3 POSITIONING DEDICATED SIGNALS

3.1.2 Axis command signals

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

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

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

Manual pulse generator operation

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.

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3 POSITIONING DEDICATED SIGNALS

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

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

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

Speed control with fixed position stop

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.

Manual pulse generator operation

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.

Home position return

(2) A "stop error during home position return" error occurs and the error code [203] is stored in the minor error storage register for each axis.

(c) The rapid stop command in a dwell time is invalid. (After a dwell time, the start accept flag (M2001+n) turns OFF, and the positioning complete signal

(M2401+20n) turns ON.)

POINT

If it is made to stop rapidly by turning on the rapid stop command (M3201+20n) during a home position return, execute the home position return again.

If the rapid stop command turned on after the proximity dog ON in the proximity dog type, execute the home position return after move to before the proximity dog ON by the JOG operation or positioning.

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3 POSITIONING DEDICATED SIGNALS

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

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

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

(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

Positioning start complete signal

(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).

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3 POSITIONING DEDICATED SIGNALS

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

......... Command signal

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

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

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

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

Error detection signal

(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

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3 POSITIONING DEDICATED SIGNALS

REMARK

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

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

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

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

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

• OFF .......... 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.

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3 POSITIONING DEDICATED SIGNALS

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

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

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

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

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

Instruction Manual list is shown below.

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

Control loop monitor status

(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

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3 POSITIONING DEDICATED SIGNALS

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

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

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

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

<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.

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