Mitsubishi MOTION CONTROLLERS Q172DCPU Instruction manual

MITSUBISHI ELECTRIC

Motion Controllers

Programming Manual

SV13/SV22 (REAL MODE)

Q173DCPU

Q172DCPU

01 01 2008

IB(NA)-0300136

Version A


INDUSTRIAL AUTOMATION

SAFETY PRECAUTIONS

(Please read these instructions before using this equipment.)

Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly.

These precautions apply only to this product. Refer to the Q173DCPU/Q172DCPU Users manual for a description of the Motion controller safety precautions.

In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".

Indicates that incorrect handling may cause hazardous

DANGER

conditions, resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous

CAUTION

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.

Please save this manual to make it accessible when required and 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.

Completely turn off the externally supplied power used in the system before mounting or removing the module, performing wiring work, or inspections. Failing to do so 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 incombustible. Installing them directly or close to combustibles will 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.

Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this 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 heat radiating fins of controller or servo amplifier, 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 correct combinations listed in the instruction manual. Other combinations may lead to fire or faults.

Use the CPU module, base unit and motion module with the correct combinations listed in the instruction manual. Other combinations may lead to 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.

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.

A - 3

CAUTION

The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be used for normal braking.

The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications, and must not be used for normal braking.

The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed.

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.

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.

A - 4

CAUTION

Use the program commands for the program with the conditions specified in the instruction manual.

Set the sequence function program capacity setting, device capacity, latch validity range, I/O assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.

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 intelligent function module's instruction manual for the program corresponding to the intelligent 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.

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 Motion controller, servo amplifier and 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.

A - 5

CAUTION

The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them.

Securely fix the Motion controller, servo amplifier and servomotor to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation.

Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks.

Store and use the unit in the following environmental conditions.

Conditions

Environment

Motion controller/Servo amplifier Servomotor

Ambient temperature

Ambient humidity

According to each instruction manual.


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)

Storage temperature


Atmosphere

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 synchronous 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 synchronous encoder and 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.

Also, execute a trial operation.

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 (terminal 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.

Servo amplifier

VIN

(24VDC)

Do not connect or disconnect the connection cables between each unit, the encoder cable or PLC expansion cable while the

Control output signal

RA power is ON.

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) Usage methods

CAUTION

Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor.

Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection.

Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized.

Do not make any modifications to the unit.

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

Input power

Input frequency

Tolerable momentary power failure

100 to 120VAC

+10% +10%

-15%

200 to 240VAC

-15%

(85 to 132VAC) (170 to 264VAC)

Conditions

Q62P Q64P

100 to 240VAC

+10%

-15%

(85 to 264VAC)

24VDC

-35%

(15.6 to 31.2VDC)

100 to 120VAC

+10%

-15%

200 to 240VAC

+10%

-15%

(85 to 132VAC/

170 to 264VAC)

/

50/60Hz ±5%

20ms or less

A - 8

(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, electromagnetic brake signal.

Shut off with the emergency stop signal(EMG).

Servomotor

RA1 EMG

Electromagnetic brakes

24VDC

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.

Before touching the module, always touch grounded metal, etc. to discharge static electricity from human body. Failure to do so may cause the module to fail or malfunction.

Do not directly touch the module's conductive parts and electronic components.

Touching them could cause an operation failure or give damage to the module.

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.

A - 9

CAUTION

When replacing the Motion controller or servo amplifier, always set the new module settings correctly.

When the Motion controller or absolute value motor has been replaced, carry out a home position return operation using one of the following methods, otherwise position displacement could occur.

1) After writing the servo data to the Motion controller using programming software, switch on the power again, then perform a home position return operation.

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 drop or impact the battery installed to the module.

Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the dropped or impacted battery, but dispose of it.

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.

(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

Print Date Manual Number

Jan., 2008 IB(NA)-0300136-A First edition

The manual number is given on the bottom left of the back cover.

Revision

Japanese Manual Number IB(NA)-0300128

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

© 200 8 MITSUBISHI ELECTRIC CORPORATION

A - 11

INTRODUCTION

Thank you for choosing the Mitsubishi Motion controller Q173DCPU/Q172DCPU.

Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased, so as to ensure correct use.

CONTENTS

Safety Precautions .........................................................................................................................................A- 1

Revisions ........................................................................................................................................................A-11

Contents .........................................................................................................................................................A-12

About Manuals ...............................................................................................................................................A-15

1. OVERVIEW 1- 1 to 1- 4

1.1 Overview................................................................................................................................................... 1- 1

1.2 Features ................................................................................................................................................... 1- 3

1.2.1 Performance Specifications .............................................................................................................. 1- 3

2. POSITIONING CONTROL BY THE MOTION CPU 2- 1 to 2-14

2.1 Positioning Control by the Motion CPU................................................................................................... 2- 1

3. POSITIONING DEDICATED SIGNALS 3- 1 to 3-64

3.1 Internal Relays ......................................................................................................................................... 3- 3

3.1.1 Axis statuses ..................................................................................................................................... 3-10

3.1.2 Axis command signals ...................................................................................................................... 3-20

3.1.3 Common devices .............................................................................................................................. 3-27

3.2 Data Registers.......................................................................................................................................... 3-40

3.2.1 Axis monitor devices ......................................................................................................................... 3-44

3.2.2 Control change registers................................................................................................................... 3-50

3.2.3 Common devices .............................................................................................................................. 3-51

3.3 Motion Registers(#).................................................................................................................................. 3-54

3.4 Special Relays (SM) ................................................................................................................................ 3-56

3.5 Special Registers (SD)............................................................................................................................. 3-59

4. PARAMETERS FOR POSITIONING CONTROL 4- 1 to 4-14

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

4.2.5 Speed control 10 multiplier setting for degree axis ........................................................................ 4- 8

4.3 Parameter Block....................................................................................................................................... 4-11

4.3.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid stop deceleration time............................................................................................................................... 4-13

4.3.2 S-curve ratio ...................................................................................................................................... 4-13

A - 12

4.3.3 Allowable error range for circular interpolation................................................................................. 4-14

5. SERVO PROGRAMS FOR POSITIONING CONTROL 5- 1 to 5-26

5.1 Servo Program Composition Area........................................................................................................... 5- 1

5.1.1 Servo program composition.............................................................................................................. 5- 1

5.1.2 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 devices ................................................................................................... 5-23

6. POSITIONING CONTROL 6- 1 to 6-236

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



6.6 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.......................................... 6-114

6.17 Constant-Speed Control ...................................................................................................................... 6-120

6.17.1 Specification of pass points by repetition instructions .................................................................6-124

6.17.2 Speed-switching by instruction execution .................................................................................... 6-129

6.17.3 1 axis constant-speed control ....................................................................................................... 6-134

6.17.4 2 to 4 axes constant-speed control............................................................................................... 6-138

6.17.5 Constant speed control for helical interpolation ........................................................................... 6-145

6.17.6 Pass point skip function ................................................................................................................ 6-148

A - 13

6.17.7 FIN signal wait function................................................................................................................. 6-150

6.18 Position Follow-Up Control .................................................................................................................. 6-160

6.19 Speed control with fixed position stop................................................................................................. 6-167

6.20 Simultaneous Start............................................................................................................................... 6-172

6.21 JOG Operation ..................................................................................................................................... 6-175

6.21.1 JOG operation data....................................................................................................................... 6-175

6.21.2 Individual start ............................................................................................................................... 6-176

6.21.3 Simultaneous start ........................................................................................................................ 6-181

6.22 Manual Pulse Generator Operation .................................................................................................... 6-184

6.23 Home Position Return.......................................................................................................................... 6-191

6.23.1 Home position return data............................................................................................................. 6-192

6.23.2 Home position return by the proximity dog type 1 ....................................................................... 6-200

6.23.3 Home position return by the proximity dog type 2 ....................................................................... 6-203

6.23.4 Home position return by the count type 1 .................................................................................... 6-205



6.23.7 Home position return by the data set type 1 ................................................................................ 6-210

6.23.8 Home position return by the data set type 2 ................................................................................ 6-211

6.23.9 Home position return by the dog cradle type ............................................................................... 6-212

6.23.10 Home position return by the stopper type 1 ............................................................................... 6-217

6.23.11 Home position return by the stopper type 2 ............................................................................... 6-219

6.23.12 Home position return by the limit switch combined type............................................................ 6-221

6.23.13 Home position return retry function ............................................................................................ 6-223

6.23.14 Home position shift function........................................................................................................ 6-227

6.23.15 Condition selection of home position set.................................................................................... 6-231

6.23.16 Servo program for home position return .................................................................................... 6-232

6.24 High-Speed Oscillation ........................................................................................................................ 6-234

7. AUXILIARY AND APPLIED FUNCTIONS 7- 1 to 7-12

7.1 M-code Output Function .......................................................................................................................... 7- 1

7.2 Backlash Compensation Function........................................................................................................... 7- 4

7.3 Torque Limit Function .............................................................................................................................. 7- 6

7.4 Skip Function in which Disregards Stop Command ............................................................................... 7- 8

7.5 Cancel of the Servo Program .................................................................................................................. 7-10

7.5.1 Cancel/start ....................................................................................................................................... 7-11

APPENDICES APP- 1 to APP-57

APPENDIX 1 Error Codes Stored Using The Motion CPU....................................................................APP- 1

APPENDIX 1.1 Servo program setting errors (Stored in SD517)........................................................APP- 3

APPENDIX 1.2 Minor errors .................................................................................................................APP- 8

APPENDIX 1.3 Major errors .................................................................................................................APP-18

APPENDIX 1.4 Servo errors.................................................................................................................APP-22

APPENDIX 2 Example Programs.............................................................................................................APP-41

APPENDIX 2.1 Reading M-code..........................................................................................................APP-41

APPENDIX 2.2 Reading error code......................................................................................................APP-42

APPENDIX 3 Setting Range for Indirect Setting Devices........................................................................APP-44

APPENDIX 4 Processing Times of the Motion CPU ...............................................................................APP-46

APPENDIX 5 Device List ..........................................................................................................................APP-47

A - 14

About Manuals

The following manuals are also related to this product.

In necessary, order them by quoting the details in the tables below.

Related Manuals

(1) Motion controller

Manual Name

Q173DCPU/Q172DCPU Motion controller User's Manual

This manual explains specifications of the Motion CPU modules, Q172DLX Servo external signal interface module, Q172DEX Synchronous encoder interface module, Q173DPX Manual pulse generator interface module, Power supply modules, Servo amplifiers, SSCNET cables, Synchronous encoder cables and others.

(Optional)

Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)

This manual explains the Multiple CPU system configuration, performance specifications, common parameters, auxiliary/applied functions, error lists and others.

(Optional)

Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)

This manual explains the functions, programming, debugging, error lists and others for Motion SFC.

(Optional)

Q173DCPU/Q172DCPU Motion controller (SV22) Programming Manual (VIRTUAL MODE)

This manual explains the dedicated instructions to use the synchronous control by virtual main shaft, mechanical system program create mechanical module, servo parameters, positioning instructions, device lists, error lists and others.

(Optional)

Manual Number

(Model Code)

IB-0300133

(1XB927)

IB-0300134

(1XB928)

IB-0300135

(1XB929)

IB-0300137

(1XB931)

A - 15

(2) PLC

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.

(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.

(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.

(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.

(Optional)

QCPU (Q Mode)/QnACPU Programming Manual (PID Control Instructions)

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.

(Optional)

I/O Module Type Building Block User's Manual

This manual explains the specifications of the I/O modules, connector, connector/terminal block conversion modules and others.

(3) Servo amplifier

(Optional)

Manual Name

MR-J3- B Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for

MR-J3- B Servo amplifier.

(Optional)

Fully Closed Loop Control MR-J3- B-RJ006 Servo amplifier Instruction Manual

This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Fully

Closed Loop Control MR-J3- B-RJ006 Servo amplifier.

(Optional)

A - 16

Manual Number

(Model Code)

SH-080483ENG

(13JR73)

SH-080484ENG

(13JR74)

SH-080485ENG

(13JR75)

SH-080039

(13JF58)

SH-080040

(13JF59)

SH-080041

(13JF60)

SH-080042

(13JL99)

Manual Number

(Model Code)

SH-030051

(1CW202)

SH-030056

(1CW304)

1 OVERVIEW

1. OVERVIEW

1.1 Overview

This programming manual describes the positioning control parameters, positioning dedicated devices and positioning method required to execute positioning control in the

Motion controller (SV13/22 real mode).

The following positioning control is possible in the Motion controller (SV13/22 real mode).

Applicable CPU Number of positioning control axes

Q173DCPU (32 axes) Up to 32 axes

Q172DCPU (8 axes) Up to 8 axes

In this manual, the following abbreviations are used.

Generic term/Abbreviation

Q173DCPU/Q172DCPU or

Motion CPU (module)

Description

Q173DCPU/Q172DCPU Motion CPU module

Q172DLX/Q172DEX/Q173DPX or

Motion module

MR-J3- B

Q172DLX Servo external signals interface module/

Q172DEX Serial Synchronous encoder interface module

(Note-1)

/

Q173DPX Manual pulse generator interface module

Servo amplifier model MR-J3- B

AMP or Servo amplifier General name for "Servo amplifier model MR-J3- B"

QCPU, PLC CPU or PLC CPU module QnUD(H)CPU

Multiple CPU system or Motion system Abbreviation for "Multiple PLC system of the Q series"

CPUn

Self CPU

Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPU system"

Motion CPU being programmed by the currently open MT Developer project

Programming software package

Operating system software

SV13

General name for MT Developer/GX Developer/MR Configurator

General name for "SW8DNC-SV Q "

Operating system software for conveyor assembly use (Motion SFC) :

SW8DNC -SV13Q

SV22

MT Developer

GX Developer

MR Configurator

Operating system software for automatic machinery use (Motion SFC) :

SW8DNC -SV22Q

Abbreviation for " Motion controller programming software

MT Developer 2 (Version 1.00A or later)"

Abbreviation for "MELSEC PLC programming software package

GX Developer (Version 8.48A or later)"

Abbreviation for "Servo setup software package

MR Configurator (Version C0 or later)"

Manual pulse generator or MR-HDP01 Abbreviation for "Manual pulse generator (MR-HDP01)"

Serial absolute synchronous encoder or Q170ENC

SSCNET

(Note-2)

Absolute position system

Abbreviation for "Serial absolute synchronous encoder (Q170ENC)"

High speed synchronous network between Motion controller and servo amplifier

General name for "system using the servomotor and servo amplifier for absolute position"

1

1 - 1

1 OVERVIEW

Generic term/Abbreviation

Battery holder unit

External battery

Intelligent function module

Battery holder unit (Q170DBATC)

Description

General name for "Q170DBATC" and "Q6BAT"

Abbreviation for "MELSECNET/H module/Ethernet module/CC-Link module/

Serial communication module"

(Note-1) : Q172DEX can be used in SV22.

(Note-2) : SSCNET: Servo System Controller NETwork

REMARK

For information about the each module, design method for program and parameter, refer to the following manuals relevant to each module.

Motion CPU module/Motion unit

PLC CPU, peripheral devices for PLC program design, I/O modules and intelligent function module

Operation method for MT Developer

SV13/SV22

• Multiple CPU system configuration

• Performance specification

• Design method for common parameter

• Auxiliary and applied functions (common)

• Design method for Motion SFC program

• Design method for Motion SFC parameter

• Motion dedicated PLC instruction

SV22

(Virtual mode)

• Design method for mechanical system program

Q173DCPU/Q172DCPU User’s Manual

Manual relevant to each module

Help of each software

Q173DCPU/Q172DCPU Motion controller

Programming Manual (COMMON)

Q173DCPU/Q172DCPU Motion controller (SV13/SV22)

Programming Manual (Motion SFC)

Q173DCPU/Q172DCPU 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

Operation cycle

(default)

Item Q173DCPU

Number of control axes

Interpolation functions

Control modes

Acceleration/

SV13

SV22 deceleration control

Up to 32 axes

Q172DCPU

Up to 8 axes

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 18 axes

1.77ms/19 to 32 axes

0.44ms/ 1 to 4 axes




0.44ms/ 1 to 6 axes

0.88ms/ 7 to 8 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 8 axes

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,

Constant speed control, Position follow-up control, Speed control with fixed position stop,

Speed switching control, High-speed oscillation control, Synchronous control (SV22)

Automatic trapezoidal acceleration/deceleration,

S-curve acceleration/deceleration

Programming language

Servo program capacity

Number of positioning points

Peripheral I/F

Home position return function

JOG operation function

Manual pulse generator operation function

Synchronous encoder operation function

M-code function

Limit switch output function

Absolute position system

Number of SSCNET

(Note-1) systems

Motion SFC, Dedicated instruction, Mechanical support language (SV22)

14k steps

3200 points

(Positioning data can be designated indirectly)

Via PLC CPU (USB/RS-232)

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)

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.

(Possible to select the absolute data method or incremental method for each axis)

2 systems 1 system

1 - 3

1 OVERVIEW

Motion control specifications (continued)

Item Q173DCPU Q172DCPU

Motion related interface module

Q172DLX : 4 modules usable Q172DLX : 1 module usable

Q172DEX : 6 modules usable Q172DEX : 4 modules usable

Q173DPX : 4 modules usable

(Note-2)

Q173DPX : 3 modules usable

(Note-2)

(Note-1) : The servo amplifiers for SSCNET cannot be used.

(Note-2) : When using the incremental synchronous encoder (SV22 use), you can use above number of modules.

When connecting the manual pulse generator, you can use only 1 module.

1 - 4

2 POSITIONING CONTROL BY THE MOTION CPU

2. POSITIONING CONTROL BY THE MOTION CPU

2.1 Positioning Control by the Motion CPU

The positioning control of up to 32 axes in Q173DCPU and up to 8 axes in Q172DCPU is possible in the Motion CPU.

There are following four functions as controls toward the servo amplifier/servomotor.

(1) Servo operation by the positioning instructions.

There are following two methods for execution of the positioning instruction.

(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 (D(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 (D(P).SVST) of

PLC CPU.

2

(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 (D(P).CHGV, D(P).CHGT) and Motion dedicated function (CHGV, CHGT) of operation control step "F".

(Note): Refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22)

Programming Manual (Motion SFC)" for the Motion dedicated PLC instruction.

2 - 1


[Execution of the Motion SFC program start (D(P).SFCS instruction)]

Positioning control is executed by starting the Motion SFC program specified with

D(P).SFCS instruction of the PLC CPU in the Motion CPU. (The Motion SFC program can also be started automatically by parameter setting.)

An overview of the starting method using the Motion SFC is shown below.

Multiple CPU control system

PLC CPU

PLC program

<Example> D(P).SFCS instruction

Positioning execute command

DP

.

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 D(P).SFCS instruction

in the PLC program.

2) When the D(P).SFCS instruction is executed, the program of the

Motion SFC program No. specified with the Motion CPU is executed.

(1) Create/set the PLC programs, Motion SFC programs and positioning control parameters using a programming software package.

(2) Perform the positioning start using the PLC program (D(P).SFCS instruction) of

PLC CPU.

(a) Motion SFC program No. is specified with the D(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


Motion CPU

Motion SFC program

START

F10

G100

K100

G101

END

Motion SFC program No.15

(Program No. specified with the D(P).SFCS instruction.)

Once execution type operation control step

Command which performs numerical operation and

bit operation.

"WAIT"

Command which transits to the next step by

formation of transition condition Gn.

Motion control step

Command which performs starting of the servo

program "Kn", etc.

Positioning control parameters

System settings

Fixed parameters

Servo parameters

Parameters block

Home position return data

JOG operation data

Limit switch output data

System data such as axis allocations

Fixed data by the mechanical system, etc.

Data by the specifications of the connected servo amplifier

Data required for the acceleration, deceleration of the positioning control, etc.

Data required for the home position return

Data required for the JOG operation

ON/OFF pattern data required for the limit switch output function

Servo amplifier

Servomotor

2 - 3


[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

[G200]

PX000*M2475

[K100]

ABS-1

Axis 4, 80000PLS

Speed 10000PLS/s

[G210]

!PX000

END

All axes servo ON command on

Stand by until PX000 is on and Axis 4 servo ON.


Axis used . . . . . . . . . . . Axis 4

Positioning address . . . 80000[PLS]

Command speed . . . . . 10000[PLS/s]

Stand by until PX000 is OFF after positioning completion.

Start request of the servo program

(1) Create/set the Motion SFC programs, servo programs and positioning control parameters using a programming software package.

(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


Servo program

<K 100>

ABS-1

Axis

Speed

Dwell time

M-code

4, 80000

10000

-

-

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.


System settings

Fixed parameters

Servo parameters

Parameters block


JOG operation data









Servo amplifier

Servomotor

2 - 5


[Execution of the servo program start (D(P).SVST instruction)]

Positioning control is executed by starting the specified servo program toward the axis specified with D(P).SVST instruction of PLC CPU in the Motion CPU.

An overview of the starting method using the servo program is shown below.

Multiple CPU control system

PLC CPU

PLC program

<Example> DP.SVST instruction

Positioning execute command

DP

.

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


1) The starting axis No. and servo program No. are set using the

D(P).SVST instruction in the PLC program.

2) When the D(P).SVST instruction is executed, the program of the

servo program No. is executed toward the specified axis.


(1) Create/set the PLC programs, servo programs and positioning control parameters using a programming software package.

(2) Perform the positioning start using the PLC program (D(P).SVST instruction) of

PLC CPU.

(a) Starting axis No. and servo program No. are specified with the D(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


Motion CPU

Servo program

<K 25>

ABS-2

Axis

Axis

Vector speed

3,

4,

50000

40000

30000

Servo program No.25

(Servo program No. specified with the D(P).SVST instruction.)

2 axes linear interpolation control

Axis used . . . . . . . . . . . Axis 3, Axis 4

Travel value to stop position

Axis 3 . . . . . . 50000

Axis 4 . . . . . . 40000

Command positioning speed

Vector speed . . . . . . 30000


System settings

Fixed parameters

Servo parameters

Parameters block


JOG operation data









Servo amplifier

Servomotor

2 - 7


[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 SFC program

JOG

[F120]

D640L=K100000

P0

[G120]

SET M3202=PX000 * !M3203

[G130]

RST M3202= !

PX000

P0

Axis 1 JOG operation speed = 100000[PLS/s]

Axis 1 forward JOG command SET

Axis 1 forward JOG command RST

Note) : Do not stop this task during operation.

Operation may not stop.

JOG operation by

the JOG dedicated device control

(1) Create/set the Motion SFC programs, positioning control parameters using a programming software package.

(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


Positioning control parameter

System settings

Fixed parameters

Servo parameters

Parameter block


JOG operation data









Servo amplifier

Servomotor

2 - 9


[Executing Manual Pulse Generator Operation]

When the positioning control is executed by the manual pulse generator connected to the Q173DPX, manual pulse generator operation must be enabled using the Motion

SFC program.

An overview of manual pulse generator operation is shown below.


Motion 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) Create/set the Motion SFC programs, positioning control parameters using a programming software package.

(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


Positioning control parameter

System settings

Fixed parameters

Servo parameters

Parameter block


JOG operation data









Servo amplifier

Servomotor

Manual pulse generator

2 - 11


(1) Positioning control parameters

There are following seven types as positioning control parameters.

Parameter data can be set and corrected interactively using MT Developer.

Item Description

1 System settings Multiple system settings, Motion modules and axis No., etc. are set.

Reference

Section

4.1

2

Fixed parameters

3

Servo parameters

Data by such as the mechanical system are set for every axis.

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 servomotor are set for every axis.

They are set to control the servomotors at the positioning control.

Section

4.2

(Note-1)

4


Data such as the direction, method and speed of the home position return used at the positioning control are set for every axis.

Section

6.23.1

5

JOG operation data

Data such as the JOG speed limit value and parameter block No. used at the JOG operation are set for every axis.

Section

6.21.1

Data such as the acceleration, deceleration time and speed control value at the positioning control are set up to 16 parameter blocks. block

They are set with the servo program, JOG operation data and home position return data, and it is used to change easily the acceleration/deceleration processing (acceleration/deceleration time and speed limit value) at the positioning control.

Section

4.3

7


Output device, watch data, ON section, output enable/disable bit and forced output bit used for the limit output function for every limit output are set.

(Note-2)

(Note-1): Refer to Section 3.3 of the "Q173DCPU/Q172DCPU Motion controller Programming Manual

(COMMON)".

(Note-2): Refer to Section 4.1 of the "Q173DCPU/Q172DCPU Motion controller Programming Manual

(COMMON)".

(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

(D(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


(3) Motion SFC program

Motion SFC program is used to execute the operation sequence or transition control combining "Start", "Step", Transition", or "End" to the servo program.

The positioning control, JOG operation and manual pulse generator operation by the servo program can be executed.

Refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22)

Programming Manual (Motion SFC)" for details.

(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 "Q173DCPU/Q172DCPU Motion controller (SV13/SV22)


2 - 13


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 (SM) ...........................SM0 to SM2255 (2256 points)

• Data register (D) ..............................D0 to D799 (800 points)

• Motion register (#) ............................ #8000 to #8735 (736 points)

• Special register (SD) ....................... SD0 to SD2255 (2256 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 ....................................... This signal makes the starting axis stop.

• 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.

PLC control processor

Configuration between modules

PLC CPU

1)

Device memory

Motion CPU

2)

Device memory

Multiple CPU high speed transmission memory

Multiple CPU high speed bus


Motion control processor

SSCNET

Q series PLC system bus

Servo amplifier

3

PLC I/O module

(DI/O)

PLC intelligent function module

(A/D, D/A, etc.)

Motion module

(Proximity dog signal, manual pulse generator input)

M M Servomotor

Note) : Device memory data : 1) = 2)

Fig.3.1 Flow of the internal signals/external signals

3 - 1


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.


SV13

Operation cycle

(Default)

SV22

Up to 32 axes

0.44ms/ 1 to 6 axes


1.77ms/ 19 to 32 axes

0.44ms/ 1 to 4 axes


1.77ms/ 13 to 28 axes

3.55ms/ 29 to 32 axes

Up to 8 axes

0.44ms/ 1 to 6 axes

0.88ms/ 7 to 8 axes

0.44ms/ 1 to 4 axes

0.88ms/ 5 to 8 axes

REMARK

In the positioning dedicated signals, "n" in "M3200+20n", etc. indicates a value corresponding to axis No. such as the following tables.

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) For axis 32

M3200+20n (Stop command)=M3200+20 31=M3820

M3215+20n (Servo OFF command)=M3215+20 31=M3835

• The range (n=0 to 7) of axis No.1 to 8 is valid in the Q172DCPU.

3 - 2


3.1 Internal Relays

(1) Internal relay list

Device No.

SV13 SV22

Purpose Device No. Purpose to

M2000 to

M2320 to

M2400 to

M3040 to

M3072 to

M3136 to

M3200 to

M3840 to

M8191

(2000 points)

Common device

(320 points)

Unusable

(80 points)

Axis status

(20 points 32 axes)

Unusable

(32 points)

Common device (Command signal)

(64 points)

Unusable

(64 points)

Axis command signal

(20 points 32 axes)

User device

(4352 points) to

M2000 to

M2320 to

M2400 to

(2000 points)

Common device

(320 points)

Unusable

(80 points)

Axis status

(20 points 32 axes)

Real mode……Each axis

Virtual mode….Output module

Unusable

(32 points)

M3040 to

M3072 to

M3136 to

M3200 to

M3840 to

M4000 to

M4640 to

M4688 to


(64 points)

Unusable

(64 points)

Axis command signal

(20 points 32 axes)

Real mode……Each axis

Virtual mode….Output module

Unusable

(160 points)

Virtual servomotor axis status

(20 points 32 axes)

Synchronous encoder axis status

(4 points 12 axes)

Unusable (Note-1)

(112 points)

(Note-1)

M4800 to

M5440 to

Virtual servomotor axis command signal (Note-1)

(20 points 32 axes)

Synchronous encoder axis command signal

(4 points 12 axes)

M5488 to

M8191

User device

(2704 points)

It can be used as an user device.

(Note-1): It can be used as an user device in the SV22 real mode only.

POINT

• Total number of user device points

6352 points (SV13) / 4074 points

(Note)

(SV22)

(Note): Up to 6096 points can be used when not using it in the virtual mode.

3 - 3


Axis No.

25

26

27

28

29

30

31

32

19

20

21

22

15

16

17

18

11

12

13

14

7

8

9

10

23

24

1

2

3

4

5

6

(2) Axis status list

Device No.

M2880 to M2899

M2900 to M2919

M2920 to M2939

M2940 to M2959

M2960 to M2979

M2980 to M2999

M3000 to M3019

M3020 to M3039

19 M-code outputting signal

Signal name

M2400 to M2419

M2420 to M2439

M2440 to M2459

M2460 to M2479

M2480 to M2499

M2500 to M2519

M2520 to M2539

M2540 to M2559

M2560 to M2579

M2580 to M2599

M2600 to M2619

M2620 to M2639

M2640 to M2659

M2660 to M2679

M2680 to M2699

M2700 to M2719

M2720 to M2739

M2740 to M2759

M2760 to M2779

M2780 to M2799

M2800 to M2819

M2820 to M2839

M2840 to M2859

M2860 to M2879

18

Signal name

0 Positioning start complete

1 Positioning complete

2 In-position

3 Command in-position

4 Speed controlling

5 Speed/position switching latch

6 Zero pass

7 Error detection

8 Servo error detection

9 Home position return request

10 Home position return complete

11 FLS

12

13

External signals

RLS

STOP

14 DOG/CHANGE

15 Servo ready

16 Torque limiting

17 Unusable

Virtual mode continuation operation disable warning signal (SV22)

(Note-1)

Refresh cycle

Operation cycle

Immediate

Operation cycle

Main cycle

Operation cycle

Main cycle

Operation cycle

At virtual mode transition

Operation cycle

Fetch cycle Signal direction

Status signal

Status signal

(Note-1): It is unusable in the SV13/SV22 real mode.

POINT

(1) The range of axis No.1 to 8 is valid in the Q172DCPU.

(2) The device area more than 9 axes as an user device in the Q172DCPU.

However, when the project of Q172DCPU is replaced with Q173DCPU, this area cannot be used.

3 - 4


Axis No. Device No.

(3) Axis command signal list

1 M3200 to M3219

2 M3220 to M3239

3 M3240 to M3259

Signal name

4 M3260 to M3279

5 M3280 to M3299

6 M3300 to M3319

7 M3320 to M3339

0 Stop command

1 Rapid stop command

2 Forward rotation JOG start command

3 Reverse rotation JOG start command

8 M3340 to M3359

9 M3360 to M3379

10 M3380 to M3399

4 Complete signal OFF command

Speed/position switching enable

5 command

Signal name

Refresh cycle

11 M3400 to M3419

12 M3420 to M3439

13 M3440 to M3459

6 Unusable

7 Error reset command

8 Servo error reset command

14 M3460 to M3479

15 M3480 to M3499

16 M3500 to M3519 10

17 M3520 to M3539 11

18

19

M3540 to M3559

M3560 to M3579

External stop input disable at start

9 command

Unusable

Feed current value update request

12 command

20 M3580 to M3599

21 M3600 to M3619

Address clutch reference setting

13 command (SV22 only)

(Note-1)

22

23

M3620 to M3639

M3640 to M3659

Cam reference position setting


(Note-1)

24 M3660 to M3679 15 Servo OFF command

25 M3680 to M3699 16 Gain changing command

26 M3700 to M3719 17 Unusable

27 M3720 to M3739 18 Control loop changing command

28 M3740 to M3759

29 M3760 to M3779

30 M3780 to M3799

31 M3800 to M3819

32 M3820 to M3839

Fetch cycle

Operation cycle

Main cycle

Operation cycle

Main cycle

At start

At start


Operation cycle

Operation cycle

(Note-2)

Operation cycle

Signal direction

Command signal

Command signal

Command signal

Command signal


(Note-2): Operation cycle 7.1[ms] or more: Every 3.5[ms]

POINT




3 - 5


Device

No.

Signal name

M2000 PLC ready flag

M2001 Axis 1

M2002 Axis 2

M2003 Axis 3

M2004 Axis 4

M2005 Axis 5

M2006 Axis 6

M2007 Axis 7

M2008 Axis 8

M2009 Axis 9

M2010 Axis 10

M2011 Axis 11

M2012 Axis 12

M2013 Axis 13

M2014 Axis 14

M2015 Axis 15

M2016 Axis 16

M2017 Axis 17

Start accept flag

M2018 Axis 18

M2019 Axis 19

M2020 Axis 20

M2021 Axis 21

M2022 Axis 22

M2023 Axis 23

M2024 Axis 24

M2025 Axis 25

M2026 Axis 26

M2027 Axis 27

M2028 Axis 28

M2029 Axis 29

M2030 Axis 30

M2031 Axis 31

M2032 Axis 32

M2033 Unusable

M2034 (2 points)

M2035

Motion error history clear request flag

M2036

M2037

Unusable

(2 points)

M2038 Motion SFC debugging flag

M2039 Motion error detection flag

M2040

Speed switching point specified flag

M2041 System setting error flag

M2042 All axes servo ON command

M2043

Real mode/virtual mode switching request (SV22)

M2044

Real mode/virtual mode switching status (SV22)

M2045

Real mode/virtual mode switching error detection signal (SV22)

M2046 Out-of-sync warning (SV22)

M2047 Motion slot fault detection flag

(4) Common device list

Refresh cycle

Operation cycle

Fetch cycle

Main cycle

Signal direction

Command signal

(Note-4)

M3072

Status signal

(Note-1),

(Note-2)

Remark Device

No.

M2053

Signal name

Manual pulse generator 3 enable flag

Refresh cycle

M2054 Operation cycle over flag Operation cycle

M2055

M2056

M2057

M2058

M2059

M2060

Unusable

(6 points)

— —

M2085 Axis

—

M2086 Axis

Main cycle

Command signal

M3080

— —

M2089 Axis

—

M2090 Axis

At debugging mode transition

Status signal

Immediate M2093

Operation cycle

At start

Operation cycle


Command signal

Status signal

Command signal

M3073

M2094

M2095

M2096

M2097

M2098

M3074 M2099

M2100

M3075

Unusable

(8 points)


Operation cycle

Status signal

Speed changing accepting flag

Synchronous encoder current value changing flag

(Note-3)

(12 axes)

Operation cycle

Operation cycle

M2048

JOG operation simultaneous start command

M2049 All axes servo ON accept flag

M2050 Unusable

M2051


M2052


Main cycle

Command signal

M3076

Status

Operation cycle signal

Main cycle

M2113

Command signal

—

Unusable

M2115

M3077 (6 points)

M2116

M3078

M2117

M2118

Fetch cycle

Main cycle

Signal direction

Remark

(Note-4)

Command signal

Status signal

M3079

Status signal

(Note-1),

(Note-2)

Status signal

(Note-1),

(Note-2)

3 - 6


M2178

M2179

M2180

M2181

M2182

M2183

M2184

M2185

M2186

M2187

M2161

M2162

M2163

M2164

M2165

M2166

M2167

M2168

M2169

M2170

M2171

M2172

M2173

Unusable

(28 points)

M2174

(Note-5)

M2175

M2176

M2177

Device

Signal name

No.

M2119

M2120

M2121

M2122

M2123

Unusable

(9 points)

M2124

M2125

M2126

M2127

M2128 Axis 1

M2129 Axis 2

M2130 Axis 3

M2131 Axis 4

M2132 Axis 5

M2133 Axis 6

M2134 Axis 7

M2135 Axis 8

M2136 Axis 9

M2137 Axis 10

M2138 Axis 11

M2139 Axis 12

M2140 Axis 13

M2141 Axis 14

M2142 Axis 15

M2143 Axis 16 Automatic

M2144 Axis 17 decelerating flag

M2145 Axis 18

M2146 Axis 19

M2147 Axis 20

M2148 Axis 21

M2149 Axis 22

M2150 Axis 23

M2151 Axis 24

M2152 Axis 25

M2153 Axis 26

M2154 Axis 27

M2155 Axis 28

M2156 Axis 29

M2157 Axis 30

M2158 Axis 31

M2159 Axis 32

M2160

Common device list (Continued)

Refresh cycle Fetch cycle

Signal direction

Remark Device

(Note-4)

No.

M2188

M2189

M2190

M2191

— —

Operation cycle

Status signal

(Note-1),

(Note-2)

Signal name

M2209

M2210

M2211

M2212

M2213

M2214

M2215

M2216

M2217

M2218

M2219

M2220

M2221

M2222

M2223

M2224

M2225

M2226

M2227

M2228

M2229

M2193

M2194

M2195

M2196

M2197

M2198

M2199

M2200

M2201

M2202

M2203

M2204

M2205

M2206

M2207

M2208

Unusable

(36 points)

(Note-5)

M2230

M2231

M2232

M2233

Unusable

(16 points)

M2234

M2235

M2236

M2237

M2238

M2239

— —

M2242 Axis

—

M2243 Axis

M2253 Axis 14

M2254 Axis 15

Refresh cycle

Speed change "0" accepting flag

Operation cycle

3 - 7

Fetch cycle

Signal direction

Remark

(Note-4)

Status signal

(Note-1),

(Note-2)


Device

No.

M2257 Axis 18

M2258 Axis 19

M2259 Axis 20

M2260 Axis 21

M2261 Axis 22

Signal name

M2262 Axis 23

M2263 Axis 24

M2264 Axis 25


M2265 Axis 26

M2266 Axis 27

M2267 Axis 28

M2268 Axis 29

M2269 Axis 30

M2270 Axis 31

M2271 Axis 32

M2272 Axis 1

M2273 Axis 2

M2274 Axis 3

M2275 Axis 4

M2276 Axis 5

M2277 Axis 6

M2278 Axis 7

M2279 Axis 8

Control loop

M2280 Axis 9

M2281 Axis 10 monitor status

M2282 Axis 11

M2283 Axis 12

M2284 Axis 13

M2285 Axis 14

M2286 Axis 15

M2287 Axis 16

M2288 Axis 17


Refresh cycle

Operation cycle

Fetch cycle

Signal direction

Remark

(Note-4)

Device

No.

Signal name

24

Control loop monitor status

Refresh cycle

Operation cycle

Fetch cycle

Signal direction

Remark

(Note-4)

Status signal

(Note-1),

(Note-2)

Status signal

(Note-1),

(Note-2)

M2304

M2305

M2306

M2307

M2308

M2309

M2310

M2311

M2312

M2313

Unusable

(16 points)

M2314

M2315

M2316

M2317

M2318

M2319

(Note-1): The range of axis No.1 to 8 is valid in the Q172DCPU.

(Note-2): Device area of 9 axes or more is unusable in the Q172DCPU.

(Note-3): This signal is unusable in the SV13/SV22 real mode.

(Note-4): It can also be ordered the device of a remark column.

(Note-5): These devices can be used as the clutch statuses.

The clutch status can also be set as the optional device at the clutch parameter.

Refer to Chapter 7 of the "Q173DCPU/Q172DCPU Motion controller (SV22)

Programming Manual (VIRTUAL MODE)" for details.

3 - 8


(5) Common device list (Command signal)

Device No.

M3072

M3073

M3074

M3075

M3076

Signal name

PLC ready flag


All axes servo ON command






Main cycle

At start

Operation cycle


Signal direction

Command signal

Remark

(Note-1), (Note-2)

M2000

M2040

M2042

M2043

M2048

M3077

M3078

Main cycle

M2051

M2052

M3079

M3080



M2053

M2035

M3081 to

Unusable

(Note-3)

(55 points)

— — — —

M3135

(Note-1): The state of a device is not in agreement when the device of a remark column is turned ON/OFF 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-3): Do not use it as an user device. It can be used as a device that performs automatic refresh because of area for the reserve of command signal.

POINT

The device of a remark column turns ON by OFF to ON of the above device, and turns OFF by ON to OFF of the above device.

The command signal cannot be turned ON/OFF by the PLC CPU in the automatic refresh because the statuses and commands are mixed together in M2000 to

M2053. Use the above devices in the case.

And, it can also be turned ON/OFF by the data register. (Refer to Section 3.2.3)

3 - 9


3.1.1 Axis statuses

(1) Positioning start complete signal (M2400+20n) .......... Status signal

(a) This signal turns on with the start completion for the positioning control of the axis specified with the servo program. It does not turn on at the starting using JOG operation or manual pulse generator operation.

It can be used to read a M-code at the positioning start.

(Refer to Section 7.1.)

(b) This signal turns off at leading edge of complete signal OFF command

(M3204+20n) or positioning completion.

At leading edge of complete signal OFF command (M3204+20n)

V

Dwell time t

Servo program start

Start accept flag

(M2001 to M2032)

Positioning start complete signal

(M2400+20n)

Complete signal OFF command

(M3204+20n)

At positioning completion

V

OFF

OFF

OFF

ON

ON

ON

Dwell time

Positioning completion t

Servo program start

Start accept flag

(M2001 to M2032)


(M2400+20n)

OFF

OFF

ON

ON

3 - 10


(2) Positioning complete signal (M2401+20n) ..................Status signal

(a) This signal turns on with the completion of the command output to positioning address for the axis specified with the servo program.

It does not turn on at the start or stop on the way using home position return, JOG operation, manual pulse generator operation or speed control.

It does not turn on at the stop on the way during positioning.

It can be used to read a M-code at the positioning completion.


(b) This signal turns off at leading edge of complete signal OFF command

(M3204+20n) or positioning start.

At leading edge of complete signal OFF command (M3204+20n)

V

Dwell time t

Servo program start

Start accept flag

(M2001 to M2032)

Positioning complete signal

(M2401+20n)

OFF

OFF

Complete signal OFF command (M3204+20n)

OFF

At next positioning start

V

ON

Dwell time

ON

OFF

ON

ON

Positioning completion

Positioning start t

Servo program start

Start accept flag

(M2001 to M2032)


(M2401+20n)

OFF

OFF

ON

ON

OFF

ON

CAUTION

The deviation counter value is not considered, so that the positioning complete signal (M2401+20n) turns on with the completion of the command output to positioning address. Use the positioning complete signal (M2401+20n) together with the in-position signal (M2402+20n) to confirm the positioning completion of servo axis in the final instruction under program.

3 - 11


(3) In-position signal (M2402+20n) ...................................Status signal

(a) This signal turns on when the number of droop pulses in the deviation counter becomes below the "in-position range" set in the servo parameters.

It turns off at the start.

Number of droop pulses In-position range t

In-position

(M2402+20n)

ON

OFF

(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) .................Status signal

(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.

(b)

Command in-position

(M2403+20n)

ON

V

Position control start

OFF

Command in-position setting

Speed/position control start

Execution of command in-position check

Switch from speed to position

Command in-position setting t

Execution of command in-position check

3 - 12


(5) Speed controlling signal (M2404+20n) ........................Status signal

(a) This signal turns on during speed control, and it is used as judgement of during the speed control or position control.

It is turning on while the switching from speed control to position control by the external CHANGE signal at the speed/position switching control.

(b) This signal turns off at the power supply on and during position control.

At speed/position switching control

CHANGE

At speed control

Speed control start

At position control

Positioning start

Speed/position control start t

ON

Speed controlling signal

(M2404+20n)

OFF

Speed control

Position control

(6) Speed/position switching latch signal (M2405+20n)

.........................Status signal

(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


CHANGE

Start

Speed/position control start t

Speed/position switching latch signal(M2405+20n)

ON

OFF

ON

CHANGE signal from external source

OFF

3 - 13


(7) Zero pass signal (M2406+20n) ....................................Status signal

This signal turns on when the zero point is passed after the power supply on of the servo amplifier.

Once the zero point has been passed, it remains on state until the Multiple CPU system has been reset.

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.

(8) Error detection signal (M2407+20n) ............................Status signal

(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-1) 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

ON

Error detection signal

(M2407+20n)

OFF

Error reset command

(M3207+20n)

OFF

REMARK

ON

(Note-1): Refer to APPENDIX 1 for the error codes with detection of major/minor errors.

(9) Servo error detection signal (M2408+20n) ..................Status signal

(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

ON

Servo error detection signal

(M2408+20n)

OFF

Servo error reset command

(M3208+20n)

OFF

ON

3 - 14


REMARK

(Note-1): Refer to APPENDIX 1.4 for the error codes on errors detected at the servo amplifier side.

(10) Home position return request signal (M2409+20n)

.........................Status signal

This signal turns on when it is necessary to confirm the home position address.

(a) When not using an absolute position system

1) This signal turns on in the following cases:

• Multiple CPU system power supply on or reset

• Servo amplifier power supply on

• Home position return start

(Unless a home position return is completed normally, the home position return request signal does not turn off.)

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:

• When not executing a home position return once after system start.

• Home position return start

(Unless a home position return is completed normally, the home position return request signal does not turn off.)

• Erase of an absolute data in Motion CPU according to causes, such as battery error

• Servo error [2025] (absolute position erase) occurrence

• Servo error [2143] (absolute position counter warning) occurrence

• Major error [1202], [1203], or [1204] occurrence

• When the " rotation direction selection " of servo parameter is changed.

2) This signal turns off by the completion of the 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.

3 - 15


(11) Home position return complete signal (M2410+20n)

.......................Status signal

(a) This signal turns on when the home position return operation using the servo program has been completed normally.

(b) This signal turns off at the positioning start, JOG operation start and manual pulse generator operation start.

(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) (Note-1) ...................................Status signal

(a) This signal is controlled by the ON/OFF state for the upper stroke limit switch input (FLS) of the Q172DLX/servo amplifier.

• Upper stroke limit switch input OFF ...... FLS signal: ON

• Upper stroke limit switch input ON ........ FLS signal: OFF

(b) The state for the upper stroke limit switch input (FLS) when the FLS signal is ON/OFF is shown below.

1) Q172DLX use

(Note-2)

FLS signal : ON

Q172DLX

FLS

FLS

FLS signal : OFF

Q172DLX

FLS

FLS

COM

2) Servo amplifier input use

(Note-3)

FLS signal : ON

MR-J3- B

FLS

DI1

COM

FLS signal : OFF

MR-J3- B

FLS

DI1

DICOM DICOM

(Note-1): Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual

(COMMON)" for an external signal.

(Note-2): Refer to the "Q173DCPU/Q172DCPU User’s Manual" for a pin configuration.

(Note-3): Refer to the "MR-J3- B Servo Amplifier Instruction Manual" for a pin configuration.

3 - 16


(13) RLS signal (M2412+20n) (Note-1) .................................. Status signal

(a) This signal is controlled by the ON/OFF state for the lower stroke limit switch input (FLS) of the Q172DLX/servo amplifier.

• Lower stroke limit switch input OFF ...... RLS signal: ON

• Lower stroke limit switch input ON ........ RLS signal: OFF

(b) The state of the lower stroke limit switch input (RLS) when the RLS signal is ON/OFF is shown below.

1) Q172DLX use

(Note-2)

RLS signal : ON

Q172DLX

RLS

RLS

RLS signal : OFF

Q172DLX

RLS

RLS

COM COM

2) Servo amplifier input use (Note-3)

RLS signal : ON

MR-J3- B

RLS

DI2

RLS signal : OFF

MR-J3- B

RLS

DI2

DICOM DICOM





(14) STOP signal (M2413+20n) ........................................Status signal

(a) This signal is controlled by the ON/OFF state for the stop signal input

(STOP) of the Q172DLX.

• Stop signal input of the Q172DLX OFF ..... STOP signal: OFF

• Stop signal input of the Q172DLX ON ....... STOP signal: ON

(b) The state of the stop signal input (STOP) of the Q172DLX when the STOP signal input is ON/OFF is shown below.

STOP signal : ON

Q172DLX

STOP

STOP

STOP signal : OFF

Q172DLX

STOP

STOP

COM COM

3 - 17


(15) DOG/CHANGE signal (M2414+20n) (Note-1) ..................Status signal

(a) This signal turns on/off by the proximity dog input (DOG) of the

Q172DLX/servo amplifier at the home position return.

This signal turns on/off by the speed/position switching input (CHANGE) of the Q172DLX at the speed/position switching control.

(There is no CHANGE signal in the servo amplifier.)

(b) When using the Q172DLX, "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.

1) Q172DLX use

(Note-2)

DOG/CHANGE signal : ON

Q172DLX

DOG/CHANGE

DOG/CHANGE

DOG/CHANGE signal : OFF

Q172DLX

DOG/CHANGE

DOG/CHANGE

COM COM

2) Servo amplifier input use

(Note-3)

DOG/CHANGE signal : ON

MR-J3- B

DOG/CHANGE

DI3

DOG/CHANGE signal : OFF

MR-J3- B

DOG/CHANGE

DI3

DICOM DICOM





(16) Servo ready signal (M2415+20n) ..............................Status signal

(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 mounted

• 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.

3 - 18


Q61P Q03UD

CPU

Q172D

CPU

Q38DB

Communication is normal

Servo ready signal : ON

AMP

M

AMP

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) ..........................Status signal

This signal turns on while torque limit is executed.

The signal toward the torque limiting axis turns on

(18) M-code outputting signal (M2419+20n) .....................Status signal

(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.

M-code M1 M2 M3

ON

M-code outputting signal

(M2419+20n)

FIN signal

(M3219+20n)

OFF

OFF

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 - 19


3.1.2 Axis command signals

(1) Stop command (M3200+20n) ............................... Command signal

(a) This command is a signal which stop a starting axis from an external source and becomes effective at leading edge of signal. (An axis for which the stop command is turning on cannot be started.)

ON

Stop command

(M3200+20n)

OFF

V

Stop command for specified axis

Control when stop command turns off

Setting speed

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.)

Processing at the turning stop command on

Control details during execution

During control During deceleration stop processing

Positioning control

Speed control ( , )

JOG operation

The axis decelerates to a stop in the deceleration time set in the parameter block or servo program.

The deceleration stop processing is continued.

Speed control with fixed position stop


An immediate stop is executed without deceleration processing.

Home position return

(1) The axis decelerates to a stop in the deceleration time set in the parameter block.

(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 - 20


(2) Rapid stop command (M3201+20n) ..................... Command signal

(a) This command stops a starting axis rapidly from an external source and becomes effective at leading edge of signal. (An axis for which the rapid stop command is turning on cannot be started.)

ON

Rapid stop command

(M3201+20n)

OFF

V

Rapid stop command for specified axis

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.

Processing at the turning rapid stop command on

Control details during execution

During control During deceleration stop processing

Position control

Speed control ( , )

JOG operation


The axis decelerates to a rapid stop deceleration time set in the parameter block or servo program.

Deceleration processing is stopped and rapid stop processing is executed.


An immediate stop is executed without deceleration processing.

(1) The axis decelerates to a stop in the rapid stop deceleration time set in the parameter block.


(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 - 21


(3) Forward rotation JOG start command (M3202+20n)/Reverse rotation JOG start command (M3203+20n) ......... Command signal

(a) JOG operation to the address increase direction is executed while forward rotation JOG start command (M3202+20n) is turning on.

When M3202+20n is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.

(b) JOG operation to the address decrease direction is executed while reverse rotation JOG start command (M3203+20n) is turning 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)

......................... Command signal

(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


(M2400+20n)

Positioning complete signal (M2401+20n)

Complete signal OFF command (M3204+20n)

OFF

OFF

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 - 22


(5) Speed/position switching enable command (M3205+20n)

......... Command signal

(a) This command is used to make the CHANGE signal (speed/position switching signal) effective from an external source.

• ON .......... Control switches from speed control to position control when the CHANGE signal turned on.

• OFF .......... Control does not switch from speed to position control even if the CHANGE signal turns on.

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 enable command (M3205+20n)

OFF

CHANGE signal from external source

OFF

(6) Error reset command (M3207+20n) ..................... Command signal

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


(M2407+20n)

OFF

ON

Error reset command

(M3207+20n)

Minor error code storage register (D6+20n)

Major error code storage register (D7+20n)

OFF

**

**

00

00

** : Error code

(7) Servo error reset command (M3208+20n) ........... Command signal

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

ON

Servo error reset command

(M3208+20n)

Servo error code storage register

OFF

** 00

** : Error code

3 - 23


REMARK

Refer to APPENDIX 1 for details on the minor error code, major error code and servo error code storage registers.

(8) External stop input disable at start command (M3209+20n)

....................... Command signal

This signal is used to set the external stop signal input valid or invalid.

• ON .......... External stop input is set as invalid, and even axes which stop input is turning on can be started.

• OFF .......... 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)

....................... Command signal

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) .................. Command signal

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 - 24


(11) Gain changing command (M3216+20n) ............. Command signal

This signal is used to change the gain of servo amplifier in the Motion controller by the gain changing command ON/OFF.

• ON .......... Gain changing command ON

• OFF .......... Gain changing command OFF

Refer to the "MR-J3- B Servo Amplifier Instruction Manual" for details of gain changing function.

Instruction Manual list is shown below.

Servo amplifier type Instruction manual name

MR-J3- B MR-J3- B Servo Amplifier Instruction Manual (SH-030051)

(12) Control loop changing command (M3218+20n)

....................... Command signal

When using the fully closed loop control servo amplifier, this signal is used to change the fully closed loop control/semi closed loop control of servo amplifier in the Motion controller by the control loop changing command

ON/OFF.

• ON .......... During fully closed loop control

• OFF .......... During semi closed loop control

Fully closed loop control change

Semi closed loop control change

ON

Control loop changing command

(M3218+20n)

OFF

ON


(M2272+n)

OFF

Refer to the "Fully closed loop control MR-J3- B-RJ006 Servo Amplifier

Instruction Manual" for details of control loop changing.

Instruction Manual list is shown below.

Servo amplifier type

MR-J3- B-RJ006

Instruction manual name

Fully closed loop control MR-J3- B-RJ006

Servo Amplifier Instruction Manual (SH-030056)

POINTS

(1) When the servo amplifier is not started (LED: "AA", "Ab", "AC", "Ad" or "AE"), if the control loop changing command is turned ON/OFF, the command becomes invalid.

(2) When the followings are operated during the fully closed loop, it returns to the semi closed loop control.

(a) Power supply OFF or reset of the Multiple CPU system

(b) Wire breakage of the SSCNET cable between the servo amplifier and

Motion controller

(c) Control circuit power supply OFF of the servo amplifier

3 - 25


(13) FIN signal (M3219+20n) .................................... Command signal

When a M-code is set in a servo program, transit to the next block does not execute until the FIN signal changes as follows: OFF ON OFF.

Positioning to the next block begins after the FIN signal changes as above.

It is valid, only when the FIN acceleration/deceleration is set and FIN signal wait function is selected.

<K 0>

Point

1

2

3

4

CPSTART2

Axis

Axis

Speed

1

2

FIN acceleration/

deceleration

ABS-2

Axis

Axis

M-code

1,

2,

ABS-2

Axis

Axis

M-code

ABS-2

Axis

Axis

M-code

ABS-2

Axis

Axis

CPEND

1,

2,

1,

2,

1,

2,

Point 1 WAIT 2

M-code 10 11

10000

100

M-code outputting signal

(M2419+20n)

FIN signal

(M3219+20n)

200000

200000

10

300000

250000

11

350000

300000

12

400000

400000

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.

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 - 26


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 (SM501): ON] using

MT Developer.

(b) The setting data such as the fixed parameters, servo parameters and limit switch output data can be changed using MT Developer when the M2000 is

OFF only.

The above data using MT Developer cannot be written when the M2000 is

ON.

(c) The following processings are performed when the M2000 turns OFF to ON.

1) Processing details

• Clear the M-code storage area of all axes.

• Turn the PCPU READY complete flag (SM500) 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 - 27


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

Deceleration stop

Positioning start t

PLC ready flag

(M2000)

OFF

PCPU READY complete flag

(SM500)

OFF

ON

ON

Clear a M-code


(SM500) does not turn on because during deceleration.

(d) The following processings are performed when the M2000 turns ON to

OFF.

1) Processing details

• Turn the PCPU READY complete flag (SM500) 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 system setting. Select the following either.

1) M2000 is turned on by switching from STOP to RUN. (Default)

The condition which M2000 turns OFF to ON.

• Move the RUN/STOP switch from STOP to RUN.

• Turn the power supply on 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 is turned on by switching from STOP to RUN and setting 1 in the set 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 - 28


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.

Servo program start

Start accept flag

(M2001+n)

Positioning complete

(M2401+20n)

Positioning start complete (M2400+20n)

OFF

V

(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 (D(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.)

Normal positioning completion Positioning stop during control

V

Dwell time

Positioning completion t

Servo program start

Positioning start t

Positioning stop completion

ON ON

OFF Start accept flag

(M2001+n)

OFF

ON

Positioning complete

(M2401+20n)

Positioning start complete (M2400+20n)

OFF

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

(D(P).CHGA), and turns off at the completion of the current value change.

CHGA instruction

Start accept flag

(M2001 to M2032)

OFF

ON

Current value changing processing

Turns off at the completion of current value change.

3 - 29


The start accept flag list is shown below.

Axis No. Device No. Axis No.

Device No. Axis No.

Device No. Axis No. Device No.

1 M2001 9 M2009 17 M2017 25 M2025

2 M2002 10 M2010 18 M2018 26 M2026

3 M2003 11 M2011 19 M2019 27 M2027

4 M2004 12 M2012 20 M2020 28 M2028

5 M2005 13 M2013 21 M2021 29 M2029

6 M2006 14 M2014 22 M2022 30 M2030

7 M2007 15 M2015 23 M2023 31 M2031

8 M2008 16 M2016 24 M2024 32 M2032

(Note): The range of axis No.1 to 8 is valid in the Q172DCPU.

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 MT Developer 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 MT Developer 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) Motion error history clear request flag (M2035)

.……. Command signal

This flag is used to clear the backed-up Motion error history (#8640 to #8735).

The Motion error history is cleared at leading edge of M2035.

After detection of leading edge of M2035, the Motion error history is cleared, and then the M2035 is automatically turned OFF.

(4) Motion SFC debugging flag (M2038) ......….............… Status signal

This flag turns on when it switches to the debug mode of the Motion SFC program using MT Developer.

It turns off with release of the debug mode.

(5) Motion error detection flag (M2039) .....…..…......…… Status signal

This flag turns on with error occurrence of the Motion CPU.

Turn off this flag by the user side, after checking the error contents and removing the error cause.

The self-diagnosis error information except stop error is cleared at the turning

M2039 ON to OFF.

3 - 30


V

(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.

M2040 OFF

V

M2040 ON

Pass points of the constant speed control

(When the speed change

is specified with P3.)

Speed switching point specified flag (M2040)

OFF

Servo program start

P1

ON

P2

Start accept flag

(M2001+n)

OFF

P3 P4 t t

Pass points of the constant speed control

(When the speed change

is specified with P3.)


OFF

ON

P1

Servo program start

ON

Start accept flag

(M2001+n)

OFF

P2 P3 P4

(7) System setting error flag (M2041)................................. Status signal

This flag set the "system setting data" set by MT Developer and performs an adjustment check with a real mounting state (main base unit/extension base units) at the power supply on or reset.

• ON .......... Error

• OFF .......... Normal

(a) When an error occurs, the 7-segment LED at the front side of Motion CPU shows the system setting error.

The error contents can be confirmed using the Motion CPU error batch monitor of MT Developer.

(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 of MT Developer 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.

3 - 31


(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


(M2042)

OFF

ON

All axes servo ON accept flag

(M2049)

OFF

ON

(Note)

Each axis servo ready state OFF

(Note): Refer to "3.1.1 Axis statuses "Servo ready signal"" for details.

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 main 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.

3 - 32


(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


(M2042)

OFF

ON


(M2049)

OFF

ON

Each axis servo ready state

(Note)

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 Q173DPX.

• 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).

REMARK

(Note): Refer to the "Q173DCPU/Q172DCPU User's Manual" for P1 to P3 connector of the Q173DPX.

(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 (SD523). 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.

3 - 33


(14) Speed change accepting flag (M2061 to M2092)

................... Status signal

This flag turns on during speed change by the control change (CHGV) instruction (or Motion dedicated PLC instruction (D(P).CHGV)) of the Motion

SFC program.

CHGV instruction

ON

Speed change accepting flag

OFF

0 to 4ms

Speed change

Setting speed

Speed after speed change

Speed change completion t

The speed change accepting flag list is shown below.


Device No. Axis No.


1 M2061 9 M2069 17 M2077 25 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


REMARK

In the SV22 virtual mode, the flag is that of the virtual servomotor axis.

3 - 34


(15) Automatic decelerating flag (M2128 to M2159) ......... Status signal

This signal turns on while automatic deceleration processing is performed during the positioning control or position follow-up control.

(a) This flag turns on while automatic deceleration to the command address at the position follow-up control, but it turns off if the command address is changed.

(b) This signal turns on while automatic deceleration processing is performed during execution of positioning to final point while in constant speed control.

V

P1

P2

Automatic decelerating flag

ON

OFF

P3 t

V


ON

OFF

P1

The automatic decelerating flag is turns on after the execution of positioning to final point (P3) even if automatic deceleration processing start while executing the positioning to P2.

P2 t

P3

POINT

Set a travel value in which automatic deceleration processing can be started at the final positioning point, therefore the automatic decelerating flag turns on at the start point of automatic deceleration processing after this final point.

(c) The signal turns off when all normal start complete commands became achieve.

3 - 35


(d) In any of the following cases, this flag does not turn off.

• When deceleration due to JOG signal off

• During manual pulse generator operation

• During deceleration due to stop command or stop cause occurrence

• When travel value is 0

V t


ON

OFF

The automatic decelerating flag list is shown below.


Device No. Axis No.


1 M2128 9 M2136 17 M2144 25 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


REMARK

In the SV22 virtual mode, the flag is that of the virtual servomotor axis.

3 - 36


(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

V

1

Thereafter, by changing speed to except "0", it starts continuously.

Speed change V

2

V

2 t

Start accept flag



OFF

ON

The speed change "0" accepting flag list is shown below.


Device No. Axis No.


1 M2240 9 M2248 17 M2256 25 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


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 - 37


(a) The flag turns off if a speed change request occurs during deceleration to a stop due to speed change "0".

V

V

1

Speed change "0"

Speed change V

2

V

2 t

Start accept flag


OFF

ON

(b) The flag turns off if a stop cause occurs after speed change "0" accept.

V

Speed change "0"

Stop cause t

Start accept flag


OFF

ON

(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)

3 - 38


(d) Even if it is speed change "0" after the automatic deceleration start to the

"command address", speed change "0" accepting flag turns on.

V

Command address P1

V

1

Automatic deceleration start

Speed change "0"

Command address P2

P1

Speed change V

2

V

2

P2 t

Start accept flag


OFF

ON

REMARK

It does not start, even if the "command address" is changed during speed change

"0" accepting.

(17) Control loop monitor status (M2272 to M2303)

............................... Command signal

When using the fully closed loop control servo amplifier, this signal is used to check the fully closed loop control/semi closed loop control of servo amplifier.

• ON .......... During fully closed loop control

• OFF .......... During semi closed loop control

It can be changed the fully closed loop control/semi closed loop control of servo amplifier in the Motion controller by the control loop changing command ON/OFF.

Fully closed loop control change

Semi closed loop control change

ON

Control loop changing command

(M3218+20n)

OFF

ON


(M2272+n)

OFF

The Control loop monitor status list is shown below.


Device No. Axis No.


1 M2272 9 M2280 17 M2288 25 M2296

2 M2273 10 M2281 18 M2289 26 M2297

3 M2274 11 M2282 19 M2290 27 M2298

4 M2275 12 M2283 20 M2291 28 M2299

5 M2276 13 M2284 21 M2292 29 M2300

6 M2277 14 M2285 22 M2293 30 M2301

7 M2278 15 M2286 23 M2294 31 M2302

8 M2279 16 M2287 24 M2295 32 M2303


3 - 39


3.2 Data Registers to to

D800

D0

Device No. to

D640 to

D704 to

D758

(1) Data register list

SV13 SV22

Application Device No.

D0

Application

Axis monitor device

(20 points 32 axes) to

Axis monitor device

(20 points 32 axes)

Real mode……each axis

Virtual mode….output module

D640

Control change register

(2 points 32 axes)

Control change register

(2 points 32 axes) to

D704


(54 points)


(54 points) to

D758

Unusable

(42 points)

Unusable

(42 points) to

D800 to

Virtual servomotor axis monitor device (Note)

(10 points 32 axes)

(Mechanical system setting axis only)

D1120

Synchronous encoder axis monitor device (Note) (10 points 12 axes) to

D1240

CAM axis monitor device (Note)

(10 points 32 axes)

User device

(7392 points) to

D1560 to

User device

(6632 points)

D8191 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

(Note)

(SV22)

(Note): Up to 7272 points can be used when not using it in the virtual mode.

3 - 40


Axis

No.

Device No.

(2) Axis monitor device list

Signal name

1 D0 to D19

2 D20 to D39

3 D40 to D59

Signal name Refresh cycle Fetch cycle

4 D60 to D79 0

5 D80 to D99 1

6 D100 to D119 2

7 D120 to D139 3

Feed current value

Real current value Operation cycle

8 D140 to D159 4

9 D160 to D179 5

Deviation counter value

10 D180 to D199 6 Minor error code

11 D200 to D219 7 Major error code

Immediate

12 D220 to D239 8 Servo error code Main

13 D240 to D259

14 D260 to D279


9 re-travel value

Operation cycle

15 D280 to D299 10 Travel value after

16 D300 to D319 11 proximity dog ON

17 D320 to D339 12 Execute program No.

18 D340 to D359 13 M-code

At start

Operation cycle

19 D360 to D379 14 Torque limit value

20 D380 to D399

21 D400 to D419

Data set pointer for

15 constant-speed control

At start/during start

22 D420 to D439 16

23 D440 to D459 17

Unusable (Note-1)

24 D460 to D479 18

25 D480 to D499 19

Real current value at stop input

Operation cycle

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

Unit

Command unit

PLS

Signal direction

Monitor device

PLS

Command unit

%

Command unit

Monitor device

(Note-1): It can be used as the travel value change register. The travel value change register can be set to the device optionally in the servo program. Refer to Section 6.15 for details.

POINT




3 - 41


Axis

No.

Device No.

(3) Control change register list

Signal name

0

JOG speed setting

1

Signal name


At start

POINT




Unit

Command unit

Signal direction

Command device

3 - 42


Device

No.

Signal name

D704 PLC ready flag request

D705

D706

Speed switching point specified flag request

All axes servo ON command request

D707

D708


JOG operation simultaneous start command request

D709 Unusable

D710

D711

D712

D713

D714

D715

D716

D717

D718

D719

JOG operation simultaneous start axis setting register

Manual pulse generator axis

1 No. setting register





15 input magnification setting register

(Note-1), (Note-2)



Main cycle

Signal direction

Command device

Device

No.

Signal name

D752

D753

Manual pulse generator 1 smoothing magnification setting register


D754


D755

Manual pulse generator 1 enable flag request

D756



At the manual pulse generator enable flag

Main cycle

Signal direction

Command device

At start


D758

D759

D760

D761

D762

D763

D764

D765

D766

D767

D768

D769

D770

D771

D772

D773

D774

D775

D776

D777

Command device

D778

D779

Unusable

(42 points)

D780

D781

D782

D783

D784

D785

D786

D787

D788

D789

D790

D791

D792

D793

D794

D795

D796

D797

D798

D799



3 - 43


3.2.1 Axis monitor devices

The monitoring data area is used by the Motion CPU to store data such as the feed current value during positioning control, the real current value and the deviation counter value.

It can be used to check the positioning control state using the Motion SFC program.

The user cannot write data to the monitoring data area (except the travel value change register).

Refer to "APPENDIX 4 Processing Times 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)


This register stores the droop pulses read from the servo amplifier.

3 - 44


(4) Minor error code storage register (D6+20n) ............. Monitor device

(a) This register stores the corresponding error code (Refer to APPENDIX 1.2) at the minor error occurrence. If another minor error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Minor error codes can be cleared by an error reset command (M3207+20n).

(5) Major error code storage register (D7+20n) ............. 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)


If the position stopped in the position specified with the travel value after proximity dog ON (Refer to Section 6.23.1) using MT Developer 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.)

The following value is stored according to the number of feedback pulses of the motor connected.

Number of feedback pulses

Less than 131072[PLS]

131072[PLS] or more, 262144[PLS] or less

More than 262144[PLS]

Storage data

Feedback pulses

1/10 of feedback pulses

1/10000 of feedback pulses

(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.

3 - 45


(9) Execute program No. storage register (D12+20n)


(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 the following control is being executed using MT Developer in the test mode, FFFD is stored in this register.

• Home position return

(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) The value "0" is stored at leading edge of PLC ready flag (M2000).

REMARK

(Note): Refer to the following sections for M-codes and reading M-codes.

• M-code ......................... Section 7.1

• Reading M-code ........... APPENDIX 2.1

(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.

3 - 46


(12) Data set pointer for constant-speed control (D15+20n)


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.

Pass point

<K 0>

9

*

CPSTART2

Axis

Axis

Speed

FOR-TIMES

1

2

3

4

5

6

7

8

*

9

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

1,

2,

1,

2,

1,

2,

1,

2,

1,

2,

1,

2,

1,

2,

1,

2,

D3200

D3000

D3002

. . . 0

. . . 1

D3004

D3006

. . . 2

D3008

D3010

. . . 3

D3012

D3014

. . . 4

D3016

D3018

. . . 5

D3020

D3022

. . . 6

D3024

D3026

. . . 7

D3028

D3030

Point

Repetition instructions

FOR-TIMES

FOR-ON

FOR-OFF

NEXT

0, 1, 2, etc., starting from the first instructions defined by the above repetition instructions :

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 - 47


[Input situation of positioning data in the Motion CPU]

Update of data using the Motion SFC program

Updated data

(A)

(B)

Updating

Indirect device D

0

2

(1)

(2)

(A)

(B)

0

Point

Input

First positioning

Positioning data input to the Motion CPU at each point

Positioning point

Data set pointer for constant-speed control

Point 0 6

(13)

5

(11)

4

(9)

3

(7)

2

(5)

1

(3)

0

(1)

Indicates the last positioning data input to the Motion CPU.

(C)

(D)

4

6

8

10

(3)

(4)

(5)

(6)

(C)

(D)

1

2

1

(14)

7

(15)

(12)

6

(13)

(10)

5

(11)

(8)

4

(9)

(6)

3

(7)

(4)

2

(5)

(2)

1

(3)

Each time the positioning at a point is completed, the value increases by one.

12 (7) (6) (4)

3

(16) (14) (12) (10) (8)

14

16

18

20

22

(8)

(9)

(10)

(11)

(12)

4

5

2 0

(A)

7 6

(15) (13)

5

(11)

4

(9)

3

(7)

(B) (16) (14) (12) (10) (8)

2

(5)

(6)

24

26

28

(13)

(14)

(15)

30 (16)

6

7

3 1

(C)

(D)

0

(A)

7 6 5

(15) (13) (11)

4

(9)

3

(7)

(B) (16) (14) (12) (10) (8)

4 2

(5)

(6)

1

(C)

(D)

0

(A)

7 6 5

(15) (13) (11)

4

(9)

(B) (16) (14) (12) (10)

Update data set pointer

Indicates the last positioning data updated by the Motion

SFC program last time.

The user controls this pointer in the

Motion SFC program.

1 5 3

(7)

(8)

2

(5)

(6)

(C)

(D)

0 7 6 5

(A) (15) (13) (11)

(B) (16) (14) (12)

6 4

(9)

3

(7)

(10) (8)

2

(5)

(6)

1

(C)

(D)

0

(A)

7 6

(15) (13)

(B) (16) (14)

7 5

(11)

4

(9)

3

(7)

(12) (10) (8)

2

(5)

(6)

1

(C)

(D)

0

(A)

7

(15)

(B) (16)

Second positioning

Point 0 6 5 4 3

(13) (11) (9)

(14) (12) (10)

(7)

(8)

2

(5)

(6)

1

(C)

(D)

0

(A)

(B)

The internal processing shown above is described in the next page.

3 - 48


[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) 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 Q172DLX.

3 - 49


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 setting register







(1) JOG speed setting registers (D640+2n, D641+2n)

....…….. Command device

(a) This register stores the JOG speed at the JOG operation.

Unit

Item

(b) Setting range of the JOG speed is shown below.

JOG speed

Setting range

1 to

600000000

Unit

10 -2

[mm/min]

Setting range

1 to

600000000

Unit

10 -3

[inch/min]

Setting range Unit (Note-1)

1 to

2147483647

Setting Unit

10 -3

[degree/min]

1 to

2147483647

[PLS/s]

(Note-1) : When the " speed control 10 multiplier setting for degree axis" is set to "valid" in the fixed parameter, the unit is

" 10 -2 [degree/min] ".

(c) The JOG speed is the value stored in the JOG speed setting registers at leading edge of JOG start signal.

Even if data is changed during JOG operation, JOG speed cannot be changed.

(d) Refer to Section 6.21 for details of JOG operation.

3 - 50


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

1 PLC ready flag

2 Speed switching point specified flag

3 All axes servo ON command

4 Real mode/virtual mode switching request (SV22)

5 JOG operation simultaneous start command

6 Manual pulse generator 1 enable flag



Bit device

M2000

M2040

M2042

M2043

M2048

M2051

M2052

M2053

Request register

D704

D705

D706

D707

D708

D755

D756

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

D710 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Forward rotation

JOG

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



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 Q172DCPU.

(b) Refer to Section 6.21.3 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 - 51

3 POSITIONING DEDICATED SIGNALS b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0


P1


P2



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 Q172DCPU.

(b) Refer to Section 6.22 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 setting register

D720

D721

D722

D723

D724

D725

D726

D727

D728

D729

D730

D731

D732

D733

D734

Axis No.

Axis 1

Axis 2

Axis 3

Axis 4

Axis 5

Axis 6

Axis 7

Axis 8

Axis 9

Axis 10

Axis 11

Axis 12

Axis 13

Axis 14

Axis 15

Setting range

1-pulse input magnification setting register

D736

D737

D738

D739

D740

D741

1 to 10000

D742

D743

D744

D745

D746

D747

D748

D749

D750

Axis No.

Axis 17

Axis 18

Axis 19

Axis 20

Axis 21

Axis 22

Axis 23

Axis 24

Axis 25

Axis 26

Axis 27

Axis 28

Axis 29

Axis 30

Axis 31

Setting range

1 to 10000


(b) Refer to Section 6.22 for details of the manual pulse generator operation.

3 - 52


(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 magnification setting register

Manual pulse generator 1 (P1): D752



Setting range

0 to 59

(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

Manual pulse generator enable flag (M2051)

OFF

V

ON

V

1 t t t t

Output speed (V

1

) [PLS/s] = (Number of input pulses/s) (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)

REMARK

(1) The travel value per pulse of the manual pulse generator is shown below.

• Setting unit mm :0.1[µm] inch :0.00001[inch] degree :0.00001[degree]

PLS :1[PLS]

(2) The smoothing time constant is 56.8[ms] to 3408[ms].

3 - 53


3.3 Motion Registers (#)

There are motion registers (#0 to #8735) in the Motion CPU. #8000 to #8639 are used as the monitor device and #8640 to #8735 are used as the Motion SFC dedicated device.

Refer to the "Q173DCPU/Q172DCPU Motion Controller (SV13/SV22) Programming

Manual (Motion SFC)" for details of the motion registers and Motion SFC dedicated device.

(1) Monitor devices (#8000 to #8639)

Information for each axis is stored in the monitor devices.

The details of the storage data are shown below.

Axis

No.

Device No. Signal name

1 #8000 to #8019

2 #8020 to #8039

3 #8040 to #8059

Signal name Refresh cycle

4 #8060 to #8079 0 Servo amplifier type

5 #8080 to #8099 1 Motor current

6 #8100 to #8119 2

7 #8120 to #8139 3

Motor speed

8 #8140 to #8159 4

9 #8160 to #8179 5

10 #8180 to #8199 6

11 #8200 to #8219 7

12 #8220 to #8239 8

13 #8240 to #8259 9

Command speed

Home position return re-travel value

When the servo amplifier power-on

Operation cycle 1.7[ms] or less: Operation cycle

Operation cycle 3.5[ms] or more: 3.5[ms]

Operation cycle

At home position return re-travel

14 #8260 to #8279 10

15 #8280 to #8299 11

16 #8300 to #8319 12

17 #8320 to #8339 13

Unusable

18 #8340 to #8359 14

19 #8360 to #8379 15

20 #8380 to #8399 16

21 #8400 to #8419 17

22 #8420 to #8439 18

23 #8440 to #8459 19

24 #8460 to #8479

25 #8480 to #8499

26 #8500 to #8519

27 #8520 to #8539

28 #8540 to #8559

29 #8560 to #8579

30 #8580 to #8599

31 #8600 to #8619

32 #8620 to #8639

Signal direction

Monitor device

3 - 54


(a) Servo amplifier type (#8000+20n) .......................................... Monitor device

This register stores the servo amplifier type for each axis at the servo amplifier power supply ON.

• 0 .............. Unused

• 256 ........... MR-J3-B

• 257 ........... MR-J3-B (For fully closed loop control)

• 258 ........... MR-J3-B (For Linear control)

It is not cleared even if the servo amplifier power supply turns ON.

(b) Motor current (#8001+20n) ..................................................... Monitor device

This register stores the motor current ( 0.1[%] ) read from the servo amplifier.

(c) Motor speed (#8002+20n, #8003+20n) .................................. Monitor device

This register stores the motor speed ( 0.1[r/min] ) read from the servo amplifier.

(d) Command speed (#8004+20n, #8005+20n)........................... Monitor device

This register stores the speed at which command value to the servo amplifier for every operation cycle is converted into [PLS/s].

(e) Home position return re-travel value (#8006+20n, #8007+20n)

.................... Monitor device

If the position stopped in the position specified with the travel value after proximity dog ON (Refer to Section 6.23.1) using MT Developer 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.)

3 - 55


3.4 Special Relays (SM)

There are 2256 special relay points of SM0 to SM2255 in the Motion CPU.

Of these, 8 points of the SM500 to SM503, SM510, SM512, SM513 and SM516 are used for the positioning control.

The special relay list used for the positioning control is shown below.

(Refer to "Q173DCPU/Q172DCPU Motion controller programming Manual

(COMMON)" for the application of special relays except SM500 to SM503, SM510,

SM512, SM513 and SM516.)

Table 3.2 Special relay list


SM500 PCPU REDAY complete flag

SM501 TEST mode ON flag

SM502 External forced stop input flag

SM503 Digital oscilloscope executing flag

Refresh cycle Fetch cycle Signal type

Main cycle Status signal

SM512 Motion CPU WDT error flag

SM513 Manual pulse generator axis setting error flag

SM516 Servo program setting error flag

(1) PCPU REDAY complete flag (SM500) ………............ Status signal

This flag is used as judgement of the normal or abnormal in the Motion CPU side using the PLC program.

(a) The fixed parameters, servo parameters and limit switch output data are checked at leading edge of PLC ready flag (M2000), 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)


(SM500) t

The servo parameters are written to the servo amplifiers and the M-codes are cleared.

3 - 56


(2) TEST mode ON flag (SM501) ........…...................... Status signal

(a) This flag is used as judgement of during the test mode or not using

MT Developer .

Use it for an interlock, etc. at the starting of the servo program using the

Motion SFC program.

• OFF ......... Except the test mode

• ON ......... During the test mode

(b) If the test mode is not executed in the test mode request from

MT Developer, the TEST mode request error flag (SM510) turns on.

(3) External forced stop input flag (SM502) ....………… Status signal

This flag is used to check the external forced stop input signal ON/OFF.

• OFF ........ External forced stop input ON

• ON ........ 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.

(4) Digital oscilloscope executing flag (SM503) .……...... Status signal

This flag is used to check the state of execution for the digital oscilloscope.

• 0 ........ Digital oscilloscope has stopped.

• 1 ........ Digital oscilloscope is executing.

(5) TEST mode request error flag (SM510) .........………. Status signal

(a) This flag turns on when the test mode is not executed in the test mode request using MT Developer.

(b) When SM510 turns on, the error contents are stored in the test mode request error information (SD510, SD511).

(6) Motion CPU WDT error flag (SM512) ......................... 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 Multiple CPU system.

If SM512 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 (SD512)".

(Refer to Section 3.5).

3 - 57


(7) Manual pulse generator axis setting error flag (SM513)

.………...... Status signal

(a) This flag is use as judgement of normal or abnormal setting of the manual pulse generator axis No. setting registers (D714 to D719).

• OFF ......... D714 to D719 is normal

• ON ......... D714 to D719 is abnormal

(b) When SM513 turns on, the error contents are stored in the manual pulse generator axis setting error information (SD513 to SD515).

(8) Servo program setting error flag (SM516) ...........…... Status signal

This flag is used as judgement of normal or abnormal for the servo program positioning data.

• OFF ...... Normal

• ON ...... Abnormal

3 - 58


3.5 Special Registers (SD)

Device No.

There are 2256 special register points of SD0 to SD2255 in the Motion CPU.

Of these, 20 points of the SD200, SD500 to SD506, SD508, SD510 to SD517, SD522,

SD523 and SD803 are used for the positioning control.

The special register list used for the positioning control is shown below.

(Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual

(COMMON)" for the applications of special registers except SD200, SD500 to SD506,

SD508, SD510 to SD517, SD522, SD523 and SD803.)

Table 3.3 Special register list

Signal name Refresh cycle Fetch cycle Signal direction

SD512

SD513

SD514

SD515

SD516

SD517

SD522

SD523

SD803

SD500

SD501

SD502

SD503

SD504

SD505

SD506

SD508

SD510

SD511

Main cycle

Real mode axis information register (SV22)

Servo amplifier loading information

At power supply on/ operation cycle

Real mode/virtual mode switching error information (SV22)

Connect/disconnect (status)

Test mode request error information

Motion CPU WDT error cause

Manual pulse generator axis setting error information

Error program No.

Error item information

Motion operation cycle

Operation cycle of the Motion CPU setting

Connect/disconnect (command)


Main cycle

At test mode request

At Motion CPU

WDT error occurrence


At start

Operation cycle

At power supply on

Main cycle

Monitor device

Command device

3 - 59


SD200

(1) State of switch (SD200) ………………………….. Monitor device

The switch state of CPU is stored in the form of the following. b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Switch state of CPU

0 : RUN

1 : STOP

Memory card switch

Always OFF

(All setting of each digit is "0".)

No used

(2) Real mode axis information register (SD500, SD501)

.................................................... 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

SD500 Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1


Real mode axis information

0 : Real mode axis

1 : Except real mode axis


(Note-2): Refer to APPENDIX of the "Q173DCPU/Q172DCPU Motion controller (SV22)

Programming Manual (VIRTUAL MODE)" for the expression method of the axis

number corresponding to each bit of word data.

(3) Servo amplifier loading information (SD502, SD503)

........... Monitor device

The mounting status of the servo amplifier is checked at the power supply on or reset of the Multiple CPU system and its results are stored in this device.

If communication with servo amplifier stops, it is reset.

The mounting status of changed axis after the power supply on is stored. b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0




Servo amplifier mounting status

Mounted

Not mounted . . . . 0

3 - 60


(a) Servo amplifier mounting status

1) Mounting status

• Mounted ..…..... The servo amplifier is normal. (Communication with the servo amplifier is normal.)

• Not mounted .... The servo amplifier is not mounted.

The servo amplifier power is off.

Normal communication with the servo amplifier is not possible due to a connecting cable fault, etc.

2) The system settings and servo amplifier mounting status are shown below.

System Settings

Servo amplifier

Used (axis No. setting)

Unused

1 is stored 0 is stored

0 is stored

(4) Connect/disconnect (status) (SD508) ...................... Monitor device

This signal is used to temporarily suspend SSCNET communication while servo amplifiers and/or SSCNET cables after Axis 1 are exchanged with the power supply ON in a Multiple CPU system.

SD508 stores the command status for "accept waiting" or "execute waiting" during this process.

• 0 ………… Connect/disconnect command accept waiting

• -1 ……….. Connect/disconnect execute waiting

• -2 ………... Connect/disconnect executing

Refer to the "Q173DCPU/Q172DCPU Motion controller programming Manual

(COMMON)" for details of the connect/disconnect function.

(5) Test mode request error information (SD510, SD511)


If there are operating axis at a test mode request using MT Developer, a test mode request error occurs, the test mode request error flag (SM510) 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




Stores the during operation/stop data of each axis

0 : During stop

1 : During operation

3 - 61


Error code

1

2

3

4

WDT error

Q bus H/W fault

201

(6) Motion CPU WDT error cause (SD512) ………........ Monitor device

This register is used as judgement of the error contents in the Motion CPU.

Error cause

Operation when error occurs

Action to take

S/W fault 1

Operation cycle time over

Q bus WDT error

• Reset the Multiple CPU system.

• If the error reoccurs after resetting,

1) Change the operation cycle into a large value in the system setting.

2) Reduce the number of command execution of the event task or NMI task in the system setting.


• If the error reoccurs after resetting, the relevant module or the relevant slot

(base unit) is probably faulty: replace the module/base unit.


• If the error reoccurs after resetting, explain the error symptom and get advice from our sales representative.


• If the error reoccurs after resetting, the relevant module or the relevant slot

(base unit) is probably faulty: replace the module/base unit.

201 to 215

Error contents

01 : Q bus error 1

02 : Q bus error 2

04 : Q bus error 4

08 : Q bus error 8

Error code = Total of the error contents + 200

Servo amplifier interface H/W fault

250

All axes stop immediately, after which operation cannot be started.

250 to 253 Faulty SSCNET No.

0 : SSCNET 1

1 : SSCNET 2

Error code = Total of the faulty SSCNET No. + 250

S/W fault 3

300

301

303

8 or more points of CPSTART instruction were used to start programs in excess of simultaneously startable program.

Number of simultaneous startable programs

14

S/W fault 4




• Use 8 or more points of CPSTART instruction to start programs within the number of simultaneously startable programs.



3 - 62


(7) Manual pulse generator axis setting error information

(SD513 to SD515) ..............................................….. Monitor device

The setting information is checked at leading edge of manual pulse generator enable signal, if an error is found, the following error information is stored into

SD513 to SD515 and the manual pulse generator axis setting error flag (SM513) turns on.

SD513 b15 b14 b13 b12 b11 b10 b9 b8

0 0 0 0 0 0 0 0 b7

0 b6

0 b5

P3 b4 b3 b2 b1 b0

P2 P1 P3 P2 P1

Store the axis setting errors of the manual pulse generators connected to P1 to P3 of Q173DPX.

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 Q173DPX.

0 : Normal

1 : Setting error

(Axis setting in each digit is except 0 to 59)

All turn to 0.




Store the 1-pulse input magnification setting errors of the axis.

0 : Normal

1 : Setting error

(Input magnification of each axis is except

1 to 10000.)

(8) Error program No. (SD516) .................……….......... Monitor device

(a) When the servo program error occurs at the servo program operation, the servo program setting error flag (SM516) 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.

(9) Error item information (SD517) ..........………......... Monitor device

When the servo program error occurs at the servo program operation, the servo program setting error flag (SM516) 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.

(10) Motion operation cycle (SD522) ….……..………. Monitor device

The time which motion operation took for every motion operation cycle is stored in [µs] unit.

3 - 63


(11) Operation cycle of the Motion CPU setting (SD523)


The setting operation cycle is stored in [µs] unit.

When the "Automatic setting" is set in the system setting, the operation cycle corresponding to the number of setting axes. When "0.4[ms] / 0.8[ms] / 1.7[ms] /

3.5[ms] / 7.1[ms] / 14.2[ms]" is set in the system setting, the operation cycle corresponding to each setting.

(Note): If the servo amplifiers of 9 axes or more are connected to one SSCNET system, it does not support an operation cycle of 0.4[ms]. 0.8[ms] is used as the real operation cycle, even if 0.4[ms] is set in the system setting.

(12) Connect/disconnect (command) (SD803)

……………………..…… Command device

This signal is used to temporarily suspend SSCNET communication while servo amplifiers and/or SSCNET cables after Axis 1 are exchanged with the power supply ON in a Multiple CPU system.

SD803 is required for connect/disconnect during this process.

• 1 to 32… Disconnect command

• -10 …….. Re-connect command

• -2 ………... Connect/disconnect execute command

Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual

(COMMON)" for details of the connect/disconnect function.

3 - 64

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 system basic setting, self CPU installation position setting, servo amplifier setting, high-speed read setting and optional data monitor setting are set in the individual parameter setting.

(3) The data setting and correction can be performed in dialog form using

MT Developer.

(Refer to the "Q173DCPU/Q172DCPU Motion Controller Programming Manual

(COMMON) " for details of the setting contents.)

4

4 - 1


4.2 Fixed Parameters

(1) The fixed parameters are set for each axis and their data is fixed based on the mechanical system, etc.

(2) The fixed parameters are set using MT Developer.

(3) The fixed parameters to be set are shown in Table 4.1.

Table 4.1 Fixed parameter list

Setting range

No. Item

2

3

4

5

6

7

8

Remarks Section

Setting range Units Setting range Units Setting range Units Setting range Units

Number of pulses per rotation

(AP)

Travel value per rotation

(AL)

0.1 to

214748364.7

Backlash compensation amount

(Note)

Upper stroke limit

(Note)

Lower stroke limit

(Note)

Command inposition range

(Note)

Speed control

10 multiplier setting for degree axis

0 1

1 to 2147483647[PLS]

0.00001 to

21474.83647

2

0.00001 to

21474.83647

3

1 to

2147483647

3

20000

20000

• Set the command value for each axis at the positioning control.

• Set the number of feedback pulses per motor rotation based on the mechanical system.

• Set the travel value per motor based on the mechanical system.

4.2.1

0 to 6553.5

-214748364.8 to

214748364.7

µm

-214748364.8 to

214748364.7

0.1 to

214748364.7

0 to 0.65535

-21474.83648 to

21474.83647 inch

-21474.83648 to

21474.83647

0.00001 to

21474.83647

0 to 0.65535

0 to

359.99999

0 to

359.99999

0.00001 to

359.99999

Invalid/Valid degree

0 to 65535

-2147483648 to

2147483647

-2147483648 to

2147483647

1 to

2147483647

PLS

0

2147483647

0

100

Invalid

PLS

• Set the backlash amount of the machine.

• Every time of the positioning direction changes at the positioning, compensation by the backlash compensation amount is executed.

The expression below shows the setting range.

0 (backlash compensation amount) × AP/AL 65535

• Set the upper limit for the 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 machine travel range. The expression below shows the 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

[(positioning address) -

(current value)].

The expression below shows the setting range.

1 (command in-position range) × AP/AL 32767

• Set whether the positioning control is executed with a value 10 multiplier the speed of a command speed setting, when a control unit is degree axis.

7.2

4.2.3

4.2.4

4.2.5

(Note): The display of the possible setting range changes according to the electronic gear value.

4 - 2


4.2.1 Number of pulses/travel value per rotation

The "Electronic gear function" adjusts the pulse calculated and output by the parameter set in the Q173DCPU/Q172DCPU and the real travel value of machine.

It is defined by the "Number of pulses per rotation" and "Travel value per revolution".

POINTS

(1) The mechanical system error of the command travel value and real travel value is rectified by adjustment the "electronic gear".

(2) The value of less than 1 pulse that cannot be execute a pulse output when the machine travels is incremented in the Q173DCPU/Q172DCPU, 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.)

(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.

Q173DCPU/Q172DCPU

Machine

Command value

Control units

AP

AL

PLS

PLS Servo amplifier M

ENC

PLS

Feedback pulse

Reduction gear

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


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

Electronic gear

=

AP

AL

. . . . . (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 HF-KP

(262144[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) = 262144[PLS]

AL (Travel value of machine per rotation)

= Ball screw pitch × Reduction ratio

= 20[mm]

Substitute this for the above expression (1).

AP

AL

=

262144[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

=

262144[PLS]

20000.0[ m]

4 - 4


The travel value per motor rotation in this example is 0.000076[mm].

For example, when ordering the travel value of 19[mm], it becomes

249036.8[PLS] and the fraction of 0.8[PLS]. At this time, the Motion CPU orders the travel value of 249036[PLS] to the servomotor and the fraction is memorized in the Motion CPU.

Positioning is performed by seasoning the travel value with this fraction at the next positioning.

4.2.2 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]

4.2.3 Upper/lower stroke limit value

[PLS]

The upper/lower limit value for the travel range of the mechanical system is set.

RLS FLS

Limit switch for emergency stop

(Travel range of the machine)

Stroke limit

(lower)

Stroke limit

(upper)

Fig. 4.3 Travel range at the upper/lower stroke limit value setting

4 - 5


(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 ( )

• Speed/position switching control (including restart)

• JOG operation


Check

Check

Not check

Check

Remarks

• 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.

• The current value becomes "0", and operation continues until the external limit signal (FLS, RLS, STOP) is received.

• It is checked after the switch to position control.

• 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 is possible.

• 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.

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


4.2.4 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 Speed/position switching

Command in-position setting value

Position control start

Speed position control start

Command in-position setting value t

Command in-position

( M2403+20n )

ON

OFF

Execution of command in-position check Execution of command in-position check

4 - 7


4.2.5 Speed control 10 multiplier setting for degree axis

The setting range of command speed is 0.001 to 2147483.647[degree/min] normally in the axis of control unit [degree]. However, when the "speed control 10 multiplier setting for degree axis" is set to "valid" in the fixed parameter the speed setting range increases 10 multiplier "0.01 to 21474836.47[degree/min]".

(1) When the "speed control 10 multiplier setting for degree axis" is set to "valid", the positioning control is executed by the speed increased 10 multiplier command speed set in the servo program or servo parameter, and speed limit value.

(2) In the interpolation control for the axis of "control unit [degree] and [except degree]", if the interpolation control unit of parameter block is set as [degree]," the positioning control is executed by the speed increased 10 multiplier command speed and speed limit value.

(3) When the "speed control 10 multiplier setting for degree axis" is set as "valid", 2 figures below the decimal point of ***.** [degree/min] is displayed on the screen of

MT Developer.

<K 10>

INC-1

Axis

Speed

1, 360.00000degree

180.00degree/min

When the "control 10 multiplier setting for degree axis" is set to "valid",

2 figures below the decimal point is displayed .

(4) Speed setting range in the interpolation operation is shown below.

(a) Vector speed specification/Long-axis speed specification

If the "speed control 10 multiplier setting for degree axis" is set to "valid" even by one axis among interpolation axes, the speed setting range is "0.01 to 21474836.47[degree/min] ".

(b) Reference-axis speed specification

If the "speed control 10 multiplier setting for degree axis" is set to "valid" in the specified reference axis, the speed setting range is "0.01 to

21474836.47[degree/min] ".

4 - 8


Example

• An example for positioning control is shown below when the "speed control 10 multiplier setting for degree axis" of fixed parameter and "interpolation control unit" of parameter block are set as follows.

• Speed control 10 multiplier setting for degree axis

Axis 1

Axis 2

Axis Speed control 10 multiplier setting for degree axis

Invalid

Valid

• Interpolation control unit of parameter block

Interpolation control unit degree

(1) 1 axis linear positioning control program (Axis 1) (2) 1 axis linear positioning control program (Axis 2)

<K 10>

INC-1

Axis

Speed

1, 360.00000

18.000


Axis used . . . . . . . Axis 1


. . . . . . . 360.00000[degree]

Positioning speed . . . . 18.000[degree/min]

<K 20>

INC-1

Axis

Speed

2, 360.00000

180.00




. . . . . . . 360.00000[degree]

Positioning speed . . . . 180.00[degree/min]

[degree/min]

V

180.00

[degree/min] V

Axis 1 speed

18.000

Servo program No.10

Axis 2 speed t

(3) 2 axes linear interpolation control program (Axis 1, Axis 2)

(a) Vector speed specification

<K 30>

INC-2

Axis

Axis

Vector speed

1,

2,

360.00000

360.00000

180.00


Axis used . . . . . . . Axis 1, Axis 2


Axis 1 . . . . . 360.000[degree]

Axis 2 . . . . . 360.000[degree]

Positioning speed . . . 180.00[degree/min]

[degree/min]

180.00

V

Servo program No.30

[degree/min] V

Vector speed

127.28

Axis 1 speed t

[degree/min] V

127.28

Axis 2 speed

Servo program No.20

t t t

4 - 9


Example

(b) Long-axis reference specification

<K 50>

INC-2

Axis 1,

Axis 2,

Long-axis speed

360.00000

20000.00000

180.00

[degree/min]

V

Axis 1 speed

3.24




Axis 1 . . . . . 360.00000[degree]

Axis 2 . . . 20000.00000[degree]


Servo program No.50

t

[degree/min] V

180.00

Axis 2 speed

Servo program No.50

t

(c) Reference-axis speed setting

<K 60>

INC-2

Axis

Axis

1,

2,

Reference-axis speed

360.00000

20000.00000

180.00

Reference-axis 2

[degree/min] V

Axis 1 speed

3.24




Axis 1 . . . . . 360.00000[degree]

Axis 2 . . . 20000.00000[degree]


Servo program No.60

t

[degree/min]

180.00

V

Axis 2 speed

Servo program No.60

t

POINTS

When a speed change is executed by the Motion dedicated PLC instruction

(D(P).CHGV) or servo program (CHGV instruction) after setting the "speed control

10 multiplier setting for degree axis is valid", the positioning control is executed by the speed increased 10 multiplier setting value.

4 - 10


4.3 Parameter Block

(1) The parameter blocks serve to make setting changes easy by allowing data such as the acceleration/deceleration control to be set for each positioning processing.

(2) A maximum 64 blocks can be set as parameter blocks.

(3) Parameter blocks can be set using MT Developer.

(4) Parameter block to be set are shown in Table 4.2.

Table 4.2 Parameter Block Setting List

No. Item

Setting range

Initial value

Setting range Units Setting range Units Setting range Units Setting range Units

Units Remarks Section

1

2

Interpolation control unit

Speed limit value

0

0.01 to

6000000.00 mm/ min

1 2

0.001 to

600000.000 inch/ min

0.001 to

2147483.647

(Note-1) degree/ min

3

1 to

2147483647

3

PLS/s 200000 PLS/s

• Set the units for compensation control.

• It can be also used as the units for the command speed and allowable error range for circular interpolation set in the servo program.

• Set the maximum speed for positioning/home position return.

• If the positioning speed or home position return speed setting exceeds the speed limit value, control is executed at the speed limit value.

6.1.4

3

4

5

Acceleration time

Deceleration time

Rapid stop deceleration time

6 S-curve ratio

7

8

9

Torque limit value

Deceleration processing on

STOP input

Allowable error range for circular interpolation

0 : Deceleration stop is executed based on the deceleration time.

1 : Deceleration stop is executed based on the rapid stop deceleration time.

0 to 10000.0 µ

1 to 65535[ms]

1 to 65535[ms]

1 to 65535[ms]

0 to 100[%]

1 to 1000[%] m 0 to 1.00000 inch 0 to 1.00000 degree 0 to 100000 PLS

1000

1000

1000

0

300

0 ms ms ms

%

%

• Set the time taken to reach the speed limit value from the start of motion.

• Set the time taken to stop from the speed limit value.

• Set the time taken to stop from the speed limit value when a rapid stop is executed.

• Set the S-curve ratio for S-pattern processing.

• When the S-curve ratio is 0[%], trapezoidal acceleration/deceleration processing is executed.

• Set the torque limit value in the servo program.

• Set the deceleration processing when external signals (STOP, FLS,

RLS) are input.

• Set the permissible range for the

100 PLS point coordinates.

4.3.1

4.3.2

4.3.3

(Note-1): When the "speed control 10 multiplier setting for degree axis" is set to "valid", the setting range is 0.01 to 21474836.47[degree/min].

However, setting range of 0.001 to 2147483.647[degree/min] is displayed in the parameter block setting screen of programming software.

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.


4 - 11


POINTS

The data set in the parameter block is used in the positioning control, home position return and JOG operation.

(1) The parameter block No. used in the positioning control is set using MT Developer at the creating of the servo program. If it is not set, control is executed with the contents of parameter block No.1.

Also, it is possible to set parameter block data individually in the servo program.

[Servo program creation screen]

Parameter block No.

setting

Setting items of the parameter block

Individual parameter block data setting

UNIT

E

STOP

S RATIO

: Interpolation control unit

: Acceleration time

: Rapid stop deceleration time,

: Deceleration processing on STOP input

: S-curve ratio when S-pattern processing

is executed

S.R.

P.TORQ

: Speed limit value

: Deceleration time

: Torque limit value

: Allowable error range for circular

interpolation

(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

MT Developer.

Refer to Section "6.23.1 Home position return data" or "6.21.1 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 - 12


4.3.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid stop deceleration time

4.3.2 S-curve ratio

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

Speed limit value

Rapid stop cause occurrence

1) Real acceleration time

Time take to reach the positioning speed set in the servo program.

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 accele-

ration time

Set acceleration time

Set rapid stop deceleration time

2) Real 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

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 error item information (SD517).

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

Acceleration time

Deceleration time t

Time

4 - 13


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

B

Positioning speed

A

B

B/2 B/2

B/A=1.0

t

S-curve ratio is 100[%]

Positioning speed

V

Sine curve

B

A

B/A=0.7

S-curve ratio = B/A 100[%]

4.3.3 Allowable error range for circular interpolation

S-curve ratio is 70[%] t

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

Locus determined by spiral interpolation

End point address by calculation

Start point address Central point address

Fig. 4.4 Spiral Interpolation

Setting end point address

4 - 14

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

Servo instruction

Positioning data

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

Program No.

MT Developer, 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.

<K 11>

Control units

ABS-3

Axis 1,

Axis 2,

Axis 3,

Vector speed

Dwell

M-code

P.B.

3000000.0

5500000.0

-2500000.0

40000.00

2500

12

3

[mm]

[mm]

[mm]

[mm/min]

[ms]

Axis1, 3000000.0

Axis2, 5500000.0 . . .

Axis used and positioning address

Axis3, -2500000.0

Used axes Positioning address

1

2

3000000.0[µm]

5500000.0[µm]

3 -2500000.0[µm]

• Vector speed …………. Command speed for the 3 axes

Number of program steps 10

Number of used programs 20/13312

(axis 1, axis 2, axis 3) combination

40000.00 [mm/min]

• Dwell ……………………. Dwell time 2500 [ms]

• M-code …………………. M-code 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

5 - 1


(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 positioning address

Data which must be set in order to execute the servo instruction.

• Command speed

• Dwell time

• M-code

• P.B.

(parameter block)

Data which will be set to default values for control if not set.

Control is executed using the data 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 MT Developer.

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

Servo programs are stored in the order in which their program No. were created.

Program No. 2

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


5.2 Servo Instructions

The servo instructions used in the servo programs are shown below.

Refer to Chapter 6 for details of the servo instruction.

Refer to Chapter 7 of the "Q173DCPU/Q172DCPU Motion Controller (SV13/SV22)

Programming Manual (Motion SFC)" for details of the current value change control

(CHGA, CHGA-E, CHGA-C).

(1) Guide to servo instruction list

Table. 5.1 Guide to Servo Instruction List

3) 4) 5) 6)

Common Arc/Helical OSC

Positioning data

1

Parameter block

7)

Other

8)

Instruction symbol

Processing

Virtual enable

Number of step

Number of indirect words

1

1

1 1

2

1

2

1

1

1

1

1

1

1

2

1 1 1

2 2 1

1

2

1

2

1

2

1

1

1

1

2

2

1

1

1

1

1

1

1

1

1

1

1

2

1

1

1

2

1/

1(B)

1 2

2

2 2

2 2

1(B) 1(B)

1

1

2

2

1(B)

1

1

1

2

1(B)

ABS-1 Absolute 1-axis positioning

4 to 17

INC-1 Incremental 1-axis positioning

ABS-2

Absolute 2-axes linear

1) 2)

Number Description

1)

Instruction symbol Gives the servo instructions usable in servo programs.

Processing Gives the processing outlines of the servo instructions.

2)

3)

4)

5)

6)

7)

8)

(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.)

(b) Allows direct or indirect designation (except axis No.)

1) Direct designation : Set with numerical value.

2) Indirect designation : Set with word device.

• 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 start 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.)

Items common to the servo instructions

Items set in circular interpolation starting servo programs

Items set for high-speed oscillation

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.)

Setting items other than the common, circular and parameter block items (Items to be set vary with the servo instruction.)

Indicates the number of steps of each servo instruction.

5 - 3


Instruction symbol

(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

Common Arc/Helical

Processing

Virtual enable —

1 1 1 1 1 1 1 1 1 1 1

ABS-1

INC-1

ABS-2

INC-2

ABS-3

INC-3

ABS-4

INC-4

ABS

INC

ABS

ABS

ABS

ABS

INC

INC

INC

INC

Absolute 1-axis positioning

Incremental 1-axis positioning

Absolute 2-axes linear interpolation

Incremental 2-sxes linear interpolation


Incremental 3-axes linear interpolation


Incremental 4-axes linear interpolation

Absolute auxiliary point-specified circular interpolation

Incremental auxiliary point-specified circular interpolation

Absolute radius-specified circular interpolation less than CW 180°

Absolute radius-specified circular interpolation CW 180° or more

Absolute radius-specified circular interpolation less than CCW 180°

Absolute radius-specified circular interpolation CCW 180° or more

Incremental radius-specified circular interpolation less than CW 180°

Incremental radius-specified circular interpolation CW 180° or more

Incremental radius-specified circular interpolation less than CCW 180°

Incremental radius-specified circular interpolation CCW 180° or more

5 - 4


Positioning data

OSC *1 Others

Number of steps

— — — — — — — —

1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 1

*2

2 2 2 1 1 2 1 1 1 1 1 2 1 1/

1(B)

— 2

*2 *2

1(B)

1

*2

1(B)

1

*2

1(B)

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 - 5


Instruction symbol

Table 5.2 Servo Instruction List (continued)

Processing

Positioning data

Common Arc/Helical

Virtual enable —

1 1 1 1 1 1 1 1 1 1 1

INH

INH

INH

ABH

ABH

ABH

ABS

ABS

INC

INC

ABH

INH

ABH

INH

ABH

ABH

INH

INH

Absolute central point-specified circular interpolation CW

Absolute central point-specified circular interpolation CCW

Incremental central point-specified circular interpolation CW

Incremental central point-specified circular interpolation CCW

Absolute auxiliary point- specified helical interpolation

Incremental auxiliary point- specified helical interpolation

Absolute radius-specified helical interpolation less than CW 180°

Absolute radius-specified helical interpolation CW 180° or more

Absolute radius-specified helical interpolation less than CCW 180°

Absolute radius-specified helical interpolation CCW 180° or more

Incremental radius-specified helical interpolation less than CW 180°

Incremental radius-specified helical interpolation CW 180° or more

Incremental radius-specified helical interpolation less than CCW 180°

Incremental radius-specified helical interpolation CCW 180° or more

Absolute central point-specified helical interpolation CW

Absolute central point-specified helical interpolation CCW

Incremental central point-specified helical interpolation CW

Incremental central point-specified helical interpolation CCW

5 - 6


Positioning data

OSC *1 Others

Number of steps

— — — — — — — —

1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 1

*2

2 2 2 1 1 2 1 1 1 1 1 2 1 1/

1(B)

— 2

*2 *2

1(B)

1

*2

1(B)

1

*2

1(B)

7 to 22

10 to 27

9 to 26

10 to 27




5 - 7


Instruction symbol


Processing

Positioning data

Common Arc/Helical

FEED-1

FEED-2

FEED-3

VF

VR

VVF

VVR

VPF

VPR

VPSTART

VSTART

VEND

ABS-1

ABS-2

ABS-3

INC-1

INC-2

INC-3

VABS

VINC

Virtual enable

1-axis fixed-pitch feed start

2-axes linear interpolation fixed-pitch feed start

3-axes linear interpolation fixed-pitch feed start

Speed control ( ) forward rotation start

Speed control ( ) reverse rotation start

Speed control ( ) forward rotation start

Speed control ( ) reverse rotation start

Speed-position control forward rotation start

Speed-position control reverse rotation start

Speed-position control restart

Speed-switching control start

Speed-switching control end point address

Travel value up to speed-switching control end point

Speed-switching point absolute specification

Speed-switching point incremental specification

—

1 1 1 1 1 1 1 1 1 1 1 words 1 — 2 2 1 1 1 2 2 2 1

5 - 8


Positioning data

OSC *1 Others

Number of steps

— — — — — — — —

1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 1

*2

2 2 2 1 1 2 1 1 1 1 1 2 1 1/

1(B)

— 2

*2 *2

1(B)

1

*2

1(B)

1

*2

1(B)

3 to 15

3 to 16

4 to 18

1

4 to 6




5 - 9


Instruction symbol


Processing

Positioning data

Common Arc/Helical

PVF

PVR

Speed control with fixed position stop absolute specification

PFSTART

CPSTART1

CPSTART2

CPSTART3

CPSTART4

ABS-1

ABS-2

ABS-3

ABS-4

ABS

ABS

ABS

ABS

ABS

ABS

ABS

ABH

ABH

ABH

ABH

ABH

ABH

ABH

Position follow-up control start

1-axis constant-speed control start

2-axes constant-speed control start



Constant-speed control passing point absolute specification

Constant-speed control passing point helical absolute specification

Virtual enable

Number of steps


—

1 1 1 1 1 1 1 1 1 1 1

1 — 2 2 1 1 1 2 2 2 1

5 - 10


OSC *1 Parameter block

Positioning data

Others

Number of steps

— — — — — — — —

1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 1

*2

2 2 2 1 1 2 1 1 1 1 1 2 1 1/

1(B)

— 2

*2 *2

1(B)

1

*2

1(B)

1

*2

1(B)

6 to 19

15

17

4 to17

10

11

12

13

14

4 to 13

5 to 14

14

8 to 13

9 to 14




5 - 11


Instruction symbol


Processing

Positioning data

Common Arc/Helical

Virtual enable

Number of steps


INC-1

INC-2

INC-3

INC-4

INC

INC

INC

INC

INC

INC

INC

INH

INH

INH

INH

INH

INH

INH

CPEND

Constant-speed control passing point incremental specification

Constant-speed control passing point helical incremental specification

—

1 1 1 1 1 1 1 1 1 1 1

1 — 2 2 1 1 1 2 2 2 1

5 - 12



Positioning data

Others

Number of steps

— — — — — — — —

1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 1

2 2 2 1 1 2 1 1 1 1 1 2 1

*2

1/

1(B)

— 2

*2 *2

1(B)

1

*2

1(B)

1

*2

1(B)

10

11

12

13

14

4 to 13

5 to 14

14

8 to 13

9 to 14

1 to 2




5 - 13


Instruction symbol


Processing

Positioning data

Common Arc/Helical

Virtual enable

Number of steps


—

1 1 1 1 1 1 1 1 1 1 1

1 — 2 2 1 1 1 2 2 2 1

FOR-TIMES

FOR-ON

FOR-OFF

NEXT

Repeat range start setting

START Simultaneous start

ZERO

Home position return start

OSC

High-speed oscillation

CHGA

CHGA-E

Servomotor/Virtual Servomotor Shaft

Current Value Change

Encoder current value change

CHGA-C CAM shaft current value change

5 - 14



Positioning data

Others

Number of steps

— — — — — — — —

1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 1

*2

2 2 2 1 1 2 1 1 1 1 1 2 1 1/

1(B)

— 2

*2 *2

1(B)

1

*2

1(B)

1

*2

1(B)

2

3

2




3

5 - 15


5.3 Positioning Data

The positioning data set in the servo programs is shown in Table 5.3.

Table 5.3 Positioning data

Parameter block

No.

Axis

Absolute data method

Incremental data method

Command speed

Dwell time

M-code

Torque limit value

• Set based on which parameter block deceleration processing at the acceleration/ deceleration processing and STOP input.

• Set the starting axis.

• It becomes the interpolation starting axis No. at the interpolation.

Set the positioning address as an

Address absolute method with an absolute address.

Set the positioning address as an

Travel value 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)

• Sets the positioning speed.

• Units for speed are the "control units" set in the parameter block.

• It becomes the vector speed/long-axis reference speed/reference axis speed at the interpolation starting. (PTP control only)

• Set the time until outputs the positioning complete signal (M2401+20n) after positioning to positioning address.

• 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.

• Set the torque limit value.

• The torque limit is performed based on the parameter block data at the start. The speedswitching control can be set for each point and the setting torque limit values can be performed with the specified point. value

Torque limit setting valued [%] in the parameter block

Setting value using MT Developer

Setting range mm inch degree PLS

64

-214748364.8 to 214748364.7

-21474.83648 to 0 to 359.99999

-2147483648 to

[µm] 21474.83647 2147483647

Expect for the speed/position switching control

0 to

214748364.7

[µm]

0.01 to

6000000.00

[mm/min]

0 to 2147483647

Speed/position switching control

0 to

21474.83647

0.001 to

600000.000

[inch/min]

0 to

21474.83647

0.001 to

2147483.647

[degree/min]

(Note-5)

0 to

2147483647

1 to

2147483647

[PLS/s]

1 to 1000[%]

5 - 16


Setting value using the Motion SFC program (Indirect setting)

Setting range

1 to 64

-2147483648 to 2147483647

( 10 -1 [µm])

-2147483648 to 214748647

( 10 -5 [inch])

0 to 35999999

( 10 -5 [degree])

-2147483648 to 2147483647

Except for the speed/position switching control


0 to 2147483647

( 10 -1 [µm])

0 to 2147483647

( 10 -5 [inch])

0 to 2147483647

( 10 -5 [degree])

0 to

2147483647

1 to 600000000

( 10 -2

[mm/min])

1 to 600000000

( 10 -3

[inch/min])

1 to 2147483647

( 10 -3

[degree/min])

(Note-5)

1 to

2147483647

[PLS/s]

0 to 5000[ms]

0 to 32767

1 to 1000[%]

Indirect setting

Possible/ Number of used words

Processing at the setting error


(Stored in SD517)

(Note-4)

Control using default value

Not start

1 1

2

2

1

1

1 n03

(Note-1)

4

(Note-2)

5

6

7

(Note-3)

(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 information is stored.

(Note-5): When the "speed control 10 multiplier setting for degree axis" is set to "valid", the setting range is 0.01 to 21474836.47 [degree/min].

5 - 17


Table 5.3 Positioning data (Continued)


Setting range value


• Set at the auxiliary point-specified circular interpolation.



• Set at the radius-specified circular interpolation.

• The sitting ranges depending on the positioning method is shown to the right.



• Set at the central point-specified circular interpolation.


Number of pitches

Control unit

• Set at the helical interpolation.

• It can be set only items to be changed of the

Speed limit value specified parameter block data.

• Refer to Section 4.3 "Parameter Block" for details of each data.

3

200000

[PLS/s]

-214748364.8 to

214748364.7

[µm]

-21474.83648 to 21474.83647

0 to 359.99999

0 to 2147483647

-2147483648 to 2147483647

0.1 to

429496729.5

[µm]

0.1 to

214748364.7

[µm]

-214748364.8 to

214748364.7

[µm]

0.00001 to

42949.67295

0.00001 to

21474.83647

-21474.83648 to 21474.83647

0 to 359.99999 1 to 4294967295

0.00001 to

21474.83647

0 to 359.99999

1 to 2147483647

-2147483648 to 2147483647

0 to 2147483647

Acceleration time

Deceleration time


S-curve ratio

Torque limit value

Deceleration processing on

STOP input


1000[ms]

1000[ms]

1000[ms]

0[%]

300[%]

0

100[PLS]

0

0.01 to

6000000.00

[mm/min]

1

0.001 to

600000.000

[inch/min]

2

0.001 to

2147483.647

[degree/min]

(Note-5)

1 to 65535[ms]

1 to 65535[ms]

1 to 65535[ms]

3

1 to

2147483647

[PLS/s]

0 to 100[%]

1 to 1000[%]

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 - 18



Setting range

-2147483648 to

2147483647

( 10 -1 [µm])

-2147483648 to 2147483647

( 10 -5 [inch])

0 to 35999999

( 10 -5 [degree])

-2147483648 to 2147483647

0 to 2147483647

Indirect setting




(Stored in SD517)

(Note-4)


Not start

2 2 n08

1 to 4294967295

( 10 -1 [µm])

1 to 4294967295

( 10 -5 [inch])

0 to 35999999

( 10 -5 [degree])

1 to

4294967295

1 to 2147483647

( 10 -1 [µm])

1 to 2147483647

( 10 -5 [inch])

1 to 2147483647

( 10 -5 [degree])

1 to

2147483647

-2147483648 to 2147483647

( 10 -1 [µm])

-2147483648 to 2147483647

( 10 -5 [inch])

0 to 35999999

( 10 -5 [degree])

-2147483648 to 2147483647

0 to 2147483647

0

1 to 600000000

( 10 -2

[mm/min])

0 to 999

1

1 to 600000000

( 10 -3

[inch/min])

2

1 to 2147483647

( 10 -3

[degree/min])

(Note-5)

3

1 to

2147483647

[PLS/s]

1 to 65535[ms]

1 to 65535[ms]

2 2 n10

1

1

28

11

2 12

1

1

13

14

1 to 65535[ms] 1 15

0 to 100[%]

1 to 1000[%]

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

1

21

16

1 to 100000

( 10 -1 [µm])

1 to 100000

( 10 -5 [inch])

1 to 100000

( 10 -5 [degree])

1 to 100000

[PLS]

2 17

(Note-1): The "n" in n03, n08, n09 and n10, indicates the axis No. (1 to 32).


(Note-5): When the "speed control 10 multiplier setting for degree axis is set to "valid", is 0.01 to 21474836.47 [degree/min].

5 - 19


Table 5.3 Positioning data (Continued)


Setting range

Repeat condition

(Number of repetitions)

Repeat condition

(ON/OFF)

Program No.

Command speed

(constant-speed)

Set the repeat conditions between FOR-

TIMES instruction and NEXT instruction.

Set the repeat conditions between FOR-

ON/OFF instruction and NEXT instruction.

Set the program No. for simultaneous start.

Set the speed for points on the way in the servo program.

Cancel

Skip

FIN acceleration/ deceleration

WAIT-ON/OFF

Set to stop execution of a servo program by deceleration stop by turning on the specified bit device in the servo program.

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.

Set to execute positioning to each pass point for constant-speed control instruction by turning on the FIN signal.

Set to make state of the waiting for execution by constant-speed control and execute the positioning immediately by turning on/off the command bit device.

Acceleration/deceleration time used in the

Fixed position stop starting of speed control with fixed position acceleration/ stop, speed change request (CHGV) or fixed deceleration time

Fixed position stop position stop command ON.

Command bit device of fixed position stop is set. value

0.01 to

6000000.00

[mm/min]

1 to 32767

X, Y, M, B, F, U \G

0.001 to

600000.000

[inch/min]

0 to 4095

0.001 to

2147483.647

[degree/min]

(Note-5)

X, Y, M, B, F, U \G

X, Y, M, B, F, U \G

1 to 5000[ms]

X, Y, M, B, F, U \G

1 to

2147483647

[PLS/s]

X, Y, M, B, F, U \G

5 - 20



Setting range

1 to 32767

Indirect setting




(Stored in SD517)

(Note-4)


Not start

1 by

1 to 600000000

( 10 -2

[mm/min])

0 to 4095

1 to 600000000

( 10 -3

[inch/min])

1 to 2147483647

( 10 -3

[degree/min])

(Note-5)

1 to

2147483647

[PLS/s]

1

2

19

4

(Note-2) (Note-3)

1 to 5000[ms] 1 13

Control by

1000[ms]

1 to 65535[ms] 1 13

Control by

1000[ms]

(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-5): When the "speed control 10 multiplier setting for degree axis is set to "valid", is 0.01 to 21474836.47 [degree/min].

5 - 21


5.4 Setting Method for Positioning Data

This section describes how to set the positioning data used in the servo program.

There are two ways to set positioning data, as follows:

(1) Setting by specifying numerical values … Refer to Section 5.4.1

(2) Indirect setting by devices ……….… Refer to Section 5.4.2

"Setting by specifying numerical values" and "indirect setting by word devices" can be used together in one servo program.

5.4.1 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 MT Developer only.

<K 11>

Numerical value setting for positioning data

Positioning data

ABS-3

Axis 1,

Axis 2,

Axis 3,

Vector speed

Dwell

M-code

P.B.

3000000.0

5500000.0

-2500000.0

40000.00

2500

12

3

Fixed data for one servo program.

Fig. 5.3 Setting example of positioning data by specifying numerical value

5 - 22


5.4.2 Indirect setting method by devices

In the indirect setting method (Note-1) by devices, the device No. is specified to the positioning data specified with the servo program.

By using the contents (data) of specified device using the Motion SFC program

(Automatic refresh, etc.), multiple positioning controls can be executed in one servo program.

The device used in the indirect setting is the device of the Motion CPU but the device of the PLC CPU.

The device memory composition of the Motion CPU and PLC CPU is shown below.

PLC control processor

Configuration between modules

PLC CPU

1)

Device memory

Motion CPU

2)

Device memory


Multiple CPU high speed bus


Motion control processor

SSCNET

Q series PLC system bus

Servo amplifier

PLC I/O module

(DI/O)

PLC intelligent function module

(A/D, D/A, etc.)

Motion module

(Proximity dog signal, manual pulse generator input)

M M Servomotor

Note) : Device memory data : 1) = 2)

(Note-1): Device memory in the Motion CPU.

5 - 23


(1) Word devices for indirect setting data

The devices for indirect setting data are the data registers (D), link registers (W), motion registers (#) and Multiple CPU area device (U \G). Word devices except the above devices cannot be used.

The usable setting range of word devices is shown below.

Word device

D

W

#

U \G

Setting range

800 to 8191

0 to 1FFF

0 to 7999

10000 to (10000+p-1) (Note-1)

(Note-1): "p" indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU.

Positioning data

<K 11>

ABS-3

Axis 1,

Axis 2,

Axis 3,

Vector speed

Dwell

M-code

P.B.

D3000

D3004

W010

40000.00

W1B0

D3600

3

Indirect setting by word device

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 indirect setting by word device for positioning data

(2) Bit devices for indirect setting data

The devices for indirect setting data are the input (X), output (Y), internal relay

(M), link relay (B), annunciator (F) and Multiple CPU area device (U \G).

Bit devices except the above devices cannot be used.

The usable setting range of bit devices is shown below.

Bit device

X

Y

M

B

F

U \G

Setting range

0000 to 1FFF

0000 to 1FFF

0 to 8191

0000 to 1FFF

0 to 2047

10000.0 to (10000+p-1).F (Note-1)


5 - 24


Positioning data

<K 12>

ABS-1

Axis 1,

Speed

Cancel

U3E0\G10400

U3E0\G10402

U3E0\G10104 .1

Indirect setting by bit device

Fig. 5.5 Example of indirect setting by bit device for positioning data

(3) Inputting of positioning data

In indirect setting by word devices, the word device data is inputted when the servo program is executed using the Motion CPU.

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 condition 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.

(3) Refer to Chapter 2 of the "Q173DCPU/Q172DCPU Motion controller

Programming Manual (COMMON)" for the user setting area points of the

Multiple CPU high speed transmission area.

5 - 25


(4) Program example that uses the Multiple CPU high speed transmission memory

Program example to control by the data transmitted from the PLC CPU to Motion

CPU is shown below.

Program that starts the servo program (positioning) by the DP.SVST instruction after the data is written to the Multiple CPU high speed transmission memory (U3E0\G10000 to U3E0\G10003) from the PLC CPU (CPU No.1).

Ladder (PLC CPU side)

M0

Instruction execution command

DMOVP K10000 U3E0\G10000

Servo program

K10 position command

U3E1

\G516.0

DMOVP K10000 U3E0\G10002

Servo program

K10 speed command

DP.SVST H3E1 "J1" K10 M100 D100

Start accept flag of CPU

No.2(Axis 1)

RST M0

Instruction execution command

Servo program (Motion CPU side)

K10: REAL

1 INC-1

Axis 1, U3E0\G10000 m

Speed U3E0\G10002 mm/min

5 - 26

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.

Example

(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

Speed limit value

120000

Positioning speed

100000

6 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

Positioning speed

120000

Speed limit value

100000 (Real positioning speed)

Acceleration time of parameter block

Deceleration time of parameter block t

6 - 1


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:

• Vector 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) Vector speed specification

The Motion CPU calculates the positioning speed of each axis (V 1 to V 2 ) using the travel value (D 1 to D 4 ) of each axis based on the positioning speed

(V) of the setting control system.

Positioning speed of the control system is called the vector speed.

Set the vector speed and the travel value of each axis in the servo program.

Example

2 axes linear interpolation control is shown below.

Axis 2

V

2

V

(10000, 15000)

[Program example]

<K 50>

ABS-2

Axis

Axis

Vector speed

1,

2,

10000

15000

7000

[PLS]

[PLS]

[PLS/s]

0

0

V

1 Axis 1

Axis 1 travel value: D 1 = 10000[PLS]


Vector 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 :


V = V D / D + D

2

2

V = V D / D + D

2

2

6 - 2


(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 (V 1 to V 3 ) using the each axis travel value (D 1 to D 4) .

Set the long-axis speed and the travel value of each axis using the servo program.

Example






[Program example]

<K 51>

Long-axis speed: V = 7000[PLS/s]

In this example, since the reference axis is axis 4 of the largest travel value, it is

ABS-4

Axis

Axis

Axis

1,

2,

Axis

3,

4,

Long-axis speed controlled with the positioning speed specified with axis 4.

The Motion CPU calculates the positioning speed of other axes using the following calculation formulas:

10000

15000

5000

20000

7000

[PLS]

[PLS]

[PLS]

[PLS]

[PLS/s]



Axis 3 positioning speed : V = D / D 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


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


POINTS

(1) Speed limit value and positioning speed

• The setting speed limit value applies to the long-axis speed.

• Be careful that the vector speed may exceed the speed limit value at the longaxis speed specification.

Example

The following settings at the 2 axes linear interpolation, the vector speed exceeds the speed limit value.

Axis 1 travel value : 100 [PLS]

Axis 2 travel value : 200 [PLS]

Long-axis speed : 50 [PLS/s]

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 vector speed for each axis are as follows:

Axis 1 positioning speed : 100/ 200 50 =

25 [PLS/s]

Axis 2 positioning speed : 50 [PLS/s]

Vector speed :

<K 2>

INC-2

Axis

Axis

Long-axis speed

1,

2,

100

200

50

[PLS]

[PLS]

[PLS/s]

Axis 1 positioning speed

Vector speed

Axis 2 positioning speed

The vector 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)


1)

2)

5)

6)

3)

4)

Time


2) Setting acceleration time


4) Setting deceleration time


6) Setting rapid stop deceleration time

(c) Reference-axis speed specification

The Motion CPU calculates the positioning speed of other axes (V 1 to V 3 ) based on the positioning speed (reference-axis speed : V) of the setting reference-axis using the each axis travel value (D 1 to D 4).

Set the reference-axis No., reference-axis speed and each axis travel value using the servo program.

6 - 5


Example


[Program example]

Axis 1 travel value: D 1 = 10000 [PLS]




<K 52>

Reference axis speed: V = 7000 [PLS/s]

Reference axis: Axis 4

In this example, since the reference-axis

ABS-4

Axis

Axis

Axis

Reference-axis

1,

2,

Axis

3,

4,

Reference-axis speed 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:




10000

15000

5000

20000

70000

4

[PLS]

[PLS]

[PLS]

[PLS]

[PLS/s]

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.

(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

Speed limit value

Positioning speed (reference-axis speed)


1)

2)

5)

6)

3)

4)

Time


2) Setting acceleration time


4) Setting deceleration time


6) Set rapid stop deceleration time

6 - 6


(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

Condition for normal start

Condition for unit mismatch error

(Error code [40])

(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 inch degree PLS

Starting method

There are axes whose control unit set in the fixed parameter is

[mm] and [inch].

There are axes whose control

There are axes Positioning control starts by the interpolation whose control control units of parameter block.

unit set in the unit set in the fixed parameter fixed parameter is [degree]. is [PLS].

Control units of the fixed parameter for all axes differ from the interpolation control units specified with parameter block.

• 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


(2) The combinations of each axis control units for interpolation control are shown in the table below. mm 1) 2) 3) 3) inch 2) 1) 3) 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) )

• The travel value and positioning speed are calculated for each axis. a) The electronic gear converts the travel value for the axis to [PLS]. b) 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].

• 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


6.1.5 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

315.00000

Clockwise

Area A

90.00000

Area B

1) If travel range in area A is set, the limit values are as follows: a) Lower stroke limit value: 315.00000° b) Upper stroke limit value: 90.00000°

2) If travel range in area B is set, the limit values are as follows: a) Lower stroke limit lower limit value: 90.00000° b) 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


(3) Positioning control

Positioning control method in the control unit "degree" is shown below.

(a) Absolute data method (ABS instructions)

Positioning in a near direction to the specified address is performed based on the current value.

Example

(1) Positioning is executed in a clockwise direction to travel from the current value of 315.00000°to 0°.

(2) Positioning is executed in a counter clockwise direction to travel from the current value of 0° to 315.00000°.

315.00000 0 0 315.00000

0 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:

1) Positive travel value ................Clockwise rotation

2) Negative travel value...............Counter clockwise rotation

POINT

Positioning of 360° or more can be executed in the incremental data method.

6 - 10


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


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


1

STOP signal input (STOP) of the Q172DLX ON

2

3

4

5

6

Stop command

"M3200 + 20n" ON

Rapid stop command

"M3201 + 20n" ON

FLS input signal OFF of

Q172DLX/servo amplifier

RLS input signal OFF of

Q172DLX/servo amplifier

Servo error detection

"M2408 +20n" ON

7 PLC ready flag M2000 OFF

8

9

Deceleration stop using

MT Developer (Note-1)

Rapid stop of the all axes using

MT Developer (Note-1)

10 Motion CPU stop

11 Multiple CPU system reset

(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

Positioning control

Speed control

Stop processing

Jog operation


Process 1 or Process 2

• According to deceleration processing on STOP input parameter of parameter block.


Error processing

Process 1

Process 4

Individual

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 3

Process 1

Process 1

Process 2

Process 1

All axes

Process 3

Process 4

12 Motion CPU WDT error

13 Other CPU WDT error

Process 3

Process 1

—

SM512 (Motion CPU WDT error flag) ON

—

14 Multiple CPU system power off

16 Servo amplifier power off

17 Speed change to speed "0"

Process 3

Process 3

Individual Process 3

Individual

(Note-2)

Process 1

—

Servo amplifier is stopped at the servo OFF.

Major error at the start

(no servo)

— —

(Note-1): Test mode

(Note-2): Applies to all axes used in the servo program set in the speed "0".

6 - 13


(2) Re-starting after stop

(a) If it stopped by the stop command or stop cause (except change speed to speed "0"), re-starting is not possible.

However, it stopped by the STOP input of the Q172DLX ON, the stop command (M3200+20n) ON or the rapid stop command (M3201+20n) ON during speed/position switching control, re-starting is possible using

VPSTART instruction.

(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) t

Stop by the speed change to speed "0"

Re-starting

Servo program start

Start accept flag

(M2001 to M2032)

CHGV instruction

Speed changing flag

(M2061+n)

Stop command

(M3200+20n)

OFF

ON

1) 3)

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


(3) Continuation of positioning control

This section describes the processing which performed servo program No. which was being performed before the stop, after stop by turning on the STOP input of the Q172DLX ON, the stop command (M3200+20n) ON or the rapid stop command (M3201+20n) ON.

(a) 1 axis linear control/2 or 3 axes linear interpolation control

1) For ABS ....... Positioning control from the stop address to target address by the target address specification.

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


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

Axis

Vector speed

1,

2,

D3000

D3002

5000

Travel value

6 - 15


[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


[Address 2 (start address after stop)]

Address 1

(start address)

Travel value from

Address 2 (Note)

Travel value from

Address 1

Axis 1

Travel value from

Address 2 (Note)

Travel value from Address 1

(Note): Store in registers for travel value.

6 - 16


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 4.3.2) or using the servo program.

V

Positioning speed

0

Acceleration time Deceleration time t

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

B/2

B

B/2

(Example)

Positioning speed

V

V

S-curve ratio 100[%] t sine curve

Positioning speed b a b/a = 0.7

S-curve ratio = B/A 100[%] t

S-curve ratio 70[%]

6 - 17


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

Axis

Axis

Vector speed

S-curve ratio

1,

2,

100000

250000

1000

80

2 axes linear positioning control

Axis used . . . . . . . . . . Axis 1, Axis 2

Travel value to . . . . . . .

stop position

Axis 1 . . . 100000

Axis 2 . . . 250000

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

W

#

U \G

0 to 8191

0 to 1FFF

0 to 7999

10000 to (10000+p-1) (Note-1)


<K 10>

ABS-1

Axis

Speed

S-curve ratio

1, 30000

400000

D3487


Axis used . . . . . . . . . . . . . Axis 1, Axis 2

Positioning address . . . . . 30000

Positioning speed . . . . . . . 400000

Indirect specification by word devices

POINT

Refer to Chapter 2 of the "Q173DCPU/Q172DCPU Motion controller

Programming Manual (COMMON)" for the user setting area points of the Multiple

CPU high speed transmission area.

6 - 18


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.

Items set using MT Developer

Servo instruction

Positioning method


Speed change

ABS-1

INC-1

[Control details]

Absolute

Incremental

1 Valid

: Must be set

: Set if required

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 Specified address

0 1000

Home position

Positioning control

8000

Fig.6.1 Positioning using absolute data method

6 - 19


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 negative travel value

Travel direction for positive travel value

Example

When the current stop address is -3000, and the travel value is -5000.


-8000 -3000 -2000 -1000 0

Travel value = -5000 Home position

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 Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX

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

Current stop address Positioning address using the servo program No.0

0 1000 80000

6 - 20


(3) Operation timing

Operation timing for the servo program No.0 is shown below.

10000

V

Servo Program No.0

t

PLC ready flag (M2000)


(M2042)


(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


Axis used . . . . . . . . . . . Axis 4

Travel value to . . . . . . . . 80000 stop position

Command speed . . . . . . 10000


Motion SFC program for which executes the servo program is shown below.



[F10]

SET M2042

[G10]

PX000*M2475

Turn on all axes servo ON command.

Wait until PX000 and Axis 4 servo ready turn on.

[K0]

INC-1

Axis 4, 80000PLS

Speed 10000PLS/s

[G20]

!PX000


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


6.3 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.


Servo instruction

Positioning method


Speed change

ABS-2

INC-2

[Control details]

Absolute

Incremental

2 Valid

: Must be set

: Set if required


(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


(2) The travel direction is set by the stop address (starting address) and positioning address of each axis.

Forward direction

Y

1


(X

1

, Y

1

)

Y-axis travel value

Y

2

Operation for X-axis, Y-axis linear interpolation

Positioning address (X

2

, Y

2

)

Reverse direction 0 X

1

X

2

Forward direction

Reverse direction

X-axis travel value

Example

(Note) : Indicates setting data

When the current stop address is (1000, 4000), and the positioning address is (10000, 2000).

4000


Y-axis travel value

(4000 - 2000 = 2000)

2000

Positioning address

0 1000 5000

X-axis travel value

(10000 - 1000 = 9000)

10000


6 - 23



(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:


(Address increase direction)



Forward direction

Y-axis travel value

Y

1

(Note-1): Forward: Travel direction for positive travel value

Reverse: Travel direction for negative travel value

: Indicates setting data

Reverse direction 0

X

1


Forward direction

Reverse direction

X-axis travel value

Example

When the X-axis travel value is 6000 and Y-axis travel value is -2000.

X-axis travel value

Home position

(Note-2): Current stop address

(-1000, -1000)

(Note-2)

0 5000

Y-axis travel value

-3000 Stop position after positioning

Positioning operation


[Program]

Program for 2 axes linear interpolation control is shown as the following conditions.


2 axes linear interpolation control of Axis 3 and Axis 4.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX


AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4

M

6 - 24



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.

Positioning using the servo program No.11

Axis 3 positioning direction

(40000, 50000)

Home position (0, 0)


(3) Positioning conditions

(a) Positioning conditions are shown below.

Item

Positioning speed

Servo Program No.

No.11

30000

(b) Positioning start command ........ PX100 Leading edge (OFF ON)


Operation timing for 2 axes linear interpolation control is shown below.

V

Servo program No.11

t



(M2042)


(M2049)




Servo program start


(M2003)


(M2004)

6 - 25


(5) Servo program

Servo program No.11 for 2 axes linear interpolation control is shown below.

<K 11>

ABS-2

Axis

Axis

Vector speed

3,

4,

50000

40000

30000




. . . . . .

Axis 3 . . . 50000

Axis 4 . . . 40000


Vector speed . . . . . 30000





[F10]

SET M2042 Turn on all axes servo ON command.

[G10]

PX000*M2455*M2475

Wait until PX000, Axis 3 servo ready and Axis 4 servo ready turn on.

[K11]

ABS-2

Axis 3, 50000PLS

Axis 4, 40000PLS

Speed 30000PLS/s

[G20]

!PX000


Axis used . . . . . . . . . . . . Axis 3 , Axis 4 stop position

. . . . . . . .

Axis 3 . . . 50000[PLS]

Axis 4 . . . 40000[PLS]


Vector speed . . . . . . . . . 30000[PLS/s]

Wait until PX000 turns off after linear interpolation completion.

END


6 - 26



Linear interpolation control from the current stop position with the specified 3 axes is executed.


Servo instruction

Positioning method


Speed change

ABS-3

INC-3

Absolute

Incremental

3 Valid

: Must be set

: Set if required

6 - 27


[Control details]


(1) 3 axes linear interpolation from the current stop address (X 1 , Y 1 or Z 1 ) based on the home position to the specified positioning address (X 2 , Y 2 , Z 2 ) is executed.

(2) The travel direction is set by the stop address and specified address of each axis.

Address after positioning

(X

2

, Y

2

, Z

2

)

Forward direction

Linear interpolation control of X-axis,Y-axis and Z-axis

Forward direction


(X

1

, Y

1

, Z

1

)

Reverse direction

Forward direction

Forward direction

0

Home position

Reverse direction

Reverse direction


Example

When the current stop address is (1000, 2000, 1000), and the specified address is (4000, 8000, 4000).

Positioning address

(4000, 8000, 4000)

8000

X-axis, Y-axis and Z-axis linear interpolation operation

Forward direction

4000

2000


(1000, 2000, 1000)

1000

0

Home position

1000 4000

Forward direction


6 - 28



(1) Positioning control from the current stop address to the position which combined travel direction and travel value specified with each axis is executed.






Forward direction


Forward direction

Y

1

Z

1

Z-axis travel value

Y-axis travel value

X

1


Reverse direction

0

Forward direction

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

Stop position after positioning

(11300, 6300, 8000)

Forward direction


6000

5000

Z-axis travel value (6000)


(1300, 1300, 2000)

Y-axis travel value

(5000)

Forward direction

Home position

5000 10000

X-axis travel value (10000)

Reverse direction


6 - 29


[Program]



3 axes linear interpolation control of Axis 1, Axis 2 and Axis 3.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX


AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4

M


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.


(Forward direction)


(Forward direction)

(50000, 40000, 30000)

40000

Positioning using the servo program No.21.

30000

(Reverse direction)

Home position

(0, 0, 0)

50000

(Reverse direction)

(Reverse direction)


(Forward direction)



Item

Positioning method

Positioning speed

Servo Program No.

No.21


1000


6 - 30




V

Servo program No.21

t



(M2042)


(M2049)





Servo program start


(M2001)


(M2002)


(M2003)

(5) Servo program


<K 21>

ABS-3

Axis

Axis

Axis

Vector speed

1,

2,

3,

50000

40000

30000

1000


Axis used . . . . . . . .. Axis 1, Axis 2, Axis 3

Positioning address

Axis1 . . . 50000

Axis2 . . . 40000

Axis3 . . . 30000


Vector speed . . . 1000

(Note): Example of the Motion SFC program for positioning control is shown next page.

6 - 31






[F10]


[G10]

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 1, 50000PLS

Axis 2, 40000PLS

Axis 3, 30000PLS

Speed 1000PLS/s

[G20]

!PX000


Axis used . . . . . . . . . . . . Axis 1 , Axis 2 , Axis 3

Positioning address

. . . .

Axis 1 . . . 50000[PLS]

Axis 2 . . . 40000[PLS]

Axis 3 . . . 30000[PLS]


Vector speed . . . . . . . . 1000[PLS/s]

Wait until PX000 turn off after linear interpolation completion.

END


6 - 32



Linear interpolation control from the current stop position with 4 axes specified with the positioning command of the PLC program is executed.


Servo instruction

Positioning method


Speed change

ABS-4

INC-4

[Control details]

Absolute

Incremental

4

Valid

: Must be set

: Set if required

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

Axis 4 t

6 - 33


[Program]



4 axes linear interpolation control of Axis 1, Axis 2, Axis 3 and Axis 4.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX


AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4

M


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



(Forward direction)


(Forward direction)

5000

5000

Positioning using the servo program

No.22 (Forward direction)


(Forward direction)

(Reverse direction)

5000


(Forward direction)

(Reverse direction)

(Reverse direction)

Fig.6.8 Positioning for 4 axes linear interpolation control



Item

Positioning method

Positioning speed

Servo Program No.

No.22


10000


6 - 35




V

Servo program No.22

t



(M2042)

All axes servo ON accept Flag

(M2049)






Servo program start


(M2001)


(M2002)


(M2003)


(M2004)

(5) Servo program


<K 22>

INC-4

Axis

Axis

Axis

Axis

Vector speed

1,

2,

3,

4,

3000

4000

4000

4000

10000


Axis used . . . . Axis 1, Axis 2, Axis 3, Axis4

Travel value to stop position . . . . . . .

Axis 1 . . . . . 3000

Axis 2 . . . . . 4000

Axis 3 . . . . . 4000

Axis 4 . . . . . 4000


Vector speed . . . . . . . . . . . . . . 10000


6 - 36






[F10]


[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 1, 3000PLS

Axis 2, 4000PLS

Axis 3, 4000PLS

Axis 4, 4000PLS

Speed 10000PLS/s

[G20]

!PX000


Axis used . . . . . . . Axis 1 , Axis 2 , Axis 3 , Axis 4


. . . . . . .

Axis 1 . . . 3000[PLS]

Axis 2 . . . 4000[PLS]

Axis 3 . . . 4000[PLS]

Axis 4 . . . 4000[PLS]


Vector speed . . . . . . . . . . . . . . . 10000[PLS/s]

Wait until PX000 turn off after linear interpolation completion.

END


6 - 37


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.


Servo instruction

Positioning method


Speed change

ABS

INC

[Control details]

Absolute

Incremental

2

Valid

: Must be set

: Set if required

Control using ABS (Absolute data method)

(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.

Forward direction

Operation by circular interpolation

End point address (X

1

, Y

1

)

Auxiliary point address (X

2

, Y

2

)

Reverse direction

Start point address

(X

0 , Y

0

)

0

Arc central point

Reverse direction

Forward direction


Fig.6.9 Circular interpolation control using absolute data method

6 - 38


(3) The setting range of the end point address and auxiliary point address is (-2

31

) to

(2

31 -1).

(4) The maximum arc radius is 2

32

-1.

2 32 -1

Maximum arc

0

-2 31 2 31 -1

Radius R

Arc central point

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

Y

1

End point

Travel value to end point

Travel value to auxiliary point

Y

2

Auxiliary point

X

1

Arc central point

X

2

Reverse direction

Start point Travel value to auxiliary point


Forward direction

Home position


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 address is 0 to (2 31 -1).

6 - 39


(4) The maximum arc radius is 2

31

-1.

If the end point and auxiliary point are set more than a radius of 2

31 -1, an error occurs at the start and error code [107] is stored in the data register.

2 31 -1

Maximum arc

Arc central point

0

-2 31

Radius R

2 31 -1


[Program]

Program for auxiliary point-specified circular interpolation control is shown as the following conditions.


Auxiliary point-specified circular interpolation control of Axis 1 and Axis 2.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX


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.


(Forward direction)

50000

Auxiliary point (40000, 50000)


30000

20000

End point (80000, 30000)

0

Start point

(10000,

20000)

10000 40000

Arc central point

80000


(Forward direction)

6 - 40




Item

Positioning method

Positioning speed

Servo program No.

No.31


1000



Operation timing for auxiliary point-specified circular interpolation control is shown below.

V

Servo program No.31

Vector speed t



(M2042)


(M2049)




Servo program start


(M2001)


(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,

2,

1,

2,

80000

30000

1000

40000

50000

Auxiliary point-specified circular interpolation control

Axis used . . . . . . . . Axis 1, Axis 2

End point address

Axis 1 . . . . . . 80000

Axis 2 . . . . . . 30000

Positioning speed . . . . . . . . . . . . . . 1000

Auxiliary point address

Axis 1 . . . 40000

Axis 2 . . . 50000


6 - 41






[F10] SET M2042

[G10] PX000*M2415*M2435

[K10] ABS

Axis 1, 80000PLS

Axis 2, 30000PLS

Speed 1000PLS/s

Auxiliary 1, 40000PLS

point

Auxiliary 2, 50000PLS

point

[G20]

!PX000


Waits until PX000, Axis 1 servo ready and Axis 2 servo ready turn on.


Axis used. . . . . . . . . . . . . . . Axis 1, Axis 2

End point address

. . . . . . .

Axis 1 . . . 80000[PLS]

Axis 2 . . . 30000[PLS]

Positioning speed . . . . . . . . . . . . . . . . . . . . 1000[PLS/s]

Auxiliary point address . . . . .

Axis 1 . . . 40000[PLS]

Axis 2 . . . 50000[PLS]

Wait until PX000 turn off after circular interpolation completion.

END


6 - 42


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.


Servo instruction

Positioning method


Speed change

ABS

ABS

ABS

ABS

INC

INC

INC

INC

Absolute

Incremental

2

Valid

: Must be set

: Set if required

6 - 43


[Control details]

Details for the servo instructions are shown in the table below.

Instruction

Rotation direction of the servomotors

Maximum controllable angle of arc

Positioning path

ABS

INC

Clockwise

Start point

Radius R

<180

Positioning path

End point

Central point

0° < < 180°

ABS

INC

Counter clockwise

Central point

Radius R

Start point

<180

End point

Positioning path

Positioning path

ABS

Central point

Clockwise

INC

Radius R

Start point

End point

180° < 360°

ABS

Start point

Radius R End point

Counter clockwise

Central point

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 (X

1

, Y

1

)

Reverse direction 0

Radius R

Start point address (X 0 , Y 0 )

Arc central point

Forward direction

Reverse direction (Note) : Indicates setting data

Fig.6.13 Circular interpolation control using absolute data method

(3) The setting range of end point address is (-2

31

) to (2

31

-1).

6 - 44


(4) The setting range for the radius is 1 to (2

31

-1).

(5) The maximum arc radius is (2

32

-1).

2 31 -1

Maximum arc

0

-2 31

Arc central point Radius R

2 31 -1


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

Start point

Arc central point

Reverse direction

Forward direction

0


Fig.6.15 Circular interpolation control using incremental data method

(3) Setting range of end point address is (-2

31

) to (2

31

-1).

(4) Setting range of radius is 1 to (2

31

-1).

(5) Maximum arc radius is (2

31

-1).

2 31 -1

Arc central point

0

Maximum arc

-2 31

Radius R

2 31 -1


6 - 45


[Program]

Program for radius-specified circular interpolation control is shown as the following conditions.


Radius-specified circular interpolation control of Axis 1 and Axis 2.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX


AMP

Axis

1 M

AMP

Axis

2 M

AMP

Axis

3 M

AMP

Axis

4 M





(Forward direction)

50000

Positioning using the servo program

No.41.

End point (100000, 50000)

30000

Start point

(10000, 30000)

(Reverse

direction)

0

Home position

10000

(Reverse direction)

100000

Arc central point



Item

Positioning method

Positioning speed

Servo Program No.

No.41


1000


(Forward direction)


6 - 46



Operation timing for radius-specified circular interpolation control is shown below.

V

Servo Program No.41

Vector speed t



(M2042)


(M2049)




Servo program start


(M2001)


(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


6 - 47






[F10]

SET M2042

[G10]

PX000*M2415*M2435

[K41]

ABS

Axis 1, 100000PLS

Axis 2, 50000PLS

Speed 1000PLS/s

Radius 80000PLS

[G20]

!PX000




Axis used . . . . . . . . . . . . . . . Axis 1, Axis 2

End point address

. . . . . . .

Axis 1 . . . 100000[PLS]

Axis 2 . . . . 50000[PLS]

Positioning speed . . . . . . . . . . . . . . . . . . . . . 1000[PLS/s]

Radius . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

80000[PLS]


END


6 - 48


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.


Common Arc/Helical

Servo instruction

Positioning method


Speed change

ABS

ABS

INC

INC

[Control details]

Absolute

2 Valid

Incremental

: Must be set

: Set if required

Details for the servo instructions are shown in the table below.

Instruction

Rotation direction of Maximum controllable the servomotors angle of arc

Positioning path

ABS

Positioning path

Clockwise Start point

0 < <360

End point

INC Central point

0° < < 360°

Central point

ABS

Counter clockwise Start point 0 < <360 End point

INC

Positioning path

6 - 49


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 (X

1

, Y

1

)

Positioning speed

Radius R

Start point address (X

0

, Y

0

)

Reverse direction

Reverse direction

Arc central point

Forward direction


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

(3) Setting range of end point address and arc central point is (-2

31

) to (2

31

-1).


32

-1).

2 31 -1

Maximum arc

-2 31

Arc central point

Radius R

2 31 -1


6 - 50


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

Reverse direction

Home point

Start point

Forward direction

Arc central point

Reverse direction


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


Arc central point

0

Reverse direction

0

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

(2

31

-1).


31

-1).

If the end point and central point are set more than a radius of (2

31

-1), an error occurs at the start and error code [109] is stored in the data register.

2 31 -1

Maximum arc

Arc central point

0

-2 31

Radius R

2 31 -1

Fig.6.22 Maximum arc radius

6 - 51


[Program]

Program for central point-specified circular interpolation control is shown as the following conditions.


Central point-specified circular interpolation control of Axis 1 and Axis 2.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX


AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4

M





(Forward direction)

Start address

(111459, 30000)


30000

20000

0 11459 45000

End address

(78541, 30000)

Central point address

(45000, 20000)

78541


(Forward direction)



Item

Positioning method

Positioning speed

Servo Program No.

No.51


1000


6 - 52



Operation timing for central point-specified circular interpolation is shown below.

Vector speed

V

Servo Program No.51

t



(M2042)


(M2049)




Servo program start


(M2001)


(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

Axis 1 . . . . . . . . . 78541

End address

Axis 2 . . . . . . . . . 30000

Positioning speed . . . . . . . . . . . . . 1000


Axis 1 . . . 45000

Axis 2 . . . 20000


6 - 53





Central point specifiedcircular interpolation control

[F10]

SET M2042

[G10]

PX000*M2415*M2435

[K51] ABS

Axis 1, 78541PLS

Axis 2, 30000PLS

Speed 1000PLS/s

Central point 1, 45000PLS

Central point 2, 20000PLS




Axis used . . . . . . . . . . . . . . . Axis 1, Axis 2

End point address

. . . . . . .

Positioning speed . . . . . . . . . . . . . . . . . . . . . 1000[PLS/s]


. . . . . .

Axis 1 . . . . 78541[PLS]

Axis 2 . . . . 30000[PLS]

Axis 1 . . . . 45000[PLS]

Axis 2 . . . . 20000[PLS]

[G20]

!PX000


END


6 - 54


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.


Servo instruction

Positioning method


Speed change

ABH

ABH

ABH

Absolute

ABH

INH

INH

INH

Incremental

INH

ABH

ABH

Absolute

INH

INH

Incremental

ABH

INH

Absolute

Incremental

3

6 - 55

Valid

: Must be set

: Set if required


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°


INH Incremental less than CCW180°


INH Incremental

CW180° or more.


INH Incremental

CCW180° or more.

ABH Absolute

Central point-specified method CW

INH Incremental

ABH Absolute

Central point- specified method CCW

INH Incremental

ABH Absolute

Auxiliary point-specified method

INH Incremental

[Cautions]

(1) The helical interpolation instruction can be used at the both of real mode/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 Start point (X

0

, Y

0

, Z

0

)

Linear axis operation

Linear axis operates so that it may become a position according to this angle.

Arc center

End point (X

1

, Y

1

, Z

1

)

Condition Operation

Number of pitches is 0 Control on the circular plane.

Number of pitches is not 0 Rotation spirally of the number of pitches to linear axis direction.

6 - 56


(3) When the travel value of linear axis is "0" is set, it can be controlled.

Condition Operation

Number of pitches is 0

Number of pitches is not 0

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 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 vector 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


ABH , ABH , ABH , ABH Absolute radius-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 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.


,

Y

,

Z ) Circular interpolation plane

End point address (X 1 , Y 1 )

Linear interpolation travel value = Z

1-

Z

0

Helical interpolation path

Positioning speed V

1

Number of pitches a

Radius R

Central angle

Circular interpolation plane

Start point (X

0,

Y

0,

Z

0

)

Start point (X 0 , Y 0 )

(Note) : Indicates setting data (Note) : Indicates setting data

Control details for the servo instructions are shown below.

Instruction

Rotation direction Controllable angle of of servomotor arc

Positioning pass

ABH

Radius-specified helical interpolation less than CW 180°

ABH

Radius-specified helical interpolation less than CCW 180°

Clockwise (CW)

Counter clockwise (CCW)

0° < < 180°

Start point

Radius R

<180

Positioning path

End point

Central point

Central point

Radius R

Start point

<180

End point

Positioning path

Positioning path

ABH

Radius-specified helical interpolation

CW 180° or more

Clockwise (CW)

180° 360°

Radius R

Start point

Start point

Radius R

Central point

End point

End point ABH


CCW 180° or more


Central point

Positioning path

6 - 58


[Program]

(1) The setting range of end point address for the both of circular interpolation axis and linear interpolation axis is (-2

31 ) to (2 31 -1).

(2) The maximum arc radius on the circular interpolation plane is (2

31

-1).

For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is

214748364.7[µm].

2 31 -1

Maximum arc

Arc central point

0

-2 31

Radius R

2 31 -1

(3) Set the command speed with the vector speed for 2 axes circular interpolation axis.

(4) The command speed unit is specified in the parameter block.

(5) Set the number of pitches within the range of 0 to 999. If it is set outside the setting range, the servo program error [28] occurs, and 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 the word devices.

(1) Servo program

Servo program No.52 for absolute radius-specified helical interpolation control is shown below.

<K 52>

ABH

Axis

Axis

Linear axis

Speed

Number of pitches

Radius

3,

1,

2,

100000

50000

25000

1000

100

60000

Absolute radius specified-circular helical interpolation

Axis for the circular . . . . . . . . interpolation

Axis 1, Axis 2

End point address of the . . .

circular interpolation axis

Axis 1 . . . 100000

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


6 - 59




Absolute radius-specified helical interpolation control

Absolute radius-specified helical interpolation control

[F10]


[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

Speed 1000PLS/s

Number of pitches

Radius 60000PLS

[G20]

!PX000

Absolute radius specified-circular helical interpolation


Axis 1, Axis 2



Axis 1 . . . 100000[PLS]

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]


END


6 - 60


INH , INH , INH , INH Incremental radius-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 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.

End point relative address (X 1, Y 1, Z 1 )


End point relative address (X

1,

Y

1

)

Linear interpolation travel value = Z 1 Helical interpolation path

Positioning speed V

1

Number of pitches a

Radius R

Center angle


Start point

(Note) : Indicates setting range

Start point


6 - 61



INH

Instruction

Radius-specified helical interpolation less than CW 180°

INH

Radius-specified helical interpolation less than CCW 180°

Rotation direction Controllable angle of of servomotor

Clockwise (CW)

Counter

Positioning pass arc

0° < < 180°

Start point

Radius R

<180

Positioning path

End point

Central point

Central point

Radius R clockwise (CCW)

Start point

<180

End point

Positioning path

Positioning path

INH


CW 180° or more

Clockwise (CW)

Central point

180° 360°

Radius R

Start point

Start point

Radius R

End point

End point

INH


CCW 180° or more


Central point

Positioning path

(1) The setting range of end point relative address for the both of circular interpolation axis and linear interpolation axis is 0 to (2 31 -1).

The travel direction is set by the sign (+/ -) of the travel value, as follows:





(2) The maximum arc radius on the circular interpolation plane is 2 31 -1.


214748364.7[µm].

2 31 -1

Maximum arc

Arc central point

0

-2 31

Radius R

2 31 -1

6 - 62


[Program]



(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 the word devices.

(1) Servo program

Servo program No.53 for incremental radius-specified helical interpolation control is shown below.

<K 53>

INH

Axis

Axis

Linear axis

Speed

Number of pitches

Radius

3,

1,

2,

100000

50000

25000

1000

100

60000

Incremental radius specified-circular helical interpolation


Axis 1, Axis 2

End point relative address of . . .

the circular interpolation axis

Axis 1 . . . 100000

Axis 2 . . . . 50000

Linear axis for the circular . . . . . . . . . . . . . . . . . Axis 3 interpolation and linear interpolation

End point relative address of the linear axis . . . 25000


Number of pitches . . . . . .

100

Radius on a circular interpolation plane . . . . . . . . . 60000


6 - 63




Incremental radius-specified helical interpolation control

Incremental radius-specified helical interpolation control

[F10]


[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

Linear axis 3, 25000PLS

Speed 1000PLS/s

Number of pitches

Radius

60000PLS

[G20]

!PX000

Incremental radius specified-circular helical interpolation


Axis 1, Axis 2

End point relative address of . . .


Axis 1 . . . 100000[PLS]

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]


Number of pitches . . . .

100

Radius on a circular interpolation plane . . . . . . . . . 60000[PLS]

Wait until PX000 turn OFF after circular interpolation completion.

END


6 - 64


[Control details]

ABH , ABH Absolute central point-specified helical interpolation control



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.

End point address (X , Y , Z )



1,

Y

1

)


1-

Z

0


Positioning speed V

1

Number of pitches a

Radius R


Start point (X 0 ,Y 0 )

Arc central point address (X 2 , Y 2 )

Start point (X

0,

Y

0,

Z

0

)

(Note) : Indicates setting range (Note) : Indicates setting range


Instruction


ABH

Central point- specified helical interpolation CW

Clockwise (CW) Start point

0° < 360°

ABH

Central point- specified helical interpolation CCW


Start point

Positioning pass

Central point

Central point

Positioning path

End point

End point

Positioning path


31

) to (2

31

-1).

(2) The setting range of central point address is (-2

31

) to (2

31

-1).

6 - 65


[Program]

(3) The maximum arc radius on the circular interpolation plane is 2

31

-1.


214748364.7[µm].

2 31 -1

Maximum arc

Arc central point

0

-2 31

Radius R

2 31 -1




(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 the word devices.


(1) Servo program

Servo program No.55 for absolute central point-specified helical interpolation control is shown below.

<K 55>

ABH

Axis

Axis

Linear axis

Speed

Number of pitches

Central point

Central point

1,

2,

3,

1,

2,

88541

30000

20000

1000

500

45000

20000

Absolute central point specified-circular helical interpolation




Axis 1, Axis 2

Axis 1 . . . . 88541

Axis 2 . . . . 30000




Number of pitches . . . . . . .

500

Central point address . . . . . . .

of the arc

Axis 1 . . . . 45000

Axis 2 . . . . 20000


6 - 66




Absolute central point-specified helical interpolation control

Absolute central point-specified helical interpolation control

[F10]

SET M2042

[G10]

PX000*M2415*M2435*M2455

[K55] ABH

Axis 1, 88541PLS

Axis 2, 30000PLS

Ctr.P. 1, 45000PLS

[G20]

!PX000



Absolute central point-specified circular helical interpolation

Axis for the circular . . . . . . . interpolation

Axis 1, Axis 2



Axis 1 . . . 88541[PLS]

Axis 2 . . . . 30000[PLS]





Central point address . . . . . . . .

of the arc

Axis 1 . . . . 45000[PLS]

Axis 2 . . . . 20000[PLS]


END


6 - 67


[Control details]

INH , INH Incremental central point-specified helical interpolation control



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.

End point relative address (X 1, Y 1, Z 1 )



1

, Y

1

)


1


Positioning speed V

1

Number of pitches a

Radius R


Arc central point relative address (X 2 , Y 2 )

Start point


Start point



Instruction

INH

Central point-specified


Clockwise (CW) Start point helical interpolation

CW

INH

Central point-specified Counter

0° < 360°

Start point helical interpolation

CCW clockwise (CCW)

Positioning pass

Central point

Central point

Positioning path

End point

End point

Positioning path

(1) The setting range of end point relative address for the both of circular interpolation axis and linear interpolation axis is 0 to (2

31

-1).

(2) The setting range of central point relative is 0 to (2

31

-1).

6 - 68


[Program]


31

-1).


214748364.7[µm].

2 31 -1

Maximum arc

Arc central point

0

-2 31

Radius R

2 31 -1




(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 the word devices.


(1) Servo program

Servo program No.56 for incremental central point-specified helical interpolation control is shown below.

<K 56>

INH

Axis

Axis

Linear axis

Speed

Number of pitches

Central point

Central point

1,

2,

3,

1,

2,

88541

30000

20000

1000

500

45000

20000

Incremental central point specified-circular helical interpolation

Axis for the circular . . . . . . . . . interpolation

Axis 1, Axis 2

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



500

Central point relative address . . of the arc

Axis 1 . . . . 45000

Axis 2 . . . . 20000


6 - 69




Incremental central point-specified helical interpolation control

[F10]

SET M2042

[G10]

PX000*M2415*M2435*M2455

[K56] INH

Axis 1, 88541PLS

Axis 2, 30000PLS

Speed 1000PLS/s

Number of pitches

Ctr.P. 1, 45000PLS

[G20]

!PX000




Incremental central point-specified helical interpolation control


Axis 1, Axis 2

End point relative address of . . . . .


Axis 1 . . . 88541[PLS]

Axis 2 . . . 30000[PLS]


End point relative address of the linear axis . . .20000[PLS]


Number of pitches. . . .

500

Central point relative address . . . . . .

of the arc

Axis 1 . . . . 45000[PLS]

Axis 2 . . . . 20000[PLS]


END


6 - 70


[Control details]

ABH Absolute auxiliary point-specified helical interpolation control



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.

End point address (X , Y , Z )


End point address (X 1 , Y 1 )

Linear interpolation travel value = Z 1Z 0


Positioning speed V

1

Number of pitches a

Radius R


Start point

Arc auxiliary point address (X 2 , Y 2 )

Start point (X

0,

Y

0,

Z

0

)

(Note) : Indicates setting range (Note) : Indicates setting range


Instruction

Rotation direction of servomotor

Controllable angle of arc

ABH

Auxiliary point- specified helical interpolation

Clockwise (CW)/


0° < 360°


31

) to (2

31

-1).

(2) The setting range of auxiliary point address is (-2

31

) to (2

31

-1).

(3) The maximum arc radius on the circular interpolation plane is 2

31

-1.


214748364.7[µm].

6 - 71


[Program]

2 31 -1

0

Arc central point

Maximum arc

-2 31

Radius R

2 31 -1




(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 the word devices.

(1) Servo program

Servo program No.60 for absolute auxiliary point-specified helical interpolation control is shown below.

<K 60>

ABH

Axis

Axis

Linear axis

Speed

Number of pitches

Auxiliary point

Auxiliary point

1,

2,

3,

1,

2,

88541

30000

20000

1000

500

45000

20000

Absolute auxiliary point-specified circular helical interpolation

Axis for the circular . . . . . . . interpolation



Axis 1, Axis 2

Axis 1 . . . . 88541

Axis 2 . . . . 30000





500

Auxiliary point address . . . . . . .

of the arc

Axis 1 . . . . 45000

Axis 2 . . . . 20000


6 - 72




Absolute auxiliary point-specified helical interpolation control

Absolute auxiliary point-specified helical interpolation control

[F10]

SET M2042

[G10]

PX000*M2415*M2435*M2455

[K60]

ABH

Axis 1, 88541PLS

Axis 2, 30000PLS

Str.Ax. 3, 20000PLS

Number of pitches

Aux.P. 1, 45000PLS

20000PLS

[G20]

!PX000



Absolute auxiliary point-specified circular helical interpolation



Axis 1, Axis 2

Axis 1 . . . 88541[PLS] circular interpolation axis Axis 2 . . . . 30000[PLS]





Axis 1 . . . . 45000[PLS]

Auxiliary point address . . . . . . .

of the arc

Axis 2 . . . . 20000[PLS]


END


6 - 73


[Control details]

INH Incremental auxiliary point-specified helical interpolation control



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.


1,

Y

1,

Z

1

) Circular interpolation plane


1

, Y

1

)

Linear interpolation travel value = Z 1


Positioning speed V

1

Number of pitches a

Radius R


Start point


Start point

(Note)

Arc auxiliary point address (X

2

, Y

2

)

: Indicates setting range


Instruction

Rotation direction of servomotor

Controllable angle of arc

INH

Auxiliary point- specified helical interpolation

Clockwise (CW)/


0° < 360°

(1) The setting range of end point relative address for the both of circular interpolation axis and linear interpolation axis is 0 to (2

31

-1).

(2) The setting range of auxiliary point relative is 0 to (2

31

-1).


31

-1).


214748364.7[µm].

6 - 74


[Program]

2 31 -1

0

Arc central point

Maximum arc

-2 31

Radius R

2 31 -1




(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 the word devices.

(1) Servo program

Servo program No.61 for incremental auxiliary point-specified helical interpolation control is shown below.

<K 61>

INH

Axis

Axis

Linear axis

1,

2,

Speed

Number of pitches

Auxiliary point

3,

1,

Auxiliary point 2,

88541

30000

20000

1000

500

45000

20000

Incremental auxiliary point-specified circular helical interpolation


End point relative address of the circular interpolation axis


End point relative address from . . . . . . . . . 20000 the linear axis specification



500

Auxiliary point relative . . . . . . . . address of the arc

Axis 1, Axis 2

Axis 1 . . . . 88541

Axis 2 . . . . 30000

Axis 1 . . . . 45000

Axis 2 . . . . 20000


6 - 75




Incremental auxiliary point-specified helical interpolation control

Incremental auxiliary point-specified helical interpolation control

[F10]

SET M2042

[G10]

PX000*M2415*M2435*M2455

[K61] INH

Axis 1, 88541PLS

Axis 2, 30000PLS

Aux.P. 1, 45000PLS

20000PLS

[G20]

!PX000




Incremental auxiliary point-specified circular helical interpolation

Axis for the circular . . . . . . . . . . . . interpolation

End point relative address of . . . .

Axis 1, Axis 2

Axis 1 . . . 88541[PLS] the circular interpolation axis interpolation and linear interpolation

Axis 2 . . . . 30000[PLS]

Linear axis for the circular . . . . . . . . . . . . Axis 3

End point relative address of the linear axis . . . 20000[PLS]



500

Auxiliary point relative address . . . . .

of the arc

Axis 1 . . . . 45000[PLS]

Axis 2 . . . . 20000[PLS]


END


6 - 76


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.


Servo instruction

Positioning method


Speed change

FEED-1

[Control details]

Incremental 1 Valid

: Must be set

: Set if required

(1) Positioning control for the specified travel value from the current stop position "0" is executed.

Positioning direction

(2) The travel direction is set by the sign (+/ -) of the travel value, as follows:





Operation timing

Current stop position

Reverse direction

Travel direction for negative sign

Travel direction for positive sign

Command speed

V

Forward direction

Fixed-pitch feed by FEED-1 instruction

Travel value t

Servo program start

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


[Program]

Program for repetition 1 axis fixed-pitch feed control is shown as the following conditions.


Fixed-pitch feed control of Axis 4.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX


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


Item Setting

Servo program No.

Control axis

Control speed

Travel value

No.300

Axis 4

10000

80000

(b) Fixed-pitch feed control start command ....... PX000 Leading edge

(OFF ON)

(c) Fixed-pitch feed control end command ....…. PX001 Leading edg

(OFF ON)

6 - 78



Operation timing for fixed-pitch feed control is shown below.

10000

V Servo program No.300

Dwell 1second Dwell 1second Dwell 1second



(M2042)


(M2049)



Servo program start


(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 t


6 - 79




1 axis fixed-pitch feed control

1 axis fixed-pitch feed control

[F10]



[G10]

PX000*M2475

P0

[K300] FEED-1

Axis 4, 80000PLS

Speed 10000PLS/s

Dwell 1000ms

[G20]

[G30]

PX001

!PX000*!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.

END


6 - 80


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.


Servo instruction

Positioning method


Speed change

FEED-2

[Control details]

Incremental 2 Valid

: Must be set

: Set if required

(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.


Forward direction






Operation timing

V


Command speed

Y-axis travel value t

Reverse direction 0

Forward direction

X-axis travel value

Current stop position

Reverse direction

Servo program start


Fig.6.24 Fixed-pitch feed control using 2 axes linear interpolation

6 - 81


POINT


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.


Fixed-pitch feed control using 2 axes linear interpolation of Axis 2 and Axis 3.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX


AMP

Axis

1

M

AMP

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.

Positioning speed

Control axis

Travel value

Axis 2

No.310

500000

10000

Axis 3

300000


(OFF ON)

6 - 82



Operation timing for fixed-pitch feed control using 2 axes linear interpolation is shown below.


10000 t



(M2042)


(M2049)




Servo program start


(M2002)


(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 2,

Axis 3,

Speed

500000

300000

10000

Fixed-pitch feed using 2 axes linear interpolation


Travel value . . . . . Axis 2 . . . 500000

Axis 3 . . . 300000

Positioning speed . . . . . . . . . . . . . 10000


6 - 83



Motion SFC program for which executes the speed-switching control is shown below.


Fixed-pitch feed using

2 axes linear interpolation

[F10]


[G10]

PX000*M2435*M2455


P0

[K310]

FEED-2

Axis 2, 500000PLS

Axis 3, 300000PLS

Speed 10000PLS/s



Travel value . . . . . .

Axis 2 . . . 500000[PLS]

Axis 3 . . . 300000[PLS]

Positioning speed . . . . . . . . . . . . . . . 10000[PLS/s]

[G20]

!PX000

P0


PX000 is ON : Fixed-pitch feed start again.

PX000 is OFF : Motion SFC program end.

END


6 - 84


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.


Servo instruction

Positioning method


Speed change

FEED-3

Incremental 3 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.







Operation timing

Forward direction V


Command speed

Forward direction

Z-axis travel value

Reverse direction

Y-axis travel value

Forwar directio

Servo program start

X-axis travel value


Reverse direction

Fig. 6.25 Fixed-pitch feed control using 3 axes linear interpolation t

6 - 85


POINT


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.


Fixed-pitch feed control using 3 axes linear interpolation of Axis 1, Axis 2 and

Axis 3.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX


AMP

Axis

1

M

AMP

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.

Positioning speed

Control axes

Travel value

Axis 1

50000

No.320

1000

Axis 2

40000

Axis 3

30000


(OFF ON)

6 - 86



Operation timing for fixed-pitch feed control using 3 axes linear interpolation is shown below.


1000 t



(M2042)


(M2049)





Servo program start


(M2001)


(M2002)


(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 1,

Axis 2,

Axis 3,

Speed

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


6 - 87





Fixed-pitch feed using


[F10]


[G10]

PX000*M2415*M2435*M2455


P0

[K320]

FEED-3

Axis 1, 50000PLS

Axis 2, 40000PLS

Axis 3, 30000PLS

Speed 1000PLS/s


Axis used . . . . . . . . . Axis 1, Axis 2, Axis 3

Travel value . . . . . .

Axis 1 . . . 500000[PLS]

Axis 2 . . . 400000[PLS]

Axis 3 . . . 300000[PLS]

Positioning speed . . . . . . . . . . . . . . . 10000[PLS/s]

[G20]

!PX000

P0


PX000 is ON : Fixed-pitch feed start again.

PX000 is OFF : Motion SFC program end.

END


6 - 88


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.


Servo instruction

Positioning method


Speed change

VF

VR

[Control details]

1 Valid

: Must be set

: Set if required

(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

Speed control start

Operation speed

Stop command accept

Stop t

Fig.6.26 Speed control ( )

6 - 89


(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 Stop processing

STOP signal input of the

Q172DLX (STOP)

Stop command

(M3200+20n)

OFF ON

Rapid stop command (Note)

(M3201+20n)

Rapid stop of the all axes/ deceleration stop from

MT Developer. (Note)

(Test mode)

Click icon

Speed change to speed "0"

Speed change request

Specified axis

All axes

Deceleration stop based on the parameter block or the "deceleration time on STOP input" specified with the servo instruction.

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.

Deceleration stop based on the parameter block or the "rapid stop deceleration time" specified with the servo instruction.

Specified axis

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

MT Developer are also valid during deceleration by the "STOP signal input of the Q172DLX" (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 Q172DLX" (STOP) or stop command

Operation speed

Rapid stop command or rapid stop of the all axes from the MT Developer

[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


[Program]

Program for speed control ( ) is shown as the following conditions.


Speed control ( ) of Axis 1.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX

Start/stop command (PX000)

AMP

Axis

1

M

AMP

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.

Control axis

Control speed

Rotation direction

No.91

Axis 1

3000

Forward

(b) Speed control ( ) start command........ PX000 Leading edge (OFF ON)

(c) Stop command......…………………… PX000 Trailing edge (ON OFF)


Operation timing for speed control ( ) is shown below.

V

Speed control by servo program No.91

3000

Stop command accept t



(M2042)


(M2049)



Servo program start


(M2001)

Stop command (M3200)

6 - 91


(4) Servo program

Servo program No.91 for speed control ( ) is shown below.

<K 91>

VF

Axis 1

Speed 3000

Speed control ( ) (Forward rotation)

Axis used . . . . . . . . . Axis 1




Speed control ( )

Speed control ( )

[F10]


[G10]

PX000*M2415 Wait until PX000 and Axis 1 servo ready turn on.

[K91] VF

Axis 1

Speed 3000PLS/s

[G20]

!PX000

[F20]

SET M3200

[G30]

!M2001

[F30]

RST M3200


Axis used . . . . . . . . . Axis 1


Wait until PX000 turns off after speed control ( ) start.

Turn on Axis 1 stop command.

Wait until Axis 1 start accept flag turn off.

Turn off Axis 1 stop command.

END


6 - 92


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.


Servo instruction

Positioning method


Speed change

VVF

VVR

[Control details]

1

Valid

: Must be set

: Set if required

(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


[Program]

(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 for speed control ( ) is shown as the following conditions.


Speed control ( ) of Axis 3.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX

Start/stop command (PX000)

AMP

Axis

1

M

AMP

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.

Control axis

Control speed

Rotation direction

No.55

Axis 3

4000

Forward

(b) Speed control ( ) start command ....... PX000 Leading edge (OFF ON)

(c) Stop command .....…………………… PX000 Trailing edge (ON OFF)


Operation timing for speed control ( ) is shown below.

V

Speed control by servo program No.55

4000

Stop command accept t



(M2042)


(M2049)



Servo program start


(M2003)

Stop command (M3240)

6 - 94


(4) Servo program

Servo program No.55 for speed control ( ) is shown below.

<K 55>

VVF

Axis 3

Speed 4000


Axis used . . . . . . . . . Axis 3




Speed control ( )

Speed control ( )

[F10]


[G10]


[K55]

VVF

Axis 3

Speed 4000PLS/s

[G20]

!PX000

[F20]

SET M3240

[G30]

!M2003

[F30]

RST M3240


Axis used . . . . . . . . . Axis 3


Wait until PX000 turn off after speed control ( ) start.

Turn on Axis 3 stop command.


Turn off Axis 3 stop command.

END


6 - 95


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.


Servo instruction

Positioning method


Speed change

VPF

VPR

[Control details]

Incremental 1 Valid

: Must be set

: Set if required

(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 t

Speed/position switching enable signal

(M3205+20n)

CHANGE signal input from external source (Note)

OFF

Speed controlling

Position controlling

CHANGE signal valid

ON

6 - 96


REMARK

(Note): "The external CHANGE signal input from external source" is inputted to

CHANGE of the Q172DLX from external source. When "normally open contact input" is set in the system settings, CHANGE input occurs at the

CHANGE signal on, and when "normally closed contact input" is set,

CHANGE input occurs at the CHANGE signal off. (Refer to the

"Q173DCPU/Q172DCPU Motion controller User's Manual".)

(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]

CHANGE input

[M3212+20n ON]

CHANGE input

Feed current value

* * 0

Speed controlling


Update feed current value

Clear feed current value

M3212

+20n

OFF

Feed current value

* *

Speed controlling

* *


Update feed current value

M3212

+20n

OFF

ON

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


(4) Change of the travel value during speed control

The travel value for position control can be changed during speed control after speed/position control start.

(a) The travel value is set in indirect specification by optional device (2-word data) in the servo program.

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

D3000, D3001 after the CHANGE signal from external source turns on.

<K 11>

VPF

Axis 4, D3000

Speed 50000

Indicates indirect specification of travel value

(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


CHANGE signal input from external source

Data register for travel value change t

Travel value change possible

ON

OFF

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)

6 - 98


[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.

(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 Position control only is executed, if M3205+20n and CHANGE are turning on at the start.

t


Speed switching signal input (CHANGE)

OFF

ON

ON

OFF

Servo program start

Speed controlling (M2404+20n)

OFF

OFF

Speed/position switching latch (M2405+20n) OFF

ON

(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

ON


Overrun t


Position switching signal input (CHANGE)

OFF

OFF

ON

ON

OFF Error detection (M2407+20n)


(M2401+20n) OFF

6 - 99


[Program]

(4) Stroke limit check

Stroke limit range is not checked during the speed mode. If the travel value exceeds the stroke limit range, a minor error (error code: 210) occurs when position mode is selected, and performs a deceleration stop.

Program for speed/position switching control is shown as the following conditions.


Speed/position switching control of Axis 4.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX


AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4

M



Servo program No.

Control axis

Travel value for positioning control

Command speed

101

Axis 4

40000

1000

(b) Positioning start command .................................. PX000 Leading edge

(c) Speed/position switching enable command ........ M3265


Operation timing for speed/position switching control is shown below.

6 - 100


V

Servo program No.101

Speed control

Position control t

1second 1second



(M2042)


(M2049)



Servo program start

Axis 4 start accept flag (M2004)

Speed/position switching enable command (M3265)

CHANGE signal input of the

Q172DLX

Speed/position switching latch

(M2465)

Axis 4 positioning completion

(M2461)

(4) Servo program

Servo program No.101 for speed/position switching control is shown below.

<K 101>

VPF

Axis 4, 40000

Speed 1000

Dwell 1000


Axis used . . . . . Axis 4

Travel value . . . 40000

Speed . . . . . . . 1000

Dwell . . . . . . . . 1000


6 - 101






[F10]

SET M2042

[G10]

PX000*M2475

[F20]

SET M3265

[K101] VPF

Axis 4, 40000PLS

Speed 1000PLS/s

Dwell 1000ms

[G20]

M2465

[F30] RST M3265

[G30]

!PX000*M2461



Axis 4 speed/position switching enable command ON.


Axis used . . . . . . . . . . Axis 4

Travel value . . . . . . . . 40000PLS

Command speed . . . . . 1000PLS/s

Dwell . . . . . . . . . . . . . . 1000ms

Axis 4 speed/position switching latch

Axis 4 speed/position switching enable command OFF

Wait until positioning completion and PX000 turn off.

END

Note : Shift transition is used to transit into the next processing during the positioning.


6 - 102


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.


Servo instruction

Positioning method


Speed change

VPSTART

[Control details]

Incremental 1 Valid

: Must be set

: Set if required

(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


CHANGE signal valid

ON

Speed/position switching enable command

(M3205+20n)

CHANGE signal input from external source

OFF

Fig. 6.27 Re-starting during speed control t

6 - 103


(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)

V

Speed/position switching control start

Operation speed

Speed control

P1: Travel value before stop

P2: Travel value after restart

CHANGE signal ON Stop command accept

P1

Restart

Stop

P2 t

Position control

Position control

Servo program start

VPF/VPR instruction

VPSTART

Stop command

(M3200+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

Operation speed

CHANGE signal ON

Setting speed Stop command

Restart

Speed control Speed control

Fig.6.29 Re-starting after speed change

Position control t

6 - 104


[Program]

Program for restarting after stop during control with the speed/position switching control is shown as the following conditions.


Speed/position switching control of Axis 4.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX

Start command (PX000), restart command (PX001), stop command (PX002)

AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4

M



Item

Servo program No.

Control axis

Travel value for positioning control

Command speed

Positioning conditions


Restart

101

Axis 4

102

Axis 4

40000

1000

(b) Positioning start command ................................... PX000 Leading edge

(OFF ON)

(c) Speed/position switching enable command ......... M3265

(d) Re-start command ................................................. PX001 Leading edge

(OFF ON)

(e) Stop command ..................................................... PX002 Leading edge

(OFF ON)

6 - 105



Operation timing for speed/position switching control and re-starting are shown below.

V

CHANGE signal accept

1000

Speed control

Position control t



(M2042)


(M2049)



Restart command (PX001)

Servo program start


(M2004)

Speed/position switching enable command (M3265)

CHANGE signal input of the

Q172DLX

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 4, 40000

Speed 1000


Axis used . . . . . Axis 4

Travel value . . . 40000

Speed . . . . . . . . . .

1000

<K 102>

VPSTART

Axis 4

Re-start



6 - 106




Re-starting after stop during speed/position switching control

Re-starting after stop during control

[F10]


[G10] PX000*M2475

[F20]

SET M3265


Axis 4 speed/position switching enable command ON

[K101]

VPF

Axis 4, 40000PLS

Speed 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

Wait until PX001 turn on.

[G40]

PX001

[F30]

RST M3260 Axis 4 stop command OFF

[K102]

VPSTART

Axis 4

[G50]

RST M3265=M2465

!M2004

Re-start

Axis used . . .. . . . . Axis 4

Speed/position switching enable command OFF with axis 4 speed/position switching latch ON.

Axis 4 start accept flag OFF.

[G60]

!PX000*!PX001*!PX002

Wait until PX000, PX001 and PX002 turn off with re-starting after stop during speed-position switching control.

END


6 - 107


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


Servo instruction

Positioning method


Speed change

Start

End

End point address


Speed-

Switching point

VSTART

VEND

ABS-1

ABS-2

ABS-3

INC-1

INC-2

INC-3

VABS

VINC

Absolute data

Incremental

Absolute data

Incremental

3

1

1

2

2

3

Valid

: Must be set

: Set if required

6 - 108


[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

Set the speed-switching point (travel value) and positioning speed.

6 - 109


Procedure of the servo program and operation timing

Servo programs for speed-switching control and the operation timing are shown below.

[Servo program]

Start

Start speed-switching control

Specify end address

Specify speed-switching point

<K 101>

VSTART

ABS-2

Axis

Axis

Speed

VABS

Axis

Speed

VABS

Axis

Speed

VABS

Axis

Speed

VEND

4,

3,

4,

4,

4,

80000

60000

2000

. . . P1

20000

7000

. . . P2

60000

6000

. . . P3

70000

4000

. . . P4

NO All speed-switching points specified ?

YES

End speed-switching control

END

[Operation timing]


60000

P3

P4

P1

5000

0

V

P2

20000

70000

60000 80000

Speed-switching point (P2)


Speed-switching point

0

Stop (P1) t

6 - 110


[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) The M-code from the previous point is retained in the point with which M-code is not specified.

[Program]

Program for speed-switching is shown as the following conditions.


Speed-switching control of Axis 2 and Axis 3.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX


AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4

M


(a) Speed-switching control conditions are shown below.

Item Setting

Servo program No.

Control axis

End address

Axis 2

100000

500

Axis 3

50000

(b) Speed-switching control start command ....... PX000 Leading edge

(OFF ON)

6 - 111


(3) Operation timing and speed-switching positions

Operation timing and speed-switching points for speed-switching control are shown below.


50000

8000

5000

2000

V

0 40000 70000 100000

Axis 2 positioning direction t

OFF

ON



(M2042)


(M2049)




Servo program start



OFF

ON

OFF

OFF

ON

ON

(4) Servo program

Servo program No.500 for speed-switching control is shown below.

<K 500>

VSTART

ABS-2

Axis 2,

Axis 3,

Speed

VABS

Axis 2,

Speed

VABS

Axis 2,

Speed

VEND

100000

50000

2000

40000

8000

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 to speed-switching point

Axis 2

40000

8000

70000

5000

End speed switching control


6 - 112



Motion SFC program for which executes the speed-switching control is shown below.

Speed-switching control


[F10]


[G10] PX000*M2435*M2455


[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]

!PX000

Start speed-switching control

2 axes linear interpolation control (absolute data method)

Axis used . . . . . . . . . . . Axis 2, Axis 3

Positioning speed . . . . . . . .. . 2000[PLS/s]


Indicated axis No.



Axis2

40000 70000

8000 5000

(Unit : Point [PLS]/speed[PLS/s])


Wait until PX000 turn off after speed-switching control completion.

END


6 - 113


6.16.2 Specification of speed-switching points using repetition instructions

Repetition execution between any speed-switching points.


Servo instruction

Positioning method


Speed change

FOR-TIMES

FOR-ON

FOR-OFF

NEXT

[Control details]

: Must be set

: Set if required

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)

3) Motion register (#)

4) Multiple CPU area device(U \G)

5) Decimal constant (K)

6) Hexadecimal constant (H)

For indirect setting

(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)

4) Special relay (SM)

5) Link relay (B)

6) Annunciator (F)

6 - 114


(3) FOR-OFF (loop-out trigger condition setting)

(a) The repetition range set until the specified bit device turns off is executed repeatedly.


1) Input (X/PX)

2) Output (Y/PY)



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 1,

Speed

VINC

Axis 1,

Speed

NEXT

VEND

(1) Operation in condition 1

2000

1000

0

X010

X011

ON

OFF

ON

OFF


2000

1000

0

X010 OFF

X011

ON

ON

OFF

230000

10000

2000

40000

2000

2)

30000

500

20000

1000

3)

1)

2)

Condition 1 Condition 2 Condition 3

FOR-TIMES

FOR-ON

FOR-OFF

K1 K2 K3

X010 ON from start

X010 ON during first execution of

3)

X010 ON during third execution of

3)

X011 OFF from start

X011 OFF X011 OFF during first execution of during third execution of

3) 3)

100000

100000

200000

200000

6 - 115


[Program]


Minor error [215] occurred

2000

1000

0 100000 200000

ON

X010 OFF

ON

X011

OFF

Error occurs because it exceeds the travel value to the stop position.

Program for repetition speed-switching control is shown as the following conditions.


Speed-switching control of Axis 2 and Axis 3.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX


AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4

M


(a) Speed-switching control conditions are shown below.

Item Setting

Servo program No.

Control axes

End address

Axis 2

230000

501

Axis 3

100000

(b) Speed-switching control start command ...... PX000 Leading edge

(OFF ON)

6 - 116



Operation timing and speed-switching points for speed-switching control are shown below.


100000

50000

50000

V 0 50000 100000 150000 200000




(M2042)


(M2049)




Servo program start



0

6 - 117


(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

VINC

Axis 2,

Speed

VINC

Axis 2,

Speed

NEXT

VEND

230000

100000

10000

40000

40000

K 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

Positioning speed

Axis 3 . . . 100000


Indicated axis . . . . . . . . . . . . . . . . . . . . . Axis 2

Travel value to speed-switching point . . . 40000

Speed to speed-switching point . . . . . . . . . . 40000

Number or repetition 2


Indicated Axis No.

Axis 2



30000

20000

50000

40000

End repetition region



6 - 118



Motion SFC program for which executes speed-switching control using repetition instructions is shown below.

Specification of speed-switching points using repetition instructions


[F10]


[G10]

PX000*M2435*M2455

[K501] VSTART

INC-2

Axis 2,

Axis 3,

230000PLS

100000PLS

10000PLS/s Speed

VINC

Axis 2,

Speed

40000PLS

40000PLS/s

FOR-TIMES

K 2

VINC

Axis 2,

Speed

30000PLS

20000PLS/s

VINC

Axis 2,

Speed

NEXT

VEND

50000PLS

40000PLS/s

[G20]

!PX000


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



Indicated axis . . . Axis 2

Travel value to speed-switching point . . . 40000[PLS]

Speed to speed-switching point . . .. . . . . . . 40000[PLS/s]

Number of repetitions 2


Indicated axis No.



Axis 2

30000

20000

50000

40000

(Unit : Point [PLS]/speed [PLS/s])



Wait until PX000 turn off after speed switching control completion.

END


6 - 119


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

Set the constant-speed control axis and speed

Set the each pass point

Set the positioning method

Set the positioning address

(travel value)

Set the speed-switching

Point

4

1

2

3

4

<K 1>

CPSTART

Axis 2

Axis 3

Speed

ABS-2

Axis 2,

Axis 3,

ABS-2

Axis 2,

Axis 3,

Speed

ABS-2

Axis 2,

Axis 3,

CPEND

10000 [PLS/s]

40000

60000

[PLS]

[PLS]

60000

60000

15000

[PLS]

[PLS]

[PLS/s]

100000

80000

[PLS]

[PLS]

NO

All pass points are set ?

YES

End constant-speed control

End

6 - 120


[Operation timing]

Operation timing for constant-speed control is shown below.

[Example : Operation timing for 2 axes constant-speed control]


P3 80000

60000

P1

P2

Positioning speed for 2 axes linear interpolation

15000

V

0

10000

Set speed

40000 60000

100000

Axis2 positioning direction

Change speed after speed-switching

[Caution]

0 t

(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 4.3.3) 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 - 121


(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) Main cycle [s] < Travel distance [control unit]

6 - 122


Example) Main cycle: 20[ms], Command speed: 600[mm/min]

If the command speed (600[mm/min]) is divided by 60, the command speed per second is 10[mm/s], and the main cycle is 0.02[s].

Therefore, the travel distance is as follow.

10[mm/s] 0.02[s] = 0.2[mm]

Set the travel distance to more than 0.2[mm].

Positioning speed drops if the distance between pass points is short the minimum travel value.

6 - 123


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.


Servo instruction

Positioning method


Speed change

FOR-TIMES

FOR-ON

FOR-OFF

NEXT

[Control details]

: Must be set

: Set if required

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)

3) Motion register (#)

4) Multiple CPU area device (U \G)

5) Decimal constant (K)

6) Hexadecimal constant (H)

For indirect setting

(2) FOR-ON (Loop-out trigger condition setting)

(a) The repetition range set until the specified bit device turns on is executed repeatedly.


1) Input (X/PX)

2) Output (Y/PY)



5) Link relay (B)

6) Annunciator (F)

6 - 124


(3) FOR-OFF (loop-out trigger condition setting)

(a) The repetition range set until the specified bit device turns off is executed repeatedly.


1) Input (X/PX)

2) Output (Y/PY)



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 1

Axis 2

Speed

ABS-2

Axis 1,

Axis 2,

1)

INC-2

Axis 1,

Axis 2,

INC-2

Axis 1,

Axis 2,

NEXT

CPEND

1000

40000

20000

2)

30000

0

20000

20000

3)

1)

2)

Condition 2 Condition 1 Condition 3

FOR-TIMES K1 K2 K3

FOR-ON

FOR-OFF

X010 ON during first positioning 3)

X011 OFF during first positioning 3)

X010 ON during second positioning 3)

X011 OFF during second positioning 3)

X010 ON during third positioning 3)

X011 OFF during third positioning 3)

Axis 2

Repeat 3)

50000

Operation in condition 3



0 100000 200000

Axis 1

6 - 125


[Program]

Program for repetition constant-speed control is shown as the following conditions.


Constant-speed control for Axis 2 and Axis 3.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX


AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4

M


(a) Constant-speed control conditions are shown below.

Item Setting

Servo program No.

Control axis

Positioning speed

510

Axis 2, Axis 3

10000

(b) Constant-speed control start command ....... PX000 Leading edge

(OFF ON)

6 - 126



Operation timing for constant-speed control is shown below.


100000

80000

60000

40000

20000

Vector speed

0

V

10000

50000

Radius

20000

100000 150000 200000




(M2042)


(M2049)




Servo program start



6 - 127


(4) Servo program

Servo program No.510 for constant-speed control is shown below.

<K 510>

CPSTART2

Axis 2

Axis 3

Speed

ABS-2

Axis 2,

Axis 3,

FOR-TIMES

INC-2

Axis 2,

Axis 3,

INC

Axis 2,

Axis 3,

Radius

NEXT

CPEND

10000

40000

20000

K 4

30000

0

20000

20000

20000

Start constant-speed control

Axis used . . . . . . . . . Axis 2, Axis 3


Pass point setting


Pass point setting

Positioning method


Radius-specified circular interpolation

Travel

Axis 2 value Axis 3

30000

0

20000

20000





Constant-speed control


[F10]


[G10]

PX000*M2435*M2455

[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]

!PX000





2 axes linear interpolation control (Absolute data method)


End address

Axis 2 . . . 40000[PLS]

Axis 3 . . . 200000[PLS]


Pass point setting

Positioning method

Travel Axis 2 value Axis 3



30000[PLS]

0[PLS]

20000[PLS]

20000[PLS]



Wait until PX000 turns off after constant-speed control completion.

END


6 - 128


6.17.2 Speed-switching by instruction execution

[Cautions]

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.

(1) The speed switching during servo instruction is possible at the constant-speed control for 1 to 4 axes.

(2) The speed command can be set for point.

(3) By turning on the speed-switching point specified flag M2040 (Refer to Section

3.1.3) 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

(b) M2040 is ON

The speed change ends with the specified speed-switching point.

V t

Speed-switching specified point

(position)

Speed change complete point

Speed change start point t

Speed-switching specified point

(position)

6 - 129


[Program]

Program for which executes the speed-switching control by turning on M2040 during constant-speed instruction is shown as the following conditions.


Switches speed for Axis 1 and Axis 2.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX



(M2040) ON command (PX010)

AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4

M


(a) Speed switching conditions are shown below.

Item Setting

Servo program No.

Positioning speed 10000

310

15000

Positioning method

Pass point

Axis 1

Axis 2


20000

10000

Central point- specified circular interpolation

30000

20000


40000

25000


50000

40000

(b) The constant-speed start command for speed switching

..................................................................PX000 Leading edge (OFF ON)

6 - 130



Operation timing and positions for speed switching are shown below.


40000

P4

20000

P3

P2

P1

20000

Center point

40000


0

V

15000

10000 t




(M2042)


(M2049)




Servo program start



6 - 131


(4) Servo program

Servo program No.310 for speed-switching is shown below.

<K 310>

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

10000

20000

10000

30000

20000

30000

10000

40000

25000

15000

50000

40000

Set P1

Set P2

Set P3

Speed change

Set P4


6 - 132




Speed-switching during instruction execution

Speed-switching during instruction execution

[F10]


[G10]

PX000*M2415*M2435


Speed-switching point specified flag turn on when

PX010 turn on.

Speed-switching point specified flag turn off when

PX010 turn off.

[F20]

SET M2040=PX010

RST M2040=!PX010

[K310]

CPSTART2

Axis 1

Axis 2

Speed 10000PLS/s

ABS-2

Axis 1, 20000PLS

Axis 2, 10000PLS

ABS

Axis 1, 30000PLS

Axis 2, 20000PLS

Center 1, 30000PLS

Center 2, 10000PLS

ABS-2

Axis 1, 40000PLS

Axis 2, 25000PLS

Speed 15000PLS/s

ABS-2

Axis 1, 50000PLS

Axis 2, 40000PLS

CPEND

[G20]

!PX000

Set P1

Set P2

Set P3

Speed change

Set P4

Wait until PX000 turn off after constant-speed control completion.

END


6 - 133


6.17.3 1 axis constant-speed control


Servo instruction

Positioning method


Speed change

Start

End

Pass point

CPSTART1

CPEND

ABS-1

Absolute data

INC-1

1

1

Incremental 1

[Control details]

Valid

: Must be set

: Set if required

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 - 134


[Program]

Program for repetition 1 axis constant-speed control is shown as the following conditions.


Axis 4 constant-speed control.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX

100


AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4

M


(a) Constant-speed control conditions are shown below.

Item Setting

Servo program No.

Control axis

Positioning speed

Number of repetitions

500

Axis 4

10000

100

Pass point travel value

P1 -1000

P2 2000

P3 -2000

P4 1000

(b) Constant-speed control start command ........ PX000 Leading edge

(OFF ON)

(3) Details of positioning operation

Number of repetitions

Return

Out

3

2

1

-1000

Return

Out

Return

Out

Return

Out

0 1000

Address

6 - 135



Operation timing for servo program No.500 is shown below.

10000

0

-10000

V

P1 P2 P3 P2 P3 P4 t



(M2042)


(M2049)



Servo program start


(5) Servo program


<K 500>

CPSTART1

Axis 4

Speed

INC-1

Axis 4,

FOR-TIMES

INC-1

Axis 4,

INC-1

Axis 4,

NEXT

INC-1

Axis 4,

CPEND

100000

-1000

K 100

2000

-2000

1000

Starts constant-speed control

Axis used . . . . . . . . . . Axis 4



Axis used . . . . . . . . . . . . . . . Axis 4

Travel value to pass point . . . -1000



Axis used . . . . . . . . . . . . . . . Axis 4

Travel value to pass point . . . 2000


Axis used . . . . . . . . . . . . . . . Axis 4

Travel value to pass point . . . -2000

Ends repetition region


Axis used . . . . . . . . . . . . . . . Axis 4

Travel value to pass point . . .1000



6 - 136




1 axis constant-speed control


[F10]


[G10]


[K500] CPSTART1

Axis 4

Speed 10000PLS/s

INC-1

Axis 4, -1000PLS

FOR-TIMES

K 100

INC-1

Axis 4, 2000PLS

INC-1

Axis 4, -2000PLS

NEXT

INC-1

Axis 4, 1000PLS

CPEND

[G20]

!PX000


Axis used . . . Axis 4

Positioning speed . . . . . . . . . . 10000[PLS/s]


Axis used . . . . . . . . . . . . . . . Axis 4

Travel value to pass point . . . -1000[PLS/s]



Axis used . . . . . . . . . . . . . . . Axis 4

Travel value to pass point . . . 2000[PLS/s]


Axis used . . . . . . . . . . . . . . . Axis 4

Travel value to pass point . . . -2000[PLS/s]



Axis used . . . . . . . . . . . . . . . Axis 4

Travel value to pass point . . . 1000[PLS/s]



END


6 - 137


6.17.4 2 to 4 axes constant-speed control

Constant-speed control for 2 to 4 axes.


Servo

instruction

Positioning method


Speed change

Start

End

Pass point

CPSTART2

CPSTART3

CPSTART4

CPEND

ABS-2

ABS-3

ABS-4

ABS

ABS

ABS

ABS

ABS

ABS

ABS

INC-2

INC-3

INC-4

INC

INC

INC

INC

INC

INC

INC

Absolute data

Incremental data

2

3

4

2

3

4

2

2

3

4

2

Valid

: Must be set

: Set if required

6 - 138


[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



(3) CPSTART4



(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



(3) ABS-4/INC-4



(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 - 139


[Program]

(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.

(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.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX


AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

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.


P3

100000

P2

50000

30000

P1

0 30000 50000 90000


Fig.6.30 Positioning for Axis 2 and Axis 3

6 - 140


(c) Positioning conditions

1) Constant-speed control conditions are shown below.

Item Setting

Servo program No.

Positioning speed

Positioning method

Pass point

Axis 2

Axis 3


30000

30000

505

10000


50000

50000


90000

100000

2) Constant-speed control start command ... PX000 Leading edge

(OFF ON)

(d) Servo program


<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

30000

30000

50000

50000

20000

90000

100000



Positioning speed . . . . . . . . . . . 10000


Positioning address

Axis 2 . . . 30000

Axis 3 . . . 30000


Positioning address

Positioning address

Axis 2 . . . 50000

Axis 3 . . . 50000

Radius . . . . . . . . . . . . . . . . . . . . 20000


Axis 2 . . . 90000

Axis 3 . . . 100000



6 - 141


(e) Motion SFC program


2 axes constant-speed control

2 axes constant-speed control

[F10]

SET M2042

[G10]

PX000*M2435*M2455



[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

ABS-2

20000PLS

Axis 2, 90000PLS

Axis 3, 100000PLS

CPEND


Axis used . . . Axis 2, Axis 3



Positioning address

Axis 2 . . . 30000[PLS]

Axis 3 . . . 30000[PLS]


Positioning address

Axis 2 . . . 50000[PLS]

Axis 3 . . . 50000[PLS]

Radius . . . 20000[PLS]


Positioning address

Axis 2 . . . 90000[PLS]

Axis 3 . . 100000[PLS]


[G20]

!PX000


END


(2) Program for 4 axes constant-speed control is shown as the following conditions.


Constant-speed control for Axis 1, Axis 2, Axis 3, and Axis 4.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX


AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4

M

6 - 142


(b) Positioning conditions


Item Setting

Servo program No.

Positioning speed

Positioning method


506

10000



Pass point

Axis 1

Axis 2

Axis 3

Axis 4

3000

4000

4000

4000

5000

3500

-4000

-6000

5000

3500

3000

6000

2) Constant-speed control start command... PX000 Leading edge

(OFF ON)

(c) Servo program


<K 506>

CPSTART4

Axis 1

Axis 2

Axis 3

Axis 4

Speed

INC-4

Axis 1,

Axis 2,

Axis 3,

Axis 4,

INC-4

Axis 1,

Axis 2,

Axis 3,

Axis 4,

INC-4

Axis 1,

Axis 2,

Axis 3,

Axis 4,

CPEND

10000

3000

4000

4000

4000

5000

3500

-4000

-6000

5000

3500

3000

6000


Axis used . . . Axis 1, Axis 2, Axis 3, Axis 4


4 axes linear interpolation control (P1)

Axis 1 . . . 3000

Travel value to pass point

Axis 2 . . . 4000

Axis 3 . . . 4000

Axis 4 . . . 4000


Axis 1 . . . 5000


Axis 2 . . . 3500

Axis 3 . . . -4000

Axis 4 . . . -6000


Axis 1 . . . 5000



Axis 2 . . . 3500

Axis 3 . . . 3000

Axis 4 . . . 6000


6 - 143


(d) Motion SFC program


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


Axis used. . . Axis 1, Axis 2, Axis 3, Axis 4




Axis 1 . . . 3000PLS

Axis 2 . . . 4000PLS

Axis 3 . . . 4000PLS

Axis 4 . . . 4000PLS



Axis 1 . . . 5000PLS

Axis 2 . . . 3500PLS

Axis 3 . . . -4000PLS

Axis 4 . . . -6000PLS



Axis 1 . . . 5000PLS

Axis 2 . . . 3500PLS

Axis 3 . . . 3000PLS

Axis 4 . . . 6000PLS


[G20] !PX000


END


6 - 144


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.


Others

Servo instruction

Positioning

method


Speed change

INH

INH

INH

INH

INH

INH

INH

ABH

ABH

ABH

ABH

ABH

ABH

ABH

Absolute

Incremental

2 Valid

: Must be set

: Set if required

6 - 145


[Program]

Helical interpolation specified methods for constant-speed control are shown below.

Servo instruction Positioning method Circular interpolation specified method


INH Incremental less than CW180°


INH Incremental less than CCW180°


INH Incremental

CW180° or more.


INH Incremental

CCW180° or more.

ABH Absolute

Central point-specified method CW

INH Incremental

ABH Absolute

Central point-specified method CCW

INH Incremental

ABH Absolute

Auxiliary point-specified method

INH Incremental

(1) Servo program

Servo program for which helical interpolation specified pass point for constantspeed control is shown below.

<K 510>

CPSTART4

Axis 1

Axis 2

Axis 3

Speed

ABS-3

Axis 1,

Axis 2,

Axis 3,

ABH

Axis 1,

Axis 2,

Linear axis

Number of pitches

Radius

3,

ABS-3

Axis 1,

Axis 2,

Axis 3,

CPEND

10000

3000

4000

4000

5000

3500

-4000

-6000

1000

5000

3500

3000


Axis used . . . Axis 1, Axis 2, Axis 3, Axis 4



Positioning address

Axis 1 . . . 3000

Axis 2 . . . 4000

Axis 3 . . . 4000

3 axes helical interpolation control (P2)

Positioning address

Axis 1 . . . . . . . . . . . 5000

Axis 2 . . . . . . . . . . . 3500

Axis 3 . . . . . . . . . . -4000

Number of pitches . -6000

Radius . . . . . . . . . . . 1000


Positioning address

Axis 1 . . . 5000

Axis 2 . . . 3500


Axis 3 . . . 3000

Control with the following speed.

For linear/circular interpolation: Vector speed for number of

interpolation axes.

For helical interpolation: 2 axes vector speed for circular interpolation.

6 - 146

,


[Cautions]

(1) The helical interpolation specification at pass point for constant-speed control can be used in the both of real mode/virtual mode.

(2) Specify any 3 axes among 4 controlled axes in the helical interpolation control at the pass point for 4 axes constant-speed control (CPSTART4).

(3) Command speed at the helical interpolation specified point is controlled with the speed of circumference.

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 vector 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 - 147


6.17.6 Pass point skip function

[Data setting]

[Cautions]

[Program]

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.

(1) Skip signal devices

The following devices can be specified as skip signal devices.

X, Y, M, B, F, U \G

(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.

<K 0>

CPSTART2

Axis 1

Axis 2

Speed

ABS-2

Axis 1,

Axis 2,

Speed

Skip

ABS-2

Axis 1,

Axis 2,

Speed

CPEND

10000

100000

200000

10000

M200 Servo program start

200000

200000

15000

Start accept

Skip signal

(M200)

V

Point 1 positioning processing

Skip

Skip signal

No skip t

6 - 148


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 1

Speed

INC-1

Axis 1,

Skip

INC-1

Axis 1,

INC-1

Axis 1,

CPEND

10.000

180.00000

M100

180.00000

270.00000

When skip is not executed

0 180

When skip is executed

0 100 280

0

When the skip occurs at 100 [degree]

270[degree]

190[degree]

(2) Instruction immediately after the skip is ABS instruction:

Program example

CPSTART1

Axis 1

Speed

INC-1

Axis 1,

Skip

ABS-1

Axis 1,

INC-1

Axis 1,

CPEND

10.000

180.00000

M100

350.00000

270.00000


0 180 350


260[degree]


(The end positioning point is same regardless of whether the skip is

executed or not.)

0 100 350 260[degree]

(3) Instruction immediately after the skip is INC instruction and there is ABS instruction after that:

Program example

CPSTART1

Axis 1

Speed

INC-1

Axis 1,

Skip

INC-1

Axis 1,

INC-1

Axis 1,

ABS-1

Axis 1,

CPEND

10.000

360.00000

M100

180.00000

180.00000

90.00000


0 0

0


(The end positioning point is same regardless of whether the skip is

executed or not.)

80 260 80 90[degree]


180 0 90[degree]

This point moves at 370 [degree], not 10 [degree].

6 - 149


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 the word devices (1 word).

[Cautions]

[Operation]

(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.

Servo program K0 for FIN signal wait function is shown below.

<K 0>

CPSTART2

Axis 1

Axis 2

Speed 10000


100

ABS-2

Axis 1, 200000

Axis 2, 200000

M code 10

ABS-2

Axis 1, 300000

Axis 2, 250000

M code 11

ABS-2

Axis 1, 350000

Axis 2, 300000

M code 12

ABS-2

Axis 1, 400000

Axis 2, 400000

CPEND

Vector speed

Point

[ms]

M-code

M-code outputting

FIN signal

1

10

100[ms]

WAIT 2

11

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 - 150


[Program example]

(1) FIN signal wait function by the PLC program


FIN signal wait function toward constant-speed control for Axis 1 and Axis 2.

PLC CPU control module

Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41

Positioning start command : X0

(PLC CPU device)

AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4

M



Item Setting

Servo program No.

Positioning speed

FIN acceleration/deceleration time

Positioning method

0

10000

100[ms]


Pass point

M-code 10 11 12

2) Constant-speed control start command

..............................................................X0 Leading edge (OFF ON)

(PLC CPU device)

6 - 151


(c) Servo program


<K 0>

CPSTART2

Axis 1

Axis 2

Speed 10000


100

ABS-2

Axis 1, 200000

Axis 2, 200000

M-code 10

ABS-2

Axis 1, 300000

Axis 2, 250000

M-code 11

ABS-2

Axis 1, 350000

Axis 2, 300000

M-code 12

ABS-2

Axis 1, 400000

Axis 2, 400000

CPEND




FIN acceleration/ . . . . . 100[ms] deceleration


Axis used . . . . . . Axis 1, Axis 2

Address of . . . . .

stop position

Axis 1 . . . 200000[PLS]

Axis 2 . . . 200000[PLS]

M-code output . . . . . . 10




stop position

Axis 1 . . . 300000[PLS]

Axis 2 . . . 250000[PLS]

M-code output . . . . . . 11




stop position

Axis 1 . . . 350000[PLS]

Axis 2 . . . 300000[PLS]

M-code output . . . . . . 12




stop position

Axis 1 . . . 400000[PLS]

Axis 2 . . . 400000[PLS]



Motion SFC program for constant-speed control is shown below.


[F10]


[G10] M2415*M2435

Wait until Axis 1 servo ready and Axis 2 servo ready turn on.

[K0] CPSTART2

Axis 1

Axis 2

Speed 10000


100

ABS-2

Axis 1, 200000

Axis 2, 200000

M-code 10

ABS-2

Axis 1, 300000

Axis 2, 250000

M-code 11

ABS-2

Axis 1, 350000

Axis 2, 300000

M-code 12

ABS-2

Axis 1, 400000

Axis 2, 400000

CPEND

END








stop position

Axis 1 . . . 200000[PLS]

Axis 2 . . . 200000[PLS]

M-code output . . . . . 10




stop position

Axis 1 . . . 300000[PLS]

Axis 2 . . . 250000[PLS]





stop position

Axis 1 . . . 350000[PLS]

Axis 2 . . . 300000[PLS]





stop position

Axis 1 . . . 400000[PLS]

Axis 2 . . . 400000[PLS]



6 - 152


PLC program

X0

0

11

M0

14

M2419

26

M2419

28

(e) PLC program

PLC program for FIN signal wait function is shown below.

DP.SFCS H3E1

DP.DDRD H3E1 D50

K110

MOVP

D13

M0

K1

D1

SET

D0 Motion SFC program start request

D51

M2

M3219

Substitutes 1 for D51 after program start.

Reads data of D13 for Multiple CPU system No.2 by turning M2419 on, and stores in the data area D1 of self CPU

M3219 is set

RST M3219 Resets M3219 by turning M2419 off.

END

(Note): Details of D1 is used as control.

(Note): The automatic refresh setting example for FIN signal wait function is shown next page.

6 - 153


(f) Parameter setting

The automatic refresh setting example for FIN signal wait function is shown below.

• CPU No. 1 (PLC CPU) (GX Developer)

Set the device transmitted to CPU No.2 (M3200 to M3295)

• CPU No. 2 (Motion CPU) (MT Developer)

Set the device received from CPU No.1 (M3200 to M3295)

Set the device received from CPU No.2 (M2400 to M2495) Set the device transmitted to CPU No.1 (M2400 to M2495)

Multiple CPU high speed refresh setting (MT Developer only)

6 - 154


POINT

Set the following operation for automatic refresh setting using GX Developer.

1) Select tab "Multiple CPU high speed communication area setting".

2) Set "Use multiple CPU high speed communication".

1)

2)

(2) FIN signal wait function using the Motion SFC program


FIN signal wait function toward constant-speed control for Axis 1 and Axis 2.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41

PX000 to

PX00F

PX010 to

PX01F

QY41

PX020 to

PX02F

AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4

M



Item Setting

Servo program No.

Positioning speed

FIN acceleration/deceleration time

Positioning method

0

10000

100[ms]


Pass point

M-code 10 11 12

2) Constant-speed control start command ... PX000 Leading edge

(OFF ON)

6 - 155


(c) Servo program

Servo program No.0 for constant speed control is shown below.

<K 0>

CPSTART2

Axis 1

Axis 2

Speed 10000


100

ABS-2

Axis 1, 200000

Axis 2, 200000

M-code 10

ABS-2

Axis 1, 300000

Axis 2, 250000

M-code 11

ABS-2

Axis 1, 350000

Axis 2, 300000

M-code 12

ABS-2

Axis 1, 400000

Axis 2, 400000

CPEND








stop position

Axis 1 . . . 200000[PLS]

Axis 2 . . . 200000[PLS]

M-code output . . . . . . 10




stop position

Axis 1 . . . 300000[PLS]

Axis 2 . . . 250000[PLS]

M-code output . . . . . . 11




stop position

Axis 1 . . . 350000[PLS]

Axis 2 . . . 300000[PLS]

M-code output . . . . . . 12



Address of stop position

Axis 1 . . . 400000[PLS]

Axis 2 . . . 400000[PLS]

End constant- speed control


6 - 156



1) Motion SFC program for constant-speed control is shown below.


[F10]

SET M2042

[G10] PX000*M2415*M2435

[K0] CPSTART2

Axis 1

Axis 2

Speed 10000


100

ABS-2

Axis 1, 200000

Axis 2, 200000

M-code 10

ABS-2

Axis 1, 300000

Axis 2, 250000

M-code 11

ABS-2

Axis 1, 350000

Axis 2, 300000

M-code 12

ABS-2

Axis 1, 400000

Axis 2, 400000

CPEND

Stand by FIN signal










stop position

Axis 1 . . . 200000[PLS]

Axis 2 . . . 200000[PLS]





stop position

Axis 1 . . . 300000[PLS]

Axis 2 . . . 250000[PLS]





stop position

Axis 1 . . . 350000[PLS]

Axis 2 . . . 300000[PLS]





stop position

Axis 1 . . . 400000[PLS]

Axis 2 . . . 400000[PLS]


END


6 - 157


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

FIN signal wait

(Note): Details of #0 is used as control.

P0

[G10]

M2419*M2439

[F10]

#0=BCD(D13)

DOUT Y20,#0

SET M3219

[G20]

!M2419*!M2439*M2403*M2423

[F20]

RST M3219

[G30]

D13==K12

Turn on Axis 1, Axis 2 M-code outputting signal.

Output Axis 1 M-code.

Turn on FIN signal.

Turn off Axis 1, Axis 2 M-code outputting signal and turn on Axis 1, Axis 2 command in-position signal.

Turn off FIN signal.

P0 Repeat until M-code value become 12.

END

6 - 158


POINTS

(1) The fixed acceleration/deceleration time method is acceleration/deceleration processing that the time which acceleration/deceleration takes is fixed, even if the command speed differs.

V t

Acceleration/deceleration time is fixed

(a) The following processing and parameters are invalid in the fixed acceleration/deceleration time method.

• 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.

Ay

Y V

Axis 2

Axis 1

Address Ax

X t

Axis 1 Ax


V

Ax

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]

Start accept flag

ON

OFF

ON


OFF

ON

Rapid stop command

OFF

1) 2) 3) 4) 5) 6) 7) 8)

Vector speed

Deceleration speed at the normal stop

6 - 159


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.


Servo instruction

Positioning method


Speed change

PFSTART

[Control details]

Absolute 1 Valid

: Must be set

: Set if required

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

Positioning address A B t

Before reaching A, positioning address changed to B (return direction)

6 - 160


[Cautions]

[Program]

(1) Number of control axes is 1 axis.

(2) Only the absolute data method (ABS) is used for positioning control to the pass points.

(3) The speed can be changed during the start.

The changed speed is effective until the stop command is input.

(4) Set the positioning address in the servo program using indirect setting with the word devices.

(5) Use only even-numbered devices for indirect setting of positioning address in the servo program.

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.

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.


Axis 3 position follow-up control for PLC CPU (CPU No.1) to Motion CPU (CPU

No.2).

PLC CPU control module

Q61P Q03UD

CPU

Q172D

CPU

QX41

Positioning start command : X0

(PLC CPU device)

AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4

M


(a) Position follow-up conditions are shown below.

Item Setting

Servo program No.

Control axis

100

Axis 3

Positioning address

Positioning speed

D4000

20000

(b) Position follow-up control start command

.............................................................. X0 Leading edge (OFF ON)

(PLC CPU device)

6 - 161



Operation timing for position follow-up control is shown below.

V

Positioning address (D4000) 0 100 0



(M2042)


(M2049)


Start command (X0)

Servo program start


(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 t


6 - 162



Motion SFC program, PLC program and parameter setting for position follow-up control is shown below.

(a) Motion SFC program

Motion SFC program example for position follow-up control is shown below.

This program is started using D(P).SFCS instruction from PLC CPU (CPU

No.1).



[F10]

SET M2042

[G10]

M2049*M2455

[K100]

PFSTART

Axis 3, D4000

Speed 20000PLS/s

[G20]

!M2003


Wait until all axes servo ON accept flag and



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.

END

6 - 163


(b) PLC program

PLC program example for position follow-up control is shown below.

PLC program

0

3

SM400

X0

MOVP K2

PLS

D1

M10

Substitute 2 for D1 after program start.

Starts by turning X0 on.

12

X1

DMOV K150000 D1000 Substitute 150000 for D1000 .

DMOV K0 D1300

M3240

Substitute 0 for D1300 .

RST M20

16

M10

M1

38

42

M20

52

M30

67

M0

M2

M2441

M3

DP.DDWR H3E1 D0

DP.SFCS H3E1

RST M30

D1000

K150

D4000 M0

M2 D1100

Reads data of D1000 of self CPU for

Multiple CPU system by turning M10 on, and writes to D4000 of CPU No.2.

Starts the Motion SFC program No.150.

DMOV

SET M20

D40 D1200 Substitutes the value of D40 for D1200.

M2442

D= D1200 D1000 RST

SET

M20

M30

Resets M20 and sets M30 at the axis 3 positioning completion and D1200 =

D1000.

M4

DP.DDWR H3E1 D0 D1300 D4000 M4

RST M30

END

Reads data of D1300 of self CPU for

Multiple CPU system by turning M30 on, and writes to D4000 of CPU No.2.

(Note): The automatic refresh setting example for position follow-up control is shown next page.

6 - 164


(c) Parameter setting

The automatic refresh setting example for position follow-up control is shown below.

[Allocation example of devices allocated in the Motion dedicated device to the PLC CPU]

• CPU No. 1 (PLC CPU) (GX Developer)

Set the device transmitted to CPU No.2 (M3200 to M3295)

• CPU No. 2 (Motion CPU) (MT Developer)

Set the device received from CPU No.1 (M3200 to M3295)

Set the device received from CPU No.2

(M2400 to M2495, D40 to D59)

Set the device transmitted to CPU No.1

(M2400 to M2495, D40 to D59)

Multiple CPU high speed refresh setting (MT Developer only)

6 - 165


POINT

Set the following operation for automatic refresh setting using GX Developer.

1) Select tab "Multiple CPU high speed communication area setting".

2) Set "Use multiple CPU high speed communication".

1)

2)

6 - 166


6.19 Speed control with fixed position stop

Speed control with fixed position stop of the specified axis is executed.

Speed control with fixed position stop is started using the PVF (forward rotation) or

PVR (reverse rotation) of servo program instruction.


Common Arc/Helical Others

Servo instruction

Positioning method


Speed change

PVF

PVR

[Control details]

Absolute

1

1

Valid

Valid

: Must be set

: Set if required

(1) After starting of servomotor, control at the specified speed is executed until the fixed position stop command turns on.

• PVF...... Forward rotation direction (Address increase direction) start

• PVR...... Reverse rotation direction (Address decrease direction) start

(2) When the fixed position stop command turns on, a positioning control to the specified address is executed.

[Positioning address :180.00000[degree]]

359.99999[degree]

Current value

0[degree]

180.00000[degree]

OFF

ON

Servo program start

ON

Fixed position stop command device

OFF

(3) It can be controlled in the real mode only for axis which "control unit is [degree] and stroke limit is invalid ("upper stroke limit value" equal to "lower stroke limit value")". If it is started for axis which "control unit is except [degree] or stroke limit is not invalid", a minor error [130] occurs and it does not start.

And, if it is started for the virtual servomotor axis in the virtual mode, a servo program setting error [905] occurs and it does not start. (It can be started for real mode axis.)

6 - 167


(4) Address setting range is 0 to 35999999 (0 to 359.99999[degree]) in the indirect setting of positioning address. If it is set outside the setting range, a servo program setting error [n03] occurs and it does not start. Positioning address is input at the program start.

(5) It is controlled in the fixed position stop acceleration/deceleration time set in the servo program at the time of positioning start, speed change request (CHGV) and fixed position stop command ON. The fixed acceleration/deceleration time method is used as an acceleration/deceleration processing in this case.

(6) The setting range of fixed position stop acceleration/deceleration time is 1 to

65536[ms].

(7) In the case of indirect setting, the fixed position stop acceleration/deceleration time is input in the following timing.

• Positioning start

• Speed change request (CHGV)

• Fixed position stop command ON

(8) When the positioning to specified address completes, the positioning complete signal (M2401+20n) turns on. It does not turn on at the time of stop by the stop command (M3200+20n)/rapid stop command (M3201+20n). The positioning complete signal (M2401+20n) turns off at leading edge of complete signal OFF command (M3204+20n) or positioning start.

(9) Speed change can be executed any number of times by the speed change request (CHGV) instruction during operation.

V Change value by speed change request (CHGV).

a

Servo program start

Speed change request (CHGV)

OFF

OFF


Fixed position stop accel./decel. time

(Indirect setting device)

OFF

ON a b c

ON b c

ON d d t

Fixed position stop accel./decel. time

6 - 168


[Program]

(10) Deceleration speed by the stop command (M3200+20n)/rapid stop command

(M3201+20n) is controlled with fixed inclination (deceleration speed).

Deceleration processing is executed using the speed limit value or deceleration/ rapid stop deceleration time set in the parameter block.

V

(Note-1)

(Note-1)

Rapid stop by fixed inclination

(deceleration speed).

(Inclination is set by the speed limit value and rapid stop deceleration time of parameter block.) t

ON

Servo program start

Rapid stop command

(M3201+20n), servo error, etc.

Speed change request

(CHGV)


OFF

OFF

OFF

ON

ON

ON

OFF

Command in-position signal (M2403+20n)

ON

OFF

(Note-1): Rapid stop cause

(11) When the fixed position stop command turns on, the command in-position check starts. When the absolute value of difference between the setting address and feed current value below the "command in-position range" set in the fixed parameter, the command in-position signal (M2403+20n) turns on. The command in-position signal (M2403+20n) turns on by a positioning start.

(12) A positioning control to address specified with the speed limit value is executed when the fixed position stop command turns on with speed "0" (before PVF instruction execution/at speed change to speed "0" during PVF instruction execution).

Program for speed control with fixed position stop is shown as the following conditions.


Speed control with fixed position stop for "Axis 1".


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX


AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4 M

6 - 169



(a) Speed control with fixed position stop conditions are shown below.

Item Setting

Servo program No.

Start direction

Control axis

Positioning address

Control speed

Acceleration/deceleration time


55

Forward

Axis 1

120.00000[degree]

30000[degree/min]

20ms

M100

(b) Speed control with fixed position stop start command

............................................................ PX000 Leading edge (OFF ON)

(c) Speed control with fixed position stop command

............................................................ PX000 Trailing edge (ON OFF)


Operation timing for speed control with fixed position stop is shown below.

Stop command of speed control with fixed position stop

(PX000 Leading edge)

359.99999[degree]

Current value

120.00000[degree]

0[degree]

20[ms]



(M2042)


(M2049)



Servo program start

ON

OFF

ON

OFF


Fixed position stop command device (M100)


(M2401)

Complete signal OFF command

(M3204)

Command in-position signal

(M2403)

OFF

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

ON

6 - 170


(4) Servo program

Servo program No.55 for speed control with fixed position stop is shown below.

<K 55>

PVF

Axis

Speed

1,

Accel./decel. time

Fixed position stop command

120.00000

30000.000

20

M100


Axis used . . . . . . . . . . . . . Axis 1

Stop position. . . . . . . 120.00000

Speed. . . . . . . . . . . . . . . 30000.000

Accel./decel. time . . . . . . . . . . . . 20


. . . . . . . . . M100




Speed control with f ixed position stop

[F10]

SET M2042

[G10]

PX000*M2415

[G30]

!M2001

[F30]

RST M100


Wait until PX000, Axis 1 servo ready turn on.

[K55]

PVF

Axis

Speed

1, 120.00000 degree

30000.000 degree/min

Accel./decel. time 20 ms


M100

[G20]

!PX000

Fixed position stop with speed control start

Axis used . . . . . . . . . . . . . . . Axis 1

Stop position . . . . . . . . . . . . . 120.00000

Speed . . . . . . . . . . . . . . . . . . . . . 30000.000

Accel./decel. time . . . . . . . . . . . . 20

Fixed position stop command . . . M100

Wait until PX000 turn off after with f ixed position stop start .

speed control

[F20]

SET M100 Turn on fixed position stop command.


Turn off fixed position stop command.

END


6 - 171


6.20 Simultaneous Start

Simultaneous start of the specified servo program at one start is executed.

Simultaneous start is started using the START servo program instruction.


Servo instruction

Positioning method


Speed change

START

[Control details]

[Cautions]

: Must be set

: It changes by the servo program for simultaneous start.

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.

(1) A check is made at the start. An error occurs and operation does not start in the following cases.

Stored codes

SD516

Specified servo program does not exist.

Servo program setting

START instruction is set as error flag the specified servo program.

The specified servo program

(SM516): ON start axis is already used.

A servo program cannot start by an error.

Start accept flag

(M2001+n): OFF

Erroneous program No. of simultaneous start.

Erroneous program No. of program specified with simultaneous start.

SD517

19

Error Item data

(Refer to Section 3.5)

(2) The servo program No. specified using START instruction cannot be set indirectly.

6 - 172


[Program]

Program for simultaneous start is shown as the following conditions.


Simultaneous start for "Axis 1 and Axis 2", Axis 3 and Axis 4.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX


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.

No.1

No.14

No.45

Used axis Control Details

Axis 1, Axis 2 Circular interpolation control

Axis 3 Speed control

Axis 4 Home position return control

(3) Start conditions

(a) Simultaneous start servo program No. .................. No.121

(b) Simultaneous start execute command .................. PX000 Leading edge

(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


6 - 173




Simultaneous start control


[F10]

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.

[K121]

START

K 1

K 14

K 45


No.1 servo program

No.14 servo program

No.45 servo program

[G20]

!PX000

Wait until PX000 turn off after simultaneous start completion.

END


6 - 174


6.21 JOG Operation

The setting JOG operation is executed.

Individual start or simultaneous start can be used in the JOG operation.

JOG operation can be executed using the Motion SFC program or test mode of

MT Developer.

(Refer to the help of MT Developer for JOG operation method in the test mode of MT

Developer.)

JOG operation data must be set for each axis for JOG operation. (Refer to Section

6.21.1.)

6.21.1 JOG operation data

JOG operation data is the data required to execute JOG operation.

Set the JOG operation data using MT Developer.

Table 6.2 JOG operation data list

Setting range

No. Item

1

2

Setting range

Units

Setting range

Units

Setting range

Units

Setting range

Units value

Units Remarks

Explanatory section

JOG speed limit value

Parameter block setting

0.01 to

6000000.00 mm

/min

0.001 to

600000.000 inch

/min

0.001 to

2147483.647

(Note-1)

1 to 64 degree

/min

1 to

2147483647

PLS/ s

2000

0

1

PLS/s

• Sets the maximum speed at the JOG operation.

• If JOG speed setting exceeds the JOG speed limit value, it is controlled with JOG speed limit value.

• Sets the parameter block No. to be used at the JOG operation.

4.3

(Note-1): When the "speed control 10 multiplier speed setting for degree axis" is set to "valid", the setting range is 0.01 to 21474836.47[degree/min].

(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 Stroke limit upper

. . . Dose not start

. . . Start

6 - 175

. . . Dose not start

. . . Start


6.21.2 Individual start

[Control details]

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

(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 - 176


(2) 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

Setting range

Units

Setting range

Units

Setting range

Units

Setting range

Units

1 M3202 M3203 D641

2 M3222 M3223 D643

3 M3242 M3243 D645

4 M3262 M3263 D647

5 M3282 M3283 D649

6 M3302 M3303 D651

7 M3322 M3323 D653

8 M3342 M3343 D655

9 M3362 M3363 D657

10 M3382 M3383 D659

11 M3402 M3403 D661

12 M3422 M3423 D663

13 M3442 M3443 D665

14 M3462 M3463 D667

15 M3482 M3483 D669

16 M3502 M3503 D671

17 M3522 M3523 D673

18 M3542 M3543 D675

19 M3562 M3563 D677

20 M3582 M3583 D679

21 M3602 M3603 D681

22 M3622 M3623 D683

23 M3642 M3643 D685

24 M3662 M3663 D687

25 M3682 M3683 D689

26 M3702 M3703 D691

27 M3722 M3723 D693

28 M3742 M3743 D695

29 M3762 M3763 D697

30 M3782 M3783 D699

31 M3802 M3803 D701

32 M3822 M3823 D703

D640

D642

D644

D646

D648

D650

D652

D654

D656

D658

D660

D662

D664

D666

D668

D670 1 to

D672 600000000

D674

D676

D678

D680

D682

D684

D686

D688

D690

D692

D694

D696

D698

D700

D702

10 mm

-2

/min

1 to

600000000

10 -3 inch

/min

1 to

2147483647

10 -3 degree

/min

1 to

2147483647

(Note-1)

PLS/s

(Note-1) : When the "speed control 10 multiplier setting for degree axis" is set to "valid" in the fixed parameter, the unit is " 10 -2 [degree/min] ".


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.

(Note): Store a value which is 100 times the real speed in the JOG speed setting register for the "degree axis control 10 multiplier speed setting valid".

6 - 177


[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

Reverse JOG start command

OFF

OFF

ON

Reverse JOG operation

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


OFF

ON t

6 - 178


(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 because not leading edge of


JOG operation

JOG operation is impossible during test mode (start error) t

During test mode

(SM501)

ON


OFF

ON

OFF

[Program]

Program for JOG operation is shown as the following conditions.


JOG operation for Axis 1 and Axis 2.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX

AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4

M

Forward JOG operation command

(PX003 : Axis 1, PX005 : Axis 2)

Reverse JOG operation command

(PX004 : Axis 1, PX006 : Axis 2)

(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 - 179



Motion SFC program for which executes JOG operation is shown below.

JOG operation-individual start

JOG operation-individual start

[F10]

SET M2042


[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


6 - 180


6.21.3 Simultaneous start

[Control details]

Simultaneous start JOG operation for specified multiple axes.

(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 data JOG operation speed

Deceleration stop based on JOG operation data t

JOG operation based on D710 to D713 data

D710 to D713

ON

M2048 OFF

(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



Forward rotation

JOG

D712

D713

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

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

Reverse rotation

JOG

(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 Q172DCPU.

6 - 181


(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


Setting range

Units

Setting range

Units

Setting range

Units

Setting range

Units

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

12 M3422 M3423 D663

D660

D662

13 M3442 M3443 D665

14 M3462 M3463 D667

15 M3482 M3483 D669

16 M3502 M3503 D671

17 M3522 M3523 D673

D664

D666

D668

D670 1 to

D672 600000000

18 M3542 M3543 D675

19 M3562 M3563 D677

20 M3582 M3583 D679

21 M3602 M3603 D681

22 M3622 M3623 D683

23 M3642 M3643 D685

24 M3662 M3663 D687

25 M3682 M3683 D689

26 M3702 M3703 D691

27 M3722 M3723 D693

28 M3742 M3743 D695

29 M3762 M3763 D697

30 M3782 M3783 D699

31 M3802 M3803 D701

32 M3822 M3823 D703

D674

D676

D678

D680

D682

D684

D686

D688

D690

D692

D694

D696

D698

D700

D702

10 mm

-2

/min

1 to

600000000

10 -3 inch

/min

10 -3

1 to

2147483647 degree

/min

1 to

2147483647

(Note-1)

PLS/s

(Note-1): When the "speed control 10 multiplier setting for degree axis" is set to "valid" in the fixed parameter, the unit is " 10 -2 [degree/min] ".


6 - 182


[Program]

Program for simultaneous start of JOG operations are shown as the following conditions.


JOG operation for Axis 1 and Axis 2.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX

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

Axis No.

JOG operation speed

JOG operation conditions

Axis 1

150000

Axis 2

150000

(b) JOG operation command ...... During PX000 ON


Motion SFC program for which executes the simultaneous start of JOG operation is shown below.

Simultaneous start

Simultaneous start

[F10]

SET M2042

JOG operation is executed with the speed of

150000[mm/min] as the following, when the

2 axes simultaneous start switch (PX000) turns on.


[G10]

M2415*M2435 Wait until Axis 1 servo ready and Axis 2 servo ready turn on.

P0

[G20]

PX000

[F20] D710=H0002

D712=H0001

D640L=K150000

D642L=K150000

SET M2048

JOG operation is executed at the

JOG operation simultaneous start command ON

[F30]

RST M2048

P0


6 - 183


6.22 Manual Pulse Generator Operation

Positioning control based on the number of pulses inputted from the manual pulse generator is executed.

Simultaneous operation for 1 to 3 axes is possible with one manual pulse generator, the number of connectable modules are shown below.

Number of connectable to the manual pulse generator

3

POINT

• When two or more Q173DPXs are installed, connect the manual pulse generator to first (It counts from 0 slot of the main base) Q173DPX.

(When the manual pulse generator is used, only first Q173DPX 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 connecting position

Manual pulse generator axis No. setting register

Manual pulse generator enable flag

(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] [Manual pulse generator 1- pulse input magnification setting]

The travel value per pulse for manual pulse generator operation is shown below.

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 - 184


(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) Setting


(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 - 185


(5) The setting manual pulse generator 1- pulse input magnification checks the "1- pulse input magnification setting registers of the manual pulse generator" of the applicable axis at leading edge of manual pulse generator enable flag.

If the value is outside of range, the manual pulse generator axis setting error register (SD513 to SD515) and manual pulse generator axis setting error flag

(SM513) are set and a value of "1" is used for the magnification.

(6) Manual pulse generator smoothing magnification setting

A magnification to smooth leading edge/trailing edge of manual pulse generator operation is set.

Manual pulse generator smoothing magnification setting register




Setting range

0 to 59

(a) Operation

Manual pulse generator input

OFF

ON

Manual pulse generator 1 enable flag (M2051)

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 - 186


(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 MT Developer.

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 leading edge of 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 enable flag (M2051)

OFF

Disable

Manual pulse generator enable status

Start accept flag

OFF

ON

Enable

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 - 187


(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 (SD513 to SD515) turns on, and the manual pulse generator axis setting error flag (SM513) 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 - 188


[Program]

Program executes manual pulse generator operation is shown as the following conditions.


Manual pulse generator operation of Axis 1 and Axis 2.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

PX

Manual pulse generator P1

Manual pulse generator P2

Manual pulse generator enable flag

(M2051 : P1, M2052 : 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


Motion SFC program for manual pulse generator operation is shown below.



[F10]

SET M2042

[G10]

PX000*M2415*M2435

[F20]

D720=100

D721=100

D714L=H00000001

D716L=H00000002

SET M2051

SET M2052

Wait until PX000, Axis 1 servo ready and


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


6 - 189


MEMO

6 - 190


6.23 Home Position Return

(1) Use the home position return at the power supply ON and other times where confirmation of axis is at the machine home position is required.

(2) The following six methods for home position return are shown below.

• Proximity dog type

• Count type

• Data set type

• Dog cradle type

• Stopper type

• Limit switch combined type

(3) The home position return data must be set for each axis to execute the home position return.

(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 1

Contents

• Home position is zero point of servomotor.

• When the proximity dog is ON, it cannot be started.

Proximity dog type

Count type

(Note)

Proximity dog type 2

Count type 1


• When the proximity dog is ON, it can be started.

• This method is valid when the stroke range is short and "proximity dog type 1" cannot be used.

• 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

Applications

• It is used in the system which can surely pass a zero point from the home position return start to proximity dog ON OFF.

• This method is used when the proximity dog is

Count type 2

Data set type

Count type 3

Data set type 1

Data set type 2 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

Motion CPU.

• Home position is real position of servomotor.

• External input signals such as dog signal are not set in the absolute position system.

• This method is valid for the data set independent of a deviation counter value.

• External input signals such as dog signal are not set in the absolute position system.

Dog cradle type

• Home position is zero point of servomotor immediately after the proximity dog signal

• It is easy to set the position of proximity dog, because the proximity dog is set near the

Stopper type

Stopper type 1

Stopper type 2

Limit switch combined type

• Home position is position which stopped the machine by the stopper.

• Proximity dog is used.

• Home position is position which stopped the machine by the stopper.

• Proximity dog is not used.


• Proximity dog is not used.

• External limit switch is surely used.

• This method is valid to improve home position accuracy in order to make the home position for the position which stopped the machine by the stopper.

• It is used in the system that the proximity dog signal cannot be used and only external limit switch can be used.

(Note): If the proximity dog signal of servo amplifier is used, the count type home position return cannot be execute.

6 - 191


6.23.1 Home position return data

This data is used to execute the home position return.

Set this data using MT Developer.

Table 6.3 Home position return data list

Setting range

6

7

8

9

Travel value after proximity dog ON

Parameter

Block setting

Home position return retry function

Dwell time at the home position return retry

10

Home position shift amount

11

12

13

Speed set at the home position shift

Torque limit value at the creep speed

Operation setting for incompletion of home position return

No. Item

1

2

3

4

Home position return direction

Home position return method

Home position address

Home position return speed

Setting range Units Setting range Units Setting range

1 to 64

Units Setting range Units

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

0: Reverse direction (Address decrease direction)

1: Forward direction (Address increase direction)

7: Dog cradle type

8: Stopper type 1

9: Stopper type 2

10: Limit switch combined type

-21474.83648

to

21474.83647 inch

0 to

359.99999 degree

-2147483648 to

2147483647

0.01 to

6000000.00

0.01 to

6000000.00 mm/min mm/min

0.001 to

600000.000

0.001 to

600000.000 inch/min inch/min

0.001 to

2147483.647

(Note-1)

0.001 to

2147483.647

(Note-1) degree/min degree/min

1 to

10000000

1 to

10000000

0.0 to

214748364.7

µm

0.00000 to

21474.83647 inch

0.00000 to

21474.83647 degree

0 to

2147483647

PLS

PLS/s

PLS/s

PLS

-214748364.8 to

214748364.7

0: Invalid (Do not execute the home position return retry by limit switch.)

1: Valid (Execute the home position return retry by limit switch.)

µm

0 to 5000 [ms]

-21474.83648

to

21474.83647 inch

-21474.83648

to

21474.83647

0: Home position return speed

1: Creep speed

1 to 1000 [%]

0: Execute a servo program

1: Not execute a servo program degree

-2147483648 to

2147483647

PLS value

0

0

1

0

0

0 ms

300 %

1

Indirect setting

Valid/ invalid

Number of words

0 PLS

1 PLS/s

1 PLS/s

0 PLS

0 PLS

2

2

2

2

1

2

1

6 - 192


Remarks

• The home position return direction is set.

• The home position return method is set.

• The proximity dog type or count type are recommended for the servo amplifier which does not support absolute value.

Explanatory section

• The current value of home position after the home position return is set.

• The home position return speed is set.

• The creep speed (low speed immediately before stopping after deceleration 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.

• More than the deceleration distance at the home position return speed is set.

• The parameter block (Refer to Section 4.3) No. to use for home position return is set.

• Valid/invalid of home position return retry is set.

6.23.1 (1)

• The stop time at the deceleration stop during the home position return retry is set. 6.23.1 (2)

• The shift amount at the home position shift is set.

• The operation speed which set the home position shift amount except "0" is set.

• The torque limit value with creep speed at the stopper type home position return is set.

• When the home position return request signal is ON, it set whether a servo program can be executed or not.

6.23.1 (3)

6.23.1 (4)

6.23.1 (5)

(Note-1): When the "speed control 10 multiplier setting for degree axis" is set to "valid" in the fixed parameter, the setting range is "0.01 to

21474836.47[degree/min] ".

6 - 193


(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 : V

P

=200kpps

Home position return speed : V

Z

=10kpps

Creep speed : V

C

=1kpps

Real deceleration time : t=T

B

V

Z

V

P t

T

B Deceleration time : T

B

=300ms

[Deceleration distance (shaded area under graph)]

V

Z

1000 t

Converts in speed per millisecond

T

B

V

P

V

Z

= 2000

3 300

200

10 10 3

10 3

= 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 in the

"function selection C-4" of servo parameter (expansion setting parameter), even if it does not pass zero point, the home position return can be executed and restrictions are lost.

6 - 194


(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.

Acceleration time Deceleration time

5)

4)

Proximity dog


6)

The temporary stop is made during time set in the "dwell time at the home position return retry".

Home position



3)

1)

Zero point

2)

External limit switch

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.


Proximity dog type

Count type

Data set type

Dog cradle type

Stopper type


Possible/not possible of home position return retry function

: Possible, : Not possible

6 - 195


(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 decrease direction




Address increase direction

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".


Home

position


(Positive value)

Proximity dog


Zero point

Home position shift amount is negative value







Creep speed

Home position

Creep speed




"creep speed".


Proximity dog


(Negative value)

Zero point

Fig. 6.32 Home position shift amount/speed set at the home position shift

6 - 196


(d) Valid/invalid of the setting value for home position shift amount by the home position return method is shown below.


Proximity dog type

Count type

Data set type

Dog cradle type

Stopper 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 setting 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 mounting of servomotor.

(2) After proximity dog ON, if the travel value including home position shift amount exceeds the range of "-2147483648 to 2147483647" [ 10

-1

µm, 10

-5 inch,

10 -5 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.


Proximity dog type

Count type

Data set type

Dog cradle type

Stopper type


Valid/invalid of torque limit value at the creep speed

: Valid, : Invalid

6 - 197


(5) Operation setting for incompletion of home position return

(a) Operation in selecting "0: Execute servo program"

1) Servo program can be executed even if the home position return request signal (M2409+20n) is ON.

(b) Operation in selecting "1: Not execute servo program"

1) Servo program cannot be executed if the home position return request signal (M2409+20n) is ON. 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 Multiple CPU system 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) Indirect setting of home position return data

A part of home position return data can be executed the indirect setting by the word devices of Motion CPU.

(a) Data devices for indirect setting

There are data registers (D), link registers (W), Motion registers (#) and

Multiple CPU area device (U \G) as data devices for indirect setting. (Word devices except the above registers cannot be used.)

Usable devices are shown below. (Set the number of words for 2 words as even number.)

Word devices

D

W

#

U \G

Usable devices

800 to 8191

0 to 1FFF

0 to 7999

10000 to (10000+p-1) (Note-1)

Note-1: "p" indicates the user setting area points of the Multiple CPU high speed transmission area for the each CPU .

6 - 198


(b) Input of home position return

In the indirect setting by the word devices, the specified word device data are read at servo program execution by Motion CPU.

Set data to devices for indirect setting and then execute the start request of servo program at home position return.

POINT

(1) Indirect setting of axis cannot be executed using word devices in the servo program.

(2) Take an interlock with start accept flag (M2001 to M2032) not to change until the device data specified for indirect setting.

If the device data is changed before starting accept, it may not execute the home position return at the normal value.

(3) Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual

(COMMON)" for the user setting area points of the Multiple CPU high speed transmission area.

(7) Setting items for home position return data


Items



Home position address


Creep speed


Parameter block setting





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


: Must be set (Indirect setting)

: Must be set

: Must be not set

6 - 199


6.23.2 Home position return by the proximity dog type 1

(1) Proximity dog type 1

Zero point position after proximity dog ON to OFF is home position in this method.

When it does not pass (zero pass signal: M2406+20n OFF) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, an error will occur and home position return is not executed. However, when "1 : Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4" of servo parameter (expansion setting 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



(Note) : A deceleration stop occurs after the proximity dog OFF.

Positioning is carried out from this position to the zero point.

Creep speed 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 6.23.16.

6 - 200


(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.


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.

6 - 201


(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.

6 - 202


6.23.3 Home position return by the proximity dog type 2

(1) Proximity dog type 2

Zero point position after proximity dog ON to OFF is home position in this method.

When it passed (zero pass signal: M2406+20n ON) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, operation for "proximity dog type 2" is the same as "proximity dog type 1". (Refer to Section

6.23.2)

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


1)



4)

1 revolution

Proximity dog

2)


Zero point no passing

3)

5)

Creep speed

Home position

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. (If the proximity dog turns OFF during a deceleration, a deceleration stop is made and the operation for 4) starts.)

3) A deceleration stop is made by the proximity

dog OFF.

4) After a deceleration stop, it travels for one

revolution of servomotor to reverse direction

of home position return with the home


5) It travels to direction of home position return

with the home position return speed, the

home position return ends with first zero point

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 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)

Zero point will occur, a deceleration stop is made and

the home position return does not end

normally. In this case, adjust a position of

proximity dog OFF.)



Fig. 6.34 Home position return operation by the proximity dog type 2

(zero point no passing)


Home position return by the proximity dog type 2 is executed using the servo program in Section 6.23.16.

6 - 203


(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 : Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4" of servo parameter

(expansion setting 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.

6 - 204


6.23.4 Home position return by the count type 1

(1) Count type 1

After the proximity dog ON, the zero point after the specified distance (travel value after proximity dog ON) is home position in this method. (If the proximity dog signal of servo amplifier is used, the count type 1 home position return cannot be executed.)

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 : Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4" of servo parameter

(expansion setting 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 6.23.1).

(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




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


"Travel value after proximity dog ON" of the home position return data


Fig. 6.35 Home position return operation by the count type 1


Home position return by the count type 1 is executed using the servo program in

Section 6.23.16.

6 - 205


(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.

6 - 206



(1) Count type 2

After the proximity dog ON, the position which traveled the specified distance

(travel value after proximity dog ON) is home position in this method.

It is not related for zero point pass or not pass. (If the proximity dog signal of servo amplifier is used, the count type 2 home position return cannot be executed.)

A count type 2 is effective method when a zero point signal cannot be taken.

(However, dispersions will occur to the stop position at the home position return compared with the count type 1.)




Operation of home position return by count type 2 is shown below.

V



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

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



Section 6.23.16.

(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.


6 - 207



(1) Count type 3

After the proximity dog ON, the zero point after the specified distance (travel value after proximity dog ON) is home position in this method. (If the proximity dog signal of servo amplifier is used, the count type 3 home position return cannot be executed.)

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 6.23.4)

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.



V


1)


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.



2)

4)


1 revolution

Proximity dog

Zero point no passing

3)

5)

Creep speed

Home position

Zero point

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.

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

revolution of servomotor to reverse

direction of home position return with the

home position return speed.

5) It travels to direction of home position

return with the home position return speed,

the home position return with first 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

position return does not end normally. In

this case, adjust a position of proximity dog

ON.)



Fig. 6.37 Home position return operation by the count type 3 (zero point no passing)

6 - 208




Section 6.23.16.

(4) Cautions

(a) A system which the servomotor can rotate one time or more is required.

(b) After the proximity dog ON, when a servomotor rotates one time to reverse direction after stop with travel value set in the "travel value after proximity dog ON", make a system which does not turn OFF the external upper/lower stroke limit.

(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 : Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4" of servo parameter

(expansion setting 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.

6 - 209


6.23.7 Home position return by the data set type 1

(1) Data set type 1

The proximity dog is not used in this method for the absolute position system.

(2) Home position return by the data set type 1

Home position is the command position at the home position return operation.

The address at the home position return operation is registered as the home position address.

t

Home position return by the servo program start instruction

Fig. 6.38 Home position return operation by the date set type 1


Home position return by the data set type 1 is executed using the servo program in Section 6.23.16.

(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 : Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4" of servo parameter (expansion setting 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.


6 - 210


6.23.8 Home position return by the data set type 2

(1) Data set type 2

The proximity dog is not used in this method for the absolute position system.

(2) Home position return by the data set type 2

Home position is the real position of servomotor at the home position return operation.

Machine travel range

Real position of machine at the home position return start

Command position at the home position return start

Home position is the real position at the home position return

Home position return by servo program start instruction

Fig. 6.39 Home position return operation by the date set type 2


Home position return by the data set type 2 is executed using the servo program in Section 6.23.16.

(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 : Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4" of servo parameter (expansion setting 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.

6 - 211


6.23.9 Home position return by the dog cradle type

(1) Dog cradle type

After deceleration stop by the proximity dog ON, if the zero point is passed after traveling to reverse direction and turning the proximity dog OFF, the deceleration stop is made. And it moves to direction of home position return again with creep speed and the first zero point after proximity dog ON is home position in this method.

(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.

V





Creep speed

4)

1)

3)

Home position

2)


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.



creep speed, the home position return ends

with first zero point after the proximity dog

ON.



ON

Proximity dog

Zero point

Fig. 6.40 Home position return operation by the dog cradle type


Home position return by the dog cradle type is executed using the servo program in Section 6.23.16.

(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.

6 - 212


(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.


V


Creep speed

3)

1) It travels to preset reverse direction

of home position return with the


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.

2)

Home position

1)


Proximity dog

Zero point

6 - 213


(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.


V


1)


Creep speed

2)

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.





proximity dog OFF, a deceleration stop

is made.



creep speed, and the home position

return ends with first zero point after the

proximity dog ON.

5)

4)



3)

Home position

Proximity dog

Zero point

6 - 214


(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.


V


3)

Creep speed

1) It travels to preset reverse direction of

home position return with the home



proximity dog OFF, a deceleration

stop is made.


direction of home position return with

the creep speed, and the home

position return ends with first zero

point after the proximity dog ON.

2)


Proximity dog

Home position

1)


Zero point

6 - 215


(e) If the zero point is passed during deceleration, the nearest zero point from deceleration stop position to home position return direction is set as the home position.

V





Creep speed

4)

1)

Home position


position return with the home position return

speed, and a deceleration stop is made by

the proximity dog ON.




3) If the zero point is passed by the proximity

dog OFF, a deceleration stop is made. (The

zero point is passed during deceleration.)

4) After a deceleration stop, it travels to the

nearest zero point of home position return

direction with the creep speed, and the

home position return ends.

3)

2)

The travel value in this range is stored in the monitor register

"home position return re-travel value".

ON

Proximity dog


Zero point

6 - 216


6.23.10 Home position return by the stopper type 1

(1) Stopper type 1

Position of stopper is home position in this method.

It travels to the direction set in the "home position return direction" with the "home position return speed", after a deceleration starts by proximity dog OFF to ON and it presses against the stopper and makes to stop with the torque limit value set in the "torque limit value at the creep speed" and "creep speed" of home position return data. 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 speed Real position of servomotor at this point is home position.

Creep speed

Stopper

Torque limit value


Torque limit value of parameter block at the home position return

Time which stops rotation of servomotors forcibly by the stopper


"torque limit value at the creep speed"

Proximity dog

Torque limiting signal

(M2416+20n)

OFF

ON

(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 t


Home position return by the stopper type 1 is executed using the servo program in Section 6.23.16.

6 - 217


(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".

6 - 218


6.23.11 Home position return by the stopper type 2

(1) Stopper type 2

Position of stopper is home position in this method.

It travels the direction set in the "home position return direction" with the "creep speed", and it presses against the stopper and makes to stop with the "creep speed". (The torque limit value is valid set in the "torque limit value at the creep speed" of the home position return data from the home position return start.)

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

Home position return direction Creep speed

Stopper

Real position of servomotor at this point is home position.

Torque limit value

Torque limiting signal

(M2416+20n) t

Home position return start 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


Home position return by the stopper type 2 is executed using the servo program in Section 6.23.16.

(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 - 219


(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 - 220


6.23.12 Home position return by the limit switch combined type

(1) Limit switch combined type

The proximity dog is not used in this method. Home position return can be executed by using the external upper/lower limit switch.

When the home position return is started, it travels to direction of home position return with "home position return speed". 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.

V



1)


2)


position return with the home


2) A deceleration stop is made by the

external limit switch ON to OFF.


reverse direction of home position

return with the creep speed, and the

home position return ends with the

zero point just before limit switch.


Home position

3)

Creep speed


(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".


Fig. 6.43 Home position return operation by the limit switch combined type


Home position return by the limit switch combined type is executed using the servo program in Section 6.23.16.

6 - 221


(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) If 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 :

Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4" of servo parameter (expansion setting 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 - 222


6.23.13 Home position return retry function

When a work has been exceeded home position during positioning control, etc., even if it executes the home position return, depending on the position of work, a work may not travel to home position direction. In this case, a work is normally travelled before the proximity dog by the JOG operation, etc, and the home position return is started again. 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 6.23.1(7) 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 MT Developer.

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

Items Setting

Setting value


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

Initial value

0


The stop time at the deceleration stop during the home position return retry is set

0 to 5000

[ms]

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


5)

4)

Proximity dog


6)

Home position

1)


3)

2)


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


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 - 223


(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



RLS

Proximity dog

FLS

Home position

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.

Direction of "work home position" and home position return is reverse

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.


3)


RLS

2)

Proximity dog

Home position

1)

Zero point

FLS

Travel range

6 - 224


(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.)



5)

6)

1)

2)

[Cautions]

4)

Home position


3)


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

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

Zero point

(1) Possible/not possible of home position return retry function by the home position return method is shown below.


Proximity dog type

Count type

Data set type

Dog cradle type

Stopper type


Possible/not possible of home position return retry function

: Possible, : Not possible

6 - 225


(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.

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 - 226


6.23.14 Home position shift function

Normally, when the machine home position return is executed, a position of home position is set by using the proximity dog or zero point signal. However, by using the home position shift function, the position to which only the specified travel value was travelled from the position which detected the zero point signal can be regarded as home position.

Refer to Section 6.23.1(7) for home position return method by using the home position shift function.

[Data Setting]

Set the following "home position return data" using MT Developer to use the "home position shift function".

Set the parameters for every axis.

Table 6.5 Home position return data

Items Setting details Setting value


The shift amount at the home position shift is set.


The speed at the home position shift is set.

[ 10 -1

-2147483648 to 2147483647

µm, 10 -5 inch, 10 -5 degree, PLS]

0 : Home position return speed

1: Creep speed

Initial value

0

0

6 - 227


[Control details]

(1) Home position shift operation

Operation for the home position shift function is shown below.

Home position shift amount is positive value




Creep speed




"creep speed".


Proximity dog

Home position




(Positive value)

Zero point

Home position shift amount is negative value







Creep speed

Home position

Creep speed




"creep speed".


Proximity dog


(Negative value)

Zero point

Fig. 6.46 Operation for home position shift

6 - 228


(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.

RLS

Setting range of negative home position shift amount


Proximity dog


Setting range of positive home position shift amount


FLS

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 shift amount is positive

Home position


Home position

Home position shift amount is negative

Proximity dog

Zero point

Fig. 6.48 Operation for home position shift with the home position return speed

6 - 229


(b) Home position shift operation with the "creep speed"

V


Creep speed

Home position shift amount is positive

[Cautions]

Home position


Proximity dog

Home position shift amount is negative

Home position

Zero point

Fig. 6.49 Operation for home position shift with the creep speed

(1) Valid/invalid of home position shift amount setting value by the home position return method.


Proximity dog type

Count type

Data set type

Dog cradle type

Stopper 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

"-2147483648 to 2147483647" [ 10 -1 µm, 10 -5 inch, 10 -5 degree, PLS].

6 - 230


6.23.15 Condition selection of home position set

A home position return must be made after the servomotor has been rotated more than one revolution to pass the axis through the Z-phase (motor reference position signal) and the zero pass signal (M2406+20n) has been turned ON.

When "1 : Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4, (PC17) Condition selection of home position set" of servo parameter (expansion setting 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 MT Developer to select the "function selection C-4".

Set the servo parameters for every axis.

Table 6.6 Servo parameter (expansion setting parameter)

Items Setting details Setting value

Function selection C-4

(PC17)

Condition selection of home position set

Set the condition selection of home position set in the absolute position system.

0: Need to pass motor Z phase after the power supply is switched on

1: Not need to pass motor Z phase after the power supply is switched on

Initial value

0

[Cautions]

(1) When "1 : Not need to pass motor Z phase after the power supply is switched 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) When "1 : Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4" of servo parameter (expansion setting parameter), if it does not pass zero point at the servo amplifier power ON, the zero pass signal (M2406+20n) turns ON.

(3) 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.

CAUTION

Do not set the "1 : Not need to pass motor Z phase after the power supply is switched on" for axis which executes the home position return again after it continues traveling the same direction infinitely.

6 - 231


6.23.16 Servo program for home position return

The home position return executed using the ZERO servo instruction.


Servo instruction Positioning method

Number of controllable axes

Speed change

ZERO

[Control details]

1

(1) Home position return is executed by the home position return method specified with the home position return data (Refer to Section 6.23.1).

Refer to the following sections for details of the home position return methods :

• Proximity dog type 1 ...................... Section 6.23.2

• Proximity dog type 2 ...................... Section 6.23.3

• Count type 1 ................................... Section 6.23.4



• Data set type 1 ............................... Section 6.23.7

• Data set type 2 ............................... Section 6.23.8

• Dog cradle type .............................. Section 6.23.9

• Stopper type 1................................ Section 6.23.10

• Stopper type 2................................ Section 6.23.11

• Limit switch combined type............ Section 6.23.12

[Program]

: Must be set

Servo program No. 0 for home position return is shown as the following conditions.


Home position return of Axis 4.


Q61P Q03UD

CPU

Q172D

CPU

QX41 QY41 Q172D

LX

Home position return command (PX000)

AMP

Axis

1

M

AMP

Axis

2

M

6 - 232

AMP

Axis

3

M

AMP

Axis

4 M


(2) Servo program example

Servo program No. 0 for home position return is shown below.

<K 0>

ZERO

Axis 4



[Cautions]





[F10]


[G10]

PX000*M2475*M2462

[K0]

ZERO

Axis 4

Wait until PX000, Axis 4 servo ready and in-position signal turn on.

(Note-1)



[G20]

!PX000

Wait until PX000 turn off after home position return completion.

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.

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 - 233


6.24 High-Speed Oscillation

Positioning of a specified axis is caused to oscillate on a sine wave.


Servo instruction Positioning method

Number of controllable axes

Speed change

OSC

[Control details]

1 Invalid

: Must be set

: Set if required

The designated axis caused to oscillate on a specified sine wave.

Acceleration/deceleration processing is not performed.

Amplitude

360[degree]

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 - 234


[Cautions]

[Program]

(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].

An example of a program for high-speed oscillation is shown below.

<K 6>

OSC

Axis

Starting angle

Amplitude

Frequency

1

90.0

1000

100

[degree]

[PLS]

[CPM]

6 - 235


MEMO

6 - 236

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 MT Developer 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


(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


OFF

Servo program start

Start accept flag (M2001+n)

OFF

Positioning start complete signal (M2400+20n)


M-code

OFF

OFF

At the speed switching control

V

ON

ON

ON

ON

Storage of setting M-code No.

P1 (Speed-switching point)

P2 (Speed-switching point)

P3 (Stop) t

ON


OFF t

Servo program start

Start accept flag (M2001+n)

OFF

Positioning start complete signal (M2400+20n)


M-code

OFF

OFF

ON

ON

ON

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


(4) Program example

(a) The Motion SFC program to read M-codes is shown as the following conditions.

1) Axis used No. ......................................... Axis 3

2) Processing at the positioning start by M-code

.................... M-code No. is output as BCD code to Y110 to Y11F

3) Processing at the positioning completion by M-code a) M-code = 3......................................... Y120 turns on b) M-code = 5......................................... Y121 turns on c) 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 Q03UD

CPU

Q172D

CPU

QY40 QY40 Q172D

LX

PY000 to

PY00F

PY010 to

PY01F

[F10]

[F20]

Motion SFC program

Reading of M-codes

#0=0

#1=0

#2=0

SET M2042

[G10]

PX000*M2455

[K100] CPSTART1

Axis 3

Speed 1000PLS/s

INC-1

Axis 3, 200000PLS

M-code 3

INC-1

Axis 3, 300000PLS

M-code 5

INC-1

Axis 3, 400000PLS

M-code 4

CPEND

P0

[G20]

[F30]

D53==3

#0=BCD(D53)

DOUT Y110, #0

SET Y120

1)

1)

[G30] D53==5 M-code (5) for axis 3 ?

All axes servo ON command turns on

Stand by until PX000 and Axis 3 servo ready turns on

[F40] #1=BCD(D53)

DOUT Y110, #1

SET Y121

After M-code storage area for axis 3 is changed into BCD code, it is output to Y110 and Y121 turns on.



Speed . . . 1000PLS/s



Positioning . . . 200000PLS address

M-code output . . . 3









[G40]

[G50]

!M2003

M-code (except 3 or 5) for axis 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

Y122 turns on.

#2=BCD(D53)

DOUT Y110, #2

SET Y122

P0

END

M-code (3) for axis 3 ?

After M-code storage area for axis 3 is changed into BCD code, it is output to Y110 and Y120 turns on.

7 - 3


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 MT Developer.

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

• 0

(Backlash compensation amount)

(Travel value per PLS)

65535[PLS]

(Decimal fraction rounded down)

(b) [inch] or [degree] units

• 0 to 0.65535

• 0

(Backlash compensation amount)

(Travel value per PLS)

65535[PLS]


(c) [PLS] units

• 0 to 65535

• 0

(Backlash compensation amount) (PLS per rotation)

(Travel value per rotation)

65535[PLS]


7 - 4


(2) Backlash compensation processing

Details of backlash compensation processing are shown below.

Table 7.1 Details of backlash compensation processing

Condition Processing

First start after power on

• If travel direction is equal to home position return direction, the 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


• 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.

Home position return completion

• The backlash compensation is executed after home position return completion.

Absolute position system • 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


7.3 Torque Limit Function

This function restricts the generating torque of the servomotor within the setting range.

If the torque required for control exceeds the torque limit value during positioning control, it restricts with the setting torque limit value.

(1) Setting range of the torque limit value

It can be set within the range of 1 to 1000[%] of the rated torque.

(2) Setting method of torque limit value

Set the torque limit value is shown below.

(a) Setting in the parameter block (Refer to Section 4.3).

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 "Q173DCPU/Q172DCPU Motion controller (SV13/SV22)


7 - 6


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 limit value setting from the pass point (P1)

(2) Parameter block

Torque limit value setting

(3) Operation description

Constant-speed control V

1

P1

Torque limit to the servo amplifier

0

300[%]

40000

P2

60000

50[%]

Torque control with torque limit value

(300[%]) of the parameter block 3 (P.B.3).

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 - 7


7.4 Skip Function in which Disregards Stop Command

When the current positioning is stopped by input from external source and the next positioning control is performed, it enables starting of the next positioning control even if the input from external source is on (continuation).

There are following tow functions in the function called "Skip".

• Skip during CP command (Refer to Section "6.17.6 Pass point skip function".)

• 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

. . . . . . . Confirm the operation stop with the start accept flag

(M2001 to M2032) turns off.

End

7 - 8



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

ON

A

(The external STOP signal is ignored

during M3209+20n is on.) t

Positioning start of the next servo program by skip function

OFF


ON

All axes servo ON command (M2042)

Servo program start

OFF

OFF

OFF

External STOP signal

External stop input disable at start (M3209+20n)

OFF

ON

ON

Turn on before the next positioning start.

ON

7 - 9


7.5 Cancel of the Servo Program

[Control details]

[Data setting]

[Note]

[Operation timing]

This function performs a deceleration stop of executing servo program during execution by turning on the cancel signal.

(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.

(1) Cancel signal device

The usable cancel signal devices are shown below.

X, Y, M, B, F, U \G

(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)).

The operation timing for deceleration stop is shown below.

V

Positioning start to point A

Execution of servo program No. K0

Deceleration stop by turning the cancel signal on

A


OFF

All axes servo ON command (M2042)

OFF

Cancel signal

OFF

ON

ON

[Program example]

Motion SFC program is shown bellow.

<K 0>

ABS-1

Axis 1, 30000

Speed 5000

Cancel X0000

ON

Cancel signal . . . . X0000 t

7 - 10


7.5.1 Cancel/start

When a cancel/start has been set in the setting items of the servo program which was started at the motion control step of the Motion SFC program, the cancel of the running servo program is valid but the servo program specified to start after a cancel is ignored, without being started.

Example of the Motion SFC program which executed control equivalent to a cancel start is shown below.

K0

Selective branch

G0 G1

K1

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.

7 - 11


MEMO

7 - 12

APPENDICES

APPENDICES

APPENDIX 1 Error Codes Stored Using The Motion CPU

The servo program setting errors and positioning errors are detected in the Motion

CPU side.

(1) Servo program setting errors

These are positioning data errors set in the servo program, and it checks at the start of the each servo program.

They are errors that occur when the positioning data is specified indirectly.

The operations at the error occurrence are shown below.

• The servo program setting error flag (SM516) turns on.

• The erroneous servo program is stored in the error program No. storage register

(SD516).

• The error code is stored in the error item information register (SD517).

(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.

APP - 1

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 class

Axis

1

Axis

2

Axis

3

Axis

4

Axis

5

Axis

6

Error code storage register

Axis

7

Axis

8

Axis

9

Axis

10

Axis

11

Axis

12

Axis

13

Axis

14

Axis

15

Axis

16


D6 D26 D46 D66 D86 D106 D126 D146 D166 D186 D206 D226 D246 D266 D286 D306


M2407+20n

D8 D28 D48 D68 D88 D108 D128 D148 D168 D188 D208 D228 D248 D268 D288 D308 M2408+20n

Device

Error class

Minor error

Major error

Servo error

Axis

17

Axis

18

Axis

19

Axis

20

Axis

21

Axis

Error code storage register

Axis Axis Axis Axis

22 23 24 25 26

Axis

27

Axis

28

Axis

29

Axis

30

Axis

31

Axis

32




M2407+20n

D328 D348 D368 D388 D408 D428 D448 D468 D488 D508 D528 D548 D568 D588 D608 D628 M2408+20n

(Note): The range of axis No. 1 to 8 is valid in the Q172DCPU.

(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 MT Developer.

(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 SD517)

The error codes, error contents and corrective actions for servo program setting errors are shown in Table 1.2.

In the error codes marked with "Note" indicates the axis No. (1 to 32).

Table 1.2 Servo program setting error list

Error code stored in SD517

1 n03

(Note)

4

5

Error name Error contents Error processing Corrective action

Parameter block No. The parameter block No. is outside setting error the range of 1 to 64.

Execute the servo program with the default value "1" of parameter block.

Set the parameter block No. within the range of 1 to 64.

Address (travel value) setting error

(Except the speed

(1) The address is outside the setting range at the positioning start for absolute data method. control and speed/position control.)

(Setting error for linear axis at the helical-interpolation.)

Unit Address setting range degree

0 to

35999999

10 –5

[degree]

(2) The travel value is set to

-2147483648 (H80000000) at the positioning start for incremental data method.

Command speed error

(1) Positioning control does not start. (All interpolation control at the interpolation control.)

(2) If the error is detected

(1) If the control unit is

[degree], set the address within the range of 0 to

35999999. during the speed- switching control or constant-speed control, a deceleration stop is made.

(3) If an error occurs in one servo program, all servo programs do not execute during the simultaneous start.

(2) Set the travel value within the range of "0 to (2 31 -1)".

Set the command speed within the range of 1 to the speed limit value.

(1) The command speed is outside (1) Positioning control does the range of 1 to the speed limit value. not start if the command speed is "0" or less.

(2) The command speed is outside (2) If the command speed the setting range. exceeds the speed limit value, control with the

Unit Speed setting range speed limit value. mm inch

1 to

600000000

1 to

600000000 degree

1 to

2147483647

10 -2

[mm/min]

10 -3

[inch/min]

10 -3

[degree

/min]

Dwell time setting error

(Note-1)

PLS

1 to

2147483647

[PLS/s]

The dwell time is outside the range of 0 to 5000.

Control with the default value

"0".

Set the dwell time within the range of 0 to 5000.

6

7

M-code setting error The M-code is outside the range of 0 to 32767.

Torque limit value setting error

The torque limit value is outside the range of 1 to 1000.

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 1000.

(Note-1): When the "speed control 10 multiplier setting for degree axis" is set to "valid", the setting range is 0.01 to

21474836.47 [degree/min].

APP - 3

APPENDICES

Table 1.2 Servo program setting error list (Continued)

Error code stored in SD517 n08

(Note) n09

(Note) n10

(Note)

11

12

13

14


Auxiliary point setting error

(At the auxiliary point-specified circular interpolation. )

(At the auxiliary point-specified helical interpolation.)

(1) The auxiliary point address is outside the setting range at the positioning start for absolute data method.


0 to

35999999

10 -5

[degree]

(2) The auxiliary point address is set to -2147483648 (H80000000) at the positioning start for

Radius setting error

(At the radiusspecified circular interpolation.)

(At the radiusspecified helical interpolation.) incremental data method.

(1) The radius is outside the setting range at the positioning control for absolute data method.


0 to

35999999

10 -5

[degree]

Positioning control does not (1) If the control unit is start. [degree], set the auxiliary point address within the range of 0 to 35999999.

(2) Set the auxiliary point address within the range of

0 to (2 31 -1).


[degree], set the radius within the range of 0 to

35999999.

(2) The radius is set to "0" or negative setting at the positioning start for incremental data method.

Central point setting (1) The central point address is error

(At the central pointspecified circular outside the setting range at the positioning start for absolute data method. interpolation.)

(At the central pointspecified helical interpolation.)


0 to

35999999

10 -5

[degree]

(2) The central point is set to

-2147483648 (H80000000) at the positioning start for incremental data method.

Interpolation control unit setting error

The interpolation control unit is set outside the range of 0 to 3.

Speed limit value setting error

The speed limit value is set outside the setting range.

Control with the default value "3".

Control with the default value 200000[PLS/s].

(2) Set the radius within the range of 1 to (2 31 -1).


[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 (2 31 -1).

Acceleration time setting error

FIN acceleration/ deceleration setting error

The acceleration time is set to "0".

The FIN acceleration/deceleration time is set except 1 to 5000.

Fixed position stop acceleration/ deceleration time setting error

Deceleration time setting error

The fixed position stop acceleration/ deceleration time is set to "0".

The deceleration time is set to "0".

Control with the default value "1000".

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 2147483647[PLS/s]

Set the acceleration time within the range of 1 to 65535.

The FIN acceleration/ deceleration time within the range of 1 to 5000.

Set the fixed position stop acceleration/deceleration time within the range of 1 to 65535.

Set the deceleration time within the range of 1 to 65535.

APP - 4

APPENDICES



15

16

17


Rapid stop deceleration time setting error

Torque limit value setting error

Allowable error range for circular interpolation setting error

The rapid stop deceleration time is Control with the default value set to "0". "1000".

Set the rapid stop deceleration time within the range of 1 to

65535.

The torque limit value is outside the range of 1 to 1000.


"300[%]".

Set the torque limit value within the range of 1 to 1000.

The allowable error range for circular interpolation is outside the setting range.


"100[PLS]".

Set the allowable error range for circular interpolation within the setting range.

Unit Address setting range

mm

inch degree

0 to

100000

[µm]

10 -5 [inch]

10 -5

[degree]

PLS [PLS]

18

19

20

21

22

23

24

25

Repeat count error The repeat count is outside the

START instruction setting error 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.

Control the repeat count with

"1".

Positioning control does not start.

Set the repeat count within the range of 1 to 32767.

(1) Create the servo program specified with the START instruction.

(2) Delete the servo program specified with the START instruction.

(3) Do not overlap the starting axis.

(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 speed setting error

The axis except interpolation axis is set as the reference axis at the linear interpolation of the reference axis speed-specified method.

Set a point between CPSTART and CPEND.

Set one of the interpolation axes as the reference axis.

S-curve ratio setting S-curve ratio is set outside the error range of 0 to 100[%] at the S-curve acceleration/deceleration.

Control the S-curve ratio with

100[%].

Set the S-curve ratio within the range of 0 to 100[%].

VSTART setting error

Cancel function start program No. error

Not even one speed-switching point has been set between a

VSTART and VEND instruction, or between FOR and NEXT instruction.

The start program No. for the cancel function is set outside the range 0 to 4095.


Set the speed switching point between the VSTART and

VEND instructions or the FOR and NEXT instructions.

Start after set the start program No. within the range of 0 to 4095.

High-Speed oscillation command amplitude error

Operation cannot be started because the amplitude specified with the high-speed oscillation function is outside the range 1 to

2147483647.

Start after set the command amplitude within the range of 1 to 214783647.

APP - 5

APPENDICES


Error code stored in D517

26

27

28

41

900

901

902

903

904

905

Error name Error contents Error processing

High-Speed oscillation command starting angle error

Operation cannot be started because the starting angle specified with the high-speed oscillation function is outside the

High-Speed oscillation command frequency error range of 0 to 3599

( 0.1[degrees]).

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 interpolation pitches error

Device error of the

The specified number of pitches of helical interpolation is outside the range of 0 to 999.

Any unauthorized devices are set home position return in the home position return data data for indirect for indirect setting. setting

START instruction setting error

The servo program specified with the servo program start does not exist.

START instruction setting error

Servo program instruction code error

The axis No. set in the servo program start is different from the axis No. set in the servo program.

The instruction code cannot be decoded.

(A non-existent instruction code has been specified.)

Start error

Start error

Start error

A virtual mode program was started in the real mode.

A real mode program was started in the virtual mode.

(1) Operation disable instructions

(VPF, VPR, VPSTART, PVF,

PVR, ZERO, VVF, VVR, OSC) was started in virtual mode.


(ZERO, OSC, CHGA-C,

CHGA-E) was started in real mode axis.


(CHGA-C, CHGA-E) from the

D(P).SVST instruction of

Motion dedicated instruction was started.


Corrective action

Start after set the starting angle within the range of 0 to

3599 ( 0.1 [degree]).

Start after set the frequency within the range of 1 to

5000[CPM].

Set the specified number of pitches within the range of 0 to

999.

Review the devices of home position return data for indirect setting.

Set the correct servo program

No..

Set the correct axis No.

Set the correct instruction code.

Check the program mode allocation.

Correct the servo program.

Use the D(P).CHGA instruction of Motion dedicated instruction.

APP - 6

APPENDICES


Error name

Axis No. setting error

906

907

908

Start error

Start error


Error contents Error processing

(1) Unused axis of the system setting is set in the Motion

SFC program set in the servo program start.

(2) It was started by setting the real mode axis in the virtual servo program.

(3) It was started in the condition that the real mode axis had been mixed with virtual axis in the interpolation axis.

(4) It was started by setting the virtual axis in the real mode program in virtual mode.

It was started during processing for switching from real mode to virtual mode.

It was stated during processing for switching from virtual mode to real mode.


Corrective action

Set the axis No. set in the system setting or mechanical system program.

Use M2043 (real mode/virtual mode switching request),

M2044 (real mode/virtual mode switching status) as interlocks for start.

APP - 7

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

26

27

40

Erroneous data

Check timing Error cause

Error processing

Corrective action

Home position return start The home position address is of the count, proximity dog, data set, dog cradle, stopper and limit switch combined type outside the range of 0 to

35999999 ( 10 –5 [degree]) with degree axis.



The home position return speed is outside the range of 1 to of the count, proximity speed limit value. dog, dog cradle, stopper and limit switch combined

The creep speed is outside the type range of 1 to home position return speed.


The travel value after the proximity dog ON is outside the of the count type range of 0 to (2 31 -1) ( unit).

Home position return is not started.

Home position return start The parameter block No. is of the count, proximity dog, dog cradle, stopper outside the range of 1 to 64. and limit switch combined type

Parameter block


Torque limit value at the creep speed is outside the range of 1 of the stopper type to 1000[%].

Home position return start Dwell time at the home position of the usable retry function return is outside the range of 0 to 5000[ms].

Interpolation control start

The interpolation control unit of the parameter block is different

Control with the control unit of from the control unit of the fixed the fixed parameters. parameters.

Set the home position address within the setting range using

MT Developer.

Set the home position return speed or less to the speed limit value using MT Developer.

Set the creep speed below to the home position return speed or less using MT Developer.

Set the travel value after the proximity dog ON within the setting range using MT Developer.

Set the parameter block No. within the setting range using MT

Developer.

Set the torque limit value at the creep speed within the setting range using MT Developer.

Set the dwell time at the home position return retry within the setting range using MT Developer.

Set the same control unit of the fixed parameters and servo parameters.

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 - 8

APPENDICES

Error code

(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

Control mode

Error cause

Error processing

Corrective action

100

101

• The PLC ready flag (M2000) or PCPU ready flag (SM500) is OFF.

• The start accept flag (M2001 to M2032) for applicable axis is ON.

• Set the Motion CPU to RUN.

• Turn the PLC ready flag

(M2000) 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).

• Turn the stop command

(M3200+20n) off and start. 103

104

105

(Note)

106

(Note)

107

• The stop command

(M3200+20n) for applicable axis is ON.

• The rapid stop command

(M3201+20n) for applicable axis is ON.

• The feed current value is outside the range of stroke limit at the start.

• Positioning is outside the range of stroke limit.

• The address that does not generate an arc is set at the auxiliary point-specified circular interpolation or auxiliary point-specified helical interpolation.

Relationship between the start point, auxiliary point and end point.

• Turn the rapid stop command

(M3201+20n) off and start.

• Set within the stroke limit range by the JOG operation.

• Set within the stroke limit

Positioning control does not start. range by the home position return or current value change.

• Perform the positioning within the range of stroke limit.

• Correct the addresses of the servo program.

108

(Note)

• 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.

(Note): These errors are stored the error codes of the all applicable interpolation axes at the interpolation operation.

APP - 9

APPENDICES

Error code

Table 1.4 Positioning control start error (100 to 199) list (Continued)

Control mode

Error cause

Error processing

Corrective action

109

• The address that does not generate an arc is set at the central point-specified circular interpolation or central point-specified helical interpolation.

Relationship between the start point, central point and end point.

• Correct the addresses of the servo program.

110

(Note)

111

115

116

• The difference between the end point address and ideal end point is outside the allowable error range for circular interpolation at the circular interpolation.

Positioning control

• The speed/position control does not restarting was performed, although it was not after stop start.

• Do not re-start except the stop during speed/position switching control. during operation of the 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.

• The setting JOG speed is

"0".

• The setting JOG speed exceeded the JOG speed limit value.

Control with the

JOG speed limit value.

• 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.

• Set the correct speed (within the setting range).

• The setting JOG speed limit value exceeded the setting range.

Control with the maximum setting range of each control unit.

• Set the correct JOG speed limit value (within the setting range).

(Note): These errors are stored the error codes of the all applicable interpolation axes at the interpolation operation.

APP - 10

APPENDICES

Error code


Control mode

Error cause

Error processing

Corrective action

117

• Both of forward and reverse rotation were set at the simultaneous start for the

JOG operation.

• The speed-switching point exceeded the end address.

118 • The address of the positioning in the reverse direction is not set.

Only the applicable axis set to the forward direction starts.

• Set a correct data.

Positioning

• Set the speed-switching point before the end address. control does not

• Set the forward direction start. address.

120

• 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

Home position return is combined type or start in the completed home position return for not correctly. data set type.

• Execute the home position return after the zero point passed.

121

130

• 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.

• Speed control with fixed position stop with was started for the axis set in except unit [degree].

• Speed control with fixed position stop was started in the axis which is not "stroke limit invalid".

• 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

Positioning control does not start. program" as "operation setting for incompletion of home position return".

• Set the unit [degree] in the axis which starts speed control with fixed position stop.

• Set the stroke limit invalid

"(Upper stroke limit value) equal to (lower stroke limit value)" in the axis which starts speed control with fixed position stop.

APP - 11

APPENDICES

Error code


Control mode

Error cause

Error processing

Corrective action

140

151

152

153

141

142

145

• The travel value of the reference axis is set at "0" in the linear interpolation for reference axis specification.

• Do not set axis of travel value

"0" as the reference axis.

• The position command device of position follow-up control is set the odd number.

• Set the even number for the position command device of position follow-up control.

• 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.

• Unusable instructions were started in the external input signal setting via servo amplifier.

• Not allowed axis started in the virtual mode. (It cannot be started with error at real mode/virtual mode switching.

• Set the external input signal in the system setting.

Positioning control

• Do not start the speed/position does not switching control and count type start. home position return in the external input signal setting via servo amplifier.

• Start in the virtual mode again after correct the error cause in the real mode.

• It started at the virtual mode and during deceleration by all axes servo OFF (M2042

OFF).

• It started at the virtual mode and during deceleration by occurrence of the output module servo error.

APP - 12

APPENDICES

Error code

(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

Control mode

Error cause

Error processing

Corrective action

200

201

202

203

204

206

• 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.

Deceleration stop


(M2000) on after all axes have stopped.

• Perform the home position return again after turning the

PLC ready flag (M2000) on or 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).

Rapid stop

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.


No

(M2000) off to on after all axes have stopped. operation Turn the PLC ready flag

(M2000) off to on during deceleration is "no operation".

• All axes rapid stop is executed using the test mode of MT Developer during the home position return.

Rapid stop

• 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 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.

APP - 13

APPENDICES

Error code

Table 1.5 Positioning control error (200 to 299) list (Continued)

Control mode

Error cause

Error processing

Corrective action

207

208

209

210

211

214

• 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.

• The feed current value of another axis exceeded the stroke limit value during the circular/helical interpolation control or simultaneous manual pulse generator operation. (For detection of other axis errors).

• 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.

• The setting travel value

Deceleration stop exceeded the stroke limit range at the speed/position switching (CHANGE) signal input during the speed/ position switching control.

• 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.

• The manual pulse generator was enabled during the start of the applicable axis, the

Manual pulse generator manual pulse generator operation was executed. input is ignored until the axis stops.

• 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.

• Correct the stroke limit range or setting travel value so that positioning control is within the range of stroke limit.

• Set the speed setting so that overrun does not occur.

• Set the travel value so that overrun does not occur.

• Execute the manual pulse generator operation after the applicable axis stopped.

APP - 14

APPENDICES

Error code

Table 1.5 Positioning control error (200 to 299) list (Continued)

Control mode

Error cause

Error processing

Corrective action

215

220

221

222

225

230

• The speed switching point address exceed the end point address.

• The positioning address in the reverse direction was set during the speed switching control.

Rapid stop

• Set the speed-switching point between the previous speed switching point address and the end point address.

• The same servo program was executed again.

• 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.

• Correct the Motion SFC program.

• When the control unit is

"degree", set the command address within the range of 0 to

35999999.

Deceleration stop

(M2001+n

OFF)

• Set the address within the stroke limit range.

• During the speed control with fixed position stop, the setting address exceeded the range of 0 to 35999999 at the fixed position stop command device ON.

• Set the command address within the range of 0 to

35999999.

• During the speed control with fixed position stop, the fixed position acceleration/deceleration time is "0" at the fixed position acceleration/deceleration time input.

• The speed at the pass point exceeded the speed limit value during the constantspeed control.


"1000".

• Set the acceleration/deceleration time within the range of 1 to

65535.

Control with the speed limit value.

• Set the speed command value within the range of 1 to speed limit value.

• When the skip is executed in the constant-speed control, the next interpolation instruction is an absolute

Immediate stop circular interpolation or absolute helical interpolation.

• Execute the absolute linear interpolation after a point which make a skip.

APP - 15

APPENDICES

Error code

(4) Current value/speed change errors (300 to 399)

These are errors detected at current value change or speed change.


1.6.

Table 1.6 Current value/speed change error (300 to 399) list

Control mode

Error cause

Error processing

Corrective action

300

• The current value was changed during positioning control of the applicable axis.

• The current value was changed for the axis that had not been started.

• The current value was changed for the servo OFF axis.

• The speed was changed for the axis during home position return.

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

302

• The speed was changed for the axis during circular interpolation.

• The speed after speed change is set outside the range of 0 to speed limit value.

305

• The absolute value of speed after speed change is set outside the range of 0 to speed limit value.

• The current value was changed outside the range

309 of 0 to 35999999 ( 10 -5

[degrees]) for the degree axis.

• The speed was changed during high-speed oscillation.

310

• The speed change to "0" was requested during highspeed oscillation.

Speed is not changed.

Control

Current value is not changed.

Speed is not changed.

• The value outside the range

311 of 1 to 1000[%] was set in the torque limit value change request (CHGT).

• The torque limit value

312 change request (CHGT) was made for the axis that had not been started.

Torque limit value is not changed.

• Do not change speed during home position return.

• Do not change speed during circular interpolation.

• Set the speed after speed change within the range of 0 to speed limit value. with the speed limit value.

• Set the absolute value of speed after speed change within the range of 0 to speed limit value.

• 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 range of 1 to 1000[%].

• Request the change for the starting axis.

APP - 16

APPENDICES

Error code

(5) System errors (900 to 999)

Control mode

Table 1.7 System error (900 to 999) list

Error cause

Error processing

Corrective action

901

• The motor travel value while the power is off exceeded the "System setting modeallowable travel value during

Further operation is possible.

power off" set in the system settings at the turning on of the servo amplifier.

• Check the position.

• Check the battery of encoder.

APP - 17

APPENDICES

APPENDIX 1.3 Major errors

These errors occur by control command from the external input signal or Motion SFC program, and the error codes 1000 to 1999 are used.

Major errors include the positioning control start errors, positioning control errors, absolute position system errors and system errors.

(1) Positioning control start errors (1000 to 1099)

These errors are detected at the positioning control start.


1.8.

Table 1.8 Positioning control start error (1000 to 1099) list

Control mode

Error code

Error cause

Error processing

Corrective action

1000

• The external STOP signal of the applicable axis turned on.

• Turn the STOP signal off.

1001

1002

1004

1005

1003

• The external signal FLS

(upper limit LS) turned off at the forward direction

(address increase direction) start.

• The external signal RLS

(lower limit LS) turned off at the reverse direction

(address decrease direction) start.

• The external DOG (proximity dog) signal turned on at the home position return start of the proximity dog type.

• Move in the reverse direction by the JOG operation, etc. and set within the external limit range.

• Move 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.

Positioning control at the home position return of does not the proximity dog type.

• Wait until the servo READY state (M2415+20n: ON). start.

• 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 mounted.

(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.

• Eliminate the servo error, reset the servo error detection signal

(M2408+20n) by the servo error reset command (M3208+20n), then start operation.

APP - 18

APPENDICES

Error code

(2) Positioning control errors (1100 to 1199)

These errors are detected at the positioning control.


1.9.

Table 1.9 Positioning control error (1100 to 1199) list

Control mode

Error cause

Error processing

Corrective action

1101

1102

1104

1105

1151

1103

• 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.

• The servo error detection signal turned on during positioning control.

• Travel in the reverse direction by the JOG operation, etc. and set within the external limit

Deceleration stop by

"Stop processing on STOP input" of the parameter block.

range.

• Travel in the forward direction by the JOG operation, etc. and set within the external limit range.

• Execute the home position return so that the external stop signal (stop signal) may not turn

Immediate stop without decelerating. on.

• Start after disposal at the servo error.

• The power supply of the servo amplifier turned off during positioning control.

(Servo not mounted status detection, cable fault, etc.)

• Home position return did not complete normally without

Turn the servo

READY

(M2415+

20n) off. stop within the in-position range of home position at

• Turn on the power supply of the servo amplifier.

• Check the connecting cable to the servo amplifier.

• Make the gain adjustment. the home position return.

• A synchronous encoder set in the system setting differs from a synchronous encoder actually connected.

Input from synchronous encoder does not accept.

• Set a synchronous encoder actually connected in the system setting.

• Q172DEX or encoder hardware error.

• Disconnected encoder cable.

Immediate input stop

• Check (replace) the Q172DEX or encoder.

• Check the encoder cable.

APP - 19

APPENDICES

Error code

(3) Absolute position system errors (1200 to 1299)

These errors are detected at the absolute position system.


1.10.

Table 1.10 Absolute position system error (1200 to 1299) list

Control mode

Error cause

Error processing

Corrective action

1201

1202

1203

1204

• A sum check error occurred with the backup data in the controller at the turning on servo amplifier power supply.

Home

• Home position return was not performed. position return

• CPU module battery error.

• Home position return started request ON but did not complete normally.

• Check the battery and execute a home position return.

• A communication error between the servo amplifier

Home position and encoder occurred at the return turning on servo amplifier request ON,

• Check the motor and encoder cables and execute a home position return again. power supply. servo error

[2016] set.

(Fully closed loop control servo amplifier use: Servo error [2070] is set.)

• Check the motor and encoder cables.

• The amount of change in encoder current value is excessive during operation.

A continual check is performed (both of servo

ON and OFF states) after the servo amplifier power has been turned ON.

• The following expression holds: "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.

Home position return request ON

APP - 20

APPENDICES

Error code

(4) System errors (1300 to 1399)

These errors are detected at the power-on.


1.11.

Table 1.11 System error (1300 to 1399) list

Control mode

Error cause

Error processing

Corrective action

1310

• Initial communication with the Multiple CPU system did not complete normally.

• Motion CPU fault.

Positioning control

• Replace the Motion CPU. does not start.

APP - 21

APPENDICES

APPENDIX 1.4 Servo errors

(1) Servo amplifier errors (2000 to 2899)

These errors are detected by the servo amplifier, and the error codes are [2000] to [2899].

The servo error detection signal (M2408+20n) turns on at the servo amplifier error occurrence. Eliminate the error cause, reset the servo amplifier error by turning on the servo error reset command (M3208+20n) and perform re-start.

(The servo error detection signal does not turn on because the codes [2100] to

[2599] are for warnings.)

(Note-1): As for the regenerative alarm (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.

Details of servo errors are shown in Table 1.12.

CAUTION

If a controller, servo amplifier self-diagnosis error occurs, check the points stated in this manual and clear the error.

APP - 22

APPENDICES

Table 1.12 Servo error (2000 to 2899) list

Error code

Error cause

Name Description

Error check

• Power supply voltage is low.

MR-J3-B: 160VAC or less

MR-J3-B1: 83 VAC or less

MR-J3-B4: 280 VAC or less

• There was an instantaneous control power failure of 60[ms] or longer.

• Shortage of power supply capacity caused the power supply voltage to drop at start, etc.

2010 Undervoltage

2012

Memory error 1

(RAM)

• The bus voltage dropped to the following value or less.

MR-J3-B: 200VDC

MR-J3-B1: 158VDC

MR-J3-B4: 380VDC

• Faulty parts in the servo amplifier

[Checking method]

Servo error [2010] occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.


(RAM memory error)

[Checking method]


Any time during operation

• Servo amplifier power on.

• Multiple CPU system power on.


(Printed board fault)

[Checking method]


Any time during operation • Faulty the controller

(Clock error transmitted from the controller)

[Checking method]

Servo error [2013] occurs if Motion CPU is used in the Multiple CPU system.

Error processing

Immediate stop

Corrective action

• Review the power supply.

• Replace the servo amplifier.



• Replace the Motion CPU.


2015

Memory error 2

(EEP-ROM)


(EEP-ROM fault)

[Checking method]


• The number of write times to EEP-ROM exceeded 100,000.



APP - 23

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error code

2016

Error cause

Name Description

Error check

• Encoder connector (CN2) disconnected.

• Encoder fault

Encoder error 1

(At power on)

• Encoder cable faulty

(Wire breakage or shorted)

• Encoder cable type (2-wire, 4-wire) selection was wrong in parameter setting.


(CPU/parts fault)

[Checking method]




2019

Memory error 3


(ROM memory fault)

[Checking method]

Servo error [2019] occurs if power is

(Flash ROM) switched on after disconnection of all cables but the control circuit power supply cables.

2020 Encoder error 2

• Encoder connector (CN2) disconnected.

• Encoder fault

• Encoder cable faulty

(Wire breakage or shorted)

• Power input wires and servomotor

2024

Main circuit error power wires are in contact.

[Checking method]

Servo error [2024] occurs if servo is switched on after disconnecting the U, V and W power cables from the servo amplifier.

• Sheathes of servomotor power cables deteriorated, resulting in ground fault.

• Main circuit of servo amplifier failed.

• Voltage drop in encoder

(Battery of servo amplifier disconnected.)


Error processing

Immediate stop

2025

Absolute position erase

• Battery voltage low

• Battery cable or battery is faulty.

• Home position return not set. (Power was switched on for the first time in the absolute position detection system.)



Corrective action

• Connect correctly.

• Replace the servomotor.

• Repair or replace the cable.

• Set the correct encoder type of servo parameter.




• Repair or replace the cable.

• Correct the wiring.

• Replace the cable.


Immediate stop

• After leaving the servo error

[2025] occurring for a few minutes, switch power off, then on again. Always make home position return again.

Home

• Replace the battery.

Always make home position position return return again. request

ON

• After leaving the servo error

[2025] occurring for a few minutes, switch power off, then on again. Always make home position return again.

APP - 24

APPENDICES


Error code

2027

2028

Error cause

Name Description

Error check

• Machine struck.

• Accuracy at initial magnetic pole detection is bad.

Error processing

Corrective action

• Check the machine.

• Review the parameter No.PS09 setting (magnetic pole detection voltage level).

• Correct the wiring. • Wrong wiring of the servomotor wires

(U, V, and W).

• Linear encoder resolution differs from the setting value.

Initial magnetic pole detection error


• Mismatch of the linear encoder mounting direction.


• Magnetic pole detection limit switch is not on.

Linear encoder error 2

• The temperature of linear encoder is high.

• The signal level of linear encoder has dropped.


• Review the parameter No.PS02 and PS03 setting (linear encoder resolution).

• Check the mounting of linear encoder.

Immediate

• Check the mounting direction of linear encoder. stop

• Connect the magnetic detection limit switch correctly.

• Set the limit switch to forced ON by the parameter No.PD02 setting. (When the amplifier input is used in the Motion CPU, do not set to forced ON since it is shared with the input signal.)

• Check the temperature of linear encoder and contact with the linear encoder manufacturer.


APP - 25

APPENDICES

2031 Overspeed


Error code

Error cause

Name Description

Error check

• Wrong setting of system setting

(regenerative brake)

• Built-in regenerative brake resistor or regenerative brake option is not connected.

• High-duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative brake option to be exceeded.

[Checking method]

Call the servo monitor and check the regenerative level.

2030

Regenerative alarm

• Power supply voltage is abnormal.

MR-J3-B: 260VAC or more

MR-J3-B1: More than 135VAC

MR-J3-B4: 535VAC or more

• Built-in regenerative brake resistor or regenerative brake option faulty.

• Regenerative transistor faulty.

[Checking method]

• The regenerative brake option has overheated abnormally.

• Servo error [2030] occurs even after removal of the built-in regenerative brake resistor or regenerative brake option.

• Command speed is too high. (Motor speed has exceeded the instantaneous permissible speed.)

• Small acceleration/deceleration time constant caused overshoot to be large.


• Servo system is instable to cause overshoot.

• Electronic gear ratio is high.

• Encoder faulty.

Error processing

Immediate stop

Corrective action

• Check the regenerative brake of system setting and set correctly.


• Reduce the frequency of positioning.

(Call the regenerative level [%] of servo monitor and reduce the frequency of acceleration/deceleration or feed speed.)

• Use the regenerative brake option of larger capacity.

• Reduce the load.

• Review the power supply

• Replace the servo amplifier or regenerative brake option..


• Check the servo program or mechanical system program, and set correctly.

• If an overshoot occurs during acceleration/deceleration, check the acceleration/deceleration time in the fixed parameters.

• Re-set servo gain to proper value.

• If servo gain cannot be set to proper value:

1) Reduce load inertia moment ratio; or

2) Reexamine acceleration/ deceleration time constant.

• Set correctly.(Check if the number of pulses per revolution and travel value per revolution in the fixed parameters match the machine system.


APP - 26

APPENDICES


Error code

Error cause

Name Description

Error check

2032 Overcurrent

• Short occurred in servomotor power (U,

V, W).

• Transistor (IPM) of the servo amplifier faulty.

[Checking method]

Servo error [2032] occurs if power is switched on after U, V and W are disconnected.

• Ground fault occurred in servomotor power (U, V, W).

• External noise caused the overcurrent detection circuit to misoperate.

• Lead of built-in regenerative brake resistor or regenerative brake option is open or disconnected.

• Regenerative transistor faulty.

• Wire breakage of built-in regenerative brake resistor or regenerative brake option.

Error processing

Corrective action




• Take noise suppression measures.

• Replace the lead.


2033 Overvoltage

2034

Communications error

2035

Command frequency error

• Noise entered the commands from the

Motion CPU.

2036

Transmission error

• Capacity of built-in regenerative brake resistor or regenerative brake option is insufficient.

• Power supply voltage is high.

• Ground fault occurred in servomotor power (U, V, W).

• Data received from the Motion CPU faulty.

• There is excessive variation in the position commands and command speed is too high from the Motion CPU.

• Motion CPU failure

• Fault in communication with the Motion

CPU.



• For wire breakage of built-in regenerative brake resistor, replace the servo amplifier.

• For wire breakage of regenerative brake option, replace the regenerative brake option.

Immediate

• Add regenerative brake option or increase capacity. stop

• Review the power supply.


• Check the connection of

SSCNET cable.

• Check if there is a disconnection in the SSCNET cable.

• Check the command speed and the number of pulses per revolution/travel value per revolution of the fixed parameters.


SSCNET cable.


• Check if any relays or solenoids are operating in the vicinity.

• Replace the Motion CPU.


SSCNET cable.


APP - 27

APPENDICES


Error code

2042

2042

Error cause

Name Description

Error check

• Linear encoder signal resolution differs from the setting value.

• Initial magnetic pole detection has not been performed.

• Mismatch of the linear encoder mounting direction.

• Wrong wiring of the servomotor wires

(U, V, and W).

• The position deviation exceeded the detection level.

Error processing

Corrective action

• Review the settings of parameter

No.PS02 and PS03 setting

(linear encoder resolution).


• Perform initial magnetic pole detection.

• Check the mounting direction of linear encoder.

• Review the setting of parameter

No. PC27 (encoder pulse count polarity).


Linear servo control error

(Linear servo amplifier)

Fully closed control error

(Fully closed loop control servo amplifier)

• The speed deviation exceeded the detection level.

• The thrust deviation exceeded the detection level.

• Load side encoder resolution differs from the setting value.

• Mismatch of the load side encoder mounting direction.

• The position deviation exceeded the detection level.

• The speed deviation exceeded the detection level.



• Review the operation condition.


No.PS05 (Linear servo control position deviation error detection level) as required.



No.PS06 (Linear servo control speed deviation error detection level) as required.

Immediate • Review the operation condition. stop • Review the setting of parameter

No.PS07 (Linear servo control thrust deviation error detection level) as required.

• Review the settings of parameter

No.PE04 and PE05 (Fully closed loop control feedback pulse electronic gear).

• Check the mounting of load side encoder.

• Check the mounting direction of load side encoder.


No. PC27 (encoder pulse count polarity).



No.PE07 (Fully closed loop control position deviation error detection level) as required.



No. PE06 (Fully closed loop control speed deviation error detection level) as required.

APP - 28

APPENDICES


Error code

2045

Error cause

Name Description

Error check

• Servo amplifier failure

• The power supply was turned on and off continuously by overloaded status.

Main circuit device overheat

• Ambient temperature of servo amplifier is over 55[°C] (131[°F]).

Error processing

Corrective action


• The drive method is reviewed.

2046

Servomotor overheat

2047

Cooling fan alarm

2050 Overload 1

• Used beyond the specifications of close mounting of servo amplifier.

• Ambient temperature of servomotor is over 40[°C] (104[°F]).

• Servomotor is overloaded.

• Thermal sensor in encoder is faulty.

• Cooling fan life expiration

• Foreign matter caught in the fan stopped rotation.

• The power supply of the cooling fan failed.

• Servo amplifier is used in excess of its continuous output current.

• Servo system is instable and hunting.

• Machine struck something.


• Review environment so that ambient temperature is 0 to

55[°C] (32 to 131[°F]).

• Use within the range of specifications.


40[°C] (32 to 104[°F]).

• Reduce load.

• Review operation pattern.

• Use servomotor that provides larger output.


• Replace the cooling fan of the servo amplifier.

• Remove the foreign matter.


Immediate • Reduce load. stop • Review operation pattern.


• Repeat acceleration/ deceleration to execute auto tuning.

• Change auto tuning response setting.

• Set auto tuning to OFF and make gain adjustment manually.


• Install limit switches.

• Connect correctly. • Wrong connection of servo motor.

(Servo amplifier's output terminals U, V,

W do not match servo motor's input terminals U, V, W.)

• Encoder faulty.

[Checking method]

When the servomotor shaft is rotated with the servo off, the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway.


APP - 29

APPENDICES


Error code

2051 Overload 2

2060

Error cause

Name Description

Error check


Motor

(AL.1A) combination error

Error processing

Corrective action



• Connect correctly. • Wrong connection of servomotor. (Servo amplifier's output terminals U, V, W do not match servo motor's input terminals

U, V, W.)

• Servo system is instable and hunting. `• Repeat acceleration/ deceleration to execute auto tuning.

• Change auto tuning response setting.

• Set auto tuning to OFF and make gain adjustment manually.

• Replace the servomotor. • Encoder faulty.

[Checking method]

When the servomotor shaft is rotated with the servo off, the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway.

• Acceleration/deceleration time constant is too small.

• Torque limit value is too small.

• Motor cannot be started due to torque shortage caused by power supply voltage drop.

• Model loop gain value of servo parameter is small.

• Servomotor shaft was rotated by external force.



• Encoder faulty

• Wrong connection of servomotor. (Servo amplifier's output terminals U, V, W do not match servomotor's input terminals

U, V, W.)

• Fault in combination with the servo amplifier and servomotor.



Immediate stop

• Increase the acceleration/deceleration time.

• Increase the torque limit value.

• Review the power supply capacity.

• Use servomotor which provides larger output.

• Increase set value and adjust to ensure proper operation.

• When torque is limited, increase the limit value.

• Reduce load.






• Use the correct combination with the servo amplifier and servomotor.

APP - 30

APPENDICES


Error code

2061

(AL.2A)

Error cause

Name Description

Error check

Linear encoder error 1

• The speed of linear encoder has exceeded the range of use.

• Noise entered.

• Alarm of the linear encoder.


Error processing

Corrective action

• Change the speed of linear encoder within the range of use.

• Take the noise reduction measures.

• Contact with the linear encoder manufacturer.

2070

• Defective installation positions of the scale and head.

• The connector CN2L is disconnected.

• Adjust the positions of the scale and head.


• Faulty of the load side encoder cable

Load side encoder error 1

• Wrong wiring of the load side encoder cable

• The load side encoder cable type (2parameter setting.

• Servo amplifier power on. wire, 4-wire) selection was wrong in the


• The startup timing is slow.

(For the load side encoder with the external power supply input)

• Faulty of the load side encoder cable

• Repair or change the cable.

• Review the wiring connection.

Immediate

• Correct the setting in the fourth digit of parameter No. PC26 stop encoder cable communication system selection).

• Make the startup timing of the external power supply fast.

• Repair or change the cable.

2071

Load side encoder error 2

• Wrong wiring of the load side encoder cable

• The power supply voltage dropped.

(For the load side encoder with the external power supply input)

• CPU, parts faulty

Watchdog

2088

(88)

2102 Open battery

(AL.92) cable warning

• Battery cable for absolute position detection system is open.

• Voltage of battery for absolute position detection system supplied fell to about

3V or less.

(Detected with the encoder.)

2106

(AL.96)

Home position setting warning

• After home position return, droop pulses remaining are greater than the inposition range setting.

• Creep speed is high.

2116

(AL.9F)

Battery warning

• Voltage of battery for absolute position detection system installed to servo amplifier fell to 3.2V or less.

(Detected with the servo amplifier.)

Excessive

2140

(AL.E0) regenerative warning

2141 Overload

(AL.E1) warning 1

• There is a possibility that regenerative alarm [2030] may occur.

(Detected 85[%] regenerative level of the maximum load capacity for the regenerative register.)

• There is a possibility that overload alarm

[2050], [2051] may occur.

(Detected 85[%] overload level.)


• Review the wiring connection.

• Check the power supply capacity and voltage.


• Repair the cable or replace the battery.

• Replace the battery.

• Re-try the home position return.

• Reduce the creep speed.

Operation • Replace the battery. continues

• Refer to the details on the regenerative alarm [2030].

• Refer to the details on the overload alarm [2050], [2051].

APP - 31

APPENDICES

Error code


Error cause

Name Description

Servo motor

2142

(AL.E2) overheat warning

Absolute

2143

(AL.E3) position counter warning

• Ambient temperature of servomotor is over 40[°C] (104[°F]).

• Servomotor is overloaded.

• Thermistor in encoder is faulty.

• Absolute position encoder pulses faulty.

2146

(AL.E6)

Servo forced stop warning

Controller

2147

(AL.E7) forced stop warning

• Servo amplifier are forced stop state.

(Servo amplifier input signal EM1 is

OFF.)

• A forced stop signal is input from the

Motion CPU

• Cooling fan life expiration

Cooling fan

2148

(AL.E8) speed reduction warning

• The power supply of the cooling fan is broken.

Error check


Error processing

Corrective action


49[°C] (32 to 104[°F]).

Operation • Reduce load. continues • Review operation pattern.



Operation • Take noise suppression continues measures.


Home position return request

ON

• Execute the home position return after measures.

• Ensure safety and deactivate forced stop.

Immediate stop • Ensure safety and deactivate forced stop.

• Replace the cooling fan of servo amplifier.


• Replace the cooling fan of servo amplifier.

• Switch on the main circuit power. 2149 Main circuit off

(AL.E9) warning

2152

(AL.EC)

Overload warning 2

• Servo-on signal was turned on with main circuit power off.

• During a stop, the status in which a current flew intensively in any of the U, V and W phases of the servomotor occurred repeatedly, exceeding the warning level.

2153

(AL.ED)

Output watt excess warning

• Continuous operation was performed with the output wattage (speed torque) of the servomotor exceeding

150[%] of the rated output.

Operation

• Reduce the positioning frequency at the specific positioning continues address.


• Replace the servo amplifier/ servomotor with the one of larger capacity.

• Reduce the servomotor speed.


APP - 32

APPENDICES

Error code


Error cause

Name Description

Error check

Error processing

Corrective action

• The servo parameter value is outside the setting range. (Any unauthorized parameter is ignored and the value before setting is held.)

Error code

Parameter

No.

Name

2301 PA01 For manufacturer setting

2302 PA02 Regenerative brake option

2304 PA04 Function selection A-1




2308 PA08 Auto tuning mode

2309 PA09 Auto tuning response




2314 PA14 Rotation direction selection

2315 PA15 Encoder output pulse

2301 For manufacturer setting

Parameter to For manufacturer setting error

2599 For manufacturer setting

2319 PA19 Parameter write inhibit

2320 PB01 Adaptive tuning mode

2322 PB03 For manufacturer setting

2323 PB04 Feed forward gain


2326 PB07 Model loop gain

2327 PB08 Position loop gain

2328 PB09 Speed loop gain

2329 PB10 Speed integral compensation

2330 PB11 Speed differential compensation



Operation continues

• Check the setting ranges of the servo parameters.

2333 PB14 Notch form selection 1

2334 PB15 Machine resonance suppression filter 2

2335 PB16 Notch form selection 2

APP - 33

APPENDICES

Error code


Error cause

Name Description

Error check

Error code

Parameter

No.

Name

Error processing

Corrective action

Vibration suppression control

2338 PB19 vibration frequency setting


2339 PB20 resonance frequency setting



Low-pass

Slight vibration suppression

2343 PB24 control selection


2345 PB26 Gain changing selection

2346 PB27 Gain changing condition

2347 PB28 Gain changing time constant

Gain changing ratio of load inertia moment

Gain changing position loop

2349 PB30 gain

2301 to

2599

Parameter error

Gain changing speed loop

2350 PB31 gain

Gain changing speed integral

2351 PB32 compensation

Gain changing vibration frequency setting






Operation continues








2365 PC01 Error excessive alarm level

Electromagnetic brake

2366 PC02 sequence output

APP - 34

APPENDICES

Error code


Error cause

Name Description

Error check

Error code

Parameter

No.

Name

Error processing

Corrective action

2368 PC04 Function selection C-1


2370 PC06 Function selection C-3 speed

2372 PC08 For manufacturer setting

2373 PC09 Analog monitor output 1

2301 to

2599

2374

2375

2376

2377

2378

2379

2380

2381

PC10

PC11

PC12

PC13

PC14

PC15

PC16

PC17

Analog monitor output 2

Analog monitor 1 offset


For manufacturer setting





Parameter error




2385 PC21 Alarm history clear





Operation continues








2397 PD01 For manufacturer setting







APP - 35

APPENDICES

Error code


Error cause

Name Description

Error check

Error code

Parameter

No.

Name

2407 PD11 Input filter setting


Error processing

Corrective action

2301 to

2599

2410 PD14 Function selection D-3
















Parameter error





Operation continues


APP - 36

APPENDICES

Error code


Error cause

Name Description

Error check

Initial parameter error

• The parameter setting is wrong.

• The parameter data was corrupted.

Error Parameter

Name code No.


Error processing

Corrective action

2603 PA03

Absolute position detection system

Initial

For manufacturer setting parameter to For manufacturer setting error

2899 Parameter write inhibit

2621 PB02

Vibration suppression control filter tuning mode



Immediate stop

• After checking and correcting of the parameter setting, turn off to on or reset the power of Multiple

CPU system.

2625 PB06

Ratio of load inertia moment to servo motor inertia moment

2630 PB11

Speed differential compensation

2632 PB13

Machine resonance suppression filter 1

2634 PB15

Machine resonance suppression filter 2

APP - 37

APPENDICES

Error code


Error cause

Name Description

Error check

Error code

Parameter

No.

Name

Error processing

Corrective action


2638 PB19 vibration frequency setting


2639 PB20 resonance frequency setting



Low-pass

Slight vibration suppression

2643 PB24 control selection


2645 PB26 Gain changing selection

2646 PB27 Gain changing condition

2647 PB28 Gain changing time constant

Gain changing ratio of load inertia moment

Gain changing position loop

2649 PB30 gain

2601 to

2899


Gain changing speed loop

2650 PB31 gain

Gain changing speed integral

2651 PB32 compensation

Gain changing vibration



Immediate stop


CPU system. frequency setting











2665 PC01 Error excessive alarm level

Electromagnetic brake

2666 PC02 sequence output

APP - 38

APPENDICES

Error code


Error cause

Name Description

Error check

Error code

Parameter

No.

Name

Error processing

Corrective action



2670 PC06 Function selection C-3 speed


2673 PC09 Analog monitor output 1

2601 to

2899


2674

2675

2676

2677

2678

2679

2680

2681

PC10

PC11

PC12

PC13

PC14

PC15

PC16

PC17

Analog monitor output 2











2685 PC21 Alarm history clear






Immediate stop


CPU system.














APP - 39

APPENDICES

Error code


Error cause

Name Description

Error check

Error code

Parameter

No.

Name

2707 PD11 Input filter setting


2601 to

2899


2710 PD14 Function selection D-3



















Error processing

Corrective action



Immediate stop


CPU system.

APP - 40

APPENDICES

APPENDIX 2 Example Programs

APPENDIX 2.1 Reading M-code

The program example for reading M-code at the completion of positioning start or positioning is shown below.

The judgement of the positioning start completion and positioning completion is made with the following signals.

• 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

Q61P Q03UD

CPU

Q172D

CPU

QY40 QY40 Q172D

LX

PY000

to

PY00F

PY010

to

PY01F

Motion SFC program

Reading M-code

[G10]

M2401 Positioning start complete flag for axis 1 ON ?

[F10]

#0=BCD(D13)

DOUT PY0, #0

Read M-code for axis 1, and store to #0 after

BCD conversion.

Output the data of "#0" to "PY000 to PY00F".

END

APP - 41

APPENDICES

APPENDIX 2.2 Reading error code

The program example for reading error code at the error occurrence is shown below.

The following signals are used to determine whether or not an error has occurred:

• Minor errors, major errors ………. Error detection signal (M2407+20n)

• Servo errors ……………………... Servo error detection signal (M2408+20n)

POINT

(1) The following delay occurs for leading edge of M2407+20n/M2408+20n and storage of the error code.

(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 storage area after turning on

M2407+20n/M2408+20n, and then read the error code.

APP - 42

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 Q03UD

CPU

Q172D

CPU

QY40 QY40 QY40 Q172D

LX

PY000

to

PY00F

PY010

to

PY01F

PY020

to

PY02F

Motion SFC program

Reading error code (minor error/major error)

Reading error code

[F10]

#0=K0

[G10]

M2407

[G20]

D6!=K0

Reading error code (servo error)

[F10]

Reading error code

#0=K0

Store to "#0".


ON for axis 1.

[G10]

[F20]

Minor error check for axis 1.

M2408*(D8!=0)

#0=BCD(D8)

DOUT PY20, #0

[F20]

#0=BCD(D6)

DOUT PY0, #0

Output to PY000 after converting the minor error code of D6 into

BCD code.

END

Store to "#0".

Error detection signal ON for axis 1 and the servo error check for axis 1.

Output to PY020 after converting the servo error code for axis 1 into

BCD code.

[G30]

D7!=K0

[F30]

#0=BCD(D7)

DOUT PY10, #0

Major error check for axis 1.

Output to PY010 after converting the major error of D7 into BCD code.

END

APP - 43

APPENDICES

APPENDIX 3 Setting Range for Indirect Setting Devices

Positioning address, command speed or M-code, etc. (excluding the axis No.) set in the servo program can be set indirectly by the word.

(1) Device range

The number of device words and device range at indirect setting are shown below.

Item

Number of device words

Device setting range Remarks

Parameter block No.

Address (travel value)

1

2

Command speed

Dwell time

2

1

Device

D

Range

0 to 8191 (Note-1)

Torque limit value

Auxiliary point

1

2

#

U \G

0000 to 7999

10000 to (10000+p-1) (Note-2)

Radius 2

Central point

Pitch

Control unit

Speed limit value

Acceleration time

Deceleration time


S-curve ratio

Torque limit value

2

1

1

2

1

1

1

1

1

STOP input deceleration processing

Circular interpolation error allowance range

Command speed (Constant speed)

FIN acceleration/deceleration

Fixed position stop acceleration/deceleration time

1

2

2

1

1

Repetition condition (Number of repetitions)

Repetition condition (ON/OFF)

1

Cancel

Skip

WAIT ON/OFF

Fixed position stop

Bit

Device Range

X

Y

M

B

0000 to 1FFF

0000 to 1FFF

0 to 8191 (Note-1)

0000 to 1FFF

F 0 to 2047

U \G 10000.0 to (10000+p-1).F (Note-2)

(Note-1): Synchronous encoder axis area cannot be set.


APP - 44

APPENDICES

POINT

(1) Be sure to set even-numbered devices for 2-word setting items.

Be sure to set as 32-bit integer type when the data is set in these devices using the Motion SFC programs. (Example : #0L, D0L)

(2) Refer to Chapter 2 of the "Q173DCPU/Q172DCPU Motion controller

Programming Manual (COMMON)" for the user setting area points of the Multiple

CPU high speed transmission area..

(2) Inputting device data

Indirect setting device data is inputted by the Motion CPU at the servo program start.

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

Start by the servo program

Set the loop (FOR - NEXT) point data for CPSTART instruction indirectly

Setting method Notes

Set data in indirect setting devices.

Start the servo program.

Set initial command data in the indirect setting device.

Do not change the indirect setting device before the "positioning start complete signal" of the starting axis turns on.

Start using the servo program (or turn the cancel command device on).

Read the value of "data set pointer for constant-speed control" of the start axis, and update the data input by

Motion CPU.

Refer to the positioning signal data register "Monitoring data area" for details.

APP - 45

APPENDICES

APPENDIX 4 Processing Times of the Motion CPU

The processing time of each signal and each instruction for positioning control in the

Multiple CPU system is shown below.

(1) Motion operation cycle [ms] (Default)

Number of setting axes (SV22)

Number of setting axes (SV13)

Operation [ms]

1 to 4 5 to 12 13 to 28 29 to 32 1 to 4 5 to 8

1 to 6 7 to 18 19 to 32 1 to 6 7 to 8

0.44 0.88 1.77 3.55 0.44 0.88

(2) CPU processing time [ms]

The instruction processing time means the time until the content is reflected to servo amplifier side after each instruction is executed.

(Including the transmission time between Motion controller and servo amplifier.)

Operation [ms] 0.44 0.88 1.77 3.55 7.11 14.2

"WAIT ON/OFF"

+ Motion control step

Instruction (CHGV) from the Motion SFC

0.88 1.77 2.66 4.44 7.99 15.11

Servo program start Only Motion control step 1.0 to 1.4 1.9 to 2.8 2.8 to 4.6 4.6 to 8.2 8.1 to 15.2 15.2 to 29.4

processing time

(Note-1)

Dedicated instruction

(D(P).SVST) from the

PLC CPU

2.2 to 3.1 3.5 to 4.4 5.3 to 6.2 8.8 to 9.7 16.0 to 16.9 30.2 to 31.1

0.8 to 1.3 1.7 to 2.6 2.6 to 4.4 4.4 to 8.0 8.0 to 15.1 15.1 to 29.3

Speed change response time


(D(P).CHGV) from the

PLC CPU

1.7 to 2.6 2.6 to 3.5 3.5 to 4.4 5.3 to 6.2 8.9 to 9.8 16.0 to 16.9

Instruction (CHGT) from the Motion SFC

Torque limit value change response time


(D(P).CHGT) from the

PLC CPU

Time from PLC ready flag (M2000) ON to

PCPU ready flag (SM500) ON

0.8 to 1.3 1.7 to 2.6 2.6 to 4.4 4.4 to 8.0 4.4 to 11.5 4.4 to 18.6

1.7 to 2.6 2.6 to 3.5 3.5 to 4.4 5.3 to 6.2 5.3 to 9.7

22 to 28

5.3 to 16.0

(Note-1): FEED instruction varies greatly depending on the condition (whether other axes are operating or being stopped).

APP - 46

APPENDICES

APPENDIX 5 Device List

Axis No.

25

26

27

28

29

30

31

32

19

20

21

22

15

16

17

18

11

12

13

14

7

8

9

10

23

24

1

2

3

4

5

6

(1) Axis status list

Device No.

M2880 to M2899

M2900 to M2919

M2920 to M2939

M2940 to M2959

M2960 to M2979

M2980 to M2999

M3000 to M3019

M3020 to M3039

19 M-code outputting signal

Signal name

M2400 to M2419

M2420 to M2439

M2440 to M2459

M2460 to M2479

M2480 to M2499

M2500 to M2519

M2520 to M2539

M2540 to M2559

M2560 to M2579

M2580 to M2599

M2600 to M2619

M2620 to M2639

M2640 to M2659

M2660 to M2679

M2680 to M2699

M2700 to M2719

M2720 to M2739

M2740 to M2759

M2760 to M2779

M2780 to M2799

M2800 to M2819

M2820 to M2839

M2840 to M2859

M2860 to M2879

18

Signal name

0 Positioning start complete

1 Positioning complete

2 In-position

3 Command in-position

4 Speed controlling

5 Speed/position switching latch

6 Zero pass

7 Error detection

8 Servo error detection

9 Home position return request

10 Home position return complete

11 FLS

12

13

External signals

RLS

STOP

14 DOG/CHANGE

15 Servo ready

16 Torque limiting

17 Unusable

Virtual mode continuation operation disable warning signal (SV22)

(Note-1)

Refresh cycle

Operation cycle

Immediate

Operation cycle

Main cycle

Operation cycle

Main cycle

Operation cycle


Operation cycle

Fetch cycle Signal direction

Status signal

Status signal


POINT




APP - 47

APPENDICES

Axis No. Device No.

(2) Axis command signal list

1 M3200 to M3219

2 M3220 to M3239

3 M3240 to M3259

Signal name

4 M3260 to M3279

5 M3280 to M3299

6 M3300 to M3319

7 M3320 to M3339

0 Stop command

1 Rapid stop command

2 Forward rotation JOG start command

3 Reverse rotation JOG start command

8 M3340 to M3359

9 M3360 to M3379

10 M3380 to M3399

4 Complete signal OFF command

Speed/position switching enable

5 command

Signal name

Refresh cycle

11 M3400 to M3419

12 M3420 to M3439

13 M3440 to M3459

6 Unusable

7 Error reset command

8 Servo error reset command

14 M3460 to M3479

15 M3480 to M3499

16 M3500 to M3519 10

17 M3520 to M3539 11

18

19

M3540 to M3559

M3560 to M3579

External stop input disable at start

9 command

Unusable

Feed current value update request

12 command

20 M3580 to M3599

21 M3600 to M3619

Address clutch reference setting


(Note-1)

22

23

M3620 to M3639

M3640 to M3659

Cam reference position setting


(Note-1)

24 M3660 to M3679 15 Servo OFF command

25 M3680 to M3699 16 Gain changing command

26 M3700 to M3719 17 Unusable

27 M3720 to M3739 18 Control loop changing command

28 M3740 to M3759

29 M3760 to M3779

30 M3780 to M3799

31 M3800 to M3819

32 M3820 to M3839

Fetch cycle

Operation cycle

Main cycle

Operation cycle

Main cycle

At start

At start


Operation cycle

Operation cycle

(Note-2)

Operation cycle

Signal direction

Command signal

Command signal

Command signal

Command signal


(Note-2): Operation cycle 7.1[ms] or more: Every 3.5[ms]

POINT




APP - 48

APPENDICES

Device

No.

Signal name

M2000 PLC ready flag

M2001 Axis 1

M2002 Axis 2

M2003 Axis 3

M2004 Axis 4

M2005 Axis 5

M2006 Axis 6

M2007 Axis 7

M2008 Axis 8

M2009 Axis 9

M2010 Axis 10

M2011 Axis 11

M2012 Axis 12

M2013 Axis 13

M2014 Axis 14

M2015 Axis 15

M2016 Axis 16

M2017 Axis 17

Start accept flag

M2018 Axis 18

M2019 Axis 19

M2020 Axis 20

M2021 Axis 21

M2022 Axis 22

M2023 Axis 23

M2024 Axis 24

M2025 Axis 25

M2026 Axis 26

M2027 Axis 27

M2028 Axis 28

M2029 Axis 29

M2030 Axis 30

M2031 Axis 31

M2032 Axis 32

M2033 Unusable

M2034 (2 points)

M2035


M2036

M2037

Unusable

(2 points)

M2038 Motion SFC debugging flag

M2039 Motion error detection flag

M2040


M2041 System setting error flag

M2042 All axes servo ON command

M2043


M2044

Real mode/virtual mode switching status (SV22)

M2045

Real mode/virtual mode switching error detection signal (SV22)

M2046 Out-of-sync warning (SV22)

M2047 Motion slot fault detection flag


Refresh cycle

Operation cycle

Fetch cycle

Main cycle

Signal direction

Command signal

(Note-4)

M3072

Status signal

(Note-1),

(Note-2)

Remark Device

No.

M2053

Signal name


Refresh cycle

M2054 Operation cycle over flag Operation cycle

M2055

M2056

M2057

M2058

M2059

M2060

Unusable

(6 points)

— —

M2085 Axis

—

M2086 Axis

Main cycle

Command signal

M3080

— —

M2089 Axis

—

M2090 Axis

At debugging mode transition

Status signal

Immediate M2093

Operation cycle

At start

Operation cycle


Command signal

Status signal

Command signal

M3073

M2094

M2095

M2096

M2097

M2098

M3074 M2099

M2100

M3075

Unusable

(8 points)


Operation cycle

Status signal

Speed changing accepting flag

Synchronous encoder current value changing flag

(Note-3)

(12 axes)

Operation cycle

Operation cycle

M2048


M2049 All axes servo ON accept flag

M2050 Unusable

M2051


M2052


Main cycle

Command signal

M3076

Status

Operation cycle signal

Main cycle

M2113

Command signal

—

Unusable

M2115

M3077 (6 points)

M2116

M3078

M2117

M2118

Fetch cycle

Main cycle

Signal direction

Remark

(Note-4)

Command signal

Status signal

M3079

Status signal

(Note-1),

(Note-2)

Status signal

(Note-1),

(Note-2)

APP - 49

APPENDICES

M2178

M2179

M2180

M2181

M2182

M2183

M2184

M2185

M2186

M2187

M2161

M2162

M2163

M2164

M2165

M2166

M2167

M2168

M2169

M2170

M2171

M2172

M2173

Unusable

(28 points)

M2174

(Note-5)

M2175

M2176

M2177

Device

Signal name

No.

M2119

M2120

M2121

M2122

M2123

Unusable

(9 points)

M2124

M2125

M2126

M2127

M2128 Axis 1

M2129 Axis 2

M2130 Axis 3

M2131 Axis 4

M2132 Axis 5

M2133 Axis 6

M2134 Axis 7

M2135 Axis 8

M2136 Axis 9

M2137 Axis 10

M2138 Axis 11

M2139 Axis 12

M2140 Axis 13

M2141 Axis 14

M2142 Axis 15

M2143 Axis 16 Automatic

M2144 Axis 17 decelerating flag

M2145 Axis 18

M2146 Axis 19

M2147 Axis 20

M2148 Axis 21

M2149 Axis 22

M2150 Axis 23

M2151 Axis 24

M2152 Axis 25

M2153 Axis 26

M2154 Axis 27

M2155 Axis 28

M2156 Axis 29

M2157 Axis 30

M2158 Axis 31

M2159 Axis 32

M2160



Signal direction

Remark Device

(Note-4)

No.

M2188

M2189

M2190

M2191

— —

Operation cycle

Status signal

(Note-1),

(Note-2)

Signal name

M2209

M2210

M2211

M2212

M2213

M2214

M2215

M2216

M2217

M2218

M2219

M2220

M2221

M2222

M2223

M2224

M2225

M2226

M2227

M2228

M2229

M2193

M2194

M2195

M2196

M2197

M2198

M2199

M2200

M2201

M2202

M2203

M2204

M2205

M2206

M2207

M2208

Unusable

(36 points)

(Note-5)

M2230

M2231

M2232

M2233

Unusable

(16 points)

M2234

M2235

M2236

M2237

M2238

M2239

— —

M2242 Axis

—

M2243 Axis

M2253 Axis 14

M2254 Axis 15

Refresh cycle


Operation cycle

APP - 50

Fetch cycle

Signal direction

Remark

(Note-4)

Status signal

(Note-1),

(Note-2)

APPENDICES

Device

No.

M2257 Axis 18

M2258 Axis 19

M2259 Axis 20

M2260 Axis 21

M2261 Axis 22

Signal name

M2262 Axis 23

M2263 Axis 24

M2264 Axis 25


M2265 Axis 26

M2266 Axis 27

M2267 Axis 28

M2268 Axis 29

M2269 Axis 30

M2270 Axis 31

M2271 Axis 32

M2272 Axis 1

M2273 Axis 2

M2274 Axis 3

M2275 Axis 4

M2276 Axis 5

M2277 Axis 6

M2278 Axis 7

M2279 Axis 8

Control loop

M2280 Axis 9

M2281 Axis 10 monitor status

M2282 Axis 11

M2283 Axis 12

M2284 Axis 13

M2285 Axis 14

M2286 Axis 15

M2287 Axis 16

M2288 Axis 17


Refresh cycle

Operation cycle

Fetch cycle

Signal direction

Remark

(Note-4)

Device

No.

Signal name

24


Refresh cycle

Operation cycle

Fetch cycle

Signal direction

Remark

(Note-4)

Status signal

(Note-1),

(Note-2)

Status signal

(Note-1),

(Note-2)

M2304

M2305

M2306

M2307

M2308

M2309

M2310

M2311

M2312

M2313

Unusable

(16 points)

M2314

M2315

M2316

M2317

M2318

M2319



(Note-3): This signal is unusable in the SV13/SV22 real mode.


(Note-5): These devices can be used as the clutch statuses.

The clutch status can also be set as the optional device at the clutch parameter.

Refer to Chapter 7 of the "Q173DCPU/Q172DCPU Motion controller (SV22)

Programming Manual (VIRTUAL MODE)" for details.

APP - 51

APPENDICES

(4) Common device list (Command signal)

Device No.

M3072

M3073

M3074

M3075

M3076

Signal name

PLC ready flag








Main cycle

At start

Operation cycle


Signal direction

Command signal

Remark

(Note-1), (Note-2)

M2000

M2040

M2042

M2043

M2048

M3077

M3078

Main cycle

M2051

M2052

M3079

M3080



M2053

M2035

M3081 to

Unusable

(Note-3)

(55 points)

— — — —

M3135

(Note-1): The state of a device is not in agreement when the device of a remark column is turned ON/OFF 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-3): Do not use it as an user device. It is possible to use it as a device which does automatic refresh because it becomes a reserve aria for command signal.

POINT

The device of a remark column turns ON by OFF to ON of the above device, and turns OFF by ON to OFF of the above device.

The command signal cannot be turned ON/OFF by the PLC CPU in the automatic refresh because the statuses and commands are mixed together in M2000 to

M2053. Use the above devices in the case.

And, it can also be turned ON/OFF by the data register. (Refer to Section 3.2.3)

APP - 52

APPENDICES

Axis

No.

Device No.

(5) Axis monitor device list

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

Feed current value

Real current value Operation cycle

8 D140 to D159 4

9 D160 to D179 5

Deviation counter value

10 D180 to D199 6 Minor error code

11 D200 to D219 7 Major error code

Immediate

12 D220 to D239 8 Servo error code Main

13 D240 to D259

14 D260 to D279


9 re-travel value

Operation cycle

15 D280 to D299 10 Travel value after

16 D300 to D319 11 proximity dog ON

17 D320 to D339 12 Execute program No.

18 D340 to D359 13 M-code

At start

Operation cycle

19 D360 to D379 14 Torque limit value

20 D380 to D399

21 D400 to D419

Data set pointer for

15 constant-speed control

At start/during start

22 D420 to D439 16

23 D440 to D459 17

Unusable

24 D460 to D479 18

25 D480 to D499 19

Real current value at stop input

Operation cycle

Fetch cycle

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

PLS

Unit

Command unit

Signal direction

Monitor device

PLS

Command unit

%

Command unit

Monitor device

(Note-1): It can be used as the travel value change register. The travel value change register can be set to the device optionally in the servo program.

POINT




APP - 53

APPENDICES

Axis

No.

Device No.

(6) Control change register list

Signal name

0

JOG speed setting

1

At start

POINT




Unit direction

Command unit

Command device

APP - 54

APPENDICES

Device

No.

Signal name

D704 PLC ready flag request

D705

D706

Speed switching point specified flag request

All axes servo ON command request

D707

D708


JOG operation simultaneous start command request

D709 Unusable

D710

D711

D712

D713

D714

D715

D716

D717

D718

D719

JOG operation simultaneous start axis setting register







15 input magnification setting register

(Note-1), (Note-2)



Main cycle

Signal direction

Command device

Device

No.

Signal name

D752

D753



D754


D755


D756




Main cycle

Signal direction

Command device

At start


D758

D759

D760

D761

D762

D763

D764

D765

D766

D767

D768

D769

D770

D771

D772

D773

D774

D775

D776

D777

Command device

D778

D779

Unusable

(42 points)

D780

D781

D782

D783

D784

D785

D786

D787

D788

D789

D790

D791

D792

D793

D794

D795

D796

D797

D798

D799



APP - 55

APPENDICES

(8) Motion register list (#)

Axis

No.


1 #8000 to #8019

2 #8020 to #8039

3 #8040 to #8059


4 #8060 to #8079 0 Servo amplifier type

5 #8080 to #8099 1 Motor current

6 #8100 to #8119 2

7 #8120 to #8139 3

Motor speed

8 #8140 to #8159 4

9 #8160 to #8179 5

10 #8180 to #8199 6

11 #8200 to #8219 7

12 #8220 to #8239 8

13 #8240 to #8259 9

Command speed


When the servo amplifier power-on

Operation cycle 1.7[ms] or less: Operation cycle

Operation cycle 3.5[ms] or more: 3.5[ms]

Operation cycle

At home position return re-travel

14 #8260 to #8279 10

15 #8280 to #8299 11

16 #8300 to #8319 12

17 #8320 to #8339 13

Unusable

18 #8340 to #8359 14

19 #8360 to #8379 15

20 #8380 to #8399 16

21 #8400 to #8419 17

22 #8420 to #8439 18

23 #8440 to #8459 19

24 #8460 to #8479

25 #8480 to #8499

26 #8500 to #8519

27 #8520 to #8539

28 #8540 to #8559

29 #8560 to #8579

30 #8580 to #8599

31 #8600 to #8619

32 #8620 to #8639

Signal direction

Monitor device

APP - 56

APPENDICES

(9) Special relay list


SM500 PCPU REDAY complete flag

SM501 TEST mode ON flag

SM502 External forced stop input flag

SM503 Digital oscilloscope executing flag

SM512 Motion CPU WDT error flag

SM513 Manual pulse generator axis setting error flag

SM516 Servo program setting error flag

Refresh cycle Fetch cycle Signal type

Main cycle Status signal

Device No.

(10) Special register list

Signal name Refresh cycle Fetch cycle Signal direction

SD512

SD513

SD514

SD515

SD516

SD517

SD522

SD523

SD803

SD500

SD501

SD502

SD503

SD504

SD505

SD506

SD508

SD510

SD511

Main cycle

Real mode axis information register (SV22)

Servo amplifier loading information

At power supply on/ operation cycle

Real mode/virtual mode switching error information (SV22)

Connect/disconnect (status)

Test mode request error information

Motion CPU WDT error cause

Manual pulse generator axis setting error information

Error program No.


Motion operation cycle

Operation cycle of the Motion CPU setting

Connect/disconnect (command)


Main cycle

At test mode request

At Motion CPU

WDT error occurrence


At start

Operation cycle

At power supply on

Main cycle

Monitor device

Command device

APP - 57

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.

MOTION CONTROLLER Qseries

SV13/SV22 Programming Manual(REAL MODE)

(Q173DCPU/Q172DCPU)

HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

MODEL Q173D-P-SV13/22REALE

MODEL

CODE

1XB930

IB(NA)-0300136-A(0801)MEE

When exported from Japan, this manual does not require application to the

Ministry of Economy, Trade and Industry for service transaction permission.

IB(NA)-0300136-A(0801)MEE Specifications subject to change without notice.


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Mitsubishi MOTION CONTROLLERS Q172DCPU Instruction manual

MITSUBISHI ELECTRIC

Motion Controllers

Programming Manual

SV13/SV22 (REAL MODE)

MITSUBISHI ELECTRIC

INDUSTRIAL AUTOMATION

DANGER

CAUTION

For Safe Operations

1. Prevention of electric shocks

2. For fire prevention

3. For injury prevention

4. Various precautions

1. OVERVIEW

2. POSITIONING CONTROL BY THE MOTION CPU

3. POSITIONING DEDICATED SIGNALS

CAUTION

CAUTION

CAUTION

CAUTION

4. PARAMETERS FOR POSITIONING CONTROL

Fig. 4.2 For ball screw

5. SERVO PROGRAMS FOR POSITIONING CONTROL

6. POSITIONING CONTROL

7. AUXILIARY AND APPLIED FUNCTIONS

APPENDICES

WARRANTY

MOTION CONTROLLER Qseries

SV13/SV22 Programming Manual(REAL MODE)

(Q173DCPU/Q172DCPU)

MITSUBISHI ELECTRIC

MITSUBISHI

ELECTRIC

Related manuals

Table of contents

Mitsubishi MOTION CONTROLLERS Q172DCPU Instruction manual

MITSUBISHI ELECTRIC

Motion Controllers

Programming Manual

SV13/SV22 (REAL MODE)

MITSUBISHI ELECTRIC

INDUSTRIAL AUTOMATION

DANGER

CAUTION

For Safe Operations

1. Prevention of electric shocks

2. For fire prevention

3. For injury prevention

4. Various precautions

1. OVERVIEW

2. POSITIONING CONTROL BY THE MOTION CPU

3. POSITIONING DEDICATED SIGNALS

CAUTION

CAUTION

CAUTION

CAUTION

4. PARAMETERS FOR POSITIONING CONTROL

Fig. 4.2 For ball screw

5. SERVO PROGRAMS FOR POSITIONING CONTROL

6. POSITIONING CONTROL

7. AUXILIARY AND APPLIED FUNCTIONS

APPENDICES

WARRANTY

MOTION CONTROLLER Qseries

SV13/SV22 Programming Manual(REAL MODE)

(Q173DCPU/Q172DCPU)

MITSUBISHI ELECTRIC

MITSUBISHI

ELECTRIC

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Table of contents