Instruction manual

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Motion Controllers

Programming Manual

SV13/SV22 (REAL MODE)

Q173DCPU

Q172DCPU

MITSUBISHI ELECTRIC

01 01 2008

IB(NA)-0300136

Version A

INDUSTRIAL AUTOMATION

Summary of content (448 pages)

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MITSUBISHI ELECTRIC Motion Controllers Programming Manual SV13/SV22 (REAL MODE) Q173DCPU Q172DCPU 01 01 2008 IB(NA)-0300136 Version A MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION
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SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. These precautions apply only to this product. Refer to the Q173DCPU/Q172DCPU Users manual for a description of the Motion controller safety precautions. In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".
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For Safe Operations 1. Prevention of electric shocks DANGER Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks. Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF.
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3. For injury prevention CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage. Do not touch the heat radiating fins of controller or servo amplifier, regenerative resistor and servomotor, etc.
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CAUTION The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be used for normal braking. The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications, and must not be used for normal braking. The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed.
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CAUTION Use the program commands for the program with the conditions specified in the instruction manual. Set the sequence function program capacity setting, device capacity, latch validity range, I/O assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.
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CAUTION The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them. Securely fix the Motion controller, servo amplifier and servomotor to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation. Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks. Store and use the unit in the following environmental conditions.
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(4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier. Correctly connect the output side (terminal U, V, W).
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(6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized. Do not make any modifications to the unit.
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(7) Corrective actions for errors CAUTION If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the check details according to the instruction manual, and restore the operation. If a dangerous state is predicted in case of a power failure or product failure, use a servomotor with electromagnetic brakes or install a brake mechanism externally.
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CAUTION When replacing the Motion controller or servo amplifier, always set the new module settings correctly. When the Motion controller or absolute value motor has been replaced, carry out a home position return operation using one of the following methods, otherwise position displacement could occur. 1) After writing the servo data to the Motion controller using programming software, switch on the power again, then perform a home position return operation.
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REVISIONS The manual number is given on the bottom left of the back cover. Print Date Jan., 2008 Manual Number IB(NA)-0300136-A First edition Revision Japanese Manual Number IB(NA)-0300128 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
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INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q173DCPU/Q172DCPU. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased, so as to ensure correct use. CONTENTS Safety Precautions .........................................................................................................................................A- 1 Revisions .............................................
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4.3.3 Allowable error range for circular interpolation................................................................................. 4-14 5. SERVO PROGRAMS FOR POSITIONING CONTROL 5- 1 to 5-26 5.1 Servo Program Composition Area........................................................................................................... 5- 1 5.1.1 Servo program composition.............................................................................................................. 5- 1 5.1.
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6.17.7 FIN signal wait function................................................................................................................. 6-150 6.18 Position Follow-Up Control .................................................................................................................. 6-160 6.19 Speed control with fixed position stop ................................................................................................. 6-167 6.20 Simultaneous Start.....................................
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About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below.
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(2) PLC Manual Number (Model Code) Manual Name QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains the specifications of the QCPU modules, power supply modules, base modules, extension cables, memory card battery and others. SH-080483ENG (13JR73) (Optional) QCPU User's Manual (Function Explanation, Program Fundamentals) This manual explains the functions, programming methods and devices and others to create programs with the QCPU.
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1 OVERVIEW 1. OVERVIEW 1 1.1 Overview This programming manual describes the positioning control parameters, positioning dedicated devices and positioning method required to execute positioning control in the Motion controller (SV13/22 real mode). The following positioning control is possible in the Motion controller (SV13/22 real mode).
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1 OVERVIEW Generic term/Abbreviation Description Battery holder unit Battery holder unit (Q170DBATC) External battery General name for "Q170DBATC" and "Q6BAT" Intelligent function module Abbreviation for "MELSECNET/H module/Ethernet module/CC-Link module/ Serial communication module" (Note-1) : Q172DEX can be used in SV22.
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1 OVERVIEW 1.2 Features 1.2.1 Performance Specifications (1) Motion control specifications Item Number of control axes Q173DCPU Q172DCPU Up to 32 axes Up to 8 axes 0.44ms/ 1 to 6 axes SV13 0.44ms/ 1 to 6 axes 0.88ms/ 7 to 18 axes 0.88ms/ 7 to 8 axes 1.77ms/19 to 32 axes Operation cycle 0.44ms/ 1 to 4 axes (default) SV22 0.88ms/ 5 to 12 axes 0.44ms/ 1 to 4 axes 1.77ms/13 to 28 axes 0.88ms/ 5 to 8 axes 3.
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1 OVERVIEW Motion control specifications (continued) Item Q173DCPU Motion related interface module Q172DCPU Q172DLX : 4 modules usable Q172DLX : 1 module usable Q172DEX : 6 modules usable Q173DPX : 4 modules usable Q172DEX : 4 modules usable (Note-2) Q173DPX : 3 modules usable (Note-2) (Note-1) : The servo amplifiers for SSCNET cannot be used. (Note-2) : When using the incremental synchronous encoder (SV22 use), you can use above number of modules.
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2 POSITIONING CONTROL BY THE MOTION CPU 2. POSITIONING CONTROL BY THE MOTION CPU 2.1 Positioning Control by the Motion CPU The positioning control of up to 32 axes in Q173DCPU and up to 8 axes in Q172DCPU is possible in the Motion CPU. There are following four functions as controls toward the servo amplifier/servomotor. (1) Servo operation by the positioning instructions. There are following two methods for execution of the positioning instruction.
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2 POSITIONING CONTROL BY THE MOTION CPU [Execution of the Motion SFC program start (D(P).SFCS instruction)] Positioning control is executed by starting the Motion SFC program specified with D(P).SFCS instruction of the PLC CPU in the Motion CPU. (The Motion SFC program can also be started automatically by parameter setting.) An overview of the starting method using the Motion SFC is shown below. Multiple CPU control system PLC CPU PLC program D(P).
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2 POSITIONING CONTROL BY THE MOTION CPU Motion CPU Motion SFC program Motion SFC program No.15 (Program No. specified with the D(P).SFCS instruction.) START F10 Once execution type operation control step Command which performs numerical operation and bit operation. G100 "WAIT" Command which transits to the next step by formation of transition condition Gn. K100 Motion control step Command which performs starting of the servo program "Kn", etc.
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2 POSITIONING CONTROL BY THE MOTION CPU [Execution of the positioning control (Motion SFC program)] The positioning control is executed using the servo program specified with the Motion SFC program in the Motion CPU system. An overview of the positioning control is shown below. Motion CPU control system Motion SFC program 1 axis linear positioning control [F100] SET M2042 All axes servo ON command on [G200] PX000*M2475 Stand by until PX000 is on and Axis 4 servo ON.
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2 POSITIONING CONTROL BY THE MOTION CPU Servo program Servo instruction (Specification of the positioning control method) ABS-1 Axis Speed 4, Dwell time M-code 80000 10000 - Positioning data which must be set: Axis used, positioning address and positioning speed, etc. Positioning data to be set if required: Dwell time, M-code, etc. Servo amplifier Positioning control parameters System settings System data such as axis allocations Fixed parameters Fixed data by the mechanical system, etc.
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2 POSITIONING CONTROL BY THE MOTION CPU [Execution of the servo program start (D(P).SVST instruction)] Positioning control is executed by starting the specified servo program toward the axis specified with D(P).SVST instruction of PLC CPU in the Motion CPU. An overview of the starting method using the servo program is shown below. Multiple CPU control system PLC CPU PLC program DP.SVST instruction Positioning execute command DP.
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2 POSITIONING CONTROL BY THE MOTION CPU Motion CPU Servo program Servo program No.25 (Servo program No. specified with the D(P).SVST instruction.) ABS-2 Axis Axis Vector speed 2 axes linear interpolation control 3, 4, 50000 40000 30000 Axis used . . . . . . . . . . . Axis 3, Axis 4 Travel value to stop position Axis 3 . . . . . . 50000 Axis 4 . . . . . . 40000 Command positioning speed Vector speed . . . . . .
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2 POSITIONING CONTROL BY THE MOTION CPU [Execution of the JOG operation] JOG operation of specified axis is executed using the Motion SFC program in the Motion CPU. JOG operation can also be executed by controlling the JOG dedicated device of specified axis. An overview of JOG operation is shown below.
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2 POSITIONING CONTROL BY THE MOTION CPU Positioning control parameter System settings System data such as axis allocations Fixed parameters Fixed data by the mechanical system, etc. Servo parameters Parameter block Data by the specifications of the connected servo amplifier Data required for the acceleration, deceleration of the positioning control, etc.
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2 POSITIONING CONTROL BY THE MOTION CPU [Executing Manual Pulse Generator Operation] When the positioning control is executed by the manual pulse generator connected to the Q173DPX, manual pulse generator operation must be enabled using the Motion SFC program. An overview of manual pulse generator operation is shown below. Motion CPU control system Motion SFC program Manual pulse generator operation [F130] D720=100 D714L=H0000001 SET M2051 Set "axis 1" 1-pulse input magnification. Control axis 1 by P1.
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2 POSITIONING CONTROL BY THE MOTION CPU Positioning control parameter System settings System data such as axis allocations Fixed parameters Fixed data by the mechanical system, etc. Servo parameters Data by the specifications of the connected servo amplifier Parameter block Data required for the acceleration, deceleration of the positioning control, etc.
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2 POSITIONING CONTROL BY THE MOTION CPU (1) Positioning control parameters There are following seven types as positioning control parameters. Parameter data can be set and corrected interactively using MT Developer. Item 1 System settings 2 3 4 5 Description Multiple system settings, Motion modules and axis No., etc. are set. Data by such as the mechanical system are set for every axis. Fixed parameters They are used for calculation of a command position at the positioning control.
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2 POSITIONING CONTROL BY THE MOTION CPU (3) Motion SFC program Motion SFC program is used to execute the operation sequence or transition control combining "Start", "Step", Transition", or "End" to the servo program. The positioning control, JOG operation and manual pulse generator operation by the servo program can be executed. Refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for details.
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2 POSITIONING CONTROL BY THE MOTION CPU MEMO 2 - 14
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3 POSITIONING DEDICATED SIGNALS 3. POSITIONING DEDICATED SIGNALS The internal signals of the Motion CPU and the external signals to the Motion CPU are used as positioning signals. (1) Internal signals The following five devices of the Motion CPU are used as the internal signals of the Motion CPU. • Internal relay (M) ..............................M2000 to M3839 (1840 points) • Special relay (SM) ...........................SM0 to SM2255 (2256 points) • Data register (D) ..............................
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3 POSITIONING DEDICATED SIGNALS The positioning dedicated devices are shown below. It indicates the device refresh cycle of the Motion CPU for status signal with the positioning control, and the device fetch cycle of the Motion CPU for command signal with the positioning control. The operation cycle of the Motion CPU is shown below. Item Q173DCPU Q172DCPU Up to 32 axes Up to 8 axes SV13 0.44ms/ 1 to 6 axes 0.88ms/ 7 to 18 axes 1.77ms/ 19 to 32 axes 0.44ms/ 1 to 6 axes 0.88ms/ 7 to 8 axes SV22 0.
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3 POSITIONING DEDICATED SIGNALS 3.1 Internal Relays (1) Internal relay list SV13 Device No. M0 SV22 Purpose Device No.
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3 POSITIONING DEDICATED SIGNALS (2) Axis status list Axis No. Device No.
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3 POSITIONING DEDICATED SIGNALS (3) Axis command signal list Axis No. Device No.
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3 POSITIONING DEDICATED SIGNALS (4) Common device list Device Signal name No. Refresh cycle M2000 PLC ready flag Fetch cycle Main cycle Signal Remark Device direction (Note-4) No.
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3 POSITIONING DEDICATED SIGNALS Common device list (Continued) Device Signal name No. Refresh cycle Fetch cycle Signal Remark Device direction (Note-4) No.
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3 POSITIONING DEDICATED SIGNALS Common device list (Continued) Device No. Signal name Refresh cycle Fetch cycle Signal Remark Device direction (Note-4) No.
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3 POSITIONING DEDICATED SIGNALS (5) Common device list (Command signal) Device No.
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3 POSITIONING DEDICATED SIGNALS 3.1.1 Axis statuses (1) Positioning start complete signal (M2400+20n) .......... Status signal (a) This signal turns on with the start completion for the positioning control of the axis specified with the servo program. It does not turn on at the starting using JOG operation or manual pulse generator operation. It can be used to read a M-code at the positioning start. (Refer to Section 7.1.
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3 POSITIONING DEDICATED SIGNALS (2) Positioning complete signal (M2401+20n) ..................Status signal (a) This signal turns on with the completion of the command output to positioning address for the axis specified with the servo program. It does not turn on at the start or stop on the way using home position return, JOG operation, manual pulse generator operation or speed control. It does not turn on at the stop on the way during positioning.
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3 POSITIONING DEDICATED SIGNALS (3) In-position signal (M2402+20n) ...................................Status signal (a) This signal turns on when the number of droop pulses in the deviation counter becomes below the "in-position range" set in the servo parameters. It turns off at the start. Number of droop pulses In-position range t ON In-position (M2402+20n) OFF (b) An in-position check is performed in the following cases. • When the servo power supply is turned on.
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3 POSITIONING DEDICATED SIGNALS (5) Speed controlling signal (M2404+20n) ........................Status signal (a) This signal turns on during speed control, and it is used as judgement of during the speed control or position control. It is turning on while the switching from speed control to position control by the external CHANGE signal at the speed/position switching control. (b) This signal turns off at the power supply on and during position control.
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3 POSITIONING DEDICATED SIGNALS (7) Zero pass signal (M2406+20n) ....................................Status signal This signal turns on when the zero point is passed after the power supply on of the servo amplifier. Once the zero point has been passed, it remains on state until the Multiple CPU system has been reset.
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3 POSITIONING DEDICATED SIGNALS REMARK (Note-1): Refer to APPENDIX 1.4 for the error codes on errors detected at the servo amplifier side. (10) Home position return request signal (M2409+20n) .........................Status signal This signal turns on when it is necessary to confirm the home position address.
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3 POSITIONING DEDICATED SIGNALS (11) Home position return complete signal (M2410+20n) .......................Status signal (a) This signal turns on when the home position return operation using the servo program has been completed normally. (b) This signal turns off at the positioning start, JOG operation start and manual pulse generator operation start.
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3 POSITIONING DEDICATED SIGNALS (13) RLS signal (M2412+20n) (Note-1) .................................. Status signal (a) This signal is controlled by the ON/OFF state for the lower stroke limit switch input (FLS) of the Q172DLX/servo amplifier. • Lower stroke limit switch input OFF ...... RLS signal: ON • Lower stroke limit switch input ON ........ RLS signal: OFF (b) The state of the lower stroke limit switch input (RLS) when the RLS signal is ON/OFF is shown below.
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3 POSITIONING DEDICATED SIGNALS (15) DOG/CHANGE signal (M2414+20n) (Note-1) ..................Status signal (a) This signal turns on/off by the proximity dog input (DOG) of the Q172DLX/servo amplifier at the home position return. This signal turns on/off by the speed/position switching input (CHANGE) of the Q172DLX at the speed/position switching control. (There is no CHANGE signal in the servo amplifier.
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3 POSITIONING DEDICATED SIGNALS Q38DB Q61P Q03UD Q172D CPU CPU Communication is normal Servo ready signal : ON AMP AMP M M POINT When the part of multiple servo amplifiers connected to the SSCNET servo error, only an applicable axis becomes the servo OFF state. becomes a (17) Torque limiting signal (M2416+20n) ..........................Status signal This signal turns on while torque limit is executed. The signal toward the torque limiting axis turns on (18) M-code outputting signal (M2419+20n) ...
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3 POSITIONING DEDICATED SIGNALS 3.1.2 Axis command signals (1) Stop command (M3200+20n) ............................... Command signal (a) This command is a signal which stop a starting axis from an external source and becomes effective at leading edge of signal. (An axis for which the stop command is turning on cannot be started.
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3 POSITIONING DEDICATED SIGNALS (2) Rapid stop command (M3201+20n) ..................... Command signal (a) This command stops a starting axis rapidly from an external source and becomes effective at leading edge of signal. (An axis for which the rapid stop command is turning on cannot be started.
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3 POSITIONING DEDICATED SIGNALS (3) Forward rotation JOG start command (M3202+20n)/Reverse rotation JOG start command (M3203+20n) ......... Command signal (a) JOG operation to the address increase direction is executed while forward rotation JOG start command (M3202+20n) is turning on. When M3202+20n is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.
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3 POSITIONING DEDICATED SIGNALS (5) Speed/position switching enable command (M3205+20n) ......... Command signal (a) This command is used to make the CHANGE signal (speed/position switching signal) effective from an external source. • ON .......... Control switches from speed control to position control when the CHANGE signal turned on. • OFF .......... Control does not switch from speed to position control even if the CHANGE signal turns on.
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3 POSITIONING DEDICATED SIGNALS REMARK Refer to APPENDIX 1 for details on the minor error code, major error code and servo error code storage registers. (8) External stop input disable at start command (M3209+20n) ....................... Command signal This signal is used to set the external stop signal input valid or invalid. • ON .......... External stop input is set as invalid, and even axes which stop input is turning on can be started. • OFF ..........
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3 POSITIONING DEDICATED SIGNALS (11) Gain changing command (M3216+20n) ............. Command signal This signal is used to change the gain of servo amplifier in the Motion controller by the gain changing command ON/OFF. • ON .......... Gain changing command ON • OFF .......... Gain changing command OFF Refer to the "MR-J3- B Servo Amplifier Instruction Manual" for details of gain changing function. Instruction Manual list is shown below.
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3 POSITIONING DEDICATED SIGNALS (13) FIN signal (M3219+20n) .................................... Command signal When a M-code is set in a servo program, transit to the next block does not execute until the FIN signal changes as follows: OFF ON OFF. Positioning to the next block begins after the FIN signal changes as above. It is valid, only when the FIN acceleration/deceleration is set and FIN signal wait function is selected.
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3 POSITIONING DEDICATED SIGNALS 3.1.3 Common devices POINTS (1) Internal relays for positioning control are not latched even within the latch range. In this manual, in order to indicate that internal relays for positioning control are not latched, the expression used in this text is "M2000 to M2319". (2) The range devices allocated as internal relays for positioning control cannot be used by the user even if their applications have not been set. (1) PLC ready flag (M2000) ..............
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3 POSITIONING DEDICATED SIGNALS 3) The processing in above (c) 1) is not executed during the test mode. It is executed when the test mode is cancelled and M2000 is ON. V Positioning start Deceleration stop t ON PLC ready flag OFF (M2000) ON PCPU READY OFF complete flag (SM500) PCPU READY complete flag (SM500) does not turn on because during deceleration. Clear a M-code (d) The following processings are performed when the M2000 turns ON to OFF.
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3 POSITIONING DEDICATED SIGNALS The condition which M2000 is turned ON to OFF. • Set "0" to the setting register D704 of the PLC ready flag where the RUN/STOP switch is moved to RUN. (The Motion CPU detects the change of the lowest rank bit 1 0 in D704.) • Move the RUN/STOP switch from RUN to STOP. (2) Start accept flag (M2001 to M2032) ............................ Status signal (a) This flag turns on when the servo program is started.
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3 POSITIONING DEDICATED SIGNALS The start accept flag list is shown below. Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. 1 M2001 9 M2009 17 M2017 25 Device No.
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3 POSITIONING DEDICATED SIGNALS (6) Speed switching point specified flag (M2040) ...... Command signal This flag is used when the speed change is specified at the pass point of the constant speed control. (a) By turning M2040 on before the starting of the constant speed control (before the servo program is started), control with the change speed can be executed from the first of pass point. • OFF .......... Speed is changed to the specified speed from the pass point of the constant speed control. • ON ....
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3 POSITIONING DEDICATED SIGNALS (8) All axes servo ON command (M2042) .................. Command signal This command is used to enable servo operation. (a) Servo operation enabled … M2042 turns on while the servo OFF command (M3215+20n) is off and there is no servo error. (b) Servo operation disable ......
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3 POSITIONING DEDICATED SIGNALS (11) All axes servo ON accept flag (M2049) .................... Status signal This flag turns on when the Motion CPU accepts the all axes servo ON command (M2042). Since the servo ready state of each axis is not checked, confirm it in the servo ready signal (M2415+20n). ON All axes servo ON command (M2042) OFF ON All axes servo ON accept flag OFF (M2049) ON (Note) Each axis servo ready state OFF (Note): Refer to "3.1.1 Axis statuses "Servo ready signal"" for details.
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3 POSITIONING DEDICATED SIGNALS (14) Speed change accepting flag (M2061 to M2092) ................... Status signal This flag turns on during speed change by the control change (CHGV) instruction (or Motion dedicated PLC instruction (D(P).CHGV)) of the Motion SFC program. CHGV instruction ON Speed change accepting flag OFF 0 to 4ms Speed change Speed after speed change Setting speed t Speed change completion The speed change accepting flag list is shown below. Axis No. Device No. Axis No.
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3 POSITIONING DEDICATED SIGNALS (15) Automatic decelerating flag (M2128 to M2159) ......... Status signal This signal turns on while automatic deceleration processing is performed during the positioning control or position follow-up control. (a) This flag turns on while automatic deceleration to the command address at the position follow-up control, but it turns off if the command address is changed.
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3 POSITIONING DEDICATED SIGNALS (d) In any of the following cases, this flag does not turn off. • When deceleration due to JOG signal off • During manual pulse generator operation • During deceleration due to stop command or stop cause occurrence • When travel value is 0 V t ON Automatic decelerating flag OFF The automatic decelerating flag list is shown below. Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. 1 M2128 9 M2136 17 M2144 25 Device No.
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3 POSITIONING DEDICATED SIGNALS (16) Speed change "0" accepting flag (M2240 to M2271) ....………. Status signal This flag turns on while a speed change request to speed "0" or negative speed change is being accepted. It turns on when the speed change request to speed "0" or negative speed change is accepted during a start. After that, this signal turns off when a speed change is accepted or on completion of a stop due to a stop cause. Deceleration stop at the speed change "0" accept.
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3 POSITIONING DEDICATED SIGNALS (a) The flag turns off if a speed change request occurs during deceleration to a stop due to speed change "0". Speed change "0" V V1 Speed change V2 V2 t Start accept flag ON Speed change "0" accepting flag OFF (b) The flag turns off if a stop cause occurs after speed change "0" accept.
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3 POSITIONING DEDICATED SIGNALS (d) Even if it is speed change "0" after the automatic deceleration start to the "command address", speed change "0" accepting flag turns on. Automatic deceleration start V Speed change "0" Command address P1 V1 Speed change V2 V2 Command address P2 P1 P2 t Start accept flag ON OFF Speed change "0" accepting flag REMARK It does not start, even if the "command address" is changed during speed change "0" accepting. (17) Control loop monitor status (M2272 to M2303) ...
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3 POSITIONING DEDICATED SIGNALS 3.2 Data Registers (1) Data register list SV13 Device No. SV22 Application Device No. D0 to D640 to D704 to D758 to D0 Axis monitor device (20 points 32 axes) to D640 Control change register (2 points 32 axes) to Common device (Command signal) (54 points) D704 to D758 Unusable (42 points) to D800 D800 to D1120 to D1240 to Application Axis monitor device (20 points 32 axes) Real mode……each axis Virtual mode….
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3 POSITIONING DEDICATED SIGNALS (2) Axis monitor device list Axis No. Device No.
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3 POSITIONING DEDICATED SIGNALS (3) Control change register list Axis No. Device No.
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3 POSITIONING DEDICATED SIGNALS (4) Common device list Device No. Signal name Refresh cycle Fetch cycle Signal direction Device No.
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3 POSITIONING DEDICATED SIGNALS 3.2.1 Axis monitor devices The monitoring data area is used by the Motion CPU to store data such as the feed current value during positioning control, the real current value and the deviation counter value. It can be used to check the positioning control state using the Motion SFC program. The user cannot write data to the monitoring data area (except the travel value change register).
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3 POSITIONING DEDICATED SIGNALS (4) Minor error code storage register (D6+20n) ............. Monitor device (a) This register stores the corresponding error code (Refer to APPENDIX 1.2) at the minor error occurrence. If another minor error occurs after error code storing, the previous error code is overwritten by the new error code. (b) Minor error codes can be cleared by an error reset command (M3207+20n). (5) Major error code storage register (D7+20n) .............
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3 POSITIONING DEDICATED SIGNALS (9) Execute program No. storage register (D12+20n) ....…….. Monitor device (a) This register stores the starting program No. at the servo program starting. (b) The following value is stored in the JOG operation and manual pulse generator operation. 1) JOG operation...................................... FFFF 2) Manual pulse generator operation ...... FFFE 3) Power supply on...................................
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3 POSITIONING DEDICATED SIGNALS (12) Data set pointer for constant-speed control (D15+20n) ....…….. Monitor device This pointer is used in the constant-speed control when specifying positioning data indirectly and substituting positioning data during operation. It stores a "point" that indicates which of the values stored in indirect devices has been input to the Motion CPU when positioning is being repeated by using a repetition instructions (FOR-TIMES, FOR-ON or FOR-OFF).
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3 POSITIONING DEDICATED SIGNALS [Input situation of positioning data in the Motion CPU] Update of data using the Motion SFC program Positioning data input to the Motion CPU at each point Positioning point Updated data (A) Updating Point Input Indirect device D 0 (1) (A) (B) 2 (2) (B) (C) 4 (3) (C) (D) 6 (4) (D) 8 (5) 10 (6) 12 (7) 14 (8) 16 (9) 18 (10) 20 (11) 22 (12) 24 (13) 26 (14) 28 (15) 30 (16) 0 First positioning Point 0 1 1 2 3 2 4 5 3 6 7 4 3 2 1 0 (13)
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3 POSITIONING DEDICATED SIGNALS [Internal processing] (a) The positioning data ((1) to (14)) of points 0 to 6 is input to the Motion CPU by the starting. The last point "6" of the input data to be input is stored in the data set pointer for constant-speed control at this time. The "6" stored in the data set pointer for constant-speed control indicates that updating of the positioning data stored in points 0 to 6 is possible.
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3 POSITIONING DEDICATED SIGNALS 3.2.2 Control change registers This area stores the JOG operation speed data. Table 3.
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3 POSITIONING DEDICATED SIGNALS 3.2.3 Common devices (1) Common bit device SET/RST request register (D704 to D708, D755 to D757) ..…........….................................... Command device Because cannot be turn on/off in every bit from the PLC CPU, the bit device is assigned to D register, and each bit device turns on with the lowest rank bit 0 to 1 and each bit device becomes off with 1 to 0. The details of request register are shown below. (Refer to Section "3.1.
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3 POSITIONING DEDICATED SIGNALS b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 D714 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 D715 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17 D716 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 D717 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25
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3 POSITIONING DEDICATED SIGNALS (5) Manual pulse generator smoothing magnification setting registers (D752 to D754) .................................................... Command device (a) These registers set the smoothing time constants of manual pulse generators.
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3 POSITIONING DEDICATED SIGNALS 3.3 Motion Registers (#) There are motion registers (#0 to #8735) in the Motion CPU. #8000 to #8639 are used as the monitor device and #8640 to #8735 are used as the Motion SFC dedicated device. Refer to the "Q173DCPU/Q172DCPU Motion Controller (SV13/SV22) Programming Manual (Motion SFC)" for details of the motion registers and Motion SFC dedicated device. (1) Monitor devices (#8000 to #8639) Information for each axis is stored in the monitor devices.
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3 POSITIONING DEDICATED SIGNALS (a) Servo amplifier type (#8000+20n) .......................................... Monitor device This register stores the servo amplifier type for each axis at the servo amplifier power supply ON. • 0 .............. Unused • 256 ........... MR-J3-B • 257 ........... MR-J3-B (For fully closed loop control) • 258 ........... MR-J3-B (For Linear control) It is not cleared even if the servo amplifier power supply turns ON. (b) Motor current (#8001+20n) ............................
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3 POSITIONING DEDICATED SIGNALS 3.4 Special Relays (SM) There are 2256 special relay points of SM0 to SM2255 in the Motion CPU. Of these, 8 points of the SM500 to SM503, SM510, SM512, SM513 and SM516 are used for the positioning control. The special relay list used for the positioning control is shown below. (Refer to "Q173DCPU/Q172DCPU Motion controller programming Manual (COMMON)" for the application of special relays except SM500 to SM503, SM510, SM512, SM513 and SM516.) Table 3.
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3 POSITIONING DEDICATED SIGNALS (2) TEST mode ON flag (SM501) ........…...................... Status signal (a) This flag is used as judgement of during the test mode or not using MT Developer. Use it for an interlock, etc. at the starting of the servo program using the Motion SFC program. • OFF ......... Except the test mode • ON ......... During the test mode (b) If the test mode is not executed in the test mode request from MT Developer, the TEST mode request error flag (SM510) turns on.
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3 POSITIONING DEDICATED SIGNALS (7) Manual pulse generator axis setting error flag (SM513) .………...... Status signal (a) This flag is use as judgement of normal or abnormal setting of the manual pulse generator axis No. setting registers (D714 to D719). • OFF ......... D714 to D719 is normal • ON ......... D714 to D719 is abnormal (b) When SM513 turns on, the error contents are stored in the manual pulse generator axis setting error information (SD513 to SD515).
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3 POSITIONING DEDICATED SIGNALS 3.5 Special Registers (SD) There are 2256 special register points of SD0 to SD2255 in the Motion CPU. Of these, 20 points of the SD200, SD500 to SD506, SD508, SD510 to SD517, SD522, SD523 and SD803 are used for the positioning control. The special register list used for the positioning control is shown below.
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3 POSITIONING DEDICATED SIGNALS (1) State of switch (SD200) ………………………….. Monitor device The switch state of CPU is stored in the form of the following. b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 SD200 Switch state of CPU 0 : RUN 1 : STOP Memory card switch Always OFF (All setting of each digit is "0".) No used (2) Real mode axis information register (SD500, SD501) ....................................................
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3 POSITIONING DEDICATED SIGNALS (a) Servo amplifier mounting status 1) Mounting status • Mounted ..…..... The servo amplifier is normal. (Communication with the servo amplifier is normal.) • Not mounted .... The servo amplifier is not mounted. The servo amplifier power is off. Normal communication with the servo amplifier is not possible due to a connecting cable fault, etc. 2) The system settings and servo amplifier mounting status are shown below. Servo amplifier System Settings Used (axis No.
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3 POSITIONING DEDICATED SIGNALS (6) Motion CPU WDT error cause (SD512) ………........ Monitor device This register is used as judgement of the error contents in the Motion CPU. Error code 1 Operation when error occurs Error cause S/W fault 1 Action to take • Reset the Multiple CPU system. • If the error reoccurs after resetting, 1) Change the operation cycle into a large value in the system setting. 2) Reduce the number of command execution of the event task or NMI task in the system setting.
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3 POSITIONING DEDICATED SIGNALS (7) Manual pulse generator axis setting error information (SD513 to SD515) ..............................................….. Monitor device The setting information is checked at leading edge of manual pulse generator enable signal, if an error is found, the following error information is stored into SD513 to SD515 and the manual pulse generator axis setting error flag (SM513) turns on.
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3 POSITIONING DEDICATED SIGNALS (11) Operation cycle of the Motion CPU setting (SD523) ........... Monitor device The setting operation cycle is stored in [µs] unit. When the "Automatic setting" is set in the system setting, the operation cycle corresponding to the number of setting axes. When "0.4[ms] / 0.8[ms] / 1.7[ms] / 3.5[ms] / 7.1[ms] / 14.2[ms]" is set in the system setting, the operation cycle corresponding to each setting.
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4 PARAMETERS FOR POSITIONING CONTROL 4. PARAMETERS FOR POSITIONING CONTROL 4.1 System Settings In the Multiple CPU system, the common system parameters and individual parameters are set for each CPU and written to each CPU. (1) The base settings, Multiple CPU settings and Motion slot settings are set in the common system parameter setting.
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4 PARAMETERS FOR POSITIONING CONTROL 4.2 Fixed Parameters (1) The fixed parameters are set for each axis and their data is fixed based on the mechanical system, etc. (2) The fixed parameters are set using MT Developer. (3) The fixed parameters to be set are shown in Table 4.1. Table 4.1 Fixed parameter list Setting range No.
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4 PARAMETERS FOR POSITIONING CONTROL 4.2.1 Number of pulses/travel value per rotation The "Electronic gear function" adjusts the pulse calculated and output by the parameter set in the Q173DCPU/Q172DCPU and the real travel value of machine. It is defined by the "Number of pulses per rotation" and "Travel value per revolution". POINTS (1) The mechanical system error of the command travel value and real travel value is rectified by adjustment the "electronic gear".
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4 PARAMETERS FOR POSITIONING CONTROL Therefore, AP/AL is set so that the following expression of relations may be materialized in order to convert the travel value of [mm] / [inch] unit set in the program into a pulse. Number of pulses per motor rotation = AP Travel value of machine per motor rotation = AL AP AL Electronic = gear . . . . .
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4 PARAMETERS FOR POSITIONING CONTROL The travel value per motor rotation in this example is 0.000076[mm]. For example, when ordering the travel value of 19[mm], it becomes 249036.8[PLS] and the fraction of 0.8[PLS]. At this time, the Motion CPU orders the travel value of 249036[PLS] to the servomotor and the fraction is memorized in the Motion CPU. Positioning is performed by seasoning the travel value with this fraction at the next positioning. 4.2.
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4 PARAMETERS FOR POSITIONING CONTROL (1) Stroke limit range check The stroke limit range is checked at the following start or during operation. Operation start • Position follow-up control • Constant-speed control • Speed switching control • Positioning control • Fixed-pitch feed control • Speed control ( ) • Speed control ( ) Check Remarks Check • It is checked whether the feed current value is within the stroke limit range or not at the positioning start.
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4 PARAMETERS FOR POSITIONING CONTROL 4.2.4 Command in-position range The command in-position is the difference between the positioning address (command position) and feed current value. Once the value for the command in-position has been set, the command in-position signal (M2403+20n) turns on when the difference between the command position and the feed current value enters the set range [(command position - feed current value) (command in-position range)].
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4 PARAMETERS FOR POSITIONING CONTROL 4.2.5 Speed control 10 multiplier setting for degree axis The setting range of command speed is 0.001 to 2147483.647[degree/min] normally in the axis of control unit [degree]. However, when the "speed control 10 multiplier setting for degree axis" is set to "valid" in the fixed parameter the speed setting range increases 10 multiplier "0.01 to 21474836.47[degree/min]".
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4 PARAMETERS FOR POSITIONING CONTROL Example • An example for positioning control is shown below when the "speed control 10 multiplier setting for degree axis" of fixed parameter and "interpolation control unit" of parameter block are set as follows.
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4 PARAMETERS FOR POSITIONING CONTROL Example (b) Long-axis reference specification INC-2 Axis 1, 360.00000 Axis 2, 20000.00000 Long-axis speed 180.00 2 axes linear interpolation control Axis used . . . . . . . Axis 1, Axis 2 Axis 1 . . . . . 360.00000[degree] Travel value to stop position Axis 2 . . . 20000.00000[degree] Positioning speed . . . 180.00[degree/min] [degree/min] V Axis 1 speed Servo program No.50 3.24 t [degree/min] V 180.00 Servo program No.
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4 PARAMETERS FOR POSITIONING CONTROL 4.3 Parameter Block (1) The parameter blocks serve to make setting changes easy by allowing data such as the acceleration/deceleration control to be set for each positioning processing. (2) A maximum 64 blocks can be set as parameter blocks. (3) Parameter blocks can be set using MT Developer. (4) Parameter block to be set are shown in Table 4.2. Table 4.2 Parameter Block Setting List Setting range No.
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4 PARAMETERS FOR POSITIONING CONTROL POINTS The data set in the parameter block is used in the positioning control, home position return and JOG operation. (1) The parameter block No. used in the positioning control is set using MT Developer at the creating of the servo program. If it is not set, control is executed with the contents of parameter block No.1. Also, it is possible to set parameter block data individually in the servo program. [Servo program creation screen] Parameter block No.
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4 PARAMETERS FOR POSITIONING CONTROL 4.3.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid stop deceleration time The speed limit value is the maximum speed at the positioning/home position return. The acceleration time is the time taken to reach the set speed limit value from the start of positioning. The deceleration time and rapid stop deceleration time are the time taken to effect a stop from the set speed limit value.
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4 PARAMETERS FOR POSITIONING CONTROL As shown below, the S-curve ratio setting serves to select the part of the sine curve to be used as the acceleration/deceleration curve. V A A B/2 B Positioning speed B B/2 B/A=1.0 t S-curve ratio is 100[%] V Positioning speed Sine curve B B/A=0.7 A S-curve ratio = B/A 100[%] t S-curve ratio is 70[%] 4.3.
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5 SERVO PROGRAMS FOR POSITIONING CONTROL 5. SERVO PROGRAMS FOR POSITIONING CONTROL Servo programs specify the type of the positioning data required to execute the positioning control in the Multiple CPU system. This chapter describes the configuration and setting method of the servo programs. Refer to Chapter "6 POSITIONING CONTROL" for details of the servo program. 5.
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5 SERVO PROGRAMS FOR POSITIONING CONTROL (3) Positioning data ...... This is the data required to execute servo instructions. The data required to execute is fixed for each servo instruction. Refer to Section 5.3 for details. The follows applies for the servo program shown in Figure 5.1: • Axis used and Data which must be set in order to positioning address execute the servo instruction. • Command speed • Dwell time Data which will be set to default • M-code values for control if not set. • P.B.
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5 SERVO PROGRAMS FOR POSITIONING CONTROL 5.2 Servo Instructions The servo instructions used in the servo programs are shown below. Refer to Chapter 6 for details of the servo instruction. Refer to Chapter 7 of the "Q173DCPU/Q172DCPU Motion Controller (SV13/SV22) Programming Manual (Motion SFC)" for details of the current value change control (CHGA, CHGA-E, CHGA-C). (1) Guide to servo instruction list Table. 5.
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5 SERVO PROGRAMS FOR POSITIONING CONTROL (2) Servo instruction list The servo instructions that can be used in servo programs and the positioning data set in the servo instruction are shown in Table 5.2. Refer to Section 5.3 for details of the positioning data set in the servo instructions. Table 5.
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2 2 — — — 1 1 1 2 1 1 1 1 2 2 1 1 1 1 — 1 1 1 1 1 1 1 2 5-5 WAIT-ON/OFF FIN acceleration/deceleration Skip Cancel Command speed (constant speed) Program No.
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5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.
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2 2 — — — 1 1 1 2 1 1 1 1 2 2 1 1 1 1 — 1 1 1 1 1 1 1 2 5-7 WAIT-ON/OFF FIN acceleration/deceleration Skip Cancel Command speed (constant speed) Program No.
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5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.
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2 2 — — — 1 1 1 2 1 1 1 1 2 2 1 1 1 1 — 1 1 1 1 1 1 1 2 5-9 WAIT-ON/OFF FIN acceleration/deceleration Skip Cancel Command speed (constant speed) Program No.
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5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.
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2 2 — — — 1 1 1 2 1 1 1 1 2 2 1 1 1 1 — 1 1 1 — — 1 1 1 1 2 1 1 5 - 11 1 1/ 1(B) *2 1 2 — 2 2 2 1(B) 1(B) *2 *2 1 1 1(B) *2 Fixed position stop 2 Fixed position stop acceleration /deceleration time WAIT-ON/OFF FIN acceleration/deceleration Parameter block Skip Cancel Command speed (constant speed) Program No.
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5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.
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2 2 — — — 1 1 1 2 1 1 1 1 2 2 1 1 1 1 — 1 1 1 — — 1 1 1 1 2 1 1 5 - 13 1 1/ 1(B) *2 1 2 — 2 2 2 1(B) 1(B) *2 *2 1 2 1 1(B) Fixed position stop *2 Fixed position stop acceleration /deceleration time WAIT-ON/OFF FIN acceleration/deceleration Parameter block Skip Cancel Command speed (constant speed) Program No.
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5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.
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2 2 — — — 1 1 1 2 1 1 1 1 2 2 1 1 1 1 — 1 1 1 — — 1 1 1 1 2 1 1 5 - 15 1 1/ 1(B) *2 1 2 — 2 2 2 1(B) 1(B) *2 *2 1 1 1(B) *2 Fixed position stop 2 Fixed position stop acceleration /deceleration time WAIT-ON/OFF FIN acceleration/deceleration Parameter block Skip Cancel Command speed (constant speed) Program No.
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5 SERVO PROGRAMS FOR POSITIONING CONTROL 5.3 Positioning Data The positioning data set in the servo programs is shown in Table 5.3. Table 5.3 Positioning data Setting value using MT Developer Name Explanation Parameter block No. • Set based on which parameter block deceleration processing at the acceleration/ deceleration processing and STOP input. Axis • Set the starting axis. • It becomes the interpolation starting axis No. at the interpolation.
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5 SERVO PROGRAMS FOR POSITIONING CONTROL Setting value using the Motion SFC program (Indirect setting) Setting range mm inch degree PLS Indirect setting Possible/ not possible 1 to 64 -2147483648 to 2147483647 ( 10-1[µm]) -2147483648 to 214748647 -5 ( 10 [inch]) ( Number of used words 1 -2147483648 0 to 35999999 10-5[degree]) to 2147483647 Processing at the setting error Error item information (Stored in SD517) (Note-4) Control using default value Not start 1 n03 (Note-1) Except for the sp
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5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.3 Positioning data (Continued) Setting value using MT Developer Radius Central point Circular Interpolation Auxiliary point Name Absolute data method Explanation Default value • Set at the auxiliary point-specified circular interpolation. Setting range mm -214748364.8 to -21474.83648 214748364.7 to 21474.
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5 SERVO PROGRAMS FOR POSITIONING CONTROL Setting value using the Motion SFC program (Indirect setting) Setting range mm inch degree -2147483648 to 2147483647 ( 10-1[µm]) -2147483648 to 2147483647 -5 ( 10 [inch]) ( PLS Indirect setting Possible/ not possible -2147483648 0 to 35999999 10-5[degree]) to 2147483647 Processing at the setting error Number of used words 2 2 Error item information (Stored in SD517) (Note-4) n08 Control using default value (Note-1) 0 to 2147483647 1 to 4294967295 1
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5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.3 Positioning data (Continued) Setting value using MT Developer Name Default value Setting range mm inch degree Repeat condition (Number of repetitions) Set the repeat conditions between FORTIMES instruction and NEXT instruction. Repeat condition (ON/OFF) Set the repeat conditions between FORON/OFF instruction and NEXT instruction. X, Y, M, B, F, U \G Set the program No. for simultaneous start. 0 to 4095 Program No.
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5 SERVO PROGRAMS FOR POSITIONING CONTROL Setting value using the Motion SFC program (Indirect setting) Setting range mm inch degree PLS Indirect setting Possible/ not possible Number of used words Processing at the setting error Error item information (Stored in SD517) (Note-4) Control using default value Control by K1 1 to 32767 1 18 0 to 4095 1 19 2 4 1 to 5000[ms] 1 13 Control by 1000[ms] 1 to 65535[ms] 1 13 Control by 1000[ms] 1 to 2147483647 1 to 600000000 1 to 600000000 -3 (
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5 SERVO PROGRAMS FOR POSITIONING CONTROL 5.4 Setting Method for Positioning Data This section describes how to set the positioning data used in the servo program. There are two ways to set positioning data, as follows: (1) Setting by specifying numerical values … Refer to Section 5.4.1 (2) Indirect setting by devices ……….… Refer to Section 5.4.2 "Setting by specifying numerical values" and "indirect setting by word devices" can be used together in one servo program. 5.4.
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5 SERVO PROGRAMS FOR POSITIONING CONTROL 5.4.2 Indirect setting method by devices In the indirect setting method (Note-1) by devices, the device No. is specified to the positioning data specified with the servo program. By using the contents (data) of specified device using the Motion SFC program (Automatic refresh, etc.), multiple positioning controls can be executed in one servo program. The device used in the indirect setting is the device of the Motion CPU but the device of the PLC CPU.
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5 SERVO PROGRAMS FOR POSITIONING CONTROL (1) Word devices for indirect setting data The devices for indirect setting data are the data registers (D), link registers (W), motion registers (#) and Multiple CPU area device (U \G). Word devices except the above devices cannot be used. The usable setting range of word devices is shown below.
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5 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data ABS-1 Axis Speed Cancel 1, U3E0\G10400 U3E0\G10402 U3E0\G10104.1 Indirect setting by bit device Fig. 5.5 Example of indirect setting by bit device for positioning data (3) Inputting of positioning data In indirect setting by word devices, the word device data is inputted when the servo program is executed using the Motion CPU.
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5 SERVO PROGRAMS FOR POSITIONING CONTROL (4) Program example that uses the Multiple CPU high speed transmission memory Program example to control by the data transmitted from the PLC CPU to Motion CPU is shown below. Program that starts the servo program (positioning) by the DP.SVST instruction after the data is written to the Multiple CPU high speed transmission memory (U3E0\G10000 to U3E0\G10003) from the PLC CPU (CPU No.1).
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6 POSITIONING CONTROL 6. POSITIONING CONTROL This section describes the positioning control methods. 6.1 Basics of Positioning Control This section describes the common items for positioning control, which is described in detail after Section 6.2. 6.1.1 Positioning speed The positioning speed is set using the servo program. Refer to Chapter 5 for details of the servo programs.
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6 POSITIONING CONTROL 6.1.2 Positioning speed at the interpolation control The positioning speed of the Motion CPU sets the travel speed of the control system. (1) 1 axis linear control Travel speed is the positioning speed of the specified axis at the 1 axis positioning control. (2) Linear interpolation control Positioning is controlled with the speed which had the control system specified at the interpolation control.
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6 POSITIONING CONTROL (b) Long-axis speed specification It is controlled based on the positioning speed (Long-axis speed: V) of the largest travel value axis among address set as each axis. The Motion CPU calculates the positioning speed of other axes (V1 to V3) using the each axis travel value (D1 to D4). Set the long-axis speed and the travel value of each axis using the servo program. Example 4 axes linear interpolation control is shown below.
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6 POSITIONING CONTROL 2) Discrepancy between interpolation control units and control units • Travel value: The travel value of each axis is converted into [PLS] unit with the electronic gear of self axis. • Speed : The largest travel value axis is controlled with the longaxis speed and the other axes are controlled with the speed based on the long-axis speed, as the result of conversion.
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6 POSITIONING CONTROL POINTS (1) Speed limit value and positioning speed • The setting speed limit value applies to the long-axis speed. • Be careful that the vector speed may exceed the speed limit value at the longaxis speed specification. Example The following settings at the 2 axes linear interpolation, the vector speed exceeds the speed limit value.
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6 POSITIONING CONTROL Example 4 axes linear interpolation control is shown below. [Program example] Axis 1 travel value: D1 = 10000 [PLS] Axis 2 travel value: D2 = 15000 [PLS] Axis 3 travel value: D3 = 5000 [PLS] ABS-4 Axis 4 travel value: D4 = 20000 [PLS] Axis 1, Axis 2, Reference axis speed: V = 7000 [PLS/s] Axis 3, Reference axis: Axis 4 Axis 4, In this example, since the reference-axis is axis 4, it is controlled with the positioning speed specified with axis 4.
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6 POSITIONING CONTROL (3) Circular interpolation control The angular speed is controlled with the setting speed at the circular interpolation control. Control with the setting speed 6.1.3 Control units for 1 axis positioning control It is controlled in the control units specified with the fixed parameters at the 1 axis positioning control. (The control unit specified with the parameter block is ignored.) 6.1.
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6 POSITIONING CONTROL (2) The combinations of each axis control units for interpolation control are shown in the table below. Mm inch degree PLS mm 1) 2) 3) 3) inch 2) 1) 3) 3) degree 3) 3) 1) 3) PLS 3) 3) 3) 1) Remarks 1): Same units 2): Combination of [mm] and [inch] 3): Unit mismatch (a) Same units ( 1) ) The position command is calculated with the setting address (travel value), positioning speed or electronic gear, the positioning is executed.
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6 POSITIONING CONTROL 6.1.5 Control in the control unit "degree" If the control units are "degree", the following items differ from other control units. (1) Current value address The current addresses in the control unit "degree" are ring addresses from 0° to 360°. 359.99999 359.99999 0 0 0 (2) Stroke limit valid/invalid setting The upper/lower limit value of the stroke limit in the control unit "degree" is within the range of 0° to 359.
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6 POSITIONING CONTROL (3) Positioning control Positioning control method in the control unit "degree" is shown below. (a) Absolute data method (ABS instructions) Positioning in a near direction to the specified address is performed based on the current value. Example (1) Positioning is executed in a clockwise direction to travel from the current value of 315.00000°to 0°. (2) Positioning is executed in a counter clockwise direction to travel from the current value of 0° to 315.00000°. 315.
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6 POSITIONING CONTROL 6.1.6 Stop processing and restarting after stop This section describes the stop processing after a stop cause is input during positioning and restarting after stop. (1) Stop processing (a) Stop processing methods Stop processing during positioning by stop cause are as follows. 1) Deceleration stop (Process 1).......Deceleration stop by "stop deceleration time" of parameter block.
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6 POSITIONING CONTROL 4) Stop using the manual pulse generator (Process 4) ..................Deceleration stop by the "deceleration time" of (Smoothing magnification + 1) 56.8[ms].
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6 POSITIONING CONTROL (c) Stop commands and stop causes Some stop commands and stop causes affect individual axis and others affect all axes. However, during interpolation control, stop commands and stop causes which affect individual axis also stop the interpolation axis. For example, both Axis 1 and Axis 2 stop after input of a stop command (stop cause) during the Axis 1 and Axis 2 interpolation control. No.
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6 POSITIONING CONTROL (2) Re-starting after stop (a) If it stopped by the stop command or stop cause (except change speed to speed "0"), re-starting is not possible. However, it stopped by the STOP input of the Q172DLX ON, the stop command (M3200+20n) ON or the rapid stop command (M3201+20n) ON during speed/position switching control, re-starting is possible using VPSTART instruction.
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6 POSITIONING CONTROL (3) Continuation of positioning control This section describes the processing which performed servo program No. which was being performed before the stop, after stop by turning on the STOP input of the Q172DLX ON, the stop command (M3200+20n) ON or the rapid stop command (M3201+20n) ON. (a) 1 axis linear control/2 or 3 axes linear interpolation control 1) For ABS ....... Positioning control from the stop address to target address by the target address specification.
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6 POSITIONING CONTROL [Processing in the Motion SFC Program] 1. Transfer the start address to word devices of the Motion CPU before starting. 2. Calculate the target address by applying the travel value to the address before starting. 3. Calculate the residual travel value by subtracting the stop address from the target address. 4. Store the residual travel value in the servo program for travel value register. 5. Perform the servo program.
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6 POSITIONING CONTROL 6.1.7 Acceleration/deceleration processing Acceleration/deceleration are processed by the following two methods. (1) Trapezoidal acceleration/deceleration processing This is a conventional linear acceleration/deceleration processing. The acceleration/deceleration graph resembles a trapezoid, as shown in the diagram below.
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6 POSITIONING CONTROL S-curve ratio can be set by the servo program is following two methods. (a) Direct specification S-curve ratio is set directly as a numeric value from 0 to 100. INC-2 Axis Axis Vector speed S-curve ratio 100000 250000 1000 80 1, 2, 2 axes linear positioning control Axis used . . . . . . . . . . Axis 1, Axis 2 Axis 1 . . . 100000 Travel value to . . . . . . . Axis 2 . . . 250000 stop position Positioning speed . . . . 1000 S-curve ratio . . . . . . . .
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6 POSITIONING CONTROL 6.2 1 Axis Linear Positioning Control Positioning control from the current stop position to the fixed position for specified axis is executed. Positioning is controlled using ABS-1 (Absolute data method) or INC-1 (Incremental data method) servo instructions.
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6 POSITIONING CONTROL Control using INC-1 (Incremental data method) (1) Positioning control of the specified travel value from the current stop position address is executed. (2) The travel direction is set by the sign (+/ -) of the travel value, as follows: • Positive travel value .............Positioning control to forward direction (Address Increase direction) • Negative travel value............
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6 POSITIONING CONTROL (3) Operation timing Operation timing for the servo program No.0 is shown below. V 10000 Servo Program No.0 t PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 4 servo ready (M2475) Start command (PX000) Servo program start Axis 4 start accept flag (M2004) (4) Servo program Servo program No.0 for positioning control is shown below. INC-1 Axis Speed 4, 80000 10000 1 axis linear positioning control Axis used . . . . . . . .
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6 POSITIONING CONTROL 6.3 2 Axes Linear Interpolation Control Linear interpolation control from the current stop position with the specified 2 axes is executed. ABS-2 (Absolute data method) and INC-2 (Incremental data method) servo instructions are used in the 2 axes linear interpolation control.
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6 POSITIONING CONTROL (2) The travel direction is set by the stop address (starting address) and positioning address of each axis. Forward direction Y1 Current stop address (X1, Y1) Operation for X-axis, Y-axis linear interpolation Y-axis travel value Y2 Positioning address (X2, Y2) Reverse direction 0 Reverse direction X1 Forward direction X2 X-axis travel value (Note) : Indicates setting data Example When the current stop address is (1000, 4000), and the positioning address is (10000, 2000).
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6 POSITIONING CONTROL Control using INC-2 (Incremental data method) (1) Positioning control from the current stop address to the position which combined travel direction and travel value specified with each axis is executed. (2) The travel direction for each axis is set by the sign (+/ -) of the travel value for each axis, as follows: • Positive travel value .............Positioning control to forward direction (Address increase direction) • Negative travel value............
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6 POSITIONING CONTROL (2) Positioning operation details The positioning is used the Axis 3 and Axis 4 servomotors. The positioning operation by the Axis 3 and Axis 4 servomotors is shown in the diagram below. Axis 3 positioning direction Positioning using the servo program No.11 (40000, 50000) Axis 4 positioning direction Home position (0, 0) (3) Positioning conditions (a) Positioning conditions are shown below. Servo Program No. Item No.11 Positioning speed 30000 (b) Positioning start command ..
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6 POSITIONING CONTROL (5) Servo program Servo program No.11 for 2 axes linear interpolation control is shown below. ABS-2 Axis Axis Vector speed 50000 40000 30000 3, 4, 2 axes linear interpolation control Axis used . . . . . . . . . . Axis 3, Axis 4 Axis 3 . . . 50000 Travel value to ...... stop position Axis 4 . . . 40000 Command positioning speed Vector speed . . . . . 30000 (6) Motion SFC program Motion SFC program for which executes the servo program is shown below.
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6 POSITIONING CONTROL 6.4 3 Axes Linear Interpolation Control Linear interpolation control from the current stop position with the specified 3 axes is executed.
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6 POSITIONING CONTROL [Control details] Control using ABS-3 (Absolute data method) (1) 3 axes linear interpolation from the current stop address (X1, Y1 or Z1) based on the home position to the specified positioning address (X2, Y2, Z2) is executed. (2) The travel direction is set by the stop address and specified address of each axis.
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6 POSITIONING CONTROL Control using INC-3 (Incremental data method) (1) Positioning control from the current stop address to the position which combined travel direction and travel value specified with each axis is executed. (2) The travel direction for each axis is set by the sign (+/ -) of the travel value for each axis, as follows: • Positive travel value .............Positioning control to forward direction (Address increase direction) • Negative travel value............
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6 POSITIONING CONTROL [Program] Program for 3 axes linear interpolation control is shown as the following conditions. (1) System configuration 3 axes linear interpolation control of Axis 1, Axis 2 and Axis 3. Motion CPU control module Q61P Q03UD Q172D QX41 CPU CPU QY41 Q172D LX Positioning start command (PX000) AMP AMP Axis 1 M Axis 2 M AMP Axis 3 M AMP Axis 4 M (2) Positioning operation details The positioning is used the Axis 1, Axis 2 and Axis 3 servomotors.
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6 POSITIONING CONTROL (4) Operation timing Operation timing for 3 axes linear interpolation control is shown below. V Servo program No.21 t PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 1 servo ready (M2415) Axis 2 servo ready (M2435) Axis 3 servo ready (M2455) Start command (PX000) Servo program start Axis 1 start accept flag (M2001) Axis 2 start accept flag (M2002) Axis 3 start accept flag (M2003) (5) Servo program Servo program No.
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6 POSITIONING CONTROL (6) Motion SFC program Motion SFC program for which executes the servo program is shown below. 3 axes linear interpolation control 3 axes linear interpolation control [F10] [G10] [K21] [G20] SET M2042 Turn on all axes servo ON command. PX000*M2415*M2435*M2455 Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and Axis 3 servo ready turn on. ABS-3 Axis Axis Axis Speed 3 axes linear interpolation control Axis used . . . . . . . . . . . . Axis 1, Axis 2, Axis 3 Axis 1 . .
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6 POSITIONING CONTROL 6.5 4 Axes Linear Interpolation Control Linear interpolation control from the current stop position with 4 axes specified with the positioning command of the PLC program is executed.
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6 POSITIONING CONTROL [Program] Program for 4 axes linear interpolation control is shown as the following conditions. (1) System configuration 4 axes linear interpolation control of Axis 1, Axis 2, Axis 3 and Axis 4. Motion CPU control module Q61P Q03UD Q172D QX41 CPU CPU QY41 Q172D LX Positioning start command (PX000) AMP Axis 1 M AMP AMP Axis 2 M Axis 3 M AMP Axis 4 M (2) Positioning operation details The positioning is used the Axis 1, Axis 2, Axis 3 and Axis 4 servomotors.
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6 POSITIONING CONTROL Axis 2 positioning direction (Forward direction) Axis 3 positioning direction (Forward direction) Positioning using the servo program No.22 (Forward direction) 5000 Axis 4 positioning direction (Forward direction) 5000 (Reverse direction) 5000 Axis 1 positioning direction (Forward direction) (Reverse direction) (Reverse direction) Fig.6.8 Positioning for 4 axes linear interpolation control (3) Positioning conditions (a) Positioning conditions are shown below. Servo Program No.
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6 POSITIONING CONTROL (4) Operation timing Operation timing for 4 axes linear interpolation control is shown below. V Servo program No.
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6 POSITIONING CONTROL (6) Motion SFC program Motion SFC program for which executes the servo program is shown below. 4 axes linear interpolation control 4 axes linear interpolation control [F10] Turn on all axes servo ON command. SET M2042 [G10] PX000*M2415*M2435*M2455 *M2475 Wait until PX000, Axis 1 servo ready, Axis 2 servo ready, Axis 3 servo ready and Axis 4 servo ready turn on. [K22] INC-4 Axis Axis Axis Axis Speed 4 axes linear interpolation control Axis used . . . . . . .
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6 POSITIONING CONTROL 6.6 Auxiliary Point-Specified Circular Interpolation Control Circular interpolation control by specification of the end point address and auxiliary point address (a point on the arc) for circular interpolation is executed. Auxiliary point-specified circular uses ABS (Absolute data method) and INC (Incremental data method) servo instructions.
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6 POSITIONING CONTROL 31 (3) The setting range of the end point address and auxiliary point address is (-2 ) to 31 (2 -1). 32 (4) The maximum arc radius is 2 -1. 232-1 Maximum arc 0 -231 Radius R Arc central point 231-1 Fig.6.10 Maximum arc Control using INC (Incremental data method) (1) Circular interpolation from the current stop address through the specified auxiliary point address to the end point address is executed.
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6 POSITIONING CONTROL 31 (4) The maximum arc radius is 2 -1. 31 If the end point and auxiliary point are set more than a radius of 2 -1, an error occurs at the start and error code [107] is stored in the data register. 231-1 Maximum arc Arc central point 0 -231 231-1 Radius R Fig.6.12 Maximum arc [Program] Program for auxiliary point-specified circular interpolation control is shown as the following conditions.
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6 POSITIONING CONTROL (3) Positioning conditions (a) Positioning conditions are shown below. Servo program No. Item No.31 Positioning method Absolute data method Positioning speed 1000 (b) Positioning start command ........ PX000 Leading edge (OFF ON) (4) Operation timing Operation timing for auxiliary point-specified circular interpolation control is shown below. V Servo program No.
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6 POSITIONING CONTROL (6) Motion SFC program Motion SFC program for which executes the servo program is shown below. Auxiliary point-specified circular interpolation control Auxiliary point-specified circular interpolation control [F10] SET M2042 Turn on all axes servo ON command. [G10] PX000*M2415*M2435 Waits until PX000, Axis 1 servo ready and Axis 2 servo ready turn on. [K10] ABS Axis Axis Speed Auxiliary point Auxiliary point Auxiliary point-specified circular interpolation control Axis used. .
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6 POSITIONING CONTROL 6.7 Radius-Specified Circular Interpolation Control Circular interpolation control by specification of the end point address and radius for circular interpolation is executed. , ABS and Radius-specified circular interpolation control uses ABS , ABS (Absolute data method) and INC , INC , INC and INC ABS (Incremental data method) servo instructions.
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6 POSITIONING CONTROL [Control details] Details for the servo instructions are shown in the table below.
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6 POSITIONING CONTROL 31 (4) The setting range for the radius is 1 to (2 -1). 32 (5) The maximum arc radius is (2 -1). 231-1 Maximum arc 0 231-1 -231 Radius R Arc central point Fig.6.14 Maximum arc Control using INC , INC , INC , INC (Incremental data method) (1) Circular interpolation from the current stop address (0, 0) to the specified end point with specified radius.
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6 POSITIONING CONTROL [Program] Program for radius-specified circular interpolation control is shown as the following conditions. (1) System configuration Radius-specified circular interpolation control of Axis 1 and Axis 2. Motion CPU control module Q61P Q03UD Q172D QX41 CPU CPU QY41 Q172D LX Positioning start command (PX000) AMP AMP Axis 1 M Axis 2 M AMP Axis 3 M AMP Axis 4 M (2) Positioning operation details The positioning uses the Axis 1 and Axis 2 servomotors.
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6 POSITIONING CONTROL (4) Operation timing Operation timing for radius-specified circular interpolation control is shown below. V Servo Program No.41 Vector speed t PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 1 servo ready (M2415) Axis 2 servo ready (M2435) Start command (PX000) Servo program start Axis 1 start accept flag (M2001) Axis 2 start accept flag (M2002) (5) Servo program Servo program No.
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6 POSITIONING CONTROL (6) Motion SFC program Motion SFC program for which executes the servo program is shown below. Radius specified-circular interpolation control Radius specified-circular interpolation control [F10] SET M2042 Turn on all axes servo ON command. [G10] PX000*M2415*M2435 Wait until PX000, Axis 1 servo ready and Axis 2 servo ready turn on. [K41] Radius specified-circular interpolation control Axis used . . . . . . . . . . . . . . . Axis 1, Axis 2 Axis 1 . . .
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6 POSITIONING CONTROL 6.8 Central Point-Specified Circular Interpolation Control Circular interpolation control by specification of the end point for circular interpolation and arc central point is executed. (Absolute Central point-specified circular interpolation control uses ABS and ABS and INC (Incremental data method) servo instructions.
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6 POSITIONING CONTROL Control using ABS , ABS (Absolute data method) (1) Circular interpolation of an arc with a radius equivalent to the distance between the start point and central point, between the current stop address (address before positioning) based on the home position and the specified end point address.
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6 POSITIONING CONTROL , INC Control using INC (Incremental method) (1) Circular interpolation from the current stop address (0, 0) with a radius equivalent to the distance between the start point (0, 0) and central point. Forward direction Operation by circular interpolation (for INC ) End point Positioning speed Start point Reverse direction Home point Reverse direction Forward direction Arc central point (Note) : Indicates setting data Fig.6.
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6 POSITIONING CONTROL [Program] Program for central point-specified circular interpolation control is shown as the following conditions. (1) System configuration Central point-specified circular interpolation control of Axis 1 and Axis 2. Motion CPU control module Q61P Q03UD Q172D QX41 CPU CPU QY41 Q172D LX Positioning start command (PX000) AMP Axis 1 M AMP AMP Axis 2 M Axis 3 M AMP Axis 4 M (2) Positioning operation details The positioning uses the Axis 1 and Axis 2 servomotors.
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6 POSITIONING CONTROL (4) Operation timing Operation timing for central point-specified circular interpolation is shown below. V Servo Program No.51 Vector speed t PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 1 servo ready (M2415) Axis 2 servo ready (M2435) Start command (PX000) Servo program start Axis 1 start accept flag (M2001) Axis 2 start accept flag (M2002) (5) Servo program Servo program No.
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6 POSITIONING CONTROL (6) Motion SFC program Motion SFC program for which executes the servo program is shown below. Central point specified-circular interpolation control Central point specifiedcircular interpolation control [F10] SET M2042 Turn on all axes servo ON command. [G10] PX000*M2415*M2435 Wait until PX000, Axis 1 servo ready and Axis 2 servo ready turn on. [K51] ABS Axis Axis Speed Central point Central point Central point specified-circular interpolation control Axis used . . . . . . . . .
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6 POSITIONING CONTROL 6.9 Helical Interpolation Control The linear interpolation control with linear axis is executed simultaneously while the circular interpolation specified with any 2 axes is executed, the specified number of pitches rotates spirally and performs the locus control to command position.
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6 POSITIONING CONTROL 6.9.1 Circular interpolation specified method by helical interpolation The following method of circular interpolation is possible for the helical interpolation. The specified method of circular interpolation connected start point and end point at the seeing on the plane for which performs circular interpolation are as follows.
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6 POSITIONING CONTROL (3) When the travel value of linear axis is "0" is set, it can be controlled. Condition Number of pitches is 0 Operation Same control as normal circular interpolation control. (Allowable error range for circular interpolation can be set.) Linear interpolation to linear axis does not executed, circle for the Number of pitches is not 0 number of pitches is drawn on the circle plane. (Allowable error range for circular interpolation can be set.
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6 POSITIONING CONTROL ABH , ABH control , ABH , ABH Absolute radius-specified helical interpolation [Control details] The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from current stop position (X0, Y0, Z0) to specified circular end address (X1, Y1) or linear axis end point address (Z1), and the absolute helical interpolation is executed so that it may become a spiral course.
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6 POSITIONING CONTROL (1) The setting range of end point address for the both of circular interpolation axis 31 31 and linear interpolation axis is (-2 ) to (2 -1). 31 (2) The maximum arc radius on the circular interpolation plane is (2 -1). For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7[µm]. 231-1 Maximum arc Arc central point 0 -231 231-1 Radius R (3) Set the command speed with the vector speed for 2 axes circular interpolation axis.
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6 POSITIONING CONTROL (2) Motion SFC program Motion SFC program for which executes the servo program is shown below. Absolute radius-specified helical interpolation control Absolute radius-specified helical interpolation control [F10] SET M2042 Turn on all axes servo ON command. [G10] PX000*M2415*M2435*M2455 Wait until PX000, Axis 1 servo ready, Axis 2 servo ready, and Axis 3 servo ready turn on.
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6 POSITIONING CONTROL INH , INH control , INH , INH Incremental radius-specified helical interpolation [Control details] The linear interpolation to other linear axis is executed performing circular interpolation from current stop position (start point) to specified circular relative end address (X1, Y1) or linear axis end point relative address (Z1), and the incremental helical interpolation control is executed so that it may become a spiral course.
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6 POSITIONING CONTROL Control details for the servo instructions are shown below.
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6 POSITIONING CONTROL (3) Set the command speed with the vector speed for 2 axes circular interpolation axis. (4) The command speed unit is specified in the parameter block. (5) Set the number of pitches within the range of 0 to 999. If it is set outside the setting range, the servo program error [28] occurs and operation does not start.
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6 POSITIONING CONTROL (2) Motion SFC program Motion SFC program for which executes the servo program is shown below. Incremental radius-specified helical interpolation control Incremental radius-specified helical interpolation control [F10] SET M2042 Turn on all axes servo ON command. [G10] PX000*M2415*M2435*M2455 Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and Axis 3 servo ready turn on.
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6 POSITIONING CONTROL ABH , ABH Absolute central point-specified helical interpolation control [Control details] The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from current stop position (X0, Y0, Z0) to specified circular end address (X1, Y1) or linear axis end point address (Z1), and the absolute helical interpolation is executed so that it may become a spiral course.
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6 POSITIONING CONTROL 31 (3) The maximum arc radius on the circular interpolation plane is 2 -1. For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7[µm]. 231-1 Maximum arc Arc central point 0 -231 231-1 Radius R (4) Set the command speed with the vector speed for 2 axes circular interpolation axis. (5) The command speed unit is specified in the parameter block. (6) Set the number of pitches within the range of 0 to 999.
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6 POSITIONING CONTROL (2) Motion SFC program Motion SFC program for which executes the servo program is shown below. Absolute central point-specified helical interpolation control Absolute central point-specified helical interpolation control [F10] SET M2042 Turn on all axes servo ON command. [G10] PX000*M2415*M2435*M2455 Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and Axis 3 servo ready turn on.
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6 POSITIONING CONTROL INH , INH Incremental central point-specified helical interpolation control [Control details] The linear interpolation to other linear axis is executed performing circular interpolation from current stop position (start point) to specified circular relative end address (X1, Y1) or linear axis end point relative address (Z1), and the incremental helical interpolation control is executed so that it may become a spiral course.
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6 POSITIONING CONTROL 31 (3) The maximum arc radius on the circular interpolation plane is (2 -1). For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7[µm]. 231-1 Maximum arc Arc central point 0 -231 231-1 Radius R (4) Set the command speed with the vector speed for 2 axes circular interpolation axis. (5) The command speed unit is specified in the parameter block. (6) Set the number of pitches within the range of 0 to 999.
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6 POSITIONING CONTROL (2) Motion SFC program Motion SFC program for which executes the servo program is shown below. Incremental central point-specified helical interpolation control [F10] SET M2042 Turn on all axes servo ON command. [G10] PX000*M2415*M2435*M2455 Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and Axis 3 servo ready turn on. [K56] INH Axis 1, 88541PLS Axis 2, 30000PLS 20000PLS Linear axis 3, 1000PLS/s Speed Number of pitches 500 45000PLS Ctr.P. 1, 20000PLS Ctr.P.
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6 POSITIONING CONTROL ABH Absolute auxiliary point-specified helical interpolation control [Control details] The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from current stop position (X0, Y0, Z0) to specified circular end address (X1, Y1) or linear axis end point address (Z1), and the absolute helical interpolation is executed so that it may become a spiral course.
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6 POSITIONING CONTROL 231-1 Maximum arc Arc central point 0 -231 231-1 Radius R (4) Set the command speed with the vector speed for 2 axes circular interpolation axis. (5) The command speed unit is specified in the parameter block. (6) Set the number of pitches within the range of 0 to 999. If it is set outside the setting range, the servo program error [28] occurs and operation does not start.
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6 POSITIONING CONTROL (2) Motion SFC program Motion SFC program for which executes the servo program is shown below. Absolute auxiliary point-specified helical interpolation control Absolute auxiliary point-specified helical interpolation control [F10] SET M2042 Turn on all axes servo ON command. [G10] PX000*M2415*M2435*M2455 Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and Axis 3 servo ready turn on. [K60] ABH Axis 1, 88541PLS Axis 2, 30000PLS Str.Ax.
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6 POSITIONING CONTROL INH Incremental auxiliary point-specified helical interpolation control [Control details] The linear interpolation to other linear axis is executed performing circular interpolation from current stop position (start point) to specified circular relative end address (X1, Y1) or linear axis end point relative address (Z1), and the incremental helical interpolation control is executed so that it may become a spiral course.
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6 POSITIONING CONTROL 231-1 Maximum arc Arc central point 0 -231 231-1 Radius R (4) Set the command speed with the vector speed for 2 axes circular interpolation axis. (5) The command speed unit is specified in the parameter block. (6) Set the number of pitches within the range of 0 to 999. If it is set outside the setting range, the servo program error [28] occurs and operation does not start.
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6 POSITIONING CONTROL (2) Motion SFC program Motion SFC program for which executes the servo program is shown below. Incremental auxiliary point-specified helical interpolation control Incremental auxiliary point-specified helical interpolation control [F10] SET M2042 Turn on all axes servo ON command. [G10] PX000*M2415*M2435*M2455 Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and Axis 3 servo ready turn on.
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6 POSITIONING CONTROL 6.10 1 Axis Fixed-Pitch Feed Control Positioning control for specified axis of specified travel value from the current stop point. Fixed-pitch feed control uses the FEED-1servo instruction.
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6 POSITIONING CONTROL [Program] Program for repetition 1 axis fixed-pitch feed control is shown as the following conditions. (1) System configuration Fixed-pitch feed control of Axis 4. Motion CPU control module Q61P Q03UD Q172D QX41 CPU CPU QY41 Q172D LX Positioning start command (PX000) Positioning end command (PX001) AMP Axis 1 M AMP Axis 2 M AMP Axis 3 M AMP Axis 4 M (2) Fixed-pitch feed control conditions (a) Positioning conditions are shown below. Item Setting Servo program No. No.
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6 POSITIONING CONTROL (3) Operation timing Operation timing for fixed-pitch feed control is shown below. Servo program No.300 V 10000 Dwell 1second Dwell 1second Dwell 1second t PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 4 servo ready (M2475) Start command (PX000) Servo program start Axis 4 start accept flag (M2004) End command (PX001) (4) Servo program Servo program No.300 for fixed-pitch feed control is shown below.
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6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. 1 axis fixed-pitch feed control 1 axis fixed-pitch feed control [F10] SET M2042 [G10] PX000*M2475 Turn on all axes servo ON command. Wait until PX000 and Axis 4 servo ready turn on. P0 [K300] [G20] [G30] FEED-1 Axis Speed Dwell 4, 80000PLS 10000PLS/s 1000ms PX001 1 axis fixed-pitch feed Axis used . . . . . . . . . . Axis 4 Travel value . . . . . . . . 80000[PLS] Command speed . .
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6 POSITIONING CONTROL 6.11 Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation Fixed-pitch feed control using 2 axes linear interpolation from the current stop position with the specified 2 axes. Fixed-pitch feed control using 2 axes linear interpolation uses the FEED-2 servo instruction.
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6 POSITIONING CONTROL POINT Do not set the travel value to "0" for fixed-pitch feed control. The following results if the travel value is set to "0": (1) If the travel value of both is set to "0", fixed-pitch feed completion without fixedpitch feed. [Program] Program for fixed-pitch feed control using 2 axes linear interpolation is shown as the following conditions. (1) System configuration Fixed-pitch feed control using 2 axes linear interpolation of Axis 2 and Axis 3.
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6 POSITIONING CONTROL (3) Operation timing Operation timing for fixed-pitch feed control using 2 axes linear interpolation is shown below. V Servo program No.310 10000 t PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 2 servo ready (M2435) Axis 3 servo ready (M2455) Start command (PX000) Servo program start Axis 2 start accept flag (M2002) Axis 3 start accept flag (M2003) (4) Servo program Servo program No.
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6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the speed-switching control is shown below. Fixed-pitch feed using 2 axes linear interpolation Fixed-pitch feed using 2 axes linear interpolation [F10] [G10] SET M2042 Turn on all axes servo ON command. PX000*M2435*M2455 Wait until PX000, Axis 2 servo ready and Axis 3 servo ready turn on.
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6 POSITIONING CONTROL 6.12 Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation Fixed-pitch feed control using 3 axes linear interpolation from the current stop position with the specified 3 axes. Fixed-pitch feed control using 3 axes linear interpolation uses the FEED-3 servo instruction.
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6 POSITIONING CONTROL POINT Do not set the travel value to "0" for fixed-pitch feed control. The following results if the travel value is set to "0": (1) If the travel value of all axes are set to "0", fixed-pitch feed completion without fixed-pitch feed. [Program] Program for fixed-pitch feed control using 3 axes linear interpolation is shown as the following conditions. (1) System configuration Fixed-pitch feed control using 3 axes linear interpolation of Axis 1, Axis 2 and Axis 3.
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6 POSITIONING CONTROL (3) Operation timing Operation timing for fixed-pitch feed control using 3 axes linear interpolation is shown below. V Servo program No.
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6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. Fixed-pitch feed using 3 axes linear interpolation Fixed-pitch feed using 3 axes linear interpolation [F10] [G10] SET M2042 Turn on all axes servo ON command. PX000*M2415*M2435*M2455 Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and Axis 3 servo ready turn on.
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6 POSITIONING CONTROL 6.13 Speed Control ( ) (1) Speed control for the specified axis is executed. (2) Control includes positioning loops for control of servo amplifiers. (3) Speed control ( ) uses the VF (Forward) and VR (Reverse) servo instructions.
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6 POSITIONING CONTROL (3) Stop commands and stop processing The stop commands and stop processing for speed control are shown in the table.6.1. Table.6.1 Stop commands and stop processing Stop command Stop condition Stop axis Deceleration stop based on the parameter block or the "deceleration time on STOP input" specified with the servo instruction.
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6 POSITIONING CONTROL [Program] Program for speed control ( ) is shown as the following conditions. (1) System configuration Speed control ( ) of Axis 1. Motion CPU control module Q61P Q03UD Q172D QX41 CPU CPU QY41 Q172D LX Start/stop command (PX000) AMP Axis 1 M AMP AMP Axis 2 M Axis 3 M AMP Axis 4 M (2) Speed control ( ) conditions (a) Speed control ( ) conditions are shown below. Item Setting Servo program No. No.
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6 POSITIONING CONTROL (4) Servo program Servo program No.91 for speed control ( ) is shown below. VF Axis Speed 1 3000 Speed control ( ) (Forward rotation) Axis used . . . . . . . . . Axis 1 Positioning speed . . . 3000 (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. Speed control ( ) Speed control ( ) [F10] SET M2042 Turn on all axes servo ON command. [G10] PX000*M2415 Wait until PX000 and Axis 1 servo ready turn on.
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6 POSITIONING CONTROL 6.14 Speed Control ( ) (1) Speed control for the specified axis is executed. (2) Speed control not includes positioning loops for control of servo amplifiers. It can be used for stopper control, etc. so that it may not become error excessive. (3) Speed control ( ) uses the VVF (Forward) and VVR (Reverse) servo instructions.
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6 POSITIONING CONTROL (3) Even if the speed command is set as probe data by the digital oscilloscope function, the value on digital oscilloscope does not change with "0". [Program] Program for speed control ( ) is shown as the following conditions. (1) System configuration Speed control ( ) of Axis 3.
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6 POSITIONING CONTROL (4) Servo program Servo program No.55 for speed control ( ) is shown below. VVF Axis Speed 3 4000 Speed control ( ) (Forward rotation) Axis used . . . . . . . . . Axis 3 Positioning speed . . . 4000 (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. Speed control ( ) Speed control ( ) [F10] [G10] SET M2042 Turn on all axes servo ON command. PX000*M2455 Wait until PX000 and Axis 3 servo ready turn on.
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6 POSITIONING CONTROL 6.15 Speed/Position Switching Control 6.15.1 Speed/position switching control start Speed/position switching control for specified axis is executed. Speed/position switching control uses the VPF (Forward rotation), VPR (Reverse rotation) and VPSTART (Re-start) servo instructions.
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6 POSITIONING CONTROL REMARK (Note): "The external CHANGE signal input from external source" is inputted to CHANGE of the Q172DLX from external source. When "normally open contact input" is set in the system settings, CHANGE input occurs at the CHANGE signal on, and when "normally closed contact input" is set, CHANGE input occurs at the CHANGE signal off. (Refer to the "Q173DCPU/Q172DCPU Motion controller User's Manual".
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6 POSITIONING CONTROL (4) Change of the travel value during speed control The travel value for position control can be changed during speed control after speed/position control start. (a) The travel value is set in indirect specification by optional device (2-word data) in the servo program.
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6 POSITIONING CONTROL [Cautions] (1) Item check at the CHANGE signal ON from external source When the external CHANGE signal turns on, speed control switches to position control if the following conditions are met: • Start accept flag (M2001+n) is turning on. • Speed control is executing after starting of the speed/position switching control. • Speed/position switching enable command (M3205+20n) is turning on.
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6 POSITIONING CONTROL (4) Stroke limit check Stroke limit range is not checked during the speed mode. If the travel value exceeds the stroke limit range, a minor error (error code: 210) occurs when position mode is selected, and performs a deceleration stop. [Program] Program for speed/position switching control is shown as the following conditions. (1) System configuration Speed/position switching control of Axis 4.
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6 POSITIONING CONTROL V Speed control Position control Servo program No.101 t 1second 1second PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 4 servo ready (M2475) Start command (PX000) Servo program start Axis 4 start accept flag (M2004) Speed/position switching enable command (M3265) CHANGE signal input of the Q172DLX Speed/position switching latch (M2465) Axis 4 positioning completion (M2461) (4) Servo program Servo program No.
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6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. Speed/position switching control Speed/position switching control [F10] SET M2042 Turn on all axes servo ON command. [G10] PX000*M2475 Wait until PX000 and Axis 4 servo ready turn on. [F20] SET M3265 Axis 4 speed/position switching enable command ON. [K101] VPF Axis 4, Speed Dwell [G20] 40000PLS 1000PLS/s 1000ms Speed/position switching control Axis used . . . . . . . . . .
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6 POSITIONING CONTROL 6.15.2 Re-starting after stop during control Re-starting (continuing) after stop with stop command during speed/position switching control is executed. Re-starting uses VPSTART servo instruction.
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6 POSITIONING CONTROL (b) If the stop occurred during position control, re-start with position, and the positioning control of setting travel value.
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6 POSITIONING CONTROL [Program] Program for restarting after stop during control with the speed/position switching control is shown as the following conditions. (1) System configuration Speed/position switching control of Axis 4. Motion CPU control module Q61P Q03UD Q172D QX41 CPU CPU QY41 Q172D LX Start command (PX000), restart command (PX001), stop command (PX002) AMP Axis 1 M AMP Axis 2 M AMP Axis 3 M AMP Axis 4 M (2) Positioning conditions (a) Positioning conditions are shown below.
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6 POSITIONING CONTROL (3) Operation timing Operation timing for speed/position switching control and re-starting are shown below.
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6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. Re-starting after stop during speed/position switching control Re-starting after stop during control [F10] [G10] [F20] SET M2042 Turn on all axes servo ON command. PX000*M2475 Wait until PX000 and Axis 4 servo ready turn on.
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6 POSITIONING CONTROL 6.16 Speed-Switching Control (1) Positioning control performs changing the speed on the point beforehand set by one start. (2) The speed-switching points and speed are set using the servo program. (3) Repetition control between any speed-switching points can be performed by using repetition instructions. (4) M-codes and torque limit values can be changed at each speed-switching point. 6.16.
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6 POSITIONING CONTROL [Control details] Start and end of the speed-switching control Speed-switching control is started and ended using the following instructions: (1) VSTART Starts the speed-switching control. (2) VEND Ends the speed-switching control.
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6 POSITIONING CONTROL Procedure of the servo program and operation timing Servo programs for speed-switching control and the operation timing are shown below. [Servo program] Start VSTART ABS-2 Axis Axis Speed VABS Axis Speed VABS Axis Speed VABS Axis Speed VEND Start speed-switching control Specify end address Specify speed-switching point NO 4, 3, 80000 . . . P1 60000 2000 4, 20000 . . . P2 7000 4, 60000 . . . P3 6000 4, 70000 . . .
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6 POSITIONING CONTROL [Cautions] (1) The number of control axes cannot be changed during control. (2) The speed-switching point can be specified the absolute data method (VABS) and incremental data method (VINC) by mixed use. (3) The speed-switching point cannot be specified an address which change in travel direction. If the travel direction change, the error code [215] is stored in the minor error storage register for each axis and the deceleration stop is performed.
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6 POSITIONING CONTROL (3) Operation timing and speed-switching positions Operation timing and speed-switching points for speed-switching control are shown below.
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6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the speed-switching control is shown below. Speed-switching control Speed-switching control [F10] [G10] SET M2042 Turn on all axes servo ON command. PX000*M2435*M2455 Wait until PX000, Axis 2 servo ready and Axis 3 servo ready turn on.
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6 POSITIONING CONTROL 6.16.2 Specification of speed-switching points using repetition instructions Repetition execution between any speed-switching points.
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6 POSITIONING CONTROL (3) FOR-OFF (loop-out trigger condition setting) (a) The repetition range set until the specified bit device turns off is executed repeatedly. (b) The following devices are used as the loop-out trigger condition: 1) Input (X/PX) 2) Output (Y/PY) 3) Internal relay (M) 4) Special relay (SM) 5) Link relay (B) 6) Annunciator (F) Operation of the repetition control using FOR-TIMES, FOR-ON, and FOR-OFF is shown below.
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6 POSITIONING CONTROL (3) Operation in condition 3 Minor error [215] occurred 2000 1000 0 100000 200000 ON X010 X011 OFF ON OFF Error occurs because it exceeds the travel value to the stop position. [Program] Program for repetition speed-switching control is shown as the following conditions. (1) System configuration Speed-switching control of Axis 2 and Axis 3.
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6 POSITIONING CONTROL (3) Operation timing and speed-switching positions Operation timing and speed-switching points for speed-switching control are shown below.
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6 POSITIONING CONTROL (4) Servo program Servo program No. 501 for speed-switching control by the repetition instruction is shown below. VSTART INC-2 Axis 2, Axis 3, Speed VINC Axis 2, Speed FOR-TIMES 230000 100000 10000 40000 40000 K VINC Axis Speed VINC Axis Speed NEXT VEND 2, 2, 2 30000 20000 50000 40000 Starts speed-switching control 2 axes linear interpolation control (incremental data method) Axis used . . . . .. . . . . .. . . . .. Axis 2, Axis 3 Travel value to stop position Axis 2 .
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6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes speed-switching control using repetition instructions is shown below. Specification of speed-switching points using repetition instructions points using repeat Speed-switching control using repetition instructions instructions [F10] SET M2042 Turn on all axes servo ON command. [G10] PX000*M2435*M2455 Wait until PX000, Axis 2 servo ready and Axis 3 servo ready turn on.
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6 POSITIONING CONTROL 6.17 Constant-Speed Control (1) Positioning to the pass point beforehand set by one starting is executed with the specified positioning method and positioning speed. (2) The positioning method and positioning speed can be changed for each pass point. (3) The following parameters is set in the servo program. • Pass point • Positioning method from any pass point to the next pass point. • Positioning speed from any pass point to the next pass point.
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6 POSITIONING CONTROL [Operation timing] Operation timing for constant-speed control is shown below. [Example : Operation timing for 2 axes constant-speed control] Axis 3 positioning direction P3 80000 P1 60000 P2 100000 0 Positioning speed for 2 axes linear interpolation V Axis2 positioning direction 40000 60000 Change speed after speed-switching 15000 Set speed 10000 t 0 [Caution] (1) The number of control axes cannot be changed during control.
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6 POSITIONING CONTROL (b) The speed switching and change speed by CHGV instruction are executed toward the same program in the servo program. The lower of the speed change by CHGV instructions and the command speed in the servo program is selected. The speed change by CHGV instructions are executed if the speed is lower than the speed set in the servo program; otherwise the CHGV instructions are not executed.
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6 POSITIONING CONTROL Example) Main cycle: 20[ms], Command speed: 600[mm/min] If the command speed (600[mm/min]) is divided by 60, the command speed per second is 10[mm/s], and the main cycle is 0.02[s]. Therefore, the travel distance is as follow. 10[mm/s] 0.02[s] = 0.2[mm] Set the travel distance to more than 0.2[mm]. Positioning speed drops if the distance between pass points is short the minimum travel value.
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6 POSITIONING CONTROL 6.17.1 Specification of pass points by repetition instructions This section describes the method of the pass points for which executes between any pass points repeatedly.
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6 POSITIONING CONTROL (3) FOR-OFF (loop-out trigger condition setting) (a) The repetition range set until the specified bit device turns off is executed repeatedly. (b) The following devices are used as the loop-out trigger condition: 1) Input (X/PX) 2) Output (Y/PY) 3) Internal relay (M) 4) Special relay (SM) 5) Link relay (B) 6) Annunciator (F) The repetition control operation using FOR-TIMES, FOR-ON and FOR-OFF is shown below.
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6 POSITIONING CONTROL [Program] Program for repetition constant-speed control is shown as the following conditions. (1) System configuration Constant-speed control for Axis 2 and Axis 3. Motion CPU control module Q61P Q03UD Q172D QX41 CPU CPU QY41 Q172D LX Start command (PX000) AMP Axis 1 M AMP Axis 2 M AMP Axis 3 M AMP Axis 4 M (2) Positioning conditions (a) Constant-speed control conditions are shown below. Item Setting Servo program No.
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6 POSITIONING CONTROL (3) Operation timing Operation timing for constant-speed control is shown below.
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6 POSITIONING CONTROL (4) Servo program Servo program No.510 for constant-speed control is shown below. CPSTART2 Axis Axis Speed ABS-2 Axis Axis FOR-TIMES INC-2 Axis Axis INC Axis Axis Radius NEXT CPEND 2 3 10000 2, 3, 40000 20000 K 4 2, 3, 30000 0 2, 3, 20000 20000 20000 Start constant-speed control Axis used . . . . . . . . . Axis 2, Axis 3 Positioning speed . . .
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6 POSITIONING CONTROL 6.17.2 Speed-switching by instruction execution The speed can be specified for each pass point during the constant-speed control instruction. The speed change from a point can be specified directly or indirectly in the servo program. [Cautions] (1) The speed switching during servo instruction is possible at the constant-speed control for 1 to 4 axes. (2) The speed command can be set for point. (3) By turning on the speed-switching point specified flag M2040 (Refer to Section 3.1.
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6 POSITIONING CONTROL [Program] Program for which executes the speed-switching control by turning on M2040 during constant-speed instruction is shown as the following conditions. (1) System configuration Switches speed for Axis 1 and Axis 2.
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6 POSITIONING CONTROL (3) Operation timing and speed-switching positions Operation timing and positions for speed switching are shown below.
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6 POSITIONING CONTROL (4) Servo program Servo program No.310 for speed-switching is shown below. CPSTART2 Axis Axis Speed ABS-2 Axis Axis ABS Axis Axis Center Center ABS-2 Axis Axis Speed ABS-2 Axis Axis CPEND 1 2 10000 1, 2, 20000 10000 1, 2, 1, 2, 30000 20000 30000 10000 1, 2, 40000 25000 15000 Set P1 Set P2 Set P3 1, 2, Speed change Set P4 50000 40000 (Note): Example of the Motion SFC program for positioning control is shown next page.
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6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. Speed-switching during instruction execution Speed-switching during instruction execution [F10] SET M2042 Turn on all axes servo ON command. [G10] PX000*M2415*M2435 Wait until PX000, Axis 1 servo ready and Axis 2 servo ready turn on. [F20] SET M2040=PX010 RST M2040=!PX010 Speed-switching point specified flag turn on when PX010 turn on.
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6 POSITIONING CONTROL 6.17.
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6 POSITIONING CONTROL [Program] Program for repetition 1 axis constant-speed control is shown as the following conditions. (1) System configuration Axis 4 constant-speed control. Motion CPU control module Q61P Q03UD Q172D QX41 CPU CPU QY41 Q172D LX Positioning start command (PX000) AMP Axis 1 M AMP AMP Axis 2 M Axis 3 M AMP Axis 4 M (2) Positioning conditions (a) Constant-speed control conditions are shown below. Item Setting Servo program No.
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6 POSITIONING CONTROL (4) Operation timing Operation timing for servo program No.500 is shown below. V P1 P2 P3 P2 P3 P4 10000 t 0 -10000 PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 4 servo ready (M2475) Start command (PX000) Servo program start Axis 4 start accept flag (M2004) (5) Servo program Servo program No.500 for constant-speed control is shown below.
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6 POSITIONING CONTROL (6) Motion SFC program Motion SFC program for which executes the servo program is shown below. 1 axis constant-speed control 1 axis constant-speed control [F10] [G10] SET M2042 Turn on all axes servo ON command. PX000*M2475 Wait until PX000 and Axis 4 servo ready turn on. [K500] CPSTART1 Axis 4 Speed 10000PLS/s INC-1 Axis 4, -1000PLS FOR-TIMES K 100 INC-1 Axis 4, 2000PLS INC-1 Axis NEXT 4, -2000PLS Start constant-speed control Axis used . . . Axis 4 Positioning speed . . . .
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6 POSITIONING CONTROL 6.17.4 2 to 4 axes constant-speed control Constant-speed control for 2 to 4 axes.
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6 POSITIONING CONTROL [Control details] Start and end for 2 to 4 axes constant-speed control 2 to 4 axes constant-speed control is started and ended using the following instructions: (1) CPSTART2 Starts the 2 axes constant-speed control. Sets the axis No. and command speed. (2) CPSTART3 Starts the 3 axes constant-speed control. Sets the axis No. and command speed. (3) CPSTART4 Starts the 4 axes constant-speed control. Sets the axis No. and command speed.
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6 POSITIONING CONTROL (6) ABS/INC , ABS/INC Sets circular interpolation control using center point specification. Refer to Section 6.8 "Central Point-Specified Circular Interpolation Control" for details. [Program] (1) Program for 2 axes constant-speed control is shown as the following conditions. (a) System configuration Constant-speed control for Axis 2 and Axis 3.
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6 POSITIONING CONTROL (c) Positioning conditions 1) Constant-speed control conditions are shown below. Item Setting Servo program No. 505 Positioning speed 10000 2 axes linear Positioning method Pass point interpolation Radius-specified circular interpolation 2 axes linear interpolation Axis 2 30000 50000 90000 Axis 3 30000 50000 100000 2) Constant-speed control start command ... PX000 Leading edge (OFF ON) (d) Servo program Servo program No.505 for constant-speed control is shown below.
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6 POSITIONING CONTROL (e) Motion SFC program Motion SFC program for which executes the servo program is shown below. 2 axes constant-speed control 2 axes constant-speed control [F10] [G10] SET M2042 Turn on all axes servo ON command. PX000*M2435*M2455 Wait until PX000, Axis 2 servo ready and Axis 3 servo ready turn on.
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6 POSITIONING CONTROL (b) Positioning conditions 1) Constant-speed control conditions are shown below. Item Setting Servo program No. 506 Positioning speed 10000 Positioning method Pass point 4 axes linear 4 axes linear 4 axes linear interpolation interpolation interpolation Axis 1 3000 5000 5000 Axis 2 4000 3500 3500 Axis 3 4000 -4000 3000 Axis 4 4000 -6000 6000 2) Constant-speed control start command... PX000 Leading edge (OFF ON) (c) Servo program Servo program No.
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6 POSITIONING CONTROL (d) Motion SFC program Motion SFC program for which executes the servo program is shown below. 4 axes constant speed control 4 axes constant speed control [F10] SET M2042 Turn on all axes servo ON command. [G10] PX000*M2415*M2435*M2455 *M2475 Wait until PX000, Axis 1 servo ready, Axis 2 servo ready, Axis 3 servo ready and Axis 4 servo ready turn on.
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6 POSITIONING CONTROL 6.17.5 Constant speed control for helical interpolation The helical interpolation can be specified as the positioning control method to pass point for 3 or 4 axes constant-speed control. Starting or ending instruction for constant-speed control uses the same CPSTART3, CPSTART4 or CPEND as 3 or 4 axes constant-speed control instruction.
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6 POSITIONING CONTROL Helical interpolation specified methods for constant-speed control are shown below. Servo instruction Positioning method Circular interpolation specified method ABH Absolute Radius-specified method INH Incremental less than CW180° ABH Absolute Radius-specified method INH Incremental less than CCW180° ABH Absolute Radius-specified method INH Incremental CW180° or more. ABH Absolute Radius-specified method INH Incremental CCW180° or more.
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6 POSITIONING CONTROL [Cautions] (1) The helical interpolation specification at pass point for constant-speed control can be used in the both of real mode/virtual mode. (2) Specify any 3 axes among 4 controlled axes in the helical interpolation control at the pass point for 4 axes constant-speed control (CPSTART4). (3) Command speed at the helical interpolation specified point is controlled with the speed of circumference.
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6 POSITIONING CONTROL 6.17.6 Pass point skip function This function stops positioning to executing point and executes positioning to next point, by setting a skip signal toward each pass point for constant-speed control. [Data setting] (1) Skip signal devices The following devices can be specified as skip signal devices.
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6 POSITIONING CONTROL CAUTION When a skip is specified during constant-speed control and the axis which has no stroke range [degree] is included, the operation at the execution of skip is described. (Note-1): If there is an ABS instruction after the skip in these conditions, the end positioning point and the travel distance in the program as a whole will be the same regardless of whether the skip is executed or not.
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6 POSITIONING CONTROL 6.17.7 FIN signal wait function By selecting the FIN signal wait function and setting a M-code at each executing point, a process end of each executing point is synchronized with the FIN signal, the FIN signal turns ON to OFF and then the next positioning is executed. Turn the FIN signal on/off using the Motion SFC program or PLC program. [Data setting] (1) When the FIN signal wait function is selected, the fixed acceleration/deceleration time method is used.
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6 POSITIONING CONTROL [Program example] (1) FIN signal wait function by the PLC program (a) System configuration FIN signal wait function toward constant-speed control for Axis 1 and Axis 2. PLC CPU control module Q61P Q03UD Q172D QX41 CPU CPU QY41 Positioning start command : X0 (PLC CPU device) AMP Axis 1 M AMP Axis 2 M AMP Axis 3 M AMP Axis 4 M (b) Positioning conditions 1) Constant-speed control conditions are shown below. Item Setting Servo program No.
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6 POSITIONING CONTROL (c) Servo program Servo program No.0 for constant-speed control is shown below. CPSTART2 Axis 1 Axis 2 Speed 10000 100 FIN acceleration/ deceleration ABS-2 Axis 1, 200000 Axis 2, 200000 M-code 10 ABS-2 Axis Axis M-code 1, 2, 300000 250000 11 ABS-2 Axis Axis M-code 1, 2, 350000 300000 12 ABS-2 Axis Axis CPEND 1, 2, 400000 400000 Start constant-speed control Axis used . . . . . . . . . Axis 1, Axis 2 Positioning speed . . . 10000[PLS/s] FIN acceleration/ . . . . .
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6 POSITIONING CONTROL (e) PLC program PLC program for FIN signal wait function is shown below. PLC program 0 11 14 26 X0 DP.SFCS H3E1 M0 K110 M0 MOVP K1 M2419 28 D50 D13 D1 Motion SFC program start request SET Substitutes 1 for D51 after program start. Reads data of D13 for Multiple CPU system No.2 by turning M2419 on, M2 and stores in the data area D1 of self CPU M3219 M3219 is set RST M3219 Resets M3219 by turning M2419 off. M2419 DP.
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6 POSITIONING CONTROL (f) Parameter setting The automatic refresh setting example for FIN signal wait function is shown below. • CPU No. 1 (PLC CPU) (GX Developer) Set the device transmitted to CPU No.2 (M3200 to M3295) • CPU No. 2 (Motion CPU) (MT Developer) Set the device received from CPU No.1 (M3200 to M3295) Set the device received from CPU No.2 (M2400 to M2495) Set the device transmitted to CPU No.
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6 POSITIONING CONTROL POINT Set the following operation for automatic refresh setting using GX Developer. 1) Select tab "Multiple CPU high speed communication area setting". 2) Set "Use multiple CPU high speed communication". 1) 2) (2) FIN signal wait function using the Motion SFC program (a) System configuration FIN signal wait function toward constant-speed control for Axis 1 and Axis 2.
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6 POSITIONING CONTROL (c) Servo program Servo program No.0 for constant speed control is shown below. CPSTART2 Axis 1 Axis 2 Speed 10000 100 FIN acceleration/ deceleration ABS-2 Axis 1, 200000 Axis 2, 200000 M-code 10 ABS-2 Axis Axis M-code 1, 2, 300000 250000 11 ABS-2 Axis Axis M-code 1, 2, 350000 300000 12 ABS-2 Axis Axis CPEND 1, 2, 400000 400000 Start constant-speed control Axis used . . . . . . . . . Axis 1, Axis 2 Positioning speed . . . 10000[PLS/s] FIN acceleration/ . . . . .
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6 POSITIONING CONTROL (d) Motion SFC program 1) Motion SFC program for constant-speed control is shown below. Constant-speed control [F10] SET M2042 Turn on all axes servo ON command. [G10] PX000*M2415*M2435 Wait until PX000, Axis 1 servo ready and Axis 2 servo ready turn on. [K0] Start constant-speed control Axis used . . . . . . . . . . Axis 1, Axis 2 Positioning speed . . . 10000[PLS/s] FIN acceleration/ . . . . . 100[ms] deceleration 2 axes linear interpolation control Axis used . . . . . .
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6 POSITIONING CONTROL 2) Motion SFC program which outputs M-code of each point for constantspeed control to PY20 to PY2F by BCD code is shown below. FIN signal wait (Note): Details of #0 is used as control. FIN signal wait P0 [G10] [F10] M2419*M2439 Turn on Axis 1, Axis 2 M-code outputting signal. #0=BCD(D13) DOUT Y20,#0 SET M3219 Output Axis 1 M-code. Turn on FIN signal.
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6 POSITIONING CONTROL POINTS (1) The fixed acceleration/deceleration time method is acceleration/deceleration processing that the time which acceleration/deceleration takes is fixed, even if the command speed differs. V t Acceleration/deceleration time is fixed (a) The following processing and parameters are invalid in the fixed acceleration/deceleration time method.
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6 POSITIONING CONTROL 6.18 Position Follow-Up Control Positioning to the address set in the word device of the Motion CPU specified with the servo program at one start is executed. Position follow-up control is started using the PFSTART servo program instruction.
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6 POSITIONING CONTROL [Cautions] (1) Number of control axes is 1 axis. (2) Only the absolute data method (ABS) is used for positioning control to the pass points. (3) The speed can be changed during the start. The changed speed is effective until the stop command is input. (4) Set the positioning address in the servo program using indirect setting with the word devices. (5) Use only even-numbered devices for indirect setting of positioning address in the servo program.
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6 POSITIONING CONTROL (3) Operation timing Operation timing for position follow-up control is shown below.
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6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program, PLC program and parameter setting for position follow-up control is shown below. (a) Motion SFC program Motion SFC program example for position follow-up control is shown below. This program is started using D(P).SFCS instruction from PLC CPU (CPU No.1). Position follow-up control Position follow-up control [F10] [G10] SET M2042 Turn on all axes servo ON command.
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6 POSITIONING CONTROL (b) PLC program PLC program example for position follow-up control is shown below. PLC program 0 3 12 16 SM400 MOVP PLS M10 42 M10 Starts by turning X0 on. Substitute 150000 for D1000 . DMOV K0 Substitute 0 for D1300 . D1300 RST M20 RST M30 M0 M2 D0 H3E1 M3 D1000 D4000 M0 Reads data of D1000 of self CPU for Multiple CPU system by turning M10 on, and writes to D4000 of CPU No.2. K150 M2 Starts the Motion SFC program No.150.
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6 POSITIONING CONTROL (c) Parameter setting The automatic refresh setting example for position follow-up control is shown below. [Allocation example of devices allocated in the Motion dedicated device to the PLC CPU] • CPU No. 1 (PLC CPU) (GX Developer) Set the device transmitted to CPU No.2 (M3200 to M3295) • CPU No. 2 (Motion CPU) (MT Developer) Set the device received from CPU No.1 (M3200 to M3295) Set the device received from CPU No.
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6 POSITIONING CONTROL POINT Set the following operation for automatic refresh setting using GX Developer. 1) Select tab "Multiple CPU high speed communication area setting". 2) Set "Use multiple CPU high speed communication".
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6 POSITIONING CONTROL 6.19 Speed control with fixed position stop Speed control with fixed position stop of the specified axis is executed. Speed control with fixed position stop is started using the PVF (forward rotation) or PVR (reverse rotation) of servo program instruction. Items set using MT Developer PVF PVR Absolute Speed change Fixed position stop Fixed position stop accel./decel.
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6 POSITIONING CONTROL (4) Address setting range is 0 to 35999999 (0 to 359.99999[degree]) in the indirect setting of positioning address. If it is set outside the setting range, a servo program setting error [n03] occurs and it does not start. Positioning address is input at the program start. (5) It is controlled in the fixed position stop acceleration/deceleration time set in the servo program at the time of positioning start, speed change request (CHGV) and fixed position stop command ON.
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6 POSITIONING CONTROL (10) Deceleration speed by the stop command (M3200+20n)/rapid stop command (M3201+20n) is controlled with fixed inclination (deceleration speed). Deceleration processing is executed using the speed limit value or deceleration/ rapid stop deceleration time set in the parameter block. Rapid stop by fixed inclination (deceleration speed). (Inclination is set by the speed limit value and rapid stop deceleration time of parameter block.
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6 POSITIONING CONTROL (2) Positioning conditions (a) Speed control with fixed position stop conditions are shown below. Item Setting Servo program No. 55 Start direction Forward Control axis Axis 1 Positioning address 120.00000[degree] Control speed 30000[degree/min] Acceleration/deceleration time 20ms Fixed position stop command device M100 (b) Speed control with fixed position stop start command ............................................................
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6 POSITIONING CONTROL (4) Servo program Servo program No.55 for speed control with fixed position stop is shown below. Speed control with fixed position stop PVF Axis 120.00000 1, Speed Accel./decel. time Fixed position stop command 30000.000 20 M100 Axis used . . . . . . . . . . . . . Axis 1 Stop position . . . . . . . 120.00000 Speed. . . . . . . . . . . . . . . 30000.000 Accel./decel. time . . . . . . . . . . . . 20 Fixed position stop . . . . . . . . .
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6 POSITIONING CONTROL 6.20 Simultaneous Start Simultaneous start of the specified servo program at one start is executed. Simultaneous start is started using the START servo program instruction. Others Allowable error range for circular interpolation Program No.
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6 POSITIONING CONTROL [Program] Program for simultaneous start is shown as the following conditions. (1) System configuration Simultaneous start for "Axis 1 and Axis 2", Axis 3 and Axis 4. Motion CPU control module Q61P Q03UD Q172D QX41 CPU CPU QY41 Q172D LX Start command (PX000) AMP Axis 1 M AMP Axis 2 M AMP Axis 3 M AMP Axis 4 M (2) Number of specified servo programs and program No. (a) Number of specified servo programs : 3 (b) Specified servo program No. are shown below. Servo Program No.
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6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. Simultaneous start control Simultaneous start control [F10] SET M2042 Turn on all axes servo ON command. [G10] PX000*M2415*M2435*M2455 *M2475 Wait until PX000, Axis 1 servo ready, Axis 2 servo ready, Axis 3 servo ready and Axis 4 servo ready turn on. [K121] START K K K 1 14 45 Simultaneous start control No.1 servo program No.14 servo program No.
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6 POSITIONING CONTROL 6.21 JOG Operation The setting JOG operation is executed. Individual start or simultaneous start can be used in the JOG operation. JOG operation can be executed using the Motion SFC program or test mode of MT Developer. (Refer to the help of MT Developer for JOG operation method in the test mode of MT Developer.) JOG operation data must be set for each axis for JOG operation. (Refer to Section 6.21.1.) 6.21.
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6 POSITIONING CONTROL 6.21.2 Individual start JOG operation for the specified axes is started. JOG operation is executed by the following JOG operation commands: • Forward JOG start command ........... M3202+20n • Reverse JOG start command ........... M3203+20n [Control details] (1) JOG operation continues at the JOG speed setting register value while the JOG operation command turns on, and a deceleration stop is made by the JOG operation command OFF.
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6 POSITIONING CONTROL (2) The setting range for JOG speed setting registers are shown below. No.
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6 POSITIONING CONTROL [Cautions] (1) If the forward JOG start command (M3202+20n) and reverse JOG start command (M3203+20n) turn on simultaneously for a single axis, the forward JOG operation is executed. When a deceleration stop is made by the forward JOG start command OFF the reverse JOG operation is not executed even if the reverse JOG start command is ON. After that, when the reverse JOG start command turns off to on, the reverse JOG operation is executed.
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6 POSITIONING CONTROL (3) JOG operation by the JOG operation command (M3202+20n/M3203+20n) is not executed during the test mode using a peripheral devices. After release of test mode, the JOG operation is executed by turning the JOG operation command off to on.
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6 POSITIONING CONTROL (3) Motion SFC program Motion SFC program for which executes JOG operation is shown below. JOG operation-individual start JOG operation-individual start [F10] SET M2042 Turn on all axes servo ON command. [G10] M2415*M2435 Wait until Axis 1 servo ready and Axis 2 servo ready turn on.
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6 POSITIONING CONTROL 6.21.3 Simultaneous start Simultaneous start JOG operation for specified multiple axes. [Control details] (1) JOG operation continues at the JOG speed setting register value for each axis while the JOG operation simultaneous start command (M2048) turns on, and a deceleration stop is made by the M2048 OFF. Control of acceleration/deceleration is based on the data set in the JOG operation data.
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6 POSITIONING CONTROL (3) The setting range for JOG speed setting registers are shown below. No.
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6 POSITIONING CONTROL [Program] Program for simultaneous start of JOG operations are shown as the following conditions. (1) System configuration JOG operation for Axis 1 and Axis 2. Motion CPU control module Q61P Q03UD Q172D QX41 CPU CPU QY41 Q172D LX JOG operation command (PX000) AMP Axis 1 M AMP AMP Axis 2 M Axis 3 M AMP Axis 4 M (2) JOG operation conditions (a) JOG operation conditions are shown below. Item Axis No.
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6 POSITIONING CONTROL 6.22 Manual Pulse Generator Operation Positioning control based on the number of pulses inputted from the manual pulse generator is executed. Simultaneous operation for 1 to 3 axes is possible with one manual pulse generator, the number of connectable modules are shown below. Number of connectable to the manual pulse generator 3 POINT • When two or more Q173DPXs are installed, connect the manual pulse generator to first (It counts from 0 slot of the main base) Q173DPX.
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6 POSITIONING CONTROL (b) Output speed The output speed is the positioning speed corresponding to the number of pulses input from a manual pulse generator in unit time. [Output speed] = [Number of input pulses per 1[ms]] input magnification setting] [Manual pulse generator 1- pulse (3) Setting of the axis operated by the manual pulse generator The axis operated by the manual pulse generator is set in the manual pulse generator axis setting register (D714 to D719).
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6 POSITIONING CONTROL (5) The setting manual pulse generator 1- pulse input magnification checks the "1pulse input magnification setting registers of the manual pulse generator" of the applicable axis at leading edge of manual pulse generator enable flag. If the value is outside of range, the manual pulse generator axis setting error register (SD513 to SD515) and manual pulse generator axis setting error flag (SM513) are set and a value of "1" is used for the magnification.
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6 POSITIONING CONTROL (7) Errors details at the data setting for manual pulse generator operation are shown below. Error details Error processing Axis set to manual pulse generator operation is specified. Axis setting is 4 axes or more All of bit is "0" for the effective axis No. of manual pulse generator axis No. setting register. • Duplicated specified axis is ignored. • First setting manual pulse generator operation is executed.
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6 POSITIONING CONTROL (5) If the manual pulse generator enable flag turns on again for axis during smoothing deceleration after manual pulse generator enable flag turns off, an error [214] is set and manual pulse generator input is not enabled. Turn the manual pulse generator enable flag on after smoothing deceleration stop (after the start accept flag OFF).
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6 POSITIONING CONTROL [Program] Program executes manual pulse generator operation is shown as the following conditions. (1) System configuration Manual pulse generator operation of Axis 1 and Axis 2.
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6 POSITIONING CONTROL MEMO 6 - 190
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6 POSITIONING CONTROL 6.23 Home Position Return (1) Use the home position return at the power supply ON and other times where confirmation of axis is at the machine home position is required. (2) The following six methods for home position return are shown below. • Proximity dog type • Count type • Data set type • Dog cradle type • Stopper type • Limit switch combined type (3) The home position return data must be set for each axis to execute the home position return.
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6 POSITIONING CONTROL 6.23.1 Home position return data This data is used to execute the home position return. Set this data using MT Developer. Table 6.3 Home position return data list Setting range No.
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6 POSITIONING CONTROL Remarks Explanatory section • The home position return direction is set. • The home position return method is set. • The proximity dog type or count type are recommended for the servo amplifier which does not support absolute value. • The current value of home position after the home position return is set. • The home position return speed is set.
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6 POSITIONING CONTROL (1) Travel value after proximity dog ON (a) The travel value after proximity dog ON is set to execute the count type home position return. (b) After the proximity dog ON, the home position is the first zero-point after travel by the setting travel value. (c) Set the travel value after proximity dog ON more than the deceleration distance from the home position return speed.
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6 POSITIONING CONTROL (2) Home position return retry function/dwell time at the home position return retry (a) Valid/invalid of home position return retry is set. (b) When the valid of home position return retry function is set, the time to stop at return of travel direction is set with dwell time at the home position return retry. (c) Operation for the proximity dog type home position return by setting "valid" for home position return retry function is shown below.
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6 POSITIONING CONTROL (3) Home position shift amount/speed set at the home position shift (a) The shift (travel) amount from position stopped by home position return is set. (b) If the home position shift amount is positive value, it shifts from detected zero point signal to address increase direction. If it is negative value, it shifts from detected zero point signal to address decrease direction.
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6 POSITIONING CONTROL (d) Valid/invalid of the setting value for home position shift amount by the home position return method is shown below. Home position return methods Proximity dog type Count type Data set type Dog cradle type Stopper type Limit switch combined type Valid/invalid of home position shift amount : Valid, : Invalid POINT (1) Home position shift function is used to rectify a home position stopped by the home position return.
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6 POSITIONING CONTROL (5) Operation setting for incompletion of home position return (a) Operation in selecting "0: Execute servo program" 1) Servo program can be executed even if the home position return request signal (M2409+20n) is ON. (b) Operation in selecting "1: Not execute servo program" 1) Servo program cannot be executed if the home position return request signal (M2409+20n) is ON.
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6 POSITIONING CONTROL (b) Input of home position return In the indirect setting by the word devices, the specified word device data are read at servo program execution by Motion CPU. Set data to devices for indirect setting and then execute the start request of servo program at home position return. POINT (1) Indirect setting of axis cannot be executed using word devices in the servo program.
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6 POSITIONING CONTROL 6.23.2 Home position return by the proximity dog type 1 (1) Proximity dog type 1 Zero point position after proximity dog ON to OFF is home position in this method. When it does not pass (zero pass signal: M2406+20n OFF) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, an error will occur and home position return is not executed.
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6 POSITIONING CONTROL (4) Cautions (a) Keep the proximity dog ON during deceleration from the home position return speed to the creep speed. If the proximity dog turns OFF before deceleration to the creep speed, a deceleration stop is made and the next zero point is set as the home position. Home position return speed The zero point is passed during deceleration stop by the proximity dog OFF.
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6 POSITIONING CONTROL (c) When it does not pass (zero pass signal: M2406+20n ON) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, a minor error "ZCT not set" (error code: 120) will occur, a deceleration stop is made and home position return does not end normally. When a distance between home position return start position and home position is near and a zero point is not passed, select the proximity dog type 2.
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6 POSITIONING CONTROL 6.23.3 Home position return by the proximity dog type 2 (1) Proximity dog type 2 Zero point position after proximity dog ON to OFF is home position in this method. When it passed (zero pass signal: M2406+20n ON) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, operation for "proximity dog type 2" is the same as "proximity dog type 1". (Refer to Section 6.23.
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6 POSITIONING CONTROL (4) Cautions (a) A system which the servomotor can rotate one time or more is required. (b) When a servomotor stops with specified condition enables and rotates to reverse direction one time after proximity dog ON, make a system for which does not turn OFF the external upper/lower stroke limit. (c) Keep the proximity dog ON during deceleration from the home position return speed to the creep speed.
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6 POSITIONING CONTROL 6.23.4 Home position return by the count type 1 (1) Count type 1 After the proximity dog ON, the zero point after the specified distance (travel value after proximity dog ON) is home position in this method. (If the proximity dog signal of servo amplifier is used, the count type 1 home position return cannot be executed.
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6 POSITIONING CONTROL (4) Cautions (a) Home position return and continuously start of home position return are also possible in the proximity dog ON in the count type 1. When the home position return or continuously start of home position return are executed in the proximity dog ON, the home position return is executed after return the axis once to position of the proximity dog OFF.
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6 POSITIONING CONTROL 6.23.5 Home position return by the count type 2 (1) Count type 2 After the proximity dog ON, the position which traveled the specified distance (travel value after proximity dog ON) is home position in this method. It is not related for zero point pass or not pass. (If the proximity dog signal of servo amplifier is used, the count type 2 home position return cannot be executed.) A count type 2 is effective method when a zero point signal cannot be taken.
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6 POSITIONING CONTROL 6.23.6 Home position return by the count type 3 (1) Count type 3 After the proximity dog ON, the zero point after the specified distance (travel value after proximity dog ON) is home position in this method. (If the proximity dog signal of servo amplifier is used, the count type 3 home position return cannot be executed.
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6 POSITIONING CONTROL (3) Home position return execution Home position return by the count type 3 is executed using the servo program in Section 6.23.16. (4) Cautions (a) A system which the servomotor can rotate one time or more is required. (b) After the proximity dog ON, when a servomotor rotates one time to reverse direction after stop with travel value set in the "travel value after proximity dog ON", make a system which does not turn OFF the external upper/lower stroke limit.
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6 POSITIONING CONTROL 6.23.7 Home position return by the data set type 1 (1) Data set type 1 The proximity dog is not used in this method for the absolute position system. (2) Home position return by the data set type 1 Home position is the command position at the home position return operation. The address at the home position return operation is registered as the home position address. t Home position return by the servo program start instruction Fig. 6.
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6 POSITIONING CONTROL 6.23.8 Home position return by the data set type 2 (1) Data set type 2 The proximity dog is not used in this method for the absolute position system. (2) Home position return by the data set type 2 Home position is the real position of servomotor at the home position return operation.
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6 POSITIONING CONTROL 6.23.9 Home position return by the dog cradle type (1) Dog cradle type After deceleration stop by the proximity dog ON, if the zero point is passed after traveling to reverse direction and turning the proximity dog OFF, the deceleration stop is made. And it moves to direction of home position return again with creep speed and the first zero point after proximity dog ON is home position in this method.
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6 POSITIONING CONTROL (b) If the home position return is executed in the proximity dog, it travels to reverse direction of home position return. If proximity dog turns OFF, a deceleration stop is made, it travels to direction of home position return again with the creep speed and the first zero point after proximity dog ON is home position.
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6 POSITIONING CONTROL (c) When the proximity dog is set in the home position return direction, the proximity dog is turned OFF during travel to reverse direction of home position return, and the zero point is not passed, it continues to travel in the reverse direction of home position return with home position return speed until the zero point is passed.
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6 POSITIONING CONTROL (d) When it starts in the proximity dog, the zero point is not passed at the time of the proximity dog is turned OFF during travel to reverse direction of home position return, it continues to travel with home position return speed until the zero point is passed. The zero point is passed again during deceleration by zero point pass, the home position becomes this side compared with the case to pass zero point at the time of the proximity dog OFF.
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6 POSITIONING CONTROL (e) If the zero point is passed during deceleration, the nearest zero point from deceleration stop position to home position return direction is set as the home position. Acceleration time Deceleration time V Home position return direction 1) It travels to preset direction of home position return with the home position return speed, and a deceleration stop is made by the proximity dog ON.
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6 POSITIONING CONTROL 6.23.10 Home position return by the stopper type 1 (1) Stopper type 1 Position of stopper is home position in this method. It travels to the direction set in the "home position return direction" with the "home position return speed", after a deceleration starts by proximity dog OFF to ON and it presses against the stopper and makes to stop with the torque limit value set in the "torque limit value at the creep speed" and "creep speed" of home position return data.
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6 POSITIONING CONTROL (4) Cautions (a) A zero point does not must be passed (zero pass signal: M2406+20n ON) between turning on the power supply and executing home position return. (b) Home position return retry function cannot be used in the stopper type 1. (c) Set the torque limit value after reaching the creep speed for system. When the torque limit value is too large, servomotors or machines may be damaged after pressing the stopper.
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6 POSITIONING CONTROL 6.23.11 Home position return by the stopper type 2 (1) Stopper type 2 Position of stopper is home position in this method. It travels the direction set in the "home position return direction" with the "creep speed", and it presses against the stopper and makes to stop with the "creep speed". (The torque limit value is valid set in the "torque limit value at the creep speed" of the home position return data from the home position return start.
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6 POSITIONING CONTROL (c) Set the torque limit value at the reaching creep speed for system. When the torque limit value is too large, servomotors or machines may be damaged after pressing the stopper. Also, when the torque limit value is too small, it becomes the torque limiting before pressing the stopper and ends the home position return.
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6 POSITIONING CONTROL 6.23.12 Home position return by the limit switch combined type (1) Limit switch combined type The proximity dog is not used in this method. Home position return can be executed by using the external upper/lower limit switch. When the home position return is started, it travels to direction of home position return with "home position return speed".
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6 POSITIONING CONTROL (4) Cautions (a) For the axis which executes the home position return by the limit switch combined type, if the external input signal has not set in the system settings, a minor error "the positioning control which use the external input signal was executed for the axis which has not set the external input signal in the system settings" (error code: 142) will occur and home position return is not executed.
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6 POSITIONING CONTROL 6.23.13 Home position return retry function When a work has been exceeded home position during positioning control, etc., even if it executes the home position return, depending on the position of work, a work may not travel to home position direction. In this case, a work is normally travelled before the proximity dog by the JOG operation, etc, and the home position return is started again.
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6 POSITIONING CONTROL (2) Home position return retry operation setting a work outside the range of external limit switch (a) When the direction of "work home position" and home position return is same, normal home position return is operated.
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6 POSITIONING CONTROL (3) Dwell time setting at the home position return retry Reverse operation by detection of the external upper/lower limit switch and dwell time function at the home position return start after stop by proximity dog OFF are possible with the dwell time at the home position return retry in the home position return retry function. Dwell time at the home position return retry becomes valid at the time of deceleration stop of the following 2) and 4).
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6 POSITIONING CONTROL (2) Make a system for which does not execute the servo amplifier power off or servo OFF by the external upper/lower limit switch. Home position return retry cannot be executed only in the state of servo ON. (3) Deceleration is made by detection of the external limit switch and travel to reverse direction of home position return is started. In this case, a major error "external limit switch detection error" (error codes: 1001, 1002, 1101, 1102) will not occur.
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6 POSITIONING CONTROL 6.23.14 Home position shift function Normally, when the machine home position return is executed, a position of home position is set by using the proximity dog or zero point signal. However, by using the home position shift function, the position to which only the specified travel value was travelled from the position which detected the zero point signal can be regarded as home position. Refer to Section 6.23.
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6 POSITIONING CONTROL [Control details] (1) Home position shift operation Operation for the home position shift function is shown below. Home position shift amount is positive value Address decrease direction Address increase direction Home position return direction Set the operation speed at the home position shift with speed set at the home position shift. Select one of "home position return speed" or "creep speed".
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6 POSITIONING CONTROL (2) Setting range of home position shift amount Set the home position shift amount within the range of from the detected zero signal to external upper/lower limit switch (FLS/RLS). If the range of external upper/lower limit switch is exceeded, a major error "external limit switch detection error" (error codes: 1102, 1103) will occur at that time and the home position return is not ended.
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6 POSITIONING CONTROL (b) Home position shift operation with the "creep speed" V Home position return direction Home position shift amount is positive Creep speed Home position Home position Home position return start Proximity dog Home position shift amount is negative Zero point Fig. 6.49 Operation for home position shift with the creep speed [Cautions] (1) Valid/invalid of home position shift amount setting value by the home position return method.
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6 POSITIONING CONTROL 6.23.15 Condition selection of home position set A home position return must be made after the servomotor has been rotated more than one revolution to pass the axis through the Z-phase (motor reference position signal) and the zero pass signal (M2406+20n) has been turned ON.
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6 POSITIONING CONTROL 6.23.16 Servo program for home position return The home position return executed using the ZERO servo instruction. Items set using MT Developer ZERO Others Program No.
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6 POSITIONING CONTROL (2) Servo program example Servo program No. 0 for home position return is shown below. ZERO Axis 4 Home position return Axis used . . . Axis 4 (3) Motion SFC program Motion SFC program for which executes the servo program is shown below. Home position return Home position return [F10] Turn on all axes servo ON command. SET M2042 [G10] PX000*M2475*M2462 [K0] [G20] Wait until PX000, Axis 4 servo ready and in-position signal turn on.
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6 POSITIONING CONTROL 6.24 High-Speed Oscillation Positioning of a specified axis is caused to oscillate on a sine wave.
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6 POSITIONING CONTROL [Cautions] (1) If the amplitude setting is outside the range, the servo program setting error [25] occurs and operation does not start. (2) If the starting angle setting is outside the range, the servo program setting error [26] occurs and operation does not start. (3) If the frequency setting is outside the range, the servo program setting error [27] occurs and operation does not start. (4) Operation is continually repeated until a stop signal is input after the start.
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6 POSITIONING CONTROL MEMO 6 - 236
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7 AUXILIARY AND APPLIED FUNCTIONS 7. AUXILIARY AND APPLIED FUNCTIONS This section describes the auxiliary and applied functions for positioning control in the Multiple CPU system. 7.1 M-code Output Function M-code is a code No. between 0 and 32767 which can be set for every positioning control.
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7 AUXILIARY AND APPLIED FUNCTIONS (c) When the M-code is read at positioning completion, use the positioning complete signal (M2401+20n) as the read command. At the position control or speed control V Dwell time t ON OFF PLC ready flag (M2000) ON ON Servo program start Start accept flag (M2001+n) OFF Positioning start complete signal (M2400+20n) OFF Positioning complete signal (M2401+20n) OFF ON M-code Storage of setting M-code No.
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7 AUXILIARY AND APPLIED FUNCTIONS (4) Program example (a) The Motion SFC program to read M-codes is shown as the following conditions. 1) Axis used No. ......................................... Axis 3 2) Processing at the positioning start by M-code .................... M-code No. is output as BCD code to Y110 to Y11F 3) Processing at the positioning completion by M-code a) M-code = 3......................................... Y120 turns on b) M-code = 5.........................................
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7 AUXILIARY AND APPLIED FUNCTIONS 7.2 Backlash Compensation Function This function compensates for the backlash amount in the machine system. When the backlash compensation amount is set, extra feed pulses equivalent to the backlash compensation amount set up whenever the travel direction is generated at the positioning control, JOG operation or manual pulse generator operation. Feed screw Workpiece Backlash compensation amount Fig.7.
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7 AUXILIARY AND APPLIED FUNCTIONS (2) Backlash compensation processing Details of backlash compensation processing are shown below. Table 7.1 Details of backlash compensation processing Condition Processing • If travel direction is equal to home position return direction, the First start after power on backlash compensation is not executed. • If travel direction is not equal to home position return direction, the backlash compensation is executed.
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7 AUXILIARY AND APPLIED FUNCTIONS 7.3 Torque Limit Function This function restricts the generating torque of the servomotor within the setting range. If the torque required for control exceeds the torque limit value during positioning control, it restricts with the setting torque limit value. (1) Setting range of the torque limit value It can be set within the range of 1 to 1000[%] of the rated torque. (2) Setting method of torque limit value Set the torque limit value is shown below.
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7 AUXILIARY AND APPLIED FUNCTIONS Example Setting for the torque limit value with the constant-speed control (CPSTART 1) (1) Servo program Parameter block 3 (P.B.
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7 AUXILIARY AND APPLIED FUNCTIONS 7.4 Skip Function in which Disregards Stop Command When the current positioning is stopped by input from external source and the next positioning control is performed, it enables starting of the next positioning control even if the input from external source is on (continuation). There are following tow functions in the function called "Skip". • Skip during CP command (Refer to Section "6.17.6 Pass point skip function".
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7 AUXILIARY AND APPLIED FUNCTIONS (2) Operation timing The operation timing for the skip function is shown below. V Positioning start to point A Positioning to point A Deceleration stop by STOP input A Positioning start of the next servo program by skip function ON PLC ready flag (M2000) All axes servo ON command (M2042) Servo program start External STOP signal (The external STOP signal is ignored during M3209+20n is on.) t OFF ON OFF OFF ON ON OFF Turn on before the next positioning start.
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7 AUXILIARY AND APPLIED FUNCTIONS 7.5 Cancel of the Servo Program This function performs a deceleration stop of executing servo program during execution by turning on the cancel signal. [Control details] (1) When the cancel signal is turned on during execution of a program for which the cancel has been specified, the positioning processing is suspended, and a deceleration stop is executed. [Data setting] (1) Cancel signal device The usable cancel signal devices are shown below.
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7 AUXILIARY AND APPLIED FUNCTIONS 7.5.1 Cancel/start When a cancel/start has been set in the setting items of the servo program which was started at the motion control step of the Motion SFC program, the cancel of the running servo program is valid but the servo program specified to start after a cancel is ignored, without being started. Example of the Motion SFC program which executed control equivalent to a cancel start is shown below.
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7 AUXILIARY AND APPLIED FUNCTIONS MEMO 7 - 12
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APPENDICES APPENDICES APPENDIX 1 Error Codes Stored Using The Motion CPU The servo program setting errors and positioning errors are detected in the Motion CPU side. (1) Servo program setting errors These are positioning data errors set in the servo program, and it checks at the start of the each servo program. They are errors that occur when the positioning data is specified indirectly. The operations at the error occurrence are shown below. • The servo program setting error flag (SM516) turns on.
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APPENDICES (b) The error detection signal of the erroneous axis turns on at the error occurrence, and the error codes are stored in the minor error code, major error code or servo error code storage register. Table 1.
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APPENDICES APPENDIX 1.1 Servo program setting errors (Stored in SD517) The error codes, error contents and corrective actions for servo program setting errors are shown in Table 1.2. In the error codes marked with "Note" indicates the axis No. (1 to 32). Table 1.2 Servo program setting error list Error code stored in SD517 1 n03 (Note) Error name Error contents Error processing Parameter block No. The parameter block No. is outside Execute the servo program setting error the range of 1 to 64.
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APPENDICES Table 1.2 Servo program setting error list (Continued) Error code stored in SD517 n08 n09 n10 (Note) (Note) (Note) 11 12 13 14 Error name Auxiliary point setting error (At the auxiliary point-specified circular interpolation. ) (At the auxiliary point-specified helical interpolation.) Error contents Error processing Positioning control does not (1) If the control unit is (1) The auxiliary point address is start.
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APPENDICES Table 1.2 Servo program setting error list (Continued) Error code stored in SD517 15 16 17 Error name Rapid stop deceleration time setting error Torque limit value setting error Allowable error range for circular interpolation setting error Error contents Unit mm inch PLS 19 20 21 22 23 24 25 Corrective action The rapid stop deceleration time is Control with the default value Set the rapid stop deceleration set to "0". "1000". time within the range of 1 to 65535.
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APPENDICES Table 1.2 Servo program setting error list (Continued) Error code stored in D517 26 27 28 41 900 901 902 903 904 905 Error name Error contents Error processing Positioning control does not High-Speed Operation cannot be started start. oscillation command because the starting angle starting angle error specified with the high-speed oscillation function is outside the range of 0 to 3599 ( 0.1[degrees]).
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APPENDICES Table 1.2 Servo program setting error list (Continued) Error code stored in SD517 Error name Axis No. setting error 906 Start error 907 Start error 908 Error contents Error processing Positioning control does not (1) Unused axis of the system start. setting is set in the Motion SFC program set in the servo program start. (2) It was started by setting the real mode axis in the virtual servo program.
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APPENDICES APPENDIX 1.2 Minor errors These errors are detected in the PLC program or servo program, and the error codes of 1 to 999 are used. Minor errors include the setting data errors, starting errors, positioning control errors and current value/speed change errors and system errors. (1) Setting data errors (1 to 99) These errors occur when the data set in the parameters for positioning control is not correct. The error codes, causes, processing, and corrective actions are shown in Table 1.3.
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APPENDICES (2) Positioning control start errors (100 to 199) These errors are detected at the positioning control start. The error codes, causes, processing, and corrective actions are shown in Table 1.4. Table 1.
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APPENDICES Table 1.
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APPENDICES Table 1.4 Positioning control start error (100 to 199) list (Continued) 117 118 120 121 130 Speed control with fixed position stop OSC Position follow-up control Home position return Manual pulse generator JOG Constant-speed Speed switching Speed/position switching Speed Positioning Error code Fixed-pitch feed Control mode Error cause • Both of forward and reverse rotation were set at the simultaneous start for the JOG operation.
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APPENDICES Table 1.
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APPENDICES (3) Positioning control errors (200 to 299) These are errors detected during the positioning control. The error codes, causes, processing and corrective actions are shown in Table 1.5. Table 1.
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APPENDICES Table 1.5 Positioning control error (200 to 299) list (Continued) 207 208 209 210 211 214 Speed control with fixed position stop OSC Position follow-up control Home position return Manual pulse generator JOG Constant-speed Speed switching Speed/position switching Speed Positioning Error code Fixed-pitch feed Control mode Error cause • The feed current value exceeded the stroke limit range during positioning control.
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APPENDICES Table 1.5 Positioning control error (200 to 299) list (Continued) 215 220 221 222 225 230 Speed control with fixed position stop OSC Position follow-up control Home position return Manual pulse generator JOG Constant-speed Speed switching Speed/position switching Speed Positioning Error code Fixed-pitch feed Control mode Error cause • The speed switching point address exceed the end point address.
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APPENDICES (4) Current value/speed change errors (300 to 399) These are errors detected at current value change or speed change. The error codes, causes, processing and corrective actions are shown in Table 1.6. Table 1.
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APPENDICES (5) System errors (900 to 999) Table 1.7 System error (900 to 999) list 901 Speed control with fixed position stop OSC Position follow-up control Home position return Manual pulse generator JOG Constant-speed Speed switching Speed/position switching Speed Positioning Error code Fixed-pitch feed Control mode Error cause Error processing Corrective action • Check the position. • The motor travel value while • Check the battery of encoder.
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APPENDICES APPENDIX 1.3 Major errors These errors occur by control command from the external input signal or Motion SFC program, and the error codes 1000 to 1999 are used. Major errors include the positioning control start errors, positioning control errors, absolute position system errors and system errors. (1) Positioning control start errors (1000 to 1099) These errors are detected at the positioning control start. The error codes, causes, processing and corrective actions are shown in Table 1.8.
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APPENDICES (2) Positioning control errors (1100 to 1199) These errors are detected at the positioning control. The error codes, causes, processing and corrective actions are shown in Table 1.9. Table 1.
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APPENDICES (3) Absolute position system errors (1200 to 1299) These errors are detected at the absolute position system. The error codes, causes, processing and corrective actions are shown in Table 1.10. Table 1.
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APPENDICES (4) System errors (1300 to 1399) These errors are detected at the power-on. The error codes, causes, processing and corrective actions are shown in Table 1.11. Table 1.
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APPENDICES APPENDIX 1.4 Servo errors (1) Servo amplifier errors (2000 to 2899) These errors are detected by the servo amplifier, and the error codes are [2000] to [2899]. The servo error detection signal (M2408+20n) turns on at the servo amplifier error occurrence. Eliminate the error cause, reset the servo amplifier error by turning on the servo error reset command (M3208+20n) and perform re-start. (The servo error detection signal does not turn on because the codes [2100] to [2599] are for warnings.
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APPENDICES Table 1.12 Servo error (2000 to 2899) list Error code Error cause Name Error check Description Error processing • Power supply voltage is low. MR-J3-B: 160VAC or less MR-J3-B1: 83 VAC or less MR-J3-B4: 280 VAC or less Corrective action • Review the power supply. • There was an instantaneous control power failure of 60[ms] or longer. • Shortage of power supply capacity caused the power supply voltage to drop at start, etc.
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APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error code Error cause Name Error check Description Error processing • Encoder connector (CN2) disconnected. • Connect correctly. • Encoder fault • Replace the servomotor. • Encoder cable faulty Encoder error 1 2016 (Wire breakage or shorted) (At power on) • Encoder cable type (2-wire, 4-wire) selection was wrong in parameter setting. 2017 Board error • Repair or replace the cable.
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APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error code Error cause Name Error check Description • Check the machine. • Accuracy at initial magnetic pole detection is bad. • Review the parameter No.PS09 setting (magnetic pole detection voltage level). • Wrong wiring of the servomotor wires (U, V, and W). • Correct the wiring. • Linear encoder resolution differs from the setting value. • Review the parameter No.PS02 and PS03 setting (linear encoder resolution).
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APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error code 2030 Error cause Name Regenerative alarm Error check Description Error processing Corrective action • Wrong setting of system setting (regenerative brake) • Check the regenerative brake of system setting and set correctly. • Built-in regenerative brake resistor or regenerative brake option is not connected. • Connect correctly.
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APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error code Error cause Name 2032 Overcurrent Error check Description Error processing • Short occurred in servomotor power (U, V, W). • Correct the wiring. • Transistor (IPM) of the servo amplifier faulty. [Checking method] Servo error [2032] occurs if power is switched on after U, V and W are disconnected. • Replace the servo amplifier. • Ground fault occurred in servomotor power (U, V, W). • Correct the wiring.
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APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error code Error cause Name Linear servo control error 2042 (Linear servo amplifier) Error check Description Error processing Corrective action • Linear encoder signal resolution differs from the setting value. • Review the settings of parameter No.PS02 and PS03 setting (linear encoder resolution). • Check the mounting of linear encoder. • Initial magnetic pole detection has not been performed.
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APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error code 2045 2046 2047 Error cause Name Error check Description Cooling fan alarm Corrective action • Servo amplifier failure • Replace the servo amplifier. • The power supply was turned on and off continuously by overloaded status. • The drive method is reviewed. Main circuit • Ambient temperature of servo amplifier device overheat is over 55[°C] (131[°F]).
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APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error code Error cause Name Error check Description • Review operation pattern. • Install limit switches. • Wrong connection of servomotor. (Servo amplifier's output terminals U, V, W do not match servo motor's input terminals U, V, W.) • Connect correctly. • Servo system is instable and hunting. `• Repeat acceleration/ deceleration to execute auto tuning. • Change auto tuning response setting.
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APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error code Error cause Name Error check Description Error processing • The speed of linear encoder has exceeded the range of use. • Change the speed of linear encoder within the range of use. • Noise entered. • Take the noise reduction measures. Any time during operation 2061 Linear encoder • Alarm of the linear encoder. (AL.2A) error 1 • Contact with the linear encoder manufacturer. • Adjust the positions of the scale and head.
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APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error code Error cause Name Error check Description Error processing • Review environment so that ambient temperature is 0 to 49[°C] (32 to 104[°F]). • Ambient temperature of servomotor is over 40[°C] (104[°F]). Servo motor 2142 overheat (AL.E2) warning Operation • Reduce load. continues • Review operation pattern. • Use servomotor that provides larger output. • Servomotor is overloaded. • Replace the servomotor.
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APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error code Error cause Name Error check Description Error processing Corrective action Parameter error • The servo parameter value is outside the setting range. (Any unauthorized parameter is ignored and the value before setting is held.) 2301 to 2599 Parameter error Error code Parameter No.
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APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error code Error cause Name 2301 Parameter to error 2599 Error check Description Error code Parameter No.
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APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error code Error cause Name Error check Description Error code Parameter No.
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APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error code 2301 to 2599 Error cause Name Parameter error Error check Description Error code Parameter No.
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APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error code Error cause Name Error check Description Error processing Corrective action Initial parameter error • The parameter setting is wrong. • The parameter data was corrupted. Initial 2601 parameter to error 2899 Error code Parameter No.
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APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error code Error cause Name 2601 Initial parameter to error 2899 Error check Description Error code Parameter No.
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APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error code Error cause Name Initial 2601 parameter to error 2899 Error check Description Error code Parameter No.
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APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error code 2601 Error cause Name Initial to parameter 2899 error Error check Description Error code Parameter No.
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APPENDICES APPENDIX 2 Example Programs APPENDIX 2.1 Reading M-code The program example for reading M-code at the completion of positioning start or positioning is shown below. The judgement of the positioning start completion and positioning completion is made with the following signals.
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APPENDICES APPENDIX 2.2 Reading error code The program example for reading error code at the error occurrence is shown below. The following signals are used to determine whether or not an error has occurred: • Minor errors, major errors ………. Error detection signal (M2407+20n) • Servo errors ……………………... Servo error detection signal (M2408+20n) POINT (1) The following delay occurs for leading edge of M2407+20n/M2408+20n and storage of the error code.
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APPENDICES [Program Example] (1) A program that outputs each error code to PY000 to PY00F (minor error), PY010 to PY01F (major error) and PY020 to PY02F (servo error) after conversion into BCD code at the error occurrence with axis 1 is shown below.
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APPENDICES APPENDIX 3 Setting Range for Indirect Setting Devices Positioning address, command speed or M-code, etc. (excluding the axis No.) set in the servo program can be set indirectly by the word. (1) Device range The number of device words and device range at indirect setting are shown below. Parameter block Arc Common Item Number of device words Device setting range Parameter block No.
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APPENDICES POINT (1) Be sure to set even-numbered devices for 2-word setting items. Be sure to set as 32-bit integer type when the data is set in these devices using the Motion SFC programs. (Example : #0L, D0L) (2) Refer to Chapter 2 of the "Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)" for the user setting area points of the Multiple CPU high speed transmission area.. (2) Inputting device data Indirect setting device data is inputted by the Motion CPU at the servo program start.
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APPENDICES APPENDIX 4 Processing Times of the Motion CPU The processing time of each signal and each instruction for positioning control in the Multiple CPU system is shown below. (1) Motion operation cycle [ms] (Default) Q173DCPU Q172DCPU Number of setting axes (SV22) 1 to 4 5 to 12 13 to 28 Number of setting axes (SV13) 1 to 6 7 to 18 19 to 32 Operation cycle [ms] 0.44 0.88 1.77 29 to 32 1 to 4 5 to 8 1 to 6 7 to 8 0.44 0.88 3.
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APPENDICES APPENDIX 5 Device List (1) Axis status list Axis No. Device No.
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APPENDICES (2) Axis command signal list Axis No. Device No.
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APPENDICES (3) Common device list Device Signal name No. Refresh cycle M2000 PLC ready flag Fetch cycle Main cycle Signal Remark Device direction (Note-4) No.
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APPENDICES Common device list (Continued) Device Signal name No. Refresh cycle Fetch cycle Signal Remark Device direction (Note-4) No.
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APPENDICES Common device list (Continued) Device No. Signal name Refresh cycle Fetch cycle Signal Remark Device direction (Note-4) No.
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APPENDICES (4) Common device list (Command signal) Device No.
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APPENDICES (5) Axis monitor device list Axis No. Device No. Signal name 1 D0 to D19 2 D20 to D39 3 D40 to D59 4 D60 to D79 0 5 D80 to D99 1 6 D100 to D119 2 7 D120 to D139 3 8 D140 to D159 4 9 D160 to D179 5 10 D180 to D199 6 Minor error code 11 D200 to D219 7 Major error code 12 D220 to D239 8 Servo error code 13 D240 to D259 14 D260 to D279 15 D280 to D299 16 D300 to D319 10 Travel value after 11 proximity dog ON 17 D320 to D339 12 Execute program No.
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APPENDICES (6) Control change register list Axis No. Device No.
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APPENDICES (7) Common device list Device No. Signal name Refresh cycle Fetch cycle Signal direction Device No.
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APPENDICES (8) Motion register list (#) Axis No. Device No.
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APPENDICES (9) Special relay list Device No. Signal name Refresh cycle SM500 PCPU REDAY complete flag SM501 TEST mode ON flag SM502 External forced stop input flag SM503 Digital oscilloscope executing flag SM510 TEST mode request error flag SM512 Motion CPU WDT error flag SM513 Manual pulse generator axis setting error flag SM516 Servo program setting error flag Fetch cycle Main cycle Signal type Status signal (10) Special register list Device No.
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WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
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MOTION CONTROLLER Qseries SV13/SV22 Programming Manual(REAL MODE) (Q173DCPU/Q172DCPU) HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN MODEL Q173D-P-SV13/22REALE MODEL CODE 1XB930 IB(NA)-0300136-A(0801)MEE IB(NA)-0300136-A(0801)MEE When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.
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