P
MOTION CONTROLLERS
MOTION CONTROLLER Qseries SV13/SV22(REAL MODE) Programming Manual(Q173CPU(N)/Q172CPU(N))
MOTION CONTROLLER Qseries
SV13/SV22(REAL MODE)Programming Manual
(Q173CPU(N)/Q172CPU(N))
HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
MODEL
Q173-P-SV13/22-REALE
MODEL
CODE
1XB782
IB(NA)-0300043-C(0603)MEE
IB(NA)-0300043-C(0603)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.
Q
Q173CPU(N)
Q172CPU(N)
SAFETY PRECAUTIONS
(Read these precautions before using.)
When using this equipment, thoroughly read this manual and the associated manuals introduced in this
manual. Also pay careful attention to safety and handle the module properly.
These precautions apply only to this equipment. Refer to the Q173CPU(N)/Q172CPU(N) Users manual
for a description of the Motion controller safety precautions.
These SAFETY PRECAUTIONS classify the safety precautions into two categories: "DANGER" and
"CAUTION".
DANGER
Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
! CAUTION
Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight personal injury or physical damage.
!
Depending on circumstances, procedures indicated by ! CAUTION may also be linked to serious
results.
In any case, it is important to follow the directions for usage.
Store this manual in a safe place so that you can take it out and read it whenever necessary. Always
forward it to the end user.
A-1
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. The insides of the Motion controller and servo amplifier
are charged and may lead to electric shocks.
When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and
then check the voltage with a tester, etc.. Failing to do so may lead to electric shocks.
Be sure to ground the Motion controller, servo amplifier and servomotor. (Ground resistance :
100 or less) Do not ground commonly with other devices.
The wiring work and inspections must be done by a qualified technician.
Wire the units after installing the Motion controller, servo amplifier and servomotor. Failing to do
so may lead to electric shocks or damage.
Never operate the switches with wet hands, as this may lead to electric shocks.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to electric shocks.
Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the
power is ON, as this may lead to electric shocks.
Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller
and servo amplifier, as this may lead to electric shocks.
2. For fire prevention
!
CAUTION
Install the Motion controller, servo amplifier, servomotor and regenerative resistor on
inflammable material. Direct installation on flammable material or near flammable material may
lead to fire.
If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo
amplifier’s power source. If a large current continues to flow, fire may occur.
When using a regenerative resistor, shut the power OFF with an error signal. The regenerative
resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may
lead to fire.
Always take heat measures such as flame proofing for the inside of the control panel where
the servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so
may lead to fire.
A-2
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 servo amplifier's heat radiating fins, regenerative resistor and servomotor, etc.,
while the power is ON and for a short time after the power is turned OFF. In this timing, these
parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as
these parts may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching.
Doing so may lead to injuries.
4. Various precautions
Strictly observe the following precautions.
Mistaken handling of the unit may lead to faults, injuries or electric shocks.
(1) System structure
!
CAUTION
Always install a leakage breaker on the Motion controller and servo amplifier power source.
If installation of an electromagnetic contactor for power shut off during an error, etc., is specified
in the instruction manual for the servo amplifier, etc., always install the electromagnetic
contactor.
Install the emergency stop circuit externally so that the operation can be stopped immediately
and the power shut off.
Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the combinations listed in the instruction manual. Other combinations may lead to fire or faults.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller,
servo amplifier and servomotor, make sure that the safety standards are satisfied.
Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal
operation of the Motion controller or servo amplifier differ from the safety directive operation in
the system.
In systems where coasting of the servomotor will be a problem during the forced stop,
emergency stop, servo OFF or power supply OFF, use dynamic brakes.
Make sure that the system considers the coasting amount even when using dynamic brakes.
A-3
!
CAUTION
In systems where perpendicular shaft dropping may be a problem during the forced stop,
emergency stop, servo OFF or power supply OFF, use both dynamic brakes and
electromagnetic brakes.
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.
Use wires and cables that have a wire diameter, heat resistance and bending resistance
compatible with the system.
Use wires and cables within the length of the range described in the instruction manual.
The ratings and characteristics of the parts (other than Motion controller, servo amplifier and
servomotor) used in a system must be compatible with the Motion controller, servo amplifier
and servomotor.
Install a cover on the shaft so that the rotary parts of the servomotor are not touched during
operation.
There may be some cases where holding by the electromagnetic brakes is not possible due to
the life or mechanical structure (when the ball screw and servomotor are connected with a
timing belt, etc.). Install a stopping device to ensure safety on the machine side.
(2) Parameter settings and programming
!
CAUTION
Set the parameter values to those that are compatible with the Motion controller, servo amplifier,
servomotor and regenerative resistor model and the system application. The protective functions
may not function if the settings are incorrect.
The regenerative resistor model and capacity parameters must be set to values that conform to
the operation mode, servo amplifier and servo power supply module. The protective functions
may not function if the settings are incorrect.
Set the mechanical brake output and dynamic brake output validity parameters to values that
are compatible with the system application. The protective functions may not function if the
settings are incorrect.
Set the stroke limit input validity parameter to a value that is compatible with the system
application. The protective functions may not function if the setting is incorrect.
A-4
!
CAUTION
Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value
that is compatible with the system application. The protective functions may not function if the
setting is incorrect.
Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that
are compatible with the system application. The protective functions may not function if the
settings are incorrect.
Set the servo amplifier capacity and type parameters to values that are compatible with the
system application. The protective functions may not function if the settings are incorrect.
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.
Some devices used in the program have fixed applications, so use these with the conditions
specified in the instruction manual.
The input devices and data registers assigned to the link will hold the data previous to when
communication is terminated by an error, etc. Thus, an error correspondence interlock program
specified in the instruction manual must be used.
Use the interlock program specified in the special function module's instruction manual for the
program corresponding to the special function module.
(3) Transportation and installation
!
CAUTION
Transport the product with the correct method according to the mass.
Use the servomotor suspension bolts only for the transportation of the servomotor. Do not
transport the servomotor with machine installed on it.
Do not stack products past the limit.
When transporting the Motion controller or servo amplifier, never hold the connected wires or
cables.
When transporting the servomotor, never hold the cables, shaft or detector.
When transporting the Motion controller or servo amplifier, never hold the front case as it may
fall off.
When transporting, installing or removing the Motion controller or servo amplifier, never hold
the edges.
Install the unit according to the instruction manual in a place where the mass can be withstood.
A-5
CAUTION
!
Do not get on or place heavy objects on the product.
Always observe the installation direction.
Keep the designated clearance between the Motion controller or servo amplifier and control
panel inner surface or the Motion controller and servo amplifier, Motion controller or servo
amplifier and other devices.
Do not install or operate Motion controller, servo amplifiers or servomotors that are damaged or
that have missing parts.
Do not block the intake/outtake ports of the servomotor with cooling fan.
Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil
enter the Motion controller, servo amplifier or servomotor.
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 and servo amplifier 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.
Environment
Ambient
temperature
Ambient humidity
Storage
temperature
Atmosphere
Conditions
Motion controller/Servo amplifier
According to each instruction manual.
According to each instruction manual.
According to each instruction manual.
Servomotor
0°C to +40°C (With no freezing)
(32°F to +104°F)
80% RH or less
(With no dew condensation)
-20°C to +65°C
(-4°F to +149°F)
Indoors (where not subject to direct sunlight).
No corrosive gases, flammable gases, oil mist or dust must exist
Altitude
1000m (3280.84ft.) or less above sea level
Vibration
According to each instruction manual
When coupling with the synchronization encoder or servomotor shaft end, do not apply impact
such as by hitting with a hammer. Doing so may lead to detector damage.
Do not apply a load larger than the tolerable load onto the servomotor shaft. Doing so may lead
to shaft breakage.
When not using the module for a long time, disconnect the power line from the Motion controller
or servo amplifier.
Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and
store.
When storing for a long time, please contact with our sales representative.
A-6
(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 (terminals U, V, W). Incorrect connections will lead the
servomotor to operate abnormally.
Do not connect a commercial power supply to the servomotor, as this may lead to trouble.
Do not mistake the direction of the surge absorbing diode
installed on the DC relay for the control signal output of
brake signals, etc. Incorrect installation may lead to signals
not being output when trouble occurs or the protective
functions not functioning.
Do not connect or disconnect the connection cables between
each unit, the encoder cable or PLC expansion cable while the
power is ON.
Servo amplifier
VIN
(24VDC)
Control output
signal
RA
Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing
may lead to the cables combing off during operation.
Do not bundle the power line or cables.
(5) Trial operation and adjustment
!
CAUTION
Confirm and adjust the program and each parameter before operation. Unpredictable
movements may occur depending on the machine.
Extreme adjustments and changes may lead to unstable operation, so never make them.
When using the absolute position system function, on starting up, and when the Motion
controller or absolute value motor has been replaced, always perform a home position return.
A-7
(6) Usge 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.
The units must be disassembled and repaired by a qualified technician.
Do not make any modifications to the unit.
Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using
wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the
Motion controller or servo amplifier.
When using the CE Mark-compliant equipment, refer to the "EMC Installation Guidelines"
(data number IB(NA)-67339) for the Motion controllers and refer to the corresponding EMC
guideline information for the servo amplifiers, inverters and other equipment.
Use the units with the following conditions.
Item
Conditions
Q61P-A1
100 to 120VAC
Q61P-A2
+10%
-15%
200 to 240VAC
Q62P
+10%
-15%
Q63P
100 to 240VAC
+10%
-15%
24VDC
Q64P
+30%
-35%
100 to 120VAC
200 to 240VAC
Input power
(85 to 132VAC)
(170 to 264VAC)
(85 to 264VAC)
Input frequency
50/60Hz ±5%
Tolerable
momentary
power failure
20ms or less
(15.6 to 31.2VDC)
+10%
-15%
+10%
-15%
(85 to 132VAC/
170 to 264VAC)
(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.
Use a double circuit construction so that the electromagnetic brake operation circuit can be
operated by emergency stop signals set externally.
Shut off with servo ON signal OFF,
alarm, magnetic brake signal.
Servomotor
RA1
Electromagnetic
brakes
Shut off with the
emergency stop
signal(EMG).
EMG
24VDC
A-8
/
!
CAUTION
If an error occurs, remove the cause, secure the safety and then resume operation after alarm
release.
The unit may suddenly resume operation after a power failure is restored, so do not go near the
machine. (Design the machine so that personal safety can be ensured even if the machine
restarts suddenly.)
(8) Maintenance, inspection and part replacement
!
CAUTION
Perform the daily and periodic inspections according to the instruction manual.
Perform maintenance and inspection after backing up the program and parameters for the
Motion controller and servo amplifier.
Do not place fingers or hands in the clearance when opening or closing any opening.
Periodically replace consumable parts such as batteries according to the instruction manual.
Do not touch the lead sections such as ICs or the connector contacts.
Do not place the Motion controller or servo amplifier on metal that may cause a power leakage
or wood, plastic or vinyl that may cause static electricity buildup.
Do not perform a megger test (insulation resistance measurement) during inspection.
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.
2) Using the backup function of the programming software, load the data backed up before
replacement.
After maintenance and inspections are completed, confirm that the position detection of the
absolute position detector function is correct.
Do not short circuit, charge, overheat, incinerate or disassemble the batteries.
The electrolytic capacitor will generate gas during a fault, so do not place your face near the
Motion controller or servo amplifier.
The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent
secondary damage from faults. Replacements can be made by our sales representative.
A-9
(9) About processing of waste
When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles,
please follow the law of each country (area).
!
CAUTION
This product is not designed or manufactured to be used in equipment or systems in situations
that can affect or endanger human life.
When considering this product for operation in special applications such as machinery or
systems used in passenger transportation, medical, aerospace, atomic power, electric power, or
submarine repeating applications, please contact your nearest Mitsubishi sales representative.
Although this product was manufactured under conditions of strict quality control, you are
strongly advised to install safety devices to forestall serious accidents when it is used in facilities
where a breakdown in the product is likely to cause a serious accident.
(10) General cautions
!
CAUTION
All drawings provided in the instruction manual show the state with the covers and safety
partitions removed to explain detailed sections. When operating the product, always return the
covers and partitions to the designated positions, and operate according to the instruction
manual.
A - 10
REVISIONS
The manual number is given on the bottom left of the back cover.
Print Date
Oct., 2002
Apr., 2004
Mar., 2006
Manual Number
Revision
IB(NA)-0300043-A First edition
IB(NA)-0300043-B [Addition model]
Q173CPUN-T/Q172CPUN-T, A31TU-D3K13/A31TU-DNK13,
Q172EX-S1, Q173PX-S1, FR-V5 0[Addition function]
For Home position return function
[Additional correction/partial correction]
Safety precautions, About processing of waste, Error code list, etc.
IB(NA)-0300043-C [Addition model]
Q62P, Q172EX-S2, Q172EX-S3, Q170ENC
[Addition function]
Operation setting for incompletion of home position return, Gain changing
signal, Real mode axis information register
[Additional correction/partial correction]
Safety precautions, Error code list, Warranty, Manual model code
(1CT782 1XB782), etc.
Japanese Manual Version IB(NA)-0300024
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.
© 2002 MITSUBISHI ELECTRIC CORPORATION
A - 11
INTRODUCTION
Thank you for choosing the Q173CPU(N)/Q172CPU(N) Motion Controller.
Please read this manual carefully so that equipment is used to its optimum.
CONTENTS
Safety Precautions .........................................................................................................................................A- 1
Revisions ........................................................................................................................................................A-11
Contents .........................................................................................................................................................A-12
About Manuals ...............................................................................................................................................A-16
1. OVERVIEW
1- 1 to 1- 6
1.1 Overview................................................................................................................................................... 11.2 Features ................................................................................................................................................... 11.2.1 Performance specifications............................................................................................................... 11.2.2 Differences between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN................... 12. POSITIONING CONTROL BY THE MOTION CPU
1
3
3
5
2- 1 to 2-14
2.1 Positioning Control by the Motion CPU................................................................................................... 2- 1
3. POSITIONING DEDICATED SIGNALS
3- 1 to 3-62
3.1 Internal Relays ......................................................................................................................................... 3- 2
3.1.1 Axis statuses ..................................................................................................................................... 3-12
3.1.2 Axis command signals ...................................................................................................................... 3-21
3.1.3 Common devices .............................................................................................................................. 3-28
3.2 Data Registers.......................................................................................................................................... 3-39
3.2.1 Axis monitor devices ......................................................................................................................... 3-43
3.2.2 Control change registers................................................................................................................... 3-49
3.2.3 Common devices .............................................................................................................................. 3-50
3.3 Motion Registers(#).................................................................................................................................. 3-54
3.4 Special Relays (SP.M) ............................................................................................................................. 3-55
3.5 Special Registers (SP.D) ......................................................................................................................... 3-57
4. PARAMETERS FOR POSITIONING CONTROL
4- 1 to 4-28
4.1 System Settings ....................................................................................................................................... 4- 1
4.2 Fixed Parameters..................................................................................................................................... 4- 2
4.2.1 Number of pulses/travel value per rotation....................................................................................... 4- 3
4.2.2 Backlash compensation amount....................................................................................................... 4- 5
4.2.3 Upper/lower stroke limit value........................................................................................................... 4- 5
4.2.4 Command in-position range.............................................................................................................. 4- 7
4.3 Servo Parameters/Vector Inverter Parameters....................................................................................... 4- 8
4.3.1 Servo parameters of servo amplifier................................................................................................. 4- 8
4.3.2 Position control gain 1, 2................................................................................................................... 4-16
4.3.3 Speed control gain 1, 2 ..................................................................................................................... 4-17
4.3.4 Speed integral compensation ........................................................................................................... 4-17
A - 12
4.3.5 In-position range................................................................................................................................ 4-18
4.3.6 Feed forward gain ............................................................................................................................. 4-18
4.3.7 Load inertia ratio................................................................................................................................ 4-18
4.3.8 Automatic tuning................................................................................................................................ 4-18
4.3.9 Servo responsiveness setting........................................................................................................... 4-18
4.3.10 Notch filter........................................................................................................................................ 4-19
4.3.11 Electromagnetic brake sequence ................................................................................................... 4-20
4.3.12 Monitor output mode ....................................................................................................................... 4-20
4.3.13 Optional function 1 .......................................................................................................................... 4-20
4.3.14 Optional function 2 .......................................................................................................................... 4-21
4.3.15 Monitor output 1, 2 offset ................................................................................................................ 4-22
4.3.16 Pre-alarm data selection ................................................................................................................. 4-22
4.3.17 Zero speed ...................................................................................................................................... 4-23
4.3.18 Error excessive alarm level............................................................................................................. 4-23
4.3.19 Optional function 5 .......................................................................................................................... 4-23
4.3.20 PI-PID control switching position droop.......................................................................................... 4-23
4.3.21 Torque control compensation factor ............................................................................................... 4-23
4.3.22 Speed differential compensation .................................................................................................... 4-23
4.3.23 Servo parameters of vector inverter (FR-V500)............................................................................. 4-24
4.4 Parameter Block....................................................................................................................................... 4-25
4.4.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid stop
deceleration time............................................................................................................................... 4-27
4.4.2 S-curve ratio ...................................................................................................................................... 4-27
4.4.3 Allowable error range for circular interpolation................................................................................. 4-28
5. SERVO PROGRAMS FOR POSITIONING CONTROL
5- 1 to 5-24
5.1 Servo Program Composition Area........................................................................................................... 5- 1
5.1.1 Servo program composition.............................................................................................................. 5- 1
5.1.2 Servo program area .......................................................................................................................... 5- 2
5.2 Servo Instructions .................................................................................................................................... 5- 3
5.3 Positioning Data ....................................................................................................................................... 5-16
5.4 Setting Method for Positioning Data........................................................................................................ 5-22
5.4.1 Setting method by specifying numerical values ............................................................................... 5-22
5.4.2 Indirect setting method by word devices (D, W and #) .................................................................... 5-23
6. POSITIONING CONTROL
6- 1 to 6-228
6.1 Basics of Positioning Control ................................................................................................................... 6- 1
6.1.1 Positioning speed .............................................................................................................................. 6- 1
6.1.2 Positioning speed at the interpolation control .................................................................................. 6- 2
6.1.3 Control units for 1 axis positioning control........................................................................................ 6- 7
6.1.4 Control units for interpolation control................................................................................................ 6- 7
6.1.5 Control in the control unit "degree" ................................................................................................... 6- 9
6.1.6 Stop processing and restarting after stop........................................................................................ 6-11
6.1.7 Acceleration/deceleration processing............................................................................................... 6-17
6.2 1 Axis Linear Positioning Control............................................................................................................. 6-19
6.3 2 Axes Linear Interpolation Control ......................................................................................................... 6-22
6.4 3 Axes Linear Interpolation Control ......................................................................................................... 6-27
6.5 4 Axes Linear Interpolation Control ......................................................................................................... 6-33
A - 13
6.6 Auxiliary Point-Specified Circular Interpolation Control .......................................................................... 6-38
6.7 Radius-Specified Circular Interpolation Control ...................................................................................... 6-43
6.8 Central Point-Specified Circular Interpolation Control ............................................................................ 6-49
6.9 Helical Interpolation Control..................................................................................................................... 6-55
6.9.1 Circular interpolation specified method by helical interpolation....................................................... 6-56
6.10 1 Axis Fixed-Pitch Feed Control............................................................................................................ 6-77
6.11 Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation ............................................................... 6-81
6.12 Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation ............................................................... 6-85
6.13 Speed Control ( ) ................................................................................................................................... 6-89
6.14 Speed Control ( )................................................................................................................................... 6-93
6.15 Speed/Position Switching Control ......................................................................................................... 6-96
6.15.1 Speed/position switching control start ............................................................................................ 6-96
6.15.2 Re-starting after stop during control ............................................................................................. 6-103
6.16 Speed-Switching Control ..................................................................................................................... 6-108
6.16.1 Speed-switching control start, speed-switching points and end specification ............................ 6-108
6.16.2 Specification of speed-switching points using repetition instructions.......................................... 6-115
6.17 Constant-Speed Control ...................................................................................................................... 6-121
6.17.1 Specification of pass points by repetition instructions ................................................................. 6-125
6.17.2 Speed-switching by instruction execution .................................................................................... 6-130
6.17.3 1 axis constant-speed control ....................................................................................................... 6-135
6.17.4 2 to 4 axes constant-speed control............................................................................................... 6-139
6.17.5 Constant speed control for helical interpolation ........................................................................... 6-146
6.17.6 Pass point skip function ................................................................................................................ 6-149
6.17.7 FIN signal wait function................................................................................................................. 6-151
6.18 Position Follow-Up Control .................................................................................................................. 6-160
6.19 Simultaneous Start............................................................................................................................... 6-166
6.20 JOG Operation ..................................................................................................................................... 6-169
6.20.1 JOG operation data....................................................................................................................... 6-169
6.20.2 Individual start ............................................................................................................................... 6-170
6.20.3 Simultaneous start ........................................................................................................................ 6-175
6.21 Manual Pulse Generator Operation .................................................................................................... 6-178
6.22 Home Position Return.......................................................................................................................... 6-184
6.22.1 Home position return data............................................................................................................. 6-185
6.22.2 Home position return by the proximity dog type 1 ....................................................................... 6-193
6.22.3 Home position return by the proximity dog type 2 ....................................................................... 6-196
6.22.4 Home position return by the count type 1 .................................................................................... 6-198
6.22.5 Home position return by the count type 2 .................................................................................... 6-200
6.22.6 Home position return by the count type 3 .................................................................................... 6-201
6.22.7 Home position return by the data set type 1 ................................................................................ 6-203
6.22.8 Home position return by the data set type 2 ................................................................................ 6-204
6.22.9 Home position return by the dog cradle type ............................................................................... 6-205
6.22.10 Home position return by the stopper type 1 ............................................................................... 6-209
6.22.11 Home position return by the stopper type 2 ............................................................................... 6-211
6.22.12 Home position return by the limit switch combined type............................................................ 6-213
6.22.13 Home position return retry function ............................................................................................ 6-215
6.22.14 Home position shift function........................................................................................................ 6-219
6.22.15 Condition selection of home position set.................................................................................... 6-223
6.22.16 Servo program for home position return .................................................................................... 6-225
6.23 High-Speed Oscillation ........................................................................................................................ 6-227
A - 14
7. AUXILIARY AND APPLIED FUNCTIONS
7- 1 to 7-16
7.1 M-code Output Function .......................................................................................................................... 7- 1
7.2 Backlash Compensation Function........................................................................................................... 7- 4
7.3 Torque Limit Function .............................................................................................................................. 7- 6
7.4 Absolute Position System ........................................................................................................................ 7- 8
7.4.1 Current Value Control ....................................................................................................................... 7-10
7.5 Skip Function in which Disregards Stop Command ............................................................................... 7-12
7.6 High-Speed Reading of Specified Data .................................................................................................. 7-14
7.7 Cancel of the Servo Program .................................................................................................................. 7-15
7.7.1 Cancel/start ....................................................................................................................................... 7-16
APPENDICES
APP- 1 to APP-63
APPENDIX 1 Error Codes Stored Using The Motion CPU ....................................................................APP- 1
APPENDIX 1.1 Servo program setting errors (Stored in D9190) ........................................................APP- 3
APPENDIX 1.2 Minor errors .................................................................................................................APP- 7
APPENDIX 1.3 Major errors .................................................................................................................APP-17
APPENDIX 1.4 Servo errors.................................................................................................................APP-21
APPENDIX 1.5 PC link communication errors .....................................................................................APP-37
APPENDIX 2 Special Relays/special registers ........................................................................................APP-38
APPENDIX 2.1 Special relays ..............................................................................................................APP-38
APPENDIX 2.2 Special registers ..........................................................................................................APP-42
APPENDIX 3 Example Programs.............................................................................................................APP-46
APPENDIX 3.1 Reading M-code..........................................................................................................APP-46
APPENDIX 3.2 Reading error code......................................................................................................APP-47
APPENDIX 4 Setting Range for Indirect Setting Devices........................................................................APP-49
APPENDIX 5 Processing Times of the Motion CPU ...............................................................................APP-51
A - 15
About Manuals
This manual is only to explain hardware of the Motion controller.
The following manuals are related to this product.
Referring to this list, please request the necessary manuals.
This User's Manual do not describes hardware specification and handling methods of the PLC CPU
modules, power supply modules, base unit and I/O module in details.
The above contents, refer to the QCPU User's Manual and Building Block I/O Module User's Manual.
Related Manuals
(1) Motion controller
Manual Number
(Model Code)
Manual Name
Q173CPU(N)/Q172CPU(N) Motion controller User's Manual
This manual explains specifications of the Motion CPU modules, Q172LX Servo external signal interface
module, Q172EX Serial absolute synchronous encoder interface module, Q173PX Manual pulse
generator interface module, Teaching units, Power supply modules, Servo amplifiers, SSCNET cables,
IB-0300040
(1XB780)
synchronous encoder cables and others.
(Optional)
Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22) Programming Manual
(Motion SFC)
This manual explains the Multiple CPU system configuration, performance specifications, functions,
IB-0300042
(1XB781)
programming, error codes and others of the Motion SFC.
(Optional)
Q173CPU(N)/Q172CPU(N) Motion controller (SV22) Programming Manual
(VIRTUAL MODE)
This manual describes the dedicated instructions use to the synchronous control by virtual main shaft,
mechanical system program create mechanical module.
IB-0300044
(1XB783)
This manual explains the servo parameters, positioning instructions, device list, error list and others.
(Optional)
Q173CPU(N)/Q172CPU(N) Motion controller (SV43) Programming Manual
This manual describes the dedicated instructions to execute the positioning control by Motion program of
EIA language (G-code).
This manual explains the Multiple CPU system configuration, performance specifications, functions,
programming, debugging, servo parameters, positioning instructions device list and error list and others.
(Optional)
A - 16
IB-0300070
(1CT784)
(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.
SH-080484ENG
(13JR74)
(Optional)
QCPU User's Manual (Multiple CPU System)
This manual explains the functions, programming methods and cautions and others to construct the
Multiple CPU system with the QCPU.
SH-080485ENG
(13JR75)
(Optional)
QCPU (Q Mode)/QnACPU Programming Manual (Common Instructions)
This manual explains how to use the sequence instructions, basic instructions, application instructions and
micro computer program.
SH-080039
(13JF58)
(Optional)
QCPU (Q Mode)/QnACPU Programming Manual (PID Control Instructions)
SH-080040
(13JF59)
This manual explains the dedicated instructions used to exercise PID control.
(Optional)
QCPU (Q Mode)/QnACPU Programming Manual (SFC)
This manual explains the system configuration, performance specifications, functions, programming,
debugging, error codes and others of MELSAP3.
SH-080041
(13JF60)
(Optional)
I/O Module Type Building Block User's Manual
SH-080042
(13JL99)
This manual explains the specifications of the I/O modules, connector, connector/terminal block
conversion modules and others.
(Optional)
A - 17
MEMO
A - 18
1 OVERVIEW
1. OVERVIEW
1.1 Overview
1
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).
Applicable CPU
Number of positioning control axes
Q173CPU(N) (32 axes)
Up to 32 axes
Q172CPU(N) (8 axes)
Up to 8 axes
In this manual, the following abbreviations are used.
Generic term/Abbreviation
Description
Q173CPU(N)/Q172CPU(N),
Q173CPUN/Q172CPUN/Q173CPUN-T/Q172CPUN-T/Q173CPU/Q172CPU
Motion CPU or Motion CPU module
Motion CPU module
Q172LX/Q172EX/Q173PX
or Motion module
Q172LX Servo external signals interface module/
(Note-1)
Q172EX(-S1/-S2/-S3) Serial absolute synchronous encoder interface module
Q173PX(-S1) Manual pulse generator interface module
MR-H-BN
Servo amplifier model MR-H BN
MR-J2 -B
Servo amplifier model MR-J2S- B/MR-J2M-B/MR-J2- B/MR-J2-03B5
AMP or Servo amplifier
QCPU, PLC CPU
or PLC CPU module
Multiple CPU system
or Motion system
General name for "Servo amplifier model MR-H BN/MR-J2S- B/MR-J2M-B/
MR-J2- B/MR-J2-03B5, Vector inverter FREQROL-V500 series"
Qn(H)CPU
Abbreviation for "Multiple PLC system of the Q series"
Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPU
CPUn
system"
Programming software package
General name for "MT Developer" and "GX Developer"
Operating system software
General name for "SW RN-SV Q "
Operating system software for conveyor assembly use (Motion SFC) :
SV13
SW6RN-SV13Q
Operating system software for automatic machinery use (Motion SFC) :
SV22
SW6RN-SV22Q
MT Developer
GX Developer
Manual pulse generator
or MR-HDP01
Serial absolute synchronous encoder
or MR-HENC/Q170ENC
SSCNET
(Note-2)
Absolute position system
Cooling fan unit
Abbreviation for Integrated start-up support software package "MT Developer"
Abbreviation for MELSEC PLC programming software package "GX Developer
(Version 6 or later)"
Abbreviation for "Manual pulse generator (MR-HDP01)"
Abbreviation for "Serial absolute synchronous encoder (MR-HENC/Q170ENC)"
High speed serial communication between Motion controller and servo amplifier
General name for "System using the servomotor and servo amplifier for absolute
position"
Cooling fan unit (Q170FAN)
1-1
/
1 OVERVIEW
Generic term/Abbreviation
Description
Dividing unit
Dividing unit (Q173DV)
Battery unit
Battery unit (Q170BAT)
A†0BD-PCF
A10BD-PCF/A30BD-PCF SSC I/F board
SSC I/F communication cable
Abbreviation for "Cable for SSC I/F board/card"
Teaching Unit
(Note-3)
A31TU-D3†/A31TU-DN† Teaching unit
or A31TU-D3†/A31TU-DN†
Abbreviation for "MELSECNET/H module/Ethernet module/CC-Link module
Intelligent function module
/Serial communication module"
Vector inverter (FR-V500)
Vector inverter FREQROL-V500 series
(Note-1) : Q172EX can be used in SV22.
(Note-2) : SSCNET: Servo System Controller NETwork
(Note-3) : Teaching unit can be used in SV13.
REMARK
For information about the each module, design method for program and parameter,
refer to the following manuals relevant to each module.
Item
Reference Manual
Motion CPU module/Motion unit
Q173CPU(N)/Q172CPU(N) User’s Manual
PLC CPU, peripheral devices for PLC program design, I/O
modules and intelligent function module
Operation method for MT Developer
Manual relevant to each module
Help of each software
• Multiple CPU system configuration
SV13/SV22
• Performance specification
Q173CPU(N)/Q172CPU(N) Motion controller
• Design method for common parameter
(SV13/SV22) Programming Manual (Motion SFC)
• Auxiliary and applied functions
SV22
(Virtual mode)
• Design method for mechanical system
program
Q173CPU(N)/Q172CPU(N) Motion controller (SV22)
Programming Manual (VIRTUAL MODE)
!
CAUTION
When designing the system, provide external protective and safety circuits to ensure safety in
the event of trouble with the Motion controller.
There are electronic components which are susceptible to the effects of static electricity
mounted on the printed circuit board. When handling printed circuit boards with bare hands you
must ground your body or the work bench.
Do not touch current-carrying or electric parts of the equipment with bare hands.
Make parameter settings within the ranges stated in this manual.
Use the program instructions that are used in programs in accordance with the conditions
stipulated in this manual.
Some devices for use in programs have fixed applications: they must be used in accordance
with the conditions stipulated in this manual.
1-2
1 OVERVIEW
1.2 Features
1.2.1 Performance specifications
(1) Motion control specifications
Item
Q173CPUN(-T)
Number of control axes
Q173CPU
Q172CPUN(-T)
Up to 32 axes
Q172CPU
Up to 8 axes
0.88ms/ 1 to 8 axes
SV13
0.88ms/1 to 8 axes
1.77ms/ 9 to 16 axes
3.55ms/17 to 32 axes
Operation cycle
0.88ms/ 1 to 4 axes
(default)
SV22
1.77ms/ 5 to 12 axes
0.88ms/1 to 4 axes
3.55ms/13 to 24 axes
1.77ms/5 to 8 axes
7.11ms/25 to 32 axes
Interpolation functions
Linear interpolation (Up to 4 axes), Circular interpolation (2 axes),
Helical interpolation (3 axes)
PTP(Point to Point) control, Speed control, Speed-position control, Fixed-pitch feed,
Control modes
Constant speed control, Position follow-up control, Speed switching control,
High-speed oscillation control, Synchronous control (SV22)
Acceleration/
deceleration control
Compensation
Automatic trapezoidal acceleration/deceleration,
S-curve acceleration/deceleration
Backlash compensation, Electronic gear
Programming language
Motion SFC, dedicated instruction, Mechanical support language (SV22)
Servo program capacity
14k steps
Number of positioning
points
3200 points
(Positioning data can be designated indirectly)
Programming tool
Peripheral I/F
Teaching operation
function
Home position return
function
IBM PC/AT
USB/RS-232/SSCNET
Provided (Q173CPUN-T/Q172CPUN-T, SV13 use)
Proximity dog type (2 types), Count type (3 types), Data set type (2 types), Dog cradle type,
Stopper type(2 types), Limit switch combined type
(Home position return re-try function provided, home position shift function provided)
JOG operation function
Manual pulse generator
operation function
Synchronous encoder
operation function
M-code function
Limit switch output
function
Provided
Possible to connect 3 modules
Possible to connect 12 modules
Possible to connect 8 modules
M-code output function provided
M-code completion wait function provided
Number of output points 32 points
Watch data: Motion control data/Word device
Made compatible by setting battery to servo amplifier.
Absolute position system
(Possible to select the absolute data method or incremental method for each axis)
(Note) : When the vector inverter is used, only the increment method.
1-3
1 OVERVIEW
Motion control specifications (continued)
Item
Q173CPUN(-T)
Number of SSCNET I/F
Motion related interface
module
5CH
Q173CPU
Q172CPUN(-T)
(Note-1)
Q172CPU
2CH
Q172LX : 4 modules usable
Q172LX : 1 module usable
Q172EX : 6 modules usable
Q173PX : 4 modules usable
Q172EX : 4 modules usable
(Note-2)
Q173PX : 3 modules usable
(Note-2)
(Note-1) : Use the Dividing unit(Q173DV) or dividing cable(Q173J2B CBL M/Q173HB CBL M).
(Note-2) : When using the incremental synchronous encoder (SV22 use), you can use avobe number of modules.
When connecting the manual pulse generator, you can use only 1 module.
1-4
1 OVERVIEW
1.2.2 Differences between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN
(1) Differences between Q173CPU(N)/Q172CPU(N) and
A173UHCPU/A172SHCPUN
Item
Number of control axes
Q173CPU(N)
Q172CPU(N)
A173UHCPU
A172SHCPUN
Up to 32 axes
Up to 8 axes
Up to 32 axes
Up to 8 axes
SV13
0.88ms/1 to 8 axes
1.77ms/9 to 16 axes
3.55ms/17 to 32 axes
(Default)
(It can be set by
the parameters.)
0.88ms/1 to 8 axes
(Default)
(It can be set by
the parameters.)
3.55ms/1 to 20 axes
7.11ms/21 to 32 axes
3.55ms/1 to 8 axes
SV22
0.88ms/1 to 4 axes
1.77ms/5 to 12 axes
3.55ms/13 to 24 axes
7.11ms/25 to 32 axes
(Default)
(It can be set by
the parameters.)
0.88ms/1 to 4 axes
1.77ms/5 to 8 axes
(Default)
(It can be set by
the parameters.)
3.55ms/1 to 12 axes
7.11ms/13 to 24 axes
14.2ms/25 to 32 axes
3.55 ms/1 to 8 axes
Operation cycle
Servo program capacity
14k steps
Motion control
Number of positioning points
3200 points/axis (Positioning data can be designated indirectly.)
Programming tool
IBM PC/AT, A31TU-D
PC9800 series, IBM PC/AT, A30TU, A31TU
Peripheral devices I/F
USB/RS-232/SSCNET
RS-422/SSCNET
Proximity dog type (2 types), Count type (3 types),
Data set type (2 types), Dog cradle type,
Stopper type (2 types),
Limit switch combined type
(Home position return retry function provided,
Home positon shift function provided)
Proximity dog type, count type,
data set type 1
Home position return function
Manual pulse generator operation
function
Syncronous encoder operation
function
Limit switch output function
Possible to connect 3 modules
Possible to connect
12 modules
Possible to connect
8 modules
5CH (Note-1)
2CH
Up to 64 slots
(Up to 7 extension bases of the Q series)
Number of motion slots
Number of Motion related modules
Q172LX : 4 modules
Q172LX : 1 module
Q172EX : 6 modules
Q172EX : 4 modules
Q173PX : 4 modules (Note-2)
Q173PX : 3 modules (Note-2)
Execute specification
Normal task
Event task
(Execution
Excuted can be
masked.)
task
Possible to connect
4 modules
Possible to connect
1 module
Output points : 32points, watch data : motion control data/word device
Number of SSCNET I/F
(Included SSCNET interface 1CH to
the parsonal computer)
Motion SFC
13k steps
4CH
2CH
8 slots
2 slots
A172SENC : 4 modules
A172SENC : 1 module
Executed in motion main cycle
Fixed
cycle
Executed in fixed cycle
(0.88ms, 1.77ms, 3.55ms, 7.11ms, 14.2ms)
Executed in fixed cycle
(1.77ms, 3.55ms, 7.11ms, 14.2ms)
External
interrupt
Executed when input on is set among interrupt
module (QI60) 16 points.
Executed when input on is set among
interrupt module (A1SI61) 16 points.
PLC
interrupt
Executed with interrupt instruction (S(P).GINT)
from PLC CPU.
Executed when 1 interrupt point is provided
from PLC CPU.
Executed when input on is set among interrupt
module (QI60) 16 points.
Executed when input on is set among
interrupt module (A1SI61) 16 points.
NMI task
Number of I/O (X/Y) points
8192 points
Number of real I/O (PX/PY) points
Total 256 points
1-5
2048 points
1 OVERVIEW
Differences Between Q173CPU(N)/Q172CPU(N) and
A173UHCPU/A172SHCPUN (continued)
Item
Internal relays (M)
Q173CPU(N)
Q172CPU(N)
Total M+L : 8192 points
Motion SFC
Latch relays (L)
Number of
Devices
(internal
motion
CPU only)
A172SHCPUN
Total M+L (S) :
8192 points
Total M+L (S) :
2048 points
Link relays (B)
8192 points
1024 points
Annunciators (F)
2048 points
256 points
Timer contacts (TT)
—
2048 points
256 points
Timer coils (TC)
—
2048 points
256 points
Counter contacts (CT)
—
1024 points
256 points
Counter coils (CC)
—
1024 points
256 points
Special relays (M)
256 points
Data registers (D)
8192 points
1024 points
Link registers (W)
8192 points
1024 points
Currnet value timers (T)
—
2048 points
256 points
Currnet value counters (C)
—
1024 points
256 points
Special registers (D)
256 points
Motion registers (#)
8192 points
Coasting timer (FT)
1 point (888µs)
Device memory
Data exchange of PCPU and SCPU
Number of pulses per
revolutions
Fixed
Amount of pulses per
parameters revolutions
Others
A173UHCPU
Magnification
PLC ready flag (M2000)
Forced stop input
Back-up battery for internal memory
Independence
Commonness
The data exchange method by automatic refresh
between the multiple CPU's.
The direct data exchange method which
made a device memory 2 port memory.
1 to 2147483647[PLS]
1 to 65535[PLS]
In the case of the unit setup [PLS].
1 to 2147483647[PLS]
In the case of the unit setup [PLS].
1 to 65535[PLS]
—
1 time, 10 times,
100 times, 1000 times
RUN),
M2000 turn it on with switch (STOP
or M2000 turn it on when both of switch RUN and
setting register is set "1".
M2000 turn on by PLC program
An optional bit device (PX, M) is specified in the
parameter. (Forced stop terminals of the servo
amplifiers can be used.)
Emergency stop of the CPU base unit.
(Forced stop terminals of the servo amplifiers
cannot be used.)
Internal rechargeable battery
(Set the external battery (A6BAT/MR-BAT) if
continuous power off time is longer for 1 month or
more.) (Note-3)
A6BAT/MR-BAT
(Note-1) : Use the Dividing unit(Q173DV) or dividing cable(Q173J2B CBL M/Q173HB CBL M).
(Note-2) : When using the incremental synchronous encoder by using SV22, you can use 4 modules. When connecting the Manual pulse
generator, you can use only one module.
(Note-3) : When adding the external battery (A6BAT/MR-BAT), use the Q173DV (Q173CPU(N) use) or Q170BAT (Q172CPU(N) use).
1-6
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 Q173CPU(N) and up to 8 axes in
Q172CPU(N) 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.
(a) Programming using the motion control step "K" of Motion SFC.
The starting method of Motion SFC program is shown below.
1) Motion SFC start request (S(P).SFCS) of PLC CPU
2) Automatic start setting of Motion SFC program
(Note): Step "K" of the positioning instruction cannot be programmed to
NMI task and event task.
3) Start by the Motion SFC program (GSUB)
(b) Execution of servo program by the servo program start request (S(P).SVST) of
PLC CPU.
(2) JOG operation by the each axis command signal of Motion CPU.
(3) Manual pulse generator operation by the positioning dedicated device of Motion
CPU.
(4) Speed change and torque limit value change during positioning control by the
Motion dedicated PLC instruction (S(P).CHGV, S(P).CHGT) and Motion dedicated
function (CHGV, CHGT) of operation control step "F".
(Note): Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller(SV13/SV22)
Programming Manual (Motion SFC)" for the Motion dedicated PLC
instruction.
2-1
2
2 POSITIONING CONTROL BY THE MOTION CPU
[Execution of the Motion SFC program start (S(P).SFCS instruction)]
Positioning control is executed by starting the Motion SFC program specified with
S(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 . . . . . . . . . Create using a peripheral device (Note-1)
<Example> S(P).SFCS instruction
Positioning execute command
SP.SFCS H3E3
K15
M0
D0
Device which stores the
complete status
Complete device
Motion SFC program No.15
Target CPU
Start request of the
Motion SFC program
Start request of the
Motion SFC program
1) The Motion SFC program No. is set using the S(P).SFCS instruction
in the PLC program.
2) When the S(P).SFCS instruction is executed, the program of the
Motion SFC program No. specified with the Motion CPU is executed.
(1) Create the Motion SFC programs and positioning control parameters using a
peripheral device.
(2) Perform the positioning start using the PLC program (S(P).SFCS instruction) of
PLC CPU.
(a) Motion SFC program No. is specified with the S(P).SFCS instruction.
1) Motion SFC program No. can be set either directly or indirectly.
(3) Perform the specified positioning control using the specified with Motion SFC
program.
2-2
2 POSITIONING CONTROL BY THE MOTION CPU
Motion CPU
Motion SFC program
. . . . . Create and correct using a
peripheral device (Note-1)
Motion SFC program No.15
(Program No. specified with the S(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.
G101
END
Servo amplifier
Positioning control parameters
System settings
. . . . . Set and correct using a
peripheral device (Note-1)
Servomotor
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
Parameters block
Data required for the acceleration, deceleration
of the positioning control, etc.
Home position return data
Data required for the home position return
JOG operation data
Data required for the JOG operation
Limit switch output data
ON/OFF pattern data required for the limit
switch output function
REMARK
(Note-1) : The following peripheral devices started by the SW6RN-GSV†P can be
used.
• The personal computer by which WindowsNT 4.0/Windows 98/
Windows 2000/Windows XP works. (IBM PC/AT compatible)
R
R
R
R
WindowsNT , Windows are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries.
R
R
2-3
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.
[K100]
ABS-1
Axis
4, 80000PLS
Speed
10000PLS/s
1 axis linear positioning control
Axis used . . . . . . . . . . . Axis 4
Positioning address . . . 80000[PLS]
Command speed . . . . . 10000[PLS/s]
Start request of the
servo program
Stand by until PX000 is OFF after
positioning completion.
[G210]
!PX000
END
(1) Create the servo programs and positioning control parameters using a peripheral
device.
(2) Specify the servo program started by the Motion SFC program.
(3) Perform the specified positioning control using the specified with servo program.
2-4
2 POSITIONING CONTROL BY THE MOTION CPU
Servo program
. . . . . Create and correct using a
peripheral device (Note-1)
<K 10>
ABS-1
Axis
Speed
4,
80000
10000
-
Dwell time
M-code
Servo instruction
(Specification of the positioning control method)
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 . . . . . Create and correct using a
peripheral device (Note-1)
Servomotor
System data such as axis allocations
System settings
Fixed parameters
Fixed data by the mechanical system, etc.
Servo parameters
Data by the specifications of the connected
servo amplifier
Parameters block
Data required for the acceleration, deceleration
of the positioning control, etc.
Home position return data
Data required for the home position return
JOG operation data
Data required for the JOG operation
Limit switch output data
ON/OFF pattern data required for the limit
switch output function
REMARK
(Note-1) : The following peripheral devices started by the SW6RN-GSV†P can be
used.
• The personal computer by which WindowsNT 4.0/Windows 98/
Windows 2000/Windows XP works. (IBM PC/AT compatible)
R
R
R
R
WindowsNT , Windows are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries.
R
R
2-5
2 POSITIONING CONTROL BY THE MOTION CPU
[Execution of the servo program start (S(P).SVST instruction)]
Positioning control is executed by starting the specified servo program toward the axis
specified with S(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
. . . . . Create using a peripheral device (Note-1)
<Example> SP.SVST instruction
Positioning execute command
SP.SVST H3E3 "J3J4"
K25
M0
D0
Device which stores the
complete status
Complete device
Servo program No.25
Starting axis No.3 and 4
Target CPU
Start request of the
servo program
Start request of the
servo program
1) The starting axis No. and servo program No. are set using the
S(P).SVST instruction in the PLC program.
2) When the S(P).SVST instruction is executed, the program of the
servo program No. is executed toward the specified axis.
(1) Create the servo programs and positioning control parameters using a peripheral
device.
(2) Perform the positioning start using the PLC program (S(P).SVST instruction) of
PLC CPU.
(a) Starting axis No. and servo program No. are specified with the S(P).SVST
instruction.
1) Servo program No. can be set either directly or indirectly.
(3) Perform the positioning control of specified servo program toward the specified
axis.
2-6
2 POSITIONING CONTROL BY THE MOTION CPU
Motion CPU
Servo program
. . . . . Set and correct using a peripheral device (Note-1)
Servo program No.25
(Servo program No. specified with the S(P).SVST instruction.)
<K 25>
2 axes linear interpolation control
ABS-2
Axis
3,
Axis
4,
Combined speed
50000
40000
30000
Axis used . . . . . . . . . . . Axis 3, Axis 4
Travel value to stop
position
Axis 3 . . . . . . 50000
Axis 4 . . . . . . 40000
Command positioning speed
Combined speed . . . . . . 30000
Servo amplifier
Positioning control parameters . . . . . Create and correct using a
peripheral device (Note-1)
Servomotor
System data such as axis allocations
System settings
Fixed parameters
Fixed data by the mechanical system, etc.
Servo parameters
Data by the specifications of the connected
servo amplifier
Parameters block
Data required for the acceleration, deceleration
of the positioning control, etc.
Home position return data
Data required for the home position return
JOG operation data
Data required for the JOG operation
Limit switch output data
ON/OFF pattern data required for the limit
switch output function
REMARK
(Note-1) : The following peripheral devices started by the SW6RN-GSV†P can be
used.
• The personal computer by which WindowsNT 4.0/Windows 98/
Windows 2000/Windows XP works. (IBM PC/AT compatible)
R
R
R
R
WindowsNT , Windows are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries.
R
R
2-7
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.
Motion CPU control system
Motion SFC program
. . . . . Create and correct using a peripheral device (Note-1)
JOG
[F120]
D640L=K100000
Axis 1 JOG operation speed = 100000[PLS/s]
P0
[G120]
SET M3202=PX000 * !M3203
[F130]
RST M3202=!PX000
Axis 1 forward JOG command SET
Axis 1 forward JOG command RST
JOG operation by
the JOG dedicated
device control
P0
Note) : Do not stop this task during operation.
Operation may not stop.
(1) Set the positioning control parameters using a peripheral device.
(2) Set the JOG speed to the JOG speed setting register for each axis using the
Motion SFC program.
(3) Perform the JOG operation while the JOG start command signal is ON in the
Motion SFC program.
2-8
2 POSITIONING CONTROL BY THE MOTION CPU
. . . . . Set and correct using a
Positioning control parameter
peripheral device (Note-1)
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.
Home position return data
Data required for the home position return
JOG operation data
Data required for the JOG operation
Limit switch output data
ON/OFF pattern data required for the limit
switch output function
Servo amplifier
Servomotor
REMARK
(Note-1) : The following peripheral devices started by the SW6RN-GSV†P can be
used.
• The personal computer by which WindowsNT 4.0/Windows 98/
Windows 2000/Windows XP works. (IBM PC/AT compatible)
R
R
R
R
WindowsNT , Windows are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries.
R
R
2-9
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 Q173PX, 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.
P1 manual pulse generator enable flag
ON.
Manual pulse generator operation
by the manual pulse generator
dedicated device
END
(1) Set the positioning control parameters using a peripheral device.
(2) Set the used manual pulse generator, operated axis No. and magnification for 1
pulse input using the Motion SFC program.
(3) Turn the manual pulse generator enable flag on using the Motion SFC program
................................................ Manual pulse generator operation enabled
(4) Perform the positioning by operating the manual pulse generator.
(5) Turn the manual pulse generator enable flag OFF using the Motion SFC program
............................................ Manual pulse generator operation completion
2 - 10
2 POSITIONING CONTROL BY THE MOTION CPU
Positioning control parameter
. . . . . Set and correct using a
peripheral device (Note-1)
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.
Home position return data
Data required for the home position return
JOG operation data
Data required for the JOG operation
Limit switch output data
ON/OFF pattern data required for the limit
switch output function
Servo amplifier
Servomotor
Manual pulse generator
REMARK
(Note-1) : The following peripheral devices started by the SW6RN-GSV†P can be
used.
• The personal computer by which WindowsNT 4.0/Windows 98/
Windows 2000/Windows XP works. (IBM PC/AT compatible)
R
R
R
R
WindowsNT , Windows are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries.
R
R
2 - 11
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 a peripheral device.
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.
Data by such as the servo amplifier and motor type with connected
Servo
parameters
servomotor are set for every axis.
They are set to control the servomotors at the positioning control.
Reference
Section
4.1
Section
4.2
Section
4.3
Home position
Data such as the direction, method and speed of the home position
Section
return data
return used at the positioning control are set for every axis.
6.22.1
JOG operation
Data such as the JOG speed limit value and parameter block No.
Section
data
used at the JOG operation are set for every axis.
6.20.1
Data such as the acceleration, deceleration time and speed control
value at the positioning control are set up to 16 parameter blocks.
6 Parameter block
They are set with the servo program, JOG operation data and home
position return data, and it is used to change easily the
Section
4.4
acceleration/deceleration processing (acceleration/deceleration time
and speed limit value) at the positioning control.
7
Limit switch
output data
Output device, watch data, ON section, output enable/disable bit and
forced output bit used for the limit output function for every limit
(Note)
output are set.
(Note): Refer to Chapter 13 of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22)
Programming Manual (Motion SFC)".
(2) Servo program
The servo program is used for the positioning control in the Motion SFC program.
The positioning control by servo program is executed using the Motion SFC
program and Motion dedicated PLC instruction (Servo program start request
(S(P).SVST)) .
It comprises a program No., servo instructions and positioning data.
Refer to Chapter 5 for details.
• Program No. ............... It is specified using the Motion SFC program and
Motion dedicated PLC instruction.
• Servo instruction ......... It indicates the type of positioning control.
• Positioning data .......... It is required to execute the servo instructions.
The required data is fixed for every servo instruction.
2 - 12
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 "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22)
Programming Manual (Motion SFC)" for details.
(4) PLC program
The positioning control by the servo program can be executed using the Motion
dedicated PLC instruction of PLC program.
Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22)
Programming Manual (Motion SFC)" for details.
2 - 13
2 POSITIONING CONTROL BY THE MOTION CPU
MEMO
2 - 14
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 (SP.M) ........................ M9073 to M9079 (7 points)
• Data register (D) .............................. D0 to D799 (800 points)
• Motion register (#) ........................... #8000 to #8191 (192 points)
• Special register (SP.D) .................... D9180 to D9201 (22 points)
(2) External signals
The external input signals to the Motion CPU are shown below.
• Upper/lower limit switch input .......... The upper/lower limit of the positioning
range is controlled.
• Stop signal ....................................... Stop signal for speed control.
• Proximity dog signal ........................ ON/OFF signal from the proximity dog.
• Speed/position switching signal ...... Signal for switching from speed to
position.
• Manual pulse generator input .......... Signal from the manual pulse generator.
Configuration between modules
PLC CPU
Motion CPU
1)
2)
Device memory
Device memory
Motion control
processor
PLC control
processor
Shared CPU
memory
Shared CPU
memory
SSCNET
PLC bus
Servo amplifier
Sensor, solenoid, etc. PLC intelligent function
module (A/D, D/A, etc.)
(DI/O)
Motion control dedicated I/F
(DOG signal, manual
pulse generator)
M
M
Servomotor
Note) : Device memory data : 1) = 2)
Fig.3.1 Flow of the internal signals/external signals
3-1
3
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
Q173CPU(N)
Q172CPU(N)
Up to 32 axes
Up to 8 axes
SV13
0.88[ms] / 1 to 8 axes
1.77[ms] / 9 to 16 axes
3.55[ms] / 17 to 32 axes
0.88[ms] / 1 to 8 axes
SV22
0.88[ms] / 1 to 4 axes
1.77[ms] / 5 to 12 axes
3.55[ms] / 13 to 24 axes
7.11[ms] / 25 to 32 axes
0.88[ms] / 1 to 4 axes
1.77[ms] / 5 to 8 axes
Number of control axes
Operation cycle
(Default value)
3.1 Internal Relays
(1) Internal relay list
SV13
Device No.
M0
to
M2000
to
M2320
to
SV22
Purpose
User device
(2000 points)
M0
Common device
(320 points)
M2000
to
to
Special relay allocated device (Status) M2320
(80 points)
to
M2400
to
M3040
to
M3072
to
M3136
to
M2400
Axis status
(20 points
32 axes)
to
M3040
Unusable
to
Common device (Command signal)
(64 points)
M3072
Special relay allocated device
(Command signal)
(64 points)
M3136
M3200
to
Device No.
to
to
M3200
Axis command signal
(20 points
32 axes)
to
3-2
Purpose
User device
(2000 points)
Common device
(320 points)
Special relay allocated device (Status)
(80 points)
Axis status
(20 points
32 axes)
Real mode……Each axis
Virtual mode….Output module
Unusable
Common device (Command signal)
(64 points)
Special relay allocated device
(Command signal)
(64 points)
Axis command signal
(20 points
32 axes)
Real mode……Each axis
Virtual mode….Output module
3 POSITIONING DEDICATED SIGNALS
Internal relay list (Continued)
SV13
Device No.
SV22
Purpose
Device No.
M3840
M3840
to
M4000
to
M4640
to
M4688
to
to
M4800
User device
(4352 points)
to
M5440
to
Purpose
Unusable (Note)
User device
(640 points)
Synchronous encoder axis status
(4 points
12 axes)
Unusable (Note)
User device
(640 points)
Synchronous encoder axis
command signal
(4 points
12 axes)
M5488
Unusable (Note)
to
M5600
to
User device
(2592 points)
M8191
M8191
It can be used as an user device.
(Note): It can be used as an user device in the SV22 real mode only.
POINT
• Total number of user device points
6352 points (SV13) / 6256 points (SV22 real mode only)
3-3
3 POSITIONING DEDICATED SIGNALS
(2) Axis status list
Axis No.
Device No.
1
M2400 to M2419
Signal name
2
M2420 to M2439
3
M2440 to M2459
4
M2460 to M2479
0
Positioning start complete
5
M2480 to M2499
1
Positioning complete
6
M2500 to M2519
2
In-position
7
M2520 to M2539
3
Command in-position
Signal name
Refresh cycle
Fetch cycle
Signal direction
Operation cycle
8
M2540 to M2559
4
Speed controlling
9
M2560 to M2579
5
Speed/position switching latch
10
M2580 to M2599
6
Zero pass
11
M2600 to M2619
7
Error detection
12
M2620 to M2639
8
Servo error detection
13
M2640 to M2659
9
Home position return request
14
M2660 to M2679
10
Home position return complete
15
M2680 to M2699
11
16
M2700 to M2719
12
17
M2720 to M2739
13
Immediate
Status signal
Operation cycle
Main cycle
Operation cycle
FLS
External RLS
signals STOP
Main cycle
18
M2740 to M2759
14
19
M2760 to M2779
15
Servo ready
DOG/CHANGE
20
M2780 to M2799
16
Torque limiting
21
M2800 to M2819
17
Unusable
22
M2820 to M2839
23
M2840 to M2859
18
24
M2860 to M2879
Virtual mode continuation
operation disable warning
(Note-1)
signal (SV22)
At virtual mode
transition
25
M2880 to M2899
19
M-code outputting signal
Operation cycle
26
M2900 to M2919
27
M2920 to M2939
28
M2940 to M2959
29
M2960 to M2979
30
M2980 to M2999
31
M3000 to M3019
32
M3020 to M3039
Operation cycle
—
—
—
Status signal
(Note-1): It is unusable in the SV13/SV22 real mode.
(Note-2): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-3): Device area of 9 axes or more is unusable in the Q172CPU(N).
3-4
3 POSITIONING DEDICATED SIGNALS
(3) Axis command signal list
Axis No.
Device No.
Signal name
1
M3200 to M3219
2
M3220 to M3239
3
M3240 to M3259
4
M3260 to M3279
0
Stop command
5
M3280 to M3299
1
Rapid stop command
6
M3300 to M3319
2
Forward rotation JOG start command
7
M3320 to M3339
3
Reverse rotation JOG start command
8
M3340 to M3359
4
Complete signal OFF command
9
M3360 to M3379
10
M3380 to M3399
5
Speed/position switching enable
command
11
M3400 to M3419
6
Unusable
12
M3420 to M3439
7
Error reset command
13
M3440 to M3459
8
Servo error reset command
14
M3460 to M3479
15
M3480 to M3499
9
External stop input disable at start
command
16
M3500 to M3519
10
17
M3520 to M3539
11
18
M3540 to M3559
19
M3560 to M3579
20
M3580 to M3599
21
M3600 to M3619
22
M3620 to M3639
23
M3640 to M3659
Signal name
Refresh cycle
Fetch cycle
Signal
direction
Operation cycle
Main cycle
Command
signal
Operation cycle
Main cycle
At start
Command
signal
Unusable
12
Feed current value update request
command
13
Address clutch reference setting
(Note-1)
command (SV22 only)
Cam reference position setting
14
(Note-1)
command (SV22 only)
24
M3660 to M3679
15 Servo OFF command
25
M3680 to M3699
16 Gain changing command
26
M3700 to M3719
17
27
M3720 to M3739
18
28
M3740 to M3759
29
M3760 to M3779
30
M3780 to M3799
31
M3800 to M3819
32
M3820 to M3839
At start
At virtual mode
transition
Command
signal
Operation cycle
Operation cycle
(Note-4)
Unusable
Operation cycle
19 FIN signal
Command
signal
(Note-1): It is unusable in the SV13/SV22 real mode.
(Note-2): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-3): Device area of 9 axes or more is unusable in the Q172CPU(N).
(Note-4): Operation cycle 7.1[ms] or more: Every 3.5[ms]
3-5
3 POSITIONING DEDICATED SIGNALS
(4) Common device list
Device
Signal name
No.
Refresh cycle
Fetch cycle
Signal
Remark
Device
direction
(Note-5)
No.
M3072
M2053
Command
M2000 PLC ready flag
Main cycle
signal
(Note-4)
M2001 Axis 1
Signal name
M2055
M2004 Axis 4
M2056
M2005 Axis 5
M2057 Unusable
M2006 Axis 6
M2058 (6 points)
M2007 Axis 7
M2059
M2008 Axis 8
M2060
M2009 Axis 9
M2061 Axis 1
M2010 Axis 10
M2062 Axis 2
M2011 Axis 11
M2063 Axis 3
M2012 Axis 12
M2064 Axis 4
M2013 Axis 13
M2065 Axis 5
M2014 Axis 14
Status
M2067 Axis 7
M2016 Axis 16
signal
M2068 Axis 8
(Note-1),
M2069 Axis 9
(Note-2)
M2070 Axis 10
Start accept flag
Operation cycle
M2018 Axis 18
M2019 Axis 19
M2071 Axis 11
M2020 Axis 20
M2072 Axis 12
M2021 Axis 21
M2073 Axis 13
M2022 Axis 22
M2074 Axis 14
M2023 Axis 23
M2075 Axis 15
M2024 Axis 24
M2076 Axis 16
M2025 Axis 25
M2077 Axis 17 Speed changing flag
M2026 Axis 26
M2078 Axis 18
M2027 Axis 27
M2079 Axis 19
M2028 Axis 28
M2080 Axis 20
M2029 Axis 29
M2081 Axis 21
M2030 Axis 30
M2082 Axis 22
M2031 Axis 31
M2083 Axis 23
M2032 Axis 32
M2084 Axis 24
M2033 Unusable
M2034
M2035
M2036
M2037
M2038
M2039
M2040
Personal computer link
communication error flag
request flag (Note-6)
Command
signal
signal
Immediate
flag
At start
flag
M2092 Axis 32
signal
M2093
signal
M2094
M3073
(Note-4)
Operation cycle
M2095
M2096 Unusable
Status
M2097 (8 points)
signal
M2098
Operation cycle
Command
Real/virtual mode switching
At virtual mode
signal
request (Virtual mode only)
transition
(Note-4)
M3074
M3075
M2099
M2100
M2101 Axis 1
Real/virtual mode switching
M2102 Axis 2
status (Virtual mode only)
M2103 Axis 3
At virtual mode
transition
M2104 Axis 4
Synchronous
Status
M2105 Axis 5
encoder current
signal
M2106 Axis 6
value changing flag
M2107 Axis 7
(Note-3)
M2046 Out-of-sync warning
M2109 Axis 9
Manual pulse generator 2
enable flag
M3076
(Note-4)
M2113
signal
Command
Main cycle
M2114
M3077
signal
(Note-4)
M2111 Axis 11
M2112 Axis 12
Status
Operation cycle
Manual pulse generator 1
enable flag
signal
(12 axes)
M2110 Axis 10
Command
Main cycle
start command
M3078
M2115 Unusable
M2116 (6 points)
M2117
M2118
3-6
Status
Operation cycle
signal
(Note-1),
(Note-2)
M2108 Axis 8
Operation cycle
JOG operation rsimultaneous
M2050 Start buffer full
(Note-2)
M2088 Axis 28
Status
Command
Speed switching point specified
M2049 All axes servo ON accept flag
signal
(Note-1),
M2091 Axis 31
Motion SFC error detection
M2047 Motion slot fault detection flag
Status
Operation cycle
M2090 Axis 30
(Virtual mode only)
M2052
Status
M2089 Axis 29
(3 points)
Real/virtual mode switching
M2051
Operation cycle
M2087 Axis 27
M3080
Unusable
M2045 error detection signal
M2048
signal
(Note-4)
M2086 Axis 26
signal
Main cycle
M2042 All axes servo ON command
M2044
Remark
(Note-5)
M2085 Axis 25
Status
Operation cycle
Motion SFC error history clear
M2041 System setting error flag
M2043
Signal
direction
M2066 Axis 6
M2015 Axis 15
M2017 Axis 17
Main cycle
enable flag
M2003 Axis 3
Fetch cycle
Command
Manual pulse generator 3
M2054 Operation cycle over flag
M2002 Axis 2
Refresh cycle
M3079
3 POSITIONING DEDICATED SIGNALS
Common device list (Continued)
Refresh cycle
Fetch cycle
Signal
Remark
Device
direction
(Note-5)
No.
M2119
M2180
M2120
M2123
M2124
M2182
Unusable
(9 points)
M2184
M2126
M2128 Axis 1
M2186
M2129 Axis 2
M2131 Axis 4
M2188
M2132 Axis 5
M2134 Axis 7
M2190
M2135 Axis 8
M2137 Axis 10
M2192
M2138 Axis 11
M2140 Axis 13
M2194
M2141 Axis 14
M2143 Axis 16
Automatic
M2144 Axis 17
deceleration flag
M2196
M2146 Axis 19
M2198
M2147 Axis 20
M2149 Axis 22
M2200
M2150 Axis 23
M2152 Axis 25
M2202
M2153 Axis 26
M2155 Axis 28
M2204
M2156 Axis 29
M2157 Axis 30
Status
M2158 Axis 31
Operation cycle
M2159 Axis 32
Output
M2169 axis 5
M2170
Output
M2171 axis 6
M2172
Output
M2173 axis 7
M2174
Output
M2175 axis 8
M2176
Output
M2177 axis 9
M2178
Output
M2179 axis 10
Auxiliary input
side
Auxiliary input
side
M2212
side
Auxiliary input
M2214
side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
Output
Output
M2213 axis 27
Main shaft side
side
Output
M2211 axis 26
Auxiliary input
Main shaft side
Output
M2207 axis 24
M2210
Main shaft side
Auxiliary input
M2206
M2209 axis 25
Main shaft side
Main shaft side
(Note-1),
Output
M2205 axis 23
M2208
(Note-3)
M2168
signal
(Note-2)
Main shaft side
Clutch status
M2167 axis 4
Output
M2203 axis 22
M2154 Axis 27
Output
Output
M2201 axis 21
M2151 Axis 24
M2166
Output
M2199 axis 20
M2148 Axis 21
M2165 axis 3
Output
M2197 axis 19
M2145 Axis 18
Output
Output
M2195 axis 18
M2142 Axis 15
M2163 axis 2
Output
M2193 axis 17
M2139 Axis 12
Output
Output
M2191 axis 16
M2136 Axis 9
M2161 axis 1
Output
M2189 axis 15
M2133 Axis 6
Output
Output
M2187 axis 14
M2130 Axis 3
M2164
Output
M2185 axis 13
M2127
M2162
Output
M2183 axis 12
M2125
M2160
Output
M2181 axis 11
M2121
M2122
Signal name
Output
M2215 axis 28
M2216
Output
M2217 axis 29
M2218
Output
M2219 axis 30
M2220
Output
M2221 axis 31
M2222
Output
M2223 axis 32
side
M2225
M2226
Auxiliary input
M2227
side
M2228
3-7
Fetch cycle
Signal
Remark
direction
(Note-5)
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
M2224
Main shaft side
Refresh cycle
Unusable
(5 points)
(Note-3)
Signal name
No.
Clutch status
Device
Status
Operation cycle
signal
(Note-1),
(Note-2)
3 POSITIONING DEDICATED SIGNALS
Common device list (Continued)
Device
Signal name
No.
Refresh cycle
Fetch cycle
Signal
Remark
Device
direction
(Note-5)
No.
M2229
M2275
M2230
M2276
M2231
M2277
M2232
M2233
M2234
M2235
M2278
M2279
Unusable
M2280
(11 points)
M2281
M2236
M2282
M2237
M2283
M2238
M2284
M2239
M2285
M2240 Axis 1
M2286
M2241 Axis 2
M2287
M2242 Axis 3
M2288
M2243 Axis 4
M2289
M2244 Axis 5
M2290
M2245 Axis 6
M2291
M2246 Axis 7
M2292
M2247 Axis 8
M2293
M2248 Axis 9
M2294
M2249 Axis 10
M2295
M2250 Axis 11
M2296
M2251 Axis 12
M2297
M2252 Axis 13
M2298
M2253 Axis 14
M2299
M2254 Axis 15
M2255 Axis 16
Speed change "0"
M2256 Axis 17
accepting flag
M2257 Axis 18
Operation cycle
Status
M2300
signal
M2301
(Note-1),
M2302
(Note-2)
M2303
M2258 Axis 19
M2304
M2259 Axis 20
M2305
M2260 Axis 21
M2306
M2261 Axis 22
M2307
M2262 Axis 23
M2308
M2263 Axis 24
M2309
M2264 Axis 25
M2310
M2265 Axis 26
M2311
M2266 Axis 27
M2312
M2267 Axis 28
M2313
M2268 Axis 29
M2314
M2269 Axis 30
M2315
M2270 Axis 31
M2316
M2271 Axis 32
M2317
M2272
M2318
M2273
M2274
Signal name
Unusable
(3 points)
M2319
3-8
Unusable
(45 points)
Refresh cycle
Fetch cycle
Signal
Remark
direction
(Note-5)
3 POSITIONING DEDICATED SIGNALS
Explanation of the request register
No.
Function
Bit device
Request register
1
PLC ready flag
M2000
D704
2
Speed switching point specified flag
M2040
D705
3
All axes servo ON command
M2042
D706
4
Real/virtual mode switching request (SV22 only)
M2043
D707
5
JOG operation simultaneous start command
M2048
D708
6
Manual pulse generator 1 enable flag
M2051
D755
7
Manual pulse generator 2 enable flag
M2052
D756
8
Manual pulse generator 3 enable flag
M2053
D757
(Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2): Device area of 9 axes or more is unusable in the Q172CPU(N).
(Note-3): This signal is unusable in the SV13/SV22 real mode.
(Note-4): Handling of D704 to D708 and D755 to D757 registers
Because cannot be turn ON/OFF for every bit from the PLC CPU, the above
bit devices are assigned to D register, and each bit device becomes on with
the lowest rank bit 0 1 of each register, and each bit device becomes off
with 1 0.
Use it when the above functions are requested from the PLC CPU using the
S(P).DDRD and S(P).DDWR instruction.
Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22)
Programming Manual (Motion SFC)" for the S(P).DDRD and S(P).DDWR
instruction.
The direct bit device ON/OFF is possible in the Motion SFC program.
(Note-5): It can also be ordered the device of a remark column.
(Note-6): M3080 does not turn off automatically. Turn it off as an user side.
CAUTION
The data executed later becomes effective when the same device is executed in the Motion
SFC program and PLC program.
3-9
3 POSITIONING DEDICATED SIGNALS
(5) Special relay allocated device list (Status)
Device No.
Signal name
Refresh cycle
Fetch cycle
Signal direction
(Note)
Remark
M2320
Fuse blown detection
M9000
M2321
AC/DC DOWN detection
M9005
M2322
Battery low
M2323
Battery low latch
M2324
Self-diagnostic error
M9008
M2325
Diagnostic error
M9010
M2326
Always ON
M2327
Always OFF
M2328
Clock data error
M2329
PCPU WDT error flag
M2330
PCPU READY complete flag
M2331
Test mode ON flag
M2332
External forced stop input flag
M2333
Manual pulse generator axis setting
error flag
M9006
Error
occurrence
M9007
Main
operation
M9036
Error
occurrence
M9026
M9037
M9073
M9074
At request
M9075
Operation
cycle
M9076
M9077
Error
occurrence
Status signal
M2334
TEST mode request error flag
M2335
Servo program setting error flag
M9079
M2336
CPU No.1 reset flag
M9240
M2337
CPU No.2 reset flag
M9241
M2338
CPU No.3 reset flag
M9242
M2339
CPU No.4 reset flag
M2340
CPU No.1 error flag
M2341
CPU No.2 error flag
M9245
M2342
CPU No.3 error flag
M9246
M2343
CPU No.4 error flag
M9247
M2344
Servo parameter reading flag
M2345
CPU No.1 MULTR complete flag
M2346
CPU No.2 MULTR complete flag
M2347
CPU No.3 MULTR complete flag
M2348
CPU No.4 MULTR complete flag
M9078
M9243
At status
change
M9244
At request
M9105
M9216
M9217
At instruction
completion
M9218
M9219
M2349
to
—
Unusable
—
—
—
M2399
(Note): The same status as a remark column is output.
3 - 10
3 POSITIONING DEDICATED SIGNALS
(6) Common device list (Command signal)
Device No.
Signal name
M3072
PLC ready flag
M3073
Speed switching point specified flag
Refresh cycle
Fetch cycle
Signal direction
Remark
(Note-1), (Note-2)
Main cycle
M2000
At start
M2040
Operation
cycle
M2042
At virtual mode
transition
M2043
M3074
All axes servo ON command
M3075
Real/virtual mode switching request
M3076
JOG operation simultaneous start
command
M3077
Manual pulse generator 1 enable flag
M3078
Manual pulse generator 2 enable flag
M3079
Manual pulse generator 3 enable flag
M2053
M3080
Motion SFC error history clear request
(Note-3)
flag
M2035
Command
signal
M2048
M2051
Main cycle
M2052
M3081
to
Unusable
—
—
—
—
M3135
(Note-1): The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column
turns OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks
column is turned on directly. In addition, when the request from a data register and the request from the above device
are performed simultaneously, the request from the above device becomes effective.
(Note-2): It can also be ordered the device of a remark column.
(Note-3): M3080 does not turn off automatically. Turn it off as an user side.
(7) Special relay allocated device list (Command signal)
Device No.
Signal name
M3136
Clock data set request
M3137
Clock data read request
M3138
Error reset
M3139
Servo parameter read request flag
Refresh cycle
Fetch cycle
Signal direction
Remark
(Note-1), (Note-2)
M9025
Main cycle
Command
signal
M9028
M9060
M9104
M3140
to
Unusable
—
—
—
—
M3199
(Note-1): The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column
turns OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks
column is turned on directly.
(Note-2): It can also be ordered the device of a remark column.
3 - 11
3 POSITIONING DEDICATED SIGNALS
3.1.1 Axis statuses
(1) Positioning start complete signal (M2400+20n)
(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.)
(b) This signal turns off at turning the complete signal OFF command
(M3204+20n) off to on or positioning completion.
When the complete signal OFF command (M3204+20n) turns off to on.
V
Dwell time
t
Servo program start
ON
Start accept flag
(M2001 to M2032)
OFF
Positioning start complete signal
(M2400+20n)(Note-1)
OFF
Complete signal OFF command
(M3204+20n)(Note-1)
OFF
ON
ON
When the positioning is completed.
Dwell time
V
Positioning completion
t
Servo program start
ON
Start accept flag
(M2001 to M2032)
OFF
Positioning start complete signal
(M2400+20n)(Note-1)
OFF
ON
REMARK
(Note-1): In the above descriptions, "n" in "M3204+20n", etc. indicates a value
corresponding to axis No. such as the following tables.
Axis No.
n
Axis No.
n
Axis No.
n
Axis No.
1
0
9
8
17
16
25
24
2
1
10
9
18
17
26
25
3
2
11
10
19
18
27
26
4
3
12
11
20
19
28
27
5
4
13
12
21
20
29
28
6
5
14
13
22
21
30
29
7
6
15
14
23
22
31
30
8
7
16
15
24
23
32
31
• Calculate as follows for the device No. corresponding to each axis.
(Example) M3200+20n (Stop command)=M3200+20 31=M3820
M3215+20n (Servo OFF)
=M3215+20 31=M3835
• The range (n=0 to 7) of axis No.1 to 8 is valid in the Q172CPU(N).
3 - 12
n
3 POSITIONING DEDICATED SIGNALS
(2) Positioning complete signal (M2401+20n)
(a) This signal turns on with the completion for the positioning control of 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.
It can be used to read a M-code at the positioning completion.
(Refer to Section 7.1.)
(b) This signal turns off at turning the complete signal OFF command
(M3204+20n) off to on or positioning start.
When the complete signal OFF command (M3204+20n) turns off to on.
V
Dwell time
t
Servo program start
ON
ON
Start accept flag
(M2001 to M2032)
OFF
Positioning complete signal
(M2401+20n)
OFF
Complete signal OFF
command (M3204+20n)
OFF
OFF
ON
ON
When the next positioning starts.
V
Positioning
completion
Dwell time
Positioning start
t
Servo program start
ON
ON
Start accept flag
(M2001 to M2032)
OFF
Positioning complete signal
(M2401+20n)
OFF
OFF
ON
(3) In-position signal (M2402+20n)
(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
3 - 13
3 POSITIONING DEDICATED SIGNALS
(b) An in-position check is performed in the following cases.
• When the servo power supply is turned on.
• After the automatic deceleration is started during positioning control.
• After the deceleration is started with the JOG start signal OFF.
• During the manual pulse generator operation.
• After the proximity dog ON during a home position return.
• After the deceleration is started with the stop command.
• When the speed change to a speed "0" is executed.
(4) Command in-position signal (M2403+20n)
(a) This signal turns on when the absolute value of difference between the
command position and feed current value becomes below the "command
in-position range" set in the fixed parameters.
This signal turns off in the following cases.
• Positioning control start
• Home position return
• Speed control
• JOG operation
• Manual pulse generator operation
(b) Command in-position check is continually executed during position control.
This check is not executed during speed control or speed control in the
speed/position switching control.
Switch from speed to position
Command in-position setting
Command in-position
V
Position
control
start
Speed/position
control start
setting
t
Command ON
in-position
(M2403+20n)
OFF
Execution of command in-position check
Execution of command
in-position check
(5) Speed controlling signal (M2404+20n)
(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.
3 - 14
3 POSITIONING DEDICATED SIGNALS
(b) This signal turns off at the power supply on and during position control.
At speed/position switching control
CHANGE
At position control
At speed control
Speed control start
Positioning start
Speed/position control start
t
ON
Speed controlling OFF
signal
(M2404+20n)
Speed
control
Position
control
(6) Speed/position switching latch signal (M2405+20n)
(a) This signal turns on when the control is switched from speed control to
position control.
It can be used as an interlock signal to enable or disable changing of the
travel value in position control.
(b) The signal turns off at the following start.
• Position control
• Speed/position control
• Speed control
• JOG operation
• Manual pulse generator operation
CHANGE
Start
Speed/position control start
t
Speed/position switching ON
latch signal(M2405+20n)
OFF
ON
CHANGE signal from
external source
OFF
(7) Zero pass signal (M2406+20n)
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 CPU has
been reset.
However, in the home position return method of proximity dog, count, dog cradle
or limit switch combined type, this signal turns off once at the home position
return start and turns on again at the next zero point passage.
3 - 15
3 POSITIONING DEDICATED SIGNALS
(8) Error detection signal (M2407+20n)
(a) This signal turns on with detection of a minor error or major error, and it is
used as judgement of the error available/not available.
The applicable error code(Note-1) is stored in the minor error code storage
register with detection of a minor error. (Refer to Section 3.2.1)
The applicable error code(Note-2) is stored in the major error code storage
register with detection of a major error. (Refer to Section 3.2.1)
(b) This signal turns off when the error reset command (M3207+20n) turns on.
Error detection
Error detection signal
(M2407+20n)
OFF
Error reset command
(M3207+20n)
OFF
ON
ON
REMARK
(Note-1): Refer to APPENDIX 1.2 for the error codes with detection of minor errors.
(Note-2): Refer to APPENDIX 1.3 for the error codes with detection of major errors.
(9) Servo error detection signal (M2408+20n)
(a) This signal turns on when an error occurs at the servo amplifier side (except
for errors cause of alarms and emergency stops)(Note-1), and it is used as
judgement of the servo error available/not available.
When an error is detected at the servo amplifier side, the applicable error
code(Note-1) is stored in the servo error code storage register. (Refer to
Section 3.2.1)
(b) This signal turns off when the servo error reset command (M3208+20n)
turns on or the servo power supply turns on again.
Servo error detection
Servo error detection signal OFF
(M2408+20n)
ON
ON
Servo error reset command OFF
(M3208+20n)
REMARK
(Note-1): Refer to APPENDIX 1.4 for the error codes on errors detected at the servo
amplifier side.
3 - 16
3 POSITIONING DEDICATED SIGNALS
(10) Home position return request signal (M2409+20n)
This signal turns on when it is necessary to confirm the home position address
at the power supply on or during positioning control.
(a) When not using an absolute position system
1) This signal turns on in the following cases:
• Motion CPU power supply on or reset
• During a home position return
2) This signal turns off by the completion of home position return.
(b) When using an absolute position system
1) This signal turns on in the following cases:
• During a home position return
• Backup data (reference value) sum check error occurence (power
supply on).
2) This signal turns off by the completion of home position return.
CAUTION
When using the absolute position system function, on starting up, and when the Motion
controller or absolute value motor has been replaced, always perform a home position return.
In the case of the absolute position system, use the PLC program to check the home position
return request before performing the positioning operation.
Failure to observe this could lead to an accident such as a collision.
(11) Home position return complete signal (M2410+20n)
(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.
(c) If the home position return of proximity dog, dog cradle or stopper type
using the servo program is executed during this signal on, the "continuous
home position return start error (minor error: 115)" occurs and it cannot be
start the home position return.
(12) FLS signal (M2411+20n)
(a) This signal is controlled by the ON/OFF state for the upper stroke limit
switch input (FLS) of the Q172LX.
• Upper stroke limit switch input OFF ...... FLS signal: ON
• Upper stroke limit switch input ON ........ FLS signal: OFF
3 - 17
3 POSITIONING DEDICATED SIGNALS
(b) The state for the upper stroke imit switch input (FLS) when the FLS signal is
ON/OFF is shown below.
FLS signal : ON
Q172LX
FLS
FLS signal : OFF
Q172LX
FLS
FLS
COM
FLS
COM
(13) RLS signal (M2412+20n)
(a) This signal is controlled by the ON/OFF state for the lower stroke limit
switch input (FLS) of the Q172LX.
• 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.
RLS signal : ON
Q172LX
RLS
RLS signal : OFF
Q172LX
RLS
RLS
RLS
COM
COM
(14) STOP signal (M2413+20n)
(a) This signal is controlled by the ON/OFF state for the stop signal input
(STOP) of the Q172LX.
• Stop signal input of the Q172LX OFF ..... STOP signal: OFF
• Stop signal input of the Q172LX ON ....... STOP signal: ON
(b) The state of the stop signal input (STOP) of the Q172LX when the STOP
signal input is ON/OFF is shown below.
STOP signal : ON
Q172LX
STOP signal : OFF
Q172LX
STOP
STOP
STOP
STOP
COM
COM
(15) DOG/CHANGE signal (M2414+20n)
(a) This signal turns on/off by the proximity dog input (DOG) of the Q172LX at
the home position return.
This signal turns on/off by the speed/position switching input (CHANGE) of
the Q172LX at the speed/position switching control.
3 - 18
3 POSITIONING DEDICATED SIGNALS
(b) "Normally open contact input" and "Normally closed contact input" of the
system setting can be selected.
The state of the speed/position switching input (CHANGE) when the
CHANGE signal is ON/OFF is shown below.
DOG/CHANGE signal : OFF
Q172LX
DOG/CHANGE
DOG/CHANGE signal : ON
Q172LX
DOG/CHANGE
DOG/CHANGE
DOG/CHANGE
COM
COM
(16) Servo ready signal (M2415+20n)
(a) This signal turns on when the servo amplifiers connected to each axis are in
the READY state.
(b) This signal turns off in the following cases.
• M2042 is off
• Servo amplifier is not installed
• Servo parameter is not set
• It is received the forced stop input from an external source
• Servo OFF by the servo OFF command (M3215+20n) ON
• Servo error occurs
Refer to APPENDIX 1.4 "Servo errors" for details.
Q38B
Q61P Q02H Q172 Q172
LX
CPU CPU
(N)
Communication is normal
Servo ready signal : ON
AMP
AMP
M
M
POINT
When the part of multiple servo amplifiers connected to the SSCNET becomes a
servo error, only an applicable axis becomes the servo OFF state.
(17) Torque limiting signal (M2416+20n)
This signal turns on while torque limit is executed.
The signal toward the torque limiting axis turns on.
3 - 19
3 POSITIONING DEDICATED SIGNALS
(18) M-code outputting signal (M2419+20n)
(a) This signal turns during M-code is outputting.
(b) This signal turns off when the stop command, cancel signal, skip signal or
FIN signal are inputted.
M1
M-code
M-code
outputting signal
(M2419+20n)
OFF
FIN signal
(M3219+20n)
OFF
M2
M3
ON
ON
POINTS
(1) The FIN signal and M-code outputting signal are both for the FIN signal wait
function.
(2) The FIN signal and M-code outputting signal are effective only when FIN
acceleration/deceleration is designated in the servo program.
Otherwise, the FIN signal wait function is disabled, and the M-code outputting
signal does not turn on.
3 - 20
3 POSITIONING DEDICATED SIGNALS
3.1.2 Axis command signals
(1) Stop command (M3200+20n)
(a) This command stops a starting axis from an external source and becomes
effective at the turning signal off to on. (An axis for which the stop command
is turning on cannot be started.)
ON
Stop command
(M3200+20n)
OFF
Stop command for
specified axis
V
Setting speed
Control when stop
command turns off
Stop
t
Deceleration stop processing
(b) The details of stop processing when the stop command turns on are shown
below. (Refer to Section 6.13 or 6.14 for details of the speed control.)
Control details
during execution
Processing at the turning stop command on
During control
The axis decelerates to a stop in the
Speed control ( , ) deceleration time set in the parameter
block or servo program.
JOG operation
Positioning control
During deceleration stop processing
The stop command is ignored and
deceleration stop processing is continued.
An immediate stop is executed without
Manual pulse
generator operation deceleration processing.
(1) The axis decelerates to a stop in the deceleration time set in the parameter block.
Home position return (2) A "stop error during home position return" occurs and the error code [202] is
stored in the minor error storage register for each axis.
(c) The stop command in a dwell time is invalid. (After a dwell time, the start
accept flag (M2001+n) turns OFF, and the positioning complete signal
(M2401+20n) turns ON.)
POINT
If it is made to stop by turning on the stop command (M3200+20n) during a home
position return, execute the home position return again.
If the stop command is turned on after the proximity dog ON in the proximity dog
type, execute the home position return after move to before the proximity dog ON
by the JOG operation or positioning.
3 - 21
3 POSITIONING DEDICATED SIGNALS
(2) Rapid stop command (M3201+20n)
(a) This command is a signal which stop a starting axis rapidly from an external
source and becomes effective when the signal turns off to on. (An axis for
which the rapid stop command turns on cannot be started.)
ON
Rapid stop command OFF
(M3201+20n)
Rapid stop command
for specified axis
V
Control when rapid
stop command turns off
Setting speed
Stop
t
Rapid stop processing
(b) The details of stop processing when the rapid stop command turns on are
shown below.
Control details
during execution
Processing at the turning rapid stop command on
During control
During deceleration stop processing
Deceleration processing is canceled and
The axis decelerates to a rapid stop
Speed control ( , ) deceleration time set in the parameter rapid stop processing executed instead.
block or servo program.
JOG operation
Position control
An immediate stop is executed without
Manual pulse
generator operation deceleration processing.
(1) The axis decelerates to a stop in the rapid stop deceleration time set in the
parameter block.
Home position return
(2) A "stop error during home position return" error occurs and the error code [203] is
stored in the minor error storage register for each axis.
(c) The rapid stop command in a dwell time is invalid. (After a dwell time, the
start accept flag (M2001+n) turns OFF, and the positioning complete signal
(M2401+20n) turns ON.)
POINT
If it is made to stop rapidly by turning on the rapid stop command (M3201+20n)
during a home position return, execute the home position return again.
If the rapid stop command turned on after the proximity dog ON in the proximity dog
type, execute the home position return after move to before the proximity dog ON
by the JOG operation or positioning.
3 - 22
3 POSITIONING DEDICATED SIGNALS
(3) Forward rotation JOG start command (M3202+20n)/Reverse
rotation JOG start command (M3203+20n)
(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.
(b) JOG operation to the address decrease direction is executed while reverse
rotation JOG start command (M3203+20n) is turinig on.
When M3203+20n is turned off, a deceleration stop is executed in the
deceleration time set in the parameter block.
POINT
Take an interlock so that the forward rotation JOG start command (M3202+20n)
and reverse rotation JOG start command (M3203+20n) may not turn on
simultaneously.
(4) Complete signal OFF command (M3204+20n)
(a) This command is used to turn off the positioning start complete signal
(M2400+20n) and positioning complete signal (M2401+20n).
Dwell time
Dwell time
t
ON
Positioning start complete OFF
signal (M2400+20n)
Positioning complete
signal (M2401+20n)
OFF
Complete signal OFF
command (M3204+20n)
OFF
ON
ON
POINT
Do not turn the complete signal OFF command on with a PLS instruction.
If it is turned on with a PLS instruction, it cannot be turned off the positioning start
complete signal (M2400+20n) and the positioning complete signal (M2401+20n).
3 - 23
3 POSITIONING DEDICATED SIGNALS
(5) Speed/position switching enable command (M3205+20n)
(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.
Control does not switch from
speed control to position control
because M3205+20n turns off
CHANGE
CHANGE
Control switches from
speed control to position
control because
M3205+20n turns on
t
ON
Speed/position switching
OFF
enable command (M3205+20n)
CHANGE signal from
external source
OFF
(6) Error reset command (M3207+20n)
This command is used to clear the minor/major error code storage register of an
axis for which the error detection signal has turn on (M2407+20n: ON), and reset
the error detection signal (M2407+20n).
ON
Servo error detection signal
(M2408+20n)
OFF
Servo error reset command
(M3208+20n)
OFF
ON
Servo error code storage
register
00
**
** : Error code
(7) Servo error reset command (M3208+20n)
This command is used to clear the servo error code storage register of an axis
for which the servo error detection signal has turn on (M2408+20n: ON), and
reset the servo error detection signal (M2408+20n).
ON
Servo error detection signal
(M2408+20n)
OFF
Servo error reset command
(M3208+20n)
OFF
ON
Servo error code storage
register
**
00
** : Error code
3 - 24
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)
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 .......... External stop input is set as valid, and axes which stop input is
turning on cannot be started.
POINT
When it stops an axis with the external stop input after it starts by turning on the
external stop input disable at start command (M3209+20n), switch the external stop
input from OFF ON (if the external stop input is turning on at the starting, switch
it from ON OFF ON).
(9) Feed current value update request command (M3212+20n)
This signal is used to set whether the feed current value will be cleared or not at
the starting in speed/position switching control.
• ON .......... The feed current value is updated from the starting.
The feed current value is not cleared at the starting.
• OFF .......... The feed current value is updated from the starting.
The feed current value is cleared at the starting.
POINT
When it starts by turning on the feed current value update request command
(M3212+20n), keep M3212+20n on until completion of the positioning control.
If M3212+20n is turned off on the way, the feed current value may not be reliable.
(10) Servo OFF command (M3215+20n)
This command is used to execute the servo OFF state (free run state).
• M3215+20n: OFF ..... Servo ON
• M3215+20n: ON ....... Servo OFF (free run state)
This command becomes invalid during positioning, and should therefore be
executed after completion of positioning.
CAUTION
Turn the power supply of the servo amplifier side off before touching a servomotor, such as
machine adjustment.
3 - 25
3 POSITIONING DEDICATED SIGNALS
(11) Gain changing command (M3216+20n)
This signal is used to change gain of servo amplifier in the Motion controller
by gain changing command ON/OFF.
• ON ... Gain changing valid (Gain changing value set in the servo parmeter)
• OFF ... Gain changing invalid (Normal gain)
The servo amplifier version and software version of servo amplifier which can
be used the gain changing function are shown below.
Servo amplifier type
Software version of servo amplifier
MR-J2S- B
Ver. B2 or later
MR-J2M-B
Ver. A0 or later
Refer to the Servo Amplifier Instruction Manual for details of gain changing
function.
Instruction Manual list is shown below.
Servo amplifier type
Instruction manual name
MR-J2S- B
MR-J2S- B Servo Amplifier Instruction Manual (SH-030007)
MR-J2M-B
MR-J2M-B Servo Amplifier Instruction Manual (SH-030012)
REMARK
It can be used in the SW6RN-SV13Q /SV22Q (Ver.00R or later).
(12) FIN signal (M3219+20n)
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 accelaration/deceleration is set and FIN signal
wait function is selected.
Point
<K 0>
Point
1
2
3
4
CPSTART2
Axis
1
Axis
2
Speed
FIN acceleration/
deceleration
ABS-2
Axis
1,
Axis
2,
M-code
ABS-2
Axis
1,
Axis
2,
M-code
ABS-2
Axis
1,
Axis
2,
M-code
ABS-2
Axis
1,
Axis
2,
CPEND
1
M-code
10000
100
200000
200000
10
300000
250000
11
350000
300000
12
400000
400000
WAIT
10
2
11
M-code outputting
signal
(M2419+20n)
FIN signal
(M3219+20n)
Timing Chart for Operation Description
1. When the positioning of point 1 starts, M-code 10 is output and
the M-code outputting signal turns on.
2. FIN signal turns on after performing required processing in the
Motion SFC program. Transition to the next point does not
execute until the FIN signal turns on.
3. When the FIN signal turns on, the M-code outputting signal
turns off.
4. When the FIN signal turns off after the M-code outputting signal
turns off, the positioning to the next point 2 starts.
3 - 26
3 POSITIONING DEDICATED SIGNALS
POINTS
(1) The FIN signal and M-code outputting signal are both signal for the FIN signal
wait function.
(2) The FIN signal and M-code outputting signal are valid only when FIN
acceleration/deceleration is designated in the servo program.
Otherwise, the FIN signal wait function is disabled, and the M-code outputting
signal does not turn on.
3 - 27
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) ..............………………… Command signal
(a) This signal informs the Motion CPU that the PLC CPU is normal.
1) The positioning control, home position return, JOG operation or manual
pulse generator operation using the servo program which performs the
Motion SFC program when the M2000 is ON.
2) The above 1) control is not performed even if the M2000 is turned on
during the test mode [TEST mode ON flag (M9075): ON] using a
peripheral device.
(b) The setting data such as the fixed parameters, servo parameters and limit
switch output data can be changed using a peripheral device when the
M2000 is OFF only.
The above data using a peripheral device cannot be written when the
M2000 is ON.
(c) The following processings are performed when the M2000 turns OFF to
ON.
1) Processing details
• Transfer the servo parameters to the servo amplifier.
• Clear the M-code storage area of all axes.
• Turn the PCPU READY complete flag (M9074) on. (Motion SFC
program can be executed.)
• Start to execute the Motion SFC program of the automatic starting
from the first.
2) If there is a starting axis, an error occurs, and the processing in above
(c) 1) is not executed.
3 - 28
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
(M9074)
PCPU READY complete flag
(M9074) does not turn on because
during deceleration.
Set the servo parameters to the
servo amplifiers, clear a M-code.
(d) The following processings are performed when the M2000 turns ON to
OFF.
1) Processing details
• Turn the PCPU READY complete flag (M9074) off.
• Deceleration stop of the starting axis.
• Stop to execute the Motion SFC program.
• Turn all points of the real output PY off.
(e) Operation setting at STOP RUN
The condition which the PLC ready flag (M2000) turns on is set in the
sysytem setting. Select the following either.
1) M2000 turns on by the switch (STOP RUN). (Default)
The condition which M2000 turns OFF to ON.
• Move the RUN/STOP switch from STOP to RUN.
• Turn the power supply on or release to reset where the RUN/STOP
switch is moved to RUN.
The condition which M2000 turns ON to OFF.
• Move the RUN/STOP switch from RUN to STOP.
2) M2000 turns on by set "1" to the switch (STOP RUN) + setting
register.
(M2000 is turned on by set "1" to the switch RUN setting register.)
The condition which M2000 is turned ON to OFF.
• Set "1" 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 0 1 in D704.)
3 - 29
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. The start accept flag
corresponding to an axis specified with the servo program turns on.
(b) The ON/OFF processing of the start accept flag is shown below.
1) When the servo program is started using the Motion SFC program or
Motion dedicated PLC instruction (S(P).SVST), the start accept flag
corresponding to an axis specified with the servo program turns on and
it turns off at the positioning completion. This flag also turns off when it
is made to stopping on the way.
(When it is made to stop on the way by the speed change to speed "0",
this flag remains on.)
Positioning stop during control
Normal positioning completion
V
V
Dwell time
t
Positioning
completion
Servo program start
Positioning
start
Servo program start
ON
ON
Start accept flag
(M2001+n)
OFF
Positioning complete
(M2401+20n)
Positioning start
complete (M2400+20n)
t
Positioning
stop
completion
ON
OFF
Start accept flag
(M2001+n)
OFF
Positioning complete
(M2401+20n)
OFF
Positioning start
complete (M2400+20n)
OFF
ON
2) This flag turns on at the positioning control by turning on the JOG start
command (M3202+20n or M3203+20n), and turns off at the positioning
stop by turning off the JOG start command.
3) This flag turns on during the manual pulse generator enable (M2051 to
M2053: ON), and turns off at the manual pulse generator disable
(M2051 to M2053: OFF).
4) This flag turns on during a current value change by the CHGA
instruction of servo program or Motion dedicated PLC instruction
(S(P).CHGA), and turns off at the completion of the current value
change.
CHGA instruction
ON
Current value changing
processing
Start accept flag OFF
(M2001 to M2032)
3 - 30
Turns off at the completion of
current value change.
3 POSITIONING DEDICATED SIGNALS
CAUTION
Do not turn the start accept flags ON/OFF in the user side.
• If the start accept flag is turned off using the Motion SFC program or peripheral devices while
this flag is on, no error will occur but the positioning operation will not be reliable. Depending
on the type of machine, it might operate in an unanticipated operation.
• If the start accept flag is turned on using the Motion SFC program or peripheral devices while
this flag is off, no error will occur but the "start accept on error" will occur at the next starting
and cannot be started.
(3) Personal computer link communication error flag (M2034)
....………. Status signal
This flag turns on when the communication error occurs in the personal
computer link communication.
• ON : Personal computer link communication error occurs
• OFF: No personal computer link communication error
(It turns off if normal communication is resumed.)
Refer to APPENDIX 1.5 for details on the PC link communication errors.
(4) Motion SFC error history clear request flag (M2035)
.……. Command signal
This flag is used to clear the backed-up Motion SFC error history (#8000 to
#8063).
The Motion SFC error history is cleared at the turning M2035 OFF to ON.
After detection of the turning M2035 OFF to ON, the Motion SFC error history is
cleared, and then the M2035 is automatically turned OFF.
REMARK
It can be used in the SW6RN-SV13Q /SV22Q (Ver.00N or later).
(5) Motion SFC error detection flag (M2039) .....….…… Status signal
This flag turns on with error occurrence at the execution of the Motion SFC
program.
When turned off this flag, execute it by the user side after checking the error
contents.
(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 .......... Speed has been changed to the specified speed at the pass
point of the constant speed control.
3 - 31
3 POSITIONING DEDICATED SIGNALS
M2040 OFF
V
t
t
Pass points of the
constant speed control
(When the speed change
is specified with P3.)
Speed switching point
specified flag (M2040)
P1
P2
P3
Pass points of the
constant speed control
(When the speed change
is specified with P3.)
P4
OFF
Speed switching point
specified flag (M2040)
Servo program start
P1
P2
P3
P4
ON
OFF
Servo program start
ON
Start accept flag
(M2001+n)
M2040 ON
V
ON
OFF
Start accept flag
(M2001+n)
OFF
(7) System setting error flag (M2041)................................. Status signal
This flag set the "system setting data" and performs an adjustment check with a
real installation state (CPU base unit/extension base units) at the power supply
on or resetting of the Motion CPU.
• ON .......... Error
• OFF .......... Normal
(a) When an error occurs, the ERR. LED at the front of the CPU turns on.
The error contents can be confirmed using the error list monitor of a
peripheral device started by SW6RN-GSV P.
(b) When M2041 is on, positioning cannot be started. Remove an error factor,
and turn the power supply on again or reset the Multiple CPU system.
REMARK
Even if the module which is not set as the system setting with the peripheral device
is installed in the slot, it is not set as the object of an adjustment check. And, the
module which is not set as the system setting cannot be used in the Motion CPU.
(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 ...... • M2042 is off
• The servo OFF command (M3215+20n) is on
• Servo error state
ON
All axes servo ON command OFF
(M2042)
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.
3 - 32
3 POSITIONING DEDICATED SIGNALS
POINT
When M2042 turns on, it is not turned off even if the CPU is set in the STOP state.
(9) Motion slot fault detection flag (M2047) ....................... Status signal
This flag is used as judgement which modules installed in the motion slot of the
CPU base unit is "normal" or "abnormal".
• ON .......... Installing module is abnormal
• OFF .......... Installing module is normal
The module information at the power supply on and after the power supply
injection are always checked, and errors are detected.
(a) Perform the disposal (stop the starting axis, servo OFF, etc.) of error
detection using the Motion SFC program.
(10) JOG operation simultaneous start command (M2048)
.……. Command signal
(a) When M2048 turns on, JOG operation simultaneous start based on the
JOG operation execution axis set in the JOG operation simultaneous start
axis setting register (D710 to D713).
(b) When M2048 turns off, the axis during operation decelerates to a stop.
(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.
(12) Manual pulse generator enable flag (M2051 to M2053)
.......... Command signal
This flag set the enabled or disabled state for positioning with the pulse input
from the manual pulse generators connected to P1 to P3(Note) of the Q173PX.
• ON .......... Positioning control is executed by the input from the manual pulse
generators.
• OFF .......... Positioning control cannot be executed by the manual pulse
generators because of the input from the manual pulse
generators is ignored.
Default value is invalid (OFF).
3 - 33
3 POSITIONING DEDICATED SIGNALS
REMARK
(Note): Refer to the "Q173CPU(N)/Q172CPU(N) User's Manual" for P1 to P3
connector of the Q173PX.
(13) Operation cycle over flag (M2054) ............................ Status signal
This flag turns on when the time concerning motion operation exceeds the
operation cycle of the Motion CPU setting. Perform the following operation, in
making it turn off.
• Turn the power supply of the Multiple CPU system on to off
• Reset the Multiple CPU system
• Reset using the user program
[Error measures]
1) Change the operation cycle into a large value in the system setting.
2) The number of instruction completions of an event task or NMI task in
the Motion SFC program.
(14) Speed changing flag (M2061 to M2092) .................... Status signal
This flag turns on during speed change by the control change (CHGV)
instruction (or Motion dedicated PLC instruction (S(P).CHGV)) of the Motion
SFC program.
CHGV instruction
ON
Speed changing flag OFF
0 to 4ms
Speed change
Speed after
speed change
Setting speed
t
Speed change completion
The speed changing flag list is shown below.
Axis No.
Device No.
Axis No.
Device No.
Axis No.
Device No.
Axis No.
1
M2061
9
M2069
17
M2077
25
Device No.
M2085
2
M2062
10
M2070
18
M2078
26
M2086
3
M2063
11
M2071
19
M2079
27
M2087
4
M2064
12
M2072
20
M2080
28
M2088
5
M2065
13
M2073
21
M2081
29
M2089
6
M2066
14
M2074
22
M2082
30
M2090
7
M2067
15
M2075
23
M2083
31
M2091
8
M2068
16
M2076
24
M2084
32
M2092
(Note): The range of axis No.1 to 8 is valid in the Q172CPU(N).
REMARK
In the SV22 virtual mode, the flag is that of the virtual servomotor axis.
3 - 34
3 POSITIONING DEDICATED SIGNALS
(15) Automatic decelerating flag (M2128 to M2159) ......... Status signal
This signal turns on while automatic deceleration processing is performed at
the positioning control or position follow-up control.
(a) This flag turns on during automatic deceleration processing to the
command address at the position follow-up control, but it turns off if the
command address is changed.
(b) When the normal start is completed at the control in all control system, it
turns off.
(c) In any of the following cases, this flag does not turn off.
• During deceleration by the JOG signal off
• During manual pulse generator operation
• At deceleration on the way due to stop command or stop cause
occurrence
• When travel value is 0
V
t
ON
Automatic
deceleration flag (Note)
OFF
The automatic deceleration 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.
M2152
2
M2129
10
M2137
18
M2145
26
M2153
3
M2130
11
M2138
19
M2146
27
M2154
4
M2131
12
M2139
20
M2147
28
M2155
5
M2132
13
M2140
21
M2148
29
M2156
6
M2133
14
M2141
22
M2149
30
M2157
7
M2134
15
M2142
23
M2150
31
M2158
8
M2135
16
M2143
24
M2151
32
M2159
(Note): The range of axis No.1 to 8 is valid in the Q172CPU(N).
REMARK
In the SV22 virtual mode, the flag is that of the virtual servomotor axis.
3 - 35
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.
Speed change "0"
V
Thereafter, by changing speed to
except "0", it starts continuously.
V1
Speed change V2
V2
t
Start accept flag
ON
Speed change "0"
accepting flag
OFF
Positioning
complete signal
The speed change "0" accepting flag list is shown below.
Axis No.
Device No.
Axis No.
Device No.
Axis No.
Device No.
Axis No.
1
M2240
9
M2248
17
M2256
25
Device No.
M2264
2
M2241
10
M2249
18
M2257
26
M2265
3
M2242
11
M2250
19
M2258
27
M2266
4
M2243
12
M2251
20
M2259
28
M2267
5
M2244
13
M2252
21
M2260
29
M2268
6
M2245
14
M2253
22
M2261
30
M2269
7
M2246
15
M2254
23
M2262
31
M2270
8
M2247
16
M2255
24
M2263
32
M2271
(Note): The range of axis No.1 to 8 is valid in the Q172CPU(N).
REMARK
(1) Even if it has stopped, when the start accept flag (M2001 to M2032) is ON state,
the state where the request of speed change "0" is accepted is indicated.
Confirm by this speed change "0" accepting flag.
(2) During interpolation, the flags corresponding to the interpolation axes are set.
(3) In any of the following cases, the speed change "0" request is invalid.
• After deceleration by the JOG signal off
• During manual pulse generator operation
• After positioning automatic deceleration start
• After deceleration due to stop cause
(4) During the SV22 virtual mode, the flag is that of the virtual servomotor axis.
3 - 36
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.
Speed change "0"
V
Stop cause
t
Start accept flag
ON
Speed change "0"
accepting flag
OFF
(c) The speed change "0" accepting flag does not turn on if a speed change "0"
occurs after an automatic deceleration start.
Automatic deceleration start
V
Speed change "0"
t
Start accept flag
(OFF)
Speed change "0"
accepting flag
3 - 37
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
Command address P1
Speed change "0"
V1
Speed change V2
Command
address P2
P1
V2
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.
3 - 38
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
32 axes)
(2 points
to
Common device (Command signal)
(54 points)
D704
to
D758
Common device (Monitor)
(42 points)
to
D800
D800
to
D1120
to
D1240
to
Application
Axis monitor device
32 axes)
(20 points
Real mode……each axis
Virtual mode….output module
Control change register
32 axes)
(2 points
Common device (Command signal)
(54 points)
Common device (Monitor)
(42 points)
Virtual servomotor axis monitor
device (Note)
(10 points
32 axes)
(Mechanical system setting axis only)
Syncronous encoder axis monitor
device (Note) (10 points
12 axes)
CAM axis monitor device (Note)
(10 points
32 axes)
D1560
to
User device
(7392 points)
to
D8191
User device
(6632 points)
D8191
Usable in the user device.
(Note): When it is used in the SV22 real mode only, it can be used as an user device.
POINT
• Total number of user device points
7392 points (SV13) / 6632 points (SV22 real mode only)
3 - 39
3 POSITIONING DEDICATED SIGNALS
(2) 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.
18
D340 to D359
13 M-code
19
D360 to D379
14 Torque limit value
20
D380 to D399
21
D400 to D419
Data set pointer for
15
constant-speed control
22
D420 to D439
23
D440 to D459
24
D460 to D479
25
D480 to D499
26
D500 to D519
27
D520 to D539
28
D540 to D559
29
D560 to D579
30
D580 to D599
31
D600 to D619
32
D620 to D639
Signal name
9
Refresh cycle
Fetch cycle
Feed current value
Real current value
unit
Operation cycle
PLS
Immediate
Main cycle
PLS
Operation cycle
Monitor
device
Command
unit
At start
Operation cycle
%
At start/during start
16 Travel value change
17 register
18 Real current value at
19 stop input
Signal
direction
Command
Deviation counter value
Home position return
re-travel value
Unit
Operation cycle
Operation cycle
Command
Command
device
unit
Monitor
device
(Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2): Device area of 9 axes or more is unusable in the Q172CPU(N).
3 - 40
3 POSITIONING DEDICATED SIGNALS
(3) Control change register list
Axis
No.
Device No.
1
D640, D641
2
D642, D643
3
D644, D645
4
D646, D647
0
5
D648, D649
1
6
D650, D651
7
D652, D653
8
D654, D655
9
D656, D657
10
D658, D659
11
D660, D661
12
D662, D663
13
D664, D665
14
D666, D667
15
D668, D669
16
D670, D671
17
D672, D673
18
D674, D675
19
D676, D677
20
D678, D679
21
D680, D681
22
D682, D683
23
D684, D685
24
D686, D687
25
D688, D689
26
D690, D691
27
D692, D693
28
D694, D695
29
D696, D697
30
D698, D699
31
D700, D701
32
D702, D703
Signal name
Signal name
Refresh cycle
Fetch cycle
At start
JOG speed setting
Unit
Signal
direction
Command Command
unit
device
(Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2): Device area of 9 axes or more is unusable in the Q172CPU(N).
3 - 41
3 POSITIONING DEDICATED SIGNALS
(4) Common device list
Device
Signal name
No.
Refresh cycle
Fetch cycle
Signal
Device
direction
No.
Signal name
D704
PLC ready flag request
D752
Manual pulse generator 1
smoothing magnification
setting register
D705
Speed switching point
specified flag request
D753
Manual pulse generator 2
smoothing magnification
setting register
D706
All axes servo ON command
request
D754
Manual pulse generator 3
smoothing magnification
setting register
D707
Real/virtual mode switching
(Note-1)
(SV22)
request
D755
Manual pulse generator 1
enable flag request
D708
JOG operation simultaneous
start command request
D756
Manual pulse generator 2
enable flag request
D757
Manual pulse generator 3
enable flag request
D709
Main cycle
Command
device
Unusable
D710
D711
D712
JOG operation simultaneous
start axis setting register
At start
Unusable
D759
PCPU ready complete flag
status
D762
Manual pulse generator axis
2 No. setting register
D764
Manual pulse generator axis
3 No. setting register
D766
D720
Axis 1
D768
D721
Axis 2
D769
D722
Axis 3
D770
D723
Axis 4
D771
D724
Axis 5
D772
D725
Axis 6
D773
D726
Axis 7
D774
D727
Axis 8
D775
D728
Axis 9
D729
Axis 10
D730
Axis 11
D731
Axis 12
D732
Axis 13
D733
Axis 14
D734
Axis 15
D735
Axis 16
D736
Axis 17
D737
Axis 18
D785
D738
Axis 19
D786
D739
Axis 20
D787
D740
Axis 21
D788
D741
Axis 22
D789
D742
Axis 23
D790
D743
Axis 24
D791
D744
Axis 25
D792
D745
Axis 26
D793
D746
Axis 27
D794
D747
Axis 28
D795
D748
Axis 29
D796
D749
Axis 30
D797
D750
Axis 31
D798
D751
Axis 32
D799
D716
D717
D718
D719
Signal
direction
At the manual pulse
generator enable flag
Command
device
Main cycle
Main cycle
Monitor
device
D761
Manual pulse generator axis
1 No. setting register
D715
Fetch cycle
D760
D713
D714
D758
Refresh cycle
D763
D765
D767
Unusable (30 points)
D776
Command
device
D777
D778
At the manual pulse
D779
generator enable flag
D780
D781
Manual pulse
generators 1 pulse
input magnification
setting register
(Note-2), (Note-3)
D782
D783
D784
Real mode axis information
(Note-1)
register (SV22)
Main cycle
Monitor
device
Servo amplifier type
At power-on
(Note-1): This signal is unusable in the SV13/SV22 real mode.
(Note-2): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-3): Device area of 9 axes or more is unusable in the Q172CPU(N).
3 - 42
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 number of
droop pulses in the deviation counter.
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).
Refer to APPENDIX 5 "Processing Time of the Motion CPU" for the delay time
between a positioning device (input, internal relay and special relay) turning on/off and
storage of data in the monitor data area.
(1) Feed current value storage register (D0+20n, D1+20n)
....…….. Monitor device
(a) This register stores the target address output to the servo amplifier on the
basis of the positioning address/travel value specified with the servo
program.
1) A part for the amount of the travel value from "0" after starting is stored in
the fixed-pitch feed control.
2) The current value from address at the time of starting is stored in the
speed/position switching control.
However, the address at the time of starting varies depending on the
ON/OFF state of the feed current value update command (M3212+20n) at
the start.
• M3212+20n: OFF ..... Resets the feed current value to "0" at the start.
• M3212+20n: ON ..... Not reset the feed current value at the start.
3) "0" is stored during speed control.
(b) The stroke range check is performed on this feed current value data.
(2) Real current value storage register (D2+20n, D3+20n)
....…….. Monitor device
(a) This register stores the real current value which took the droop pulses of the
servo amplifier into consideration to the feed current value.
(b) The "feed current value" is equal to the "real current value" in the stopped
state.
(3) Deviation counter value storage register (D4+20n, D5+20n)
....…….. Monitor device
This register stores the droop pulses read from the servo amplifier.
(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).
3 - 43
3 POSITIONING DEDICATED SIGNALS
(5) Major error code storage register (D7+20n) ............. Monitor device
(a) This register stores the corresponding error code (Refer to APPENDIX 1.3)
at the major error occurrence. If another major error occurs after error code
storing, the previous error code is overwritten by the new error code.
(b) Major error codes can be cleared by an error reset command (M3207+20n).
(6) Servo error code storage register (D8+20n) ......... Monitor device
(a) This register stores the corresponding error code (Refer to APPENDIX 1.4)
at the servo error occurrence. If another servo error occurs after error code
storing, the previous error code is overwritten by the new error code.
(b) Servo error codes can be cleared by an error reset command (M3208+20n).
(7) Home position return re-travel value storage register (D9+20n)
....…….. Monitor device
If the position stopped in the position specified with the travel value setting
(Refer to Section 6.22.1) after the proximity dog ON by a peripheral device is not
zero point, it made to travel to zero point by re-travel in the Motion CPU. The
travel value (signed) of making it travel to zero point by re-travel at this time is
stored. (Data does not change with the last value in the data setting type.)
When the number of feedback pulses of the motor connected is 131072[PLS],
the value which divided the re-travel value to zero point by 10 is stored.
(8) Travel value after proximity dog ON storage register
(D10+20n, D11+20n) ………………………………… Monitor device
(a) This register stores the travel value (unsigned) from the proximity dog ON to
home position return completion after the home position return start.
(b) The travel value (signed) of the position control is stored at the time of
speed/position switching control.
(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................................... FF00
(c) When either of the following is being executed using a peripheral device in
the test mode, FFFD is stored in this register.
• Home position return.
3 - 44
3 POSITIONING DEDICATED SIGNALS
(10) M-code storage register (D13+20n) ..........……….. Monitor device
(a) This register stores the M-code(Note) set to the executed servo program at
the positioning start.
If M-code is not set in the servo program, the value "0" is stored.
(b) It does not change except positioning start using the servo program.
(c) When the PLC ready flag (M2000) turns off to on, the value "0" is stored.
REMARK
(Note): Refer to the following sections for M-codes and reading M-codes.
• M-code ......................... Section 7.1
• Reading M-code ........... APPENDIX 3.1
(11) Torque limit value storage register (D14+20n) ...... Monitor device
This register stores the torque limit value imposed on the servo amplifier.
The default value "300[%]" is stored at the power supply of servo amplifier ON.
POINT
When the vector inverter is used, set the suitable torque limit value for each vector
inverter in the following methods.
• Set the torque limit value using the servo program.
• Set the parameter block using the servo program by making the torque limit value
of parameter block into a suitable setting value.
• Execute the torque limit value change request instruction (CHGT) using the
operation control program of Motion SFC program.
• Execute the torque limit value change request instructuion (S(P).CHGT) using the
PLC program of PLC CPU.
3 - 45
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).
Use this pointer in conjunction with the updated data set pointer (controlled by
the user in the Motion SFC program) - which indicates the extent to which the
positioning data has been updated using the Motion SFC program - to confirm
which positioning data is to be updated.
Data set pointer for constant-speed control and updated data set pointer are
described here using the example servo program below.
<K 0>
Pass point
9
*
1
2
3
4
5
6
7
8
*
9
CPSTART2
Axis
Axis
Speed
FOR-TIMES
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
NEXT
CPEND
1
2
D3200
Point
1,
2,
D3000
D3002
1,
2,
D3004
D3006
1,
2,
D3008
D3010
1,
2,
D3012
D3014
1,
2,
D3016
D3018
1,
2,
D3020
D3022
1,
2,
D3024
D3026
1,
2,
D3028
D3030
...0
...1
...2
Repetition instructions
FOR-TIMES
FOR-ON
FOR-OFF
NEXT
0, 1, 2, etc., starting from the
first instructions defined by the
above repetition instructions :
...3
...4
...5
...6
...7
The input situation of positioning data to the Motion CPU is shown the next page
by executing the 2-axes constant-speed control using above the servo program
and updating the positioning data in indirect devices D3000 to D3006.
3 - 46
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 MotionCPU 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) (11) (9)
6
(7)
(5)
(3)
(1)
(14) (12) (10) (8)
(6)
(4)
(2)
4
3
2
1
(15) (13) (11) (9)
(7)
(5)
(3)
(16) (14) (12) (10) (8)
(6)
(4)
4
3
2
(A) (15) (13) (11) (9)
(7)
(5)
(B) (16) (14) (12) (10) (8)
(6)
7
0
1
5
6
7
0
5
6
7
5
6
5
4
3
(C)
(A) (15) (13) (11) (9)
(7)
(D)
(B) (16) (14) (12) (10) (8)
Data set pointer for
constant-speed control
Indicates the last
positioning data input
to the Motion CPU.
Each time the
positioning at a point
is completed, the
value increases by
one.
Update data set pointer
4
5
6
7
Second
positioning
Point 0
2
1
(5)
(C)
(A) (15) (13) (11) (9)
(6)
(D)
(B) (16) (14) (12) (10)
3
2
1
(7)
(5)
(C)
(A) (15) (13) (11)
(8)
(6)
(D)
(B) (16) (14) (12)
0
7
0
6
7
5
6
4
5
4
3
2
1
(9)
(7)
(5)
(C)
(10) (8)
(6)
(D) (B) (16) (14)
0
7
6
(A) (15) (13)
2
1
(7)
(5)
(C)
(A) (15)
(12) (10) (8)
(6)
(D)
(B) (16)
4
3
2
1
0
(13) (11) (9)
(7)
(5)
(C)
(A)
(14) (12) (10) (8)
(6)
(D)
(B)
5
4
3
(11) (9)
6
5
Indicates the last
positioning data
updated by the Motion
SFC program last time.
The user controls
this pointer in the
Motion SFC program.
0
7
The internal processing shown above is described in the next page.
3 - 47
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.
(b) The positioning data ((A) to (D)) of points 0 to 1 is updated using the Motion
SFC program.
The last point "1" of the positioning data to be rewritten is stored in the
updated data set pointer (which must be controlled by the user in the
Motion SFC program). Updating of positioning data of points 2 to 6 (data (5)
to (14)) remains possible.
(c) On completion of the positioning for point 0, the value in the data set pointer
for constant-speed control is automatically incremented by one to "7".
The positioning data ((1) to (2)) of point 0 is discarded and the positioning
data ((15) to (16)) for point 7 is input to the Motion CPU at this time.
(d) Hereafter, whenever positioning of each point is completed, the positioning
data shifts one place.
The positioning data that can be updated is the data after that indicated by
the updated data set pointer: this is the data which has not yet been input
to the Motion CPU.
Even if the values of the indirect devices D8 and D10 are updated by the
Motion SFC program after the positioning completion of the point 3, the
positioning data of point 2 that is input to the Motion CPU will not be
updated and the second positioning will be executed using the unupdated
data. The data set pointer for constant-speed control has not yet been input
to the Motion CPU, and indicates the positioning data which a user can
update using the Motion SFC program.
POINT
Number of points that can be defined by a repeat instruction
• Create the servo program at least eight points.
• If there are less than eight points and they include pass points of few travel value,
the positioning at each point may be completed, and the data input to the Motion
CPU, before the data has been updated using the Motion SFC program.
• Create a sufficient number of points to ensure that data will not be input before the
Motion CPU has updated the values in the indirect devices.
(13) Travel value change register (D16+20n, D17+20n)
....…….. Command device
This area is used when the travel value of the position control is changed at the
speed/position switching control (Refer to Section 6.15).
(14) Real current value at STOP input storage register
(D18+20n, D19+20n) .............……………………... Monitor device
This register stores the real current value at the STOP signal (STOP) input of
the Q172LX.
3 - 48
3 POSITIONING DEDICATED SIGNALS
3.2.2 Control change registers
This area stores the JOG operation speed data.
Table 3.1 Data storage area for control change list
Name
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Axis 7
Axis 8
D641, D640 D643, D642 D645, D644 D647, D646 D649, D648 D651, D650 D653, D652 D655, D654
Axis 9
Axis 10
Axis 11
Axis 12
Axis 13
Axis 14
Axis 15
Axis 16
JOG speed D657, D656 D659, D658 D661, D660 D663, D662 D665, D664 D667, D666 D669, D668 D671, D670
setting
register
Axis 17
Axis 18
Axis 19
Axis 20
Axis 21
Axis 22
Axis 23
Axis 24
D673, D672 D675, D674 D677, D676 D679, D678 D681, D680 D683, D682 D685, D684 D687, D686
Axis 25
Axis 26
Axis 27
Axis 28
Axis 29
Axis 30
Axis 31
Axis 32
D689, D688 D691, D690 D693, D692 D695, D694 D697, D696 D699, D698 D701, D700 D703, D702
(Note): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(1) JOG speed setting registers (D640+2n) ....…….. Command device
(a) This register stores the JOG speed at the JOG operation.
(b) Setting range of the JOG speed is shown below.
Unit
Item
JOG speed
mm
inch
degree
PLS
Setting range
Unit
Setting range
Unit
Setting range
Unit
Setting range
Unit
1 to
600000000
10-2
[mm/min]
1 to
600000000
10-3
[inch/min]
1 to
2147483647
10-3
[degree/min]
1 to
10000000
[PLS/s]
(c) The JOG speed is the value stored in the JOG speed setting registers when
the JOG start signal turns off to on.
Even if data is changed during JOG operation, JOG speed cannot be
changed.
(d) Refer to Section 6.20 for details of JOG operation.
3 - 49
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 "3.1.3 Common devices" for the bit device M2000 to M2053.)
Details of the request register
No.
Function
Bit device
Request register
1
PLC ready flag
M2000
D704
2
Speed switching point specified flag
M2040
D705
3
All axes servo ON command
M2042
D706
4
Real/virtual mode switching request (SV22 only)
M2043
D707
5
JOG operation simultaneous start command
M2048
D708
6
Manual pulse generator 1 enable flag
M2051
D755
7
Manual pulse generator 2 enable flag
M2052
D756
8
Manual pulse generator 3 enable flag
M2053
D757
(2) JOG operation simultaneous start axis setting registers (D710 to
D713) ....….……………..….……………………… Command device
(a) These registers set the axis No. and direction which start simultaneously the
JOG operation.
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
D710
Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9
D711
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
D712
Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9
D713
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
Axis 8
Axis 7
Axis 6
Axis 5
Axis 4
Axis 3
Axis 2
Axis 1
Forward
rotation
JOG
Reverse
rotation
JOG
(Note-1) : Make JOG operation simultaneous start axis setting with 1/0.
1 : Simultaneous start execution
0 : Simultaneous start not execution
(Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N).
(b) Refer to Section 6.20.3 for details of the JOG operation simultaneous start.
(3) Manual pulse generator axis No. setting registers (D714 to D719)
....…….. Command device
(a) These registers stores the axis No. controlled with the manual pulse
generator.
3 - 50
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 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17
D718
Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9
D719
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
P1
Axis 8
Axis 7
Axis 6
Axis 5
Axis 4
Axis 3
Axis 2
Axis 1
P2
Axis 8
Axis 7
Axis 6
Axis 5
Axis 4
Axis 3
Axis 2
Axis 1
P3
(Note-1) : Make the axis No. controlled with the manual pulse generator setting with 1/0.
1 : Specified axis
0 : Unspecified axis
(Note-2) : The range of axis No.1 to 8 is valid in the Q172CPU(N).
(b) Refer to Section 6.21 for details of the manual pulse generator operation.
(4) Manual pulse generator 1-pulse input magnification setting
registers (D720 to D751) ..................................... Command device
(a) These register set the magnification (1 to 10000) per pulse of number of the
input pulses from manual pulse generator at the pulse generator operation.
1-pulse input
magnification
1-pulse input
Axis No.
Setting range
setting register
magnification
Axis No.
Setting range
setting register
D720
Axis 1
D736
Axis 17
D721
Axis 2
D737
Axis 18
D722
Axis 3
D738
Axis 19
D723
Axis 4
D739
Axis 20
D724
Axis 5
D740
Axis 21
D725
Axis 6
D741
Axis 22
D726
Axis 7
D742
Axis 23
D727
Axis 8
1 to 10000
D743
Axis 24
1 to 10000
D728
Axis 9
(Note-2)
D744
Axis 25
(Note-2)
D729
Axis 10
D745
Axis 26
D730
Axis 11
D746
Axis 27
D731
Axis 12
D747
Axis 28
D732
Axis 13
D748
Axis 29
D733
Axis 14
D749
Axis 30
D734
Axis 15
D750
Axis 31
D735
Axis 16
D751
Axis 32
(Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2): The setting range (1 to 100) is valid in the SW6RN-SV13Q /SV22Q
(Ver.00B or before).
(b) Refer to Section 6.21 for details of the manual pulse generator operation.
3 - 51
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.
Manual pulse generator smoothing
Setting range
magnification setting register
Manual pulse generator 1 (P1): D752
0 to 59
Manual pulse generator 2 (P1): D753
Manual pulse generator 3 (P1): D754
(b) When the smoothing magnification is set, the smoothing time constant is as
indicated by the following expression.
Smoothing time constant (t) = (smoothing magnification + 1) 56.8 [ms]
(c) Operation
Manual pulse
generator input
ON
Manual pulse generator OFF
enable flag (M2051)
V
V1
t
t
t
t
Output speed (V1) [PLS/s] = (Number of input pulses/s) (Manual pulse
generator 1-pulse input magnification setting)
Travel value (L) =
(Travel value Number of
×
per pulse)
input pulses
(Manual pulse generator 1-pulse
input magnification setting)
REMARK
(1) The travel value per pulse of the manual pulse generator is shown below.
:0.1[µm]
• Setting unit
mm
inch
:0.00001[inch]
degree :0.00001[degree]
PLS
:1[PLS]
(2) The smoothing time constant is 56.8[ms] to 3408[ms].
3 - 52
3 POSITIONING DEDICATED SIGNALS
(6) Real mode axis information register (D790, D791)
.................................................... Monitor device
This signal is used to store the information used as a real mode axis at the time
of switching from real mode to virtual mode.
The real mode axis information does not change at the time of switching from
virtual mode to real mode.
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
D790
Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9
D791
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
Real mode axis information
0 : Real mode axis
1 : Except real mode axis
(Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2): Refer to APPENDIX 2.1 of the "Q173CPU(N)/Q172CPU(N) Motion controller (SV22)
Programming Manual (VIRTUAL MODE)" for the expression method of the axis
number corresponding to each bit of word data.
REMARK
It can be used in the SW6RN-SV13Q /SV22Q
(Ver.00R or later).
(7) Servo amplifier type storage register (D792 to D799)
....…….. Monitor device
The servo amplifier type set in the system settings is stored at the power supply
on or resetting of the Motion CPU.
b15 to b12
b11 to b8
b7 to b4
b3 to b0
D792
Axis 4
Axis 3
Axis 2
Axis 1
D793
Axis 8
Axis 7
Axis 6
Axis 5
D794
Axis 12
Axis 11
Axis 10
Axis 9
D795
Axis 16
Axis 15
Axis 14
Axis 13
D796
Axis 20
Axis 19
Axis 18
Axis 17
D797
Axis 24
Axis 23
Axis 22
Axis 21
D798
Axis 28
Axis 27
Axis 26
Axis 25
D799
Axis 32
Axis 31
Axis 30
Axis 29
Servo amplifier type
0 . . . . . Axis unused
2 . . . . . Servo amplifier
3 - 53
3 POSITIONING DEDICATED SIGNALS
3.3 Motion Registers (#)
There are motion registers (#0 to #8191) in the Motion CPU. #8000 to #8063 are used
as the Motion SFC dedicated device and #8064 to #8191 are used as the servo
monitor device. Refer to the "Q173CPU(N)/Q172CPU(N) Motion Controller
(SV13/SV22) Programming Manual (Motion SFC)" for details of the motion registers
and Motion SFC dedicated device.
(1) Servo monitor devices (#8064 to #8191) ................. Monitor device
Information about "servo amplifier type", "motor current" and "motor speed" for
each axis is stored the servo monitor devices.
The details of the storage data are shown below.
Axis
No.
Device No.
1
#8064 to #8067
2
#8068 to #8071
3
#8072 to #8075
4
#8076 to #8079
5
#8080 to #8083
6
#8084 to #8087
Signal name
Signal name
+0 Servo amplifier type
7
#8088 to #8091
8
#8092 to #8095
9
#8096 to #8099
+2
10 #8100 to #8103
+3
11 #8104 to #8107
(Note-1)
+1 Motor current
Motor speed
Signal description
0 : Unused
1 : MR-H-BN
2 : MR-J-B
3 : MR-J2-B
4 : MR-J2S-B
5 : MR-J2-M
6 : MR-J2-03B5
65 : FR-V500
-5000 to 5000 (
-50000 to 50000 (
Refresh cycle
Signal direction
When the servo amplifier
power-on
Monitor device
0.1[%] )
0.1[r/min] )
3.55[ms]
(Note-1) : The value that the lowest servo monitor device No. was added "+0, +1 ···" on each axis is shown.
12 #8108 to #8111
13 #8112 to #8115
14 #8116 to #8119
15 #8120 to #8123
16 #8124 to #8127
17 #8128 to #8131
18 #8132 to #8135
19 #8136 to #8139
20 #8140 to #8143
21 #8144 to #8147
22 #8148 to #8151
23 #8152 to #8155
24 #8156 to #8159
25 #8160 to #8163
26 #8164 to #8167
27 #8168 to #8171
28 #8172 to #8175
29 #8176 to #8179
30 #8180 to #8183
31 #8184 to #8187
32 #8188 to #8191
REMARK
The servo monitor devices (#8064 to #8191) are effective with SW6RNSV13Q /SV22Q (Ver.00D or later).
3 - 54
3 POSITIONING DEDICATED SIGNALS
3.4 Special Relays (SP.M)
There are 256 special relay points of M9000 to M9255 in the Motion CPU.
Of these, 7 points of the M9073 to M9079 are used for the positioning control, and
their applications are indicated in Table 3.2. (Refer to APPENDIX 2.1 "Special relays"
for the applications of the special relays except M9073 to M9079.)
Table 3.2 Special relay list
Device No.
Signal name
M9073
PCPU WDT error flag
M9074
PCPU REDAY complete flag
M9075
TEST mode ON flag
M9076
External forced stop input flag
M9077
Manual pulse generator axis setting error flag
M9078
TEST mode request error flag
M9079
Servo program setting error flag
Refresh cycle
Signal type
Main cycle
Status signal
(1) PCPU WDT error flag (M9073) ................................... Status signal
This flag turns on when a "watchdog timer error" is detected of the Motion CPU
self-diagnosis function.
When the Motion CPU detects a WDT error, it executes an immediate stop
without deceleration of the operating axes.
If the Motion CPU WDT error flag has turn on, reset the Motion CPU.
If M9073 remains on after resetting, there is a fault at the Motion CPU side.
The error cause is stored in the "Motion CPU WDT error cause (D9184)".
(Refer to Section 3.5).
(2) PCPU REDAY complete flag (M9074) ………............ Status signal
This flag is used as judgement of the normal or abnormal in the Motion CPU
side using the PLC program.
(a) When the PLC ready flag (M2000) turns off to on, the fixed parameters,
servo parameters and limit switch output data are checked, and if error is
not detected, this flag turns on.
The servo parameters are written to the servo amplifiers and the M-codes
are cleared.
(b) This flag turns off when the PLC ready flag (M2000) turns off.
PLC ready flag
(M2000)
t
PCPU READY
complete flag
(M9074)
The servo parameters are
written to the servo amplifiers
and the M-codes are cleared.
3 - 55
3 POSITIONING DEDICATED SIGNALS
(3) TEST mode ON flag (M9075) ........……...................... Status signal
(a) This flag is used as judgement of during the test mode or not using a
peripheral.
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 request is executed in the test mode request from the
peripheral device, the TEST mode request error flag (M9078) turns on.
(4) External forced stop input flag (M9076) ....…………… Status signal
This flag checks the external forced stop input signal ON/OFF.
• OFF ........ During the external forced stop input on
• ON ........ During the external forced stop input off
POINTS
(1) If the forced stop signal is input during positioning, the feed current value is
advanced within the rapid stop deceleration time set in the parameter block. At
the same time, the servo OFF state is established because the all axes servo
ON command (M2042) turns off.
When the rapid stop deceleration time has elapsed after input of the forced stop
signal, the feed current value returns to the value at the point when the
emergency stop was initiated.
(2) If the forced stop is reset before the emergency stop deceleration time has
elapsed, a servo error occurs.
(5) Manual pulse generator axis setting error flag (M9077)
.………...... 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 M9077 turns on, the error contents are stored in the manual pulse
generator axis setting error information (D9185 to D9187).
(6) TEST mode request error flag (M9078) ..........………. Status signal
(a) This flag turns on when the test mode is not executed in the test mode
request using a peripheral device.
(b) When M9078 turns on, the error contents are stored in the test mode
request error information (D9182, D9183).
(7) Servo program setting error flag (M9079) ...........…... Status signal
This flag is used as judgement of normal or abnormal for the servo program
positioning data.
• OFF ...... Normal
• ON ...... Abnormal
3 - 56
3 POSITIONING DEDICATED SIGNALS
3.5 Special Registers (SP.D)
There are 256 special register points of D9000 to D9255 in the Motion CPU.
Of these, 22 points of the D9180 to D9201 are used for the positioning control.
The special registers used for positioning are shown below. (Refer to APPENDIX 2.2
"Special registers" for the applications of special registers except D9180 to D9201.)
Table 3.3 Special register list
Device No.
D9180
D9181
D9182
D9183
D9184
D9185
D9186
D9187
Signal name
Test mode request error information
Motion operation cycle
D9190
Error item information
D9194
D9195
At Motion CPU WDT error
occurrence
Manual pulse generator axis setting error
information
Error program No.
D9193
Monitor
device
At start
At power supply on/
operation cycle
Servo amplifier loading information
Real/virtual mode switching error
information
At virtual mode transition
PC link communication error codes
D9197
Operation cycle of the Motion CPU setting
D9199
At the manual pulse generator
enable flag
Operation cycle
D9196
D9198
Signal
direction
At test mode request
Motion CPU WDT error cause
D9189
D9192
Fetch cycle
Unusable
D9188
D9191
Refresh cycle
Operation cycle
At power supply on
Unusable
D9200
State of switch
Main cycle
D9201
State of LED
Immediate
Monitor
device
(1) Test mode request error information (D9182, D9183)
........... Monitor device
If there are operating axis at a test mode request from a peripheral device, a test
mode request error occurs, the test mode request error flag (M9078) turns on,
and the during operation/stop data of the each axis are stored.
b15
b14
b13
b12
b11
b10
b9
b8
b7
b6
b5
b4
b3
b2
b1
b0
Axis 9
Axis 8
Axis 7
Axis 6
Axis 5
Axis 4
Axis 3
Axis 2
Axis 1
D9182
Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10
D9183
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
(Note): The range of axis No.1 to 8 is valid in the Q172CPU(N).
3 - 57
Stores the during operation/stop
data of each axis
0 : During stop
1 : During operation
3 POSITIONING DEDICATED SIGNALS
(2) Motion CPU WDT error cause (D9184) ………........ 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
• Reset with the reset key.
• 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.
S/W fault 1
Operation cycle time over
2
Q bus WDT error
• Reset with the reset key.
• If the error reoccurs after resetting, the
relevant module or the relevant slot
(base unit) is probably faulty: replace
the module/base unit.
WDT error
• Reset with the reset key.
• If the error reoccurs after resetting,
explain the error symptom and get
advice from our sales representaitive.
3
4
Action to take
Information processor H/W error
30
Q bus H/W fault
• Reset with the reset key.
201
• If the error reoccurs after resetting, the
relevant module or the relevant slot
Error contents
01 : Q bus error 1
02 : Q bus error 2
04 : Q bus error 4
08 : Q bus error 8
201 to 215
(base unit) is probably faulty: replace
All axes stop immediately,
the module/base unit.
after which operation
Error code = Total of the error contents + 200
cannot be started.
Servo amplifier interface H/W fault
250
250 to 253
300
Faulty SSCNET No.
0 : SSCNET 1
1 : SSCENT 2
2 : SSCNET 3
3 : SSCNET 4
Error code = Total of the faulty SSCNET No. + 250
S/W fault3
• Reset with the reset key.
8 or more points of CPSTART instruction were used
• Reset with the reset key.
to start programs in excess of simultaneously
• Use 8 or more points of CPSTART
instruction to start programs within the
startable program.
number of simultaneously startable
301
programs.
Number of simultaneous startable programs
14
• Write the system setting data,
During ROM operation, the system setting data,
302
programs and parameters written to internal FLASH
programs and parameters to the
ROM are fault.
internal FLASH ROM.
3 - 58
3 POSITIONING DEDICATED SIGNALS
(3) Manual pulse generator axis setting error information
(D9185 to D9187) ...............................................….. Monitor device
The setting information is checked when the manual pulse generator enable
signal turns off to on, if an error is found, the following error information is stored
into D9185 to D9187 and the manual pulse generator axis setting error flag
(M9077) turns on.
D9185
b15
b14
b13
b12
b11
b10
b9
b8
b7
b6
b5
b4
b3
b2
b1
b0
0
0
0
0
0
0
0
0
0
0
P3
P2
P1
P3
P2
P1
Store the axis setting errors of the manual pulse
generators connected to P1 to P3 of Q173PX.
0 : Normal
1 : Setting error
(Axis setting in each digit is except 1 to 32)
Store the smoothing magnification setting errors
of the manual pulse generators connected to P1
to P3 of Q173PX.
0 : Normal
1 : Setting error
(Axis setting in each digit is except 0 to 59)
All turn to 0.
D9186
Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10
D9187
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
Axis 9
Axis 8
Axis 7
Axis 6
Axis 5
Axis 4
Axis 3
Axis 2
Axis 1
Store the 1-pulse input magnification setting
errors of the axis.
(Note-1): The setting range (1 to 100) is valid in the SW6RN-SV13Q /SV22Q
(Ver.00B or before).
(Note-2): The range of axis No.1 to 8 is valid in the Q172CPU(N).
0 : Normal
1 : Setting error
(Input magnification of each axis is except
1 to 10000) (Note-1)
(4) Motion operation cycle (D9188) ….……..…………. Monitor device
The time which motion operation took for every motion operation cycle is stored
in [µs] unit.
(5) Error program No. (D9189) .................……….......... Monitor device
(a) When the servo program error occurs at the servo program operation, the
program setting error flag (M9079) turns on and the error servo program
No. (0 to 4095).
(b) If an error occurs in another servo program when error program No. has
been stored, the program No. of the new error is stored.
(6) Error item information (D9190) ...........………........... Monitor device
When the servo program error occurs at the servo program operation, the
program setting error flag (M9079) turns on and the error code corresponds to
the error setting item is stored.
Refer to APPENDIX 1.1 for details of servo program setting errors.
3 - 59
3 POSITIONING DEDICATED SIGNALS
(7) Servo amplifier loading information (D9191 to D9192)
........... Monitor device
The installation state of the servo amplifier is checked at the power supply on or
resetting of the Motion CPU and its results are stored in this device.
The axis which turn from non-installation to installation after power supply on
becomes installation state. However, the axis which turn from installation to noninstallation remains as installed.
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
D9191
Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9
D9192
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
Servo amplifier installation state
Installation. . . . . . . . 1
Non-installation . . . . 0
(Note): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(a) Servo amplifier installation state
1) Installation/non-installation state
• "Installation" state ..…..... The servo amplifier is normal.
(Communication with the servo amplifier is
normal.)
• "Non-installation" state ... No servo amplifier is installed.
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 installation states are shown
below.
System Settings
Used (axis No. setting)
Servo amplifier
Installation
Non-installation
1 is stored
0 is stored
Unused
0 is stored
(8) PC link communication error codes (D9196) ........... Monitor device
When an error occurs during the PC link communication, the error code is stored
in this device.
PC communication error code storage register
Contents
00: No error
01: Receiving timing error
02: CRC error
03: Communication response code error
04: Received frame error
05: Communication task start error
(Each error code is reset to "00" when normal
communication is restarted.)
D9196
Refer to APPENDIX 1.5 for details of the PC link communication errors.
3 - 60
3 POSITIONING DEDICATED SIGNALS
(9) Operation cycle of the Motion CPU setting (D9197)
........... 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 "0.8[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.
(Note): MR-H BN does not support an operation cycle of 0.8[ms].
If MR-H BN is set in the system setting, 1.7[ms] is used as the real
operation cycle even if 0.8[ms] is set.
(10) State of switch (D9200) ………………………….. 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
D9200
Switch state of CPU
0 : RUN
1 : STOP
2 : L.CLR
Memory card switch
Always OFF
(All setting of each
digit is "0".)
No used
b8 to b12 corresponds to
SW1 to SW5 of the
system setting switch.
(b13 to b15 : Not used)
0 : OFF
1 : ON
(11) State of LED (D9201)…………………………..…… Monitor device
It stores whether the LED of CPU is in which state in next by the following bit
patterns. 0 is OFF, 1 is ON and 2 is Flicker.)
b15
b14
b13
b12
b11
b10
b9
b8
b7
b6
b5
b4
b3
b2
b1
b0
D9201
RUN
ERROR
M.RUN
BAT.ALARM
BOOT
Not used
(Note): Indicate the following setting.
0 : OFF
1 : ON
2 : Flicker
3 - 61
MODE
0 : OFF
1 : Green
2 : Orange
3 POSITIONING DEDICATED SIGNALS
MEMO
3 - 62
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.
(2) The basic system settings, self CPU installation position setting, servo
amplifier/motor setting, high-speed read setting and battery setting are set in the
individual parameter setting.
(3) The data setting and correction can be performed in dialog form using a
peripheral device.
(Refer to the "Q173CPU(N)/Q172CPU(N) Motion Controller (SV13/SV22)
Programming Manual (Motion SFC)" for details of the setting contents.)
4-1
4
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 a peripheral device.
(3) The fixed parameters to be set are shown in Table 4.1.
Table 4.1 Fixed parameter list
Setting range
No.
Item
mm
inch
degree
Initial value Units
PLS
Setting range Units Setting range Units Setting range Units
Remarks
Section
Setting range Units
• Set the command value for
1
Unit setting
0
1
2
3
3
each axis at the positioning
2
3
Travel value per pulse (A)
control.
Number of
• Set the number of feedback
pulses per
1 to 2147483647[PLS]
rotation
pulses per motor rotation
20000
based on the mechanical
(AP)
system.
Travel
value per
rotation
• Set the travel value per motor
0.1 to
0.00001 to
0.00001 to
1 to
214748364.7
21474.83647
21474.83647
2147483647
4.2.1
based on the mechanical
20000
system.
(AL)
• Set the backlash amount of
the machine.
• Every time of the positioning
direction changes at the
Backlash
4
compensation
positioning, compensation by
0 to 6553.5
0 to 0.65535
0 to 0.65535
0 to 65535
0
the backlash compensation
amount (Note)
7.2
amount is executed.
The expression below shows
the setting range.
0
(backlash compensation
amount) × AP/AL
65535
• Set the upper limit for the
5
Upper stroke
limit (Note)
-214748364.8
to
214748364.7
-21474.83648
µm
to
21474.83647
0 to
inch
359.99999
PLS
-2147483648
degree
to
2147483647
PLS
2147483647
machine travel range. The
expression below shows the
setting range.
(SV13 only) -2147483648
(upper stroke limit value) ×
AP/AL
2147483647
• Set the lower limit for the
4.2.3
machine travel range. The
6
Lower stroke
limit
(Note)
-214748364.8
-21474.83648
to
to
214748364.7
21474.83647
0 to
359.99999
expression below shows the
-2147483648
to
0
2147483647
setting range.
(SV13 only) -2147483648
(lower stroke limit value) ×
AP/AL
2147483647
• Set the position at which the
command in-position signal
(M2403+20n) turns on
Command in7
position range
(Note)
0.1 to
0.00001 to
0.00001 to
1 to
214748364.7
21474.83647
359.99999
2147483647
[(positioning address) 100
(current value)].
4.2.4
The expression below shows
the setting range.
1
(command in-position
range) × AP/AL
32767
(Note): The display of the possible setting range changes according to the electronic gear value.
4-2
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 Q173CPU(N)/Q172CPU(N) 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".
(2) The value of less than 1 pulse that cannot be execute a pulse output when the
machine travels is incremented in the Q173CPU(N)/Q172CPU(N), and a total
incremented pulse output is performed when the total incremented value
becomes more than 1 pulse.
(3) The total incremented value of less than 1 pulse that cannot be execute a pulse
output is cleared and it is referred to as "0" at the home position return
completion, current value change completion, speed-switching control start
(except the feed current value update) and fixed-pitch feed control start. (When
the total incremented value is cleared, the error occurs to the feed machine
value only a part to have been cleared.)
"Number of pulses/travel value per rotation" are shown below.
(1) Number of pulses/travel value per rotation
Number of pulses(AP)/travel value(AL) per rotation is an item which determines
how many rotations (number of pulses per rotation) of the servomotor in order to
make it a machine as the travel value ordered by the program.
The position control toward the servomotor is controlled with the number of
feedback pulses of the encoder connected to the servomotor in the servo
amplifier.
The control content of the Motion CPU is shown below.
Q173CPU(N)/Q172CPU(N)
Command Control
units
value
AP
AL
Reduction gear
PLS
PLS Servo amplifier
Machine
M
ENC
PLS
Feedback pulse
Fig. 4.1 Control content of the Motion CPU
For example, suppose that the servomotor was connected to the ball
screw. Because the travel value ( S) of machine per motor rotation is [mm]/[inch]
unit, the travel value (positioning address) set in the program is commanded in
[mm] / [inch] unit. However, the servomotor is positioning controlled by the servo
amplifier in pulse unit.
4-3
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
. . . . . (1)
(There is a range which can be set in the numerical value set as AP/AL, so it is
necessary to make the setting range of AP/AL the value calculated from the
above expression (reduced) of relations.)
Example of the real setting is shown below.
(a) For ball screw
When the ball screw pitch is 20[mm], the servomotor is HC-MFS
(131072[PLS/rev]) and direct connection (No reduction gear) is set.
Machine
Motor
Fig. 4.2 For ball screw
First, find how many millimeters the load (machine) will travel (AL) when the
servomotor runs for one rotation (AP).
AP (Number of pulses per motor rotation) = 131072[PLS]
AL (Travel value of machine per rotation)
= Ball screw pitch × Reduction ratio
= 20[mm]
Substitute this for the above expression (1).
AP
AL
=
131072[PLS]
20[mm]
Although it becomes above, when a control unit is set to [mm] unit, the
minimum unit of the command value in a program is 0.1[µm] and converted
from 20[mm] (20.0000[mm]) to 20000.0[µm].
AP
AL
=
131072[PLS]
20000.0[ m]
4-4
4 PARAMETERS FOR POSITIONING CONTROL
The travel value per motor rotation in this example is 0.00015[mm].
For example, when ordering the travel value of 19[mm], it becomes
124518.4[PLS] and the fraction of 0.4[PLS]. At this time, the Motion CPU
orders the travel value of 124518[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.
4.2.2 Backlash compensation amount
(1) Backlash compensation amount can be set within the following range.
(Refer to Section "7.2 Backlash Compensation Function" for details.)
0
Backlash compensation amount × Number of pulses per rotation (AP)
Travel value per rotation (AL)
(=A)
65535[PLS]
(2) The servo error may occur depending on the type of the servo amplifier
(servomotor) or operation cycle even if the backlash compensation amount which
fulfill the above condition.
Set the backlash compensation amount within the following range in order for
servo error may not occur.
A
Maximum motor speed [r/min] × 1.2 × Encoder resolution [PLS] × Operation cycle [ms]
60[s] × 1000[ms]
[PLS]
4.2.3 Upper/lower stroke limit value
The upper/lower limit value for the travel range of the mechanical system is set.
RLS
FLS
(Travel range of the machine)
Stroke limit
(lower)
Limit switch for
emergency stop
Stroke limit
(upper)
Fig. 4.3 Travel range at the upper/lower stroke limit value setting
4-5
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. If it
outside the range, an error occurs (error code: 106) and
positioning is not executed.
• If the interpolation path exceeds the stroke limit range
during circular interpolation start, an error occurs (error
codes: 207, 208) and deceleration stop is executed.
• If the current value exceeds the stroke limit range,
deceleration stop is executed.
Not check
• The current value becomes "0", and operation continues
until the external limit signal (FLS, RLS, STOP) is
received.
• Speed/position switching
control (including restart)
• It is checked after the switch to position control.
• JOG operation
• When the current value is executed a deceleration stop
from current command speed, if the current value
exceeds the stroke limit range, a deceleration stop is
made before a stroke limit. (Error code: 207) Travel to
the direction that returns the axis into the stroke range
(Note-1)
is possible
.
Check
• If the current value exceeds the stroke limit range, it
stops at stroke limit. (Error code: 207) In this case, a
deceleration stop is not made. Travel to the direction
that returns the axis into the stroke range is possible
(Note-2)
.
• Manual pulse generator
operation
(Note-1): The operating system software is valid with SW6RN-SV13Q /SV22Q (Ver.00M or later).
If the current value exceeds the stroke limit range, a deceleration stop is made with SW6RNSV13Q /SV22Q (Ver.00L or before).
(Note-2): The operating system software is valid with SW6RN-SV13Q /SV22Q (Ver.00N or later).
If the current value exceeds the stroke limit range, a deceleration stop is made with SW6RNSV13Q /SV22Q (Ver.00M or before).
POINTS
(1) Besides setting the upper/lower stroke limit value in the fixed parameters, the
stroke limit range can also be set by using the external limit signals (FLS, RLS).
(2) When the external limit signal turns off, a deceleration stop is executed.
"Deceleration time" and "Rapid stop deceleration time" can be used in the
parameter block for deceleration stop time.
4-6
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)].
The command in-position range check is executed continuously during position control.
V
Position
control
start
Command in-position
setting value
Speed
position
control
start
Speed/position switching
Command in-position
setting value
t
Command in-position ON
(M2403+20n)
OFF
Execution of command in-position check
4-7
Execution of command
in-position check
4 PARAMETERS FOR POSITIONING CONTROL
4.3 Servo Parameters/Vector Inverter Parameters
(1) The servo parameters control the data fixed by the specifications of the servo
amplifier and servomotor controlled in the parameter set for each axis and the
control of the servomotor.
(2) The servo parameters/vector inverter parameters are set by peripheral device.
CAUTION
After setting the servo parameters/vector inverter parameters using a peripheral device, execute
a "RELATIVE CHECK" and execute the positioning control in the "NO ERROR" state. If there is
an error, check the relevant points indicated in this manual and reset it.
Refer to the help of each software for details of "RELATIVE CHECK".
4.3.1 Servo parameters of servo amplifier
The servo parameters to be set are shown in Tables 4.2 to 4.4.
Refer to the "Servo amplifier Instruction Manual" for details of the servo parameters.
Instruction Manual list is shown below.
Servo amplifier
type
Instruction manual name
MR-H BN,
MR-H BN4
MR-H BN Servo Amplifier Instruction Manual (SH-3192)
MR-J2S- B
MR-J2S- B Servo Amplifier Instruction Manual (SH-030007)
MR-J2M-B
MR-J2M-B Servo Amplifier Instruction Manual (SH-030012)
MR-J2- B
MR-J2- B Servo Amplifier Instruction Manual (IB-67288)
MR-J2-03B5
MR-J2-03B5 Servo Amplifier Instruction Manual (SH-030005)
(1) Basic parameters
Table 4.2 servo parameter (Basic parameter) list
Setting value/setting range
(Setting by peripheral device)
No.
Item
Setting details
Setting value
1
2
3
Servo series
Amplifier setting
Regenerative
brake resistor
(Regenerative
selection brake
option)
• Set automatically in the system settings.
Regenerative
brake resistor
(External
dynamic brake
selection)
4-8
Servo amplifier setting valid
( : Valid)
MRH-BN
MR- MR- MRH-BN4 J2-B J2S-B
MRJ2-Jr
Section
4 PARAMETERS FOR POSITIONING CONTROL
Table 4.2 Servo parameter (Basic parameter) list (Continued)
Setting value/setting range
(Setting by peripheral device)
No.
Item
Setting details
Setting value
4
Servo amplifier setting valid
( : Valid)
MRH-BN
MR- MR- MRH-BN4 J2-B J2S-B
Section
MRJ2-Jr
Motor type
5
Motor capacity
• Set automatically in the system settings.
6
Motor speed
7
Number of feed
back pulses
8
Rotation
• Set the rotation direction at load side
direction setting
of the servomotor.
• Set the rotation direction at load side
Forward rotation
Reverse rotation
0: Speed only
1: Position/speed
2: Not executed (Automatic tuning invalid)
9
Automatic tuning
• Select the automatic tuning.
setting
0: Interpolation mode
1: Automatic tuning mode 1
2: Manual mode 2
3: Automatic tuning mode 2
4: Manual mode 1
4.3.8
1: Normal mode
2: Normal mode
3: Normal mode
4: Normal mode
5: Normal mode
8: Large friction mode
9: Large friction mode
A: Large friction mode
10
• Set to increase the servo response.
(At the automatic tuning valid.)
• Optimum response can be selected
according to the rigidity of the
Servo response
machine.
setting
• As machine rigidity is higher, faster
response can be set to improve
tracking performance in response to a
command and to reduce setting time.
B: Large friction mode
C: Large friction mode
1: Low response (15HZ)
2: Low response (20HZ)
3: Low response (25HZ)
4.3.9
4: Low response (30HZ)
5: Low response (35HZ)
6: Low response (45HZ)
7: Low response (55HZ)
8: Middle response (70HZ)
9: High response (85HZ)
A: High response (105HZ)
B: High response (130HZ)
C: High response (160HZ)
D: High response (200HZ)
E: High response (240HZ)
F: High response (300HZ)
POINTS
(1) When the items marked " " in the above table has changed, make the Multiple
CPU system reset or PLC ready (M2000) flag OFF to ON. And, once turn OFF
the servo amplifier power supply, then turn ON it again.
(2) When the MR-J2M-B is used, set the "MR-J2S-B" in the system setting.
The setting range of the servo parameter is the same as the MR-J2S-B.
4-9
4 PARAMETERS FOR POSITIONING CONTROL
(2) Adjustment parameters
Table 4.3 Servo parameter (Adjustment parameter) list
Setting value/setting range
(Setting by peripheral device)
No.
Item
Setting details
Setting value
Servo amplifier setting valid
( : Valid)
MRH-BN
MR- MR- MRH-BN4 J2-B J2S-B
Section
MRJ2-Jr
• Set the ratio of the load inertia moment
for the servomotor.
0 to 100.0[times]
• The result of automatic tuning is
automatically used at the automatic
tuning.
POINT
1
2
3
4
"Load inertia ratio", "Position control
gain 1, 2", "Speed control gain 1, 2" and
Load inertia ratio "Speed integral compensation" is
transferred to servo amplifier in Multiple
CPU system power on, reset and PLC
0 to 300.0[times]
READY flag (M2000) on. When
automatic tuning is executed, it is
changed to the optimum value inside
the servo amplifier. The result of
automatic tuning is reflected to
Q173CPU(N)/Q172CPU(N) at this time.
• Set the gain of position loop 1.
4 to 1000[rad/s]
Position control • If the position control gain 1 increases,
the follow-up performance for position 4 to 2000[rad/s]
gain 1
command improves.
4.3.7
4.3.2
Speed control
gain 1
• Normally this parameter setting is used
20 to 5000[rad/s]
with initial value.
• If the gain is increased, the
responsiveness is improved but
20 to 8000[rad/s]
vibration or noise becomes more likely.
4.3.3
Position control
gain 2
• Set the gain of the position loop.
• Set this parameter to increase position
response to load disturbance.
• Higher setting increases the response
level but is liable to generate vibration
and/or noise.
4.3.2
1 to 500[rad/s]
1 to 1000[rad/s]
5
Speed control
gain 2
• Set the parameter when vibration
occurs on machines of low rigidity or
20 to 8000[rad/s]
large backlash.
• If the gain is increased, the
responsiveness is improved but
20 to 20000[rad/s]
vibration or noise becomes more likely.
6
Speed integral
compensation
• Set the constant at the integral
compensation.
7
00: Not used
01: 1125[Hz]
02: 563[Hz]
03: 375[Hz]
04: 282[Hz]
05: 225[Hz]
Machine
06: 188[Hz]
resonance
• Select the notch frequency to match the
07: 161[Hz]
suppression
response frequency oh the mechanical
00: Not used
filter (Notch filter system.
01: 1125[Hz]
selection)
02: 563[Hz]
03: 375[Hz]
04: 282[Hz]
05: 225[Hz]
06: 188[Hz]
07: 161[Hz]
1 to 1000[ms]
4 - 10
08: 141[Hz]
09: 125[Hz]
10: 113[Hz]
11: 102[Hz]
12: 94[Hz]
13: 87[Hz]
14: 80[Hz]
15: 75[Hz]
4.3.3
4.3.4
4.3.10
4 PARAMETERS FOR POSITIONING CONTROL
Table 4.3 Servo parameter (Adjustment parameter) list (Continued)
Setting value/setting range
(Setting by peripheral device)
No.
Item
Setting details
Setting value
7 (Note-1)
00: Not used
01: 4500[HZ]
02: 2250[HZ]
03: 1500[HZ]
04: 1125[HZ]
05: 900[HZ]
Machine
06: 750[HZ]
resonance
07: 642.9[HZ]
suppression
08: 562.5[HZ]
filter (Notch
09: 500[HZ]
filter selection) • Set the frequency to match the
0A: 450[HZ]
response frequency of the mechanical
0B: 409.1[HZ]
system.
0C: 375[HZ]
0D: 346.2[HZ]
0E: 321.4[HZ]
0F: 300[HZ]
Machine
resonance
suppression
filter (Notch
depth
selection)
8
Feed forward
gain
0: Deep
1:
2:
3: Shallow
10: 281.3[HZ]
11: 264.7[HZ]
12: 250[HZ]
13: 236.8[HZ]
14: 225[HZ]
15: 214.3[HZ]
16: 204.5[HZ]
17: 195.7[HZ]
18: 187.5[HZ]
19: 180[HZ]
1A: 173.1[HZ]
1B: 166.7[HZ]
1C: 160.1[HZ]
1D: 155.2[HZ]
1E: 150[HZ]
1F: 145.2[HZ]
Servo amplifier setting valid
( : Valid)
MRH-BN
MR- MR- MRH-BN4 J2-B J2S-B
Section
MRJ2-Jr
4.3.10
(-40db)
(-14db)
(-8db)
(-4db)
• Set the feed forward gain for position
control. Set "100" to nearly zero the
droop pulse value when operation is
performed at constant speed. Note the
rapid acceleration/deceleration time will
increase overshoot.
0 to 100[%]
(Acceleration/deceleration time set in
100[%] is about 1[s] or more.
4.3.6
POINT
Be sure to set up this parameter "2:
Invalid (Automatic tuning invalid)"
when you set "Automatic tuning".
9
10
In-position
range
• Set the droop pulse in the deviation
counter of the servo amplifier.
POINT
0 to 32767[PLS]
4.3.5
0 to 1000[ms]
4.3.11
In the MR-J2S-B only, set "Feed back
pulse" in the feed back pulse unit.
Electromagnet • Set a time delay from when the
ic brake
electromagnetic brake interlock
sequence
signal (MBR) turns off until the base
output
circuit is shut off.
(Note-1): Only MR-J2S- B is set with the adjustment parameter 2.
4 - 11
4 PARAMETERS FOR POSITIONING CONTROL
Table 4.3 Servo parameter (Adjustment parameter) list (Continued)
Setting value/setting range
(Setting by peripheral device)
No.
Item
Setting details
Setting value
MRH-BN
MR- MR- MRH-BN4 J2-B J2S-B
Section
MRJ2-Jr
0: Servo motor speed (± output)
1: Torque (± output)
2: Servo motor speed (± output)
3: Torque (+ output)
4: Current command output (± output)
5: Command (F T) (± output)
6: Droop pulses 1/1 (± output)
7: Droop pulses 1/4 (± output)
8: Droop pulses 1/16 (± output)
9: Droop pulses 1/32 (± output)
A: Droop pulses 1/64 (± output)
Monitor output
11(Note-1) mode selection
(monitor 1)
• Select the output signal from analog
monitor CH1 and CH2 of the servo
amplifier.
Monitor output
12(Note-1) mode selection
(monitor 2)
Servo amplifier setting valid
( : Valid)
0: Servo motor speed (± output)
1: Torque (± output)
2: Servo motor speed (± output)
3: Torque (+ output)
4: Current command output (± output)
5: Command (F T) (± output)
6: Droop pulses 1/1 (± output)
7: Droop pulses 1/16 (± output)
8: Droop pulses 1/64 (± output)
9: Droop pulses 1/256 (± output)
A: Droop pulses 1/1024 (± output)
4.3.12
0: Servo motor speed (± 8V/max. speed)
1: Torque (± 8V/max. torque)
2: Servo motor speed (+ 8V/max. speed)
3: Torque (+ 8V/max. torque)
4: Current command output (± 8V/max.
current command)
5: Command speed (± 8V/max. command
speed)
6: Droop pulses (± 10V/128 pulses)
7: Droop pulses (± 10V/2048 pulses)
8: Droop pulses (± 10V/8192 pulses)
9: Droop pulses (± 10V/32768 pulses)
A: Droop pulses (±10V/131072 pulses)
B: Bus voltage (+ 8V/400V)
(Note-1): Only MR-J2S- B is set with the adjustment parameter 2.
4 - 12
4 PARAMETERS FOR POSITIONING CONTROL
Table 4.3 Servo parameter (Adjustment parameter) list (Continued)
Setting value/setting range
(Setting by peripheral device)
No.
Item
Setting details
Setting value
13
14
15
16
17
18
Optional function • Set the optional function 1 (Carrier
frequency (Low acoustic noise mode)
1
selection, serial encoder cable
(External forced
selection).
stop selection)
Optional function • Carrier frequency selection (Low
acoustic noise mode selection)
1
20dB can decrease the
(Carrier
electromagnetic noise which occurs
frequency
from servomotor when "1:9.0KHZ" is
selection)
selected.
Optional function At this time, continuous output of
servomotor can be decreased.
1
(Serial encoder • Serial encoder selection
Select the serial encoder cable to be
cable selection)
used.
Optional
function 2
(Slight vibration
suppression
control selection)
Servo amplifier setting valid
( : Valid)
MRMRMR- MRH-BN H-BN4 J2-B J2S-B
Section
MRJ2-Jr
0: Valid (Use the forced stop signal.)
1: Invalid (Do not use the forced stop
signal.)
0: 2.25KHZ
2: 6.375KHZ
4.3.13
3: 9KHZ
0: 2-wire type
1: 4-wire type (For long distance cable)
0: Invalid
1: Valid (Gain adjustment mode (Manual
mode "Automatic tuning" is set as "2".)
Optional
0: Invalid
function 2 (Motor
• Set the optional function 2.
lock operation
1: Valid
• Select the no-motor operation.
selection)
When the no-motor operation is made
0: It is output with any of the following
valid, output of signal and condition
conditions regardless of the motor
indication can be executed without
rotational speed.
connecting
servomotor.
Optional
1) Servo OFF
function 2
2) During alarm occurrence
(Electromagnetic
3) Emergency stop input turn off (Valid)
brake interlock
1: it is output with the status of 1) to 3) and
output timing)
rotational speed of the servomotor is "0
speed" or less of the expansion
parameter.
19(Note-1)
Adaptive
vibration
suppression
control 2
(Low pass filter
selection)
20(Note-1)
0: Invalid
Adaptive
1: Valid (Machine resonance frequency is
vibration
always detected and the filter is
suppression
generated in response to resonance to
control 2
suppress machine vibration.)
(Adaptive
• Select the low pass filter and the
2: Held (The characteristics of the filter
vibration
adaptive vibration suppression control.
generated so far are held, and detection
suppression
of machine resonance is stopped.)
control selection)
21(Note-1)
Adaptive
vibration
suppression
control 2
(Adaptive
vibration
suppression
control
sensitivity)
0: Valid (Automatic adjustment)
1: Invalid (Selection of manual low pass
filter frequency is valid.)
4.3.14
0: Normal
1: Large sensitivity
(Note-1): Only MR-J2S- B is set with the expansion parameter 2.
4 - 13
4 PARAMETERS FOR POSITIONING CONTROL
(3) Expansion parameters
Table 4.4 Servo parameter (Expansion parameter) list
Setting value/setting range
(Setting by peripheral device)
No.
Item
Setting details
Setting value
1
Monitor output 1
offset
• Set the value of monitor output 1
offset.
-9999 to 9999
2
Monitor output 2
offset
• Set the value of monitor output 2
offset.
-9999 to 9999
3
Pre-alarm data
selection (Data
selection 1)
4
Pre-alarm data
selection (Data
selection 2)
• Set the pre-alarm data selection.
-999 to 999
0: Servo motor speed
1: Torque
2: Servo motor speed (+)
3: Torque (+)
4: Current command output
5: Command (F T)
6: Droop pulses 1/1
7: Droop pulses 1/4
8: Droop pulses 1/16
9: Droop pulses 1/32
A: Droop pulses 1/64
MRMR- MRH-BN4 J2-B J2S-B
MRJ2-Jr
4.3.15
4.3.16
0: 1.77[ms]
1: 3.55[ms]
2: 7.11[ms]
3: 14.22[ms]
4: 28.44[ms]
5
6
Zero speed
• Set the output range the zero speed
signal (zsp).
7
Error excessive
alarm level
• Set the output range the error
excessive alarm (52).
8
0: PI control is always valid.
Optional function
1: Droop-based switching is valid in
5 (PI-PID control • Select the PI-PID control switch-over.
position control mode.
switch)
2: PID control is always valid.
9
Optional function
5 (Servo readout
character)
0 to 10000[r/min]
1 to 1000[KPLS]
0.1 to 100.0[0.025rev] (Note-2)
• Used to read the reason after the
servo amplifier 0400h why it does not 0: Japanese
rotate,
1: English
data, parameter item and alarm item.
10
Optional function
6 (Serial
communication
baud rate
selection)
11(Note-1)
Optional function • A communication baud rate selection
0: Invalid
and communication response delay
6 (Serial
1: Valid (It answer after delay time of
time and encoder output pulse setting
communication
more than 888[µs].)
selection.
response delay
time selection)
12
Optional function
6 (Encoder
output pulse
setting selection)
13(Note-1)
Optional function
6 (Condition
• Set the condition selection of home
selection of home position set.
position set)
(Note-1)
MRH-BN
Section
-999 to 999
Pre-alarm data
selection
(Sampling time
selection)
(Note-1)
Servo amplifier setting valid
( : Valid)
4.3.17
4.3.18
4.3.19
0: 9600[bps]
1: 19200[bps]
2: 38400[bps]
3: 57600[bps]
0: Output pulse setting selection
1: Divided perimeter ratio
0: Servomotor Z-phase pass after power
ON
1: No servomotor Z-phase pass after
power ON
6.22.15
(Note-1): Only MR-J2S- B is set with the expansion parameter 2.
(Note-2): The setting unit may change according to the software version of servo amplifier. Refer to the Instruction Manual of servo amplifier for details.
4 - 14
4 PARAMETERS FOR POSITIONING CONTROL
Table 4.4 Servo parameter (Expansion parameter) list (Continued)
Setting value/setting range
(Setting by peripheral device)
No.
Item
Setting details
Setting value
14
15
• Set the position droop value
(Number of pulses) which PI
control is switched over to PID
control.
PI-PID control switch• It becomes PID control in a
over position droop
domain higher than the setting
value.
It becomes effective when a
parameter is made "0001h".
Servo amplifier setting valid
( : Valid)
MRMRMR- MRH-BN H-BN4 J2-B J2S-B
0 to 50000[PLS]
16(Note-1) Encoder output pulse
MRJ2-Jr
4.3.20
• Set the speed differential
compensation value of the real
speed loop.
In PI (proportional integration)
control, if the value for speed
differential compensation is set at 0 to 1000
1000, the range for normal P
(proportional) control is effective; if
it is set to a value less than 1000,
the range for P (proportional)
control is expanded.
Speed
differential
compensation
Section
4.3.22
• Set the encoder pulse (A-phase,
B-phase) output by the servo
amplifier. (After magnification of 4)
• Select the pulse setting or output
division ratio setting in the
parameter.
• The number of A-phase and B0 to 65535
phase pulse actually output 1/4
times of the current number of
pulse.
• The maximum output frequency is
1.3Mpps (After magnification of 4).
Use this parameter within the
range.
(Note-1): Only MR-J2S- B is set with the expansion parameter 2.
POINT
(1) The "setting range" for position control gain 1 and 2, speed control gain 1 and 2
and speed integral compensation can be set using a peripheral device, but if a
setting outside the "valid range" is set, the following servo errors will occur when
the power supply of the Multiple CPU system turn on, the CPU is reset and the
PLC ready flag (M2000) turns off to on.
Servo error
code
Error contents
2613
Initial parameter error (Position control gain 1)
2614
Initial parameter error (Speed control gain 1)
2615
Initial parameter error (Position control gain 2)
2616
Initial parameter error (Speed control gain 2)
2617
Initial parameter error (Speed integral compensation)
4 - 15
Processing
Correct the applicable
parameter within the "valid
range", turn the M2000 off to
on, or reset.
4 PARAMETERS FOR POSITIONING CONTROL
4.3.2 Position control gain 1, 2
(1) Position control gain 1
(a) This gain is set in order to make the stabilization time shorter.
(b) If this gain is too high, it could cause overshoot and the value must therefore
be adjusted so that it will not cause overshoot or undershoot.
Overshoot
Motor speed
Time
Undershoot
(2) Position control gain 2
(a) This gain is set in order to increase position response with respect to load
disturbance.
(b) This gain is calculated and set with the load inertia ratio and the speed
control gain 2.
Position control gain 2 =
Speed control gain 2
1 + Load inertia ratio
×
1
10
POINTS
(1) If the position control gain 1 is too low, the number of droop pulses will increase
and a servo error (excessive error) will occur at high-speed operation.
(2) The position control gain 1 setting can be checked using a peripheral device.
(Refer to the help for each software for the checking method of the position
control gain 1 using a peripheral device.)
4 - 16
4 PARAMETERS FOR POSITIONING CONTROL
4.3.3 Speed control gain 1, 2
(1) Speed control gain 1
(a) For speed control mode
Normally, it is not necessary to change.
(b) For position control mode
Set to increase the follow-up for commands.
(2) Speed control gain 2
(a) This gain is set when vibration occurs, for example in low-rigidity machines
or machines with a large backlash.
If this gain is increased, responsiveness is improved but vibration (abnormal
motor noise) becomes more likely.
(b) A guide to setting position gain 2 is shown in Table 4.5 below.
Table 4.5 Guide to speed control gain 2 setting
Load inertia ratio
(GDL2 /GDM2)
Setting value [ms]
1
3
5
10
20
30 or more
Remarks
800
1000
1500
2000
2000
2000
Setting range of 1 to
9999 can be set.
(Valid range: 20 to 5000)
POINTS
(1) When the setting for speed control gain 1 is too high, the overshoot becomes
greater and vibration (abnormal motor noise) occurs on stopping.
(2) The speed control gain 1 setting can be checked using a peripheral device.
(Refer to the help of each software for the monitoring method of the speed
control gain1 using a peripheral device.)
4.3.4 Speed integral compensation
(1) This parameter is used to increase frequency response in speed control and
improve transient characteristics.
(2) If the overshoot in acceleration/deceleration cannot be made smaller by adjusting
speed loop gain or speed control gain, increasing the setting for the speed integral
compensation value will be effective.
(3) A guide to setting the speed integral compensation is shown in Table 4.6 below.
Table 4.6 Guide to speed integral compensation setting
Load inertia ratio
(GDL2 /GDM2)
Setting value [ms]
1
3
5
10
20
30 or more
Remarks
20
30
40
60
100
200
Setting range of 1 to
9999 can be set.
(Valid range: 1 to 1000)
4 - 17
4 PARAMETERS FOR POSITIONING CONTROL
4.3.5 In-position range
(1) "In-position" is the droop pulses in the deviation counter.
(2) If an in-position value is set, the in-position signal (M2402 + 20n) turns on when
the difference between the position command and position feedback from the
servomotor becomes within the setting range.
Amount of droop
Setting value for in-position range
t
In-position
ON
(M2402+20n)
OFF
4.3.6 Feed forward gain
This parameter is used to improve the follow-up of the servo system.
The setting range is as follows:
When using the servo amplifiers....................0 to 100[%]
4.3.7 Load inertia ratio
(1) This parameter sets the load inertia moment ratio for the servomotor.
The load inertia moment ratio is calculated using the following equation:
Load inertia moment ratio
=
Load inertia moment
Motor inertia moment
(2) The result of automatic tuning is automatically set at the automatic tuning setting.
4.3.8 Automatic tuning
By detecting the current and speed at the start, the load inertia moment is automatically
calculated, and the most suitable gain is automatically set.
4.3.9 Servo responsiveness setting
(1) This parameter is used to increase servo responsiveness.
The servo responsiveness improves by changing the setting value of the servo
responsiveness to a higher value in the sequence 1, 2..., 5.
When the machine with high friction is used, set values within the range of 8 to C.
4 - 18
4 PARAMETERS FOR POSITIONING CONTROL
Response settings
1 : Low-speed response
2:
3:
4:
Normal machine
(All servo amplifiers valid)
Standard mode
Machines with high friction
(MR -H BN only valid)
High frictional load mode
5 : High-speed response
8 : Low-speed response
9:
A:
B:
C : High-speed response
(2) Increase the response setting step by step starting from the low-speed response
setting, observing the vibration and stop stabilization of the motor and machine
immediately before stopping as you do so. If the machine resonates, decrease the
set value.
If the load inertia is 5 times the motor inertia, make the set value 1 or more.
(3) The following figure shows the change in motor response in accordance with servo
response setting.
Motor speed
Response setting
5
Command value
4
3
2
1
Change in motor response based on the response setting
(At the positioning control)
Time
(4) Change the servo responsiveness setting while the motor is stop.
4.3.10 Notch filter
Notch frequency of the notch filter is set.
Setting value
Notch frequency [HZ]
0
Not used
1
1125
2
750
3
562
4
450
5
375
6
321
7
281
4 - 19
4 PARAMETERS FOR POSITIONING CONTROL
4.3.11 Electromagnetic brake sequence
This parameter sets the delay time between the electromagnetic brake operation and
base disconnection.
4.3.12 Monitor output mode
This parameter is set to output the operation status of the servo amplifier in real time as
analog data.
The operation status can be checked by analog output.
There are two monitor items to be set according with the servo amplifier to be used.
4.3.13 Optional function 1
(1) Carrier frequency selection
When low noise is set, the amount of electromagnetic noise of audible
frequencies emitted from the motor can be reduced.
(2) Serial encoder cable selection
Set the type of serial encoder cable to be used.
0
0
Carrier frequency selection
0 : 2.25kHz (non low-noise)
3 : 9kHz (low-noise)
Encoder type
0 : 2-wire type
1 : 4-wire type
POINT
Optional function 1 (carrier frequency selection)
When low-noise is set, the continuous output capacity of the motor is reduced.
(3) External forced stop selection (MR-J2S- B/MR-J2- B only)
The external forced stop signal (EM1) can be made invalid.
0: External forced stop signal is valid.
1: External forced stop signal is invalid (automatically turned on internally).
4 - 20
4 PARAMETERS FOR POSITIONING CONTROL
4.3.14 Optional function 2
(1) Selection of no-motor operation
0: Invalid
1: Valid
If no-motor operation is valid, the output signals that would be output if the motor
were actually running can be output and statuses indicated without connecting a
servomotor.
It can be checked the Motion SFC program of the Multiple CPU system without
connecting a motor.
(2) Electromagnetic brake interlock output timing
Select the output timing for the electromagnetic brake interlock signal from the
following.
0: It is output with any of the following conditions, regardless of the
rotational speed of the servomotor.
• Servo OFF
• Servo alarm occurrence
• Emergency stop input
1: It is output with the above conditions and the servo motor rotational
speed is "0 speed or less" of the expansion parameter.
(3) Slight vibration suppression function selection
(MR-J2S- B/MR-J2- B only)
Set to suppress vibration specific to the servo amplifier at the stop.
0: Slight vibration suppression control is invalid
1: Slight vibration suppression control is valid
(4) Motor lock function operation selection
(MR-J2S- B/MR-J2- B only)
Allows test operation with the motor connected but without rotating the motor.
The operation is the same as no-motor operation with MR-H BN.
0: Motor lock operation is invalid
1: Motor lock operation is valid
When motor lock operation is made valid, operation is possible without
connecting the motor. However, since when MR-J2S- B/MR-J2- B is used the
connected motor is automatically identified before operation is started, if no motor
is connected the connected motor type may be regarded as a default, depending
on the type of amplifier. If this default motor type differs from the setting made in
the system settings, the controller will detect minor error [900] (motor type in
system settings differs from actually mounted motor), but this will not interfere
with operation.
4 - 21
4 PARAMETERS FOR POSITIONING CONTROL
POINT
Optional function 2 (no-motor operation selection)
No-motor operation differs from operation in which an actual motor is run in that, in
response to signals input in no-motor operation, motor operation is simulated and
output signals and status display data are created under the condition that the load
torque zero and moment of load inertia are the same as the motor's moment of
inertia. Accordingly, the acceleration/deceleration time and effective torque or the
peak load display value and the regenerative load ratio is always "0", which is not
the case when the real motor is operated.
4.3.15 Monitor output 1, 2 offset
This parameter sets the offset value for the monitor items set at the monitor outputs 1
and 2 setting.
4.3.16 Pre-alarm data selection
This parameter outputs the data state at an alarm occurrence from the servo amplifier
in analog form.
(1) Sampling time selection
Set the intervals in which the data state at an alarm occurrence is recorded in the
servo amplifier.
(2) Data selection
Set the data output in analog form from the servo amplifier.
Two types of data can be set.
0
Data selection 2
Data selection 1
Sampling time
0 : 1.77[ms]
1 : 3.55[ms]
2 : 7.11[ms]
3 : 14.22[ms]
4 : 28.44[ms]
4 - 22
0 : Servo motor speed ( )
1 : Torque ( )
2 : Servo motor speed ( )
3 : Torque ( )
4 : Current command output
5 : Command F T
6 : Droop pulse 1/1
7 : Droop pulse 1/4
8 : Droop pulse 1/16
9 : Droop pulse 1/32
A : Droop pulse 1/64
4 PARAMETERS FOR POSITIONING CONTROL
4.3.17 Zero speed
This parameter sets the speed at which the motor speed is judged as "0".
4.3.18 Error excessive alarm level
This parameter sets the range in which the alarm for excessive droop pulses is output.
4.3.19 Optional function 5
(1) PI-PID control switching
This parameter sets the condition under which switching from PI to PID control, or
from PID control to PI control, is valid.
(2) Servo readout characters
When the optional parameter unit is connected, set whether the screen display on
the parameter unit is Japanese or English.
4.3.20 PI-PID control switching position droop
This parameter sets the position droop value (Number of pulses) which PI control is
switched to PID control during position control.
The setting becomes valid when switching in accordance with the droop during position
control is made valid using the setting for PI-PID control switching by optional function
5.
4.3.21 Torque control compensation factor
This parameter is used to expand the torque control range up to the speed control
value at the torque control. (MR-H BN only)
If a large value is set, the speed limit value may be exceeded and the motor may
rotate.
4.3.22 Speed differential compensation
This parameter sets the differential compensation value of the real speed loop.
In PI (proportional integration) control, if the value for speed differential compensation
is set at 1000, the range for normal P (proportional) control is valid; if it is set to a value
less than 1000, the range for P (proportional) control is expanded.
4 - 23
4 PARAMETERS FOR POSITIONING CONTROL
4.3.23 Servo parameters of vector inverter (FR-V500)
The servo parameters to be set are shown in Tables 4.7.
Refer to the "Vector inverter Instruction Manual" for details of the vector inverter.
Instruction Manual list is shown below.
Vector inverter type
Instruction manual name
FR-V500 Instruction Manual [Basic] (IB-0600064)
FR-V500 Instruction Manual [Detailed] (IB-0600131E)
FR-V5NS Instruction Manual (IB-0600106E)
FR-V500
Table 4.7 Vector inverter parameter list
Inverter
parameter
No.
Japan
North
America
Europe
1 Maximum speed
1
1500
1800
1500
2 Electronic thermal O/L relay
9
0.00
3 Regenerative function selection
30
0
0 to 2
1
4 Special regenerative brake duty
70
0.0
0.0 to 30.0
0.1%
Expansion parameters
Adjustment parameters
Basic parameters
No.
Setting details
5 Applied motor
71
6 Motor capacity (Note-3)
80
Initial value
30
0
0
Setting range
Units
0 to 3600
1r/min
0.00 to 500.00
0.01A
0, 3 to 8, 10, 13 to 18, 20, 23, 24, 30
1
Inverter capacity
0.75 to 55.00
0.01kW
7 Number of motor poles
81
4
2, 4, 6, 8
1
8 Online auto turning selection
95
0
0, 1, 2
1
150.0
0.0 to 400.0
0.1%
Restriction by the value of Pr.9
Restriction by the value of "0.0 to
400.0" or Pr.9
0.1%
9 Torque restriction level
22
10 Torque restriction level (regeneration)
812
11 Torque restriction level (3 quadrant)
813
12 Torque restriction level (4 quadrant)
814
13 Easy gain tuning response level setting
818
2
1 to 15
1
14 Easy gain tuning selection
819
0
0, 1, 2
1
15 Number of encoder pulses
851
0 to 4096
1
16 Encoder rotation direction
852
0, 1
1
17 Thermal relay protector input
876
18 Position loop gain
422
2048
1024
1024
1
1
0
0
25
0, 1
1
0 to 150
1sec-1
19 Position feed forward gain
423
0
0 to 100
1%
20 In-position width
426
0.01
0.0001 to 3.2767
0.0001mm
21 Excessive level error
427
40
0 to 400
1KPLS
22 Speed control P gain 1
820
60
0 to 1000
1%
23 Speed control integral time 1
821
0.333
0.000 to 20.000
0.001s
24 Model speed control gain
828
60
0 to 1000
1%
25 Notch filter frequency
862
0
0 to 31
1
26 Notch filter depth
863
0
0 to 3
1
Speed feed forward control/model
27
adaptive speed control selection
877
0
0 to 2
1
28 Speed feed forward filter
878
0.00
0.00 to 1.00
0.01s
29 Speed feed forward torque restriction
879
150.000
0.000 to 400.000
0.001%
30 Load inertia ratio
880
7.0
0.0, 1.0 to 200.0
0.1
31 Speed feed forward gain
881
0
0 to 1000
1%
32 DA1 terminal function selection
54
33 Speed monitoring reference
55
1
1500
1800
1500
1 to 3, 5 to 12, 17, 18, 21, 32 to 34, 36
1
0 to 3600
1r/min
0.01A
34 Current monitoring reference
56
0.00
0.00 to 500.00
35 DA2 terminal function selection
158
1
1 to 3, 5 to 12, 17, 18, 21, 32 to 34, 36
1
36 Overspeed detection level
374
0 to 4200
1r/min
37 Torque characteristic selection
801
1
0, 1
1
Constant output region torque
38
characteristic selection
803
0
0, 1
1
39 Torque monitoring reference
866
150.0
0.0 to 400.0
0.1%
3450
4200
3450
(Note-1) : The above parameters become valid immediately after change.
(Note-2) : Set the vector inverter parameters except the above parameters using an operation panel or parameter module.
(Note-3) : Usable motor capacity is equivalent to vector inverter capacity, or under 1 rank.
4 - 24
4 PARAMETERS FOR POSITIONING CONTROL
4.4 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 a peripheral device.
(4) Parameter block to be set are shown in Table 4.8.
Table 4.8 Parameter block setting list
Setting range
No.
Item
mm
inch
degree
Setting range Units Setting range Units Setting range
Initial
PLS
Units
Setting range Units
value
Units
Remarks
Section
• Set the units for compensation
control.
1
Interpolation
control unit
0
1
2
3
• It can be also used as the units for
3
the command speed and allowable
6.1.4
error range for circular interpolation
set in the servo program.
• Set the maximum speed for
positioning/home position return.
2
Speed limit
value
0.01 to
mm/
0.001 to
inch/
0.001 to
degree/
1 to
6000000.00
min
600000.000
min
2147483.647
min
10000000
• If the positioning speed or home
PLS/s 200000 PLS/s
position return speed setting
exceeds the speed limit value,
control is executed at the speed
limit value.
3
4
• Set the time taken to reach the
Acceleration
1 to 65535[ms]
time
1000
ms
motion.
Deceleration
1 to 65535[ms]
time
1000
ms
Rapid stop
5
4.4.1
speed limit value from the start of
• Set the time taken to stop from
the speed limit value.
• Set the time taken to stop from
deceleration
1 to 65535[ms]
1000
ms
time
the speed limit value when a
rapid stop is executed.
• Set the S-curve ratio for S-pattern
processing.
6
S-curve ratio
0 to 100[%]
0
%
• When the S-curve ratio is 0[%],
trapezoidal
4.4.2
acceleration/deceleration
processing is executed.
7
Torque limit
Deceleration
8
1 to 500[%]
value
processing on
STOP input
300
%
error range
for circular
servo program.
• Set the deceleration processing
0 : Deceleration stop is executed based on the deceleration time.
0
1 : Deceleration stop is executed based on the rapid stop deceleration time.
when external signals (STOP,
FLS, RLS) are input.
Allowable
9
• Set the torque limit value in the
• Set the permissible range for the
0 to 10000.0
µm
0 to 1.00000
inch
0 to 1.00000
degree 0 to 100000
PLS
100
PLS
locus of the arc and the set end
point coordinates.
4.4.3
interpolation
POINTS
(1) Parameter blocks are specified in the home position return data, JOG operation
data or servo program.
(2) The various parameter block data can be changed using the servo program.
(Refer to Section 5.3.)
4 - 25
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 a peripheral device
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.
setting
Parameter block
setting
Individual parameter
block data setting
UNIT : Interpolation control unit, S.R. : Speed limit value, : Acceleration
time, : Deceleration time, E : Rapid stop deceleration time,
P.TORQ : Torque limit value, STOP : Deceleration processing on STOP
input, : Allowable error range for circular interpolation, SPEED : Change
speed when constant-speed control is executed, S RATIO : S-curve ratio
when S-pattern processing is executed
(2) The parameter block No. used in the home position return or JOG operation is set at
the setting of the "home position return data" or " JOG operation data" using a
peripheral device.
Refer to Section "6.22.1 Home position return data" or "6.20.1 JOG operation data" for
details.
[Home position return data setting screen]
Parameter block No.
setting of the home
position return
Parameter block No.
setting of the JOG
operation
4 - 26
4 PARAMETERS FOR POSITIONING CONTROL
4.4.1 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.
Accordingly, the actual acceleration time, deceleration time, and rapid stop deceleration
time are faster, because the positioning speed is faster than the speed limit value.
Speed limit value
Speed
Rapid stop cause occurrence
Positioning
speed set in
the servo
program
1) Real acceleration time
Time take to reach the positioning speed
set in the servo program.
2) Real rapid stop deceleration time
Time taken to effect a rapid stop from the
positioning speed set in the servo program.
1) Real acceleration time
2) Real rapid stop
deceleration time
Time
Set acceleration Set rapid stop
deceleration
time
time
3) Real deceleration time
Time taken to stop from the positioning
speed set in the servo program.
3) Real deceleration time
Set deceleration time
4.4.2 S-curve ratio
S-curve ratio can be set as the acceleration and deceleration processing method for Spattern processing.
(Refer to Section 6.1.7 for details of S-curve acceleration/deceleration processing.)
Setting range of the S-curve ratio is 0 to 100[%].
If it is set outside the range, an error occurs at the start and control is executed with the
S-curve ratio set as 100[%].
Errors are set in the servo program setting error area (D9190).
Setting of the S-curve ratio enables acceleration/deceleration processing to be
executed gently.
The graph for S-pattern processing is a sine curve as shown below.
V
Positioning speed
Sine curve
0
t
Acceleration
time
4 - 27
Deceleration
time
Time
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[%]
4.4.3 Allowable error range for circular interpolation
The locus of the arc calculated from the start point address and central point address
may not coincide with the set end point address for the central-specified control.
The allowable error range for circular interpolation sets the allowable range for the error
between the locus of the arc determined by calculation and the end point address.
If the error is within the allowable range, circular interpolation to the set end point
address is executed while also executing error compensation by means of spiral
interpolation.
If it exceeds the setting range, an error occurs at the start and positioning does not
start. Such an error are set the applicable axis or minor error code area.
Error
End point address
by calculation
Locus determined by spiral
interpolation
Setting end point
address
Start point address
Central point address
Fig. 4.4 Spiral Interpolation
4 - 28
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.
5.1 Servo Program Composition Area
This section is described the composition of servo programs and the area in which
stores the servo program.
5.1.1 Servo program composition
A servo program is composed a program No., servo instructions and positioning data.
When a program No. and the required servo instructions are specified using a
peripheral device, the positioning data required to execute the specified servo
instructions can be set.
[Explanation of the program]
K11 . . . . . . . Program No.11
ABS-3 . . . . . 3 axes linear interpolation control as absolute
data method.
Program No.
Control units
<K 11>
Servo instruction
Positioning
data
ABS-3
Axis
1,
3000000.0
Axis
2,
5500000.0
Axis
3,
-2500000.0
Combined speed 40000.00
2500
Dwell
12
M-code
3
P.B.
[mm]
[mm]
[mm]
[mm/min]
[ms]
Axis1, 3000000.0
Axis2, 5500000.0
Axis3, -2500000.0
. . . Axis used and positioning address
Used axes
Positioning address
1
3000000.0[µm]
2
5500000.0[µm]
3
-2500000.0[µm]
• Combined speed ……… Command speed for the 3 axes
(axis 1, axis 2, axis 3) combination
40000.00 [mm/min]
Number of program steps
10
Number of used programs 20/13312
• Dwell ……………………. Dwell time
• M-code …………………. M-code
2500 [ms]
12
• P.B. ……………………... Parameter block No. 3
Fig. 5.1 Composition example of servo program
(1) Program No. ........... This No. is specified using the Motion SFC program.
Any No. in the range of 0 to 4095 can be set.
(2) Servo instruction .… Type of positioning control is indicated.
Refer to Section 5.2 for details.
5-1
5
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.
Control is executed using the data
(parameter block)
of parameter block 3 (P.B.3).
5.1.2 Servo program area
(1) Servo program area
This area is an internal memory of the Multiple CPU system which store the
servo program created using a peripheral device.
This area is an internal RAM.
(2) Servo program capacity
The servo program area has a capacity of 14334 steps.
0
Program No.10
Program No.1
Program No. 2
Servo programs are stored in the order
in which their program No. were created.
Servo program area
(14k steps)
14333
Step
Fig. 5.2 Servo program area
POINT
If the servo program area has insufficient capacity, execute the multiple positioning
control operations with one program by indirect setting of the positioning data used
in the servo program. (Refer to Section 5.4.2 for details of indirect setting.)
5-2
5 SERVO PROGRAMS FOR POSITIONING CONTROL
5.2 Servo Instructions
The servo instructions used in the servo programs are shown below.
(1) Guide to servo instruction list
Table. 5.1 Guide to Servo Instruction List
3)
4)
5)
6)
7)
8)
Positioning data
2 1
1
1
1
1
1
1
1
1
2
1
1
1
1
2
1
2
1/
1(B)
2
2
Number of steps
1
1
WAIT-ON/OFF
Torque limit value
1
2
Skip
Rapid stop deceleration time
1
2
Program No.
Deceleration time
1
2
S-curve ratio
Control unit
Speed limit value
1
1
Repeat condition
Reference axis No.
1
2
Deceleration processing
at stop input
Allowable error range for
circular interpolation
Amplitude
Frequency
1
2
Acceleration time
Pitch
Starting angle
1 1
1
Radius
Central point
1
1
M-code
1
1
1
Torque limit value
Auxiliary point
1
2
1
Dwell time
Command speed
1
1
FIN acceleration/deceleration
Other
Parameter block
Cancel
1
Command speed (constant speed)
OSC
Circular
2
Axis
Processing
Address/travel
Instruction
symbol
Parameter block No.
Positioning control
Common
Virtual enable
Number of step
axes
1 axis
Number of indirect words 1
ABS-1
Absolute 1-axis positioning
INC-1
Incremental 1-axis positioning
ABS-2
Absolute 2-axes linear
2
1
1
2
2
2 2
1(B) 1(B)
1
2
1
2
1(B)
4 to 17
2)
1)
Number
1)
Description
Instruction symbol
Gives the servo instructions usable in servo programs.
Processing
Gives the processing outlines of the servo instructions.
(a) Indicates positioning data which can be set in servo instructions.
1)
: Item which must be set (Data which cannot execute the servo instruction unless it sets.)
2)
: Item which is set when required (Data which will be controlled by the default value unless it sets.)
2)
(b) Allows direct or indirect designation (except axis No.)
1) Direct designation : Set with numerical value.
2) Indirect designation : Set with word device (D, W, #).
• Servo program execution is controlled using the preset word device contents.
• Each setting item may either be 1 or 2 word data.
• For 2 word data, set the first device No..
(c) Number of steps
As there are more setting items, there are more number of instruction steps. (The number of steps is displayed when a
servo program is created.)
(The instruction +
item comprise the minimum steps, and one
item increases the number of steps by 1.)
3)
Items common to the servo instructions
4)
Items set in circular interpolation starting servo programs
5)
Items set for high-speed oscillation
6)
Set when changing the parameter block (default value when not set) data set in the servo program to control.
(The parameter block data are not changed.)
7)
Setting items other than the common, circular and parameter block items (Items to be set vary with the servo instruction.)
8)
Indicates the number of steps of each servo instruction.
5-3
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 5.2 Servo instruction list
Positioning data
Radius
Central point
Pitch
1
1
1
1
1
1
1
1
Number of indirect words
1
—
2
2
1
1
1
2
2
2
1
—
2 axes
3 axes
Radius-specified
Circular interpolation control
Auxiliary
pointspecified
4 axes
Linear interpolation control
1 axis
Virtual enable
ABS-1
Absolute 1-axis positioning
INC-1
Incremental 1-axis positioning
ABS-2
Absolute 2-axes linear interpolation
INC-2
Incremental 2-sxes linear interpolation
ABS-3
Absolute 3-axes linear interpolation
INC-3
Incremental 3-axes linear interpolation
ABS-4
Absolute 4-axes linear interpolation
INC-4
Incremental 4-axes linear interpolation
Torque limit value
1
Dwell time
1
Command speed
1
Axis
Auxiliary point
M -code
Circular
Number of steps
Processing
Address/travel value
Instruction
symbol
Parameter block No.
Positioning control
Common
ABS
Absolute auxiliary point-specified circular
interpolation
INC
Incremental auxiliary point-specified circular
interpolation
ABS
Absolute radius-specified circular
interpolation less than CW 180°
ABS
Absolute radius-specified circular
interpolation CW 180° or more
ABS
Absolute radius-specified circular
interpolation less than CCW 180°
ABS
Absolute radius-specified circular
interpolation CCW 180° or more
INC
Incremental radius-specified circular
interpolation less than CW 180°
INC
Incremental radius-specified circular
interpolation CW 180° or more
INC
Incremental radius-specified circular
interpolation less than CCW 180°
INC
Incremental radius-specified circular
interpolation CCW 180° or more
5-4
2
2
—
—
—
1
1
1
2
1
1
1
1
2
2
1
1
1
1
—
1
1
1
1
1
1
1
1
1
2
2
2
1
2
1
*2
1/
1(B)
—
2
*2
1(B)
*2
1(B)
1
*2
1(B)
2
5-5
Parameter block
Skip
Cancel
Command speed
(constant speed)
Program No.
Repeat condition
WAIT-ON/OFF
1
FIN acceleration/deceleration
—
S-curve ratio
—
Allowable error range for circular
interpolation
Deceleration processing
at stop input
Torque limit value
Rapid stop deceleration time
*1
Deceleration time
Acceleration time
Speed limit value
Control unit
OSC
Reference axis No.
Frequency
Amplitude
Starting angle
5 SERVO PROGRAMS FOR POSITIONING CONTROL
Positioning data
Others
Number of steps
4 to 17
5 to 20
7 to 21
8 to 22
7 to 22
6 to 21
: Must be set.
: Set if required.
*1 : Only reference axis speed specification.
*2 : (B) indicates a bit device.
5 SERVO PROGRAMS FOR POSITIONING CONTROL
Table 5.2 Servo Instruction List (continued)
Positioning data
Radius
Central point
Pitch
1
1
1
1
1
1
Number of indirect words
1
—
2
2
1
1
1
2
2
2
1
—
Central point-specified
Central point-specified
Radius-specified
Auxiliary
pointspecified
Circular interpolation
control
Virtual enable
Helical interpolation control
Torque limit value
1
M-code
1
Dwell time
1
Command speed
1
Address/travel value
1
Processing
Axis
Number of steps
Parameter block No.
Positioning control
Instruction
symbol
Circular
Auxiliary point
Common
ABS
Absolute central point-specified circular
interpolation CW
ABS
Absolute central point-specified circular
interpolation CCW
INC
Incremental central point-specified circular
interpolation CW
INC
Incremental central point-specified circular
interpolation CCW
ABH
Absolute auxiliary point- specified helical
interpolation
INH
Incremental auxiliary point- specified helical
interpolation
ABH
Absolute radius-specified helical
interpolation less than CW 180°
ABH
Absolute radius-specified helical
interpolation CW 180° or more
ABH
Absolute radius-specified helical
interpolation less than CCW 180°
ABH
Absolute radius-specified helical
interpolation CCW 180° or more
INH
Incremental radius-specified helical
interpolation less than CW 180°
INH
Incremental radius-specified helical
interpolation CW 180° or more
INH
Incremental radius-specified helical
interpolation less than CCW 180°
INH
Incremental radius-specified helical
interpolation CCW 180° or more
ABH
Absolute central point-specified helical
interpolation CW
ABH
Absolute central point-specified helical
interpolation CCW
INH
Incremental central point-specified helical
interpolation CW
INH
Incremental central point-specified helical
interpolation CCW
5-6
2
2
—
—
—
1
1
1
2
1
1
1
1
2
2
1
1
1
1
—
1
1
1
1
1
1
1
1
1
2
2
2
1
2
1
*2
1/
1(B)
—
2
*2
1(B)
*2
1(B)
1
*2
1(B)
2
5-7
Parameter block
Skip
Cancel
Command speed
(constant speed)
Program No.
Repeat condition
WAIT-ON/OFF
1
FIN acceleration/deceleration
—
S-curve ratio
—
Allowable error range for circular
interpolation
Deceleration processing
at stop input
Torque limit value
Rapid stop deceleration time
*1
Deceleration time
Acceleration time
Speed limit value
Control unit
OSC
Reference axis No.
Frequency
Amplitude
Starting angle
5 SERVO PROGRAMS FOR POSITIONING CONTROL
Positioning data
Others
Number of steps
7 to 22
10 to 27
9 to 26
10 to 27
: Must be set.
: Set if required.
*1 : Only reference axis speed specification.
*2 : (B) indicates a bit device.
5 SERVO PROGRAMS FOR POSITIONING CONTROL
Table 5.2 Servo Instruction List (continued)
Positioning data
Radius
Central point
Pitch
1
1
1
1
1
1
Number of indirect words
1
—
2
2
1
1
1
2
2
2
1
Reverse Forward Reverse Forward Reverse Forward
3
rotation rotation rotation rotation rotation rotation
Restart
Speed-position
control
Speed
control ( )
Speed
control ( )
Fixed-pitch feed
axes 2 axes 1 axis
Virtual enable
FEED-1
1-axis fixed-pitch feed start
FEED-2
2-axes linear interpolation
fixed-pitch feed start
FEED-3
3-axes linear interpolation
fixed-pitch feed start
—
VF
Speed control ( ) forward rotation start
VR
Speed control ( ) reverse rotation start
VVF
Speed control ( ) forward rotation start
VVR
Speed control ( ) reverse rotation start
VPF
Speed-position control forward rotation start
VPR
Speed-position control reverse rotation start
VPSTART
Speed-position control restart
VSTART
Speed-switching control start
VEND
Speed-switching control end
Speed-switching control
ABS-1
ABS-2
Speed-switching control end point address
ABS-3
INC-1
INC-2
Travel value up to speed-switching control
end point
INC-3
VABS
Speed-switching point
absolute specification
VINC
Speed-switching point
incremental specification
Torque limit value
1
M-code
1
Dwell time
1
Command speed
1
Address/travel value
1
Processing
Axis
Number of steps
Parameter block No.
Positioning control
Instruction
symbol
Circular
Auxiliary point
Common
5-8
5 SERVO PROGRAMS FOR POSITIONING CONTROL
Positioning data
1
1
2
2
2
1
1
1
2
2
1
1
1
1
1
1
—
1
1
1
1
2
2
2
1
2
1
—
2
*2
1(B)
*2
1(B)
1
*2
1(B)
2
Skip
1
Cancel
1
*2
1/
1(B)
Command speed
(constant speed)
1
Program No.
1
Repeat condition
Deceleration processing
at stop input
Torque limit value
Rapid stop deceleration time
Deceleration time
Acceleration time
Speed limit value
Control unit
1
—
WAIT-ON/OFF
1
—
FIN acceleration/deceleration
—
Others
S-curve ratio
—
Parameter block
Allowable error range for circular
interpolation
—
Reference axis No.
*1
Frequency
Amplitude
Starting angle
OSC
Number of steps
4 to 17
5 to 19
7 to 21
3 to 15
3 to 16
4 to 18
2 to 4
1 to 13
1
4 to 9
5 to 10
7 to 12
4 to 9
5 to 10
7 to 12
4 to 6
: Must be set.
: Set if required.
*1 : Only reference axis speed specification.
*2 : (B) indicates a bit device.
5-9
5 SERVO PROGRAMS FOR POSITIONING CONTROL
Table 5.2 Servo Instruction List (continued)
Positioning data
Radius
Central point
Pitch
1
1
1
1
1
1
1
1
1
1
1
Number of indirect words
1
—
2
2
1
1
1
2
2
2
1
—
control
Position follow-up control start
CPSTART1
1-axis constant-speed control start
CPSTART2
2-axes constant-speed control start
CPSTART3
3-axes constant-speed control start
CPSTART4
4-axes constant-speed control start
ABS-1
ABS-2
ABS-3
ABS-4
ABS
Constant-speed control
Position
follow-up
Virtual enable
PFSTART
ABS
Constant-speed control passing point
absolute specification
ABS
ABS
ABS
ABS
ABS
ABH
ABH
ABH
ABH
Torque limit value
Number of steps
Processing
Axis
Auxiliary point
M-code
Circular
Dwell time
Command speed
Address/travel value
Instruction
symbol
Parameter block No.
Positioning control
Common
Constant-speed control passing point
helical absolute specification
ABH
ABH
ABH
5 - 10
5 SERVO PROGRAMS FOR POSITIONING CONTROL
Positioning data
1
1
1
1
1
1
1
—
1
1
1
1
2
—
2
*2
2
2
2
1
1
2
1
1
1
1
1
2
1
1/
1(B)
Skip
Cancel
Command speed
(constant speed)
1
Program No.
1
Repeat condition
Deceleration processing
at stop input
Torque limit value
Rapid stop deceleration time
Deceleration time
Acceleration time
Speed limit value
2
—
2
2
*2
*2
1(B) 1(B)
WAIT-ON/OFF
1
—
FIN acceleration/deceleration
—
S-curve ratio
—
Others
Allowable error range for circular
interpolation
—
Parameter block
Control unit
Frequency
Amplitude
Starting angle
OSC
Reference axis No.
*1
1
2
1
Number of steps
*2
1(B)
4 to 16
3 to 15
3 to 17
4 to17
2 to 10
3 to 11
4 to 12
5 to 13
5 to 14
4 to 13
5 to 14
9 to 14
8 to 13
9 to 14
: Must be set.
: Set if required.
*1 : Only reference axis speed specification.
*2 : (B) indicates a bit device.
5 - 11
5 SERVO PROGRAMS FOR POSITIONING CONTROL
Table 5.2 Servo Instruction List (continued)
Positioning data
Radius
Central point
Pitch
1
1
1
1
1
1
1
1
1
1
1
Number of indirect words
1
—
2
2
1
1
1
2
2
2
1
—
Virtual enable
INC-1
INC-2
INC-3
INC-4
INC
INC
Constant-speed control passing point
incremental specification
Constant-speed control
INC
INC
INC
INC
INC
INH
INH
INH
INH
Constant-speed control passing point
helical incremental specification
INH
INH
INH
CPEND
Torque limit value
Number of steps
Processing
Axis
Auxiliary point
M-code
Circular
Dwell time
Command speed
Address/travel value
Instruction
symbol
Parameter block No.
Positioning control
Common
Constant-speed control end
5 - 12
2
2
—
—
—
1
1
1
2
1
1
1
1
2
2
1
1
1
1
—
1
1
1
—
1
1
1
1
1
2
1
5 - 13
1
1/
1(B)
*2
1
2
—
2
2
1(B) 1(B)
*2
*2
WAIT-ON/OFF
2
FIN acceleration/deceleration
Parameter block
Skip
Cancel
Command speed
(constant speed)
Program No.
Repeat condition
S-curve ratio
—
Allowable error range for circular
interpolation
Deceleration processing
at stop input
Torque limit value
Rapid stop deceleration time
*1
Deceleration time
Acceleration time
Speed limit value
Control unit
OSC
Reference axis No.
Frequency
Amplitude
Starting angle
5 SERVO PROGRAMS FOR POSITIONING CONTROL
Positioning data
Others
1
2
1
1(B)
Number of steps
*2
2 to 10
3 to 11
4 to 12
5 to 13
5 to 14
4 to 13
5 to 14
9 to 14
8 to 13
9 to 14
1 to 2
: Must be set.
: Set if required.
*1 : Only reference axis speed specification.
*2 : (B) indicates a bit device.
5 SERVO PROGRAMS FOR POSITIONING CONTROL
Table 5.2 Servo Instruction List (continued)
Positioning data
Radius
Central point
Pitch
1
1
1
1
1
1
1
1
1
1
1
Number of indirect words
1
—
2
2
1
1
1
2
2
2
1
—
FOR-TIMES
Repeat range start setting
FOR-OFF
START
ZERO
OSC
High-speed oscillation
CHGA
Servo/virtual servo current value change
Current
value
change
Simultaneous
start
Repeat range end setting
Home
position
return
NEXT
High speed
oscillation
Repetition of
same control
(used in speed
switching
control, constantspeed control)
Virtual enable
FOR-ON
Simultaneous start
Home position return start
CHGA-E
Encoder current value change
CHGA-C
CAM shaft current value change
Torque limit value
Number of steps
Processing
Axis
Auxiliary point
M-code
Circular
Dwell time
Command speed
Address/travel value
Instruction
symbol
Parameter block No.
Positioning control
Common
5 - 14
2
2
—
—
—
1
1
1
2
1
1
1
1
2
2
1
1
1
1
—
1
1
1
—
1
1
1
1
1
2
1
5 - 15
1
1/
1(B)
*2
1
2
—
2
2
1(B) 1(B)
*2
*2
WAIT-ON/OFF
2
FIN acceleration/deceleration
Parameter block
Skip
Cancel
Command speed
(constant speed)
Program No.
Repeat condition
S-curve ratio
—
Allowable error range for circular
interpolation
Deceleration processing
at stop input
Torque limit value
Rapid stop deceleration time
*1
Deceleration time
Acceleration time
Speed limit value
Control unit
OSC
Reference axis No.
Frequency
Amplitude
Starting angle
5 SERVO PROGRAMS FOR POSITIONING CONTROL
Positioning data
Others
1
2
1
Number of steps
1(B)
*2
2
3
2 to 3
2
5 to 10
3
: Must be set.
: Set if required.
*1 : Only reference axis speed specification.
*2 : (B) indicates a bit device.
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 a peripheral device
Name
Parameter block
No.
• Set based on which parameter block
deceleration processing at the acceieration/
deceleration processing and STOP input.
Axis
• Set the starting axis.
• It becomes the interpolation starting axis No.
at the interpolation.
Address/travel value
Absolute data
method
Common Settings
Explanation
Incremental
data method
Default
value
inch
1
degree
PLS
0 to 359.99999
-2147483648
to
2147483647
1 to 64
1 to 32
-214748364.8
to 214748364.7
[µm]
Set the positioning address as an
Address absolute method with an absolute
address.
Travel
value
Setting range
mm
-21474.83648
to
21474.83647
Expect for the speed/position switching control
Set the positioning address as an
incremental data method with a travel
value. Travel direction is indicated by
the sign. Only positive settings can
be made at the speed/position
control.
Positive : Forward rotation
(address increase direction)
Negative: Reverse rotation
(address decrease direction)
0 to 2147483647
Speed/position switching control
0 to
214748364.7
[µm]
0 to
21474.83647
0 to
21474.83647
0 to 2147483647
0.01 to
6000000.00
[mm/min]
0.001 to
600000.000
[inch/min]
0.001 to
2147483.647
[degree/min]
1 to 10000000
[PLS/s]
Command speed
• Sets the positioning speed.
• Units for speed are the "control units" set in
the parameter block.
• It becomes the combined-speed/long-axis
reference speed/reference axis speed at the
interpolation starting. (PTP control only)
Dwell time
• Set the time until outputs the positioning
complete signal (M2401+20n) after
positioning to positioning address.
0[ms]
0 to 5000[ms]
M-code
• Set the M-code.
• Set for each point at the speed-switching
control and constant-speed control.
• Updated it at the start or specified point.
0
0 to 32767
Torque limit value
Torque limit
• Set the torque limit value.
setting
• The torque limit is perfomed based on the
parameter block data at the start. The speed- valued [%]
in the
switching control can be set for each point
parameter
and the setting torque limit values can be
block
performed with the specified point.
5 - 16
1 to 500[%]
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
-1
( 10 [µm])
-2147483648
to 214748647
( 10-5[inch])
(
Processing at the setting error
Number of
used words
Error item data (Note-4)
(Stored in D9190)
1
1
0 to 35999999
-2147483648
10-5[degree]) to 2147483647
Control using
default value
Not start
n03 (Note-1)
Except for the speed/position switching control
0 to 214783647
Speed/position switching control
2
0 to 2147483647 0 to 2147483647 0 to 2147483647
0 to 2147483647
-5
-5
( 10-1[µm])
( 10 [inch]) ( 10 [degree])
1 to 600000000 1 to 600000000 1 to 2147483647
1 to 10000000
( 10-2
( 10-3
( 10-3
[PLS/s]
[mm/min])
[inch/min])
[degree/min])
2
4
0 to 5000[ms]
1
5
0 to 32767
1
6
1 to 500[%]
1
7
(Note-2)
(Note-3)
REMARK
(Note-1): The "n" in n03, n08, n09 and n10, indicates the axis No. (1 to 32).
(Note-2): When an error occurs because the speed limit value is exceeded, it is
controlled at the speed limit value.
(Note-3): Applies when the command speed is "0".
(Note-4): If there are multiple errors in the same program, the latest error item data is
stored.
5 - 17
5 SERVO PROGRAMS FOR POSITIONING CONTROL
Table 5.3 Positioning data (Continued)
Setting value using a peripheral device
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 21474.83647
[µm]
Incremental
data method
Absolute
data method
Incremental
data method
Absolute
data method
inch
• Set at the radius-specified circular
interpolation.
• The sitting ranges depending on the
positioning nethod is shown to the right.
• Set at the central point-specified circular
interpolation.
0.1 to
429496729.5
[µm]
0.00001 to
42949.67295
0.1 to
214748364.7
[µm]
0.00001 to
21474.83647
-214748364.8 to
-21474.83648
214748364.7
to 21474.83647
[µm]
Parameter block
0 to 359.99999
-2147483648
to 2147483647
0 to 359.99999 1 to 4294967295
0.00001 to
21474.83647
1 to 2147483647
0 to 359.99999
-2147483648
to 2147483647
0 to 2147483647
Number of pitches • Set at the helical interpolation.
Speed limit value
PLS
0 to 2147483647
Incremental
data method
Control unit
degree
• It can be set only items to be changed of the
specified parameter block data.
• Refer to Section 4.4 "Parameter Block" for
details of each data.
0 to 999
3
0
1
2
3
200000
[PLS/s]
0.01 to
6000000.00
[mm/min]
0.001 to
600000.000
[inch/min]
0.001 to
2147483.647
[degree/min]
1 to 10000000
[PLS/s]
Acceleration time
1000[ms]
1 to 65535[ms]
Deceleration time
1000[ms]
1 to 65535[ms]
Rapid stop
deceleration time
1000[ms]
1 to 65535[ms]
S-curve ratio
Torque limit value
Deceleration
processing on
STOP input
Allowable error
range for circular
interpolation
0[%]
0 to 100[%]
300[%]
1 to 500[%]
0
100[PLS]
5 - 18
0: Deceleration stop based on the deceleration time
1: Deceleration stop based on the rapid stop deceleration time
0 to 10000.0
[µm]
0 to 1.00000
0 to 1.00000
0 to 100000
5 SERVO PROGRAMS FOR POSITIONING CONTROL
Setting value using the Motion SFC program (Indirect setting)
Setting range
mm
-2147483648 to
2147483647
( 10-1[µm])
inch
degree
PLS
Indirect setting
Possible/
not possible
-2147483648
0 to 35999999
-2147483648
to 2147483647
( 10-5[degree]) to 2147483647
-5
( 10 [inch])
Processing at the setting error
Number of
used words
2
2
Error item data (Note-4)
(Stored in D9190)
Control using
default value
Not start
n08 (Note-1)
0 to 2147483647
1 to 4294967295 1 to 4294967295 0 to 35999999
1 to 4294967295
-5
-5
( 10-1[µm])
( 10 [inch]) ( 10 [degree])
n09 (Note-1)
2
1 to 2147483647 1 to 2147483647 1 to 2147483647
1 to 2147483647
( 10-1[µm])
( 10-5[inch]) ( 10-5[degree])
-2147483648
to 2147483647
( 10-1[µm])
-2147483648
0 to 35999999
-2147483648
to 2147483647
( 10-5[degree]) to 2147483647
( 10-5[inch])
2
2
n10 (Note-1)
0 to 2147483647
0 to 999
1
28
2
3
1
11
1 to
2147483647
( 10-3
[degree/min])
1 to 10000000
[PLS/s]
2
12
1 to 65535[ms]
1
13
1 to 65535[ms]
1
14
1 to 65535[ms]
1
15
0 to 100[%]
1
21
1 to 500[%]
1
16
0: Deceleration to a stop in accordance with the deceleration time
1: Deceleration to a stop in accordance with the rapid stop
deceleration time
1
1 to 100000
( 10-1[µm])
2
0
1
1 to 600000000 1 to 600000000
( 10-2
( 10-3
[mm/min])
[inch/min])
1 to 100000
( 10-5[inch])
(
1 to 100000
10-5[degree])
1 to 100000
[PLS]
17
REMARK
(Note-1): The "n" in n03, n08, n09 and n10, indicates the axis No. (1 to 32).
(Note-4): If there are multiple errors in the same program, the latest error item data is
stored.
5 - 19
5 SERVO PROGRAMS FOR POSITIONING CONTROL
Table 5.3 Positioning data (Continued)
Setting value using a peripheral device
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
Program No.
Set the program No. for simultaneous start.
0 to 4095
Command speed
(constant-speed)
Others
Explanation
PLS
1 to 32767
Set the speed for points on the way in the
servo program.
0.01 to
6000000.00
[mm/min]
0.001 to
600000.000
[inch/min]
0.001 to
2147483.647
[degree/min]
Cancel
Set to stop execution of a servo program by
deceleration stop by turning on the specified
bit device in the servo program.
X, Y, M, B, F
Skip
Set to cancel positioning to pass point and
execute the positioning to the next point by
turning on the specified bit device during
positioning at each pass point for constantspeed control instruction.
X, Y, M, B, F
FIN acceleration/
deceleration
Set to execute positioning to each pass point
for constant-speed control instruction by
turning on the FIN signal.
1 to 5000[ms]
WAIT-ON/OFF
Set to make state of the wating for execution
by constnt-speed control and execute the
positioning immediately by turning on/off the
command bit device.
X, Y, M, B, F
5 - 20
1 to 10000000
[PLS/s]
5 SERVO PROGRAMS FOR POSITIONING CONTROL
Setting value using the Motion SFC program (Indirect setting)
mm
Indirect setting
Processing at the setting error
Number of
used words
Error item data (Note-4)
(Stored in D9190)
Control using
default value
1 to 32767
1
18
Control by K1
0 to 4095
1
19
2
4
1
13
Setting range
inch
degree
1 to 600000000 1 to 600000000
-2
-3
( 10
( 10
[mm/min])
[inch/min])
1 to
2147483647
( 10-3
[degree/min])
PLS
Possible/
not possible
1 to 10000000
[PLS/s]
1 to 5000[ms]
(Note-2)
Not start
(Note-3)
Control by
1000[ms]
REMARK
(Note-2): When an error occurs because the speed limit value is exceeded, it is
controlled at the speed limit value.
(Note-3): Applies when the command speed is "0".
(Note-4): If there are multiple errors in the same program, the latest error item data is
stored.
5 - 21
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 word 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.
5.4.1 Setting method by specifying numerical values
In the setting method by specifying numerical values, each positioning data is set by a
numerical value, and it becomes fixed data.
Data can be set and corrected using a peripheral device only.
<K 11>
Positioning
data
ABS-3
3000000.0
Axis
1,
5500000.0
Axis
2,
-2500000.0
Axis
3,
Combined-speed 40000.00
2500
Dwell
12
M-code
3
P.B.
Numerical value setting for
positioning data
Fixed data for one servo
program.
Fig. 5.3 Setting example of positioning data by specifying numerical value
5 - 22
5 SERVO PROGRAMS FOR POSITIONING CONTROL
5.4.2 Indirect setting method by word devices (D, W and #)
In the indirect setting method(Note-1) by word devices, the word device (D, W and #) No.
is specified to the positioning data specified with the servo program.
By using the contents (data) of specified word device using the Motion SFC program
(Automatic refresh, etc.), multiple positioning controls can be executed in one servo
program.
The word device used in the indirect setting is the device of the Motion CPU but the
device of the PLC CPU.
The device memory composition of the Motion CPU and PLC CPU is shown below.
Composition between modules
PLC CPU
Motion CPU
1)
2)
Device memory
Device memory
PLC control
processor
Motion control
processor
Shared memory
Shared memory
SSCNET
PLC bus
Servo amplifier
Sensor, solenoid, etc. PLC intelligent function
(DI/O)
module (A/D, D/A, etc.)
Motion control dedicated I/F
M Servomotor
M
(DOG signal, manual pulse
generator)
Note): Device memory data : 1) = 2)
(Note-1): Device memory in the Motion CPU.
5 - 23
5 SERVO PROGRAMS FOR POSITIONING CONTROL
(1) Devices for indirect setting data
The devices for indirect setting data are data registers (D), link registers (W) and
motion registers (#). (Word devices except the data registers, link registers and
motion registers cannot be used.)
The usable data registers are shown in the table below.
Word device
Usable devices
D
800 to 8191
W
0 to 1FFF
#
0 to 7999
Indirect setting by word device
<K 11>
Positioning
data
ABS-3
Axis
1,
Axis
2,
Axis
3,
Combined-speed
Dwell
M-code
P.B.
D3000
D3004
W010
40000.00
W1B0
D3600
3
Execute the positioning control by the data of
(D3001, D3000), (D3005, D3004), (W11, W10),
W1B0 and D3600.
Numerical value setting
Axis No. cannot be set indirectly by word device.
Fig. 5.4 Example of setting positioning data by numerical value setting
(2) 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.
It must be executed the start request of the servo program after data is set in the
device used for indirect setting at the positioning control.
POINTS
(1) Indirect setting by word devices of the axis No. cannot be set in the servo
program.
(2) Take an interlock by using a start accept flag (M2001 to M2032) not to change
the device data for indirect setting until the specified axis has accepted the start
command.
If the data is changed before the start command is accepted, positioning may
not be controlled in a normal value.
5 - 24
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.
The real positioning speed is set in the positioning speed and speed limit value using
the servo program is shown below:
• If the positioning speed setting is less than speed limit value, the positioning is
executed with the setting positioning speed.
• If the positioning speed setting is less than speed limit value, the positioning is
executed with the positioning speed.
Examples
(1) If the speed limit value is 120000[mm/min] and the positioning speed setting is
100000[mm/min], the positioning speed is as follows.
V
120000
Speed limit value
Positioning speed
100000
t
Acceleration time of
parameter block
Deceleration time of
parameter block
(2) If the speed limit value is 100000[mm/min] and the positioning speed setting is
120000[mm/min], the positioning speed is as follows.
V
120000
Positioning speed
Speed limit value
(Real positioning speed)
100000
t
Acceleration time of
parameter block
6-1
Deceleration time of
parameter block
6
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.
The positioning speed can be set using one of the following three methods at the
2 to 4 axes linear interpolation control:
• Combined-speed specification
• Long-axis speed specification
• Reference-axis speed specification
Control method of the Motion CPU control for every specified method is shown
below.
(a) Combined-speed specification
The Motion CPU calculates the positioning speed of each axis (V1 to V2)
using the travel value (D1 to D4) of each axis based on the positioning speed
(V) of the setting control system.
Positioning speed of the control system is called the combined-speed.
Set the combined-speed and the travel value of each axis in the servo
program.
Example
2 axes linear interpolation control is shown below.
Axis 2
<K 50>
(10000, 15000)
0
ABS-2
Axis
1,
Axis
2,
Combined-speed
V
V2
0
V1
[Program example]
10000
15000
7000
[PLS]
[PLS]
[PLS/s]
Axis 1
Axis 1 travel value: D1 = 10000[PLS]
Axis 2 travel value: D2 = 15000[PLS]
Combined speed: V = 7000[PLS/s]
The Motion CPU calculates the positioning speed of each axis using the following
calculation formulas in the above condition :
Axis 1 positioning speed : V1 = V
Axis 2 positioning speed : V2 = V
6-2
D1 /
D2 /
D1 2 + D2 2
D1 2 + D2 2
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.
Axis 1 travel value: D1 = 10000[PLS]
[Program example]
Axis 2 travel value: D2 = 15000[PLS]
<K 51>
Axis 3 travel value: D3 = 5000[PLS]
ABS-4
Axis
1,
Axis 4 travel value: D4 = 20000[PLS]
Axis
2,
Axis
3,
Long-axis speed: V = 7000[PLS/s]
Axis
4,
In this example, since the reference axis
Long-axis speed
is axis 4 of the largest travel value, it is
controlled with the positioning speed
specified with axis 4.
The Motion CPU calculates the
positioning speed of other axes using the
following calculation formulas:
Axis 1 positioning speed : V1 = D1 / D4
Axis 2 positioning speed : V2 = D 2 / D4
Axis 3 positioning speed : V3 = D 3 / D 4
10000
15000
5000
20000
7000
[PLS]
[PLS]
[PLS]
[PLS]
[PLS/s]
V
V
V
The following conversions are performed if the control units of each axis
differ.
1) Combination of axes set in [mm] and [inch]
a) If the interpolation control units are [mm]
• Travel value: Convert the travel value of axis set in [inch] into [mm]
using the formula: inch setting value 25.4.
• 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.
b) If the interpolation control units are [inch]
• Travel value: Convert the travel value of axis set in [mm] into [inch]
using the formula: mm setting value 25.4.
• 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.
6-3
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.
The positioning speed is converted into [PLS/s] unit as
the long-axis speed with the electronic gear that the
interpolation control units correspond to control units.
6-4
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 combined-speed may exceed the speed limit value at the
long-axis speed specification.
Example
The following settings at the 2 axes linear interpolation, the combined-speed
exceeds the speed limit value.
Axis 1 travel value : 100 [PLS]
Axis 2 travel value : 200 [PLS]
Long-axis speed : 50 [PLS/s]
<K 2>
Speed limit value : 55 [PLS/s]
In this example, since the reference-axis
is axis 2 of the largest travel value, it is
controlled with the speed limit value specified
with axis 2.
The positioning speed and combined-speed
for each axis are as follows:
Axis 1 positioning speed : 100/ 200 50 =
25 [PLS/s]
Axis 2 positioning speed : 50 [PLS/s]
2
2
Combined-speed : 25 + 50 = 55.9[PLS]
INC-2
Axis
1,
Axis
2,
Long-axis speed
100
200
50
[PLS]
[PLS]
[PLS/s]
Combined-speed
Axis 1 positioning
speed
Axis 2 positioning speed
The combined-speed exceeds the speed limit value setting of 55.
(2) Relationship between speed limit value, acceleration time, deceleration time
and rapid stop deceleration time.
• The real acceleration time, deceleration time and rapid stop deceleration
time are set by the setting long-axis speed.
Speed limit value
Speed
Positioning speed(long-axis speed)
Rapid stop cause occurrence
1)
5)
3)
6)
2)
1) Real acceleration time
2) Setting acceleration time
3) Real deceleration time
Time
4) Setting deceleration time
5) Real rapid stop deceleration time
6) Setting rapid stop deceleration time
4)
(c) Reference-axis speed specification
The Motion CPU calculates the positioning speed of other axes (V1 to V3)
based on the positioning speed (reference-axis speed : V) of the setting
reference-axis using the each axis travel value (D1 to D4).
Set the reference-axis No., reference-axis speed and each axis travel value
6-5
6 POSITIONING CONTROL
using the servo program.
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]
<K 52>
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.
The Motion CPU calculates the positioning
speed of other axes using the following
calculation formulas:
Reference-axis speed
Reference-axis
10000
15000
5000
20000
70000
4
[PLS]
[PLS]
[PLS]
[PLS]
[PLS/s]
Axis 1 positioning speed : V1 = D1 / D4 V
Axis 2 positioning speed : V2 = D2 / D 4 V
Axis 3 positioning speed : V3 = D3 / D 4 V
POINTS
(1) Reference-axis speed and positioning speed of other axes
• Be careful that the positioning speed of an axis for a larger travel value than
the reference-axis may exceed the setting reference-axis speed.
(2) Indirect specification of the reference-axis
• The reference-axis can be set indirectly using the word devices D, W and #.
(Refer to Section 5.4.2.)
(3) Relationship between speed limit value, acceleration time, deceleration time
and rapid stop deceleration time.
• The real acceleration time, deceleration time and rapid stop deceleration
time are set by the reference-axis speed setting
Speed limit value
Positioning speed (reference-axis speed)
Rapid stop cause occurrence
Speed
1)
5)
3)
6)
2)
4)
6-6
1) Real acceleration time
2) Setting acceleration time
Time 3) Real deceleration time
4) Setting deceleration time
5) Real rapid stop deceleration time
6) Set rapid stop deceleration time
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.)
6.1.4 Control units for interpolation control
(1) The interpolation control units specified with the parameter block and the control
units of the fixed parameter are checked.
If the interpolation control units specified with the parameter block differ from the
control units of the each axis fixed parameter for the interpolation control, it shown
below.
Interpolation control units in the parameter block
mm
Condition for
normal start
inch
degree
There are axes
There are axes whose control
unit set in the fixed parameter is whose control
unit set in the
[mm] and [inch].
fixed parameter
is [degree].
PLS
Starting method
There are axes Positioning control starts by the interpolation
whose control control units of parameter block.
unit set in the
fixed parameter
is [PLS].
Condition for
Control units of the fixed parameter for all axes differ from the
unit mismatch error
interpolation control units specified with parameter block.
(Error code [40])
• If the control units of axes to be interpolationcontrolled are the same, control starts in the
preset control unit.
• If the control units of axes to be interpolationcontrolled are different, control starts in the unit
of highest priority as indicated below.
Priority: PLS > degree > inch > mm
<Example>
If axis is set to 1000[PLS] and 10.000[inch],
10.000[inch] setting is considered to be
10000[PLS].
6-7
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.
POINT
If control units for one axis are "degrees" at the circular interpolation control, use
"degrees" also for the other axis.
(b) Combination of [mm] and [inch] ( 2) )
• If interpolation control units are [mm], positioning is controlled by calculating
position commands from the address, travel value, positioning speed and
electronic gear, which have been converted to [mm] using the formula: inch
setting value 25.4 = mm setting value.
• If interpolation control units are [inch], positioning is controlled by
calculating position commands from the address, travel value, positioning
speed and electronic gear, which have been converted to [inch] using the
formula: mm setting value 25.4 = inch setting value.
(c) Discrepancy units ( 3) )
1) The travel value and positioning speed are calculated for each axis.
• The electronic gear converts the travel value for the axis to [PLS].
• For axis where the units match, the electronic gear converts the
positioning speed to units of [PLS/s].
Positioning is conducted using position commands calculated from travel
values converted to [PLS] and speeds and electronic gear converted to
[PLS/s].
2) If the interpolation control units match for two or more axes at the 3-axes
or more linear interpolation, the positioning speed is calculated with the
electronic gear for the axis with the lowest No.
6-8
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 359.99999°
(a) Stroke limit is valid
Set the "lower limit value to upper limit value of the stroke limit" in a
clockwise direction to validate the stroke limit value.
0
Clockwise
315.00000
Area A
90.00000
Area B
1) If travel range in area A is set, the limit values are as follows:
• Lower stroke limit value: 315.00000°
• Upper stroke limit value: 90.00000°
2) If travel range in area B is set, the limit values are as follows:
• Lower stroke limit lower limit value: 90.00000°
• Upper stroke limit upper limit value: 315.00000°
(b) Stroke limit is invalid
Set the "upper stroke limit value" equal to "lower stroke limit value" to
invalidate the stroke limit value.
It can be controlled regardless the stroke limit settings.
POINTS
(1) Circular interpolation including the axis which set the stroke limit as invalid
cannot be executed.
(2) When the upper/lower limit value of the axis which set the stroke limit as valid
are changed, perform the home position return after that.
(3) When the stroke limit is set as valid in the incremental data system, perform
the home position return after power supply on.
6-9
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.
Examples
(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°.
315.00000
0
0
0
315.00000
0
315.00000
315.00000
POINTS
(1) The positioning direction of absolute data method is set a clockwise/counter
clockwise direction by the setting method of stroke limit range, positioning in the
shortest direction may not be possible.
Example
Travel from the current value 0° to 315.00000° must be clockwise positioning
if the lower stroke limit value is set to 0°and the upper limit value is set to
345.00000°.
345.00000
0
315.00000
Clockwise positioning
(2) Set the positioning address within the range of 0° to 360°.
Use the incremental data method for positioning of one revolution or more.
(b) Incremental data method (INC instructions)
Positioning by the specified travel value to the specified direction.
The travel direction is set by the sign of the travel value, as follows:
• Positive travel value ................Clockwise rotation
• Negative travel value...............Counter clockwise rotation
POINT
Positioning of 360° or more can be executed in the incremental data method.
6 - 10
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.
Speed limit value
Stop cause
Operation speed
Stop
Real deceleration time
"Stop deceleration time" of
parameter block
2) Rapid stop (Process 2)..................Deceleration stop by "rapid stop
deceleration time" of parameter block.
Stop cause
Stop
Real deceleration time
"Rapid stop deceleration
time" of parameter block
3) Immediate stop (Process 3)...........Stop without deceleration processing.
Stop cause
Stop
6 - 11
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].
(b) Priority for stop processing
Priority for stops when a stop cause is input is as follows:
Process 1 < Process 2 < Process 3
Example
A rapid stop is started if a rapid stop cause is input during one of the following types
of deceleration stop processing :
• After automatic deceleration start during positioning control;
• During deceleration after JOG start signal turns off;
• During deceleration stop processing by stop cause (Process 1).
Deceleration stop processing
Rapid stop cause
Rapid stop deceleration
processing
Stop
6 - 12
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.
Axis
classification
Stop processing
No.
Stop cause
1
STOP signal input (STOP) of the
Q172LX ON
Process 1 or Process 2
• According to deceleration processing on STOP input
parameter of parameter block.
2
Stop command
"M3200 + 20n" ON
Process 1
3
Rapid stop command
"M3201 + 20n" ON
4
FLS input signal OFF of Q172LX
5
RLS input signal OFF of Q172LX
6
Servo error detection
"M2408 +20n" ON
Process 3
7
PLC ready flag M2000 OFF
Process 1
8
Deceleration stop using a
peripheral devices (Note–1)
Process 1
9
Rapid stop of the all axes using a
peripheral devices (Note–1)
Process 2
Individual
Speed
control
Jog
operation
Home position Manual pulse
return
generator
Error processing
Process 4
Process 2
Process 1 or Process2
• According to deceleration processing on STOP input
parameter of parameter block.
Refer to APPENDIX "1 Error
Codes Stored Using The
Motion CPU"
Process 4
10 Motion CPU stop
11 Motion CPU reset
Positioning
control
Process 1
All axes
Process 3
M9073 (PCPU WDT error)
ON
12 PCPU WDT error
Process 3
13 Other CPU WDT error
Process 1
14 Motion CPU power off
Process 3
15 Forced stop
Process 3
Servo amplifier is stopped at
the servo OFF.
Process 3
Major error at the start
(no servo)
16 Servo amplifier power off
17 Speed change to speed "0"
Individual
Individual
(Note–2)
Process 1
(Note–1): Test mode
(Note–2): Applies to all axes used in the servo program set in the speed "0".
6 - 13
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 Q172LX 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.
(b) If it stopped by the speed change to speed "0" using CHGV instruction, restarting is possible by executing the speed change to speed other than "0".
V
Speed before speed change
Speed after re-starting
2)
Servo program start
Start accept flag
(M2001 to M2032)
t
Re-starting
Stop by the speed
change to speed "0"
ON
OFF
1)
3)
CHGV instruction
Speed changing flag
(M2061+n)
Stop command
(M3200+20n)
1) The start accept flag (M2001 to M2032) remains on after stop by the
speed change to "0".
2) Re-starting by changing the speed again.
3) However, if the start accept flag (M2001 to M2032) turns off by turning
on the stop command (M3200+20n), re-starting is not possible even if
make a speed change once again.
6 - 14
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 Q172LX 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.
Axis 2
Stop position by
stop command
Target address
Start address 2 after stop
Start address 1
Axis 1
2) For INC
........ Positioning control of the travel value from the stop
address.
Axis 2
Stop position by stop
command
Travel from address 1
Travel from address 2
Address 2 (start address after stop)
Address 1 (start address)
Axis 1
When the address 2 is moved to the same address (address which
calculates with start address + specified travel value) using the INC , the
following processing using the servo program and Motion SFC program is
required.
[Servo Program]
The travel value of servo program which executes the positioning from
address is set indirectly by the word devices, as follows.
<K 10>
INC-2
Axis
1,
Axis
2,
Combined-speed
Travel value
D3000
D3002
5000
6 - 15
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.
Axis 2
Stop position by stop command
[Address 2 (start address after stop)]
Address 1
(start address)
Travel value from
Address 2 (Note)
Travel value from Address 1
6 - 16
Travel value from
Address 2 (Note)
Travel
value from
Address 1
Axis 1
(Note): Store in registers for travel value.
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.
V
Positioning speed
0
Acceleration time
Deceleration time
t
Time
(2) S-curve acceleration/deceleration processing
S-curve ratio is set as a parameter to provide gentler acceleration and
deceleration than trapezoidal processing. The acceleration/deceleration graph is
sinusoidal, as shown in the diagram below.
Set the S-curve ratio in the parameter block (Refer to Section 4.4.2) or using the
servo program.
V
Positioning speed
0
Acceleration time
t
Time
Deceleration time
S-curve ratio set the part of the sine curve used to produce the acceleration and
deceleration curve as shown in the diagram below.
A
V
B
B/2
(Example)
Positioning
speed
B/2
t
S-curve ratio 100[%]
V
sine curve
S-curve ratio = B/A 100%
6 - 17
Positioning
speed
b
b/a = 0.7
a
t
S-curve ratio 70[%]
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.
<K 10>
INC-2
1,
Axis
Axis
2,
Combined-speed
S-curve ratio
100000
250000
1000
80
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 . . . . . . . . 80[%]
(b) Indirect specification
S-curve ratio is set by the contents of data registers.
The usable data registers are shown below.
Word devices
Usable devices
D
800 to 8191
W
0 to 1FFF
#
0 to 7999
<K 10>
ABS-1
Axis
Speed
S-curve ratio
1,
30000
400000
D3487
6 - 18
1 axis linear positioning control
Axis used . . . . . . . . . . . . . Axis 1, Axis 2
Positioning address . . . . . 30000
Positioning speed . . . . . . . 400000
Indirect specification by word devices
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.
WAIT-ON/OFF
Cancel
Speed change
S-curve ratio
Deceleration processing on stop input
Others
Allowable error range for circular interpolation
Torque limit value
Rapid Stop deceleration time
Deceleration time
Speed limit value
Acceleration time
Control unit
Central point
Auxiliary point
Torque limit value
M-code
Incremental
Command speed
INC-1
Dwell time
Absolute
Address/travel value
ABS-1
Parameter block
Number of
control axes
Axis
Positioning
method
Parameter block No.
Servo
instruction
Arc
Radius
Items are set in peripheral devices
Common
1
Valid
: Must be set
: Set if required
[Control details]
Control using ABS-1 (Absolute data method)
(1) Positioning control from the current stop address (pre-positioning address) based
on the home position to the specified address is executed.
(2) The travel direction is set by the current stop address and the specified address.
Example
When the current stop address is 1000, and the specified address is 8000.
Current stop address
0
1000
Home position
Specified address
8000
Positioning control
Fig.6.1 Positioning using absolute data method
6 - 19
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............Positioning control to reverse direction
(Address decrease direction)
Current stop address
Reverse
direction
Forward
direction
Travel direction for
positive travel value
Travel direction for
negative travel value
Example
When the current stop address is -3000, and the travel value is -5000.
Current stop address
-3000 -2000 -1000
-8000
0
Home position
Travel value = -5000
Fig.6.2 Positioning using incremental data method
[Program]
Servo program No. 0 for positioning control is shown as the following conditions.
(1) System configuration
1 axis linear positioning control of Axis 4.
Motion CPU control module
Q61P Q02H Q172 Q172 QX41
CPU CPU LX
(N)
Positioning start command (PX000)
AMP
Axis
1 M
AMP
Axis
2 M
AMP
Axis
3 M
AMP
Axis
4 M
(2) Positioning operation details
Positioning using the servo program No.0 is shown below.
In this example, Axis 4 is used in servo program No.0.
Home position
0
Current stop address Positioning address using the servo program No.0
1000
80000
6 - 20
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.
<K
0>
INC-1
Axis
Speed
4,
80000
10000
1 axis linear positioning control
Axis used . . . . . . . . . . . Axis 4
Travel value to . . . . . . . . 80000
stop position
Command speed . . . . . . 10000
(5) Motion SFC program
Motion SFC program for which executes the servo program is shown below.
1 axis linear positioning control
1 axis linear positioning control
[F10]
[G10]
[K0]
[G20]
SET M2042
Turn on all axes servo ON command.
PX000*M2475
Wait until PX000 and Axis 4 servo ready turn on.
INC-1
Axis
Speed
4,
80000PLS
10000PLS/s
!PX000
1 axis linear positioning control
Axis used . . . . . . . . . . Axis 4
Travel value to . . . . . . . 80000[PLS]
stop position
Command speed . . . . . 10000[PLS/s]
Wait until PX000 turn off after linear positioning
completion.
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 21
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.
Items are set in peripheral devices
2
WAIT-ON/OFF
Cancel
Speed change
S-curve ratio
Deceleration processing on stop input
Others
Allowable error range for circular interpolation
Torque limit value
Deceleration time
Speed limit value
Acceleration time
Control unit
Central point
Auxiliary point
Radius
Torque limit value
M-code
Incremental
Command speed
INC-2
Dwell time
Absolute
Address/travel value
ABS-2
Parameter block
Number of
control axes
Axis
Positioning
method
Parameter block No.
Servo
instruction
Arc
Rapid stop deceleration time
Common
Valid
: Must be set
: Set if required
[Control details]
Control using ABS-2 (Absolute data method)
(1) 2 axes linear interpolation from the current stop address (X1 or Y1) based on the
home position to the specified address (X2 or Y2) is executed.
6 - 22
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).
Current stop address
4000
Y-axis travel value
(4000 - 2000 = 2000)
Positioning address
2000
0
1000
5000
10000
X-axis travel value
(10000 - 1000 = 9000)
Fig.6.3 Positioning using absolute data method
6 - 23
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............Positioning control to reverse direction
(Address decrease direction)
Forward direction
(Note-1): Forward: Travel direction for
positive travel value
Reverse: Travel direction for
negative travel value
: Indicates setting data
Y1
Y-axis travel value
X1
Reverse
direction
0
Current stop address
Forward direction
X-axis travel value
Reverse
direction
Example
When the X-axis travel value is 6000 and Y-axis travel value is -2000.
X-axis travel value
(Note-2): Current stop address
(-1000, -1000)
Home position
0
(Note-2)
Y-axis travel value
5000
Stop position after
positioning
-3000
Positioning operation
Fig.6.4 Positioning using incremental data method
[Program]
Program for 2 axes linear interpolation control is shown as the following conditions.
(1) System configuration
2 axes linear interpolation control of Axis 3 and Axis 4.
Motion CPU control module
Q61P Q02H Q172 Q172 QX41
CPU CPU LX
(N)
Positioning start command (PX000)
AMP
Axis
1 M
AMP
Axis
2 M
AMP
Axis
3 M
6 - 24
AMP
Axis
4 M
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 ........ Turning PX000 off to on
(OFF ON)
(4) Operation timing
Operation timing for 2 axes linear interpolation control is shown below.
V
Servo program No.11
t
PLC ready flag (M2000)
All axes servo ON command
(M2042)
All axes servo ON accept flag
(M2049)
Axis 3 servo ready (M2455)
Axis 4 servo ready (M2475)
Start command (PX000)
Servo program start
Axis 3 start accept flag
(M2003)
Axis 4 start accept flag
(M2004)
6 - 25
6 POSITIONING CONTROL
(5) Servo program
Servo program No.11 for 2 axes linear interpolation control is shown below.
<K 11>
ABS-2
3,
Axis
Axis
4,
Combined-speed
50000
40000
30000
2 axes linear interpolation control
Axis used . . . . . . . . . . Axis 3, Axis 4
Axis 3 . . . 50000
...
Travel value to
Axis 4 . . . 40000
stop position
Command positioning speed
Combined-speed . . . . . 30000
(6) Motion SFC program
Motion SFC program for which executes the servo program is shown below.
2 axes linear interpolation control
2 axes linear
interpolation control
[F10]
[G10]
[K11]
[G20]
SET M2042
Turn on all axes servo ON command.
PX000*M2455*M2475
Wait until PX000, Axis 3 servo ready and Axis 4 servo
ready turn on.
ABS-2
Axis
Axis
Speed
2 axes linear interpolation control
Axis used . . . . . . . . . . . . Axis 3, Axis 4
Travel value to stop . . . . Axis 3 . . . 50000[PLS]
Axis 4 . . . 40000[PLS]
position
Command positioning speed
Combined-speed . . . . . . . . . 30000[PLS/s]
Wait until PX000 turns off after linear interpolation
completion.
3, 50000PLS
4, 40000PLS
30000PLS/s
!PX000
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 26
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.
3
WAIT-ON/OFF
Cancel
Speed change
S-curve ratio
Deceleration processing on stop input
Others
Allowable error range for circular interpolation
Torque limit value
Rapid stop deceleration time
Deceleration time
Speed limit value
Acceleration time
Control unit
Central point
Auxiliary point
Torque limit value
M-code
Incremental
Command speed
INC-3
Dwell time
Absolute
Address/travel value
ABS-3
Parameter block
Number of
control axes
Axis
Positioning
method
Parameter block No.
Servo
instruction
Arc
Radius
Items are set in peripheral devices
Common
Valid
: Must be set
: Set if required
6 - 27
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.
Address after positioning
(X2, Y2, Z2)
Forward direction
Forward
direction
Current stop address
(X1, Y1, Z1)
Reverse
direction
Forward direction
0
Home position
Example
Linear interpolation control
of X-axis,Y-axis and Z-axis
Reverse direction
Reverse direction
: Indicates setting data
(Note)
When the current stop address is (1000, 2000, 1000), and the specified
address is (4000, 8000, 4000).
Positioning address
(4000, 8000, 4000)
Forward direction
8000
X-axis, Y-axis and Z-axis linear
interpolation operation
Forward
direction
4000
Current stop address
(1000, 2000, 1000)
2000
1000
0
Home position
1000
4000
Forward direction
Fig.6.5 Positioning using absolute data method
6 - 28
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............Positioning control to reverse direction
(Address decrease direction)
Forward direction
(Note)
: Indicates setting data
Y1
Forward
direction
Y-axis travel
value
Z1
Z-axis
travel
value
X1
Current stop address
Reverse
direction
Forward
direction
0
X-axis travel
value
Reverse direction
Reverse direction
Example
When the X-axis travel value is 10000, Y-axis travel value is 5000 and X-axis
value is 6000.
Forward direction
Positioning
operation
Forward direction
6000
Stop position after
positioning
(11300, 6300, 8000)
5000
Z-axis travel
value (6000)
Current stop address
(1300, 1300, 2000)
Home position
5000
10000
X-axis travel value (10000)
Y-axis travel value
(5000)
Forward direction
Reverse direction
Fig.6.6 Positioning using incremental data method
6 - 29
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 Q02H Q172 Q172 QX41
CPU CPU LX
(N)
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 and Axis 3 servomotors.
The positioning operation by the Axis 1, Axis 2 and Axis 3 servomotors is shown
in the diagram below.
Axis 3 positioning
direction
Axis 2 positioning direction
(Forward direction)
(50000, 40000, 30000)
(Forward direction)
Positioning using the servo
program No.21.
40000
Axis 1 positioning
direction
30000
(Reverse direction)
Home position
50000 (Forward direction)
(0, 0, 0)
(Reverse direction)
(Reverse direction)
(3) Positioning conditions
(a) Positioning conditions are shown below.
Servo Program No.
Item
No.21
Positioning method
Absolute data method
Positioning speed
1000
(b) Positioning start command ........ Turning PX000 off to on (OFF
6 - 30
ON)
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.21 for 3 axes linear interpolation control is shown below.
<K 21>
ABS-3
1,
Axis
2,
Axis
3,
Axis
Combined-speed
50000
40000
30000
1000
3 axes linear interpolation control
Axis used . . . . . . . .. Axis 1, Axis 2, Axis 3
Axis1 . . . 50000
Positioning address Axis2 . . . 40000
Axis3 . . . 30000
Command positioning speed
Combined-speed . . . 1000
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 31
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]
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.
[K21] ABS-3
Axis
Axis
Axis
Speed
[G20]
1, 50000PLS
2, 40000PLS
3, 30000PLS
1000PLS/s
3 axes linear interpolation control
Axis used . . . . . . . . . . . . Axis 1, Axis 2, Axis 3
Axis 1 . . . 50000[PLS]
Positioning address . . . .
Axis 2 . . . 40000[PLS]
Axis 3 . . . 30000[PLS]
Command positioning speed
Combined-speed . . . . . . . . 1000[PLS/s]
Wait until PX000 turn off after linear interpolation
completion.
!PX000
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 32
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.
WAIT-ON/OFF
Cancel
Speed change
S-curve ratio
Deceleration processing on stop input
4
Others
Allowable error range for circular interpolation
Rapid stop deceleration time
Torque limit value
Deceleration time
Acceleration time
Speed limit value
Central point
Control unit
Auxiliary point
Torque limit value
M-code
Incremental
Command speed
INC-4
Dwell time
Absolute
Address/travel value
ABS-4
Parameter block
Number of
control axes
Axis
Positioning
method
Parameter block No.
Servo
instruction
Arc
Radius
Items are set in peripheral devices
Common
Valid
: Must be set
: Set if required
[Control details]
Positioning control which starts and completes the 4 axes simultaneously is executed.
Example
4 axes linear interpolation
V
Travel value
Axis 1
t
V
Axis 2
t
V
Axis 3
t
V
Equal time
6 - 33
Axis 4
t
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 Q02H Q172 Q172 QX41
CPU CPU LX
(N)
Positioning start command (PX000)
AMP
Axis
1 M
AMP
Axis
2 M
AMP
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.
The positioning by the Axis 1, Axis 2, Axis 3 and Axis 4 servomotors is shown in
the diagram below.
Axis 2
Axis 4
Axis 1
Axis 3
Fig.6.7 Axis configuration
6 - 34
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.
Item
No.22
Positioning method
Incremental data method
Positioning speed
10000
(b) Positioning start command ........ Turning PX000 off to on (OFF
6 - 35
ON)
6 POSITIONING CONTROL
(4) Operation timing
Operation timing for 4 axes linear interpolation control is shown below.
V
Servo program No.22
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)
Axis 4 servo ready (M2475)
Start command (PX000)
Servo program start
Axis 1 start accept flag
(M2001)
Axis 2 start accept flag
(M2002)
Axis 3 start accept flag
(M2003)
Axis 4 start accept flag
(M2004)
(5) Servo program
Servo program No.22 for 4 axes linear interpolation control is shown below.
<K 22>
INC-4
1,
Axis
2,
Axis
3,
Axis
4,
Axis
Combined-speed
4 axes linear interpolation control
3000
4000
4000
4000
10000
Axis used . . . . Axis 1, Axis 2, Axis 3, Axis4
Travel value to
stop position . . . . . . .
Axis
Axis
Axis
Axis
1
2
3
4
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
3000
4000
4000
4000
Command positioning speed
Combined-speed . . . . . . . . . . . . . . 10000
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 36
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 . . . . . . . Axis 1, Axis 2, Axis 3, Axis 4
Axis 1 . . . 3000[PLS]
Travel value to . . . . . . .
Axis 2 . . . 4000[PLS]
stop position
Axis 3 . . . 4000[PLS]
Axis 4 . . . 4000[PLS]
Command positioning speed
Combined-speed . . . . . . . . . . . . . . . 10000[PLS/s]
[G20]
1,
2,
3,
4,
3000PLS
4000PLS
4000PLS
4000PLS
10000PLS/s
Wait until PX000 turn off after linear interpolation
completion.
!PX000
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 37
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.
ABS
Absolute
INC
Incremental
WAT-ON/OFF
Cancel
Speed change
S-curve ratio
Deceleration processing on stop input
Others
Allowable error range for circular interpolation
Rapid stop deceleration time
Deceleration time
Acceleration time
Speed limit value
Central point
Control unit
Auxiliary point
Torque limit value
M-code
Command speed
Dwell time
Address/travel value
Torque limit value
Parameter block
Number of
control axes
Axis
Positioning
method
Parameter block No.
Servo
instruction
Arc
Radius
Items are set in peripheral devices
Common
2
Valid
: Must be set
: Set if required
[Control details]
(Absolute data method)
Control using ABS
(1) Circular interpolation from the current stop address (address before positioning)
based on the home position through the specified auxiliary point address to the
end point address is executed.
(2) The center of the arc is the point of intersection of the perpendicular bisectors of
the start point address (current stop address) to the auxiliary point address, and
the auxiliary point address to the end point address.
Operation by circular interpolation
Forward direction
End point address (X1, Y1)
Auxiliary point address (X2, Y2)
Reverse
direction
Start point address
(X0, Y0)
Forward direction
0
Arc central point
Reverse direction
(Note)
: Indicates setting data
Fig.6.9 Circular interpolation control using absolute data method
6 - 38
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.
(2) The center of the arc is the point of intersection of the perpendicular bisectors of
the start point address (current stop address) to the auxiliary point address, and
the auxiliary point address to the end point address.
Forward
direction
Positioning speed
End point
Y1
Travel
value to Travel
value to
end point
auxiliary
point
Reverse
direction
Start point
Y2
X1
Auxiliary point
Arc central point
X2
Travel value to auxiliary
point
Travel value to end point
Home
position
Forward direction
(Note)
: Indicates setting data
Fig.6.11 Circular interpolation control using incremental data method
(3) The setting range for the travel value to the end point address and auxiliary point
31
address is 0 to (2 -1).
6 - 39
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.
(1) System configuration
Auxiliary point-specified circular interpolation control of Axis 1 and Axis 2.
Motion CPU control module
Q61P Q02H Q172 Q172 QX41
CPU CPU LX
(N)
Positioning start command (PX000)
AMP
Axis
1 M
AMP
Axis
2 M
AMP
Axis
3 M
AMP
Axis
4 M
(2) Positioning details
The positioning uses the Axis 1 and Axis 2 servomotors.
The positioning by the Axis 1 and Axis 2 servomotors is shown in the diagram
below.
Axis 2 positioning direction
(Forward direction)
Auxiliary point (40000, 50000)
50000
Positioning using the servo program No.31
30000
20000
End point (80000, 30000)
Start point
(10000,
20000)
0 10000
Arc central
point
40000
6 - 40
80000
Axis 1 positioning direction
(Forward direction)
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 ........ Turning PX000 off to on (OFF
ON)
(4) Operation timing
Operation timing for auxiliary point-specified circular interpolation control is
shown below.
V
Servo program No.31
Combined-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.31 for auxiliary point-specified circular interpolation control is
shown below.
<K 31>
ABS
Axis
Axis
Speed
Auxiliary
point
Auxiliary
point
1,
80000
30000
1000
40000
2,
50000
1,
2,
Auxiliary point-specified circular interpolation
control
Axis used . . . . . . . . Axis 1, Axis 2
Axis 1 . . . . . . 80000
End point address
Axis 2 . . . . . . 30000
Positioning speed . . . . . . . . . . . . . . 1000
Auxiliary point address
Axis 1 . . . 40000
Axis 2 . . . 50000
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 41
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. . . . . . . . . . . . . . . Axis 1, Axis 2
Axis 1 . . . 80000[PLS]
End point address . . . . . . .
Axis 2 . . . 30000[PLS]
Positioning speed . . . . . . . . . . . . . . . . . . . . 1000[PLS/s]
Axis 1 . . . 40000[PLS]
Auxiliary point address . . . . .
Axis 2 . . . 50000[PLS]
[G20]
1,
2,
1,
80000PLS
30000PLS
1000PLS/s
40000PLS
2,
50000PLS
Wait until PX000 turn off after circular interpolation
completion.
!PX000
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 42
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.
Radius-specified circular interpolation control uses ABS , ABS
, ABS
and
ABS
(Absolute data method) and INC , INC
, INC
and INC
(Incremental data method) servo instructions.
WAIT-ON/OFF
Cancel
Speed change
S-curve ratio
Deceleration processing on stop input
Others
Allowable error range for circular interpolation
Rapid stop deceleration time
Deceleration time
Speed limit value
Acceleration time
Control unit
Central point
Auxiliary point
Torque limit value
M-code
Command speed
Dwell time
Address/travel value
Torque limit value
Parameter block
Number of
control axes
Axis
Positioning
method
Parameter block No.
Servo
instruction
Arc
Radius
Items are set in peripheral devices
Common
ABS
ABS
ABS
Absolute
ABS
2
INC
Valid
INC
INC
Incremental
INC
: Must be set
: Set if required
6 - 43
6 POSITIONING CONTROL
[Control details]
Details for the servo instructions are shown in the table below.
Instruction
Rotation direction of
Maximum controllable
the servomotors
angle of arc
ABS
Positioning path
Positioning path
Start
point
Clockwise
<180
Radius R
INC
0° <
< 180°
ABS
Radius R
Counter clockwise
Start
point
INC
End point
Central point
Central point
<180
End point
Positioning path
Positioning path
ABS
180 <
= <360
Clockwise
INC
< 360°
180°
ABS
Central point
Radius R
Start point
End point
Start point
Radius R
End point
Counter clockwise
Central point
180 <
= <360
INC
Positioning path
Control using ABS
, ABS
, ABS
, ABS
(Absolute data method)
(1) Circular interpolation from the current stop address (address before positioning)
based on the home position to the specified end address with the specified radius
is executed.
(2) The center of the arc is the point of intersection of the perpendicular bisectors of
the start point address (current stop address) to the end address.
Forward direction
Positioning speed
Circular interpolation path
End address (X1, Y1)
Reverse
direction
Radius R
Start point
address (X0, Y0)
Arc central point
Forward direction
0
Reverse direction
(Note)
: Indicates setting data
Fig.6.13 Circular interpolation control using absolute data method
31
31
(3) The setting range of end point address is (-2 ) to (2 -1).
6 - 44
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
231-1
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.
(2) The center of the arc is the point of intersection of the perpendicular bisectors of
the start point address (current stop address) to the end address.
Forward direction
Circular interpolation path
Positioning
speed
End point
Radius R
Arc central point
Start point
Reverse
direction
Forward direction
0
(Note)
Reverse direction
: Indicates setting data
Fig.6.15 Circular interpolation control using incremental data method
31
31
(3) Setting range of end point address is (-2 ) to (2 -1).
31
(4) Setting range of radius is 1 to (2 -1).
31
(5) Maximum arc radius is (2 -1).
231-1
Maximum arc
Arc central point
0
-231
231-1
Radius R
Fig.6.16 Maximum arc
6 - 45
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 Q02H Q172 Q172 QX41
CPU CPU LX
(N)
Positioning start command (PX000)
AMP
Axis
1 M
AMP
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.
The positioning by the Axis 1 and Axis 2 servomotors is shown in the diagram
below.
Axis 2 positioning direction
(Forward direction)
Positioning using the servo program
No.41.
50000
30000
End point (100000, 50000)
Start point
(10000, 30000)
(Reverse
direction)
0 10000
Home position
Radius
80000
半径80000
(Reverse direction)
100000
Axis 1 positioning direction
(Forward direction)
Arc central point
(3) Positioning conditions
(a) Positioning conditions are shown below.
Servo Program No.
Item
No.41
Positioning method
Absolute data method
Positioning speed
1000
(b) Positioning start command ........ Turning PX000 off to on (OFF
6 - 46
ON)
6 POSITIONING CONTROL
(4) Operation timing
Operation timing for radius-specified circular interpolation control is shown below.
V
Servo Program No.41
Combined-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.41 for radius-specified circular interpolation control is shown
below.
<K 41>
ABS
Axis
Axis
Speed
Radius
1,
2,
100000
50000
1000
80000
Radius specified-circular interpolation
control
Axis used . . . . . Axis 1, Axis 2
End address
Axis 1 . . . 100000
Axis 2 . . . . 50000
Positioning speed . . . . . . . . . 1000
Radius . . . . . . . . . . . . . . . 80000
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 47
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 . . . 100000[PLS]
End point address . . . . . . .
Axis 2 . . . . 50000[PLS]
Positioning speed . . . . . . . . . . . . . . . . . . . . . 1000[PLS/s]
Radius . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80000[PLS]
[G20]
ABS
Axis
Axis
Speed
Radius
1, 100000PLS
2, 50000PLS
1000PLS/s
80000PLS
Wait until PX000 turn off after circular interpolation
completion.
!PX000
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 48
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.
Central point-specified circular interpolation control uses ABS and ABS
(Absolute
data method) and INC
and INC
(Incremental data method) servo instructions.
ABS
ABS
WAIT-ON/OFF
Cancel
Speed change
S-curve ratio
Deceleration processing on stop input
Allowable error range for circular interpolation
Torque limit value
Rapid stop deceleration time
Deceleration time
Speed limit value
Acceleration time
Control units
Central point
Auxiliary point
Torque limit value
M-code
Command speed
Dwell time
Address/travel value
Others
Absolute
2
INC
INC
Parameter block
Number of
control axes
Axis
Positioning
method
Parameter block No.
Servo
instruction
Arc
Radius
Items are set in peripheral devices
Common
Valid
Incremental
: Must be set
: Set if required
[Control details]
Details for the servo instructions are shown in the table below.
Instruction
Rotation direction of Maximum controllable
the servomotors
Positioning path
angle of arc
Positioning path
ABS
Start point
Clockwise
INC
0 < <360
End point
Central point
0° <
< 360°
Central point
ABS
Counter clockwise
INC
Start point
0 < <360
End point
Positioning path
6 - 49
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.
Operation by circular interpolation
Forward direction
End address (X1, Y1)
Positioning speed
Start point
address (X0, Y0)
Reverse
direction
Radius R
Forward direction
Arc central point
Reverse direction
(Note)
: Indicates setting data
Fig.6.17 Circular interpolation control using absolute date method
(2) Positioning control of a complete round is possible in the central point-specified
circular interpolation control.
Forward direction
Circular interpolation control
Arc central
point
Reverse
direction
Start address, end address
Forward direction
Reverse direction
Fig.6.18 Positioning control of a complete round
31
31
(3) Setting range of end point address and arc central point is (-2 ) to (2 -1).
32
(4) The maximum arc radius is (2 -1).
231-1
Maximum arc
231-1
-231
Arc central point
Radius R
Fig.6.19 Maximum arc
6 - 50
6 POSITIONING CONTROL
Control using INC
, 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.6.20 Circular interpolation control using incremental data method (INC
(2) Positioning control of a complete round is possible in the central point-specified
circular interpolation control.
Forward direction
Circular interpolation control
Arc central
point
0
0
Reverse
direction
Start address, end address
Forward direction
Reverse direction
Fig.6.21 Positioning control of a complete round
(3) Setting range of travel value to end point address and arc central point is 0 to
31
(2 -1).
31
(4) The maximum arc radius is (2 -1).
31
If the end point and central point are set more than a radius of (2 -1), an error
occurs at the start and error code [109] is stored in the data register.
231-1
Maximum arc
Arc central point
0
-231
231-1
Radius R
Fig.6.22 Maximum arc radius
6 - 51
)
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 Q02H Q172 Q172 QX41
CPU CPU LX
(N)
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.
The positioning by the Axis 1 and Axis 2 servomotors is shown in the diagram
below.
Axis 2 positioning direction
(Forward direction)
Positioning using the servo program No.51
Start address
(111459, 30000)
End address
(78541, 30000)
Central point address
(45000, 20000)
30000
20000
0 11459
45000
78541
Axis 1 positioning direction
(Forward direction)
(3) Positioning conditions
(a) Positioning conditions are shown below.
Servo Program No.
Item
No.51
Positioning method
Absolute data method
Positioning speed
1000
(b) Positioning start command ........ Turning PX000 off to on (OFF
6 - 52
ON)
6 POSITIONING CONTROL
(4) Operation timing
Operation timing for central point-specified circular interpolation is shown below.
V
Servo Program No.51
Combined-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.51 for central point-specified circular interpolation is shown
below.
<K 51>
ABS
Axis
Axis
Speed
Central point
Central point
1,
2,
1,
2,
78541
30000
1000
45000
20000
Central point specified-circular interpolation
control
Axis used . . . . . . . . . . . . Axis 1, Axis 2
End address
Axis 1 . . . . . . . . . 78541
Axis 2 . . . . . . . . . 30000
Positioning speed . . . . . . . . . . . . . 1000
Central point address
Axis 1 . . . 45000
Axis 2 . . . 20000
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 53
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
Center
point
Center
point
Central point specified-circular interpolation control
Axis used . . . . . . . . . . . . . . . Axis 1, Axis 2
Axis 1 . . . . 78541[PLS]
End point address . . . . . . .
Axis 2 . . . . 30000[PLS]
Positioning speed . . . . . . . . . . . . . . . . . . . . . 1000[PLS/s]
Axis 1 . . . . 45000[PLS]
Central point address . . . . . .
Axis 2 . . . . 20000[PLS]
1,
2,
78541PLS
30000PLS
1000PLS/s
45000PLS
20000PLS
Wait until PX000 turn off after circular interpolation
completion.
[G20] !PX000
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 54
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.
Items are set in peripheral devices
ABH
Absolute radius-specified helical
interpolation less than CW 180°
3
ABH
Absolute radius-specified helical
interpolation CW 180° or more
3
ABH
Absolute radius-specified helical
interpolation less than CCW 180°
3
ABH
Absolute radius-specified helical
interpolation CCW 180° or more
3
INH
INH
Incremental radius-specified
helical interpolation less than CW
180°
Incremental radius-specified
helical interpolation CW 180° or
more
WAIT-ON/OFF
Cancel
Speed
change
S-curve ratio
Deceleration processing on stop input
Others
Allowable error range for circular interpolation
Deceleration time
Speed limit value
Acceleration time
Control units
Pitch count
Central point
Auxiliary point
Radius
Torque limit value
M-code
Command speed
Dwell time
Address/travel value
Torque limit value
Parameter block
Number of
control axes
Axis
Processing
Parameter block No.
Servo
instruction
Arc
Rapid stop deceleration time
Common
3
3
INH
Incremental radius-specified
helical interpolation less than
CCW 180°
3
INH
Incremental radius-specified
helical interpolation CCW 180° or
more
3
ABH
Absolute central point-specified
helical interpolation CW
3
ABH
Absolute central point-specified
helical interpolation CCW
3
INH
Incremental central point-specified
helical interpolation CW
3
INH
Incremental central point-specified
helical interpolation CCW
3
ABH
Absolute auxiliary point- specified
helical interpolation
3
INH
Incremental auxiliary pointspecified helical interpolation
3
Valid
: Must be set
: Set if required
6 - 55
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.
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.
ABH
Absolute
INH
Incremental
ABH
Absolute
INH
Incremental
ABH
Absolute
INH
Incremental
Central point-specified method CW
Central point- specified method CCW
Auxiliary point-specified method
[Cautions]
(1) The helical interpolation instruction can be used at the both of real/virtual mode.
(2) When the number of pitches is 0 and travel value of linear axis is not "0" is set,
operation example is shown below.
Circular interpolation path
Linear axis operation
Start point (X0, Y0, Z0)
Linear axis operates
so that it may become
a position according
to this angle.
Arc center
End point (X1, Y1, Z1)
Condition
Number of pitches is 0
Operation
Control on the circular plane.
Number of pitches is not 0 Rotation spirally of the number of pitches to linear axis direction.
6 - 56
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.)
(4) Units for linear axis have not restrictions.
(5) Circular interpolation axis has the following restrictions.
• When the unit of one axis is [degree] axis (with stroke range), set another axis
also as [degree] axis (without stroke range).
• The axis of [degree] unit as without stroke range cannot be set.
• The axis as without stroke range cannot be set in the virtual mode.
(6) Specified the speed which executes speed change by CHGV instruction during
helical interpolation operation with the combined-speed of circular interpolation
axis 2. If speed change is requested by specifying negative speed by CHGV
instruction during helical interpolation operation, deceleration starts from the time
and it is possible to return to reverse direction at the deceleration completion.
(7) If start point = end point, number of pitches = 1 and travel value of linear axis = 0,
at the only central point-specified circular interpolation, full circle can be drawn.
when the address of "start point = end point" is set at the radius-specified helical
interpolation or auxiliary point-specified helical interpolation, a minor error (error
code [108]) occurs at the start and cannot be start.
(8) When the control unit is [degree] and the stroke limit is invalid, if the helical
interpolation control is executed using absolute data method, positioning in near
direction to specified address based on the current value.
(9) Allowable error range for circular interpolation can be set.
6 - 57
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.
It goes around on the specified circle for the specified number of pitches, the circular
interpolation which had remainder specified is executed, and positioning to end
address is executed. The radius-specified circle specifies circular interpolation method
connected start point and end point at the seeing on the plane for which performs
circular interpolation.
Operation details for absolute radius-specified helical interpolation are shown below.
End point address (X1, Y1, Z1)
Circular interpolation plane
End point address (X1, Y1)
Linear interpolation
travel value = Z1-Z0
Helical interpolation
path
Number of pitches a
Circular interpolation
plane
Positioning speed V1
Central
angle
Radius R
Start point (X0, Y0)
Start point (X0, Y0, Z0)
(Note)
(Note)
: Indicates setting data
: Indicates setting data
Control details for the servo instructions are shown below.
Instruction
Rotation direction Controllable angle of
of servomotor
ABH
Radius-specified
helical interpolation
<180
Radius R
0° <
ABH
Positioning path
Start
point
Clockwise (CW)
less than CW 180°
Positioning pass
arc
< 180°
Radius R
Radius-specified
Counter
helical interpolation
clockwise (CCW)
Start
point
less than CCW 180°
End point
Central point
Central point
<180
End point
Positioning path
Positioning path
ABH
Radius-specified
helical interpolation
180 <
= <
= 360
Clockwise (CW)
CW 180° or more
180°
ABH
Radius-specified
Counter
helical interpolation
clockwise (CCW)
CCW 180° or more
360°
Radius R
Start point
Start point
Radius R
180 <
= <
= 360
Central point
End point
End point
Central point
Positioning path
6 - 58
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 combined-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 cannot be started.
(6) All of the circular interpolation axis, linear axis and point address, command
speed, radius (2 word data above) and number of pitches (1 word data) are set
indirectly by D, W and #.
[Program]
(1) Servo program
Servo program No.52 for absolute radius-specified helical interpolation control is
shown below.
<K 52>
ABH
1,
Axis
2,
Axis
3,
Linear axis
Speed
Number of pitches
Radius
Absolute radius specified-circular helical interpolation
100000
50000
25000
1000
100
60000
Axis for the circular . . . . . . . . Axis 1, Axis 2
interpolation
End point address of the . . . Axis 1 . . . 100000
circular interpolation axis
Axis 2 . . . . 50000
Linear axis for the circular. . . . . . . . . . . . . Axis 3
interpolation and linear interpolation
End point address of the linear axis . . . . . 25000
Positioning speed . . . 1000
Number of pitches . . . 100
Radius on a circular interpolation plane . . . . . 60000
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 59
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.
[K52] ABS
Axis
1, 100000PLS
Axis
2,
50000PLS
Linear axis 3,
25000PLS
1000PLS/s
Speed
Number of pitches 100
60000PLS
Radius
Absolute radius specified-circular helical interpolation
Axis for the circular . . . . . . . . Axis 1, Axis 2
interpolation
End point address of the . . . Axis 1 . . . 100000[PLS]
circular interpolation axis
Axis 2 . . . . 50000[PLS]
Linear axis for the circular . . . . . . . . . . . . Axis 3
interpolation and linear interpolation
End point address of the linear axis . . . . . 25000[PLS]
Positioning speed . . . 1000[PLS/s]
Number of pitches . . . 100
Radius on a circular interpolation plane . . . . . 60000[PLS]
[G20] !PX000
Wait until PX000 turn off after circular interpolation
completion.
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 60
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.
It goes around on the specified circle for the specified number of pitches, the circular
interpolation which had remainder specified is executed, and positioning to end
address is executed. The radius-specified circle specifies circular interpolation method
connected start point and end point at the seeing on the plane for which performs
circular interpolation.
Operation details for incremental radius-specified helical interpolation are shown
below.
Circular interpolation plane
End point relative address (X1, Y1, Z1)
End point relative address (X1, Y1)
Linear interpolation
travel value = Z1
Helical interpolation
path
Number of pitches a
Circular interpolation
plane
Radius R
Start point
Start point
(Note)
Positioning speed V1
Center
angle
: Indicates setting range
6 - 61
(Note)
: Indicates setting range
6 POSITIONING CONTROL
Control details for the servo instructions are shown below.
Instruction
Rotation direction Controllable angle of
of servomotor
INH
Radius-specified
helical interpolation
<180
Radius R
0° <
INH
Positioning path
Start
point
Clockwise (CW)
less than CW 180°
Positioning pass
arc
Counter
helical interpolation
clockwise (CCW)
Central point
< 180°
Radius R
Radius-specified
End point
Start
point
less than CCW 180°
Central point
<180
End point
Positioning path
Positioning path
INH
Radius-specified
helical interpolation
180 <
= 360
= <
Clockwise (CW)
CW 180° or more
180°
Counter
helical interpolation
clockwise (CCW)
Radius R
Start point
End point
Start point
Radius R
End point
360°
INH
Radius-specified
Central point
180 <
= <
= 360
CCW 180° or more
Central point
Positioning path
(1) The setting range of end point relative address for the both of circular interpolation
31
axis and linear interpolation axis is 0 to (2 -1).
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............Positioning control to reverse direction
(Address decrease direction)
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
6 - 62
6 POSITIONING CONTROL
(3) Set the command speed with the combined-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.
(6) All of the circular interpolation axis, linear axis end point relative address,
command speed, radius (2 word data above) and number of pitches (1 word data)
are set indirectly by D, W and #.
[Program]
(1) Servo program
Servo program No.53 for incremental radius-specified helical interpolation control
is shown below.
<K 53>
INH
1,
Axis
2,
Axis
3,
Linear axis
Speed
Number of pitches
Radius
100000
50000
25000
1000
100
60000
Incremental radius specified-circular helical interpolation
Axis for the circular . . . . . . . . Axis 1, Axis 2
interpolation
End point relative address of . . . Axis 1 . . . 100000
the circular interpolation axis
Axis 2 . . . . 50000
Linear axis for the circular . . . . . . . . . . . . . . . . . Axis 3
interpolation and linear interpolation
End point relative address of the linear axis . . . 25000
Positioning speed . . . 1000
Number of pitches . . . . . . 100
Radius on a circular interpolation plane . . . . . . . . . 60000
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 63
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.
[K53] INH
Axis
1, 100000PLS
Axis
2,
50000PLS
25000PLS
Linear axis 3,
1000PLS/s
Speed
Number of pitches 100
60000PLS
Radius
[G20] !PX000
Incremental radius specified-circular helical interpolation
Axis for the circular . . . . . . . . Axis 1, Axis 2
interpolation
End point relative address of . . . Axis 1 . . . 100000[PLS]
the circular interpolation axis
Axis 2 . . . . 50000[PLS]
Linear axis for the circular . . . . . . . . . . . . . Axis 3
interpolation and linear interpolation
End point relative address of the linear axis . . . 25000[PLS]
Positioning speed . . . 1000[PLS/s]
Number of pitches . . . . 100
Radius on a circular interpolation plane . . . . . . . . . 60000[PLS]
Wait until PX000 turn OFF after circular interpolation
completion.
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 64
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.
It goes around on the specified circle for the specified number of pitches, the circular
interpolation which had remainder specified is executed, and positioning to end
address is executed. The central point-specified circle specifies circular interpolation
method connected start point and end point at the seeing on the plane for which
performs circular interpolation.
Operation details for absolute central point-specified helical interpolation are shown
below.
Circular interpolation plane
End point address (X1, Y1 , Z1)
End point address (X1, Y1)
Linear interpolation
travel value = Z1-Z0
Helical interpolation
path
Number of pitches a
Circular interpolation
plane
Positioning speed V1
Radius R
Arc central point
Start point (X0,Y0) address (X2, Y2)
Start point (X0, Y0, Z0)
(Note)
: Indicates setting range
: Indicates setting range
(Note)
Control details for the servo instructions are shown below.
Instruction
Rotation direction Controllable angle of
of servomotor
Positioning pass
arc
ABH
Central pointspecified helical
Positioning path
Start point
Clockwise (CW)
0< <
= 360
End point
Central point
interpolation CW
0° <
360°
ABH
Central point
Central point-
Counter
specified helical
clockwise (CCW)
Start point
0< <
= 360
End point
Positioning path
interpolation CCW
(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
31
(2) The setting range of central point address is (-2 ) to (2 -1).
6 - 65
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 combined-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.
(7) All of the circular interpolation axis, linear axis end point address, command
speed, radius (2 word data above) and number of pitches (1 word data) are set
indirectly by D, W and #.
(8) If start point = end point, number of pitches = 1 and travel value of linear axis = 0,
at the only central point-specified circular interpolation, full circle can be drawn.
[Program]
(1) Servo program
Servo program No.55 for absolute central point-specified helical interpolation
control is shown below.
<K 55>
ABH
1,
Axis
2,
Axis
3,
Linear axis
Speed
Number of pitches
Central point 1,
Central point 2,
88541
30000
20000
1000
500
45000
20000
Absolute central point specified-circular helical interpolation
Axis for the circular . . . . . . . . Axis 1, Axis 2
interpolation
Axis 1 . . . . 88541
End point address of the . . .
Axis 2 . . . . 30000
circular interpolation axis
Linear axis for the circular . . . . . . . . . . . . Axis 3
interpolation and linear interpolation
End point address of the linear axis . . . . . 20000
Positioning speed . . . . 1000
Number of pitches . . . . . . . 500
Axis 1 . . . . 45000
Central point address . . . . . . .
Axis 2 . . . . 20000
of the arc
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 66
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.
[K55] ABH
Axis
1,
88541PLS
Axis
2,
30000PLS
Linear axis 3,
20000PLS
Speed
1000PLS/s
Number of pitches 500
Ctr.P.
1,
45000PLS
Ctr.P.
2,
20000PLS
[G20] !PX000
Absolute central point-specified circular helical interpolation
Axis for the circular . . . . . . . Axis 1, Axis 2
interpolation
End point address of the . . . Axis 1 . . . 88541[PLS]
circular interpolation axis
Axis 2 . . . . 30000[PLS]
Linear axis for the circular . . . . . . . . . . . . Axis 3
interpolation and linear interpolation
End point address of the linear axis . . . . . 20000[PLS]
Positioning speed . . . 1000[PLS/s]
Number of pitches . . . 500
Axis 1 . . . . 45000[PLS]
Central point address . . . . . . . .
Axis 2 . . . . 20000[PLS]
of the arc
Wait until PX000 turn off after circular interpolation
completion.
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 67
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.
It goes around on the specified circle for the specified number of pitches, the circular
interpolation which had remainder specified is executed, and positioning to end
address is executed. The central point-specified circle specifies circular interpolation
method connected start point and end point at the seeing on the plane for which
performs circular interpolation.
Operation details for incremental central point -specified helical interpolation are shown
below.
Circular interpolation plane
End point relative address (X1, Y1, Z1)
End point relative address (X1, Y1)
Linear interpolation
travel value = Z1
Helical interpolation
path
Number of pitches a
Circular interpolation
plane
Positioning speed V1
Radius R
Start point
Start point
(Note)
: Indicates setting range
(Note)
Arc central point
relative address (X2, Y2)
: Indicates setting range
Control details for the servo instructions are shown below.
Instruction
Rotation direction Controllable angle of
of servomotor
Positioning pass
arc
INH
Central point-specified
helical interpolation
Positioning path
End point
Central point
CW
0° <
INH
Central point-specified Counter
helical interpolation
Start point
Clockwise (CW)
0< <
= 360
clockwise (CCW)
360°
Central point
Start point
0< <
= 360
End point
Positioning path
CCW
(1) The setting range of end point relative address for the both of circular interpolation
31
axis and linear interpolation axis is 0 to (2 -1).
31
(2) The setting range of central point relative is 0 to (2 -1).
6 - 68
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 combined-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.
(7) All of the circular interpolation axis, linear axis end relative address, command
speed, radius (2 word data above) and number of pitches (1 word data) are set
indirectly by D, W and #.
(8) If start point = end point, number of pitches = 1 and travel value of linear axis = 0,
at the only central point-specified circular interpolation, full circle can be drawn.
[Program]
(1) Servo program
Servo program No.56 for incremental central point-specified helical interpolation
control is shown below.
<K 56>
INH
1,
Axis
2,
Axis
3,
Linear axis
Speed
Number of pitches
Central point 1,
Central point 2,
Incremental central point specified-circular helical interpolation
88541
30000
20000
1000
500
45000
20000
Axis for the circular . . . . . . . . . Axis 1, Axis 2
interpolation
Axis 1 . . . . 88541
End point relative address of
the circular interpolation axis Axis 2 . . . . 30000
Linear axis for the circular. . . . . . . . . . . . . . Axis 3
interpolation and linear interpolation
End point relative address from . . . . . . . . . 20000
the linear axis specification
Positioning speed . . . . 1000
Number of pitches . . . 500
Axis 1 . . . . 45000
Central point relative address . .
Axis 2 . . . . 20000
of the arc
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 69
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.
2,
[G20] !PX000
Incremental central point-specified helical interpolation control
Axis for the circular . . . . . . . . Axis 1, Axis 2
interpolation
End point relative address of . . . . . Axis 1 . . . 88541[PLS]
the circular interpolation axis
Axis 2 . . . 30000[PLS]
Linear axis for the circular . . . . . . . . . . . . . Axis 3
interpolation and linear interpolation
End point relative address of the linear axis . . .20000[PLS]
Positioning speed . . . 1000[PLS/s]
Number of pitches. . . . 500
Axis 1 . . . . 45000[PLS]
Central point relative address . . . . . .
Axis 2 . . . . 20000[PLS]
of the arc
Wait until PX000 turn off after circular interpolation completion.
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 70
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.
It goes around on the specified circle for the specified number of pitches, the circular
interpolation which had remainder specified is executed, and positioning to end
address is executed. The auxiliary point-specified circle specifies circular interpolation
method connected start point and end point at the seeing on the plane for which
performs circular interpolation.
Operation details for absolute auxiliary point-specified helical interpolation are shown
below.
Circular interpolation plane
End point address (X1, Y1, Z1)
End point address (X1, Y1)
Linear interpolation
travel value = Z1-Z0
Helical interpolation
path
Number of pitches a
Circular interpolation
plane
Radius R
Arc auxiliary point
address (X2, Y2)
Start point
Start point (X0, Y0, Z0)
(Note)
Positioning speed V1
: Indicates setting range
(Note)
: Indicates setting range
Control details for the servo instructions are shown below.
Instruction
ABH
Auxiliary pointspecified helical
interpolation
Rotation direction
of servomotor
Controllable angle of arc
Clockwise (CW)/
360°
0° <
Counter
clockwise (CCW)
(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
31
(2) The setting range of auxiliary point address is (-2 ) to (2 -1).
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].
6 - 71
6 POSITIONING CONTROL
231-1
Maximum arc
Arc central point
0
-231
231-1
Radius R
(4) Set the command speed with the combined-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.
(7) All of the circular interpolation axis, linear axis end relative address, command
speed, radius (2 word data above) and number of pitches (1 word data) are set
indirectly by D, W and #.
[Program]
(1) Servo program
Servo program No.60 for absolute auxiliary point-specified helical interpolation
control is shown below.
<K 60>
ABH
1,
Axis
2,
Axis
3,
Linear axis
Speed
Number of pitches
Auxiliary point 1,
Auxiliary point 2,
Absolute auxiliary point-specified circular helical interpolation
88541
30000
20000
1000
500
45000
20000
Axis for the circular . . . . . . . Axis 1, Axis 2
interpolation
Axis 1 . . . . 88541
End point address of the . . .
Axis 2 . . . . 30000
circular interpolation axis
Linear axis for the circular . . . . . . . . . . . . . Axis 3
interpolation and linear interpolation
End point address of the linear axis . . . . . 20000
Positioning speed . . . . 1000
Number of pitches . . . . 500
Axis 1 . . . . 45000
Auxiliary point address . . . . . . .
Axis 2 . . . . 20000
of the arc
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 72
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. 3,
20000PLS
Speed
1000PLS/s
Number of pitches 500
Aux.P. 1,
45000PLS
Aux.P. 2,
20000PLS
[G20] !PX000
Absolute auxiliary point-specified circular helical interpolation
Axis for the circular . . . . . . . . Axis 1, Axis 2
interpolation
End point address of the . . . Axis 1 . . . 88541[PLS]
circular interpolation axis
Axis 2 . . . . 30000[PLS]
Linear axis for the circular . . . . . . . . . . . . . Axis 3
interpolation and linear interpolation
End point address of the linear axis . . . . . 20000[PLS]
Positioning speed . . . 1000[PLS/s]
Number of pitches . . . 500
Axis 1 . . . . 45000[PLS]
Auxiliary point address . . . . . . .
Axis 2 . . . . 20000[PLS]
of the arc
Wait until PX000 turn off after circular interpolation
completion.
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 73
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.
It goes around on the specified circle for the specified number of pitches, the circular
interpolation which had remainder specified is executed, and positioning to end
address is executed. The auxiliary point-specified circle specifies circular interpolation
method connected start point and end point at the seeing on the plane for which
performs circular interpolation.
Operation details for incremental auxiliary point-specified helical interpolation are
shown below.
Circular interpolation plane
End point relative address (X1, Y1, Z1)
End point relative address (X1, Y1)
Linear interpolation
travel value = Z1
Helical interpolation
path
Number of pitches a
Circular interpolation
plane
Radius R
Arc auxiliary point
address (X2, Y2)
Start point
Start point
(Note)
Positioning speed V1
: Indicates setting range
: Indicates setting range
(Note)
Control details for the servo instructions are shown below.
Instruction
INH
Auxiliary pointspecified helical
interpolation
Rotation direction
of servomotor
Controllable angle of arc
Clockwise (CW)/
0° <
Counter
360°
clockwise (CCW)
(1) The setting range of end point relative address for the both of circular interpolation
31
axis and linear interpolation axis is 0 to (2 -1).
31
(2) The setting range of auxiliary point relative is 0 to (2 -1).
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].
6 - 74
6 POSITIONING CONTROL
231-1
Maximum arc
Arc central point
0
-231
231-1
Radius R
(4) Set the command speed with the combined-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.
(7) All of the circular interpolation axis, linear axis end point address, command
speed, radius (2 word data above), and number of pitches (1 word data) are set
indirectly by D, W and #.
[Program]
(1) Servo program
Servo program No.61 for incremental auxiliary point-specified helical interpolation
control is shown below.
<K 61>
INH
1,
Axis
2,
Axis
3,
Linear axis
Speed
Number of pitches
Auxiliary point 1,
Auxiliary point 2,
Incremental auxiliary point-specified circular helical interpolation
88541
30000
20000
1000
500
45000
20000
Axis for the circular . . . . . . . . Axis 1, Axis 2
interpolation
Axis 1 . . . . 88541
End point relative address of
the circular interpolation axis Axis 2 . . . . 30000
Linear axis for the circular . . . . . . . . . . . . . Axis 3
interpolation and linear interpolation
End point relative address from . . . . . . . . . 20000
the linear axis specification
Positioning speed . . . . 1000
Number of pitches . . . . 500
Axis 1 . . . . 45000
Auxiliary point relative . . . . . . . .
Axis 2 . . . . 20000
address of the arc
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 75
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.
[K61] INH
Axis
1,
88541PLS
Axis
2,
30000PLS
20000PLS
Linear axis 3,
Speed
1000PLS/s
Number of pitches 500
Aux.P.
1,
45000PLS
Aux.P.
2,
20000PLS
[G20] !PX000
Incremental auxiliary point-specified circular helical interpolation
Axis for the circular . . . . . . . . . . . . Axis 1, Axis 2
interpolation
End point relative address of . . . . Axis 1 . . . 88541[PLS]
the circular interpolation axis
Axis 2 . . . . 30000[PLS]
Linear axis for the circular . . . . . . . . . . . . Axis 3
interpolation and linear interpolation
End point relative address of the linear axis . . . 20000[PLS]
Positioning speed . . . 1000[PLS/s]
Number of pitches . . . 500
Axis 1 . . . . 45000[PLS]
Auxiliary point relative address . . . . .
Axis 2 . . . . 20000[PLS]
of the arc
Wait until PX000 turn off after circular interpolation completion.
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 76
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.
WAIT-ON/OFF
Cancel
Speed change
S-curve ratio
Deceleration processing on stop input
Others
Allowable error range for circular interpolation
Torque limit value
Rapid stop deceleration time
Deceleration time
Speed limit value
Acceleration time
Control units
Parameter block
Central point
Auxiliary point
Torque limit value
M-code
1
Dwell time
Incremental
Address/travel value
FEED-1
Command speed
Number of
control axes
Axis
Positioning
method
Parameter block No.
Servo
instruction
Arc
Radius
Items are set in peripheral devices
Common
Valid
: Must be set
: Set if required
[Control details]
(1) Positioning control for the specified travel value from the current stop position "0"
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............Positioning control to reverse direction
(Address decrease direction)
Positioning direction
Operation timing
V
Current stop position
Fixed-pitch feed by FEED-1 instruction
Command speed
Reverse
direction
Forward
direction
Travel direction
for negative sign
t
Travel direction
for positive sign
Travel value
Servo program start
(Note)
: Indicates setting data
Fig.6.23 1 axis fixed-pitch feed control
POINT
Do not set the travel value to "0" for fixed-pitch feed control.
If the travel value is set to "0", fixed-pitch feed completion without fixed-pitch feed.
6 - 77
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 Q02H Q172 Q172 QX41
CPU CPU LX
(N)
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.300
Control axis
Axis 4
Control speed
10000
Travel value
80000
(b) Fixed-pitch feed control start command ....... Turning PX000 off to on
(OFF ON)
(c) Fixed-pitch feed control end command ....…. Turning PX001 off to on
(OFF ON)
6 - 78
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.
<K 300>
FEED-1
Axis
Speed
Dwell
4,
80000
10000
1000
1 axis fixed-pitch feed
Axis used . . . . . . . . . . Axis 4
Travel value . . . . . . . . 80000
Command speed . . . 10000
Dwell . . . . . . . . . . . . . . 1000
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 79
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 . . . . . . 10000[PLS/s]
Dwell . . . . . . . . . . . . . . . . . 1000[ms]
P0
After fixed-pitch feed completion,
PX001 is ON : Fixed-pitch feed starts.
PX001 is OFF : Motion SFC program ends.
Wait until PX000 and PX001 turn off after
fixed-pitch feed completion.
!PX000*!PX001
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 80
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.
WAIT-ON/OFF
Cancel
Speed change
S-curve ratio
Allowable error range for circular interpolation
Others
Deceleration processing on stop input
Torque limit value
Rapid stop deceleration time
Deceleration time
Speed limit value
Acceleration time
Control unit
Parameter block
Central point
Auxiliary point
Torque Limit Value
M-Code
2
Command speed
Incremental
Dwell Time
FEED-2
Address/travel value
Number of
control axes
Axis
Positioning
method
Parameter block No.
Servo
instruction
Arc
Radius
Items are set in peripheral devices
Common
Valid
: Must be set
: Set if required
[Control details]
(1) Positioning control from the current stop position "0" 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............Positioning control to reverse direction
(Address decrease direction)
Operation timing
Positioning direction
V
Forward direction
Fixed-pitch feed by FEED-2 instruction
Command speed
Y-axis
travel value
Reverse
direction
t
0
X-axis travel value
Current stop position
Forward
direction
Servo program start
Reverse direction
(Note)
: Indicates setting data
Fig.6.24 Fixed-pitch feed control using 2 axes linear interpolation
6 - 81
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.
Motion CPU control module
Q61P Q02H Q172 Q172 QX41
CPU CPU LX
(N)
Positioning start command (PX000)
AMP
Axis
1 M
AMP
Axis
2 M
AMP
AMP
Axis
3 M
Axis
4 M
(2) Fixed-pitch feed control
(a) Fixed-pitch feed control conditions are shown below.
Item
Setting
Servo program No.
No.310
Positioning speed
10000
Control axis
Axis 2
Axis 3
Travel value
500000
300000
(b) Fixed-pitch feed control start command ....... Turning PX000 off to on
(OFF ON)
6 - 82
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.310 for fixed-pitch feed control using 2 axes linear
interpolation is shown below.
<K 310>
FEED-2
Axis
Axis
Speed
Fixed-pitch feed using 2 axes linear interpolation
2,
3,
500000
300000
10000
Axis used . . . . . . . . Axis 2, Axis 3
Travel value . . . . . Axis 2 . . . 500000
Axis 3 . . . 300000
Positioning speed . . . . . . . . . . . . . 10000
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 83
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.
P0
[K310] FEED-2
Axis
2,
Axis
3,
Speed
[G20]
500000PLS
300000PLS
10000PLS/s
Fixed-pitch feed using 2 axes linear interpolation
Axis used . . . . . . . . . . Axis 2, Axis 3
Travel value . . . . . . Axis 2 . . . 500000[PLS]
Axis 3 . . . 300000[PLS]
Positioning speed . . . . . . . . . . . . . . . 10000[PLS/s]
P0
!PX000
After fixed-pitch feed completion,
PX000 is ON : Fixed-pitch feed start again.
PX000 is OFF : Motion SFC program end.
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 84
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.
WAIT-ON/OFF
Speed change
Cancel
Allowable error range for circular interpolation
Others
S-curve ratio
Deceleration processing on stop input
Torque limit value
Rapid stop deceleration time
Deceleration time
Speed limit value
Acceleration time
Control unit
Parameter block
Central point
Auxiliary point
Torque limit value
M-code
3
Command speed
Incremental
Dwell time
FEED-3
Address/travel value
Number of
control axes
Axis
Positioning
method
Parameter block No.
Servo
instruction
Arc
Radius
Items are set in peripheral devices
Common
Valid
: Must be set
: Set if required
[Control details]
(1) Positioning control from the current stop position "0" 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............Positioning control to reverse direction
(Address decrease direction)
Positioning direction
Operation timing
V
Forward direction
Fixed-pitch feed by FEED-3 instruction
Command speed
Forward direction
t
Y-axis
travel value
Z-axis
travel value
Reverse direction
Forwar
directio
Reverse direction
Servo program start
X-axis travel value
Reverse direction
(Note)
: Indicates setting data
Fig. 6.25 Fixed-pitch feed control using 3 axes linear interpolation
6 - 85
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.
Motion CPU control module
Q61P Q02H Q172 Q172 QX41
CPU CPU LX
(N)
Positioning start command (PX000)
AMP
AMP
Axis
1 M
Axis
2 M
AMP
Axis
3 M
AMP
Axis
4 M
(2) Fixed-pitch feed control
(a) Fixed-pitch feed control conditions are shown below.
Item
Setting
Servo program No.
No.320
Positioning speed
1000
Control axes
Axis 1
Axis 2
Axis 3
Travel value
50000
40000
30000
(b) Fixed-pitch feed control start command ....... Turning PX000 off to on
(OFF ON)
6 - 86
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.320
1000
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)
(4) Servo program
Servo program No.320 for fixed-pitch feed control using 3 axes linear
interpolation is shown below.
<K 320>
FEED-3
Axis
Axis
Axis
Speed
Fixed-pitch feed using 3 axes linear interpolation
1,
2,
3,
50000
40000
30000
1000
Axis used . . . . . . . . . Axis 1, Axis 2, Axis 3
Axis 1 . . . 50000
Travel value . . . . . Axis 2 . . . 40000
Axis 3 . . . 30000
Positioning speed . . . . . . . . . . . . 1000
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 87
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.
P0
[K320]
[G20]
FEED-3
Axis
1,
Axis
2,
Axis
3,
Speed
50000PLS
40000PLS
30000PLS
1000PLS/s
Fixed-pitch feed using 3 axes linear interpolation
Axis used . . . . . . . . . Axis 1, Axis 2, Axis 3
Axis 1 . . . 500000[PLS]
Travel value . . . . . . Axis 2 . . . 400000[PLS]
Axis 3 . . . 300000[PLS]
Positioning speed . . . . . . . . . . . . . . . 10000[PLS/s]
P0
!PX000
After fixed-pitch feed completion,
PX000 is ON : Fixed-pitch feed start again.
PX000 is OFF : Motion SFC program end.
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 88
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.
VF
WAIT-ON/OFF
Cancel
Speed change
S-curve ratio
Deceleration processing on stop input
Others
Allowable error range for circular interpolation
Rapid stop deceleration time
Deceleration time
Speed limit value
Acceleration time
Control unit
Central point
Auxiliary point
Torque limit value
M-code
Command speed
Dwell time
Address/travel value
Torque limit value
Parameter block
Number of
control axes
Axis
Positioning
method
Parameter block No.
Servo
instruction
Arc
Radius
Items are set in peripheral devices
Common
1
VR
Valid
: Must be set
: Set if required
[Control details]
(1) Controls the axis at the specified speed until the input of the stop command after
starting of the servomotors.
• VF ......... Forward direction start
• VR ........ Reverse direction start
(2) Current value does not change at "0".
V
Setting
speed
Stop command accept
Speed
control
start
Operation speed
Stop
t
Fig.6.26 Speed control ( )
6 - 89
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.
STOP signal input of the
Q172LX (STOP)
Stop command
(M3200+20n)
Stop processing
OFF
Specified
axis
ON
Deceleration stop based on the parameter
block or the "deceleration time" specified with
the servo instruction.
Deceleration stop based on the parameter
block or the "rapid stop deceleration time"
specified with the servo instruction.
Rapid stop command (Note)
(M3201+20n)
Rapid stop of the all axes/
deceleration stop from the
peripheral devices. (Note)
(Test mode)
Click icon
All axes
Speed change to speed "0"
Speed change
request
Specified
axis
Deceleration stop based on the parameter
block or the "rapid stop deceleration time"
specified with the servo instruction.
Deceleration stop based on the parameter
block or the "deceleration time" specified with
the servo instruction.
POINT
(Note): The rapid stop command and the rapid stop of the all axes from the
peripheral devices are also valid during deceleration by the "STOP signal
input of the Q172LX" (STOP) or stop command (M3200+20n), and
processing based on the "rapid stop deceleration time" parameter starts at
the time the stop condition occurs.
Speed limit value
"STOP signal input of the Q172LX" (STOP)
or stop command
Operation speed
Rapid stop command or rapid stop of
the all axes from the peripheral device
[Cautions]
(1) After executing of the speed control using the absolute position system, the feed
current value cannot be set to "0" by the following operations:
• Reset
• Turning the servo power supply on (OFF ON)
(2) The dwell time cannot be set.
6 - 90
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 Q02H Q172 Q172 QX41
CPU CPU LX
(N)
Start/stop command (PX000)
AMP
AMP
Axis
1 M
Axis
2 M
AMP
Axis
3 M
AMP
Axis
4 M
(2) Speed control ( ) conditions
(a) Speed control ( ) conditions are shown below.
Item
Setting
Servo program No.
No.91
Control axis
Axis 1
Control speed
3000
Rotation direction
Forward
(b) Speed control ( ) start command........ Turning PX000 off to on
(OFF ON)
(c) Stop command......…………………… Turning PX000 on to off
(ON OFF)
(3) Operation timing
Operation timing for speed control ( ) is shown below.
V
3000
Speed control by
servo program No.91
Stop command
accept
t
PLC ready flag (M2000)
All axes servo ON command
(M2042)
All axes servo ON accept flag
(M2049)
Axis 1 servo ready (M2415)
Start command (PX000)
Servo program start
Axis 1 start accept flag
(M2001)
Stop command (M3200)
6 - 91
6 POSITIONING CONTROL
(4) Servo program
Servo program No.91 for speed control ( ) is shown below.
<K 91>
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.
[K91]
VF
Axis
1
Speed
Speed control ( ) (Forward rotation)
Axis used . . . . . . . . . Axis 1
Positioning speed . . . 3000[PLS/s]
[G20]
[F20]
[G30]
[F30]
3000PLS/s
!PX000
Wait until PX000 turns off after speed control ( ) start.
SET M3200
Turn on Axis 1 stop command.
!M2001
Wait until Axis 1 start accept flag turn off.
RST M3200
Turn off Axis 1 stop command.
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 92
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.
VVF
VVR
WAIT-ON/OFF
Cancel
Speed change
S-curve ratio
Deceleration processing on stop input
Others
Allowable error range for circular interpolation
Rapid stop deceleration time
Deceleration time
Speed limit value
Acceleration time
Control unit
Central point
Auxiliary point
Torque limit value
M-code
Command speed
Dwell time
Address/travel value
1
Torque limit value
Parameter block
Number of
control axes
Axis
Positioning
method
Parameter block No.
Servo
instruction
Arc
Radius
Items are set in peripheral devices
Common
Valid
: Must be set
: Set if required
[Control details]
(1) Controls the axis at the specified speed until the input of the stop command after
starting of the servomotors.
• VVF ....... Forward direction start
• VVR....... Reverse direction start
(2) Current value or deviation counter do not change at "0".
(3) When the setting for "torque" is set in the servo program and an indirect setting
made, the torque limit value can be changed during operation by changing the
value of the indirect device.
(4) The stop command and stop processing are the same as for speed control (I).
[Cautions]
(1) After executing of the speed control using the absolute position system, the feed
current value cannot be set to "0" by the following operations:
• Reset
• Turning the servo power supply on (OFF ON)
(2) The dwell time cannot be set.
6 - 93
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.
Motion CPU control module
Q61P Q02H Q172 Q172 QX41
CPU CPU LX
(N)
Start/stop command (PX000)
AMP
AMP
Axis
2 M
Axis
1 M
AMP
Axis
3 M
AMP
Axis
4 M
(2) Speed control ( ) conditions
(a) Speed control ( ) conditions are shown below.
Item
Setting
Servo program No.
No.55
Control axis
Axis 3
Control speed
4000
Rotation direction
Forward
(b) Speed control ( ) start command ....... Turning PX000 off to on
(OFF ON)
(c) Stop command .....…………………… Turning PX000 on to off
(ON OFF)
(3) Operation timing
Operation timing for speed control ( ) is shown below.
V
4000
Speed control by
servo program No.55
Stop command
accept
t
PLC ready flag (M2000)
All axes servo ON command
(M2042)
All axes servo ON accept flag
(M2049)
Axis 3 servo ready (M2455)
Start command (PX000)
Servo program start
Axis 3 start accept flag
(M2003)
Stop command (M3240)
6 - 94
6 POSITIONING CONTROL
(4) Servo program
Servo program No.55 for speed control ( ) is shown below.
<K 55>
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.
[K55] VVF
Axis
3
Speed
[G20]
[F20]
[G30]
[F30]
4000PLS/s
Speed control ( ) (Forward rotation)
Axis used . . . . . . . . . Axis 3
Positioning speed . . . 4000[PLS/s]
!PX000
Wait until PX000 turn off after speed control ( ) start.
SET M3240
Turn on Axis 3 stop command.
!M2003
Wait until Axis 3 start accept flag turn off.
RST M3240
Turn off Axis 3 stop command.
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 95
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.
VPF
VPR
WAIT-ON/OFF
Cancel
Speed change
S-curve ratio
Deceleration processing on stop input
Others
Allowable error range for circular interpolation
Torque limit value
Rapid stop deceleration time
Deceleration time
Speed limit value
Acceleration time
Control unit
Parameter block
Central point
Auxiliary point
Torque limit value
M-code
Command speed
1
Dwell time
Incremental
Address/travel value
Number of
control axes
Axis
Positioning
method
Parameter block No.
Servo
instruction
Arc
Radius
Items are set in peripheral devices
Common
Valid
: Must be set
: Set if required
[Control details]
(1) The speed control is executed after the start of the servomotor, and changes from
speed control to position control with the CHANGE (Speed/position switching)
signal from external source, and then the specified positioning travel value is
executed.
• VPF...... Forward rotation direction (Address increase direction) start
• VPR….. Reverse rotation direction (Address decrease direction) start
(2) The CHANGE signal from external source is effective during speed/position
switching enable signal (M3205+20n) is on only. If M3205+20n turns on after the
CHANGE signal turned on, it does not change from speed control to position
control and speed control is continued.
V
Setting travel value
Speed
controlling
ON
Speed/position
switching enable signal
(M3205+20n)
OFF
CHANGE signal input
from external source (Note)
6 - 96
Position
controlling
CHANGE signal valid
t
6 POSITIONING CONTROL
REMARK
(Note): "The external CHANGE signal input from external source" is inputted to
CHANGE of the Q172LX 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 "Q173CPU(N)/Q172CPU(N)
Motion controller User's Manual".)
(3) Feed current value processing
The feed current value is as follows by turning feed current value update request
command (M3212+20n) on/off at the speed/position switching control start.
(a) M3212+20n OFF...... • The feed current value is cleared to "0" at the start.
• The feed current value is updated from the start
(speed control).
• The feed current value after stop is as follows:
Feed current
value after stop
=
Travel value
during speed
control
Travel value
for position
control
+
(b) M3212+20n ON..….. • The feed current value is not cleared at the start.
• The feed current value is updated from the start
(speed control).
• If the feed current value exceeds the stroke limit, a
deceleration stop is executed.
• The feed current value after stop is as follows:
Feed current
value after stop
=
Address
before speed
control start
+
Travel value
during speed
control
[M3212+20n OFF]
Feed
current * *
value
CHANGE input
Speed
controlling
Position
controlling
0
Update feed current value
Travel value
for position
control
[M3212+20n ON]
CHANGE input
Speed
controlling
+
Feed
current
value
**
Position
controlling
**
Update feed current value
Clear feed current value
ON
M3212
OFF
+20n
M3212
OFF
+20n
POINT
If it is started with M3212+20n on, leave M3212+20n on until positioning control is
completed. If it is turns off during control, the feed current value cannot be
guaranteed.
6 - 97
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 data registers (2-word data)
shown in the table below in the servo program.
Axis No.
Data register No.
(Note)
Data registers for travel value change
at indirect specification
Higher rank data
Lower rank data
1
D16
D17
D16
2
D36
D37
D36
3
D56
D57
D56
4
D76
D77
D76
5
D96
D97
D96
6
D116
D117
D116
7
D136
D137
D136
8
D156
D157
D156
9
D176
D177
D176
10
D196
D197
D196
11
D216
D217
D216
12
D236
D237
D236
13
D256
D257
D256
14
D276
D277
D276
15
D296
D297
D296
16
D316
D317
D316
17
D336
D337
D336
18
D356
D357
D356
19
D376
D377
D376
20
D396
D397
D396
21
D416
D417
D416
22
D436
D437
D436
23
D456
D457
D456
24
D476
D477
D476
25
D496
D497
D496
26
D516
D517
D516
27
D536
D537
D536
28
D556
D557
D556
29
D576
D577
D576
30
D596
D597
D596
31
D616
D617
D616
32
D636
D637
D636
(Note): The range of axis No.1 to 8 is valid in the Q172CPU(N).
6 - 98
6 POSITIONING CONTROL
Example
The following servo program which performs the speed control for axis 4 to the
forward direction at speed 50000, and the position control of the travel value set in
D76, D77 after the CHANGE signal from external source turns on.
<K 11>
VPF
Axis
Speed
4,
Indicates indirect specification of travel value
D76
50000
(b) The travel value is stored in the data register for travel value change during
speed control in the Motion SFC program. When the CHANGE signal turns
on, the contents of the data register for travel value change are set as the
travel value.
V
Speed
controlling
Position
controlling
t
Travel value
change possible
CHANGE signal input
from external source
ON
OFF
Data register for travel
value change
P1
P2
P3
P2 is reset as the travel value
(5) Travel value area after proximity dog ON
The travel value since the position mode was selected by the CHANGE signal
input from external source is stored in the travel value storage register after
proximity dog ON. (Refer to Section 3.2.1)
[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.
6 - 99
6 POSITIONING CONTROL
(2) No speed control
Position control only is executed if M3205+20n and CHANGE signal are turning
on at the start. The speed controlling signal (M2404+20n) does not turn on.
V
OFF
Speed switching signal
input (CHANGE)
OFF
Servo program start
OFF
Speed/position switching
latch (M2405+20n)
t
ON
Speed/position switching
enable command (M3205+20n)
Speed controlling (M2404+20n)
Position control only is executed, if M3205+20n
and CHANGE are turning on at the start.
ON
OFF
ON
OFF
(3) "Travel value for position control" is less than "deceleration distance"
(a) If the travel value for position control is less than the deceleration distance at
controlling speed, deceleration processing starts immediately when
CHANGE is input.
(b) The difference between travel value for the deceleration stop and position
control is the overrun. At this time, the error detection signal (M2407+20n)
turns on and error code [209] is stored in the data register.
(c) The positioning complete signal (M2401+20n) does not turn on.
V
Travel value for
position control
Overrun
Speed/position switching
enable command (M3205+20n) OFF
ON
Position switching signal
input (CHANGE)
ON
OFF
Error detection (M2407+20n)
OFF
Positioning complete signal
(M2401+20n)
OFF
t
ON
(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.
6 - 100
6 POSITIONING CONTROL
[Program]
Program for 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 Q02H Q172 Q172 QX41
CPU CPU LX
(N)
Start command (PX000)
AMP
Axis
1 M
AMP
AMP
Axis
3 M
Axis
2 M
AMP
Axis
4 M
(2) Positioning conditions
(a) Positioning conditions are shown below.
Item
Positioning conditions
Servo program No.
101
Control axis
Travel value for
positioning control
Axis 4
40000
Command speed
1000
(b) Positioning start command .................................. Turning PX000 off to on
(c) Speed/position switching enable command ........ M3265
(3) Operation timing
Operation timing for speed/position switching control is shown below.
V
Speed control
Position control
Servo program No.101
t
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
Q172LX
Speed/position switching latch
(M2465)
Axis 4 positioning completion
(M2461)
6 - 101
1second
6 POSITIONING CONTROL
(4) Servo program
Servo program No.101 for speed/position switching control is shown below.
<K 101>
Speed/position switching control
VPF
Axis
Speed
Dwell
4,
40000
1000
1000
Axis used . . . . . Axis 4
Travel value . . . 40000
Speed . . . . . . . 1000
Dwell . . . . . . . . 1000
(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 . . . . . . . . . . Axis 4
Travel value . . . . . . . . 40000PLS
Command speed . . . . . 1000PLS/s
Dwell . . . . . . . . . . . . . . 1000ms
M2465
Axis 4 speed/position switching latch
[F30]
RST M3265
Axis 4 speed/position switching enable command OFF
[G30]
!PX000*M2461
Wait until positioning completion and PX000 turn off.
END
Note : Shift transition is used to transit into the next processing during the positioning.
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 102
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.
WAIT-ON/OFF
Cancel
Speed change
S-curve ratio
Deceleration processing on stop input
Others
Allowable error range for circular interpolation
Rapid stop deceleration time
Deceleration time
Speed limit value
Acceleration time
Control unit
Central point
Auxiliary point
Torque limit value
M-code
Command speed
Dwell time
Address/travel value
Torque limit value
Parameter block
Number of
control axes
Axis
Positioning
method
Parameter block No.
Servo
instruction
Arc
Radius
Items are set in peripheral devices
Common
VPSTART
: Must be set
: Set if required
[Control details]
(1) The continuous control after stop during speed control is executed, after speed/
position switching control start.
(2) Re-starting using the VPSTART is effective by stop during speed control or
position control.
(a) Re-starts with the speed control at the stop during speed control, then
switches to position control by turning on the CHANGE signal.
• The control contents after re-starting are same as the speed/position
switching control. Refer to Section "6.15.1 Speed/position switching
control start".
V
Setting travel value
Speed
controlling
Speed/position
switching enable command
(M3205+20n)
CHANGE signal input
from external source
ON
Position
controlling
CHANGE signal valid
OFF
Fig. 6.27 Re-starting during speed control
6 - 103
t
6 POSITIONING CONTROL
(b) If the stop occurred during position control, re-start with position, and the
positioning control of setting travel value.
The travel value after the re-start is calculated as follows:
Travel value
after re-start
(P2)
Setting travel
value(P)
=
Travel value
before stop
(P1)
-
P1: Travel value before stop
P2: Travel value after restart
V
Operation speed
CHANGE
signal ON
Restart
Speed/position
switching control
start
P1
Stop
P2
t
Speed
control
Servo program start
Stop command accept
Position
control
Position
control
VPF/VPR instruction
VPSTART
Stop command
(M3200+20n)
Speed/position switching
enable command (M3205+20n)
ON
OFF
Fig.6.28 Re-starting during speed control
(3) It controls at the speed stored at the VPF/VPR instruction execution in the restarting.
Therefore, even if the speed change before stop during control, it becomes the
speed at the VPF/VPR instruction execution.
V
Speed change
Setting
speed
Operation speed CHANGE signal ON
Stop command
Restart
t
Speed control
Speed
control
Fig.6.29 Re-starting after speed change
6 - 104
Position
control
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 Q02H Q172 Q172 QX41
CPU CPU LX
(N)
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.
Positioning conditions
Item
Speed/position
switching control
Servo program No.
Control axis
Travel value for
Restart
101
102
Axis 4
Axis 4
40000
positioning control
Command speed
1000
(b) Positioning start command ................................... Turning PX000 off to on
(OFF ON)
(c) Speed/position switching enable command ......... M3265
(d) Re-start command .................................................Turning PX001 off to on
(OFF ON)
(e) Stop command ..................................................... Turning PX002 off to on
(OFF ON)
6 - 105
6 POSITIONING CONTROL
(3) Operation timing
Operation timing for speed/position switching control and re-starting are shown
below.
V
CHANGE signal accept
1000
Speed
control
Position control
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)
Restart command (PX001)
Servo program start
Axis 4 start accept flag
(M2004)
Speed/position switching enable
command (M3265)
CHANGE signal input of the
Q172LX
Speed/position switching latch
(M2465)
Stop command (PX002, M3260)
(4) Servo program
Servo program No.101 and No.2 for speed/position control and re-starting are
shown below.
<K 101>
VPF
Axis
Speed
4,
40000
1000
Speed/position switching control
Axis used . . . . . Axis 4
Travel value . . . 40000
Speed . . . . . . . . . . 1000
<K 102>
VPSTART
Axis
4
Re-start
Axis used . . . . . . . Axis 4
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 106
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.
SET M3265
Axis 4 speed/position switching enable command ON
[K101] VPF
Axis
Speed
4,
40000PLS
1000PLS/s
[G20]
SET M3260=PX002
RST M3265=M2465
!M2004
[G30]
M3260
Speed/position switching control for Axis 4
Axis used . . .. . . . . Axis 4
Travel value . .. . . . 40000[PLS]
Command speed . . . 1000[PLS/s]
Axis 4 stop command ON with PX002 ON .
Speed/position switching enable command OFF with axis 4
speed/position switching latch ON.
Axis 4 start accept flag OFF.
End with stop
due to error.
END
[G40]
[F30]
PX001
Wait until PX001 turn on.
RST M3260
Axis 4 stop command OFF
[K102] VPSTART
Axis
4
Re-start
Axis used . . .. . . . . Axis 4
[G50]
RST M3265=M2465
!M2004
Speed/position switching enable command OFF with axis 4
speed/position switching latch ON.
Axis 4 start accept flag OFF.
!PX000*!PX001*!PX002
Wait until PX000, PX001 and PX002 turn off with
re-starting after stop during speed-position switching
control.
[G60]
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 107
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.
6.16.1 Speed-switching control start, speed-switching points and end specification
Start
VSTART
End
VEND
ABS-1
End point
address
Travel
value to
end point
SpeedSwitching
point
ABS-2
WAIT-ON/OFF
Cancel
Speed change
S-curve ratio
Deceleration processing on stop input
Allowable error range for circular interpolation
Torque limit value
Rapid stop deceleration time
Deceleration time
Speed limit value
Acceleration time
Control unit
Central point
Auxiliary point
Torque limit value
M-code
Command speed
Dwell time
Address/travel value
Others
1
Absolute data
2
ABS-3
3
INC-1
1
INC-2
Parameter block
Number of
control axes
Axis
Positioning
method
Parameter block No.
Servo
instruction
Arc
Radius
Items are set in peripheral devices
Common
Incremental
INC-3
Valid
2
3
VABS
Absolute data
VINC
Incremental
: Must be set
: Set if required
6 - 108
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.
Travel value setting to end address/end point
The travel value to end address/end point with the speed-switching control, positioning
control method and positioning speed to the end point are set using the following
instructions :
(1) ABS-1/INC-1
Set 1 axis linear positioning control.
The control contents are same as Section 6.2 "1 Axis Linear Positioning Control".
(2) ABS-2/INC-2
Set 2 axes linear interpolation control.
The control contents are same as Section 6.3 "2 Axes Linear Interpolation
Control".
(3) ABS-3/INC-3
Set 3 axes linear interpolation control.
The control contents are same as Section 6.4 "3 Axes Linear Interpolation
Control".
Speed-switching point setting
The address (travel value) of the speed-switching point and the positioning speed
are set using the following instructions:
(1) VABS
Set the speed-switching point using the absolute data method.
(2) VINC
Set the speed-switching point using the incremental data method.
POINT
The axis which set the speed-switching point (travel value) and positioning speed
by 2 or 3 axes linear interpolation control is first set in the "travel value to end
address/end point".
<K 101>
VSTART
ABS-2
Axis
Axis
Speed
2,
3,
75000
60000
2000
6 - 109
Set the speed-switching point (travel value) and
positioning speed.
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
<K 101>
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 . . . P4
4000
All speed-switching
points specified ?
YES
End speed-switching control
END
[Operation timing]
Axis 3 positioning direction
P1
60000
P3
P4
P2
70000
0
V
20000
60000
80000
Axis 4 positioning direction
Speed-switching
point (P2)
Speed-switching point
5000
Stop (P1)
t
0
6 - 110
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.
(4) It checks whether to be the end address within the stroke limit range at the start.
If it is positioning to outside the stroke limit range, the error code [106] is stored in
the minor error storage register for each axis and operation does not start.
(5) If the travel value between speed-switching points is so short and it shifts to the
next speed-switching point during speed-switching control, the speed-switching
does not perform.
(6) If the M-code from the previous point is retained in the point with which M-code is
not specified.
6 - 111
6 POSITIONING CONTROL
[Program]
Program for speed-switching is shown as the following conditions.
(1) System configuration
Speed-switching control of Axis 2 and Axis 3.
Motion CPU control module
Q61P Q02H Q172 Q172 QX41
CPU CPU LX
(N)
Start command (PX000)
AMP
Axis
1 M
AMP
Axis
2 M
AMP
Axis
3 M
AMP
Axis
4 M
(2) Positioning conditions
(a) Speed-switching control conditions are shown below.
Item
Setting
Servo program No.
500
Control axis
Axis 2
Axis 3
End address
100000
50000
(b) Speed-switching control start command ....... Turning PX000 off to on
(OFF ON)
6 - 112
6 POSITIONING CONTROL
(3) Operation timing and speed-switching positions
Operation timing and speed-switching points for speed-switching control are
shown below.
Axis 3 positioning direction
50000
V
40000
0
70000
Axis 2 positioning
direction
100000
8000
5000
2000
t
ON
PLC ready flag (M2000)
OFF
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)
ON
OFF
Servo program start
ON
Axis 2 start accept flag (M2002)
OFF
Axis 3 start accept flag (M2003)
OFF
ON
(4) Servo program
Servo program No.500 for speed-switching control is shown below.
<K 500>
VSTART
ABS-2
Axis
Axis
Speed
VABS
Axis
Speed
VABS
Axis
Speed
VEND
2,
3,
100000
50000
2000
2,
40000
8000
2,
70000
5000
Start speed/position switching control
2 axes linear interpolation control (absolute data method)
Axis used . . . Axis 2, Axis 3
End address
Axis 2 . . . 100000
Axis 3 . . . . 50000
Positioning speed . . . . . . . . . . 2000
Speed-switching point, speed setting
Indicated axis No.
Speed-switching point
Speed to speed-switching point
Axis 2
40000 70000
8000
5000
End speed switching control
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 113
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.
[K500] VSTART
ABS-2
Axis
2, 100000PLS
Axis
3, 50000PLS
Speed
2000PLS/s
VABS
Axis
2, 40000PLS
Speed
8000PLS/s
VABS
Axis
2, 70000PLS
Speed
5000PLS/s
VEND
[G20]
Start speed-switching control
2 axes linear interpolation control (absolute data method)
Axis used . . . . . . . . . . . Axis 2, Axis 3
Axis 2 . . . 100000[PLS]
End address
Axis 3 . . . . 50000[PLS]
Positioning speed . . . . . . . .. . 2000[PLS/s]
Speed-switching point, speed setting
Axis2
Indicated axis No.
Speed-switching point
40000 70000
Speed to speed-switching point 8000 5000
(Unit : Point [PLS]/speed[PLS/s])
End speed-switching control
Wait until PX000 turn off after speed-switching control
completion.
!PX000
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 114
6 POSITIONING CONTROL
6.16.2 Specification of speed-switching points using repetition instructions
Repetition execution between any speed-switching points.
Items are set in peripheral devices
WAIT-ON/OFF
Cancel
Repeated condition
Speed
change
S-curve ratio
Deceleration processing on stop input
Others
Allowable error range for circular interpolation
Deceleration time
Acceleration time
Speed limit value
Central point
Control unit
Auxiliary point
Radius
Torque limit value
M-code
Dwell time
Command speed
Address/travel value
Torque limit value
Parameter block
Number of
control axes
Axis
Positioning
method
Parameter block No.
Servo
instruction
Arc
Rapid stop deceleration time
Common
FOR-TIMES
FOR-ON
FOR-OFF
NEXT
: Must be set
: Set if required
[Control details]
First repetition range setting
The first repetition range is set using the following instructions:
(1) FOR-TIMES (number of loops setting)
(a) The repetition range set specified number of times is executed repeatedly.
(b) The setting range is 1 to 32767.
Outside the range of 32768 to 0 is controlled as a setting of "1".
(c) The following devices can be used as the repetition number of times:
1) Data register (D)
2) Link register (W)
For indirect setting
3) Motion register (#)
4) Decimal constant (K)
5) Hexadecimal constant (H)
(2) FOR-ON (loop-out trigger condition setting)
(a) The repetition range set until the specified bit device turns on 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)/Special relay (SP.M)
4) Latch relay (L)
5) Link relay (B)
6) Annunciator (F)
6 - 115
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)/Special relay (SP.M)
4) Latch relay (L)
5) Link relay (B)
6) Annunciator (F)
Operation of the repetition control using FOR-TIMES, FOR-ON, and FOR-OFF is
shown below.
[Servo program]
<K 701>
VSTART
INC-2
Axis
1,
Axis
2,
Speed
VINC
Axis
1,
Speed
1)
VINC
Axis
Speed
VINC
Axis
Speed
NEXT
VEND
1)
230000
10000
2000
FOR-TIMES
40000
2000
30000
500
1,
20000
1000
3)
Condition 1
Condition 2
K1
K2
Condition 3
K3
FOR-ON
X010
ON
X010
ON during first
execution of
from start
3)
X010
ON
during third
execution of
3)
FOR-OFF
X011
OFF
X011
OFF during first
execution of
from start
3)
X011
OFF
during third
execution of
3)
2)
1,
2)
(1) Operation in condition 1
2000
1000
0
100000
200000
ON
X010
OFF
X011
ON
OFF
(2) Operation in condition 2
2000
1000
0
X010
X011
100000
ON
OFF
ON
OFF
6 - 116
200000
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.
Motion CPU control module
Q61P Q02H Q172 Q172 QX41
CPU CPU LX
(N)
Start command (PX000)
AMP
Axis
1 M
AMP
Axis
2 M
AMP
Axis
3 M
AMP
Axis
4 M
(2) Positioning conditions
(a) Speed-switching control conditions are shown below.
Item
Setting
Servo program No.
501
Control axes
Axis 2
Axis 3
End address
230000
100000
(b) Speed-switching control start command ...... Turning PX000 off to on
(OFF ON)
6 - 117
6 POSITIONING CONTROL
(3) Operation timing and speed-switching positions
Operation timing and speed-switching points for speed-switching control are
shown below.
Axis 3 positioning direction
100000
50000
V 0
50000
100000
150000
200000
Axis 2 positioning
direction
50 0 0 0
t
0
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)
6 - 118
6 POSITIONING CONTROL
(4) Servo program
Servo program No. 501 for speed-switching control by the repetition instruction is
shown below.
<K 501>
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 . . . 230000
Axis 3 . . . 100000
Positioning speed
Speed-switching point, speed setting
Indicated axis . . . . . . . . . . . . . . . . . . . . . Axis 2
Travel value to speed-switching point . . . 40000
Speed to speed-switching point . . . . . . . . . . 40000
Number or repetition 2
Speed-switching point, speed setting
Indicated Axis No.
Axis 2
Speed-switching point
30000 50000
Speed to speed-switching point
20000 40000
End repetition region
End speed-switching control
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 119
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
instructions
using
repetition 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.
[K501] VSTART
INC-2
Axis
2, 230000PLS
Axis
3, 100000PLS
10000PLS/s
Speed
VINC
Axis
2,
40000PLS
40000PLS/s
Speed
FOR-TIMES
K 2
VINC
Axis
2,
30000PLS
20000PLS/s
Speed
VINC
50000PLS
Axis
2,
Speed
40000PLS/s
NEXT
VEND
[G20]
Starts speed-switching control
2 axes linear interpolation control (incremental data method)
Axis used . . . . . . . . . . . . . . . . Axis 2, Axis 3
Travel value to . . . . . . . . .
Axis 2 . . . 230000
stop position
Axis 3 . . . 100000
Positioning speed . . . 10000[PLS/s]
Speed-switching point, speed setting
Indicated axis . . . Axis 2
Travel value to speed-switching point . . . 40000[PLS]
Speed to speed-switching point . . .. . . . . . . 40000[PLS/s]
Number of repetitions 2
Speed-switching point, speed setting
Indicated axis No.
Axis 2
Speed-switching point
30000 50000
Speed to speed-switching point 20000 40000
(Unit : Point [PLS]/speed [PLS/s])
End repetition region
End speed-switching control
Wait until PX000 turn off after speed switching control
completion.
!PX000
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 120
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.
(4) Repetition control between any pass points can be performed by using repetition
instructions.
(5) M-codes and torque limit values can be changed at each speed-switching point.
(6) 1 to 4 axes can be controlled.
[Procedure to write servo programs]
The method to write the servo programs for constant-speed control is shown below.
[Procedure]
[Example : Servo program for 2 axes
constant-speed control]
Start
Point
4
Set the constant-speed control
axis and speed
Set the each pass point
1
Set the positioning method
2
Set the positioning address
(travel value)
3
Set the speed-switching
4
NO
All pass points are set ?
YES
End constant-speed control
End
6 - 121
<K
1>
CPSTART
Axis
Axis
Speed
ABS-2
Axis
Axis
ABS-2
Axis
Axis
Speed
ABS-2
Axis
Axis
CPEND
2
3
10000 [PLS/s]
2,
3,
40000 [PLS]
60000 [PLS]
2,
3,
60000 [PLS]
60000 [PLS]
15000 [PLS/s]
2,
3,
100000 [PLS]
80000 [PLS]
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
Axis2 positioning direction
40000 60000
V
Change speed after speed-switching
15000
Set
speed
10000
t
0
[Caution]
(1) The number of control axes cannot be changed during control.
(2) The pass point can be specified the absolute data method (ABS†) and
incremental method (INC†) by mixed use.
(3) The pass point can also be specified an address which change in travel direction.
The acceleration processing at a pass point is executed for 1 axis constant-speed.
However, the acceleration/deceleration processing at a pass point is not executed
for 2 to 4 axes constant-speed, so be careful of the servo error occurrence, etc.
(4) Speed change is possible after the start.
Note the following points at the speed change.
(a) The central point-specified circular interpolation is included the constantspeed control.
When the arc path calculated from the start address and central-point
address is differ (within the allowable error range for circular interpolation)
from the setting end address, if the speed is changed, error compensation
(Refer to Section 4.4.3) may not function normally.
When the central point-specified circular interpolation as positioning method
is used at the constant-speed control, set the start address, central point
address and end address becomes arc correctly.
6 - 122
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.
1) Change speed by CHGV instruction > command speed in the servo
program
The command speed in the servo program is selected.
V
Command speed in the servo program
Speed change by CHGV instruction
Speed change to command speed in the servo program
t
2) Change speed by CHGV instruction < command speed in the servo
program
The change speed by CHGV instructions is effective.
V
Speed change by command speed in the servo program
(Speed set by the CHGV instructions is valid)
t
Speed change by CHGV instructions
(Speed does cot change due to more than command speed in the servo program.)
(5) An overrun occurs if the distance remaining to the final positioning point when the
final positioning point is detected is less than the deceleration distance at the
positioning speed after the start (command speed).
The error code [211] (overrun error) is stored in the minor error storage register
for each axis.
(6) If positioning to outside the stroke limit range is executed after the start, the error
code [106] is stored in the minor error storage register for each axis and a
deceleration stop is executed.
(7) The minimum travel value between constant-speed control pass points is shown
below:
Command speed per second (control unit/s)
6 - 123
Main cycle [s] < Travel distance [PLS]
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 if the main cycle (20[ms]) is
divided by 1000, 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.
6 - 124
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.
WAIT-ON/OFF
Repeated Condition
Speed
change
Cancel
Allowable Error Range for Circular Interpolation
Others
S- Curve Ratio
Deceleration Processing on Stop Input
Rapid Stop Deceleration Time
Deceleration Time
Speed Limit Value
Acceleration Time
Control Unit
Central point
Auxiliary Point
Torque Limit Value
M Code
Command speed
Dwell Time
Address/Travel Value
Torque Limit Value
Parameter block
Number of
control axes
Axis
Positioning
method
Parameter Block No.
Servo
instruction
Arc
Radius
Items are set in peripheral devices
Common
FOR-TIMES
FOR-ON
FOR-OFF
NEXT
: Must be set
: Set if required
[Control details]
Setting the first of repetition range
The first of repetition range is set by the following instructions:
(1) FOR-TIMES (number of loops setting)
(a) The repetition range set specified number of times is executed repeatedly.
(b) The setting range is 1 to 32767.
Outside the range of 32768 to 0 is controlled as a setting of "1".
(c) The following devices can be used as the repetition number of times:
1) Data register (D)
2) Link register (W)
For indirect setting
3) Motion register (#)
4) Decimal constant (K)
5) Hexadecimal constant (H)
(2) FOR-ON (Loop-out trigger condition setting)
(a) The repetition range set until the specified bit device turns on 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)/Special relay (SP.M)
4) Latch relay (L)
5) Link relay (B)
6) Annunciator (F)
6 - 125
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)/Special relay (SP.M)
4) Latch relay (L)
5) Link relay (B)
6) Annunciator (F)
The repetition control operation using FOR-TIMES, FOR-ON and FOR-OFF is shown
below.
[Servo program]
<K 701>
CPSTART
Axis
Axis
Speed
ABS-2
Axis
Axis
1)
1)
1
2
Condition 2
Condition 3
K1
K2
K3
1000
FOR-TIMES
1,
2,
40000
20000
2)
INC-2
Axis
Axis
INC-2
Axis
Axis
NEXT
CPEND
2)
Condition 1
1,
2,
ON
X010
during first
positioning 3)
X010
X010
ON
ON
during second during third
positioning 3) positioning 3)
FOR-OFF
OFF
X011
during first
positioning 3)
X011
OFF X011
OFF
during second during third
positioning 3) positioning 3)
30000
0
3)
1,
2,
FOR-ON
20000
20000
Axis 2
Repeat 3)
Operation in condition 3
Operation in condition 2
50000
0
Operation in condition 1
100000
6 - 126
200000
Axis 1
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 Q02H Q172 Q172 QX41
CPU CPU LX
(N)
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.
510
Control axis
Axis 2, Axis 3
Positioning speed
10000
(b) Constant-speed control start command ....... Turning PX000 off to on
(OFF ON)
6 - 127
6 POSITIONING CONTROL
(3) Operation timing
Operation timing for constant-speed control is shown below.
Axis 3 positioning direction
100000
80000
60000
40000
Radius
20000
20000
0
50000
100000
V
150000
200000
Axis 2
positioning
direction
10000
Combined
speed
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)
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6 POSITIONING CONTROL
(4) Servo program
Servo program No.510 for constant-speed control is shown below.
<K 510>
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 . . . 10000
Pass point setting
Number of repetitions 4
Pass point setting
Positioning
method
Travel Axis 2
value Axis 3
2 axes linear Radius-specified
interpolation circular interpolation
30000
20000
0
20000
End repetition region
End constant-speed control
(5) Motion SFC program
Motion SFC program for which executes the servo program is shown below.
Constant-speed control
Constant-speed control
[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.
[K510]
CPSTART2
Axis
2
Axis
3
Speed
10000PLS/s
ABS-2
Axis
2, 40000PLS
Axis
3, 20000PLS
FOR-TIMES
K 4
INC-2
Axis
2, 30000PLS
Axis
3,
0PLS
INC
Axis
2, 20000PLS
Axis
3, 20000PLS
Radius
20000PLS
NEXT
CPEND
[G20]
Start constant-speed control
Axis used . . . . . . . . . . Axis 2, Axis 3
Positioning speed . . . 10000[PLS/s]
2 axes linear interpolation control (Absolute data method)
Axis used . . . . . . . Axis 2, Axis 3
Axis 2 . . . 40000[PLS]
End address
Axis 3 . . . 200000[PLS]
Number of repetitions 4
Pass point setting
Positioning
method
2 axes linear Radius-specified
interpolation circular interpolation
Travel Axis 2 30000[PLS]
value Axis 3
0[PLS]
20000[PLS]
20000[PLS]
End repetition region
End constant-speed control
Wait until PX000 turns off after constant-speed control
completion.
!PX000
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 129
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 each point.
(3) By turning on the speed-switching point specified flag M2040 (Refer to Section
3.1.3) before the start, the point which completes speed change can be specified.
The speed change timing at the flag ON/OFF.
(a) M2040 is OFF
The speed change starts with the specified speed-switching point.
V
Speed change complete point
Speed change
start point
t
Speed-switching specified point
(position)
(b) M2040 is ON
The speed change ends with the specified speed-switching point.
V
Speed change complete point
Speed change
start point
t
Speed-switching specified point
(position)
6 - 130
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.
Motion CPU control module
Q61P Q02H Q172 Q172 QX41
CPU CPU LX
(N)
Start command (PX000)
Speed switching point specified flag
(M2040) ON command (PX010)
AMP
Axis
1 M
AMP
Axis
2 M
AMP
Axis
3 M
AMP
Axis
4 M
(2) Positioning conditions
(a) Speed switching conditions are shown below.
Item
Setting
Servo program No.
310
Positioning speed
Positioning method
Pass point
10000
2 axes linear
interpolation
15000
Central pointspecified circular
interpolation
2 axes linear
2 axes linear
interpolation
interpolation
Axis 1
20000
30000
40000
50000
Axis 2
10000
20000
25000
40000
(b) The constant-speed start command for speed switching
..............................................................Turning PX000 off to on (OFF
6 - 131
ON)
6 POSITIONING CONTROL
(3) Operation timing and speed-switching positions
Operation timing and positions for speed switching are shown below.
Axis 2 positioning direction
P4
40000
P3
P2
20000
P1
0
V
20000
Center
point
40000
Axis 1 positioning
direction
15000
10000
t
Speed switching point specified
flag (M2040)
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)
6 - 132
6 POSITIONING CONTROL
(4) Servo program
Servo program No.310 for speed-switching is shown below.
<K 310>
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.
6 - 133
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.
Speed-switching point specified flag turn off when
PX010 turn off.
[K310]
CPSTART2
Axis
1
Axis
2
Speed
ABS-2
Axis
1,
Axis
2,
ABS
Axis
1,
Axis
2,
Center 1,
Center 2,
ABS-2
Axis
1,
Axis
2,
Speed
ABS-2
Axis
1,
Axis
2,
CPEND
[G20]
10000PLS/s
Set P1
20000PLS
10000PLS
Set P2
30000PLS
20000PLS
30000PLS
10000PLS
Set P3
40000PLS
25000PLS
15000PLS/s
Speed change
Set P4
50000PLS
40000PLS
Wait until PX000 turn off after constant-speed control
completion.
!PX000
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 134
6 POSITIONING CONTROL
6.17.3 1 axis constant-speed control
Items are set in peripheral devices
Start
CPSTART1
End
CPEND
Pass point
Speed
change
WAIT-ON/OFF
FIN acceleration/deceleration
Skip
Commanded speed (Constant)
Cancel
Allowable error range for circular interpolation
Others
S-curve ratio
Deceleration processing on stop input
Deceleration time
Speed limit value
Acceleration time
Control unit
Central point
Auxiliary point
Radius
Torque limit value
M-code
Command speed
Dwell time
Address/travel value
Torque limit value
Parameter block
Number of
control axes
Axis
Positioning
method
Parameter block No.
Servo
instruction
Arc
Rapid stop deceleration time
Common
1
Valid
ABS-1
Absolute data
1
INC-1
Incremental
1
: Must be set
: Set if required
[Control details]
Start and end for 1 axis constant-speed control
1 axis constant-speed control is started and ended by the following instructions:
(1) CPSTART1
Starts the 1 axis constant-speed control. Sets the axis No. and command speed.
(2) CPEND
Ends the 1 axis constant-speed control for CPSTART1.
Positioning control method to the pass point
The positioning control to change control is specified by the following instructions:
(1) ABS-1/INC-1
Sets the 1 axis linear positioning control.
Refer to Section 6.2 "1 Axis Linear Positioning Control" for details.
6 - 135
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 Q02H Q172 Q172 QX41
CPU CPU LX
(N)
Positioning start command (PX000)
AMP
AMP
Axis
1 M
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.
500
Control axis
Axis 4
Positioning speed
10000
Number of repetitions
100
P1
-1000
Pass point
P2
2000
travel value
P3
-2000
P4
1000
(b) Constant-speed control start command ........ Turning PX000 off to on
(OFF ON)
(3) Details of positioning operation
Number of repetitions
Return
100
Out
Return
3
Out
Return
2
Out
Return
1
Out
-1000
0
6 - 136
1000
Address
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.
<K 500>
CPSTART1
Axis
4
Speed
INC-1
Axis
4,
FOR-TIMES
Starts constant-speed control
Axis used . . . . . . . . . . Axis 4
100000
-1000
Travel value to pass point . . . -1000
K 100
INC-1
Axis
INC-1
Axis
NEXT
INC-1
Axis
CPEND
Positioning speed . . . 10000
1 axis linear positioning control
Axis used . . . . . . . . . . . . . . . Axis 4
4,
2000
Number of repetitions 100
1 axis linear positioning control
Axis used . . . . . . . . . . . . . . . Axis 4
4,
-2000
Travel value to pass point . . . 2000
1 axis linear positioning control
Axis used . . . . . . . . . . . . . . . Axis 4
4,
1000
Travel value to pass point . . . -2000
Ends repetition region
1 axis linear positioning control
Axis used . . . . . . . . . . . . . . . Axis 4
Travel value to pass point . . .1000
End constant-speed control
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 137
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 . . . . . . . . . . 10000[PLS/s]
1 axis linear positioning control
Axis used . . . . . . . . . . . . . . . Axis 4
Travel value to pass point . . . -1000[PLS/s]
Number of repetitions 100
1 axis linear positioning control
Axis used . . . . . . . . . . . . . . . Axis 4
Travel value to pass point . . . 2000[PLS/s]
1 axis linear positioning control
Axis used . . . . . . . . . . . . . . . Axis 4
Travel value to pass point . . . -2000[PLS/s]
End repetition region
INC-1
Axis
CPEND
[G20]
4,
1000PLS
1 axis linear positioning control
Axis used . . . . . . . . . . . . . . . Axis 4
Travel value to pass point . . . 1000[PLS/s]
End constant-speed control
Wait until PX000 turn off after constant-speed
control completion.
!PX000
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 138
6 POSITIONING CONTROL
6.17.4 2 to 4 axes constant-speed control
Constant-speed control for 2 to 4 axes.
Items are set in peripheral devices
Start
End
CPSTART2
2
CPSTART3
3
CPSTART4
4
Speed
change
WAIT-ON/OFF
FIN acceleration/deceleration
Skip
Commanded speed (Constant)
Cancel
Allowable error range for circular interpolation
Others
S-curve ratio
Deceleration processing on stop input
Deceleration time
Speed limit value
Acceleration time
Control unit
Central point
Auxiliary point
Radius
Torque limit value
M-code
Command speed
Dwell time
Address/travel value
Torque limit value
Parameter block
Number of
control axes
Axis
Positioning
method
Parameter block No.
Servo
instruction
Arc
Rapid stop deceleration time
Common
CPEND
ABS-2
2
ABS-3
3
ABS-4
4
ABS
ABS
ABS
Absolute data
ABS
2
ABS
Valid
ABS
Pass
point
ABS
INC-2
2
INC-3
3
INC-4
4
INC
INC
INC
INC
Incremental
data
2
INC
INC
INC
: Must be set
: Set if required
6 - 139
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.
(4) CPEND
Ends the 2, 3, or 4 axes constant-speed control for CPSTART2, CPSTART3, or
CPSTART4.
Positioning control method to the pass point
Positioning control to change control is specified using the following instructions:
(1) ABS-2/INC-2
Sets 2 axes linear interpolation control.
Refer to Section 6.3 "2 Axes Linear Interpolation Control" for details.
(2) ABS-3/INC-3
Sets 3 axes linear interpolation control.
Refer to Section 6.4 "3 Axes Linear Interpolation Control" for details.
(3) ABS-4/INC-4
Sets 4 axes linear interpolation control.
Refer to Section 6.5 "4 Axes Linear Interpolation Control" for details.
(4) ABS/INC
Sets circular interpolation control using auxiliary point specification.
Refer to Section 6.6 "Auxiliary Point-Specified Circular Interpolation Control" for
details.
(5) ABS/INC
, ABS/INC
, ABS/INC
, ABS/INC
Sets circular interpolation control using radius specification.
Refer to Section 6.7 "Radius-Specified Circular Interpolation Control" for details.
(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.
6 - 140
6 POSITIONING CONTROL
[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.
Motion CPU control module
Q61P Q02H Q172 Q172 QX41
CPU CPU LX
(N)
Start command (PX000)
AMP
AMP
Axis
1 M
AMP
Axis
2 M
AMP
Axis
3 M
Axis
4 M
(b) Positioning operation details
Axis 2 and axis 3 servomotors is used for positioning operation.
Positioning details for Axis 2 and Axis 3 servomotors are shown below.
Axis 3 positioning direction
P3
100000
P2
50000
P1
30000
30000 50000
0
90000
Axis 2 positioning
direction
Fig.6.30 Positioning for Axis 2 and Axis 3
(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 ... Turning PX000 off to on
(OFF ON)
6 - 141
6 POSITIONING CONTROL
(d) Servo program
Servo program No.505 for constant-speed control is shown below.
<K 505>
CPSTART2
Axis
2
Axis
3
Speed
ABS-2
Axis
2,
Axis
3,
ABS
Axis
2,
Axis
3,
Radius
ABS-2
Axis
2,
Axis
3,
CPEND
10000
Start constant-speed control
Axis used . . . . . . . . Axis 2, Axis 3
Positioning speed . . . . . . . . . . . 10000
2 axes linear interpolation control
30000
30000
Axis 2 . . . 30000
Axis 3 . . . 30000
Circular interpolation control
50000
50000
20000
Axis 2 . . . 50000
Axis 3 . . . 50000
Radius . . . . . . . . . . . . . . . . . . . . 20000
2 axes linear interpolation control
Positioning address Axis 2 . . . 90000
Axis 3 . . . 100000
90000
100000
Positioning address
Positioning address
End constant-speed 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.
[K505] CPSTART2
Axis 2
Axis 3
Speed
10000PLS/s
ABS-2
Axis
2, 30000PLS
Axis
3, 30000PLS
ABS
Axis
2, 50000PLS
Axis
3, 50000PLS
Radius
20000PLS
ABS-2
Axis
2, 90000PLS
Axis
3, 100000PLS
CPEND
[G20]
Start constant-speed control
Axis used . . . Axis 2, Axis 3
Positioning speed . . . . . . . . . . 10000[PLS/s]
2 axes linear interpolation control
Axis 2 . . . 30000[PLS]
Axis 3 . . . 30000[PLS]
Circular interpolation control
Positioning address
Axis 2 . . . 50000[PLS]
Axis 3 . . . 50000[PLS]
Radius . . . 20000[PLS]
2 axes linear interpolation control
Positioning address
Axis 2 . . . 90000[PLS]
Axis 3 . . 100000[PLS]
End constant-speed control
Positioning address
Wait until PX000 turn off after constant-speed control
completion.
!PX000
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 142
6 POSITIONING CONTROL
(2) Program for 4 axes constant-speed control is shown as the following conditions.
(a) System configuration
Constant-speed control for Axis 1, Axis 2, Axis 3, and Axis 4.
Motion CPU control module
Q61P Q02H Q172 Q172 QX41
CPU CPU LX
(N)
Start command (PX000)
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.
506
Positioning speed
10000
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
Positioning method
Pass point
2) Constant-speed control start command... Turning PX000 off to on
(OFF ON)
6 - 143
6 POSITIONING CONTROL
(c) Servo program
Servo program No.506 for constant-speed control is shown below.
<K 506>
CPSTART4
Axis
Axis
Axis
Axis
Speed
INC-4
Axis
Axis
Axis
Axis
INC-4
Axis
Axis
Axis
Axis
INC-4
Axis
Axis
Axis
Axis
Constant-speed control
Axis used . . . Axis 1, Axis 2, Axis 3, Axis 4
1
2
3
4
10000
1,
2,
3,
4,
3000
4000
4000
4000
1,
2,
3,
4,
5000
3500
-4000
-6000
1,
2,
3,
4,
5000
3500
3000
6000
CPEND
Positioning speed . . . 10000
4 axes linear interpolation control (P1)
Axis 1 . . . 3000
Travel value to pass point Axis 2 . . . 4000
Axis 3 . . . 4000
Axis 4 . . . 4000
4 axes linear interpolation control (P2)
Axis 1 . . . 5000
Axis 2 . . . 3500
Travel value to pass point
Axis 3 . . . -4000
Axis 4 . . . -6000
4 axes linear interpolation control (P3)
Axis 1 . . . 5000
Travel value to pass point Axis 2 . . . 3500
Axis 3 . . . 3000
Axis 4 . . . 6000
End constant-speed control
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 144
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.
[K506]
CPSTART4
Axis 1
Axis 2
Axis 3
Axis 4
Speed
10000PLS/s
INC-4
Axis 1, 3000PLS
Axis 2, 4000PLS
Axis 3, 4000PLS
Axis 4, 4000PLS
INC-4
Axis 1, 5000PLS
Axis 2, 3500PLS
Axis 3, -4000PLS
Axis 4, -6000PLS
INC-4
Axis 1, 5000PLS
Axis 2, 3500PLS
Axis 3, 3000PLS
Axis 4, 6000PLS
CPEND
Start constant-speed control
Axis used. . . Axis 1, Axis 2, Axis 3, Axis 4
[G20]
Positioning speed . . . . . . . . . . 10000[PLS/s]
4 axes linear interpolation control (P1)
Travel value to pass point
Axis 1 . . .
Axis 2 . . .
Axis 3 . . .
Axis 4 . . .
3000PLS
4000PLS
4000PLS
4000PLS
4 axes linear interpolation control (P2)
Travel value to pass point
Axis 1 . . . 5000PLS
Axis 2 . . . 3500PLS
Axis 3 . . . -4000PLS
Axis 4 . . . -6000PLS
4 axes linear interpolation control (P3)
Travel value to pass point
Axis 1 . . .
Axis 2 . . .
Axis 3 . . .
Axis 4 . . .
5000PLS
3500PLS
3000PLS
6000PLS
End constant-speed control
Wait until PX000 turn off after constant-speed
control completion.
!PX000
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 145
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.
Items are set in peripheral devices
Speed
change
WAIT-ON/OFF
FIN acceleration/deceleration
Skip
Commanded speed (Constant)
Cancel
S-curve ratio
Deceleration processing on stop input
Others
Allowable error range for circular interpolation
Torque limit value
Rapid stop deceleration time
Deceleration time
Speed limit value
Acceleration time
Control unit
Parameter block
Pitch
Central point
Auxiliary point
Radius
Torque limit value
2
Arc
M-code
Constant-speed
pass point
absolute
specification
Command speed
Number of
control axes
Address/travel value
Positioning
method
Parameter block No.
Servo
instruction
Axis
Common
ABH
ABH
ABH
ABH
ABH
ABH
ABH
Valid
INH
INH
INH
INH
INH
Constant speed
pass point
incremental
specification
2
INH
INH
: Must be set
: Set if required
6 - 146
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.
ABH
Absolute
INH
Incremental
ABH
Absolute
INH
Incremental
ABH
Absolute
INH
Incremental
Central point-specified method CW
Central point-specified method CCW
Auxiliary point-specified method
[Program]
(1) Servo program
Servo program for which helical interpolation specified pass point for constantspeed control is shown below.
<K 510>
CPSTART4
Axis
Axis
Axis
Speed
ABS-3
Axis
Axis
Axis
10000
1,
2,
3,
ABH
Axis
1,
Axis
2,
Linear axis 3,
Number of pitches
Radius
ABS-3
Axis
Axis
Axis
CPEND
Constant-speed control
Axis used . . . Axis 1, Axis 2, Axis 3, Axis 4
1
2
3
1,
2,
3,
3000
4000
4000
5000
3500
-4000
-6000
1000
5000
3500
3000
Positioning speed . . . 10000
3 axes linear interpolation control (P1)
Axis 1 . . . 3000
Positioning address Axis 2 . . . 4000
Axis 3 . . . 4000
3 axes helical interpolation control (P2)
Axis 1 . . . . . . . . . . . 5000
Axis 2 . . . . . . . . . . . 3500
Positioning address Axis 3 . . . . . . . . . . -4000
Number of pitches . -6000
Radius . . . . . . . . . . . 1000
3 axes linear interpolation control (P3)
Axis 1 . . . 5000
Positioning address Axis 2 . . . 3500
Axis 3 . . . 3000
End constant-speed control
Control with the following speed.
For linear/circular interpolation: Combined-speed for number of interpolation axes.
For helical interpolation: 2 axes combined-speed for circular interpolation.
6 - 147
6 POSITIONING CONTROL
[Cautions]
(1) The helical interpolation specification at pass point for constant-speed control can
be used in the both of real and 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.
Control is the same as before at the point except for the helical interpolation
specification.
(Both of the linear interpolation-specified point and circular interpolation-specified
point are the combined-speed for number of interpolation axes.)
(4) Skip function toward the helical interpolation-specified each point for constantspeed control is possible. If the absolute-specified helical interpolation is specified
to point since the skip signal specified point, set the absolute linear interpolation
between them. If it does not set, it may occur an error and stop.
(5) FIN signal wait function toward the helical interpolation specified each pass point
for constant-speed control is possible. M-code outputting signal is outputted to all
circular interpolation axes and linear axes. Fin signal can be operated with the
both of circular interpolation axes and linear axes.
(6) If negative speed change toward the helical interpolation-specified each pass
point for constant-speed control is executed, it can be returned before 1 point
during positioning control.
(7) Speed-switching point-specified flag is effective toward the helical interpolationspecified each pass point for constant-speed control.
,
6 - 148
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.
X, Y, M, B, F
[Cautions]
(1) When an absolute circular interpolation or absolute helical interpolation is
specified to since point since the skip signal specified point, set the absolute linear
interpolation between them.
If it does not set, it may occur an error and stop.
(2) If a skip signal is inputted at the end point, a deceleration stop occurs at that point
and the program is ended.
[Program]
<K 0>
CPSTART2
Axis
1
Axis
2
Speed
ABS-2
Axis
1,
Axis
2,
Speed
Skip
ABS-2
Axis
1,
Axis
2,
Speed
CPEND
V
Point 1
Skip
positioning
processing
No skip
10000
100000
200000
10000
M200
200000
200000
15000
Skip signal
Servo program
start
Start accept
Skip signal
(M200)
6 - 149
t
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.
(1) All instructions after the skip are INC instructions:
Program example
CPSTART1
Axis
Speed
INC-1
Axis
Skip
INC-1
Axis
INC-1
Axis
CPEND
When skip is not executed
0
1
180
0
270[degree]
10.000
1,
180.00000
M100
When skip is executed
1,
180.00000
0
1,
270.00000
100
280
190[degree]
When the skip occurs at 100 [degree]
(2) Instruction immediately after the skip is ABS instruction:
Program example
CPSTART1
Axis
Speed
INC-1
Axis
Skip
ABS-1
Axis
INC-1
Axis
CPEND
When skip is not executed
180
0
1
350
260[degree]
10.000
1,
180.00000
M100
1,
350.00000
1,
270.00000
When skip is executed
(The end positioning point is same regardless of whether the skip is
executed or not.)
0
100
350
260[degree]
When the skip occurs at 100 [degree]
(3) Instruction immediately after the skip is INC instruction and there is ABS instruction after
that:
Program example
CPSTART1
Axis
Speed
INC-1
Axis
Skip
INC-1
Axis
INC-1
Axis
ABS-1
Axis
CPEND
When skip is not executed
0
1
0
180
0
90[degree]
10.000
1,
360.00000
M100
1,
180.00000
1,
1,
180.00000
When skip is executed
(The end positioning point is same regardless of whether the skip is
executed or not.)
90[degree]
0 80
260
80
When the skip occurs
at 80 [degree]
90.00000
6 - 150
This point moves at 370 [degree],
not 10 [degree].
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. Set the acceleration/deceleration
time within the range of 1 to 5000 [ms] by "FIN acceleration/deceleration"
(selecting item) in the servo program.
Indirect setting is also possible by D, W and # devices (1 word).
[Cautions]
(1) If the acceleration/deceleration time is specified outside the setting range, the
servo program setting error [13] will occur at the start and it is controlled with the
acceleration/deceleration time of 1000[ms].
(2) M-code outputting signal is output to all interpolation axes at the interpolation
control. In this case, turn on the signal for one of the interpolation axes.
(3) When M-code is set at the end point, positioning ends after the FIN signal has turn
OFF to ON to OFF.
[Operation]
Servo program K0 for FIN signal wait function is shown below.
<K 0>
CPSTART2
Axis
1
Axis
2
Speed
FIN acceleration/
deceleration
ABS-2
Axis
1,
Axis
2,
M code
ABS-2
Axis
1,
Axis
2,
M code
ABS-2
Axis
1,
Axis
2,
M code
ABS-2
Axis
1,
Axis
2,
CPEND
Combined-speed
Point
10000
100
300000
250000
11
350000
300000
12
400000
400000
WAIT
1
2
[ms]
M-code
200000
200000
10
100[ms]
10
11
M-code outputting
FIN signal
Explanatory
1. When the positioning of point 1 starts, M-code 10 is output and
M-code outputting signal turns on.
2. FIN signal turns on after performing required processing in the
Motion SFC program.
Transition to the next point does not execute until the FIN signal
turns on.
3. When the FIN signal turns on, M-code outputting signal turns off.
4. When the FIN signal turns off after the M-code outputting signal
turns off, the positioning to the next point 2 starts.
6 - 151
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 Q02H Q172 QX41 QY41
CPU CPU
(N)
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.
0
Positioning speed
10000
FIN
100[ms]
acceleration/deceleration time
Positioning method
Pass point
2 axes linear interpolation control
Axis 1
200000
300000
350000
400000
Axis 2
200000
250000
300000
400000
10
11
12
M-code
2) Constant-speed control start command
..............................................................Turning X0 off to on (OFF
(PLC CPU device)
6 - 152
ON)
6 POSITIONING CONTROL
(c) Servo program
Servo program No.0 for constant-speed control is shown below.
<K 0>
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/ . . . . . 100[ms]
deceleration
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
Address of . . . . . Axis 1 . . . 200000[PLS]
Axis 2 . . . 200000[PLS]
stop position
M-code output . . . . . . 10
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
Address of . . . . . Axis 1 . . . 300000[PLS]
Axis 2 . . . 250000[PLS]
stop position
M-code output . . . . . . 11
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
Address of . . . . . Axis 1 . . . 350000[PLS]
stop position
Axis 2 . . . 300000[PLS]
M-code output . . . . . . 12
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
Address of . . . . . Axis 1 . . . 400000[PLS]
Axis 2 . . . 400000[PLS]
stop position
End constant-speed control
(d) Motion SFC program
Motion SFC program for constant-speed control is shown below.
Constant-speed control
[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.
[K0]
CPSTART2
Axis
1
Axis
2
Speed
FIN acceleration/
deceleration
10000
100
ABS-2
Axis
Axis
M-code
1,
2,
200000
200000
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
END
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 . . . . . Axis 1, Axis 2
Address of . . . . . Axis 1 . . . 200000[PLS]
Axis 2 . . . 200000[PLS]
stop position
M-code output . . . . . 10
2 axes linear interpolation control
Axis used . . . . . Axis 1, Axis 2
Address of . . . . . Axis 1 . . . 300000[PLS]
Axis 2 . . . 250000[PLS]
stop position
M-code output . . . . . 11
2 axes linear interpolation control
Axis used . . . . . Axis 1, Axis 2
Address of . . . . . Axis 1 . . . 350000[PLS]
Axis 2 . . . 300000[PLS]
stop position
M-code output . . . . . 12
2 axes linear interpolation control
Axis used . . . . . Axis 1, Axis 2
Address of . . . . . Axis 1 . . . 400000[PLS]
Axis 2 . . . 400000[PLS]
stop position
End constant-speed control
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 153
6 POSITIONING CONTROL
(e) PLC program
PLC program for FIN signal wait function is shown below.
PLC program
0
11
14
26
X0
SP.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 of self
CPU
M3219 M3219 is set
RST
M3219 Resets M3219 by turning M2419 off.
M2419
SP.DDRD H3E1
D0
D51
END
(Note): Details of D1 is used as control.
(f) Parameter setting (GSV P)
The CPU shared memory setting example for FIN signal wait function is
shown below.
CPU No. 1 (PLC CPU) (GX Developer)
Multiple CPU Setting (setting 1: M2400 to M2495)
Multiple CPU Setting (setting 2: M3200 to M3295)
CPU shared
memory setting
CPU shared
memory setting
CPU No. 2 (Motion CPU) (SW6RN-GSV P)
Multiple CPU Setting (setting 1: M2400 to M2495)
Multiple CPU Setting (setting 2: M3200 to M3295)
CPU shared
memory setting
6 - 154
CPU shared
memory setting
6 POSITIONING CONTROL
(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.
Motion CPU control module
Q61P Q02H Q172 QX41 QY41 QY41
CPU CPU
(N) PX000 PX010 PX020
~PX00F ~PX01F ~PX02F
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.
0
Positioning speed
10000
FIN
100[ms]
acceleration/deceleration time
Positioning method
Pass point
2 axes linear interpolation control
Axis 1
200000
300000
350000
400000
Axis 2
200000
250000
300000
400000
10
11
12
M-code
2) Constant-speed control start command ... Turning PX000 off to on
(OFF ON)
6 - 155
6 POSITIONING CONTROL
(c) Servo program
Servo program No.0 for constant speed control is shown below.
<K 0>
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/ . . . . . 100[ms]
deceleration
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
Address of . . . . . Axis 1 . . . 200000[PLS]
Axis 2 . . . 200000[PLS]
stop position
M-code output . . . . . . 10
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
Address of . . . . . Axis 1 . . . 300000[PLS]
Axis 2 . . . 250000[PLS]
stop position
M-code output . . . . . . 11
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
Address of . . . . . Axis 1 . . . 350000[PLS]
Axis 2 . . . 300000[PLS]
stop position
M-code output . . . . . . 12
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
Address of
Axis 1 . . . 400000[PLS]
stop position
Axis 2 . . . 400000[PLS]
End constant- speed control
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 156
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 . . . . . . Axis 1, Axis 2
Address of . . . . . Axis 1 . . . 200000[PLS]
Axis 2 . . . 200000[PLS]
stop position
M-code output . . . . . 10
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
Address of . . . . . Axis 1 . . . 300000[PLS]
Axis 2 . . . 250000[PLS]
stop position
M-code output . . . . . 11
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
Address of . . . . . Axis 1 . . . 350000[PLS]
stop position
Axis 2 . . . 300000[PLS]
M-code output . . . . . 12
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
Address of . . . . . Axis 1 . . . 400000[PLS]
stop position
Axis 2 . . . 400000[PLS]
End constant-speed control
CPSTART2
Axis
1
Axis
2
Speed
FIN acceleration/
deceleration
10000
100
ABS-2
Axis
Axis
M-code
1,
2,
200000
200000
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
Stand by FIN signal
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 157
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.
[G20]
!M2419*!M2439*M2403*M2423
Turn off Axis 1, Axis 2 M-code outputting signal and
turn on Axis 1, Axis 2 command in-position signal.
[F20]
RST M3219
Turn off FIN signal.
[G30]
D13==K12
P0
END
6 - 158
Repeat until M-code value become 12.
6 POSITIONING CONTROL
POINT
(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.
• Rapid stop acceleration/deceleration time in parameter block
• Completion point specification method for speed change point
• S-curve acceleration/deceleration
(b) The speed processing for each axis is as shown below in positioning operation
(constant-speed) as shown in the following figure.
Y
V
Ay
Axis 1
Axis 2
Address Ax
Axis 1
Ax
X
t
Ax
V
Positioning operation
Axis 2
Address Ay
Ay
t
Constant-speed control processing
of each axis
(2) When the rapid stop command is executed by the setting "deceleration time < rapid stop
deceleration time" during constant-speed control, the point data currently executed in the middle
of deceleration, and the positioning may be completed suddenly as a speed "0".
In the case of, "deceleration time rapid stop deceleration time", the above operation is not
executed.
Travel value by the point data currently executed at the rapid stop command
(Up to 9 points) < speed at rapid stop command input rapid stop deceleration time/2
[Operation pattern]
ON
OFF
Start accept flag
ON
Positioning complete
signal
Rapid stop command
OFF
ON
OFF
1)
2)
Combined-speed
Deceleration speed at
the normal stop
6 - 159
3)
4)
5)
6)
7)
8)
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.
Items are set in peripheral devices
WAIT-ON/OFF
Cancel
Speed change
S-curve ratio
Deceleration processing on stop input
Others
Allowable error range for circular interpolation
Torque limit value
Rapid stop deceleration time
Deceleration time
Speed limit value
Acceleration time
Control unit
Parameter block
Central point
Auxiliary point
Radius
Torque limit value
1
Arc
M-code
Absolute
Command speed
PFSTART
Dwell time
Number of
control axes
Address/travel value
Positioning
method
Parameter block No.
Servo
instruction
Axis
Common
Valid
: Must be set
: Set if required
[Control details]
Control using PFSTART instruction
(1) Positioning to the address set in the word device of the Motion CPU specified with
the servo program is executed.
(2) Position follow-up control is executed until the stop instruction is input.
If the word device value changes during operation, positioning is executed to the
changed address.
V
Positioning address has not
change using PFSTART instruction
t
Before reaching A, positioning address
changed to B (return direction)
Positioning address
A
B
6 - 160
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 D, W and #.
(5) Use only even-numbered devices for indirect setting of positioning address in the
servo program.
If odd-numbered devices are used, an error [141] occurs at the start and control
does not start.
(6) Positioning speeds can be set in the servo program using indirect setting with the
word devices D, W and #.
However, this data is effective only at the position follow-up control start (servo
program start) and the speed does not change if the indirect setting are changed
during the start.
[Program]
(1) System configuration
Axis 3 position follow-up control for PLC CPU (CPU No.1) to Motion CPU (CPU
No.2).
PLC CPU control module
Q61P Q02H Q172 QX41
CPU CPU
(N)
Positioning start command : X0
(PLC CPU device)
AMP
Axis
1 M
AMP
Axis
2 M
AMP
Axis
3 M
AMP
Axis
4 M
(2) Positioning conditions
(a) Position follow-up conditions are shown below.
Item
Setting
Servo program No.
100
Control axis
Axis 3
Positioning address
D4000
Positioning speed
20000
(b) Position follow-up control start command
..............................................................Turning X0 off to on (OFF
(PLC CPU device)
6 - 161
ON)
6 POSITIONING CONTROL
(3) Operation timing
Operation timing for position follow-up control is shown below.
V
t
0
Positioning address (D4000)
100
0
PLC ready flag (M2000)
All axes servo ON command
(M2042)
All axes servo ON accept flag
(M2049)
Axis 3 servo ready (M2455)
Start command (X0)
Servo program start
Axis 3 start accept flag
(M2003)
Axis 3 positioning start completion
(M2440)
Axis 3 positioning completion
(M2441)
Axis 3 command in-position
(M2443)
Stop command (X1)
Axis 3 stop command (M3240)
(4) Servo program
Servo program No.100 for position follow-up control is shown below.
<K 100>
PFSTART
Axis
Speed
3,
D 4000
20000
Position follow-up control
Axis used . . . . . . . . . . . Axis 3
Positioning address . . . D4000
Speed . . . . . . . . . . . . . 20000
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 162
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 S(P).SFCS instruction from PLC CPU (CPU
No.1).
Position follow-up control
Position follow-up control
[F10]
SET M2042
Turn on all axes servo ON command.
[G10]
M2049*M2455
Wait until all axes servo ON accept flag and
Axis 3 servo ready turn on.
[F20]
D4000L=K100
Transfer the axis 3 positioning address to D4000.
[K100] PFSTART
Axis
3,
Speed
[G20]
D4000
20000PLS/s
Position follow-up control
Axis used . . . . . . . . . . Axis 3
Positioning address . . . D4000
Positioning speed . . . . 2000[PLS/s]
Wait until Axis 3 start accept flag turn off after
position follow-up control completion.
!M2003
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 163
6 POSITIONING CONTROL
(b) PLC program
PLC program example for position follow-up control is shown below.
PLC program
0
5
14
18
30
42
45
SM400
K2
D51
Substitutes 2 for D51 after program
start.
MOVP
K2
D61
Substitutes 2 for D61 after program
start.
PLS
M10
Starts by turning X0 on.
X0
DMOV K150000 D1000
Substitutes 150000 for D1000 .
DMOV K0
Substitutes 0 for D1300 .
D1300
X1
M10
M3240
SP.DDWR H3E1
M0
M1
M2
M3
M20
M4
D50
SP.SFCS
M20
RST
M30
H3E1
D1000
D4000 M0
Reads data of D1000 for Multiple CPU
system No.2 by turning M10 on, and
writes to D4000 of CPU No.2.
K150
M2
Starts the Motion SFC program No.150.
SET
SP.DDRD H3E1
M30
RST
M0
M2441
66
MOVP
M2442
D=
D60
D1200 D1000
D40
D1100
M20
D1200 M4
RST
M20
SET
M30
M6
SP.DDWR H3E1
D50
D1300 D4000 M6
RST
81
M30
After the Motion SFC program No.150
is started, reads data of D40 for Multiple
CPU system No.2 and stores in D1200
self CPU.
Resets M20 and sets M30 at the axis 3
positioning completion and D1200 =
D1000.
Reads data of D1300 for Multiple CPU
system No.2 by turning M30 on, and
writes to D4000 of CPU No.2.
END
(Note): The CPU shared memory setting example for position follow-up control is shown next page.
6 - 164
6 POSITIONING CONTROL
(c) Parameter setting (GSV P)
The CPU shared memory setting example for position follow-up control is
shown below.
CPU No. 1 (PLC CPU) (GX Developer)
Multiple CPU Setting (setting 2: M3200 to M3295)
Multiple CPU Setting (setting 1: M2400 to M2495)
CPU shared
memory setting
CPU shared
memory setting
CPU No. 2 (Motion CPU) (SW6RN-GSV P)
Multiple CPU Setting (setting 1: M2400 to M2495)
Multiple CPU Setting (setting 2: M3200 to M3295)
CPU shared
memory setting
6 - 165
CPU shared
memory setting
6 POSITIONING CONTROL
6.19 Simultaneous Start
Simultaneous start of the specified servo program at one start is executed.
Simultaneous start is started using the START servo program instruction.
Program No.
Others
Speed change
S-curve ratio
Deceleration processing on stop input
Others
Allowable error range for circular interpolation
Rapid stop deceleration time
Deceleration time
Speed limit value
Acceleration time
Central point
Control unit
Auxiliary point
Torque limit value
M-code
Command speed
Dwell time
Address/travel value
Torque limit value
Parameter block
Number of
control axes
Axis
Positioning
method
Parameter block No.
Servo
instruction
Arc
Radius
Items are set in peripheral devices
Common
START
: Must be set
: It changes by the servo program
for simultaneous start.
[Control details]
Control using START instruction
(1) Simultaneous start of the specified servo programs is executed.
(2) The servo program except for the simultaneous start (START instruction) can be
specified.
(3) Up to 3 servo programs can be specified.
(4) Each axis is controlled using the specified servo program after the simultaneous
start.
[Cautions]
(1) A check is made at the start. An error occurs and operation does not start in the
following cases.
Error
Error processing
Stored codes
D9189
D9190
Specified servo program
does not exist.
START instruction is set as Servo program setting
the specified servo program. error flag
The specified servo program (M9079): ON
Start accept flag
start axis is already used.
(M2001+n): OFF
A servo program cannot
start by an error.
Erroneous program No. of
simultaneous start.
19
Erroneous program No. of
program specified with
simultaneous start.
Error Item data
(Refer to Section 3.5)
(2) The servo program No. specified using START instruction cannot be set indirectly.
6 - 166
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 Q02H Q172 Q172 QX41
CPU CPU LX
(N)
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.
Used axis
Control Details
No.1
Axis 1, Axis 2
No.14
Axis 3
Speed control
No.45
Axis 4
Home position return control
Circular interpolation control
(3) Start conditions
(a) Simultaneous start servo program No. .................. No.121
(b) Simultaneous start execute command .................. Turning PX000 off to on
(OFF ON)
(4) Servo program
Servo program No.121 for simultaneous start is shown below.
<K 121>
START
K
K
K
1
14
45
Simultaneous start
No.1 servo program
No.14 servo program
No.45 servo program
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 167
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.45 servo program
Wait until PX000 turn off after simultaneous start
completion.
[G20] !PX000
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 168
6 POSITIONING CONTROL
6.20 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
peripheral device.
(Refer to the help of each software for JOG operation method using a peripheral
device.)
JOG operation data must be set for each axis for JOG operation. (Refer to Section
6.20.1.)
6.20.1 JOG operation data
JOG operation data is the data required to execute JOG operation.
Set the JOG operation data using a peripheral device.
Table 6.2 JOG operation data list
Setting range
No.
Item
mm
Setting
range
inch
Units
Setting
range
degree
Units
Setting
range
PLS
Units
Setting
range
Units
Initial
Units
value
Remarks
1
• Sets the maximum speed at the
JOG operation.
JOG
0.01 to
mm
0.001 to
inch
0.001 to
degree
1 to
• If JOG speed setting exceeds the
speed limit
PLS/s 20000 PLS/s
6000000.00 /min 600000.000 /min 2147483.647 /min
10000000
JOG speed limit value, it is
value
controlled with JOG speed limit
value.
2
Parameter
block
setting
1 to 64
1
Explanatory
section
• Sets the parameter block No. to be
used at the JOG operation.
4.4
(1) JOG operation data check
A relative check of the JOG operation data is executed at the following timing:
• JOG operation Individual start
• JOG operation simultaneous start
• JOG operation request
(2) Data error processing
• Only data for which detected errors is controlled as default value.
• The error code corresponding to each data for erroneous axis is stored in the
data register.
POINT
Start to outside the range of stroke limit of fixed parameter cannot be executed.
However, JOG operation is possible in the direction from outside the stroke limit
range to back inside the stroke limit range.
Stroke limit lower
. . . Dose not start
. . . Start
6 - 169
Stroke limit upper
. . . Dose not start
. . . Start
6 POSITIONING CONTROL
6.20.2 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.
Control of acceleration/deceleration is based on the data set in JOG operation
data.
V
Acceleration based
on JOG operation
data
JOG operation speed
Deceleration stop based
on JOG operation data
t
ON
JOG operation command
(M3202+20n/M3203+20n)
OFF
JOG operation for axis for which JOG operation command is turning on is
executed.
6 - 170
6 POSITIONING CONTROL
(2) The setting range for JOG speed setting registers are shown below.
No.
JOG operation
JOG speed setting register
(Note)
Forward JOG
Reverse JOG
Most significant Least significant
1
M3202
M3203
D641
D640
2
M3222
M3223
D643
D642
3
M3242
M3243
D645
D644
4
M3262
M3263
D647
D646
5
M3282
M3283
D649
D648
6
M3302
M3303
D651
D650
7
M3322
M3323
D653
D652
8
M3342
M3343
D655
D654
9
M3362
M3363
D657
D656
10
M3382
M3383
D659
D658
11
M3402
M3403
D661
D660
12
M3422
M3423
D663
D662
13
M3442
M3443
D665
D664
14
M3462
M3463
D667
D666
15
M3482
M3483
D669
D668
16
M3502
M3503
D671
D670
17
M3522
M3523
D673
D672
18
M3542
M3543
D675
D674
19
M3562
M3563
D677
D676
20
M3582
M3583
D679
D678
21
M3602
M3603
D681
D680
22
M3622
M3623
D683
D682
23
M3642
M3643
D685
D684
24
M3662
M3663
D687
D686
25
M3682
M3683
D689
D688
26
M3702
M3703
D691
D690
27
M3722
M3723
D693
D692
28
M3742
M3743
D695
D694
29
M3762
M3763
D697
D696
30
M3782
M3783
D699
D698
31
M3802
M3803
D701
D700
32
M3822
M3823
D703
D702
Setting range
mm
Setting
range
1 to
600000000
inch
Units
Setting
range
10-2
1 to
mm
600000000
/min
degree
Units
Setting
range
PLS
Units
Setting
range
Units
10-3
10-3
1 to
1 to
degree
inch
PLS/s
10000000
2147483647
/min
/min
(Note): The range of axis No.1 to 8 is valid in the Q172CPU(N).
POINT
When the JOG operation speed is set in the Motion SFC program, stores a value
which is 100 times the real speed in units of [mm] or 1000 times the speed in units of
[inch] or [degree] in the JOG speed setting register.
Example
If JOG operation speed of 6000.00[mm/min] is set, stores the value "600000"
in the JOG speed setting register.
6 - 171
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.
V
Forward JOG operation
t
ON
Forward JOG
start command
OFF
Reverse JOG
start command
OFF
Reverse JOG
operation
ON
Reverse JOG start
command ignored
(2) If the JOG operation command (M3202+20n/M3203+20n) turns on during
deceleration by the JOG operation command OFF, after deceleration stop,
JOG operation is not executed.
After that, the JOG operation is executed by the JOG operation command
OFF to ON.
V
JOG operation
t
ON
JOG operation OFF
command
6 - 172
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.
V
JOG operation is impossible
without turning JOG operation
command off to on
JOG operation
JOG operation is
impossible during test
mode (start error)
t
During test mode ON
(M9075)
OFF
ON
JOG operation
command
OFF
[Program]
Program for JOG operation is shown as the following conditions.
(1) System configuration
JOG operation for Axis 1 and Axis 2.
Motion CPU control module
Q61P Q02H Q172 Q172 QX41
CPU CPU LX
(N)
Forward JOG operation command
(PX003 : Axis 1, PX005 : Axis 2)
AMP
Axis
1 M
AMP
Axis
2 M
AMP
Axis
3 M
AMP
Reverse JOG operation command
(PX004 : Axis 1, PX006 : Axis 2)
Axis
4 M
(2) JOG operation conditions
(a) Axis No. ............................. Axis 1, Axis 2
(b) JOG operation speed .............. 100000
(c) JOG operation commands
1) Forward JOG operation ....... Axis 1: PX003 ON, Axis 2: PX005 ON
2) Reverse JOG operation ...... Axis 1: PX004 ON, Axis 2: PX006 ON
6 - 173
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.
P1
[F20]
D640L=K100000
D642L=K100000
[F30]
SET M3202=PX003 * !M3203
RST M3202=!PX003
SET M3203=PX004 * !M3202
RST M3203=!PX004
SET M3222=PX005 * !M3223
RST M3222=!PX005
SET M3223=PX006 * !M3222
RST M3223=!PX006
Transfer the JOG operation speed to D640L and
D642L.
Axis 1, Axis 2 forward/reverse JOG operation
Axis 1 forward JOG start command SET/RST
Axis 1 reverse JOG start command SET/RST
Axis 2 forward JOG start command SET/RST
Axis 2 reverse JOG start command SET/RST
P1
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 174
6 POSITIONING CONTROL
6.20.3 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.
V Acceleration based on
JOG operation speed
JOG operation data
Deceleration stop based
on JOG operation data
t
JOG operation based
on D710 to D713 data
D710 to D713
ON
OFF
M2048
(2) JOG operation axis is set in the JOG operation simultaneous start axis setting
register (D710 to D713).
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
D710
Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9
D711
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
D712
Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9
D713
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
Axis 8
Axis 7
Axis 6
Axis 5
Axis 4
Axis 3
Axis 2
Axis 1
(Note-1) Set the JOG operation simultaneous start axis with 1/0.
1: Simultaneous start is executed
0: Simultaneous start is not executed
(Note-2) The range of axis No.1 to 8 is valid in the Q172CPU(N).
6 - 175
Forward
rotation
JOG
Reverse
rotation
JOG
6 POSITIONING CONTROL
(3) The setting range for JOG speed setting registers are shown below.
No.
(Note)
JOG operation
JOG speed setting register
Forward JOG Reverse JOG Most significant Least significant
1
M3202
M3203
D641
D640
2
M3222
M3223
D643
D642
3
M3242
M3243
D645
D644
4
M3262
M3263
D647
D646
5
M3282
M3283
D649
D648
6
M3302
M3303
D651
D650
7
M3322
M3323
D653
D652
8
M3342
M3343
D655
D654
9
M3362
M3363
D657
D656
10
M3382
M3383
D659
D658
11
M3402
M3403
D661
D660
12
M3422
M3423
D663
D662
13
M3442
M3443
D665
D664
14
M3462
M3463
D667
D666
15
M3482
M3483
D669
D668
16
M3502
M3503
D671
D670
17
M3522
M3523
D673
D672
18
M3542
M3543
D675
D674
19
M3562
M3563
D677
D676
20
M3582
M3583
D679
D678
21
M3602
M3603
D681
D680
22
M3622
M3623
D683
D682
23
M3642
M3643
D685
D684
24
M3662
M3663
D687
D686
25
M3682
M3683
D689
D688
26
M3702
M3703
D691
D690
27
M3722
M3723
D693
D692
28
M3742
M3743
D695
D694
29
M3762
M3763
D697
D696
30
M3782
M3783
D699
D698
31
M3802
M3803
D701
D700
32
M3822
M3823
D703
D702
Setting range
mm
Setting
range
1 to
600000000
inch
Units
Setting
range
10-2
1 to
mm
600000000
/min
degree
Units
Setting
range
PLS
Units
Setting
range
Units
10-3
10-3
1 to
1 to
degree
inch
PLS/s
10000000
2147483647
/min
/min
(Note): The range of axis No.1 to 8 is valid in the Q172CPU(N).
6 - 176
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 Q02H Q172 Q172 QX41
CPU CPU LX
(N)
JOG operation command (PX000)
AMP
Axis
1 M
AMP
Axis
2 M
AMP
Axis
3 M
AMP
Axis
4 M
(2) JOG operation conditions
(a) JOG operation conditions are shown below.
Item
JOG operation conditions
Axis No.
JOG operation speed
Axis 1
Axis 2
150000
150000
(b) JOG operation command ...... During PX000 ON
(3) Motion SFC program
Motion SFC program for which executes the simultaneous start of JOG operation
is shown below.
Simultaneous start
JOG operation is executed with the speed of
150000[mm/min] as the following, when the
2 axes simultaneous start switch (PX000)
turns on.
Simultaneous start
[F10]
[G10]
SET M2042
Turn on all axes servo ON command.
M2415*M2435
Wait until Axis 1 servo ready and Axis 2 servo ready turn on.
P0
[G20]
PX000
JOG operation is executed at the
JOG operation simultaneous start command ON
[F30]
[F20] D710=H0002
D712=H0001
D640L=K150000
D642L=K150000
SET M2048
RST M2048
P0
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 177
6 POSITIONING CONTROL
6.21 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 Q173PXs are installed, connect the manual pulse generator to
first (It counts from 0 slot of the CPU base) Q173PX.
(When the manual pulse generator is used, only first Q173PX is valid.)
[Control details]
(1) Positioning of the axis set in the manual pulse generator axis setting register
based on the pulse input from the manual pulse generator.
Manual pulse generator operation is only valid while the manual pulse generator
enable flag turn ON.
Manual pulse generator
Manual pulse generator axis No.
Manual pulse generator
connecting position
setting register
enable flag
P1
D714, D715
M2051
P2
D716, D717
M2052
P3
D718, D719
M2053
(2) The travel value and output speed for positioning control based on the pulse input
from manual pulse generator are shown below.
(a) Travel value
The travel value based on the pulse input from a manual pulse generator is
calculated using the following formula.
[Travel value] = [Travel value per pulse] [Number of input pulses]
pulse generator 1- pulse input magnification setting]
[Manual
The travel value per pulse for manual pulse generator operation is shown
below.
Unit
Travel value
mm
0.1 [µm]
inch
0.00001 [inch]
degree
0.00001 [degree]
PLS
1 [PLS]
If units is [mm], the command travel value for input of one pulse is:
(0.1[µm]) (1[PLS]) (Manual pulse generator 1- pulse input
magnification setting)
6 - 178
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]]
[Manual pulse generator 1- pulse
input magnification setting]
(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).
The bit corresponding to the axis controlled (1 to 32) is set.
(4) Manual pulse generator 1- pulse input magnification setting
Make magnification setting for 1- pulse input from the manual pulse generator for
each axis.
1- pulse input magnification setting register
Applicable axis No. (Note-1)
D720
Axis 1
D721
Axis 2
D722
Axis 3
D723
Axis 4
D724
Axis 5
D725
Axis 6
D726
Axis 7
D727
Axis 8
D728
Axis 9
D729
Axis 10
D730
Axis 11
D731
Axis 12
D732
Axis 13
D733
Axis 14
D734
Axis 15
D735
Axis 16
D736
Axis 17
D737
Axis 18
D738
Axis 19
D739
Axis 20
D740
Axis 21
D741
Axis 22
D742
Axis 23
D743
Axis 24
D744
Axis 25
D745
Axis 26
D746
Axis 27
D747
Axis 28
D748
Axis 29
D749
Axis 30
D750
Axis 31
D751
Axis 32
Setting range
1 to 10000 (Note-2)
(Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2): The setting range (1 to 100) is valid in the SW6RN-SV13Q /SV22Q (Ver.00B or before).
(Note): The manual pulse generator does not have the speed limit value, so they set the magnification setting
within the related speed of servomotor.
6 - 179
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 the turning manual pulse generator enable flag turns off to on.
If the value is outside of range, the manual pulse generator axis setting error
register (D9185 to D9187) and manual pulse generator axis setting error flag
(M9077) are set and a value of "1" is used for the magnification.
(6) Manual pulse generator smoothing magnification setting
A magnification to smooth the turning the manual pulse generator operation off to
on or on to off is set.
Manual pulse generator smoothing
Setting range
magnification setting register
Manual pulse generator 1 (P1): D752
0 to 59
Manual pulse generator 2 (P2): D753
Manual pulse generator 3 (P3): D754
(a) Operation
Manual pulse generator input
ON
Manual pulse generator 1
enable flag (M2051)
OFF
V
V1
t
t
t
t
Output speed (V1) = [Number of input pulses/ms] [Manual pulse
generator 1- pulse input magnification setting]
Travel value (L) = [Travel value per pulse] [Number of input pulses]
[Manual pulse generator 1-pulse input magnification
setting]
(b) When the smoothing magnification is set, the smoothing time constant is as
following formula.
Smoothing time constant (t) = (Smoothing magnification + 1) 56.8 [ms]
REMARK
The smoothing time constant is within the range of 56.8 to 3408 [ms].
6 - 180
6 POSITIONING CONTROL
(7) Errors details at the data setting for manual pulse generator operation are shown
below.
Error details
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.
Error processing
• Duplicated specified axis is ignored.
• First setting manual pulse generator operation is
executed.
• Manual pulse generator operation is executed
according to valid for 3 axes from the lowest manual
pulse generator axis setting register.
• Manual pulse generator operation is not executed.
[Cautions]
(1) The start accept flag turns on for axis during manual pulse generator operation.
Positioning control or home position return cannot be started using the Motion
CPU or a peripheral device.
Turn off the manual pulse generator enable flag after the manual pulse generator
operation end.
(2) The torque limit value is fixed at 300[%] during manual pulse generator operation.
(3) If the manual pulse generator enable flag turns on for the starting axis by
positioning control or JOG operation, an error [214] is set to the applicable axis
and manual pulse generator input is not enabled. After the axis has been stopped,
the turning off to on of the manual pulse generator enable flag becomes valid, the
start accept flag turns on by the manual pulse generator input enabled status, and
input from the manual pulse generator is input.
V
Positioning control
Manual pulse generator operation
t
ON
Manual pulse generator 1 OFF
enable flag (M2051)
Manual pulse generator
enable status
Start accept flag
Enable
Disable
ON
OFF
Input from manual
pulse generator is
ignored.
(4) If the manual pulse generator enable flag of another manual pulse generator No.
turns on for axis during manual pulse generator operation, an error [214] is set to
the applicable axis and the input of that manual pulse generator is not enabled.
Turn the manual pulse generator enable flag on again after stopping the manual
pulse generator operation which had become input enable previously.
6 - 181
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).
(6) If another axis is set and the same manual pulse generator enable flag turns on
again during smoothing deceleration after manual pulse generator enable flag
turns off, the manual pulse generator input is not enabled.
At this time, the manual pulse generator axis setting error bit of the manual pulse
generator axis setting error storage register (D9185 to D9187) turns on, and the
manual pulse generator axis setting error flag (M9077) turns on.
Include the start accept flag OFF for specified axis in interlocks as the conditions
which turn on the manual pulse generator enable flag.
[Procedure for manual pulse generator operation]
Procedure for manual pulse generator operation is shown below.
Start
Set the manual pulse generator
1- pulse input magnification
Set the manual pulse generator
operation axis
Using the Motion SFC program
Turn the manual pulse
generator enable flag ON
Execute the positioning by
manual pulse generator
Turn the manual pulse
generator enable flag OFF
. . . . . . . Using the Motion SFC program
End
6 - 182
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.
Motion CPU control module
Q61P Q02H Q172 Q173 QX41
CPU CPU PX
(N)
Manual pulse generator enable flag
(M2051 : P1, M2052 : P2)
Manual pulse generator P1
Manual pulse generator P2
AMP
Axis
1 M
AMP
Axis
2 M
AMP
Axis
3 M
AMP
Axis
4 M
(2) Manual pulse generator operation conditions
(a) Manual pulse generator operation axis................Axis 1, Axis 2
(b) Manual pulse generator 1- pulse input magnification............ 100
(c) Manual pulse generator operation enable ...........M2051 (Axis 1)/
M2052 (Axis 2) ON
(d) Manual pulse generator operation end ................M2051 (Axis 1)/
M2052 (Axis 2) OFF
(3) Motion SFC program
Motion SFC program for manual pulse generator operation is shown below.
Manual pulse generator
Manual pulse generator
[F10] SET M2042
[G10] PX000*M2415*M2435
Wait until PX000, Axis 1 servo ready and
Axis 2 servo ready turn on.
[F20] D720=100
D721=100
D714L=H00000001
D716L=H00000002
SET M2051
SET M2052
Manual pulse generator 1- pulse input
magnification for Axis 1, Axis 2.
Control Axis 1 by P1.
Control Axis 2 by P2.
Manual pulse generator enable flag ON
for Axis 1, Axis 2.
[G20] !PX000
Wait until PX000 turn off after manual pulse
generator operation end.
[F30] RST M2051
RST M2052
Manual pulse generator enable flag OFF
for Axis 1, Axis 2.
(Note): Turn the manual pulse generator enable
flag off for P1, P2, so that the operation
may not continued for safety.
END
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.
6 - 183
6 POSITIONING CONTROL
6.22 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.
(4) Select the optimal home position return method for the system configuration and
applications with reference to the following.
Home position return methods
Proximity dog type
Contents
Applications
• Home position is zero point of servomotor. • It is used in the system which can surely pass a
Proximity dog type 1 • When the proximity dog is ON, it cannot be zero point from the home position return start to
(Note-1)
started.
proximity dog ON
OFF.
Proximity dog type 2
(Note-2)
Count type 1
(Note-1)
Count type 2
(Note-2)
Count type 3
(Note-2)
Count type
Data set type 1
Data set type
(Note-1)
Data set type 2
(Note-1)
Dog cradle type
(Note-2)
Stopper type 1
(Note-2)
Stopper type
Stopper type 2
(Note-2)
Limit switch combined type
(Note-2)
• Home position is zero point of servomotor. • This method is valid when the stroke range is
• When the proximity dog is ON, it can be
short and "proximity dog type 1" cannot be used.
started.
• Home position is zero point of servomotor. • It is used in the system which can surely pass a
zero point from the home position return start to
point of travel distance set as "travel value after
proximity dog ON".
• Zero point is not used in the home position • This method is used when the proximity dog is
return.
near the stroke end and the stroke range is
narrow.
• Home position is zero point of servomotor. • This method is valid when the stroke range is
short and "count type 1" cannot be used.
• Home position is command position of
• External input signals such as dog signal are not
Motion CPU.
set in the absolute position system.
• This method is valid for the data set independent
of a deviation counter value.
• Home position is real position of
• External input signals such as dog signal are not
servomotor.
set in the absolute position system.
• Home position is zero point of servomotor • It is easy to set the position of proximity dog,
immediately after the proximity dog signal
because the proximity dog is set near the
ON.
position made to the home position.
• Home position is position which stopped
• This method is valid to improve home position
the machine by the stopper.
accuracy in order to make the home position for
• Proximity dog is used.
the position which stopped the machine by the
stopper.
• Home position is position which stopped
the machine by the stopper.
• Proximity dog is not used.
• Home position is zero point of servomotor. • It is used in the system that the proximity dog
• Proximity dog is not used.
signal cannot be used and only external limit
• External limit switch is surely used.
switch can be used.
(Note-1): It can be used regardless of a version for the operating system software and programming software.
(Note-2): It can be used in combination of the operating system software (SW6RN-SV13Q /SV22Q (Ver.00L or later) and programming
software (SW6RN-SV13Q /SV22Q (Ver.00R or later).
6 - 184
6 POSITIONING CONTROL
6.22.1 Home position return data
This data is used to execute the home position return.
Set this data using a peripheral device.
Table 6.3 Table of home position return data
Setting range
No.
1
2
Item
Home
position
return
direction
Home
position
return
method
Home
3 position
address
4
mm
inch
Setting range Units Setting range
Home
position
return
speed
Initial
Units
degree
PLS
value
Units Setting range Units Setting range Units
0: Reverse direction (Address decrease direction)
1: Forward direction (Address increase direction)
0: Proximity dog type 1
4: Proximity dog type 2
1: Count type 1
5: Count type 2
6: Count type 3
2: Data set type 1
3: Data set type 2
-214748364.8
to
214748364.7
µm
-21474.83648
to
21474.83647
0.01 to
6000000.00
mm
/min
0.001 to
600000.000
inch
0 to
359.99999
degree
inch
0.001 to
degree
/min 2147483.647 /min
5
Creep
speed
0.01 to
6000000.00
mm
/min
0.001 to
600000.000
inch
0.001 to
degree
/min 2147483.647 /min
6
Travel
value after
0.0 to
proximity 214748364.7
dog ON
µm
0.00000 to
21474.83647
inch
Parameter
7 block
setting
Home
position
return
8
retry
function
0
-2147483648
to
PLS
2147483647
1 to
10000000
1 to
10000000
0.00000 to
0 to
degree
21474.83647
2147483647
PLS/s
0
1
PLS/s
1
PLS
0
1 to 64
1
Explanatory
section
• The home position return
direction is set.
0
7: Dog cradle type
8: Stopper type 1
9: Stopper type 2
10: Limit switch combined type
Remarks
• 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.
• It is recommended that the
PLS
home position address is
set in the upper stroke limit
value or lower stroke limit
value.
• The home position return
speed is set.
PLS/s
• The creep speed (low
speed immediately before
stopping after deceleration
PLS/s
from home position return
speed) after the proximity
dog ON is set.
• The travel value after the
proximity dog ON for the
count type is set.
PLS
• More than the deceleration
distance at the home
position return speed is set.
• The parameter block (Refer
to Section 4.4) No. to use
for home position return is
set.
6.22.1
(1)
• Valid/invalid of home
position return retry is set.
0: Invalid (Do not execute the home position return retry by limit switch.)
1: Valid (Execute the home position return retry by limit switch.)
6.22.1
(2)
0
(Note-1)
Dwell time
at the
home
9 position
return
retry
0 to 5000 [ms]
0
ms
• The stop time at the
deceleration stop during the
home position return retry is
6.22.1
set.
(2)
(Note-1)
Home
position
10 shift
amount
-214748364.8
to
214748364.7
µm
-21474.83648
to
21474.83647
-21474.83648
-2147483648
Inch
to
degree
to
PLS
21474.83647
2147483647
(Note-1)
6 - 185
• The shift amount at the
home position shift is set.
0
PLS
6.22.1
(3)
6 POSITIONING CONTROL
Table 6.3 Table of home position return data(Continued)
Setting range
No.
Item
mm
inch
Setting range Units Setting range
Speed set
at the
home
11
position
shift
degree
PLS
Units Setting range Units Setting range Units
0: Home position return speed
1: Creep speed
Initial
Units
value
Remarks
• The operation speed which
set the home position shift
amount except "0" is set.
0
Explanatory
section
6.22.1
(3)
(Note-1)
Torque
limit value
at the
12
creep
speed
1 to 500 [%]
300
%
• The torque limit value with
creep speed at the stopper
type home position return is
set.
6.22.1
(4)
(Note-1)
Operation
setting for
incomple13 tion of
home
position
return
0: Execute servo program
1: Not execute servo program
0
(Note-1): It can be used in combination of the operating system software (SW6RN-SV13Q /SV22Q
software (SW6RN-SV13Q /SV22Q (Ver.00R or later).
6 - 186
• When the home position
return request signal is ON,
it set whether a servo
6.22.1
program can be executed or
(5)
not.
(Ver.00L or later) and programming
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.
Example
The deceleration distance is calculated from the speed limit value, home position
return speed, creep speed and deceleration time as shown below.
[Home position return operation]
Speed limit value : VP=200kpps
Home position return speed : VZ=10kpps
Creep speed : VC=1kpps
Real deceleration time : t=TB
t
VZ
VP
TB
Deceleration time : TB=300ms
[Deceleration distance (shaded area under graph)]
1
VZ
t
=
2 1000
Converts in speed per millisecond
VZ
TB VZ
=
2000
VP
=
10 103
2000
300 10 103
200 103
= 75 . . . . . . Set 75 or more
POINT
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).
For a proximity dog type or count type home position return, the distance between
the point where the home position return program is started and the deceleration
stop point before re-travel must be such that the servomotor is rotated more than
one revolution to pass the axis through the Z-phase.
When a data set type home position return is made in an ABS (absolute position)
system, the servomotor must also have been rotated more than one revolution by
JOG operation or the like to pass the axis through the Z-phase.
(Note) : When "1 : No servomotor Z-phase pass after power ON" is selected at the
time of MR-J2S-B/MR-J2M-B use in the "condition selection of home
position set" of servo parameter (expansion parameter), even if it does not
pass zero point, the home position return can be executed and restrictions
are lost.
6 - 187
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.
The temporary stop is made during time
set in the "dwell time at the home
position return retry".
Acceleration time Deceleration time
5)
Home position
return direction
1)
2)
6)
Home
position
4)
Home position
return start
3)
External limit switch
Proximity
dog
Zero point
The temporary stop is made during time
set in the "dwell time at the home
position return retry".
1) It travels to preset
direction of home
position return.
2) If the external upper/lower
limit switch turns OFF
before the detection of
proximity dog, a
deceleration stop is made.
3) After a deceleration stop,
the temporary stop is
made during time set in
the "dwell time at the
home position return retry"
and it travels to reverse
direction of home position
return with the home
position return speed.
4) A deceleration stop is
made by the proximity dog
OFF.
5) After a deceleration stop,
the temporary stop is
made during time set in
the "dwell time at the
home position return retry"
and it travels to direction
of home position return.
6) Home position return
ends.
Fig. 6.31 Operation for home position return retry function
(d) Possible/not possible of home position return retry function 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
Possible/not possible of home position
return retry function
: Possible,
6 - 188
: Not possible
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.
(c) Operation speed which set the home position shift amount except "0" is set
in the speed set at the home position shift. Select one of the "home position
return speed" or "creep speed".
Home position shift amount is positive value
Address increase
direction
Home position
return speed
Address decrease
direction
Home position
return direction
Creep speed
Home position
return start
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".
Home
position
Home position shift amount
(Positive value)
Home position
return re-travel
value
Travel value after proximity dog ON
Proximity dog
Zero point
Home position shift amount is negative value
Address decrease
direction
Address increase
direction
Home position
return direction
Home position
return speed
Home position
return re-travel value
Home position
return start
Creep speed
Home position
Creep speed
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".
Travel value after
proximity dog ON
Home position
return speed
Proximity dog
Home position shift amount
(Negative value)
Zero point
Fig. 6.32 Home position shift amount/speed set at the home position shift
6 - 189
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. When there are physical restrictions in the home position
by the relation of a proximity dog installation position, the home position is
rectified to the optimal position. Also, by using the home position shift function,
it is not necessary to care the zero point for an installation of servomotor.
(2) After proximity dog ON, if the travel value including home position shift amount
-1
-5
exceeds the range of "-2147483648 to 2147483647" [ 10 µm, 10 inch,
-5
10 degree, PLS], "travel value after proximity dog ON" of monitor register is
not set correctly.
(4) Torque limit value at the creep speed
(a) Torque limit value at the creep speed (on press) is set in the case of using
the pressed position as the home position by the home position return of
stopper type 1, 2.
(b) Valid/invalid of the torque limit value at the creep speed 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 torque limit value at the
creep speed
: Valid,
6 - 190
: Invalid
6 POSITIONING CONTROL
(5) Operation setting for incompletion of home position return
Refer to Section 1.3.4 of the "Q173CPU(N)/Q172CPU(N) Motion controller
(SV13/SV22) Programming Manual (Motion SFC)" for the correspondence
version of the software.
(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. However, the servo program can be
executed even if the home position return request signal (M2409+20n) is
ON in the case of only servo program of home position return instruction
(ZERO).
2) At the time of servo program start, when "1: Not execute servo program"
is selected in the operation setting for incompletion of home position
return and the axis which the home position return request signal
(M2409+20n) is ON exists also with one axis, a minor error [121] occurs
and the servo program does not start.
3) JOG operation and manual pulse generator operation can be executed
regardless of the home position return request signal (M2409+20n)
ON/OFF.
4) Same operation is executed regardless of absolute position system/or
not. When "1: Not execute servo program" is selected in the case of not
absolute position system, the home position return request signal
(M2409+20n) turns on at power supply on or reset of Motion CPU and
power supply on of servo amplifier. Therefore, it must be executed home
position return before a servo program start.
5) Same operation is executed in also TEST mode.
6) This setting is valid in the real mode only. Servo program can be
executed for a virtual axis connected to the output axis which the home
position return request signal (M2409+20n) is ON.
6 - 191
6 POSITIONING CONTROL
(6) Setting items for home position return data
Limit switch combined type
Stopper type 2
Stopper type 1
Dog cradle type
Data set type 2
Data set type 1
Count type 3
Count type 2
Count type 1
Items
Proximity dog type 2
Proximity dog type 1
Home position return methods
Home position return direction
Home position address
Home position return speed
Creep speed
Travel value after proximity dog ON
Home position
return data
Parameter block setting
Home position return retry function
Dwell time at the home position return retry
Home position shift amount
Speed set at the home position shift
Torque limit value at the creep speed
Operation setting for incompletion of home
position return
Interpolation control unit
Speed limit value
Acceleration time
Deceleration time
Parameter blocks
Rapid stop deceleration time
S-curve ratio
Torque limit value
Deceleration processing at the stop time
Allowable error range for circular interpolation
: Must be set
: Must be not set
6 - 192
6 POSITIONING CONTROL
6.22.2 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. However, when "1 : No
servomotor Z-phase pass after power ON" is selected at the time of MR-J2SB/MR-J2M-B use in the "condition selection of home position set" of servo
parameter (expansion parameter), if it does not pass zero point from home
position return start to deceleration stop by proximity dog ON to OFF, the home
position return can be executed.
(2) Home position return by the proximity dog type 1
Operation of home position return by proximity dog type 1 for passing (zero pass
signal: M2406+20n ON) the zero point from home position return start to
deceleration stop by proximity dog ON to OFF is shown below.
V
Home position
return direction
Home position
return start
Home position return speed
Creep speed
(Note) : A deceleration stop occurs after
the proximity dog OFF.
Positioning is carried out from this
position to the zero point.
The distance to the zero point is
based on the servo data.
t
Proximity dog
ON
OFF
Zero point
The travel value in this range is stored
in the monitor register "travel value
after proximity dog ON".
The travel value in this range is stored
in the monitor register "home position
return re-travel value".
Fig. 6.33 Home position return operation by the proximity dog type 1
(3) Home position return execution
Home position return by the proximity dog type 1 is executed using the servo
program in Section 6.22.16.
6 - 193
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.
Setting creep speed
Proximity dog
ON
OFF
Zero point
Zero point of this range does not become the home position.
The next zero point becomes the home position.
(b) The position executed deceleration stop by the proximity dog OFF is near
zero point, a home position discrepancy equivalent to one revolution of the
servomotor may occur. Adjust the position of proximity dog OFF, such that
the home position return re-travel value becomes half the travel value for
one revolution of the servomotor.
If the position executed deceleration stop by the proximity dog
OFF is near zero point, the creep speed and deceleration
settings may result in a home position discrepancy
equivalent to one revolution of the servomotor.
Proximity dog
ON
OFF
Zero point
POINT
When the home position return retry function is not set in the following cases,
execute the home position return, after return the axis once to position before the
proximity dog ON by the JOG operation, etc.
Home position return cannot be executed without returning to position before the
proximity dog ON.
(1) Home position return with a position after the proximity dog ON to OFF.
(2) When the power supply turned OFF to ON after home position return end.
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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.
(d) If home position return is executed in the proximity dog ON, a major error
"proximity dog signal is turning ON at the home position return start" (error
code: 1003) will occur, the home position return is not executed. Use the
proximity dog type 2 in this case.
(e) When home position return retry function is not set, if home position return is
executed again after home position return end, a minor error "home position
return completion signal is turning ON at the proximity dog type home
position return start" (error code: 115) will occur, the home position return is
not executed.
(f) If in-position signal (M2402+20n) does not turn ON, home position return is
not ended.
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6 POSITIONING CONTROL
6.22.3 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
6.22.2)
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, it
moves to home position return direction after the servomotor is rotated one
revolution to reverse direction and it passed the zero point, and the first zero
point position is set as home position after proximity dog ON to OFF.
(2) Home position return by the proximity dog type 2
Operation of home position return by proximity dog type 2 for not passing the
zero point from home position return start to deceleration stop by proximity dog
ON to OFF is shown below.
V
Home position
return speed
1) It travels to preset direction of home position
return with the home position return speed.
5)
2) A deceleration is made to the creep speed by
the proximity dog ON, after that, it travels with
the creep speed. (If the proximity dog turns
OFF during a deceleration, a deceleration
Creep speed
stop is made and the operation for 4) starts.)
1)
2)
3) A deceleration stop is made by the proximity
dog OFF.
3)
4) After a deceleration stop, it travels for one
revolution of servomotor to reverse direction
of home position return with the home
Home position
position return speed.
Home position
return start
5) It travels to direction of home position return
with the home position return speed, the
home position return ends with first zero point
4)
after the proximity dog ON to OFF. (At this
time, a deceleration to the creep speed is not
made with the proximity dog OFF to ON . And
Home position return speed
if the zero point is not passed because of
1 revolution
droop pulses for processing of 4) and 5), a
Proximity dog
minor error "ZCT not set" (error code: 120)
will occur, a deceleration stop is made and
Zero point the home position return does not end
normally. In this case, adjust a position of
Zero point no passing
proximity dog OFF.)
Home position
return direction
The travel value in this range is stored in the monitor
register "travel value after proximity dog ON".
The travel value in this range is stored in the monitor
register "home position return re-travel value".
Fig. 6.34 Home position return operation by the proximity dog type 2
(zero point no passing)
(3) Home position return execution
Home position return by the proximity dog type 2 is executed using the servo
program in Section 6.22.16.
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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.
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.
(d) If home position return is executed in the proximity dog ON, it starts with the
creep speed.
(e) When home position return retry function is not set, if home position return is
executed again after home position return completion, a minor error "home
position return completion signal is turning ON at the proximity dog type
home position return start" (error code: 115) will occur, the home position
return is not executed.
(f) When "1 : No servomotor Z-phase pass after power ON" is selected at the
time of MR-J2S-B/MR-J2M-B use in the "condition selection of home
position set" of servo parameter (expansion parameter), even if it does not
pass zero point at the servo amplifier power ON, the zero pass signal
(M2406+20n) turns ON. This operation is the same as proximity dog type 1.
(g) If in-position signal (M2402+20n) does not turn ON, home position return is
not ended.
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6 POSITIONING CONTROL
6.22.4 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.
When the zero point is not passed (zero pass signal: M2406+20n OFF) until it
travels the distance set in the "travel value after proximity dog ON" from home
position return start, an error will occur and home position return is not executed.
However, when "1 : No servomotor Z-phase pass after power ON" is selected at
the time of MR-J2S-B/MR-J2M-B use in the "condition selection of home position
set" of servo parameter (expansion parameter), if the zero point is not passed
until it travels the distance set in the "travel value after proximity dog ON" from
home position return start, the home position return can be executed.
The travel value after proximity dog ON is set in the home position return data
(Refer to Section 6.22.1).
(2) Home position return by the count type 1
Operation of home position return by count type 1 for passing the zero point
during travel of specified distance set in the "travel value after proximity dog ON"
from the home position return start is shown below.
V
Home position
return start
Home position return
direction
Home position
return speed
Creep speed
(Note) : After the proximity dog ON, positioning of the
"travel value after the proximity dog ON" of
the home position return data and the
positioning from the position to zero point.
The distance to the zero point is
based on the servo data
t
Proximity dog
ON
Zero point
The travel value in this range is stored in the monitor
register "travel value after proximity dog ON".
"Travel value after
proximity dog ON"
of the home
position return data
The travel value in this range is stored in the monitor
register "home position return re-travel value".
Fig. 6.35 Home position return operation by the count type 1
(3) Home position return execution
Home position return by the count type 1 is executed using the servo program in
Section 6.22.16.
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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.
(b) When the zero point is not passed (zero pass signal: M2406+20n ON) until it
travels the distance set in the "travel value after proximity dog ON" from
home position return start, 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 count type 3.
(c) When the "travel value after proximity dog ON" is less than the deceleration
distance from "home position return speed" to "creep speed", a minor error
"an overrun occurred because the setting travel value is less than the
deceleration distance at the proximity dog signal input during home position
return of count type" (error code: 209) will occur and deceleration stop is
made.
(d) If in-position signal (M2402+20n) does not turn ON, home position return is
not ended.
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6 POSITIONING CONTROL
6.22.5 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.
A count type 2 is effective method when a zero point signal cannot be taken.
(However, dispersions will occur to the stop position at the home position return
compared with the count type 1.)
The travel value after proximity dog ON is set in the home position return data
(Refer to Section 6.22.1).
(2) Home position return by the count type 2
Operation of home position return by count type 2 is shown below.
V
Home position
return direction
Home position
return speed
Creep speed
(Note): After the proximity dog ON, a position
which traveled the distance " travel
value after proximity dog ON" of the
home position return data is home
position.
t
Proximity dog
Home position
return start
The travel value in this range is stored in the
monitor register "travel value after proximity dog
ON".
(Note): "Home position return re-travel value" = 0
Fig. 6.36 Home position return operation by the count type 2
(3) Home position return execution
Home position return by the count type 2 is executed using the servo program in
Section 6.22.16.
(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 2.
When the home position return and 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.
(b) When the "travel value after proximity dog ON" is less than the deceleration
distance from "home position return speed" to "creep speed", a minor error
"an overrun occurred because the setting travel value is less than the
deceleration distance at the proximity dog signal input during home position
return of count type. " (error code: 209) will occur and deceleration stop is
made.
(c) Command position is the home position.
(d) If in-position signal (M2402+20n) does not turn ON, home position return is
not ended.
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6 POSITIONING CONTROL
6.22.6 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.
When the zero point is passed (zero pass signal: M2406+20n ON) during travel
of specified distance set in the "travel value after proximity dog ON" from the
home position return start, home position return operation is the same as "count
type 1". (Refer to Section 6.22.4)
When a zero point is not passed (zero pass signal: M2406+20n OFF) during
travel of specified distance set in the "travel value after proximity dog ON" from
the home position return start, it rotates one time to reverse direction and passes
the zero point, re-travels to home position return direction, and then the first zero
point after the specified distance (travel value after proximity dog ON) after
proximity dog ON is set as home position.
The travel value after proximity dog ON is set in the home position return data
(Refer to Section 6.22.1).
(2) Home position return by the count type 3
Operation of home position return by count type 3 for not passing the zero point
during travel of specified distance set in the "travel value after proximity dog ON"
from the home position return start is shown below.
V
Home position
return speed
Home position
return direction
1)
2)
Home position
return start
4)
Home position
return speed
1 revolution
Proximity dog
Zero point no passing
1) It travels to preset direction of home
position return with the home position
return speed.
2) A deceleration is made to the creep speed
by the proximity dog ON, after that, it
travels with the creep speed.
5)
3) A deceleration stop is made in the position
which traveled the travel value set as travel
value after proximity dog ON.
4) After a deceleration stop, it travels for one
Creep speed
revolution of servomotor to reverse
direction of home position return with the
3)
home position return speed.
5) It travels to direction of home position
return with the home position return speed,
the home position return ends with first
Home position
zero point after traveling the travel value
set as travel value after proximity
dog ON from after the proximity dog ON.
(At this time, a deceleration to the creep
speed is not made with the proximity dog
OFF to ON. And if the zero point is not
passed because of droop pulses for
processing of 4) and 5), a minor error "ZCT
not set" (error code: 120) will occur, a
deceleration stop is made and home
Zero point
position return does not end normally. In
this case, adjust a position of proximity dog
ON.)
The travel value in this range is stored in the monitor
register "travel value after proximity dog ON".
The travel value in this range is stored in the monitor
register "home position return re-travel value".
Fig. 6.37 Home position return operation by the count type 3
(zero point no passing)
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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 6.22.16.
(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.
(c) Home position return and continuously start of home position return are also
possible in the proximity dog ON in the count type 3.
When the home position return and 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.
(d) When the "travel value after proximity dog ON" is less than the deceleration
distance from "home position return speed" to "creep speed", a minor error
"an overrun occurred because the setting travel value is less than the
deceleration distance at the proximity dog signal input during home position
return of count type. " (error code: 209) will occur and deceleration stop is
made.
(e) When "1 : No servomotor Z-phase pass after power ON" is selected at the
time of MR-J2S-B/MR-J2M-B use in the "condition selection of home
position set" of servo parameter (expansion parameter), even if it does not
pass zero point at the servo amplifier power ON, the zero pass signal
(M2406+20n) turns ON. This operation is the same as count type 1.
(f) If in-position signal (M2402+20n) does not turn ON, home position return is
not ended.
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6 POSITIONING CONTROL
6.22.7 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. 6.38 Home position return operation by the date set type 1
(3) Home position return execution
Home position return by the data set type 1 is executed using the servo program
in Section 6.22.16.
(4) Cautions
(a) A zero point must be passed (zero pass signal: M2406+20n ON) between
turning ON the power supply and executing home position return.
If home position return is executed without passing a zero point once, "no
zero point passed error" occurs. If "no zero point passed error" occurred,
perform the home position return again, after reset the error and turn the
servomotor at least one revolution by the JOG operation.
The zero point passing can be confirmed with the zero pass signal
(M2406+20n). However, when "1 : No servomotor Z-phase pass after power
ON" is selected at the time of MR-J2S-B/MR-J2M-B use in the "condition
selection of home position set" of servo parameter (expansion parameter),
even if it does not pass zero point at the servo amplifier power ON, the
home position return is possible because the zero pass signal (M2406+20n)
turns ON.
(b) Home position return is started by the data set type 1 when the absolute
position system does not support, it becomes same function as the current
value change command.
(c) The home position return data required for the data set type 1 are the home
position return direction and home position address.
(d) If in-position signal (M2402+20n) does not turn ON, home position return is
not ended.
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6 POSITIONING CONTROL
6.22.8 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.
Machine travel range
Real position of
machine at the home
position return start
Home position return
by servo program
start instruction
Command position
at the home position
return start
Home position is the
real position at the
home position return
Fig. 6.39 Home position return operation by the date set type 2
(3) Home position return execution
Home position return by the data set type 2 is executed using the servo program
in Section 6.22.16.
(4) Cautions
(a) A zero point must be passed (zero pass signal: M2406+20n ON) between
turning on the power supply and executing home position return.
If home position return is executed without passing a zero point once, "no
zero point passed error" occurs. If "no zero point passed error" occurred,
perform the home position return again, after reset the error and turn the
servomotor at least one revolution by the JOG operation.
The zero point passing can be confirmed with the zero pass signal
(M2406+20n). However, when "1 : No servomotor Z-phase pass after power
ON" is selected at the time of MR-J2S-B/MR-J2M-B use in the "condition
selection of home position set" of servo parameter (expansion parameter),
even if it does not pass zero point at the servo amplifier power ON, the
home position return is possible because the zero pass signal (M2406+20n)
turns ON.
(b) The home position return data required for the data set type 2 are the home
position return direction and home position address.
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6 POSITIONING CONTROL
6.22.9 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.
(2) Home position return by the dog cradle type
Operation of home position return by the dog cradle type for setting the proximity
dog in the home position return direction is shown below.
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.
2) After a deceleration stop, it travels to
reverse direction of home position return
with the home position return speed.
3) If the zero point is passed by the proximity
dog OFF, a deceleration stop is made.
4) After a deceleration stop, it travels to
direction of home position return with the
creep speed, the home position return ends
with first zero point after the proximity dog
ON.
Home position
return speed
1)
Creep speed
4)
Home position
return start
Home position
3)
2)
The travel value in this range is stored in the monitor
register "home position return re-travel value".
The travel value in this range is stored in the monitor
register "travel value after proximity dog ON".
ON
Proximity dog
Zero point
Fig. 6.40 Home position return operation by the dog cradle type
(3) Home position return execution
Home position return by the dog cradle type is executed using the servo program
in Section 6.22.16.
(4) Cautions
(a) When home position return retry function is not set, if home position return is
executed again after home position return end, a minor error "home position
return completion signal is turning ON at the dog cradle type home position
return start" (error code: 115) will occur, the home position return is not
executed.
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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.
Acceleration time Deceleration time
V
Home position
return direction
1) It travels to preset reverse direction
of home position return with the
home position return speed.
2) If the zero point is passed by the
proximity dog OFF, a deceleration
stop is made.
3) After a deceleration stop, it travels
to direction of home position return
with the creep speed, and the home
Creep speed
position return ends with first zero
3)
point after the proximity dog ON.
Home
position
2)
Home position
return start
1)
Proximity dog
Zero point
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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. 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.
1) It travels to preset direction of home
position return with the home position
return speed.
2) A deceleration stop is made by the
proximity dog ON.
3) After a deceleration stop, it travels to
reverse direction of home position return
with the home position return speed.
4) If the zero point is passed by the
Home position
proximity dog OFF, a deceleration stop
return speed
is made.
5) After a deceleration stop, it travels to
direction of home position return with the
creep speed, and the home position
2)
return ends with first zero point after the
Creep speed
proximity dog ON.
Acceleration time Deceleration time
V
Home position
return direction
1)
5)
Home position
return start
4)
Home position
return speed
Home position
3)
Proximity dog
Zero point
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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.
Acceleration time Deceleration time
V
Home position
return direction
Creep speed
3)
1) It travels to preset reverse direction of
home position return with the home
position return speed.
2) If the zero point is passed by the
proximity dog OFF, a deceleration
stop is made.
3) After a deceleration stop, it travels to
direction of home position return with
the creep speed, and the home
position return ends with first zero
point after the proximity dog ON.
Home position
1)
2)
Home position
return speed
Home position
return start
Proximity dog
Zero point
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6 POSITIONING CONTROL
6.22.10 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. Real position of servomotor at the time of detection for
turning the torque limiting signal OFF to ON is home position.
Torque limit value after reaching creep speed is set in the "torque limit value at
the creep speed" of home position return data.
(2) Home position return by the stopper type 1
Operation of home position return by the stopper type 1 is shown below.
V
Home position
return direction
Home position
return speed
Real position of servomotor
at this point is home position.
Stopper
Creep speed
t
Home position
return start
Torque limit
value
Time which stops rotation of
servomotors forcibly by the
stopper
Torque limit value of
parameter block at the home
position return
Home position return data
"torque limit value at the
creep speed"
Proximity dog
ON
Torque limiting OFF
signal
(M2416+20n)
(Note): "Travel value after proximity dog ON" storage register becomes "0" at the
home position return start.
Fig. 6.41 Home position return operation by the stopper type 1
(3) Home position return execution
Home position return by the stopper type 1 is executed using the servo program
in Section 6.22.16.
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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. Also, when the torque limit value is too
small, it becomes the torque limiting before pressing the stopper and ends
the home position return.
(d) If the home position return is executed again after home position return
completion, a minor error "home position return completion signal is turning
ON at the stopper type home position return start" (error code: 115) will
occur, the home position return is not executed.
(e) Home position return is started during the proximity dog ON, it is started
from the "creep speed".
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6.22.11 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.)
Real position of servomotor at the time of detection for turning the torque limiting
signal OFF to ON is home position.
Torque limit value after reaching creep speed is set in the "torque limit value at
the creep speed" of home position return data.
(2) Home position return by the stopper type 2
Operation of home position return by the stopper type 2 is shown below.
V
Stopper
Home position
return direction
Creep speed
Real position of servomotor
at this point is home position.
t
Home position
return start
Torque limit
value
Torque limiting
signal
(M2416+20n)
Time which stops rotation of servomotors
forcibly by the stopper
Home position return data "torque limit value at the creep speed"
ON
OFF
(Note): "Travel value after proximity dog ON" storage register becomes "0" at the
home position return start.
Fig. 6.42 Home position return operation by the stopper type 2
(3) Home position return execution
Home position return by the stopper type 2 is executed using the servo program
in Section 6.22.16.
(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 2.
6 - 211
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.
(d) If the home position return is executed again after home position return
completion, a minor error "home position return completion signal is turning
ON at the stopper type home position return start" (error code: 115) will
occur, the home position return is not executed.
6 - 212
6 POSITIONING CONTROL
6.22.12 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". Deceleration is made by turning the
limit switch of home position return direction ON to OFF, it travels to reverse
direction of home position return with creep speed, and the zero point just before
limit switch is home position.
(2) Home position return by the limit switch combined type
Operation of home position return by limit switch combined type for setting the
limit switch in the home position return direction is shown below.
1) It travels to preset direction of home
position return with the home
position return speed.
2) A deceleration stop is made by the
external limit switch ON to OFF.
3) After a deceleration stop, it travels to
reverse direction of home position
return with the creep speed, and the
2)
home position return ends with the
zero point just before limit switch.
Acceleration time Deceleration time
V
Home position
return direction
Home position
return start
1)
Home position
return speed
Home position
3)
Creep speed
External limit switch
(Indicates with normally closed contact)
Zero point
The travel value in this range is stored in the
monitor register "travel value after proximity dog
ON".
The travel value in this range is stored in the
monitor register "home position return re-travel
value".
Fig. 6.43 Home position return operation by the limit switch combined type
(3) Home position return execution
Home position return by the limit switch combined type is executed using the
servo program in Section 6.22.16.
6 - 213
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.
(b) When the limit switch reverse to home position return direction is turned ON
to OFF, deceleration stop is made, home position return is not completed
and a major error "external limit switch detection error" (error code : 1101,
1102) will occur.
(c) Home position return retry function cannot be used in the limit switch
combined type.
(d) I f the home position return is executed with the limit switch OFF, it is started
to reverse direction of home position return with creep speed.
(e) When it does not pass (zero pass signal: M2406+20n ON) the zero point
from home position return start to deceleration stop by limit switch 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. However, when "1 :
No servomotor Z-phase pass after power ON" is selected at the time of MRJ2S-B/MR-J2M-B use in the "condition selection of home position set" of
servo parameter (expansion parameter), if the zero point is not passed until
from home position return start to deceleration stop by limit switch OFF, the
home position return can be executed.
(f) Deceleration stop is executed after the limit switch OFF. Set the limit switch
in expectation of deceleration distance.
(g) If the in-position signal (M2402+20n) is turned ON, home position return is
not ended.
(h) When the width is in a zero point, the home position differs from the home
position return by the proximity dog type 1, proximity dog type 2, count type
1, count type 3 and dog cradle type.
6 - 214
6 POSITIONING CONTROL
6.22.13 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. However, by using the home position return retry function, even if a work is
where, the home position return can be executed.
Refer to Section 6.22.1(6) for home position return method by using the home position
return retry function.
[Data Setting]
When the "home position return retry function" is used, set the following "home position
return data" using a peripheral devices.
Set the "dwell time at the home position return retry" as required.
Set the parameters for every axis.
Table 6.4 Home position return data
Setting details
Setting
value
Initial value
Home position return
retry function
0 : Invalid (Do not execute the home position
return retry by limit switch.)
1 : Valid (Execute the home position return
retry by limit switch.)
0, 1
0
Dwell time at the home
position return retry
The stop time at the deceleration stop during 0 to 5000
the home position return retry is set
[ms]
Items
0
[Control details]
Operation for the home position return retry function is shown below.
(1) Home position return retry operation setting a work within the range of external
limit switch
Acceleration time Deceleration time
Home position
return direction
5)
4)
1)
6)
Home
position
2)
Home position
return start
3)
External limit switch
Proximity dog
1) It travels to preset direction of
home position return.
2) If the external upper/lower
limit switch turns OFF before
the detection of proximity dog,
a deceleration stop is made.
3) After a deceleration stop, it
travels to reverse direction of
home position return with the
home position return speed.
4) A deceleration stop is made by
the proximity dog OFF.
5) After a deceleration stop, it
travels to direction of home
position return.
6) Home position return ends.
Zero point
Fig. 6.44 Operation for home position return retry (proximity dog type)
6 - 215
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.
Direction of "work
home position"
and home position return is same
Home position
return direction
Home position
return start
RLS
FLS
Home
position
Proximity dog
Zero
point
Travel range
(b) When the direction of "work home position" and home position return is
reverse, deceleration stop is made with the proximity dog OFF and home
position return is operated to preset direction of home position return.
1) It travels to preset reverse direction of home position
return with the home position return speed.
2) A deceleration stop is made by the proximity dog OFF.
3) After a deceleration stop, it travels to direction of home
position return, the home position return ends.
Direction of "work
home position"
and home position return is reverse
Home position
return direction
3)
2)
RLS
Home position
return start
Home
position
1)
FLS
Proximity dog
Zero
point
Travel range
6 - 216
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). (Dwell time operates with the same
value.)
The temporary stop is made during time
set in the "dwell time at the home
position return retry".
Home position
return direction
5)
1)
6)
Home
position
4)
2)
Home position
return start
3)
External limit switch
Proximity
dog
Zero
point
The temporary stop is made during time 1) It travels to preset direction of home position return.
set in the "dwell time at the home
2) If the external upper/lower limit switch turns OFF
position return retry".
before the detection of proximity dog, a deceleration
is made and the temporary stop is made during time
set in the "dwell time at the home position return
retry".
3) After a stop, it travels to reverse direction of home
position return with the home position return speed.
4) A deceleration is made by the proximity dog OFF
and the temporary stop is made during time set in
the "dwell time at the home position return retry".
5) After a stop, it travels to direction of home position
return.
6) Home position return ends. At this time, the "dwell
time at the home position return retry" is invalid.
Fig. 6.45 Dwell time setting at the home position return retry
[Cautions]
(1) Possible/not possible of home position return retry function by the home position
return method is shown below.
Home position return methods
Possible/not possible of home position
return retry function
Proximity dog type
Count type
Data set type
Dog cradle type
Stopper type
Limit switch combined type
: Possible,
6 - 217
: Not possible
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.
(4) Do not use the home position return retry function for axis which use the servo
amplifier model MR-J2-B/MR-J2-03B5.
CAUTION
Be sure to set the external limit switch (FLS, RLS) in the upper/lower position of machines. If
the home position return retry function is used without external limit switch, servomotors
continue rotating.
6 - 218
6 POSITIONING CONTROL
6.22.14 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 6.22.1(6) for home position return method by using the home position
shift function.
[Data Setting]
Set the following "home position return data" using a peripheral devices to use the
"home position shift function".
Set the parameters for every axis.
Table 6.5 Home position return data
Items
Setting details
The shift amount at
Home position shift
the home position
amount
shift is set.
The speed at the
Speed set at the
home position shift
home position shift
is set.
6 - 219
Setting value
Initial value
-2147483648 to 2147483647
-1
-5
-5
[ 10 µm, 10 inch, 10 degree, PLS]
0
0 : Home position return speed
1: Creep speed
0
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 increase
direction
Address decrease
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".
Home position
return speed
Creep speed
Home position
Home position
return start
Proximity dog
Home position shift amount
(Positive value)
Home position
return re-travel
value
Travel value after proximity dog ON
Zero point
Home position shift amount is negative value
Address increase
direction
Address decrease
direction
Home position
return speed
Home position
return direction
Home position
return start
Home position return re-travel value
Creep speed
Home position
Creep speed Travel value after
proximity dog ON
Home position
return speed
Proximity dog
Home position shift amount
(Negative value)
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".
Zero point
Fig. 6.46 Operation for home position shift
6 - 220
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.
Setting range of
negative home
position shift amount
Setting range of
positive home
position shift amount
Address
decrease
direction
RLS
Address
increase
direction
FLS
Proximity dog
Home position
return direction
Zero point
Fig. 6.47 Setting range of home position shift amount
(3) Travel speed at the home position shift
When the home position shift function is used, set the travel speed at the home
position shift as the speed set at the home position shift. Either the home position
return speed or creep speed is selected as the travel speed at the home position
shift.
The travel speed at the home position shift for the home position return by
proximity dog type is shown below.
(a) Home position shift operation with the "home position return speed"
V
Home position
return direction
Home position
return speed
Home position shift
amount is positive
Home position
Home position
Home position shift
amount is negative
Home position
return start
Proximity dog
Zero point
Fig. 6.48 Home position shift operation with the home position return speed
6 - 221
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 Home position shift operation with the creep speed
[Cautions]
(1) Valid/invalid of home position shift amount setting value by the home position
return method.
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
(2) Axis monitor devices and axis statuses are set after completion of home position
shift.
(3) When the home position return by proximity dog type set the travel value after
proximity dog ON and home position shift amount within the range of
-1
-5
-5
"-2147483648 to 2147483647" [ 10 µm, 10 inch, 10 degree, PLS].
6 - 222
6 POSITIONING CONTROL
6.22.15 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.
When "1 : No servomotor Z-phase pass after power ON" is selected at the time of MRJ2S-B/MR-J2M-B use in the "condition selection of home position set" of servo
parameter (expansion parameter), if it does not pass zero point with the motor rotation
after turning the servo amplifier power ON, the zero pass signal (M2406+20n) can be
turned ON.
[Data Setting]
Set the following "servo parameter" using a peripheral devices to select the "condition
selection of home position set".
Set the servo parameters for every axis.
Table 6.6 Servo parameter (expansion parameter)
Items
Setting details
Setting value
Initial value
Optional function 6
Set the condition
0: Servomotor Z-phase pass after power ON
selection of home
(Condition
1: No servomotor Z-phase pass after power ON
selection of home position set
position set)
(Note-1)
0
(Note-1): If "1: No servomotor Z-phase pass after power ON" is set, use the operating system software (SW6RNSV13Q /SV22Q (Ver.00G or later)).
However, when the data set type home position return is used, there is no restriction by the version of
operating system software.
[Cautions]
(1) Condition selection of home position set for servo parameters can be set when
using the MR-J2S-B/MR-J2M-B only. When "1 : No servomotor Z-phase pass
after power ON" is set as the above servo parameter, a restrictions such as "make
the home position return after the servomotor is rotated more than one revolution
to pass the axis through the Z-phase (motor reference position signal) " is lost.
(2) The servomotor must also have been rotated more than one revolution to pass the
axis through the Z-phase (motor reference position signal) for home position
return when using the servo amplifier except the MR-J2S-B/MR-J2M-B.
(3) When "1 : No servomotor Z-phase pass after power ON" is selected at the time of
MR-J2S-B/MR-J2M-B use in the "condition selection of home position set" of
servo parameter (expansion parameter), if it does not pass zero point at the servo
amplifier power ON, the zero pass signal (M2406+20n) turns ON.
(4) When the above parameter is changed, turn the servo amplifier power OFF to ON
after resetting or turning power OFF to ON of Multiple CPU system.
6 - 223
6 POSITIONING CONTROL
CAUTION
Do not set the "1 : No servomotor Z-phase pass after power ON" for axis which executes the
home position return again after it continues traveling the same direction infinitely.
6 - 224
6 POSITIONING CONTROL
6.22.16 Servo program for home position return
The home position return executed using the ZERO servo instruction.
Items set by peripheral devices
ZERO
Program No.
Speed change
Others
Allowable error range for circular interpolation
Others
S-curve ratio
Deceleration processing on stop input
Deceleration time
Speed limit value
Acceleration time
Control unit
Central point
Auxiliary point
Radius
Torque limit value
M-code
Command speed
Dwell time
Address/travel value
Torque limit value
Parameter block
Number of
controllable axes
Axis
Positioning method
Parameter block No.
Servo instruction
Arc
Rapid stop deceleration time
Common
1
: Must be set
[Control details]
(1) Home position return is executed by the home position return method specified
with the home position return data (Refer to Section 6.22.1).
Refer to the following sections for details of the home position return methods :
• Proximity dog type 1...................
Section 6.22.2
• Proximity dog type 2...................
Section 6.22.3
• Count type 1...............................
Section 6.22.4
• Count type 2...............................
Section 6.22.5
• Count type 3...............................
Section 6.22.6
• Data set type 1............................
Section 6.22.7
• Data set type 2............................
Section 6.22.8
• Dog cradle type...........................
Section 6.22.9
• Stopper type 1............................
Section 6.22.10
• Stopper type 2............................
Section 6.22.11
• Limit switch combined type........
Section 6.22.12
[Program]
Servo program No. 0 for home position return is shown as the following conditions.
(1) System configuration
Home position return of Axis 4.
Motion CPU control module
Q61P Q02H Q172 Q172 QX41
CPU CPU LX
(N)
Home position return command (PX000)
AMP
Axis
1 M
AMP
Axis
2 M
AMP
Axis
3 M
6 - 225
AMP
Axis
4 M
6 POSITIONING CONTROL
(2) Servo program example
Servo program No. 0 for home position return is shown below.
<K
0>
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.
(Note-1)
Home position return
Axis used . . . Axis 4
ZERO
Axis 4
Wait until PX000 turn off after home position
return completion.
!PX000
END
(Note-1) : It is necessary to turn on the zero pass signal before execution of the home position return
instruction for data set type home position return.
(Note-2) : Example of the above Motion SFC program is started using the automatic start or PLC program.
[Cautions]
If the home position is not within the in-position range of servo parameter, it does not
mean having reached the home position data and the home position return does not
end in the proximity dog type, count type, data set type 1, dog cradle type, or limit
switch combined type home position return. In this case, adjusts the in-position range
of servo parameter or position control gain.
6 - 226
6 POSITIONING CONTROL
6.23 High-Speed Oscillation
Positioning of a specified axis is caused to oscillate on a sine wave.
Items set by peripherals
OSC
1
WAIT-ON/OFF
Speed change
Cancel
Allowable error range for circular interpolation
Others
S-curve ratio
Deceleration processing on stop input
Deceleration time
Speed limit value
Acceleration time
Control unit
Frequency
Starting angle
Amplitude
Torque limit value
M-code
Command speed
Dwell time
Address/travel value
Torque limit value
Parameter block
Number of
controllable axes
Axis
Positioning method
Parameter block No.
Servo instruction
OSC
Rapid stop deceleration time
Common
Invalid
: Must be set
: Set if required
[Control details]
The designated axis caused to oscillate on a specified sine wave.
Acceleration/deceleration processing is not performed.
360[degree]
Amplitude
Starting angle
(1) Amplitude
Set the amplitude of the oscillation in the setting units.
The amplitude can be set within the range of 1 to 2147483647.
(2) Starting angle
Set the angle on the sine curve at which oscillation is to start.
The setting range is 0 to 359.9 [degree]
(3) Frequency
Set how many sine curve cycles occur in one minute.
The setting range is 1 to 5000 [CPM].
POINT
Since acceleration/deceleration processing is not performed, you should set the
starting angle to 90 or 270 [degree] in order to avoid an abrupt start.
6 - 227
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.
(5) Speed changes during operation are not possible. Attempted speed changes will
cause minor error [310].
[Program]
An example of a program for high-speed oscillation is shown below.
<K
6>
OSC
Axis
Starting angle
Amplitude
Frequency
6 - 228
1
90.0
1000
100
[degree]
[PLS]
[CPM]
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. During positioning control, these M-codes are read using the Motion SFC
program to check the servo program during operation and to command auxiliary
operations, such as clamping, drill rotation and tool replacement.
(1) Setting of M-codes
M-code can be set using a peripheral device at the creation and correction of the
servo program.
(2) Storage of M-code and read timing
(a) M-codes are stored in the M-code storage register of the axis specified with
the positioning start completion and specified points (at the speed switching
control or constant-speed control).
During interpolation control, the M-codes are stored in all axes which
perform interpolation control.
(b) When the M-code is read at the positioning start completion, use the
positioning start complete signal (M240020n) as the reading command.
7
7-1
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.
At the speed switching control
V
P1 (Speed-switching point)
P2 (Speed-switching point)
P3 (Stop)
t
ON
PLC ready flag (M2000)
OFF
Servo program start
ON
Start accept flag (M2001+n) OFF
ON
Positioning start complete
signal (M2400+20n)
OFF
Positioning complete
signal (M2401+20n)
OFF
ON
M-code
Storage of setting M-code No.
(3) Resetting of M-codes
M-codes can be reset by setting of the M-code output devices to zero.
Use this method during positioning control to perform operations unrelated to the
servo program, such as when it has been difficult to output the M-code during the
previous positioning control.
However, M-code is set55 during the speed switching control or constant-speed
control, the M-code output of the servo program takes priority.
7-2
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
• M-code = 3......................................... Y120 turns on
• M-code = 5......................................... Y121 turns on
• M-code is except for (3 or 5) ............. Y122 turns on
(b) Motion SFC program with the above conditions are shown below.
System Configuration
Q61P Q02H Q172 Q172 QY40
- A CPU CPU LX
(N)
PY000
to
PY00F
Motion SFC program
Reading of M-codes
[F10]
1)
#0=0
#1=0
#2=0
[G30]
D53==5
[F40]
#1=BCD(D53)
DOUT Y110, #1
SET Y121
[F20]
SET M2042
All axes servo ON command
turns on
[G10]
PX000*M2455
Stand by until PX000 and Axis 3
servo ready turns on
[K100] CPSTART1
Axis
Speed
INC-1
Axis
M-code
INC-1
Axis
M-code
INC-1
Axis
M-code
CPEND
1 axis constant-speed control
3
1000PLS/s
3,
200000PLS
3
3,
300000PLS
5
3,
400000PLS
4
P0
[G20]
D53==3
[F30]
#0=BCD(D53)
DOUT Y110, #0
SET Y120
Axis used . . . Axis 3
Speed . . . 1000PLS/s
#2=BCD(D53)
DOUT Y110, #2
SET Y122
[G20]
M-code (3) for axis 3 ?
7-3
(D53==3)+(D53==5)
[F50]
After M-code storage area for axis 3
is changed into BCD code, it is output
to Y110 and Y120 turns on.
1)
After M-code storage area for
axis 3 is changed into BCD code,
it is output to Y110 and Y121
turns on.
M-code (except 3 or 5) for axis 3 ?
[G40]
1 axis linear positioning control
Axis used . . . Axis 3
Positioning . . . 200000PLS
address
M-code output . . . 3
1 axis linear positioning control
Axis used . . . Axis 3
Positioning . . . 300000PLS
address
M-code output . . . 5
1 axis linear positioning control
Axis used . . . Axis 3
Positioning . . . 400000PLS
address
M-code output . . . 4
M-code (5) for axis 3 ?
!M2003
P0
END
After M-code storage
area for axis 3 is
changed into BCD code,
it is output to Y110 and
Y122 turns on.
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.7.1 Backlash compensation amount
(1) Setting of the backlash compensation amount
The backlash compensation amount is one of the fixed parameters, and is set for
each axis using a peripheral device.
The setting range differs according to whether [mm], [inch], [degree] or [PLS]
units are used as shown below.
(a) [mm] units
• 0 to 6553.5
(Backlash compensation amount)
•0
65535[PLS]
(Travel value per PLS)
(Decimal fraction rounded down)
(b) [inch] or [degree] units
• 0 to 0.65535
(Backlash compensation amount)
•0
(Travel value per PLS)
65535[PLS]
(Decimal fraction rounded down)
(c) [PLS] units
• 0 to 65535
•0
(Backlash compensation amount)
(PLS per rotation)
65535[PLS]
(Travel value per rotation)
(Decimal fraction rounded down)
7-4
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.
JOG operation start
Positioning start
Manual pulse generator
operation
Home position return
completion
Absolute position system
• If travel direction is changed at the JOG operation start, the
backlash compensation is executed.
• If travel direction is changed, the backlash compensation is
executed.
• If travel direction is changed, the backlash compensation is
executed.
• The backlash compensation is executed after home position return
completion.
• Status stored at power off and applied to absolute position system.
POINTS
(1) The feed pulses of backlash compensation amount are added to the feed
current value.
(2) When the backlash compensation amount is changed, the home position
return is required.
When the home position return is not executed, the original backlash
compensation amount is not changed.
7-5
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 500[%] of the rated torque.
(2) Setting method of torque limit value
Set the torque limit value is shown below.
(a) Setting in the parameter block (Refer to Section 4.4).
Set the torque limit value in the parameter block.
By setting the parameter block No. used in the servo program, it can be
restricted the generating torque of the servomotor within the specified torque
limit value for every positioning control.
(b) Setting in the servo program
By setting the torque limit value in the servo program, it can be restricted the
generating torque of the servomotor within the specified torque limit value at
the execution of the servo program.
(c) Setting in the Motion SFC program
By executing the torque limit value change request (CHGT) in the Motion
SFC program or operating control step, it can be set the generating torque of
the servomotor within the specified torque control value.
(Refer to the "Q173CPU(N)/Q172CPU(N) Motion controller (SV13/SV22)
Programming Manual (Motion SFC)" for details.
7-6
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.3)
setting at the start
Setting items of the
parameter block
Torque setting from
the pass point
(2) Parameter block
Torque limit value
setting
(3) Operation description
Constant-speed control
V1
P1
P2
0
Torque limit to
the servo amplifier
40000
300[%]
Torque control with
torque limit value
(300[%]) of the parameter
block 3 (P.B.3).
7-7
60000
50[%]
Torque control with
torque limit value
(50[%]) of the servo
program.
Parameter block or torque limit
value specified with the servo
program at the start.
7 AUXILIARY AND APPLIED FUNCTIONS
7.4 Absolute Position System
The positioning control for absolute position system can be performed using the
absolute-position-compatible servomotors and servo amplifiers.
If the machine position is set at the system starting, home position return is not
necessary because the absolute position is detected at the power on.
The machine position is set with the home position return using the Motion SFC
program or a peripheral device.
The vector inverter does not support an absolute position.
(1) Conditions of the absolute position system start
Perform a home position return after machine adjustment at the absolute position
system start.
(2) In the absolute positioning system, the absolute position may be lost in the
following cases:
Set the absolute position with a home position return.
(a) The battery unit is removed or replaced.
(b) The battery error of the servo amplifier occurs. (It is detected at the servo
amplifier power on).
(c) The machine system is disturbed by a shock.
(d) The cable between servo amplifier and encoder is removed, or the servo
amplifier or encoder is replaced.
(3) The current value history can be monitored using of the "System setting modeallowable travel during power off" or "Monitor mode" using a peripheral device.
(Refer to the help of SW6RN-GSV†P for "Allowable travel during power off" and
"Monitor mode".)
CAUTION
After removing or replacing the battery unit, correctly install the new unit and set the absolute
position.
After a servo battery error occurs, eliminate the cause of the error and ensure operation is safe
before setting the absolute position.
After the mechanical system is disturbed by a shock, make the necessary checks and repairs,
and ensure operation is safe before setting the absolute position.
7-8
7 AUXILIARY AND APPLIED FUNCTIONS
POINT
(1) The address setting range of absolute position system is 2147483648 to
2147483647.
It is not possible to restore position commands that exceed this limit, or current
values after a power interruption.
Correspond by the [degree] setting for an infinite feed operation.
(2) Even when the current value address is changed by a current value change
instruction, the restored data for the current value after a power interruption is
the value based on the status prior to execution of the current value change
instruction.
(3) When home position return has not been completed (home position return
request is ON), restoration of the current value after a power interruption is not
possible.
(4) Difference matter at the absolute position erase depending on the version of
operating system software package.
If "Battery error" (absolute position erase) of the servo amplifier error [2025]
occurs depending on the version of operating system software package, it
operates as following.
Operating system software
package version (Note)
Operation
Corrective action
"L" or later
The home position return request signal turns on at the
servo amplifier error [2025] occurrence.
If the servo amplifier power and CPU power turns off to
on without home position return operation, an error
[1201] is erased and the home position return request
signal turns on.
When the home position return request
signal turns on, execute the home position
return again.
Or, when the servo amplifier error [2025] is
detected, execute the home position return
again.
"K" or earlier
When the servo amplifier error [2025] is
The home position return request signal does not turn
detected, execute the home position return
on at the servo amplifier error [2025] occurrence.
If the servo amplifier power and CPU power turns off to again.
on without home position return operation, an error
[1201] is erased and it remains absolute position erase.
(Note): All versions for SV13/SV22 are same.
7-9
7 AUXILIARY AND APPLIED FUNCTIONS
7.4.1 Current Value Control
The current value when using the ABS encoder is controlled by following functions.
(1) The validity of an encoder data during operation is checked.
(a) Checks that the amount of change of the encoder in a 3.5[ms] is within 180
degrees at the motor axis. (An error is displayed at the abnormal.)
(b) Checks that adjustment of the encoder data and feed-back positions
controlled with the servo amplifier. (An error is displayed at the abnormal.)
(2) The following values can be monitored by the current value history using the
peripheral devices.
Monitor conditions
Multiple CPU system power ON/OFF
Home position return completion
Monitor value
Encoder current value,
Servo command value,
Monitor current value
(a) Current value history monitor
Month/day/hour/minute
The time such as at the completion of home position return and servo
amplifier power supply ON/OFF is indicated.
In order to indicate the time correctly, turn on M9028 (clock data read
request) in the Motion SFC program after setting the clock data of
special register.
(b) Encoder current value
The multiple revolution data and within-one-revolution data read from the
encoder is indicated, when using the MR-H BN (22kW or less) [Ver.
BCD-B13W000-B2 or later], MR-J2- B [Ver. BCD-B20W200-A1 or later]
or MR-H BN (30kW or more)/MR-H BN4/MR-J2S- B/MR-J2M-B/MRJ2-03B5 (No restriction),
(Note) : For the encoder current value in the home position data area,
the encoder current value when the motor is within the inposition range at the completion of home position return is
displayed (not encoder value of home position).
(c) Servo command value
The command value issued to the servo amplifier is indicated.
(d) Monitor current value
The current value controlled in the Motion CPU is indicated.
(Note) : A value near the feed current value is indicated. However,
because the monitor current value and feed current value are
different data, it is not abnormal even if a different value is
indicated.
(e) Alarms
When an error for current value restoration occurs at the servo amplifier
power on, an error code is indicated.
7 - 10
7 AUXILIARY AND APPLIED FUNCTIONS
(3) By setting of the "Allowable travel during power off", if the encoder data changes
exceeding the setting range during power-off, it checks at servo amplifier poweron. (An error is displayed at the abnormal.)
7 - 11
7 AUXILIARY AND APPLIED FUNCTIONS
7.5 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".)
• Skip in which disregards stop command
Usually, although an error [
] occurs with the servo program start during the
STOP signal on, if M3209+20n turns on and the servo program starts, the next servo
program starts even if during the STOP signal on.
(1) The procedure for the skip function by the external STOP signal and Motion SFC
program is shown below.
Start
Positioning start using the
servo program
. . . . . . . Positioning does not start if the STOP signal,
stop command (M3200+20n) or rapid stop
command (M3201+20n) turns on.
Turn on the external STOP
signal at the positioning stop
Turn on the external stop input
disable at start command
(M3209+20n)
. . . . . . . Turn M3209+20n on to use the skip function.
(The external STOP signal becomes invalid at the
next positioning start.)
If M3209+20n turns off, the external STOP signal
becomes valid, and if the STOP signal is input,
the positioning does not start.
Start the positioning using the
next servo program after
deceleration stop
End
7 - 12
. . . . . . . Confirm the operation stop with the start accept flag
(M2001 to M2032) turns off.
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.
ON
External stop input disable OFF
at start (M3209+20n)
7 - 13
7 AUXILIARY AND APPLIED FUNCTIONS
7.6 High-Speed Reading of Specified Data
This function is used to store the specified positioning data in the specified device (D,
W). The signal from input module controlled in the Motion CPU is used as a trigger.
It can be set in the system setting of SW6RN-GSV P.
(1) Positioning data that can be set
Word
No.
Unit
Position command (Feed current value)
2
10-1[µm], 10-5[inch], 10-5[degree], [PLS]
Actual current value
2
10-1[µm], 10-5[inch], 10-5[degree], [PLS]
Position droop (Deviation counter value)
2
[PLS]
M-code
1
Torque limit value
1
Motor current
1
[%]
Motor speed
2
[r/min]
Servo command value
2
[PLS]
Virtual servomotor feed current value
2
[PLS]
Synchronous encoder current value
2
[PLS]
Virtual servo M-code
1
Current value after main shaft differential
gear
2
[PLS]
Current value within one revolution of cam
axis
2
[PLS]
Setting data
Execute cam No.
1
Execute stroke amount
2
Optional address (Fixed to 4 bytes)
2
Remarks
[%]
Valid in
SV22 virtual
mode only
10-1[µm] • 10-5[inch] [PLS]
(2) Modules and signals to be used
Input module
Q172EX
Q173PX
PLC input module(Note)
Signal
TREN
PX device
Read timing
Number of settable points
2
0.8[ms]
3
8
(Note): Only one PLC input module can be used.
7 - 14
7 AUXILIARY AND APPLIED FUNCTIONS
7.7 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.
X, Y, M, B, F
[Note]
(1) This function cannot be used in the home position return instruction (ZERO) or
simultaneous start instruction (START).
For details on whether other instructions can be used or not, refer to the servo
instruction list (5.2(2) ).
[Operation timing]
The operation timing for deceleration stop is shown below.
V
Execution of servo program No. K0
Deceleration stop by turning the cancel signal on
Positioning
start
to point A
A
t
ON
PLC ready flag (M2000)
OFF
ON
OFF
All axes servo ON
command (M2042)
ON
OFF
Cancel signal
[Program example]
Motion SFC program is shown bellow.
<K
0>
ABS-1
Axis
Speed
Cancel
1,
7 - 15
30000
5000
X0000
Cancel signal . . . . X0000
7 AUXILIARY AND APPLIED FUNCTIONS
7.7.1 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.
K0
G0
Selective branch
G1
Providing transition G1 with cancel device condition specified
with servo program K0 will cancel to execute of servo program
K0 and allow servo program K1 to start.
K1
7 - 16
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 (M9079) turns on.
• The erroneous servo program is stored in the error program No. storage register
(D9189).
• The error code is stored in the error item information register (D9190).
(2) Positioning error
(a) Positioning errors occurs at the positioning start or during positioning control.
There are minor errors, major errors and servo errors.
1) Minor errors…… These errors occur in the Motion SFC program or servo
program, and the error codes 1 to 999 are used.
Check the error code, and remove the error cause by
correcting the Motion SFC program or servo program.
2) Major errors…… These errors occur in the external input signals or
control commands from the Motion SFC program, and
the error codes 1000 to 1999 are used.
Check the error code, and remove the error cause of
the external input signal state or Motion SFC program.
3) Servo errors ..… These errors detected in the servo amplifier, and the
error codes 2000 to 2999 are used.
Check the error code, and remove the error cause of
the servo amplifier side.
APP - 1
APP.
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 1.1 Error code storage registers, error detection signals
Device
Error code storage register
Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Error class
Error
detection
signal
Minor error
D6
D26
D46
D66
D86 D106 D126 D146 D166 D186 D206 D226 D246 D266 D286 D306
Major error
D7
D27
D47
D67
D87 D107 D127 D147 D167 D187 D207 D227 D247 D267 D287 D307
Servo error
D8
D28
D48
D68
D88 D108 D128 D148 D168 D188 D208 D228 D248 D268 D288 D308 M2408+20n
Device
Error code storage register
M2407+20n
Error
detection
signal
Error class
Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
Minor error
D326 D346 D366 D386 D406 D426 D446 D466 D486 D506 D526 D546 D566 D586 D606 D626
Major error
D327 D347 D367 D387 D407 D427 D447 D467 D487 D507 D527 D547 D567 D587 D607 D627
Servo error
D328 D348 D368 D388 D408 D428 D448 D468 D488 D508 D528 D548 D568 D588 D608 D628 M2408+20n
M2407+20n
(Note): The range of axis No. 1 to 8 is valid in the Q172CPU(N).
(c) If another error occurs after an error code has been stored, the existing error
code is overwritten, deleting it.
However, the error history can be checked using a peripheral device started
with the SW6RN-GSV13P/GSV22P software.
(d) Error detection signals and error codes are held until the error code reset
command (M3207+20n) or servo error reset command (M3208+20n) turns
on.
POINTS
(1) Even if the servo error reset (M3208+20n) turns on at the servo error
occurrence, the same error code might be stored again.
(2) Reset the servo error after removing the error cause of the servo amplifier side
at the servo error occurrence.
APP - 2
APPENDICES
APPENDIX 1.1 Servo program setting errors (Stored in D9190)
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 D9190
1
n03
(Note)
Error name
6
7
Error processing
Parameter block No. The parameter block No. is outside Execute the servo program
setting error
the range of 1 to 64.
with the default value "1" of
parameter block.
(1) Positioning control does
Address (travel
(1) The address is outside the
not start. (All interpolation
value) setting error
setting range at the positioning
control at the interpolation
(Except the speed
start for absolute data method.
control.)
control and
(2)
If
the error is detected
speed/position
Unit Address setting range
during the speedcontrol.)
0 to
10–5
switching control or
(Setting error for
degree
35999999
[degree]
constant-speed control, a
linear axis at the
deceleration stop is
helical-interpolation.)
made.
(2) The travel value is set to
-2147483648 (H80000000) at (3) If an error occurs in one
servo program, all servo
the positioning start for
programs do not execute
incremental data method.
during the simultaneous
start.
Command speed
(1) Positioning control does
(1) The command speed is
error
not start if the command
outside the range of 1 to the
speed is "0" or less.
speed limit value.
(2) The command speed is outside (2) If the command speed
exceeds the speed limit
the setting range.
value, control with the
speed limit value.
Unit
Speed setting range
Corrective action
Set the parameter block No.
within the range of 1 to 64.
(1) If the control unit is
[degree], set the address
within the range of 0 to
35999999.
(2) Set the travel value within
the range of "0 to (231-1)".
Set the command speed within
the range of 1 to the speed
limit value.
1 to
10-2
600000000 [mm/min]
1 to
10-3
inch
600000000 [inch/min]
10-3
1 to
degree
[degree
2147483647
/min]
1 to
[PLS/s]
PLS
10000000
mm
4
5
Error contents
Dwell time setting
error
The dwell time is outside the
range of 0 to 5000.
M-code setting error The M-code is outside the range
of 0 to 32767.
Torque limit value
The torque limit value is outside
setting error
the range of 1 to 500.
APP - 3
Control with the default value Set the dwell time within the
"0".
range of 0 to 5000.
Control with the default value
"0".
Control with the torque limit
value of the specified
parameter block.
Set the M-code within the
range of 0 to 32767.
Set the torque limit value
within the range of 1 to 500.
APPENDICES
Table 1.2 Servo program setting error list (Continued)
Error code
stored in D9190
n08
n09
N10
(Note)
(Note)
(Note)
11
12
13
14
15
Error name
Error contents
Error processing
Corrective action
Auxiliary point
(1) The auxiliary point address is
Positioning control does not
setting error
outside the setting range at the start.
(At the auxiliary
positioning start for absolute
point-specified
data method.
circular
interpolation. )
Unit Address setting range
(At the auxiliary
0 to
10-5
point-specified
degree
35999999 [degree]
helical nterpolation.)
(1) If the control unit is
[degree], set the auxiliary
point address within the
range of 0 to 35999999.
(2) The auxiliary point address is
set to -2147483648
(H80000000) at the positioning
start for incremental data
method.
Radius setting error (1) The radius is outside the setting Positioning control does not
range at the positioning control start.
(At the radiusfor absolute data method.
specified circular
interpolation.)
(At the radiusUnit Address setting range
specified helical
0 to
10-5
degree
interpolation.)
35999999 [degree]
(2) Set the auxiliary point
address within the range of
0 to (231-1).
(2) The radius is set to "0" or
negative setting at the
positioning start for incremental
data method.
Positioning control does not
Central point setting (1) The central point address is
outside the setting range at the start.
error
positioning start for absolute
(At the central pointdata method.
specified circular
interpolation.)
(At the central pointUnit Address setting range
specified helical
0 to
10-5
degree
interpolation.)
35999999 [degree]
(2) The central point is set to
-2147483648 (H80000000) at
the positioning start for
incremental data method.
Interpolation control The interpolation control unit is set
unit setting error
outside the range of 0 to 3.
Speed limit value
The speed limit value is set
setting error
outside the setting range.
(1) If the control unit is
[degree], set the radius
within the range of 0 to
35999999.
(2) Set the radius within the
range of 1 to (231-1).
(1) If the control unit is
[degree], set the central
point address within the
range of 0 to 35999999.
(2) Set the central point
address within the range of
0 to (231-1).
Set the interpolation control
unit within the range of 0 to 3.
Set the speed limit value within
the setting range.
[For PLS]
1 to 10000000[PLS/s]
Acceleration time
The acceleration time is set to "0". Control with the default value Set the acceleration time
setting error
within the range of 1 to 65535.
"1000".
The FIN acceleration/deceleration
Set the FIN acceleration/
FIN acceleration/
deceleration time within the
deceleration setting time is set except 1 to 5000.
range of 1 to 5000.
error
Deceleration time
The deceleration time is set to "0".
Set the deceleration time
setting error
within the range of 1 to 65535.
Rapid stop
deceleration time
setting error
Control with the default value
"3".
Control with the default value
200000[PLS/s].
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.
APP - 4
APPENDICES
Table 1.2 Servo program setting error list (Continued)
Error code
stored in D9190
16
Error name
Error contents
Error processing
Corrective action
Torque limit value
setting error
Allowable error
range for circular
interpolation setting
error
The torque limit value is outside
the range of 1 to 500.
The allowable error range for
circular interpolation is outside the
setting range.
Control with the default value
"300[%]".
Control with the default value
"100[PLS]".
Set the torque limit value
within the range of 1 to 500.
Set the allowable error range
for circular interpolation within
the setting range.
Unit
17
mm
inch
degree
PLS
18
Repeat count error
START instruction
setting error
19
20
21
22
23
24
25
26
Address setting range
[µm]
0 to
100000
10-5 [inch]
10-5
[degree]
[PLS]
The repeat count is outside the
range of 1 to 32767.
(1) The servo program specified
with the START instruction
does not exist.
(2) There is a START instruction in
the specified servo program.
(3) The starting axis of the
specified servo program
overlap.
Point setting error
Point is not specified in the
instruction at the constant-speed
control.
Reference axis
The axis except interpolation axis
speed setting error is set as the reference axis at the
linear interpolation of the reference
axis speed-specified method.
S-curve ratio setting S-curve ratio is set outside the
error
range of 0 to 100[%] at the S-curve
acceleration/deceleration.
VSTART setting
Not even one speed-switching
error
point has been set between a
VSTART and VEND instruction, or
between FOR and NEXT
instruction.
The start program No. for the
Cancel function
cancel function is set outside the
start program No.
range 0 to 4095.
error
Operation cannot be started
High-Speed
oscillation command because the amplitude specified
with the high-speed oscillation
amplitude error
function is outside the range 1 to
2147483647.
High-Speed
Operation cannot be started
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]).
APP - 5
Control the repeat count with Set the repeat count within the
"1".
range of 1 to 32767.
Positioning control does not (1) Create the servo program
specified with the START
start.
instruction.
(2) Delete the servo program
specified with the START
instruction.
(3) Do not overlap the starting
axis.
Positioning control does not
start.
Set a point between CPSTART
and CPEND.
Positioning control does not
start.
Set one of the interpolation
axes as the reference axis.
Control the S-curve ratio with Set the S-curve ratio within the
100[%].
range of 0 to 100[%].
Positioning control does not
start.
Set the speed switching point
between the VSTART and
VEND instructions or the FOR
and NEXT instructions.
Positioning control does not
start.
Start after set the start
program No. within the range
of 0 to 4095.
Start after set the command
amplitude within the range of 1
to 214783647.
Positioning control does not
start.
Positioning control does not
start.
Start after set the starting
angle within the range of 0 to
3599 ( 0.1 [degree]).
APPENDICES
Table 1.2 Servo program setting error list (Continued)
Error code stored
in D9190
27
28
900
901
902
903
904
905
906
Error name
Operation cannot be started
because the frequency specified
with the high-speed oscillation
function is outside the range of 1
to 5000[CPM].
Number of helical The specified number of pitches of
interpolation
helical interpolation is outside the
pitches error
range of 0 to 999.
START instruction The servo program specified with
setting error
the servo program start does not
exist.
START instruction The axis No. set in the servo
setting error
program start is different from the
axis No. set in the servo
program.
Servo program
The instruction code cannot be
instruction code
decoded.
error
(A non-existent instruction code
has been specified.)
Start error
A virtual mode program was
started in the real mode.
Start error
A real mode program was started
in the virtual mode.
Start error
Operation disable instructions
(VPF, VPR, VPSTART, ZERO,
VVF, VVR, OSC) was started in
virtual mode.
Operation disable instructions
(ZERO, OSC, CHGA-C, CHGAE) was started in real mode axis.
Operation disable instructions
(CHGA-C, CHGA-E) from the
S(P).SVST instruction of Motion
dedicated instruction was started.
Axis No. setting
Unused axis of the system
error
setting is set in the Motion SFC
program set in the servo program
start.
It was started by setting the real
mode axis in the virtual servo
program.
It was started in the condition that
the real mode axis had been
mixed with virtual axis in the
interpolation axis.
It was started by setting the
virtual axis in the real mode
program in virtual mode.
High-Speed
oscillation
command
frequency error
Start error
It was started during processing
for switching from real mode to
virtual mode.
Start error
It was stated during processing
for switching from virtual mode to
real mode.
907
908
Error contents
APP - 6
Error processing
Corrective action
Positioning control does not Start after set the frequency
start.
within the range of 1 to
5000[CPM].
Positioning control does not Set the specified number of
start.
pitches within the range of 0 to
999.
Positioning control does not Set the correct servo program
start.
No..
Positioning control does not Set the correct axis No.
start.
Positioning control does not Set the correct instruction
start.
code.
Positioning control does not Check the program mode
start.
allocation.
Positioning control does not
start.
Positioning control does not Correct the servo program.
start.
Use the S(P).CHGA instruction
of Motion dedicated nstruction.
Positioning control does not Set the axis No. set in the
start.
system setting or mechanical
system program.
Positioning control does not Use M2043 (real/virtual mode
start.
switching request), M2044
(real/virtual mode switching
status) as interlocks for start.
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.
Table 1.3 Setting data error (1 to 99) list
Error
code
21
22
23
24
25
Erroneous
data
Error
processing
Corrective action
Check timing
Error cause
Home position return start
of the count, proximity
dog, data set, dog cradle,
stopper and limit switch
combined type
The home position address is
outside the range of 0 to
35999999 ( 10–5[degree]) with
degree axis.
Set the home position address
within the setting range using a
peripheral device.
The home position return speed
is outside the range of 1 to
speed limit value.
Set the home position return speed
or less to the speed limit value
using a peripheral device.
The creep speed is outside the
range of 1 to home position
return speed.
Set the creep speed below to the
home position return speed or less
using a peripheral device.
The travel value after the
Home position
proximity dog ON is outside the
return is not
range of 0 to (231-1) ( unit).
started.
The parameter block No. is
outside the range of 1 to 64.
Set the travel value after the
proximity dog ON within the setting
range using a peripheral device.
Home position return start
of the count, proximity
dog, dog cradle, stopper
and limit switch combined
type
Home
Home position return start
position
of the count type
return data
Home position return start
of the count, proximity
dog, dog cradle, stopper
and limit switch combined
type
Set the parameter block No. within
the setting range using a peripheral
device.
26
Torque limit value at the creep
Home position return start
speed is outside the range of 1
of the stopper type
to 500[%].
Set the torque limit value at the
creep speed within the setting
range using a peripheral device.
27
Dwell time at the home position
Home position return start
return is outside the range of 0
of the usable retry
to 5000[ms].
function
Set the dwell time at the home
position return retry within the
setting range using a peripheral
device.
The interpolation control unit of
the parameter block is different
from the control unit of the fixed
parameters.
Control with the Set the same control unit of the
fixed parameters and servo
control unit of
parameters.
the fixed
parameters.
40
Parameter
Interpolation control start
block
POINT
When the interpolation control unit of parameter block is different from the control
unit of fixed parameters, an error code may not be stored with the combination of
units.
Refer to Section 6.1.4 for details.
APP - 7
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 1.4 Positioning control start error (100 to 199) list
Error cause
Error
processing
Corrective action
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
• The PLC ready flag (M2000) or
PCPU ready flag (M9074) is OFF.
• Set the Motion CPU to RUN.
• Turn the PLC ready flag
(M2000) on.
• The start accept flag (M2001 to
M2032) for applicable axis is ON.
• Take an interlock in the
program not to start the
starting axis. (Use the start
accept flag OFF of the
applicable axis as the starting
condition).
103
• The stop command (M3200+20n)
for applicable axis is ON.
• Turn the stop command
(M3200+20n) off and start.
104
• The rapid stop command
(M3201+20n) for applicable axis
is ON.
• Turn the rapid stop command
(M3201+20n) off and start.
• Positioning is outside the range of
stroke limit.
• Perform the positioning within
the range of stroke limit.
• The address that does not
generate an arc is set at the
auxiliary point-specified circular
interpolation or auxiliary pointspecified helical interpolation.
• Correct the addresses of the
servo program.
100
101
105
(Note)
106
(Note)
107
Positioning
• Set within the stroke limit
• The feed current value is outside control
does not
range by the JOG operation.
the range of stroke limit at the
start.
• Set within the stroke limit
start.
range by the home position
return or current value
change.
Relationship between the
start point, auxiliary point
and end point.
(Note): These errors are stored the error codes of the all applicable interpolation axes at the interpolation operation.
APP - 8
APPENDICES
Table 1.4 Positioning control start error (100 to 199) list (Continued)
108
(Note)
Error cause
Error
processing
Corrective action
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
• Correct the addresses of the
servo program.
• The address that does not
generate an arc is set at the R
(radius) specified circular
interpolation R (radius) specified
helical interpolation.
Relationship between the
start point, radius and end
point.
109
• The address that does not
generate an arc is set at the
central point-specified circular
interpolation or central pointspecified helical interpolation.
Relationship between the
start point, central point
and end point.
110
Positioning
• The difference between the end
control
point address and ideal end
does not
point is outside the allowable
start.
error range for circular
interpolation at the circular
interpolation.
111
• The speed/position control
restarting was performed,
although it was not after stop
during operation of the
speed/position switching control.
• Do not re-start except the stop
during speed/position switching
control.
• The home position return
complete signal (M2410+20n)
turned on at the home position
return of proximity dog, dog
cradle and stopper type.
• Do not start continuously for the
home position return.
Return to a point before the
proximity dog signal ON by JOG
operation or positioning
operation, etc., and perform the
home position return.
(Note)
115
• The setting JOG speed is "0".
116
• The setting JOG speed
exceeded the JOG speed limit
value.
Control
with the
JOG
speed limit
value.
• Set the correct speed (within the
setting range).
(Note): These errors are stored the error codes of the all applicable interpolation axes at the interpolation operation.
APP - 9
APPENDICES
Table 1.4 Positioning control start error (100 to 199) list (Continued)
117
118
120
121
140
141
Error cause
Error
processing
Corrective action
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
• Both of forward and reverse
rotation were set at the
simultaneous start for the JOG
operation.
• Set a correct data.
Only the
applicable
axis set to
the
forward
direction
starts.
Positioning • Set the speed-switching point
control
before the end address.
• The address of the positioning in does not • Set the forward direction
adddress.
the reverse direction is not set. start.
• The speed-switching point
exceeded the end address.
• ZCT not set
The zero pass signal
(M2406+20n) turned off at the
re-travel at the home position
return for proximity dog, count
and limit switch combined type
or start in the home position
return for data set type.
• When "Not execute servo
program" is selected in the
operation setting for incompletion
of home position return, the
home position return request
signal (M2409+20n) turns on.
Home
position
return is
not
completed
correctly.
• Execute the home position
return after the zero point
passed.
• Execute servo program after
home position return.
• In the system which enables
execution of servo program even
if the home position return
request signal (M2409+20n)
turns on, set "Execute servo
program" as "operation setting
for incompletion of home position
return".
• Do not set axis of travel value
• The travel value of the reference
"0" as the reference axis.
axis is set at "0" in the linear
interpolation for reference axis Positioning
control
specification.
• The position command device of does not • Set the even number for the
position command device of
position follow-up control is set start.
position follow-up control.
the odd number.
• Set the external input signal in
the system setting.
142
• 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.
151
• Not allowed axis started in the
virtual mode. (It cannot be
started with error at the for
switching from real mode to
virtual mode.
• Start in the virtual mode again
after correct the error cause in
the real mode.
APP - 10
APPENDICES
Table 1.4 Positioning control start error (100 to 199) list (Continued)
Error cause
Error
processing
Corrective action
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
152
• It started at the virtual mode and
during deceleration by all axes
servo OFF (M2042 OFF).
153
• It started at the virtual mode and
during deceleration by
occurrence of the output module
servo error.
APP - 11
• Start in the virtual mode again
after correct the error cause in
Positioning
the real mode.
control
does not
start.
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 1.5 Positioning control error (200 to 299) list
200
201
202
203
204
Error cause
Error
processing
Corrective action
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
• Turn the PLC ready flag
(M2000) on after all axes have
stopped.
• The PLC ready flag (M2000)
turned off during the control by
the servo program.
• The PLC ready flag (M2000)
turned off during the home
position return.
• Perform the home position
return again after turning the
Decelera- PLC ready flag (M2000) on or
tion stop
turning the stop command
(M3200+20n) or rapid stop
command (M3201+20n) off.
• The stop command
(M3200+20n) turned on during
the home position return.
• The rapid stop command
(M3201+20n) turned on during
the home position return.
• The PLC ready flag (M2000)
turned off to on again during
deceleration by turning off the
PLC ready flag (M2000).
APP - 12
Rapid stop
No
operation
Return to a point before the
proximity dog signal ON
using JOG operation or
positioning operation, and
perform the home position
return again in the proximity
dog type.
• Turn the PLC ready flag
(M2000) off to on after all axes
have stopped.
Turn the PLC ready flag
(M2000) off to on during
deceleration is "no
operation".
APPENDICES
Table 1.5 Positioning control error (200 to 299) list (Continued)
Error cause
Error
processing
Corrective action
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
• All axes rapid stop ([Back Space]
key input) is executed using the
test mode of a peripheral device
during the home position return.
206
• Return to a point before the
proximity dog signal ON using
JOG operation or positioning
operation, and perform the
home position return again in
the proximity dog type.
• Return to a point before the
proximity dog signal ON using
JOG operation or positioning
Rapid stop
operation, and perform the
home position return again,
when the proximity dog signal
turns off in the count type.
Perform the home position
return operation again,
when the proximity dog
signal turns on in the count
type.
207
• The feed current value
exceeded the stroke limit range
during positioning control. Only
the axis exceed the stroke limit
range is stored at the
circular/helical interpolation.
All interpolation axes are stored
in the linear interpolation.
208
• The feed current value of
another axis exceeded the
stroke limit value during the
Deceleracircular/helical interpolation
tion stop
control or simultaneous manual
pulse generation operation. (For
detection of other axis errors).
209
• An overrun occurred because
the setting travel value is less
than the deceleration distance at
the speed/position switching
(CHANGE) signal input during
speed/position switching control,
or at the proximity dog signal
input during home position
return of count type.
APP - 13
• Correct the stroke limit range or
travel value setting so that
positioning control is within the
range of the stroke limit.
• Set the speed setting so that
overrun does not occur.
• Set the travel value so that
overrun does not occur.
APPENDICES
Table 1.5 Positioning control error (200 to 299) list (Continued)
Error cause
210
• The setting travel value exceeded
the stroke limit range at the
speed/position switching
(CHANGE) signal input during
the speed/position switching
control.
211
• During positioning control, an
overrun occurred because the
deceleration distance for the
output speed is not attained at
the point where the final
positioning address was
detected.
214
Error
processing
• The manual pulse generator was
enabled during the start of the
applicable axis, the manual pulse
generator operation was
executed.
• Correct the stroke limit range or
setting travel value so that
positioning control is within the
range of stroke limit.
Decelera• Set the speed setting so that
tion stop
overrun does not occur.
• Set the travel value so that
overrun does not occur.
• Execute the manual pulse
Manual
generator operation after the
pulse
applicable axis stopped.
generator
input is
ignored
until the
axis stops.
• The speed switching point
address exceed the end point
address.
215
• The positioning address in the
Rapid stop
reverse direction was set during
the speed switching control.
• The same servo program was
executed again.
220
Corrective action
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
• When the control unit is
"degrees" during the position
follow-up control, the command
address exceeded the range of
0 to 35999999.
• The command address for the
position follow-up control
exceeded the stroke limit range.
• Set the speed-switching point
between the previous speed
switching point address and the
end point address.
• Correct the Motion SFC
program.
• When the control unit is
"degree", set the command
Decelera- address within the range of 0 to
35999999.
tion stop
(M2001+n
OFF)
• Set the address within the
stroke limit range.
• Set the speed command value
Control
within the range of 1 to speed
with the
speed limit limit value.
value.
225
• The speed at the pass point
exceeded the speed limit value
during the constant-speed
control.
230
• Execute the absolute linear
• When the skip is executed in the
interpolation after a point which
constant-speed control, the next
Immediate
make a skip.
interpolation instruction is an
stop
absolute circular interpolation or
absolute helical interpolation.
APP - 14
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 1.6 Current value/speed change error (300 to 399) list
Error cause
• The current value was changed
during positioning control of the
applicable axis.
300
Error
processing
Corrective action
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
• The current value was changed
for the axis that had not been
started.
• The current value was changed
for the servo OFF axis.
Current
value is
not
changed.
• Use the following devices as
interlocks not to change the
current value for the applicable
axis.
(1) The start accept flag (M2001
to M2032) OFF for applicable
axis.
(2) The servo READY signal
(M2415+20n) ON.
301
• The speed was changed for the
axis during home position return.
• Do not change speed during
home position return.
302
• The speed was changed for the
axis during circular interpolation.
• Do not change speed during
circular interpolation.
303
• The speed was changed after
positioning automatic
deceleration start.
304
• The speed was changed during
deceleration by turning off the
JOG start command signal
(M3202+20n, M3203+20n).
305
• Set the speed after speed
• The speed after speed change is
change within the range of 0 to
Control
set outside the range of 0 to
speed limit value.
with the
speed limit value.
• The absolute value of speed after speed limit • Set the absolute value of speed
after speed change within the
speed change is set outside the value.
range of 0 to speed limit value.
range of 0 to speed limit value.
APP - 15
Speed is
not
changed.
• Do not change speed after
automatic deceleration start for
positioning control.
• Do not change speed during
deceleration by turning off the
JOG start command signal
(M3202+20n, M3203+20n).
APPENDICES
Table 1.6 Current value/speed change error (300 to 399) list (Continued)
Error cause
Error
processing
Corrective action
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
• The current value was changed
outside the range of 0 to
35999999 ( 10-5[degrees]) for
the degree axis.
309
• The speed was changed during
high-speed oscillation.
310
• The speed change to "0" was
requested during high-speed
oscillation.
Current
value is
not
changed.
Speed is
not
changed.
• Set the current value within the
range of 0 to 35999999
( 10-5[degree]).
• Do not change speed during
high-speed oscillation.
• Set the change request within
• The value outside the range of 1
the range of 1 to 500[%].
to 500[%] was set in the torque
Torque
limit value change request
limit value
(CHGT).
is not
• Request the change for the
• The torque limit value change
starting axis.
request (CHGT) was made for changed.
the axis that had not been
started.
311
312
(5) System errors (900 to 999)
Table 1.7 System error (900 to 999) list
900
901
Error cause
Error
processing
Corrective action
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
• Correct the motor type setting in
• The motor type set in the
the system settings.
"system settings" differs from the
motor type installed at the
turning on the servo amplifier.
(Check when MR-J2S- B/
Further
MR-J2- B is used only.)
operation
• Check the position.
• The motor travel value while the
is possible.
• Check the battery of encoder.
power is off exceeded the
"System setting mode-allowable
travel value during power off" set
in the system settings at the
turning on of the servo amplifier.
APP - 16
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 and
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.
Table 1.8 Positioning control start error (1000 to 1099) list
Error cause
Error
processing
Corrective action
OSC
Position follow-up control
Home position return
Manual pulse generator
JOG
Constant-speed
Speed switching
Speed/position switching
Speed
Fixed-pitch feed
Error
code
Positioning
Control mode
1000
• The external STOP signal of the
applicable axis turned on.
• Turn the STOP signal off.
1001
• The external signal FLS (upper
limit LS) turned off at the forward
direction (address increase
direction) start.
• Move in the reverse direction by
the JOG operation, etc. and set
within the external limit range.
1002
• The external signal RLS (lower
limit LS) turned off at the reverse
direction (address decrease
direction) start.
• Move in the forward direction by
the JOG operation, etc. and set
within the external limit range.
1003
1004
1005
• The external DOG (proximity
dog) signal turned on at the
home position return start of the
proximity dog type.
• The applicable axis is not servo
READY state.
(M2415+20n: OFF).
(1) The power supply of the servo
amplifier is OFF.
(2) During initial processing after
turning on the servo amplifier.
(3) The servo amplifier is not
installed.
(4) A servo error is occurred.
(5) Cable fault.
(6) Servo OFF command
(M3215+20n) is ON.
• The servo error detection signal
of the applicable axis
(M2408+20n) turned on.
APP - 17
• Perform the home position return
after move to the proximity dog
ON by the JOG operation, etc.
at the home position return of
Positioning the proximity dog type.
• Wait until the servo READY
control
state (M2415+20n: ON).
does not
start.
• Eliminate the servo error, reset
the servo error detection signal
(M2408+20n) by the servo error
reset command (M3208+20n),
then start operation.
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 1.9 Positioning control error (1100 to 1199) list
1101
1102
1103
1104
1105
Error cause
• The external signal FLS (upper
limit LS) turned off during the
forward direction (address
increase direction).
• The external signal RLS (lower
limit LS) turned off during the
reverse direction (address
decrease direction).
• The external STOP signal (stop
signal) turned on during home
position return of proximity dog
type.
Corrective action
Deceleration stop by
"Stop
processing
on STOP
input" of the
parameter
block.
• Travel in the reverse direction
by the JOG operation, etc. and
set within the external limit
range.
• Travel in the forward direction
by the JOG operation, etc. and
set within the external limit
range.
• Perform the home position
return after move to the
proximity dog ON by the JOG
operation, etc. at the home
position return of the proximity
dog type.
• Start after disposal at the servo
error.
• The servo error detection signal Immediate
turned on during positioning
stop
control.
without
decelerating.
• Turn on the power supply of the
• The power supply of the servo
servo amplifier.
amplifier turned off during
• Check the connecting cable to
positioning control. (Servo not
the servo amplifier.
installed status detection, cable Turn the
servo
• Make the gain adjustment.
fault, etc.)
READY
• Home position return did not
complete normally without stop (M2415+
20n) off.
within the in-position range of
home position at the home
position return.
• Q172EX or encoder hardware
error.
• Disconnected encoder cable.
1151
Error
processing
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
• A synchronous encoder set in
the system setting differs from a
synchronous encoder actually
connected.
• Q170ENC is connected to
Q172EX/Q172EX-S1.
• Operating system software
incompatible with the
synchronous encoder Q170ENC
is installed to the Motion CPU.
APP - 18
Immediate
input stop
Input from
synchronous
encoder
does not
accept.
• Check (replace) the Q172EX or
encoder.
• Check the encoder cable.
• Set a synchronous encoder
actually connected in the
system setting.
• Use Q172EX-S2, Q172EX-S3
to connect Q170ENC.
• Change the operating system
software compatible with the
synchronous encoder
Q170ENC.
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 1.10 Absolute position system error (1200 to 1299) list
1201
1202
1203
1204
Error
processing
Error cause
Corrective action
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
• A sum check error occurred with
the backup data in the controller
at the turning on servo amplifier
power supply.
• Home position return was not
performed.
• CPU module battery error.
• Home position return started but
did not complete normally.
• A communication error between
the servo amplifier and encoder
occurred at the turning on servo
amplifier power supply.
• Check the battery and execute
a home position return.
Home
position
return
request ON
• Check the motor and encoder
Home
cables and execute a home
position
position return again.
return
request
ON, servo
error [2016]
set.
• The amount of change of the
• Check the motor and encoder
encoder current value became
cables.
the following expression during
operation: "Amount of change in
encoder current value/3.5[ms] >
180° of motor revolution"
A continual check is performed
Home
(both of servo ON and OFF
states) after the servo amplifier position
return
power has been turned ON.
• The following expression holds: request ON
"Encoder current value [PLS]
feedback current value [PLS]
(encoder effective bit number)"
during operation.
A continual check is performed
(both of servo ON and OFF
states) after the servo amplifier
power has been turned on.
(Note-1)
(Note-1): SW6RN-SV13Q /SV22Q
APP - 19
(Ver.00N or later).
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 1.11 System error (1300 to 1399) list
1310
Error cause
Error
processing
Corrective action
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
• Initial communication with the
Multiple CPU system did not
complete normally.
• Motion CPU fault.
APP - 20
Positioning • Replace the Motion CPU.
control
does not
start.
APPENDICES
APPENDIX 1.4 Servo errors
(1) Servo amplifier errors (2000 to 2799)
These errors are detected by the servo amplifier, and the error codes are [2000]
to [2799].
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
[2499] are for warnings.)
(Note-1): As for the excessive regeneration (error code [2030]) or overload 1 or 2
(error codes [2050], [2051]), the state at the operation is held also for
after the protection circuit operation in the servo amplifier. The memory
contents are cleared with the external power supply off, but are not
cleared by the reset signal.
(Note-2): If resetting by turning off the external power supply is repeated at the
occurrence of error code [2030], [2050] or [2051], it may cause devices
to be destroyed by overheating. Re-start operation after eliminating the
cause of the error certainly.
(2) Vector inverter errors (2300 to 2799)
These errors are detected by the vector inverter, and the error codes are [2300]
to [2799].
The servo error detection signal (M2408+20n) turns on at the vector inverter 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 [2499] are for
warnings.)
Details of servo errors are shown in Table 1.12.
CAUTION
If a controller, servo amplifier or vector inverter self-diagnosis error occurs, check the points
stated in this manual and clear the error.
APP - 21
APPENDICES
Table 1.12 Servo error (2000 to 2799) list
Error
code
Error cause
Name
Error check
Description
• Interruption of 15[ms] or longer
occurred.
Any time during
operation
2013 Clock error
• Servo amplifier clock fault.
2014 Watchdog
• Servo amplifier hardware fault.
• Multiple CPU system hardware fault.
• Servo amplifier
power on.
• Multiple CPU
system power on.
• Replace the servo amplifier.
Any time during
operation
• Replace the servo amplifier.
• Replace the Multiple CPU
system.
2015 Memory error 2 • Servo amplifier EEPROM fault.
• Replace the servo amplifier.
• Fault in communication with the
encoder.
• Servo amplifier
power on.
• Multiple CPU
system power on.
2016 Encoder error 1
2017 PCB error
• Faulty device in the servo amplifier
PCB.
2019 Memory error 3
• Check sum error of the servo
amplifier flash ROM.
2020 Encoder error 2
Converter RD
off (400VAC
2021
series servo
only)
2021
(Note-1)
Axis set error
• Monitor with an oscilloscope to
check whether a momentary
power interruption has occurred.
• Review the power capacity.
• The power supply voltage dropped at
the start, etc. due to the insufficient
power capacity.
• Servo amplifier SRAM fault.
• Servo amplifier EPROM check sum
2012 Memory error 1
error.
Corrective action
• Measure the input voltage (R, S,
T) with a voltmeter.
• The power supply voltage is 160VAC
or less. (320VAC or less for 400VAC
series servo amplifier.)
2010 Low voltage
Error
processing
• Check the encoder cable
connector for disconnection.
• Replace the servomotor.
Immediate
• Replace the encoder cable.
stop
• Check the combination of
encoder cable type (2-wire/4wire type) and servo parameter.
• Replace the servo amplifier.
• Fault in communication with the
encoder.
• Check the encoder cable
connector for disconnection.
• Replace the servomotor.
• Replace the encoder cable.
• The servo-on (SON) signal turned on
when the ready signal (RD) turned off
of the converter.
1. Bus voltage is low.
2. Alarm occurrence in Fault in
communication with the encoder
converter.
• Remove the cause of the
converter alarm.
• Release the alarm.
Any time during
operation
• The servo amplifier axis No. installed
the same base unit for the servo
amplifier overlapped.
APP - 22
• Set correctly so that the axis No.
does not overlap.
APPENDICES
Table 1.12 Servo error (2000 to 2799) list (Continued)
Error
code
Error cause
Name
2022 Base unit bus
error 1
(Note-1)
2023 Base unit bus
error 2
(Note-1)
Error check
Description
Output ground
fault
Corrective action
• Interface unit (MR-J2M-P8B) for servo
amplifier connection fault.
• Connect the interface unit (MRJ2M-P8B) for servo amplifier to
the base unit (MR-J2M-BU ) for
servo amplifier correctly.
• Interface unit (MR-J2M-P8B) for servo
amplifier fault.
• Replace the interface unit (MRJ2M-P8B) for servo amplifier.
• Base unit (MR-J2M-BU ) for servo
amplifier fault.
• Replace the base unit (MR-J2MBU ) for servo amplifier.
• Servo amplifier connection fault.
• Connect the servo amplifier to
the base unit (MR-J2M-BU ) for
servo amplifier correctly.
• Servo amplifier fault.
Any time during
operation
• Base unit (MR-J2M-BU ) for servo
amplifier fault.
2024
Error
processing
• Replace the servo amplifier.
Immediate
• Replace the base unit (MR-J2Mstop
BU ) for servo amplifier.
• U, V, or W of the servo amplifier
output grounded.
• Check whether the servomotor
has short-circuited.
• Correct the U, V, W wiring of the
servo amplifier.
• Replace the servomotor.
• Servo amplifier connection fault.
• Connect the servo amplifier to
the base unit (MR-J2M-BU ) for
servo amplifier correctly.
2024 Servo amplifier
mounting error • Base unit (MR-J2M-BU ) for servo
amplifier fault.
(Note-1)
• Replace the servo amplifier.
• Replace the servo amplifier.
• Faulty parts in servo amplifier.
• The voltage of the supercapacitor
inside the absolute position encoder
has dropped.
Immediate
stop
• Servo amplifier
power on.
• Multiple CPU
system power on.
Battery error
2025 (Absolute
• The battery voltage is low.
position erase)
• Battery cable or battery fault.
(Home position return must be reexecuted after release of the error.)
Home
position
return
request
ON
(Note-1)
• Turn the power on for 2 to 3
minutes to charge the
supercapacitor, switch the power
off to on again, and set the
home position return.
• Turn the servo amplifier power
off, then measure the battery
voltage.
• Replace the battery of the servo
amplifier.
(Note-1): MR-J2M-B only
APP - 23
APPENDICES
Table 1.12 Servo error (2000 to 2799) list (Continued)
Error
code
2030
Error cause
Name
Excessive
regeneration
Error check
Description
Error
processing
Corrective action
• The frequency of ON/OFF switching
of the power transistor for
regeneration is too high. (Caution is
required since the regenerative
resistor could overheat.)
• Reduce the frequency of
acceleration and deceleration or
feed speed while checking the
servomotor regeneration level
[%].
• Reduce the load.
• Increase the servomotor
capacity.
• Servo parameter (system settings)
setting error.
• Check the servo parameters
(regenerative resistor and motor
type settings in the system
settings).
• Incorrect wiring of regenerative
resistor.
• Connect the regenerative
resistor correctly.
• Regenerative resistor fault.
• Replace the regenerative
resistor.
• Power transistor for regeneration
damaged by short circuit.
• Replace the servo amplifier.
• The motor speed exceeded 115[%] or
more of the rated speed.
Any time during
operation
Immediate • Check the motor speed in the
servo parameters.
stop
• Check if the number of pulses
per revolution and travel value
per revolution in the fixed
parameters match the machine
system.
• An overshoot occurred because the
acceleration/deceleration time
constant is too small.
• If an overshoot occurs during
acceleration/deceleration, check
the acceleration/deceleration
time in the fixed parameters.
• An overshoot occurred because the
servo system is unstable.
• Adjust the position loop
gain/position control gain 1, 2 or
speed loop gain/speed control
gain 1, 2 of the servo
parameters, or increase the
speed differential compensation
of the servo parameters.
• Encoder fault.
• Check the encoder cable for
wire breakage.
• Replace the servomotor.
2031 Overspeed
(Note-2): SW6RN-SV13Q /SV22Q
APP - 24
(Ver.00L or later)
APPENDICES
Table 1.12 Servo error (2000 to 2799) list (Continued)
Error
code
Error cause
Name
2032 Overcurrent
Error check
Description
• Check if there is a short circuit
between U, V, W of the servo
amplifier outputs.
• U, V, W in the servo amplifier outputs
have shorted to ground.
• Check if U, V, W of the servo
amplifier outputs have been
grounded to the ground
terminal.
• Check if U, V, W of the
servomotor are grounded to the
core. If grounding is found,
replace the servo amplifier
and/or servomotor.
• Incorrect wiring of U, V, W phases in
the servo amplifier outputs.
• Correct the wiring.
• The servo amplifier transistor is
damaged.
• Replace the servo amplifier.
• Failure of coupling between
servomotor and encoder
• Replace the servomotor.
• Encoder cable failure
• Replace the encoder cable.
• A servomotor that does not match the
setting has been connected.
• Check the connected motor in
the system settings.
• The servomotor oscillated.
• Check and adjust the gain
setting value in the servo
parameters.
Any time during
operation
• The converter bus voltage exceeded
400[V] or more. (800VAC or more for
400VAC series servo amplifier.)
• The frequency of
acceleration/deceleration was too
high for the regenerative ability.
• The regenerative resistor has been
connected incorrectly.
2034
Corrective action
• U, V, W in the servo amplifier outputs
have short circuited with each other.
• Noise entered the overcurrent
detection circuit.
2033 Overvoltage
Error
processing
Immediate • Check if any relays or solenoids
are operating in the vicinity.
stop
• Increase the
acceleration/deceleration time in
the fixed parameters.
• Check the connection between
C and P of the terminal block for
regenerative resistance.
• The regenerative resistor in the servo
amplifier is destroyed.
• Measure between C and P of
the terminal block for
regenerative resistance with a
multimeter; if abnormal, replace
the servo amplifier. (Measure
about 3 minutes after the charge
lamp has turned off.)
• The power transistor for regeneration
is damaged.
• Replace the servo amplifier.
• The power supply voltage is too high.
• Measure the input voltage (R, S,
T) with a voltmeter.
• Data received from the Multiple CPU
system is fault.
• Check the connection of
SSCNET cable.
• Check if there is a disconnection
in the SSCNET cable.
• Check if the SSCNET cable is
clamped correctly.
Communications error
APP - 25
APPENDICES
Table 1.12 Servo error (2000 to 2799) list (Continued)
Error
code
Error cause
Name
2035 Data error
2036
2038
(Note-1)
Error check
Description
Error
processing
Corrective action
• There is excessive variation in the
position commands and command
speed is too high from the Multiple
CPU system.
• Check the command speed and
the number of pulses per
revolution/travel value per
revolution of the fixed
parameters.
• Noise entered the commands from
the Multiple CPU system.
• Check the connection of
SSCNET cable.
• Check if there is a disconnection
in the SSCNET cable.
• Check if the SSCNET cable is
clamped correctly.
• Check if any relays or solenoids
are operating in the vicinity.
• Fault in communication with the
Multiple CPU system.
• Check the connection of
SSCNET cable.
• Check if there is a disconnection
in the SSCNET cable.
• Check if the SSCNET cable is
clamped correctly.
Transmission
error
DRU parameter • DRU parameter No.2 or 23 setting
differs from other servo amplifiers.
adjustment
error
• Set the DRU parameter correctly.
2042 Feedback error • Encoder signal fault.
• Replace the servomotor.
• The heat sink in the servo amplifier is
overheated.
• Servo amplifier error (rated output
over)
• Power repeatedly turned on/off during
overload.
• Cooling fault
Any time during
operation
2045 Fin overheating
Immediate • If the effective torque of the
stop
servomotor is high, reduce the
load.
• Reduce the frequency of
acceleration/deceleration.
• Check if the servo amplifier's fan
has stopped. (MR-H150B or
higher)
• Check if the passage of cooling
air is obstructed.
• Check if the temperature inside
the panel is too high (range: 0 to
+55[°C] (32 to 131[°F])).
• Check if the electromagnetic
brake was actuated from an
external device during operation.
• Replace the servo amplifier.
2046
Servomotor
overheating
• The servomotor is overloaded.
• If the effective torque of the
servomotor is high, reduce the
load.
• The servomotor and regenerative
option are overheated.
• Check the ambient temperature
of the servomotor (range: 0 to
+40[°C] (32 to 104[°F])).
• The thermal protector incorporated in
the encoder is faulty.
• Replace the servomotor.
(Note-1): MR-J2M-B only
APP - 26
APPENDICES
Table 1.12 Servo error (2000 to 2799) list (Continued)
Error
code
Error cause
Name
Error check
Description
Error
processing
Corrective action
• An overload current of about 200[%]
continuously supplied to the servo
amplifier or servomotor.
• Check if there has been a
collision at the machine.
• If the load inertia is very large,
either increase the time constant
for acceleration/deceleration or
reduce the load.
• If hunting occurs, adjust the
position loop gain in the servo
parameters.
• Check the connection of U, V, W
of the servo amplifier and
servomotor.
• Check for disconnection of the
encoder cable.
• Replace the servomotor.
• The servo amplifier or servomotor
was overloaded at a torque close to
the maximum torque (95[%] or more
of the current control value).
• Check if there has been a
collision at the machine.
• If the load inertia is very large,
either increase the time constant
for acceleration/deceleration or
reduce the load.
• If hunting occurs, adjust the
position loop gain/position
control gain 1, 2, speed loop
Immediate gain/speed control gain 1, 2 in
the servo parameters.
stop
• Check the connection of U, V, W
of the servo amplifier and
servomotor.
• Check for disconnection of the
encoder cable.
• Replace the servomotor.
• If the voltage of the bus in the
servo amplifier has dropped
(charge lamp has turned off),
replace the servo amplifier.
2050 Overload 1
Any time during
operation
2051 Overload 2
• The droop pulses of the deviation
counter exceeded the error excessive
alarm level set in the servo
parameters.
2052 Error excessive
APP - 27
• Check if there has been a
collision at the machine.
• Increase the time constant for
acceleration/deceleration.
• Increase the position loop
gain/position control gain 1, 2, in
the servo parameters.
• Check for disconnection of the
encoder cable.
• Replace the servomotor.
• If the voltage of the bus in the
servo amplifier has dropped
(charge lamp has turned off),
replace the servo amplifier.
APPENDICES
Table 1.12 Servo error (2000 to 2799) list (Continued)
Error
code
Error cause
Name
Error check
Description
Error
processing
• Servo amplifier having large load is
adjacent.
Corrective action
• Change the slot of the servo
amplifier whose load is large.
• Reduce the load.
• Reexamine the operation pattern.
• Use a servomotor whose output is
large.
2053 Multiple axis
overload
• Servo system is instable and hunting.
• Repeat acceleration/deceleration
and perform automatic tuning.
(Note-1)
Immediate • Turn off automatic tuning and
stop
make gain adjustment manually.
• Encoder cable and power cable (U, V,
W) coming out of one servo amplifier
are connected to the incorrect
servomotor.
• Make correct connection.
2054 Servo amplifier
(Note-1) alarm
• Alarm occurred in one or more axes of
the servo amplifier installed to the
base unit (MR-J2M-BU ) for servo
amplifier.
• Remove the alarm causes of all
servo amplifiers where alarm has
occurred.
RS232
2086 communication
error
• Serial communication error occurred
between servo amplifier and
communication device (parameter
unit or personal computer).
• Check for disconnection of the
cable.
• Replace the communication
devices.
2102 Battery warning
• The voltage of the battery installed in
the servo amplifier has become low.
• Replace the battery.
Battery
2103 disconnection
warning
Excessive
2140 regeneration
warning
2141
Overload
warning
• The power supply voltage to the
absolute position encoder become
low.
Any time during
operation
• Replace the battery.
• Check the encoder cable for wire
breakage.
Operation • Replace the servomotor.
continues • Replace the servo amplifier.
• An excessive regeneration error
[2030] may be occurred
(regeneration level of 85[%] of the
maximum load capacity for the
regenerative resister has been
detected).
• Refer to the details on the
excessive regeneration error
[2030].
• An overload error [2050], [2051] is
likely to occur (85[%] of overload
level has been detected).
• Refer to the details on the
overload errors [2050], [2051].
• Absolute position encoder pulses
faulty.
Operation • Take noise suppression measure.
continues • Replace the servomotor.
Home • Execute the home position return
position
after measures.
return
request
ON
Absolute
2143 position counter
warning
(Note-2)
2146
Servo forced
stop
• Servo amplifier are forced stop state.
(Servo amplifier input signal EM1 is
OFF.)
2147
Emergency
stop
• An emergency stop (EMG) signal
input from the Multiple CPU system.
APP - 28
Immediate
stop
• Ensure safety and release the
forced stop.
• Ensure safety and release the
emergency stop.
APPENDICES
Table 1.12 Servo error (2000 to 2799) list (Continued)
Error
code
Error cause
Name
Error check
Description
Main circuit
2149
OFF warning
• The servo ON (SON) signal turned on
while the contactor turned off.
• The main circuit bus voltage fell to
215[V] or lower at 50[r/min] or lower.
Home position
2196 setting error
warning
• After a home position return
command, the droop pulses did not
become within the in-position range.
Error
processing
Corrective action
• Turn on the main circuit
contactor or circuit power supply.
Any time during
operation
Operation
continues
• Execute the home position return
again.
(Note-1): MR-J2M-B only
(Note-2): SW6RN-SV13Q /SV22Q
APP - 29
(Ver.00N or later).
APPENDICES
Table 1.12 Servo error (2000 to 2799) 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 Amplifier setting
2302 Regenerative resistor
2303 Motor type
2304 Motor capacity
2305 Motor speed
2306 Number of feedback pulses
2307 Rotation direction setting
2308 Automatic tuning setting
2309 Servo response setting
2310 Torque limit (forward)
2311 Torque limit (reverse)
2312 Load inertia ratio
2313 Position control gain 1
2314 Speed control gain 1
2315 Position control gain 2
2316 Speed control gain 2
2301 Parameter
error
to
2336 (Servo
amplifier)
2317 Speed integral compensation
2318 Notch filter selection
2319 Feed forward gain
Any time during
operation
2320 In-position range
Electromagnetic brake
2321 sequence
Monitor output mode
2322 selection
2323 Optional function 1
2324 Optional function 2
2325 Optional function 3
2326 Optional function 4
2327 Monitor output 1 offset
2328 Monitor output 2 offset
2329 Pre-alarm data selection
2330 Zero speed
2331 Error excessive alarm level
2332 Optional function 5
2333 Optional function 6
PI-PID control switch-over
2334 position droop
Torque limit compensation
2335 factor
Speed differential
2336 compensation (Real speed
differential compensation)
APP - 30
Operation • Check the setting ranges of the
continues servo parameters.
APPENDICES
Table 1.12 Servo error (2000 to 2799) list (Continued)
Error
code
Error cause
Name
Description
Error check
Error
processing
Corrective action
Any time during
operation
Operation
continues
• Check the setting ranges of the
vector inverter parameters.
Parameter error
• The vector inverter parameter value is
outside the setting range.
• The parameter is set during servo ON.
• The parameter is set by the inverter
parameter Pr.77 "parameter write disable
selection" at the parameter write disable
selection.
(Any unauthorized parameter is ignored
and the value before setting is held.)
2301 Maximum speed
2302 Electronic thermal O/L relay
2303 Regenerative function selection
2304 Special regenerative brake duty
2305 Applied motor
2306 Motor capacity
2307 Number of motor poles
2308 Online auto tuning selection
2309 Torque restriction level
2310
Torque restriction level
(regeneration)
2311 Torque restriction level (3 quadrant)
2312 Torque restriction level (4 quadrant)
Parameter
error
to
(Vector
2332 inverter)
2301
2313
Easy gain tuning response level
setting
2314 Easy gain tuning selection
2315 Number of encoder pulses
2316 Encoder rotation direction
2317 Thermal relay protector input
2318 Position loop gain
2319 Position feed forward gain
2320 In-position width
2321 Excessive level error
2322 Speed control P gain 1
2323 Speed control integral time 1
2324 Model speed control gain
2325 Notch filter frequency
2326 Notch filter depth
2327
Speed feed forward control/model
adaptive speed control selection
2328 Speed feed forward filter
2329
Speed feed forward torque
restriction
2330 Load inertia ratio
2331 Speed feed forward gain
2332 DA1 terminal function selection
APP - 31
APPENDICES
Table 1.12 Servo error (2000 to 2799) list (Continued)
Error
code
Error cause
Name
Description
Error check
Error
processing
Corrective action
Any time during
operation
Operation
continues
• Check the setting ranges of the
vector inverter parameters.
2333 Speed monitoring reference
2334 Current monitoring reference
Parameter
error
to
(Vector
2339
inverter)
2333
2335 DA2 terminal function selection
2336 Overspeed detection level
2337 Torque characteristic selection
2338
Constant output region torque
characteristic selection
2339 Torque monitoring reference
APP - 32
APPENDICES
Table 1.12 Servo error (2000 to 2799) list (Continued)
Error
code
Error cause
Name
When error checked
Description
Error
processing
Corrective action
• The parameter setting is wrong.
• The parameter data was corrupted.
2601 Amplifier setting
2602 Regenerative resistor
2603 Motor type
2604 Motor capacity
2605 Motor speed
2606 Number of feedback pulses
2607 Rotation direction setting
2608 Automatic tuning setting
2609 Servo response setting
2610 Torque limit (forward)
2611 Torque limit (reverse)
2612 Load inertia ratio
2613 Position control gain 1
2614 Speed control gain 1
2615 Position control gain 2
2616 Speed control gain 2
2617 Speed integral compensation
2618 Notch filter selection
2601
Initial
to
parameter
2636 error
(Servo
amplifier)
2619 Feed forward gain
2620 In-position range
Electromagnetic brake
2621 sequence
Monitor output mode
2622 selection
• Servo amplifier
power on.
• Multiple CPU
system power on.
• After checking and correcting of
the parameter setting, turn off to
on or reset the power of Multiple
Immediate
CPU system.
stop
2623 Optional function 1
2624 Optional function 2
2625 Optional function 3
2626 Optional function 4
2627 Monitor output 1 offset
2628 Monitor output 2 offset
2629 Pre-alarm data selection
2630 Zero speed
2631 Error excessive alarm level
2632 Optional function 5
2633 Optional function 6
PI-PID control switch-over
2634 position droop
Torque limit compensation
2635 factor
Speed differential
2636 compensation (Real speed
differential compensation)
2637
to
2699
• Explain the error symptom and
get advice from our sales
representative.
• The parameter data was corrupted.
APP - 33
APPENDICES
Table 1.12 Servo error (2000 to 2799) list (Continued)
Error
code
Error cause
Name
Error check
Description
Error
processing
Corrective action
Stop
• After checking and correcting of
the parameter setting, turn off
to on or reset the power of
Multiple CPU system.
• The parameter setting is wrong.
• The parameter data was corrupted.
2601 Maximum speed
2602 Electronic thermal O/L relay
2603 Regenerative function selection
2604 Special regenerative brake duty
2605 Applied motor
2606 Motor capacity
2607 Number of motor poles
2608 Online auto tuning selection
2609 Torque restriction level
2610
Torque restriction level
(regeneration)
2611 Torque restriction level (3 quadrant)
2612 Torque restriction level (4 quadrant)
2613
Easy gain tuning response level
setting
2614 Easy gain tuning selection
2615 Number of encoder pulses
2616 Encoder rotation direction
2617 Thermal relay protector input
Initial
2601 parameter
error
to
(Vector
2639
inverter)
• Vector inverter
power on.
• Multiple CPU
system power
on.
2618 Position loop gain
2619 Position feed forward gain
2620 In-position width
2621 Excessive level error
2622 Speed control P gain 1
2623 Speed control integral time 1
2624 Model speed control gain
2625 Notch filter frequency
2626 Notch filter depth
2627
Speed feed forward control/model
adaptive speed control selection
2628 Speed feed forward filter
2629
Speed feed forward torque
restriction
2630 Load inertia ratio
2631 Speed feed forward gain
2632 DA1 terminal function selection
2633 Speed monitoring reference
2634 Current monitoring reference
2635 DA2 terminal function selection
2636 Overspeed detection level
2637 Torque characteristic selection
2638
Constant output region torque
characteristic selection
2639 Torque monitoring reference
APP - 34
APPENDICES
Table 1.12 Servo error (2000 to 2799) list (Continued)
Error
code
Description
Remark
(Note-2): Refer to the Instruction Manuals of the vector
inverter FR-V500 and FR-V5NS for a based on
the code address for details.
• Error codes peculiar to vector inverter.
Error
code
Code
address
Description
(Note-2)
2710
E.0C1 Overcurrent shut-off during acceleration
2711
E.0C2 Overcurrent shut-off during constant speed
2712
E.0C3 Overcurrent shut-off during deceleration
2713
E.0V1
Regenerative overvoltage shut-off during
acceleration
2714
E.0V2
Regenerative overvoltage shut-off constant
speed
2715
E.0V3
Regenerative overvoltage shut-off during
deceleration or stop
2716
E.THT
Inverter overload shut-off (electronic thermal
relay)
2717
E.THM
Motor overload shut-off (electronic thermal
relay)
2718
E.IPF
Instantaneous power failure protection
2719
E.UVT Undervoltage protection
2720
2721
E.BE
Brake transistor alarm detection
E.GF
Output side earth (ground) fault overcurrent
protection
2722
E.OHT External thermal relay operation
2723
E.OLT Motor overload
to
2724
E.OPT Option alarm
2799
2725
E.OP1 Option slot alarm (slot 1)
2726
E.OP2 Option slot alarm (slot 2)
2727
E.OP3 Option slot alarm (slot 3)
2700
2728
2729
E.PE
Parameter storage device alarm
2730
E.PUE PU disconnection
E.RET Retry count excess
2731
E.CPU CPU error
2733
E.FIN
Fin overheat
2734
E.OS
Overspeed occurrence
2735
E.OSD Speed deviation excess detection
2736
E.ECT Open cable detection
2737
E.OD
2738
E.ECA Orientation encoder no-signal
Position error large
2739
E.MB1 Brake sequence error 1
2740
E.MB2 Brake sequence error 2
2741
E.MB3 Brake sequence error 3
2742
E.MB4 Brake sequence error 4
2743
E.MB5 Brake sequence error 5
2744
E.MB6 Brake sequence error 6
2745
E.MB7 Brake sequence error 7
2746
E.P24 24VCD power output short circuit
2747
E.CTE Operation panel power supply short circuit
APP - 35
APPENDICES
Table 1.12 Servo error (2000 to 2799) list (Continued)
Error
code
Description
Error
code
2748
Code
address
Remark
(Note-2): Refer to the Instruction Manuals of the vector
inverter FR-V500 and FR-V5NS for a based on
the code address for details.
Description
(Note-2)
E.LF
Output phase failure protection
2700
2749
E.P12 12VDC power output short circuit
to
2750
E.EP
2799
2756
E.1
2757
E.2
Option alarm (error 2)
2758
E.3
Option alarm (error 3)
2761
E.6
CPU error (error 6)
2762
E.7
CPU error (error 7)
Encoder mis-wiring detection
Option alarm (error 1)
APP - 36
APPENDICES
APPENDIX 1.5 PC link communication errors
Table 1.13 PC link communication error codes list
Error codes stored
• A receiving packet for PC link
communication does not
arrive.
• Check whether the power of PC has
been turned on.
• Check the connection of the
• The arrival timing of the
01
Corrective action
Error description
in D9196
receiving packet is too late.
communication cable.
• Check the communication cable for
wire breakage.
• Check whether the A 0BD-PCF/
A30CD-PCF has been installed
correctly.
• A receiving packet CRC code
is not right.
• Check whether there is a noise
source near the PC.
• Check the connection of the
02
communication cable.
• Check the communication cable for
wire breakage.
• A receiving packet data ID is
not right.
• Check whether the A 0BD-PCF/
A30CD-PCF has been installed
correctly.
03
• Replace the A 0BD-PCF/A30CDPCF.
• The number of received
frames is not right.
• Check whether there is a noise
source near the PC.
• Check the connection of the
04
communication cable.
• Check the communication cable for
wire breakage.
05
• A PC communication task
does not start.
APP - 37
• Start the communication task for PC
side.
APPENDICES
APPENDIX 2 Special Relays/special registers
APPENDIX 2.1 Special relays
Special relays are internal relays whose applications are fixed in the Motion CPU. For
this reason, they cannot be used in the same way as the normal internal relays by the
Motion SFC programs.
However, they can be turned ON/OFF as needed in order to control the Motion CPU.
The headings in the table that follows have the following meanings.
Item
Explanation
No.
• Indicates the device No. of the special relay.
Name
• Indicates the name of the special relay.
Meaning
• Indicates the nature of the special relay.
Details
• Indicates detailed information about the nature of the special relay.
• Indicates whether the relay is set by the system or user, and, if it is set by system, when
setting is performed.
<Set by>
S: Set by system (Motion CPU)
U: Set by user (Motion SFC program or test operation using a peripheral device)
S/U: Set by both system (Motion CPU) and user
Set by
(When set)
<When set>
Indicated only if setting is done by system (Motion CPU).
Main process: Set during each main processing (free time processing of the CPU)
Initial process: Set only during initial processing (when power supply is turned ON, or
when executed the reset)
Status change : Set only when there is a change in status
Error : Set when error is occurred.
Request : Set only when there is a user request (Special relay, etc.)
Operation cycle : Set during each operation cycle of the Motion CPU.
APP - 38
APPENDICES
Table 2.1 Special relay list
No.
Name
M9000 Fuse blown detection
Meaning
OFF : Normal
ON : Fuse blown module
detected
OFF : AC/DC DOWN
not detected
M9005 AC/DC DOWN detection
ON : AC/DC DOWN
detected
Set by
(When set)
Details
• Turn on when there is one or more output modules control
of self CPU which fuse has been blown.
Remains on if normal status is restored.
• Turn on if a momentary power interruption of less than
20[ms] occurred during use of the AC power supply
module, and reset by turning power off to on.
• Turn on if a momentary power interruption of less than
10[ms] occurred during use of the DC power supply
module, and reset by turning power off to on.
OFF : Normal
ON : Battery low
• Turned on when the voltage of the external battery
reduces to less than specified value. Turn off when the
voltage of the external battery becomes normal.
• Synchronizes with "BAT. LED"
• Check the voltage of the external battery, only when it is
set with "external battery use" by system setting.
M9007 Battery low latch
OFF : Normal
ON : Battery low
• Turn on when the voltage of the external battery reduces
to less than specified value. Remains on if normal status
is restored.
• Synchronizes with "BAT. LED"
• Check the voltage of the external battery, only when it is
set with "external battery use" by system setting.
M9008 Self-diagnostic error
OFF : No error
ON : Error
• Turn on when error is found as a result of self-diagnosis.
Remains on if normal status is restored.
M9010 Diagnostic error
OFF : No error
ON : Error
• Turn on when error is found as a result of diagnosis.
Remains on if normal status is restored.
M9025 Clock data set request
OFF : Ignored
• Write clock data stored in D9025 to D9028 to the clock
ON : Set request present
element when M9025 has changed from off to on.
used
M9026 Clock data error
OFF : No error
ON : Error
M9006 Battery low
• Turn on by clock data (D9025 to D9028) error.
OFF : Ignored
ON : Read request
ON
OFF
• Turn on without regard to position of RUN/STOP switch
on.
M9037 Always OFF
ON
OFF
• Turn off without regard to position of RUN/STOP switch
on.
M9060 Error reset
OFF
M9028 Clock data read request
M9036 Always ON
M9073 PCPU WDT error flag
ON : Error reset
ON : Abnormal
OFF : Normal
ON
M9074
PCPU READY complete
flag
: PCPU READY
completion
OFF : PCPU READY
uncompletion
Remark
• Read clock data from D9025 to D9028 in BCD when
M9028 is on.
• A release of the error is executed.
S(Occur an error)
New
(Note-1)
U
S(Request)
U
S(Main processing)
U
• Turn on when a "watchdog timer error" is detected by the
Motion CPU self-diagnosis function.
When the Motion CPU detects a WDT error, it executes an
immediate stop without deceleration of the operating axes.
• The error cause is stored in the "Motion CPU WDT error
cause (D9184)".
S(Occur an error)
• When the PLC ready flag (M2000) turn off to on, the
fixed parameters, servo parameters and limit switch
output data, etc., are checked, and if no error is detected
this flag turns on.
• Turn off when the PLC ready flag (M2000) turns off.
S(Request)
• This flag status indicates whether a TEST mode
established from a peripheral device is currently in
: TEST mode is in
effect.
effect.
OFF : TEST mode is not in • If the TEST mode is not established in response to a
TEST mode request from a peripheral device, the
effect.
"TEST mode request error flag (M9078)" will turn on.
New
(Note-1)
ON
M9075 Test mode ON flag
M9076
External forced stop
input flag
ON : Forced stop OFF
OFF : Forced stop ON
• This flag status indicate whether the forced stop.
S(Request)
S(Operation cycle)
(Note-1): It adds newly at the Motion controller Q series.
APP - 39
APPENDICES
Table 2.1 Special relay list (continued)
No.
Name
Meaning
Set by
(When set)
Details
Remark
• This flag indicates whether the setting designated at the
: At least one D714 to
manual pulse generator axis setting register (D714 to D719)
D719 setting is
is normal or abnormal.
abnormal.
• When this relay turns on, the error content is stored at the
OFF : All D714 to D719
manual pulse generator axis setting error register (D9185 to
settings are normal.
D9187).
ON
M9077
Manual pulse generator
axis setting error flag
TEST mode request
M9078
error flag
ON : Abnormal
OFF : Normal
• Turn on if the TEST mode is not established in response to a
TEST mode request from a peripheral device.
• When this relay turns on, the error content is stored at the
TEST mode request error register (D9182 to D9183).
M9079
Servo program setting
error flag
ON : Abnormal
OFF : Normal
• This flag status indicates whether the positioning data of the
servo program(K) specified with the Motion SFC program is
normal or abnormal, and if error is detected this flag turns
on.
• The content of a servo program setting error is stored at
D9189 and D9190.
M9104
Servo parameter read
request flag
OFF to ON : Servo
parameter read
• The servo parameter of servo parameter read request axis
set as D9104 is reflected in the Motion CPU from the servo
amplifier at the time of OFF to ON.
ON : Servo parameter
reading.
Servo parameter reading
M9105
OFF : Except servo
flag
parameter reading.
S(Occur an error)
U
• This flag turn on while having read the servo amplifier
to the Motion CPU. It turn off automatically after reading
completion.
M9216
CPU No.1 MULTR
complete flag
OFF to ON :
• Turn on when the data read from CPU No.1 is performed
CPU No.1 read completion normally by MULTR instruction.
M9217
CPU No.2 MULTR
complete flag
OFF to ON :
• Turn on when the data read from CPU No.2 is performed
CPU No.2 read completion normally by MULTR instruction.
M9218
CPU No.3 MULTR
complete flag
OFF to ON :
• Turn on when the data read from CPU No.3 is performed
CPU No.3 read completion normally by MULTR instruction.
M9219
CPU No.4 MULTR
complete flag
OFF to ON :
• Turn on when the data read from CPU No.4 is performed
CPU No.4 read completion normally by MULTR instruction.
S(Reading)
S(Read completion)
M9240 CPU No.1 reset flag
• Turn off at reset release of the CPU No.1.
OFF : CPU No.1 reset
• Turn on during reset of the CPU No.1. (It also contains when a
release
CPU is removed from the base unit.)
ON : CPU No.1 resetting
• The other CPU is also resetting.
M9241 CPU No.2 reset flag
• Turn off at reset release of the CPU No.2.
OFF : CPU No.2 reset
• Turn on during reset of the CPU No.2. (It also contains when a
release
CPU is removed from the base unit.)
ON : CPU No.2 resetting • The error of the "MULTI CPU DOWN" (error code : 7000)
occurs in the other CPU.
M9242 CPU No.3 reset flag
S(Change status)
• Turn off at reset release of the CPU No.3.
• Turn on during reset of the CPU No.3. (It also contains when a
OFF : CPU No.3 reset
CPU is removed from the base unit.)
release
ON : CPU No.3 resetting • The error of the "MULTI CPU DOWN" (error code : 7000)
occurs in the other CPU.
M9243 CPU No.4 reset flag
• Turn off at reset release of the CPU No.4.
• Turn on during reset of the CPU No.4. (It also contains when a
OFF : CPU No.4 reset
CPU is removed from the base unit.)
release
ON : CPU No.4 resetting • The error of the "MULTI CPU DOWN" (error code : 7000)
occurs in the other CPU.
(Note-1): It adds newly at the Motion controller Q series.
(Note-2): The CPU No.1 is reset after the factor of the stop error is removed to cancel a stop error.
APP - 40
New
(Note-1)
Resetting is cancelled.
APPENDICES
Table 2.1 Special relay list (continued)
No.
Name
Meaning
Set by
(When set)
Remark
S(Change status)
(Note-1)
Details
M9244 CPU No.1 error flag
OFF : CPU No.1 normal
ON : On CPU No.1 stop
error
• Turn off when the CPU No.1 is normal. (It contains at
continuation error.)
• Turn on during stop error of the CPU No.1. (Note-2)
M9245 CPU No.2 error flag
OFF : CPU No.2 normal
ON : On CPU No.2 stop
error
• Turn off when the CPU No.2 is normal. (It contains at
continuation error.)
• Turn on during stop error of the CPU No.2. (Note-2)
M9246 CPU No.3 error flag
OFF : CPU No.3 normal
ON : On CPU No.3 stop
error
• Turn off when the CPU No.3 is normal. (It contains at
continuation error.)
• Turn on during stop error of the CPU No.3. (Note-2)
M9247 CPU No.4 error flag
OFF : CPU No.4 normal
ON : On CPU No.4 stop
error
• Turn off when the CPU No.4 is normal. (It contains at
continuation error.)
• Turn on during stop error of the CPU No.4. (Note-2)
(Note-1): It adds newly at the Motion controller Q series.
(Note-2): The CPU No.1 is reset after the factor of the stop error is removed to cancel a stop error.
APP - 41
New
Resetting is cancelled.
APPENDICES
APPENDIX 2.2 Special registers
Special registers are internal registers whose applications are fixed in the
Motion CPU. For this reason, it is not possible to use these registers in Motion
SFC programs in the same way that normal registers are used.
However, data can be written as needed in order to control the Motion CPU.
Data stored in the special registers are stored as BIN values if no special
designation has been made to the contrary.
The headings in the table that follows have the following meanings.
Item
Explanation
Number
• Indicates the No. of the special register.
Name
• Indicates the name of the special register.
Meaning
• Indicates the nature of the special register.
Details
• Indicates detailed information about the nature of the special register.
• Indicates whether the register is set by the system or user, and, if it is set by system,
when setting is performed.
<Set by>
S: Set by system (Motion CPU)
U: Set by user (Motion SFC program or test operation using a peripheral device)
S/U: Set by both system (Motion CPU) and user
Set by
(When set)
<When set>
Indicated only if setting is done by system (Motion CPU).
Main process: Set during each main processing (free time processing of the CPU)
Initial process: Set only during initial processing (when power supply is turned ON, or
when executed the reset)
Status change : Set only when there is a change in status
Error : Set when error is occurred.
Request : Set only when there is a user request (Special relay, etc.)
Operation cycle : Set during each operation cycle of the Motion CPU.
APP - 42
APPENDICES
Table 2.2 Special register list
No.
Name
D9000 Fuse blown No.
D9005
AC/DC DOWN
counter No.
D9008 Diagnostic error
Meaning
Set by
(When set)
Details
Module No. with
blown fuse
• When fuse blown modules are detected, the lowest I/O module No. is stored
in D9000.
Number of times
for AC/DC DOWN
• 1 is added to the stored value each time the input voltage becomes 85[%]
(AC power supply/65[%] DC power supply) or less of the rating while the
CPU module is performing an operation, and the value is stored in BIN
code.
Diagnostic error
number
• When error is found as a result of self-diagnosis, error No. is stored in BIN
code.
• Refer to "19.4 Multiple CPU Error Codes" of the "Q173CPU(N)/Q172CPU(N)
Motion Controller (SV13/SV22) Programming Manual (Motion SFC) " for
details of the error code.
Remark
• The age (A.D, the rightmost two digits) when data on D9008 are updated,
and the month stored with a BCD code two digits.
D9010
B15 to B8 B7 to
B0 Example : October 1995
H9510
Year(0 to 99) Month(1 to 12)
Diagnostic error
D9011
occurrence time
Diagnostic error
occurrence time
• The day when data on D9008 are updated, and the hour stored with a BCD
code two digits.
B15 to B8 B7 to
B0 Example : 25st, 10 a.m
H2510
Day(1 to 31) Hour(0 to 23)
S(Occur an error)
• The minute when data on D9008 are updated, and the second stored with a
BCD code two digits.
D9012
B15
to
B0 Example : 35 min., 48 sec.
H3548
to
B8 B7
Minute(0 to 59) Second(0 to 59)
New
(Note)
D9013
Error information Error information
classification
classification code
D9014 Error information Error information
• The classification code to judge the error information stored in the error
information (D9014) is stored.
• The following codes are stored.
0: None
1: Module No./CPU No./Base No.
2: Parameter No.
• Error information to comply with the diagnostic error (D9008) is stored.
There are following two types information to be stored.
1) Module No./CPU No./Base No.
• Module No. or CPU No. is stored according to the error which occurred
in the case of the Multiple CPU system.
(Refer to each error code which is stored.)
CPU No.1: 1, CPU No.2: 2, CPU No.3: 3, CPU No.4: 4
2) Parameter No.
• The operation states of CPU as shown below are stored in D9015.
B15
D9015
Operating state of Operating state of
CPU
CPU
B12 B11
B8 B7
B4 B3
B0
2)
1)
1) Operating state of CPU
0: RUN
2: STOP
2) STOP cause
0: RUN/STOP switch
4: Error
Note: Priority is earliest first
D9017 Scan time
Scan time
(1ms units)
• Main cycle is stored in the unit 1ms.
• Setting range (0 to 65535[ms])
Maximum scan
D9019
time
Maximum scan
time (1ms units)
• The maximum value of the main cycle is stored in the unit 1ms.
• Setting range (0 to 65535[ms])
S(Main processing)
New
(Note)
• Stores the year (2 lower digits) and month in BCD.
D9025 Clock data
Clock data
(Year, month)
B15
to
B12 B11
to
B8 B7
to
Year
B4 B3
to
B0
Example : July 1993
H9307
S/U(Request)
Month
(Note): It adds newly at the Motion controller Q series.
APP - 43
APPENDICES
Table 2.2 Special register list (continued)
No.
Name
Meaning
Set by
(When set)
Details
Remark
• Stores the day and hour in BCD.
D9026 Clock data
B15
Clock data
(Day, hour)
to
B12 B11
to
B8 B7
to
Day
B4 B3
to
B0
Example : 31st, 10 a.m.
H3110
Hour
• Stores the minute and second in BCD.
D9027 Clock data
Clock data
(Minute, second)
B15
to
B12 B11
to
B8 B7
to
B4 B3
to
B0
Example : 35 min., 48 sec.
H3548
Second
Minute
S/U(Request)
• Stores the day of the week in BCD.
B15
D9028 Clock data
D9060 Error reset
Clock data
(Day of week)
Error No. of
releasing an error
to
B12 B11
to
B8 B7
to
B4 B3
to
B0
Example :
Friday
H0005
Day of week
"0" must be set here.
0
Sunday
1
Monday
2
Tuesday
3
Wednesday
4
Thursday
5
Friday
6
Saturday
• Error No. of canceling error is stored.
U
D9061 Multiple CPU No. Multiple CPU No.
• CPU No. of the self CPU is stored.
Servo parameter
Servo parameter
D9104 read request axis
read axis No.
No.
• Axis No. of servo amplifier which begins to read servo parameter is setting.
Q173CPU(N): 1 to 32 (Axis1 to 32)
Q172CPU(N): 1 to 8 (Axis1 to 8)
D9182 Test mode
D9183 request error
It is operating in
requirement error
occurrence of the
test mode, axis
information
S(Initial processing)
Manual pulse
generator axis
setting error
information
U
• Each axis is stopping: 0/Operating: 1, information is stored as a bit data.
D9182: b0 to b15 (Axis 1 to Axis 16)
D9183: b0 to b15 (Axis 17 to Axis 32)
The following error codes are stored in D9184.
1: S/W fault 1
2: Operation cycle over
3: Q bus WDT error
4: WDT error
30: Information processor H/W error
Motion CPU
Error meaning of
D9184
201 to 215: Q bus H/W fault
WDT error cause WDT error occures
250 to 253: Servo amplifier interface H/W fault
300: S/W fault3
301: 15 CPSTART instructions of 8 or more points were started
simultaneously.
302: During ROM operation, system setting data, program and
parameter written to internal FLASH ROM are fault.
D9185 Manual pulse
D9186 generator axis
D9187 setting error
New
(Note)
S(Occur an error)
• Contents of the manual pulse generator axis setting error is stored when the
manual pulse generator axis setting error flag (M9077) turn on.
(Normal: 0/Setting error: 1)
D9185: The manual pulse generator axis setting error is stored in b0 to b2
(P1 to P3).
The smoothing magnification setting is stored in b3 to b5 (P1 to P3).
D9186: One pulse input magnification setting error is stored in b0 to b15
(axis 1 to axis 16).
D9187: One pulse input magnification setting error is stored in b0 to b15
(axis 17 to axis 32).
(Note): It adds newly at the Motion controller Q series.
APP - 44
APPENDICES
Table 2.2 Special register list (continued)
No.
Name
Meaning
Details
D9188
Motion operation Motion operation
cycle
cycle
D9189
Error program
No.
Error program No. of When the servo program setting error flag (M9079) turns on, the erroneous
servo program
servo program No. will be stored.
D9190
Error item
information
Error code of servo
program
When the servo program setting error flag (M9079) turns on, the error
code corresponding to the erroneous setting item will be stored.
Servo amplifier
loading information
• The loading status (loading: 1/non-loading: 0) of the servo amplifier checked
in initial process, and stored as the bit data.
D9191: b0 to b15 (axis 1 to axis 16)
D9192: b0 to b15 (axis 17 to axis 32)
• The axis which turned from non-loading to loading status after power-on is
handled as loaded. (However, the axis which turned from loading to nonloading status remains as loaded.)
Servo amplifier
D9191
loading
D9192
information
D9193 Real/virtual mode Real/virtual mode
D9194 switching error
Switching
D9195 information
error code
• The time when the motion operation cycle is stored in the [µs] unit.
Set by
(When set)
Remark
S(Operation cycle)
(Note)
New
S(Occur an error)
S(Initial processing)
• When a mode switching error occurs in real-to-virtual or virtual-to-real
mode switching, or a mode continuation error occurs in the virtual mode,
its error information is stored.
PC link
D9196 communication
error codes
• The following error code is stored.
00: No error
01: Receiving timing error
02: CRC error
PC link
communication error 03: Communication response code error
04: Received frame error
codes
05: Communication task start error
(Each error code is reset to "00" when normal communication is
restarted.)
Operation cycle
D9197 of the Motion
CPU setting
Operation cycle
of the Motion CPU
setting
• The time when the setting operation cycle is stored in the [µs] unit.
S(Occur an error)
S(Initial processing)
• The CPU switch status is stored in the following format.
B15
B12B11
B8 B7
3)
D9200 State of switch
B4 B3
B0
No used. 2)
1)
New
1) CPU switch status
0: RUN
1: STOP
2: L.CLR
2) Memory card switch
Always OFF
3) Dip switch
B8 through B12 correspond to SW1
through SW5 of system setting switch 1.
0: OFF/1: ON
B13 through B15 is not used.
State of CPU switch
(Note)
S(Main processing)
• Information concerning which of the following states the LEDs on the CPU
are in is stored in the following bit patterns.
• 0 is off, 1 is on, and 2 is flicker
B15
8)
D9201 State of LED
State of CPU-LED
B12 B11
7)
6)
B8 B7
5)
4)
1): RUN
5): BOOT
2): ERROR
6): No used
3): M.RUN
7): No used
4): BAT.ALARM
8): MODE
B4 B3
3)
B0
2)
1)
S(Change status)
New
(Note)
Bit patterns for MODE
0: OFF
1: Green
2: Orange
(Note): It adds newly at the Motion controller Q series.
APP - 45
APPENDICES
APPENDIX 3 Example Programs
APPENDIX 3.1 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.
• Positioning start completion ………M2400+20n (positioning start complete signal)
• Positioning completion ……………M2401+20n (positioning complete signal)
[Program Example]
(1) A program that outputs the M-code from PY000 to PY00F to external destination
after conversion into BCD code at the positioning start completion is shown below.
System configuration
Motion SFC program
Q61P Q02H Q172 Q172 QY40
CPU CPU LX
(N)
PY000
to
PY00F
Reading M-code
[G10]
[F10]
M2401
Positioning start complete flag for axis 1 ON ?
#0=BCD(D13)
#0D150=BCD( D100)
DOUT
PY0,
#0
DOUT YO
,D150
Read M-code for axis 1, and store to #0 after
BCD conversion.
Output the data of "#0" to "PY000 to PY00F".
END
APP - 46
APPENDICES
APPENDIX 3.2 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 in the turning off to on of M2407+20n/M2408+20n
and storage of the error code.
(a) If the PLC program scan time is 80[ms] or less, there will be a delay of up to
80[ms].
(b) If the PLC program scan time is 80[ms] or more, there will be a delay of up
to one scan time.
The error code is stored to each error code stprage area after turning on
M2407+20n/M2408+20n, and then read the error code.
APP - 47
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.
System configuration
Q61P Q02H Q172 Q172 QY40 QY40 QY40
CPU CPU LX
(N)
PY000 PY010 PY020
to
to
to
PY00F PY01F PY02F
Motion SFC program
Reading error code (servo error)
Reading error code (minor error/major error)
Reading error code
Reading error code
[F10]
[F10]
#0=K0
Store to "#0".
[G10]
M2407
Error detection signal
ON for axis 1.
[G20]
D6!=K0
Minor error check
for axis 1.
#0=BCD(D6)
DOUT PY0, #0
Output to PY000 after
converting the minor
error code of D6 into
BCD code.
D7!=K0
Major error check for
axis 1.
#0=BCD(D7)
DOUT PY10, #0
Output to PY010 after
converting the major
error of D7 into BCD
code.
[F20]
[G30]
[F30]
[G10]
[F20]
END
APP - 48
#0=K0
Store to "#0".
M2408*(D8!=0)
Error detection signal ON
for axis 1 and the servo
error check for axis 1.
#0=BCD(D8)
DOUT PY20, #0
Output to PY020 after
converting the servo
error code for axis 1 into
BCD code.
END
APPENDICES
APPENDIX 4 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.
Others
Parameter block
Arc
Common
Item
Number of device
words
Device setting range
Address (travel value)
2
Command speed
2
Dwell time
1
Device
Range
M-code
1
D
800 to 8191
Torque limit value
1
W
0000 to 1FFF
Parameter block No.
1
#
0000 to 7999
Auxiliary point
2
Radius
2
Central point
2
Pitch
1
Control unit
1
Speed limit value
2
Acceleration time
1
Deceleration time
Rapid stop deceleration
time
1
Torque limit value
STOP input deceleration
processing
Circular interpolation error
allowance range
1
S-curve ratio
1
Program No.
1
Command speed
(Constant speed)
FIN
acceleration/deceleration
Repetition condition
(Number of repetitions)
Repetition condition
(ON/OFF)
Cancel
Remarks
1
1
2
Simultaneous start
2
1
1
Bit
Skip
WAIT ON/OFF
Device
Range
X
0000 to 1FFF
Y
0000 to 1FFF
M/L
0 to 8191
Special M
9000 to 9255
B
0000 to 1FFF
F
0 to 2047
(Note): Synchronous encoder axis area cannot be set.
POINT
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)
APP - 49
APPENDICES
(2) Inputting device data
Indirect setting device data is inputted by the Motion CPU at the servo program
start.
Do not change the applicable device before setting to device and start
completion.
The procedures by start method for setting data to devices and cautions are
shown below.
Start method
Setting method
Set data in indirect setting devices.
Start by the servo program
Start the servo program.
Notes
Do not change the indirect setting
device before the "positioning start
complete signal" of the starting axis
turns on.
Set initial command data in the indirect
setting device.
Start using the servo program (or turn
Set the loop (FOR - NEXT) point data
the cancel command device on).
for CPSTART instruction indirectly
Read the value of "data set pointer for
constant-speed control" of the start
axis, and update the data input by
Motion CPU.
APP - 50
Refer to the positioning signal data
register "Monitoring data area" for
details.
APPENDICES
APPENDIX 5 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)
Q173CPU(N)
Number of setting axes (SV22)
1 to 4
5 to 12
13 to 24
Number of setting axes (SV13)
1 to 8
9 to 16
17 to 32
Operation cycle [ms]
0.88
1.77
3.55
Q172CPU(N)
25 to 32
1 to 4
5 to 8
1 to 8
7.11
0.88
1.77
(2) CPU processing time [ms]
Q173CPU(N)
Operation cycle
Q172CPU(N)
0.88[ms]
1.77[ms]
3.55[ms]
7.11[ms]
0.88[ms]
1.77[ms]
1.1 to 1.6
2.5 to 3.2
4.3 to 6.0
8.1 to 11.1
1.1 to 1.6
2.5 to 3.2
1.8 to 2.3
3.0 to 3.9
4.8 to 6.6
9.4 to 11.5
1.8 to 2.3
3.0 to 3.9
Speed change response
1.2 to 2.0
2.8 to 3.6
4.5 to 5.9
8.5 to 11.0
1.2 to 2.0
2.8 to 3.6
Torque limit value change response
0.8 or less 1.7 or less 3.5 or less 3.5 or less 0.8 or less 1.7 or less
Simultaneous start processing time (Note-2)
1.7 to 2.5
When "WAIT ON/OFF +
Servo program
Motion control step" is
start processing
used.
time (Note-1)
When only Motion control
step is used.
3.5 to 4.2
5.0 to 6.5
Time from PLC ready flag (M2000) ON to
8.6 to 12.0
1.7 to 2.5
3.5 to 4.2
39 to 433
PCPU ready flag (M9074) ON
(Note-1): FEED instruction varies greatly depending on the condition (whether other axes are operating or being stopped).
(Note-2): This processing time varies depending on the simultaneous start command. Use this time merely for reference.
(Note-3): MR-H BN does not support an operation cycle of 0.88[ms]. If the MR-H BN is set in the system settings,
1.77[ms] is used as the real operation cycle even when 0.88[ms] is set.
APP - 51
APPENDICES
(3) Axis status list
Axis No.
Device No.
1
M2400 to M2419
Signal name
2
M2420 to M2439
3
M2440 to M2459
4
M2460 to M2479
0
Positioning start complete
5
M2480 to M2499
1
Positioning complete
6
M2500 to M2519
2
In-position
7
M2520 to M2539
3
Command in-position
Signal name
Refresh cycle
Fetch cycle
Signal direction
Operation cycle
8
M2540 to M2559
4
Speed controlling
9
M2560 to M2579
5
Speed/position switching latch
10
M2580 to M2599
6
Zero pass
11
M2600 to M2619
7
Error detection
12
M2620 to M2639
8
Servo error detection
13
M2640 to M2659
9
Home position return request
14
M2660 to M2679
10
Home position return complete
15
M2680 to M2699
11
16
M2700 to M2719
12
17
M2720 to M2739
13
Immediate
Status signal
Operation cycle
Main cycle
Operation cycle
FLS
External RLS
signals STOP
Main cycle
18
M2740 to M2759
14
19
M2760 to M2779
15
Servo ready
DOG/CHANGE
20
M2780 to M2799
16
Torque limiting
21
M2800 to M2819
17
Unusable
22
M2820 to M2839
23
M2840 to M2859
18
24
M2860 to M2879
Virtual mode continuation
operation disable warning
(Note-1)
signal (SV22)
25
M2880 to M2899
19
M-code outputting signal
26
M2900 to M2919
27
M2920 to M2939
28
M2940 to M2959
29
M2960 to M2979
30
M2980 to M2999
31
M3000 to M3019
32
M3020 to M3039
Operation cycle
—
At virtual mode
transition
—
—
Status signal
Operation cycle
(Note-1): It is unusable in the SV13/SV22 real mode.
(Note-2): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-3): Device area of 9 axes or more is unusable in the Q172CPU(N).
APP - 52
APPENDICES
(4) Axis command signal list
Axis No.
Device No.
1
M3200 to M3219
2
M3220 to M3239
3
M3240 to M3259
Signal name
Signal name
Refresh cycle
4
M3260 to M3279
0
Stop command
5
M3280 to M3299
1
Rapid stop command
6
M3300 to M3319
2
Forward rotation JOG start command
7
M3320 to M3339
3
Reverse rotation JOG start command
8
M3340 to M3359
4
Complete signal OFF command
9
M3360 to M3379
10
M3380 to M3399
5
Speed/position switching enable
command
11
M3400 to M3419
6
Unusable
12
M3420 to M3439
7
Error reset command
13
M3440 to M3459
8
Servo error reset command
14
M3460 to M3479
15
M3480 to M3499
9
External stop input disable at start
command
16
M3500 to M3519
10
17
M3520 to M3539
11
18
M3540 to M3559
19
M3560 to M3579
20
M3580 to M3599
21
M3600 to M3619
22
M3620 to M3639
23
M3640 to M3659
Fetch cycle
Signal
direction
Operation cycle
Main cycle
Command
signal
Operation cycle
Main cycle
At start
Command
signal
Unusable
12
Feed current value update request
command
13
Address clutch reference setting
(Note-1)
command (SV22 only)
Cam reference position setting
14
(Note-1)
command (SV22 only)
24
M3660 to M3679
15 Servo OFF command
25
M3680 to M3699
16 Gain changing command
26
M3700 to M3719
17
27
M3720 to M3739
18
28
M3740 to M3759
29
M3760 to M3779
30
M3780 to M3799
31
M3800 to M3819
32
M3820 to M3839
At start
At virtual mode
transition
Command
signal
Operation cycle
Operation cycle
(Note-4)
Unusable
Operation cycle
19 FIN signal
Command
signal
(Note-1): It is unusable in the SV13/SV22 real mode.
(Note-2): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-3): Device area of 9 axes or more is unusable in the Q172CPU(N).
(Note-4): Operation cycle 7.1[ms] or more: Every 3.5[ms]
APP - 53
APPENDICES
(5) Common device list
Device
Signal name
No.
Refresh cycle
Fetch cycle
Signal
Remark
Device
direction
(Note-4)
No.
M3072
M2053
Command
M2000 PLC ready flag
Main cycle
signal
(Note-4)
M2001 Axis 1
Signal name
M2055
M2004 Axis 4
M2056
M2005 Axis 5
M2057 Unusable
M2006 Axis 6
M2058 (6 points)
M2007 Axis 7
M2059
M2008 Axis 8
M2060
M2009 Axis 9
M2061 Axis 1
M2010 Axis 10
M2062 Axis 2
M2011 Axis 11
M2063 Axis 3
M2012 Axis 12
M2064 Axis 4
M2013 Axis 13
M2065 Axis 5
M2014 Axis 14
Status
M2067 Axis 7
M2016 Axis 16
signal
M2068 Axis 8
(Note-1),
M2069 Axis 9
(Note-2)
M2070 Axis 10
Start accept flag
Operation cycle
M2018 Axis 18
M2019 Axis 19
M2071 Axis 11
M2020 Axis 20
M2072 Axis 12
M2021 Axis 21
M2073 Axis 13
M2022 Axis 22
M2074 Axis 14
M2023 Axis 23
M2075 Axis 15
M2024 Axis 24
M2076 Axis 16
M2025 Axis 25
M2077 Axis 17 Speed changing flag
M2026 Axis 26
M2078 Axis 18
M2027 Axis 27
M2079 Axis 19
M2028 Axis 28
M2080 Axis 20
M2029 Axis 29
M2081 Axis 21
M2030 Axis 30
M2082 Axis 22
M2031 Axis 31
M2083 Axis 23
M2032 Axis 32
M2084 Axis 24
M2033 Unusable
M2034
M2035
M2036
M2037
M2038
M2039
M2040
Personal computer link
communication error flag
request flag (Note-5)
Command
signal
signal
Immediate
flag
At start
flag
M2092 Axis 32
signal
M2093
Operation cycle
signal
M2094
M3073
M2096 Unusable
Status
M2097 (8 points)
signal
Command
Real/virtual mode switching
At virtual mode
signal
request (Virtual mode only)
transition
(Note-4)
M2098
M3074
M3075
status (Virtual mode only)
M2104 Axis 4
transition
Status
M2105 Axis 5
signal
M2106 Axis 6
M2107 Axis 7
M2108 Axis 8
Operation cycle
Main cycle
start command
Synchronous
signal
value changing flag
(Note-3)
(12 axes)
M2110 Axis 10
M3076
(Note-4)
M2113
signal
Manual pulse generator 1
Command
Main cycle
M2114
M3077
signal
(Note-4)
M2111 Axis 11
M2112 Axis 12
Status
Operation cycle
M3078
M2115 Unusable
M2116 (6 points)
M2117
M2118
APP - 54
Status
encoder current
M2109 Axis 9
Command
JOG operation simultaneous
enable flag
M2101 Axis 1
M2103 Axis 3
At virtual mode
M2046 Out-of-sync warning
Manual pulse generator 2
M2099
M2100
M2102 Axis 2
Real/virtual mode switching
enable flag
M2095
(Note-4)
Operation cycle
M2050 Start buffer full
(Note-2)
M2088 Axis 28
Status
Command
Speed switching point specified
M2049 All axes servo ON accept flag
signal
(Note-1),
M2090 Axis 30
Motion SFC error detection
M2047 Motion slot fault detection flag
Status
Operation cycle
M2091 Axis 31
(Virtual mode only)
M2052
Status
M2089 Axis 29
(3 points)
M2045 error detection
M2051
Operation cycle
M2087 Axis 27
M3080
Unusable
Real/virtual mode switching
M2048
signal
(Note-4)
M2086 Axis 26
signal
Main cycle
M2042 All axes servo ON command
M2044
Remark
(Note-4)
M2085 Axis 25
Status
Operation cycle
Motion SFC error history clear
M2041 System setting error flag
M2043
Signal
direction
M2066 Axis 6
M2015 Axis 15
M2017 Axis 17
Main cycle
enable flag
M2003 Axis 3
Fetch cycle
Command
Manual pulse generator 3
M2054 Operation cycle over flag
M2002 Axis 2
Refresh cycle
Operation cycle
signal
(Note-1),
(Note-2)
M3079
APPENDICES
Common device list (Continued)
Refresh cycle
Fetch cycle
Signal
Remark
Device
direction
(Note-4)
No.
M2119
M2180
M2120
M2123
M2124
M2182
Unusable
(9 points)
M2184
M2126
M2128 Axis 1
M2186
M2129 Axis 2
M2131 Axis 4
M2188
M2132 Axis 5
M2134 Axis 7
M2190
M2135 Axis 8
M2137 Axis 10
M2192
M2138 Axis 11
M2140 Axis 13
M2194
M2141 Axis 14
M2143 Axis 16
Automatically
M2144 Axis 17
deceleration flag
M2196
M2146 Axis 19
M2198
M2147 Axis 20
M2149 Axis 22
M2200
M2150 Axis 23
M2152 Axis 25
M2202
M2153 Axis 26
M2155 Axis 28
M2204
M2156 Axis 29
M2157 Axis 30
Status
M2158 Axis 31
Operation cycle
M2159 Axis 32
Output
M2169 axis 5
M2170
Output
M2171 axis 6
M2172
Output
M2173 axis 7
M2174
Output
M2175 axis 8
M2176
Output
M2177 axis 9
M2178
Output
M2179 axis 10
Auxiliary input
side
Auxiliary input
side
M2212
side
Auxiliary input
M2214
side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
Output
Output
M2213 axis 27
Main shaft side
side
Output
M2211 axis 26
Auxiliary input
Main shaft side
Output
M2207 axis 24
M2210
Main shaft side
Auxiliary input
M2206
M2209 axis 25
Main shaft side
Main shaft side
(Note-1),
Output
M2205 axis 23
M2208
(Note-3)
M2168
signal
(Note-2)
Main shaft side
Clutch status
M2167 axis 4
Output
M2203 axis 22
M2154 Axis 27
Output
Output
M2201 axis 21
M2151 Axis 24
M2166
Output
M2199 axis 20
M2148 Axis 21
M2165 axis 3
Output
M2197 axis 19
M2145 Axis 18
Output
Output
M2195 axis 18
M2142 Axis 15
M2163 axis 2
Output
M2193 axis 17
M2139 Axis 12
Output
Output
M2191 axis 16
M2136 Axis 9
M2161 axis 1
Output
M2189 axis 15
M2133 Axis 6
Output
Output
M2187 axis 14
M2130 Axis 3
M2164
Output
M2185 axis 13
M2127
M2162
Output
M2183 axis 12
M2125
M2160
Output
M2181 axis 11
M2121
M2122
Signal name
Output
M2215 axis 28
M2216
Output
M2217 axis 29
M2218
Output
M2219 axis 30
M2220
Output
M2221 axis 31
M2222
Output
M2223 axis 32
side
M2225
M2226
Auxiliary input
M2227
side
M2228
APP - 55
Fetch cycle
Signal
Remark
direction
(Note-4)
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
Main shaft side
Auxiliary input
side
M2224
Main shaft side
Refresh cycle
Unusable
(5 points)
(Note-3)
Signal name
No.
Clutch status
Device
Status
Operation cycle
signal
(Note-1),
(Note-2)
APPENDICES
Common device list (Continued)
Device
Signal name
No.
Refresh cycle
Fetch cycle
Signal
Remark
Device
direction
(Note-4)
No.
M2229
M2275
M2230
M2276
M2231
M2277
M2232
M2233
M2234
M2235
Fetch cycle
Signal
Remark
direction
(Note-4)
M2279
M2280
(11 points)
M2281
M2282
M2237
M2283
M2238
M2284
M2239
M2285
M2240 Axis 1
M2286
M2241 Axis 2
M2287
M2242 Axis 3
M2288
M2243 Axis 4
M2289
M2244 Axis 5
M2290
M2245 Axis 6
M2291
M2246 Axis 7
M2292
M2247 Axis 8
M2293
M2248 Axis 9
M2294
M2249 Axis 10
M2295
M2250 Axis 11
M2296
M2251 Axis 12
M2297
M2252 Axis 13
M2298
M2253 Axis 14
M2255 Axis 16
Speed change "0"
M2256 Axis 17
accepting flag
M2257 Axis 18
Operation cycle
Status
M2300
signal
M2301
(Note-1),
M2302
(Note-2)
M2303
M2258 Axis 19
M2304
M2259 Axis 20
M2305
M2260 Axis 21
M2306
M2261 Axis 22
M2307
M2262 Axis 23
M2308
M2263 Axis 24
M2309
M2264 Axis 25
M2310
M2265 Axis 26
M2311
M2266 Axis 27
M2312
M2267 Axis 28
M2313
M2268 Axis 29
M2314
M2269 Axis 30
M2315
M2270 Axis 31
M2316
M2271 Axis 32
M2317
M2272
M2318
Unusable
(3 points)
Unusable
(45 points)
M2299
M2254 Axis 15
M2274
Refresh cycle
M2278
Unusable
M2236
M2273
Signal name
M2319
(Note-1): The range of axis No. 1 to 8 is valid in the Q172CPU(N).
(Note-2): Device area of 9 axes or more is unusable in the Q172CPU(N).
(Note-3): This signal is unusable in the SV22 real mode.
(Note-4): It can also be ordered the device of a remark column.
(Note-5): M3080 does not turn off automatically. Turn it off as an user side.
APP - 56
APPENDICES
(6) Special relay allocated device list (Status)
Device No.
Signal name
Refresh cycle
Fetch cycle
Signal direction
Remark
(Note)
M2320
Fuse blown detection
M9000
M2321
AC/DC DOWN detection
M9005
M2322
Battery low
M2323
Battery low latch
M2324
Self-diagnostic error
M9008
M2325
Diagnostic error
M9010
M2326
Always ON
M2327
Always OFF
M2328
Clock data error
M2329
PCPU WDT error flag
M2330
PCPU READY complete flag
M2331
Test mode ON flag
M2332
External forced stop input flag
M2333
Manual pulse generator axis setting
error flag
M9006
Error
occurrence
M9007
Main
operation
M9036
Error
occurrence
M9026
M9037
M9073
M9074
At request
M9075
Operation
cycle
M9076
M9077
Error
occurrence
Status signal
M2334
TEST mode request error flag
M2335
Servo program setting error flag
M9079
M2336
CPU No.1 reset flag
M9240
M2337
CPU No.2 reset flag
M9241
M2338
CPU No.3 reset flag
M9242
M2339
CPU No.4 reset flag
M2340
CPU No.1 error flag
M2341
CPU No.2 error flag
M9245
M2342
CPU No.3 error flag
M9246
M2343
CPU No.4 error flag
M9247
M2344
Servo parameter reading flag
M2345
CPU No.1 MULTR complete flag
M2346
CPU No.2 MULTR complete flag
M2347
CPU No.3 MULTR complete flag
M2348
CPU No.4 MULTR complete flag
At status
change
At request
M9078
M9243
M9244
M9105
M9216
At instruction
completion
M9217
M9218
M9219
M2349
to
Unusable
M2399
(Note): The same status as a remark column is output.
APP - 57
APPENDICES
(7) Common device list (Command signal)
Device
No.
Signal name
M3072
PLC ready flag
M3073
Speed switching point designation flag
M3074
Refresh cycle
Fetch cycle
Signal direction
Remark
(Note-1), (Note-2)
Main cycle
M2000
At start
M2040
All axes servo ON command
Operation
cycle
M2042
M3075
Real/virtual mode change request
At virtual
mode
transition
M2043
M3076
JOG operation simultaneous start
command
M3077
Manual pulse generator 1 enable flag
M3078
Manual pulse generator 2 enable flag
M3079
Manual pulse generator 3 enable flag
M2053
M3080
Motion SFC error history clear request
(Note-3)
flag
M2035
Command
signal
M2048
M2051
Main cycle
M2052
M3081
to
Unusable
M3135
(Note-1): The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column turns
OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks column
is turned on directly. In addition, when the request from a data register and the request from the above device are
performed simultaneously, the request from the above device becomes effective.
(Note-2): It can also be ordered the device of a remark column.
(Note-3): M3080 does not turn off automatically. Turn it off as an user side.
(8) Special relay allocated device list (Command signal)
Device
No.
Signal name
M3136
Clock data set request
M3137
Clock data read request
M3138
Error reset
M3139
Servo parameter read request flag
Refresh cycle
Fetch cycle
Signal direction
Remark
(Note-1), (Note-2)
M9025
Main cycle
Command
signal
M9028
M9060
M9104
M3140
to
Unusable
M3199
(Note-1): The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column turns
OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks column
is turned on directly.
(Note-2): It can also be ordered the device of a remark column.
APP - 58
APPENDICES
(9) 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.
18
D340 to D359
13 M-code
19
D360 to D379
14 Torque limit value
20
D380 to D399
21
D400 to D419
Data set pointer for
15
constant-speed control
22
D420 to D439
23
D440 to D459
24
D460 to D479
25
D480 to D499
26
D500 to D519
27
D520 to D539
28
D540 to D559
29
D560 to D579
30
D580 to D599
31
D600 to D619
32
D620 to D639
Signal name
9
Refresh cycle
Fetch cycle
Feed current value
Real current value
unit
Operation cycle
PLS
Immediate
Main cycle
PLS
Operation cycle
Monitor
device
Command
unit
At start
Operation cycle
%
At start/during start
16 Travel value change
17 register
18 Real current value at
19 stop input
Signal
direction
Command
Deviation counter value
Home position return
re-travel value
Unit
Operation cycle
Operation cycle
Command
Command
device
unit
Monitor
device
(Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2): Device area of 9 axes or more is unusable in the Q172CPU(N).
APP - 59
APPENDICES
(10) Control change register list
Axis
No.
Device No.
1
D640, D641
2
D642, D643
3
D644, D645
4
D646, D647
0
5
D648, D649
1
6
D650, D651
7
D652, D653
8
D654, D655
9
D656, D657
10
D658, D659
11
D660, D661
12
D662, D663
13
D664, D665
14
D666, D667
15
D668, D669
16
D670, D671
17
D672, D673
18
D674, D675
19
D676, D677
20
D678, D679
21
D680, D681
22
D682, D683
23
D684, D685
24
D686, D687
25
D688, D689
26
D690, D691
27
D692, D693
28
D694, D695
29
D696, D697
30
D698, D699
31
D700, D701
32
D702, D703
Signal name
Signal name
Refresh cycle
Fetch cycle
At start
JOG speed setting
Unit
Signal
direction
Command Command
unit
device
(Note-1): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2): Device area of 9 axes or more is unusable in the Q172CPU(N).
APP - 60
APPENDICES
(11) Common device list
Device
Signal name
No.
Refresh cycle
Fetch cycle
Signal
Device
direction
No.
Signal name
D704
PLC ready flag request
D752
Manual pulse generator 1
smoothing magnification
setting register
D705
Speed switching point
specified flag request
D753
Manual pulse generator 2
smoothing magnification
setting register
D706
All axes servo ON command
request
D754
Manual pulse generator 3
smoothing magnification
setting register
D707
Real/virtual mode switching
(Note-1)
(SV22)
request
D755
Manual pulse generator 1
enable flag request
D708
JOG operation simultaneous
start command request
D756
Manual pulse generator 2
enable flag request
D709
Unusable
D757
Manual pulse generator 3
enable flag request
Main cycle
Command
device
D710
D711
D712
JOG operation simultaneous
start axis setting register
At start
D715
D716
D717
D718
D719
Unusable
D759
PCPU ready complete flag
status
Fetch cycle
Signal
direction
At the manual pulse
generator enable flag
Command
device
Main cycle
Main cycle
Monitor
device
D760
D713
D714
D758
Refresh cycle
D761
D762
Manual pulse generator axis
1 No. setting register
D763
D764
Manual pulse generator axis
2 No. setting register
D765
D766
Manual pulse generator axis
3 No. setting register
D767
D720
Axis 1
D768
D721
Axis 2
D769
D722
Axis 3
D770
D723
Axis 4
D771
D724
Axis 5
D772
D725
Axis 6
D773
D726
Axis 7
D774
D727
Axis 8
D775
D728
Axis 9
D776
D729
Axis 10
D730
Axis 11
D731
Axis 12
D732
Axis 13
D733
Axis 14
D734
Axis 15
D735
Axis 16
D736
Axis 17
D737
Axis 18
D785
D738
Axis 19
D786
D739
Axis 20
D787
D740
Axis 21
D788
D741
Axis 22
D789
D742
Axis 23
D790
D743
Axis 24
D791
D744
Axis 25
D792
D745
Axis 26
D793
D746
Axis 27
D794
D747
Axis 28
D795
D748
Axis 29
D796
D749
Axis 30
D797
D750
Axis 31
D798
D751
Axis 32
D799
Command
device
Unusable (30 points)
D777
D778
At the manual pulse
D779
generator enable flag
D780
D781
Manual pulse
generators 1 pulse
input magnification
setting register
(Note-2), (Note-3)
D782
D783
D784
Real mode axis information
(Note-1)
register (SV22)
Main cycle
Monitor
device
Servo amplifier type
At power-on
(Note-1): This signal is unusable in the SV13/SV22 real mode.
(Note-2): The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-3): Device area of 9 axes or more is unusable in the Q172CPU(N).
APP - 61
APPENDICES
(12) Motion register list (#)
Axis
No.
Device No.
1
#8064 to #8067
2
#8068 to #8071
3
#8072 to #8075
4
#8076 to #8079
5
#8080 to #8083
6
#8084 to #8087
7
#8088 to #8091
8
#8092 to #8095
+1 Motor current
9
#8096 to #8099
+2
10 #8100 to #8103
+3
11 #8104 to #8107
Signal name
(Note-1)
Signal name
+0 Servo amplifier type
Motor speed
Signal description
0 : Unused
1 : MR-H-BN
2 : MR-J-B
3 : MR-J2-B
Refresh cycle
4 : MR-J2S-B
5 : MR-J2-M
When the servo amplifier
6 : MR-J2-03B5 power-on
65 : FR-V500
-5000 to 5000 (
-50000 to 50000 (
Signal direction
Monitor device
0.1[%] )
0.1[r/min] )
3.55[ms]
(Note-1): The value that the lowest servo monitor device No. was added "+0, +1 ···" on each axis is shown.
12 #8108 to #8111
13 #8112 to #8115
14 #8116 to #8119
15 #8120 to #8123
16 #8124 to #8127
17 #8128 to #8131
18 #8132 to #8135
19 #8136 to #8139
20 #8140 to #8143
21 #8144 to #8147
22 #8148 to #8151
23 #8152 to #8155
24 #8156 to #8159
25 #8160 to #8163
26 #8164 to #8167
27 #8168 to #8171
28 #8172 to #8175
29 #8176 to #8179
30 #8180 to #8183
31 #8184 to #8187
32 #8188 to #8191
REMARK
The servo monitor devices (#8064 to #8191) are valid with SW6RN-SV13Q /
SV22Q (Ver.00D or later).
APP - 62
APPENDICES
(13) Special relay list
Device No.
Signal name
M9073
PCPU WDT error flag
M9074
PCPU REDAY complete flag
M9075
TEST mode ON flag
M9076
External forced stop input flag
M9077
Manual pulse generator axis setting error flag
M9078
TEST mode request error flag
M9079
Servo program setting error flag
Refresh cycle
Signal type
Main cycle
Status signal
(14) Special register list
Device No.
D9180
D9181
D9182
D9183
D9184
D9185
D9186
D9187
Signal name
Test mode request error information
Motion CPU WDT error cause
Manual pulse generator axis setting error
information
Motion operation cycle
D9189
Error program No.
D9190
Error item information
D9192
D9193
D9194
D9195
Servo amplifier loading information
Real/virtual mode switching error
information
D9196
PC link communication error codes
D9197
Operation cycle of the Motion CPU setting
D9198
D9199
Fetch cycle
Signal
direction
Unusable
D9188
D9191
Refresh cycle
At test mode request
At Motion CPU WDT error
occurrence
At the manual pulse generator
enable flag
Operation cycle
At start
Monitor
device
At power supply on/
operation cycle
At virtual mode transition
Operation cycle
At power supply on
Unusable
D9200
State of switch
Main cycle
D9201
State of LED
Immediate
APP - 63
Monitor
device
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.
However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be
solely at the customer's discretion. Mitsubishi shall not be held responsible for any re-commissioning, maintenance,
or testing on-site that involves replacement of the failed module.
[Gratis Warranty Term]
Note that an installation period of less than one year after installation in your company or your customer’s premises
or a period of less than 18 months (counted from the date of production) after shipment from our company,
whichever is shorter, is selected.
[Gratis Warranty Range]
(1) Diagnosis of failure
As a general rule, diagnosis of failure is done on site by the customer.
However, Mitsubishi or Mitsubishi service network can perform this service for an agreed upon fee upon the
customer’s request.
There will be no charges if the cause of the breakdown is found to be the fault of Mitsubishi.
(2) Breakdown repairs
There will be a charge for breakdown repairs, exchange replacements and on site visits for the following four
conditions, otherwise there will be a charge.
1) Breakdowns due to improper storage, handling, careless accident, software or hardware design by the
customer
2) Breakdowns due to modifications of the product without the consent of the manufacturer
3) Breakdowns resulting from using the product outside the specified specifications of the product
4) Breakdowns that are outside the terms of warranty
Since the above services are limited to Japan, diagnosis of failures, etc. are not performed abroad.
If you desire the after service abroad, please register with Mitsubishi. For details, consult us in advance.
2. Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability
Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; opportunity
loss or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation
caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to
other duties.
3. Onerous Repair Term after Discontinuation of Production
Mitsubishi shall accept onerous product repairs for seven years after production of the product is discontinued.
4. Delivery Term
In regard to the standard product, Mitsubishi shall deliver the standard product without application settings or
adjustments to the customer and Mitsubishi is not liable for on site adjustment or test run of the product.
5. Precautions for Choosing the Products
(1) These products have been manufactured as a general-purpose part for general industries, and have not been
designed or manufactured to be incorporated in a device or system used in purposes related to human life.
(2) Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine,
passenger movement vehicles or under water relays, contact Mitsubishi.
(3) These products have been manufactured under strict quality control. However, when installing the product where
major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the
system.
(4) When exporting any of the products or related technologies described in this catalogue, you must obtain an
export license if it is subject to Japanese Export Control Law.
P
MOTION CONTROLLER Qseries
SV13/SV22(REAL MODE)Programming Manual
(Q173CPU(N)/Q172CPU(N))
MOTION CONTROLLERS
SV13/SV22(REAL MODE)
Q173CPU(N)
Q172CPU(N)
HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
MODEL
Q173-P-SV13/22-REALE
MODEL
CODE
1XB782
IB(NA)-0300043-C(0603)MEE
IB(NA)-0300043-C(0603)MEE
Programming Manual
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.
Q