * If the hardware stroke limit function is not used, the workpiece may exceed the operating range, causing an accident.
11 MANUAL CONTROL MELSEC-A Precautions during operation The following details must be understood before carrying out JOG operation. (1) For safety, first set "JOG speed (RWwm+6 to 7, RWwm+14 to 15)" to a smaller value and check the movement. Then gradually increase the value. (2) If "JOG speed (RWwm+6 to 7, RWwm+14 to 15)" exceeds the speed set in " Pr.32 JOG speed limit value", the workpiece will move at the " Pr.
11 MANUAL CONTROL MELSEC-A JOG operation timing and processing time The following drawing shows details of the JOG operation timing and processing time.
11 MANUAL CONTROL MELSEC-A 11.2.2 JOG operation execution procedure The JOG operation is carried out by the following procedure. STEP 1 Set the parameters ) Preparation Refer to Chapter 5 and section 11.2.3. STEP 2 Pr.1 to Pr.43 ) Set the "JOG speed (RWwm+6 to 7, RWwm+14 to 15)". Refer to section 11.2.4. * Directly set (write) the parameters in the D75P2 using the AD75 software package. * Set the JOG speed and create a sequence program for executing the JOG operation.
11 MANUAL CONTROL MELSEC-A 11.2.3 Setting the required parameters for JOG operation The "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. When only JOG operation will be carried out, no parameters other than those shown below need to be set. (Use the initial values or setting values within a range where no error occurs for trouble-free operation.) Parameters Setting item Setting requirement Pr.
11 MANUAL CONTROL MELSEC-A Parameters Setting item Setting requirement Factory-set initial value (setting details) Pr.26 Acceleration time 1 (Unit: ms) 1000 Pr.27 Acceleration time 2 (Unit: ms) 1000 Pr.28 Acceleration time 3 (Unit: ms) 1000 Pr.29 Deceleration time 1 (Unit: ms) 1000 Pr.30 Deceleration time 2 (Unit: ms) 1000 Pr.31 Deceleration time 3 (Unit: ms) 1000 Pr.32 JOG speed limit value 2000 Pr.33 JOG operation acceleration time selection 0 (acceleration time 0) Pr.
11 MANUAL CONTROL MELSEC-A 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", "start time chart", and "device settings" when creating the program. The following shows an example when a JOG operation is started for axis 1. ("JOG speed (RWwm+6 to 7, RWwm+14 to 15)" is set to "20000.00mm/min" in the example shown.
11 MANUAL CONTROL MELSEC-A Start time chart Forward JOG run t Reverse JOG run ON Forward run JOG start signal [RY(n+1)6)] OFF Reverse run JOG start signal [RY(n+1)7] OFF Remote station READY signal [RX(n+7)B] OFF ON D75P2 READY signal [RXn0] BUSY signal [RXn4] Error detection signal [RXnA] ON ON OFF ON OFF OFF Fig. 11.
11 MANUAL CONTROL MELSEC-A 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. JOG start signals will be ignored while the stop signal is ON. The operation can be started by turning the stop signal OFF, and turning the JOG start signal from OFF to ON again. A JOG start signal OFF ON while the stop signal is ON will be ignored.
11 MANUAL CONTROL MELSEC-A 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 D75P2 BUSY signal is turned OFF.
11 MANUAL CONTROL MELSEC-A When the "JOG start signal" is turned ON again during deceleration caused by the ON OFF of the "JOG start signal" When the "JOG start signal" is turned ON again during deceleration caused by the ON OFF of the "JOG start signal", the JOG operation will be carried out from the time the "JOG start signal" is turned ON. Forward JOG operation t ON Forward JOG start signal OFF [RY(n+1)6, RY(n+1)8] BUSY signal [RXn4, RXn6] OFF ON Fig. 11.
11 MANUAL CONTROL MELSEC-A When the "JOG start signal" is turned ON immediately after the stop signal OFF (within 56.8ms) When the "JOG start signal" is turned ON immediately after the stop signal OFF (within 56.8ms), it will be ignored and the JOG operation will not be carried out. Forward run JOG operation ON OFF Forward run JOG start signal [RY(n+1)6, RY(n+1)8] ON Axis stop signal OFF [RY(n+1)3, RY(n+1)4] 56.8ms A JOG start signal OFF ON while the stop signal is ON will be ignored. Fig. 11.
11 MANUAL CONTROL MELSEC-A 11.3 Manual pulse generator operation 11.3.1 Outline of manual pulse generator operation Important Create the sequence program so that "Manual pulse generator enable flag (RY(n+2)9, RY(n+4)9)" is always set to "0" (disabled) when a manual pulse generator operation is not carried out. * Mistakenly touching the manual pulse generator when the manual pulse generator enable flag is set to "1" (enable) can cause accidents or incorrect positioning.
11 MANUAL CONTROL MELSEC-A 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 generation operation is not limited by the " Pr.7 Speed limit value".
11 MANUAL CONTROL MELSEC-A Manual pulse generator operation timing and processing time The following drawing shows details of the manual pulse generator operation timing and processing time. Manual pulse generator enable flag [RY(n+2)9, RY(n+4)9] Manual pulse generator input pulses BUSY signal t3 t4 t1 [RXn4, RXn5] Positioning start complete signal [RXn1, RXn2] The start complete signal does not turn ON in manual pulse generator operation.
11 MANUAL CONTROL MELSEC-A 11.3.2 Manual pulse generator operation execution procedure The manual pulse generator operation is carried out by the following procedure. STEP 1 Set the parameters ) Preparation Refer to Chapter 5 and section 11.3.3. Pr.1 to Pr.24 ) Set " Cd. 23 Manual pulse generator 1 pulse input Refer to section 11.3.4. magnification." (control data setting) Create a sequence program in which the enable/disable is set for the manual pulse generator operation.
11 MANUAL CONTROL MELSEC-A 11.3.3 Setting the required parameters for manual pulse generator operation The "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. When only manual pulse generator operation will be carried out, no parameters other than those shown below need to be set.
11 MANUAL CONTROL MELSEC-A 11.3.4 Starting 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", "start time chart", and "device settings" when creating the program. The following shows an example when a manual pulse generator operation is started for axis 1. Required control data setting The control data shown below must be set to execute a manual pulse generator operation.
11 MANUAL CONTROL MELSEC-A Start time chart Forward run t Reverse run Pulse input A phase Pulse input B phase ON OFF Remoto station READY signal [RX(n+7)B] ON D75P2 READY signal [RXn0] Start complete signal [RXn1] OFF BUSY signal [RXn4] OFF Error detection signal [RXnA] OFF OFF ON ON Manual pulse generator enable flag [RY(n+2)9, RY(n+4)9] OFF Cd. 23 Manual pulse generator 1 1 pulse input magnification Fig. 11.
Chapter 12 1 2 3 CONTROL AUXILIARY FUNCTIONS 4 The details and usage of the "auxiliary functions" added and used in combination with the main functions are explained in this chapter. 5 A variety of auxiliary functions are available, including functions specifically for machine zero point returns and generally related functions such as control compensation, etc. More appropriate, finer control can be carried out by using these auxiliary functions.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.1 Outline of auxiliary functions "Auxiliary functions" are functions that compensate, limit, add functions, etc., to the control when the main functions are executed. These auxiliary functions are executed by parameter settings, commands from the AD75 software package, auxiliary function sequence programs, etc. 12.1.1 Outline of auxiliary functions The following table shows the types of auxiliary functions available.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Auxiliary function Absolute position restoration function Details *2 This function restores the absolute position of the specified axis. 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".
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.2 Auxiliary functions specifically for machine zero point returns The auxiliary functions specifically for machine zero point returns include the "zero point retry function" and "zero point shift function". Each function is executed by parameter setting. 12.2.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (b) Zero point return retry operation when the workpiece is outside the range between the upper and lower limits. 1) When the direction from the workpiece to the zero point is the same as the " Pr.46 Zero point return direction", a normal machine zero point return is carried out. Machine zero point return start Zero point Pr.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (c) Setting the dwell time for a zero point return retry With the zero point return retry function, the dwell time can be set for reverse run operation started at detection of the upper/lower limit signal and for a machine zero point return executed after a stop by near-point dog OFF when a zero point return retry is made. " Pr.58 Dwell time during zero point return retry" is made valid when the operation stops in position "A" of the following figure.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precaution during control (a) The following table shows whether the zero point return retry function may be executed by the " Pr.45 Zero point return method". Pr.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.2.2 Zero point shift function When a machine zero point return is carried out, the zero point is normally established using the near-point dog, stopper, and zero point signal. However, by using the zero point shift function, the machine can be moved a designated movement amount from the position where the zero point signal was detected. A mechanically established zero point can then be interpreted at that point.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Setting range for the zero point shift amount Set the zero point shift amount within the range from the detected zero point signal to the upper/lower limit switches. Setting range of the negative zero point shift amount Setting range of the positive zero point shift amount Address decrease direction Address increase direction Near-point dog Upper limit Lower limit Pr. 46 Zero point return direction Zero point signal Fig. 12.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (b) Zero point shift operation at the " Pr.49 Creep speed" (When " Pr.57 Speed designation during zero point shift" is 1) Pr. 46 Zero point return direction When the " Pr. 55 Zero point shift amount" is positive Pr. 49 Creep speed Zero point Zero point Machine zero point return start Near-point dog When the " Pr. 55 Zero point shift amount" is negative Zero point signal Fig. 12.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.3 Functions for compensating the control The auxiliary functions for compensating the control include the "backlash compensation function", "electronic gear function", and "near pass mode function". Each function is executed by parameter setting or sequence program creation and writing. 12.3.1 Backlash compensation function The "backlash compensation function" compensates the backlash amount in the mechanical system.
12 CONTROL AUXILIARY FUNCTIONS (2) MELSEC-A Precautions during control (a) The feed pulses of the backlash compensation amount are not added to the "Current feed value (RWrn+0 to 1, RWrn+8 to 9)" or " Md.30 Machine feed value". (b) Always carry out a machine zero point return before starting the control when using the backlash compensation function (when " Pr.12 Backlash compensation amount" is set).
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.3.2 Electronic gear function The "electronic gear function" adjusts the position and speed commands calculated and output according to the parameters set in the D75P2 with the actual machine movement amount. The "electronic gear function" has the following four functions.
12 CONTROL AUXILIARY FUNCTIONS (1) MELSEC-A Error compensation method When position control is carried out by the "movement amount per pulse" set in the D75P2 parameters, an error sometimes occurs between the command movement amount (L) and the actual movement amount (L'). That error is compensated in the D75P2 by adjusting the values in " Pr.2 No. of pulses per rotation (Ap)", " Pr.3 Movement amount per rotation (Al)", and " Pr.4 Unit magnification (Am)". (When " Pr.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Calculation example (Conditions) Movement amount per pulse No. of pulses per rotation Unit magnification (Positioning results) Command movement amount Actual movement amount : 500 (m/rev) : 12000 (pulse/rev) :1 : 100mm : 101mm (Compensation amount) AL' AP' = 5 103 12000 101 103 101 103 Movement amount per pulse No.
12 CONTROL AUXILIARY FUNCTIONS (2) MELSEC-A Relation between the movement amount per pulse and speed The following shows the relation of the "movement amount per pulse (A)" to the command speed and actual speed. The command speed is the speed commanded by each control, and the actual speed is the actual feedrate.
12 CONTROL AUXILIARY FUNCTIONS (3) MELSEC-A Precautions during control It is recommended that the "movement amount per pulse (A)" be set to a value close to "1" for the following reasons. “1” set in the “movement amount per pulse” indicates the minimum value of “ Pr.1 Unit setting.” (In case of [mm] unit: 0.1 [m]) "Movement amount per pulse" = "1" means the minimum value of " Pr.1 Unit setting". (0.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.3.3 Near pass mode function When carrying out continuous path control using interpolation control, either the "positioning address pass mode" or the "near pass mode" can be selected by setting the " Pr.44 Near pass mode selection for path control". The "near pass mode" can be selected as the "near pass mode function" to suppress the mechanical vibration occurring during speed changes when carrying out continuous path control using interpolation control.
12 CONTROL AUXILIARY FUNCTIONS (1) MELSEC-A Control details The following drawing shows the paths of the "positioning address pass mode" and "near pass mode". [Positioning address pass mode path] Da. 5 Positioning address [Near pass mode path] Da. 5 Positioning address Path of positioning data No. 4 Path of positioning data No.3 Path of positioning data No.3 Speed dropping does not occur Speed dropping occurs V Path of positioning data No.4 V t t Positioning data No. 3 Positioning data No.
12 CONTROL AUXILIARY FUNCTIONS (2) MELSEC-A Precautions during control (a) If the movement amount designated by the positioning data is small when the continuous path control is executed in the near pass mode, the output speed may not reach the designated speed. (b) If continuous path control is carried out in the near pass mode, the output will suddenly reverse when the reference axis movement direction changes from the positioning data No. currently being executed to the next positioning data No.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (c) When continuous path control of a circular interpolation is being carried out in the near pass mode, an address in which the extra movement amount is subtracted from the positioning address of the positioning data currently being executed is replaced by the starting point address of the next positioning data No. Because of this, circular interpolation control cannot be carried out using the increment system.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.4 Functions to limit the control Functions to limit the control include the "speed limit function", "torque limit function", "software stroke limit", and "hardware stroke limit". Each function is executed by parameter setting or sequence program creation and writing. 12.4.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precautions during control During interpolation control, speed limiting is carried out at the reference axis side setting value. (The speed limit will not function on the interpolation side.) (3) Setting the speed limit function To use the "speed limit function", set the "speed limit value" in the parameters shown in the following table, and write them to the D75P2. The set details are validated after they are written to the D75P2.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.4.2 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.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Control details The following drawing shows the operation of the torque limit function. Various operations Remote station READY signal [RX(n+7)B] Pr.18 Torque limit setting value Cd.30 New torque value 50% 100% 0% 0% Torque limited at the parameter torque limit setting value (100%) Md.45 Torque limit stored value 100% Torque limited at the parameter torque limit setting value (50%) 50% Fig. 12.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (4) Setting the torque limit function (a) To use the "torque limit function", set the "torque limit value" in the parameters shown in the following table, and write them to the D75P2. The set details are validated at the rising edge (OFF ON) of the remote station READY signal [RX(n+7)B]. Setting value Setting item Factory-set initial value Setting details Pr.18 Torque limit setting value Set the torque limit value as a percentage. 300 Pr.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.4.3 Software stroke limit function In the "software stroke limit function" the address established by a machine zero point return 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 D75P2, the "current feed value" and "machine feed value" are used as the addresses indicating the current position.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A The following drawing shows the differences in the operation when "Current feed value (RWrn+0 to 1, RWrn+8 to 9)" and " Md.30 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 2000 2000 Current feed value (RWrn+0 to 1, RWrn+8 to 9) Md.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Software stroke limit check details Processing when an error occurs Check details An error shall occur if the current value*1 is outside the software 2 1) stroke limit range* . (Check "Current feed value (RWrn+0 to 1, RWrn+8 to 9)" or An "axis error" will " Md.30 Machine feed value".) occur, and the operation will not start. An error shall occur if the command address is outside the 2) software stroke limit range. (Check " Da.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (4) Precautions during software stroke limit check (a) A machine zero point return must be executed beforehand for the "software stroke limit function" to function properly. (b) During interpolation control, a stroke limit check is carried out for the current values of both the reference axis and the interpolation axis. Neither axis will start if an error occurs, even if it only occurs in one axis. (c) During circular interpolation control, the " Pr.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (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 D75P2. The set details are validated at the rising edge (OFF ON) of the remote station READY signal [RX(n+7)B]. Setting value Setting item Factory-set initial value Setting details Pr.13 Software stroke limit upper limit value Set the upper limit value of the moveable range.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (7) Setting when the control unit is "degree" Current value address The "Current feed value (RWrn+0 to 1, RWrn+8 to 9)" address is ring addresses between 0 and 359.99999° . 359.99999° 359.99999° 0° 0° 0° Fig. 12.17 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° .
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.4.4 Hardware stroke limit function 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. Damage to the machine can be prevented by stopping the control before the upper/lower limit of the physical moveable range is reached.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Wiring the hardware stroke limit When using the hardware stroke limit function, wire the terminals of the D75P2 upper/lower limit stroke limit as shown in the following drawing. Note) Connect the upper and lower limit switches to the directions of increasing and decreasing current feed values respectively. When these switches are connected in wrong directions, the hardware stroke limit function does not operate properly and the motor does not stop. For " Pr.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.5 Functions to change the control details Functions to change the control details include the "speed change function", "override function", "acceleration/deceleration time change function" and "torque change function". Each function is executed by parameter setting or sequence program creation and writing. Both the "speed change function" or "override function" change the speed, but the differences between the functions are shown below.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (1) Control details The following drawing shows the operation during a speed change. Speed changes to V2. Speed changes to V3. V1 Operation during positioning by V1. V2 V V3 t In speed change processing flag (RX(n+1)1, RX(n+4)1) Fig. 12.22 Speed change operation (2) Precautions during control (a) For the speed change during the continuous path control, the following control is performed.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (c) When the speed is changed by setting "New speed value (RWwm+4 to 5, RWwm+12 to 13)" to "0", the operation is carried out as follows. A deceleration stop is carried out, and the speed change 0 flag (RX(n+2)2, RX(n+5)2) turns ON. (During interpolation control, the speed change 0 flag on the reference axis side turns ON.) The axis stops, but "Axis operation status (RWrn+7, RWrn+15)" does not change, and the BUSY signal remains ON.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (3) Setting the speed change function from the PLC CPU The following shows the data settings and sequence program example for changing the control speed of axis 1 from the PLC CPU. (In this example, the control speed is changed to "10000.00mm/min".) (a) Set the following data. (Use the start time chart shown in section (2) below as a reference, and set using the sequence program shown in section (3).
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (4) Setting the speed change function using an external start signal The speed can also be changed using an "external start signal". The following shows the data settings for changing the control speed of axis 1 using an "external start signal". (In this example, the control speed is changed to "20.00mm/min".) (a) Set the following data to change the speed using an external start signal.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.5.2 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 "Positioning operation speed override (RWwm+1, RWwm+9)". For a machine zero point return, however, override cannot be performed after start of deceleration to the creep speed following the detection of Near-point dog ON.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precaution during control (a) When changing the speed during continuous path control, the speed change will be ignored if there is not enough distance remaining to carry out the change. (b) A warning "deceleration and stop speed change" (warning code: 500) occurs and the speed cannot be changed in the following cases. (The value set to "Positioning operation speed override (RWwm+1, RWwm+9)" is made valid after a deceleration stop.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.5.3 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 indicated in section "12.5.1 Speed change function". In a normal speed change (when the acceleration/deceleration time is not changed), the acceleration/deceleration time previously set in the parameters ( Pr.8 , Pr.9 , and Pr.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precautions during control (a) When "0" is set in " Cd.33 New acceleration time value" and " Cd.34 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. (b) The "new acceleration/deceleration time" is valid during execution of the positioning data for which the speed was changed.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (d) 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". (e) During JOG operation, the acceleration/deceleration time change function does not function.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.5.4 Torque change function The "torque change function" is used to change the torque limit value during torque limiting. The torque limit value during torque limiting is normally the value set in the " Pr.18 Torque limit setting value" that was previously set in the parameters. However, by setting the new torque limit value in the positioning data " Cd.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precautions during control (a) If a value besides "0" is set in the " Cd.30 New torque value", the torque generated by the servomotor will be limited by that value. To limit the torque with the value set in " Pr.18 Torque limit setting value", set the " Cd.30 New torque value" to "0". (b) The " Cd.30 New torque value" is validated when written to the D75P2.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.6 Absolute position restoration function CAUTION When absolute position restoration is performed, the servo ON signal may turn OFF (the servo may switch off) for about 20ms, starting the motor. If any inconvenience may be caused by the start of the motor when the servo ON signal turns OFF, provide an electromagnetic brake separately to lock the motor with the electromagnetic brake during absolute position restoration.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Preparation Note the details in the following table for preparation of the absolute position detection system. System component Details 1) Servo amplifier Fit the battery (MR-BAT, A6BAT) to the servo amplifier. (MR-H-A, MR-J2-A, MR-J2S-A) Make the servo amplifier side absolute position detection function valid. For other details, refer to the servo amplifier side instruction manual.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A [3] Absolute position signal transfer procedure (1) The outline of the absolute position signal transfer procedure between the servo amplifier and D75P2 is shown in Fig. 12.33. For details of communication between the servo amplifier and PLC system, refer to the servo amplifier side instruction manual. (2) About errors during communication (a) A time-out that occurs during communication results in error "ABS transfer time-out" (error code: 213).
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Condition 1: Number of output pulses (a) This is the number of pulses that can be output to the servo amplifier when positioning is performed from the zero point in the absolute position detection system. In the absolute position detection system, pulses within the range of the following expression can be output to the servo amplifier.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Example 1 (1) The conditions for calculation of the positioning address are indicated below. Movement amount per pulse: 0.1 ( m) Zero point address: 0.0 ( m) Number of feedback pulses: 8192 (pulse) (2) Calculate the upper and lower limit values of the positioning address that can be specified from the range of using the number of output pulses in Condition 1 and the expression of calculating the positioning address (Expression 1).
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Example 3 (1) The conditions for calculation of the positioning address are indicated below. Movement amount per pulse: 0.9 ( m) Zero point address: 0.0 ( m) Number of feedback pulses: 8192 (pulse) (2) Calculate the positioning address from the range of using the number of output pulses in Condition 1 and the expression of calculating the positioning address (Expression 1).
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7 Other functions Other functions include the "step function", "skip function", "M code output function", "teaching function", "command in-position function", "stepping motor mode function", "acceleration/deceleration processing function" and "indirectly specification function". Each function is executed by parameter setting or sequence program creation and writing. 12.7.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (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.27 Step mode".) The following shows the two types of "step mode" functions. (a) 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.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (4) Using the step operation The following shows the procedure for checking positioning data using the step operation. (a) Turn ON the step valid flag before starting the positioning data. (Write "1" (carry out step operation) in " Cd.26 Step valid flag".) (b) Set the step mode before starting the positioning data. (Set in " Cd.27 Step mode".) (c) Turn ON the positioning start signal, and check that the positioning control starts normally.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (5) Control details (a) The following drawing shows a step operation during a "deceleration unit step". ON Cd. 26 Step valid flag OFF ON Positioning start signal OFF [RY(n+1)0, RY(n+1)1] BUSY signal [RXn4, RXn5] ON OFF Positioning complete signal OFF [RXn7, RXn8] V Positioning t Positioning data No. Da. 1 Operation pattern No.10 No.11 11 01 No positioning data No.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (6) Precautions during control (a) When step operation is carried out using interpolation control positioning data, the step function settings are carried out for the reference axis. (b) When the step valid flag is ON, the step operation will start from the beginning if the positioning start signal is turned ON while "Axis operation status (RWrn+7, RWrn+15)" is "step standing by", "step stopped", or "step error occurring".
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7.2 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.29 Skip command) or external start signal. The "skip function" can be used during control in which positioning data is used. The details shown below explain about the "skip function".
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (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. (a) Set the following data. (The setting is carried out using the sequence program shown below in section (2)). Setting value Setting item Cd.29 Skip command 1 Setting details Set "1: Skip request". Buffer memory address Axis 1 Axis 2 1175 1225 * Refer to section "5.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7.3 M code output function The "M code output function" is used to command auxiliary work (clamping, drill rotation, tool replacement, etc.) related to the positioning data being executed. When the M code ON signal [RXnD, RXnE] is turned ON during positioning execution, a No. called the M code is stored in "Valid M code (RWrn+4, RWrn+12)". These "Valid M code (RWrn+4, RWrn+12)" are read, and used to command auxiliary work.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (b) AFTER mode The M code ON signal [RXnD, RXnE] is turned ON at the positioning completion, and the M code is stored in "Valid M code (RWrn+4, RWrn+12)". Positioning start signal [RY(n+1)0, RY(n+1)1] OFF ON ON BUSY signal [RXn4, RXn5] OFF ON M code ON signal [RXnD, RXnE] OFF ON M code OFF request OFF [RY(n+2)6, RY(n+4)6] m2* m1* Valid M code [RWrn+4, RWrn+12] V Positioning t Da. 1 Operation pattern 01 00 * m1 and m2 indicate set M codes. Fig. 12.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A Positioning start signal OFF [RY(n+1)0, RY(n+1)1] BUSY signal ON ON [RXn4, RXn5] OFF ON M code ON signal [RXnD, RXnE] OFF ON M code OFF request OFF [RY(n+2)6, RY(n+4)6] Valid M code [RWrn+4, RWrn+12] m2 m1 * * m3 * V Positioning t Da. 1 Operation pattern 11 * : m1 and m3 indicate set M codes. 11 00 Warning occurs at this timing. Fig. 12.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (4) Setting the M code output function The following shows the settings to use the "M code output function". (a) Set the M code No. in the positioning data " Da.9 M code". (b) Set the timing to output the M code ON signal [RXnD, RXnE]. Set the required value in the following parameter, and write it to the D75P2. The set details are validated at the rising edge (OFF ON) of the remote station READY signal [RX(n+7)B]. Setting value Setting item Pr.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7.4 Teaching function POINT It is recommended to use the AD75 software package to execute this function. The "teaching function" is used to set addresses aligned using the manual control (JOG operation, manual pulse generator operation) in the positioning data addresses ( Da.5 Positioning address/movement amount, Da.6 Arc address). The details shown below explain about the "teaching function".
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precautions during control (a) Before teaching, a "machine zero point return" must be carried out to establish the zero point. (When a current value change function, etc., is carried out, "Current feed value (RWrn+0 to 1, RWrn+8 to 9)" may not show absolute addresses having the zero point as a reference.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (4) Teaching procedure The following shows the procedure for a teaching operation. (a) When teaching to the " Da.5 Positioning address/movement amount" Start Carry out a machine zero point return. Move the workpiece to the target position using a manual operation. Set the target axis. Set the positioning data No. for which the teaching will be carried out. Select "Set the current feed value to " Da.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (b) When teaching to the " Da.6 Arc address", then teaching to the " Da.5 Positioning address/movement amount" Start Carry out a machine zero point return. Move the workpiece to the circular interpolation auxiliary point using a manual operation. Set the target axis. Set the positioning data No. for which the teaching will be carried out. Select "Set the current feed value to the arc auxiliary point ( Da. 6 Arc address)" in the write pattern.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A I II Confirm the completion of the writing. NO • • • • • • • • Confirm that the buffer memory address [1106] has become 0. End teaching? YES Turn OFF the remote station READY signal. [RX(n+7)B] • • • • • • • • Set 1 in the buffer memory address [1138]. Carry out a writing request to the flash ROM. • • • • • • • • Confirm that the buffer memory address [1138] has become 0. Confirm the completion of the writing.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7.5 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 turns ON the signal. This signal is called the "command in-position signal". The command in-position signal is used as a front-loading signal indicating beforehand the completion of the position control. The details shown below explain about the "command in-position function".
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Precautions during control (a) The range check of the command in-position is not performed during speed control and that of speed/position changeover control.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (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 D75P2. The set details are validated at the rising edge (OFF ON) of the remote station READY signal [RX(n+7)B]. Setting value Setting item Pr.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7.6 Stepping motor mode function The "stepping motor mode function" is used to carry out the settings when controlling a stepping motor with the D75P2. By setting the "stepping motor mode function", "step out prevention during acceleration/deceleration", "reduction of mechanical vibration due to decreases in frequency fluctuations", etc., will be carried out, and control of the stepping motor with the D75P2 will be enabled.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (e) Restrictions during continuous path control Continuous path control can only be used in the control of 1 axis at a time. Continuous path control cannot be used in 2-axis interpolation control. Positioning deviation may occur if continuous path control is used in 2axis interpolation control. Continuous path control can only be used in control in the same direction.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) Setting the stepping motor mode function To use the "stepping motor mode function", set the required values in the parameters shown in the following table, and write them to the D75P2. The set details are validated at the rising edge (OFF ON) of the remote station READY signal [RX(n+7)B]. Setting value Setting item Pr.10 Bias speed at start Pr.11 Stepping motor mode selection 1 Setting details Set the minimum speed during start.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7.7 Acceleration/deceleration processing function The "acceleration/deceleration processing function" adjusts the acceleration/deceleration when each control is executed. Adjusting the acceleration/deceleration processing to match the control enables more precise control to be carried out.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) "Acceleration/deceleration time 0 to 3" control details and setting In the D75P2, four types each of acceleration time and deceleration time can be set. By using separate acceleration/deceleration times, control can be carried out with different acceleration/deceleration times for positioning control, JOG operation, zero point returns, etc.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (b) S-curve acceleration/deceleration processing method In this method, the motor burden is reduced during starting and stopping. This is a method in which acceleration/deceleration is carried out gradually, based on the acceleration time, deceleration time, speed limit value, and " Pr.36 S-curve ratio" (1 to 100%) set by the user. Velocity Time Fig. 12.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A 12.7.8 Indirectly specification function The "indirectly specification function" specifies indirectly and starts the positioning data No. The "indirectly specification function" is executed by setting the positioning data No. 1 to 600 desired to be started to the "indirectly specification data area" and starting that "indirectly specification data". The "indirectly specification data" can be set on an "indirectly specification No.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (2) "Indirectly specification data" configuration The following D75P2 buffer memory can store the "indirectly specification data (positioning data No. 1 to 600)" corresponding to the "indirectly specification No. (8001 to 8050)" on an axis basis. Indirectly speccification No.8050 Buffer memory address Axis 1 indirectly specification data Setting item Indirectly speccification No.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (3) Control details and setting The following shows the control details and setting when the indirectly specification data set to the indirectly specification No. 8001 of axis 1 is started.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (a) Data that requires setting The following data must be set to execute the indirectly specification function. Setting item Setting value Setting details 8001 Set "8001" that indicates the control using the "indirectly specification data". Positioning start No. Remote register Axis 1 Axis 2 RWwm RWwm+8 * For the setting details, refer to section "3.5 Remote registers". (b) Starting conditions The following conditions must be satisfied to make a start.
12 CONTROL AUXILIARY FUNCTIONS MELSEC-A (c) Start time chart The following time chart assumes that the positioning data No. 1, 2, 3, 4 and 5 of axis 1 are executed consecutively by "indirectly specification" as an example. 1) Indirectly specification data setting example Axis 1 indirectly specification No. Positioning data No. for indirectly specification No. 8001 for axis 1 8001 1 2) Positioning data setting example Da.1 Operation pattern Axis 1 positioning data No.
Chapter 13 1 2 3 4 COMMON FUNCTIONS 5 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 D75P2, such as parameter initialization and execution data backup. Read the setting and execution procedures for each common function thoroughly, and execute the appropriate function where required. 13.1 13.2 13.3 13.4 13.5 Outline of common functions .................................
13 COMMON FUNCTIONS MELSEC-A 13.1 Outline of common functions "Common functions" are executed according to the user's requirements, regardless of the control method, etc. Common functions include "parameter initialization", "execution data backup", "work status and error code display", etc. These common functions are executed by commands from the AD75 software package, common function sequence programs, mode switches on the front panel of the main unit, etc.
13 COMMON FUNCTIONS MELSEC-A 13.2 Parameter initialization function POINT It is recommended to use the AD75 software package to execute this function. "The parameter initialization function" is used to return the setting data set in the D75P2 flash ROM and OS memory to their factory-set initial values. This function is used when several parameter errors occur and the D75P2 will not start. In this case, resetting is carried out after the setting data are initialized.
13 COMMON FUNCTIONS (2) MELSEC-A Precautions during control (a) Parameter initialization is only executed when the remote station READY signal [RX(n+7)B] is OFF. (A warning "In remote station READY" (warning code: 111) will occur if executed when the remote station READY signal [RX(n+7)B] is ON.) (b) A "D75P2 reset" or "power restart" must be carried out after the parameters are initialized. (Parameter initialization is carried out for the D75P2 "flash ROM" and "OS memory".
13 COMMON FUNCTIONS MELSEC-A 13.3 Execution data backup function POINT It is recommended to use the AD75 software package to execute this function. When the D75P2 buffer memory data is rewritten from the PLC CPU, "the data backed up in the D75P2 flash ROM" may differ from "the data for which control is being executed". In cases like these, the data being executed will be lost when the PLC power is turned OFF. (Refer to Chapter 7.
13 COMMON FUNCTIONS (2) MELSEC-A Precautions during control (a) Data can only be written to the flash ROM when the remote station READY signal [RX(n+7)B] is OFF. (b) Writing to the flash ROM can be executed up to 100,000 times. (Writing to the flash ROM will become impossible after 100,000 times.) (c) During execution of a flash ROM write request, a transient transmission request such as the dedicated command (RIRD, RIWT) cannot be accepted.
13 COMMON FUNCTIONS MELSEC-A 13.4 LED display function The D75P2 status, control status of each axis, input/output signal status, etc., can be confirmed using the LED display on the front of the D75P2 main unit. Monitor the operation condition as required when the D75P2 is not operating normally, etc. (Constant monitoring is possible.) The details shown below explain about the "LED display function".
13 COMMON FUNCTIONS (2) MELSEC-A Display details Pressing the "Mode switch" changes the "mode" of the data displayed in the LED display area in the following order. Module status ................................................................... Refer to (1) Axis status ................................................................... Refer to (2) ...................................... The OS type is displayed. OS type (17-segment LED display: S003) ......................................
13 COMMON FUNCTIONS MELSEC-A (1) "Module status" display details "Module status" displays the operation status of the D75P2. 17-segment LED Axis indicator LED Details RUN Operating axis flickers. During axis operation TEST All axes turn on. During test mode IDL Off During standby ERR LED of axis in error flickers. During error occurrence (2) Axis status" display details "Axis status" displays the operation statuses of the axes.
13 COMMON FUNCTIONS MELSEC-A 13.5 Clock data function "The clock data function" utilizes the PLC CPU clock data in the D75P2. This clock data is used to monitor Md.7 to Md.12 , Md.13 to Md.18 , Md.19 to Md.23 , Md.24 to Md.28 history data. The clock data is controlled in 0.1 second units in the D75P2 to simplify the measurement of cycle time, etc. The details shown below explain about the "clock data setting function".
Chapter 14 1 2 3 4 TROUBLESHOOTING 5 The "errors" and "warnings" detected by the D75P2 are explained in this chapter. Errors and warnings can be confirmed with the D75P2 LED display and peripheral devices. When an "error" or "warning" is detected, confirm the detection details and carry out the required measures. 6 7 14.1 14.2 14.3 14.4 14.5 Troubleshooting when the "ERR" LED on the Master Module is Flashing ............ 14- 2 Error and warning details..................................................
14 TROUBLESHOOTING MELSEC-A 14.
14 TROUBLESHOOTING From the previous page MELSEC-A From the previous page Is the "L RUN" LED on? Y From the previous page N N Is the "SD" LED on (flashing)? Is the "SD" LED on (flashing)? N Y N Is the transmission speed setting correct? Y Y Malfunction of the corresponding module Set the transmission speed correctly. Reset the power supply/ press the reset switch. Is the communication cable wired correctly? 1 Y N Wire the communication cable correctly.
14 TROUBLESHOOTING MELSEC-A 14.2 Error and warning details (1) Errors Types of errors Errors detected by the D75P2 include parameter setting range errors and errors at the operation start or during operation. (1) Parameter setting range errors The parameters are checked at the rising edge (OFF ON) of the remote station READY signal [RX(n+7)B]. An error will occur if there is a mistake in the parameter setting details at that time.
14 TROUBLESHOOTING MELSEC-A Error storage When an error occurs, the error detection signal turns ON, and the error code corresponding to the error details is stored in the "Axis error No. (RWrn+5, RWrn+13)". Note that there is a delay of up to 56.8ms after the error detection signal turns ON until the error code is stored. Axis No. Error detection signal Remote register 1 RXnA RWrn+5 2 RXnB RWrn+13 A new error code is stored in the "Axis error No.
14 TROUBLESHOOTING MELSEC-A Warning storage (1) When an axis warning occurs, the warning code corresponding to the warning details is stored in the "Axis warning No. (RWrn+6, RWrn+14)" for axis warning No. storage. Axis No. Remote register 1 RWrn+6 2 RWrn+14 (2) When an axis warning occurs in a positioning operation, etc., "Axis warning detection (RX(n+2)1, RX(n+5)1)" turns ON. (3) Axis No.
14 TROUBLESHOOTING MELSEC-A MEMO 14 - 7
14 TROUBLESHOOTING MELSEC-A 14.3 List of errors Description of the errors and remedies are shown below. Division of error Error code 000 Fatal error Error name Description Action at occurrence of error (Normal) 001 Fault 003 Division by zero 004 Overflow 005 Underflow Hardware error The system is stopped. The position data in the parameter is out of 051 Error at selection of stepping motor mode the setting range for the stepping motor The D75P2 READY signal (RXn0) does not mode.
14 TROUBLESHOOTING Relevant buffer memory address remote input/output device, or remote register Axis 1 MELSEC-A Setting range Remedy Axis 2 Check if there are effects of noise or the like. Check for hardware errors. Refer to sections 5.2.1 to 5.2.6 and 5.3.
14 TROUBLESHOOTING Division of error Error code Error name MELSEC-A Description Action at occurrence of error Stopping according to sudden stop (stopping group 3) setting (deceleration and stop/sudden stop) selected in detail parameter 2 (However, deceleration and stop only during manual pulse generator operation) 103 Communication between the personal Test mode fault computer and D75P2 is interrupted in test during operation mode.
14 TROUBLESHOOTING Relevant buffer memory address remote input/output device, or remote register Axis 1 MELSEC-A Setting range Remedy Axis 2 Check the I/F on the PC side of cable connection for errors. After making an axis error reset (refer to [3] in Section 14.2), perform manual control operation (refer to Chapter 11) to move the axis to the position where the upper limit signal (FLS) will not be turned OFF. After making an axis error reset (refer to [3] in Section 14.
14 TROUBLESHOOTING Division of error JOG Error code Error name MELSEC-A Description The “Setting for the movement amount after near-point dog ON” zero point return detail parameter is smaller than the distance necessary for deceleration and stop from the zero point return speed in count method 1), 2) machine zero point return.
14 TROUBLESHOOTING Relevant buffer memory address remote input/output device, or remote register Axis 1 MELSEC-A Setting range Remedy Axis 2 80 81 230 231 74 75 224 225 Calculate the distance of travel according to the speed (In standard mode) 0 to 2147483647 limit, zero point return speed and deceleration speed, (In stepping motor mode) and determine the movement amount after activation at 0 to 134217727 the near-point dog so that the d
14 TROUBLESHOOTING Division of error Positioning operation Error code Error name 500 Illegal condition data No. 501 Simultaneous start fault 502 Illegal start data No. 503 No command speed MELSEC-A Description Action at occurrence of error The condition data number specified in the parameter of special positioning start data is out of the setting range at the block start in the special starting method when the conditional Operation is terminated.
14 TROUBLESHOOTING Relevant buffer memory address remote input/output device, or remote register Axis 1 MELSEC-A Setting range Remedy Axis 2 Refer to section “5.4 List of start block data.” 1 to 10 Refer to section “5.5 List of condition data.” Axis designation: 09H, 0AH RWwm RWwm+8 Refer to section “5.3 List of positioning data.” Examine the condition data number. (Refer to Da.13 in section 5.4) Correct the condition operator. (Refer to section 5.
14 TROUBLESHOOTING Division of error Error code Error name MELSEC-A Description Action at occurrence of error The movement amount in each axis for each 504 Outside linear movement amount range Positioning operation 506 Large arc error deviation piece of data exceeds 1073741824 (230) during linear interpolation with “synthetic speed” specified as an “interpolation speed designation method” parameter. The positioning address of the INC command At start: Operation does not start.
14 TROUBLESHOOTING Relevant buffer memory address remote input/output device, or remote register Axis 1 MELSEC-A Setting range Remedy Axis 2 Refer to section "5.3 List of positioning data.
14 TROUBLESHOOTING Division of error MELSEC-A Error code Error name 507 Start outside stroke limit (+) Positioning is started at a position outside the upper software stroke limit. 508 Start outside stroke limit (-) Positioning is started at a position outside the lower software stroke limit. 509 Movement outside stroke limit (+) Positioning start is made to a position beyond the upper software stroke limit.
14 TROUBLESHOOTING Relevant buffer memory address remote input/output device, or remote register Axis 1 166 167 Software stroke limit lower limit value 18 19 168 169 Refer to section “5.3 List of positioning data.” RWwm+2 RWwm+3 Setting range Remedy Axis 2 Software stroke limit upper limit value 16 17 MELSEC-A RWwm+10 RWwm+11 Refer to section “5.3 List of positioning data.
14 TROUBLESHOOTING Division of error Error code Error name MELSEC-A Description 518 Outside operation pattern The operation pattern setting is “2.” range 519 Interpolation while target axis is BUSY Interpolation is started during operation in the target axis. 520 Unit group disagreement The unit group of the target axis of interpolation is different. 521 Illegal interpolation description command 522 Command speed The command speed is set at “0.
14 TROUBLESHOOTING Relevant buffer memory address remote input/output device, or remote register Axis 1 MELSEC-A Setting range Remedy Axis 2 Correct the operation pattern. (Refer to section 5.3 Da.1 ) 00, 01, 11 00: Positioning complete 01: Continuous positioning control 11: Continuous path control 0 150 Correct the control method. (Refer to section 5.3 Da.2 ) 0, 1, 2, 3 Correct the positioning data or the “unit setting” parameter. (Refer to section 9.1.
14 TROUBLESHOOTING Division of error Error code 527 530 532 Error name Center point setting error MELSEC-A Description Circular interporation with center point designation applicable to one of the following Start point = Center point At start: Operation does not start. End point = Center point During operation: Immediate stop The center point address is out of the range between -2147483648 and 2147483647 The positioning address setting is a negative At start: Operation does not start.
14 TROUBLESHOOTING Relevant buffer memory address remote input/output device, or remote register Axis 1 MELSEC-A Setting range Remedy Axis 2 Refer to section “5.3 List of positioning data.” (In standard mode) [mm] [inch] [pulse] [degree (INC)] -2147483648 to 2147483647 [degree (ABS)] 0 to 35999999 -2147483648 to 2147483647 (In stepping motor mode) Refer to section "5.3 List of positioning data" and section "5.4 Start block data.
14 TROUBLESHOOTING Division of error Error code Error name MELSEC-A Description 900 Outside unit setting range 901 No. of pulses per The setting range of “number of pulses per rotation” in basic parameter 1 is out of the rotation setting setting range. error 902 Movement amount per rotation setting error The setting range of “movement amount per rotation” in basic parameter 1 is out of the setting range.
14 TROUBLESHOOTING Relevant buffer memory address remote input/output device, or remote register MELSEC-A Setting range Remedy Axis 1 Axis 2 0 150 0, 1, 2, 3 1 151 1 to 65535 2 152 1 to 65535 3 153 1, 10, 100, 1000 4 154 0, 1, 2, 3 5 155 0, 1 6 7 156 157 (In standard mode) 1 to 1000000 [pulse/s] 1 to 600000000 [mm/min, etc.] (In stepping motor mode) 1 to 62500 [pulse/s] 1 to 37500000 [mm/min, etc.
14 TROUBLESHOOTING Division of error Error code Error name MELSEC-A Description Action at occurrence of error The “software stroke limit lower limit value” setting in detail parameter 1 is out of the setting range with “degree” unit. The software stroke limit upper limit value is smaller than the software stroke limit value with a unit other than “degree.
14 TROUBLESHOOTING Relevant buffer memory address remote input/output device, or remote register Axis 1 MELSEC-A Setting range Axis 2 (In standard mode) [mm] [inch] [pulse] -2147483648 to 2147483647 [degree] 0 to 35999999 (In stepping motor mode) [mm] [inch] [pulse] –134217728 to 134217727 [degree] 0 to 35999999 18 19 168 169 20 170 0, 1 21 171 0, 1 22 23 172 173 24 174 Change the setting to within the setting range.
14 TROUBLESHOOTING Division of error MELSEC-A Error code Error name 932 Pulse logic selection error 933 Acceleration/dec The “size selection for acceleration/ The D75P2 READY signal [RXn0] is not turned deceleration time” setting in detail parameter 1 eleration time OFF. is out of the setting range. size error 938 Backlash compensation amount error 2 950 Acceleration time The setting range of “acceleration time 1” in 1 setting error detail parameter 2 is out of the setting range.
14 TROUBLESHOOTING Relevant buffer memory address remote input/output device, or remote register MELSEC-A Setting range Axis 1 Axis 2 30 180 0: Positive logic 1: Negative logic 31 181 0: One-word type 1: Two-word type 15 165 0 to 255 36 37 186 187 (One-word type) 1 to 65535 (Two-word type) 1 to 8388608 38 39 188 189 (One-word type) 1 to 65535 (Two-word type) 1 to 8388608 40 41 190 191 (One-word type) 1 to 65535 (Two-word type) 1 to 8388608 42 43 192 193 (One-word type) 1 to 65535
14 TROUBLESHOOTING Division of error Error code Error name MELSEC-A Description Action at occurrence of error 958 JOG deceleration The setting range of “JOG deceleration time selection setting selection” in detail parameter 2 is out of the error setting range. 959 Acceleration/dec The setting range of “acceleration/deceleration eleration process selection” in detail parameter 2 is out selection setting of the setting range.
14 TROUBLESHOOTING Relevant buffer memory address remote input/output device, or remote register MELSEC-A Setting range Axis 1 Axis 2 51 201 0, 1, 2 ,3 52 202 0, 1 53 203 1 to 100 54 55 204 205 (One-word type) 1 to 65535 (Two-word type) 1 to 8388608 56 206 0, 1 57 207 0, 1 58 208 0, 1 60 61 210 211 (In standard mode) 1 to 100000 (In stepping motor mode) 62 212 0, 1, 2 66 216 70 220 0, 1, 2, 3, 4, 5 71 221 0, 1 72 73 222 223 0: Positioning address pass mode 1: Near
14 TROUBLESHOOTING Division of error Parameter Error code MELSEC-A Error name Description Action at occurrence of error 983 The setting range of the “zero point return Zero point return speed” zero point return basic parameter is out speed error of the setting range. 984 Creep speed error 985 The setting range of the “zero point return retry” Zero point return zero point return basic parameter is out of the retry error setting range.
14 TROUBLESHOOTING Relevant buffer memory address remote input/output device, or remote register Axis 1 MELSEC-A Setting range Axis 2 224 225 (In standard mode) 1 to 1000000 [pulse/s] 1 to 600000000 [mm/min, etc.] (In stepping motor mode) 1 to 62500 [pulse/s] 1 to 37500000 [mm/min, etc.] 76 77 226 227 (In standard mode) 1 to 1000000 [pulse/s] 1 to 600000000 [mm/min, etc.] (In stepping motor mode) 1 to 62500 [pulse/s] 1 to 37500000 [mm/min, etc.
14 TROUBLESHOOTING MELSEC-A 14.4 List of warnings The following table shows the warning details and remedies when warnings occur. Division of Warning warning code Common Warning name Description Action at occurrence of warning 000 (Normal) 051 Illegal movement amount change The setting of the speed/position changeover The action follows the positioning address and control movement amount change register is movement amount specified in the positioning during data.
14 TROUBLESHOOTING Relevant buffer memory address remote input/output device, or remote register MELSEC-A Setting range Remedy Axis 1 Axis 2 1164 1165 1214 1215 0 to 2147483647 [pulses, etc.] 0 to 134217727 [pulses, etc.] Correct the setting in the speed/position changeover control movement amount change register to within the setting range. RWwm+12 RWwm+13 0 to 1000000 [pulse/s] 0 to 600000000 [mm/min, etc.
14 TROUBLESHOOTING Division of warning Warning Warning name code MELSEC-A Description Action at occurrence of warning 112 Illegal override value A value outside the range from 1 to 300 is Setting “0”: Controlled to 100. “301” or larger setting: Controlled to 300. specified as an override value. 113 Outside new torque value range A value outside the range from 1 to 500 is Torque change is not carried out. specified as a new torque value.
14 TROUBLESHOOTING Relevant buffer memory address remote input/output device, or remote register MELSEC-A Setting range Axis 1 Axis 2 RWwm+1 RWwm+9 1 to 300 1176 1226 1 to [torque limit setting value] 24 174 1 to 500 Remedy Set a value within the setting range. Refer to section “5.3 List of positioning data” for the command speed.
14 TROUBLESHOOTING Division of warning Positioning operation Warning Warning name code MELSEC-A Description Action at occurrence of warning 500 Deceleration and A speed change request is issued during stop speed deceleration and stop. change 501 Speed limit value The new speed value given during operation over exceeds the speed limit value.
14 TROUBLESHOOTING Relevant buffer memory address remote input/output device, or remote register Axis 1 Axis 2 RY(n+2)7 RY(n+4)7 New speed value RWwm+4 RWwm+5 RWwm+12 RWwm+13 Speed limit value 6, 7 156, 157 RY(n+2)6 RY(n+2)6 MELSEC-A Setting range ON: Speed change request Remedy Do not change the speed during deceleration or stoppage caused by a stop command or during automatic deceleration under position control.
14 TROUBLESHOOTING MELSEC-A 14.5 Start during error history If an error occurs when starting, all the data in the buffer memory start history area (address: 462 to 541) is copied to the start during error history area (addresses: 543 to 622). The data stored in the start during error history area is lost when the power is turned OFF. (When the power is turned ON, a "0" is stored in the start during error history.
APPENDICES 1 2 Appendix 1 Change with Upgrade ....................................................................................... Appendix- 2 Appendix 2 External Dimension Drawing ............................................................................ Appendix- 3 Appendix 3 Format sheets ................................................................................................. Appendix- 4 Appendix 3.1 Positioning module operation chart .....................................................
APPENDICES MELSEC-A Appendix 1 Change with Upgrade (1) Additional function The following table indicates the function added to the D75P2 per software version. Function Software versions Details Speed/position changeover control (ABS mode) A to F H or later*1 This function starts positioning under speed control, switches speed control to position control with external command signal input, and then stops positioning at the specified address. Reference Section 9.2.
APPENDICES MELSEC-A 63.5 9.5 Appendix 2 External Dimension Drawing NP 80 4.5 mounting hole 71 2- 161 170 (Unit: mm) Since a hardware version L or later, or serial number (first five digits) of "16041" or later, the indicator components have been changed to LED modules. (What is to be displayed is not changed from the 17-segment LEDs.) For details, refer to "13.4 LED display function".
APPENDICES MELSEC-A Appendix 3 Format sheets Axis address mm, inch, degree, pulse Appendix 3.
APPENDICES Axis address mm, inch, degree, pulse MELSEC-A Axis address mm, inch, degree, pulse Appendix - 5
APPENDICES MELSEC-A Appendix 3.2 Parameter setting value entry table Detailed parameters 1 Basic parameters 2 Basic parameters 1 Item Setting range mm inch degree pulse 0 1 2 3 Pr.1 Unit setting Pr.2 No. of pulses per rotation (Ap) 1 to 65535 pulse Pr.3 Movement amount per rotation (Al) 1 to 65535 1 to 65535 1 to 65535 1 to 65535 10-1m 10-5inch 10-5degree pulse Pr.4 Unit magnification (Am) 1: 1-fold, 10: 10-fold, 100: 100-fold, 1000: 1000-fold Pr.
APPENDICES Initial value MELSEC-A Axis 1 Axis 2 3 20000 20000 1 1 0 200000 1000 1000 0 0 0 2147483647 –2147483648 0 0 100 300 0 0 0 0 Appendix - 7 Remarks
APPENDICES MELSEC-A Setting range Detailed parameters 1 Item mm inch degree pulse 0: Ignore manual pulse generator operation 1: Use manual pulse generator 1 (control using manual pulse generator connected to axis 1) Pr.23 Manual pulse generator selection 2: Use manual pulse generator 2 (control using manual pulse generator connected to axis 2) Pr.24 Logic selection for pulse output to 0: Positive logic, 1: Negative logic the drive unit Pr.
APPENDICES Initial value MELSEC-A Axis 1 Axis 2 Axis 1: 1, Axis 2: 2 0 0 1000 1000 1000 1000 1000 1000 20000 0 0 0 100 1000 0 0 0 300 100 0 0 Appendix - 9 Remarks
APPENDICES MELSEC-A Setting range Zero point return detailed parameters Zero pint return basic parameters Item mm inch degree pulse Pr.45 Zero point return method 0: Near-point dog method, 1: Stopper stop method 1) 2: Stopper stop method 2), 3: Stopper stop method 3) 4: Count method 1), 5: Count method 2) Pr.46 Zero point return direction 0: Positive direction (address increment direction) 1: Negative direction (address decrement direction) Pr.
APPENDICES Initial value MELSEC-A Axis 1 Axis 2 0 0 0 1 1 0 0 0 0 0 0 300 0 0 Appendix - 11 Remarks
APPENDICES MELSEC-A Appendix 3.3 Positioning data setting value entry table [data No. Data Da.1 Operation pattern Da.2 Control method Da.3 Acceleration time No. Da.4 Deceleration time No. Axis Da.5 Da.6 Positioning Arc address/ address movement amount 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 Appendix - 12 to ] Da.7 Da.8 Command Dwell time speed Da.
APPENDICES MELSEC-A Appendix 4 Positioning data (No. 1 to 100) List of buffer memory addresses (1) For axis 1 PosiData tioning M No.
APPENDICES MELSEC-A (2) For axis 2 PosiData tioning M No.
APPENDICES MELSEC-A MEMO Appendix - 15
APPENDICES MELSEC-A Appendix 5 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Coporation For connection to a servo amplifier, dedicated cables are available. For wiring of the dedicated cables, refer to the manual of each dedicated cable. Appendix 5.1 Connection example of D75P2 and MR-H A (Differential driver (Open collector)) *6 In the following diagram, connection for absolute position restoration has not been made.
APPENDICES MELSEC-A Example of connection for absolute position restoration Appendix - 17
APPENDICES MELSEC-A Appendix 5.2 Connection example of D75P2 and MR-J2/J2S- A (Differential driver (Open collector)) *5 In the following diagram, connection for absolute position restoration has not been made. When making the connection for absolute position restoration, refer to the following page. *1 Assignment of the pin numbers of the connector of the D75P2 is the same for axis 1 and axis 2. *2 The upper limit (FLS) and lower limit (RLS) of the D75P2 are used for zero point return retry function.
APPENDICES MELSEC-A Example of connection for absolute position restoration Appendix - 19
APPENDICES MELSEC-A Appendix 5.3 Connection example of D75P2 and MR-C A (Differential driver (Open collector)) *5 *1 Assignment of the pin numbers of the connector of the D75P2 is the same for axis 1 and axis 2. *2 The upper limit (FLS) and lower limit (RLS) of the D75P2 are used for the zero point return retry function. Set these inside the limit switches for the servo. *3 Limit switch for servo (stopping). *4 The distance between the controller and amplifier is indicated.
APPENDICES Appendix 6 MELSEC-A Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd. Appendix 6.1 Connection example of D75P2 and VEXTA UPD (Open collector) *4 *1 Assignment of the pin numbers of the connector of the D75P2 is the same for axis 1 and axis 2. *2 The upper limit (FLS) and lower limit (RLS) of the D75P2 are used for the zero point return retry function.
APPENDICES MELSEC-A Appendix 7 Connection examples with servo amplifiers manufactured by Panasonic Co., Ltd. Appendix 7.1 Connection example of D75P2 and MINAS-A series (Differential driver) *4 *1 Assignment of the pin numbers of the connector of the D75P2 is the same for axis 1 and axis 2. *2 The upper limit (FLS) and lower limit (RLS) of the D75P2 are used for the zero point return retry function. Set these inside the limit switches for the servo.
APPENDICES MELSEC-A Appendix 8 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd. Appendix 8.1 Connection example of D75P2 and PYO series (Differential driver) *4 *1 Assignment of the pin numbers of the connector of the D75P2 is the same for axis 1 and axis 2. *2 The upper limit (FLS) and lower limit (RLS) of the D75P2 are used for the zero point return retry function. Set these inside the limit switches for the servo.
APPENDICES MELSEC-A Appendix 9 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation Appendix 9.1 Connection example of D75P2 and - series (Differential driver) *4 *1 Assignment of the pin numbers of the connector of the D75P2 is the same for axis 1 and axis 2. *2 The upper limit (FLS) and lower limit (RLS) of the D75P2 are used for the zero point return retry function. Set these inside the limit switches for the servo.
APPENDICES MELSEC-A Appendix 10 Comparisons with A1SD75P -S3 and AD75P -S3 modules (1) The following functions have been added. • Data setting method zero point return .............. Refer to section 8.3 • Speed/position changeover control function (ABS mode) ............................................................................ Refer to section 9.2.9 • Absolute position detection function ................. Refer to section 12.
APPENDICES A1SD75P MELSEC-A -S3, AD75P -S3 AJ65BT-D75P2-S3 Remote input/output, remote register Buffer memory addresses Symbol Md.39 Md.
APPENDICES MELSEC-A Appendix 11 MELSEC Explanation of positioning terms 1-2 PHASE EXCITATION SYSTEM This is one system for exciting each stepping motor coil in a determined order. In this system, one phase and two phases are alternately excited.
APPENDICES MELSEC-A 0 ABSOLUTE ENCODER This is a detector that enables the angle data within 1 motor rotation to be output to an external destination. Absolute encoders are generally able to output 360° in 8 to 12 bits. Incremental encoders have a disadvantage in that the axis position is lost when a power failure occurs. However, with absolute encoders, the axis position is not lost even when a power failure occurs. Various codes such as a binary code and BCD code can be output.
APPENDICES MELSEC-A AUTO TUNING (Automatic Tuning) BACKUP FUNCTION Properties such as responsiveness and stability of machines driven with a servomotor are affected by changes in the inertia moment and rigidity due to changes in the machine load, etc. This function automatically adjusts the speed loop gain and position loop gain to match the machine state, so the machine's performance can be maintained at its optimum state.
APPENDICES MELSEC-A CHANGE signal BIAS SPEED AT START A large amount of torque is required when the machine starts moving, but the torque may be unstable at speed 0 with stepping motors. Therefore, movement can be smoothly carried out by starting the movement at a given speed from the beginning. The bias speed at start is the speed set at that start. The CHANGE signal is an external signal used to change the speed/position control from the speed control being executed to position control.
APPENDICES MELSEC-A CP CONTROL (Continuous Path Control) CW (Clockwise) Continuous path is a control method in which a path is followed without interrupting such as in uniform speed control. CREEP SPEED A speed at which the machine moves very slowly. It is difficult for the machine to stop accurately when running at high speed, so the movement must first be changed to the creep speed before stopping. Refer to the term "NEAR-POINT DOG".
APPENDICES MELSEC-A DECELERATION TIME The parameter deceleration time is the same value as the acceleration time. Deceleration time refers to the time from the speed limit value to a stopped state, so it becomes proportionally shorter as the setting speed decreases. Speed limit value Setting speed DIGITAL BUS CONNECTION Speed 0 Commands are generally output from the positioning module to the servo amplifier as a pulse train. Recently, however, devices are being digitalized.
APPENDICES MELSEC-A DROOP PULSE ELECTRONIC GEAR Because of inertia in the machine, it will lag behind and not be able to track if the positioning module speed commands are issued in their normal state. Thus, for a servomotor, a method is used in which the speed command pulses are delayed by accumulation in a deviation counter. These accumulated pulses are called the droop pulse. The deviation counter emits all pulses and returns to 0 when the machine stops.
APPENDICES MELSEC-A ERROR CORRECTION FIXED-DIMENSION FEED If a dimension error occurs in the machine, and that error is actually smaller or larger than 1m in spite of a 1m command being issued from the D75P2, that error amount will be compensated. For example, when the error is actually smaller than 1m, the remaining distance to 1m is fed, and the correct 1m of positioning is carried out. This is the feeding of a set dimension for cutting sheet and bar workpieces into the designated dimensions.
APPENDICES MELSEC-A HIGH-SPEED MACHINE ZERO POINT RETURN INCREMENTAL ENCODER A device that simply outputs ON/OFF pulses by the rotation of the axis. 1-phase types output only A pulses, and do not indicate the axis rotation direction. 2-phase types output both A and B pulse trains, and can judge the rotation direction. The direction is judged to be forward if the B pulse train turns ON when A is ON, and judged to be reverse if A turns ON when B is ON.
APPENDICES MELSEC-A INPUT TERMINAL JOG This is a pin connector wired by the user for inputting data to the D75P2 from an external source. It is connected to the motor drive unit or machine side. This terminal is used to output the following. DRIVE UNIT READY signal STOP signal , etc. The input No. Xn is not directly related to the program, so it is not used. INTERLOCK This refers to moving the tool in small steps at a time. Inching. Parameter setting is required when carrying out JOG operation.
APPENDICES MELSEC-A LINEAR INTERPOLATION MACHINE FEED VALUE This automatic operation simultaneously operates the latitudinal (X) feed and longitudinal (Y) feed motors to move the machine in a diagonal line when positioning. Linear interpolation combining axis 1 and axis 2 is possible with the D75P2, but the same positioning data Nos. must be used. Refer to the term "INTERPOLATION OPERATION". No.9 MANUAL PULSE GENERATOR Longitudinal feed 4 3 2 No.
APPENDICES MELSEC-A MOVEMENT AMOUNT PER PULSE NEAR-POINT DOG When using mm, inch, or angle units, the movement amount is calculated and output from the machine side showing how much the motor shaft moves per pulse. Positioning accuracy in smaller units is not possible. On the motor side, the movement amount per axis rotation is normally designed as a reference, so it is calculated as follows. Movement amount per pulse = P rate No.
APPENDICES MELSEC-A P RATE (Pulse Rate) OPERATION PATTERN A coefficient that magnifies the feedback pulses per motor shaft rotation by 2-fold, 3fold, 1/2 or 1/3. It is the ratio of the feed pulses and feedback pulses. For example, when the No. of pulses per motor shaft rotation is set to 2400 pulses, and the P rate is set to 2, the result will be equivalent to 1200 pulses. The rotation per pulse is 0.15° when 2400 pulses per rotation are set, but this becomes 0.3° when 1200 pulses.
APPENDICES MELSEC-A POSITION CONTROL POSITION LOOP MODE This is mainly the control of position and dimension, such as in fixed-dimension feed, positioning, numerical control, etc. This is always controlled with feed pulses. There is also speed control. Drive units may differ, even when the same motor is used. This is one servo control mode used in positioning. It is a mode for carrying out position control.
APPENDICES MELSEC-A POSITIONING DATA PULSE GENERATOR This is data for the user to carry out positioning. The No. of points to which positioning is carried out (the No. of addresses) is designated by the user. In the D75P2, this is a maximum of 600 points. As a principle, positioning is executed in the order of the data Nos. This is a device that generates pulses. Examples include devices installed on the motor shaft that create pulses when the shaft rotates, and digital devices.
APPENDICES MELSEC-A REFERENCE AXIS SPEED ROTARY TABLE This is the speed of the reference axis during interpolation operations. A round table on which the workpiece is placed. Positioning control is carried out while rotating the workpiece in a 360° range. S-CURVE ACCELERATION/DECELERATION Y axis speed (interpolation axis) X axis speed (reference axis) In this pattern, the acceleration and deceleration follow a sine curve, and the movement is smooth. The S-curve ratio can be set from 1 to 100%.
APPENDICES MELSEC-A SERVO LOCK SKIP FUNCTION In positioning using a servomotor, stepping motor, etc., working power is required to hold the machine at the stop position. (The position will be lost if the machine is moved by external power.) This kind of state is called servo lock or servo lock torque. When a SKIP signal is input, the positioning being executed is interrupted, the motor is deceleration stopped, and the next positioning is automatically carried out.
APPENDICES MELSEC-A SPEED CHANGEOVER CONTROL SPEED LOOP MODE With this control, positioning is carried out to the end point of the movement amount while changing the speed at the speed changeover point during positioning control. This is one servo control mode used in positioning. It is a mode for carrying out speed control. Refer to "POSITION LOOP MODE". SPEED/POSITION CONTROL CHANGEOVER MODE SPEED CONTROL Speed control is mainly carried out with the servomotor.
APPENDICES MELSEC-A STEP OUT STOP SIGNAL Stepping motors rotate in proportion to the No. of pulses (frequency), but the motor's rotation will deviate if the load is too large for the motor. This is called step out. If step out occurs, the motor must be replaced by one with a larger torque. Step out causes the positioning error to increase. Motor torque In positioning control, this is the input signal X that directly stops the operation from an external source.
APPENDICES MELSEC-A STROKE LIMIT TEACHING UNIT This is the range in which a positioning operation is possible, or the range in which the machine can be moved without damage occurring. (Movement outside this range is possible in the manual operation.) For operations using a worm gear, the stroke limit is determined by the length of the screw. For operations using a fixed-dimension feed, it is determined by the max. dimension to be cut.
APPENDICES MELSEC-A TURNTABLE WORM GEAR A rotating table, which is turned using power. The table is used divided from one 360° rotation into the required locations for work. The positioning control unit is "degree". This is the basic screw in mechanisms that position using screw rotation. Ball screws are often used to reduce backlash and dimension error.
APPENDICES MELSEC-A ZERO POINT RETURN METHOD ZERO POINT RETURN REQUEST The zero point return methods are shown below. The method used depends on the machine structure, stopping accuracy, etc. Machine zero point returns can be carried out when the zero point return parameters are written. 1) Near-point dog method. 2) Stopper stop method. 3) Count method. This signal turns ON when there is an error with the D75P2. It will turn ON in the following situations.
APPENDICES MELSEC-A Appendix 12 Positioning control troubleshooting Trouble type Questions/Trouble Remedy No. Display reads "FFFFH" when a parameter is read with a AD75 software package. The PLC CPU power was turned OFF or the PLC CPU was reset, etc., during flash ROM writing, which deleted the data in the flash ROM. Initialize the parameters, and reset the required parameters. (Refer to section "13.2 Parameter initialization function" for details.
APPENDICES Trouble type MELSEC-A Questions/Trouble Remedy How can the deceleration stop Set "1: Sudden stop" in the " Pr.38 Stop group 1 time during stopping be shortened sudden stop selection", and reduce the setting value of using the hardware stroke limit? " Pr.37 Sudden stop deceleration time". The motor does not operate at "60000ms" although the acceleration/deceleration time is set to "60000ms".
APPENDICES MELSEC-A Trouble type Error compensation Questions/Trouble The machine only moves to "10081230", although positioning with a command value of "10081234" carried out. How can the error be compensated? The following values are currently set. Pr.2 No. of pulses per rotation = 8192 Pr.3 Movement amount per rotation = 8000 Remedy No. Reset Pr.3 and Pr.2 in the following order. 1) Calculate "8192/8000 10081230/10081234". 2) Obtain the reduced value. 3) Set the numerator in " Pr.
APPENDICES Trouble type Start MELSEC-A Questions/Trouble Remedy The positioning start signal [RY(n+1)0] is kept ON until the BUSY signal is OFF, but is there any problem with turning it OFF before the BUSY signal turns OFF? After the BUSY signal turns ON, there is no problem with turning [RY(n+1)0] OFF before the BUSY signal turns OFF. ON) of the (The D75P2 detects the rising edge (OFF positioning start signal [RY(n+1)0].) No.
APPENDICES Trouble type MELSEC-A Questions/Trouble Remedy No. Is it possible to count the pulses Not possible. when the B phase is set to "1", and (The D75P2 counts 1, 0, 1, 0.) only A phase pulses are input? 37 Can a manual pulse generator other than the Mitsubishi MRHDP01 be used? Other manual pulse generators can be used if they conform to section "3.7 Specifications of input/output interfaces with external devices.
APPENDICES Trouble type MELSEC-A Questions/Trouble Remedy No. Error 997 (speed selection at zero "OPR" stands for "Original Position Return", or in other point shift error) occurred. What words, a zero point return. does "OPR" mean? 0 Backlash compensation value Error 938 (backlash compensation amount error 2) occurs even when the backlash compensation value is set to "1". Error/warning Movement amount per pulse 53 255 Setting is not possible if the above equation is not satisfied.
APPENDICES MELSEC-A Appendix 13 List of buffer memory addresses The following shows the relation between the buffer memory addresses and the various items. (Any address not given in the list must not be used. If used, the system may not operate correctly.) Pr.1 Unit setting 151 Pr.2 No. of pulses per rotation (Ap) 2 152 Pr.3 Movement amount per rotation (Al) 3 153 Pr.4 Unit magnification (Am) 4 154 Pr.5 Pulse output mode 5 155 Pr.6 Rotation direction setting 6 7 156 157 Pr.
APPENDICES MELSEC-A Pr.30 Deceleration time 2 46 47 196 197 Pr.31 Deceleration time 3 48 49 198 199 Pr.32 JOG speed limit value 50 200 Pr.33 JOG operation acceleration time selection 51 201 Pr.34 JOG operation deceleration time selection 52 202 Pr.35 Acceleration/deceleration process selection 53 203 Pr.36 S-curve ratio 54 55 204 205 Pr.37 Sudden stop deceleration time 56 206 Pr.38 Stop group 1 sudden stop selection 57 207 Pr.
APPENDICES MELSEC-A Buffer memory address 450 Md.1 In test mode flag 451 Md.2 Module name 452 453 454 455 Md.3 OS type 456 457 Md.4 OS version 460 Md.5 Clock data (hour: minute) 461 Md.6 Clock data (second: 100 ms) 462 467 472 477 482 487 492 497 502 507 512 517 522 527 532 537 Md.7 Start axis 463 468 473 478 483 488 493 498 503 508 513 518 523 528 533 538 Md.8 Operation type 464 469 474 479 484 489 494 499 504 509 514 519 524 529 534 539 Md.
APPENDICES MELSEC-A Buffer memory address Item Axis 1 Axis 2 800 801 900 901 Md.29 System area (use prohibited) 802 803 902 903 Md.30 Machine feed value 804 to 809 904 to 909 810 811 910 911 Md.36 Current speed 812 813 912 913 Md.37 Axis feedrate 814 815 914 915 Md.38 Speed/position changeover control positioning amount 816, 817 916, 917 818 819 918 919 Md.41 Target value 820 821 920 921 Md.42 Target speed 822 823 922 923 Md.
APPENDICES MELSEC-A Item Axis 2 1100 Cd.1 Clock data setting (hour) 1101 Cd.2 Clock data setting (minute, second) 1102 Cd.3 Clock data writing 1103 Cd.4 Target axis 1104 Cd.5 Positioning data No. 1105 Cd.6 Write pattern 1106 Cd.7 Read/write request 1108 to 1137 Cd.8 Read/write positioning data I/F Cd.9 Flash ROM write request 1138 Memory area Cd.10 Parameter initialization request Cd.11 to Cd.
APPENDICES MELSEC-A 1300 2300 1301 2301 Da.1 Operation pattern Da.2 Control method Da.3 Acceleration time No. Da.4 Deceleration time No. Da.9 M code/condition data No. Da.8 Dwell time/JUMP destination positioning data No. 1302 2302 1303 2303 Not used 1304 1305 2304 2305 Da.7 Command speed 1306 1307 2306 2307 Da.5 Positioning address/movement amount 1308 1309 2308 2309 Da.6 Arc address 1310 to 1319 2310 to 1219 No. 2 1320 to 1329 2320 to 2329 No.
APPENDICES MELSEC-A 4500 5750 Start No. 8001 4501 4751 Start No. 8002 4549 4799 Start No. 8001 5050 5099 Condition judgment target data of the condition data 5100 Target axis 5101 Head positioning data No. 5102 No.
APPENDICES MELSEC-A MEMO Appendix - 62
INDEX [Number] Advanced positioning control execution procedure ...................................................... 10- 6 Advanced positioning control ....................... 10- 2 After mode (explanation of terms) ... Appendix-28 Allowable circular interpolation error width ( Pr.42 ).......................................................... 5-43 Applicable system ........................................... 2- 6 Application ....................................................... 1- 4 Arc address ( Da.
Connection example - series ..................................... Appendix-24 MINAS-A series ............................ Appendix-22 MR-C A ................................... Appendix-20 MR-H A ................................... Appendix-16 MR-J2/J2SA.......................... Appendix-18 PY0 series .................................... Appendix-23 VEXTA UPD ................................. Appendix-21 Connection of CC-Link dedicated cable........ 4-12 Connector connection ...............................
Data transmission process............................. 7- 6 Deceleration ratio (explanation of terms) .......................................................... Appendix-31 Deceleration time (explanation of terms) .......................................................... Appendix-32 Deceleration time 0 ( Pr.9 ) ........................ 5-24 Deceleration time 1 to 3 ( Pr.29 to Pr.31 ) ....................................................................... 5-36 Deceleration time No. ( Da.4 ) ................
[I] [L] In test mode flag ( Md.1 )............................. 5-80 Increment system (explanation of terms) .......................................................... Appendix-35 Increment system .......................................... 9-14 Incremental encoder (explanation of terms) .......................................................... Appendix-35 Independent positioning control ..................... 9- 5 Indirectly specification data .........................
Manual pulse generator ....................... A-20, 2- 4 Master axis (explanation of terms) .. Appendix-37 Master module ................................................ 2- 6 initialization ................................................. 6- 6 Module name ( Md.2 ) ................................. 5-80 Monitor data list ............................................................... 5-80 types and roles .......................................... 5-11 Movement amount after near-point dog ON ( Md.44 ) .....
Positioning data No. ( Cd.5 ) ..................... 5-102 Positioning data No. being executed ( Md.54 ) ....................................................................... 5-98 Positioning data setting ................................. 9-22 Positioning parameter (explanation of terms) .......................................................... Appendix-41 Positioning start (explanation of terms) .......................................................... Appendix-41 Positioning starting point No. ( Cd.
Setting item condition data ............................................ 5-10 positioning data........................................... 5- 7 positioning parameter ................................. 5- 4 start block data ........................................... 5- 9 zero point return parameter........................ 5- 6 Setting items for positioning data................... 5- 7 Setting items for positioning parameters ....... 5- 4 Setting items for zero point return parameters .........................
Step function (explanation of terms) .......................................................... Appendix-44 Step function................................................ 12-53 Step mode ( Cd.27 ) .................................... 5-108 Step out (explanation of terms)........ Appendix-45 Step start information ( Cd.28 ) ................... 5-108 Step valid flag ( Cd.26 ) ............................... 5-106 Stepping motor (explanation of terms) ..........................................................
Zero point return acceleration time selection ( Pr.53 ) ......................................................... 5-53 Zero point return control ................................. 8- 2 Zero point return deceleration time selection ( Pr.54 ) ......................................................... 5-53 Zero point return direction ( Pr.46 ).............. 5-48 Zero point return dwell time ( Pr.51 ) ........... 5-52 Zero point return method ( Pr.45 ) ...............
MEMO Index - 10
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.
Microsoft, Windows, Windows Vista, Windows NT, Windows XP, Windows Server, Visio, Excel, PowerPoint, Visual Basic, Visual C++, and Access are either registered trademarks or trademarks of Microsoft Corporation in the United States, Japan, and other countries. Intel, Pentium, and Celeron are either registered trademarks or trademarks of Intel Corporation in the United States and other countries. Ethernet is a registered trademark of Xerox Corp.
IB(NA)-66824-H(1504)MEE MODEL: AJ65BT-D75P2-U-E MODEL CODE: 13JL46 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.
