Mitsubishi Electronics Q172HCPU manual

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Table of contents for the manual

  • Page 1

    MELSEC Q Series Motion Controllers Progr amming Manu al SV13/SV22 (REAL MODE) Q172 H CPU Q173 H CPU [...]

  • Page 2

    A - 1 SAFETY PRECAUT IONS (Read these precautions before using.) When using this equip m en t, thoro[...]

  • Page 3

    A - 2 For Safe Op eration s 1. Prevention of electric shocks ! DANGER Never open the front case or t[...]

  • Page 4

    A - 3 3. For injury prevention ! CAUTION Do not apply a volt age o ther than that specif ied in the [...]

  • Page 5

    A - 4 ! CAUTION The brakes (electromagnetic brakes) assembled into t he ser v om otor are for holdin[...]

  • Page 6

    A - 5 ! CAUTION Set the sequence function program capacity setti ng, device capacity , latch validit[...]

  • Page 7

    A - 6 ! CAUTION Securely fix the Motion controller and servo amplifier to the machine according t o [...]

  • Page 8

    A - 7 (4) W iring ! CAUTION Correctly and securely wire the wires. Reconfirm the connect ions f or m[...]

  • Page 9

    A - 8 (6) Us a ge methods ! CAUTION Immediately t urn OFF the power if smoke, abnor m al sounds or o[...]

  • Page 10

    A - 9 ! CAUTION If an error occurs, remo v e the cause, secure the safety and then resume operation [...]

  • Page 11

    A - 10 (9) About processi ng of waste W hen you discar d Mot ion contr oller, s ervo am plifier , a [...]

  • Page 12

    A - 11 REVI SIONS The manual number is given on the bottom left of the bac k cover. Pri nt Da te Man[...]

  • Page 13

    A - 12 INTRODUCT ION Thank you for choos ing the Q173HC PU/Q172HCPU Motion Contr oller. Please r ead[...]

  • Page 14

    A - 13 4.3.3 A llowa ble error r ange f o r circ ular inter polation ...............................[...]

  • Page 15

    A - 14 6.17.7 FI N signa l wait func tion ..........................................................[...]

  • Page 16

    A - 15 APPEND IX 3.2 R eading err or code ..........................................................[...]

  • Page 17

    A - 16 About Ma nuals The f ollowing m anuals are r elated to this product. Referring to this list, [...]

  • Page 18

    A - 17 (2) PLC Manual N ame Manual N umber (Model C ode) QCPU User's Manual (H ard w ar e Desig[...]

  • Page 19

    A - 18 MEMO[...]

  • Page 20

    1 - 1 1 OVERVIE W 1 1. OVERVIEW 1.1 Overv iew This program ming m anual describ es the positi oning [...]

  • Page 21

    1 - 2 1 OVERVIE W Generic term/Abbreviation Description A 0BD-PCF A10BD-PCF/A30BD-PCF SSC I/F board [...]

  • Page 22

    1 - 3 1 OVERVIE W 1.2 Features 1.2.1 Performance Specifications (1) Moti on control specif ic ations[...]

  • Page 23

    1 - 4 1 OVERVIE W Motion control speci f icati ons (continued) Item Q173 HCPU Q173HCPU- T Q172HCPU Q[...]

  • Page 24

    1 - 5 1 OVERVIE W 1.2.2 Di ff erences between Q 173HCPU /Q172 HCPU and Q173CPU (N)/Q172CPU(N) (1 ) D[...]

  • Page 25

    1 - 6 1 OVERVIE W MEM O[...]

  • Page 26

    2 - 1 2 POSITIONING CONTROL BY THE MOTION CPU 2 2. POSITI ONING C ONTROL B Y THE MOTION CPU 2.1 Posi[...]

  • Page 27

    2 - 2 2 POSITIONING CONTROL BY THE MOTION CPU [Exec ution of the Mot ion SFC pr ogram start (S( P).S[...]

  • Page 28

    2 - 3 2 POSITIONING CONTROL BY THE MOTION CPU Servo amp lifier Servomotor Motion CPU Motion SFC prog[...]

  • Page 29

    2 - 4 2 POSITIONING CONTROL BY THE MOTION CPU [Exec ution of the po sitio ning con trol (M otion SFC[...]

  • Page 30

    2 - 5 2 POSITIONING CONTROL BY THE MOTION CPU Servo amplifie r Servo motor Servo instruction (Sp eci[...]

  • Page 31

    2 - 6 2 POSITIONING CONTROL BY THE MOTION CPU [Exec ution of the ser vo progr am star t (S(P). SVST [...]

  • Page 32

    2 - 7 2 POSITIONING CONTROL BY THE MOTION CPU Servo progra m . . . . . Set and correct using a pe ri[...]

  • Page 33

    2 - 8 2 POSITIONING CONTROL BY THE MOTION CPU [Exec ution of the JOG operat ion] JOG oper ation of s[...]

  • Page 34

    2 - 9 2 POSITIONING CONTROL BY THE MOTION CPU Positio ning control para meter . . . . . Servo am pli[...]

  • Page 35

    2 - 10 2 POSITIONING CONTROL BY THE MOTION CPU [Executing Manual P ulse Generat or Operatio n] W hen[...]

  • Page 36

    2 - 11 2 POSITIONING CONTROL BY THE MOTION CPU Servo ampli f ier Servomoto r Positi oning control p [...]

  • Page 37

    2 - 12 2 POSITIONING CONTROL BY THE MOTION CPU (1) Positi onin g contr ol parameters There ar e fo l[...]

  • Page 38

    2 - 13 2 POSITIONING CONTROL BY THE MOTION CPU (3) Motio n SFC pro gram Motion SFC pr ogram is used [...]

  • Page 39

    2 - 14 2 POSITIONING CONTROL BY THE MOTION CPU MEM O[...]

  • Page 40

    3 - 1 3 POSITIONING DEDICATED SIGNALS 3. POSITIONING DEDICATED SIGNALS The in ternal s i gnals of th[...]

  • Page 41

    3 - 2 3 POSITIONING DEDICATED SIGNALS The p ositioning d edicated devi ces are shown bel ow. It indi[...]

  • Page 42

    3 - 3 3 POSITIONING DEDICATED SIGNALS Internal relay li st (Continued) SV13 SV 22 Device No. Purpos [...]

  • Page 43

    3 - 4 3 POSITIONING DEDICATED SIGNALS (2) Axis stat us list Axis No. Device No. S ignal name 1 M 240[...]

  • Page 44

    3 - 5 3 POSITIONING DEDICATED SIGNALS (3) Axis command signal list Axis No. Devic e No. Signal nam e[...]

  • Page 45

    3 - 6 3 POSITIONING DEDICATED SIGNALS (4) Common dev ice list De vice No. Signal nam e Refres h cycl[...]

  • Page 46

    3 - 7 3 POSITIONING DEDICATED SIGNALS Common dev ice list (Continued) De vice No. Signal nam e Refre[...]

  • Page 47

    3 - 8 3 POSITIONING DEDICATED SIGNALS Common dev ice list (Continued) De vice No. Signal nam e Refre[...]

  • Page 48

    3 - 9 3 POSITIONING DEDICATED SIGNALS Expl anation o f the request r egi ster No. Function Bit devic[...]

  • Page 49

    3 - 10 3 POSITIONING DEDICATED SIGNALS (5) Special relay allocated device l ist (Status) Device No. [...]

  • Page 50

    3 - 11 3 POSITIONING DEDICATED SIGNALS (6) Common dev ice list (Command si gnal) Device No. Signal n[...]

  • Page 51

    3 - 12 3 POSITIONING DEDICATED SIGNALS 3.1.1 Axis s tatu ses (1) Positioning start complete signal ([...]

  • Page 52

    3 - 13 3 POSITIONING DEDICATED SIGNALS (2) Positi onin g compl ete signal (M2401+20n) ..............[...]

  • Page 53

    3 - 14 3 POSITIONING DEDICATED SIGNALS (b) An in- positio n check is per form ed in th e follo wing [...]

  • Page 54

    3 - 15 3 POSITIONING DEDICATED SIGNALS (b) T his si gnal tur ns off at the po wer sup ply on and dur[...]

  • Page 55

    3 - 16 3 POSITIONING DEDICATED SIGNALS (8) Err o r detection si gnal (M2407+20n) ...................[...]

  • Page 56

    3 - 17 3 POSITIONING DEDICATED SIGNALS (10) Home posi tion return req uest signal (M2409+20n) ......[...]

  • Page 57

    3 - 18 3 POSITIONING DEDICATED SIGNALS (12) FLS sig nal (M2411+20n) (Note-1) .......................[...]

  • Page 58

    3 - 19 3 POSITIONING DEDICATED SIGNALS 2) Ser vo amplif ier input us e (Note-3) RLS signal : ON RLS [...]

  • Page 59

    3 - 20 3 POSITIONING DEDICATED SIGNALS 2) Ser vo amplif ier input us e (Note-3) DOG/CHA NGE signal :[...]

  • Page 60

    3 - 21 3 POSITIONING DEDICATED SIGNALS (18) M- code outputting signal (M 2419+20n) .................[...]

  • Page 61

    3 - 22 3 POSITIONING DEDICATED SIGNALS 3.1.2 Axis command signals (1) Stop comma nd (M3200+ 20n) ...[...]

  • Page 62

    3 - 23 3 POSITIONING DEDICATED SIGNALS (2) Rapi d stop command (M3201+20n) ..................... Com[...]

  • Page 63

    3 - 24 3 POSITIONING DEDICATED SIGNALS (3) Forw a rd r otation JOG start command (M3202+20n) /Revers[...]

  • Page 64

    3 - 25 3 POSITIONING DEDICATED SIGNALS (5) Speed/position swi tching enable command ( M3205+20n) ...[...]

  • Page 65

    3 - 26 3 POSITIONING DEDICATED SIGNALS REMARK Refer t o APPEN DIX 1 for detai ls on the m inor err o[...]

  • Page 66

    3 - 27 3 POSITIONING DEDICATED SIGNALS (11) Gain chang ing command (M3216+20n) ............. Command[...]

  • Page 67

    3 - 28 3 POSITIONING DEDICATED SIGNALS (13) FIN sig nal (M3219+20n) ................................[...]

  • Page 68

    3 - 29 3 POSITIONING DEDICATED SIGNALS 3.1.3 Common dev ices POINTS (1) I nternal r elays f or pos i[...]

  • Page 69

    3 - 30 3 POSITIONING DEDICATED SIGNALS 3) The process ing in above (c) 1) is not exec uted during th[...]

  • Page 70

    3 - 31 3 POSITIONING DEDICATED SIGNALS The c onditio n which M2000 is turned O N to O FF. • Set &q[...]

  • Page 71

    3 - 32 3 POSITIONING DEDICATED SIGNALS The s tart acc ept fla g list is sho wn belo w. Axis No. Devi[...]

  • Page 72

    3 - 33 3 POSITIONING DEDICATED SIGNALS (6) Speed sw itching point specified flag (M2040) ...... C om[...]

  • Page 73

    3 - 34 3 POSITIONING DEDICATED SIGNALS (8) All a xes serv o ON command ( M2042) .................. C[...]

  • Page 74

    3 - 35 3 POSITIONING DEDICATED SIGNALS (11) All a xes serv o ON accept f lag (M2049) ...............[...]

  • Page 75

    3 - 36 3 POSITIONING DEDICATED SIGNALS (14) Speed chang ing flag (M2061 to M2092) ..................[...]

  • Page 76

    3 - 37 3 POSITIONING DEDICATED SIGNALS (15) Automatic decel erating flag (M 2128 to M2159) .........[...]

  • Page 77

    3 - 38 3 POSITIONING DEDICATED SIGNALS (16) Speed chang e " 0" accepting flag ( M2240 to M[...]

  • Page 78

    3 - 39 3 POSITIONING DEDICATED SIGNALS (a) T he flag t urns of f if a s peed c hange r equest occurs[...]

  • Page 79

    3 - 40 3 POSITIONING DEDICATED SIGNALS (d) E ven if i t is sp eed chan ge "0" after the au[...]

  • Page 80

    3 - 41 3 POSITIONING DEDICATED SIGNALS (17) Contr ol loop monitor status (M2272 to M2303) ..........[...]

  • Page 81

    3 - 42 3 POSITIONING DEDICATED SIGNALS 3.2 Data Regi sters (1) Data register list SV13 SV 22 Device [...]

  • Page 82

    3 - 43 3 POSITIONING DEDICATED SIGNALS (2) Axis monitor device list Axis No. Device No. Signal name [...]

  • Page 83

    3 - 44 3 POSITIONING DEDICATED SIGNALS (3) Contr ol change register list Axis No. Devic e No. Signal[...]

  • Page 84

    3 - 45 3 POSITIONING DEDICATED SIGNALS (4) Common dev ice list Device No. Signal name Refresh cycle [...]

  • Page 85

    3 - 46 3 POSITIONING DEDICATED SIGNALS 3.2.1 Axis monitor devices The m onitoring d ata area is used[...]

  • Page 86

    3 - 47 3 POSITIONING DEDICATED SIGNALS (5) Maj or e rr or code storag e register (D7+20n) ..........[...]

  • Page 87

    3 - 48 3 POSITIONING DEDICATED SIGNALS (9) Execute prog ram No. storage register (D12+20n) ....…?[...]

  • Page 88

    3 - 49 3 POSITIONING DEDICATED SIGNALS (12) Data set poi nter for constant-speed control (D15+20n) .[...]

  • Page 89

    3 - 50 3 POSITIONING DEDICATED SIGNALS [Input s ituatio n of pos itioni ng dat a in the Motion C PU][...]

  • Page 90

    3 - 51 3 POSITIONING DEDICATED SIGNALS [Intern al proces sing] (a) The positi oning data ((1) to (14[...]

  • Page 91

    3 - 52 3 POSITIONING DEDICATED SIGNALS 3.2.2 Control chang e registers This area stores the J OG ope[...]

  • Page 92

    3 - 53 3 POSITIONING DEDICATED SIGNALS 3.2.3 Common dev ice s (1) Common bi t device SET/RST request[...]

  • Page 93

    3 - 54 3 POSITIONING DEDICATED SIGNALS b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b 5 b4 b3 b 2 b1 b0 Axis [...]

  • Page 94

    3 - 55 3 POSITIONING DEDICATED SIGNALS (5) Manual pulse generator smoothing magni f ication setti ng[...]

  • Page 95

    3 - 56 3 POSITIONING DEDICATED SIGNALS (6) Real mode axis information reg ister (D790, D791) .......[...]

  • Page 96

    3 - 57 3 POSITIONING DEDICATED SIGNALS 3.3 Motion Reg isters (# ) There ar e moti on regis ters ( #0[...]

  • Page 97

    3 - 58 3 POSITIONING DEDICATED SIGNALS 3.4 S pecial Relays (SP.M) There ar e 256 s pecia l rela y po[...]

  • Page 98

    3 - 59 3 POSITIONING DEDICATED SIGNALS (3) TEST mode ON f l ag (M9075) ........……...............[...]

  • Page 99

    3 - 60 3 POSITIONING DEDICATED SIGNALS 3.5 Special Reg isters (SP.D) There ar e 256 s pecia l regist[...]

  • Page 100

    3 - 61 3 POSITIONING DEDICATED SIGNALS (1) Connect/di sconnect (D9112) .............................[...]

  • Page 101

    3 - 62 3 POSITIONING DEDICATED SIGNALS (3) Moti on CPU W DT error cause (D9184) ………........ Mo[...]

  • Page 102

    3 - 63 3 POSITIONING DEDICATED SIGNALS (4) Manual pulse generator axis setting error i nf ormatio n [...]

  • Page 103

    3 - 64 3 POSITIONING DEDICATED SIGNALS (8) Serv o amplifier loading information (D9191 to D 9192) ..[...]

  • Page 104

    3 - 65 3 POSITIONING DEDICATED SIGNALS (10) Operation cycle of the Motion CPU setting (D9197) ......[...]

  • Page 105

    3 - 66 3 POSITIONING DEDICATED SIGNALS MEM O[...]

  • Page 106

    4 - 1 4 PARAMETERS FOR POSITIONING C ONT ROL 4 4. PARAMETERS FOR PO SITIONING CONTROL 4.1 System Set[...]

  • Page 107

    4 - 2 4 PARAMETERS FOR POSITIONING C ONT ROL 4.2 Fixed Par ameters (1) Th e fixed par ameters are se[...]

  • Page 108

    4 - 3 4 PARAMETERS FOR POSITIONING C ONT ROL 4.2.1 Number of pul ses/travel value per rotati on The [...]

  • Page 109

    4 - 4 4 PARAMETERS FOR POSITIONING C ONT ROL Theref ore, AP/ AL is s et so t hat the f ollowi ng exp[...]

  • Page 110

    4 - 5 4 PARAMETERS FOR POSITIONING C ONT ROL The tra vel va lue per m otor rota tion in this ex ampl[...]

  • Page 111

    4 - 6 4 PARAMETERS FOR POSITIONING C ONT ROL (1) Stro ke limit ra nge check The s troke lim it rang [...]

  • Page 112

    4 - 7 4 PARAMETERS FOR POSITIONING C ONT ROL 4.2.4 Command in- position rang e The com mand in-p osi[...]

  • Page 113

    4 - 8 4 PARAMETERS FOR POSITIONING C ONT ROL 4.2.5 Speed control 10 m ultiplier setting f or degree [...]

  • Page 114

    4 - 9 4 PARAMETERS FOR POSITIONING C ONT ROL • An exa m p le for posit ioning cont rol is shown be[...]

  • Page 115

    4 - 10 4 PARAMETERS FOR POSITIONING C ONT ROL (b) Lo ng-axis re ference speci fication <K 50> [...]

  • Page 116

    4 - 11 4 PARAMETERS FOR POSITIONING C ONT ROL 4.3 Parameter Block (1) The pa rameter blo cks serve t[...]

  • Page 117

    4 - 12 4 PARAMETERS FOR POSITIONING C ONT ROL POINTS The da ta set i n the p aramet er block is use [...]

  • Page 118

    4 - 13 4 PARAMETERS FOR POSITIONING C ONT ROL 4.3.1 Relationships bet ween the speed limit val ue, a[...]

  • Page 119

    4 - 14 4 PARAMETERS FOR POSITIONING C ONT ROL As sh own belo w, the S-curv e ratio se tting s erves [...]

  • Page 120

    5 - 1 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL 5. SERVO PROGRAMS FOR POSITIONING CONTROL Serv o p[...]

  • Page 121

    5 - 2 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL (3) Posi tioning data . ..... This is the da ta re[...]

  • Page 122

    5 - 3 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL 5.2 Servo Instr uctions The s ervo instructio ns u[...]

  • Page 123

    5 - 4 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL (2) Ser vo instruction list The s ervo ins tructio[...]

  • Page 124

    5 - 5 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Pos itionin g data OSC * 1 Para meter bloc k Other[...]

  • Page 125

    5 - 6 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.2 Serv o Instruction List (continued) Pos [...]

  • Page 126

    5 - 7 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Pos i t ioning data OSC *1 Parame ter block Others[...]

  • Page 127

    5 - 8 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.2 Serv o Instruction List (continued) Pos [...]

  • Page 128

    5 - 9 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Pos itionin g data OSC *1 Parame ter block Others [...]

  • Page 129

    5 - 10 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.2 Serv o Instruction List (continued) Pos[...]

  • Page 130

    5 - 11 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Pos itionin g data OSC *1 Para meter bl ock Oth e[...]

  • Page 131

    5 - 12 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.2 Serv o Instruction List (continued) Pos[...]

  • Page 132

    5 - 13 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Pos itionin g data OSC *1 Para meter bl ock Oth e[...]

  • Page 133

    5 - 14 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.2 Serv o Instruction List (continued) Pos[...]

  • Page 134

    5 - 15 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Pos i t ioning data OSC *1 Parame ter block Other[...]

  • Page 135

    5 - 16 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL 5.3 Positioning Data The pos itioning dat a set i[...]

  • Page 136

    5 - 17 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Sett ing valu e using the Motion SFC prog ram (In[...]

  • Page 137

    5 - 18 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.3 Positioni ng data (Continued) Setting v[...]

  • Page 138

    5 - 19 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Set ting va lue using the Mot ion SFC pr ogram (I[...]

  • Page 139

    5 - 20 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.3 Positioni ng data (Continued) Setting v[...]

  • Page 140

    5 - 21 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Set ting va lue using the Mot ion SFC pr ogram (I[...]

  • Page 141

    5 - 22 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL 5.4 Setting Method fo r Posi tioning Data This se[...]

  • Page 142

    5 - 23 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL 5.4.2 Indirect setting method by word devices (D,[...]

  • Page 143

    5 - 24 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL (1) Devi ces f or indi rect setting data The de v[...]

  • Page 144

    6 - 1 6 POSITIONING CONTROL 6. POSITIONING CONTROL This sectio n descr ibes th e posit ionin g contr[...]

  • Page 145

    6 - 2 6 POSITIONING CONTROL 6.1.2 Positioning speed at the interpolation control The pos ition ing s[...]

  • Page 146

    6 - 3 6 POSITIONING CONTROL (b) Long-axis speed specif ication It is c ontrolle d based on the posit[...]

  • Page 147

    6 - 4 6 POSITIONING CONTROL • Speed : The lar gest tr avel va lue axis is contr olled with the lon[...]

  • Page 148

    6 - 5 6 POSITIONING CONTROL POINTS (1) Spee d limit va lue and posit ioning spee d • The s etting [...]

  • Page 149

    6 - 6 6 POSITIONING CONTROL 4 axes linear interp olatio n control is sho wn bel ow. [Program exam pl[...]

  • Page 150

    6 - 7 6 POSITIONING CONTROL (3) Circ ular interpolation control The an gular sp eed is contro lled w[...]

  • Page 151

    6 - 8 6 POSITIONING CONTROL (2) T he com binat ions of each ax is contr ol u nits for inter polation[...]

  • Page 152

    6 - 9 6 POSITIONING CONTROL 6.1.5 Control i n the control unit "deg ree" If the control un[...]

  • Page 153

    6 - 10 6 POSITIONING CONTROL (3) Positi onin g contr ol Posit ioning c ontrol m ethod in the c ontro[...]

  • Page 154

    6 - 11 6 POSITIONING CONTROL 6.1.6 Stop processi ng and restarting after stop This section d escri b[...]

  • Page 155

    6 - 12 6 POSITIONING CONTROL 4) Sto p using the manu al puls e gener ator (Pr ocess 4) ....... .....[...]

  • Page 156

    6 - 13 6 POSITIONING CONTROL (c) Stop commands and stop causes Some s top com mands and stop causes [...]

  • Page 157

    6 - 14 6 POSITIONING CONTROL (2) Re-sta rtin g afte r stop (a) If it sto pped b y the stop comm and [...]

  • Page 158

    6 - 15 6 POSITIONING CONTROL (3) Conti nuation of p ositioning control This section d escri bes the [...]

  • Page 159

    6 - 16 6 POSITIONING CONTROL [Proc essing i n the Mot ion SF C Program ] 1. Transf er the start ad d[...]

  • Page 160

    6 - 17 6 POSITIONING CONTROL 6.1.7 Acceleration/dec eleration processing Acce leratio n/deceler atio[...]

  • Page 161

    6 - 18 6 POSITIONING CONTROL S-cur ve rati o can be s et b y t he serv o program is fol lowing t wo [...]

  • Page 162

    6 - 19 6 POSITIONING CONTROL 6.2 1 Axis Linear Positioning C ontrol Posit ioning c ontrol f rom the [...]

  • Page 163

    6 - 20 6 POSITIONING CONTROL Contro l using INC-1 (I ncrement al dat a method) (1) Position ing c on[...]

  • Page 164

    6 - 21 6 POSITIONING CONTROL (3) Oper ation timing Operat ion tim ing for th e servo program No.0 is[...]

  • Page 165

    6 - 22 6 POSITIONING CONTROL 6.3 2 Axes Linear Interpolation Control Linear interp olation contro l [...]

  • Page 166

    6 - 23 6 POSITIONING CONTROL (2) The t ravel dire c t ion is set by th e stop addre ss (starting add[...]

  • Page 167

    6 - 24 6 POSITIONING CONTROL Contro l using INC-2 (I ncrement al dat a method) (1) P osition ing con[...]

  • Page 168

    6 - 25 6 POSITIONING CONTROL (2) Positi onin g oper ation details The pos itionin g is used th e Axi[...]

  • Page 169

    6 - 26 6 POSITIONING CONTROL (5) Serv o program Serv o program No.11 f or 2 axes linear inter polati[...]

  • Page 170

    6 - 27 6 POSITIONING CONTROL 6.4 3 Axes Linear Interpolation Control Linear interp olation contro l [...]

  • Page 171

    6 - 28 6 POSITIONING CONTROL [Contro l details] Cont rol using ABS -3 (Absolut e data method ) (1) 3[...]

  • Page 172

    6 - 29 6 POSITIONING CONTROL Contro l using INC-3 (I ncrement al dat a method) (1) P osition ing con[...]

  • Page 173

    6 - 30 6 POSITIONING CONTROL [Program ] Progr am f or 3 axes linear inter polatio n contr ol is s ho[...]

  • Page 174

    6 - 31 6 POSITIONING CONTROL (4) Oper ation timing Opera tion tim ing for 3 axes linear i nterpol at[...]

  • Page 175

    6 - 32 6 POSITIONING CONTROL (6) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the se[...]

  • Page 176

    6 - 33 6 POSITIONING CONTROL 6.5 4 Axes Linear Interpolation Control Linear interp olation contro l [...]

  • Page 177

    6 - 34 6 POSITIONING CONTROL [Program ] Progr am f or 4 axes linear inter polatio n contr ol is s ho[...]

  • Page 178

    6 - 35 6 POSITIONING CONTROL Axis 2 positi o n ing dir ecti on (Forward direction) 5000 5000 5000 (R[...]

  • Page 179

    6 - 36 6 POSITIONING CONTROL (4) Oper ation timing Opera tion tim ing for 4 axes linear i nterpol at[...]

  • Page 180

    6 - 37 6 POSITIONING CONTROL (6) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the se[...]

  • Page 181

    6 - 38 6 POSITIONING CONTROL 6.6 Au x ilia ry Point-Sp ecifie d Circular Interpo lation Con trol Cir[...]

  • Page 182

    6 - 39 6 POSITIONING CONTROL (3) T he setti ng rang e of the e nd poi nt addr ess and auxiliar y poi[...]

  • Page 183

    6 - 40 6 POSITIONING CONTROL (4 ) Th e ma xi mum a rc r ad ius is 2 31 -1. If the e nd poi nt and au[...]

  • Page 184

    6 - 41 6 POSITIONING CONTROL (3) Positi onin g condi tions (a) Posi tioning cond itions are show n b[...]

  • Page 185

    6 - 42 6 POSITIONING CONTROL (6) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the se[...]

  • Page 186

    6 - 43 6 POSITIONING CONTROL 6.7 Radius-Speci f ied C ircular Inter polation Control Circu lar inter[...]

  • Page 187

    6 - 44 6 POSITIONING CONTROL [Contro l details] Details for th e servo instruct ions ar e show n in [...]

  • Page 188

    6 - 45 6 POSITIONING CONTROL (4) The setting range for the radius is 1 to (2 31 -1). (5) The maximum[...]

  • Page 189

    6 - 46 6 POSITIONING CONTROL [Program ] Progr am for radius-s pecified circu lar inter polatio n con[...]

  • Page 190

    6 - 47 6 POSITIONING CONTROL (4) Oper ation timing Opera tion tim ing for radius -specif ied circ ul[...]

  • Page 191

    6 - 48 6 POSITIONING CONTROL (6) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the se[...]

  • Page 192

    6 - 49 6 POSITIONING CONTROL 6.8 Central Poi nt-Specified Circular Interpolation Control Circu lar i[...]

  • Page 193

    6 - 50 6 POSITIONING CONTROL Control us ing ABS , ABS (Absolute data method) (1) Cir cular interpo l[...]

  • Page 194

    6 - 51 6 POSITIONING CONTROL Control us ing INC , INC (Increm ental method) (1) Cir cular interpo la[...]

  • Page 195

    6 - 52 6 POSITIONING CONTROL [Program ] Progr am for central p oint-s pecifi ed circu lar int erpola[...]

  • Page 196

    6 - 53 6 POSITIONING CONTROL (4) Oper ation timing Oper ation timin g for central p oint-spe c ifi e[...]

  • Page 197

    6 - 54 6 POSITIONING CONTROL (6) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the se[...]

  • Page 198

    6 - 55 6 POSITIONING CONTROL 6.9 Helic al Interpolation Control The l inear int erpolat ion co ntrol[...]

  • Page 199

    6 - 56 6 POSITIONING CONTROL 6.9.1 Circul ar interpolation specified method by helical i nterpolatio[...]

  • Page 200

    6 - 57 6 POSITIONING CONTROL (3) W hen the travel valu e of li near ax is is "0" is s et, [...]

  • Page 201

    6 - 58 6 POSITIONING CONTROL ABH , AB H , ABH , ABH Abs olute ra dius-spec ified helic al interpo la[...]

  • Page 202

    6 - 59 6 POSITIONING CONTROL (1) T he setti ng rang e of en d point a ddress f or the bo th of circu[...]

  • Page 203

    6 - 60 6 POSITIONING CONTROL (2) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the se[...]

  • Page 204

    6 - 61 6 POSITIONING CONTROL INH , INH , INH , INH Incr emental r adius -spec ified he lical interpo[...]

  • Page 205

    6 - 62 6 POSITIONING CONTROL Contro l deta ils fo r the se rvo instr uctio ns are s hown below. Inst[...]

  • Page 206

    6 - 63 6 POSITIONING CONTROL (3) S et the com mand s peed with the combin ed-spe ed for 2 axes circ [...]

  • Page 207

    6 - 64 6 POSITIONING CONTROL (2) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the se[...]

  • Page 208

    6 - 65 6 POSITIONING CONTROL ABH , AB H Abs olute c entral po int-spec ifie d helica l interpo latio[...]

  • Page 209

    6 - 66 6 POSITIONING CONTROL (3) Th e m axi m u m a rc radius on the circular in terpola tion plane [...]

  • Page 210

    6 - 67 6 POSITIONING CONTROL (2) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the se[...]

  • Page 211

    6 - 68 6 POSITIONING CONTROL INH , INH Incr ementa l cent ral poi nt-spec ified h elica l inter pola[...]

  • Page 212

    6 - 69 6 POSITIONING CONTROL (3) Th e m axi m u m a rc radius on the circular in terpola tion plane [...]

  • Page 213

    6 - 70 6 POSITIONING CONTROL (2) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the se[...]

  • Page 214

    6 - 71 6 POSITIONING CONTROL ABH Absolut e auxilia r y point-spe cified he lical i nterpolat ion con[...]

  • Page 215

    6 - 72 6 POSITIONING CONTROL Maximu m arc 2 31 -1 -2 31 2 31 -1 0 Radius R Arc central point (4) S e[...]

  • Page 216

    6 - 73 6 POSITIONING CONTROL (2) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the se[...]

  • Page 217

    6 - 74 6 POSITIONING CONTROL INH Incr ementa l auxiliar y point-sp ecifi ed helica l interpo lation [...]

  • Page 218

    6 - 75 6 POSITIONING CONTROL Maximu m arc 2 31 -1 -2 31 2 31 -1 0 Radius R Arc central point (4) S e[...]

  • Page 219

    6 - 76 6 POSITIONING CONTROL (2) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the se[...]

  • Page 220

    6 - 77 6 POSITIONING CONTROL 6.10 1 Axis Fixed-Pitch Feed Control Posit ioning c ontrol f or spec if[...]

  • Page 221

    6 - 78 6 POSITIONING CONTROL [Program ] Prog ram for re petition 1 axis fixed -pitch fee d control i[...]

  • Page 222

    6 - 79 6 POSITIONING CONTROL (3) Oper ation timing Opera tion tim ing for fixed- pitch f eed contr o[...]

  • Page 223

    6 - 80 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the se[...]

  • Page 224

    6 - 81 6 POSITIONING CONTROL 6.11 Fixed- Pitch Feed Contr ol Using 2 Axes Linear Interpol ation Fixe[...]

  • Page 225

    6 - 82 6 POSITIONING CONTROL POINT Do not s et the travel v alue to "0" for f ixed- pitch [...]

  • Page 226

    6 - 83 6 POSITIONING CONTROL (3) Oper ation timing Opera tion tim ing for fixed- pitch f eed co ntro[...]

  • Page 227

    6 - 84 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the sp[...]

  • Page 228

    6 - 85 6 POSITIONING CONTROL 6.12 Fixed- Pitch Feed Contr ol Using 3 Axes Linear Interpol ation Fixe[...]

  • Page 229

    6 - 86 6 POSITIONING CONTROL POINT Do not s et the travel v alue to "0" for f ixed- pitch [...]

  • Page 230

    6 - 87 6 POSITIONING CONTROL (3) Oper ation timing Opera tion tim ing for fixed- pitch f eed co ntro[...]

  • Page 231

    6 - 88 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the se[...]

  • Page 232

    6 - 89 6 POSITIONING CONTROL 6.13 Speed Contr ol ( ) (1) Speed c ontrol f or the spec ified ax is is[...]

  • Page 233

    6 - 90 6 POSITIONING CONTROL (3) St op com mands a nd stop process ing The s top comm ands an d stop[...]

  • Page 234

    6 - 91 6 POSITIONING CONTROL [Program ] Program for speed control ( ) i s shown as the fo llowing co[...]

  • Page 235

    6 - 92 6 POSITIONING CONTROL (4) Serv o program Serv o program No.91 f or spee d contro l ( ) is sho[...]

  • Page 236

    6 - 93 6 POSITIONING CONTROL 6.14 Speed Contr ol ( ) (1) Speed c ontrol f or the spec ified ax is is[...]

  • Page 237

    6 - 94 6 POSITIONING CONTROL (3) Even if the spe ed comm and is s et as pr obe data by th e digita l[...]

  • Page 238

    6 - 95 6 POSITIONING CONTROL (4) Serv o program Serv o program No.55 f or spee d contro l ( ) is sho[...]

  • Page 239

    6 - 96 6 POSITIONING CONTROL 6.15 Speed/Position S witching Control 6.15.1 Speed/position switching [...]

  • Page 240

    6 - 97 6 POSITIONING CONTROL REMARK (Note) : "The external CHANG E signa l input f rom ex terna[...]

  • Page 241

    6 - 98 6 POSITIONING CONTROL (4) Ch ange of the tra vel va lue dur ing spee d contr ol The tra vel v[...]

  • Page 242

    6 - 99 6 POSITIONING CONTROL The f ollowing ser vo program which perf orms the s peed control f or a[...]

  • Page 243

    6 - 10 0 6 POSITIONING CONTROL (2) No speed control Po s i tion cont r o l only is exe cuted if M320[...]

  • Page 244

    6 - 10 1 6 POSITIONING CONTROL [Program ] Progr am f or speed/ positio n switc hing c ontrol is sho [...]

  • Page 245

    6 - 10 2 6 POSITIONING CONTROL (4) Serv o program Serv o program No.101 for s peed/pos itio n switc [...]

  • Page 246

    6 - 10 3 6 POSITIONING CONTROL 6.15.2 Re-starti ng after stop during control Re-star ting (co ntinui[...]

  • Page 247

    6 - 10 4 6 POSITIONING CONTROL (b) If the stop occ urred dur ing posit ion contr ol, re-star t with [...]

  • Page 248

    6 - 10 5 6 POSITIONING CONTROL [Program ] Progr am for res tarting af ter stop dur ing contr ol with[...]

  • Page 249

    6 - 10 6 6 POSITIONING CONTROL (3) Oper ation timing Opera tion tim ing for speed /posit ion s witch[...]

  • Page 250

    6 - 10 7 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the [...]

  • Page 251

    6 - 10 8 6 POSITIONING CONTROL 6.16 Speed-Sw itching Control (1) P osition ing contr ol perf orms ch[...]

  • Page 252

    6 - 10 9 6 POSITIONING CONTROL [Control deta ils] Start and end of the s peed- switchi ng contro l S[...]

  • Page 253

    6 - 11 0 6 POSITIONING CONTROL Proc edure of the serv o prog ram and operati on tim ing Serv o progr[...]

  • Page 254

    6 - 11 1 6 POSITIONING CONTROL [Cautions] (1) T he num ber of co ntrol ax es cann ot be ch anged du [...]

  • Page 255

    6 - 11 2 6 POSITIONING CONTROL (3) Operati on timing and speed-switching positions Operat ion tim in[...]

  • Page 256

    6 - 11 3 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the [...]

  • Page 257

    6 - 11 4 6 POSITIONING CONTROL 6.16.2 Specification o f speed-switching points using r epetition ins[...]

  • Page 258

    6 - 11 5 6 POSITIONING CONTROL (3) FOR-OFF (loop- o ut trigg er condition setting) (a) T he repe tit[...]

  • Page 259

    6 - 11 6 6 POSITIONING CONTROL (3) Operati on in condition 3 ON OFF Minor err or [215] occu rred 0 1[...]

  • Page 260

    6 - 11 7 6 POSITIONING CONTROL (3) Operati on timing and speed-switching positions Operat ion tim in[...]

  • Page 261

    6 - 11 8 6 POSITIONING CONTROL (4) Serv o program Serv o pr ogram No. 501 for spee d-switc hing con [...]

  • Page 262

    6 - 11 9 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes spee[...]

  • Page 263

    6 - 12 0 6 POSITIONING CONTROL 6.17 Constant-Spee d Control (1) Positi oning to the pas s point bef [...]

  • Page 264

    6 - 12 1 6 POSITIONING CONTROL [Operat ion tim ing] Operat ion tim ing for c onstant- speed c ontrol[...]

  • Page 265

    6 - 12 2 6 POSITIONING CONTROL (b) T he spee d switch ing and c hang e speed by CHGV instr uction ar[...]

  • Page 266

    6 - 12 3 6 POSITIONING CONTROL Exam ple) Ma in c y c le: 20[ ms], Comm and spe ed: 600 [mm / m in] I[...]

  • Page 267

    6 - 12 4 6 POSITIONING CONTROL 6.17.1 Specification o f pass points by repetition instructi ons This[...]

  • Page 268

    6 - 12 5 6 POSITIONING CONTROL (3) FOR-OFF (loop- o ut trigg er condition setting) (a) T he repe tit[...]

  • Page 269

    6 - 12 6 6 POSITIONING CONTROL [Program ] Progr am for repetit ion cons tant-s peed con trol is sho [...]

  • Page 270

    6 - 12 7 6 POSITIONING CONTROL (3) Oper ation timing Operat ion tim ing for c onstant- speed c ontro[...]

  • Page 271

    6 - 12 8 6 POSITIONING CONTROL (4) Serv o program Serv o program No.510 for cons tant-s peed co ntro[...]

  • Page 272

    6 - 12 9 6 POSITIONING CONTROL 6.17.2 Speed-sw itching by instruction ex ecutio n The s peed ca n be[...]

  • Page 273

    6 - 13 0 6 POSITIONING CONTROL [Program ] Program for which exec utes th e speed- switch ing con tro[...]

  • Page 274

    6 - 13 1 6 POSITIONING CONTROL (3) Operati on timing and speed-switching positions Opera tion tim in[...]

  • Page 275

    6 - 13 2 6 POSITIONING CONTROL (4) Serv o program Serv o program No.310 for spe ed-switc hing is sho[...]

  • Page 276

    6 - 13 3 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the [...]

  • Page 277

    6 - 13 4 6 POSITIONING CONTROL 6.17.3 1 axis constant-speed control Ite ms are set in per ipheral de[...]

  • Page 278

    6 - 13 5 6 POSITIONING CONTROL [Program ] Prog ram for re petition 1 axis consta nt-speed control is[...]

  • Page 279

    6 - 13 6 6 POSITIONING CONTROL (4) Oper ation timing Operat ion tim ing for s ervo p rogram No. 500 [...]

  • Page 280

    6 - 13 7 6 POSITIONING CONTROL (6) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the [...]

  • Page 281

    6 - 13 8 6 POSITIONING CONTROL 6.17.4 2 to 4 ax es constant-speed control Consta nt-speed c ontrol f[...]

  • Page 282

    6 - 13 9 6 POSITIONING CONTROL [Control deta ils] Start and end f or 2 t o 4 axe s constan t-speed c[...]

  • Page 283

    6 - 14 0 6 POSITIONING CONTROL (6) ABS /INC , ABS/INC Sets c ircular interp olation c ontro l using [...]

  • Page 284

    6 - 14 1 6 POSITIONING CONTROL (c) P ositioni ng cond itions 1) Cons tant-s peed co ntrol con dition[...]

  • Page 285

    6 - 14 2 6 POSITIONING CONTROL (e) Motion SFC program Motion SFC pr ogram for which ex ecutes the se[...]

  • Page 286

    6 - 14 3 6 POSITIONING CONTROL (b) Position ing c onditions 1) Cons tant-s peed co ntrol con ditions[...]

  • Page 287

    6 - 14 4 6 POSITIONING CONTROL (d) Motion SFC program Motion SFC pr ogram for which ex ecutes the se[...]

  • Page 288

    6 - 14 5 6 POSITIONING CONTROL 6.17.5 Constant speed control for helical interpol ation The he lical[...]

  • Page 289

    6 - 14 6 6 POSITIONING CONTROL Helic al inter polatio n specif ied m ethods f or cons tant-s peed co[...]

  • Page 290

    6 - 14 7 6 POSITIONING CONTROL [Cau tions] (1) T he hel ical i nterpol ation s pecific atio n at pas[...]

  • Page 291

    6 - 14 8 6 POSITIONING CONTROL 6.17.6 Pass point skip functi on This functio n stops positio ning to[...]

  • Page 292

    6 - 14 9 6 POSITIONING CONTROL CAUTION When a skip is specified during const ant-speed control and t[...]

  • Page 293

    6 - 15 0 6 POSITIONING CONTROL 6.17.7 FIN signal w ait function By sel ecting the FI N signal wai t [...]

  • Page 294

    6 - 15 1 6 POSITIONING CONTROL [Program exam ple] (1) FIN sig nal wait function by the PLC program ([...]

  • Page 295

    6 - 15 2 6 POSITIONING CONTROL (c) Servo program Serv o program No.0 f or cons tant-spe ed contro l [...]

  • Page 296

    6 - 15 3 6 POSITIONING CONTROL (e) PLC program PLC pr ogram for FIN si gnal wa it functi on is s how[...]

  • Page 297

    6 - 15 4 6 POSITIONING CONTROL (2) FIN sig nal wai t f uncti on using the Motion SFC progr am (a) Sy[...]

  • Page 298

    6 - 15 5 6 POSITIONING CONTROL (c) Servo program Serv o program No.0 f or cons tant spee d contr ol [...]

  • Page 299

    6 - 15 6 6 POSITIONING CONTROL (d) Motion SFC program 1) Mot ion SFC progr am f or constant- speed c[...]

  • Page 300

    6 - 15 7 6 POSITIONING CONTROL 2) Mot ion SFC program whic h outputs M-code of each point f or cons [...]

  • Page 301

    6 - 15 8 6 POSITIONING CONTROL POINT (1) T he fixe d acceler ation/ deceler ation tim e m ethod is a[...]

  • Page 302

    6 - 159 6 POSITIONING CONTROL 6.18 Position Follow -Up Control Posit ioning t o the a ddress s et in[...]

  • Page 303

    6 - 160 6 POSITIONING CONTROL [Cautions] (1) Num ber of control axes is 1 ax is. (2) Only the abs ol[...]

  • Page 304

    6 - 161 6 POSITIONING CONTROL (3) Oper ation timing Oper ation timin g for positio n follow - u p co[...]

  • Page 305

    6 - 162 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram , PLC progr am and param [...]

  • Page 306

    6 - 163 6 POSITIONING CONTROL (b) PLC program PLC pr ogram example f or p osition f ollow- up contro[...]

  • Page 307

    6 - 164 6 POSITIONING CONTROL (c) Parameter settin g The C PU shar ed mem ory settin g exam ple for [...]

  • Page 308

    6 - 165 6 POSITIONING CONTROL 6.19 Speed control w ith fixed position stop Spee d contro l with f ix[...]

  • Page 309

    6 - 166 6 POSITIONING CONTROL (4) A ddress s etting r ange i s 0 to 35 999999 (0 to 3 59.999 99[degr[...]

  • Page 310

    6 - 167 6 POSITIONING CONTROL (10) D eceler ation sp eed b y the sto p com mand (M 3200+20 n)/rapid [...]

  • Page 311

    6 - 168 6 POSITIONING CONTROL (2) Positi onin g condi tions (a) Spee d control wi th fixed po sition[...]

  • Page 312

    6 - 169 6 POSITIONING CONTROL (4) Serv o program Serv o program No.55 f or spee d contro l with f ix[...]

  • Page 313

    6 - 170 6 POSITIONING CONTROL 6.20Simultaneous Star t Simul taneous s tart of the sp ecified s ervo [...]

  • Page 314

    6 - 171 6 POSITIONING CONTROL [Program ] Prog ram for simul taneou s start is sh own as the follow i[...]

  • Page 315

    6 - 172 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the s[...]

  • Page 316

    6 - 173 6 POSITIONING CONTROL 6.21 JOG Operation The s etting JOG oper ation i s execu ted. Indiv id[...]

  • Page 317

    6 - 174 6 POSITIONING CONTROL 6.21.2 Indivi dual start JOG op eration f or th e specif ied ax es is [...]

  • Page 318

    6 - 175 6 POSITIONING CONTROL (2) The se tting range for JOG speed sett ing registe rs are shown bel[...]

  • Page 319

    6 - 176 6 POSITIONING CONTROL [Cautions] (1) If the for ward JOG start c omm and (M3202 +20n) an d r[...]

  • Page 320

    6 - 177 6 POSITIONING CONTROL (3) JO G opera tion b y the JO G opera tion com mand ( M3202+2 0n/M32 [...]

  • Page 321

    6 - 178 6 POSITIONING CONTROL (3) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes JOG o[...]

  • Page 322

    6 - 179 6 POSITIONING CONTROL 6.21.3 Simultaneous st art Simu ltaneous start JOG o peratio n for s p[...]

  • Page 323

    6 - 180 6 POSITIONING CONTROL (3) The se tting range for JOG speed sett ing registe rs are shown bel[...]

  • Page 324

    6 - 181 6 POSITIONING CONTROL [Program ] Program for s imultane ous st art of J OG opera tions ar e [...]

  • Page 325

    6 - 182 6 POSITIONING CONTROL 6.22 Manual Puls e Generator Operation Po s i tioning con trol based o[...]

  • Page 326

    6 - 183 6 POSITIONING CONTROL (b) O utput sp eed The ou tput spe ed is th e posit ioning speed c orr[...]

  • Page 327

    6 - 184 6 POSITIONING CONTROL (5) T he setti ng m anual pul se gener ator 1- pulse input m agnificat[...]

  • Page 328

    6 - 185 6 POSITIONING CONTROL (7) E rrors detail s at the data setting for manual pu lse gene rator [...]

  • Page 329

    6 - 186 6 POSITIONING CONTROL (5) If t he manual pu lse genera tor enabl e flag tur ns on again fo r[...]

  • Page 330

    6 - 187 6 POSITIONING CONTROL [Program ] Progr am execu tes m anual puls e gener ator op eration is [...]

  • Page 331

    6 - 188 6 POSITIONING CONTROL 6.23 Home Positi on Return (1) Us e the home pos ition retur n at th e[...]

  • Page 332

    6 - 189 6 POSITIONING CONTROL MEM O[...]

  • Page 333

    6 - 190 6 POSITIONING CONTROL 6.23.1 Home position r eturn data This data is used to execute the hom[...]

  • Page 334

    6 - 191 6 POSITIONING CONTROL Remarks Explanat ory section • The home po sition ret urn direct ion[...]

  • Page 335

    6 - 192 6 POSITIONING CONTROL (1) Trav el v a lue after proximity dog ON (a) T he trav el va lue aft[...]

  • Page 336

    6 - 193 6 POSITIONING CONTROL (2) Home posit ion return retry function/dw ell time at the home posit[...]

  • Page 337

    6 - 194 6 POSITIONING CONTROL (3) Home posit ion shift amount/speed set at t he home position shift [...]

  • Page 338

    6 - 195 6 POSITIONING CONTROL (d) Valid/in valid of the s etting value f or hom e positio n shif t a[...]

  • Page 339

    6 - 196 6 POSITIONING CONTROL (5) Operati on setting for incompletion of home posi tion return (a) O[...]

  • Page 340

    6 - 197 6 POSITIONING CONTROL (b) In put of h ome pos ition r eturn In the indirec t settin g b y t [...]

  • Page 341

    6 - 198 6 POSITIONING CONTROL 6.23.2 Home position r eturn by the proximity dog t y pe 1 (1) Prox im[...]

  • Page 342

    6 - 199 6 POSITIONING CONTROL (4) Cauti ons (a) Keep the proxi mity dog ON du ring decel eration fr [...]

  • Page 343

    6 - 200 6 POSITIONING CONTROL (c) W hen it d oes no t pass ( zero pass signa l: M2406 +20n ON) the z[...]

  • Page 344

    6 - 201 6 POSITIONING CONTROL 6.23.3 Home position r eturn by the proximity dog t y pe 2 (1) Prox im[...]

  • Page 345

    6 - 202 6 POSITIONING CONTROL (4) Cauti ons (a) A system which t he ser vomotor can rot ate on e tim[...]

  • Page 346

    6 - 203 6 POSITIONING CONTROL 6.23.4 Home position r eturn by the count type 1 (1) Count ty pe 1 Aft[...]

  • Page 347

    6 - 204 6 POSITIONING CONTROL (4) Cauti ons (a) Hom e pos ition ret urn and c ontinu ousl y s tart o[...]

  • Page 348

    6 - 205 6 POSITIONING CONTROL 6.23.5 Home position r eturn by the count type 2 (1) Count ty pe 2 Aft[...]

  • Page 349

    6 - 206 6 POSITIONING CONTROL 6.23.6 Home position r eturn by the count type 3 (1) Count ty pe 3 Aft[...]

  • Page 350

    6 - 207 6 POSITIONING CONTROL (3) Home posit ion return execution Home pos itio n return by the coun[...]

  • Page 351

    6 - 208 6 POSITIONING CONTROL 6.23.7 Home position r eturn by the data set type 1 (1) Data set ty pe[...]

  • Page 352

    6 - 209 6 POSITIONING CONTROL 6.23.8 Home position r eturn by the data set type 2 (1) Data set ty pe[...]

  • Page 353

    6 - 210 6 POSITIONING CONTROL 6.23.9 Home position r eturn by the dog cradl e type (1) Dog cradl e t[...]

  • Page 354

    6 - 211 6 POSITIONING CONTROL (b) If the hom e pos ition r eturn is execu ted in the prox im ity dog[...]

  • Page 355

    6 - 212 6 POSITIONING CONTROL (c) W hen th e proxim ity do g is s et in the home p osition return di[...]

  • Page 356

    6 - 213 6 POSITIONING CONTROL (d) W hen it st arts i n the pr oximit y dog, t he zero point i s not [...]

  • Page 357

    6 - 214 6 POSITIONING CONTROL 6.23.10 Home positi on return by the stopper type 1 (1) Stopper ty pe [...]

  • Page 358

    6 - 215 6 POSITIONING CONTROL (4) Cauti ons (a) A zero poi nt does not m ust be passe d ( zero pass [...]

  • Page 359

    6 - 216 6 POSITIONING CONTROL 6.23.11 Home positi on return by the stopper type 2 (1) Stopper ty pe [...]

  • Page 360

    6 - 217 6 POSITIONING CONTROL (c) Se t the torque li mit value at the reachi ng creep spee d for sys[...]

  • Page 361

    6 - 218 6 POSITIONING CONTROL 6.23.12 Home posi tion return by the limit switch combined type (1) Li[...]

  • Page 362

    6 - 219 6 POSITIONING CONTROL (4) Cauti ons (a) F or the ax is wh ich exec utes the home p osition r[...]

  • Page 363

    6 - 220 6 POSITIONING CONTROL 6.23.13 Home posi tion return retry function W hen a work h as bee n e[...]

  • Page 364

    6 - 221 6 POSITIONING CONTROL (2) Hom e posit ion ret urn retr y operati on setti ng a work outsid e[...]

  • Page 365

    6 - 222 6 POSITIONING CONTROL (3) Dwell tim e set ting at the h ome pos ition r eturn r etr y Revers[...]

  • Page 366

    6 - 223 6 POSITIONING CONTROL (2) Mak e a s ystem f or whic h does n ot execu te the s ervo am plifi[...]

  • Page 367

    6 - 224 6 POSITIONING CONTROL 6.23.14 Home positi on shift function Norm ally, whe n the m achine h [...]

  • Page 368

    6 - 225 6 POSITIONING CONTROL [Control detail s] (1) Hom e pos ition sh ift ope ration Oper ation fo[...]

  • Page 369

    6 - 226 6 POSITIONING CONTROL (2) Setting r ange of hom e posit ion sh ift amou nt Set t he hom e po[...]

  • Page 370

    6 - 227 6 POSITIONING CONTROL (b) Ho m e po sition shi ft operat ion with th e "creep spe ed&qu[...]

  • Page 371

    6 - 228 6 POSITIONING CONTROL 6.23.15 Condition sele ction of home position set A hom e positi on re[...]

  • Page 372

    6 - 229 6 POSITIONING CONTROL 6.23.16 Serv o program for home p osition return The hom e posi tion r[...]

  • Page 373

    6 - 230 6 POSITIONING CONTROL (2) Serv o program example Serv o program No. 0 f or hom e posit ion r[...]

  • Page 374

    6 - 231 6 POSITIONING CONTROL 6.24 High- Speed Oscillation Posit ioning of a spec ified ax is is cau[...]

  • Page 375

    6 - 232 6 POSITIONING CONTROL [Cautions] (1) If the am plitude s ettin g is outs ide the range, the [...]

  • Page 376

    7 - 1 7 7 AUXILIA RY AND APP LIED FUNCTIONS 7. AUXILI ARY AND APPLIED FUNCTIONS This sectio n descr [...]

  • Page 377

    7 - 2 7 AUXILIA RY AND APP LIED FUNCTIONS (c) W hen th e M-code is read at posit ionin g compl etion[...]

  • Page 378

    7 - 3 7 AUXILIA RY AND APP LIED FUNCTIONS (4) Pr ogram example (a) Th e Motion SF C program to re ad[...]

  • Page 379

    7 - 4 7 AUXILIA RY AND APP LIED FUNCTIONS 7.2 Backlash Compens ation Function This functio n compens[...]

  • Page 380

    7 - 5 7 AUXILIA RY AND APP LIED FUNCTIONS (2) Backlash compen sation processing Details of back lash[...]

  • Page 381

    7 - 6 7 AUXILIA RY AND APP LIED FUNCTIONS 7.3 Torque Limi t Function This functio n restricts the ge[...]

  • Page 382

    7 - 7 7 AUXILIA RY AND APP LIED FUNCTIONS Setti ng for th e torque limi t value wit h the cons tant-[...]

  • Page 383

    7 - 8 7 AUXILIA RY AND APP LIED FUNCTIONS 7.4 Skip Function in w h ich D isregards Stop Command W he[...]

  • Page 384

    7 - 9 7 AUXILIA RY AND APP LIED FUNCTIONS (2) O peratio n tim ing The op eration timing f or the ski[...]

  • Page 385

    7 - 10 7 AUXILIA RY AND APP LIED FUNCTIONS 7.5 Cancel o f the Serv o Program This functio n perfor m[...]

  • Page 386

    7 - 11 7 AUXILIA RY AND APP LIED FUNCTIONS 7.5.1 Cancel/start W hen a cancel/start has been set in t[...]

  • Page 387

    7 - 12 7 AUXILIA RY AND APP LIED FUNCTIONS MEM O[...]

  • Page 388

    APP - 1 A PPENDICES APP. APPENDICES APPENDIX 1 Error Codes St ored Using Th e Motion CPU The s ervo [...]

  • Page 389

    APP - 2 A PPENDICES (b) T he error detect ion sig nal of th e erron eous ax is tur ns on at t he err[...]

  • Page 390

    APP - 3 A PPENDICES APPENDIX 1.1 Se rvo prog ram setting e rr ors (Stored in D 9190) The err or code[...]

  • Page 391

    APP - 4 A PPENDICES Table 1.2 Serv o program setting err or list (Co nti nued) Error code stored in [...]

  • Page 392

    APP - 5 A PPENDICES Table 1.2 Serv o program setting err or list (Co nti nued) Error code stored in [...]

  • Page 393

    APP - 6 A PPENDICES Table 1.2 Serv o program setting err or list (Co nti nued) Error code stored in [...]

  • Page 394

    APP - 7 A PPENDICES APPENDIX 1.2 Minor errors These er rors ar e detec ted in t he PLC pr ogram or s[...]

  • Page 395

    APP - 8 A PPENDICES (2) Positi onin g contr ol start errors (100 to 199) Thes e errors ar e detec te[...]

  • Page 396

    APP - 9 A PPENDICES Table 1.4 Po sitioning cont rol star t error (100 to 199) lis t (Continued) Cont[...]

  • Page 397

    APP - 10 A PPENDICES Table 1.4 Po sitioning cont rol star t error (100 to 199) lis t (Continued) Con[...]

  • Page 398

    APP - 11 A PPENDICES Table 1.4 Po sitioning cont rol star t error (100 to 199) lis t (Continued) Con[...]

  • Page 399

    APP - 12 A PPENDICES (3) Positi onin g contr ol errors (200 to 299) Thes e ar e errors detected d ur[...]

  • Page 400

    APP - 13 A PPENDICES Table 1.5 Po sitioning cont rol e rror (200 to 299) lis t (Continued) Control m[...]

  • Page 401

    APP - 14 A PPENDICES Table 1.5 Po sitioning cont rol e rror (200 to 299) lis t (Continued) Control m[...]

  • Page 402

    APP - 15 A PPENDICES (4) Curr ent value/speed change error s (300 to 399) Thes e are err ors detec t[...]

  • Page 403

    APP - 16 A PPENDICES (5) System err ors (900 to 999) Table 1.7 Sy stem error (900 to 999) li st Cont[...]

  • Page 404

    APP - 17 A PPENDICES APPENDIX 1.3 Majo r err ors These er rors oc cur b y control comm and from the [...]

  • Page 405

    APP - 18 A PPENDICES (2) Positi onin g contr ol errors (1100 to 1199) Thes e errors ar e detec ted a[...]

  • Page 406

    APP - 19 A PPENDICES (3) Absolute position syst em errors (1200 to 1299) Thes e er rors are det ecte[...]

  • Page 407

    APP - 20 A PPENDICES (4) System er rors (1300 to 1399) These er rors ar e detec ted at the power -on[...]

  • Page 408

    APP - 21 A PPENDICES APPENDIX 1.4 Se rvo errors (1) Serv o amplifier errors (2000 to 2899) Thes e er[...]

  • Page 409

    APP - 22 A PPENDICES Table 1.12 Serv o error (2000 to 2899) list Error caus e Error code Nam e Descr[...]

  • Page 410

    APP - 23 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error c[...]

  • Page 411

    APP - 24 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error c[...]

  • Page 412

    APP - 25 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error c[...]

  • Page 413

    APP - 26 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error c[...]

  • Page 414

    APP - 27 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error c[...]

  • Page 415

    APP - 28 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error c[...]

  • Page 416

    APP - 29 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error c[...]

  • Page 417

    APP - 30 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error c[...]

  • Page 418

    APP - 31 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error c[...]

  • Page 419

    APP - 32 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error c[...]

  • Page 420

    APP - 33 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error c[...]

  • Page 421

    APP - 34 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error c[...]

  • Page 422

    APP - 35 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error c[...]

  • Page 423

    APP - 36 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error c[...]

  • Page 424

    APP - 37 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error c[...]

  • Page 425

    APP - 38 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error c[...]

  • Page 426

    APP - 39 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error c[...]

  • Page 427

    APP - 40 A PPENDICES APPENDIX 1.5 PC link communication er rors Table 1.13 PC li nk communication er[...]

  • Page 428

    APP - 41 A PPENDICES APPENDIX 2 Speci al Rel a ys /special registers APPENDIX 2.1 Special relays Spe[...]

  • Page 429

    APP - 42 A PPENDICES Table 2.1 Special r elay list No. Name Meanin g Details Set by (W hen set) Rema[...]

  • Page 430

    APP - 43 A PPENDICES Table 2.1 Special r elay list (continued) No. Name Meaning Details Set by (W he[...]

  • Page 431

    APP - 44 A PPENDICES APPENDIX 2.2 Special regist ers Special r egisters are internal r egisters whos[...]

  • Page 432

    APP - 45 A PPENDICES Table 2.2 Special register list No. Name Meaning Details Set by (W hen set) Rem[...]

  • Page 433

    APP - 46 A PPENDICES Table 2.2 Special register list (conti nued) No. Name Meaning Details Set by (W[...]

  • Page 434

    APP - 47 A PPENDICES Table 2.2 Special register list (conti nued) No. Name Meanin g Details Set by ([...]

  • Page 435

    APP - 48 A PPENDICES APPENDIX 3 E x ample Programs APPENDIX 3.1 R eading M- code The pro gram ex amp[...]

  • Page 436

    APP - 49 A PPENDICES APPENDIX 3.2 Reading error code The pro gram example for re ading er ror cod e [...]

  • Page 437

    APP - 50 A PPENDICES [Program Exam ple] (1) A program that ou tputs each err or code to PY000 t o PY[...]

  • Page 438

    APP - 51 A PPENDICES APPENDIX 4 Setting Range for Indirect Setting De v ices Posit ioning a ddress, [...]

  • Page 439

    APP - 52 A PPENDICES (2) Inputting device data Indirec t sett ing dev ice data is inpu tted b y the [...]

  • Page 440

    APP - 53 A PPENDICES APPENDIX 5 Processi ng Times o f the Moti on CPU The proc essi ng time of each [...]

  • Page 441

    APP - 54 A PPENDICES (3) Axis stat us list Axis No. Device No. S ignal name 1 M 240 0 to M2419 2 M 2[...]

  • Page 442

    APP - 55 A PPENDICES (4 ) Axis command signal lis t Axis No. Devic e No. Signal nam e 1 M3200 to M32[...]

  • Page 443

    APP - 56 A PPENDICES (5) Common dev ice list De vice No. Signal nam e Refres h cycl e Fetch cycle Si[...]

  • Page 444

    APP - 57 A PPENDICES Common dev ice list (Continued) De vice No. Signal nam e Refres h cycl e Fetch [...]

  • Page 445

    APP - 58 A PPENDICES Common dev ice list (Continued) De vice No. Signal nam e Refres h cycl e Fet ch[...]

  • Page 446

    APP - 59 A PPENDICES (6) Special relay allocated device l ist (Status) Device No. S ignal name Ref r[...]

  • Page 447

    APP - 60 A PPENDICES (7) Common dev ice list (Command si gnal) Device No. Signal nam e Refresh c ycl[...]

  • Page 448

    APP - 61 A PPENDICES (9) Axis monitor device list Axis No. Device No. Signal name 1 D0 to D19 2 D20 [...]

  • Page 449

    APP - 62 A PPENDICES (10) Contr ol change register list Axis No. Devic e No. Signal nam e 1 D640, D6[...]

  • Page 450

    APP - 63 A PPENDICES (11) Common dev ice list Device No. Signal name Refresh cycle Fe tch cycle Sign[...]

  • Page 451

    APP - 64 A PPENDICES (12) Mot ion registe r list (# ) Axis No. Device No. Signal name 1 #8064 to #80[...]

  • Page 452

    APP - 65 A PPENDICES (13) Special relay list Device No. Signal nam e Refresh c ycle Signal t ype M90[...]

  • Page 453

    WA RRA NTY Please confir m the follow ing product w arranty details bef ore using this product. 1. G[...]

  • Page 454

    MITSUBI SHI ELECTRIC MITSUBISHI ELECTRIC F ACT ORY A UTOMA TION Mitsubishi Electric Europe B.V. /// [...]