6.21.3 Simultaneous start. Mitsubishi MOTION CONTROLLERS Q172DCPU

6 POSITIONING CONTROL

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

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

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

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.

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(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 mm inch degree PLS

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] ".

(Note-2): The range of axis No.1 to 8 is valid in the Q172DCPU.

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[Program]

Program for simultaneous start of JOG operations are shown as the following conditions.

(1) System configuration

JOG operation for Axis 1 and Axis 2.

Motion CPU control module

Q61P 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

(3) Motion SFC program

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.

Turn on all axes servo ON command.

[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

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

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6 POSITIONING CONTROL

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)

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6 POSITIONING CONTROL

(b) Output speed

The output speed is the positioning speed corresponding to the number of pulses input from a manual pulse generator in unit time.

[Output speed] = [Number of input pulses per 1[ms]] [Manual pulse generator 1- pulse input magnification setting]

(3) Setting of the axis operated by the manual pulse generator

The axis operated by the manual pulse generator is set in the manual pulse generator axis setting register (D714 to D719).

The bit corresponding to the axis controlled (1 to 32) is set.

(4) Manual pulse generator 1- pulse input magnification setting

Make magnification setting for 1- pulse input from the manual pulse generator for each axis.

1- pulse input magnification setting register Applicable axis No. (Note-1) Setting

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

(Note): The manual pulse generator does not have the speed limit value, so they set the magnification setting within the related speed of servomotor.

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(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

Manual pulse generator 1 (P1): D752

Manual pulse generator 2 (P2): D753

Manual pulse generator 3 (P3): D754

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].

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6 POSITIONING CONTROL

(7) Errors details at the data setting for manual pulse generator operation are shown below.

Error details

Axis set to manual pulse generator operation is specified.

Axis setting is 4 axes or more

All of bit is "0" for the effective axis No. of manual pulse generator axis No. setting register.

Error processing

• Duplicated specified axis is ignored.

• First setting manual pulse generator operation is executed.

• Manual pulse generator operation is executed according to valid for 3 axes from the lowest manual pulse generator axis setting register.

• Manual pulse generator operation is not executed.

[Cautions]

(1) The start accept flag turns on for axis during manual pulse generator operation.

Positioning control or home position return cannot be started using the Motion

CPU or 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.

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6 POSITIONING CONTROL

(5) If the manual pulse generator enable flag turns on again for axis during smoothing deceleration after manual pulse generator enable flag turns off, an error [214] is set and manual pulse generator input is not enabled. Turn the manual pulse generator enable flag on after smoothing deceleration stop (after the start accept flag OFF).

(6) If another axis is set and the same manual pulse generator enable flag turns on again during smoothing deceleration after manual pulse generator enable flag turns off, the manual pulse generator input is not enabled.

At this time, the manual pulse generator axis setting error bit of the manual pulse generator axis setting error storage register (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

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6 POSITIONING CONTROL

[Program]

Program executes manual pulse generator operation is shown as the following conditions.

(1) System configuration

Manual pulse generator operation of Axis 1 and Axis 2.

Motion CPU control module

Q61P 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

(3) Motion SFC program

Motion SFC program for manual pulse generator operation is shown below.

Manual pulse generator

Manual pulse generator

[F10]

SET M2042

[G10]

PX000*M2415*M2435

[F20]

D720=100

D721=100

D714L=H00000001

D716L=H00000002

SET M2051

SET M2052

Wait until PX000, Axis 1 servo ready and

Axis 2 servo ready turn on.

Manual pulse generator 1- pulse input magnification for Axis 1, Axis 2.

Control Axis 1 by P1.

Control Axis 2 by P2.

Manual pulse generator enable flag ON for Axis 1, Axis 2.

[G20]

!PX000

Wait until PX000 turn off after manual pulse generator operation end.

[F30]

RST M2051

RST M2052

Manual pulse generator enable flag OFF for Axis 1, Axis 2.

(Note): Turn the manual pulse generator enable

flag off for P1, P2, so that the operation

may not continued for safety.

END

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

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MEMO

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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

• Home position is zero point of servomotor.

• 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.

• Home position is zero point of servomotor.

• 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.

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