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- FX3U-20SSC-H
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FX
3U
-20SSC-H
USER'S MANUAL
Safety Precautions
(Read these precautions before using.)
Before installing, operating, maintenance or inspecting this product, thoroughly read and understand this manual and the associated manuals. Also pay careful attention to handle the module properly and safety.
This manual classifies the safety precautions into two categories: and .
Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight personal injury or physical damage.
Depending on circumstances, procedures indicated by
In any case, it is important to follow the directions for usage.
may also be linked to serious results.
Store this manual in a safe place so that you can take it out and read it whenever necessary. Always forward it to the end user.
1. DESIGN PRECAUTIONS
Reference
• Provide a safety circuit on the outside of the PLC so that the whole system operates to ensure the safety even when external power supply trouble or PLC failure occurs.
Otherwise, malfunctions or output failures may result in an accident.
1) An emergency stop circuit, a protection circuit, an interlock circuit for opposite movements, such as normal and reverse rotations, and an interlock circuit for preventing damage to the machine at the upper and lower positioning limits should be configured on the outside of the PLC.
2) When the PLC CPU detects an error, such as a watch dog timer error, during self-diagnosis, all outputs are turned off. When an error that cannot be detected by the PLC CPU occurs in an input/output control block, output control may be disabled.
Design external circuits and mechanisms to ensure safe operations of the machine in such a case.
3) When some sort of error occurs in a relay, triac or transistor of the output unit, output may be kept on or off.
For output signals that may lead to serious accidents, design external circuits and mechanisms to ensure safe operations of the machine in such cases.
• At forward/reverse rotation limits wiring, make sure to wire in negative logic and use NC contact. Setting in positive logic and using NC-contact can cause serious accidents.
19
38
Reference
• Observe the following items. Failure to do so may cause incorrect data-writing by noise to PLCs and result the PLC failure, machine damage or an accident.
1) Do not lay close or bundle with the main circuit line, high-voltage line, or load line.
Noise and Surge induction interfere with the system operation.
Keep a safe distance of least 100 mm (3.94") from the above lines during wiring.
2) Ground the shield wire or shield of a shielded cable at one point on the PLC. However, do not ground at the same point as high voltage lines.
• Install in a manner which prevents excessive force from being applied to the built-in connectors dedicated to programming, power connectors and I/O connectors.
Failure to do so may result in wire breakage or failure of the PLC.
2. INSTALLATION PRECAUTIONS
19
25
32
38
• Make sure to cut off all phases of the power supply externally before starting the installation or wiring work.
Failure to do so may cause electric shock.
Reference
23
(1)
Safety Precautions
(Read these precautions before using.)
Reference
• Fit the extension cables, peripheral device connecting cables, input/output cables and battery connecting cable securely to the designated connectors.
Contact failures may cause malfunctions.
• Use the product in the environment within the generic specifications described in section 3.1 of this manual.
Never use the product in areas with dust, oily smoke, conductive dusts, corrosive gas (salt air, Cl
2
, H
2
S, SO
2
or
NO
2
), flammable gas, vibration or impacts, or expose it to high temperature, condensation, or wind and rain.
If the product is used in such a place described, electrical shock, fire, malfunctions, damage, or deterioration may be caused.
• Do not touch the conductive parts of the product directly, thus avoiding failure or malfunctions.
• Install the product securely using a DIN rail or mounting screws.
• Install the product on a flat surface.
If the mounting surface is rough, undue force will be applied to the PC board, thereby causing nonconformities.
• When drilling screw holes or wiring, cutting chips or wire chips should not enter ventilation slits. such an accident may cause fire, failures or malfunctions.
• Be sure to remove the dust proof sheet from the PLC's ventilation port when the installation work is completed.
Failure to do so could cause fires, equipment failures, and malfunctions.
• Make sure to attach the terminal cover offered as an accessory to the product before turning on the power or starting the operation after installation or wiring work.
Failure to do so may cause electric shock.
3. WIRING PRECAUTIONS
23
• Make sure to cut off all phases of the power supply externally before starting the installation or wiring work.
Failure to do so may cause electric shock.
Reference
25
Reference
• Connect the DC power supply wiring to the dedicated terminals described in this manual.
If an AC power supply is connected to a DC input/output terminal or DC power supply terminal, the PLC will be burnt out.
• Perform class D grounding (grounding resistance: 100. or less) to the grounding terminal in the 20SSC-H with a wire as thick as possible. Do not connect the grounding terminal at the same point as a heavy electrical system
(refer to subsection 5.2.2).
• Make sure to attach the terminal cover offered as an accessory to the product before turning on the power or starting the operation after installation or wiring work.
Failure to do so may cause electric shock.
• Cables and wires for input to the 20SSC-H must be connected to their corresponding dedicated connectors as described in this manual. For example, if you connect an AC power cable to a DC input connector, they will burn out.
• Do not wire vacant terminals externally.
Doing so may damage the product.
• When drilling screw holes or wiring, cutting chips or wire chips should not enter ventilation slits. such an accident may cause fire, failures or malfunctions.
• Properly perform wiring to the FX Series terminal blocks following the precautions below in order to prevent electrical shock, short-circuit, breakage of wire, or damage to the product:
The disposal size of the cable end should follow the dimensions described in this manual.
Tightening torque should be between 0.5 to 0.8 N
• m.
• Do not wire or bundle the SSCNET III cable with the main circuit cable, power cable and/or other such load carrying cables other than those for the PLC. Separate these cables at least 100mm (3.94") from each other.
Noise and Surge induction interfere with the system operation.
• When pulling out SSCNET III cable from the connector, be sure to put the cap on SSCNET III connector.
If the SSCNET III end face is dirty, optical transmission is interrupted and it may cause malfunctions.
• Do not see directly the light generated from SSCNET III connector of servo amplifier or 20SSC-H.
When the light gets into the eyes, it causes discomformity in the eyes.
(The light source of SSCNET III corresponds to class1 defined in JISC6802 or IEC60825-1.)
• If SSCNET III cable is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available.
SSCNET III cable should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted.
• Make sure to use SSCNET III cable within the range of operating temperature (refer to subsection 5.1.1) described in this manual.
The optical cable and code part melts down if being left near the fire or high temperature. Therefore, do not make it touched the part which becomes high temperature, such as radiator or regenerative brake option of servo amplifier, or servomotor.
25
(2)
Safety Precautions
(Read these precautions before using.)
Reference
• Make sure to lay SSCNET III cable with greater radius than the minimum bend radius. (Refer to the Section 5.4.1
Precautions for SSCNET III cable wiring.)
• Fix the optical cable at the closest part to the connector with bundle material in order to prevent SSCNET III cable from putting its own weight on SSCNET III connector.
• Never use vinyl tape for optical cord. Plasticizing material in vinyl tape goes into optical fiber and lowers the optical characteristic. At worst, it may cause wire breakage. If using adhesive tape for the optical cable laying, the fire resistant acetate cloth adhesive tape 570F (Teraoka Seisakusho Co., Ltd) is recommended.
If laying with other wires, do not make the optical cable touched wires or cables made from soft polyvinyl chloride
(PVC), polyethylene resin (PE), teflon (Fluorocarbon resin) or nylon which contains plasticizing material.
• If the adhesion of solvent and oil to the code part of SSCNET III cable may lower the optical characteristic and machine characteristic. If it is used such an environment, be sure to do the protection measures to the optical cord.
• When storing, put a cap on the connector part for preventing the connector edge of SSCNET III from getting dirt, dust and so on.
• SSCNET III connector is put a cap to protect light device inside connector from dust.
For this reason, do not remove a cap until just before mounting SSCNET III cable.
Then, when removing SSCNET III cable, make sure to put a cap.
• Keep the cap for SSCNET III connector and the tube for protecting light code end of SSCNET cable in a plastic bag with a zipper of SSCNET III cable to prevent them from becoming dirty.
• When changing the servo amplifier or 20SSC-H, make sure to put cap on SSCNET III connector. When asking repair of servo amplifier for some troubles, make sure to put a cap on SSCNET III connector.
When the connector is not put a cap, the light device may be damaged at the transit.
In this case, exchange and repair of light device is required.
4. STARTUP AND MAINTENANCE PRECAUTIONS
25
26
Reference
• Do not touch any terminal while the PLC's power is on.
Doing so may cause electrical shock or malfunctions.
• Before cleaning or retightening terminals, externally cut off all phases of the power supply.
Failure to do so may expose you to shock hazard.
• Before modifying the program under operation or performing operation for forcible output, running or stopping, carefully read the manual, and sufficiently ensure the safety.
An operation error may damage the machine or cause accidents.
• To test Zero-return, JOG operation and Positioning data, throughly read this manual, ensure the safe system operation
An operation error may damage the machine or cause accidents.
32
138
153
Reference
• Do not disassemble or modify the PLC.
Doing so may cause failures, malfunctions or fire.
For repair, contact your local Mitsubishi Electric distributor.
• Before connecting or disconnecting any extension cable, turn off power.
Failure to do so may cause unit failure or malfunctions.
• Before attaching or detaching the following devices, turn off power.
Failure to do so may cause device failure or malfunctions.
Peripheral devices, expansion boards and special adapters
I/O extension blocks/units and terminal blocks
5. DISPOSAL PRECAUTIONS
32
138
153
• Please contact a company certified in the disposal of electronic waste for environmentally safe recycling and disposal of your device.
Reference
19
(3)
Safety Precautions
(Read these precautions before using.)
6. TRANSPORTATION PRECAUTIONS
• The PLC is precision equipment. During transportation, avoid impacts larger than that is specified in the manual of the PLC main unit. Failure to do so may cause failures in the PLC.
After transportation, check the operations of the PLC.
Reference
19
(4)
FX
3U
-20SSC-H Positioning Block User's Manual
FX
3U
-20SSC-H
User’s Manual
Manual number
Manual revision
Date
JY997D21301
A
12/2005
Foreword
This manual describes FX
3U
-20SSC-H Positioning Block and should be read and understood before attempting to install or operation of software.
Store this manual in a safe place so that you can take it out and read it whenever necessary. Always forward it to the end user.
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.
© 2005 MITSUBISHI ELECTRIC CORPORATION
1
FX
3U
-20SSC-H Positioning Block User's Manual
Outline Precautions
• This manual provides information for the use of the FX
3U
Series Programmable Controllers. The manual has been written to be used by trained and competent personnel. The definition of such a person or persons is as follows;
1) Any engineer who is responsible for the planning, design and construction of automatic equipment using the product associated with this manual should be of a competent nature, trained and qualified to the local and national standards required to fulfill that role. These engineers should be fully aware of all aspects of safety with regards to automated equipment.
2) Any commissioning or service engineer must be of a competent nature, trained and qualified to the local and national standards required to fulfill that job. These engineers should also be trained in the use and maintenance of the completed product. This includes being completely familiar with all associated documentation for the said product. All maintenance should be carried out in accordance with established safety practices.
3) All operators of the completed equipment should be trained to use that product in a safe and coordinated manner in compliance to established safety practices. The operators should also be familiar with documentation which is connected with the actual operation of the completed equipment.
Note: the term 'completed equipment' refers to a third party constructed device which contains or uses the product associated with this manual
• This product has been manufactured as a general-purpose part for general industries, and has not been designed or manufactured to be incorporated in a device or system used in purposes related to human life.
• Before using the product for special purposes such as nuclear power, electric power, aerospace, medicine or passenger movement vehicles, consult with Mitsubishi Electric.
• This product has 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.
• When combining this product with other products, please confirm the standard and the code, or regulations with which the user should follow. Moreover, please confirm the compatibility of this product to the system, machine, and apparatus with which a user is using.
• If in doubt at any stage during the installation of the product, always consult a professional electrical engineer who is qualified and trained to the local and national standards. If in doubt about the operation or use, please consult the nearest Mitsubishi Electric distributor.
• Since the examples indicated by this manual, technical bulletin, catalog, etc. are used as a reference, please use it after confirming the function and safety of the equipment and system. Mitsubishi Electric will accept no responsibility for actual use of the product based on these illustrative examples.
• This manual content, specification etc. may be changed without a notice for improvement.
• The information in this manual has been carefully checked and is believed to be accurate; however, if you have noticed a doubtful point, a doubtful error, etc., please contact the nearest Mitsubishi Electric distributor.
Registration
• Microsoft
and Windows
are either registered trademarks or trademarks of Microsoft Corporation in the
United States and/or other countries.
• The company name and the product name to be described in this manual are the registered trademarks or trademarks of each company.
2
FX
3U
-20SSC-H Positioning Block User's Manual
Table of Contents
Table of Contents
SAFETY PRECAUTIONS .................................................................................................. (1)
Compliance with EC directive (CE Marking)........................................................................... 8
Functions and Use of This Manual.......................................................................................... 9
Associated Manuals................................................................................................................ 10
Generic Names and Abbreviations Used in Manual ............................................................ 11
Reading of the Manual............................................................................................................ 13
1. Introduction 14
2. System Configuration 17
3. Specifications 19
4. Installation 23
5. Wiring 25
3
FX
3U
-20SSC-H Positioning Block User's Manual
Table of Contents
6. Memory Configuration and Data Operation 32
7. Before Starting Positioning Operation 38
7.3.1 Forward rotation limit 2 (FLS) and reverse rotation limit 2 (RLS)
7.7 Precautions for using the user units
8. Manual Control 61
4
FX
3U
-20SSC-H Positioning Block User's Manual
Table of Contents
9. Positioning Control 75
10. Table Operation 91
11. Buffer Memory (Parameters & Monitored Data) 104
11.1.17 Software limit (upper) [BFM #14035, #14034, BFM #14235, #14234]
5
FX
3U
-20SSC-H Positioning Block User's Manual
Table of Contents
11.4.16 Manual pulse generator input magnification (numerator)
11.4.17 Manual pulse generator input magnification (denominator)
6
FX
3U
-20SSC-H Positioning Block User's Manual
Table of Contents
12. Program Example 138
13. Diagnostics 153
Appendix A: LIST OF PARAMETERS AND DATA 164
Warranty................................................................................................................................. 175
Revised History ..................................................................................................................... 176
7
8
FX
3U
-20SSC-H Positioning Block User's Manual
Compliance with EC directive (CE Marking)
This note does not guarantee that an entire mechanical module produced in accordance with the contents of this note will comply with the following standards.
Compliance to EMC directive and LVD directive for the entire mechanical module should be checked by the user / manufacturer. For more details please contact the local Mitsubishi Electric sales site.
Requirement for Compliance with EMC directive
The following products have shown compliance through direct testing (of the identified standards below) and design analysis (through the creation of a technical construction file) to the European Directive for
Electromagnetic Compatibility (89/336/EEC) when used as directed by the appropriate documentation.
Type: Programmable Controller (Open Type Equipment)
Models: MELSEC FX
3U
series manufactured from December 1st, 2005 FX
3U
-20SSC-H
Standard
EN61131-2:2003
Programmable controllers
- Equipment requirements and tests
Remark
Compliance with all relevant aspects of the standard.
• Radiated Emissions
• Mains Terminal Voltage Emissions
• RF immunity
• Fast Transients
• ESD
• Conducted
• Power magnetic fields
Caution to conform with EC Directives
Attach the ferrite cores to the power supply and the input cables (20SSC-H side).
Attach the ferrite core approximately 200 mm or less from connector on the 20SSC-H side.
20SSC-H
Ferrite cores
• The ferrite core should use the following equivalent product:
- Power supply cable (needs at least 1 turn)
Model name: ZCAT2035-0930
(Manufactureed by TDK co., Ltd.)
- Input cable
Model name: ZCAT3035-1330
(Manufactureed by TDK co., Ltd.)
1 turn
Power supply cable
Input cable
External equipment
FX
3U
-20SSC-H Positioning Block User's Manual
Functions and Use of This Manual
FX
3U
Series
PLC
Regarding wiring and installation of PLC:
Hardware manual
User’s Manual - Hardware Edition
Supplied Manual
Additional Manual
FX
3UC
Series
FX Configurator-FP
FX Configurator-FP
How to install/use the device
Operation Manual
Supplied Manual
FX
3U
-20SSC-H
FX
3U
-20SSC-H
Regarding specification and parts names
Installation Manual
Supplied Manual
This Manual
Operating instructions and program examples
User’s Manual
Additional Manual
Shows how to use FX
3U
-20SSC-H positioning special function block and details on example programs.
Servo amplifer, Servo motor
Obtain the instruction manual of the servo motor to be connected to your system.
This manual will be needed to set the parameters for the servo amplifer or write to the servo amplifer.
9
FX
3U
-20SSC-H Positioning Block User's Manual
Associated Manuals
For a detailed explanation of the FX
3U-
20SSC-H positioning block, refer to this manual.
For the operation of FX Configurator-FP, or hardware information and instructions of the PLC main unit, refer to the respective manuals.
!
Refer to these manuals
Refer to the appropriate equipment manual
For a detailed explanation, refer to an additional manual
Title of manual
Document number
Description Model code
Manual for the Main Module
FX
3U
Series PLCs Main Unit
Supplied
Manual
FX
3U
Series
Hardware Manual
JY997D18801
Describes FX
3U
Series PLC specification for I/O, wiring and installation extracted from the FX
3U
User’s Manual - Hardware Edition.
For details, refer to FX
3U
Series User’s Manual -
Hardware Edition.
-
!
Additional
Manual
FX
3U
Series
User’s Manual
- Hardware Edition
FX
3UC
Series PLCs Main Unit
JY997D16501
Describes FX
3U
Series PLC specification details for
I/O, wiring, installation and maintenance.
09R516
Supplied
Manual
FX
3UC
Series
Hardware Manual
(Only Japanese document)
JY997D12701
Describes FX
3UC
Series PLC specification for I/O, wiring and installation extracted from the FX
3UC
User’s Manual - Hardware Edition.
For details, refer to FX
3UC
Series User’s Manual -
Hardware Edition (Only
Japanese document).
-
!
Additional
Manual
FX
3UC
Series
User’s Manual
- Hardware Edition
(Only Japanese document)
Programming for FX
3U
/FX
3UC
Series
!
Additional
Manual
FX
3U
/ FX
3UC
Series
Programming Manual
- Basic & Applied
Instruction Edition
Manuals for FX
3U
-20SSC-H Positioning Block
JY997D11601
JY997D16601
Describes FX
3UC
Series PLC specification details for I/O, wiring, installation and maintenance.
(Only Japanese document)
Describes FX
3U
/ FX
3UC
Series PLC programming for basic/ applied instructions and devices.
09R513
09R517
Supplied
Manual
FX
3U
-20SSC-H
Installation Manual
JY997D21101
Describes FX
3U
-20SSC-H positioning block specification for I/O, power supply extracted from the FX
3U
-20SSC-H User’s Manual.
For details, refer to FX
3U
-20SSC-H User's Manual.
-
!
!
Additional
Manual
Supplied
Manual
FX
3U
-20SSC-H
User's Manual
FX Configurator-FP
Operation Manual
AC Servo Related Manual
Additional
Manual
MR-J3- B
Instruction Manual
Additional
Manual
EMC
Installation Guidelines
JY997D21301 Describes FX
3U
-20SSC-H Positioning block details.
JY997D21801
SH-030051
IB67339
Describes operation details of FX Configurator-FP
Configuration Software.
Explains parameters and the detailed specifications for MR-J3- B servo amplifier.
Explains installation procedures to conform with
EMC Directives and fabrication method of control board.
09R622
09R916
-
-
10
FX
3U
-20SSC-H Positioning Block User's Manual
Generic Names and Abbreviations Used in Manual
Generic name or abbreviation
PLC
FX
FX
3U
series
FX
3UC
FX
3U
PLC or main unit
series
3UC
PLC or main unit
Description
Generic name for FX
3U
Series PLC
Generic name for FX
3U
Series PLC main unit
Generic name for FX
3UC
Series PLC
Generic name for FX
3UC
Series PLC main unit
Only manuals in Japanese are available for these products.
Generic name for FX
2N
Series PLC
Generic name for FX
2NC
Series PLC
FX
2N
Series
FX
2NC
Series
Expansion board
Expansion board
Generic name for expansion board
The number of connectable units, however, depends on the type of main unit.
To check the number of connectable units, refer to the User's Manual - Hardware Editon of main unit to be used for your system.
Special adapter
Special adapter
Generic name for high-speed input/output special adapter, communication special adapter, and analog special adapter
The number of connectable units, however, depends on the type of main unit.
To check the number of connectable units, refer to the User's Manual - Hardware Editon of main unit to be used for your system.
Special function unit/block
Special function unit/block or
Special extension unit
Special function unit
Special function block
Generic name for special function unit and special function block
The number of connectable units, however, depends on the type of main unit.
To check the number of connectable units, refer to the User's Manual - Hardware Edition of main unit to be used for your system.
Generic name for special function unit
Generic name for special function block
The number of connectable units, however, depends on the type of main unit.
To check the number of connectable units, refer to the User's Manual - Hardware Edition of main unit to be used for your system.
Positioning special function block or 20SSC-H
Optional unit
Abbreviated name of FX
3U
-20SSC-H
Memory cassette
Battery
FX Series terminal block
FX
3U
-FLROM-16, FX
3U
-FLROM-64, FX
3U
-FLROM-64L
FX
3U
-32BL
FX-16E-TB, FX-32E-TB
Input/output cable or Input cable
Input/output connector
Power cable
Peripheral unit
Peripheral unit
Programming tool
Programming tool
Programming software
FX-16E-500CAB-S, FX-16E-
represents 150, 300, or 500.
CAB, FX-16E-
FX
2C
-I/O-CON, FX
2C
-I/O-CON-S, FX
2C
-I/O-CON-SA
FX
2NC
-100MPCB, FX
2NC
-100BPCB, FX
2NC
-10BPCB1
CAB-R
Generic name for programming software, handy programming panel, and indicator
Generic name for programming software and handy programming panel
Generic name for programming software
GX Developer
FX-PCS/WIN(-E)
Generic name for SW D5C-GPPW-J/SW D5C-GPPW-E programming software package
Generic name for FX-PCS/WIN or FX-PCS/WIN-E programming software package
Handy programming panel (HPP) Generic name for FX-20P(-E) and FX-10P(-E)
Configuration software
Configuration software or
FX Configurator-FP
Abbreviated name of FX Configurator-FP Configuration software
11
FX
3U
-20SSC-H Positioning Block User's Manual
Generic name or abbreviation
Indicator
GOT1000 series
GOT-900 series
GOT-A900 series
GOT-F900 series
ET-940 series
Servo motor/servo amplifier
Description
Generic name for GT15 and GT11
Generic name for GOT-A900 series and GOT-F900 series
Generic name for GOT-A900 series
Generic name for GOT-F900 series
Generic name for ET-940 series
Only manuals in Japanese are available for there products
Servo motor
Generic name for servo motor or stepping motor
Including servo amplifier corresponding to SSCNET III.
Generic name for servo amplifier corresponding to SSCNET III
Generic name for MELSERVO-J3 series
Servo amplifier
MELSERVO series
Other unit
Manual pulse generator
Manual
FX
3U
hardware Edition
FX
3UC
hardware Edition
Programming manual
Communication control Edition
Analog control Edition
Positioning control Edition
Generic name for manual pulse generator (prepared by user)
FX
3U
Series User's Manual - Hardware Edition
This manual is available only in Japanese.
FX
3U
/FX
3UC
Series Programming Manual - Basic and Applied Instructions Edition
FX Series User's Manual - Data Communication Edition
FX
3U
/FX
3UC
Series User's Manual - Analog Control Edition
FX
3U
/FX
3UC
Series User's Manual - Positioning Control Edition
12
FX
3U
-20SSC-H Positioning Block User's Manual
Reading of the Manual
Shows the manual title.
Shows the title of the chapter and the title of the section.
This area shows the manual title for the current page.
This area shows the title of the chapter and the title of the section for the current page.
Indexes the chapter number.
The right side of each page indexes the chapter number for the page currently opened.
Shows the reference.
The mark of " " indicates the reference destination and reference manual.
13
FX
3U
-20SSC-H Positioning Block User's Manual
1 Introduction
1.1 Outline
1. Introduction
1.1
Outline
FX
3U
-20SSC-H type positioning block (hereinafter referred to as 20SSC-H) is a special function block applicable to SSCNET III.
20SSC-H can perform positioning control by servo motor via SSCNET III applied servo amplifier.
1. 2-axis control is possible
One 20SSC-H controls 2 axes.
20SSC-H applies the 1-speed positioning and interrupt 1-speed constant quantity feed operations for constant quantity feed control, and also the linear interpolation and circular interpolation operations.
→ For positioning control, refer to Chapter 9.
2. Connection to servo amplifier by SSCNET III is possible
20SSC-H connects directly to the MELSERVO (our company's servo amplifier: MR-J3-B) via SSCNETIII.
• Connection using the SSCNET III cable between the 20SSC-H and the servo amplifier and between servo amplifiers reduces wiring. (Maximum length is 50m.)
• Using the SSCNET III cable (optical communication) makes connections less susceptible to electromagnetic noise, etc. from the servo amplifier.
• Setting the servo parameters on the 20SSC-H side and writing/reading the servo parameters to/from the servo amplifier using SSCNET III is possible.
• Actual current values and error descriptions the servo amplifier can be checked by the buffer memories of the 20SSC-H.
3. Easy application of absolute position detection system
• The servo amplifier with absolute position detection enables the absolute positioning detection system.
• Once the zero position is established, the zero return operation at power startup is not necessary.
• The absolute position system allows the establishment of zero position by the data set type zero return.
In this case, wiring for near-point DOG, etc. is not required.
4. Easy maintenance
Various data such as positioning data, parameters, etc. can be saved to the flash memory (ROM) in the
20SSC-H.
This allows the data to be saved without battery.
5. Connectable PLC
• The connected FX
3U
or FX
3UC
PLC reads/writes the positioning data from/to the 20SSC-H.
• For connection to the FX
3UC
PLC, the FX
2NC
-CNV-IF or FX
3UC
-1PS-5V is needed.
14
FX
3U
-20SSC-H Positioning Block User's Manual
1.2
External Dimensions and Part Names
[1]
[2]
[3]
2- 4.5 Mounting hole
INT0
INT1
A
B
MOTOR-Y
START
DOG
INT0
INT1
A
B
X-READY
Y-READY
X-ERROR
Y-ERROR
POWER
[4]
[5]
[6]
4(0.16")
55(2.17")
87(3.43")
1 Introduction
1.2 External Dimensions and Part Names
1
[7]
[8]
[9]
2
3
4
[10]
Unit: mm (inches)
MASS(Weight): 0.3kg (0.66 lbs)
Accessory: - Special Unit/Block No. label
- FX
2NC
-100MPCB Power supply cable [1m (3’3")]
- Dust proof protection sheet
5
6
[1] Direct mounting hole:2 holes of
φ 4.5 (0.18") (mounting screw: M4 screw)
[2] Status LEDs
→ Refer to Section 1.3
[3] POWER LED (green)
[4] Extension cable
[5] Input connector
[6] Power supply connector
[7] DIN rail mounting groove (DIN rail: DIN46277)
[8] Name plate
[9] DIN rail mounting hook
[10] SSCNET III connector
7
8
9
10
15
FX
3U
-20SSC-H Positioning Block User's Manual
1.3
Power and Status LED
1 Introduction
1.3 Power and Status LED
LED display
POWER
X-READY
Y-READY
X-ERROR
Y-ERROR
X-START
Y-START
X-DOG
Y-DOG
X-INT0
Y-INT0
X-INT1
Y-INT1
X-
φ A
Y-
φ A
X-
φ B
X-
φ B
Color
Green
Green
Red
Red
Red
Red
Red
Red
ON
OFF
ON
OFF
ON
Status
OFF
ON
OFF
Description
Power is not being supplied from the external power supply or the PLC
Power is being supplied from the external power supply or the PLC
Error is occurring or positioning is being executed on the X/Y axis
ON
OFF
Various operation commands are acceptable on the X/Y axis
X/Y axis is operating normally
Flicker Error is occurring on the X/Y axis
ON CPU error is occurring on the X/Y axis
OFF
ON
OFF
ON
Start input OFF
Start input ON
DOG input OFF
DOG input ON
OFF Interrupt input OFF
Interrupt input ON
Manual pulse generator A-phase input OFF
Manual pulse generator A-phase input ON
Manual pulse generator B-phase input OFF
Manual pulse generator B-phase input ON
16
FX
3U
-20SSC-H Positioning Block User's Manual
2 System Configuration
2.1 General Configuration
1
2. System Configuration
2.1
General Configuration
GX Developer
FX Configurator-FP
(PC)
FX
PLC
3U
/ FX
3UC
USB cable
RS-232C cable
Ladder
20SSC-H
Monitor data
Control data
Positioning parameter
Servo parameter
Table information
SSCNET III cable
Servo amplifier
(MR-J3-B)
Emergency stop input signal
Upper limit signal
Lower limit signal
2
3
4
LS for forward rotation limit
(X-axis, Y-axis)
LS for reverse rotation limit
(X-axis, Y-axis)
STOP switch
(X-axis, Y-axis)
FX-16E-150CAB(-R)
Connector-attached flat cable for connecting terminal block with FX programmable logic controller
FX-16E-TB
Terminal block
Servo amplifier
(MR-J3-B)
Emergency stop input signal
Upper limit signal
Lower limit signal
START input (X-axis, Y-axis)
DOG input (X-axis, Y-axis)
Interrupt input (X-axis, Y-axis)
Manual pulse generator A/B-phase
division input (X-axis, Y-axis)
MR Configurator(PC)
Component list
Part name
Positioning block
PLC
PC software
PC
USB cable
RS-232C cable
Servo amplifier
SSCNET III cable
Terminal block
I/O cable
FX
3U
-20SSC-H
FX
3U
/FX
3UC
PLC
GX Developer
FX Configurator-FP
Model name
MR Configurator
DOS/V
FX-USB-AW
F
2
-232CAB-1
FX-232AWC-H
FX-422CAB0
MR-J3- B
Inside panel standard cable : MR-J3BUS M
Outside panel standard cable : MR-J3BUS M-A
Inside panel standard cable : MR-J3BUS M-B
FX-16E-TB
FX-16E- CAB
FX-16E- CAB-R
Remarks
-
PLC programming software
-
Setting/Monitoring software for entering or monitoring of the servo parameters, positioning parameters and table information
Servo amplifier set-up software
-
Connection cable between FX PLC and PC
PC connection cable and interface
: 150/300/500
-
: 0.15/0.3/0.5/1/3(Cable length: in meters)
: 5/10/20(Cable length:in meters)
: 30/40/50(Cable length:in meters)
-
Cable length 150:1.5m, 300:3m, 500:5m
5
6
7
8
9
10
17
FX
3U
-20SSC-H Positioning Block User's Manual
2 System Configuration
2.2 Connection with PLC
2.2
Connection with PLC
20SSC-H connects with PLC via extension cable.
The 20SSC-H is handled as a special extension block of the PLC. The unit number of the 20SSC-H is automatically assigned No.0 to No.7 starting from the special function unit/block closest to the PLC main unit.
(This unit number is used for the designation of a FROM/TO instruction.) For details on assignment of the I/O number and unit number of the PLC, refer to the following manual corresponding to the connected PLC.
→ FX
3U
Hardware Edition
→ FX
3
UC
Hardware Edition (Japanese document only)
FX
3U
FX
3UC
• A maximum of 8 units/blocks can be connected with the FX
3U
PLC. With the FX
3UC
PLC, a maximum of 7 units/blocks can be connected.
• An FX
2NC
-CNV-IF or FX
3UC
-1PS-5V is necessary to connect the 20SSC-H with the FX
3UC
PLC.
• The optional FX
0N
-65EC (FX
0N
-30EC) and FX
2N
-CNV -BC are necessary to lengthen the extension cable.
• The number of I/O points occupied by the 20SSC-H is eight. Be sure that the total of the number of I/O points (occupied I/O points) of the main unit, power extension unit and extension block and the number of points occupied by the special function block does not exceed the maximum number of I/O points of the
PLC.
For the maximum number of I/O points of the PLC, refer to the following manual.
→ FX
3U
Hardware Edition
→ FX
3
UC
Hardware Edition (Japanese document only)
2.3
Applicable PLC
Model name
FX
3U
Series PLC
FX
3UC
Series PLC
Ver. 2.20 (from the first product) and later
Up to 8 blocks can be extended
Applicability
Ver. 2.20 (from products manufactured in May, 2005 with SER No. 55****) and later
Up to 7 blocks can be extended
The version number can be checked by monitoring the last three digits of D8001.
18
FX
3U
-20SSC-H Positioning Block User's Manual
3 Specifications
3.1 General Specifications
1
3. Specifications
2
DESIGN PRECAUTIONS
• Provide a safety circuit on the outside of the PLC so that the whole system operates to ensure the safety even when external power supply trouble or PLC failure occurs.
Otherwise, malfunctions or output failures may result in an accident.
1) An emergency stop circuit, a protection circuit, an interlock circuit for opposite movements, such as normal and reverse rotations, and an interlock circuit for preventing damage to the machine at the upper and lower positioning limits should be configured on the outside of the PLC.
2) When the PLC CPU detects an error, such as a watch dog timer error, during self-diagnosis, all outputs are turned off. When an error that cannot be detected by the PLC CPU occurs in an input/output control block, output control may be disabled.
Design external circuits and mechanisms to ensure safe operations of the machine in such a case.
3) When some sort of error occurs in a relay, triac or transistor of the output unit, output may be kept on or off.
For output signals that may lead to serious accidents, design external circuits and mechanisms to ensure safe operations of the machine in such cases.
• At forward/reverse rotation limits wiring, make sure to wire in negative logic and use NC contact. Setting in positive logic and using
NC-contact can cause serious accidents.
DESIGN PRECAUTIONS
• Observe the following items. Failure to do so may cause incorrect data-writing by noise to PLCs and result the PLC failure, machine damage or an accident.
1) Do not lay close or bundle with the main circuit line, high-voltage line, or load line.
Noise and Surge induction interfere with the system operation.
Keep a safe distance of least 100 mm (3.94") from the above lines during wiring.
2) Ground the shield wire or shield of a shielded cable at one point on the PLC. However, do not ground at the same point as high voltage lines.
• Install in a manner which prevents excessive force from being applied to the built-in connectors dedicated to programming, power connectors and I/O connectors.
Failure to do so may result in wire breakage or failure of the PLC.
3
4
5
6
DISPOSAL PRECAUTIONS
• Please contact a company certified in the disposal of electronic waste for environmentally safe recycling and disposal of your device.
7
TRANSPORTATION PRECAUTIONS
• The PLC is precision equipment. During transportation, avoid impacts larger than that is specified in the manual of the PLC main unit.
Failure to do so may cause failures in the PLC.
After transportation, check the operations of the PLC.
3.1
General Specifications
The items other than the following are equivalent to those of the PLC main unit.
For general specifications, refer to the manual of the PLC main unit.
→ Refer to FX
3U
Hardware Edition
→ Refer to FX
3UC
Hardware Edition (Japanese document only)
Item
Dielectric withstand voltage 500V AC for one minute
Insulation resistance 5M
Ω or more by 500V DC Megger
Specification
Conforming to JEM-1021
Between all terminals and ground terminal
8
9
10
19
FX
3U
-20SSC-H Positioning Block User's Manual
3 Specifications
3.2 Power Supply Specification
3.2
Power Supply Specification
External power supply
Internal power supply
Item
Power supply voltage
Permitted instantaneous power failure time
Powerconsumption
Power fuse
PLC power supply
Specification
24V DC +20% -15% Ripple (p-p) within 5%
Operation continues when the instantaneous power failure is shorter than 5ms.
5W
1A
100mA /5V DC
3.3
Performance Specification
Item
Number of control axes
Backup
No. of occupied I/O points
Connectable servo amplifier
Servo bus
Scan cycle
Control input
Parameter
Control data
Monitor data
Positioning program
Positioning
Method
Unit
Unit magnification
Positioning range
Speed command
Acceleration/ deceleration process
Starting time
Interpolation function
Specification
2 axes
Positioning parameters, servo parameters, and table information can be saved to flash memory
Write count: Maximum 100,000 times
8 points (input or output, whichever may be counted)
MELSERVO MR-J3- B
Maximum 2 amplifiers can be connected
Standard cord length: Station to station maximum 20m (65’7")
Long distance cord length: Station to station maximum 50m (164’)
SSCNET III
1.77ms
Interrupt input: 2 inputs (INT0 and INT1) per axis
DOG:
START input:
1 input per input axis
1 input per axis
Manual pulse generator: 1 input per axis (A/B-phase)
Positioning parameter: 21 types
Servo parameter: 50 types
17 types
26 types
Created by sequence programs (using FROM/TO instruction, etc.)
Direct operation (1 for X and Y axes respectively)
Table operation (300 tables for X, Y, and XY axes respectively)
Increment/Absolute
PLS,
µm, 10
-4 inch, mdeg
1, 10, 100, and 1000-fold
-2,147,483,648 to 2,147,483,647 PLS
Hz, cm/min, 10deg/min, inch/min
Trapezoidal acceleration/deceleration, S-pattern acceleration/deceleration: 1 to 5,000ms
Only trapezoidal acceleration/deceleration is available for interpolation
1.6ms or less
2-axes linear interpolation, 2-axes circular interpolation
20
FX
3U
-20SSC-H Positioning Block User's Manual
3.4
Input Specifications
3 Specifications
3.4 Input Specifications
3.4.1
Input specifications
Input signal name
Group 1
Group 2
Group 3
Item
Group 1
Specification
X axis interrupt input: X-INT0, X-INT1
Used for interrupt operation
Y axis interrupt input: Y-INT0, Y-INT1
Used for interrupt operation
X axis near-point DOG input: X-DOG
Used for zero return
Y axis near-point DOG input: Y-DOG
Used for zero return
START command for X axis positioning operation: X-START
Group 2
Group 3
START command for Y axis positioning operation: Y-START
Manual pulse generator input for X axis:
X-
φ A+/X- φ A-, X- φ B+/X- φ B-
1 edge count at 2-phase 2-count
Manual pulse generator input for Y axis:
Y-
φ A+/Y- φ A-, Y- φ B+/Y- φ B-
1 edge count at 2-phase 2-count
External power supply for signals: S/S
Connected to power supply for INT0, INT1, DOG and START
Operation display LED ON at input ON
Signal voltage
Input current
24VDC+20% -15% (Power is supplied from S/S terminal)
7.0mA
± 1mA /24V DC
ON current
OFF current
4.5mA or more
1.5mA or less
Signal form
Response time
No-voltage contact input
Sink input: NPN open collector transistor
Source input: PNP open collector transistor
Hardware filter 1ms or less
Circuit insulation Photo-coupler insulation
Operation display LED ON at input ON
Signal voltage
Input current
3 to 5.25V DC
2.0 to 8.5mA
ON current
OFF current
Signal form
2.0mA or more
0.5mA or less
Differential line driver
(corresponding to AM26LS31)
Response frequency
Circuit insulation
Power supply voltage
Consumption current
2-phases pulse 100KHz or less (Duty 50%)
Photo-coupler insulation
24V DC +20% -15%
64mA or less
3.4.2
Internal input circuit
For the internal input circuit diagram, refer to the following.
→ For the internal input circuit diagram, refer to section 5.3
1
2
3
4
5
6
7
8
9
10
21
FX
3U
-20SSC-H Positioning Block User's Manual
3.5
Pin Configuration
3 Specifications
3.5 Pin Configuration
3.5.1
Input connector
X-INT0
NC
X-INT1
X- A+
X- A-
X- B+
X- B-
X-DOG
S/S
X-START
Connector pin array (aperture side)
Y-INT0
NC
Y-INT1
Y- A+
Y- A-
Y- B+
Y- B-
Y-DOG
S/S
Y-START
Terminal name
Description
X-INT0 Interrupt input (for X axis)
NC Not used
X-INT1 Interrupt input (for X axis)
X-
X-
X-
X-
φ A+
φ A-
φ B+
φ B-
Input terminal for A-phase input of 2-phase pulse (for X axis)
Common terminal for
A-phase input of 2-phase pulse
(for X axis)
Y-
φ A+
Y-
φ A-
Input terminal for B-phase input of 2-phase pulse (for X axis)
Common terminal for
B-phase input of 2-phase pulse
(for X axis)
Terminal
Y-INT0
NC
Y-INT1
Y-
Y-
name
φ B+
φ B-
Description
Interrupt input (for Y axis)
Not used
Interrupt input (for Y axis)
Input terminal for A-phase input of 2-phase pulse (for Y axis)
Common terminal for
A-phase input of 2-phase pulse
(for Y axis)
Input terminal for B-phase input of 2-phase pulse (for Y axis)
Common terminal for
B-phase input of 2-phase pulse
(for Y axis)
X-DOG
S/S
Near-point DOG input terminal
(for X axis)
Power input terminal (START,
DOG, INT0 and INT1) 24VDC
Pins that have the same name
(S/S) are shorted inside.
Y-DOG
S/S
Near-point DOG input terminal
(for Y axis)
Power input terminal (START,
DOG, INT0 and INT1) 24VDC
Pins that have the same name
(S/S) are shorted inside.
X-START START input terminal (for X axis) Y-START START input terminal (for Y axis)
Caution
The pin array is seen from the connection side (aperture side) of the input connectors of the 20SSC-H.
The pin numbers and the position of vary depending on the connectors for user cables.
Perform wiring properly while paying attention to the position of notches and the direction of connectors.
Otherwise, the product may be damaged due to wiring mistakes.
3.5.2
Power supply connector
3 Grounding (Green)
2
− (Black)
1 + (Red)
22
4 Installation
FX
3U
-20SSC-H Positioning Block User's Manual
1
4. Installation
INSTALLATION PRECAUTIONS
• Make sure to cut off all phases of the power supply externally before starting the installation or wiring work.
Failure to do so may cause electric shock.
INSTALLATION PRECAUTIONS
• Fit the extension cables, peripheral device connecting cables, input/output cables and battery connecting cable securely to the designated connectors.
Contact failures may cause malfunctions.
• Use the product in the environment within the generic specifications described in section 4.1 of this manual.
Never use the product in areas with dust, oily smoke, conductive dusts, corrosive gas (salt air, Cl 2 , H 2 S, SO 2 or NO 2 ), flammable gas, vibration or impacts, or expose it to high temperature, condensation, or wind and rain.
If the product is used in such a place described, electrical shock, fire, malfunctions, damage, or deterioration may be caused.
• Do not touch the conductive parts of the product directly, thus avoiding failure or malfunctions.
• Install the product securely using a DIN rail or mounting screws.
• Install the product on a flat surface.
If the mounting surface is rough, undue force will be applied to the PC board, thereby causing nonconformities.
• When drilling screw holes or wiring, cutting chips or wire chips should not enter ventilation slits. such an accident may cause fire, failures or malfunctions.
• Be sure to remove the dust proof sheet from the PLC's ventilation port when the installation work is completed. Failure to do so could cause fires, equipment failures, and malfunctions.
• Make sure to attach the terminal cover offered as an accessory to the product before turning on the power or starting the operation after installation or wiring work.
Failure to do so may cause electric shock.
The product can be connected on the right side of the main unit or extension unit/block. To connect to the
FX
3UC
PLC or FX
2NC
PLC extension block, the FX
2NC
-CNV-IF or FX
3UC-
1PS-5V is necessary. For the installation environment, refer to the following respective manual.
→
Refer to the FX
3U
Hardware Edition
→ Refer to the FX
3UC
Hardware Edition (Japanese document only)
20SSC-H is installable into a control cabinet by 35 mm wide DIN46277 DIN rail mounting or M4 screw direct mounting.
2
3
4
5
6
7
8
9
10
23
FX
3U
-20SSC-H Positioning Block User's Manual
4.1
DIN rail Mounting
The product can be mounted on a 35mm wide DIN46277 ( DIN rail.
1
Fit the upper edge (A in the figure to the right) of the DIN rail mounting groove onto the DIN rail.
2
Push the product onto the DIN rail.
• An interval space between each unit of 1 to 2 mm (0.04" to 0.08") is necessary.
3
Connect the extension cable.
Connect the extension cable (B in the figure to the right) to the main unit, I/O extension unit/block or special function unit/block to the left side of the product.
For extension cable connection procedure, refer to the following respective PLC manual.
→ Refer to the FX
3U
Hardware Edition
→ Refer to the FX
3UC
Hardware Edition
(Japanese document only)
A
4 Installation
4.1 DIN rail Mounting
1
2
B
4.2
Direct Mounting
The product can be installed directly with screws.
An interval space between each unit of 1 to 2 mm (0.04" to 0.08") is necessary.
For installation, refer to the following respective PLC manual.
→ For the mounting hole pitches, refer to Section 1.2.
→ Refer to the FX
3U
Hardware Edition
→ Refer to the FX
3UC
Hardware Edition (Japanese document only)
1
Make mounting holes in the mounting surface according to the external dimensions diagram.
2
Fit 20SSC-H (A in the figure to the right) to holes and tighten M4 screws (B in the figure to the right).
For the screw position and quantity, refer to the dimensioned drawing specified below.
→
For dimensions, refer to Section 1.2.
3
Connect the extension cable.
B
FX
3U
-48M
IN 0
10
1
2
11
12
3
4
13
14
5
6
15
16
7
17
20
21
22
23
24
25
26
27
OU
T
0
10
1
2
11
12
3
13
4
14
5
15
6
16
RUN
RUN
7
17
20
21
22
23
BATT
ERROR
24
25
26
27
Connect the extension cable (C in the figure to the right) to the main unit, I/O extension unit/block or special function unit/block to the left side of the product.
(Refer to Step 3 in Section 4.1.)
For extension cable connection procedure, refer to the following respective PLC manual.
→ Refer to the FX
3U
Hardware Edition
→ Refer to the FX
3UC
Hardware Edition
(Japanese document only)
A
B
24
5 Wiring
FX
3U
-20SSC-H Positioning Block User's Manual
1
5. Wiring
DESIGN PRECAUTIONS
• Observe the following items. Failure to do so may cause incorrect data-writing by noise to PLCs and result the PLC failure, machine damage or an accident.
1) Do not lay close or bundle with the main circuit line, high-voltage line, or load line.
Noise and Surge induction interfere with the system operation.
Keep a safe distance of least 100 mm (3.94") from the above lines during wiring.
2) Ground the shield wire or shield of a shielded cable at one point on the PLC. However, do not ground at the same point as high voltage lines.
• Install in a manner which prevents excessive force from being applied to the built-in connectors dedicated to programming, power connectors and I/O connectors.
Failure to do so may result in wire breakage or failure of the PLC.
2
3
WIRING PRECAUTIONS
• Make sure to cut off all phases of the power supply externally before starting the installation or wiring work.
Failure to do so may cause electric shock.
4
WIRING PRECAUTIONS
• Connect the DC power supply wiring to the dedicated terminals described in this manual.
If an AC power supply is connected to a DC input/output terminal or DC power supply terminal, the PLC will be burnt out.
• Perform class D grounding (grounding resistance: 100. or less) to the grounding terminal in the 20SSC-H with a wire as thick as possible. Do not connect the grounding terminal at the same point as a heavy electrical system (refer to subsection 5.2.2).
• Make sure to attach the terminal cover offered as an accessory to the product before turning on the power or starting the operation after installation or wiring work.
Failure to do so may cause electric shock.
• Cables and wires for input to the 20SSC-H must be connected to their corresponding dedicated connectors as described in this manual. For example, if you connect an AC power cable to a DC input connector, they will burn out.
• Do not wire vacant terminals externally.
Doing so may damage the product.
• When drilling screw holes or wiring, cutting chips or wire chips should not enter ventilation slits. such an accident may cause fire, failures or malfunctions.
• Properly perform wiring to the FX Series terminal blocks following the precautions below in order to prevent electrical shock, shortcircuit, breakage of wire, or damage to the product:
The disposal size of the cable end should follow the dimensions described in this manual.
Tightening torque should be between 0.5 to 0.8 N
• m.
• Do not wire or bundle the SSCNET III cable with the main circuit cable, power cable and/or other such load carrying cables other than those for the PLC. Separate these cables at least 100mm (3.94") from each other.
Noise and Surge induction interfere with the system operation.
• When pulling out SSCNET III cable from the connector, be sure to put the cap on SSCNET III connector.
If the SSCNET III end face is dirty, optical transmission is interrupted and it may cause malfunctions.
• Do not see directly the light generated from SSCNET III connector of servo amplifier or 20SSC-H.
When the light gets into the eyes, it causes discomformity in the eyes.
(The light source of SSCNET III corresponds to class1 defined in JISC6802 or IEC60825-1.)
• If SSCNET III cable is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available.
SSCNET III cable should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted.
• Make sure to use SSCNET III cable within the range of operating temperature (refer to subsection 5.1.1) described in this manual.
The optical cable and code part melts down if being left near the fire or high temperature. Therefore, do not make it touched the part which becomes high temperature, such as radiator or regenerative brake option of servo amplifier, or servomotor.
• Make sure to lay SSCNET III cable with greater radius than the minimum bend radius. (Refer to the Section 5.4.1 Precautions for
SSCNET III cable wiring.)
• Fix the optical cable at the closest part to the connector with bundle material in order to prevent SSCNET III cable from putting its own weight on SSCNET III connector.
• Never use vinyl tape for optical cord. Plasticizing material in vinyl tape goes into optical fiber and lowers the optical characteristic. At worst, it may cause wire breakage. If using adhesive tape for the optical cable laying, the fire resistant acetate cloth adhesive tape
570F (Teraoka Seisakusho Co., Ltd) is recommended.
If laying with other wires, do not make the optical cable touched wires or cables made from soft polyvinyl chloride (PVC), polyethylene resin (PE), teflon (Fluorocarbon resin) or nylon which contains plasticizing material.
5
6
7
8
9
10
25
FX
3U
-20SSC-H Positioning Block User's Manual
5 Wiring
5.1 Cable to Be Used, Applicable Connector and Wire Size
WIRING PRECAUTIONS
• If the adhesion of solvent and oil to the code part of SSCNET III cable may lower the optical characteristic and machine characteristic.
If it is used such an environment, be sure to do the protection measures to the optical cord.
• When storing, put a cap on the connector part for preventing the connector edge of SSCNET III from getting dirt, dust and so on.
• SSCNET III connector is put a cap to protect light device inside connector from dust.
For this reason, do not remove a cap until just before mounting SSCNET III cable.
Then, when removing SSCNET III cable, make sure to put a cap.
• Keep the cap for SSCNET III connector and the tube for protecting light code end of SSCNET cable in a plastic bag with a zipper of
SSCNET III cable to prevent them from becoming dirty.
• When changing the servo amplifier or 20SSC-H, make sure to put cap on SSCNET III connector. When asking repair of servo amplifier for some troubles, make sure to put a cap on SSCNET III connector.
When the connector is not put a cap, the light device may be damaged at the transit.
In this case, exchange and repair of light device is required.
5.1
Cable to Be Used, Applicable Connector and Wire Size
5.1.1
SSCNET III cable
The SSCNET III cable for connecting 20SSC-H with the servo amplifier is described.
Model Cable length Flex Lif
Operating temperature range
Application and remarks
MR-J3BUS
MR-J3BUS
*1
M
0.15, 0.3, 0.5, 1, 3m
*1
M-A
5, 10, 20m
Standard
Standard
-40 to 85
°C
(-40 to 185
°F)
For standard in-panel cable
For standard external cable
MR-J3BUS
*1
M-B
30, 40, 50m Long flex
-20 to 70
°C
(-4 to 158
°F)
For long distance cable
*1.
indicates the cable length.
015 : 0.15m, 03 : 0.3m, 05 : 0.5m, 1 : 1m, 3 : 3m, 5 : 5m, 10 : 10m, 20 : 20m, 30 : 30m, 40 : 40m,
50 : 50m
5.1.2
Power supply cable
The cable for connecting the 20SSC-H power supply connector with the power supply is described.
Model name
FX
2NC
-100MPCB
Length
1m
Remarks
Accessory of 20SSC-H
Preparing the power cable by yourself
To prepare the power cable by yourself, use the following wiring material and connector.
Wire size
Crimp terminal
Housing
For main unit, 20SSC-H
For input extension block
Specifications/model name
AWG 24(0.2mm2)
50083-8014 (Manufactured by Molex Incorporated)
51030-0330 (Manufactured by Molex Incorporated)
51030-023 (Manufactured by Molex Incorporated)
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-20SSC-H Positioning Block User's Manual
5 Wiring
5.1 Cable to Be Used, Applicable Connector and Wire Size
5.1.3
Input cable and terminal block
The cable for connecting the 20SSC-H input connector with external devices is described.
1. Input connector
The input connector of 20SSC-H complies with MIL-C83503.
Procure the input cable while referring to the following.
1) Applicable connector (commercially available connectors)
Use the 20-pin (1-key) socket complying with MIL-C-83503.
Check in advance for interference with peripheral parts such as the connector cover.
2) Input cable (by Mitsubishi Electric)
FX-16E-
Model name
*1
CAB
FX-16E-
*1
CAB-R
FX-16E-500CAB-S
1.5, 3, 5m
5m
Cable length Remarks
Flat cable (with tube) provided with a 20-pin connector at both ends
Round multi-conductor cable provided with a 20-pin connector at both ends
Bulk cable with 20-pin connector provided on a single end (cable color: red)
*1.
indicates the cable length.
150 : 1.5m, 300 : 3m, 500 : 5m
3) Applicable connector for user cable (by Mitsubishi Electric)
The users should prepare the electric wires and pressure crimp tool.
For flat cable
Model name and configuration of I/O connector
Our model name
Description of part
(Made by DDK Ltd.)
FX 2C -I/O-
CON
Set of 10 pieces
Crimp connector
FRC2-A020-30S
Applicable cable (UL-161 recommended) and tool
Wire size
Crimp tool
(Made by DDK Ltd.)
AWG28 (0.1mm
2 )
1.27 pitch 20 conductors
357J-46740: Main body
357J-4664N: Attachment
For united cable
FX 2C -I/O-
CON-S
FX
2C
-I/O-
CON-SA
Set of 5
Set of 5
Housing HU-200S2-001
Crimp contact HU-411S
Housing HU-200S2-001
Crimp contact HU-411SA
AWG22 (0.3mm
2 ) 357J-5538
AWG20 (0.5mm
2
)
357J-13963
1
2
3
4
5
6
4) Applicable connectors (commercially available connectors)
DDK Ltd. connector specified in Item (3) above and Matsushita Electric Works connector specified in the table below.
Applicable cable (UL-1061 recommended) Crimp tool Model name of connector
Housing
Contact
Cover
AXW1204A
AXW7221
AXW62001A
AWG22(0.3mm
2
)
AWG24(0.2mm
2
)
AXY52000
2. Terminal block
1) Terminal block (our option)
For the specification and internal circuit of the terminal block, refer to the following respective PLC manual.
→ Refer to the FX
3U
Hardware Edition
→ Refer to the FX3
UC
Hardware Edition (Japanese document only)
FX-16E-TB
Model name Application and remarks
Converts input connector to terminal block
2) Terminal layout of FX-16E-TB connected to input connector
→ For the pin array of the input connector, refer to Subsection 3.5.1
Y-START X- A+
X-START X-INT0 X-INT1 S/S *1
S/S *1
X- B+ X-DOG
X- A-
X- B-
S/S *1
S/S *1
Y-INT0
Y- A+
Y-INT1 S/S *1
S/S *1
Y- A-
Y- B+ Y-DOG
S/S *1
Y- BS/S *1
*1.
The S/S terminal is connected inside FX-16E-TB.
7
8
9
10
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-20SSC-H Positioning Block User's Manual
5.2
Power Supply Wiring
5.2.1
Power supply wiring
20SSC-H
5 Wiring
5.2 Power Supply Wiring
Class D grounding
5.2.2
Grounding
Ground the cables as follows
• The grounding resistance should be 100
Ω or less.
• Grounding should perform independent grounding as far as possible.
Independent grounding should be performed for best results.
When independent grounding is not performed, perform "shared grounding" as shown in the following figure.
For details, refer to the following respective PLC manual.
→ Refer to the FX
3U
Hardware Edition
→ Refer to the FX
3UC
Hardware Edition (Japanese document only)
PLC
Other equipmemt
PLC
Other equipmemt
PLC
Other equipmemt
Independent grounding
Best condition
Shared grounding
Good condition
Shared grounding
Not allowed
• The grounding wire size should be AWG22-20 (0.3 to 0.5 mm
2
).
• The grounding point should be close to the PLC, and all grounding wires should be as short as possible.
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-20SSC-H Positioning Block User's Manual
5 Wiring
5.3 Input Wiring
5.3
Input Wiring
An external power supply (24VDC) is necessary for the START, DOG, INT0 , INT1 and S/S terminals.
5.3.1
Sink input wiring
DC24V
20SSC-H
S/S
1
2
3
Switch (sink type)
-INT1
-INT0
-START
-DOG
4
Manual pulse generator
(differential output type)
A-phase
B-phase
- A+
- A-
- B+
- B-
: "X" or "Y"
5
5.3.2
Source input wiring
DC24V
6
Switch (source type)
S/S
20SSC-H
-INT1
-INT0
-START
-DOG
7
8
Manual pulse generator
(differential output type)
A-phase
B-phase
- A+
- A-
- B+
- B-
: "X" or "Y"
9
10
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-20SSC-H Positioning Block User's Manual
5.4
Connecting the SSCNET III Cable
5 Wiring
5.4 Connecting the SSCNET III Cable
5.4.1
Cautions for installation the SSCNET III cable
SSCNET III cable is made from optical fiber.
If a force is applied to the optical fiber such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available.
Carefully read the precautions in this manual when handling the SSCNET III cable.
For detailed specifications of the SSCNET III cable or details on the assembling procedure, refer to the following manual.
→ Refer to the MR-J3- B Servo Amplifier Instruction Manual
1) Minimum bend radius
Make sure to lay SSCNET III cable with bending radius greater than the minimum bend radius.
If the SSCNET III cable is less than the minimum bend radius, optical transmission is interrupted and it may cause malfunctions.
SSCNET III cable Minimum bend radius [mm (inches)]
MR-J3BUS M
MR-J3BUS M-A
MR-J3BUS M-B
25 (0.98")
Reinforced film cable : 50 (1.97")
Code part : 25 (0.98")
Reinforced film cable : 50 (1.97")
Code part : 30 (1.18")
2) Tension
If tension is applied to the SSCNET III cable, increase of transmission loss occurs due to external forces which concentrate on the fixing part of SSCNET III cable or the connecting part of SSCNET connector. In the worst case, the SSCNET III cable may break or be damaged. When laying SSCNET III cable, handle without applying forced tension.
3) Lateral pressure
If lateral pressure is applied to the optical cable, the SSCNET III cable itself distorts, the internal optical fiber gets stressed, and transmission loss will increase. In the worst case, the SSCNET III cable may break. To avoid lateral pressure while laying cable, do not bind the SSCNET III cable with things nylon bands (TY-RAP).
4) Twisting
If the SSCNET III cable is twisted, it is the same as when local lateral pressure or bending stress is applied. Consequently, transmission loss increases, and in the worst case, the SSCNET III cable may break.
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-20SSC-H Positioning Block User's Manual
5 Wiring
5.4 Connecting the SSCNET III Cable
5.4.2
Cautions for SSCNET III cable wiring
Secure the cable at close to the connector with bundle material in order to prevent the SSCNET III cable from applying its own weight to the connector.
Reserve the following distance when wiring.
1) Wiring duct
If the duct is below the bottom of the 20SSC-H, leave sufficient clearance to eliminate effects on the
SSCNET III cable. The space height should be 70 mm (2.76") minimum.
1
2
3
4
2) Bundling
Optical cord
Loose slack
Bundling material
Recommended:
NK Clamp SP Type (NIX, INC)
Cable
7
8
5
6
9
10
31
6 Memory Configuration and Data Operation
FX
3U
-20SSC-H Positioning Block User's Manual
6. Memory Configuration and Data Operation
DESIGN PRECAUTIONS
• Observe the following items. Failure to do so may cause incorrect data-writing by noise to PLCs and result the PLC failure, machine damage or an accident.
1) Do not lay close or bundle with the main circuit line, high-voltage line, or load line.
Noise and Surge induction interfere with the system operation.
Keep a safe distance of least 100 mm (3.94") from the above lines during wiring.
2) Ground the shield wire or shield of a shielded cable at one point on the PLC. However, do not ground at the same point as high voltage lines.
• Install in a manner which prevents excessive force from being applied to the built-in connectors dedicated to programming, power connectors and I/O connectors.
Failure to do so may result in wire breakage or failure of the PLC.
STARTUP AND MAINTENANCE
PRECAUTIONS
• Do not touch any terminal while the PLC's power is on.
Doing so may cause electrical shock or malfunctions.
• Before cleaning or retightening terminals, externally cut off all phases of the power supply.
Failure to do so may expose you to shock hazard.
• Before modifying the program under operation or performing operation for forcible output, running or stopping, carefully read the manual, and sufficiently ensure the safety.
An operation error may damage the machine or cause accidents.
• To test Zero-return, JOG operation and Positioning data, throughly read this manual, ensure the safe system operation
An operation error may damage the machine or cause accidents.
STARTUP AND MAINTENANCE
PRECAUTIONS
• Do not disassemble or modify the PLC.
Doing so may cause failures, malfunctions or fire.
* For repair, contact your local Mitsubishi Electric distributor.
• Before connecting or disconnecting any extension cable, turn off power.
Failure to do so may cause unit failure or malfunctions.
• Before attaching or detaching the following devices, turn off power.
Failure to do so may cause device failure or malfunctions.
Peripheral devices, expansion boards and special adapters
I/O extension blocks/units and terminal blocks
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-20SSC-H Positioning Block User's Manual
6.1
Memory Configuration and Role
6 Memory Configuration and Data Operation
6.1 Memory Configuration and Role
6.1.1
Memory configuration
Store parameters and data necessary for control in the buffer memory (BFM) and flash memory inside
20SSC-H, using the sequence program or FX Configurator-FP.
1
2
FX Configrator-FP Setting/monitoring tool
3
Sequence program
F X
3U
-20SSC-H
Buffer memory (BFM)
- Positioning parameter
- Servo parameter
- Table information
- Monitor data
- Control data
FX
3U
/FX
3UC
PLC
Servo amplifier
- Servo parameter
Servo amplifier
- Servo parameter
Flash memory
- Positioning parameter
- Servo parameter
- Table information
1) Buffer memory (BFM)
The PLC can access the buffer memory (BFM) directly, using sequence programs.
20SSC-H uses parameters and data in this area to execute positioning control.
2) Flash memory
The flash memory saves parameters and table information necessary for positioning control.
Store necessary data in advance for the mechanical equipment and applications.
4
5
6
7
8
9
10
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6 Memory Configuration and Data Operation
6.2 Parameter setting method
6.1.2
Data type and role
Data type
Monitor data
Control data
Positioning parameter
Servo parameter
Table information
Application
X-axis
Data indicating the control state.
The monitor data is stored in the buffer memory. Monitor the data when necessary.
→ For details, refer to Section 11.3
The user controls the positioning control system, using the control data.
The control data is related to operation-related settings, speed change command during positioning operation, stop operation, restart, etc.
→ For details, refer to Section 11.4
The positioning parameter specifies the unit, speed and other features of the positioning control.
Enter data according to the mechanical equipment and applicable motor.
→ For details, refer to Section 11.1
The servo parameter depends on the servo amplifier to be used, and it is used to control the servomotor.
Enter data according to the specifications to be used.
→ For details, refer to Section 11.2
The table information is used for table type positioning control.
Positioning control is based on the data specified in each table
(operation information, position information, speed information, m code information).
Up to 300 positioning tables can be defined.
→ For details, refer to Section 11.5
BFM
#0 to #99
BFM
#500 to #599
BFM
#14000 to
#14199
BFM
#15000 to
#15199
BFM
#1000 to
#3999
BFM number
Y-axis
BFM
#100 to #179
BFM
#600 to #699
BFM
#14200 to
#14399
BFM
#15200 to
#15399
BFM
#4000 to
#6999
X-/Y-axis
-
-
-
-
BFM
#7000 to
#12999
Note
• Positioning and servo parameters are automatically created and set for each of the X- and Y- axes according to the factory default settings. (Leave default parameters for unused axes.)
• The table information is created for each of the X-, Y- and XY-axes.
• The positioning parameters, servo parameters and table information can be initialized, using
FX Configurator-FP or sequence program.
6.2
Parameter setting method
Use one of the following methods to set parameters to 20SSC-H.
1. FX Configurator-FP
Positioning parameters, servo parameters and table information may be set using FX Configurator-FP.
For operation details on using FX Configurator-FP, refer to the following manual.
→ Refer to the FX Configurator-FP Operation Manual
Note
Use FX Configurator-FP whenever possible to set positioning parameters, servo parameters and table information, and save the setting data in the flash memory.
The use of the sequence program for this purpose requires many steps and devices, resulting in a complex program and increased scan time.
2. Sequence program
Using a sequence program, may be set using applied instructions such as the FROM/TO instructions to read/ write parameters from/to the buffer memory of 20SSC-H, and to save the setting data in the flash memory.
For details on using the FROM/TO instructions and direct specification of buffer memory for applied instructions, refer to the following manual.
→ Refer to the Programming Manual
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-20SSC-H Positioning Block User's Manual
6.3
Data Transfer Process
6 Memory Configuration and Data Operation
6.3 Data Transfer Process
6.3.1
PLC, 20SSC-H and servo amplifier
The data transfer between PLC, 20SSC-H, and servo amplifier is as follows.
FX
3U
/FX
3UC
PLC
Sequence program
(B)
F X
3 U
-20SSC-H
Buffer memory (BFM)
- Positioning parameter
- Servo parameter
- Table information
- Monitor data
- Control data
(A)
(D)
1
2
3
(A)
Flash memory
- Positioning parameter
- Servo parameter
- Table information
(C)
Servo amplifier
- Servo parameter
- Monitor data
Servo amplifier
- Servo parameter
- Monitor data
4
1. Power-on data transfer process [A in the figure above]
The following data transfer process occurs.
1) The data in the flash memory of 20SSC-H is transferred to the buffer memory (BFM).
2) The servo parameters are transferred to the servo amplifier.
To transfer the servo parameters automatically to the servo amplifier at PLC power-on, set the following parameter in flash memory and turn the power ON in order from the servo amplifier to 20SSC-H
(including the PLC).
→ For details, refer to Subsection 6.3.3
- Save servo parameters that relate to the servo amplifier with the servo series (BFM #15000, #15200), to the flash memory.
2. Data transfer between PLC and buffer memory (BFM) of 20SSC-H [B in the figure above]
Applied instructions such as the MOV instruction, or the FROM/TO instruction are used to read/write parameters and data between the PLC and buffer memory.
Note
Use FX Configurator-FP, whenever possible to set positioning parameters, servo parameters and table information, and save the setting data in the flash memory.
The use of the sequence program for this purpose requires many steps and devices, resulting in a complex program and increased scan time.
3. Writing data to the flash memory in 20SSC-H [C in the figure above]
To change data in the flash memory, use a sequence program or FX Configurator-FP to modify the buffer memory data, then activate a save command (BFM #523 b0 to 6) to save positioning parameters, servo parameters and table information from the buffer memory to the flash memory.
→ For the operation of FX Configurator-FP, refer to the FX Configurator-FP Operation Manual.
→ For the flash memory save command, refer to Section 11.4.15
4. Data transfer process between 20SSC-H and servo amplifier [D in the figure above]
When servo parameters or monitor data on the servo amplifier side are modified, the buffer memory of
20SSC-H is automatically updated.
For the initial servo parameter transfer method, refer to the following.
→ For the initial servo parameter transfer method, refer to Section 6.3.3
5
6
7
8
9
10
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6 Memory Configuration and Data Operation
6.3 Data Transfer Process
6.3.2
FX Configurator-FP and 20SSC-H
The data transfer between FX Configurator-FP and 20SSC-H via the PLC is as follows.
FX Configurator-FP Setting/monitoring tool
(A) (B)
F X
3 U
-20SSC-H
Buffer memory (BFM)
- Positioning parameter
- Servo parameter
- Table information
- Monitor data
- Control data
Sequence program
FX
3U
/FX
3U c PLC
(C)
Flash memory (ROM)
- Positioning parameter
- Servo parameter
- Table information
1. From 20SSC-H to FX Configurator-FP [A in the figure above]
The following data is read from the buffer memory in 20SSC-H to FX Configurator-FP.
• Positioning parameters
• Servo parameters
• Table information
• Monitor data (operation status, action status, input signal status, etc.)
2. From FX Configurator-FP to 20SSC-H (buffer memory) [B in the figure above]
The following data is written from FX Configurator-FP to the buffer memory in 20SSC-H.
• Positioning parameters
• Servo parameters
• Table information
• Control data (new current values, speed change, operation test command, etc.)
3. From FX Configurator-FP (buffer memory in 20SSC-H) to 20SSC-H (flash memory)
[C in the figure above]
The following data is saved from the buffer memory in 20SSC-H to the flash memory according to the save command sent from FX-Configurator-FP.
• Positioning parameters
• Servo parameters
• Table information
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6 Memory Configuration and Data Operation
6.3 Data Transfer Process
6.3.3
Transfer (writing) servo parameter to servo amplifier
At power-ON, servo parameters in the flash memory are transferred to the servo amplifier.
FX
3U
/FX
3UC
PLC
Sequence program
F X
3 U
-20SSC-H
Buffer memory (BFM)
- Positioning parameter
- Servo parameter
- Table information
- Monitor data
- Control data
1
2
3
Power-on
Flash memory (ROM)
- Positioning parameter
- Servo parameter
- Table information
Servo amplifier
- Servo parameter
Servo amplifier
- Servo parameter
1) Save servo parameters that relate to the servo amplifier with the servo series (BFM #15000, #15200), to the flash memory.
2) Turn the power ON in order from the servo amplifier to 20SSC-H (including the PLC).
Note
To transfer the following parameters from the buffer memory (BFM) to the servo amplifier, turn the servo parameter transfer command (b9) of operation command 2 [BFM #519 (X-axis) and #619 (Y-axis)] to ON.
→ For the operation command, refer to Section 11.4.11
1) Transferred servo parameters
• Auto tuning mode
• Auto tuning response
• Feed forward gain
• Ratio of load inertia moment to servo motor inertia moment
• Model control gain
• Position control gain
• Speed control gain
• Speed integral compensation
• Speed differential compensation
2) Conditions for executing servo parameter transfer command
The servo parameter transfer command is ignored during the positioning operation.
3) Status information
The servo parameter transfer flag in the status information is set during servo parameter transfer.
→ For the status information, refer to Section 11.3.1.3
4
5
6
7
8
9
10
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7 Before Starting Positioning Operation
7.1 Note on Setting Parameters
7. Before Starting Positioning Operation
DESIGN PRECAUTIONS
• Provide a safety circuit on the outside of the PLC so that the whole system operates to ensure the safety even when external power supply trouble or PLC failure occurs.
Otherwise, malfunctions or output failures may result in an accident.
1) An emergency stop circuit, a protection circuit, an interlock circuit for opposite movements, such as normal and reverse rotations, and an interlock circuit for preventing damage to the machine at the upper and lower positioning limits should be configured on the outside of the PLC.
2) When the PLC CPU detects an error, such as a watch dog timer error, during self-diagnosis, all outputs are turned off. When an error that cannot be detected by the PLC CPU occurs in an input/output control block, output control may be disabled.
Design external circuits and mechanisms to ensure safe operations of the machine in such a case.
3) When some sort of error occurs in a relay, triac or transistor of the output unit, output may be kept on or off.
For output signals that may lead to serious accidents, design external circuits and mechanisms to ensure safe operations of the machine in such cases.
• At forward/reverse rotation limits wiring, make sure to wire in negative logic and use NC contact. Setting in positive logic and using
NC-contact can cause serious accidents.
DESIGN PRECAUTIONS
• Observe the following items. Failure to do so may cause incorrect data-writing by noise to PLCs and result the PLC failure, machine damage or an accident.
1) Do not lay close or bundle with the main circuit line, high-voltage line, or load line.
Noise and Surge induction interfere with the system operation.
Keep a safe distance of least 100 mm (3.94") from the above lines during wiring.
2) Ground the shield wire or shield of a shielded cable at one point on the PLC. However, do not ground at the same point as high voltage lines.
• Install in a manner which prevents excessive force from being applied to the built-in connectors dedicated to programming, power connectors and I/O connectors.
Failure to do so may result in wire breakage or failure of the PLC.
7.1
Note on Setting Parameters
Set the positioning parameters and servo parameters according to the system.
The following parameters must be set.
1) Servo series [Servo parameters (Basic setting)]
This parameter must be set to transfer information between 20SSC-H and the servo amplifier.
Set the servo series of servo parameters according to servo amplifier.
Servo parameters must be saved to the flash memory in 20SSC-H.
→ For servo series details, refer to subsection 11.2.1
2) Function selection C-4 [Servo parameters (Expansion setting)]
Immediately after power ON, this parameter needs to be set to operate other than the JOG or manual pulse generator operation modes.
Set “1: Not needed to pass motor Z-phase after the power supply is switched on” (default setting) here.
In other setting cases, the servo motor should be rotated more than one revolution by the JOG or manual pulse generator immediately after power-ON.
→ For details, refer to subsection 8.1.1 and 11.2.3
3) Zero return interlock setting [Positioning parameters (Operation parameter 2)]
Immediately after power ON, this parameter needs to be set to operate in modes other than the JOG, manual pulse generator or mechanical return operation modes.
Set "invalid" here.
In other setting cases, operate to be set to the zero return executed flag.
→ For details, refer to subsection 7.6.9 and 11.1.2
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7 Before Starting Positioning Operation
7.2 Outline of Positioning Operation
7.2
Outline of Positioning Operation
The relationship between the operation speed, acceleration/deceleration and travel distance of the positioning operation is shown below.
For futher details on the positioning operations suppurted by 20SSC-H and a note on positioning cautions, refer to the following.
→ For a note on positioning cautions, refer to the next page.
→ For manual operation, refer to Chapter 8
→ For positioning operation except for that of table operation, refer to Chapter 9
→ For table operation, refer to Chapter 10
In individual axis operation In simultaneous two-axis operation
(interpolation operation)
Speed Acceleration time
Max. speed
Trapezoidal acceleration/ deceleration
Deceleration time
Positioning completion flag
Operation speed
Approximate S-shaped acceleration/deceleration
OFF
ON
Time
S-shaped time constant
(fixed at 64ms)
Speed
Interpolation time constant
Max. speed
Trapezoidal acceleration/ deceleration
Operation speed
Interpolation time constant
Time
Positioning completion flag
OFF
ON
Parameters and control data used for positioning operation
Item
Maximum speed
X-axis
BFM number
BFM
#14009,#14008
Operation speed 1 BFM #503,#502
BFM
Y-axis
#14209,#14208
BFM #603,#602
Description
Upper limit of speed in each operation mode
Operation speed
Operation speed 2 BFM #507,#506 BFM #607,#606
Actual operation speed in each operation mode
Actual operation speed for two-speed positioning operation and interrupt two-speed positioning
JOG speed
BFM
#14013,#14012
BFM
#14213,#14212
Manual forward/reverse (JOG+/JOG-) operation speed
Acceleration time
Deceleration time
Travel distance
Acceleration/deceleration mode
BFM #14018
BFM #14020
Target address 1 BFM #501,#500
Target address 2 BFM #505,#504
Interpolation time constant
Positioning completion
BFM #14000 b11
BFM #14022
BFM #28 b6
BFM #14218
BFM #14220
BFM #601,#600
BFM #605,#604
BFM #14200 b11
BFM #14222
BFM #128 b6
Time needed to reach from zero speed to the maximum speed
Time needed to reach from the maximum speed to the zero speed
Target position (absolute address) or travel distance
(relative address) in each operation mode
Target position (absolute address) or travel distance
(relative address) for two-speed positioning operation
Select the acceleration/deceleration control method
(approximate S-shaped acceleration/deceleration or trapezoidal acceleration/deceleration).
In interpolation operation, this mode handles trapezoidal acceleration/deceleration only even if the approximate Sshaped acceleration/deceleration is selected.
Acceleration/deceleration time for interpolation operation.Time to reach from zero speed to the operation speed (for acceleration) or time to reach from the operation speed to the zero speed (for deceleration)
The flag is reset at the beginning of each operation or at the error occurrence, and it is set upon normal completion.
However, the flag is not set during stop operation or the following operation even if operation is normally finished
JOG operation
Mechanical zero return (data setting type)
Manual pulse generator operation
Variable speed operation
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2
3
4
5
6
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7.2 Outline of Positioning Operation
Note
• Trapezoidal acceleration/deceleration and approximate S-shaped acceleration/deceleration
If trapezoidal acceleration/deceleration and approximate S-shaped acceleration/deceleration are performed under the same conditions (travel distance, operation speed and acceleration/deceleration time), the positioning time of approximate S-shaped acceleration/deceleration becomes longer by 64ms.
• Approximate S-shaped acceleration/deceleration
Specify 64ms or larger (64 to 5000) acceleration and deceleration time.
• If the operation speed [jog speed, operation speed 1, operation speed 2, zero return speed (high speed) or zero return speed (creep)] is 0Hz, operation is at 1Hz.
• When the operation speed is changed by the override function during interpolation operation, the acceleration/deceleration time (interpolation time constant) changes according to the ratio by which the operation speed changes
→ For override function details, refer to Subsection 7.5.1
130%
100%
Operation speed
Change operation speed
New operation speed
100ms
(Interpolation time constant)
100ms
(Interpolation time constant)
*1
130ms
*1 130ms
Actual acceleration/deceleration time (interpolation time constant) after the operation speed change.
*1
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7.3 Handling the Forward Rotation Limit and Reverse Rotation Limit
7.3
Handling the Forward Rotation Limit and Reverse Rotation Limit
The concept of the forward rotation limit and that of the reverse rotation limit are described. Suppose that limit switches are located as shown in the figure below.
Servomotor
Reverse rotation limit 2
(servo amplifier side)
Reverse rotation limit 1
(PLC side)
LSR
Forward rotation limit 1
(PLC side)
LSF
Forward rotation limit 2
(servo amplifier side)
Reverse rotation Forward rotation
Limit
Stopping action
Description
Servo amplifier
PLC
Forward rotation limit 2, reverse rotation limit 2
Deceleration to stop
Specify the action limit so that no damage is caused to the machine that decelerates after activation of a limit switch until it is stopped.
Connect without fail for safety.
Forward rotation limit 1, reverse rotation limit 1
Software forward rotation limit
Software reverse rotation limit
Deceleration to stop
Deceleration to stop
This limit switch is necessary for retraction with the PLC if a DOG search function is used in zero return operation or if the limit switch is activated at the forward or reverse rotation limit modes in other than zero home operation.
Provide at positions so that the limit switch is activated before forward rotation limit 2 or reverse rotation limit 2 connected with the servo amplifier.
Operation limit based on the current address that is effective after mechanical zero return.
Specify at addresses that activation is caused before forward rotation limit
1 or reverse rotation limit 1 connected with the PLC.
Reference
Subsection
7.3.1
Subsection
7.3.2
Subsection
7.3.3
Note
The 20SSC-H does not have a terminal for connecting the forward or reverse rotation limit switch.
Connect the forward and reverse rotation limit switches to the PLC and/or servo amplifier.
How to restart after the limit switch is activated
When the limit switch is activated, the work piece decelerates to stop, and a limit error occurs.
The work piece cannot move to the activated limit-switch side. Use the JOG operation in opposite direction or the manual pulse generator in the opposite direction to avoid the limit error.
Operation speed
Deceleration to stop
However, immediate stop is caused during operation with the manual pulse generator.
1
2
3
4
5
6
7
Forward rotation limit input
OFF
ON
Reverse rotation JOG operation or reverse rotation manual pulse generator operation is valid.
Forward rotation JOG operation or forward rotation pulse generator operation is invalid.
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7.3 Handling the Forward Rotation Limit and Reverse Rotation Limit
7.3.1
Forward rotation limit 2 (FLS) and reverse rotation limit 2 (RLS)
[servo amplifier side]
Connect forward rotation limit 2 (FLS) and reverse rotation limit 2 (RLS) to the upper limit (FLS) and lower limit (RLS) external signal terminals of the servo amplifier, respectively. This limit switch should be provided in a position to avoid causing damage to the machine after activation. Connect for safety.
→ For the related parameters, control data and monitor data, refer to Section 7.9
1. Wiring the forward rotation limit 2 (FLS) and reverse rotation limit 2 (RLS)
Connect forward rotation limit 2 (FLS) and reverse rotation limit 2 (RLS) to the upper limit (FLS) and lower limit (RLS) external signal terminals of the servo amplifier, respectively.
→ For the wiring method, refer to the servo amplifier manual
2. Servo amplifier external signal setting
Specify the following for the external signal of the servo amplifier.
External signal selection
Selection of FLS/RLS signal
Logic of FLS/RLS signal
Description of setting
Use the forward/reverse rotation limit of the servo amplifier and PLC.
NC contact (servo amplifier)
3. Restarting method
Refer to the following.
→ Refer to Section 7.3 (on the previous page)
7.3.2
Forward rotation limit (LSF) and reverse rotation limit (LSR) [PLC side]
For retraction with the PLC during use of the DOG search function in zero return or upon activation of a forward or reverse rotation limit switch in modes other than the zero return operation, these limit switches are necessary.
Provide at a position so that activation is caused before forward rotation limit 2 or reverse rotation limit 2 connected to the servo amplifier.
→ For the related parameters, control data and monitor data, refer to Section 7.9
1. Wiring the forward rotation limit 1 (LSF) and reverse rotation limit 1 (LSR)
Connect forward rotation limit 1 (LSF) and reverse rotation limit 1 (LSR) at the input terminals of the PLC.
For details of the PLC wiring method, refer to the following respective PLC manual.
→ Refer to the FX
3U
Hardware Manual.
→ Refer to the FX
3UC
Hardware Manual.
2. Specifying forward rotation limit 1 (LSF) and reverse rotation limit 1 (LSR)
Operate the forward rotation limit 1 (LSF) and reverse rotation limit 1 (LSR) connected with the PLC with the forward rotation limit flag and reverse rotation limit flag of 20SSC-H, respectively.
→ Refer to Chapter 13
3. Restarting method
Refer to the following.
→ Refer to Section 7.3 (on the previous page)
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7.3 Handling the Forward Rotation Limit and Reverse Rotation Limit
7.3.3
Software limit
This operation limit is based on the 0 address that becomes valid after mechanical zero return.
Specify at addresses so that activation is before forward rotation limit 1 and reverse rotation limit 1 connected with the PLC.
→ For the related parameters, control data and monitor data, refer to Section 7.9
1. Conditions for validating the software limit
• Specify the software limit so that the following condition is satisfied.
Large software limit > small software limit
• State with active zero return execution flag
(After execution of mechanical zero return and completion of positioning at the zero-point, or in an absolute position detection system where the current value is established)
Note
To refrain from using the software limit, specify the software limit settings as shown below.
• Software limit (upper) = Software limit (lower)
• Software limit (upper) < Software limit (lower)
Cautions for use of software limit
1) The software limit is invalid under the following control.
a) Mechanical zero return control b) Current value change
2) The limit error of the software limit is changed at the starting and end points of the operation. Therefore the specified upper or lower software limit may be exceeded in circular interpolation control.
In this case, deceleration does not occur even if the software limit is exceeded.
If there is a possibility of overshoot beyond the software limit, install an external limit switch.
Y-axis
Deceleration does not occur.
Y-axis stroke limit
Arc address
1
2
3
4
5
6
7
Starting point address
End point address
X-axis
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9
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7.4 Handling the STOP command
7.4
Handling the STOP command
When the STOP command of 20SSC-H turns ON during positioning operation, the servomotor decelerates to stop.
When stopped by the STOP command, the following statuses are shown below.
→ For the related parameters, control data and monitor data, refer to Section 7.9
Status
Positioning completion
READY
State
OFF
ON
1. STOP command during JOG operation, manual pulse generator operation or variable speed operation
When a STOP command is turned ON during the JOG operation, manual pulse generator operation or variable speed operation, the servomotor decelerates to stop without regard to the stop mode setting type.
Operation is restarted when the STOP command is turned off and the forward or reverse rotation JOG command is ON or the manual pulse generator is being operated.
Operation stop for JOG operation, manual pulse generator operation or variable speed operation
To stop the JOG operation, manual pulse generator operation or variable speed operation, turn the operation command to off or stop the manual pulse generator input. (without using the STOP command)
2. STOP command during positioning operation (without the JOG operation, manual pulse generator operation or variable speed operation)
When the STOP command is turned ON during positioning control operation, the operation is as follows according to the stop mode setting. There are two types of stop mode: the positioning control end mode and remaining travel distance operation mode.
1) Positioning control end mode
When the STOP command is turned ON, operation decelerates to a stop and is terminated.
When the STOP command is OFF, positioning operation begins when the START command is turned
ON.
Speed
Control suspended with STOP command
START command
STOP command
Standby for remaining travel distance after stopped
ON
OFF
Next positioning operation
ON
ON
OFF
OFF
Time
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7.4 Handling the STOP command
2) Remaining travel distance operation mode
When the STOP command is turned ON, operation decelerates to a stop and the 20SSC-H enters standby state for the remaining travel distance operation. At this time, "standby for remaining travel distance" flag is turned ON. When the STOP command is OFF and the START command is turned ON during standby status, positioning operation continues for the remaining travel distance.
Speed
Control suspended with STOP command
Remaining travel distance operation
Time
START command
STOP command
Standby for remaining travel distance after stopped
ON
OFF
ON
OFF
ON
OFF
ON
OFF
To cancel the remaining travel distance operation in the remaining travel distance operation mode
When "remaining travel distance operation cancel command" is turned ON in standby status, the operation for the remaining travel distance is cancelled and the positioning operation terminates.
Speed
Remaining travel distance operation
(Canceled remaining travel distance)
1
2
3
4
5
Time
START command
STOP command
Standby for remaining travel distance after stopped
Remaining travel distance operation cancel command
ON
OFF
ON
OFF
ON
ON
OFF
OFF
3. Wiring the stop switch
Connect the stop switch to the input terminal of the PLC.
For details of the PLC wiring method, refer to the following manual according to the PLC being used.
→ Refer to the FX
3U
Hardware Edition
→ Refer to the FX
3UC
Hardware Edition (Japanese document only)
4. STOP command
Operate the PLC's STOP switch together with the 20SSC-H STOP command.
→ Refer to Section 7.4
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7.5 Changing During Operation (Operation Speed, Target Address)
7.5
Changing During Operation (Operation Speed, Target Address)
7.5.1
Changing the operation speed with override function
This function is possible to change the operation speed at an arbitrary timing through the override setting value (0.1 to 3000.0%).
→ For the related parameters, control data and monitor data, refer to Section 7.9
1. To use the override function
Set the following setting.
Setting item
Override setting
Description
Specify in the range from 1 to 30000
× 0.1% (0.1 to 3000.0%).
2. Applicable positioning operations
• Operations applicable to the override function
- Mechanical zero return (at high speed)
- JOG operation
- 1-speed positioning operation
- Interrupt 1-speed constant quantity feed
- 2-speed positioning operation
- Interrupt 1-speed constant quantity feed
- Interrupt stop
- Variable speed operation
- Multi-speed operation
- Linear interpolation
- Linear interpolation (interrupt stop)
- Circular interpolation
3. Operation
• Operations inapplicable to the override function
- Mechanical zero return (at creep)
- Manual pulse generator operation
Speed
200
150
Actual operation speed
100
Time
Operation speed
Override setting
100
100% 200% 150%
4. Caution for speed change
• If the overridden (actual) operation speed is smaller than 1, operation speed handles on "1" in the current speed unit.
• If "100 (%)" is specified as an override, the speed does not change.
• The operation speed can be changed during positioning operation.
The override function is invalid during deceleration after a STOP command or in positioning operation.
• When the operation speed is changed by the override function during interpolation operation, the acceleration/deceleration time (interpolation time constant) changes according to the ratio by which the operation speed changes.
→ For details, refer to the note in Section 7.2
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7.5 Changing During Operation (Operation Speed, Target Address)
7.5.2
Changing the operation speed with the operation speed change function
This function is possible to change to the specified new operation speed at an arbitrary timing.
However, the speed does not change during mechanical zero return after detection of the near point DOG and start of deceleration to the creep speed.
→ For the related parameters, control data and monitor data, refer to Section 7.9
1. To make speed change valid
Specify the following settings.
Setting item
Change command in operation disabled
Speed change value
OFF
Setting
Description
Speed change command in positioning operation ON at speed change
2. Applicable positioning operations
• Operations applicable to the operation speed change function
- Mechanical zero return (at high speed)
- JOG operation
- 1-speed positioning operation
- Interrupt 1-speed quantity feed
- 2-speed positioning operation
- Interrupt 2-speed quantity feed
- Interrupt stop
- Multi-speed operation
- Linear interpolation
- Linear interpolation (interrupt stop)
- Circular interpolation
• Operations inapplicable to the operation speed change function
- Mechanical zero return (at creep)
- Manual pulse generator operation
- Variable speed operation
3. Operation
Speed
Operation speed after change
1
2
3
4
5
6
Operation speed
Target address
Time
Speed change command in positioning operation
OFF
ON
OFF
ON
Operation speed change processing
4. Cautions for speed change
• After operation speed change, if STOP command is turned ON during positioning operation, the next operation speed becomes the changed speed.
• The operation speed can not change in the following statuses.
- During deceleration by STOP command
- During automatic deceleration in position control
• If an operation speed larger than the maximum speed is specified for the speed change value, a setting error occurs and the operation speed is controlled at the maximum speed.
• To change the speed at interpolation control, the speed change value has to be set in the X-axis setting.
• The operation speed does not change during mechanical zero return (at creep). The speed change command is ignored.
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7.5 Changing During Operation (Operation Speed, Target Address)
7.5.3
Changing the target address
This function is used to change the target address in positioning control to a new specified address.
1. To make target address change valid
Specify the following settings.
Setting item
Change command in operation disabled
Target position change value (address)
Target position change value (speed)
Target position change command in positioning operation
Description
OFF
Set the new target address.
Set the new operation speed.
ON at target address change
Note
To leave the operation speed unchanged, set the target position change value (speed) to the same speed as the current operation speed.
2. Applicable positioning operations
• Operations applicable to the target address change function
- 1-speed positioning operation
- Interrupt 1-speed constant quantity feed
- 2-speed positioning operation
- Interrupt 2-speed constant quantity feed
- Interrupt stop
• Operations inapplicable to the target address change function
- Mechanical zero return
- Manual pulse generator operation
- JOG operation
- Variable speed operation
- Multi-speed operation
- Linear interpolation
- Linear interpolation (interrupt stop)
- Circular interpolation
3. Operation
1) When changing both the address and speed
Speed
New operation speed
Operation speed
New target address
Target address
Time
Target position change command
(speed) in positioning operation
OFF
Changing target address
OFF
2) When the direction of operation changes
ON
ON
Speed
Target position change command
(speed) in positioning operation
Changing target address
OFF
OFF
Target address
ON
ON
Turnover
New target address
Time
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7.6 Other functions
4. Cautions
• The operation speed can not change in the following statuses.
- During deceleration by STOP command
- During automatic deceleration in position control
• If the target position change value (address) converted in units of pulses is out of the setting range, an error occurs.
• If the target position change value (speed) is out of the setting range, the operation speed is handled to "1"
(lower limit) or maximum speed (upper limit).
7.6
Other functions
The 20SSC-H has an absolute position detection system, torque limit function, servo ON/OFF and servo check functions and others.
The parameter setting and sequence program enable each function.
7.6.1
Servo-ready check function
The servomotor ready signal (completion of preparation) is checked during startup of operation or during operation. With no servo ready signal, a servo-ready error occurs, stopping the operation.
For servomotors with no servo-ready signal, disable the servo-ready check function.
→ For related parameters, control data and monitor data, refer to Section 7.9
7.6.2
Servo end check function
Use the servo end check function to detect the positioning operation completion by the servo status in-position signal.
When the servo status in-position signal turns ON after operation completion (within the range of servo end check determination time) the 20SSC-H detects that the positioning operation has ended.
When the in-position signal does not turn ON within the specified servo end determination time, an external error occurs, stopping the operation.
→ For related parameters, control data and monitor data, refer to Section 7.8
• Zero or smaller settings are handled as "1ms."
• 5001 or larger settings are handled as "5000ms."
1. To use the servo end check function
Specify the following settings.
Setting item
Servo end check Enable the servo end check.
Description
Servo end determination time Specify the value within in the range 1 and 5000ms.
1
2
3
4
5
6
7
8
9
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7.6 Other functions
2. Applicable positioning operations
• Operations applicable to the servo end check
- JOG operation
- 1-speed positioning operation
- Interrupt 1-speed constant quantity feed
- 2-speed positioning operation
- Interrupt 1-speed constant quantity feed
- Interrupt stop
- Variable speed operation
- Multi-speed operation
- Linear interpolation
- Linear interpolation (interrupt stop)
- Circular interpolation
- Mechanical zero return
• Operations inapplicable to the servo end check
- During continuous multi-speed operation
- During continuous pass operation of interpolation operation
- Manual pulse generator operation
7.6.3
Torque limit function
This torque limit function sets torque limit value of servo amplifier from 20SSC-H.
→ For related parameters, control data and monitor data, refer to Section 7.8.
1. Torque limit function setting
Specify the following items to use the torque limit function.
Setting item Description
Zero return torque limit value Torque limit value for zero return control (creep)
Torque limit setting
The torque limit during the following operations is the torque limit setting or torque output setting according to the torque output setting value.
If the torque output setting is "0"
The torque is limited to the torque limit value or zero return torque limit value.
If the torque output setting is between 1 and 10000 (increment: 0.1%)
The torque is limited to the torque output setting.
Torque output setting
• During mechanical zero return at zero return speed (high speed)
• JOG operation
• 1-speed positioning operation
• Interrupt 1-speed constant quantity feed
• 2-speed positioning operation
• Interrupt 2-speed constant quantity feed
• Interrupt stop
• Variable speed operation
• Multi-speed operation
• Linear interpolation
• Linear interpolation (interrupt stop)
• Circular interpolation
• Manual pulse generator operation
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2. Details of control
The operation with the torque limit is as follows.
Various operations
ON
START command
OFF
*1 , *2
OFF
Torque limit setting
300
Torque output setting
0
*1 , *2
100
ON
7 Before Starting Positioning Operation
7.6 Other functions
200
OFF
1
2
3
Stored torque limit
300 100
4
*1 :
The torque limit setting or torque output setting becomes valid at the rising edge of the START signal. If the torque output setting is "0," operation is made with the torque limit setting.
*2 : If the positioning parameter setting is changed, issue a positioning control parameter command to validate the new setting.
3. Precautions for control
• If the zero return torque limit value exceeds the torque limit setting, an error occurs.
• If the torque limit function causes the operation to stop, drop pulses remain in the deviation counter. After the load torque is removed, the operation continues according to the remaining pulses.
7.6.4
Absolute position detection system
An absolute position detection system is available with 20SSC-H.
→ For related parameters, control data and monitor data, refer to Section 7.9
What is the absolute position detection system?
In the absolute position detection system, the current position is stored in the servo amplifiers battery backed memory, and even if the work piece moves at power failure, the moving distance is added to the current position with the absolute encoder and servo amplifier absolute position system. After power-ON, the absolute position detection system does not require the zero return procedure.
5
6
7
1. Conditions to use the absolute position detection system
• Use servomotors with absolute position encoders.
• Place a backup battery to the servo amplifier.
• Enables the absolute position detection system in servo parameters.
2. Initial zero-point determination
Even with the absolute position detection system, the zero-point must be determined at least once after the equipment is manufactured.
To determine the zero-point for the first time, perform zero return according to one of the following types
: data set type, DOG type or stopper type.
→ For zero return operation, refer to Section 8.1
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7.6 Other functions
3. Absolute position lost
If the absolute position in the encoder becomes indefinite in the absolute position detection system, the absolute position loss signal (ABSV) turns ON. At ABSV signal ON, make sure to operate zero return immediately to establish the zero-point again.
The absolute position becomes indefinite in the three cases below.
• When changed into the absolute position detection system by the parameter setting of the servo amplifier, and the servo amplifier turns ON.
• An absolute position loss alarm (AL-25) is caused.
• An absolute position counter warning (AL-E3) is issued.
Note
While the absolute position loss signal (ABSV) is ON, do not start the automatic operation. Otherwise the system will run away.
7.6.5
Servo ON/OFF
The servo of the servo amplifier connected with 20SSC-H turns ON/OFF.
The servo ON enables the servomotor operations.
→ For related parameters, control data and monitor data, refer to Section 7.9
1. Servo ON/OFF
• Turn OFF(0) the servo-OFF command to turn the servo on.
• Turn ON (1) the servo-OFF command to turn the servo off.
Note
• Perform servo-ON/OFF while the servomotor is stopped.
• The servo can be turned OFF with Ready-ON in the status information.
The servo-OFF command during positioning operation is invalid.
• If the servomotor turns due to an external force during servo-OFF, a follow-up process occurs with the follow-up function.
7.6.6
Follow-up function
With the follow-up function, the motor rpm is monitored when the servo is OFF, and the motor rpm is reflected in the current value.
With this function, even if the servomotor rotates while the servo is OFF, the servomotor always starts positioning at the next servo-ON, ignoring the drop pulse.
The 20SSC-H always executes the follow-up process during servo OFF.
→ For related parameters, control data and monitor data, refer to Section 7.9
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7.6 Other functions
7.6.7
Simultaneous start function
Operation in the X- and Y-axes start simultaneously with this function.
→ For related parameters, control data and monitor data, refer to Section 7.9
1.
Applicable positioning operations
• Operations applicable to the simultaneous start function
- JOG operation
- Mechanical zero return
- 1-speed positioning operation
- Interrupt 1-speed constant quantity feed
- 2-speed positioning operation
- Interrupt 2-speed constant quantity feed
- Interrupt stop
- Table operation (independent)
• Operations inapplicable to the simultaneous start function
- Manual pulse generator operation
- Variable speed operation
- Multi-speed operation
- Linear interpolation
- Linear interpolation (interrupt stop)
2. Operation
1) Enter the X-axis and Y-axis operation patterns.
2) Turn on the X-axis simultaneous start flag.
3) Reboot the X-axis start command.
In the JOG operation, reboot the X-axis forward/reverse rotation jog command.
4) X-axis and Y-axis operation begins simultaneously.
POINT
• The Y-axis start command and forward/reverse jog command are ignored.
7.6.8
Current address change function
With this function, the current address of a stopped axis changes arbitrarily.
Write the desired value to the current address (user) to change, followed by the current address (pulse) update.
→ For parameters, control data and monitor data, refer to Section 7.9
The current address does not change in the following states.
• READY/BUSY in the status information is OFF (0).
• Interruption due to a STOP command occurs and the operation is waiting for the remaining distance.
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2
3
4
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6
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7.7 Precautions for using the user units (mechanical or composite
7.6.9
Zero return interlock setting
This function disables the start command before mechanical return.
→ For related parameters, control data and monitor data, refer to Section 7.9
1. Applicable positioning operations
• Operations applicable to the zero return interlock setting
- 1-speed positioning operation
- Interrupt 1-speed constant quantity feed
- 2-speed positioning operation
- Interrupt 2-speed constant quantity feed
- Interrupt stop
- Variable speed operation
- Multi-speed operation
- Linear interpolation
- Linear interpolation (interrupt stop)
- Table operation (independent)
- Table operation (simultaneous)
• Operations inapplicable to the zero return interlock setting
- JOG operation
- Manual pulse generator operation
- Mechanical zero return
2. Setting items
The zero return interlock setting is valid in one of the following states.
• The zero return interlock setting of operation parameter I is ON (1).
• The zero return completed status is OFF.
7.7
Precautions for using the user units
(mechanical or composite system of units)
1. User units
The user can select the unit setting for positioning.
For the unit setting method, refer to the following section.
→ For the setting method, refer to Section 11.1.1
1) System of units
Select the unit to use.
- Motor system of units :The position command and speed command are based on the number of pulses.
- Mechanical system of units :The position command and speed command are based on mm, mdeg,
10
-4
inches and so on.
- Composite system of units :The position command is based the mechanical system, while the speed command is based on the motor system, or similar composite units are used.
2) Data magnification
You can select the position data magnification (
×1, ×10, ×100 or ×1000).
3) Setting value in user units
According to the user unit setting, specify the value as follows.
Position data magnification
×1
×10
×100
×1000
PLS
PLS
× 10 PLS
× 100 PLS
× 1000 PLS
µm
× 10 µm
× 100 µm mm
Unit setting (position unit)
µm
inch
× 0.0001 inch
× 0.001 inch
× 0.01 inch
× 0.1 inch
mdeg
mdeg
× 10 mdeg
× 100 mdeg deg
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7.7 Precautions for using the user units (mechanical or composite
2. Converted pulse data
Enter data within the setting range of converted pulse data, when setting ranges overlap. The equation for conversion is as follows.
1) Travel distance
Travel distance in converted pulse data (PLS) =
Travel distance (
µm, 10
-4 inch, mdeg)
× position data magnification × (pulse rate / feed rate)
2) Operation speed
Operation speed in converted pulse data (Hz) =
Operation speed (
µm/min, inch/min, 10deg/min) × 10
4
× (pulse rate / feed rate) / 60
Servomotor rotation speed and operation speed (converted pulse data)
Do not exceed the maximum rotation speed of the servomotor when specifying the operation speed (including the maximum speed, jog speed and zero return speed). The servomotor rotation speed is calculated from the speed (converted pulse data) as follows.
Servomotor rpm (r/min) =
The converted pulse data of operation speed (Hz)
× 60 / the resolution per revolution of servomotor
Servo amplifier
MR-J3B
Resolution per revolution or servomotor (PLS/REV)
262144
3. Error
Supposing that the pulse rate be A, feed rate be B, and relative travel distance be C. C
× (A/B) is the number of pulses output from 20SSC-H.
No command error occurs as long as (A/B) is an integer. C
× (A/B) does not have to be an integer.
However, if C
× (A/B) is not an integer, repetitive operation of relative movement causes an accumulated error in the current address. In absolute address operation, an error within 1 pulse occurs with the calculation result rounded off, but it does not cause an accumulated error.
In addition, an accumulated error does not occur in the motor system of units.
4. Maximum speed restriction
To specify speed data in the mechanical system of units, enter data in the range between 1 and
50,000,000Hz in converted pulse data.
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7.8
Cautions for Positioning Operation
7 Before Starting Positioning Operation
7.8 Cautions for Positioning Operation
7.8.1
Overlapped specification of operation mode
The positioning operation does not start at START input/command if multiple operation patterns are selected
(with multiple bits turned on) in the parameters for operating patterns.
Likewise, the positioning operation does not start if multiple positioning commands (i.e. forward/reverse JOG and mechanical zero return commands of operation command 1) are simultaneously ON.
7.8.2
When the travel distance is small
1. 1-speed positioning operation
If the time needed for the travel distance (target address I) is shorter than the acceleration/deceleration time, the actual operation speed does not reach the command speed (operation speed 1).
Speed
Desired acceleration time
Desired deceleration time
Trapezoidal control
Operation speed 1
Approximate S-shaped control
56
Start
Time
Traveling time < desired acceleration time + desired deceleration time
*1
*1.
For the relation between the time for the actual acceleration/deceleration and the specified time for desired acceleration/deceleration, refer to the following.
→ Refer to Section 7.2
2. Interrupt 1-speed positioning operation
If the time needed for the travel distance (target address 1) is shorter than the deceleration time, the pulse output stops at the target address 1.
If the travel distance is zero, immediate stop occurs when interrupt input INT0 turns ON.
Desired deceleration time
*1
Speed
Trapezoidal control
Operation speed I
Approximate S-shaped control
The time to stop is slightly earlier because deceleration under the approximate S-shaped control is slower than that of trapezoidal control, while the travel distance is almost the same as that of trapezoidal control.
Target address 1
Time
Start
Interrupt input (INT0)
Traveling time < desired deceleration time
*1
*1.
For the relation between the time for the actual deceleration and the specified time for desired deceleration, refer to the following.
→ Refer to Section 7.2
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7 Before Starting Positioning Operation
7.8 Cautions for Positioning Operation
3. 2-speed positioning operation
1) If the travel distance at the first speed is small
If the travel time is smaller than the time
*1
needed to decelerate to the operation speed 2, the first operation speed does not reach the operation speed 1.
If the travel distance of the first speed is zero, the travel is at the second operation speed and travel distance. (No error is caused.)
Speed
Desired acceleration time
*1
Desired decceleration time
*1
Approximate
S-shaped control
Trapezoidal control
Operation speed 1
Operation speed 2
Start Time
Travel time < desired deceleration time *1
*1.
For the relation between the time for the actual deceleration and the specified time for desired deceleration, refer to the following.
→ Refer to Section 7.2
2) If the travel distance of the second speed is small
If the travel time at the second speed is smaller than the time
*1
needed to decelerate from the operation speed 2, deceleration is started from operation speed 1.
If the travel distance at the second speed is zero, the operation decelerates to stop for the travel distance to be the target address 1 as if it were a 1-speed positioning operation. (No error is caused.)
Desirred deceleration time
*1
Speed
1
2
3
4
5
6
Trapezoidal control
Target address 2
Operation speed 1
Approximate
S-shaped control
Time
Start
Travel < desired deceleration time
*1
*1.
For the relation between the time for the actual deceleration and the specified time for desired deceleration, refer to the following.
→ Refer to Section 7.2
4. Linear interpolation operation
If the time necessary for the travel distance (target address 1) is smaller than the acceleration/deceleration time, the actual operation speed does not reach the command speed.
5. Linear interpolation operation (interrupt stop)
If the time necessary for the travel distance (target address 1) is smaller than the deceleration time, the output pulses stop at the deceleration target address 1 (target address 1).
If the travel distance is zero, the operation immediately stops at the interrupt input (INT0) ON.
6. Interpolation operation (during continuous pass operation)
If the travel distance is small and the travel time from the starting point to the end point is shorter than the interpolation time constant, the operation temporarily stops, and then shifts to the next interpolation operation.
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7 Before Starting Positioning Operation
7.9 Related parameter, control data and monitor data
7.9
Related parameter, control data and monitor data
Item
Operation parameter
Operation parameter 1
Operation parameter 2
Zero return interlock setting
Zero return mode
Servo end judgment time
Soft limit, large
STOP mode
Servo end check
Servo ready check
X-axis
BFM number
Y-axis
Description
BFM #14000 b15
BFM #14002 b0
BFM #14002 b1
BFM #14002 b2
BFM #14031
BFM #14032
BFM #14200 b15
BFM #14202 b0
BFM #14202 b1
BFM #14232 b2
BFM #14231
BFM #14232
BFM #14035,#14034 BFM #14235,#14234
ON: Operation for remaining distance
OFF: End of positioning control (initial setting)
ON: Valid
OFF: Invalid
ON: Valid
OFF: Invalid
ON: Valid
OFF: Invalid
Specify the zero return mode.
0: DOG type (default setting)
1: Data set type
2: Stopper type (1)
3: Stopper type (2)
Setting range: 1 to 5000ms
Specify for the software limit (upper/ lower).
Soft limit, small
Torque limit setting
Zero return torque limit
External signal selection
FLS/RLS signal selection
FLS/RLS signal logic
BFM #14037,#14036 BFM #14237,#14236
BFM #14038
BFM #14040
BFM #14238
BFM #14240
BFM #14044 b0
BFM #14044 b8
BFM #14244 b0
BFM #14244 b8
Setting range: -2,147,483,648 to
2,147,483,647(user unit)
*1
Setting range: 1 to 10000 (
×0.1%)
Setting range: 1 to 10000 (
×0.1%)
ON: Use the FLS/RLS signal of the servo amplifier.
OFF:Do not use the FLS/RLS signal of the servo amplifier. (Default setting)
ON: The logic of the FLS/RLS signal of the servo amplifier is the NC contact.
(Servo amplifier) (Default setting)
OFF:The logic of the FLS/RLS signal of the servo amplifier is the NO signal.
(Servo amplifier)
Control data
Override setting
Torque output setting
Speed change value
New target position (address)
New target position (speed)
Operation command 1
STOP command
BFM #508
BFM #510
BFM #513,#512
BFM #515,#514
BFM #517,#516
BFM #518 b1
Forward rotation limit (LSF) BFM #518 b2
Reverse rotation limit (LSR) BFM #518 b3
Forward rotation jog
Reverse rotation jog
BFM #518 b4
BFM #518 b5
BFM #608
BFM #610
BFM #613,#612
BFM #615,#614
BFM #617,#616
BFM #618 b1
BFM #618 b32
BFM #618 b3
BFM #618 b4
BFM #618 b5
Specify the actual operation speed ratio to the operation speed.
Setting range: 1 to 30000 (
×0.1%)
Setting range: 0 to 10000% (
×0.1%)
Setting range: -2,147,483,648 to
2,147,483,647
(user unit)
*1
Setting range: -2,147,483,648 to
2,147,483,647(user unit)
*1
Setting range: -2,147,483,648 to
2,147,483,647(user unit)
*1
When this bit turns ON, the positioning operation decelerates to stop. With this bit
ON, the stop-state continues.
When this bit turns ON while forward rotation pulses are being output, the operation decelerates to stop.
When this bit turns ON, while reverse rotation pulses are being output, the operation decelerates to stop.
When this bit turns ON, forward rotation pulses are output.
When this bit turns ON, reverse rotation pulses are output.
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7 Before Starting Positioning Operation
7.9 Related parameter, control data and monitor data
Control data
Item
X-axis
BFM number
Y-axis
Mechanical zero return command
BFM #518 b6 BFM #618 b6
Relative/absolute addressing
Start command
Operation command 1
Simultaneously start flag
BFM #518 b8
BFM #518 b9
BFM #518 b10
In-process speed change prohibition
BFM #518 b12
Speed change during positioning control operation
Target position change during positioning control operation
BFM #518 b13
BFM #518 b14
Remaining distance operation cancel command
BFM #519 b0
Operation command 2 positioning parameter valid BFM #519 b4
BFM #519 b8 Servo-OFF command
Monitor data
Current address (user unit)
Current address (pulse)
Stored torque limit
READY/BUSY
BFM #1,#0
BFM #3,#2
BFM #5,#4
BFM #28 b0
Zero return execution BFM #28 b3
Status information Waiting for travel of remaining distance at stop
BFM #28 b7
Servo status
Speed change in progress BFM #28 b13
Target address change in progress
In-position
BFM #28 b14
BFM #64 b12
BFM #618 b8
BFM #618 b9
BFM #618 b10
BFM #618 b12
BFM #618 b13
BFM #618 b14
BFM #619 b0
BFM #619 b4
BFM #619 b8
BFM #101,#100
BFM #103,#102
BFM #105,104
BFM #128 b0
BFM #128 b3
BFM #128 b7
BFM #128 b13
BFM #128 b14
BFM #164 b12
1
Description
Execute zero return in the zero return mode specified with a positioning parameter.
OFF: Operate in the absolute address mode.
ON: The positioning operation selected with an operation pattern begins. At standby for the remaining distance by STOP command, the operation restarts.
OFF: Positioning operation does not start.
ON: The positioning operation selected with an operation pattern begins. At standby for the remaining distance by STOP command, the operation restarts.
Turn on the X-axis start command to simultaneously start X-axis and Y-axis operation.
OFF: The speed and target position change commands are valid during positioning operation.
ON: The speed and target position change commands during positioning operation are invalid.
Changes the current operation speed to the specified speed.
Changes the current target address to the specified target position.
Cancels the remaining distance and finishes the positioning when this bit is truned from OFF to ON.
Enables the positioning parameter when this bit is truned from OFF to ON.
OFF: Turns the servo on.
ON: Turns the servo off.
User unit
*1
Unit: PLS
Unit:
×0.1%
ON : READY
OFF: BUSY
ON: Zero return completed (current value established)
OFF: Zero return not completed (current value indefinite)
ON in standby for the remaining distance by a STOP command. OFF with another start command or remaining distance operation cancel command.
ON: Speed change in progress
OFF: Speed change finished
ON: Address change in progress
OFF: Address change finished
ON if the remaining distance is at or below the in-position range.
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7 Before Starting Positioning Operation
7.9 Related parameter, control data and monitor data
Item
X-axis
BFM number
Y-axis
Servo parameter
Basic setting
Absolute position detection system
BFM #15003
In-position range BFM #15010
BFM #15203
BFM #15210
Output signal device selection 3 (CN3-15) BFM #15104
*1.
For the user unit, refer to the following section.
BFM #15304
Description
Specify the absolute position detection system.
1:Valid
0:Invalid (Default setting)
Specify the in-position range.
Setting range: 0 to 50000PLS
To assign the absolute position lost signal
(ABSV) of the servo amplifier to the CN3-
15 pin in the servo amplifier, specify "H11" at output signal device selection 3.
→ Refer to Section 7.7
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8 Manual Control
8.1 Mechanical Zero Return Control
1
8. Manual Control
8.1
Mechanical Zero Return Control
8.1.1
Outline of mechanical zero return control
The mechanical zero return method for the 20SSC-H includes the following three variations (four modes).
→ For related parameters, control data and monitor data, refer to Subsection 8.1.5
• Dog type mechanical zero return (1 mode)
The position from stopping with the DOG signal and the zero signal of the servomotor becomes the zeropoint.
→ For details on the DOG type mechanical zero return, refer to Subsection 8.1.2
• Data-set type mechanical zero return (1 mode)
The position from moving with the JOG operation or manual pulse generator is defined as the zero-point.
→ For details on the data-set type mechanical zero return, refer to Subsection 8.1.3
• Stopper type mechanical zero return (2 modes)
The stopper position is defined as the zero-point.
→ For details on the stopper type mechanical zero return, refer to Subsection 8.1.4
1. Mechanical zero return operation
The mechanical zero return operation varies according to the zero return mode. For details, refer to the following.
→ For details on the DOG type mechanical zero return, refer to Subsection 8.1.2
→ For details on the data-set type mechanical zero return, refer to Subsection 8.1.3
→ For details on the stopper type mechanical zero return, refer to Subsection 8.1.4
1) Turn the mechanical zero return command from OFF to ON to execute mechanical zero return.
2) After calibrating the zero-point, write the mechanical zero-point address from in a positioning parameter to the current address.
3) Set the zero return execution flag.
Note
• The zero return command is not accepted if the zero-point pass signal servo status is OFF.
Before executing zero return, be sure to rotate the servomotor at least once to turn ON the zero-point pass signal. The zero-point pass signal turns ON when the motor passes the motor reference position signal
(Z-phase).
To execute zero return immediately after power-on, specify "1: Motor Z-phase pass unnecessary after power-on" (default setting) at the servo parameter function selection C-4. With this setting, the zero-point pass signal turns ON even if the motor does not pass the zero-point (Z-phase).
• With the simultaneous start flag ON, the X-axis mechanical zero return command simultaneously starts the
X and Y-axes mechanical zero return operation.
(The 20SSC-H ignores the Y-axis mechanical zero return command.)
2. Zero-point return execution flag
The zero-point return execution flag turns ON (sets) when the mechanical zero return operation finishes. It turns OFF (resets) when rebooting the mechanical zero return command, or when the turning the power OFF.
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8 Manual Control
8.1 Mechanical Zero Return Control
8.1.2
DOG type zero return
With the DOG type mechanical zero return, the 20SSC-H sets the zero-point, the position as where the module stops with a near-point DOG signal and servo motor zero-point signal. Use the DOG search function to execute the DOG type mechanical zero return arbitrarily.
1. Operation
Zero return starts as follows, at the rising edge (OFF
→ ON) of the mechanical zero return command.
Speed
Acceleration time
Deceleration time
Maximum speed
2)
Mechanical zero point address
4)
Zero return speed
(high speed)
1)
DOG
Zero return speed (creep)
Time
Zero point signal
Mechanical zero return command
OFF
Positioning completion
Zero return completion
Current address (user)
Current address (pulse)
ON
OFF
OFF
The travel value
ON
ON
Mechanical zero point address
1) At the rising edge (OFF
→ ON) of the mechanical zero return command, the work piece moves in the zero return direction at the zero return speed (high speed).
2) At the DOG input, the 20SSC-H decelerates the work piece to the zero return speed (creep).
3) The 20SSC-H counts zero-point signals after passing the zero-point signal count start timing.
4) After counting the specified number (zero-point signal numbers), the 20SSC-H stops the work piece.
5) After the zero-point is reached, the work piece does not travel with a the mechanical zero return command.
6) The 20SSC-H turns the positioning completion flag ON and sets the zero return execution flag.
Note
• The zero return command is not accepted if the zero-point pass signal servo status is OFF.
Before executing zero return, be sure to rotate the servomotor at least once to turn the zero-point pass signal ON. The zero-point pass signal turns ON when the motor passes the motor reference position signal
(Z-phase).
To execute zero return immediately after power-on, specify "1: Motor Z-phase pass unnecessary after power-on" (default setting) at servo parameter function selection C-4. With this setting, the zero-point pass signal turns ON even if the motor does not pass the zero-point (Z-phase).
• With the simultaneous start flag ON, the X-axis mechanical zero return command simultaneously starts the
X and Y-axes mechanical zero return operation.
(The 20SSC-H ignores the Y-axis mechanical zero return command.)
Precautions when setting the DOG input logic
An incorrect DOG input logic disables the correct operation. Pay close attention when changing the initial setting value.
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8 Manual Control
8.1 Mechanical Zero Return Control
2. Setting items
With DOG type mechanical zero return, specify the following settings.
→ For details on the setting items, refer to Subsection 8.1.5
Setting item
Zero return mode Specify the DOG type zero return mode.
Zero return speed (high speed) Enter the zero return speed (high speed)
Zero return speed (creep)
Zero return direction
Description
Specify the post-DOG-input zero return speed (creep).
Specify the zero return direction (the current value increase/decrease direction).
DOG input selection
DOG input logic
Select the DOG input (servo amplifier/20SSC-H) to be used.
Specify the logic (NO/NC contact) of the DOG input to be used.
Zero-point signal count start timing
Specify the timing (front/rear edge of DOG) to start counting the zero-point signal.
Zero-point signal count Specify the zero-point signal count.
Mechanical zero-point address Specify the current address (user unit) written after the mechanical zero return completion.
3. Dog search function
The zero return with DOG search is executable with forward/reverse rotation limit1 on the PLC side. At this time, the zero return action varies in the following way according to the zero return starting position.
Speed
Reverse rotation limit
DOG
Zero return direction Forward rotation limit
4) 3)
Zero-point
2)
Reverse rotation
Time
1)
Forward rotation
1) If the starting position is in the near point signal OFF area (before passing DOG) a) Operation is conducted in the zero return direction at the zero return speed (high speed).
b) After the DOG detection, the deceleration to the zero return speed (creep) begins.
c) After detecting the zero-point signal count start timing, the zero-point signal is counted.
d) After counting the specified number of zero-point signals, the travel is stopped.
2) If the starting position is in the near point signal ON area a) Operation is conducted at the zero return speed in the direction opposite to the zero return direction.
b) Upon the DOG detection (escaping from the DOG), the deceleration to stop begins.
c) Operation is conducted in the zero return direction at the zero return speed (high speed).
d) After the DOG is detected, deceleration to the zero return speed (creep) begins.
e) After counting the zero-point signal, the 20SSC-H stops.
3) If the starting position is in the near point signal OFF area (after passing DOG) a) Operation is conducted in the zero return direction at the zero return speed (high speed).
b) Upon the forward/reverse rotation limit, the travel decelerates to stop.
c) Operation is conducted in the direction opposite to the zero return direction at the zero return speed
(high speed).
d) Upon the DOG detection (escaping from the DOG), the travel decelerates to stop.
The operation begins again in the zero return direction at the zero return speed (high speed).
e) After DOG detection, the travel decelerates to the zero return speed (creep speed) and, after counting the zero-point signal, the 20SSC-H stops.
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8 Manual Control
8.1 Mechanical Zero Return Control
4) When the limit switch (forward or reverse rotation limit) in the zero return direction turns ON a) The operation is conducted in the direction opposite to the zero return direction at the zero return speed (high speed).
b) Upon the DOG detection (escaping from the DOG), the travel decelerates to stop.
c) The operation is conducted again in the zero return direction at the zero return speed (high speed).
d) Upon the DOG detection, the travel decelerates to the zero return speed (creep speed) and after counting the zero-point signal, the 20SSC-H stops.
Caution
If the DOG is not detected during the DOG search operations, a limit error occurs.
4. Changing the zero return speed
Use the override function or operation speed change function to change the zero return speed (high speed).
However, the speed does not change when the operation speed change disable flag is ON.
→ For the override function, refer to Subsection 7.5.1
→ For the operation speed change function, refer to Subsection 7.5.2
8.1.3
Data-set type mechanical zero return
Use the data-set type mechanical zero return procedure to set the position moved by JOG or manual pulse generator operation, as a zero-point. Therefore the work piece does not travel at the mechanical zero return command.
This zero return procedure is frequently used for equipment without a DOG, or for transfer lines without a mechanical zero-point.
1. Operation
1) With JOG or manual pulse generator operation, the work piece moves to the desired zero-point.
2) Reboot the mechanical zero return command.
3) Write the mechanical zero-point address, specified in positioning parameters to the current address.
4) Set the zero return execution flag.
In the data-set type mechanical zero return, the positioning completion flag does not turn ON.
Note
• The zero return command is not accepted if the zero-point pass signal servo status is OFF.
Before executing zero return, be sure to rotate the servomotor at least once to turn the zero-point pass signal ON. The zero-point pass signal turns ON when the motor passes the motor reference position signal
(Z-phase).
To execute zero return immediately after power-on, specify "1: Motor Z-phase pass unnecessary after power-on" (default setting) at servo parameter function selection C-4. With this setting, the zero-point pass signal turns ON even if the motor does not pass the zero-point (Z-phase).
• With the simultaneous start flag ON, the X-axis mechanical zero return command simultaneously starts the
X and Y-axes mechanical zero return operation.
(The 20SSC-H ignores the Y-axis mechanical zero return command.)
2. Setting items
In the data-set type zero return, specify the following settings.
→ For details on the setting items, refer to Subsection 8.1.5
Setting item
Zero return mode Specify the data-set type zero return mode.
Description
Mechanical zero return address Specify the current address (user unit) after the mechanical zero return completion.
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8 Manual Control
8.1 Mechanical Zero Return Control
8.1.4
Stopper type mechanical zero return
The stopper position is defined as the zero-point. The stopper type mechanical zero return includes the following two types (modes).
• Stopper type (1)
This mechanical zero return method uses the DOG signal and stopper.
The high speed travel is possible up to the DOG signal, so this zero return type reduces the time for mechanical return.
• Stopper type (2)
This mechanical zero return method uses only the stopper.
Note
• The zero return command is not accepted if the zero-point pass signal servo status is OFF.
Before executing zero return, be sure to rotate the servomotor at least once to turn the zero-point pass signal ON. The zero-point pass signal turns ON when the motor passes the motor reference position signal
(Z-phase).
To execute zero return immediately after power-on, specify "1: Motor Z-phase pass unnecessary after power-on" (default setting) at servo parameter function selection C-4. With this setting, the zero-point pass signal turns ON even if the motor does not pass the zero-point (Z-phase).
• With the simultaneous start flag ON, the X-axis mechanical zero return command simultaneously starts the
X and Y-axes mechanical zero return operation.
(The 20SSC-H ignores the Y-axis mechanical zero return command.)
1
2
3
4
1. Stopper type (1) operation
Acceleration time
Speed
Deceleration time
Maximum speed
2)
Zero return speed
(high speed)
Zero return speed (creep)
3)
Time
1)
DOG
Stopped due to torque limit
Zero return torque limit
Mechanical zero return command
Positioning completion
Zero return completion
Current address (user)
Current address (pulse)
OFF
ON
OFF
OFF
The travel value
ON
ON
Mechanical zero point address
5
6
7
8
1) At the rising edge (OFF
→ ON) of the mechanical zero return command, the work piece moves in the zero return direction at the zero return speed (high speed).
2) At the DOG input, the 20SSC-H decelerates the work piece to the zero return speed (creep).
3) The work piece hits the stopper, and the work piece stops when the servomotor torque reaches the zero return torque limit value.
4) After the stop point, the 20SSC-H writes the mechanical zero point address, specified in positioning prameters, to the current address.
5) The 20SSC-H turns the positioning completion flag ON and sets (turns ON) the zero return execution flag.
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10
Dog position
Install the DOG at a position far enough from the stopper for the work piece to decelerate to the zero-point return speed (creep).
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2. Stopper type (2)
Speed
Acceleration time
Maximum speed
8 Manual Control
8.1 Mechanical Zero Return Control
Zero return speed (creep)
2)
Time
1)
Zero return torque limit
Stopped due to torque limit
Mechanical zero return command
Positioning completion
OFF
ON
OFF
Zero return completion
OFF
Current address (user)
Current address (pulse)
The travel value
ON
ON
Mechanical zero point address
1) Upon the rising edge (OFF
→ ON) of the mechanical zero return command, the work piece moves in the zero return direction at the zero return speed (creep).
2) After the work piece hits the stopper, the work piece stops when the servomotor torque reaches the zero return torque limit value.
3) After the stop, the 20SSC-H writes the mechanical zero point address, specified in positioning prameters, to the current address.
4) The 20SSC-H turns the positioning completion flag ON and sets (turns ON) the zero return execution flag.
3. Setting item
In the stopper type mechanical zero return, specify the following settings.
→ For details on the setting items, refer to Subsection 8.1.5.
Setting item
Zero return mode
Description
Specify the stopper type 1 (2) zero return mode.
Zero return speed (high speed) Specify the zero return speed (high speed).
Zero return speed (creep) Specify the post-DOG-input zero return speed (creep).
Zero return direction
Selection of DOG input
Specify the zero return direction (current value increase/decrease direction).
Select the DOG input (servo amplifier/20SSC-H) to be used.
DOG input logic Specify the logic (NO/NC contact) of the DOG input to be used.
Mechanical zero-point address Specify the current address (user unit) written after the mechanical zero return completion.
Zero return torque limit Specify the torque limit value for zero return speed (creep).
4. Changing the zero return speed
Use the override function or operation speed change function to change the zero return speed (high speed).
However, the speed does not change when the operation speed change disable flag is ON.
→ For the override function, refer to Subsection 7.5.1
→ For the operation speed change function, refer to Subsection 7.5.2
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8.1 Mechanical Zero Return Control
8.1.5
Related parameters, control data and monitor data
Item
BFM number
Description
X-axis Y-axis
Positioning parameter
Operation parameter 1
Maximum speed
Acceleration time
Deceleration time
Zero return direction BFM #14000 b10
DOG input logic
Zero-point signal count start timing
Mechanical zero-point address
Zero return mode
Zero return speed (high speed)
Zero return speed (creep)
BFM #14200 b10
OFF: The current value decreasing direction
ON: The current value increasing direction
BFM #14000 b12
BFM #14000 b13
BFM #14200 b12
BFM #14200 b13
OFF: The NO contact for the DOG input logic of
20SSC-H.
ON: The NC contact for the DOG input logic of
20SSC-H.
OFF: The rear edge of DOG
ON: The front edge of DOG
BFM #14009,#14008 BFM #14209,#14208
Setting range: 1 to 2,147,483,647(user unit)
*1
BFM #14018
BFM #14020
BFM #14218
BFM #14220
Setting range: 1 to 5000ms
Setting range: 1 to 5000ms
BFM #14029,#14028
BFM #14031
BFM #14025,#14024
BFM #14027,#14026
BFM #14229,#14228
BFM #14231
BFM #14225,#14224
BFM #14227,#14226
Setting range:-2,147,483,648 to
2,147,483,647(user unit)
*1
Set the value within -2,147,483,648 to
2,147,483,647PLS in the converted pulse data
0: DOG type
1: Data-set type
2: Stopper type (1)
3: Stopper type (2)
Setting range: 1 to 2,147,483,647(user unit)
*1
Set the value within 1 to 50,000,000Hz in converted pulse data to satisfy the following conditions.
• Zero return speed (high speed) maximum speed
• The 20SSC-H operates at the maximum speed when the zero return speed (high speed) > maximum speed
Setting range: 1 to 2,147,483,647(user unit)
*1 et the value within 1 to 50,000,000Hz in converted pulse data to satisfy the following conditions.
• Zero return speed (creep) zero return speed (high speed) maximum speed
• The 20SSC-H operates at the maximum speed when the zero return speed (high speed) > maximum speed
Zero-point signal count
Zero return torque limit
BFM #14030
BFM #14040
BFM #14230
BFM #14240
Setting range: 0 to 32767PLS
Setting range: 1 to 10000(
×
0.1%)
FLS/RLS signal selection
DOG signal selection
External signal selection
FLS/RLS signal logic
Dog signal logic
BFM #14044 b0
BFM #14044 b1
BFM #14044 b8
BFM #14044 b9
BFM #14244 b0
BFM #14244 b1
BFM #14244 b8
BFM #14244 b9
OFF: The RLS/RLS signal of the servo amplifier is not used.
ON : The FLS/RLS signal of the servo amplifier is used.
OFF: The DOG signal of the servo amplifier is not used.
ON: The DOG signal of the servo amplifier is used.
OFF: The NO contact for the FLS/RLS signal logic of the servo amplifier.
ON: The NC contact for the FLS/RLS signal logic of the servo amplifier.
OFF: The NO contact for the DOG input logic of the servo amplifier.
ON: The NC contact for the DOG input logic of the servo amplifier.
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8.1 Mechanical Zero Return Control
Control data
Override setting
Item
X-axis
BFM #508
Operation command 1
Forward rotation limit (LSF)
Reverse rotation limit (LSR)
Mechanical zero return command
Simultaneous start flag
BFM #518 b2
BFM #518 b3
BFM #518 b6
BFM #518 b10
In-process speed change prohibition
BFM #518 b12
Monitor data
Current address (user) BFM #1,#0
Current address (pulse)
Zero return execution
BFM #3,#2
BFM #28 b3
BFM number
Y-axis
BFM #608
BFM #618 b2
BFM #618 b3
BFM #618 b6
BFM #618 b10
BFM #618 b12
BFM #101,#100
BFM #103,#102
BFM #128 b3
Status information
End of positioning BFM #28 b6 BFM #128 b6
Servo status End of positioning BFM #63 b0 BFM #163 b0
Servo parameter
Extended setting
Function selection
C-4
BFM #15080 BFM #15280
*1.
For the user units, refer to the following.
Description
Specify the ratio (percent) of the actual operation speed to the operation speed.
Setting range: 1 to 30000(
×
0.1%)
The 20SSC-H decelerates to stop at this parameter ON during forward rotation output he 20SSC-H decelerates to stop at this parameter ON during reverse rotation output
The 20SSC-H starts the mechanical zero return when rebooting this bit
The 20SSC-H simultaneously starts the X and Y-axes operation at the X-axis start command ON.
OFF: The speed and target position change commands during positioning control operation are valid.
ON: The speed and target position change commands during positioning control operation are invalid.
Setting range:-2,147,483,648 to
2,147,483,647(user unit)
*1
Setting range:-2,147,483,648 to
2,147,483,647PLS
OFF: Zero return is normally finished.
ON: Zero return is started.
This parameter turns OFF at the start of each operation
/ at errors, and turns ON at normal operation end, but does not turn ON in STOP operations / in the following operations even at normal operation end
- JOG operation
- Mechanical zero return (data-set type)
- Manual pulse generator operation
- Variable speed operation
OFF: Motor Z-phase pass after power-on
ON: Motor Z-phase no pass after power-on
0:Motor Z-phase pass when power-on is necessary.
1:Motor Z-phase pass when power-on is unnecessary.
→ Refer to Section 7.7
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8.2
JOG Operation
8 Manual Control
8.2 JOG Operation
8.2.1
Outline of JOG operation
1. JOG operation
Forward pulses are output in the forward JOG mode, while reverse pulses are output in the reverse JOG mode.
Speed
Travel by current address
(user) 1
Acceleration time
Maximum speed
JOG speed
Deceleration time
1
2
3
JOG command determination time
Time
ON
Forward/reverse rotation JOG
End of positioning
Current address (pulse)
Current address (user)
READY
OFF
ON
OFF
• After decelerating to stop at in the opposite direction while the FWD/RVS JOG operates, the 20SSC-H re-starts the JOG operation when the FWD/RVS JOG is rebooted.
• If the FWD/RVS JOG is rebooted while decelerating to FWD/RVS JOG operates, the 20SSC-H re-accelerates to continue the operation.
• If the forward/reverse rotation limit 1 turns ON, a limit error occurs after decelerating to stop.
In this case, a JOG operation in the opposite direction saves the work piece from the limit switch ON-state.
Note
• Inching operation (JOG determination time)
To perform inching operation, specify the JOG determination time.
- If the forward/reverse JOG activation time is within the JOG command determination time, a pulse string equivalent to
±1 (user unit) is output at the current address to operate the inching.
- If the forward/reverse rotation JOG activation time is equal to or larger than the JOG command determination time, pulse strings are output continuously.
- If the JOG command determination time is 0ms, the travel equivalent to
±1 at the current address (user) is not executed. Continuous operation is executed from the first point.
• If the simultaneous START flag turns ON, the simultaneous JOG operation in the X- and Y-axes starts at an X-axis JOG command.(The Y-axis JOG command is ignored.)
At the X-axis JOG command OFF, the 20SSC-H stops the X and Y-axes JOG operation.
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8.2 JOG Operation
2. Related parameters, control data and monitor data
BFM number
Item
X-axis Y-axis
Positioning parameter
Maximum speed
JOG speed
JOG determination time
Acceleration time
Deceleration time
Positioning parameter
Description
BFM #14009,#14008 BFM #14209,#14208
Setting range: 1 to 2,147,483,647(user unit)
*1
BFM #14013,#14012 BFM #14213,#14212
Setting range: 1 to 2,147,483,647(user unit)
*1
BFM #14014
BFM #14018
BFM #14214
BFM #14218
Setting range: 0 to 5000ms
Setting range: 1 to 5000ms
BFM #14020 BFM #14220 Setting range: 1 to 5000ms
External signal selection
FLS/RLS signal selection
FLS/RLS signal logic
BFM #14044 b0
BFM #14044 b8
BFM #14244 b0
BFM #14244 b8
OFF: The FLS/RLS signal of the servo amplifier is not used.
ON: The FLS/RLS signal of the servo amplifier is used.
OFF: The NO contact for the FLS/RLS signal logic of the servo amplifier.
ON: The NC contact for the FLS/RLS signal logic of the servo amplifier.
Control data
Override setting
Operation command 1
Forward rotation limit (LSF)
Reverse rotation limit (LSR)
Forward rotation
JOG
Reverse rotation
JOG
Simultaneous start command
In-process speed change prohibition
BFM #508
BFM #518 b2
BFM #518 b3
BFM #518 b4
BFM #518 b5
BFM #518 b10
BFM #518 b12
BFM #608
BFM #618 b2
BFM #618 b3
BFM #618 b4
BFM #618 b5
BFM #618 b10
BFM #618 b12
Specify the ratio (percent) of the actual operation speed to the operation speed. Setting range: 1 to 30000(
×
0.1%)
The 20SSC-H decelerates to stop at this parameter ON during forward rotation output
The 20SSC-H decelerates to stop at this parameter ON during reverse rotation output
Forward pulses are output while this parameter remains ON.
Reverse pulses are output while this parameter remains ON.
The 20SSC-H simultaneously starts the X and
Y-axes operation at the X-axis start command
ON.
OFF: The speed and target position change commands during positioning control operation are valid.
ON: The speed and target position change commands during positioning control operation are invalid.
Monitor data
Current address (user)
Current address (pulse)
BFM #1,#0
BFM #3,#2
BFM #101,#100
BFM #103,#102
Setting range:-2,147,483,648 to
2,147,483,647(user units)
*1
Setting range:-2,147,483,648 to
2,147,483,647PLS
*1.
For the user units, refer to the following.
→ Refer to Section 7.7
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8.2.2
Changing the speed during JOG operation
1. Changing the JOG speed
If the in-operation speed change disable turns ON, the JOG speed change is rejected.
Speed
10000Hz
JOG input
OFF
ON
JOG speed
10000Hz
7000Hz
7000Hz
Time
2. Changing the override setting
Use the override setting to change the ratio of the actual operation speed to the JOG speed.
Speed
10000Hz
JOG input
OFF
ON
JOG speed
10000Hz
Override setting
100%
7000Hz
70%
Time
8 Manual Control
8.2 JOG Operation
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8.3
Manual pulse generator operation
8 Manual Control
8.3 Manual pulse generator operation
8.3.1
Outline of manual pulse generator operation
1. Operation
When selecting the MPG (manual pules generator operation) in the operation patterns, the 20SSC-H operates by the MPG input at the START commnand ON.
Speed Manual pulse generator operation valid
Manual pulse generator operation valid
Pulse output
Pulse output
Time
START command
(manual pulse generator operation)
OFF
ON
Manual pulse generator input
End of positioning
READY
OFF
Note
• The manual pulse generator inputs the pulses in two phases (A-/B-phase).
• The positioning completion flag does not turn ON.
• When reaching the forward/reverse rotation limit during forward/reverse rotation, a forward/reverse rotation limit error occurs.
Perform reverse rotation if the forward rotation limit is ON, or perform forward rotation if the reverse rotation limit is ON to cancel a limit switch ON-state.
Immediate stop at the forward rotation limit ON
Operation speed
Forward rotation pulse output
Forward rotation limit
Error occurrence
OFF
Perform reverse rotation manual pulse generator operation or perform JOG operation to cancel a limit error.
ON
Forward rotation manual pulse generator operation is invalid
• The manual pulse generator input two-phase pulses (A-/B-phase) at 1 edge count.
- Only the differential output type manual pulse generator is connectable.
- Operation at the manual pulse generator is always counted.
See the "current MPG (manual pulse generator) input value" to monitor in modes other than the manual pulse generator operation mode.
A-phase
ON
OFF
B-phase
+1 +1 -1 -1
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8.3 Manual pulse generator operation
• The operation speed is proportional to the frequency of pulse strings from the manual pulse generator according to the manual pulse input magnification.
In addition, the override setting is invalid.
Manual pulse generator
2-phase pulses
Frequency within 100kHz
A-phase
B-phase
20SSC-H
Input pulses x manual pulse input magnification (numerator) manual pulse input magnification (denominator)
= output pulses
Command
Servo amplifier drive unit
Motor
- The following equation provides output pulses to 20SSC-H.
Input pulses (frequency, pulse quantity) from manual pulse generator
X manual pulse input magnification
Manual pulse input magnification (numerator)
Manual pulse input magnification (denominator)
- If the pulse generator magnification is smaller than 1/1, one pulse is output for every multiple input pulse.
Therefore, the frequency of output pulses is low while the pulse quantity is small.
If the pulse generator input electronic gear ratio is larger than 1/1, multiple pulses are output for each input pulse.
Therefore, the frequency of output pulses is high while the pulse quantity is large.
If the pulse generator input electronic gear ratio is larger than 1/1, the motor rpm for each input pulse becomes larger, causing rough positioning accuracy.
8.3.2
Current manual pulse input value
The current number of total input pulses from the manual pulse generator is stored.
8.3.3
Input frequency of manual pulse generator
The frequency of the manual pulse generator input is stored.
The sign of an increasing count is positive (+), while the sign of a decreasing count is negative (-).
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8.3 Manual pulse generator operation
8.3.4
Related parameters, control data and monitor data
Item
Positioning parameter
Maximum speed
X-axis
BFM number
Y-axis
Description
External signal selection
FLS/RLS signal selection
FLS/RLS signal logic
BFM #14009,#14008 BFM #14209,#14208
Setting range:1 to 2,147,483,647(user units)
*1
BFM #14044 b0 BFM #14244 b0
OFF: The FLS/RLS signal of the servo amplifier is not used.
ON : The FLS/RLS signal of the servo amplifier is used.
BFM #14044 b8 BFM #14244 b8
OFF: The NO contact the FLS/RLS signal logic of the servo amplifier.
ON : The NC contact for the FLS/RLS signal logic of the servo amplifier.
Control data
Operation command 1
Forward rotation limit (LSF)
Reverse rotation limit (LSR)
Pulse generator magnification
(numerator)
Pulse generator magnification
(denominator)
Monitor data
BFM #518 b2
BFM #518 b3
BFM #525,#524
BFM #527,#526
BFM #618 b2
BFM #618 b3
BFM #625,#624
BFM #627,#626
Current address (user) BFM #1,#0 BFM #101,#100
Current address (pulse)
Manual pulse generator current input value
Manual pulse generator input frequency
BFM #3,#2
BFM #13,#12
BFM #15,#14
*1.
For the user units, refer to the following.
BFM #103,#102
BFM #113,#112
BFM #115,#114
The 20SSC-H decelerates to stop at this parameter
ON during forward rotation output
The 20SSC-H decelerates to stop at this parameter
ON during reverse rotation output
Specify the magnification for input pulses.
Setting range: 1 to 1,000,000
Specify the dividing rate for input pulses.
Setting range: 1 to 1,000,000
-2,147,483,648 to 2,147,483,647
(user unit)
*1
-2,147,483,648 to 2,147,483,647PLS
-2,147,483,648 to 2,147,483,647PLS
The sign is positive (+) for an increasing count, while the sign is negative (-) for a decreasing count.
→ Refer to Section 7.7
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9 Positioning Control
9.1 Functions Available with Each Positioning Operation
1
9. Positioning Control
This chapter describes the control of each positioning operation.
For table operation control, refer to the following section.
→ For details on table operation, refer to Chapter 10
9.1
Functions Available with Each Positioning Operation
2
3
Reference
4
Approximate S-shaped acceleration/deceleration, trapezoidal acceleration/deceleration
Forward rotation limit, reverse rotation limit
STOP command
Operation speed change
Override function
Operation speed change function
Target address change
Servo ready check
Servo end check
Torque limit
Simultaneous start function
-
-
*2
*1
-
*3
*1
-
*3
*1
-
*3
Section 7.2
Section 7.3
Section 7.4
Subection 7.5.1
Subection 7.5.2
Subection 7.5.3
Subection 7.6.1
Subection 7.6.1
Subection 7.6.3
-
: Applicable
- :
: When the speed change disable during operation signal is ON, operation speed and target address cannot be changed.
Not applicable
*1.
Operation becomes trapezoidal acceleration/deceleration.
If the approximate S-shaped acceleration/deceleration is set by positioning parameters, operates the trapezoidal acceleration/deceleration.
*2.
The servo end check is not performed during continuous operation.
*3.
The servo end check is not performed during continuous pass operation.
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9 Positioning Control
9.2 1-speed Positioning Operation
9.2
1-speed Positioning Operation
→ For details on the operation speed change and target address change, refer to Section 7.5
→ For details on torque limit, refer to Subsection 7.6.3
→ For details on STOP command, refer to Section 7.4
→ For details on the related parameters, control data, and monitor data, refer to Section 9.12
1. Operation
Acceleration time
Deceleration time
Speed
Maximum speed
Operation speed 1
Target address 1
Time
ON
START command
OFF
Positioning completion ON
ON
OFF
1) Set the Operation speed 1 and Target address 1.
2) Select the 1-speed positioning operation from the operation patterns and activate the START command to start the 1-speed positioning operation (above figure).
(The positioning completion signal is turned OFF.)
3) The operation stops at the target address 1, and the operation ends, turning the positioning completion signal ON.
POINT
The positioning completion signal turns ON if the travel distance is 0.
If the travel distance is 0 or the travel time is too short, however, it is impossible for the sequence program to detect the positioning completion signal turning OFF.
2. Operation Speed
Actual operation speed is "operation speed 1
× override setting."
Operation speed 1 can be changed using the operation speed change function except for the following conditions.
• During deceleration operation
• When the speed change disable during operation signal is ON.
3. Address Specification
Absolute/Relative address can be specified.
With the specified absolute address: Specifies a target address (position) using address 0 as the base.
With the specified relative address: Specifies a travel distance from the current address.
4. Rotation Direction
With the specified absolute address: The rotation direction depends on whether the target address 1 is larger or smaller than the current address.
With the specified relative address: The rotation direction is decided by the sign (positive/negative) of target address 1.
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9 Positioning Control
9.3 Interrupt 1-speed Constant Quantity Feed
9.3
Interrupt 1-speed Constant Quantity Feed
→ For details on the operation speed change and target address change, refer to Section 7.5
→ For details on torque limit, refer to Subsection 7.6.3
→ For details on STOP command, refer to Section 7.4
→ For details on the related parameters, control data, and monitor data, refer to Subsection 9.12
1. Operation
Acceleration time
Deceleration time
Speed
Maximum speed
3)
Operation speed 1
1
2
3
Target address 1
2)
Time
ON
START command
Interrupt input
(INT0)
Positioning completion
OFF
OFF
ON
ON
ON
OFF
1) Set the Operation speed 1 and Target address 1 (travel distance after interrupt input).
2) Select the interrupt 1-speed constant quantity feed from the operation patterns and activate the START command to start the interrupt 1-speed constant quantity feed (above figure).
(The positioning completion signal is turned OFF.)
3) At interrupt input (INT0) ON, the work piece moves at the operation speed 1 to the target address 1, where the operation ends and the positioning copletion signal turns ON.
Note
The travel distance for target address 1 must be larger than the deceleration distance to stop.
If the travel distance for target address 1 is smaller, the work piece decelerates as much as possible, and the operation stops.
→ For details, refer to Subsection 7.8.2
2. Operation speed
Actual operation speed is "operation speed 1 x override setting."
Operation speed 1 can be changed using the operation speed change function except for the following conditions.
• During deceleration operation
• When the speed change disable during operation signal is ON.
3. Address specification
Specified addresses are handled as relative addresses (travel distance from the current address).
(Relative/Absolute address specification is ignored.)
4. Rotation Direction
The sign of the target address decides the operation direction.
+: Operates in the direction that increases the current value. (When the value is 0, it is regarded as 1.)
-: Operates in the direction that decreases the current value.
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9 Positioning Control
9.4 2-speed Positioning Operation
9.4
2-speed Positioning Operation
→ For details on the operation speed change and target address change, refer to Section 7.5
→ For details on torque limit, refer to Subsection 7.6.3
→ For details on STOP command, refer to Section 7.4
→ For details on the related parameters, control data, and monitor data, refer to Subsection 9.12
1. Operation
Acceleration time
Deceleration time
Speed
Maximum speed
3)
Operation speed 1
Operation speed 2
START command
Positioning completion
OFF
ON
2)
ON
Target address 1
OFF
Target address 2
4)
ON
Time
1) Set the operation speed 1, operation speed 2, target address 1, and target address 2.
2) Select the 2-speed positioning operation from the operation patterns and activate the START command to start the 2-speed positioning operation (above figure).
(The positioning completion signal is turned OFF.)
3) Acceleration or deceleration operation to shift to operation speed 2 is started upon reaching the target address 1.
4) The work piece stops at target address 2 and the operation ends, turning the positioning completion signal ON.
2. Operation speed
The actual operation speed is decided by the following calculation formulas.
- Operation speed 1
× Override setting
- Operation speed 2
× Override setting
Operation speed 1 and operation speed 2 can be changed using the operation speed change function except for the following conditions.
• During deceleration operation from operation speed 2
• When the speed change disable during operation signal is ON.
3. Address Specification
Absolute/Relative address can be specified.
With the specified absolute address: Specifies a target address (position) using address 0 as the base.
With the specified relative address: Specifies a travel distance from the current address.
4. Rotation Direction
With the specified absolute address: The rotation direction depends on whether the target address 1 is larger or smaller than the current address.
With the specified relative address: The rotation direction is decided by the sign (positive/negative) of target address 1.
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9.4 2-speed Positioning Operation
Note
If the moving directions of target address 1 and target address 2 are not the same as follows, a reverse operation is performed immediately after the deceleration stop at target address 1.
With the specified absolute address: when the sign difference between the current value and target address
1 is different from the sign difference between target address 1 and target address 2.
With the specified relative address : when the sign (positive/negative) of target address 1 differs from that of target address 2.
Caution
An abrupt change of the rotation direction may damage the machine. It may also cause an error by motor overload.
If the operation in a different direction requires stop time, use 1-speed positioning operation.
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9 Positioning Control
9.5 Interrupt 2-speed Constant Quantity Feed
9.5
Interrupt 2-speed Constant Quantity Feed
→ For details on the operation speed change and target address change, refer to Section 7.5
→ For details on torque limit, refer to Subsection 7.6.3
→ For details on STOP command, refer to Section 7.4
→ For details on the related parameters, control data, and monitor data, refer to Subsection 9.12
1. Operation
Acceleration time
Deceleration time
Speed
Maximum speed
Operation speed 1
3)
Operation speed 2
4)
Target address 1
2)
ON
Time
START command
Interrupt input (INT0)
OFF
ON
OFF
ON
Interrupt input (INT1)
Positioning completion
OFF
ON
OFF
ON
1) Set the operation speed 1, operation speed 2, and target address 1.
2) Select the Interrupt 2-speed constant quantity feed from the operation patterns and activate the START command to start the Interrupt 2-speed constant quantity feed (above figure).
(The positioning completion signal is turned OFF.)
3) At interrupt input (INT0) ON, the work piece starts accelerating/decelerating to the operation speed 2.
4) At interrupt input (INT1) ON, the work piece moves at the operation speed 2 to the target address 1, and the operation ends, turning ON the positioning completion signal.
Note
• Interrupt input is detected in the order of INT0 and INT1.
• The travel distance for target address 1 must be larger than the deceleration distance to stop.
If the travel distance for target address 1 is smaller, the work piece decelerates as much as possible, and the operation stops.
→ For details, refer to Subsection 7.8.2
2. Operation speed
The actual operation speed is decided by the following calculation formulas.
- Operation speed 1
× Override setting
- Operation speed 2
× Override setting
Operation speed 1 and operation speed 2 can be changed using the operation speed change function except for the following conditions.
• During deceleration operation from operation speed 2
• When the speed change disable during operation signal is ON.
3. Address specification
Specified addresses are handled as relative addresses (travel distance from the current address).
(Relative/Absolute address specification is ignored.)
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9.6 Interrupt Stop Operation
4. Rotation Direction
The sign of the target address decides the operation direction.
+: Operates in the direction that increases the current value. (When the value is 0, it is regarded as 1.)
-: Operates in the direction that decreases the current value.
9.6
Interrupt Stop Operation
→ For details on the operation speed change and target address change, refer to Section 7.5
→ For details on torque limit, refer to Subsection 7.6.3
→ For details on STOP command, refer to Section 7.4
→ For details on the related parameters, control data, and monitor data, refer to Section 9.12
1. Operation
Acceleration time
Deceleration time
Speed
Maximum speed
3) 3)
1
2
3
4
Operation speed 1
Target address 1
START command
Interrupt input (INT0)
OFF
OFF
2)
ON
ON
Time
ON
ON ON
Positioning completion
OFF
OFF
1) Set the operation speed 1 and target address 1 (maximum travel distance).
2) Select the Interrupt stop operation from operation patterns and activate the START command to start the
Interrupt stop operation at operation speed 1 (above figure).
(The positioning completion signal is turned OFF.)
3) At interrupt input (INT0) ON, before target address 1, the work piece decelerates to stop, and the operation ends, turning the positioning completion signal ON.
When the interrupt input (INT0) does not turn ON before target address 1, the work piece decelerates to stop at target address 1, and the operation ends, turning the positioning completion signal ON.
2. Operation Speed
Actual operation speed is "operation speed 1
× override setting."
Operation speed 1 can be changed using the operation speed change function except for the following conditions.
• During deceleration operation
• When the speed change disable during operation signal is ON.
3. Address Specification
Absolute/Relative address can be specified.
With the specified absolute address: Specifies a target address (position) using address 0 as the base.
With the specified relative address: Specifies a travel distance from the current address.
4. Rotation Direction
With the specified absolute address: The rotation direction depends on whether the target address 1 is larger or smaller than the current address.
With the specified relative address: The rotation direction is decided by the sign (positive/negative) of target address 1.
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9.7 Variable Speed Operation
9.7
Variable Speed Operation
→ For details on the operation speed change, refer to Section 7.5
→ For details on torque limit, refer to Subsection 7.6.3
→ For details on STOP command, refer to Section 7.4
→ For details on the related parameters, control data, and monitor data, refer to Section 9.12
1. Operation
Speed
Acceleration Time
Maximum speed
Deceleration time
3)
2)
Select operation pattern
(variable speed operation)
OFF
ON
Operation speed 1
OFF
ON
Time
Operation speed 1
Positioning completion
1200
ON
OFF
800 0 400 1200
1) Set the operation speed 1 to a value other than 0.
2) Select the variable speed operation from the patterns to start the variable speed operation (above figure).
(The positioning completion signal is turned OFF.)
3) When selecting an operation pattern other than the variable speed operation, the work piece decelerates to stop and the operation ends.
(Positioning completion signal remains OFF.)
Note
• When setting the operation speed to 0, the work piece decelerates to stop, but the variable speed operation does not end.
The operation pattern should be changed to another pattern when terminating the variable speed operation.
• At STOP command ON, the work piece decelerates to stop.
Note that the operation restarts at STOP command OFF.
2. Operation speed
Actual operation speed is "operation speed 1 x override setting."
3. Rotation Direction
The operation direction is decided by the sign of operation speed 1.
+: Operates in the direction which increases the current value.(Decelerates to stop when the value is 0.)
-: Operates in the direction which decreases the current value.
If the sign of the operation speed value changes, the reverse operation starts after decelerating to stop.
Caution
An abrupt change of the rotation direction may damage the machine.
It may also cause an error by motor overload.
To change the rotation direction, set the operation speed 1 value to 0, and wait for the motor to stop completely after decelerating to stop.
If the operation speed 1 value changes from positive to negative (e.g. 100
→ -100), the work piece decelerates to stop, and 20SSC-H starts the reverse operation immediately.
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9.8 Multi-Speed Operation
9.8
Multi-Speed Operation
The multi-speed operation is positioning procedure, available only in the table operation.
For the details to control by table operation, and to change the operation speed, refer to the following section.
→ For details on the table operation, refer to Chapter 10
→ For details on the operation speed change, refer to Section 7.5
→ For details on torque limit, refer to Subsection 7.6.3
→ For details on STOP command, refer to Section 7.4
→ For details on the related parameters, control data, and monitor data, refer to Section 9.12
1. Operation
Acceleration time
Deceleration time
Maximum speed
Speed
(table No.1)
Speed information
Position information
(table No.2)
Speed information
Position information
(table No.3)
Speed information
Position information
ON
Time
START command
OFF
Positioning completion
ON ON
OFF
1) Set the operation information, speed information, and position (address) information for each table.
2) When rebooting the START command at the table operation start number with the specified multi-speed operation, 20SSC-H starts the positioning operation from the designated table number.
(The positioning completion signal is turned OFF.)
3) The operation continuously executes the table positioning until the END command. (above figure)
4) The work piece decelerates to stop at the specified position (address) in the table before the END command. When the operation ends, the positioning completion signal turns ON.
1
2
3
4
5
6
POINT
• In multi-speed operation, preparation for the next table number operation is performed simultaneously with the current operation.
If a travel distance to shift the operation speed is less than the pulses to accelerate/decelerate, or if the travel time is too short (at 50 ms or less), the current operation does not continue and temporarily stops.
• When using m code in multi-speed operation, use With mode.
With the m code in After mode, operation does not continue from the table since the 20SSC-H suspends the operation shift to the next table until the m code turns OFF .
• Multi-speed operation ends if another operation information is performed during the multi-speed operation.
2. Operation information
Set multi-speed operation, absolute address specification, relative address specification and end in the operation information.
→ For details, refer to Chapter 10
3. Speed information
Actual operation speed is "operation speed 1
× override setting."
Operation speed 1 can be changed using the operation speed change function except for the following conditions.
• During deceleration operation
• When the speed change disable during operation signal is ON.
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9.8 Multi-Speed Operation
4. Position (address) information
Absolute address and relative address can be specified in the operation information.
With the specified absolute address: Specifies a target address (position) using address 0 as the base.
With the specified relative address: Specifies a travel amount from the current address.
5. Rotation Direction
With the specified absolute address: The rotation direction depends on whether the target address 1 is larger or smaller than the current address.
With the specified relative address: The rotation direction is decided by the sign (positive/negative) of target address 1.
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9 Positioning Control
9.9 Liner Interpolation Operation
9.9
Liner Interpolation Operation
→ For details on the operation speed change, refer to Section 7.5
→ For details on torque limit, refer to Subsection 7.6.3
→ For details on STOP command, refer to Section 7.4
→ For details on the related parameters, control data, and monitor data, refer to Section 9.12
1. Operation
Y axis
Interpolation time constant
Interpolation time constant
Target address 1
(X,Y axis)
Speed
Maximum speed
Vector speed
(operation speed 1
of X axis)
Target address 1
(X,Y axis)
X axis
START command
OFF
ON
Positioning completion
ON
OFF
ON
Time
1) Set operation speed 1 of X-axis and target address 1 of X/Y-axis.
2) Select the linear interpolation operation from the operation pattern of X-axis and activate the START command of X-axis. The linear interpolation operation shown above will be started at vector speed
(X-axis operation speed 1). (The positioning completion signal is turned OFF.)
The operation pattern and START command of Y-axis are ignored.
3) The work piece stops at the XY coordinate in target address 1, and the operation ends, turning the positioning completion signal ON.
POINT
• The positioning completion signal turns ON if the travel distance is 0.
If the travel distance is 0 or the travel time is too short, however, it is impossible for the sequence program to detect the positioning completion signal turning OFF.
• When interpolation operation is continued in table operation, it is continuous pass operation.
→ For details on the continuous pass operation, refer to Section 10.10
2. Operation speed
Actual operation speed (vector speed) is "X-axis operation speed 1 x X-axis override setting."
Operation speed 1 of X-axis can be changed using the operation speed change function except for operating under the following conditions.
• During deceleration operation
• When the speed change disable during operation signal is ON.
3. Address specification
Absolute/relative address can be specified.
With the specified absolute address: Specifies a target address (position) using address 0 as the base.
With the specified relative address: Specifies a travel amount from the current address.
4. Rotation Direction
With the specified absolute address: The rotation direction depends on whether the target address 1 is larger or smaller than the current address.
With the specified relative address: The rotation direction is decided by the sign (positive/negative) of target address 1.
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2
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7
8
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9.10 Linear Interpolation Operation (Interrupt Stop)
9.10
Linear Interpolation Operation (Interrupt Stop)
→ For details on the operation speed change, refer to Section 7.5
→ For details on torque limit, refer to Subsection 7.6.3
→ For details on STOP command, refer to Section 7.4
→ For details on the related parameters, control data, and monitor data, refer to Section 9.12
1. Operation
Y axis
Interpolation time constant
Interpolation time constan
Speed
Target address
(X,Y axis)
Maximum speed
3) 3)
X axis
START command
OFF
2)
ON
Vector speed
(operation speed of X axis)
Target address 1
(X,Y axis)
Time
ON
X-axis interrupt input
(INT0)
OFF
ON
ON ON
Positioning completion
OFF
OFF
1) Set operation speed 1 of X-axis and target address 1(maximum travel distance) of X/Y-axis.
2) Select the linear interpolation operation (interrupt stop) from the operation pattern of X-axis and activate the START command. The linear interpolation operation (interrupt stop) shown above will be started at vector speed (X-axis operation speed 1). (The positioning completion signal is turned OFF.)
The operation pattern and START command of Y-axis are ignored.
3) At interrupt input (INT0) ON before the XY coordinate in target address 1, the work piece decelerates to stop, and the operation ends, turning the positioning completion signal ON.
When the interrupt input (INT0) does not turn ON before the XY coordinate in target address 1, the work piece moves to the target address 1, and the operation ends, turning the positioning completion signal
ON.
Note
When interpolation operation continues in table operation, it is continuous pass operation.
→ For details on the continuous pass operation, refer to Section 10.10
2. Operation speed
Actual operation speed (vector speed) is "X-axis operation speed 1 x X-axis override setting."
Operation speed 1 of X-axis can be changed using the operation speed change function except for operating under the following conditions.
• During deceleration operation
• When the speed change disable during operation signal is ON.
3. Address specification
Absolute/relative address can be specified.
With the specified absolute address: Specifies a target address (position) using address 0 as the base.
With the specified relative address: Specifies a travel amount from the current address.
4. Rotation Direction
With the specified absolute address: The rotation direction depends on whether the target address 1 is larger or smaller than the current address.
With the specified relative address: The rotation direction is decided by the sign (positive/negative) of target address 1.
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9 Positioning Control
9.11 Circular Interpolation Operation
9.11
Circular Interpolation Operation
The circular interpolation operation is a positioning procedure, available only in the table operation.
The circular interpolation operation has the center coordinate specification/radius specification format.
For details on controlling by table operation, and changing the operation speed, refer to the following section.
→ For details on the table operation, refer to Chapter 10
→ For details on the operation speed change, refer to Section 7.5
→ For details on torque limit, refer to Subsection 7.6.3
→ For details on STOP command, refer to Section 7.4
→ For details on the related parameters, control data, and monitor data, refer to Subsection 9.12
→ For details on the radius specification, refer to Subsection 9.11.2
9.11.1 Circular interpolation [center coordinate specification]
The work piece moves from the start point to the target address, following the circular arc locus around the specified center coordinate.
1. Operation
Interpolation time constant
Interpolation time constant
Target address 1 (X,Y axis)
Speed
Maximum speed
CW
(Clockwise)
START point
Center (i,j)
CCW
(Counterclockwise)
Vector speed
(operation speed 1
of X axis)
Target address
(X,Y axis)
ON
Time
START command
OFF
ON
Positioning completion
ON
OFF
1) Set table information, X-axis speed, X/Y axis position (address) information and center coordinate in the
XY table information.
2) When turning the X-axis START command ON at the table operation start number with the specified circular interpolation (center, CW direction) / (center, CCW direction), the work piece moves to the target position at the specified speed, following the circle’s center coordinate.
3) The work piece stops at the XY coodinate in target address 1, and the operation ends, turning the positioning completion signal ON.
Note
• The center coordinate is always handled as a relative address from the start point.
• When setting the same address for the start and target points, the work piece moves in a perfect circle.
The center coordinate specification is available in the perfect circle operation.
• During continuous pass operation
If the circular path is too short and the travel time from the start point to the target point is shorter than the interpolation time constant, the operation temporarily stops and shifts to the next interpolation operation.
• When interpolation operation is continued in table operation, it becomes a continuous pass operation.
→ For details on the continuous pass operation, refer to Section 10.10
2. Operation information
Set a circular interpolation operation ("center, CW direction" or "center, CCW direction") and an absolute/ relative address in the operation information.
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2
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9.11 Circular Interpolation Operation
3. Speed information
Actual operation speed (vector speed) is "X-axis operation speed 1 x X-axis override setting."
Operation speed 1 of X-axis can be changed using the operation speed change function except for operating under the following conditions.
• During deceleration operation
• When the speed change disable during operation signal is ON.
4. Position (address) information
Absolute address and relative address can be specified in the operation information.
With the specified absolute address: Specifies a target address (position) using address 0 as the base.
With the specified relative address: Specifies a travel amount from the current address.
5. Circle information (center coordinate)
Set the center coordinate (i, j) by a relative address from a start point.
9.11.2 Circular interpolation [radius specification]
The work piece moves in a circular arc with a specified radius from the start point to the target address.
1. Operation
Interpolation time constant
Interpolation time constant
Clockwise
Big circle (b)
Radius
-r
Target address
(X,Y axis)
Small circle (a)
START point
Radius
+r
Speed
Maximum speed
Vector speed
(operation speed 1
of X axis)
Target address
(X,Y axis)
Time
ON
START command
OFF
Positioning completion
ON
ON
OFF
1) Set table information, X-axis speed, X/Y axis position (address) and radius in the XY table information.
2) When turning the X-axis START command ON at the table operation start number with the specified circular interpolation (radius, CW direction) / (radius, CCW direction), the work piece moves to the target position at the specified speed, following the circle’s center coordinate calculated from the start point, target position and radius.
3) The work piece stops at the XY coodinate in the target address 1, and the operation ends, turning the positioning completion signal ON.
Note
• The radius is specified as r. When r is a positive value, the small circle (a) path is selected and when it is negative, the big circle (b) path is selected.
• Pulse rate and feed rate
During the circular interpolation operation, the radius value is kept constant and pulses are allocated to the
X and Y axes. If the ratio of the pulse rate to the feed rate differs between the X-axis and Y-axis, the circle becomes deformed.
• Use the center coordinate specification in a perfect circle operation.
• During continuous pass operation
If the circular path is too short and the travel time from the start point to the target point is shorter than the interpolation time constant, the operation temporarily stops, and shifts to the next interpolation operation.
• When interpolation operation is continued in table operation, it becomes a continuous pass operation.
→ For details on the continuous pass operation, refer to Section 10.10
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9.12 Parameter, Control Data, Monitor Data and Table
2. Operation information
Set a circular interpolation operation ("radius, CW direction" or "radius, CCW direction") and an absolute/ relative address in the operation information.
→ For details, refer to Chapter 10
3. Speed information
Actual operation speed (vector speed) is "X-axis operation speed 1 x X-axis override setting."
Operation speed 1 of X-axis can be changed using the operation speed change function except for operating under the following conditions.
• During deceleration operation
• When the speed change disable during operation signal is ON.
4. Position (address) information
Absolute address and relative address can be specified in operation information.
With the specified absolute address: Specifies a target address (position) using address 0 as the base.
With the specified relative address: Specifies a travel amount from the current address.
5. Circle information (radius)
Set the radius of a circular by r.
With specified positive (+) value: Operates the small circle (a) path.
With specified negative (-) value: Operates the big circle (b) path.
9.12
Parameter, Control Data, Monitor Data and Table Information
Item
Positioning Parameters
Maximum speed
Acceleration time
Deceleration time
Interpolation time constant
Monitor data
Current address (user)
Current address (pulse)
Control data
Target address1
Operation speed 1
Target address2
Operation speed 2
Override setting
Operation command 1
BFM #501,#500
BFM #503,#502
BFM #505,#504
BFM #507,#506
BFM #508
Relative/Absolute address
specification
BFM #518 b8
START command
Simultaneous START flag
Speed change disable during operation
X-axis
BFM #14009,#14008
BFM #14018
BFM #14020
BFM #14022
BFM #1,#0
BFM #3,#2
BFM #518 b9
BFM #518 b10
BFM #518 b12
BFM Number
Y-axis
BFM #14209,#14208
BFM #14218
BFM #14220
BFM #14222
BFM #101,#100
BFM #103,#102
BFM #601,#600
BFM #603,#602
BFM #605,#604
BFM #607,#606
BFM #608
BFM #618 b8
BFM #618 b9
BFM #618 b10
BFM #618 b12
Description
Setting range: 1 to 2,147,483,647
(user unit)
*1
Setting range: 1 to 5000 ms
Unit: user unit
Unit: PLS
*1
Setting range: -2,147,483,648 to
2,147,483,647
(user unit)
*1
Setting range: 1 to 30000(x 0.1%)
OFF: Operates absolute address
ON : Operates relative address
(This parameter is disabled during a table operation.)
At this command OFF
→ ON, 20SSC-H starts a positioning operation in a selected motion pattern.
At X-axis START command ON while this flag ON, operations at X and Y axis starts simultaneously .
OFF: Enables the operation speed and target position change commands.
ON: Disables the operation speed and target position change commands.
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2
3
4
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6
7
8
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Item
9 Positioning Control
9.12 Parameter, Control Data, Monitor Data and Table
X-axis
BFM Number
Y-axis
Control data
Operation pattern selection BFM #520 b0 BFM #620 b0
Table Information
For details on the table operation, refer to the following.
Operation information
Position (address) data
Refer to Section 11.5
Speed information
*1.
For details on the units, refer to the following.
Description
Select motion patterns.
b0 : 1-speed positioning operation b1 : Interrupt 1-speed constant quantity feed b2 : 2-speed positioning operation b3 : Interrupt 2-speed constant quantity feed b4 : Interrupt stop b5 : Variable speed operation b6 : Manual pulse generator operation b7 : Linear interpolation operation b8 : Linear interpolation (interrupt stop) operation b9 : Table operation (individual) b10: Table operation (simultaneous)
→ Refer to Chapter 10 and Section 11.5
Set operation information.
→ Refer to subsection 10.1.3
Set the target address.
Setting range: -2,147,483,648 to
2,147,483,647
(user unit)
*1
Set the operation speed.
Setting range: 1 to 50,000,000
(user unit)
*1
→ Refer to Section 7.7
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10 Table Operation
10.1 Outline of Table Operation
1
10. Table Operation
10.1
Outline of Table Operation
This section describes the table information setting and table operation motions.
For details on positioning in table operation, refer to the following.
→ For details on each positioning operations, refer to Chapter 9
About the table operation
"Table operation" executes preset motion patterns of positioning operations from the table information. By table operation, 20SSC-H continues the supported positioning operation while also combining motion patterns. A few positioning operations are available in table operation only.
Positioning operations for table operation only
• Multi-speed operation
• Circular interpolation
• Continuous pass operation
10.1.1 Applicable positioning operations for table operation
• Applicable positioning operations for table operation
- 1-speed positioning operation
- Interrupt 1-speed constant quantity feed
- 2-speed positioning operation
- Interrupt 2-speed constant quantity feed
- Interrupt stop
- Multi-speed operation
- Linear interpolation
*1
- Linear interpolation (interrupt stop)
*1
- Circular interpolation
*1
- Mechanical zero return
• Inapplicable positioning operations for table operation
- Variable speed operation
- Manual pulse generator
- JOG operation
*1.
Continuous pass operation in which interpolation operation is continuously executed is supported.
→ For details on continuous operation, refer to section 10.10
10.1.2 Types of table information and number of registered tables
Type of table information
X-axis table information
Y-axis table information
XY-axis table information
Number of registered tables
300 tables
300 tables
300 tables
Table number
0 to 299
0 to 299
0 to 299
2
3
4
5
6
7
8
9
10
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10.1 Outline of Table Operation
10.1.3 Table information setting items
Setting item
Operation information
*1
Position information
(x,y)
Content
Sets a positioning operation in table operation along with a current address change, etc.
No processing
m code
End
1-speed positioning
Interrupt 1-speed constant quantity feed
2-speed positioning
Interrupt 2-speed constant quantity feed
Interrupt stop
Multi-speed operation
(requires multiple tables)
Linear interpolation
Linear interpolation (interrupt stop)
-
-
Circular interpolation
(center, CW direction)
Circular interpolation
(center, CCW direction)
Circular interpolation
(radius, CW direction)
Circular interpolation
(radius, CCW direction)
Mechanical zero return
Current address change
Absolute address specification
Relative address specification
Dwell
Jump
Sets the following items depending on the settings in operation information.
• In positioning operations
Set the target address
Setting range: -2,147,483,648 to 2,147,483,647 (user unit)
*2
Set the value within -2,147,483,648 to 2,147,483,647PLS in converted pulse data.
• In current address changes
Set the new current address.
Setting range: -2,147,483,648 to 2,147,483,647 (user unit)
*2
Set the value within -2,147,483,648 to 2,147,483,647PLS in converted pulse data.
Type of table information
Xaxis
Yaxis
XYaxis
"
"
"
"
"
"
• In Dwell
Set a dwell time.
Setting range: 0 to 32767(
×
10ms)
Speed information
(fx,f,fy)
Circle information
(i,r,j) m code information
*3
• In Jump
Set the jump No. table.
Setting range: 0 to 299
Set the operation speed.
Setting range: 1 to 50,000,000 (user unit)
*2
Set the value within 1 to 50,000,000Hz in converted pulse data.
Set the center coordinate and radius of the circle during circular interpolation operation.
Setting range: -2,147,483,648 to 2,147,483,647 (user unit)
*2
Set the value within -2,147,483,648 to 2,147,483,647PLS in converted pulse data.
Sets m codes.
• No m code ....................-1
• After-mode m code.......0 to 9999
• With-mode m code .......10000 to 32767
"
-
"
"
-
"
"
"
"
*1.
The operation information in the buffer memory has numerical value settings for instructions (e.g. DRV or DRVZ).
No processing m code
End
Type
1-speed positioning operation
Symbol
NOP
NOP
END
X-axis DRV_X
Y-axis DRV_Y
XY-axis DRV_XY
2
3
0
1
-1
-1
Setting value
-
"
-
"
Position informatio n x
-
-
y
-
-
-
"
"
Speed information
-
"
-
"
fx/f
-
-
-
-
"
fy
-
-
"
Circle information
-
-
-
-
i/r
-
-
-
-
-
-
j
-
-
m code information
"
"
-
"
-
"
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10 Table Operation
10.1 Outline of Table Operation
1
Interrupt 1-speed constant quantity feed
X-axis SINT_X
Y-axis SINT_Y
XY-axis SINT_XY
2-speed positioning operation
(2 tables used)
Interrupt 2-speed constant quantity feed (2 tables used)
Y-axis DINT_Y
Interrupt stop
Multi-speed operation
(requires multiple tables used)
Linear interpolation
Linear interpolation (interrupt stop)
Absolute address specification
Relative address specification
X-axis INT_X
Y-axis INT_Y
XY-axis INT_XY
X-axis DRVC_X
Y-axis DRVC_Y
LIN
LIN_INT
Circular interpolation (center, CW direction) CW_i
Circular interpolation (center, CCW direction) CCW_i
Circular interpolation (radius, CW direction) CW_r
Circular interpolation (radius, CCW direction) CCW_r
Mechanical zero return
X-axis DRVZ_X
Y-axis DRVZ_Y
XY-axis DRVZ_XY
X-axis SET_X
Current address change Y-axis SET_Y
XY-axis SET_XY
ABS
INC
Dwell
Jump
Type Symbol
X-axis DRV2_X
Y-axis DRV2_Y
XY-axis DRV2_XY
X-axis DINT_X
XY-axis DINT_XY
TIM
JMP
Setting value
4
5
6
7
8
9
10
11
12
"
"
-
"
-
-
"
-
-
"
"
"
Position informatio n x
"
y
-
"
"
-
-
"
"
"
"
-
-
"
-
"
"
-
"
-
-
"
"
"
25
26
27
90
21
22
23
24
91
92
93
94
17
19
20
13
14
15
16
-
"
"
-
"
-
"
"
"
"
-
"
-
-
"
"
95
96
-
"
-
-
-
"
-
"
-
"
-
-
-
"
"
"
"
"
-
-
-
-
"
"
Speed information
-
"
"
"
"
-
"
"
"
"
"
"
-
-
-
-
-
-
-
-
-
-
-
-
-
-
"
"
"
"
"
fx/f
"
-
"
"
-
-
"
"
-
-
"
"
"
"
"
fy
-
"
"
-
-
"
-
-
-
"
"
-
"
"
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Circle information m code information
"
"
"
"
"
"
"
"
"
"
"
"
"
"
-
"
"
"
-
-
"
"
"
"
-
"
-
"
-
"
-
"
"
"
-
"
"
"
"
"
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
j
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
"
"
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
i/r
-
-
-
-
-
-
-
-
-
-
-
-
-
-
"
"
*2.
For details on the user unit, refer to the following.
→ Refer to section 7.7
*3.
The m code is an auxiliary command to support positioning data in execution.
For details on m code, refer to the following.
→ Refer to section 10.9
2
3
4
5
6
7
8
9
10
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10 Table Operation
10.1 Outline of Table Operation
10.1.4 Table operation execution procedure
The following shows the procedure for executing table operation and describes the operation.
1
Set the operation pattern of the control data and the table start No.
Item
BFM number
X-axis Y-axis
Content
Operation pattern selection BFM #520 BFM #620
Table operation start No.
BFM #521 BFM #621 b9 : Table operation (individual)
Table operation is executed by X-axis table data and Y-axis table data.
b10: Table operation (simultaneous)
Table operation is executed by XY-axis table data.
Specify the table No. of the table operation to be executed.
When setting the table operation (simultaneous) in operation patterns, set Xaxis table operation start No. only.
Setting range : 0 to 299
Writing table operation data
Write table operation data to buffer memory beforehand, following the procedure below:
• Transfer the table information from the 20SSC-H flash memory to buffer memories (only while power ON)
→ Refer to Chapter 6
• Write (transfer) table data to buffer memories with FX Configurator-FP.
→ For details on operation, refer to the FX Configurator-FP Operation Manual
• Write table information by a sequence program.
→ For an explanation of applied instructions, refer to the Programming Manual
• Change (write) table information by the test function in GX Developer's BFM monitor.
→ For details on operation, refer to the GX Developer Operating Manual
2
When rebooting the START command, executes the table operation.
When operating XY-axis table information, turn the START command of the X-axis from OFF to ON.
3
20SSC-H executes table operation in numerical order the table operation start No.
20SSC-H executes table operation in numerical order until the table No. with END command in operation information.
4
After executing the table No. in operation information, the table operation ends.
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10 Table Operation
10.2 How to Set Table Information
10.2
How to Set Table Information
20SSC-H has 2 procedures to set table information, via FX Configurator-FP or by a sequence program.
Setting table information by sequence program
To set table information by sequence program, write each setting to 20SSC-H buffer memory by TO instruction, or move instructions (MOV, etc.) for direct specification.
For details on buffer memory assignments, refer to the following.
→ Refer to Sections 10.3 and 11.5
Note
It is strongly recommended to set and store table information in the flash memory via FX Configurator-FP.
When table information is set by sequence program, a considerable amount of the sequence program and devices are used, which makes the program complicated and increases the scan time.
Setting table information on FX Configurator-FP
Set value with the X-axis, Y-axis, XY-axis table information edit windows in FX Configurator-FP.
For details on operation of FX Configurator-FP, refer to the following manual.
→ FX Configurator-FP Operation Manual
• Operation method
1) Double-click "File name"
→"Edit"→"X-axis table information", "Y-axis table information" or "XY-axis table information" in the file data list.
2) The selected X-axis table information, Y-axis table information or XY-axis table information edit window is displayed.
Note
Note that the procedures to set the table information from FX Configurator-FP and a sequence program are different.
1
2
3
4
5
6
7
8
9
10
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The position of the operation information is different.
a) Position information b) Speed information c) Operation information d) m code information e) Circle information
1) X-axis, Y-axis table information
Buffer memory a) b)
Table No.
0
1
2
5
6
3
4
Position information
5000
2000
100
*1
0
*2
0
-
-
*1, *2 The setting method for the following
information is different.
Speed information
5000
2500
-
-
-
200000
-
Dwell time
Buffer memory Set in position information.
FX Configurator-FP Set in time
Jump point table No.
Buffer memory Set in position information.
FX Configurator-FP Set in jump No.
c)
Operation information
7
*3
7
*3
95
96
0
1
0
FX Configurator-FP c) a) b) *1 *2 d) d) m code information
-1
-1
-1
-1
-
-1
-
*3
*3
10 Table Operation
10.2 How to Set Table Information
*3 In 2-speed positioning operation and interrupt 2-speed constant quantity feed operation, two setting rows are required.
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10.2 How to Set Table Information
2) XY-axis table information
Buffer memory a)
Table No.
0
1
2
3
4
5
6
7 b) e)
Position information
X-axis
5000
2000
100
-
-
*1
5000
2000
-
-
-
Speed infornation
Y-axis X-axis
5000
2500
-
-
-
2500
-
-
-
Circle infornation
Y-axis X-axis
5000
-
-
-
-
-
Y-axis
-
-
-
-
-
0
-
-
-
0
-
5000
-
-
-
5000
-
-
-
-
-
-
c)
Operation information
9
*2
9
*2
95
0
-1
1
2
0
*1 The setting method for the following information is different.
Dwell time
Buffer memory Set in position information.
FX Configurator-FP Set in time
Jump point table No.
Buffer memory Set in position information.
FX Configurator-FP Set in Jump No.
FX Configurator-FP c) a) b) e) *1 d) d) m code information
-1
-1
-1
-
-
-1
-1
-
1
2
3
4
5
*2
*2
6
*2 In 2-speed positioning operation and interrupt
2-speed constant quantity feed operation, two setting rows are required.
7
8
9
10
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10 Table Operation
10.3 Tables and BFM No. Allocation
10.3
Tables and BFM No. Allocation
Stores the table operation information to the 20SSC-H buffer memory. There are 2 BFM types, one for operation by individual axis (X/Y axis) and the other for XY-axis simultaneous operation.
Table No.
0
Position information
Speed information
Circle information
Operation information m code information
Items
Position data x
Position data y
Speed data f, fx
Speed data fy
Center coordinate i, radius r
Center coordinate j
X-axis table information
BFM #1001, #1000
-
BFM #1003, #1002
-
BFM No.
Y-axis table information
-
BFM #4000, #4001
-
BFM #4002, #4003
-
-
BFM #4004
BFM #4005
XY-axis table information
BFM #7001, #7000
BFM #7003, #7002
BFM #7005, #7004
BFM #7007, #7006
BFM #7009, #7008
BFM #7011, #7010
BFM #7012
BFM #7013
299
Position information
Speed information
Circle information
Operation information m code information
Position data x
Position data y
Speed data f, fx
Speed data fy
Center coordinate i, radius r
Center coordinate j
-
-
BFM #1004
BFM #1005
:
BFM #3991, #3990
-
BFM #3993, #3992
-
-
-
BFM #3994
BFM #3995
BFM #12981, #12980
BFM #6991, #6990 BFM #12983, #12982
BFM #12985, #12984
BFM #6993, #6992 BFM #12987, #12986
BFM #12989, #12988
-
BFM #6994
BFM #6995
BFM #12991, #12990
BFM #12992
BFM #12993
Note
• The save command (BFM #523 b2 to b4) writes and stores the BFM table information in the 20SSC-H flash memory.
• The default value for table information is "-1".
• 20SSC-H stores the executing table number in executing table number (BFM #16, #116).
Caution for setting
Selecting the following patterns in the operation information requires two tables.
• 2-speed Positioning operation
• Interrupt 2-speed constant quantity feed
In the case of X-axis, Y-axis table information
Table No.
0
1
Position information
500
3000
Speed information
500
300
Operation information
7
7 m code information
-1
-1
One positioning operation is performed using two tables. (*1)
10
11
5000
3000
500
1000
7
3
-1
-1
In the case of XY-axis table information
Table No.
0
1
Position information
Speed information
Circle data
X-axis Y-axis X-axis Y-axis X-axis Y-axis
5800
3000
10000
5000
5000
1000
6000
1200
-
-
-
-
Operation information
9
9
When only 1 table is set, the next table (table No.11) is judged to be the 2nd speed of table No.10 and operation is performed using that table information.
(*2) m code information
-1
-1
*1
10
11
500
800
1000
1500
500
1000
600
1200
-
-
-
-
9
3
-1
-1
*2
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10 Table Operation
10.4 Current Position Change
10.4
Current Position Change
This operation information changes the current address (user/pulse) value to the one specified in the position
(address) information.
10.5
Absolute Address Specification
This operation information sets the position data of subsequent table operations to an absolute address based on the (0, 0) point.
Note
• When table operation is started, the position information in handled on the absolute address specification
(default). To use position information by relative addresses, the operation information of positioning control must be set beforehand.
• The arc center (i , j), radius r, Interrupt 1-speed constant quantity feed and, Interrupt 2-speed constant quantity feed setting items are handled as relative addresses.
10.6
Relative address specification
This operation information sets the position data of subsequent table operations to a relative address based on the current address.
Point
When table operation is started, the position information in handled on the absolute address specification
(default). To use position information by relative addresses, the operation information of positioning control must be set beforehand.
10.7
Jump
When executing this operation information, jumps to the specified table No..
Note that table No. does not jump from X-axis table information to Y-axis table information.
Set the table No. of the jump point to the position information of the table information in buffer memory.
(On FX Configurator-FP, set the table No. of the jump point by the Jump No.)
10.8
Dwell
When executing this operation information, operation waits for the specified time. A dwell is used as a wait to move between operations.
Set the dwell by the position information of the table information in the buffer memory.
(On FX Configurator-FP, set the dwell by the Time.)
1
2
3
4
5
6
7
8
9
10
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10 Table Operation
10.9 m code
10.9
m code
The m code is an auxiliary command to support positioning data in execution.
When an m code turns ON in table operation, 20SSC-H stores the table No. in monitor data as an m code number, while also turning ON the m code ON flag in status information.
There are two modes for m code, after mode and with mode, and each mode has a different ON timing.
Mode
after mode with mode
Content
The m code turns ON when the operation of table information is completed.
The m code turns ON when the operation information is started.
m code No.
0 to 9999
10000 to 32767
10.9.1 After mode
The specified m code turns ON after the operation.
→ For details on related setting items, refer to Subsection 10.9.3
1. Operation
Speed m code No.
m code ON
OFF m code OFF command OFF
-1
ON
10 -1
OFF
ON
OFF
ON
11
OFF
ON
Time
Table No.
0
1
2
1
-1
0
Operation information
(1-speed positioning)
(no processing)
(END) m code information
10 (after mode)
11
(after mode)
-1
1) When the table No. 0 operation with m code "10" ends, the m code ON flag in the status information turns
ON, and the 20SSC-H stores "10" in the m code No. of monitor data.
2) At m code OFF, the m code ON flag and m code itself turns OFF, and 20SSC-H stores "-1" in the m code
No. of monitor data.
3) At m code OFF, 20SSC-H executes the next table No..
Note
• With after-mode m codes in multi-speed operations and continuous pass operations, the operation does not continue the table since 20SSC-H suspends the operation until m code OFF.
• With "0" in m code information, 20SSC-H turns to standby mode. With start command or m code OFF command, the m code turns OFF.
• To turn only the m code ON without performing positioning operation, set "m code" to the operation information of the table information, and set the m code information.
2. Available m code Nos.
To use m code in the after mode, set m code in the range 0 to 9999 to the m code information.
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10 Table Operation
10.9 m code
10.9.2 With mode
The specified m code turns ON when the operation starts.
→ For details on related setting items, refer to Subsection 10.9.3
1. Operation
Speed
Time m code No.
m code ON
OFF m code OFF command
OFF
-1 10010
ON
-1
OFF
ON
OFF
ON
10011
OFF
ON
-1
1
2
3
4
Table No.
0
1
2 0
Operation information
1 (1-speed positioning)
1 (1-speed positioning)
(END) m code information
10010 (with mode)
10011
(with mode)
-1
1) 20SSC-H stores "10010" in the m code No. of monitor data while also starting table No. 0 with "10010" and turning ON the m code ON flag in the status information.
2) At m code OFF, the m code ON flag and m code itself turns OFF, and 20SSC-H stores "-1" in the m code
No. of monitor data.
3) When operation of the operation information is completed, the next table No. is executed even if the m code OFF command does not turn ON .
Note
• With "0" in m code information, 20SSC-H turns to standby mode. With start command or m code OFF command, the m code turns OFF.
• 20SSC-H continues operating while multi-speed operation and continuous pass operation without m code
OFF commands. The specified m codes also turn ON in numerical order.
Speed
Time m code No.
m code ON
OFF m code OFF command
OFF
ON
10010 -1
OFF
ON
OFF
ON
10011 10012 -1
OFF
ON
OFF
The next operation is executed even if the m code OFF command is not ON.
2. Available m code Nos.
To use the m code in the with mode, set the m code in the range from 10000 to 32767.
5
6
7
8
9
10
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10.9.3 Related buffer memory
Item
Control data
Operation command 1
Monitor data m code No.
Status information m code OFF command m code ON
X-axis
BFM number
Y-axis
BFM #518 b11 BFM #618 b11
BFM #9
BFM #28 b8
BFM #109
BFM #128 b8
10 Table Operation
10.9 m code
Content
When this command is ON, the m code is turned
OFF and -1 is stored to the m code No.
Stores the m code number in ON state.
Stores -1 when the m code is OFF.
This flag turns ON when an m code turns ON.
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10 Table Operation
10.10 Continuous Pass Operation
10.10 Continuous Pass Operation
Continuously executing interpolation operation (linear interpolation, circular interpolation) results in a continuous pass operation.
1. Operations valid for continuous pass operation
• Operations that result in continuous pass operation
• Operations that do not result in continuous pass operation
- Linear interpolation
- Circular interpolation
- Variable speed operation
- Manual pulse generator
- JOG operation
- 1-speed positioning operation
- Interrupt 1-speed constant quantity feed
- 2-speed positioning operation
- Interrupt 2-speed constant quantity feed
- Interrupt stop
- Variable speed operation
- Multi-speed operation
- Linear interpolation (interrupt stop)
- Mechanical zero return
- Dwell
- End
Note
• The number of continuous passes is not limited.
• Continuous pass operation does not continue if interpolation operations include the following:
- No processing
- Jump
• Continuous pass operation is not executed if the program contains the following typea of instructed interpolation operation:
- When after mode m code are set
- When the travel time of the operation is 50 ms or less
- When the travel time of the operation is “interpolation time constant
× 2” or less
- When the preparation for the next operation (information pre-reading) is not in time
2. Content of continuous pass operation
• Consecutive interpolation instructions do not stop, and inflection points become smooth curves.
The radius of curvature varies depending on the interpolation time constant.
A larger interpolation time constant makes a larger radius of curvature.
• To draw a precise locus, apply circular interpolation operations.
• When the speeds between each interpolation operation differ, the velocity becomes the composite speed with the one at the next step.
Y-axis Inflection point
1
2
3
4
5
6
7
8
Curve
9
Speed
X-axis
Interpolation time constant
When this period becomes lager, the radius of curatre becomes larger.
10
Time
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11 Buffer Memory (Parameters & Monitored Data)
11.1 Positioning Parameters
11. Buffer Memory (Parameters & Monitored Data)
11.1
Positioning Parameters
The positioning parameters to set speed and units of measurement.
The BFMs in positioning parameters are readable/writable.
For X-axis: BFM #14000 to #14199
For Y-axis: BFM #14200 to #14399
Caution
Do not use unlisted BFMs for changing values not described in this section.
11.1.1 Operation parameters 1 [BFM #14000, BFM #14200]
BFM Number
X-axis Y-axis
BFM
#14000
BFM
#14200
Bit
Number
Description Default
b0 b1
System of units (user unit)
*1
(b1,b0)=00: motor system
(b1,b0)=01: mechanical system
(b1,b0)=10: composite system
(b1,b0)=11: composite system b2 b3
User unit setting
*1
(b1,b0)=00:
µm, cm/min
(b1,b0)=01: 10
-4 inch, inch/min
(b1,b0)=10: mdeg, 10deg/min
(b1,b0)=11: not available b4 b5
Position data magnification
*2
Position data can be multiplied by 1, 10, 100, and 1000 times.
(b5,b4)=00: 1 time
(b5,b4)=01: 10 times
(b5,b4)=10: 100 times
(b5,b4)=11: 1000 times b6 to b9 Not available b10
Zero return direction
1: In zero return, starts operation toward the direction increasing current value.
0: In zero return, starts operation toward the direction decreasing current value.
→For details on the zero return operation, refer to Section 8.1 b11 b12 b13 b14
Acceleration/deceleration mode
1: Operates in approximate S-shaped acceleration/deceleration.
(Trapezoidal ACC/DEC in interpolations)
0: Operates in trapezoidal acceleration/deceleration.
→For details on the acceleration/deceleration mode, refer to Section 7.2
DOG switch input logic
Sets DOG switch input logic for 20SSC-H.
1: NC-contact (operates at input OFF)
0: NO-contact (operates at input ON)
→For details on the DOG mechanical zero return operation,
refer to Subsection 8.1.2
Count start timing for zero-phase signal
1: DOG forward end (at off-to-on transition of DOG input)
A front end of DOG triggers the zero-phase signal count.
0: DOG backward end (at on-to-off transition of DOG input)
A back end of DOG triggers the zero-point signal count.
→For details on the DOG mechanical zero return operation,
refer to Subsection 8.1.2
Not available
H0000
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11 Buffer Memory (Parameters & Monitored Data)
11.1 Positioning Parameters
11
BFM Number
X-axis Y-axis
BFM
#14000
BFM
#14200
Bit
Number
b15
Description
STOP mode
1: Suspends the operation, and the START command starts the operation for the remaining travel distance.
0: Ends the operation, canceling the remaining distance. In table operations, operation is terminated.
→For details on the stop command, refer to Section 7.4
Default
H0000
*1.
User unit setting
Positioning and speed units are customizable as user units.
The combination of system of units (b1,b0) and unit setting bit (b3,b2) gives the following settings.
→ For details on the user unit, refer to Section 7.7
1
0
0
1
Unit Setting
Bit Status b3
-
0
b2
-
0
0 1
0
0
1
0
0
1
1
1
System of units
Bit Status b1
0
0
b0
0
1
0 1
1
0/1
0/1
0/1
System of units
Motor system units
Mechanical system units
Composite system units
Positioning Unit
PLS
µm
10
-4 inch mdeg
µm
10
-4 inch mdeg
Unit
Speed Unit
Hz cm/min inch/min
10deg/min
Hz
Note
Motor system units and mechanical system units require the pulse/feed rate settings.
12
13
A
*2.
The positioning data with position data magnification are as follows:
- Mechanical origin address
- Software limit (upper)
- Software limit (lower)
- Target address1
- Target address2
- Target position change value (address)
- Current address (user)
- Current address (pulse)
- Table information (position data)
- Table information (circular data)
Example:
The actual address (or travel distance) with target address 1 "123" and position data magnification
"1000" are as follows:
Motor system units: 123
× 1000 = 123000 (pulse)
Mechanical system units, composite system units: 123
× 1000 = 123000 (
µ m, mdeg, 10
-4 inch)
= 123(mm, deg, 10
-1 inch)
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11 Buffer Memory (Parameters & Monitored Data)
11.1 Positioning Parameters
11.1.2 Operation parameters 2 [BFM #14002, BFM #14202]
BFM Number
X-axis Y-axis
BFM #14002 BFM #14202
Bit
Number
Description
b0 b1
Enables or disables the servo end check function.
→For details on the servo end check, refer to Subsection 7.5.2.
1: Enable
At an in-position signal, determinates the positioning operation completion
0: Disable
Enables or disables the servo ready check function.
→For details on the servo ready check, refer to Subsection 7.5.1.
1: Enable
Checks the ready signal ON/OFF at operation start / while operation
0: Disable b2
Enables or disables the OPR interlock function.
1: Enable
Disables the START command without zero return completion
Enables the START command with zero return completion (zero return completed: ON)
0: Disable b3 to b15 Not available
Default
H0007
11.1.3 Pulse rate [BFM #14005, #14004, BFM #14205, #14204]
This parameter sets the number of pulses to rotate servo motors once. "Mechanical system units" and
"Composite system units" require this setting, "Motor system units" ignores it.
→ For details on the system of units, refer to Section 7.7
BFM Number
X-axis Y-axis
BFM
#14005,
#14004
BFM
#14205,
#14204
Description
Setting range: 1 to 200,000,000 PLS/REV
Default
K262,144
11.1.4 Feed rate [BFM #14007, #14006, BFM #14207, #14206]
This parameter sets the travel distance per revolution of the motor. "Mechanical system units" and
"Composite system units" require this setting, "Motor system units" ignores it.
→ For details on the system of units, refer to Section 7.7
BFM Number
X-axis Y-axis
BFM
#14007,
#14006
BFM
#14207,
#14206
Description
Setting range: 1 to 200,000,000 (
µm/REV, 10
-4 inch/REV, mdeg/REV)
Default
K52,428,800
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11 Buffer Memory (Parameters & Monitored Data)
11.1 Positioning Parameters
11.1.5 Maximum speed [BFM #14009, #14008, BFM #14209, #14208]
This parameter sets the maximum speed for each operation.
→ For details on the maximum speed, refer to Section 7.2
BFM Number
X-axis Y-axis
Description Default
BFM
#14009,
#14008
BFM
#14209,
#14208
Setting range: 1 to 2,147,483,647(user unit)
*1
The value must be within the range from 1 to 50,000,000 Hz when converted to pulse data
*1
.
K4,000,000
*1.
Refer to the section shown below for details on the user units and converted pulse data.
→ Refer to Section 7.7
Note
Set JOG speed, zero return speed (high speed), zero return speed (creep), operation speed 1 and operation speed 2 at or below the maximum speed. If the operation speed exceeds the maximum speed, 20SSC-H operates at the maximum speed.
Cautions in setting
Set the maximum speed at or below the maximum rotation speed of the servo motor.
The formula to calculate the rotation speed of the servo motor from the pulse (Converted pulse data) is as follows.
→ For details on the converted pulse data, refer to Section 7.7
Servo motor rotational speed (r/min) =
Operation speed converted into pulse (Hz)
× 60 ÷ resolution per revolution of servo motor
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Servo Amplifier
MR-J3B
Resolution per Revolution of Servo Motor (PLS/REV)
262144
11.1.6 JOG speed [BFM #14013, #14012, BFM #14213, #14212]
This parameter sets the speed for Forward JOG and Reverse JOG operations.
→ For details on the JOG operations, refer to Section 8.2
BFM Number
X-axis Y-axis
BFM
#14013,
#14012
BFM
#14213,
#14212
Description
Setting range: 1 to 2,147,483,647 (user unit)
*1
Set the value within 1 to 50,000,000Hz in converted pulse data
*1
.
Default
K2,000,000
*1.
Refer to the section shown below for details on the user units and converted pulse data.
→ Refer to Section 7.7
Note
• Set the JOG speed at or below the maximum speed.
When the JOG speed exceeds the maximum speed, 20SSC-H operates at the maximum speed.
• Speed change commands in positioning operation change the JOG speed into a preset value.
11.1.7 JOG Instruction evaluation time [BFM #14014, BFM #14214]
This parameter sets the evaluation time for the forward/reverse JOG command to determine whether the control is inching or continuous.
For forward/reverse commands that are ON for longer than the JOG evaluation time, 20SSC-H executes continuous operation. For forward/reverse commands that are ON for shorter than the JOG evaluation time, the 20SSC-H executes inching operation.
→ For details on the JOG operations, refer to Section 8.2
BFM Number
X-axis Y-axis
BFM #14014 BFM #14214 Setting range: 0 to 5000 ms
Description Default
K300
POINT
The JOG instruction evaluation time “0 ms” gives continuous operation only.
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11.1 Positioning Parameters
11.1.8 Acceleration time [BFM #14018, BFM #14218]
This parameter sets a time for the operation speed to reach the maximum speed from zero.
→ For details on the acceleration time, refer to Section 7.2
BFM Number
X-axis Y-axis
BFM #14018 BFM #14218 Setting range: 1 to 5000 ms
Description Default
K200
Note
• The acceleration time becomes 1 ms when set at 0 ms or lower, and becomes 5000 ms when set at 5001 ms or higher.
• Set the time within the range from 64 (greater than 64) to 5000 ms in the approximate S-shaped acceleration/deceleration.
11.1.9 Deceleration time [BFM #14020, BFM #14220]
This parameter sets the time for the operation speed to reach to zero from the maximum.
→ For details on the deceleration time, refer to Section 7.2
BFM Number
X-axis Y-axis
BFM #14020 BFM #14220 Setting range: 1 to 5000 ms
Description Default
K200
Note
• The acceleration time becomes 1 ms when set at 0 ms or lower, and becomes 5000 ms when set at 5001 ms or higher.
• Set the time within the range from 64 (greater than 64) to 5000 ms in the approximate S-shaped acceleration/deceleration.
11.1.10 Interpolation time constant [BFM #14022, BFM #14222]
This parameter sets the time for the interpolation operation speed to reach the maximum speed from zero
(acceleration) or to reach zero from the maximum speed (deceleration).
→ For details on the interpolation time constant, refer to Section 7.2
BFM Number
X-axis Y-axis
BFM #14022 BFM #14222 Setting range: 1 to 5000 ms
Description Default
K100
Note
The acceleration time becomes 1 ms when set at 0 ms or lower, and becomes 5000 ms when set at 5001 ms or higher.
11.1.11 Zero return speed (High Speed) [BFM #14025, #14024, BFM #14225, #1424]
This parameter sets the mechanical zero return operation speed (high speed) [DOG, Stopper #1].
→ For details on the mechanical zero return, refer to Section 8.1
BFM Number
X-axis Y-axis
BFM
#14025,
#14024
BFM
#14225,
#14224
Description
Setting range: 1 to 2,147,483,647 (user unit)
*1
Set the value within 1 to 50,000,000Hz in converted pulse data
*1
.
Default
K4,000,000
*1.
Refer to the section shown below for details on the user units and converted pulse data.
→ Refer to Section 7.7
Note
• Set the zero return speed (high speed) at or below the maximum speed.
When the zero return speed (high speed) exceeds the maximum speed, 20SSC-H operates at the maximum speed.
• Speed change commands in positioning operation change the zero return speed (high speed) into a preset value.
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11.1 Positioning Parameters
11.1.12 Zero return speed (Creep) [BFM #14027, #14026, BFM #14227, #14226]
This parameter sets the mechanical zero return operation speed (creep) [DOG, Stopper #1, #2].
→ For details on the mechanical zero return, refer to Section 8.1
BFM Number
X-axis Y-axis
BFM
#14027,
#14026
BFM
#14227,
#14226
Description
Setting range: 1 to 2,147,483,647 (user unit)
*1
Set the value within 1 to 50,000,000Hz in converted pulse data
*1
.
Default
K100,000
*1.
Refer to the section shown below for details on the user units and converted pulse data.
→ Refer to Section 7.7
Note
• Set the zero return speed (creep) at or below the maximum speed and zero return speed (high speed).
When the zero return speed (creep) exceeds the maximum speed, 20SSC-H operates at the maximum speed.
• Set the speed as slow as possible to achieve the best stop position accuracy.
11.1.13 Mechanical origin address [BFM #14029, #14028, BFM #14229, #14228]
This parameter sets the current value address at zero return operation completion.
After mechanical zero return completion, the 20SSC-H writes the current address to this parameter.
→ For details on the mechanical zero return, refer to Section 8.1
BFM Number
X-axis Y-axis
BFM
#14029,
#14028
BFM
#14229,
#14228
Description
Setting range: -2,147,483,648 to 2,147,483,647 (user unit)
*1
Set the value within -2,147,483,648 to 2,147,483,647PLS in converted pulse data
*1
.
Default
K0
*1.
Refer to the section shown below for details on the user units and converted pulse data.
→ Refer to Section 7.7
11.1.14 Zero-phase signal count [BFM #14030, BFM #14230]
This parameter sets the number of zero-phase signal counts in the mechanical zero return operation [DOG,
Stopper #1].
The mechanical zero return ends at the specified number of zero-phase signal count.
→ For details on the mechanical zero return, refer to Section 8.1
BFM Number
X-axis Y-axis
BFM #14030 BFM #14230 Setting range: 0 to 32767 PLS
Description Default
K1
Note
• With the value "0" set in mechanical zero return operation [DOG], the 20SSC-H immediately stops when the zero-phase signal count starts. In this case, the operation abruptly stops from the zero return speed
(creep/high speed). Observe the following items to protect peripheral devices from damage.
- Set the zero return speed (creep) as slow as possible for safety.
- Change the trigger of the zero-point signal count at the DOG backward end.
- Design the DOG to allow the machine to gently decelerate to the zero return speed (creep) before the zero-phase signal count.
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11.1 Positioning Parameters
11.1.15 Zero return mode [BFM #14031, BFM #14231]
This parameter selects mechanical zero return operations.
→ For details on the zero return operation, refer to Section 8.1
BFM Number
X-axis Y-axis
Description Default
BFM #14031 BFM #14231
0: DOG
1: Data set type
2: Stopper #1
3: Stopper #2
K0
11.1.16 Servo end evaluation time [BFM #14032, BFM #14232]
This parameter sets the evaluation time for the servo end check.
→ For details on the servo end check, refer to Section 7.6.2
BFM Number
X-axis Y-axis
BFM #14032 BFM #14232 Setting range: 1 to 5000 ms
Description Default
K5000
Note
• To apply this function, set b0 in operation parameter 2 to ON.
→ For details on the operation parameters 2, refer to Subsection 11.1.2
• For a servo end evaluation time setting outside of the range, see the following:
- Becomes 1 ms when set at 0 ms or less.
- Becomes 5000 ms when set at 5001 ms or more.
11.1.17 Software limit (upper) [BFM #14035, #14034, BFM #14235, #14234]
Software limit (lower) [BFM #14037, #14036, BFM #14237, #14236]
This parameter sets each address value for the software limit.
The software limit is an operating limit from the current address after zero return operation completion, which becomes enabled upon completion of the zero return operation.
→ For details on the software limit, refer to Subsection 7.3.3
BFM Number
X-axis Y-axis
Description Default
BFM
#14035,
#14034
BFM
#14037,
#14036
BFM
#14235,
#14234
BFM
#14237,
#14236
Sets the software limit (upper)
Setting range: -2,147,483,648 to 2,147,483,647 [User unit]
*1
Set the value within -2,147,483,648 to 2,147,483,647PLS in the converted pulse data
*1
.
Sets the software limit (lower)
Setting range: -2,147,483,648 to 2,147,483,647 [User unit]
*1
Set the value within -2,147,483,648 to 2,147,483,647PLS in the converted pulse data
*1
.
K0
K0
*1.
Refer to the section shown below for details on the user units and converted pulse data.
→ Refer to Section 7.7
POINT
The relationship between the upper and lower software limits must be as follows:
• When enabling the software limit
Software limit (upper) is larger than Software limit (lower)
• When disabling the software limit
Software limit (upper) is equal to Software limit (lower)
Software limit (upper) is smaller than Software limit (lower)
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11.1.18 Torque limit [BFM #14038, BFM #14238]
This parameter sets the torque limit for the servo motor and magnifies the servo motor torque in the range from 0.1 to 1000.0%. For a target move with a torque limit, refer to the section shown below.
→ For details on the torque limit, refer to Subsection 7.6.3
BFM Number
X-axis Y-axis
BFM #14038 BFM #14238 Setting range: 1 to 10000 (
× 0.1%)
Description Default
K3000
12
11.1.19 Zero return torque limit [BFM #14040, BFM #14240]
This parameter sets the torque limit for the mechanical zero return operation (creep speed) and magnifies the servo motor torque during the zero return operation (creep speed) in the range from 0.1 to 1000.0%.
→ For details on the torque limit, refer to Subsection 7.6.3
BFM Number
X-axis Y-axis
BFM #14040 BFM #14240 Setting range: 1 to 10000 (
× 0.1%)
Description Default
K3000
13
A
11.1.20 External input selection [BFM #14044, BFM #14244]
BFM Number
X-axis Y-axis
BFM #14044 BFM #14244
Bit
Number
Description
b0 b1
Sets the FLS, RLS signals from the servo amplifier to be used/not used
→For instructions on how to use forward/reverse rotation limit,
refer to Section 7.3
1: Use
Use forward/reverse rotation limits from the servo amplifier and those from the PLC.
0: Not use
Use only forward/reverse rotation limits from the PLC.
Sets the DOG signals from the servo amplifier to be used/not used
→For details on the mechanical zero return, refer to Section 8.1
1: Use
Use DOG signals from the servo amplifier.
0: Not use
Use DOG signals from the 20SSC-H.
The "b12" in command parameter1 sets the 20SSC-H DOG signal.
→For details on the operation parameters 1,
refer to Subsection 11.1.1
b2 to b7 Not available b8
Sets the FLS/RLS signal logic of the servo motor
1: NC-contact (servo amplifier)
0: NO-contact (servo amplifier) b9
Sets the DOG signal logic of the servo motor
1: NC-contact (servo amplifier)
0: NO-contact (servo amplifier) b10 to b15 Not available
Default
H0100
111
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11.2 Servo Parameters
11.2
Servo Parameters
Various parameters for the servo amplifier can be set. The following buffer memories in servo parameters are readable and writable.
For details on the servo amplifier parameters in the table below with their parameter numbers, refer to the manual of the servo amplifier.
→ Refer to the manual of the servo amplifier
For X-axis: BFM #15000 to #15199
For Y-axis: BFM #15200 to #15399
CAUTION
Do not use unlisted BFMs for changing values not described in this section.
11.2.1 Servo parameters (Basic settings)
BFM Number
X-axis Y-axis
Servo
Amplifier
Parameter No.
BFM
#15000
BFM
#15200
BFM
#15002
BFM
#15202
BFM
#15003
BFM
#15203
BFM
#15004
BFM
#15204
BFM
#15008
BFM
#15208
-
PA02
PA03
PA04
PA08
Name Description
Specify the series name of the servo amplifier connected to the 20SSC-H.
0: None
1: MR-J3B
Servo series
Regenerative brake option
Absolute position detection system
CAUTION
The servo series name must be specified.
20SSC-H at factory default value "0" does not communicate with servo amplifiers.
Select which regenerative brake option to use, or not use the option.
0 0
Revival option selection
00: Not use regenerative brake resistor 05: MR-RB30
01: FR-BU / FR-RC 06: MR-RB50
02: MR-RB032
03: MR-RB12
07: MR-RB31
08: MR-RB51
04: MR-RB32 09: FMR-RB51
Select whether or not to use the absolute position detection system.
0 0 0
Absolute position detection system setting
0: Disable (use in incremental system)
1: Enable (use in absolute position detection system)
Function selection
A-1
Auto tuning mode
CAUTION
A parameter error occurs if you select "1: Enable (use in absolute position detection system)" when using the increment synchronous encoder.
Select whether to use or not use the servo forced stop function (EM1).
0 0 0
Servo forced stop input setting
0: Enable (use the forced stop (EM1))
1: Disable (not use the forced stop (EM1))
Select the gain adjustment mode.
0 0 0
Gain adjustment mode setting
0: Interpolation mode
1: Auto tuning mode 1
2: Auto tuning mode 2
3: Manual mode
Default
K0
H0000
H0000
H0000
H0001
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BFM Number
X-axis Y-axis
Servo
Amplifier
Parameter No.
BFM
#15009
BFM
#15209
PA09
Name Description
Auto tuning response
Set this if you want to improve the servo amplifier response.
Low responsivity
1:(10.0Hz)
High responsivity
32:(400.0Hz)
Default
K12
BFM
#15010
BFM
#15210
BFM
#15014
BFM
#15214
BFM
#15015
BFM
#15215
PA10
PA14
PA15
In-position range
Rotation direction selection
Encoder output pulse
Set the range to output a positioning completion signal in units of command pulse.
Setting range: 0 to 50000 PLS
Select the servo motor rotation direction when viewed from the servo amplifier's load side.
0: Forward rotation (CCW) when the current value is increased
1: Reverse rotation (CW) when the current value is increased
Set the number of pulses per revolution or output division ratio for encoder pulses (A-phase, B-phase) output by the servo amplifier
Setting range: 1 to 65535 PLS/REV
K100
K0
K4000
11.2.2 Servo parameters (Gain/Filter settings)
BFM Number
X-axis Y-axis
Servo
Amplifier
Parameter No.
BFM
#15019
BFM
#15219
BFM
#15020
BFM
#15220
BFM
#15022
BFM
#15022
BFM
#15024
BFM
#15224
BFM
#15025
BFM
#15026
BFM
#15027
BFM
#15028
BFM
#15029
BFM
#15225
BFM
#15226
BFM
#15227
BFM
#15228
BFM
#15229
BFM
#15031
BFM
#15231
BFM
#15032
BFM
#15232
BFM
#15033
BFM
#15233
PB01
PB02
PB04
PB06
PB07
PB08
PB09
PB10
PB11
PB13
PB14
PB15
Name Description Default
Adaptive tuning mode
(Adaptive filter 2)
Select the adaptive filter tuning mode.
0: Filter OFF
1: Filter tuning mode (adaptive filter)
2: Manual mode
Vibration suppression control tuning mode
(advanced vibration suppression control)
Select the vibration suppression control tuning mode.
0: Vibration suppression control OFF
1: Vibration suppression control tuning mode
2: Manual mode
Feed forward gain
Model loop gain
Position loop gain
Speed loop gain
Speed integral compensation
Speed differential compensation
Machine resonance suppression filter 1
Set the feed forward gain coefficient to be used for positioning control.
Setting range: 0 to 100%
Ratio of load inertia moment to servo motor inertia moment
Set the ratio of load inertia moment to servo motor inertia moment.
Setting range: 0 to 3000 (
×0.1 times)
Set the response gain up to the target position.
Setting range: 1 to 2000 rad/s
Set the gain of the position loop.
Setting range: 1 to 1000 rad/s
Set the gain of the speed loop.
Setting range: 20 to 50000 rad/s
Set the integral time constant of the speed loop.
Setting range: 1 to 10000 (
× 0.1 ms)
Set the differential compensation.
Setting range: 0 to 1000
Set the notch frequency of the machine resonance suppression filter 1.
(Set the frequency in accordance with the mechanical resonance frequency.)
Setting range: 100 to 4500 Hz
Specify the notch shape used for the machine resonance suppression filter 1 (Notch shape selection 1).
0 0
Notch shape selection 1
Machine resonance suppression filter 2
Notch depth selection
Notch width selection
• Notch Depth
0: Deep (-40db)
1:
↑
2:
↓
(-14db)
(-8db)
3: Shallow (-4db)
Notch Width
0: Standard (
α=2)
1:
↑
2:
↓
3: Wide (
(
(
α=3)
α=4)
α=5)
Set the notch frequency of the machine resonance suppression filter 2.
(Set the frequency in accordance with the mechanical resonance frequency.)
Setting range: 100 to 4500 Hz
K0
K0
K0
K70
K24
K37
K823
K337
K980
K4500
H0000
K4500
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11.2 Servo Parameters
BFM Number
X-axis Y-axis
Servo
Amplifier
Parameter No.
BFM
#15034
BFM
#15234
BFM
#15036
BFM
#15236
BFM
#15037
BFM
#15237
BFM
#15038
BFM
#15238
BFM
#15041
BFM
#15241
BFM
#15042
BFM
#15242
BFM
#15044
BFM
#15244
BFM
#15045
BFM
#15046
BFM
#15245
BFM
#15246
BFM
#15047
BFM
#15247
PB16
PB18
PB19
PB20
PB23
PB24
PB26
PB27
PB28
PB29
Name Description Default
Specify the notch shape used for the machine resonance suppression filter 2 (Notch shape selection 2).
Notch shape selection 2
Low pass filter setting
0
Mechanical resonance suppression filter selection
Notch depth selection
Notch width selection
• Select the machine resonance suppression filter 2
0: Disable
1: Enable
• Notch Depth
0: Deep (-40db)
1:
↑(-14db)
2:
↓(-8db)
3: Shallow (-4db)
Notch Width
0: Standard (
1:
2:
↑(α=3)
↓(α=4)
3: Wide (
α=5)
α=2)
Set the low pass filter.
Setting range: 100 to 18000 rad/s
Vibration suppression control vibration frequency setting
Vibration suppression control resonance frequency setting
Set the vibration frequency for vibration suppression control to suppress low-frequency machine vibration, such as enclosure vibration.
Setting range: 1 to 1000 (
×0.1 Hz)
Set the resonance frequency for vibration suppression control to suppress low-frequency machine vibration, such as enclosure vibration.
Setting range: 1 to 1000 (
× 0.1 Hz)
Select the procedure to set the low pass filter.
0 0 0
Low pass filter selection
Slight vibration suppression control selection
Low-pass filter (LPF) selection
0: Automatic setting
1: Manual setting (specify a number for the low pass filter setting)
Select the slight vibration suppression control.
0 0
Micro-vibration suppression control selection
PI-PID switch over selection
• Slight vibration suppression control selection
0: Disable
1: Enable
• PI-PID switch over selection
0: Enables PI control
3: Enables PID control all the time
Select the gain changing selections/conditions.
0 0
Gain changing selection
Gain changing condition
Gain changing selection
Gain changing condition
Gain changing time constant
Gain changing
Ratio of load inertia moment to servo motor inertia moment
• Gain changing selection
0: Disable
1: Settings designated by a gain change command take effect
2: Set command frequency as a trigger to change gain
3: Set droop pulses as a trigger to change gain
4: Set servo motor speed as a trigger to change gain
• Gain changing condition
0: Valid when a value is bigger than the set value
1: Valid when a value is smaller than the set value
Set the value for gain changing condition.
Setting range: 0 to 9999 (kpps, PLS, r/min)
Set the time constant for changing gain.
Setting range: 0 to 100 ms
Set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid.
Setting range: 0 to 3000 (
×0.1 times)
H0000
K3141
K1000
K1000
H0000
H0000
H0000
K10
K1
K70
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11.2 Servo Parameters
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BFM Number
X-axis
BFM
#15048
BFM
#15049
BFM
#15050
Y-axis
BFM
#15248
BFM
#15249
BFM
#15250
BFM
#15051
BFM
#15251
BFM
#15052
BFM
#15252
Servo
Amplifier
Parameter No.
PB30
PB31
PB32
PB33
PB34
Name Description
Gain changing
Position loop gain
Gain changing
Speed loop gain
Gain changing
Speed integral compensation
Gain changing
Vibration suppression control vibration frequency setting
Gain changing
Vibration suppression control resonance frequency setting
Set the position loop gain when the gain changing is valid.
Setting range: 1 to 2000 rad/s
Set the speed loop gain when the gain changing is valid.
Setting range: 20 to 50000 rad/s
Set the speed integral compensation when the gain changing is valid.
Setting range: 1 to 50000 (
× 0.1 ms)
Set the vibration frequency for vibration suppression control when the gain changing is valid.
Setting range: 1 to 1000 (
× 0.1 Hz)
Set the resonance frequency for vibration suppression control when the gain changing is valid.
Setting range: 1 to 1000 (
× 0.1 Hz)
Default
K37
K823
K337
K1000
K1000
11.2.3 Servo parameters (Advanced setting)
BFM Number
X-axis Y-axis
BFM
#15064
BFM
#15264
BFM
#15065
BFM
#1565
BFM
#15066
BFM
#15266
BFM
#15067
BFM
#15267
BFM
#15068
BFM
#15268
BFM
#15070
BFM
#15270
Servo
Amplifier
Parameter No.
PC01
PC02
PC03
PC04
PC05
PC07
Name Description
Error excessive alarm level
Electromagnetic brake sequence output
Set error excessive alarm level with rotation amount of servo motor.
Setting range: 1 to 200 REV
Set the delay time from when the electronic brake interlock (MBR) turns off until the base drive circuit is shut-off.
Setting range: 0 to 1000 ms
Select the encoder output pulse direction and encoder pulse output setting.
0 0
Encoder output pulse selection
Function selection
C-1
Function selection
C-2
Zero speed
Encoder output pulse direction selection
Encoder output pulse setting selection
Encoder output pulse direction
0: 90 degrees in CCW direction (A-phase)
1: 90 degrees in CW direction (A-phase)
Encoder output pulse setting
0: With output pulses
1: With output division ratio
Select the serial encoder cable type to be used.
0: Two-wire type
1: Four-wire type
Enable or disable the motor-less operation.
0: Disable
1: Enable
Set the output range of the zero speed signal (ZSP).
Setting range: 0 to 10000 r/min
Default
K3
K0
H0000
K0
K0
K50
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11.2 Servo Parameters
BFM Number
X-axis Y-axis
Servo
Amplifier
Parameter No.
BFM
#15072
BFM
#15272
BFM
#15073
BFM
#15273
BFM
#15074
BFM
#15075
BFM
#15274
BFM
#15275
BFM
#15080
BFM
#15280
PC09
PC10
PC11
PC12
PC17
Name
Analog monitor 1 output
Analog monitor 2 output
Analog monitor 1 offset
Analog monitor 2 offset
Function selection
C-4
Description Default
Select a signal to be output to the analog monitor 1.
0 0 0
Analog monitor 1(MO1) output selection
0: Servo motor speed (
±8V at the maximum)
1: Torque (
±8 V at the maximum)
*B
2: Servo motor speed (+8V at the maximum)
3: Torque (+8 V at the maximum)
*B
4: Current command (
±8 V at the maximum)
5: Speed command (
±8V at the maximum)
6: Droop pulses (
±10 V/1 × 10
2
PLS)
*A
7: Droop pulses (
±10 V/1 × 10
3
PLS)
*A
8: Droop pulses (
±10 V/1 × 10
4
PLS)
*A
9: Droop pulses (
±10 V/1 × 10
5
PLS)
*A
A: Feedback position (
±10 V/1 × 10
6
PLS)
*A*C
B: Feedback position (
±10 V/1 × 10
7
PLS)
*A*C
C: Feedback position (
±10 V/1 × 10
8
PLS)
*A*C
D: Bus voltage (+8 V / 400 V)
*A: Encoder pulse unit
*B: Outputs 8 V as the maximum torque
*C: Can be used for the absolute position detection system
Select a signal to be output to the analog monitor 2.
0 0 0
Analog monitor 1(MO1) output selection
0: Servo motor speed (
±8V at the maximum)
1: Torque (
±8 V at the maximum)
*B
2: Servo motor speed (+8V at the maximum)
3: Torque (+8 V at the maximum)
*B
4: Current command (
±8 V at the maximum)
5: Speed command (
±8V at the maximum)
6: Droop pulses (
±10 V/1 × 10
2
PLS)
*A
7: Droop pulses (
±10 V/1 × 10
3
PLS)
*A
8: Droop pulses (
±10 V/1 × 10
4
PLS)
*A
9: Droop pulses (
±10 V/1 × 10
5
PLS)
*A
A: Feedback position (
±10 V/1 × 10
6
PLS)
*A*C
B: Feedback position (
±10 V/1 × 10
7
PLS)
*A*C
C: Feedback position (
±10 V/1 × 10
8
PLS)
*A*C
D: Bus voltage (+8 V / 400 V)
*A: Encoder pulse unit
*B: Outputs 8 V as the maximum torque
*C: Can be used for the absolute position detection system
Set the offset voltage of the analog monitor 1 (MO1) output.
Setting range: -999 to 999 mV
Set the offset voltage of the analog monitor 2 (MO2) output.
Setting range: -999 to 999 mV
Select the home position setting condition in the absolute position detection system.
0: Need to pass motor Z-phase after power on
1: Not need to pass motor Z-phase after power on
H0000
H0001
K0
K0
K1
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11.2 Servo Parameters
11.2.4 Servo parameters (I/O setting)
BFM Number
X-axis Y-axis
Servo
Amplifier
Parameter No.
BFM
#15102
BFM
#15302
BFM
#15103
BFM
#15303
PD07
PD08
Name Description
Specify a signal assigned (output) to the CN3-13 connector of the servo amplifier.
0 0
Output signal device selection 1 (CN3-13)
Select CN3-13 pin output device
00: Always OFF
01: RDY (ready ON)
02: RD (servo ON)
03: ALM (error)
04: INP (In-position)
*A
05: MBR (electronic brake interlock)
06: DB (external dynamic brake)
07: TLC (torque is limited)
08: WNG (warning)
09: BWNG (battery warning)
0A: Always OFF
*B
0B: For manufacturer setting
*C
0C: ZSP (zero speed)
0D: For manufacturer setting
*C
0E: For manufacturer setting
*C
0F: CDPS (selecting a variable gain)
10: For manufacturer setting
*C
11: ABSV (losing the absolute position)
*A
12 to 3F: For manufacturer setting
*C
*A: Always OFF in speed control mode
*B: Becomes SA (speed achieved) in speed control mode
*C: Never specify the values for the manufacturer setting.
Specify a signal assigned (output) to the CN3-9 connector of the servo amplifier.
0 0 0
Output signal device selection 2 (CN3-9)
Select CN3-9 pin output device
00: Always OFF
01: RDY (ready ON)
02: RD (servo ON)
03: ALM (error)
04: INP (In-position)
*A
05: MBR (electronic brake interlock)
06: DB (external dynamic brake)
07: TLC (torque is limited)
08: WNG (warning)
09: BWNG (battery warning)
0A: Always OFF
*B
0B: For manufacturer setting
*C
0C: ZSP (zero speed)
0D: For manufacturer setting
*C
0E: For manufacturer setting
*C
0F: CDPS (selecting a variable gain)
10: For manufacturer setting
*C
11: ABSV (losing the absolute position)
*A
12 to 3F: For manufacturer setting
*C
*A: Always OFF in speed control mode
*B: Becomes SA (speed achieved) in speed control mode
*C: Never specify the values for the manufacturer setting.
Default
H0005
H0004
11
12
13
A
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11.2 Servo Parameters
BFM Number
X-axis Y-axis
Servo
Amplifier
Parameter No.
BFM
#15104
BFM
#15304
PD09
Name Description Default
Specify a signal assigned (output) to the CN3-15 connector of the servo amplifier.
0 0
Output signal device selection 3 (CN3-15)
Select CN3-15 pin output device
00: Always OFF
01: RDY (ready ON)
02: RD (servo ON)
03: ALM (error)
04: INP (In-position)
*A
05: MBR (electronic brake interlock)
06: DB (external dynamic brake)
07: TLC (torque is limited)
08: WNG (warning)
09: BWNG (battery warning)
0A: Always OFF
*B
0B: For manufacturer setting
*C
0C: ZSP (zero speed)
0D: For manufacturer setting
*C
0E: For manufacturer setting
*C
0F: CDPS (selecting a variable gain)
10: For manufacturer setting
*C
11: ABSV (losing the absolute position)
*A
12 to 3F: For manufacturer setting
*C
*A: Always OFF in speed control mode
*B: Becomes SA (speed achieved) in speed control mode
*C: Never specify the values for the manufacturer setting.
H0003
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11.3 Monitor Data
11.3
Monitor Data
Operating conditions for the positioning system are stored as monitor data. The following buffer memories for monitor data are read-only memories except for the current address (user) [BFM #1, #0 (X-axis), BFM #101,
#100 (Y-axis)].
For X-axis: BFM #0 to #99
For Y-axis: BFM #100 to #199
Caution
Do not use unlisted BFMs for changing values not described in this section.
11.3.1 Current address (User) [BFM #0, BFM #100]
The current address data is stored in units specified by the user
*1
.
BFM Number
X-axis Y-axis
BFM #1,#0
BFM
#101,#100
Description
-2,147,483,648 to 2,147,483,647 (user unit)
*1
*1.
Refer to the section shown below for details on the user units.
Value Format
Decimal
Default
-
→ Refer to Section 7.7
POINT
• The stored address data is always handled as an absolute address.
• The unit of the value is a user-specified one and includes a magnification setting for position data.
The unit and magnification setting can be specified by the operation parameters 1.
→ For details on the operation parameters 1, refer to Subsection 11.1.1
• It is possible to change the current address of a stopped axis to any address.
Overwrite the current address (user) with a new address. The current address will be changed and its pulse data will be updated.
→ For details on the current address change function, refer to Subsection 7.6.8
11.3.2 Current address (Pulse) [BFM #3, #2, BFM #103, #102]
The current address is converted into pulses and stored.
BFM Number
X-axis Y-axis
BFM #3,#2
BFM
#103,#102
Description
-2,147,483,648 to 2,147,483,647 PLS
POINT
Value Format
Decimal
Default
-
• The stored address data is always handled as an absolute address (converted pulse data).
→ For details on the converted pulse data, refer to Section 7.7
• It is possible to change the current address of a stopped axis to any address.
Overwrite the current address (user) with a new address. The current address will be changed and its pulse data will be updated.
→ For details on the current address change function, refer to Subsection 7.5.8
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12
13
A
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11.3 Monitor Data
11.3.3 Torque limit storing value [BFM #5, #4, BFM #104, #105]
Torque limit value used for the torque limit function is stored.
The torque limit value is a torque limit setting value, torque output setting value or zero return torque limit value.
→ For details on the torque limit function, refer to Section 7.6.3
BFM Number
X-axis Y-axis
BFM #5,#4
BFM
#105,#104
1 to 10,000(
× 0.1%)
Description Value Format
Decimal
Default
-
11.3.4 Error BFM numbers [BFM #6, BFM #106]
If an error arises, BFM numbers in which the error occurred are stored.
BFM Number
X-axis Y-axis
Description
BFM #6 BFM #106
-1: No error
Others: BFM number in which an error occurred
Value Format
Decimal
Default
-
11.3.5 Terminal Information [BFM #7, BFM #107]
Each input terminal status of the 20SSC-H is allocated to a bit status corresponding to each input terminals.
BFM Number
X-axis Y-axis
BFM #7 BFM #107
Bit
Number
Description
b0 b1
Becomes ON while the START terminal is used.
Becomes ON while the DOG terminal is used.
b2 b3 b4 b5
Becomes ON while the INTO terminal is used.
Becomes ON while the INT1 terminal is used.
Becomes ON while the
φA terminal is used.
Becomes ON while the
φB terminal is used.
b6 to b15 Not available
Value Format
Bit
Default
-
11.3.6 Servo terminal information [BFM #8, BFM #108]
Each input terminal status of the servo amplifier is allocated with a bit status.
BFM Number
X-axis Y-axis
BFM #8 BFM #108
Bit
Number
Description
b0 b1 b2
Becomes ON while the FLS terminal is used.
Becomes ON while the RLS terminal is used.
Becomes ON while the DOG terminal is used.
b6 to b15 Not available
Value Format
Bit
Default
-
11.3.7 m code [BFM #9, BFM #109]
At m code ON, the m code number is stored.
At no m code ON, "-1" is stored.
BFM Number
X-axis Y-axis
BFM #9 BFM #109
→ For details on the m code, refer to Section 10.9.
Value Format Default Description
-1 :m code is OFF
0 to 32767 :Stores the activated m code number
Decimal -
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11.3 Monitor Data
11.3.8 Current value of operation speed [BFM #11, #10, BFM #111, #110]
The current value of operation speed is stored.
The value becomes zero under suspension, or in operation with a manual pulse input.
BFM Number
X-axis Y-axis
BFM #11,#10
BFM
#111,#110
Description
0 to 2,147,483,647 (user unit)
*1
Value Format
Decimal
*1.
Refer to the section shown below for details on the user unit.
Default
-
→ Refer to Section 7.7
11.3.9 Current pulses input by manual pulse generator [BFM #13, #12, BFM #113, #112]
The number of input pulses from the manual pulse generator is stored.
Forward rotation increments the current number of pulses, and reverse rotation decrements it.
Magnification settings for the manual input pulses are not reflected on the stored value.
BFM Number
X-axis Y-axis
BFM #13,#12
BFM
#113,#112
Description
-2,147,483,648 to 2,147,483,647 PLS
Value Format
Decimal
Default
-
11
12
13
A
11.3.10 Frequency of pulses input by manual pulse generator [BFM #15, 14, BFM #115, 114]
Manual pulse generator input frequency is stored.
BFM Number
X-axis Y-axis
BFM #15,#14
BFM
#115,#114
-100,000 to 100,000 Hz
Description Value Format
Decimal
POINT
Magnification settings for the manual input pulses are not reflected on the stored value.
Default
-
11.3.11 Table numbers in execution [BFM #16, BFM #116]
While performing a table operation, table numbers in execution are stored.
BFM Number
X-axis Y-axis
Description
BFM #16 BFM #116
-1 : Not in execution
0-299 : Stores table numbers in execution
Value Format
Decimal
Default
-
11.3.12 Version information [BFM #17]
The version of 20SSC-H is stored.
BFM Number
X-axis Y-axis
BFM #17 Ver.1.00 is stored as K100.
Description Value Format
Decimal
Default
-
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11.3 Monitor Data
11.3.13 Status information [BFM #28, BFM #128]
Status of the 20SSC-H can be checked by ON/OFF statuses of each bit.
BFM Number
X-axis Y-axis
Bit
Number
Description
BFM #28 BFM #128 b0 b1 b2 b3 b4 b5 b6 b7 b8 b9 b10 b11
READY/BUSY
Turns ON when the 20SSC-H is ready for a START command after normal completion of positioning, or when recovering from an error.
Outputting pulses for forward rotation.
Turns ON while pulses for forward rotation are output.
Outputting pulses for reverse rotation.
Turns ON while pulses for reverse rotation are output.
Completion of zero return operation.
Turns ON upon completion of mechanical zero return operation, or when the current position is established by the absolute position detection system.
Turns OFF at off-to-on transition of a mechanical zero return command, at power-off (reset), or when an absolute position is lost during the absolute position detection system.
Current value overflow.
• This bit is set when the current address value falls outside the range of 32-bit data
(-2,147,483,648 to 2,147,483,647).
• Cleared by power-off or when a zero return command becomes active.
Occurrence of an error.
• This bit is set upon occurrence of an error from the
20SSC-H or the servo amplifier.
• Cleared when an error reset command becomes active.
→For details on the statuses at occurrence of errors,
refer to Subsection 11.3.13
Completion of positioning.
This bit is set upon normal completion of positioning.*1
Cleared when a START command becomes active, an error occurs, or an error reset command becomes active. When the
20SSC-H is stopped by a STOP command, the bit is kept in
OFF status.
Ready and waiting for remaining travel after stopping.
This bit is set when the 20SSC-H goes into a standby state for the remaining travel upon a STOP command.
Cleared by a START command, or when the remaining travel operation is canceled.
→For details on the stop command, refer to Section 7.4 m code is active.
This bit is set when a m code becomes active.
When a m code OFF command is received, the bit is cleared.
→For details on the m code, refer to Section 10.9
The unit is ready.
This bit is set upon completion of 20SSC-H boot-up after power-on.
(It is kept in ON state until the power is turned off.)
Each value of buffer memories becomes valid after the bit is set.
Transferring servo parameters is in progress.
This bit is ON state while transferring servo parameters with a transfer command.
It is automatically cleared upon completion of the transfer.
→For details on the servo parameters transfer,
refer to Subsection 11.4.11
Saving data into flash-memory is in progress.
• This bit is ON while saving buffer memory data into flashmemory.
• When finished storing the data, the bit is cleared.
→For details on storing buffer memory
into a flash-memory, refer to Subsection 11.4.15
Value Format
Bit
Default
-
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11.3 Monitor Data
11
BFM Number
X-axis Y-axis
Bit
Number
Description Value Format Default
BFM #28 BFM #128 b12 b13 b14 b15
Initialization of buffer memory is in progress.
• This bit is ON while initializing data in buffer memories.
• When finished initializing the data, the bit is cleared.
→For details on initializing buffer memory,
refer to Subsection 11.4.15
Changing speed is in progress.
• This bit is set upon receiving a speed change command during positioning operation.
• Cleared upon completion of the speed change.
→For details on the operation speed change command,
refer to Subsection 7.5.2
Changing a target address is in progress.
This bit is set upon receiving a target address change command during positioning operation.
Cleared upon completion of the change of target address.
→For details on the target address change command,
refer to Subsection 7.5.3
Table operation is in progress.
This bit is kept in ON status while performing table operation.
(It is set by a START command and cleared when the operation is finished.)
Bit -
*1.
Completion of positioning
1) Operations turning the "positioning completion" bit ON.
• Operations turning the "positioning completion" bit ON.
- Mechanical zero return operation (DOG)
- 1-speed positioning operation
- Interrupt 1-speed constant quantity feed
- 2-speed positioning operation
- Interrupt 2-speed constant quantity feed
- Interrupt stop
- Multi-speed operation
- Linear interpolation
- Linear interpolation (interrupt stop)
- Circular interpolation
- Mechanical zero return operation
• Operations turning the "positioning completion" bit OFF.
- Mechanical zero return operation
(data set type)
- JOG operation
- Manual pulse generator operation
- Variable speed operation
2) When stopped at a STOP command
The "Positioning completion" bit does not turn ON at the target address.
11.3.14 Error code [BFM #29, BFM #129]
If an error occurs, the error code is stored.
1. Buffer memories to store error information
If an error occurs, the buffer memories store error information as shown in the table below.
After removing the cause of the error, the system can recover from the error by an error reset command.
Item
No. of BFM in which an error occurred
Status information
Error code
Servo parameter error number
Servo status
Description
Number of buffer memory in which an error occurred is stored.
Becomes active upon detecting an error.
The error code is stored.
The servo amplifier error code is stored.
Turns ON, when an error of the servo amplifier occurs.
2. Error codes
An error code is stored in decimal format.
→ For details on the error codes, refer to Subsection 13.2.3
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11.3 Monitor Data
11.3.15 Model code [BFM #30]
The model code of the 20SSC-H has been stored.
BFM Number
X-axis Y-axis
BFM #30
-
Description
The model code of the 20SSC-H is K5220.
11.3.16 Deviation counter value [BFM #51, #50, BFM #151, #150]
The deviation counter value of the servo amplifier is stored.
BFM Number
X-axis Y-axis
BFM #51,#50
BFM
#151,#150
Description
Deviation counter value of the servo amplifier (PLS)
Value Format
Decimal
Value Format
Hexadecimal
11.3.17 Motor speed [BFM #52, BFM #152]
The present rotation speed of the servo motor is stored.
BFM Number
X-axis Y-axis
BFM #52 BFM #152
Description
The present rotation speed of the servo motor (
×0.1 r/min)
11.3.18 Motor current value [BFM #54, BFM #154]
The present value of the servo motor current is stored.
BFM Number
X-axis Y-axis
BFM #54 BFM #154
Description
The value of the servo motor current (
× 0.1%)
Value Format
Hexadecimal
Value Format
Hexadecimal
11.3.19 Servo amplifier software number [BFM #53, #52, BFM #153, #152]
The software number of the servo amplifier is stored.
Updated at control power on to the servo amplifier.
BFM Number
X-axis Y-axis
BFM
#56, #61
BFM
#156, #161
Description
Servo amplifier software number
Note
The servo software number is stored in ASCII code as shown below.
Example: When the number is
-B35W200 A0
:
BFM Number
BFM #56
BFM #57
BFM #58
BFM #59
BFM #60
BFM #61
Monitor Value
H422D
H3533
H3257
H3030
H4120
H2030
ASCII Code
B -
5 3
2 W
0 0
A SPACE
SPACE 0
Servo amplifier software number
-B35W200 A0
Value Format
ACSII code
Default
-
Default
-
Default
-
Default
-
Default
-
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11.3 Monitor Data
11.3.20 Servo parameter error numbers [BFM #62, BFM #162]
Parameter numbers that has caused servo parameter errors are stored.
BFM Number
X-axis Y-axis
BFM #62 BFM #162 Servo parameter number
Description
Monitor Values and Servo Parameter Numbers
Value Format
Hexadecimal
Default
-
Stored value
001
002
003
004
005
006
007
008
009
010
011
012
013
014
015
016
017
Parameter
No.
PA01
PA02
PA03
PA04
PA05
PA06
PA07
PA08
PA09
PA10
PA11
PA12
PA13
PA14
PA15
PA16
PA17
Stored value
018
019
020
021
022
023
024
025
026
027
028
029
030
031
032
033
034
Parameter
No.
PA18
PB01
PB02
PB03
PB04
PB05
PB06
PB07
PB08
PB09
PB10
PB11
PB12
PB13
PB14
PB15
PB16
Stored value
042
043
044
045
046
047
048
049
050
051
035
036
037
038
039
040
041
Parameter
No.
PB17
PB18
PB19
PB20
PB21
PB22
PB23
PB24
PB25
PB26
PB27
PB28
PB29
PB30
PB31
PB32
PB33
Stored value
052
053
054
055
056
057
058
059
060
061
062
063
064
065
066
067
068
Parameter
No.
PB34
PB35
PB36
PB37
PB38
PB39
PB40
PB41
PB42
PB43
PB44
PB45
PC01
PC02
PC03
PC04
PC05
Stored value
069
070
071
072
073
074
075
080
095
096
097
098
099
100
101
Parameter
No.
PC06
PC07
PC08
PC09
PC10
PC11
PC12
Stored value
102
103
104
Parameter
No.
PD07
PD08
PD09
127 PD32
PC17
PC32
PD01
PD02
PD03
PD04
PD05
PD06
11.3.21 Servo status [BFM #64, #63, BFM #164, #163]
BFM Number
X-axis Y-axis
BFM #63
BFM #64
BFM #163
BFM #164
Bit
Number
Description
b0 b1,b2 b3
Zero-phase is passed
The bit is set when the zero-phase of the encoder is passed.
Not available
Operating at zero speed
This bit is set while the motor is driven at speeds slower than
"zero speed".
b4 to b15 Not available b0
Ready ON
This bit is set while the servo ready is ON.
b1
Servo ON
This bit is set while the servo is ON.
Cleared when the servo turns OFF.
b2 to b6 b7
Not available
An alarm has been raised
This bit is set while an alarm is raised.
b8 to b11 Not available b12 b13
In-position
This bit is set while droop pulses are within a range of "Inposition".
Torque is limited
This bit is set while the servo amplifier is limiting torque.
b14 b15
Losing an absolute position
This bit is set while the servo amplifier is losing an absolute position.
A warning is occurring
This bit is set while a warning is occurring at the servo amplifier.
Value
Format
Bit
Default
-
11
12
13
A
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11.3 Monitor Data
11.3.22 Regenerative load ratio [BFM #65, BFM #165]
The regenerative load ratio power to the maximum regenerative power is stored in percentage.
With regenerative brake option, the regenerative power ratio of the allowable capacity is stored.
BFM Number
X-axis Y-axis
BFM #65 BFM #165 Regenerative load ratio (%)
Description Value Format
Decimal
Default
-
11.3.23 Effective load torque [BFM #66, BFM #166]
The continuous effective load torque is stored.
This parameter stores the average value of the load ratio to the rated torque (100%) in the past 15 seconds.
BFM Number
X-axis Y-axis
BFM #66 BFM #166 Effective load torque (%)
Description Value Format
Decimal
Default
-
11.3.24 Peak torque ratio [BFM #67, BFM #167]
The maximum torque during operations is stored.
This parameter stores the peak value to the rated torque (100%) in the past 15 seconds.
BFM Number
X-axis Y-axis
BFM #67 BFM #167 Peak torque ratio (%)
Description Value Format
Decimal
11.3.25 Servo warning code [BFM #68, BFM #168]
Default
-
Warnings detected by the servo amplifier are stored.
Clear the cause of warning.
→ For details on the warnings, refer to the manual of the connected servo amplifier
→ For details on the warning codes, refer to Subsection 13.2.4
11.3.26 Motor feedback position [BFM #71, #70, BFM #171, #170]
Motor feedback positions are stored.
X-axis
BFM #71,#70
BFM Number
Y-axis
BFM #171,#170
Description
Motor feedback position (PLS)
Value Format
Decimal
Default
-
11.3.27 Servo status 2 [BFM #72, BFM #172]
BFM Number
X-axis Y-axis
BFM #72 BFM #172
Bit
Number
Description
b0
A parameter update completed flag
• This bit is set when an automatic update of servo parameters is completed.
• Cleared when a servo parameter save command or servo parameter initialization command is finished.
b15 to b1 Not available
Value Format
Bit
11.3.28 Flash memory write count [BFM #91, #90]
The number of times data is written to the flash memory is stored.
BFM Number
X-axis Y-axis
BFM #91,#90
-
Description
The number of writes to the flash memory
Note
The maximum number of writes to the built-in flash memory is 100,000 times.
Value Format
Decimal
Default
-
Default
-
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11.4 Control Data
11.4
Control Data
The control data is user-specified data for controlling the positioning system.
For X-axis: BFM #500 to #599
For Y-axis: BFM #600 to #699
Caution
Do not use unlisted BFMs for changing values not described in this section.
11.4.1 Target address 1 [BFM #501, #500, BFM #601, #600]
This data item sets a target position or travel for positioning operation distance as the target address 1.
BFM Number
X-axis Y-axis
BFM
#501,#500
BFM
#601,#600
Description
Setting range: -2,147,483,648 to 2,147,483,647 [User unit]
*1
Set the value within -2,147,483,648 to 2,147,483,647 PLS in the converted pulse data
*1.
Refer to the section shown below for details on the user unit.
Default
K0
→ Refer to Section 7.7
Note
• The positioning operation differs as follows depending on the procedure to specify the absolute address or relative address.
- With absolute address: travels from the current position to the target position.
The rotation direction depends whether target address 1 is larger or smaller than the current address.
- With relative address: moves by the specified travel distance from the current position. The rotation direction depends on the target address sign (+/-).
• The units of the value are user-specified and include the position data magnification.
11.4.2 Operation speed 1 [BFM #503, #502, BFM #603, #602]
This data item sets the operation speed 1 for positioning operations.
BFM Number
X-axis Y-axis
BFM
#503,#502
BFM
#603,#602
Description
Setting range: -2,147,483,648 to 2,147,483,647 [User unit]
*1
Set the value within 1 to 50,000,000Hz in converted pulse data.
*1.
Refer to the section shown below for details on the user unit.
Default
K1
→ Refer to Section 7.7
Note
• Set the operation speed 1 slower than the maximum speed.
If the operation speed 1 exceeds the maximum speed, 20SSC-H operates at the maximum speed.
• You can change the operation speed during positioning operation if changing speed is enabled (when not setting the flag for "speed change disable during operation").
→ For details on the operation speed change function, refer to Subsection 7.5.2
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11.4 Control Data
11.4.3 Target address 2 [BFM #505, #504, BFM #605, #604]
This data item sets a target position or travel for positioning operation distance as the target address 2.
BFM Number
X-axis Y-axis
Description Default
BFM
#505,#504
BFM
#605,#604
Setting range: -2,147,483,648 to 2,147,483,647 [User unit]
*1
Set the value within -2,147,483,648 to 2,147,483,647 PLS in the converted pulse data
*1.
Refer to the section shown below for details on the user units.
K0
→ Refer to Section 7.7
Note
• The positioning operation differs as follows depending on the procedure to specify the, absolute address or relative address.
- With absolute address: travels from the current position to the target position.
The rotation direction depends on whether target address 2 is larger or smaller than the current address.
- With relative address: moves by the specified travel distance from the current position. The rotation direction depends on the target address sign (+/-).
• The units of the value are user-specified and include the position data magnification.
11.4.4 Operation speed 2 [BFM #507, #506, BFM #607, #606]
This data item sets the operation speed 2 for positioning operations.
BFM Number
X-axis Y-axis
BFM
#507,#506
BFM
#607,#606
Description
Setting range: -2,147,483,648 to 2,147,483,647 [User unit]
*1
Set the value within 1 to 50,000,000 Hz in converted pulse data.
*1.
Refer to the section shown below for details on the user units.
Default
K1
→ Refer to Section 7.7
Note
• Set the operation speed 1 slower than the maximum speed.
If the operation speed 1 exceeds the maximum speed, 20SSC-H operates at the maximum speed.
• You can change the operation speed during positioning operation if changing speed is enabled (when not setting the flag for "speed change disable during operation").
→ For details on the operation speed change function, refer to Subsection 7.5.2
11.4.5 Override setting [BFM #508, BFM #608]
This data item sets an override value for the override function.
→ For details on the override function, refer to Subsection 7.5.1
BFM Number
X-axis Y-axis
BFM #508 BFM #608 Setting range: 1 to 30000 (
× 0.1%)
Description Default
K1000
11.4.6 Torque output setting value [BFM #510, BFM #610]
This data item sets an output torque for the torque limit function.
→ For details on the torque limit function, refer to Subsection 7.6.3
BFM Number
X-axis
BFM #510
Y-axis
BFM #610 Setting range: 0 to 10000 (
× 0.1%)
Description Default
K0
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11.4 Control Data
11.4.7 Velocity change value [BFM #513, #512, BFM #613, #612]
This data item sets the velocity change value.
→ For details on the operation speed change function, refer to Subsection 7.5.2
BFM Number
X-axis Y-axis
BFM
#513,#512
BFM
#613,#612
Description
Setting range: -2,147,483,648 to 2,147,483,647 [User unit]
*1
Set the value within 1 to 50,000,000 Hz in converted pulse data.
*1.
Refer to the section shown below for details on the user units.
Default
K1
→ Refer to Section 7.7
11.4.8 Target position change value (Address) [BFM #515, #514, BFM #615, #614]
This data item sets the target address for the target address change function.
→ For details on the target address change function, refer to Subsection 7.5.3.
BFM Number
X-axis Y-axis
Description Default
BFM
#515,#514
BFM
#615,#614
Setting range: -2,147,483,648 to 2,147,483,647 [User unit]
*1
Set the value within -2,147,483,648 to 2,147,483,647 PLS in the converted pulse data
*1.
Refer to the section shown below for details on the user units.
K0
→ Refer to Section 7.7
11.4.9 Target position change value (Speed) [BFM #517, #516, BFM #617, #616]
This data item sets the operation speed for the target address change function.
→ For details on the target address change function, refer to Subsection 7.5.3
BFM Number
X-axis Y-axis
Description
BFM
#517,#516
BFM
#617,#616
Setting range: -2,147,483,648 to 2,147,483,647 [User unit]
*1
Set the value within 1 to 50,000,000 Hz in converted pulse data.
*1.
Refer to the section shown below for details on the user units.
Default
K1
→ Refer to Section 7.7
11.4.10 Operation command 1 [BFM #518, BFM #618]
BFM Number
X-axis Y-axis
Bit
Number
BFM
#518
BFM
#618 b0 b1 b2 b3 b4 b5
Setting Item Description
Error reset
STOP
(deceleration stop)
Forward rotation limit (LSF)
Reverse rotation limit (LSR)
Forward rotation
JOG
Reverse rotation
JOG
Set this to recover from errors and clear the following information.
Error BFM numbers (BFM #6, BFM #106)
Status information
Occurrence of an error (b5)
Error code (BFM #29)
When this bit is ON during positioning operation, decelerate to stop.
→For details on the stop command, refer to Section 7.4
Set this to perform a deceleration stop while outputting pulses for forward rotation.
→For details on the forward rotation limit (LSF),
refer to Subsection 7.3.2
Set this to perform a deceleration stop while outputting pulses for reverse rotation.
→For details on the reverse rotation limit (LSR),
refer to Subsection 7.3.2
Pulses for forward rotation are output while this is set.
→For details on the JOG operations, refer to Section 8.2
Pulses for reverse rotation are output while this is set.
→For details on the JOG operations, refer to Section 8.2
Detection
*1
Default
Edge
Level
Level
Level
Level
Level
H0000
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11.4 Control Data
BFM Number
X-axis Y-axis
Bit
Number
Setting Item Description
Detection
*1
BFM
#518
BFM
#618 b6 b7 b8 b9 b10
*2 b11 b12 b13 b14 b15
Mechanical zero return command
Not available
Relative/Absolute address specification
START command
Simultaneous
START flag m code OFF
When this is set, mechanical zero return operation is started.
→For details on the mechanical zero return,
refer to Section 8.1
-
OFF: An absolute address is used (moves to the specified target address based on the base position).
ON: A relative address is used (moves by a specified amount of travel from the current address).
Set this to start a positioning operation selected from the operation patterns.
ON: Starts X and Y positioning operations simultaneously when a START command for X-axis becomes active.
(includes JOG and zero return operations)
OFF: X and Y positioning operations start individually by their respective START commands.
(excludes interpolation and XY-table operations)
Set this to disable m codes.
→For details on the m code, refer to Section 10.9
Set this to disable an operation speed change command and target position change command during operations.
Change commands during operations are disabled
Speed change command during positioning operation
Target position change command during positioning operation
Not available
Changes the operation speed to the speed preset as a velocity change value during operation.
→For details on the operation speed change,
refer to Subsection 7.5.2
Changes the target address to the address preset as a target position change value (address or speed) during operations.
→For details on the target address change,
refer to Subsection 7.5.3
-
*1.
Timing of detection
1) Level detection: activated when the bit is set or cleared.
2) Edge detection: activated at off-to-on transition.
*2.
The simultaneous START flag is b10 in the X-axis operation command 1 (BFM #518).
Do not use b10 in the Y-axis operation command 1 (BFM #618).
Note
Edge
-
Level
Edge
Level
Edge
Level
Edge
Edge
-
Default
H0000
• Priority of start flag and stop flag
The STOP command has higher priority over the forward / reverse rotation JOGs and the START command.
• Handling of each flag ON/OFF state
- The 20SSC-H retains stop and start flag ON/OFF states until power OFF.
- The commands with level detection executes/stops at writing ON/OFF.
- For commands with edge detection, create a program so that the bits are always turned OFF upon completion of ON operations.
(The second and subsequent cycles cannot be performed without turning the bits OFF.)
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11.4 Control Data
11.4.11 Operation command 2 [BFM #519, BFM #619]
BFM Number
X-axis Y-axis
BFM
#519
BFM
#619
Bit
Number
Setting Item Description
b0 b1 to b3 b4 b5 to b7 b8 b9 b10
Remaining travel cancel command
Not available
Positioning parameters enable command
Not available
Servo OFF command
Servo parameters transfer command
Set this to cancel the standby status for the remaining travel after the STOP command.
→For details on the stop command, refer to Section 7.4
-
Set this to enable positioning parameters in the buffer memories.
Whenever you make a change to positioning parameters, this bit must be set before starting operation.
-
Set this to turn the servo OFF.
→For details on the servo ON/OFF state, refer to
Subsection 7.6.5
0: servo ON
1: servo OFF
Set this to transfer servo parameters in the buffer memories to the servo amplifier.
Gain changing command b11 to b15 Not available
Changes the gain of the amplifier from the 20SSC-H.
For details on changing gain, refer to the manual shown below.
→MR-J3- B Servo Amplifier Instruction Manual
-
Detection
*1
Edge
-
Edge
-
Level
Edge
Level
-
Default
H0000
*1.
Timing of detection
1) Level detection: activated when the bit is set or cleared.
2) Edge detection: activated at off-to-on transition.
POINT
1) Changing positioning parameters
When the 20SSC-H is powered ON, operation starts with the positioning parameters in the flash memory.
During operation, when the buffer memory positioning parameters are changed via FX Configurator-FP or a sequence program, it is necessary to reboot the positioning parameters enable command. Without rebooting the command, changes will not be reflected in actual operation.
2) Transferring servo parameters a) The following servo parameters are transferred to the servo amplifier when rebooting the servo parameter transfer command.
- Auto tuning mode
- Auto tuning response
- Feed forward gain
- Ratio of load inertia moment to servo motor inertia moment
- Model loop gain
- Position loop gain
- Speed loop gain
- Speed integral compensation
- Speed differential compensation b) During positioning operations, the servo parameter transfer command is ignored.
c) "Transferring servo parameters" in the status information is ON during the transfer.
→ For details on the status information, refer to Subsection 11.3.13
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11.4 Control Data
11.4.12 Operation pattern selection [BFM #520, BFM #620]
BFM Number
X-axis Y-axis
Bit
Number
Setting Item Description
BFM
#520
BFM
#620 b0 b1 b2 b3 b4 b5 b6 b7 b8 b9 b10
1-speed positioning operation
Interrupt 1-speed constant quantity feed
2-speed positioning operation
Interrupt 2-speed constant quantity feed
Interrupt stop
Variable speed operation
Operation using the manual pulse generator
Linear interpolation
Linear interpolation
(interrupt stop)
Table operation
(individual)
Table operation
(simultaneous)
Set this to perform 1-speed positioning operation.
→For details on the 1-speed positioning operation,
refer to Section 9.2
Set this to perform an interrupt 1-speed constant quantity feed.
→For details on the interrupt 1-speed constant
quantity feed, refer to Section 9.3
Set this to perform 2-speed positioning operation.
→For details on the 2-speed positioning operation,
refer to Section 9.4
Set this to perform an interrupt 2-speed constant quantity feed.
→For details on the interrupt 2-speed constant
quantity feed, refer to Subsection 9.5
Set this to perform an interrupt stop.
→For details on the interrupt stop, refer to Section 9.6
Set this to perform a variable speed operation.
→For details on the variable speed operation,
refer to Section 9.7
Set this to perform an operation with the manual pulse generator.
→For details on the manual pulse generator operation,
refer to Section 8.3
Set this to perform a linear interpolation operation.
→For details on the linear interpolation operation,
refer to Section 9.9
Set this to perform a linear interpolation operation (interrupt stop).
→For details on the linear interpolation operation
(interrupt stop), refer to Section 9.10
Set this to perform an individual table operation.
→For details on the table operation (individual),
refer to Section 10.1
Set this to perform a simultaneous table operation.
→For details on the table operation (samultaneous),
refer to Section 10.1
Not available b11 to b15
*1.
Timing of the detection
1) Level detection: activated when the bit is set or cleared.
2) Edge detection: activated at off-to-on transition.
Note
Detection
*1
Default
Level
-
H0000
• The selected operation is started at a START input or START flag.
• The program must be created so that the operation pattern selection is executed before the START input or the START command.
• A positioning operation cannot be started even by the START input or START command when all bits of the operation patterns are OFF, or multiple bits are ON.
(An error occurs if multiple bits are set to ON.)
11.4.13 Table operation start number [BFM #521, BFM #621]
This data item sets a table information number for the table operation.
→ For details on the table operation, refer to Chapter 10
BFM Number
X-axis Y-axis
BFM #521 BFM #621 Setting range: 0 to 299
Description Default
K0
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11.4 Control Data
11.4.14 Control command enable/disable [BFM #522]
This data item enables or disables control commands.
Once the model code is stored, control commands are enabled.
BFM Number
X-axis Y-axis
Description
BFM #522
Model code (K5220) :enables control commands
Values other than the model code :disables control commands
Default
K0
Note
Write the model code (K5220) to the "control command enable/disable" before executing control commands.
After control commands are executed, "0" is automatically stored in the "control command enable/disable."
11.4.15 Control command [BFM #523]
This data item sets data to the buffer memory/the flash memory, or initializes the data.
BFM Number
X-axis Y-axis
Bit
Number
Setting Item Description
BFM #523 b0 b1 b2 b3 b4 b5 b6 b7 b8 b9 b10 b11 b12 b13 b14
Positioning parameters save command
Table information save command
Y-axis
XYaxes
Servo parameters save command
X-axis
Y-axis
Not available
Positioning parameters initialization command
X-axis
Table information initialization command
Y-axis
XYaxes
Servo parameters initialization command
X-axis
Y-axis b15 Not available
X-axis
Y-axis
X-axis
X-axis
Y-axis
Writes X-axis positioning parameters (BFM #14000 to
BFM #14199) into the flash memory.
Writes Y-axis positioning parameters (BFM #14200 to
BFM #14399) into the flash memory.
Writes X-axis table information (BFM #1000 to BFM
#3999) into the flash memory.
Writes Y-axis table information (BFM #4000 to BFM
#6999) into the flash memory.
Writes XY-axes table information (BFM #7000 to BFM
#12999) into the flash memory.
Writes X-axis servo parameters (BFM #15000 to BFM
#15199) into the flash memory.
Writes Y-axis servo parameters (BFM #15200 to BFM
#15399) into the flash memory.
-
Resets X-axis positioning parameters (BFM #14000 to
BFM #14199) to their factory default.
Resets Y-axis positioning parameters (BFM #14200 to
BFM #14399) to their factory default.
Resets X-axis table information (BFM #1000 to BFM
#3999) to their factory default.
Resets Y-axis table information (BFM #4000 to BFM
#6999) to their factory default.
Resets XY-axes table information (BFM #7000 to BFM
#12999) to their factory default.
Resets X-axis servo parameters (BFM #15000 to BFM
#15199) to their factory default.
Resets Y-axis servo parameters (BFM #15200 to BFM
#15399) to their factory default.
-
Detection
*1
Edge
-
Edge
-
Default
H0000
*1.
Timing of the detection
1) Level detection: activated when the bit is set or cleared.
2) Edge detection: activated at off-to-on transition.
Before executing control commands:
Write the model code (K5220) to the "control command enable/disable" before executing control commands.
After control commands are executed, "0" is automatically stored in the "control command enable/disable."
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11.4 Control Data
Notes on saving data into flash memory
• The save command is ignored during a positioning operation.
• Be sure to note the following points while saving data into the flash memory (status information: ON).
- Do not turn the power OFF while saving data into the flash memory.
- Do not write any data to buffer memories until saving data into flash memory is completed.
• A memory error occurs when failed to save data into the flash memory.
• The maximum number of times data can be written to the flash memory is 100,000 times.
The number of times data has been written to the flash memory can be checked by the number of writes.
→ For details on the flash memory maximum number of writes, refer to Section 11.3.28
Notes on initializing buffer memories
While initialization is in progress, the "initializing" status of the status information is ON and READY/BUSY is
OFF (BUSY).
11.4.16 Manual pulse generator input magnification (numerator)
[BFM #525, #524, BFM #625, #624]
This data item sets the magnification to be applied to the numerator of a pulse train input by the manual pulse generator.
→ For details on the manual pulse generator, refer to Section 8.3
BFM Number
X-axis Y-axis
BFM
#525,#524
BFM
#625,#624
Setting range: 1 to 1,000,000 times
Description Default
K1
11.4.17 Manual pulse generator input magnification (denominator)
[BFM #527, #526, BFM #627, #626]
This data item sets the magnification to the denominator of a pulse train input by the manual pulse generator.
→ For details on the manual pulse generator, refer to Section 8.3
BFM Number
X-axis
BFM
#527,#526
Y-axis
BFM
#627,#626
Setting range: 1 to 1,000,000 times
Description Default
K1
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11.5 Table Information
11.5
Table Information
This section shows BFMs for positioning in table operation.
Table numbers and BFM numbers are assigned as shown in the table below.
For details on the table operation, refer to the following.
For X-axis :BFM #1000 to #3999
For Y-axis :BFM #4000 to #6999
For XY-axes :BFM #7000 to #12999
Table No.
X-axis
BFM
#1001,#1000
0
-
BFM
#1003,#1002
-
-
-
BFM Number
Y-axis
BFM
-
#4001,#4000
XY axes
BFM
#7001,#7000
BFM
#7003,#7002
BFM
-
#4003,#4002
BFM
#7005,#7004
BFM
#7007,#7006
-
-
BFM
#7009,#7008
BFM
#7011,#7010
BFM #1004 BMF# 4004 BFM #7012
1
BFM #1005
BFM
#1011,#1010
-
BFM
#1013,#1012
-
BMF# 4005
BFM
-
#4011,#4010
-
BFM
#4013,#4012
-
-
BFM #1014
BFM #1015
-
BFM #4014
BFM #4015
BFM #7013
BFM
#7021,#7020
BFM
#7023,#7022
BFM
#7025,#7024
BFM
#7027,#7026
BFM
#7029,#7028
BFM
#7031,#7030
BFM #7032
BFM #7033
Name
Speed information
Speed information x
Speed information y
Circular information
Center coordinate i
Radius r
Center coordinate j
Operation information m code information
→ Refer to Chapter 10
Description
Position information
Position information
Position information y
Set target addresses or etc. for the table operation.
Speed information
Speed information x
Speed information y
Set the operation speed.
Circular information
Center coordinate i
Radius r
Center coordinate j
Set center coordinate and radius of a circular line for circular interpolation operation
Operation information m code information
Set actions by the table operation.
m code is output each time at positioning operation.
Position information
Position information x
Position information y
Same as the table 0
Default
K-1
K-1
K-1
K-1
K-1
K-1
K-1
K-1
K-1
K-1
K-1
K-1
K-1
K-1
K-1
K-1
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BFM
#3991,#3990
-
BFM
#3993,#3992
-
-
-
BFM
#6991,#6990
-
BFM
#6993,#6992
-
-
BFM #3994
BFM #3995
-
BFM #6994
BFM #6995
BFM
#12981,#12980
BFM
#12983,#12982
BFM
#12985,#12984
BFM
#12987,#12986
BFM
#12989,#12988
BFM
#12991,#12990
BFM #12992
BFM #12993
Position information
Position information x
Position information y
Speed information
Speed information x
Circular information
Speed information y
Center coordinate i
Radius r
Center coordinate j
Operation information m code information
Same as the table 0
K-1
K-1
K-1
K-1
K-1
K-1
K-1
K-1
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11.5 Table Information
1. Position information
Set the following items according to the table operations set in the operation information.
Table Operation
Action
Item Description
Positioning operation
Changes the current address
Dwell
Jump
Set the target address.
Specify the current address after changed.
Setting range: -2,147,483,648 to 2,147,483,647 [User unit]
*1
Set the value within -2,147,483,648 to 2,147,483,647PLS in the converted pulse data
Setting range: -2,147,483,648 to 2,147,483,647 [User unit]
*1
Set the value within -2,147,483,648 to 2,147,483,647PLS in the converted pulse data
Set wait time to be spent for shifting operations.
Sets the table number of the jump address.
Setting range: 0 to 32767 (
× 10 ms)
Setting range: 0 to 299
*1.
Refer to the section shown below for details on the user units.
→ Refer to Section 7.7
2. Speed data (fx, f, fy)
Sets the operation speed of the positioning operation to be used for table operation.
Setting range: -2,147,483,648 to 2,147,483,647 [User unit]*
1
Set the value within 1 to 50,000,000 Hz in converted pulse data
*1.
Refer to the section shown below for details on the user units.
→ Refer to Section 7.7
3. Circular information (i, r, j)
Sets center coordinate and radius for a circular line to be used in circular interpolation operation
Setting range: -2,147,483,648 to 2,147,483,647 [User unit]
*1
Set the value within -2,147,483,648 to 2,147,483,647PLS in the converted pulse data.
*1.
Refer to the section shown below for details on the user units.
→ Refer to Section 7.7
4. Operation information
Sets the positioning operation for table operation and changes the current address.
Designate instruction words (such as DRV, DRVZ) in numerical values for operation information.
Type
No processing
Abbreviation
NOP
Setting value
-1
Meaning
Position information x
y
-
Speed information fx/f
-
fy
-
Circular information i/r
-
j
m code
End
NOP -1
Does not cause any operation.
Does not cause any operation.
Used to activate m code.
Terminates the table operation.
-
1-speed positioning operation
Interrupt 1-speed constant quantity feed
END
X-axis DRV_X
Y-axis DRV_Y
XY-axes DRV_XY
X-axis SINT_X
Y-axis SINT_Y
XY-axes SINT_XY
X-axis DRV2_X
2-speed positioning operation
(two tables are used)
Y-axis DRV2_Y
XY-axes DRV2_XY
5
6
3
4
0
1
2
7
8
9
Performs 1-speed positioning operation.
Performs interrupt 1-speed constant quantity feed.
Performs 2-speed positioning operation.
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m code information
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136
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11 Buffer Memory (Parameters & Monitored Data)
11.5 Table Information
11
Interrupt 2-speed constant quantity feed (two tables are used)
Type
Interrupt stop
Multi-speed operation (multiple tables are used)
Linear interpolation
X-axis
Y-axis
Abbreviation
DINT_X
DINT_Y
XY-axes DINT_XY
X-axis INT_X
Y-axis INT_Y
XY-axes INT_XY
X-axis DRVC_X
Y-axis DRVC_Y
LIN
Linear interpolation
(interrupt stop)
Circular interpolation
(center, CW direction)
LIN_INT
CW_i
Circular interpolation
(center, CCW direction)
Circular interpolation
(radius, CW direction)
CCW_i
CW_r
Circular interpolation
(radius, CCW direction)
Mechanical zero return operation
CCW_r
X-axis DRVZ_X
Y-axis DRVZ_Y
XY-axes DRVZ_XY
X-axis SET_X
Changes the current address
Y-axis SET_Y
XY-axes SET_XY
Setting value
10
11
12
13
14
15
16
17
Meaning
Performs interrupt 2-speed constant quantity feed.
Performs interrupt stop operation.
Position information x
"
-
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-
" " y
-
-
"
-
"
-
" "
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"
" -
Performs multi-speed operation.
"
19
20
Performs linear interpolation operation.
Performs linear interpolation operation (interrupt stop).
"
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"
Speed information
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"
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"
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"
fy
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fx/f
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"
21
22
23
24
25
26
27
90
91
92
Performs circular interpolation operation.
Performs mechanical zero return operation.
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Absolute address
Relative address
Dwell
Jump
ABS
INC
TIM
JMP
93
94
95
96
The current address is replaced with a specified address (user units) by this command.
When this command is issued, the position information (x, y) of the table operation becomes an absolute address, which specifies positions from the (0, 0) point.
(absolute address is specified by default)
When this command is issued, the position information (x, y) of the table operation becomes a relative address based on the current address.
The 20SSC-H waits for the specified time period. Use this to specify waiting time for shifting operations.
Jumps to the specified table number.
Jumping from X-axis table to Y-axis table is not allowed.
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5. m code information
m code is output each time at positioning operation.
For instructions on how to use the m code, refer to the following.
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Circular information m code information
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i/r
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j
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→ Refer to Section 10.9
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No code•••••••••••••-1 m code after mode••••••0 to 9999 m code with mode••••••10000 to 32767
12
13
A
137
12 Program Example
FX
3U
-20SSC-H Positioning Block User's Manual
12. Program Example
STARTUP AND MAINTENANCE
PRECAUTIONS
• Do not touch any terminal while the PLC's power is on.
Doing so may cause electrical shock or malfunctions.
• Before cleaning or retightening terminals, externally cut off all phases of the power supply.
Failure to do so may expose you to shock hazard.
• Before modifying the program under operation or performing operation for forcible output, running or stopping, carefully read the manual, and sufficiently ensure the safety.
An operation error may damage the machine or cause accidents.
• To test Zero-return, JOG operation and Positioning data, throughly read this manual, ensure the safe system operation
An operation error may damage the machine or cause accidents.
STARTUP AND MAINTENANCE
PRECAUTIONS
• Do not disassemble or modify the PLC.
Doing so may cause failures, malfunctions or fire.
For repair, contact your local Mitsubishi Electric distributor.
• Before connecting or disconnecting any extension cable, turn off power.
Failure to do so may cause unit failure or malfunctions.
• Before attaching or detaching the following devices, turn off power.
Failure to do so may cause device failure or malfunctions.
Peripheral devices, expansion boards and special adapters
I/O extension blocks/units and terminal blocks
138
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-20SSC-H Positioning Block User's Manual
12.1
Reading/Writing Buffer Memory
12 Program Example
12.1 Reading/Writing Buffer Memory
11
12.1.1 Assigned unit number
1. Assigned unit number
The unit number for the 20SSC-H is automatically assigned No.0 to No.7 starting from the special function unit/block closest to the PLC main unit.
• In the FX
3U
series
Unit No.0
Unit No.1
Unit No.2
12
13
FX
3UC
Main unit
Input/output extension block
Special function block
Special function block
Input/output extension block
Special function unit
A
• In the FX
3UC
series
Unit No.0
(built-in CC-Link/LT)
Unit No.1
Unit No.2
Unit No.3
FX
3UC
-
32MT-LT
Main unit
Input/output extension block
Special function block
Special function block
Input/output extension block
Special function unit
12.1.2 How to read/write from/to buffer memory
To read/write from/to buffer memory in 20SSC-H, use the FROM/TO instructions or applied instructions that directly specify the buffer memory.
To directly specify the buffer memory, FX
3U
/FX
3UC
PLC applicable software (GX Developer) is required.
Note
Buffer memory that is assigned in 32 bits must use 32-bit instructions to read/write.
Data cannot be correctly read/written from/to buffer memory assigned in 32 bits if 16-bit read/write instructions are used.
1. Direct specification of buffer memory
The following setting device is specified for the source or destination of an applied instruction.
Unit No. (0 to 7)
U \G
is substituted with a number
Buffer memory No. (0 to 15399)
1) Example 1
In the following program example, data is read from the buffer memory (BFM #1,#0) in unit No.1 to data registers (D11, D10).
Read command
FNC 12
DMOV
U1\G0 D10
Unit No.
Buffer memory No.
Transfer result
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-20SSC-H Positioning Block User's Manual
12 Program Example
12.1 Reading/Writing Buffer Memory
2) Example 2
In the following program example, 32-bit data in data registers (D21,D20) is written to buffer memory
(BFM #501,#500) in unit No.1.
Write command
FNC 12
DMOV
D20 U1\G500
Transfer source
Unit No.
Buffer memory No.
2. FROM/TO instructions (conventional method)
1) FROM instruction (read from BFM to PLC)
The FROM instruction is used to read data from the buffer memory.
The following shows how to use this instruction in a sequence program.
Read command
FNC 78
DFROM
K1 K0 D10 K1
Unit No.
Buffer memory No.
Number of transfer points
Transfer destination
In the above program example, a 32-bit data is read from buffer memory (BFM #1,#0) in unit No.1 to data registers (D11,D10).
2) TO instruction (write from PLC to BFM)
The TO instruction is used to write data to buffer memory.
The following shows how to use this instruction in sequence program.
Write command
FNC 79
DTO
K1 K500 D20 K1
Unit No.
Buffer memory No.
Number of transfer points
Transfer source
In the above program example, 32-bit data in data registers (D21,D20) is written to buffer memory
(BFM #501,#500) in unit No.1.
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12 Program Example
12.2 Device Assignments
12.2
Device Assignments
Name
Input
Error reset
STOP
Forward rotation limit
Reverse rotation limit
Forward rotation JOG
Reverse rotation JOG
Mechanical zero return command
START command
Selection of 1-speed positioning operation
Selection of table operation (individual)
Selection of table operation (simultaneous)
Control data
1-speed Positioning operation
Interrupt 1-speed constant quantity feed
2-speed Positioning operation
Interrupt 2-speed constant quantity feed
Interrupt stop
Variable speed operation
Operation pattern selection
Manual pulse generator
Linear interpolation operation
Linear interpolation (interrupt stop) operation
Table operation (individual)
Table operation (simultaneous)
Not available
Error reset
STOP
Forward rotation limit
Reverse rotation limit
Forward rotation JOG
Reverse rotation JOG
Mechanical zero return command
Operation command 1
Target address 1
Operation speed 1
Table operation start No.
Not available
Relative/absolute address specification
START command
Simultaneous start flag m code OFF command
Change command in operation disabled
Speed change command in positioning control
Target position change command in positioning control
Not available
X000
X001
X002
X003
X004
X005
X006
X007
X020
X022
X024
Device No.
X-axis Y-axis
X010
X011
X012
X013
X014
X015
X016
X017
X021
X023
-
Remark
Use external wiring with NC contacts.
M0
M1
M2
M3
M4
M5
M6
M7
M8
M27
M28
M29
M30
M31
M32
M9
M10
M11 to M15
M20
M21
M22
M23
M24
M25
M26
M33
M100
M101
M102
M103
M104
M105
M106
M107
M108
M127
M128
M129
M130
M131
M132
M109
M110
M111 to M115 Always OFF
M120
M121
M122
M123
M124
M125
M126
Always OFF
M133
M34
M35
D501, D500
D503, D502
D521
M134
M135
D601, D600
D603, D602
D621
Always OFF
11
12
13
A
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12 Program Example
12.3 Explanation of Operation
Name
Monitor data
READY
During forward rotation pulse output
During reverse rotation pulse output
Zero return completed
Current value overflow
Error occurrence
Positioning completion
Standby for remaining travel distance at STOP
Status information
Current address (user)
Error BFM No.
m code No.
Operation speed present value
Number of the table in operation
Error code
Motor rotation speed
Servo status
Servo warning code
Motor feedback position m code ON
Unit ready
During servo parameters transfer
Saving to flash memory
Initializing buffer memory
During operation speed change
During target address change
During table operation execution
Device No.
X-axis Y-axis
M40
M41
M42
M43
M44
M45
M46
M47
M48
M49
M50
M51
M52
M53
M54
M55
D1, D0
D6
D9
D11, D10
D16
D29
D53, D52
D64
D68
D71, D70
M140
M141
M142
M143
M144
M145
M146
M147
M148
M149
M150
M151
M152
M153
M154
M155
D101, D100
D106
D109
D111, D110
D116
D129
D153, D152
D164
D168
D171, D170
Remark
12.3
Explanation of Operation
This section describes operation of the example program.
Positioning control parameters are used with their default settings.
→ For details on device assignments, refer to section 12.2
→ For details on sequence programs, refer to section 12.4
Note
• Set the servo series in the servo parameters according to the servo amplifier to be used.
→ Refer to Section 7.1 and 11.2
• Set the following parameters if necessary.
→ For details, refer to Section 7.1 and Chapter 11
- Function selection (C-4) for servo parameters
- Zero return interlock setting in positioning parameters
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12 Program Example
12.3 Explanation of Operation
12.3.1 Mechanical zero return
Speed
Acceleration time
(200ms)
Maximum speed
(4,000,000Hz)
OPR speed(High-speed)
4,000,000Hz
Deceleration time
(200ms)
OPR speed
(creep)
100,000Hz
11
12
Time
DOG
Zero-phase signal
X-axis
1) When turning X006 "X-axis mechanical zero return command" to ON at the PLC main unit, DOG type mechanical zero return operation starts in the current value decrementing direction.
2) When turning the DOG ON, the operation decelerates to the zero return speed (creep).
3) When turning the DOG OFF, the operation stops at the zero-phase signal of the motor, and the mechanical origin address is stored to the current value. (zero-point signal count: 1 time)
Y-axis
mechanical zero return operation starts in the current value decrementing direction.
2) When turning the DOG ON, operation decelerates to the zero return speed (creep).
3) When turning the DOG OFF, the operation stops at the zero-phase signal of the motor, and the mechanical origin address is stored to the current value. (zero-point signal count: 1 time)
12.3.2 JOG operation
Speed
Acceleration time
(200ms)
Maximum speed
(4,000,000Hz)
Deceleration time
(200ms)
13
A
JOG speed
(2,000,000Hz)
Time
Forward rotation JOG
ON
JOG command
Determination time
(300ms)
X-axis
• When turning X004 "X-axis forward rotation JOG" to ON at the PLC main unit, the JOG operation starts in the current value incrementing direction.
• When turning X005 "X-axis reverse rotation JOG" to ON at the PLC main unit, the JOG operation starts in the current value decrementing direction.
Y-axis
• When turning X014 "Y-axis forward rotation JOG" to ON at the PLC main unit, the JOG operation starts in the current value incrementing direction.
• When turning X015 "Y-axis reverse rotation JOG" to ON at the PLC main unit, the JOG operation starts in the current value decrementing direction.
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12 Program Example
12.3 Explanation of Operation
12.3.3 1-speed positioning operation
The 1-speed positioning operation operates by the drive for incrementing. The positioning operates at constant quantity feed.
Speed
Acceleration time
(200ms)
Maximum speed
(4,000,000Hz)
Deceleration time
(200ms)
Operation speed 1
(2,000,000Hz)
Target address 1
(5,000,000PLS)
Time
START command
X-axis
• When turning X007 "X-axis START command" to ON with X020 "X-axis selection of 1-speed positioning operation" turned ON at the PLC main unit, the 1-speed positioning operation starts. After 5,000,000 pulses of travel in the current value incrementing direction, the operation decelerates to stop.
• When X007 is turned ON again, positioning starts with the same travel distance again.
(The state of X020 "X-axis selection of 1-speed positioning operation" on the PLC main unit changes from
OFF to ON ).
• When turning X001 "X-axis stop" to ON during positioning, the operation decelerates to stop.
Y-axis
• When turning X017 "X-axis START command" to ON with X021 "X-axis selection of 1-speed positioning operation" turned ON at the PLC main unit, the 1-speed positioning operation starts. After 5,000,000 pulses of travel in the current value incrementing direction, the operation decelerates to stop.
• When X017 is turned ON again, positioning starts with the same travel distance again.
(The state of X021 "X-axis selection of 1-speed positioning operation" on the PLC main unit changes from
OFF to ON ).
• When turning X011 "X-axis stop" to ON during positioning, the operation decelerates to stop.
12.3.4 Multi-speed operation [table operation (individual)]
Multi-speed operation works in table operation. In this example, multi-speed operation functions by the drive to increment.
1. Operation details
Speed
Acceleration time
(200ms) Maximum speed
(4,000,000Hz)
Deceleration time
(200ms)
Operation information
(1,000,000Hz)
Position data
(2,000,000PLS)
Operation information
(2,000,000Hz)
Operation information
(1,200,000Hz)
Position data
(5,000,000PLS)
Position data
(3,000,000PLS)
Time
START command m code No m code ON m code OFF command
10001/11001 10002/11002
10003/11003
-1
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12 Program Example
12.3 Explanation of Operation
X-axis
• When turnig X007 "X-axis START command" to ON with X022 "X-axis selection of table operation
(individual)" turned ON, multi-speed operation preset to X-axis table information starts. After 10,000,000 pulses of travel in the current value incrementing direction, operation decelerates to stop.
• When turning X007 "X-axis START command" to ON after the table operation ends, the positioning operates by the same travel distance again.
• When turnig X001 "X-axis stop" to ON during positioning, the positioning decelerates to stop.
• m codes are output in the with mode. At the start of each operation, the m code ON flag becomes "1" and the m code number is stored.
When the m code number of 10003, the m code OFF command turns ON, and the m code turns OFF.
Y-axis
• When turnig X017 "X-axis START command" to ON with X023 "X-axis selection of table operation
(individual)" turned ON, multi-speed operation preset to X-axis table information starts. After 10,000,000 pulses of travel in the current value incrementing direction, operation decelerates to stop.
• When turning X017 "X-axis START command" to ON after the table operation ends, the positioning operates by the same travel distance again.
• When turnig X011 "X-axis stop" to ON during positioning, the positioning decelerates to stop.
• m codes are output in the with mode. At the start of each operation, the m code ON flag becomes "1" and the m code number is stored.
When the m code number of 11003, the m code OFF command turns ON, and the m code turns OFF.
2. Setting table information
Set the X-axis/Y-axis table information as follows in FX Configurator-FP.
1) X-axis table information
11
12
13
A
2) Y-axis table information
145
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-20SSC-H Positioning Block User's Manual
12.3.5 Circular interpolation operation [table operation (simultaneous)]
12 Program Example
12.4 Sequence Program
functions by the drive to increment.
1. Operation details
Y-axis
2,000,000
1,000,000
X-axis
2,000,000 4,000,000
XY-axis
• When turnig X007 "X-axis START command" to ON with X024 "X-axis selection of table operation
(simultaneous)" turned ON, operation starts in the order of the XY-table information.
1) Linear interpolation operation
2) Dwell
3) Circular interpolation operation
4) End
• When turnig X001 "X-axis stop" to ON during positioning, operation decelerates to stop.
2. Setting table information
Set the XY-axis table information as follows on FX Configurator-FP.
12.4
Sequence Program
This program example describes the sequence program as unit No.0.
Rewrite the unit No. with the actual system configuration to be used.
→ For details on the unit No., refer to subsection 12.1.1
→ For details on device assignments, refer to section 12.2
→ For an explanation of operation, refer to section 12.3
146
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12 Program Example
12.4 Sequence Program
11
RUN monitor
M8000
Unit ready
M200
X-axis unit ready
M49
Y-axis unit ready
M149
Select X-axis operation pattern.
Selection of X-axis 1-speed positioning operation
X020
RUN monitor
M8000
FNC 12
MOV
U0\G28 K4M40
FNC 12
MOV
U0\G128 K4M140
NC NO M200
X-axis status information
BFM #28 M40 to M55
Y-axis status information
BFM #128 M140 to M155
Selection of X-axis table operation (individual)
X022
Selection of X-axis table operation (simultaneous)
X024
RUN monitor
M8000
M5
M6
M7
M8
M1
M2
M3
M4
M0
M9
M10
X-axis 1-speed positioning operation
X-axis interrupt 1-speed constant quantity feed
X-axis 2-speed positioning operation
X-axis interrupt 2-speed constant quantity feed
X-axis interrupt stop
X-axis variable speed operation
X-axis manual pulse generator operation
Linear interpolation operation
Linear interpolation (interrupt stop) operation
X-axis table operation
(individual)
Table operation
(simultaneous)
To next page
M11
M12
M13
M14
M15
Always OFF
Always OFF
Always OFF
Always OFF
Always OFF
To next page
12
13
A
147
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3U
-20SSC-H Positioning Block User's Manual
12 Program Example
12.4 Sequence Program
148
From previous page
Select Y-axis operation pattern.
Selection of Y-axis 1-speed positioning operation
X021
From previous page
M100
Y-axis 1-speed positioning operation
RUN monitor
M8000
M101
M102
M103
M104
M105
M106
M107
M108
Y-axis interrupt 1-speed constant quantity feed
Y-axis 2-speed positioning operation
Y-axis interrupt 2-speed constant quantity feed
Y-axis interrupt stop
Y-axis variable speed operation
Y-axis manual pulse generator operation
Linear interpolation operation
Linear interpolation (interrupt stop) operation
Selection of Y-axis table operation (individual)
X023
M109
Y-axis table operation
(individual)
RUN monitor
M8000
M110
M111
M112
M113
M114
M115
Always OFF
Always OFF
Always OFF
Always OFF
Always OFF
Always OFF
Write the X- and Y-axis operation pattern selection to 20SSC-H.
RUN monitor
M8000
FNC 12
MOV
FNC 12
MOV
Set the table operation start No. for the X-, Y- and XY-axes.
Unit ready(X,Y-axis)
M200
FNC 12
MOVP
K4M0 U0\G520
K4M100 U0\G620
X-axis operation pattern selection
M0 to M15 BFM #520
Y-axis operation pattern selection
M100 to M115 BFM #620
K0 D521
Table operation start No. for
X-axis (XY-axis) K0 D521
FNC 12
MOVP
K0 D621
Set the target address I and operation speed I for X- and Y-axes 1-step positioning.
Unit ready(X,Y-axis)
M200
FNC 12
DMOVP
K5000000 D500
To next page
FNC 12
DMOVP
FNC 12
DMOVP
FNC 12
DMOVP
K2000000
K5000000
K2000000
D502
D600
D602
Table operation start No. for
Y-axis K0 D621
Target address 1 for X-axis
1-speed positioning
K5,000,000 D501,D500
Operation speed 1 for X-axis
1-seed positioning
K2,000,000 D503,D502
Target address 1 for Y-axis
1-speed positioning
K5,000,000 D601,D600
Operation speed 1 for Y-axis
1-speed positioning
K2,000,000 D603,D6502
To next page
FX
3U
-20SSC-H Positioning Block User's Manual
12 Program Example
12.4 Sequence Program
11
From previous page From previous page
Select X-axis operation command.
X-axis error reset
X000
X-axis STOP
X001
X-axis forward rotation limit
X002
X-axis reverse rotation limit
X003
X-axis forward rotation JOG
X004
X-axis reverse rotation JOG
X005
X-axis machine zero return
X006
RUN monitor
M8000
RUN monitor
M8000
X-axis start command
X007
X-axis positioning at 1-step speed
M0
To next page
X-axis table operation (individual)
M9
M10
X-axis table operation (simultaneous)
12
M20 X-axis error reset
M21 X-axis STOP
M22
M23
M24
M25
M26
X-axis forward rotation limit
X-axis reverse rotation limit
X-axis forward rotation JOG
X-axis reverse rotation JOG
X-axis mechanical zero return command
M27 Always OFF
M28
X-axis relative/absolute address specification
M29
FNC 12
DMOV
FNC 12
DMOV
D500 U0\G500
D502 U0\G502
X-axis START command
Target address 1 for X-axis
1-speed positioning
D501,D500 BFM #501,#500
Operation speed 1 for X-axis
1-speed positioning
D503,D502 BFM #503,#502
FNC 12
MOV
D521 U0\G521
Table operation start No. for X-axis
(XY-axis) D521 BFM #521
13
A
To next page
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From previous page
RUN monitor
M8000
X-axis M code ON
M48
FNC232
AND=
RUN monitor
M8000
D9 K10003
Select Y-axis operation command.
Y-axis error reset
X010
Y-axis STOP
X011
Y-axis forward rotation limit
X012
Y-axis reverse rotation limit
X013
Y-axis forward rotation JOG
X014
Y-axis reverse rotation JOG
X015
Y-axis machine zero return
X016
RUN monitor
M8000
RUN monitor
M8000
Y-axis start command
X017
Y-axis positioning at 1-step speed
M100
To next page
Y-axis table operation (individual)
M109
12 Program Example
12.4 Sequence Program
M32
M33
M34
M35
M30
From previous page
Simultaneous start flag
(In this example, always OFF)
M31
M31 X-axis m code
OFF command
X-axis change command in operation disable
(In this example, always OFF)
X-axis speed change command in positioning control
(In this example, always OFF)
X-axis target position change command in positioning control
(In this example, always OFF)
Always OFF
M120 Y-axis error reset
M121
M122
M123
M124
M125
M126
M127
M128
M129
FNC 12
DMOV
FNC 12
DMOV
FNC 12
MOV
D600 U0\G600
D602 U0\G602
D621 U0\G621
To next page
Y-axis STOP
Y-axis forward rotation limit
Y-axis reverse rotation limit
Y-axis forward rotation JOG
Y-axis reverse rotation JOG
Y-axis mechanical zero return command
Always OFF
Y-axis relative/absolute address specification
Y-axis START command
Target address 1 for Y-axis
1-speed positioning
D601,D600 BFM #601,#600
Operation speed 1 for Y-axis
1-speed positioning
D603,D602 BFM #603,#602
Table operation start No. for
Y-axis D621 BFM #621
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12 Program Example
12.4 Sequence Program
11
From previous page
RUN monitor
M8000
Y-axis M code ON
M148
M8000
FNC232
AND=
RUN monitor
D109 K11003
From previous page
M130
M131
M132
M133
M134
Always OFF
Y-axis m code OFF command
Y-axis change command in operation disable
(In this example, always OFF)
Y-axis speed change command in positioning control
(In this example, always OFF)
Y-axis forget position change command in positioning control
(In this example, always OFF)
Always OFF
M135
Write the X- and Y-axis operation command to 20SSC-H.
RUN monitor
M8000
FNC 12
MOV
FNC 12
MOV
K4M20 U0\G518
K4M120 U0\G618
Read X-axis monitor data from 20SSC-H.
RUN monitor
M8000
FNC 12
DMOV
FNC 12
MOV
FNC 12
MOV
FNC 12
DMOV
FNC 12
MOV
FNC 12
MOV
FNC 12
DMOV
FNC 12
MOV
FNC 12
MOV
FNC 12
DMOV
U0\G0
U0\G6
U0\G9
U0\G10
U0\G16
U0\G29
U0\G52
U0\G64
U0\G68
U0\G70
D0
D6
D9
D10
D16
D29
D52
D64
D68
D70
X-axis operation command
M20 to M35 BFM #518
X-axis operation command
M120 to M135 BFM #618
X-axis current address (user)
BFM #1,#0 D1,D0
X-axis error BFM No.
BFM #6 D6
X-axis m code No.
BFM #9 D9
X-axis operation speed present value
BFM #11,#10 D11,D10
X-axis number of the table in operation
BFM #16 D16
X-axis error code
BFM #29 D29
X-axis motor rotation speed
BFM #53,#52 D53,D52
X-axis servo status
BFM #64 D64
X-axis servo warning code
BFM #68 D68
X-axis motor feedback position
BFM #71,#70 D71,D70
To next page To next page
12
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From previous page
Read Y-axis monitor data from 20SSC-H.
RUN monitor
M8000
12 Program Example
12.4 Sequence Program
From previous page
FNC 12
DMOV
U0\G100 D100
FNC 12
MOV
U0\G106 D106
FNC 12
MOV
U0\G109 D109
FNC 12
DMOV
U0\G110 D110
FNC 12
MOV
U0\G116 D116
FNC 12
MOV
U0\G129 D129
FNC 12
DMOV
U0\G152 D152
FNC 12
MOV
U0\G164 D164
FNC 12
MOV
U0\G168 D168
FNC 12
DMOV
U0\G170 D170
MCR NO
END
Y-axis current address (user)
BFM #101,#100 D101,D100
Y-axis error BFM No.
BFM #106 D106
Y-axis m code No.
BFM #109 D109
Y-axis operation speed present value
BFM #111,#110 D111,D110
Y-axis Namber of the table in operation
BFM #116 D116
Y-axis error code
BFM #129 D129
Y-axis motor rotational speed
BFM #153,#152 D153,D152
Y-axis servo status
BFM #164 D164
Y-axis servo warning code
BFM #168 D168
Y-axis motor feedback position
BFM #171, #170 D171, D170
152
13 Diagnostics
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11
13. Diagnostics
.
When a fault occurs, check the power supply voltage, the PLC main unit and I/O devices for loose terminal screws, and examine the connectors for a defective contact.
STARTUP AND MAINTENANCE
PRECAUTIONS
• Do not touch any terminal while the PLC's power is on.
Doing so may cause electrical shock or malfunctions.
• Before cleaning or retightening terminals, externally cut off all phases of the power supply.
Failure to do so may expose you to shock hazard.
• Before modifying the program under operation or performing operation for forcible output, running or stopping, carefully read the manual, and sufficiently ensure the safety.
An operation error may damage the machine or cause accidents.
• To test Zero-return, JOG operation and Positioning data, throughly read this manual, ensure the safe system operation
An operation error may damage the machine or cause accidents.
12
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STARTUP AND MAINTENANCE
PRECAUTIONS
• Do not disassemble or modify the PLC.
Doing so may cause failures, malfunctions or fire.
For repair, contact your local Mitsubishi Electric distributor.
• Before connecting or disconnecting any extension cable, turn off power.
Failure to do so may cause unit failure or malfunctions.
• Before attaching or detaching the following devices, turn off power.
Failure to do so may cause device failure or malfunctions.
Peripheral devices, expansion boards and special adapters
I/O extension blocks/units and terminal blocks
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13.1
Check LEDs
13 Diagnostics
13.1 Check LEDs
13.1.1 Check LEDs
LED
Indication
Color
Indication
POWER
X-READY
Y-READY
X-ERROR
Y-ERROR
Green
Green
Red
State
Off
Content of Error Action
No power supply from the external
• Correctly connect the extension cable and power cable.
• Correctly connect the wiring to the external power supply.
• When the service power supply of the PLC main unit is in
On
Off
On
Off
operation commands.
No error
Flashing An error has occurred.
On exceeded.
Power is supplied from the external
The power supply is normal.
An error has occurred on the X-axis/
Y-axis, or positioning control is being executed.
When the stop command is input, the positioning operation stops, and the LED lights.
If the LED does not light even after a stop, an error has occuerd. Check the error and remove the cause.
CPU error
-
-
An error has occurred on the 20SSC-H. Check the error code, and perform the action according to the content of the error.
For details on error codes, refer to the following:
→Refer to subsection 13.2.3
If the 20SSC-H does not restore the problem at power ON again, consult a Mitsubishi Electric distributor.
13.1.2 Input LED state indications
LED
Indication
X-START
Y-START
X-DOG
Y-DOG
X-INT0
Y-INT0
X-INT1
Y-INT1
X-
Y-
φ
A
φ
A
X-
Y-
φ
B
φ
B
Color
Indication
Red
Red
Red
Red
Red
State
Off
Off
Content of Error
Off START input OFF
Off DOG input OFF
Off INT0, INT1 input OFF
Action
If the LED does not light even if input is ON, check the input wiring.
The 20SSC-H inputs START, DOG, INT0, and INT1 require an external power supply (24VDC).
Manual pulse generator A phase input OFF
Manual pulse generator B phase input OFF
If the LED does not flash even at pulse input from the manual pulse generator, check the input wiring.
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13.2
Check Error Code
13 Diagnostics
13.2 Check Error Code
11
13.2.1 Checking errors
When an error or warning (servo amplifier) occurs, error or warning information is stored to the following buffer memories.
FX Configurator-FP and GX-Developer check the error by monitoring, and so does a sequence program.
Item
BFM number
X-axis Y-axis
Content
Monitor data
Error occurrence BFM No.
BFM #6 BFM #106
When an error occurs, the BFM No. with error is stored.
-1: No error occurrence
Other: BFM No. with error
→Refer to subsection 11.3.4
Status information
Error code
Error occurrence
BFM #28 b5
BFM #29
BFM #128 b5
BFM #129
This can be reset by an error reset.
→Refer to subsection 11.3.13
When an error occurs, the error code is stored.
→Refer to subsection 13.2.3
Servo parameter error No.
Servo status
Servo warning code
In alarm
In warming
BFM #62 BFM #162
BFM #64 b5 BFM #164 b5
BFM #164 b15 BFM #164 b15
BFM #68 BFM #168 servo parameter that is in error is stored.
→Refer to subsection 11.3.20
This turns ON at a servo alarm.
→Refer to subsection 11.3.21
This turns ON at the servo amplifier warning.
→Refer to subsection 11.3.21
The warning detected by the servo amplifier is stored.
→Refer to subsection 13.2.24
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13.2.2 How to reset an error
After detecting and removing the cause of the error
, reset the error by performing an error reset.
How to reset an error
1) Turn the following bit from OFF to ON in the sequence program or on GX Developer.
Item
BFM number
X-axis Y-axis
Content
Control data
Error reset BFM #518 b0 BFM #618 b0
When this turns ON at an error, an error reset is performed, and the following information is cleared.
Error occurrence BFM No. (BFM #6, #106)
Status information
Error occurrence (b5)
Error code (BFM #29)
→Refer to subsection 11.4.10
2) Perform an error reset with FX Configurator-FP.
Point
• At a servo parameter error
Correct the servo parameter, save the correct parameter to 20SSC-H flash memory, and reboot the
20SSC-H and servo amplifier.
• Alarms and warnings detected on the servo amplifier
The servo amplifier requires rebooting depending on the content of the alarm and warning.
→ For details on countermeasures, refer to subsection 13.2.3 and 13.2.4
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13 Diagnostics
13.2 Check Error Code
13.2.3 Error code list [BFM #29 (X-axis), BFM #129 (Y-axis)]
When an error occurs
, an error code is stored in decimal to BFM #29 (X-axis) and BFM #129 (Y-axis).
Error category
-
Setting error
Control errors
Error
Code
(decimal)
0
2
3
4
5
6
3000
3001
3002
3004
Error Content Action
No error
Incorrect value range
A value outside of the setting range is set to the buffer memory.
Value overflow
The converted pulse data (e.g. travel distance or operation speed) exceeds 32 bits.
The zero return, STARTand JOG commands are ON at the same time.
The operation pattern has Multiple operation patterns
Center coordinate setting error
When one of the following applies:
Start point = center coordinate
End point = center coordinate
Center coordinate is outside of the
-2,147,483,648 to 2,147,483,647 PLS range
Table operation start No. error
The table No. is executed outside of the range 0 to
299.
Jump No. fault
Change the setting value in buffer memory so that it is within the setting range.
Change the setting value of the corresponding buffer memory so that the converted pulse data is smaller than 32-bit data.
Change the program in the PLC main unit so that positioning control start commands do not overlap.
Change the program in the PLC main unit so that only one operation pattern is selected.
circle is formed.
-
Change the table operation start No. to 0 to 299.
Change the jump No. for the table information to 0 to
299. the range 0 to 299.
Command format fault set by a non-defined number.
Current value overflow at absolute value detection system
The converted pulse data of the current address exceeds 32 bits.
Change the operation information of the table information.
Turn the power OFF, or perform a mechanical zero return or data set type zero return.
External errors
3005
4002
4003
4004
4005
4006
4007
4008
Manual pulse generator input error pulse generator input (denominator) settings.
Servo end error
The in-position signal did not turn ON during the servo end determination time.
Servo ready error
Increase the servo end determination time setting.
Check the servo motor and encoder cable.
operation start or during operation.
Forward rotation limit, reverse rotation limit error
• The forward rotation limit (LSF) and reverse rotation limit (LSR) are ON.
• The forward rotation limit 2 (FLS) and reverse rotation 2 (RLS) limit are ON.
Software limit error
The current address exceeds the software upper and lower limits.
The servo amplifier emergency switch is ON.
ABS error
The current position could not be established.
• Check the wiring of the forward/reverse rotation limit, limit switches and the program.
• Check the external signal selection (positioning parameter) settings.
• Retract from the
JOG operation or manual pulse generator input operation.
• Correct the target address.
• Set the current value to within the software limit range by JOG operation manual pulse generator input operation.
Check the servo motor and encoder cable.
• Make sure to use a servo motor with absolute position detection.
• Make sure to use the battery for the servo motor to retain the origin position.
• Make sure that the absolute position detection system in servo parameters is valid.
• Check the servo motor and encoder cable.
Illegal origin data
The backup data for restoring the absolute position is illegal.
Execute a zero return.
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13 Diagnostics
13.2 Check Error Code
11
Error category
External errors
Major errors
Servo amplifier
Error
Code
(decimal)
Error Content Action
4009
Encoder error 1
During operation, the variation of the encoder current value changes as follows:
"Encoder current value variation/1.7[ms]
>
motor
180
°"
• Check the servo motor and encoder cable.
• Adopt the noise suppression measures as described in the manual for the servo amplifier.
4010
Encoder error 2
During operation, the following condition occurred:
"encoder current value (encoder unprocessed data)
[PLS]
≠
feedback current value (servo amplifier internal data) [PLS] (number of encoder valid bits)".
SSNET III communication error
SSCNET III cable communication error
• Check the servo motor and encoder cable.
• To reduce noise, follow the servo amplifier manual.
4011
• Check the SSCNET cable connection.
• Wipe off any dirt from the end surface.
• Change the SSCNET cable.
• To reduce noise, follow the servo amplifier manual.
9000
9001
9002
9003
Memory error
Sum check error
Watchdog timer error
Hardware error
Consult a Mitsubishi Electric distributor.
Parentheses ( ) in the error code column indicate the LED display on the servo amplifier.
→For details on how to check errors and actions, refer to the manual of the servo amplifier to be connected.
2010
(10)
Undervoltage
• MR-J3- B:
Power supply voltage dropped to 160VAC or less
• MR-J3- B1:
Power supply voltage dropped to 83VAC or less
Review the power supply
2012
(12)
The servo amplifier must be repaired. Consult a
Mitsubishi Electric distributor.
2013
(13)
2014
(14)
2015
(15)
Memory error 1 (RAM)
RAM, memory fault (in servo amplifier)
Clock error
• Faulty board
• Clock error transmitted from 20SSC-H
CPU watchdog error
• Servo amplifier hardware error
Memory error 2 (EEPROM)
• EEPROM error (in servo amplifier)
• The EEPROM write count exceeds 100,000 operations.
The servo amplifier or 20SSC-H must be repaired.
Consult a Mitsubishi Electric distributor.
The servo amplifier must be repaired. Consult a
Mitsubishi Electric distributor.
2016
(16)
Sensor fault 1 (after power-on)
• Communication error occurred between sensor and servo amplifier.
• Connect correctly.
• Change the servo motor.
• Repair or change the cable.
• Correct the setting of the 4th digit of parameter
No. PC04.
2017
(17)
2019
(19)
2020
(20)
2024
(24)
Board error
• CPU/part fault
Memory error 3 (Flash ROM)
• ROM memory fault
Sensor fault 2
• Communication error occurred between sensor and servo amplifier.
Main circuit error
• Ground fault occurred at the servo motor power
(U, V and W phases) of the servo amplifier.
The servo amplifier must be repaired. Consult a
Mitsubishi Electric distributor.
• Connect correctly.
• Change the servo motor.
• Repair or change the cable.
• Correct the wiring.
• Change the cable.
• Change the servo amplifier.
• After leaving the alarm
2025
(25)
Absolute position erase
• Absolute position data in error
• Power was switched ON for the first time in the absolute position detection system.
Always create the home position setting again.
• Change the battery Always make the home position again.
12
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13 Diagnostics
13.2 Check Error Code
Error category
Servo amplifier
Error
Code
(decimal)
Error Content Action
Parentheses ( ) in the error code column indicate the LED display on the servo amplifier.
→For details on how to check errors and actions, refer to the manual of the servo amplifier to be connected.
2030
(30)
Regenerative alarm
• The permissible regenerative power of the builtin regenerative brake resistor or regenerative brake option is exceeded.
• Regenerative transistor fault
• Correct the setting of the regenerative brake option (servo parameter).
→Refer to subsection 11.2.1
• Correctly connect the built-in regenerative brake resistor or regenerative brake option.
• High-duty operation or continuous regenerating operation to exceed the permissible regenerative power of the regenerative brake option.
Reduce the frequency of positioning.
Change the regenerative brake option to the one with a larger capacity.
Reduce the load.
• Review the power supply
• Change the servo amplifier or regenerative brake option.
Overspeed
• The rotation speed has exceeded the instantaneous permissible speed.
2031
(31)
2032
(32)
Overcurrent
• The current flow is higher than the permissible current of the servo amplifier.
• When the acceleration/deceleration overshoots, check the acceleration/deceleration time constant in the fixed parameters.
• If the servo gain cannot be set to a proper value:
Reduce the load inertia moment ratio (servo parameter) to the servo motor.
→Refer to subsection 11.2.2
Review the acceleration/deceleration time constant.
• Change the servo motor.
• Correct the wiring.
• Change the servo amplifier.
• Adopt noise suppression measures.
Overvoltage
• The converter bus voltage exceeded
400VDC.
2033
(33)
2034
(34)
2035
(35)
2036
(36)
2037
(37)
Receive error 1
• SSCNET III communication error
(continuous communication error for about
3.5ms)
Command frequency error
• The input pulse frequency of the command pulse is too high.
Receive error 2
• SSCNET III communication error
(intermittent communication error for about
70ms)
Parameter error
• Parameter setting is wrong.
• Use the regenerative brake option.
• Correct the setting of the regenerative brake option (servo parameter).
→Refer to subsection 11.2.1.
• Change the regenerative brake option leads.
• Correctly connect the regenerative brake option leads.
• Replace the servo amplifier.
• For a wire break of the built-in regenerative brake resistor, change the servo amplifier.
• For a wire break of the regenerative brake option, change the regenerative brake option.
• Add the regenerative brake option or increase the capacity.
• Review the power supply
• Correct the wiring.
• Connect after turning the control circuit power supply of the servo amplifier OFF.
• Wipe off any dirt from the end surface.
• Change the cable.
• Adopt noise suppression measures.
• Review the operation program.
• Change the servo system controller.
• Adopt noise suppression measures on the I/O signals.
• Adopt noise suppression measures on the controller side.
• Connect after turning the control circuit power supply of the servo amplifier OFF.
• Wipe off any dirt from the end surface.
• Change the cable.
• Adopt noise suppression measures.
• Change the servo amplifier.
• Set the parameter value within the setting range.
• Change the servo amplifier.
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13 Diagnostics
13.2 Check Error Code
11
Error category
Servo amplifier
Error
Code
(decimal)
Error Content Action
Parentheses ( ) in the error code column indicate the LED display on the servo amplifier.
→For details on how to check errors and actions, refer to the manual of the servo amplifier to be connected.
2045
(45)
Main circuit device overheat
• Main circuit device overheat
•
•
Replace the servo amplifier.
Review the drive method.
• Review the environment so that the ambient temperature is within the range 0 to 55
°C.
• Use within the specification range.
2046
(46)
Servo motor overheat
• A servo motor temperature rise actuated the thermal sensor.
• Review the environment so that the ambient temperature is within the range 0 to 40
°C.
• Reduce the load.
• Review the operation pattern.
• Use a servo motor that provides larger output.
• Replace the servo motor.
2047
(47)
Cooling fan alarm
• The cooling fan of the servo amplifier stopped.
• The rotation speed of the fan fell below the alarm level.
Overload 1
The load exceeded the overload protection characteristics of the servo amplifier.
•
•
•
Replace the cooling fan of the servo amplifier.
Remove any debris
Replace the servo amplifier.
2050
(50)
2051
(51)
Overload 2
• A machine collision or other simiar factor has caused the max. output current to flow continuously for several seconds.
Servo motor
-
-
Locked :1s or more
During rotation :2.5s or more
• The servo amplifier is exceeding its continuous output current rating.
Reduce the load.
Review the operation pattern.
Use a servo motor that provides larger output.
• Machine collision occurred.
Review the operation pattern.
Install limit switches.
• Connect the servo motor correctly.
• Servo system is unstable due to servo hunting
(jittering).
Repeat acceleration/deceleration to execute auto tuning.
Change the auto tuning response setting
(servo parameter).
→Refer to subsection 11.2.1
Set the auto tuning mode (servo parameter) to
OFF and manually adjust the the gain.
→Refer to subsection 11.2.1
• Replace the servo motor.
• Machine collision occurred.
Review the operation pattern.
Install limit switches.
• Connect the servo motor correctly.
• Hunting is occurring due to an unstable servo system.
Repeat acceleration/deceleration to execute auto tuning.
Change the auto tuning response setting
(servo parameter).
→Refer to subsection 11.2.1
Set the auto tuning mode (servo parameter) to
OFF and manually adjust gain.
→Refer to subsection 11.2.1
• Replace the servo motor.
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13 Diagnostics
13.2 Check Error Code
Error category
Servo amplifier
Error
Code
(decimal)
Error Content Action
Parentheses ( ) in the error code column indicate the LED display on the servo amplifier.
→For details on how to check errors and actions, refer to the manual of the servo amplifier to be connected.
2052
(52)
Excessive error
The deviation between the model position and the actual servo motor position exceeds the excessive error alarm level (servo parameter) setting value
(default: 3 rotations).
→Refer to subsection 11.2.3
•
•
Increase the acceleration/deceleration time constant.
Increase the torque limit value.
• The motor cannot be started due to insufficient torque caused by a power supply voltage drop.
Review the power supply capacity.
Use a servo motor with larger output.
• Increase the value of model control gain (servo parameter) and adjust to ensure proper operation.
→Refer to subsection 11.2.2
• The servo motor shaft was rotated by external force.
When the torque is limited, increase the limit value.
Reduce the load.
Use a servo motor with larger output.
• Machine collision occurred.
Review the operation pattern.
Install limit switches.
• Replace the servo motor.
• Connect the servo motor correctly.
• Replace the SSCNET III cable.
2060
(1A)
2088
(888)
Motor combination error
• Wrong combination of servo amplifier and servo motor
Watchdog
• CPU/part fault
Select the correct combination.
The servo amplifier must be repaired. Consult a
Mitsubishi Electric distributor.
13.2.4 Servo warning list [BFM #68 (X-axis), BFM #168 (Y-axis)]
The warning detected by the servo amplifier is stored.
Remove the cause of the warning.
→ For details on warnings, refer to the manual of the servo amplifier to be connected.
1. State when a warning code occurs
Warning code
2102
2106
2116
2140
2141
Servo amplifier
LED indication
92
96
9F
E0
E1
Name
Open battery cable warning
Home position setting warning
Battery warning
Excessive regenerative warning
Overload warning 1
State when a warning occurs
Servo amplifier 20SSC-H
Servo ON is continued
Operation is continued
2143
2144
2146
2147
2148
2149
2152
2153
E3
E4
E6
E7
E8
E9
EC
ED
Absolute position counter warning
Parameter warning
Servo forced stop warning
Controller forced stop warning
Cooling fan speed reduction warning
Main circuit OFF warning
Overload warning 2
Output watt excess warning
Servo OFF
Servo ON is continued
Operation is continued warning(zero return completed: OFF)
Open battery cable warning
Servo OFF
(An error has occurred.)
Operation is continued
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13 Diagnostics
13.2 Check Error Code
2. Content of warning and action
20SSC-H error
code
Servo
amplifier
LED indication
2102
2106
2116
2140
2141
2143
2144
2146
2147
2148
2149
2152
2153
92
96
9F
E0
E1
E3
E4
E6
E7
E8
E9
EC
ED
Content Action
Open battery cable warning
The absolute position detection system battery voltage is low.
Home position setting warning
The zero return could not be set to the accurate position.
Battery warning
The voltage of the battery for the absolute position detection system is low.
Replace the servo amplifier battery.
• Remove the cause of droop pulses.
• Reduce the creep speed.
Replace the servo amplifier battery.
Excessive regenerative warning
There is a possibility that regenerative power may exceed the permissible regenerative power of the built-in regenerative brake resistor or the regenerative brake option.
Overload warning
There is a possibility that overload (error code:
2050) or overload (error code: 2051) may occur.
Absolute position counter warning
Absolute position encoder pulses are faulty.
Parameter warning
Parameters are outside the setting range.
Servo forced stop warning
Servo amplifier input signal EM1 is OFF.
•
•
•
Refer to the manual of the servo amplifier.
•
•
Reduce the frequency of positioning.
Change the regenerative brake option to the one with a larger capacity.
Reduce the load.
To reduce the noise, follow the servo amplifier manual.
Replace the servo motor.
Set the servo parameters correctly.
Ensure safety and deactivate the forced stop.
The watchdog error occurred on the 20SSC-H.
If this error occurs after rebooting and initializing the
20SSC-H the module needs repair.
Consult a Mitsubishi Electric distributor.
Cooling fan speed reduction warning
The rotation speed of the servo amplifier's cooling fan fell below the warning level.
*1
• Replace the cooling fan of the servo amplifier.
• Replace the servo amplifier.
Main circuit OFF warning
Turn the main circuit power ON.
circuit power OFF.
Overload warning 2
Operation, in which a current exceeding the rating flow intensity in any of the U, V or W phases of the servo motor, was repeated.
• Reduce the positioning frequency at the specific positioning address.
• Reduce the load.
• Exchange the servo amplifier/servo motor with one of a larger capacity.
Output watt excess warning
The status, in which the output wattage (speed
× torque) of the servo motor exceeded the rated output, continued steadily.
• Reduce the rotation speed of the servo motor.
• Reduce the load.
*1.
This warning is not displayed on MR-J3-70B/100B servo amplifiers with cooling fans.
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13 Diagnostics
13.3 Diagnostics on the PLC Main Unit
13.3
Diagnostics on the PLC Main Unit
The following describes some of the PLC errors from the LED lights on the PLC.
For details related to the PLC main unit wiring, special auxiliary relays, and special data registers
, refer to the following respective manuals.
→ FX
3U
Hardware Edition
→ FX
3UC
Hardware Edition (Japanese document only)
13.3.1 POWER LED [on/flashing/off]
LED state
On
Flashing
Off
PLC state
Power of the specified voltage is being supplied to the power supply terminal.
One of the following causes may have occurred:
• Power and current of the specified voltage is not being supplied to the power supply terminal.
• Incorrect external wiring.
• Internal errors in the PLC.
One of the following causes may have occurred:
• The power supply is OFF.
• Incorrect external wiring.
• Power of the specified voltage is not being supplied to the power supply terminal.
• The power cable is broken.
The power supply is normal.
Action
• Check the supply voltage.
• After disconnecting cables other than the power cable, turn the power ON again, and check for changes in the state. If no improvement is obtained,
Consult a Mitsubishi Electric distributor.
• If the power is not OFF, check the power supply and the power supply route.
If power is being supplied correctly, consult a Mitsubishi Electric distributor.
• After disconnecting cables other than the power cable, turn the power ON again, and check for changes in the state. If no improvement is obtained,
Consult a Mitsubishi Electric distributor.
13.3.2 BATT LED [on/off]
LED state
On
Off
PLC state
The battery voltage is low.
The battery voltage is higher than the value with D8006.
Immediately replace the battery.
Normal
Action
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13 Diagnostics
13.3 Diagnostics on the PLC Main Unit
11
13.3.3 ERROR LED [on/flashing/off]
LED state
On
Flashing
Off
A watchdog timer error may have occurred, or the hardware of the PLC may be damaged.
PLC state
No errors to stop the PLC have occurred.
Action
1) Stop the PLC, and turn the power ON again.
If the ERROR LED goes out, a watchdog timer error may have occurred.
Adopt any of the following measures:
Review the program.
Set the maximum value (D8012) lower than the watchdog timer value.
Check that the input used for input interrupt or pulse catch is not being abnormally turned ON and OFF in one scan.
Check that the frequency of the pulse (duty 50%) input to the highspeed counter is not exceeding the specified range.
Add WDT instructions.
Add some WDT instructions to the program, and reset the watchdog timer several times in one scan.
Change the watchdog timer value.
Change the watchdog timer setting (D8000) in the program so that the setting is larger than the maximum value of the scan time (D8012).
2) Remove the PLC and supply the power to it from another power source.
If the ERROR LED goes out, noise may have affected the PLC. Adopt the following measures:
Check the ground wiring, and re-examine the wiring route and installation location.
Fit a noise filter onto the power supply line.
3) If the ERROR LED does not go out even after measures in 1) and 2) are adopted, consult a Mitsubishi Electric distributor.
One of the following errors has occurred on the PLC:
• Parameter error
• Syntax error
• Ladder error
Perform PLC diagnosis and program check with the programming tool.
If the operations of the PLC are abnormal, perform PLC diagnosis and program check with the programming tool.
An I/O error, parallel link/communication error, or operation error may have occurred.
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Appendix A: LIST OF PARAMETERS AND DATA
Appendix A-1 Monitor Data List
Appendix A: LIST OF PARAMETERS AND DATA
Appendix A-1 Monitor Data List
BFM Number
X axis Y axis
BFM #1,#0
BFM #3,#2
BFM
#101,#100
BFM
#103,#102
BFM #5,#4
BFM #6
Item
Current address (user)
Current address (pulse)
BFM
#105,#104
Torque limit storing value
BFM #106 Error BFM number
Description
-2,147,483,648 to 2,147,483, 647 (user unit)
-2,147,483,648 to 2,147,483,647 PLS
1 to 10000(
×0.1%)
*1
BFM #7
BFM #8
BFM #107
BFM #108
Terminal information
Servo terminal information
Stores error BMF number b0 START terminal input: ON b1 DOG terminal input: ON b2 INT0 terminal input: ON b3 INT1 terminal input: ON b4
φA terminal input: ON b5
φB terminal input: ON b15 to b6 Not available b0 FLS terminal input: ON b1 RLS terminal input: ON b2 DOG terminal input: ON b15 to b3 Not available
Stores m code number which is ON.
BFM #9
BFM
#11,#10
BFM
#13,#12
BFM
#15,#14
BFM #16
BFM #17
BFM #109 m code number
BFM
#111,#110
Operation speed present value
BFM
#113,#112
BFM
#115,#114
Manual pulse generator input current value
Manual pulse generator input frequency
BFM #116
-
Number of the table in operation
Version information
0 to 2,147,483,647(user unit)
*1
-2,147,483,648 to 2,147,483,647 PLS
-100000 to 100000Hz
Stores the number of the table in operation
BFM #28
BFM #29
BFM #128
BFM #129
Status information
Error code
Example: In Ver.1.00, K100 is stored.
b0 READY/BUSY b1 During forward rotation pulse output b2 During reverse rotation pulse output b3 Zero return completed b4 Current value overflow b5 Error occurrence b6 Positioning control completion b7 Standby for remaining travel distance at stop b8 m code is ON b9 Unit ready b10 During servo parameter transfer b11 Saving to flash memory b12 Initializing buffer memory b13 During operation speed change b14 During target address change b15 During table operation execution
Stores the error code
Value of monitor
Decimal
Decimal
Decimal
Decimal
Bit
Bit
Decimal
Decimal
Decimal
Decimal
Decimal
Decimal
Bit
Decimal
BFM #30
BFM
#51,#50
-
BFM
#151,#150
Model code
Deviation counter value
BFM #52 BFM #152 Motor rotation speed
BFM #54 BFM #154 Motor current value
BFM
#61 to#56
BFM
#161 to#156
Software number of servo amplifier
Stores the model code of 20SSC-H Decimal
Deviation counter value of servo amplifier (PLS) Hexadecimal
Rotation speed of servo motor (
Current value of servo motor (
×0.1 r/min.)
×0.1%)
Stores software number of servo amplifier
Hexadecimal
Hexadecimal
ASCII code
Default value
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Reference
subsection 11.3.1
subsection 11.3.2
subsection 11.3.3
subsection 11.3.4
subsection 11.3.5
subsection 11.3.6
subsection 11.3.7
subsection 11.3.8
subsection 11.3.9
subsection 11.3.10
subsection 11.3.11
subsection 11.3.12
subsection 11.3.13
subsection 11.3.14
K5220 subsection 11.3.15
-
-
-
subsection 11.3.16
subsection 11.3.17
subsection 11.3.18
subsection 11.3.19
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Appendix A: LIST OF PARAMETERS AND DATA
Appendix A-1 Monitor Data List
11
BFM Number
X axis Y axis
Item Description
BFM #62 BFM #162
Servo parameter error number
Stores parameter number of servo parameter
BFM #63
BFM #64
BFM #72
BFM
#91,#90
BFM #163
BFM #164
BFM #172
-
Servo status
Servo status 2
Flash memory write count b0 b2,b1
Zero phase passed
Not available b3 Zero speed b15 to b4 Not available b16 Ready ON b17 Servo ON b22 to b18 Not available b23 Servo alarm is arising b24 to b27 Not available b28 In-position b29 b30
Torque is limited
Absolute position is lost b31 Warning is arising
BFM #65 BFM #165 Regenerative load ratio Regenerative load ratio(%)
BFM #66 BFM #166 Effective load torque Effective load torque (%)
BFM #67 BFM #167 Peak torque ratio
BFM #68 BFM #68 Servo warning Code
BFM
#71,#70
BFM
#171,#170
Peak torque ratio (%)
Stores servo warning number
Motor feedback position Motor feedback position (PLS) b0 Flag indicating parameter update is completed b1 to b15 Not available
Number of writing to flash memory
(max:100,000 times)
*1.
For details on the user units, refer to the section given below.
Value of monitor
Hexadecimal
Bit
Bit
Decimal
Decimal
Decimal
Decimal
Decimal
Bit
Decimal
Default value
-
-
-
-
-
-
-
-
-
-
Reference
subsection 11.3.20
subsection 11.3.21
subsection 11.3.21
subsection 11.3.22
subsection 11.3.23
subsection 11.3.24
subsection 11.3.25
subsection 11.3.26
subsection 11.3.27
subsection 11.3.28
→ Refer to Section 7.7
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Appendix A: LIST OF PARAMETERS AND DATA
Appendix A-2 Control Data Table
Appendix A-2 Control Data Table
BFM number
X axis Y axis
BFM
#501,#500
BFM
#601,#600
BFM
#503,#502
BFM
#505,504
BFM
#507,#506
BFM
#603,#602
BFM
#605,#604
BFM
#607,#606
Item
Target address1
Operation speed1
Target address2
Operation speed2
BFM #508 BFM #608 Override setting
BFM #510 BFM #610
Torque output setting value
BFM
#513,#512
BFM
#613,#612
Speed change value
BFM
#515,#514
BFM
#517,#516
BFM
#615,#614
BFM
#617,#616
Target position change value
(address)
Target position change value
(speed)
-2,147,483,648 to 2,147,483,647 (user unit)
*1
-2,147,483,648 to 2,147,483,647 (user unit)
*1
-2,147,483,648 to 2,147,483,647 (user unit)
*1
-2,147,483,648 to 2,147,483,647 (user unit)
*1
1 to 30000(
×0.1%)
0 to 10000(
×0.1%)
Description/Setting range
-2,147,483,648 to 2,147,483,647 (user unit)
*1
-2,147,483,648 to 2,147,483,647 (user unit)
-2,147,483,648 to 2,147,483,647 (user unit)
*1
*1
BFM #518
BFM #519
BFM #520
BFM #618
BFM #619
BFM #620
Operation command 1
Operation command 2
Operation pattern selection b0 Error reset b1 STOP (Deceleration stop) b2 Forward rotation limit (LSF) b3 Reverse rotation limit (LSR) b4 Forward rotation JOG b5 Reverse rotation JOG b6 Mechanical zero return command b7 Not available b8 Relative/absolute address specification b9 START command b10 Simultaneous START flag b11 m code OFF b12 Change command in operation disabled b13 Speed change command in positioning operation b14 Target position change command in positioning operation b15 Not available b0 Remaining distance operation cancel command b3 to b1 Not available b4 Positioning parameter enable command b7 to 5 Not available b8 Servo OFF command b9 b10
Servo parameter transfer command
Gain change command b15 to 11 Not available b4 b5 b6 b7 b0 b1 b2 b3
1-speed positioning
Interrupt 1-speed constant quantity feed
2-speed positioning
Interrupt 2-speed constant quantity feed
Interrupt stop
Variable speed operation
Manual pulse generator operation
Linear interpolation b8 b9
Linear interpolation (interrupt stop)
Table operation (independent) b10 Table operation (simultaneous) b15 to 11 Not available
BFM #521
BFM #522
BFM #621
Table operation start number
Control command enable/disable
0 to 299
Model code: control command enabled
Other than model code: control command disabled
Default value
K0
Reference
subsection 11.4.1
K1
K0
K1
K1000
K0
K1
K0
K0 subsection 11.4.2
subsection 11.4.3
subsection 11.4.4
subsection 11.4.5
subsection 11.4.6
subsection 11.4.7
subsection 11.4.8
subsection 11.4.9
H0000 subsection 11.4.10
H0000 subsection 11.4.11
H0000 subsection 11.4.12
K0 subsection 11.4.13
H0000 subsection 11.4.14
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Appendix A: LIST OF PARAMETERS AND DATA
Appendix A-2 Control Data Table
11
BFM number
X axis Y axis
BFM #523
BFM
#525,#524
BFM
#527,#526
Item Description/Setting range
Control command b0 Stores positioning parameters of X axis (BFM#14000 to
BFM #14199) to flash memory b1 Stores positioning parameters of Y axis(BFM#14200 to
BFM #14399) to flash memory b2 Stores table information of X axis (BFM #1000 to
BFM #3999) to flash memory b3 Stores table information of Y axis (BFM #4000 to
BFM #6999) to flash memory b4 Stores table information of XY axes (BFM #7000 to
BFM #12999) to flash memory b5 Stores servo parameters of X axis (BFM #15000 to
BFM #15199) to flash memory b6 Stores servo parameters of Y axis (BFM #15200 to
BFM #15399) to flash memory b7 Not available b8 Initializes positioning parameters of X axis (BFM #14000 to
BFM #14199) b9 Initializes positioning parameters of Y axis (BFM #14200 to
BFM #14399) b10 Initializes table information of X axis (BFM #1000 to
BFM #3999) b11 Initializes table information of Y axis (BFM #4000 to
BFM #6999) b12 Initializes table information of XY axes (BFM #7000 to
BFM #12999) b13 Initializes servo parameters of X axis (BFM #15000 to
BFM #15199) b14 Initializes servo parameters of Y axis (BFM #15200 to
BFM #15399) b15 Not available
BFM
#625,#624
BFM
#627,#626
Manual pulse input magnification
(numerator)
Manual pulse input magnification
(denominator)
1 to 1,000,000 times
1 to 1,000,000 times
*1.
For details on the user units, refer to the section given below.
Default value
Reference
H0000 subsection 11.4.15
K1
K1 subsection 11.4.16
subsection 11.4.17
→ Refer to Section 7.7
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Appendix A-3 Table Information List
Appendix A: LIST OF PARAMETERS AND DATA
Appendix A-3 Table Information List
X axis
BFM
#1001,#1000
-
BFM number
Y axis
BFM
-
#4001,#4000
XY axis
BFM
#7001,#7000
BFM
#7003,#7002
BFM
#1003,#1002
-
-
-
BFM #1004
BFM #1005
BFM
#1011,#1010
-
BFM
#1013,#1012
-
-
-
-
BFM
#4003,#4002
-
-
BFM #4004
BFM #4005
-
BFM
#4011,#4010
-
BFM
#4013,#4012
-
-
BFM #1014
BFM #1015
BFM #4014
BFM #4015
:
:
:
BFM
#3991,#3990
-
-
BFM
#6991,#6990
BFM
#3993,#3992
-
-
BFM
-
#6993,#6992
-
-
BFM #3994
BFM #3995
-
BFM #6994
BFM #6995
BFM
#12981,#12980
BFM
#12983,#12982
BFM
#12985,#12984
BFM
#12987,#12986
BFM
#12989,#12988
BFM
#12991,#12990
BFM #12992
BFM #12993
BFM
#7005,#7004
BFM
#7007,#7006
BFM
#7009,#7008
BFM
#7011,#7010
BFM #7012
BFM #7013
BFM
#7021,#7020
BFM
#7023,#7022
BFM
#7025,#7024
BFM
#7027,#7026
BFM
#7029,#7028
BFM
#7031,#7030
BFM #7032
BFM #7033
Table number
0
Item Description/Setting range
Position data
Position data y
Positioning:
2,147,483,648 to 2,147,483,647
(user unit)
*1
Present address changing:
-2,147,483,648 to 2,147,483,647
(user unit)
*1
Dwell: 0 to 32,767 (
×10ms)
Jump: 0 to 299
Speed data x
1 to 50,000,000 (user unit)
*1
Speed data y
Center coordinate i, radius r
Center coordinate j
-2,147,483,648 to 2,147,483,647
(user unit)
*1
Operation information
Sets operation/command (-1 to 99) m code information Stores m code in execution
*1
Position data x
1
299
Position data y
Speed data x
Speed data y
Center coordinate i, radius r
Center coordinate j
Operation information m code information
Position data x
Position data y
Speed data x
Speed data y
Center coordinate i, radius r
Center coordinate j
Operation information m code information
Same as table number 0
:
:
:
Same as table number 0
Default value
K-1
Reference
K-1
K-1
K-1
K-1
K-1
K-1
K-1
:
:
:
K-1
K-1
K-1
K-1
K-1
K-1
K-1
K-1
K-1
K-1
K-1
K-1
K-1
K-1
K-1
K-1 section
11.5
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Appendix A: LIST OF PARAMETERS AND DATA
Appendix A-3 Table Information List
*1.
The operation information includes the following items.
-1: No processing (NOP)
-1: m code (NOP)
0: End (END)
1: 1-speed positioning (DRV_X)
2: 1-speed positioning (DRV_Y)
2: 1-speed positioning (DRV_XY)
4: Interrupt 1-speed constant quantity feed (SINT_X)
5: Interrupt 1-speed constant quantity feed (SINT_Y)
6: Interrupt 1-speed constant quantity feed (SINT_XY)
7: 2-speed positioning (DRV2_X)
8: 2-speed positioning (DRV2_Y)
9: 2-speed positioning (DRV2_XY)
10: Interrupt 2-speed constant quantity feed (DINT_X)
11: Interrupt 2-speed constant quantity feed (DINT_Y)
12: Interrupt 2-speed constant quantity feed (DINT_XY)
13: Interrupt stop (INT_X)
14: Interrupt stop (INT_Y)
15: Interrupt stop (INT_XY)
16: Multi speed operation (DRVC_X)
17: Multi speed operation (DRVC_Y)
19: Linear interpolation (LIN)
20: Linear interpolation (interrupt stop) (LIN_INT)
21: Circular interpolation (center, CW direction)(CW_i)
22: Circular interpolation
(center, CCW direction) (CCW_i)
23: Circular interpolation (radius, CW direction) (CW_r)
24: Circular interpolation
(radius, CCW directio) (CCW_r)
25: Mechanical zero return operation (DRVZ_X)
26: Mechanical zero return operation (DRVZ_Y)
27: Mechanical zero return operation (DRVZ_XY)
90: Current address change (SET_X)
91: Current address change (SET_Y)
92: Current address change (SET_XY)
93: Absolute address specification (ABS)
94: Relative address specification (INC)
95: Dwell (TIM)
96: Jump (JMP)
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Appendix A: LIST OF PARAMETERS AND DATA
Appendix A-4 Positioning parameter List
Appendix A-4 Positioning parameter List
BFM
#14005,
#14004
BFM
#14007,
#14006
BFM
#14009,
#14008
BFM
#14013,
#14012
BFM
#14014
BFM
#14018
BFM
#14020
BFM
#14022
BFM
#14025,
#14024
BFM
#14027,
#14026
BFM
#14029,
#14028
BFM
#14030
BFM
#14031
BFM
#14032
BFM
#14035,
#14034
BFM
#14037,
#14036
BFM
#14038
BFM
#14040
BFM number
X axis Y axis
BFM
#14000
BFM
#14002
BFM
#14200
BFM
#14202
Item Description/Setting range
Operation parameter 1
Operation parameter 2 b1,b0 System of units (user unit)
*1
(motor, mechanical, composite system) b3,b2 Unit of measurement for the user units
(
µm, Ccm/min, 10
-4 inch, inch/min, mdeg, 10deg/min) b5,b4 Position data magnification (1 to 1000 times) b9 to b6 Not available b10 Zero return direction b11 Acceleration/deceleration mode b12 DOG input logic b13 Zero-phase signal count start timing b14 Not available b15 STOP mode b0 b1
Servo end check enabled/disabled
Servo ready check enabled/disabled b2 Zero return interlock setting enabled/disabled b3 to b15 Not available
BFM
#14205,
#14204
BFM
#14207,
#14206
BFM
#14209,
#14208
BFM
#14213,
#14212
BFM
#14214
BFM
#14218
BFM
#14220
BFM
#14222
BFM
#14225,
#14224
BFM
#14227,
#14226
BFM
#14229,
#14228
BFM
#14230
BFM
#14231
BFM
#14232
BFM
#14235,
#14234
BFM
#14237,
#14236
BFM
#14238
BFM
#14240
Pulse rate
Feed rate
Maximum speed
JOG speed
JOG command determination time
Acceleration time
Deceleration time
Interpolation time constant
Zero return speed
(high speed)
Zero return speed
(creep)
Machine zero-point address
1 to 200,000,000 PLS/REV
1 to 200,000,000 (
0 to 5000 ms
1 to 5000 ms
1 to 5000 ms
1 to 5000 ms
µm/REV, 10
1 to 2,147,483,647 (user unit)
1 to 2,147,483,647 (user unit)
1 to 2,147,483,647 (user unit)
1 to 2,147,483,647 (user unit)
-4
*1
*1
*1
*1 inch/REV, mdeg)
-2,147,483,648 to 2,147,483,647 (user unit)
*1
Zero signal count
Zero return mode
Servo end evaluation time
0 to 32767 PLS
Selects zero return mode
(DOG, Data set, Stopper #1, Stopper #2)
1 to 5000 ms
Software limit (upper)
Sets upper limit of software limit
-2,147,483,648 to 2,147,483,647 (user unit)
*1
Software limit (lower)
Sets lower limit of software limit
-2,147,483,648 to 2,147,483,647 (user unit)
*1
Torque limit value
1 to 10000(
×
0.1
%)
Zero return torque limit value
1 to 10000(
×
0.1
%)
Default value
K300
K200
K200
K100
K100
K0
Reference
H0000 subsection 11.1.1
H0007 subsection 11.1.2
K262,144 subsection 11.1.3
K52,428,800 subsection 11.1.4
K4,000,000 subsection 11.1.5
K2,000,000 subsection 11.1.6
K1
K0
K5000 subsection 11.1.14
subsection 11.1.15
subsection 11.1.16
K0
K0 subsection 11.1.7
subsection 11.1.8
subsection 11.1.9
subsection 11.1.10
K4,000,000 subsection 11.1.11
subsection 11.1.12
subsection 11.1.13
subsection 11.1.17
K3000
K3000 subsection 11.1.18
subsection 11.1.19
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Appendix A: LIST OF PARAMETERS AND DATA
Appendix A-4 Positioning parameter List
11
BFM number
X axis Y axis
BFM
#14044
Item Description/Setting range
BFM
#14244
External input selection b0 b1
Use/ not use FLS, RLS signal servo amplifier
Use/ not use DOG signal of servo amplifier b7 to b2 Zero return interlock setting enabled/disabled b8 FLS/RLS signal logic of servo amplifier b9 DOG signal logic of servo amplifier b15 to b10 Not available
*1.
For details on the user units, refer to the section given below.
Default value
Reference
H0100 subsection 11.1.20
→ Refer to Section 7.7
12
13
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Appendix A: LIST OF PARAMETERS AND DATA
Appendix A-5 Servo Parameter List
Appendix A-5 Servo Parameter List
BFM
#15022
BFM
#15024
BFM
#15025
BFM
#15026
BFM
#15027
BFM
#15028
BFM
#15029
BFM
#15031
BFM
#15032
BFM
#15033
BFM
#15034
BFM
#15036
BFM
#15037
BFM
#15038
BFM
#15008
BFM
#15009
BFM
#15010
BFM
#15014
BFM
#15015
BFM number
X axis Y axis
BFM
#15000
BFM
#15200
BFM
#15002
BFM
#15003
BFM
#15004
BFM
#15202
BFM
#15203
BFM
#15204
BFM
#15208
BFM
#15209
BFM
#15210
BFM
#15214
BFM
#15215
BFM
#15019
BFM
#15219
BFM
#15020
BFM
#15220
BFM
#15022
BFM
#15224
BFM
#15225
BFM
#15226
BFM
#15227
BFM
#15228
BFM
#15229
BFM
#15231
BFM
#15232
BFM
#15233
BFM
#15234
BFM
#15236
BFM
#15237
BFM
#15238
Item
Servo amplifier series
Settings
Setting of servo amplifier series connected to 20SSC-H
Default value
K0
Reference
Regeneration option
Absolute position detection system
Selecting functions A-1
Auto tuning mode
Setting of with/without regeneration option
Setting of with/without absolute detection system
Setting of with/without emergency stop input (EMI) to servo amplifier
Setting of gain adjustment
H0000
K0
H0000
H0001 subsection 11.2.1
Auto tuning response Setting of auto tuning response (low to high) K12
In-position range
Rotation direction selection
0 to 50000 PLS
Setting of rotation direction (CCW/CW) when viewed from the servo motor load
Encoder output pulses 1 to 65535 PLS/REV
Adaptive tuning mode
(Adaptive filter 2)
Vibration suppression control tuning mode
(advanced vibration suppression control)
Setting of adaptive filter tuning
Setting of vibration suppression control tuning mode
Feed forward Gain 0 to 100
%
Ratio of load inertia moment to servo motor inertia moment
Model loop gain
0 to 3000 (
×0.1 time)
1 to 2000rad/s
K100
K0
K4000
K0
K0
K0
K70
K24
Position loop gain 1 to 1000rad/s K37
Speed loop gain
Speed integral compensation
Speed differential compensation
Machine resonance suppression filter 1
20 to 50000rad/s
1 to 10000(
0 to 1000
×0.1ms)
100 to 4500Hz
Notch shape selection 1 Setting of notch form (depth, width)
Machine resonance suppression filter 2
100 to 4500Hz
Notch shape selection 2
Settings of validity for machine resonance suppression filter 2 and notch shape (depth, width of notch)
Low-pass filter 100 to 18000rad/s
Vibration suppression
Vibration frequency setting
Vibration suppression
Resonance frequency setting
1 to 1000(
1 to 1000(
×0.1Hz)
×0.1Hz)
K823
K337
K980
K4500
H0000
K4500
H0000
K3141
K1000
H0000 subsection 11.2.2
172
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Appendix A: LIST OF PARAMETERS AND DATA
Appendix A-5 Servo Parameter List
11
BFM
#15052
BFM
#15072
BFM
#15073
BFM
#15074
BFM
#15075
BFM
#15080
BFM
#15064
BFM
#15065
BFM
#15066
BFM
#15067
BFM
#15068
BFM
#15070
BFM
#15102
BFM
#15103
BFM
#15104
BFM
#15252
BFM
#15272
BFM
#15273
BFM
#15274
BFM
#15275
BFM
#15280
BFM
#15264
BFM
#15265
BFM
#15266
BFM
#15267
BFM
#15268
BFM
#15270
BFM
#15302
BFM
#15303
BFM
#15304
BFM
#15047
BFM
#15048
BFM
#15049
BFM
#15050
BFM number
X axis Y axis
BFM
#15041
BFM
#15241
BFM
#15042
BFM
#15044
BFM
#15045
BFM
#15046
BFM
#15242
BFM
#15244
BFM
#15245
BFM
#15246
BFM
#15247
BFM
#15248
BFM
#15249
BFM
#15250
BFM
#15051
BFM
#15251
Item Settings
Low-pass filter selection Selects setting method (auto/manual) of low-pass filter
Slight vibration suppression control selection
Selects slight vibration suppression control (validity of the function, PI-PID switching method)
Gain changing selection Setting of the selection/condition for gain changing
Default value
H0000
H0000
H0000
K10
K1
Gain changing condition 0 to 9999 (kpps, PLS, r/min)
Gain changing time constant
Gain changing
Ratio of load inertia moment to servo motor inertia moment
Gain changing
Position loop gain
Gain changing
Speed loop gain
Gain changing
Speed integral compensation
Gain changing
Vibration suppression control Vibration frequency setting
Gain changing
Vibration suppression control Resonance frequency setting
Error excessive alarm level
Electromagnetic brake sequence output
Encoder output pulses selection
0 to 100 ms
0 to 3000 (
×0.1 time)
1 to 2000 rad/s
20 to 50000 rad/s
1 to 50000 (
×0.1ms)
1 to 1000 (
×0.1Hz)
1 to 1000 (
×0.1Hz)
1 to 200 rev
0 to 1000 ms
Selects the direction/setting for encoder pulse output
Function selection C-1 Selection of serial encoder cable (2-wire or 4-wire type)
Function selection C-2 Selects validity for operations without motor
Zero speed 0 to 10000 r/min.
K70
K37
K823
K337
K1000
K1000
K3
K0
H0000
K0
K0
K50
Reference
subsection 11.2.2
subsection 11.2.3
Analog monitor output 1 Setting of output signal to analog monitor 1 H0000
Analog monitor output 2 Setting of output signal to analog monitor 2
Analog monitor 1
Offset
Analog monitor 2
Offset
Function selection C-4
-999 to 999 mV
-999 to 999 mV
Output signal device
Selection 1 (CN3-13)
Output signal device
Selection 2 (CN3-9)
Output signal device
Selection 3 (CN3-15)
Select the home position setting condition in the absolute position detection system
Setting of output signal to the connector (CN3-13 pin) of servo amplifier
Setting of output signal to the connector (CN3-9 pin) of servo amplifier
Setting of output signal to the connector (CN3-15 pin) of servo amplifier
H0000
K0
K0
K1
H0005
H0004
H0003 subsection 11.2.4
12
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-20SSC-H Positioning Block User's Manual
MEMO
Appendix A: LIST OF PARAMETERS AND DATA
Appendix A-5 Servo Parameter List
174
FX
3U
-20SSC-H Positioning Block User's Manual
Warranty
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.
2. Onerous repair term after discontinuation of production
1) Mitsubishi shall accept onerous product repairs for seven (7) years after production of the product is discontinued.
Discontinuation of production shall be notified with
Mitsubishi Technical Bulletins, etc.
2) Product supply (including repair parts) is not available after production is discontinued.
3. Overseas service
Overseas, repairs shall be accepted by Mitsubishi's local overseas FA Center. Note that the repair conditions at each FA Center may differ.
[Gratis Warranty Term]
The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place. Note that after manufacture and shipment from
Mitsubishi, the maximum distribution period shall be six (6) months, and the longest gratis warranty term after manufacturing shall be eighteen (18) months. The gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs.
4. Exclusion of loss in opportunity and secondary loss from warranty liability
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation of damages caused by any cause found not to be the responsibility of Mitsubishi, loss in opportunity, lost profits incurred to the user or third person by Failures of Mitsubishi products, special damages and secondary damages whether foreseeable or not , compensation for accidents, and compensation for damages to products other than Mitsubishi products, replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.
[Gratis Warranty Range]
1) The range shall be limited to normal use within the usage state, usage methods and usage environment, etc., which follow the conditions and precautions, etc., given in the instruction manual, user's manual and caution labels on the product.
2) Even within the gratis warranty term, repairs shall be charged for in the following cases. a) Failure occurring from inappropriate storage or handling, carelessness or negligence by the user.
Failure caused by the user's hardware or software design. b) Failure caused by unapproved modifications, etc., to the product by the user. c) When the Mitsubishi product is assembled into a user's device, Failure that could have been avoided if functions or structures, judged as necessary in the legal safety measures the user's device is subject to or as necessary by industry standards, had been provided. d) Failure that could have been avoided if consumable parts (battery, backlight, fuse, etc.) designated in the instruction manual had been correctly serviced or replaced. e) Relay failure or output contact failure caused by usage beyond the specified Life of contact
(cycles).
f) Failure caused by external irresistible forces such as fires or abnormal voltages, and failure caused by force majeure such as earthquakes, lightning, wind and water damage. g) Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi. h) Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user.
5. Changes in product specifications
The specifications given in the catalogs, manuals or technical documents are subject to change without prior notice.
6. Product application
1) In using the Mitsubishi MELSEC programmable logic controller, the usage conditions shall be that the application will not lead to a major accident even if any problem or fault should occur in the programmable logic controller device, and that backup and fail-safe functions are systematically provided outside of the device for any problem or fault.
2) The Mitsubishi programmable logic controller has been designed and manufactured for applications in general industries, etc. Thus, applications in which the public could be affected such as in nuclear power plants and other power plants operated by respective power companies, and applications in which a special quality assurance system is required, such as for
Railway companies or Public service purposes shall be excluded from the programmable logic controller applications.
In addition, applications in which human life or property that could be greatly affected, such as in aircraft, medical applications, incineration and fuel devices, manned transportation, equipment for recreation and amusement, and safety devices, shall also be excluded from the programmable logic controller range of applications.
However, in certain cases, some applications may be possible, providing the user consults their local
Mitsubishi representative outlining the special requirements of the project, and providing that all parties concerned agree to the special circumstances, solely at the users discretion.
175
FX
3U
-20SSC-H Positioning Block User's Manual
Revised History
Date
12/2005
Revision
A First Edition
Discription
Revised History
176
FX
3U
-20SSC-H
USER’S MANUAL
HEAD OFFICE: TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
HIMEJI WORKS: 840, CHIYODA CHO, HIMEJI, JAPAN
MODEL
MODEL CODE
FX3U-20SSC-U-E
09R622
JY997D21301A
(MEE)
Effective Dec. 2005
Specifications are subject to change without notice.
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Table of contents
- 1 Front Cover
- 3 Safety Precautions
- 7 Manual Number
- 9 Table of Contents
- 14 Compliance with EC directive (CE Marking)
- 15 Functions and Use of This Manual
- 16 Associated Manuals
- 17 Generic Names and Abbreviations Used in Manual
- 19 Reading of the Manual
- 20 1. Introduction
- 20 1.1 Outline
- 21 1.2 External Dimensions and Part Names
- 22 1.3 Power and Status LED
- 23 2. System Configuration
- 23 2.1 General Configuration
- 24 2.2 Connection with PLC
- 24 2.3 Applicable PLC
- 25 3. Specifications
- 25 3.1 General Specifications
- 26 3.2 Power Supply Specification
- 26 3.3 Performance Specification
- 27 3.4 Input Specifications
- 27 3.4.1 Input specifications
- 27 3.4.2 Internal input circuit
- 28 3.5 Pin Configuration
- 28 3.5.1 Input connector
- 28 3.5.2 Power supply connector
- 29 4. Installation
- 30 4.1 DIN rail Mounting
- 30 4.2 Direct Mounting
- 31 5. Wiring
- 32 5.1 Cable to Be Used, Applicable Connector and Wire Size
- 32 5.1.1 SSCNET III cable
- 32 5.1.2 Power supply cable
- 33 5.1.3 Input cable and terminal block
- 34 5.2 Power Supply Wiring
- 34 5.2.1 Power supply wiring
- 34 5.2.2 Grounding
- 35 5.3 Input Wiring
- 35 5.3.1 Sink input wiring
- 35 5.3.2 Source input wiring
- 36 5.4 Connecting the SSCNET III Cable
- 36 5.4.1 Cautions for installation the SSCNET III cable
- 37 5.4.2 Cautions for SSCNET III cable wiring
- 38 6. Memory Configuration and Data Operation
- 39 6.1 Memory Configuration and Role
- 39 6.1.1 Memory configuration
- 40 6.1.2 Data type and role
- 40 6.2 Parameter setting method
- 41 6.3 Data Transfer Process
- 41 6.3.1 PLC, 20SSC-H and servo amplifier
- 42 6.3.2 FX Configurator-FP and 20SSC-H
- 43 6.3.3 Transfer (writing) servo parameter to servo amplifier
- 44 7. Before Starting Positioning Operation
- 44 7.1 Note on Setting Parameters
- 45 7.2 Outline of Positioning Operation
- 47 7.3 Handling the Forward Rotation Limit and Reverse Rotation Limit
- 48 7.3.1 Forward rotation limit 2 (FLS) and reverse rotation limit 2 (RLS) [servo amplifier side]
- 48 7.3.2 Forward rotation limit (LSF) and reverse rotation limit (LSR) [PLC side]
- 49 7.3.3 Software limit
- 50 7.4 Handling the STOP command
- 52 7.5 Changing During Operation (Operation Speed, Target Address)
- 52 7.5.1 Changing the operation speed with override function
- 53 7.5.2 Changing the operation speed with the operation speed change function
- 54 7.5.3 Changing the target address
- 55 7.6 Other functions
- 55 7.6.1 Servo-ready check function
- 55 7.6.2 Servo end check function
- 56 7.6.3 Torque limit function
- 57 7.6.4 Absolute position detection system
- 58 7.6.5 Servo ON/OFF
- 58 7.6.6 Follow-up function
- 59 7.6.7 Simultaneous start function
- 59 7.6.8 Current address change function
- 60 7.6.9 Zero return interlock setting
- 60 7.7 Precautions for using the user units (mechanical or composite system of units)
- 62 7.8 Cautions for Positioning Operation
- 62 7.8.1 Overlapped specification of operation mode
- 62 7.8.2 When the travel distance is small
- 64 7.9 Related parameter, control data and monitor data
- 67 8. Manual Control
- 67 8.1 Mechanical Zero Return Control
- 67 8.1.1 Outline of mechanical zero return control
- 68 8.1.2 DOG type zero return
- 70 8.1.3 Data-set type mechanical zero return
- 71 8.1.4 Stopper type mechanical zero return
- 73 8.1.5 Related parameters, control data and monitor data
- 75 8.2 JOG Operation
- 75 8.2.1 Outline of JOG operation
- 77 8.2.2 Changing the speed during JOG operation
- 78 8.3 Manual pulse generator operation
- 78 8.3.1 Outline of manual pulse generator operation
- 79 8.3.2 Current manual pulse input value
- 79 8.3.3 Input frequency of manual pulse generator
- 80 8.3.4 Related parameters, control data and monitor data
- 81 9. Positioning Control
- 81 9.1 Functions Available with Each Positioning Operation
- 82 9.2 1-speed Positioning Operation
- 83 9.3 Interrupt 1-speed Constant Quantity Feed
- 84 9.4 2-speed Positioning Operation
- 86 9.5 Interrupt 2-speed Constant Quantity Feed
- 87 9.6 Interrupt Stop Operation
- 88 9.7 Variable Speed Operation
- 89 9.8 Multi-Speed Operation
- 91 9.9 Liner Interpolation Operation
- 92 9.10 Linear Interpolation Operation (Interrupt Stop)
- 93 9.11 Circular Interpolation Operation
- 93 9.11.1 Circular interpolation [center coordinate specification]
- 94 9.11.2 Circular interpolation [radius specification]
- 95 9.12 Parameter, Control Data, Monitor Data and Table Information
- 97 10. Table Operation
- 97 10.1 Outline of Table Operation
- 97 10.1.1 Applicable positioning operations for table operation
- 97 10.1.2 Types of table information and number of registered tables
- 98 10.1.3 Table information setting items
- 100 10.1.4 Table operation execution procedure
- 101 10.2 How to Set Table Information
- 104 10.3 Tables and BFM No. Allocation
- 105 10.4 Current Position Change
- 105 10.5 Absolute Address Specification
- 105 10.6 Relative address specification
- 105 10.7 Jump
- 105 10.8 Dwell
- 106 10.9 m code
- 106 10.9.1 After mode
- 107 10.9.2 With mode
- 108 10.9.3 Related buffer memory
- 109 10.10 Continuous Pass Operation
- 110 11. Buffer Memory (Parameters & Monitored Data)
- 110 11.1 Positioning Parameters
- 110 11.1.1 Operation parameters 1 [BFM #14000, BFM #14200]
- 112 11.1.2 Operation parameters 2 [BFM #14002, BFM #14202]
- 112 11.1.3 Pulse rate [BFM #14005, #14004, BFM #14205, #14204]
- 112 11.1.4 Feed rate [BFM #14007, #14006, BFM #14207, #14206]
- 113 11.1.5 Maximum speed [BFM #14009, #14008, BFM #14209, #14208]
- 113 11.1.6 JOG speed [BFM #14013, #14012, BFM #14213, #14212]
- 113 11.1.7 JOG Instruction evaluation time [BFM #14014, BFM #14214]
- 114 11.1.8 Acceleration time [BFM #14018, BFM #14218]
- 114 11.1.9 Deceleration time [BFM #14020, BFM #14220]
- 114 11.1.10 Interpolation time constant [BFM #14022, BFM #14222]
- 114 11.1.11 Zero return speed (High Speed) [BFM #14025, #14024, BFM #14225, #1424]
- 115 11.1.12 Zero return speed (Creep) [BFM #14027, #14026, BFM #14227, #14226]
- 115 11.1.13 Mechanical origin address [BFM #14029, #14028, BFM #14229, #14228]
- 115 11.1.14 Zero-phase signal count [BFM #14030, BFM #14230]
- 116 11.1.15 Zero return mode [BFM #14031, BFM #14231]
- 116 11.1.16 Servo end evaluation time [BFM #14032, BFM #14232]
- 116 11.1.17 Software limit (upper) [BFM #14035, #14034, BFM #14235, #14234] Software limit (lower) [B...
- 117 11.1.18 Torque limit [BFM #14038, BFM #14238]
- 117 11.1.19 Zero return torque limit [BFM #14040, BFM #14240]
- 117 11.1.20 External input selection [BFM #14044, BFM #14244]
- 118 11.2 Servo Parameters
- 118 11.2.1 Servo parameters (Basic settings)
- 119 11.2.2 Servo parameters (Gain/Filter settings)
- 121 11.2.3 Servo parameters (Advanced setting)
- 123 11.2.4 Servo parameters (I/O setting)
- 125 11.3 Monitor Data
- 125 11.3.1 Current address (User) [BFM #0, BFM #100]
- 125 11.3.2 Current address (Pulse) [BFM #3, #2, BFM #103, #102]
- 126 11.3.3 Torque limit storing value [BFM #5, #4, BFM #104, #105]
- 126 11.3.4 Error BFM numbers [BFM #6, BFM #106]
- 126 11.3.5 Terminal Information [BFM #7, BFM #107]
- 126 11.3.6 Servo terminal information [BFM #8, BFM #108]
- 126 11.3.7 m code [BFM #9, BFM #109]
- 127 11.3.8 Current value of operation speed [BFM #11, #10, BFM #111, #110]
- 127 11.3.9 Current pulses input by manual pulse generator [BFM #13, #12, BFM #113, #112]
- 127 11.3.10 Frequency of pulses input by manual pulse generator [BFM #15, 14, BFM #115, 114]
- 127 11.3.11 Table numbers in execution [BFM #16, BFM #116]
- 127 11.3.12 Version information [BFM #17]
- 128 11.3.13 Status information [BFM #28, BFM #128]
- 129 11.3.14 Error code [BFM #29, BFM #129]
- 130 11.3.15 Model code [BFM #30]
- 130 11.3.16 Deviation counter value [BFM #51, #50, BFM #151, #150]
- 130 11.3.17 Motor speed [BFM #52, BFM #152]
- 130 11.3.18 Motor current value [BFM #54, BFM #154]
- 130 11.3.19 Servo amplifier software number [BFM #53, #52, BFM #153, #152]
- 131 11.3.20 Servo parameter error numbers [BFM #62, BFM #162]
- 131 11.3.21 Servo status [BFM #64, #63, BFM #164, #163]
- 132 11.3.22 Regenerative load ratio [BFM #65, BFM #165]
- 132 11.3.23 Effective load torque [BFM #66, BFM #166]
- 132 11.3.24 Peak torque ratio [BFM #67, BFM #167]
- 132 11.3.25 Servo warning code [BFM #68, BFM #168]
- 132 11.3.26 Motor feedback position [BFM #71, #70, BFM #171, #170]
- 132 11.3.27 Servo status 2 [BFM #72, BFM #172]
- 132 11.3.28 Flash memory write count [BFM #91, #90]
- 133 11.4 Control Data
- 133 11.4.1 Target address 1 [BFM #501, #500, BFM #601, #600]
- 133 11.4.2 Operation speed 1 [BFM #503, #502, BFM #603, #602]
- 134 11.4.3 Target address 2 [BFM #505, #504, BFM #605, #604]
- 134 11.4.4 Operation speed 2 [BFM #507, #506, BFM #607, #606]
- 134 11.4.5 Override setting [BFM #508, BFM #608]
- 134 11.4.6 Torque output setting value [BFM #510, BFM #610]
- 135 11.4.7 Velocity change value [BFM #513, #512, BFM #613, #612]
- 135 11.4.8 Target position change value (Address) [BFM #515, #514, BFM #615, #614]
- 135 11.4.9 Target position change value (Speed) [BFM #517, #516, BFM #617, #616]
- 135 11.4.10 Operation command 1 [BFM #518, BFM #618]
- 137 11.4.11 Operation command 2 [BFM #519, BFM #619]
- 138 11.4.12 Operation pattern selection [BFM #520, BFM #620]
- 138 11.4.13 Table operation start number [BFM #521, BFM #621]
- 139 11.4.14 Control command enable/disable [BFM #522]
- 139 11.4.15 Control command [BFM #523]
- 140 11.4.16 Manual pulse generator input magnification (numerator) [BFM #525, #524, BFM #625, #624]
- 140 11.4.17 Manual pulse generator input magnification (denominator) [BFM #527, #526, BFM #627, #626]
- 141 11.5 Table Information
- 144 12. Program Example
- 145 12.1 Reading/Writing Buffer Memory
- 145 12.1.1 Assigned unit number
- 145 12.1.2 How to read/write from/to buffer memory
- 147 12.2 Device Assignments
- 148 12.3 Explanation of Operation
- 149 12.3.1 Mechanical zero return
- 149 12.3.2 JOG operation
- 150 12.3.3 1-speed positioning operation
- 150 12.3.4 Multi-speed operation [table operation (individual)]
- 152 12.3.5 Circular interpolation operation [table operation (simultaneous)]
- 152 12.4 Sequence Program
- 159 13. Diagnostics
- 160 13.1 Check LEDs
- 160 13.1.1 Check LEDs
- 160 13.1.2 Input LED state indications
- 161 13.2 Check Error Code
- 161 13.2.1 Checking errors
- 161 13.2.2 How to reset an error
- 162 13.2.3 Error code list [BFM #29 (X-axis), BFM #129 (Y-axis)]
- 166 13.2.4 Servo warning list [BFM #68 (X-axis), BFM #168 (Y-axis)]
- 168 13.3 Diagnostics on the PLC Main Unit
- 168 13.3.1 POWER LED [on/flashing/off]
- 168 13.3.2 BATT LED [on/off]
- 169 13.3.3 ERROR LED [on/flashing/off]
- 170 Appendix A: LIST OF PARAMETERS AND DATA
- 170 Appendix A-1 Monitor Data List
- 172 Appendix A-2 Control Data Table
- 174 Appendix A-3 Table Information List
- 176 Appendix A-4 Positioning parameter List
- 178 Appendix A-5 Servo Parameter List
- 181 Warranty
- 182 Revised History
- 184 Back Cover