6.17.7 FIN signal wait function. Mitsubishi MOTION CONTROLLERS Q172DCPU

6 POSITIONING CONTROL

6.17.7 FIN signal wait function

By selecting the FIN signal wait function and setting a M-code at each executing point, a process end of each executing point is synchronized with the FIN signal, the FIN signal turns ON to OFF and then the next positioning is executed.

Turn the FIN signal on/off using the Motion SFC program or PLC program.

[Data setting]

(1) When the FIN signal wait function is selected, the fixed acceleration/deceleration time method is used. Set the acceleration/deceleration time within the range of 1 to 5000 [ms] by "FIN acceleration/deceleration" (selecting item) in the servo program.

Indirect setting is also possible by 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

FIN acceleration/ deceleration

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

(a) System configuration

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

(b) Positioning conditions

1) Constant-speed control conditions are shown below.

Item Setting

Servo program No.

Positioning speed

FIN acceleration/deceleration time

Positioning method

0

10000

100[ms]

2 axes linear interpolation control

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

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

Start constant-speed control

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

Positioning speed . . . 10000[PLS/s]

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]

End constant-speed control

(d) Motion SFC program

Motion SFC program for constant-speed control is shown below.

Constant-speed control

[F10]

SET M2042 Turn on all axes servo ON command.

[G10] M2415*M2435

Wait until Axis 1 servo ready and Axis 2 servo ready turn on.

[K0] CPSTART2

Axis 1

Axis 2

Speed 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






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


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]


(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.

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

(a) System configuration

FIN signal wait function toward constant-speed control for Axis 1 and Axis 2.

Motion CPU control module

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

(b) Positioning conditions

1) Constant-speed control conditions are shown below.

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

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

6 - 156


(d) Motion SFC program

1) Motion SFC program for constant-speed control is shown below.

Constant-speed control

[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

Turn on all axes servo ON command.

Wait until PX000, Axis 1 servo ready and Axis 2 servo ready turn on.


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






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

Positioning operation

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

Positioning complete signal

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.

Items set using MT Developer

Servo instruction

Positioning method

Number of control axes

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.

(1) System configuration

Axis 3 position follow-up control for PLC CPU (CPU No.1) to Motion CPU (CPU

No.2).

PLC CPU control module

Q61P 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

(2) Positioning conditions

(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


(3) Operation timing

Operation timing for position follow-up control is shown below.

V

Positioning address (D4000) 0 100 0

PLC ready flag (M2000)

All axes servo ON command

(M2042)

All axes servo ON accept flag

(M2049)

Axis 3 servo ready (M2455)

Start command (X0)

Servo program start

Axis 3 start accept flag

(M2003)

Axis 3 positioning start completion

(M2440)

Axis 3 positioning completion

(M2441)

Axis 3 command in-position

(M2443)

Stop command (X1)

Axis 3 stop command (M3240)

(4) Servo program

Servo program No.100 for position follow-up control is shown below.

<K 100>

PFSTART

Axis

Speed

3, D 4000

20000

Position follow-up control

Axis used . . . . . . . . . . . Axis 3

Positioning address . . . D4000

Speed . . . . . . . . . . . . . 20000 t


6 - 162


(5) Motion SFC program

Motion SFC program, PLC program and parameter setting for position follow-up control is shown below.

(a) Motion SFC program

Motion SFC program example for position follow-up control is shown below.

This program is started using D(P).SFCS instruction from PLC CPU (CPU

No.1).



[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 3 servo ready turn on.


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)

Positioning complete signal (M2401+20n)

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

Positioning start command (PX000)

AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4 M

6 - 169


(2) Positioning conditions

(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)

(3) Operation timing

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]

PLC ready flag (M2000)

All axes servo ON command

(M2042)

All axes servo ON accept flag

(M2049)

Axis 1 servo ready (M2415)

Start command (PX000)

Servo program start

ON

OFF

ON

OFF

Axis 1 start accept flag (M2001)

Fixed position stop command device (M100)

Positioning complete signal

(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

Speed control with fixed position stop

Axis used . . . . . . . . . . . . . Axis 1

Stop position. . . . . . . 120.00000

Speed. . . . . . . . . . . . . . . 30000.000

Accel./decel. time . . . . . . . . . . . . 20


. . . . . . . . . M100


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

Speed control with fixed position stop

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.

Wait until Axis 1 start accept flag turn off.

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

Start command (PX000)

AMP

Axis

1

M

AMP

Axis

2

M

AMP

Axis

3

M

AMP

Axis

4 M

(2) Number of specified servo programs and program No.

(a) Number of specified servo programs : 3

(b) Specified servo program No. are shown below.

Servo Program No.

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



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

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

6.17.7 FIN signal wait function. Mitsubishi MOTION CONTROLLERS Q172DCPU

Related manuals

Table of contents

6.17.7 FIN signal wait function. Mitsubishi MOTION CONTROLLERS Q172DCPU

Related manuals

Mitsubishi

Q172DCPU

Mitsubishi Electric

Q170MCPU

Mitsubishi Electronics

Video Gaming Accessories Q170MCPU

Mitsubishi Electric

MELSEC-Q QD77GF Simple Motion Module

Mitsubishi Electric

q series

Mitsubishi Electric

Q172CPUN

Table of contents