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MELSEC iQ-R Motion Controller
Programming Manual (Positioning Control)
-R16MTCPU
-R32MTCPU
-R64MTCPU
SAFETY PRECAUTIONS
(Read these precautions before using this product.)
Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly.
The precautions given in this manual are concerned with this product only. Refer to MELSEC iQ-R Module Configuration
Manual for a description of the PLC system safety precautions.
In this manual, the safety precautions are classified into two levels: " WARNING" and " CAUTION".
WARNING
Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous conditions, resulting in minor or moderate injury or property damage.
Under some circumstances, failure to observe the precautions given under " consequences.
CAUTION" may lead to serious
Observe the precautions of both levels because they are important for personal and system safety.
Make sure that the end users read this manual and then keep the manual in a safe place for future reference.
[Design Precautions]
WARNING
● Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the programmable controller.
Failure to do so may result in an accident due to an incorrect output or malfunction.
(1) Emergency stop circuits, protection circuits, and protective interlock circuits for conflicting operations (such as forward/reverse rotations or upper/lower limit positioning) must be configured external to the programmable controller.
(2) When the programmable controller detects an abnormal condition, it stops the operation and all outputs are:
• Turned off if the overcurrent or overvoltage protection of the power supply module is activated.
• Held or turned off according to the parameter setting if the self-diagnostic function of the CPU module detects an error such as a watchdog timer error.
(3) All outputs may be turned on if an error occurs in a part, such as an I/O control part, where the
CPU module cannot detect any error. To ensure safety operation in such a case, provide a safety mechanism or a fail-safe circuit external to the programmable controller. For a fail-safe circuit example, refer to "General Safety Requirements" in the MELSEC iQ-R Module Configuration
Manual.
(4) Outputs may remain on or off due to a failure of a component such as a relay and transistor in an output circuit. Configure an external circuit for monitoring output signals that could cause a serious accident.
● In an output circuit, when a load current exceeding the rated current or an overcurrent caused by a load short-circuit flows for a long time, it may cause smoke and fire. To prevent this, configure an external safety circuit, such as a fuse.
● Configure a circuit so that the programmable controller is turned on first and then the external power supply. If the external power supply is turned on first, an accident may occur due to an incorrect output or malfunction.
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[Design Precautions]
WARNING
● Configure a circuit so that the external power supply is turned off first and then the programmable controller. If the programmable controller is turned off first, an accident may occur due to an incorrect output or malfunction.
● For the operating status of each station after a communication failure, refer to manuals for the network used. For the manuals, please consult your local Mitsubishi representative. Incorrect output or malfunction due to a communication failure may result in an accident.
● When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller, configure an interlock circuit in the program to ensure that the entire system will always operate safely. For other forms of control (such as program modification, parameter change, forced output, or operating status change) of a running programmable controller, read the relevant manuals carefully and ensure that the operation is safe before proceeding. Improper operation may damage machines or cause accidents. When a Safety CPU is used, data cannot be modified while the Safety CPU is in SAFETY MODE.
● Especially, when a remote programmable controller is controlled by an external device, immediate action cannot be taken if a problem occurs in the programmable controller due to a communication failure. To prevent this, configure an interlock circuit in the program, and determine corrective actions to be taken between the external device and CPU module in case of a communication failure.
● Do not write any data to the "system area" and "write-protect area" of the buffer memory in the module. Also, do not use any "use prohibited" signals as an output signal from the CPU module to each module. Doing so may cause malfunction of the programmable controller system. For the
"system area", "write-protect area", and the "use prohibited" signals, refer to the user's manual for the module used. For areas used for safety communications, they are protected from being written by users, and thus safety communications failure caused by data writing does not occur.
● If a communication cable is disconnected, the network may be unstable, resulting in a communication failure of multiple stations. Configure an interlock circuit in the program to ensure that the entire system will always operate safely even if communications fail. Failure to do so may result in an accident due to an incorrect output or malfunction. When safety communications are used, an interlock by the safety station interlock function protects the system from an incorrect output or malfunction.
● Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the programmable controller.
Failure to do so may result in an accident due to an incorrect output or malfunction.
● If safety standards (ex., robot safety rules, etc.,) apply to the system using the module, servo amplifier and servo motor, make sure that the safety standards are satisfied.
● Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of the module or servo amplifier differs from the safety directive operation in the system.
● Do not remove the SSCNET cable while turning on the control circuit power supply of modules and servo amplifier. Do not see directly the light generated from SSCNET connector of the module or servo amplifier and the end of SSCNET cable. When the light gets into eyes, you may feel something wrong with eyes. (The light source of SSCNET complies with class 1 defined in
JISC6802 or IEC60825-1.)
[Design Precautions]
CAUTION
● Do not install the control lines or communication cables together with the main circuit lines or power cables. Doing so may result in malfunction due to electromagnetic interference. Keep a distance of
100mm or more between those cables.
● During control of an inductive load such as a lamp, heater, or solenoid valve, a large current
(approximately ten times greater than normal) may flow when the output is turned from off to on.
Therefore, use a module that has a sufficient current rating.
● After the CPU module is powered on or is reset, the time taken to enter the RUN status varies depending on the system configuration, parameter settings, and/or program size. Design circuits so that the entire system will always operate safely, regardless of the time.
● Do not power off the programmable controller or reset the CPU module while the settings are being written. Doing so will make the data in the flash ROM and SD memory card undefined. The values need to be set in the buffer memory and written to the flash ROM and SD memory card again. Doing so also may cause malfunction or failure of the module.
● When changing the operating status of the CPU module from external devices (such as the remote
RUN/STOP functions), select "Do Not Open by Program" for "Opening Method" of "Module
Parameter". If "Open by Program" is selected, an execution of the remote STOP function causes the communication line to close. Consequently, the CPU module cannot reopen the line, and external devices cannot execute the remote RUN function.
[Security Precautions]
WARNING
● To maintain the security (confidentiality, integrity, and availability) of the programmable controller and the system against unauthorized access, denial-of-service (DoS) attacks, computer viruses, and other cyberattacks from external devices via the network, take appropriate measures such as firewalls, virtual private networks (VPNs), and antivirus solutions.
[Installation Precautions]
WARNING
● Shut off the external power supply (all phases) used in the system before mounting or removing the module. Failure to do so may result in electric shock or cause the module to fail or malfunction.
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[Installation Precautions]
CAUTION
● Use the programmable controller in an environment that meets the general specifications in the Safety
Guidelines (IB-0800525). Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product.
● To mount a module, place the concave part(s) located at the bottom onto the guide(s) of the base unit, and push in the module until the hook(s) located at the top snaps into place. Incorrect interconnection may cause malfunction, failure, or drop of the module.
● To mount a module with no module fixing hook, place the concave part(s) located at the bottom onto the guide(s) of the base unit, push in the module, and fix it with screw(s). Incorrect interconnection may cause malfunction, failure, or drop of the module.
● When using the programmable controller in an environment of frequent vibrations, fix the module with a screw.
● Tighten the screws within the specified torque range. Undertightening can cause drop of the component or wire, short circuit, or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, or malfunction. For the specified torque range, refer to the MELSEC iQ-
R Module Configuration Manual.
● When using an extension cable, connect it to the extension cable connector of the base unit securely.
Check the connection for looseness. Poor contact may cause malfunction.
● When using an SD memory card, fully insert it into the SD memory card slot. Check that it is inserted completely. Poor contact may cause malfunction.
● Securely insert an extended SRAM cassette or a battery-less option cassette into the cassette connector of the CPU module. After insertion, close the cassette cover and check that the cassette is inserted completely. Poor contact may cause malfunction.
● Beware that the module could be very hot while power is on and immediately after power-off.
● Do not directly touch any conductive parts and electronic components of the module, SD memory card, extended SRAM cassette, battery-less option cassette, or connector. Doing so can cause malfunction or failure of the module.
[Wiring Precautions]
WARNING
● Shut off the external power supply (all phases) used in the system before installation and wiring.
Failure to do so may result in electric shock or cause the module to fail or malfunction.
● After installation and wiring, attach a blank cover module (RG60) to each empty slot before powering on the system for operation. Also, attach an extension connector protective cover *1 to each unused extension cable connector as necessary. Directly touching any conductive parts of the connectors while power is on may result in electric shock.
*1 For details, please consult your local Mitsubishi Electric representative.
[Wiring Precautions]
CAUTION
● Individually ground the FG and LG terminals of the programmable controller with a ground resistance of 100 ohms or less. Failure to do so may result in electric shock or malfunction.
● Use applicable solderless terminals and tighten them within the specified torque range. If any spade solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in failure.
● Check the rated voltage and signal layout before wiring to the module, and connect the cables correctly. Connecting a power supply with a different voltage rating or incorrect wiring may cause fire or failure.
● Connectors for external devices must be crimped or pressed with the tool specified by the manufacturer, or must be correctly soldered. Incomplete connections may cause short circuit, fire, or malfunction.
● Securely connect the connector to the module. Poor contact may cause malfunction.
● Do not install the control lines or communication cables together with the main circuit lines or power cables. Doing so may result in malfunction due to noise. Keep a distance of 100mm or more between those cables.
● Place the cables in a duct or clamp them. If not, dangling cables may swing or inadvertently be pulled, resulting in malfunction or damage to modules or cables.
In addition, the weight of the cables may put stress on modules in an environment of strong vibrations and shocks.
Do not clamp the extension cables with the jacket stripped. Doing so may change the characteristics of the cables, resulting in malfunction.
● Check the interface type and correctly connect the cable. Incorrect wiring (connecting the cable to an incorrect interface) may cause failure of the module and external device.
● Tighten the terminal screws or connector screws within the specified torque range. Undertightening can cause drop of the screw, short circuit, fire, or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, fire, or malfunction.
● When disconnecting the cable from the module, do not pull the cable by the cable part. For the cable with connector, hold the connector part of the cable. For the cable connected to the terminal block, loosen the terminal screw. Pulling the cable connected to the module may result in malfunction or damage to the module or cable.
● Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter can cause a fire, failure, or malfunction.
● When a protective film is attached to the top of the module, remove it before system operation.
If not, inadequate heat dissipation of the module may cause a fire, failure, or malfunction.
● Programmable controllers must be installed in control panels. Connect the main power supply to the power supply module in the control panel through a relay terminal block. Wiring and replacement of a power supply module must be performed by qualified maintenance personnel with knowledge of protection against electric shock. For wiring, refer to the MELSEC iQ-R Module Configuration Manual.
● For Ethernet cables to be used in the system, select the ones that meet the specifications in the user's manual for the module used. If not, normal data transmission is not guaranteed.
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[Startup and Maintenance Precautions]
WARNING
● Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction.
● Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so will cause the battery to produce heat, explode, ignite, or leak, resulting in injury and fire.
● Shut off the external power supply (all phases) used in the system before cleaning the module or retightening the terminal screws, connector screws, or module fixing screws. Failure to do so may result in electric shock.
[Startup and Maintenance Precautions]
CAUTION
● When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller, configure an interlock circuit in the program to ensure that the entire system will always operate safely. For other forms of control (such as program modification, parameter change, forced output, or operating status change) of a running programmable controller, read the relevant manuals carefully and ensure that the operation is safe before proceeding. Improper operation may damage machines or cause accidents.
● Especially, when a remote programmable controller is controlled by an external device, immediate action cannot be taken if a problem occurs in the programmable controller due to a communication failure. To prevent this, configure an interlock circuit in the program, and determine corrective actions to be taken between the external device and CPU module in case of a communication failure.
● Do not disassemble or modify the modules. Doing so may cause failure, malfunction, injury, or a fire.
● Use any radio communication device such as a cellular phone or PHS (Personal Handy-phone
System) more than 25cm away in all directions from the programmable controller. Failure to do so may cause malfunction.
● Shut off the external power supply (all phases) used in the system before mounting or removing the module. Failure to do so may cause the module to fail or malfunction.
● Tighten the screws within the specified torque range. Undertightening can cause drop of the component or wire, short circuit, or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, or malfunction.
● After the first use of the product, do not perform each of the following operations more than 50 times
(IEC 61131-2/JIS B 3502 compliant).
Exceeding the limit may cause malfunction.
• Mounting/removing the module to/from the base unit
• Inserting/removing the extended SRAM cassette or battery-less option cassette to/from the
CPU module
• Mounting/removing the terminal block to/from the module
• Connecting/disconnecting the extension cable to/from the base unit
● After the first use of the product, do not insert/remove the SD memory card to/from the CPU module more than 500 times. Exceeding the limit may cause malfunction.
● Do not touch the metal terminals on the back side of the SD memory card. Doing so may cause malfunction or failure of the module.
● Do not touch the integrated circuits on the circuit board of an extended SRAM cassette or a batteryless option cassette. Doing so may cause malfunction or failure of the module.
[Startup and Maintenance Precautions]
CAUTION
● Do not drop or apply shock to the battery to be installed in the module. Doing so may damage the battery, causing the battery fluid to leak inside the battery. If the battery is dropped or any shock is applied to it, dispose of it without using.
● Startup and maintenance of a control panel must be performed by qualified maintenance personnel with knowledge of protection against electric shock. Lock the control panel so that only qualified maintenance personnel can operate it.
● Before handling the module, touch a conducting object such as a grounded metal to discharge the static electricity from the human body. Wearing a grounded antistatic wrist strap is recommended.
Failure to discharge the static electricity may cause the module to fail or malfunction.
● After unpacking, eliminate static electricity from the module to prevent electrostatic discharge from affecting the module. If an electrostatically charged module comes in contact with a grounded metal object, a sudden electrostatic discharge of the module may cause failure.
For details on how to eliminate static electricity from the module, refer to the following.
Antistatic Precautions Before Using MELSEC iQ-R Series Products (FA-A-0368)
● Use a clean and dry cloth to wipe off dirt on the module.
● Before testing the operation, set a low speed value for the speed limit parameter so that the operation can be stopped immediately upon occurrence of a hazardous condition.
● Confirm and adjust the program and each parameter before operation. Unpredictable movements may occur depending on the machine.
● When using the absolute position system function, on starting up, and when the module or absolute position motor has been replaced, always perform a home position return.
● Before starting the operation, confirm the brake function.
● Do not perform a megger test (insulation resistance measurement) during inspection.
● After maintenance and inspections are completed, confirm that the position detection of the absolute position detection function is correct.
● Lock the control panel and prevent access to those who are not certified to handle or install electric equipment.
[Operating Precautions]
CAUTION
● When changing data and operating status, and modifying program of the running programmable controller from an external device such as a personal computer connected to an intelligent function module, read relevant manuals carefully and ensure the safety before operation. Incorrect change or modification may cause system malfunction, damage to the machines, or accidents.
● Do not power off the programmable controller or reset the CPU module while the setting values in the buffer memory are being written to the flash ROM in the module. Doing so will make the data in the flash ROM and SD memory card undefined. The values need to be set in the buffer memory and written to the flash ROM and SD memory card again. Doing so also may cause malfunction or failure of the module.
● Note that when the reference axis speed is specified for interpolation operation, the speed of the partner axis (2nd, 3rd, or 4th axis) may exceed the speed limit value.
● Do not go near the machine during test operations or during operations such as teaching. Doing so may lead to injuries.
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[Disposal Precautions]
CAUTION
● When disposing of this product, treat it as industrial waste.
● When disposing of batteries, separate them from other wastes according to the local regulations. For details on battery regulations in EU member states, refer to the MELSEC iQ-R Module Configuration
Manual.
[Transportation Precautions]
CAUTION
● When transporting lithium batteries, follow the transportation regulations. For details on the regulated models, refer to the MELSEC iQ-R Module Configuration Manual.
● The halogens (such as fluorine, chlorine, bromine, and iodine), which are contained in a fumigant used for disinfection and pest control of wood packaging materials, may cause failure of the product.
Prevent the entry of fumigant residues into the product or consider other methods (such as heat treatment) instead of fumigation. The disinfection and pest control measures must be applied to unprocessed raw wood.
CONDITIONS OF USE FOR THE PRODUCT
(1) MELSEC programmable controller ("the PRODUCT") shall be used in conditions; i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident; and ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT.
(2) The PRODUCT has been designed and manufactured for the purpose of being used in general industries.
MITSUBISHI ELECTRIC SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO
ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT, WARRANTY, TORT, PRODUCT
LIABILITY) FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the
PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY
INSTRUCTIONS, PRECAUTIONS, OR WARNING CONTAINED IN MITSUBISHI ELECTRIC USER'S, INSTRUCTION
AND/OR SAFETY MANUALS, TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT.
("Prohibited Application")
Prohibited Applications include, but not limited to, the use of the PRODUCT in;
• Nuclear Power Plants and any other power plants operated by Power companies, and/or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT.
• Railway companies or Public service purposes, and/or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User.
• Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator and Escalator,
Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and Amusement, and
Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and Drilling, and/or other applications where there is a significant risk of injury to the public or property.
Notwithstanding the above restrictions, Mitsubishi Electric may in its sole discretion, authorize use of the PRODUCT in one or more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific applications agreed to by Mitsubishi Electric and provided further that no special quality assurance or fail-safe, redundant or other safety features which exceed the general specifications of the PRODUCTs are required. For details, please contact the Mitsubishi Electric representative in your region.
(3) Mitsubishi Electric shall have no responsibility or liability for any problems involving programmable controller trouble and system trouble caused by DoS attacks, unauthorized access, computer viruses, and other cyberattacks.
INTRODUCTION
Thank you for purchasing the Mitsubishi Electric MELSEC iQ-R series programmable controllers.
This manual describes the system configuration, specifications, installation, wiring, maintenance and inspection, and troubleshooting of the relevant products listed below.
Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC iQ-R series programmable controller to handle the product correctly.
When applying the program examples provided in this manual to an actual system, ensure the applicability and confirm that it will not cause system control problems.
Please make sure that the end users read this manual.
Relevant products
R16MTCPU, R32MTCPU, R64MTCPU
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CONTENTS
CHAPTER 1 POSITIONING CONTROL BY THE MOTION CPU
20
CHAPTER 2 POSITIONING DEDICATED SIGNALS
22
CHAPTER 3 PARAMETERS FOR POSITIONING CONTROL
167
11
12
CHAPTER 4 SERVO PROGRAMS FOR POSITIONING CONTROL
241
CHAPTER 5 POSITIONING CONTROL 255
13
14
CHAPTER 6 MANUAL CONTROL
419
CHAPTER 7 AUXILIARY AND APPLIED FUNCTIONS 429
APPENDICES 478
RELEVANT MANUALS
Manual Name [Manual Number]
MELSEC iQ-R Motion Controller Programming Manual
(Positioning Control)
[IB-0300241] (This manual)
MELSEC iQ-R Motion Controller User's Manual
[IB-0300235]
MELSEC iQ-R Motion Controller Programming Manual
(Common)
[IB-0300237]
MELSEC iQ-R Motion Controller Programming Manual
(Program Design)
[IB-0300239]
MELSEC iQ-R Motion Controller Programming Manual
(Advanced Synchronous Control)
[IB-0300243]
MELSEC iQ-R Motion Controller Programming Manual
(Machine Control)
[IB-0300309]
MELSEC iQ-R Motion Controller Programming Manual
(G-Code Control)
[IB-0300371]
Description
This manual explains the servo parameters, positioning instructions, device lists, etc.
This manual explains specifications of the Motion CPU modules,
SSCNET cables, synchronous encoder, troubleshooting, etc.
This manual explains the Multiple CPU system configuration, performance specifications, common parameters, auxiliary/applied functions, error lists, etc.
This manual explains the functions, programming, debugging for
Motion SFC, etc.
This manual explains the dedicated instructions to use synchronous control by synchronous control parameters, device lists, etc.
This manual explains the dedicated instructions to use machine control by machine control parameters, machine positioning data, device lists, etc.
This manual explains the dedicated instructions to use G-code control by G-code control parameters and G-code programs.
Available form e-Manual
Print book e-Manual
Print book e-Manual
Print book e-Manual
Print book e-Manual
Print book e-Manual
Print book e-Manual
Print book e-Manual refers to the Mitsubishi FA electronic book manuals that can be browsed using a dedicated tool.
e-Manual has the following features:
• Required information can be cross-searched in multiple manuals.
• Other manuals can be accessed from the links in the manual.
• The hardware specifications of each part can be found from the product figures.
• Pages that users often browse can be bookmarked.
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TERMS
Unless otherwise specified, this manual uses the following terms.
Term Description
R64MTCPU/R32MTCPU/R16MTCPU or
Motion CPU (module)
MR-J5(W) B
MR-J4(W) B
MR-J3(W) B
MR-JE B
AMP or Servo amplifier
RnCPU, PLC CPU or PLC CPU module
Multiple CPU system or Motion system
CPUn
Operating system software
Engineering tool
MT Works2
MT Developer2
GX Works3
GX LogViewer
Serial absolute synchronous encoder or
Q171ENC-W8
SSCNET /H
SSCNET
SSCNET (/H)
Absolute position system
Intelligent function module
SSCNET
Optical hub unit or MR-MV200
Sensing module
Sensing SSCNET /H head module
MR-MT2010
Abbreviation for MELSEC iQ-R series Motion controller
Servo amplifier model MR-J5 B/MR-J5W B
Servo amplifier model MR-J4 B/MR-J4W B
Servo amplifier model MR-J3 B/MR-J3W B
Servo amplifier model MR-JE B/MR-JE BF
General name for "Servo amplifier model MR-J5 B/MR-J5W B/MR-J4 B/MR-J4W B/MR-J3 B/MR-
J3W B/MR-JE B/MR-JE BF"
Abbreviation for MELSEC iQ-R series CPU module
Abbreviation for "Multiple PLC system of the R series"
Abbreviation for "CPU No.n (n = 1 to 4) of the CPU module for the Multiple CPU system"
General name for "SW10DNC-RMTFW"
General name for MT Developer2/GX Works3/GX LogViewer
General product name for the Motion controller engineering software "SW1DND-MTW2"
Abbreviation for the programming software included in the "MT Works2" Motion controller engineering software
General product name for the MELSEC PLC software package "SW1DND-GXW3"
Product name for the logging data display and analysis tool "SW1DNN-VIEWER"
Abbreviation for "Serial absolute synchronous encoder (Q171ENC-W8)"
High speed synchronous network between Motion controller and servo amplifier
General name for SSCNET /H, SSCNET
General name for "system using the servo motor and servo amplifier for absolute position"
General name for module that has a function other than input or output such as A/D converter module and D/A converter module.
Abbreviation for "MELSEC-L series SSCNET
Abbreviation for SSCNET
Abbreviation for SSCNET
General name for SSCNET
/H head module (LJ72MS15)"
/H Compatible Optical Hub Unit (MR-MV200)
/H compatible sensing module MR-MT2000 series
/H head module (MR-MT2010)
Sensing extension module General name for I/O module (MR-MT2100), pulse I/O module (MR-MT2200), analog I/O module (MR-
MT2300), encoder I/F module (MR-MT2400)
Sensing I/O module or MR-MT2100
Sensing pulse I/O module or MR-MT2200
Abbreviation for I/O module (MR-MT2100)
Abbreviation for pulse I/O module (MR-MT2200)
Sensing analog I/O module or MR-MT2300 Abbreviation for analog I/O module (MR-MT2300)
Sensing encoder I/F module or MR-MT2400 Abbreviation for encoder I/F module (MR-MT2400)
*1 SSCNET: Servo System Controller NETwork
MANUAL PAGE ORGANIZATION
Representation of numerical values used in this manual
■
Axis No. representation
In the positioning dedicated signals, "n" in "M3200+20n", etc. indicates a value corresponding to axis No. as shown in the following table.
Axis No.
n
7
8
5
6
3
4
1
2
6
7
4
5
2
3
0
1
Axis No.
n
13
14
15
16
9
10
11
12
12
13
14
15
8
9
10
11
Axis No.
n
21
22
23
24
17
18
19
20
20
21
22
23
16
17
18
19
Axis No.
n
29
30
31
32
25
26
27
28
28
29
30
31
24
25
26
27
Axis No.
n
37
38
39
40
33
34
35
36
36
37
38
39
32
33
34
35
Axis No.
n
45
46
47
48
41
42
43
44
44
45
46
47
40
41
42
43
Axis No.
n
53
54
55
56
49
50
51
52
52
53
54
55
48
49
50
51
Axis No.
n
61
62
63
64
57
58
59
60
60
61
62
63
56
57
58
59
• The range of axis No.1 to 16 (n=0 to 15) is valid in the R16MTCPU. The range of axis No.1 to 32 (n=0 to 31) is valid in the
R32MTCPU.
• Calculate as follows for the device No. corresponding to each axis.
Ex.
For axis No. 32 in Q series Motion compatible device assignment
M3200+20n ([Rq.1140] Stop command)=M3200+20 × 31=M3820
M3215+20n ([Rq.1155] Servo OFF command)=M3215+20 × 31=M3835
In the positioning dedicated signals, "n" in "M10440+10n", etc. of the "Synchronous encoder axis status", "Synchronous encoder axis command signal", "Synchronous encoder axis monitor device" and "Synchronous encoder axis control device" indicates a value corresponding to synchronous encoder axis No. as shown in the following table.
Synchronous encoder axis No.
n
3
4
1
2
2
3
0
1
Synchronous encoder axis No.
n
7
8
5
6
6
7
4
5
Synchronous encoder axis No.
n
9
10
11
12
8
9
10
11
• Calculate as follows for the device No. corresponding to each synchronous encoder.
Ex.
For synchronous encoder axis No.12 in Q series Motion compatible device assignment
M10440+10n ([St.320] Synchronous encoder axis setting valid flag)=M10440+10 × 11=M10550
D13240+20n ([Md.320] Synchronous encoder axis current value)=D13240+20 × 11=D13460
17
18
■
Machine No. representation
In the positioning dedicated signals, "m" in "M43904+32m", etc. indicates a value corresponding to machine No. as shown in the following table.
Machine No.
3
4
1
2 m
2
3
0
1
Machine No.
7
8
5
6 m
6
7
4
5
• Calculate as follows for the device No. corresponding to each machine.
Ex.
For machine No.8 in MELSEC iQ-R Motion device assignment
M43904+32m ([St.2120] Machine error detection) M43904+32 × 7=M44128
D53168+128m ([Md.2020] Machine type)=M53168+28 × 7=D54064
■
Line No. representation in G-code control
In the positioning dedicated signals, "s" in "D54496+128s", etc. indicates a value corresponding to line No. as shown in the following table.
Line No.
1
2 s
0
1
• Calculate as follows for the device No. corresponding to each line.
Ex.
For line No.2 in MELSEC iQ-R Motion device assignment
D54440.0+4s ([St.3208] During G-code control)=D54440.0+4 × 1=D54444.0
D54496+128s ([Md.3016] Number of axes on line)=D54496+128 × 1=D54624
■
Line No. and axis No. representation in G-code control
In the positioning dedicated signals, "sn" in "D54278+16sn", etc. indicates a value corresponding to line No. and axis No. as shown in the following table.
Line No.
1
Axis No.
sn
3
4
5
1
2
6
7
8
2
3
4
0
1
5
6
7
Line No.
2
Axis No.
sn
3
4
5
1
2
6
7
8
8
9
10
11
12
13
14
15
• Calculate as follows for the device No. corresponding to each line.
Ex.
For line No.2, axis No. 8 in MELSEC iQ-R Motion device assignment
D54448.0+2sn ([St.3076] Smoothing zero)=D54448.0+2 × 15=D54478.0
D54754+32sn ([Md.3146] Rotating axis setting status)=D54754+32 × 15=D55234
Representation of device No. used in this manual
The "R" and "Q" beside the device No. of positioning dedicated signals such as "[Rq.1140] Stop command (R: M34480+32n/
Q: M3200+20n)" indicate the device No. for the device assignment methods shown below. When "R" and "Q" are not beside the device No., the device No. is the same for both device assignment methods.
Symbol
R
Q
Device assignment method
MELSEC iQ-R Motion device assignment
Q series Motion compatible device assignment
19
1
POSITIONING CONTROL BY THE MOTION CPU
1.1
Positioning Control by the Motion CPU
The following positioning controls are possible in the Motion CPU.
Motion CPU
R64MTCPU
R32MTCPU
R16MTCPU
Control axes
Up to 64 axes
Up to 32 axes
Up to 16 axes
There are the following six functions as controls toward the servo amplifier/servo motor.
• Servo operation by the servo program positioning instructions.
• Servo operation by the Motion dedicated PLC instruction (Direct positioning start request: M(P).SVSTD/D(P).SVSTD)
• JOG operation by each axis command signal of Motion CPU.
• Manual pulse generator operation by the positioning dedicated device of Motion CPU.
• Speed change, torque limit value change, and target position change during positioning control by the Motion dedicated
PLC instruction and Motion dedicated function of operation control step "F".
• Current value change by the Motion dedicated PLC instruction or servo instructions.
Parameters and programs used for positioning control
Positioning control parameters
Positioning control parameters are used for positioning control of the Motion CPU.
Parameter data can be set and corrected using MT Developer2.
Refer to the parameters for positioning control for details of positioning control parameters. (
Servo program
The servo program is used for the positioning control. It comprises a program No., servo instructions and positioning data.
Refer to the servo programs for positioning control for details of servo program. (
Motion SFC program
Motion SFC program is used to program an operation sequence or transition control combining servo programs, "Step",
"Transition", or "End" to perform Motion CPU control.
Refer to the following for details of Motion SFC program.
MELSEC iQ-R Motion controller Programming Manual (Program Design)
Sequence program
The Motion CPU control can be performed using the Motion dedicated PLC instruction in the sequence program of PLC CPU.
Refer to the following for details of the Motion dedicated PLC instruction.
MELSEC iQ-R Motion controller Programming Manual (Program Design)
20
1 POSITIONING CONTROL BY THE MOTION CPU
1.1 Positioning Control by the Motion CPU
Starting a servo program
There are the following two methods for starting a servo program.
Starting by Motion SFC program
Use the Motion control step "K" in the Motion SFC program to start the specified servo program.
Refer to the following for details of starting a Motion SFC program.
MELSEC iQ-R Motion controller Programming Manual (Program Design)
Starting by sequence program
By executing the Motion dedicated PLC instruction (Servo program start request: M(P).SVST/D(P).SVST) in the sequence program of the PLC CPU, the servo program in the Motion CPU can be started.
Refer to the following for details of the Motion dedicated PLC instruction.
MELSEC iQ-R Motion controller Programming Manual (Program Design)
Direct positioning start from the PLC CPU
Execute the Motion dedicated PLC instruction (Direct positioning start request: M(P).SVSTD/D(P).SVSTD) in the sequence program of the PLC CPU, and start the positioning control set in the device of the Motion CPU.
With this instruction, servo operations are possible without using a servo program.
Refer to the following for details of the Motion dedicated PLC instruction.
MELSEC iQ-R Motion controller Programming Manual (Program Design)
JOG operation
JOG operation can be performed by controlling the JOG dedicated device of the Motion CPU.
Refer to the JOG operation for details of JOG operation. (
Manual pulse generator operation
Manual pulse generator operation can be performed with a manual pulse generator connected to a high-speed counter module controlled by the Motion CPU. The manual pulse generator is operated by controlling the manual pulse generator dedicated device of the Motion CPU.
Refer to the manual pulse generator operation for details of manual pulse generator operation. (
1
1 POSITIONING CONTROL BY THE MOTION CPU
1.1 Positioning Control by the Motion CPU
21
2
POSITIONING DEDICATED SIGNALS
The internal signals of the Motion CPU and the external signals to the Motion CPU are used as positioning signals.
Internal signals
The following five devices of the Motion CPU are used as the internal signals of the Motion CPU.
MELSEC iQ-R Motion device assignment and Q series Motion compatible device assignment are available. The ranges used for devices differs depending on the device assignment method used.
Device name
Internal relay (M)
Device range
MELSEC iQ-R Motion device assignment
M16000 to M49151 (33152 points)
Q series Motion compatible device assignment
M2000 to M3839 (1840 points)
M8192 to M12287 (4096 points)
Special relay (SM)
Data register (D)
SM0 to SM4095 (4096 points)
D32000 to D57343 (25344 points)
Motion register (#)
Special register (SD)
SD0 to SD4095 (4096 points)
D0 to D799 (800 points)
D10240 to D19823 (9584 points)
#8000 to #8639 (640 points)
Refer to the following for details on device assignment method.
MELSEC iQ-R Motion Controller Programming Manual (Common)
External signals
The external input signals to the Motion CPU are shown below.
External input signals
Upper/lower limit switch input
Stop signal
Proximity dog signal
Speed/position switching signal
Manual pulse generator input
Forced stop signal
Description
The upper/lower limit of the positioning range is controlled.
This signal makes the starting axis stop.
ON/OFF signal from the proximity dog.
Signal for switching from speed to position.
Signal from the manual pulse generator.
Signal for forced stop of the servo amplifier.
• Configuration between modules
PLC CPU Motion CPU
Device memory Device memory
PLC control processor
Motion control processor
CPU buffer memory CPU buffer memory
CPU buffer memory
(fixed-cycle area)
R series PLC system bus
CPU buffer memory
(fixed-cycle area)
SSCNET (/H)
Servo amplifier
Input module Intelligent function module *1
(high-speed counter module)
Intelligent function module *1
M M
22
• Upper limit switch input
• Lower limit switch input
• Proximity dog/
Speed/Position switching signal
• Stop signal
• Forced stop signal (All axes)
*1 Motion CPU controlled module
Manual pulse generator input
2 POSITIONING DEDICATED SIGNALS
• Upper limit switch input
• Lower limit switch input
• Proximity dog/
Speed/Position switching signal
Internal processing of the Motion CPU
Internal processing of the Motion CPU is divided into two cycles. The "operation cycle" and the "main cycle".
1 Operation cycle
*1
Operation cycle
Main cycle
Main cycle (1 cycle) *2 Main cycle (1 cycle) *2
: One main cycle process (processing time will change)
*1 Can be monitored with "Motion operation cycle (SD522)"
*2 Can be monitored with "Scan time (SD520)" (Maximum value can be monitored with "Maximum scan time (SD521)")
■
Operation cycle
The processing required for every operation cycle is executed. This processing includes data communication with the servo amplifier, execution of fixed-cycle tasks of the Motion SFC, and generation of servo command values for every operation cycle.
The processing time changes according to the number of servo axes, the servo program being executed, etc.
When the operation cycle exceeds the setting in [Motion CPU Common Parameter] [Basic Setting] "Operation Cycle",
"[St.1046] Operation cycle over flag (R: M30054/Q: M2054)" turns ON.
■
Main cycle
Using the free time after the processing in operation cycle, the automatic refresh and normal tasks of the Motion SFC, as well as communication with MT Developer2 are executed.
The processing time in the main cycle changes according to the free time after the processing in operation cycle, the number of automatic refresh transmissions, and the number of executed normal tasks of the Motion SFC, etc.
When the main cycle becomes longer, it can be shortened by increasing the operation cycle setting time in [Motion CPU
Common Parameter] [Basic Setting] "Operation Cycle " which increases free time.
Refer to the following for the monitoring of processing times of operation cycle and main cycle.
MELSEC iQ-R Motion controller Programming Manual (Common)
2
Cautions
For positioning dedicated signals labelled as "operation cycle" in refresh cycles and fetch cycles, when axes are operating at the low speed operation cycle with the mixed operation cycle function, the refresh cycle and fetch cycle for these axes is the
"low speed operation cycle".
2 POSITIONING DEDICATED SIGNALS
23
24
2.1
Internal Relays
M39984 to
M40000 to
M40064 to
M40080 to
M38608 to
M38640 to
M38832 to
M38960 to
M30640 to
M32400 to
M34448 to
M34480 to
M36528 to
M36560 to
M42336 to
M42400 to
M43424 to
M43440 to
M40144 to
M40160 to
M42208 to
M42240 to
M43504 to
Internal relay list
■
MELSEC iQ-R Motion device assignment
Device No.
M0 to
M16000 to
M30000 to
Symbol
[St.1040], [St.1041], [St.1045] to
[St.1050], [Rq.1120], [Rq.1122] to
[Rq.1127]
Purpose
User device
(16000 points)
Unusable
(14000 points)
Common device
(640 points)
[St.1060] to [St.1076], [St.1079]
[Rq.1140] to [Rq.1149], [Rq.1152],
[Rq.1155] to [Rq.1159]
[St.340] to [St.349]
[St.320] to [St.325]
[St.420] to [St.424], [St.426]
[St.380]
[St.381]
[Rq.341] to [Rq.348]
[Rq.320], [Rq.323], [Rq.324]
[Rq.400] to [Rq.406]
[Rq.380]
Unusable
(1760 points)
Axis status
(32 points × 64 axes)
Unusable
(32 points)
Axis command signal
(32 points × 64 axes)
Unusable
(32 points)
Command generation axis status
(32 points × 64 axes)
Unusable
(32 points)
Synchronous encoder axis status
(16 points × 12 axes)
Unusable
(128 points)
Output axis status
(16 points × 64 axes)
Unusable
(16 points)
Synchronous control signal
(64 points)
Unusable
(16 points)
Synchronous analysis complete signal
(64 points)
Unusable
(16 points)
Command generation axis command signal
(32 points × 64 axes)
Unusable
(32 points)
Synchronous encoder axis command signal
(8 points × 12 axes)
Unusable
(64 points)
Output axis command signal
(16 points × 64 axes)
Unusable
(16 points)
Synchronous control start signal
(64 points)
Unusable
(16 points)
Reference
Page 37 Axis command signals
Page 47 Command generation axis status
Page 53 Synchronous encoder axis status
Page 59 Synchronous control signal
Page 61 Synchronous analysis complete signal
Page 50 Command generation axis command signal
Page 54 Synchronous encoder axis command signal
Page 57 Output axis command signal
Page 63 Synchronous control start signal
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Device No.
M43520 to
M43584 to
M43616 to
M43872 to
M43904 to
M44160 to
M49151
Symbol
[Rq.381]
[Rq.2200]
[Rq.2240], [Rq.2243] to [Rq.2247],
[Rq.2250] to [Rq.2261]
[St.2120], [St.2122] to [St.2124],
[St.2127], [St.2128]
Purpose
Synchronous analysis request signal
(64 points)
Machine common command signal
(32 points)
Machine command signal
(32 points × 8 machines)
Unusable
(32 points)
Machine status
(32 points × 8 machines)
Unusable
(4992 points)
Total number of user device points
• 16000 points
Reference
Page 65 Synchronous analysis request signal
Page 67 Machine common command signals
Page 68 Machine command signals
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
25
■
Q series Motion compatible device assignment
For devices on axis 1 to 32, use Q series Motion compatible device assignment.
For devices on axis 33 to 64, machine command signal (M43616 to M43871), and machine status (M43904 to M44159), use
MELSEC iQ-R Motion device assignment.
Device No.
M0 to
M2000 to
M2320 to
M2400 to
M3040 to
M3200 to
M3840 to
M8192 to
M9800 to
M10440 to
M10560 to
M10880 to
M10912 to
M10944 to
M10960 to
M11600 to
M11648 to
M11680 to
M12000 to
M12032 to
M12064 to
M12287
Symbol
[St.1040], [St.1041], [St.1045] to
[St.1050], [Rq.1120], [Rq.1122] to
[Rq.1127]
[St.1060] to [St.1076], [St.1079]
[Rq.1140] to [Rq.1149], [Rq.1152],
[Rq.1155] to [Rq.1159]
[St.340] to [St.349]
[St.320] to [St.325]
[St.420] to [St.424], [St.426]
[St.380]
[St.381]
[Rq.341] to [Rq.348]
[Rq.320], [Rq.323], [Rq.324]
[Rq.400] to [Rq.406]
[Rq.380]
[Rq.381]
Purpose
User device
(2000 points)
Common device
(320 points)
Unusable
(80 points)
Axis status
(20 points × 32 axes)
Unusable
(160 points)
Axis command signal
(20 points × 32 axes)
User device
(4352 points)
System area
(1608 points)
Command generation axis status
(20 points × 32 axes)
Synchronous encoder axis status
(10 points × 12 axes)
Output axis status
(10 points × 32 axes)
Synchronous control signal
(32 points)
Synchronous analysis complete signal
(32 points)
Unusable
(16 points)
Command generation axis command signal
(20 points × 32 axes)
Synchronous encoder axis command signal
(4 points × 12 axes)
Unusable
(32 points)
Output axis command signal
(10 points × 32 axes)
Synchronous control start signal
(32 points)
Synchronous analysis request signal
(32 points)
Unusable
(224 points)
Reference
Page 37 Axis command signals
Page 47 Command generation axis status
Page 53 Synchronous encoder axis status
Page 59 Synchronous control signal
Page 61 Synchronous analysis complete signal
Page 50 Command generation axis command signal
Page 54 Synchronous encoder axis command signal
Page 57 Output axis command signal
Page 63 Synchronous control start signal
Page 65 Synchronous analysis request signal
Total number of user device points
• 6352 points
26
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Axis status
Device No.
MELSEC iQ-R Motion device assignment
M32400 to M32431
M32432 to M32463
M32464 to M34495
M34496 to M32527
M32528 to M32559
M32560 to M32591
M32592 to M32623
M32624 to M32655
M32656 to M32687
M32688 to M32719
M32720 to M32751
M32752 to M32783
M32784 to M32815
M32816 to M32847
M32848 to M32879
M32880 to M32911
M32912 to M32943
M32944 to M32975
M32976 to M33007
M33008 to M33039
M33040 to M33071
M33072 to M33103
M33104 to M33135
M33136 to M33167
M33168 to M33199
M33200 to M33231
M33232 to M33263
M33264 to M33295
M33296 to M33327
M33328 to M33359
M33360 to M33391
M33392 to M33423
M33424 to M33455
M33456 to M33487
M33488 to M33519
M33520 to M33551
M33552 to M33583
M33584 to M33615
M33616 to M33647
M33648 to M33679
M33680 to M33711
M33712 to M33743
M33744 to M33775
M33776 to M33807
M33808 to M33839
M33840 to M33871
M33872 to M33903
M33904 to M33935
M33936 to M33967
Signal name
Q series Motion compatible device assignment
M2680 to M2699
M2700 to M2719
M2720 to M2739
M2740 to M2759
M2760 to M2779
M2780 to M2799
M2800 to M2819
M2820 to M2839
M2840 to M2859
M2860 to M2879
M2880 to M2899
M2900 to M2919
M2920 to M2939
M2940 to M2959
M2960 to M2979
M2980 to M2999
M3000 to M3019
M3020 to M3039
M2400 to M2419
M2420 to M2439
M2440 to M2459
M2460 to M2479
M2480 to M2499
M2500 to M2519
M2520 to M2539
M2540 to M2559
M2560 to M2579
M2580 to M2599
M2600 to M2619
M2620 to M2639
M2640 to M2659
M2660 to M2679
Axis 15 status
Axis 16 status
Axis 17 status
Axis 18 status
Axis 19 status
Axis 20 status
Axis 21 status
Axis 22 status
Axis 23 status
Axis 24 status
Axis 25 status
Axis 26 status
Axis 27 status
Axis 28 status
Axis 29 status
Axis 30 status
Axis 1 status
Axis 2 status
Axis 3 status
Axis 4 status
Axis 5 status
Axis 6 status
Axis 7 status
Axis 8 status
Axis 9 status
Axis 10 status
Axis 11 status
Axis 12 status
Axis 13 status
Axis 14 status
Axis 31 status
Axis 32 status
Axis 33 status
Axis 34 status
Axis 35 status
Axis 36 status
Axis 37 status
Axis 38 status
Axis 39 status
Axis 40 status
Axis 41 status
Axis 42 status
Axis 43 status
Axis 44 status
Axis 45 status
Axis 46 status
Axis 47 status
Axis 48 status
Axis 49 status
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
27
2
Device No.
MELSEC iQ-R Motion device assignment
M33968 to M33999
M34000 to M34031
M34032 to M34063
M34064 to M34095
M34096 to M34127
M34128 to M34159
M34160 to M34191
M34192 to M34223
M34224 to M34255
M34256 to M34287
M34288 to M34319
M34320 to M34351
M34352 to M34383
M34384 to M34415
M34416 to M34447
Q series Motion compatible device assignment
Signal name
Axis 50 status
Axis 51 status
Axis 52 status
Axis 53 status
Axis 54 status
Axis 55 status
Axis 56 status
Axis 57 status
Axis 58 status
Axis 59 status
Axis 60 status
Axis 61 status
Axis 62 status
Axis 63 status
Axis 64 status
28
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
M32413+32n
M32414+32n
M32415+32n
M32416+32n
M32417+32n
M32418+32n
M32419+32n
M32420+32n
M32421+32n
M32422+32n
M32423+32n
M32424+32n
M32425+32n
M32426+32n
M32427+32n
M32428+32n
M32429+32n
M32430+32n
M32431+32n
M32400+32n
M32401+32n
M32402+32n
M32403+32n
M32404+32n
M32405+32n
M32406+32n
M32407+32n
M32408+32n
M32409+32n
M32410+32n
M32411+32n
M32412+32n
• Details for each axis
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
M2400+20n
M2401+20n
M2402+20n
M2403+20n
M2404+20n
M2405+20n
M2406+20n
M2407+20n
M2408+20n
M2409+20n
M2410+20n
M2411+20n
M2412+20n
M2413+20n
M2414+20n
M2415+20n
M2416+20n
M2417+20n
M2418+20n
M2419+20n
Symbol Signal name
St.1060
St.1061
St.1062
St.1063
St.1064
St.1065
St.1066
St.1067
St.1068
St.1069
St.1070
St.1071
St.1072
St.1073
St.1074
St.1075
St.1076
St.1079
M-code outputting
Unusable
Positioning start complete
Positioning complete
In-position
Command in-position
Speed controlling
Speed/position switching latch
Zero pass
Error detection
Servo error detection
Home position return request
Home position return complete
External signals FLS
RLS
STOP
DOG/CHANGE
Servo ready
Torque limiting
Unusable
Refresh cycle
Fetch cycle Signal type
Operation cycle
Immediate
Operation cycle
Main cycle
Operation cycle
Operation cycle
Status signal
Status signal
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
29
[St.1060] Positioning start complete (R: M32400+32n/Q:M2400+20n)
• This signal turns on with the start completion for the positioning control of the axis specified with the servo program. It does not turn on at the starting using JOG operation or manual pulse generator operation. It can be used to read a M-code at the positioning start. (
Page 429 M-code Output Function)
• This signal turns off at leading edge of "[Rq.1144] Complete signal OFF command (R: M34484+32n/Q: M3204+20n)" or positioning completion.
[At leading edge of "[Rq.1144] Complete signal OFF command (R: M34484+32n/Q: M3204+20n)"]
V Dwell time t
Servo program start
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
[St.1060] Positioning start complete
(R: M32400+32n/Q: M2400+20n)
OFF
[Rq.1144] Complete signal OFF command
(R:M34484+32n/Q: M3204+20n)
OFF
[At positioning completion]
V
ON
ON
ON
Dwell time
Positioning completion t
Servo program start
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
[St.1060] Positioning start complete
(R: M32400+32n/Q: M2400+20n)
OFF
ON
ON
30
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
[St.1061] Positioning complete (R:M32401+32n/Q: M2401+20n)
• This signal turns on with the completion of the command output to positioning address for the axis specified with the servo program. It does not turn on at the start or stop on the way using home position return, JOG operation, manual pulse generator operation or speed control. It does not turn on at the stop on the way during positioning. It can be used to read a
M-code at the positioning completion. (
Page 429 M-code Output Function)
• This signal turns off at leading edge of "[Rq.1144] Complete signal OFF command (R:M34484+32n/Q: M3204+20n)" or positioning start.
[At leading edge of "[Rq.1144] Complete signal OFF command (R:M34484+32n/Q: M3204+20n)"]
V Dwell time t
Servo program start
ON
ON
ON
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
OFF
[Rq.1144] Complete signal OFF command
(R: M34484+32n/Q: M3204+20n)
OFF
[At next positioning start]
ON
OFF
V
Dwell time Positioning start
Positioning completion t
Servo program start
ON ON
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF OFF
ON
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
OFF
• The positioning complete signal turns ON by the execution of servo program even if the travel value of the axis specified with the servo program is set to "0".
2
CAUTION
• The deviation counter value is not considered, so that The "[St.1061] Positioning complete (R: M32401+32n/Q:M2401+20n)" turns on with the completion of the command output to positioning address. Use the "[St.1061] Positioning complete (R: M32401+32n/Q:M2401+20n)" together with the "[St.1062] Inposition (R: M32402+32n/Q: M2402+20n)" to confirm the positioning completion of servo axis in the final instruction under program.
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
31
[St.1062] In-position (R: M32402+32n/Q: M2402+20n)
• This signal turns on when the number of droop pulses in the deviation counter becomes below the "in-position range" set in the servo parameters. It turns off at positioning start.
Number of droop pulses
In-position range t
[St.1062] In-position
(R: M32402+32n/Q: M2402+20n)
ON
OFF
• While the control circuit power supply of the servo amplifier is ON, the status of the in-position signal of the servo amplifier
("[Md.108] Servo status1 (R: D32032+48n/Q: #8010+20n)": b12) is reflected. However, the state of the signal is always
OFF for the following.
• Servo error
• From positioning start until deceleration start
• Current value change
• Home position return
• Speed-torque control
• Pressure control
*1 Except during position follow-up control, high-speed oscillation control, manual pulse generator operation, synchronous control, machine program operation, and G-code control. (The in-position signal is constantly updated during such controls.)
*2 The in-position signal may be updated after the proximity dog turns ON during home position return.
[St.1063] Command in-position (R: M32403+32n/Q: M2403+20n)
• This signal turns on when the absolute value of difference between the command position and feed current value becomes below the "command in-position range" set in the fixed parameters. This signal turns off in the following cases.
• Positioning control start
• Home position return
• Speed control
• JOG operation
• Manual pulse generator operation
• Speed-torque control
• Pressure control
• Command in-position check is continually executed during position control.
V
Position control start
Command in-position setting
Speed/position switching control start
Switch from speed to position
Command in-position setting t
[St.1063] Command in-position
(R: M32403+32n/Q: M2403+20n)
ON
OFF
Execution of command in-position check Execution of command in-position check
32
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
[St.1064] Speed controlling (R: M32404+32n/Q: M2404+20n)
• This signal turns on during speed control, and it is used as judgment of during the speed control or position control. It is turning on while the switching from speed control to position control by the external CHANGE signal at the speed/position switching control.
• This signal turns off at the power supply on and during position control.
At speed/position switching control At speed control At position control
CHANGE Speed control start Positioning start
Speed/position switching control start t
ON
[St.1064] Speed controlling
(R: M32404+32n/Q: M2404+20n)
OFF
Speed control
Position control
• It does not turn on at the speed control mode in speed-torque control.
[St.1065] Speed/position switching latch (R: M32405+32n/Q: M2405+20n)
• This signal turns on when the control is switched from speed control to position control. It can be used as an interlock signal to enable or disable changing of the travel value in position control.
• The signal turns off at the following start.
• Position control
• Speed/position switching control
• Speed control
• JOG operation
• Manual pulse generator operation
• Speed-torque control
• Pressure control
CHANGE Start
Speed/position switching control start t
[St.1065] Speed/position switching latch
(R: M32405+32n/Q: M2405+20n)
ON
CHANGE signal from external source OFF
OFF
ON
[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)
This signal turns on when the zero point is passed after the control circuit power supply on of the servo amplifier.
Once the zero point has been passed, it remains on state until the Multiple CPU system has been reset.
However, in the home position return method of proximity dog method, count method, dog cradle method, limit switch combined method, scale home position signal detection method, or dogless home position signal reference method, this signal turns off once at the home position return start and turns on again at the next zero point passage.
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
33
[St.1067] Error detection (R: M32407+32n/Q: M2407+20n)
• This signal turns on with detection of a warning or error, and can be used to judge whether there is a warning or error or not.
The applicable warning code is stored in the “[Md.1003] Warning code (R: D32006+48n/Q: D6+20n)” with detection of a warning. The applicable error code is stored in the "[Md.1004] Error code (R: D32007+48n/Q: D7+20n)" with detection of an error. Refer to the following for details of warning codes and error codes.
MELSEC iQ-R Motion controller Programing Manual (Common)
• This signal turns off when the "[Rq.1147] Error reset command (R: M34487+32n/Q: M3207+20n)" turns on.
Error detection
[St.1067] Error detection signal
(R: M32407+32n/Q: M2407+20n)
OFF
[Rq.1147] Error reset command
(R: M34487+32n/Q: M3207+20n)
OFF
ON
ON
[St.1068] Servo error detection (R: M32408+32n/Q: M2408+20n)
• This signal turns on when an error occurs at the servo amplifier side, and can be used to judge whether there is a servo error or not. However, servo warnings are not detected. When an error is detected at the servo amplifier side, the minor error (error code: 1C80H) is stored in the "[Md.1005] Servo error code (R: D32008+48n/Q: D8+20n)" storage register. The error code read from the servo amplifier is stored in "[Md.1019] Servo amplifier display servo error code (R: D32028+48n/
Q: #8008+20n)". Refer to the following for servo amplifier error codes.
Servo amplifier Instruction Manual
• This signal turns off when the "[Rq.1148] Servo error reset command (R: M34488+32n/Q: M3208+20n)" turns on or the servo power supply turns on again.
Servo error detection
[St.1068] Servo error detection
(R: M32408+32n/Q: M2408+20n)
OFF
[Rq.1148] Servo error reset command
(R: M34488+32n/Q: M3208+20n)
OFF
ON
ON
[St.1069] Home position return request (R: M32409+32n/Q: M2409+20n)
This signal turns on when it is necessary to confirm the home position address.
■
When not using an absolute position system
• This signal turns on in the following cases:
• Multiple CPU system power supply on or reset
• Servo amplifier power supply on
• Home position return start (Unless a home position return is completed normally, the home position return request signal does not turn off.)
• This signal turns off by the completion of home position return.
■
When using an absolute position system
• This signal turns on in the following cases:
• When not executing a home position return once after system start.
• Home position return start (Unless a home position return is completed normally, the home position return request signal does not turn off.)
• Erase of an absolute data in Motion CPU according to causes, such as memory error
• When servo error (AL.25) occurs
• When servo error (AL.E3) occurs
• When servo error(AL.2B) occurs
• When warning (error code: 093CH, 093EH) occurs
• When minor error (error code: 197EH) occurs
• When the "rotation direction selection" of servo parameter is changed.
• This signal turns off by the completion of the home position return.
CAUTION
• When using the absolute position system function, on starting up, and when the Motion controller or absolute position motor has been replaced, always perform a home position return. In the case of the absolute position system, use the sequence program to check the home position return request before performing the positioning control. Failure to observe this could lead to an accident such as a collision.
34
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
[St.1070] Home position return complete (R: M32410+32n/Q: M2410+20n)
• This signal turns on when the home position return operation using the servo program has been completed normally.
• This signal turns off at the positioning start, JOG operation start and manual pulse generator operation start.
• If the home position return of proximity dog, dog cradle or stopper method using the servo program is executed during this signal on, the minor error (error code: 197BH) occurs and home position return cannot start.
[St.1071] External signals FLS (R: M32411+32n/Q: M2411+20n)
• This signal indicates the input status of the FLS signal set in the external signal parameter.
• When the setting of the external signal parameter and the state of the FLS signal are as follows, the upper stroke limit is detected. Then, the operation in the direction in which the feed current value increases cannot be executed.
• When the external signal parameter "Contact" is set to "0: Normal Open" and the FLS signal is ON
• When the external signal parameter "Contact" is set to "1: Normal Close" and the FLS signal is OFF
[St.1072] External signals RLS (R: M32412+32n/Q: M2412+20n)
• This signal indicates the input status of the RLS signal set in the external signal parameter.
• When the setting of the external signal parameter and the state of the RLS signal are as follows, the lower stroke limit is detected. Then, the operation in the direction in which the feed current value decreases cannot be executed.
• When the external signal parameter "Contact" is set to "0: Normal Open" and the RLS signal is ON
• When the external signal parameter "Contact" is set to "1: Normal Close" and the RLS signal is OFF
[St.1073] External signals STOP (R: M32413+32n/Q: M2413+20n)
• This signal indicates the input status of the STOP signal set in the external signal parameter.
• When the setting of the external signal parameter and the state of the STOP signal are as follows, the stop signal is detected and the operation is stopped.
• When the external signal parameter "Contact" is set to "0: Normal Open" and the STOP signal is ON
• When the external signal parameter "Contact" is set to "1: Normal Close" and the STOP signal is OFF
[St.1074] External signals DOG/CHANGE (R: M32414+32n/Q: M2414+20n)
• This signal indicates the input state of the DOG signal set in the external signal parameter.
• When the setting of the external signal parameter and the state of the DOG signal are as follows, the proximity dog signal or the speed/position switching signal is detected and the home position return operation or speed-position switching control is performed.
• When the external signal parameter "Contact" is set to "0: Normal Open" and the state of the DOG signal is ON
• When the external signal parameter "Contact" is set to "1: Normal Close" and the state of the DOG signal is OFF
[St.1075] Servo ready (R: M32415+32n/Q: M2415+20n)
• This signal turns ON when the servo amplifiers connected to each axis are in the READY state (READY ON and Servo
ON). Refer to the following for details of the servo ON/OFF.
MELSEC iQ-R Motion controller Programming Manual (Common)
• This signal turns off in the following cases.
• "[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)" is off
• Servo amplifier is not mounted
• Servo parameter is not set
• It is received the forced stop input from an external source
• Servo OFF by the "[Rq.1155] Servo OFF command (R: M34495+32n/Q: M3215+20n)" ON
• Servo error occurs
2
When the part of multiple servo amplifiers connected to the SSCNET (/H) becomes a servo error, only an applicable axis becomes the servo OFF state.
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
35
[St.1076] Torque limiting (R: M32416+32n/Q: M2416+20n)
This signal turns on while torque limit is executed. The signal toward the torque limiting axis turns on.
[St.1079] M-code outputting (R: M32419+32n/Q: M2419+20n)
• This signal turns during M-code is outputting.
• This signal turns off when the stop command, cancel signal, skip signal or FIN signal are inputted.
M-code M1 M2 M3
ON
[St.1079] M-code outputting
(R: M32419+32n/Q: M2419+20n)
OFF
[Rq.1159] FIN signal
(R: M34499+32n/Q: M3219+20n)
OFF
ON
• The "[Rq.1159] FIN signal (R: M34499+32n/Q: M3219+20n)" and "[St.1079] M-code outputting (R:
M32419+32n/Q: M2419+20n)" are both for the FIN signal wait function.
• The "[Rq.1159] FIN signal (R: M34499+32n/Q: M3219+20n)" and "[St.1079] M-code outputting (R:
M32419+32n/Q: M2419+20n)" are effective only when FIN acceleration/deceleration is designated in the servo program. Otherwise, the FIN signal wait function is disabled, and "[St.1079] M-code outputting (R:
M32419+32n/Q: M2419+20n)" does not turn on.
36
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Axis command signals
Device No.
MELSEC iQ-R Motion device assignment
M34480 to M34511
M34512 to M34543
M34544 to M34575
M34576 to M34607
M34608 to M34639
M34640 to M34671
M34672 to M34703
M34704 to M34735
M34736 to M34767
M34768 to M34799
M34800 to M34831
M34832 to M34863
M34864 to M34895
M34896 to M34927
M34928 to M34959
M34960 to M34991
M34992 to M35023
M65024 to M35055
M35056 to M35087
M35088 to M35119
M35120 to M35151
M35152 to M35183
M35184 to M35215
M35216 to M35247
M35248 to M35279
M35280 to M35311
M35312 to M35343
M35344 to M35375
M35376 to M35407
M35408 to M35439
M35440 to M35471
M35472 to M35503
M35504 to M35535
M35536 to M35567
M35568 to M35599
M35600 to M35631
M35632 to M35663
M35664 to M35695
M35696 to M35727
M35728 to M35759
M35760 to M35791
M35792 to M35823
M35824 to M35855
M35856 to M35887
M35888 to M35919
M35920 to M35951
M35952 to M35983
M35984 to M36015
M36016 to M36047
Signal name
Q series Motion compatible
Device assignment
M3480 to M3499
M3500 to M3519
M3520 to M3539
M3540 to M3559
M3560 to M3579
M3580 to M3599
M3600 to M3619
M3620 to M3639
M3640 to M3659
M3660 to M3679
M3680 to M3699
M3700 to M3719
M3720 to M3739
M3740 to M3759
M3760 to M3779
M3780 to M3799
M3800 to M3819
M3820 to M3839
M3200 to M3219
M3220 to M3239
M3240 to M3259
M3260 to M3279
M3280 to M3299
M3300 to M3319
M3320 to M3339
M3340 to M3359
M3360 to M3379
M3380 to M3399
M3400 to M3419
M3420 to M3439
M3440 to M3459
M3460 to M3479
Axis 1 command signal
Axis 2 command signal
Axis 3 command signal
Axis 4 command signal
Axis 5 command signal
Axis 6 command signal
Axis 7 command signal
Axis 8 command signal
Axis 9 command signal
Axis 10 command signal
Axis 11 command signal
Axis 12 command signal
Axis 13 command signal
Axis 14 command signal
Axis 15 command signal
Axis 16 command signal
Axis 17 command signal
Axis 18 command signal
Axis 19 command signal
Axis 20 command signal
Axis 21 command signal
Axis 22 command signal
Axis 23 command signal
Axis 24 command signal
Axis 25 command signal
Axis 26 command signal
Axis 27 command signal
Axis 28 command signal
Axis 29 command signal
Axis 30 command signal
Axis 31 command signal
Axis 32 command signal
Axis 33 command signal
Axis 34 command signal
Axis 35 command signal
Axis 36 command signal
Axis 37 command signal
Axis 38 command signal
Axis 39 command signal
Axis 40 command signal
Axis 41 command signal
Axis 42 command signal
Axis 43 command signal
Axis 44 command signal
Axis 45 command signal
Axis 46 command signal
Axis 47 command signal
Axis 48 command signal
Axis 49 command signal
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
37
2
Device No.
MELSEC iQ-R Motion device assignment
M36048 to M36079
M36080 to M36111
M36112 to M36143
M36144 to M36175
M36176 to M36207
M36208 to M36239
M36240 to M36271
M36272 to M36303
M36304 to M36335
M36336 to M36367
M36368 to M36399
M36400 to M36431
M36432 to M36463
M36464 to M36495
M36496 to M36527
Q series Motion compatible
Device assignment
Signal name
Axis 50 command signal
Axis 51 command signal
Axis 52 command signal
Axis 53 command signal
Axis 54 command signal
Axis 55 command signal
Axis 56 command signal
Axis 57 command signal
Axis 58 command signal
Axis 59 command signal
Axis 60 command signal
Axis 61 command signal
Axis 62 command signal
Axis 63 command signal
Axis 64 command signal
38
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
• Details for each axis
Device No.
MELSEC iQ-R
Motion device assignment
M34480+32n
M34481+32n
M34482+32n
M34483+32n
M34484+32n
M34485+32n
M34486+32n
Q series Motion compatible device assignment
M3200+20n
M3201+20n
M3202+20n
M3203+20n
M3204+20n
M3205+20n
M3206+20n
Symbol Signal name
Rq.1140
Rq.1141
Rq.1142
Rq.1143
Rq.1144
Rq.1145
Rq.1146
Stop command
Rapid stop command
Forward rotation JOG start command
Reverse rotation JOG start command
Complete signal OFF command
Speed/position switching enable command
Gain changing 2 command
Refresh cycle
M34487+32n
M34488+32n
M34489+32n
M34490+32n
M34491+32n
M34492+32n
M34493+32n
M34494+32n
M34495+32n
M34496+32n
M34497+32n
M34498+32n
M34499+32n
M34500+32n
M34501+32n
M34502+32n
M34503+32n
M34504+32n
M34505+32n
M34506+32n
M34507+32n
M34508+32n
M34509+32n
M34510+32n
M34511+32n
M3207+20n
M3208+20n
M3209+20n
M3210+20n
M3211+20n
M3212+20n
M3213+20n
M3214+20n
M3215+20n
M3216+20n
M3217+20n
M3218+20n
M3219+20n
Rq.1147
Rq.1148
Rq.1149
Rq.1152
Rq.1155
Rq.1156
Rq.1157
Rq.1158
Rq.1159
Error reset command
Servo error reset command
External stop input disable at start command
Unusable
Feed current value update command
Unusable
Servo OFF command
Gain changing command
PI-PID switching command
Control loop changing command
FIN signal
Unusable
*1 Servo amplifier (MR-J5(W) B) only.
*2 Operation cycle 7.111 [ms] or more: Every 3.555 [ms]
Fetch cycle Signal type
Operation cycle Command signal
Main cycle
Operation cycle
Operation cycle
Main cycle
At start
At start
Command signal
Operation cycle Command signal
Operation cycle
Operation cycle
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
39
[Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n)
• This command is a signal which stop a starting axis from an external source and becomes effective at leading edge of signal. (An axis for which the stop command is turning on cannot be started.)
ON
[Rq.1140] Stop command
(R: M34480+32n/Q: M3200+20n)
OFF
V
Setting speed
Stop
Deceleration stop processing t
• The details of stop processing when the stop command turns on are shown below. (Refer to Speed control ( ) (
321 Speed Control (I)), or speed control (
) (
Page 324 Speed Control (II)) for details of speed control.)
Control details during execution
Positioning control
Speed control ( )
Speed control ( )
JOG operation
Speed control with fixed position stop
Manual pulse generator operation
Home position return
Speed-torque control
Pressure control
Machine program operation
Machine JOG operation
Stop command for specified axis
Processing at the turning stop command on
During control
The axis decelerates to a stop in the deceleration time set in the parameter block or servo program.
Control during stop command OFF
During deceleration stop processing
The deceleration stop processing is continued.
An immediate stop is executed without deceleration processing.
• The axis decelerates to a stop in the deceleration time set in the parameter block.
• A stop error during home position return occurs and the minor error (error code:1908H) is stored in the "[Md.1004] Error code (R: D32007+48n/Q: D7+20n)" for each axis.
The speed commanded to servo amplifier is "0". The mode is switched to position control mode when "Zero speed" turns
ON, and the operation stops.
This decelerates to a stop in the deceleration time set in the parameter block or machine positioning data.
The deceleration stop processing is continued.
• The stop command in a dwell time is invalid. (After a dwell time, the "[St.1040] Start accept flag (R: M30080+n/Q:
M2001+n)" turns OFF, and the "[St.1061] Positioning complete (R: M32401+32n/Q: M2401+20n)" turns ON.)
If it is made to stop by turning on the "[Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n)" during a home position return, execute the home position return again.
If the stop command is turned on after the proximity dog ON in the proximity dog method, execute the home position return after move to before the proximity dog ON by the JOG operation or positioning.
40
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
[Rq.1141] Rapid stop command (R: M34481+32n/Q: M3201+20n)
• This command stops a starting axis rapidly from an external source and becomes effective at leading edge of signal. (An axis for which the rapid stop command is turning on cannot be started.)
ON
[Rq.1141] Rapid stop command
(R: M34481+32n/Q: M3201+20n)
OFF
V
Rapid stop command for specified axis Control during rapid stop command OFF
Setting speed
Stop
Rapid stop processing t
• The details of stop processing when the rapid stop command turns on are shown below.
Control details during execution
Processing at the turning rapid stop command on
During control
The axis decelerates to a rapid stop deceleration time set in the parameter block or servo program.
During deceleration stop processing
Deceleration processing is stopped and rapid stop processing is executed.
Position control
Speed control ( )
Speed control ( )
JOG operation
Speed control with fixed position stop
Manual pulse generator operation
Home position return
Speed-torque control
Pressure control
Machine program operation
Machine JOG operation
An immediate stop is executed without deceleration processing.
• The axis decelerates to a stop in the rapid stop deceleration time set in the parameter block.
• A "stop error during home position return" occurs and the minor error (error code:192DH) is stored in the "[Md.1004] Error code (R: D32007+48n/Q: D7+20n" for each axis.
The speed commanded to servo amplifier is "0". The mode is switched to position control mode when "Zero speed" turns
ON, and the operation stops.
This decelerates to a stop in the deceleration time set in the parameter block or machine positioning data.
Deceleration processing is stopped and rapid stop processing is executed.
• The rapid stop command in a dwell time is invalid. (After a dwell time, the "[St.1040] Start accept flag (R: M30080+n/Q:
M2001+n)" turns OFF, and the "[St.1061] Positioning complete (R: M32401+32n/Q: M2401+20n)" turns ON.)
If it is made to stop rapidly by turning on the "[Rq.1141] Rapid stop command (R: M34481+32n/Q:
M3201+20n)" during a home position return, execute the home position return again.
If the rapid stop command turned on after the proximity dog ON in the proximity dog method, execute the home position return after move to before the proximity dog ON by the JOG operation or positioning.
[Rq.1142] Forward rotation JOG start command (R: M34482+32n/Q: M3202+20n)
JOG operation to the address increase direction is executed while "[Rq.1142] Forward rotation JOG start command (R:
M34482+32n/Q: M3202+20n)" is turning on. When "[Rq.1142] Forward rotation JOG start command (R: M34482+32n/Q:
M3202+20n)" is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.
Take an interlock so that the "[Rq.1142] Forward rotation JOG start command (R: M34482+32n/Q:
M3202+20n)" and "[Rq.1143] Reverse rotation JOG start command (R: M34483+32n/Q: M3203+20n)" may not turn on simultaneously.
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
41
[Rq.1143] Reverse rotation JOG start command (R: M34483+32n/Q: M3203+20n)
JOG operation to the address decrease direction is executed while "[Rq.1143] Reverse rotation JOG start command (R:
M34483+32n/Q: M3203+20n)" is turning on. When "[Rq.1143] Reverse rotation JOG start command (R: M34483+32n/Q:
M3203+20n)" is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.
Take an interlock so that the "[Rq.1142] Forward rotation JOG start command (R: M34482+32n/Q:
M3202+20n)" and "[Rq.1143] Reverse rotation JOG start command (R: M34483+32n/Q: M3203+20n)" may not turn on simultaneously.
[Rq.1144] Complete signal OFF command (R: M34484+32n/Q: M3204+20n)
This command is used to turn off the "[St.1060] Positioning start complete (R: M32400+32n/Q: M2400+20n)" and "[St.1061]
Positioning complete (R: M32401+32n/Q: M2401+20n)".
Dwell time Dwell time t
[St.1060] Positioning start complete
(R: M32400+32n/Q: M2400+20n)
OFF
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
OFF
[Rq.1144] Complete signal OFF command
(R: M34484+32n/Q: M3204+20n)
OFF
ON
ON
ON
Be sure to turn OFF the "[Rq.1144] Complete signal OFF (R: M34484+32n/Q: M3204+20n)", after confirming the "[St.1060] Positioning start complete (R: M32400+32n/Q: M2400+20n)" and "[St.1061] Positioning complete (R: M32401+32n/Q: M2401+20n)" are OFF.
[Rq.1145] Speed/position switching enable command (R: M34485+32n/Q: M3205+20n)
This command is used to make the CHANGE signal (speed/position switching signal) effective from an external source.
Setting value
ON
OFF
Description
Control switches from speed control to position control when the CHANGE signal turned on.
Control does not switch from speed to position control even if the CHANGE signal turns on.
Control does not switch from speed control to position control because
"[Rq.1145] Speed/position switching enable command
(R: M34485+32n/Q: M3205+20n) turns off
[Rq.1145] Speed/position switching enable command
(R: M34485+32n/Q: M3205+20n)
OFF
CHANGE signal from external source OFF
CHANGE CHANGE
ON
ON
Control switches from speed control to position control because
"[Rq.1145] Speed/position switching enable command
(R: M34485+32n/Q: M3205+20n) turns on t
42
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
[Rq.1146] Gain changing 2 command (R: M34486+32n/Q: M3206+20n)
This signal is used to change the gain of servo amplifier (MR-J5(W) B) in the Motion controller by the gain changing 2 command ON/OFF.
Setting value
ON
OFF
Description
Gain changing 2 command ON
Gain changing 2 command OFF
When "[Rq.1156] Gain changing command (R: M34496+32n/Q: M3216+20n)" and "[Rq.1146] Gain changing 2 command (R:
M34486+32n/Q: M3206+20n)" are both ON, the setting details of "[Rq.1146] Gain changing 2 command (R: M34486+32n/Q:
M3206+20n) are prioritized.
Refer to the following for details of gain changing function.
Servo amplifier Instruction Manual
[Rq.1147] Error reset command (R: M34487+32n/Q: M3207+20n)
This command is used to clear the "[Md.1003] Warning code (R: D32006+48n/Q: D6+20n)" and "[Md.1004] Error code (R:
D32007+48n/Q: D7+20n)" of an axis for "[St.1067] Error detection (R: M32407+32n/Q: M2407+20n)": ON, and reset the
"[St.1067] Error detection (R: M32407+32n/Q: M2407+20n)".
ON
[St.1067] Error detection
(R: M32407+32n/Q: M2407+20n)
OFF
[Rq.1147] Error reset command
(R: M34487+32n/Q: M3207+20n)
OFF
[Md.1003] Warning code
(R: D32006+48n/Q: D6+20n)
[Md.1004] Error code
(R: M32007+48n/Q: D7+20n)
**
**
ON
00
00
**: Warning / Error code
2
Refer to the following for details on the warning code and error code storage registers.
MELSEC iQ-R Motion controller Programming Manual (Common)
[Rq.1148] Servo error reset command (R: M34488+32n/Q: M3208+20n)
This command is used to clear the "[Md.1005] Servo error code (R: D32008+48n/Q: D8+20n)" of an axis for which the
"[St.1068] Servo error detection (R: M32408+32n/Q: M2408+20n)": ON, and reset the "[St.1068] Servo error detection (R:
M32408+32n/Q: M2408+20n)".
Even when the servo warning is detected ("[St.1068] Servo error detection (R: M32408+32n/Q: M2408+20n)": OFF),
"[Md.1005] Servo error code (R: D32008+48n/Q: D8+20n)" can be cleared by "[Rq.1148] Servo error reset command (R:
M34488+32n/Q: M3208+20n)".
ON
[St.1068] Servo error detection
(R: M32408+32n/Q: M2408+20n)
OFF
[Rq.1148] Servo error reset command
(R: M34488+32n/Q: M3208+20n)
OFF
[Md.1005] Servo error code
(R: D32008+48n/Q: D8+20n)
**
ON
00
**: Error code
Refer to the following for details on the servo error code storage registers.
MELSEC iQ-R Motion controller Programming Manual (Common)
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
43
[Rq.1149] External stop input disable at start command (R: M34489+32n/Q: M3209+20n)
This signal is used to set the external stop signal input valid or invalid.
Setting value
ON
OFF
Description
External stop input is set as invalid, and even axes which stop input is turning on can be started.
External stop input is set as valid, and axes which stop input is turning on cannot be started.
This is ignored during G-code control. When "[Rq.1149] External stop input disable at start command (R: M34489+32n/Q:
M3209+20n)" is turned ON, axes with STOP input turned ON cannot be started.
When it stops an axis with the external stop input after it starts by turning on the "[Rq.1149] External stop input disable at start command (R: M34489+32n/Q: M3209+20n)", switch the external stop input from OFF → ON (if the external stop input is turning on at the starting, switch it from ON → OFF → ON).
[Rq.1152] Feed current value update request command (R: M34492+32n/Q: M3212+20n)
This signal is used to set whether the feed current value will be cleared or not at the starting in speed/position switching control or speed control ( ).
Setting value
ON
OFF
Description
The feed current value is not cleared at the starting. The feed current value is updated from the starting. In speed control ( ), the software stroke limit is valid.
The feed current value is cleared at the starting. In speed/position switching control, the feed current value is updated from the starting. In speed control ( ), "0" is stored in the feed current value.
When it starts by turning on the "[Rq.1152] Feed current value update request command (R: M34492+32n/Q:
M3212+20n)", keep "[Rq.1152] Feed current value update request command (R: M34492+32n/Q:
M3212+20n)" on until completion of the positioning control. If "[Rq.1152] Feed current value update request command (R: M34492+32n/Q: M3212+20n)" is turned off on the way, the feed current value may not be reliable.
[Rq.1155] Servo OFF command (R: M34495+32n/Q: M3215+20n)
When "[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)" is ON, this command is used to execute the servo
OFF state (free run state).
Setting value
ON
OFF
Description
Servo OFF (free run state)
Servo ON
Execute this command after positioning completion because it becomes invalid during positioning.
CAUTION
• Turn the power supply of the servo amplifier side off before touching a servo motor, such as machine adjustment.
44
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
[Rq.1156] Gain changing command (R: M34496+32n/Q: M3216+20n)
This signal is used to change the gain of servo amplifier in the Motion controller by the gain changing command ON/OFF.
Setting value
ON
OFF
Description
Gain changing command ON
Gain changing command OFF
When "[Rq.1156] Gain changing command (R: M34496+32n/Q: M3216+20n)" and "[Rq.1146] Gain changing 2 command (R:
M34486+32n/Q: M3206+20n)" are both ON, the setting details of "[Rq.1146] Gain changing 2 command (R: M34486+32n/Q:
M3206+20n) are prioritized.
Refer to the following for details of gain changing function.
Servo amplifier Instruction Manual
[Rq.1157] PI-PID switching command (R: M34497+32n/Q: M3217+20n)
This signal is used to change the PI-PID switching of servo amplifier in the Motion controller by the PI-PID switching command
ON/OFF.
Setting value
ON
OFF
Description
PI-PID switching command ON (PID control)
PI-PID switching command OFF (PI control)
Refer to the following for details of PI-PID switching function.
Servo amplifier Instruction Manual
[Rq.1158] Control loop changing command (R: M34498+32n/Q: M3218+20n)
When using the fully closed loop control servo amplifier, this signal is used to change the fully closed loop control/semi closed loop control of servo amplifier in the Motion controller by the control loop changing command ON/OFF.
Setting value
ON
OFF
Description
During fully closed loop control
During semi closed loop control
Fully closed loop control change
ON
[Rq.1158] Control loop changing command
(R: M34498+32n/Q: M3218+20n)
OFF
OFF
ON
[St.1050] Control loop monitor status
(R: M30336+n/Q: M2272+n)
Refer to the following for details of control loop changing function.
Servo amplifier Instruction Manual
Semi closed loop control change
• When the servo amplifier is not started (LED: "AA", "Ab", "AC", "Ad" or "AE"), if the control loop changing command is turned ON/OFF, the command becomes invalid.
• When the following are operated during the fully closed loop, it returns to the semi closed loop control.
(1) Power supply OFF or reset of the Multiple CPU system
(2) Wire breakage of the SSCNET cable between the servo amplifier and Motion controller
(3) Control circuit power supply OFF of the servo amplifier
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
45
[Rq.1159] FIN signal (R: M34499+32n/Q: M3219+20n)
When a M-code is set in a servo program, transit to the next block does not execute until the FIN signal changes as follows:
OFF → ON → OFF. Positioning to the next block begins after the FIN signal changes as above.
It is valid, only when the FIN acceleration/deceleration is set and FIN signal wait function is selected.
<K 0>
Point
1
2
3
4
CPSTART2
Axis
Axis
Speed
FIN
ABS-2
Axis
Axis
M-code
ABS-2
Axis
Axis
M -code
ABS-2
Axis
Axis
M -code
ABS-2
Axis
Axis
CPEND
1
2
1,
2,
1,
2,
1,
2,
1,
2
10000
100
200000
200000
10
300000
250000
11
350000
300000
12
400000
400000
Point
M -code
1
10
WAIT
[St.1079] M-code outputting
(R: M32419+32n/Q: M2419+20n)
[Rq.1159] FIN signal
(R: M34499+32n/Q: M3219+20n)
Timing Chart for Operation Description
2
11
1. When the positioning of point 1 starts, M-code 10 is output and the M-code outputting signal turns on.
2. FIN signal turns on after performing required processing in the Motion SFC program. Transition to the next point does not execute until the FIN signal turns on.
3. When the FIN signal turns on, the M-code outputting signal turns off.
4. When the FIN signal turns off after the M-code outputting signal turns off, the positioning to the next point 2 starts.
• The "[Rq.1159] FIN signal (R: M34499+32n/Q: M3219+20n)" and "[St.1079] M-code outputting (R:
M32419+32n/Q: M2419+20n)" are both signal for the FIN signal wait function.
• The "[Rq.1159] FIN signal (R: M34499+32n/Q: M3219+20n)" and "[St.1079] M-code outputting (R:
M32419+32n/Q: M2419+20n)" are valid only when FIN acceleration/deceleration is designated in the servo program. Otherwise, the FIN signal wait function is disabled, and the "[St.1079] M-code outputting (R:
M32419+32n/Q: M2419+20n)" does not turn on.
46
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Command generation axis status
Device No.
MELSEC iQ-R Motion device assignment
M36560 to M36591
M36592 to M36623
M36624 to M36655
M36656 to M36687
M36688 to M36719
M36720 to M36751
M36752 to M36783
M36784 to M36815
M36816 to M36847
M36848 to M36879
M36880 to M36911
M36912 to M36943
M36944 to M36975
M36976 to M37007
M37008 to M37039
M37040 to M37071
M37072 to M37103
M37104 to M37135
M37136 to M37167
M37168 to M37199
M37200 to M37231
M37232 to M37263
M37264 to M37295
M37296 to M37327
M37328 to M37359
M37360 to M37391
M37392 to M37423
M37424 to M37455
M37456 to M37487
M37488 to M37519
M37520 to M37551
M37552 to M37583
M37584 to M37615
M37616 to M37647
M37648 to M37679
M37680 to M37711
M37712 to M37743
M37744 to M37775
M37776 to M37807
M37808 to M37839
M37840 to M37871
M37872 to M37903
M37904 to M37935
M37936 to M37967
M37968 to M37999
M38000 to M38031
M38032 to M38063
M38064 to M38095
M38096 to M38127
Signal name
Q series Motion compatible device assignment
M9800 to M9819
M9820 to M9839
M9840 to M9859
M9860 to M9879
M9880 to M9899
M9900 to M9919
M9920 to M9939
M9940 to M9959
M9960 to M9979
M9980 to M9999
M10000 to M10019
M10020 to M10039
M10040 to M10059
M10060 to M10079
M10080 to M10099
M10100 to M10119
M10120 to M10139
M10140 to M10159
M10160 to M10179
M10180 to M10199
M10200 to M10219
M10220 to M10239
M10240 to M10259
M10260 to M10279
M10280 to M10299
M10300 to M10319
M10320 to M10339
M10340 to M10359
M10360 to M10379
M10380 to M10399
M10400 to M10419
M10420 to M10439
Axis 1 command generation axis status
Axis 2 command generation axis status
Axis 3 command generation axis status
Axis 4 command generation axis status
Axis 5 command generation axis status
Axis 6 command generation axis status
Axis 7 command generation axis status
Axis 8 command generation axis status
Axis 9 command generation axis status
Axis 10 command generation axis status
Axis 11 command generation axis status
Axis 12 command generation axis status
Axis 13 command generation axis status
Axis 14 command generation axis status
Axis 15 command generation axis status
Axis 16 command generation axis status
Axis 17 command generation axis status
Axis 18 command generation axis status
Axis 19 command generation axis status
Axis 20 command generation axis status
Axis 21 command generation axis status
Axis 22 command generation axis status
Axis 23 command generation axis status
Axis 24 command generation axis status
Axis 25 command generation axis status
Axis 26 command generation axis status
Axis 27 command generation axis status
Axis 28 command generation axis status
Axis 29 command generation axis status
Axis 30 command generation axis status
Axis 31 command generation axis status
Axis 32 command generation axis status
Axis 33 command generation axis status
Axis 34 command generation axis status
Axis 35 command generation axis status
Axis 36 command generation axis status
Axis 37 command generation axis status
Axis 38 command generation axis status
Axis 39 command generation axis status
Axis 40 command generation axis status
Axis 41 command generation axis status
Axis 42 command generation axis status
Axis 43 command generation axis status
Axis 44 command generation axis status
Axis 45 command generation axis status
Axis 46 command generation axis status
Axis 47 command generation axis status
Axis 48 command generation axis status
Axis 49 command generation axis status
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
47
2
Device No.
MELSEC iQ-R Motion device assignment
M38128 to M38159
M38160 to M38191
M38192 to M38223
M38224 to M38255
M38256 to M38287
M38288 to M38319
M38320 to M38351
M38352 to M38383
M38384 to M38415
M38416 to M38447
M38448 to M38479
M38480 to M38511
M38512 to M38543
M38544 to M38575
M38576 to M38607
Q series Motion compatible device assignment
Signal name
Axis 50 command generation axis status
Axis 51 command generation axis status
Axis 52 command generation axis status
Axis 53 command generation axis status
Axis 54 command generation axis status
Axis 55 command generation axis status
Axis 56 command generation axis status
Axis 57 command generation axis status
Axis 58 command generation axis status
Axis 59 command generation axis status
Axis 60 command generation axis status
Axis 61 command generation axis status
Axis 62 command generation axis status
Axis 63 command generation axis status
Axis 64 command generation axis status
48
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
M36580+32n
M36581+32n
M36582+32n
M36583+32n
M36584+32n
M36585+32n
M36586+32n
M36587+32n
M36588+32n
M36589+32n
M36590+32n
M36591+32n
• Details for each axis
Device No.
MELSEC iQ-R
Motion device assignment
M36560+32n
Q series Motion compatible device assignment
M9800+20n
Symbol Signal name
St.340
M36561+32n
M36562+32n
M36563+32n
M36564+32n
M9801+20n
M9802+20n
M9803+20n
M9804+20n
St.341
St.342
St.343
Refresh cycle
Fetch cycle Signal type
Command generation axis positioning start complete
Command generation axis positioning complete
Unusable
Command generation axis command inposition
Command generation axis speed controlling
Unusable
Operation cycle
Operation cycle
Status signal
Status signal
M36565+32n
M36566+32n
M36567+32n
M36568+32n
M36569+32n
M36570+32n
M36571+32n
M36572+32n
M36573+32n
M9805+20n
M9806+20n
M9807+20n
M9808+20n
M9809+20n
M9810+20n
M9811+20n
M9812+20n
M9813+20n
St.344
St.345
St.346
St.347
St.348
Command generation axis error detection
Unusable
Immediate
Command generation axis start accept flag Operation cycle
Command generation axis speed change accepting flag
Command generation axis speed change
"0" accepting flag
Command generation axis automatic decelerating flag
Unusable
Status signal
Status signal
M36574+32n
M36575+32n
M36576+32n
M36577+32n
M36578+32n
M36579+32n
M9814+20n
M9815+20n
M9816+20n
M9817+20n
M9818+20n
M9819+20n St.349
Operation cycle Status signal
Command generation axis M-code outputting
Unusable
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of command generation axis status.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
49
50
Command generation axis command signal
Device No.
MELSEC iQ-R Motion device assignment
M40160 to M40191
M40192 to M40223
M40224 to M40255
M40256 to M40287
M40288 to M40319
M40320 to M40351
M40352 to M40383
M40384 to M40415
M40416 to M40447
M40448 to M40479
M40480 to M40511
M40512 to M40543
M40544 to M40575
M40576 to M40607
M40608 to M40639
M40640 to M40671
M40672 to M40703
M40704 to M40735
M40736 to M40767
M40768 to M40799
M40800 to M40831
M40832 to M40863
M40864 to M40895
M40896 to M40927
M40928 to M40959
M40960 to M40991
M40992 to M41023
M41024 to M41055
M41056 to M41087
M41088 to M41119
M41120 to M41151
M41152 to M41183
M41184 to M41215
M41216 to M41247
M41248 to M41279
M41280 to M41311
M41312 to M41343
M41344 to M41375
M41376 to M41407
M41408 to M41439
M41440 to M41471
M41472 to M41503
M41504 to M41535
M41536 to M41567
M41568 to M41599
M41600 to M41631
M41632 to M41663
M41664 to M41695
M41696 to M41727
Signal name
Q series Motion compatible device assignment
M10960 to M10979
M10980 to M10999
M11000 to M11019
M11020 to M11039
M11040 to M11059
M11060 to M11079
M11080 to M11099
M11100 to M11119
M11120 to M11139
M11140 to M11159
M11160 to M11179
M11180 to M11199
M11200 to M11219
M11220 to M11239
M11240 to M11259
M11260 to M11279
M11280 to M11299
M11300 to M11319
M11320 to M11339
M11340 to M11359
M11360 to M11379
M11380 to M11399
M11400 to M11419
M11420 to M11439
M11440 to M11459
M11460 to M11479
M11480 to M11499
M11500 to M11519
M11520 to M11539
M11540 to M11559
M11560 to M11579
M11580 to M11599
Axis 1 command generation axis command signal
Axis 2 command generation axis command signal
Axis 3 command generation axis command signal
Axis 4 command generation axis command signal
Axis 5 command generation axis command signal
Axis 6 command generation axis command signal
Axis 7 command generation axis command signal
Axis 8 command generation axis command signal
Axis 9 command generation axis command signal
Axis 10 command generation axis command signal
Axis 11 command generation axis command signal
Axis 12 command generation axis command signal
Axis 13 command generation axis command signal
Axis 14 command generation axis command signal
Axis 15 command generation axis command signal
Axis 16 command generation axis command signal
Axis 17 command generation axis command signal
Axis 18 command generation axis command signal
Axis 19 command generation axis command signal
Axis 20 command generation axis command signal
Axis 21 command generation axis command signal
Axis 22 command generation axis command signal
Axis 23 command generation axis command signal
Axis 24 command generation axis command signal
Axis 25 command generation axis command signal
Axis 26 command generation axis command signal
Axis 27 command generation axis command signal
Axis 28 command generation axis command signal
Axis 29 command generation axis command signal
Axis 30 command generation axis command signal
Axis 31 command generation axis command signal
Axis 32 command generation axis command signal
Axis 33 command generation axis command signal
Axis 34 command generation axis command signal
Axis 35 command generation axis command signal
Axis 36 command generation axis command signal
Axis 37 command generation axis command signal
Axis 38 command generation axis command signal
Axis 39 command generation axis command signal
Axis 40 command generation axis command signal
Axis 41 command generation axis command signal
Axis 42 command generation axis command signal
Axis 43 command generation axis command signal
Axis 44 command generation axis command signal
Axis 45 command generation axis command signal
Axis 46 command generation axis command signal
Axis 47 command generation axis command signal
Axis 48 command generation axis command signal
Axis 49 command generation axis command signal
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Device No.
MELSEC iQ-R Motion device assignment
M41728 to M41759
M41760 to M41791
M41792 to M41823
M41824 to M41855
M41856 to M41887
M41888 to M41919
M41920 to M41951
M41952 to M41983
M41984 to M42015
M42016 to M42047
M42048 to M42079
M42080 to M42111
M42112 to M42143
M42144 to M42175
M42176 to M42207
Q series Motion compatible device assignment
Signal name
Axis 50 command generation axis command signal
Axis 51 command generation axis command signal
Axis 52 command generation axis command signal
Axis 53 command generation axis command signal
Axis 54 command generation axis command signal
Axis 55 command generation axis command signal
Axis 56 command generation axis command signal
Axis 57 command generation axis command signal
Axis 58 command generation axis command signal
Axis 59 command generation axis command signal
Axis 60 command generation axis command signal
Axis 61 command generation axis command signal
Axis 62 command generation axis command signal
Axis 63 command generation axis command signal
Axis 64 command generation axis command signal
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
51
M40173+32n
M40174+32n
M40175+32n
M40176+32n
M40177+32n
M40178+32n
M40179+32n
M40180+32n
M40181+32n
M40182+32n
M40183+32n
M40184+32n
M40185+32n
M40186+32n
M40187+32n
M40188+32n
M40189+32n
M40190+32n
M40191+32n
• Details for each axis
Device No.
MELSEC iQ-R
Motion device assignment
M40160+32n
M40161+32n
Q series Motion compatible device assignment
M10960+20n
M10961+20n
Symbol Signal name
Rq.341
Rq.342
M40162+32n
M40163+32n
M40164+32n
M10962+20n
M10963+20n
M10964+20n
Rq.343
Rq.344
Rq.345
Refresh cycle
Command generation axis stop command
Command generation axis rapid stop command
Command generation axis forward rotation
JOG start command
Command generation axis reverse rotation
JOG start command
Command generation axis complete signal
OFF command
Unusable
M40165+32n
M40166+32n
M40167+32n
M10965+20n
M10966+20n
M10967+20n Rq.346
Command generation axis error reset command
Unusable M40168+32n
M40169+32n
M40170+32n
M40171+32n
M40172+32n
M10968+20n
M10969+20n
M10970+20n
M10971+20n
M10972+20n Rq.347
Feed current value update request command
Unusable M10973+20n
M10974+20n
M10975+20n
M10976+20n
M10977+20n
M10978+20n
M10979+20n Rq.348
Command generation axis FIN signal
Unusable
Fetch cycle Signal type
Operation cycle Command signal
Main cycle
Main cycle
Command signal
At start
Command signal
Operation cycle Command signal
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of command generation axis command signal.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
52
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Synchronous encoder axis status
Device No.
MELSEC iQ-R Motion device assignment
M38640 to M38655
M38656 to M38671
M38672 to M38687
M38688 to M38703
M38704 to M38719
M38720 to M38735
M38736 to M38751
M38752 to M38767
M38768 to M38783
M38784 to M38799
M38800 to M38815
M38816 to M38831
Signal name
Q series Motion compatible device assignment
M10440 to M10449
M10450 to M10459
M10460 to M10469
M10470 to M10479
M10480 to M10489
M10490 to M10499
M10500 to M10509
M10510 to M10519
M10520 to M10529
M10530 to M10539
M10540 to M10549
M10550 to M10559
Axis 1 synchronous encoder axis status
Axis 2 synchronous encoder axis status
Axis 3 synchronous encoder axis status
Axis 4 synchronous encoder axis status
Axis 5 synchronous encoder axis status
Axis 6 synchronous encoder axis status
Axis 7 synchronous encoder axis status
Axis 8 synchronous encoder axis status
Axis 9 synchronous encoder axis status
Axis 10 synchronous encoder axis status
Axis 11 synchronous encoder axis status
Axis 12 synchronous encoder axis status
• Details for each axis
Device No.
MELSEC iQ-R
Motion device assignment
M38640+16n
M38641+16n
Q series Motion compatible device assignment
M10440+10n
M10441+10n
Symbol Signal name
St.320
St.321
M38642+16n
M38643+16n
M38644+16n
M38645+16n
M38646+16n
M10442+10n
M10443+10n
M10444+10n
M10445+10n
M10446+10n
St.322
St.323
St.324
St.325
Refresh cycle
Fetch cycle Signal type
Synchronous encoder axis setting valid flag At power on
Synchronous encoder axis connecting valid flag
Synchronous encoder axis counter enable flag
Synchronous encoder axis current value setting request flag
Operation cycle
Immediate Synchronous encoder axis error detection flag
Unusable
Synchronous encoder axis control complete flag
Unusable
Immediate
Status signal
Status signal
M38647+16n
M38648+16n
M38649+16n
M38650+16n
M38651+16n
M38652+16n
M38653+16n
M38654+16n
M38655+16n
M10447+10n
M10448+10n
M10449+10n
Refer to the following for details of synchronous encoder axis status.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
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2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
53
Synchronous encoder axis command signal
Device No.
MELSEC iQ-R Motion device assignment
M42240 to M42247
M42248 to M42255
M42256 to M42263
M42264 to M42271
M42272 to M42279
M42280 to M42287
M42288 to M42295
M42296 to M42303
M42304 to M42311
M42312 to M42319
M42320 to M42327
M42328 to M42335
Signal name
Q series Motion compatible device assignment
M11600 to M11603
M11604 to M11607
M11608 to M11611
M11612 to M11615
M11616 to M11619
M11620 to M11623
M11624 to M11627
M11628 to M11631
M11632 to M11635
M11636 to M11639
M11640 to M11643
M11644 to M11647
Axis 1 synchronous encoder axis command signal
Axis 2 synchronous encoder axis command signal
Axis 3 synchronous encoder axis command signal
Axis 4 synchronous encoder axis command signal
Axis 5 synchronous encoder axis command signal
Axis 6 synchronous encoder axis command signal
Axis 7 synchronous encoder axis command signal
Axis 8 synchronous encoder axis command signal
Axis 9 synchronous encoder axis command signal
Axis 10 synchronous encoder axis command signal
Axis 11 synchronous encoder axis command signal
Axis 12 synchronous encoder axis command signal
• Details for each axis
Device No.
MELSEC iQ-R
Motion device assignment
M42240+8n
M42241+8n
M42242+8n
Q series Motion compatible device assignment
M11600+4n
M11601+4n
M11602+4n
M11603+4n
Symbol Signal name
Rq.323
Rq.320
Rq.324
Synchronous encoder axis error reset
Synchronous encoder axis control request
Connection command of synchronous encoder via device/master CPU
Unusable M42243+8n
M42244+8n
M42245+8n
M42246+8n
M42247+8n
Refresh cycle
Fetch cycle Signal type
Main cycle
Operation cycle
Main cycle
Command signal
Refer to the following for details of synchronous encoder axis command signal.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
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2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Output axis status
Device No.
MELSEC iQ-R Motion device assignment
M38960 to M38975
M38976 to M38991
M38992 to M39007
M39008 to M39023
M39024 to M39039
M39040 to M39055
M39056 to M39071
M39072 to M39087
M39088 to M39103
M39104 to M39119
M39120 to M39135
M39136 to M39151
M39152 to M39167
M39168 to M39183
M39184 to M39199
M39200 to M39215
M39216 to M39231
M39232 to M39247
M39248 to M39263
M39264 to M39279
M39280 to M39295
M39296 to M39311
M39312 to M39327
M39328 to M39343
M39344 to M39359
M39360 to M39375
M39376 to M39391
M39392 to M39407
M39408 to M39423
M39424 to M39439
M39440 to M39455
M39456 to M39471
M39472 to M39487
M39488 to M39503
M39504 to M39519
M39520 to M39535
M39536 to M39551
M39552 to M39567
M39568 to M39583
M39584 to M39599
M39600 to M39615
M39616 to M39631
M39632 to M39647
M39648 to M39663
M39664 to M39679
M39680 to M39695
M39696 to M39711
M39712 to M39727
M39728 to M39743
Signal name
Q series Motion compatible device assignment
M10560 to M10569
M10570 to M10579
M10580 to M10589
M10590 to M10599
M10600 to M10609
M10610 to M10619
M10620 to M10629
M10630 to M10639
M10640 to M10649
M10650 to M10659
M10660 to M10669
M10670 to M10679
M10680 to M10689
M10690 to M10699
M10700 to M10709
M10710 to M10719
M10720 to M10729
M10730 to M10739
M10740 to M10749
M10750 to M10759
M10760 to M10769
M10770 to M10779
M10780 to M10789
M10790 to M10799
M10800 to M10809
M10810 to M10819
M10820 to M10829
M10830 to M10839
M10840 to M10849
M10850 to M10859
M10860 to M10869
M10870 to M10879
Axis 1 output axis status
Axis 2 output axis status
Axis 3 output axis status
Axis 4 output axis status
Axis 5 output axis status
Axis 6 output axis status
Axis 7 output axis status
Axis 8 output axis status
Axis 9 output axis status
Axis 10 output axis status
Axis 11 output axis status
Axis 12 output axis status
Axis 13 output axis status
Axis 14 output axis status
Axis 15 output axis status
Axis 16 output axis status
Axis 17 output axis status
Axis 18 output axis status
Axis 19 output axis status
Axis 20 output axis status
Axis 21 output axis status
Axis 22 output axis status
Axis 23 output axis status
Axis 24 output axis status
Axis 25 output axis status
Axis 26 output axis status
Axis 27 output axis status
Axis 28 output axis status
Axis 29 output axis status
Axis 30 output axis status
Axis 31 output axis status
Axis 32 output axis status
Axis 33 output axis status
Axis 34 output axis status
Axis 35 output axis status
Axis 36 output axis status
Axis 37 output axis status
Axis 38 output axis status
Axis 39 output axis status
Axis 40 output axis status
Axis 41 output axis status
Axis 42 output axis status
Axis 43 output axis status
Axis 44 output axis status
Axis 45 output axis status
Axis 46 output axis status
Axis 47 output axis status
Axis 48 output axis status
Axis 49 output axis status
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
55
2
Device No.
MELSEC iQ-R Motion device assignment
M39744 to M39759
M39760 to M39775
M39776 to M39791
M39792 to M39807
M39808 to M39823
M39824 to M39839
M39840 to M39855
M39856 to M39871
M39872 to M39887
M39888 to M39903
M39904 to M39919
M39920 to M39935
M39936 to M39951
M39952 to M39967
M39968 to M39983
Q series Motion compatible device assignment
Signal name
Axis 50 output axis status
Axis 51 output axis status
Axis 52 output axis status
Axis 53 output axis status
Axis 54 output axis status
Axis 55 output axis status
Axis 56 output axis status
Axis 57 output axis status
Axis 58 output axis status
Axis 59 output axis status
Axis 60 output axis status
Axis 61 output axis status
Axis 62 output axis status
Axis 63 output axis status
Axis 64 output axis status
M38960+16n
M38961+16n
M38962+16n
M38963+16n
M38964+16n
M38965+16n
M38966+16n
M38967+16n
M38968+16n
M38969+16n
M38970+16n
M38971+16n
M38972+16n
M38973+16n
M38974+16n
M38975+16n
• Details for each axis
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
M10560+10n
M10561+10n
M10562+10n
M10563+10n
M10564+10n
M10565+10n
M10566+10n
M10567+10n
M10568+10n
M10569+10n
Symbol Signal name
St.420
St.421
St.423
St.424
St.426
Main shaft clutch ON/OFF status
Main shaft clutch smoothing status
Auxiliary shaft clutch ON/OFF status
Auxiliary shaft clutch smoothing status
Unusable
Control change complete
Unusable
Refresh cycle
Fetch cycle Signal type
Operation cycle
Operation cycle
Status signal
Status signal
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of output axis status.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
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2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Output axis command signal
Device No.
MELSEC iQ-R Motion device assignment
M42400 to M42415
M42416 to M42431
M42432 to M42447
M42448 to M42463
M42464 to M42479
M42480 to M42495
M42496 to M42511
M42512 to M42527
M42528 to M42543
M42544 to M42559
M42560 to M42575
M42576 to M42591
M42592 to M42607
M42608 to M42623
M42624 to M42639
M42640 to M42655
M42656 to M42761
M42762 to M42687
M42688 to M42703
M42704 to M42719
M42720 to M42735
M42736 to M42751
M42752 to M42767
M42768 to M42783
M42784 to M42799
M42800 to M42815
M42816 to M42831
M42832 to M42847
M42848 to M42863
M42864 to M42879
M42880 to M42895
M42896 to M42911
M42912 to M42927
M42928 to M42943
M42944 to M42959
M42960 to M42975
M42976 to M42991
M42992 to M43007
M43008 to M43023
M43024 to M43039
M43040 to M43055
M43056 to M43071
M43072 to M43087
M43088 to M43103
M43104 to M43119
M43120 to M43135
M43136 to M43151
M43152 to M43167
M43168 to M43183
Signal name
Q series Motion compatible device assignment
M11680 to M11689
M11690 to M11699
M11700 to M11709
M11710 to M11719
M11720 to M11729
M11730 to M11739
M11740 to M11749
M11750 to M11759
M11760 to M11769
M11770 to M11779
M11780 to M11789
M11790 to M11799
M11800 to M11809
M11810 to M11819
M11820 to M11829
M11830 to M11839
M11840 to M11849
M11850 to M11859
M11860 to M11869
M11870 to M11879
M11880 to M11889
M11890 to M11899
M11900 to M11909
M11910 to M11919
M11920 to M11929
M11930 to M11939
M11940 to M11949
M11950 to M11959
M11960 to M11969
M11970 to M11979
M11980 to M11989
M11990 to M11999
Axis 1 output axis command signal
Axis 2 output axis command signal
Axis 3 output axis command signal
Axis 4 output axis command signal
Axis 5 output axis command signal
Axis 6 output axis command signal
Axis 7 output axis command signal
Axis 8 output axis command signal
Axis 9 output axis command signal
Axis 10 output axis command signal
Axis 11 output axis command signal
Axis 12 output axis command signal
Axis 13 output axis command signal
Axis 14 output axis command signal
Axis 15 output axis command signal
Axis 16 output axis command signal
Axis 17 output axis command signal
Axis 18 output axis command signal
Axis 19 output axis command signal
Axis 20 output axis command signal
Axis 21 output axis command signal
Axis 22 output axis command signal
Axis 23 output axis command signal
Axis 24 output axis command signal
Axis 25 output axis command signal
Axis 26 output axis command signal
Axis 27 output axis command signal
Axis 28 output axis command signal
Axis 29 output axis command signal
Axis 30 output axis command signal
Axis 31 output axis command signal
Axis 32 output axis command signal
Axis 33 output axis command signal
Axis 34 output axis command signal
Axis 35 output axis command signal
Axis 36 output axis command signal
Axis 37 output axis command signal
Axis 38 output axis command signal
Axis 39 output axis command signal
Axis 40 output axis command signal
Axis 41 output axis command signal
Axis 42 output axis command signal
Axis 43 output axis command signal
Axis 44 output axis command signal
Axis 45 output axis command signal
Axis 46 output axis command signal
Axis 47 output axis command signal
Axis 48 output axis command signal
Axis 49 output axis command signal
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
57
2
Device No.
MELSEC iQ-R Motion device assignment
M43184 to M43199
M43200 to M43215
M43216 to M43231
M43232 to M43247
M43248 to M43263
M43264 to M43279
M43280 to M43295
M43296 to M43311
M43312 to M43327
M43328 to M43343
M43344 to M43359
M43360 to M43375
M43376 to M43391
M43392 to M43407
M43408 to M43423
Q series Motion compatible device assignment
Signal name
Axis 50 output axis command signal
Axis 51 output axis command signal
Axis 52 output axis command signal
Axis 53 output axis command signal
Axis 54 output axis command signal
Axis 55 output axis command signal
Axis 56 output axis command signal
Axis 57 output axis command signal
Axis 58 output axis command signal
Axis 59 output axis command signal
Axis 60 output axis command signal
Axis 61 output axis command signal
Axis 62 output axis command signal
Axis 63 output axis command signal
Axis 64 output axis command signal
• Details for each axis
Device No.
MELSEC iQ-R
Motion device assignment
M42400+16n
M42401+16n
M42402+16n
M42403+16n
M42404+16n
M42405+16n
Q series Motion compatible device assignment
M11680+10n
M11681+10n
M11682+10n
M11683+10n
M11684+10n
M11685+10n
M42406+16n
M42407+16n
M42408+16n
M42409+16n
M42410+16n
M42411+16n
M42412+16n
M42413+16n
M42414+16n
M42415+16n
M11686+10n
M11687+10n
M11688+10n
M11689+10n
Symbol Signal name
Rq.400
Rq.401
Rq.402
Rq.403
Rq.404
Rq.405
Rq.406
Main shaft clutch command
Main shaft clutch control invalid command
Main shaft clutch forced OFF command
Unusable
Auxiliary shaft clutch command
Auxiliary shaft clutch control invalid command
Auxiliary shaft clutch forced OFF command
Unusable
Control change request command
Unusable
Refresh cycle
Fetch cycle Signal type
Operation cycle Command signal
Operation cycle Command signal
Operation cycle Command signal
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of output axis command signal.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
58
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
27
28
29
30
23
24
25
26
19
20
21
22
15
16
17
18
11
12
13
14
7
8
9
10
5
6
3
4
1
2
43
44
45
46
39
40
41
42
47
35
36
37
38
31
32
33
34
M40022
M40023
M40024
M40025
M40026
M40027
M40028
M40029
M40014
M40015
M40016
M40017
M40018
M40019
M40020
M40021
M40000
M40001
M40002
M40003
M40004
M40005
M40006
M40007
M40008
M40009
M40010
M40011
M40012
M40013
M40038
M40039
M40040
M40041
M40042
M40043
M40044
M40045
M40046
M40030
M40031
M40032
M40033
M40034
M40035
M40036
M40037
Synchronous control signal
Signal name Axis
No.
Device No.
MELSEC iQ-R
Motion device assignment
Symbol
Q series Motion compatible device assignment
M10902
M10903
M10904
M10905
M10906
M10907
M10908
M10909
M10910
M10911
M10894
M10895
M10896
M10897
M10898
M10899
M10900
M10901
M10880
M10881
M10882
M10883
M10884
M10885
M10886
M10887
M10888
M10889
M10890
M10891
M10892
M10893
St.380
Synchronous control
Refresh cycle
Fetch cycle Signal type
Operation cycle Status signal
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
59
59
60
61
62
55
56
57
58
63
64
51
52
53
54
48
49
50
Axis
No.
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
M40054
M40055
M40056
M40057
M40058
M40059
M40060
M40061
M40062
M40063
M40047
M40048
M40049
M40050
M40051
M40052
M40053
Symbol
St.380
Signal name
Synchronous control
Refresh cycle
Fetch cycle Signal type
Operation cycle Status signal
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of synchronous control signal.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
60
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
27
28
29
30
23
24
25
26
19
20
21
22
15
16
17
18
11
12
13
14
7
8
9
10
5
6
3
4
1
2
43
44
45
46
39
40
41
42
47
35
36
37
38
31
32
33
34
M40102
M40103
M40104
M40105
M40106
M40107
M40108
M40109
M40094
M40095
M40096
M40097
M40098
M40099
M40100
M40101
M40080
M40081
M40082
M40083
M40084
M40085
M40086
M40087
M40088
M40089
M40090
M40091
M40092
M40093
M40118
M40119
M40120
M40121
M40122
M40123
M40124
M40125
M40126
M40110
M40111
M40112
M40113
M40114
M40115
M40116
M40117
Synchronous analysis complete signal
Signal name Axis
No.
Device No.
MELSEC iQ-R
Motion device assignment
Symbol
Q series Motion compatible device assignment
M10934
M10935
M10936
M10937
M10938
M10939
M10940
M10941
M10942
M10943
M10926
M10927
M10928
M10929
M10930
M10931
M10932
M10933
M10912
M10913
M10914
M10915
M10916
M10917
M10918
M10919
M10920
M10921
M10922
M10923
M10924
M10925
St.381
Synchronous analysis complete
Refresh cycle
Fetch cycle Signal type
Operation cycle Status signal
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
61
2
59
60
61
62
55
56
57
58
63
64
51
52
53
54
48
49
50
Axis
No.
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
M40134
M40135
M40136
M40137
M40138
M40139
M40140
M40141
M40142
M40143
M40127
M40128
M40129
M40130
M40131
M40132
M40133
Symbol
St.381
Signal name
Synchronous analysis complete
Refresh cycle
Fetch cycle
Operation cycle
Signal type
Status signal
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of synchronous analysis complete signal.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
62
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
27
28
29
30
23
24
25
26
19
20
21
22
15
16
17
18
11
12
13
14
7
8
9
10
5
6
3
4
1
2
43
44
45
46
39
40
41
42
47
35
36
37
38
31
32
33
34
M43462
M43463
M43464
M43465
M43466
M43467
M43468
M43469
M43454
M43455
M43456
M43457
M43458
M43459
M43460
M43461
M43440
M43441
M43442
M43443
M43444
M43445
M43446
M43447
M43448
M43449
M43450
M43451
M43452
M43453
M43478
M43479
M43480
M43481
M43482
M43483
M43484
M43485
M43486
M43470
M43471
M43472
M43473
M43474
M43475
M43476
M43477
Synchronous control start signal
Signal name Axis
No.
Device No.
MELSEC iQ-R
Motion device assignment
Symbol
Q series Motion compatible device assignment
M12022
M12023
M12024
M12025
M12026
M12027
M12028
M12029
M12030
M12031
M12014
M12015
M12016
M12017
M12018
M12019
M12020
M12021
M12000
M12001
M12002
M12003
M12004
M12005
M12006
M12007
M12008
M12009
M12010
M12011
M12012
M12013
Rq.380
Synchronous control start
Refresh cycle
Fetch cycle Signal type
Operation cycle Command signal
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
63
59
60
61
62
55
56
57
58
63
64
51
52
53
54
48
49
50
Axis
No.
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
M43494
M43495
M43496
M43497
M43498
M43499
M43500
M43501
M40502
M40503
M43487
M43488
M43489
M43490
M43491
M43492
M43493
Symbol
Rq.380
Signal name
Synchronous control start
Refresh cycle
Fetch cycle Signal type
Operation cycle Command signal
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of synchronous control start signal.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
64
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
27
28
29
30
23
24
25
26
19
20
21
22
15
16
17
18
11
12
13
14
7
8
9
10
5
6
3
4
1
2
43
44
45
46
39
40
41
42
47
35
36
37
38
31
32
33
34
M43542
M43543
M43544
M43545
M43546
M43547
M43548
M43549
M43534
M43535
M43536
M43537
M43538
M43539
M43540
M43541
M43520
M43521
M43522
M43523
M43524
M43525
M43526
M43527
M43528
M43529
M43530
M43531
M43532
M43533
M43558
M43559
M43560
M43561
M43562
M43563
M43564
M43565
M43566
M43550
M43551
M43552
M43553
M43554
M43555
M43556
M43557
Synchronous analysis request signal
Signal name Axis
No.
Device No.
MELSEC iQ-R
Motion device assignment
Symbol
Q series Motion compatible device assignment
M12054
M12055
M12056
M12057
M12058
M12059
M12060
M12061
M12062
M12063
M12046
M12047
M12048
M12049
M12050
M12051
M12052
M12053
M12032
M12033
M12034
M12035
M12036
M12037
M12038
M12039
M12040
M12041
M12042
M12043
M12044
M12045
Rq.381
Synchronous analysis request
Refresh cycle
Fetch cycle Signal type
At start of synchronous control
Command signal
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
65
2
59
60
61
62
55
56
57
58
63
64
51
52
53
54
48
49
50
Axis
No.
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
M43574
M43575
M43576
M43577
M43578
M43579
M43580
M43581
M43582
M43583
M43567
M43568
M43569
M43570
M43571
M43572
M43573
Symbol
Rq.381
Signal name
Synchronous analysis request
Refresh cycle
Fetch cycle Signal type
At start of synchronous control
Command signal
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of synchronous analysis request signal.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
66
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Machine common command signals
Symbol Signal name Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
M43606
M43607
M43608
M43609
M43610
M43611
M43612
M43613
M43614
M43615
M43598
M43599
M43600
M43601
M43602
M43603
M43604
M43605
M43584
M43585
M43586
M43587
M43588
M43589
M43590
M43591
M43592
M43593
M43594
M43595
M43596
M43597
Rq.2200
Real current value monitor enable flag
Unusable
Refresh cycle
Refer to the following for details of machine common command signal.
MELSEC iQ-R Motion Controller Programming Manual (Machine Control)
Fetch cycle Signal type
Operation cycle Command signal
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
67
Machine command signals
Device No.
MELSEC iQ-R Motion device assignment
M43616 to M43647
M43648 to M43679
M43680 to M43711
M43712 to M43743
M43744 to M43775
M43776 to M43807
M43808 to M43839
M43840 to M43871
Q series Motion compatible device assignment
Signal name
Machine 1 machine command signal
Machine 2 machine command signal
Machine 3 machine command signal
Machine 4 machine command signal
Machine 5 machine command signal
Machine 6 machine command signal
Machine 7 machine command signal
Machine 8 machine command signal
• Details for each machine
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
M43616+32m
M43617+32m
M43618+32m
M43619+32m
Symbol Signal name
Rq.2240
Rq.2243
Machine error reset command
Unusable
Refresh cycle
Machine XYZ stroke limit disable command
M43632+32m
M43633+32m
M43634+32m
M43635+32m
M43636+32m
M43637+32m
M43638+32m
M43639+32m
M43640+32m
M43641+32m
M43642+32m
M43643+32m
M43644+32m
M43645+32m
M43646+32m
M43647+32m
M43620+32m
M43621+32m
M43622+32m
M43623+32m
M43624+32m
M43625+32m
M43626+32m
M43627+32m
M43628+32m
M43629+32m
M43630+32m
M43631+32m
Rq.2244
Rq.2245
Rq.2246
Rq.2247
Rq.2256
Rq.2257
Rq.2258
Rq.2259
Rq.2260
Rq.2261
Rq.2250
Rq.2251
Rq.2252
Rq.2253
Rq.2254
Rq.2255
Base/tool translation change command
Machine stop command
Machine rapid stop command
Execute point switching command
Unusable
Machine forward rotation
JOG start command
Unusable
Machine reverse rotation
JOG start command
Unusable
Z
A
X
Y
B
C
Z
A
X
Y
B
C
Fetch cycle Signal type
Main cycle
Command signal
At machine
JOG start
Operation cycle
Command signal
Main cycle Command signal
Main cycle
Command signal
68
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Refer to the following for details of machine command signal.
MELSEC iQ-R Motion Controller Programming Manual (Machine Control)
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
69
Machine status
Device No.
MELSEC iQ-R Motion device assignment
M43904 to M43935
M43936 to M43967
M43968 to M43999
M44000 to M44031
M44032 to M44063
M44064 to M44095
M44096 to M44127
M44128 to M44159
Q series Motion compatible device assignment
Signal name
Machine 1 machine status
Machine 2 machine status
Machine 3 machine status
Machine 4 machine status
Machine 5 machine status
Machine 6 machine status
Machine 7 machine status
Machine 8 machine status
• Details for each machine
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
M43916+32m
M43917+32m
M43918+32m
M43919+32m
M43920+32m
M43921+32m
M43922+32m
M43923+32m
M43924+32m
M43925+32m
M43926+32m
M43927+32m
M43928+32m
M43929+32m
M43930+32m
M43931+32m
M43932+32m
M439033+32m
M43934+32m
M43935+32m
M43904+32m
M43905+32m
M43906+32m
M43907+32m
M43908+32m
M43909+32m
M43910+32m
M43911+32m
M43912+32m
M43913+32m
M43914+32m
M43915+32m
Symbol Signal name
St.2120
St.2122
St.2123
St.2124
St.2127
St.2128
Machine error detection
Unusable
Machine WAIT
Joint interpolation velocity limiting
Base/tool translation change complete
Unusable
Machine start accept flag
Machine servo ready
Unusable
Refresh cycle
Fetch cycle Signal type
Immediate
Operation cycle
Operation cycle
Status signal
Status signal
Status signal
70
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Refer to the following for details of machine status.
MELSEC iQ-R Motion Controller Programming Manual (Machine Control)
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
71
M30022
M30023
M30024
M30025
M30026
M30027
M30028
M30029
M30014
M30015
M30016
M30017
M30018
M30019
M30020
M30021
M30030
M30031
M30032
M30033
M30034
M30035
M30036
M30037
M30038
M30000
M30001
M30002
M30003
M30004
M30005
M30006
M30007
M30008
M30009
M30010
M30011
M30012
M30013
Common devices
Device No.
MELSEC iQ-R
Motion device assignment
Symbol Signal name
Q series Motion compatible device assignment
M2000
Rq.1120
PLC ready flag
Unusable
(37 points)
M2038 St.1041
Motion SFC debugging flag
M30039
M30040
M30041
M30042
M2039
M2040
M2041
M2042
Rq.1122
Rq.1123
Unusable
Speed switching point specified flag
Unusable
All axes servo ON command
Refresh cycle
Fetch cycle Signal type
Main cycle
Command signal
At debugging mode transition
Status signal
At start
Command signal
Operation cycle Command signal
72
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
M30070
M30071
M30072
M30073
M30074
M30075
M30076
M30077
M30062
M30063
M30064
M30065
M30066
M30067
M30068
M30069
M30049
M30050
M30051
M30052
M30053
M30054
M30055
M30056
M30057
M30058
M30059
M30060
M30061
M30078
M30079
M30080
M30081
M30082
M30083
M30084
M30085
M30086
M30087
M30088
M30089
M30090
Device No.
MELSEC iQ-R
Motion device assignment
M30043
M30044
M30045
M30046
M30047
M30048
M2049
M2050
M2051
M2052
M2053
M2054
Symbol Signal name
Q series Motion compatible device assignment
M2043
M2044
M2045
M2046
M2047
M2048
Rq.1124
Unusable
(5 points)
St.1045
Rq.1125
Rq.1126
Rq.1127
St.1046
JOG operation simultaneous start command
All axes servo ON accept flag
Unusable
Manual pulse generator 1 enable flag
Manual pulse generator 2 enable flag
Manual pulse generator 3 enable flag
Operation cycle over flag
Unusable
(25 points)
M2001
M2002
M2003
M2004
M2005
M2006
M2007
M2008
M2009
M2010
M2011
St.1040
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Axis 7
Axis 8
Axis 9
Axis 10
Axis 11
Start accept flag
Refresh cycle
Fetch cycle
Signal type
Main cycle
Operation cycle
Main cycle
Command signal
Status signal
Command signal
Operation cycle
Operation cycle
Status signal
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
73
2
74
M30114
M30115
M30116
M30117
M30118
M30119
M30120
M30121
M30106
M30107
M30108
M30109
M30110
M30111
M30112
M30113
M30098
M30099
M30100
M30101
M30102
M30103
M30104
M30105
M30091
M30092
M30093
M30094
M30095
M30096
M30097
M30130
M30131
M30132
M30133
M30134
M30135
M30136
M30137
M30138
M30139
M30122
M30123
M30124
M30125
M30126
M30127
M30128
M30129
Device No.
MELSEC iQ-R
Motion device assignment
Symbol Signal name
Q series Motion compatible device assignment
M2019
M2020
M2021
M2022
M2023
M2024
M2025
M2026
M2012
M2013
M2014
M2015
M2016
M2017
M2018
M2027
M2028
M2029
M2030
M2031
M2032
St.1040
Start accept flag
Axis 35
Axis 36
Axis 37
Axis 38
Axis 39
Axis 40
Axis 41
Axis 42
Axis 27
Axis 28
Axis 29
Axis 30
Axis 31
Axis 32
Axis 33
Axis 34
Axis 19
Axis 20
Axis 21
Axis 22
Axis 23
Axis 24
Axis 25
Axis 26
Axis 12
Axis 13
Axis 14
Axis 15
Axis 16
Axis 17
Axis 18
Axis 51
Axis 52
Axis 53
Axis 54
Axis 55
Axis 56
Axis 57
Axis 58
Axis 59
Axis 60
Axis 43
Axis 44
Axis 45
Axis 46
Axis 47
Axis 48
Axis 49
Axis 50
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Refresh cycle
Fetch cycle Signal type
Operation cycle
M30163
M30164
M30165
M30166
M30167
M30168
M30169
M30170
M30155
M30156
M30157
M30158
M30159
M30160
M30161
M30162
M30147
M30148
M30149
M30150
M30151
M30152
M30153
M30154
M30140
M30141
M30142
M30143
M30144
M30145
M30146
M30179
M30180
M30181
M30182
M30183
M30184
M30185
M30186
M30187
M30188
M30171
M30172
M30173
M30174
M30175
M30176
M30177
M30178
Device No.
MELSEC iQ-R
Motion device assignment
M2084
M2085
M2086
M2087
M2088
M2089
M2090
M2091
M2092
M2076
M2077
M2078
M2079
M2080
M2081
M2082
M2083
M2068
M2069
M2070
M2071
M2072
M2073
M2074
M2075
M2061
M2062
M2063
M2064
M2065
M2066
M2067
Q series Motion compatible device assignment
Symbol Signal name
St.1040
Start accept flag
St.1047
Axis 20
Axis 21
Axis 22
Axis 23
Axis 24
Axis 25
Axis 26
Axis 27
Axis 12
Axis 13
Axis 14
Axis 15
Axis 16
Axis 17
Axis 18
Axis 19
Axis 4
Axis 5
Axis 6
Axis 7
Axis 8
Axis 9
Axis 10
Axis 11
Axis 61
Axis 62
Axis 63
Axis 64
Axis 1
Axis 2
Axis 3
Axis 36
Axis 37
Axis 38
Axis 39
Axis 40
Axis 41
Axis 42
Axis 43
Axis 44
Axis 45
Axis 28
Axis 29
Axis 30
Axis 31
Axis 32
Axis 33
Axis 34
Axis 35
Speed change accepting flag
Refresh cycle
Fetch cycle
Operation cycle
Operation cycle
Signal type
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
75
2
76
M30212
M30213
M30214
M30215
M30216
M30217
M30218
M30219
M30204
M30205
M30206
M30207
M30208
M30209
M30210
M30211
M30196
M30197
M30198
M30199
M30200
M30201
M30202
M30203
M30189
M30190
M30191
M30192
M30193
M30194
M30195
M30228
M30229
M30230
M30231
M30232
M30233
M30234
M30235
M30236
M30237
M30220
M30221
M30222
M30223
M30224
M30225
M30226
M30227
Device No.
MELSEC iQ-R
Motion device assignment
M2152
M2153
M2154
M2155
M2156
M2157
M2144
M2145
M2146
M2147
M2148
M2149
M2150
M2151
M2136
M2137
M2138
M2139
M2140
M2141
M2142
M2143
M2128
M2129
M2130
M2131
M2132
M2133
M2134
M2135
Q series Motion compatible device assignment
Symbol Signal name
St.1047
Speed change accepting flag
St.1048
Axis 5
Axis 6
Axis 7
Axis 8
Axis 9
Axis 10
Axis 11
Axis 12
Axis 61
Axis 62
Axis 63
Axis 64
Axis 1
Axis 2
Axis 3
Axis 4
Axis 53
Axis 54
Axis 55
Axis 56
Axis 57
Axis 58
Axis 59
Axis 60
Axis 46
Axis 47
Axis 48
Axis 49
Axis 50
Axis 51
Axis 52
Axis 21
Axis 22
Axis 23
Axis 24
Axis 25
Axis 26
Axis 27
Axis 28
Axis 29
Axis 30
Axis 13
Axis 14
Axis 15
Axis 16
Axis 17
Axis 18
Axis 19
Axis 20
Automatic decelerating flag
Refresh cycle
Fetch cycle
Operation cycle
Operation cycle
Signal type
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
M30261
M30262
M30263
M30264
M30265
M30266
M30267
M30268
M30253
M30254
M30255
M30256
M30257
M30258
M30259
M30260
M30245
M30246
M30247
M30248
M30249
M30250
M30251
M30252
M30238
M30239
M30240
M30241
M30242
M30243
M30244
M30277
M30278
M30279
M30280
M30281
M30282
M30283
M30284
M30285
M30286
M30269
M30270
M30271
M30272
M30273
M30274
M30275
M30276
Device No.
MELSEC iQ-R
Motion device assignment
M2240
M2241
M2242
M2243
M2244
M2245
M2246
M2247
M2248
M2249
M2250
M2251
M2252
M2253
M2254
Symbol Signal name
Q series Motion compatible device assignment
M2158
M2159
St.1048
Automatic decelerating flag
St.1049
Axis 54
Axis 55
Axis 56
Axis 57
Axis 58
Axis 59
Axis 60
Axis 61
Axis 46
Axis 47
Axis 48
Axis 49
Axis 50
Axis 51
Axis 52
Axis 53
Axis 38
Axis 39
Axis 40
Axis 41
Axis 42
Axis 43
Axis 44
Axis 45
Axis 31
Axis 32
Axis 33
Axis 34
Axis 35
Axis 36
Axis 37
Axis 6
Axis 7
Axis 8
Axis 9
Axis 10
Axis 11
Axis 12
Axis 13
Axis 14
Axis 15
Axis 62
Axis 63
Axis 64
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Speed change "0" accepting flag
Refresh cycle
Fetch cycle
Operation cycle
Signal type
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
77
2
78
M30310
M30311
M30312
M30313
M30314
M30315
M30316
M30317
M30302
M30303
M30304
M30305
M30306
M30307
M30308
M30309
M30294
M30295
M30296
M30297
M30298
M30299
M30300
M30301
M30287
M30288
M30289
M30290
M30291
M30292
M30293
M30326
M30327
M30328
M30329
M30330
M30331
M30332
M30333
M30334
M30335
M30318
M30319
M30320
M30321
M30322
M30323
M30324
M30325
Device No.
MELSEC iQ-R
Motion device assignment
Symbol Signal name
Q series Motion compatible device assignment
M2262
M2263
M2264
M2265
M2266
M2267
M2268
M2269
M2270
M2271
M2255
M2256
M2257
M2258
M2259
M2260
M2261
St.1049
Axis 39
Axis 40
Axis 41
Axis 42
Axis 43
Axis 44
Axis 45
Axis 46
Axis 31
Axis 32
Axis 33
Axis 34
Axis 35
Axis 36
Axis 37
Axis 38
Axis 23
Axis 24
Axis 25
Axis 26
Axis 27
Axis 28
Axis 29
Axis 30
Axis 16
Axis 17
Axis 18
Axis 19
Axis 20
Axis 21
Axis 22
Axis 55
Axis 56
Axis 57
Axis 58
Axis 59
Axis 60
Axis 61
Axis 62
Axis 63
Axis 64
Axis 47
Axis 48
Axis 49
Axis 50
Axis 51
Axis 52
Axis 53
Axis 54
Speed change "0" accepting flag
Refresh cycle
Fetch cycle
Operation cycle
Signal type
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
M30359
M30360
M30361
M30362
M30363
M30364
M30365
M30366
M30351
M30352
M30353
M30354
M30355
M30356
M30357
M30358
M30343
M30344
M30345
M30346
M30347
M30348
M30349
M30350
M30336
M30337
M30338
M30339
M30340
M30341
M30342
M30375
M30376
M30377
M30378
M30379
M30380
M30381
M30382
M30383
M30384
M30367
M30368
M30369
M30370
M30371
M30372
M30373
M30374
Device No.
MELSEC iQ-R
Motion device assignment
Symbol Signal name
Q series Motion compatible device assignment
M2295
M2296
M2297
M2298
M2299
M2300
M2301
M2302
M2303
M2287
M2288
M2289
M2290
M2291
M2292
M2293
M2294
M2279
M2280
M2281
M2282
M2283
M2284
M2285
M2286
M2272
M2273
M2274
M2275
M2276
M2277
M2278
St.1050
Control loop monitor status
Axis 24
Axis 25
Axis 26
Axis 27
Axis 28
Axis 29
Axis 30
Axis 31
Axis 16
Axis 17
Axis 18
Axis 19
Axis 20
Axis 21
Axis 22
Axis 23
Axis 8
Axis 9
Axis 10
Axis 11
Axis 12
Axis 13
Axis 14
Axis 15
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Axis 7
Axis 40
Axis 41
Axis 42
Axis 43
Axis 44
Axis 45
Axis 46
Axis 47
Axis 48
Axis 49
Axis 32
Axis 33
Axis 34
Axis 35
Axis 36
Axis 37
Axis 38
Axis 39
Refresh cycle
Fetch cycle
Operation cycle
Signal type
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
79
2
Device No.
MELSEC iQ-R
Motion device assignment
Symbol Signal name Refresh cycle
Fetch cycle Signal type
Q series Motion compatible device assignment
M30392
M30393
M30394
M30395
M30396
M30397
M30398
M30399
M30385
M30386
M30387
M30388
M30389
M30390
M30391
:
M30400
M30639
St.1050
Axis 50
Axis 51
Axis 52
Axis 53
Axis 54
Axis 55
Axis 56
Axis 57
Axis 58
Axis 59
Axis 60
Axis 61
Axis 62
Axis 63
Axis 64
Unusable
(240 points)
Control loop monitor status Operation cycle
M2033
:
M2037
:
M2055
M2060
M2093
:
M2127
Unusable
(5 points)
Unusable
(6 points)
Unusable
(35 points)
:
M2160
M2239
M2304
Unusable
(80 points)
Unusable
(16 points)
:
M2319
*1 The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
*2 The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more.
• Internal relays for positioning control are not latched even within the latch range.
• The range devices allocated as internal relays for positioning control cannot be used by the user even if their applications have not been set.
80
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
[Rq.1120] PLC ready flag (R: M30000/Q: M2000)
• This signal is used to start the program control of the Motion CPU. When "[Rq.1120] PLC ready flag (R: M30000/Q:
M2000)" is ON, execution of the Motion SFC program, starting of axes by the servo program, and the synchronous control operation can be performed.
• "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" can be switched OFF/ON by the following operation. However, turning from OFF to ON of the "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" is ignored when the RUN/STOP switch is set to
"STOP" or during test mode.
(1) Switching with the RUN/STOP switch
• When the RUN/STOP switch is switched from "STOP" to "RUN", "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turns ON.
• When the Multiple CPU system power supply is turned ON when the RUN/STOP switch is set to "RUN", "[Rq.1120] PLC ready flag (R: M30000/Q:
M2000)" turns ON.
• When the RUN/STOP switch is switched from "RUN" to "STOP", "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turns OFF.
(2) Switching between RUN and STOP by remote operation
• Writing of parameters or files in the program from MT Developer2 is available while "[Rq.1120] PLC ready flag (R: M30000/
Q: M2000)" is OFF.
• When turning "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" from OFF to ON enables the program control of the
Motion CPU, "PCPU READY complete flag (SM500)" turns ON. Refer to the following for details of the processing when
"[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turns from OFF to ON, or from ON to OFF.
MELSEC iQ-R Motion controller Programming Manual (Common)
Deceleration stop
V
Positioning start
2 t
[Rq.1120] PLC ready flag
(R: M30000/Q: M2000)
OFF
PCPU READY complete flag
(SM500)
OFF
ON
ON
"PCPU READY complete flag (SM500)" does not turn on because during deceleration.
Clear a M-code
[St.1041] Motion SFC debugging flag (R: M30038/Q: M2038)
This flag turns on when it switches to the debug mode of the Motion SFC program using MT Developer2. It turns off with release of the debug mode.
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
81
[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)
This flag is used when the speed change is specified at the pass point of the continuous trajectory control.
• By turning "[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)" on before the starting of the continuous trajectory control (before the servo program is started), control with the change speed can be executed from the first of pass point.
Setting value
ON
OFF
Description
Speed has been changed to the specified speed at the pass point of the continuous trajectory control.
Speed is changed to the specified speed from the pass point of the continuous trajectory control.
"[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)" OFF
V
"[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)" ON
V
P1 P2 P3 P4 t
P2 P3 P4 t
Pass points of the continuous trajectory control (When the speed change is specified with P3.)
[Rq.1122] Speed switching point specified flag
(R: M30040/Q: M2040)
OFF
Pass points of the continuous trajectory control (When the speed change is specified with P3.)
[Rq.1122] Speed switching point specified flag
(R: M30040/Q: M2040)
OFF
ON
P1
Servo program start Servo program start
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
ON
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
ON
• When using advanced S-curve acceleration/deceleration and starting continuous trajectory control with "[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)" turned ON, the override function is disabled.
[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)
This command is used to enable servo operation. Refer to the following for details of the servo ON/OFF.
MELSEC iQ-R Motion controller Programming Manual (Common)
Servo operation
Enabled
Disable
Description
"[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)" turns on while the "[Rq.1155] Servo OFF command
(R: M34495+32n/Q: M3215+20n)" is off and there is no servo error.
• "[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)" is off
• The "[Rq.1155] Servo OFF command (R: M34495+32n/Q: M3215+20n)" is on
• Servo error state
• Forced stop
Execute "[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)": OFF after positioning completion because it becomes invalid during positioning.
[Rq.1123] All axes servo ON command
(R: M30042/Q: M2042)
OFF
ON
ON
[St.1045] All axes servo ON accept flag
(R: M30049/Q: M2049)
OFF
ON
Each axis servo ready state
*1
OFF
*1 Refer to the "[St.1075] Servo ready (R: M32415+32n/Q: M2415+20n)" for details. (
Page 35 [St.1075] Servo ready (R: M32415+32n/
When "[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)" turns ON, it is not turned off even if the
Motion CPU is set in the STOP state.
"[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)" turns OFF by the forced stop of Motion CPU.
82
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
[Rq.1124] JOG operation simultaneous start command (R: M30048/Q: M2048)
• When "[Rq.1124] JOG operation simultaneous start command (R: M30048/Q: M2048)" turns on, JOG operation simultaneous start based on the JOG operation execution axis set in the "[Cd.1096] JOG operation simultaneous start axis setting register (Forward rotation JOG) (R: D35286 to D35289/Q: D710, D711)" and "[Cd.1097] JOG operation simultaneous start axis setting register (Reverse rotation JOG) (R: D35290 to D35293/Q: D712, D713)".
• When "[Rq.1124] JOG operation simultaneous start command (R: M30048/Q: M2048)" turns OFF, the operating axis decelerates to a stop.
[St.1045] All axes servo ON accept flag (R: M30049/Q: M2049)
This flag turns on when the Motion CPU accepts the "[Rq.1123] all axes servo ON command (R: M30042/Q: M2042)".
Since the servo ready state of each axis is not checked, confirm it in the "[St.1075] Servo ready (R: M32415+32n/Q:
M2415+20n)".
[Rq.1123] All axes servo ON command
(R: M30042/Q: M2042)
OFF
ON
ON
[St.1045] All axes servo ON accept flag
(R: M30049/Q: M2049)
OFF
ON
Each axis servo ready state
*1
OFF
*1 Refer to the "[St.1075] Servo ready (R: M32415+32n/Q: M2415+20n)" for details. (
Page 35 [St.1075] Servo ready (R: M32415+32n/
[Rq.1125] Manual pulse generator1 enable flag (R: M30051/Q: M2051)
This flag sets the enabled or disabled state for positioning with the pulse input from the manual pulse generator1 connected to high-speed counter module.
Setting value
ON
OFF
Description
Positioning control is executed by the input from the manual pulse generators.
Positioning control cannot be executed by the manual pulse generators because of the input from the manual pulse generators is ignored.
Default value is invalid (OFF).
[Rq.1126] Manual pulse generator2 enable flag (R: M30052/Q: M2052)
This flag sets the enabled or disabled state for positioning with the pulse input from the manual pulse generator2 connected to high-speed counter module.
Setting value
ON
OFF
Description
Positioning control is executed by the input from the manual pulse generators.
Positioning control cannot be executed by the manual pulse generators because of the input from the manual pulse generators is ignored.
Default value is invalid (OFF).
[Rq.1127] Manual pulse generator3 enable flag (R: M30053/Q: M2053)
This flag sets the enabled or disabled state for positioning with the pulse input from the manual pulse generator3 connected to high-speed counter module.
Setting value
ON
OFF
Description
Positioning control is executed by the input from the manual pulse generators.
Positioning control cannot be executed by the manual pulse generators because of the input from the manual pulse generators is ignored.
Default value is invalid (OFF).
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
83
[St.1046] Operation cycle over flag (R: M30054/Q: M2054)
This flag turns on when the time concerning motion operation exceeds the "Motion setting operation cycle (SD523)". Refer to the following for details.
MELSEC iQ-R Motion controller Programming Manual (Common)
Perform the following operation, in making it turn off.
• Turn the Multiple CPU system power supply ON → OFF
• Reset the Multiple CPU system
• Reset using the user program
■
Countermeasures for operation cycle over
• Change the operation cycle to a larger value in the [Motion CPU Common Parameter] [Basic Setting] "Operation
Cycle".
• Reduce the number of executions of event task and NMI task instructions in the Motion SFC program.
• Fixed-cycle system processing time is executed in cycles of 222[ μ s], and other processing times will be compressed when the value nears 222[ μ s]. Check "Fixed-cycle system processing monitor time (SD598)" and reduce the following settings.
• Mark detections
• High-speed input request signals
• Axis setting parameters (external signal parameters)
• Operation points of input modules
• Digital oscilloscope (probe points)
[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)
• This flag turns on when axis control is started by the servo program or the command signals. The start accept flag of the controlled axis turns ON.
• The start accept flag turns ON when the following control is being executed.
• Servo program
• Direct positioning control by the Motion dedicated PLC instruction (M(P).SVSTD/D(P).SVSTD)
• JOG operation
• Manual pulse generator operation
• Speed-torque control
• Synchronous control operation (output axis)
• Current value change
• Pressure control
• Machine program operation
• Machine JOG operation
• G-code control
• The state of the start accept flag during positioning control by servo program is shown below.
Normal positioning completion Positioning stop during control
V
Dwell time t
V
Positioning stop completion t
Servo program start
Positioning completion Servo program start
Positioning start
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
ON
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
ON
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
OFF
ON
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
OFF
[St.1060] Positioning start complete
(R: M32400+32n/Q: M2400+20n)
OFF
ON ON
[St.1060] Positioning start complete
(R: M32400+32n/Q: M2400+20n)
OFF
• The state of the start accept flag of a current value change by the CHGA instruction of servo program or by the Motion dedicated PLC instruction (M(P).CHGA/D(P).CHGA) is shown below.
CHGA instruction
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
ON
Current value changing processing
Turns off at the completion of current value change.
84
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
CAUTION
Do not turn the start accept flags ON/OFF in the user side.
• If the start accept flag is turned off using the program or user operation while this flag is on, no error will occur but the positioning operation will not be reliable. Depending on the type of machine, it might operate in an unanticipated operation.
• If the start accept flag is turned on using the program or user operation while this flag is off, no error will occur but the "start accept on error" will occur at the next starting and cannot be started.
[St.1047] Speed change accepting flag (R: M30144+n/Q: M2061+n)
This flag turns on at start of speed change by the control change (CHGV) instruction of the Motion SFC program. The flag does not turn ON when Motion dedicated PLC instruction (M(P).CHGV/D(P).CHGV) is used.
CHGV instruction
ON
[St.1047] Speed change accepting flag
(R: M30144/Q: M2061+n)
OFF
0 to 4 ms
Setting speed
Speed change
Speed after speed change
2 t
Speed change completion
[St.1048] Automatic decelerating flag (R: M30208+n/Q: M2128+n)
This signal turns on while automatic deceleration processing is performed during the positioning control or position follow-up control.
• This flag turns on while automatic deceleration to the command address at the position follow-up control, but it turns off if the command address is changed.
• This signal turns on while automatic deceleration processing is performed during execution of positioning to final point while in continuous trajectory control.
V
P1
P2 t
P3
[St.1048] Automatic decelerating flag
(R: M30208+n/Q: M2128+n)
ON
V
OFF
P1
P2
P3
"[St.1048] Automatic decelerating flag
(R: M30208+n/Q: M2128+n)" turns ON after the execution of positioning to final point (P3) even if automatic deceleration processing starts while executing the positioning to P2.
t
[St.1048] Automatic decelerating flag
(R: M30208+n/Q: M2128+n)
ON
OFF
Set a travel value in which automatic deceleration processing can be started at the final positioning point, therefore the automatic decelerating flag turns on at the start point of automatic deceleration processing after this final point.
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
85
• During machine program operation, "[St.1048] Automatic decelerating flag (R: M30208+n/Q: M2128+n)" turns ON while automatic deceleration is performed during the execution of positioning at the final point.
• The signal turns off when all normal start complete commands became achieve.
• The "[St.1048] Automatic decelerating flag (R: M30208+n/Q: M2128+n)" might be turned ON even during acceleration at advanced S-curve acceleration/deceleration. (
Page 226 Advanced S-curve acceleration/deceleration)
• In any of the following cases, "[St.1048] Automatic decelerating flag (R: M30208+n/Q: M2128+n)" does not turn on.
• During deceleration due to JOG signal OFF
• During deceleration due to machine JOG signal OFF
• During manual pulse generator operation
• During deceleration due to stop command or stop cause occurrence
• When travel value is 0
• During machine program operation due to sequential coordinate command control
V t
[St.1048] Automatic decelerating flag
(R: M30208+n/Q: M2128+n)
ON
OFF
[St.1049] Speed change "0" accepting flag (R: M30272+n/Q: M2240+n)
This flag turns on while a speed change request to speed "0" or negative speed change request is being accepted.
It turns on when the speed change request to speed "0" or negative speed change request is accepted during a start. After that, this signal turns off when a speed change is accepted or on completion of a stop due to a stop cause.
This flag also turns on when the override ratio for the override function is set to "0". After that, this signal turns off when the override ratio is set to a value other than "0" or on completion of a stop due to a stop cause.
Deceleration stop at the speed change "0" accept.
Thereafter, by changing speed to other than "0", it starts continuously.
V
Speed change "0"
V
1
Speed change V
2
V
2 t
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
OFF
[St.1049] Speed change "0" accepting flag (R: M30272+n/Q: M2240+n)
OFF
OFF
ON
ON
ON
• Even if it has stopped, when the "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)" is ON state, the state where the request of speed change "0" is accepted is indicated. Confirm by this "[St.1049] Speed change "0" accepting flag (R: M30272+n/Q: M2240+n)".
• During interpolation, the flags corresponding to the interpolation axes are set.
• In any of the following cases, the speed change "0" request is invalid.
(1) After deceleration by the JOG signal off
(2) During manual pulse generator operation
(3) After positioning automatic deceleration start
(4) After deceleration due to stop cause
86
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
• The flag turns off if a speed change request occurs during deceleration to a stop due to speed change "0".
V
V
1
Speed change "0"
Speed change V
2
V
2 t
OFF
ON
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
ON
[St.1049] Speed change "0" accepting flag (R: M30272+n/Q: M2240+n)
OFF
• The flag turns off if a stop cause occurs after speed change "0" accept.
Speed change "0"
V
Stop cause t
OFF
ON
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
ON
[St.1049] Speed change "0" accepting flag (R: M30272+n/Q: M2240+n)
OFF
• The "[St.1049] speed change "0" accepting flag (R: M30272+n/Q: M2240+n)" does not turn on if a speed change "0" occurs after an automatic deceleration start.
Automatic deceleration start
V
Speed change "0" t
OFF
ON
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
[St.1049] Speed change "0" accepting flag (R: M30272+n/Q: M2240+n)
OFF
• Even if it is speed change "0" after the automatic deceleration start to the "command address", "[St.1049] Speed change "0" accepting flag (R: M30272+n/Q: M2240+n)" turns on.
V
Command address P1
V
1
Automatic deceleration start
Speed change "0"
Speed change V
2
V
2
Command address P2
P1 P2 t
ON
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
[St.1049] Speed change "0" accepting flag (R: M30272+n/Q: M2240+n)
OFF
ON
It does not start, even if the "command address" is changed during speed change "0" accepting.
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
87
[St.1050] Control loop monitor status (R: M30336+n/Q: M2272+n)
When using the fully closed loop control servo amplifier, this signal is used to check the fully closed loop control/semi closed loop control of servo amplifier.
Setting value
ON
OFF
Description
During fully closed loop control
During semi closed loop control
It can be changed the fully closed loop control/semi closed loop control of servo amplifier in the Motion controller by the
"[Rq.1158] Control loop changing command (R: M34498+32n/Q: M3218+20n)" ON/OFF.
Fully closed loop control change
[Rq.1158] Control loop changing command
(R: M34498+32n/Q: M3218+20n)
OFF
[St.1050] Control loop monitor status
(R: M30336+n/Q: M2272+n)
OFF
ON
ON
Semi closed loop control change
88
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
2.2
Data Registers
D41168 to
D41200 to
D41712 to
D41760 to
D38528 to
D38560 to
D38944 to
D39120 to
D42272 to
D42320 to
D42512 to
D42640 to
D35072 to
D35120 to
D35248 to
D35280 to
D35440 to
D36464 to
D36480 to
Data register list
■
MELSEC iQ-R Motion device assignment
Device No.
D0 to
D32000 to
Symbol
Purpose
User device
(32000 points)
Axis monitor device
(48 points × 64 axes)
[Md.20], [Md.25], [Md.28], [Md.34],
[Md.35], [Md.100] to [Md.104],
[Md.107], [Md.108], [Md.125],
[Md.500], [Md.1003] to [Md.1006],
[Md.1008], [Md.1011], [Md.1012],
[Md.1014], [Md.1019], [Md.1022],
[Md.1025], [Md.1027]
[Cd.1110]
[Cd.1096] to [Cd.1104]
[Md.300] to [Md.303]
[Md.340] to [Md.348]
[Md.320] to [Md.324], [Md.326],
[Md.327]
[Md.400] to [Md.402], [Md.406] to
[Md.412], [Md.422], [Md.425]
[Pr.302]
[Cd.340], [Pr.348]
[Pr.326], [Cd.320] to [Cd.322],
[Cd.325]
[Pr.400] to [Pr.414], [Pr.418] to
[Pr.431], [Pr.434] to [Pr.442],
[Pr.444], [Pr.445], [Pr.447], [Pr.448],
[Pr.460] to [Pr.468], [Pr.490] to
[Pr.493], [Cd.407] to [Cd.409]
Unusable
(48 points)
JOG speed setting registers
(2 points × 64 axes)
Unusable
(32 points)
Common device (Command signal)
(160 points)
Servo input axis monitor device
(16 points × 64 axes)
Unusable
(32 points)
Command generation axis monitor device
(20 points × 32 axes)
Unusable
(32 points)
Synchronous encoder axis monitor device
(32 points × 12 axes)
Unusable
(176 points)
Output axis monitor device
(32 points × 64 axes)
Unusable
(32 points)
Servo input axis control device
(8 points × 64 axes)
Unusable
(48 points)
Command generation axis control device
(8 points × 64 axes)
Unusable
(48 points)
Synchronous encoder axis control device
(16 points × 12 axes)
Unusable
(128 points)
Output axis control device
(160 points × 64 axes)
D52880 to
D52896 to
[Cd.2160] to [Cd.2169],
Unusable
(16 points)
Machine control device
(32 points × 8 machines)
Reference
Page 92 Axis monitor devices
Page 106 JOG speed setting registers
Page 108 Servo input axis monitor device
Page 112 Command generation axis monitor device
Page 117 Synchronous encoder axis monitor device
Page 120 Output axis monitor device
Page 110 Servo input axis control device
Page 115 Command generation axis control device
Page 119 Synchronous encoder axis control device
Page 123 Output axis control device
Page 130 Machine control device
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
89
2
D54192 to
D54224 to
D54226 to
D54438 to
D54440 to
D54448 to
D54480 to
D54496 to
D54752 to
D55264 to
D54230 to
D54262 to
D54278 to
D54310 to
D55584 to
D57343
Device No.
D53152 to
D53168 to
Symbol
[Md.2020] to [Md.2031], [Md.2033] to
[Md.2045], [Md.2047] to [Md.2059],
[Md.2061] to [Md.2066], [Md.2069] to
[Md.2071], [Md.2077] to [Md.2081],
[Md.2083] to [Md.2090]
[Rq.3344]
[Rq.3376] to [Rq.3385]
[Cd.3305]
[Cd.3320] to [Cd.3322]
[St.3272]
[St.3208] to [St.3225], [St.3234]
[St.3076]
[Md.3000] to [Md.3004]
[Md.3016] to [Md.3070], [Md.3074]
[Md.3144] to [Md.3150], [Md.3152] to
[Md.3154]
[Md.3178] to [Md.3180]
Purpose
Unusable
(16 points)
Machine monitor device
(128 points × 8 machines)
Unusable
(32 points)
G-code control common command signal
(2 points)
G-code control line command signal
(4 points)
Unusable
(32 points)
G-code control common control device
(16 points)
G-code control line control device
(32 points)
Unusable
(128 points)
G-code control common status
(2 points)
G-code control line status
(8 points)
G-code control axis status
(32 points)
G-code control common monitor device
(16 points)
G-code control line monitor device
(256 points)
G-code control axis monitor device
(512 points)
G-code control line monitor device (expansion)
(320 points)
Unusable
(1760 points)
Reference
Page 132 Machine monitor device
Page 136 G-code control common command signal
Page 140 G-code control line command signal
Page 137 G-code control common control device
Page 141 G-code control line control device
Page 138 G-code control common status
Page 142 G-code control line status
Page 153 G-code control axis status
Page 139 G-code control common monitor device
Page 144 G-code control line monitor device
Page 155 G-code control axis monitor device
Page 148 G-code control line monitor device (expansion)
Total number of user device points
• 32000 points
90
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
D13240 to
D13480 to
D13600 to
D14560 to
D14600 to
D14664 to
D14680 to
D14808 to
D14820 to
D14940 to
D15000 to
D640 to
D704 to
D758 to
D800 to
D10240 to
D12280 to
D12600 to
■
Q series Motion compatible device assignment
For devices on axis 1 to 32, use Q series Motion compatible device assignment.
For devices on axis 33 to 64, machine control device (D52896 to D53151), and machine status (D53168 to D54191), use
MELSEC iQ-R Motion device assignment.
Device No.
D0 to
Symbol
[Md.20], [Md.25], [Md.34], [Md.35],
[Md.101], [Md.102], [Md.1003] to
[Md.1006], [Md.1008], [Md.1011],
[Md.1012]
[Cd.1110]
Purpose
Axis monitor device
(20 points × 32 axes)
Reference
Page 92 Axis monitor devices
Page 106 JOG speed setting registers
D19800 to
D19824 to
D20479
[Cd.1096] to [Cd.1104]
[Md.300] to [Md.303]
[Md.340] to [Md.348]
[Md.320] to [Md.324], [Md.326],
[Md.327]
[Md.400] to [Md.402], [Md.406] to
[Md.412], [Md.422], [Md.425]
[Pr.302]
[Cd.340], [Pr.348]
[Pr.326], [Cd.320] to [Cd.322],
[Cd.325]
[Pr.400] to [Pr.414], [Pr.418] to
[Pr.431], [Pr.434] to [Pr.442],
[Pr.444], [Pr.445], [Pr.447], [Pr.448],
[Pr.460] to [Pr.468], [Pr.490] to
[Pr.493], [Cd.407] to [Cd.409]
JOG speed setting registers
(2 points × 32 axes)
Common device (Command signal)
(54 points)
Unusable
(42 points)
User device
(9440 points)
System area
(2040 points)
Servo input axis monitor device
(10 points × 32 axes)
Command generation axis monitor device
(20 points × 32 axes)
Synchronous encoder axis monitor device
(20 points × 12 axes)
Unusable
(120 points)
Output axis monitor device
(30 points × 32 axes)
Unusable
(40 points)
Servo input axis control device
(2 points × 32 axes)
Unusable
(16 points)
Command generation axis control device
(4 points × 32 axes)
Unusable
(12 points)
Synchronous encoder axis control device
(10 points × 12 axes)
Unusable
(60 points)
Output axis control device
(150 points × 32 axes)
Unusable
(24 points)
Unusable
(656 points)
Page 108 Servo input axis monitor device
Page 112 Command generation axis monitor device
Page 117 Synchronous encoder axis monitor device
Page 120 Output axis monitor device
Page 110 Servo input axis control device
Page 115 Command generation axis control device
Page 119 Synchronous encoder axis control device
Page 123 Output axis control device
Total number of user device points
• 10096 points
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
91
92
Axis monitor devices
The monitoring data area is used by the Motion CPU to store data such as the feed current value during positioning control, the real current value and the deviation counter value.
It can be used to check the positioning control state using the Motion SFC program.
The user cannot write data to the monitoring data area.
Refer to processing times of the Motion CPU for the delay time between a positioning device (input, internal relay and special relay) turning ON/OFF and storage of data in the monitor data area. (
Page 478 Processing Times of the Motion CPU)
Signal name Device No.
MELSEC iQ-R Motion device assignment
D32768 to D32815
D32816 to D32863
D32864 to D32911
D32912 to D32959
D32960 to D33007
D33008 to D33055
D33056 to D33103
D33104 to D33151
D33152 to D33199
D33200 to D33247
D33248 to D33295
D33296 to D33343
D33344 to D33391
D33392 to D33439
D33440 to D33487
D33488 to D33535
D32000 to D32047
D32048 to D32095
D32096 to D32143
D32144 to D32191
D32192 to D32239
D32240 to D32287
D32288 to D32335
D32336 to D32383
D32384 to D32431
D32432 to D32479
D32480 to D32527
D32528 to D32575
D32576 to D32623
D32624 to D32671
D32672 to D32719
D32720 to D32767
D33536 to D33583
D33584 to D33631
D33632 to D33679
D33680 to D33727
D33728 to D33775
D33776 to D33823
D33824 to D33871
D33872 to D33919
D33920 to D33967
D33968 to D34015
Q series Motion compatible device assignment
D320 to D339
D340 to D359
D360 to D379
D380 to D399
D400 to D419
D420 to D439
D440 to D459
D460 to D479
D480 to D499
D500 to D519
D520 to D539
D540 to D559
D560 to D579
D580 to D599
D600 to D619
D620 to D639
D0 to D19
D20 to D39
D40 to D59
D60 to D79
D80 to D99
D100 to D119
D120 to D139
D140 to D159
D160 to D179
D180 to D199
D200 to D219
D220 to D239
D240 to D259
D260 to D279
D280 to D299
D300 to D319
Axis 1 monitor device
Axis 2 monitor device
Axis 3 monitor device
Axis 4 monitor device
Axis 5 monitor device
Axis 6 monitor device
Axis 7 monitor device
Axis 8 monitor device
Axis 9 monitor device
Axis 10 monitor device
Axis 11 monitor device
Axis 12 monitor device
Axis 13 monitor device
Axis 14 monitor device
Axis 15 monitor device
Axis 16 monitor device
Axis 17 monitor device
Axis 18 monitor device
Axis 19 monitor device
Axis 20 monitor device
Axis 21 monitor device
Axis 22 monitor device
Axis 23 monitor device
Axis 24 monitor device
Axis 25 monitor device
Axis 26 monitor device
Axis 27 monitor device
Axis 28 monitor device
Axis 29 monitor device
Axis 30 monitor device
Axis 31 monitor device
Axis 32 monitor device
Axis 33 monitor device
Axis 34 monitor device
Axis 35 monitor device
Axis 36 monitor device
Axis 37 monitor device
Axis 38 monitor device
Axis 39 monitor device
Axis 40 monitor device
Axis 41 monitor device
Axis 42 monitor device
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Device No.
MELSEC iQ-R Motion device assignment
D34016 to D34063
D34064 to D34111
D34112 to D34159
D34160 to D34207
D34208 to D34255
D34256 to D34303
D34304 to D34351
D34352 to D34399
D34400 to D34447
D34448 to D34495
D34496 to D34543
D34544 to D34591
D34592 to D34639
D34640 to D34687
D34688 to D34735
D34736 to D34783
D34784 to D34831
D34832 to D34879
D34880 to D34927
D34928 to D34975
D34976 to D35023
D35024 to D35071
Q series Motion compatible device assignment
Signal name
Axis 43 monitor device
Axis 44 monitor device
Axis 45 monitor device
Axis 46 monitor device
Axis 47 monitor device
Axis 48 monitor device
Axis 49 monitor device
Axis 50 monitor device
Axis 51 monitor device
Axis 52 monitor device
Axis 53 monitor device
Axis 54 monitor device
Axis 55 monitor device
Axis 56 monitor device
Axis 57 monitor device
Axis 58 monitor device
Axis 59 monitor device
Axis 60 monitor device
Axis 61 monitor device
Axis 62 monitor device
Axis 63 monitor device
Axis 64 monitor device
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
93
94
D32028+48n
D32029+48n
D32030+48n
D32031+48n
D32032+48n
D32033+48n
D32034+48n
D32035+48n
D32036+48n
D32037+48n
D32038+48n
D32039+48n
D32040+48n
D32041+48n
D32042+48n
D32043+48n
D32044+48n
D32045+48n
D32046+48n
D32016+48n
D32017+48n
D32018+48n
D32019+48n
D32020+48n
D32021+48n
D32022+48n
D32023+48n
D32024+48n
D32025+48n
D32026+48n
D32027+48n
D32000+48n
D32001+48n
D32002+48n
D32003+48n
D32004+48n
D32005+48n
D32006+48n
D32007+48n
D32008+48n
D32009+48n
D32010+48n
D32011+48n
D32012+48n
D32013+48n
D32014+48n
D32015+48n
• Details for each axis
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
D0+20n
D1+20n
D2+20n
D3+20n
D4+20n
D5+20n
D6+20n
D7+20n
D8+20n
D9+20n
D10+20n
D11+20n
D12+20n
D13+20n
D14+20n
D15+20n
Symbol Signal name
Md.20
Md.101
Md.102
Md.1003
Md.1004
Md.1005
Md.1006
Md.34
Md.1008
Md.25
Md.35
Md.1011
Feed current value
Real current value
Deviation counter value
Warning code
Error code
Servo error code
Home position return re-travel value
Travel value after proximity dog ON
Execute program No.
M-code
Torque limit value
Data set pointer for continuous trajectory control
Unusable
D16+20n
D17+20n
D18+20n
D19+20n
#8001+20n
#8017+20n
#8002+20n
#8003+20n
#8004+20n
#8005+20n
#8006+20n
#8007+20n
Md.1012
Md.104
Md.103
Md.28
Md.100
Real current value at stop input
Motor current value
Unusable
Motor speed
Command speed
Home position return re-travel value
#8008+20n
#8009+20n
#8000+20n
#8016+20n
#8010+20n
#8011+20n
#8012+20n
#8013+20n
#8014+20n
#8015+20n
#8018+20n
#8019+20n
Md.1019
Md.107
Md.1014
Md.1027
Md.108
Md.1022
Md.125
Md.1025
Md.500
Servo amplifier display servo error code
Parameter error No.
Servo amplifier type
Servo amplifier vendor ID
Servo status1
Servo status2
Servo status3
Unusable
Servo status5
Unusable
Servo status7
Unusable
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Refresh cycle
Operation cycle
Immediate
Main cycle
Operation cycle
At start
Operation cycle
Fetch cycle Signal type
At start/during start
Operation cycle
Operation cycle
At home position return re-travel
Main cycle
When the servo amplifier power-on
Monitor device
Monitor device
Monitor device
Monitor device
Monitor device
Device No.
MELSEC iQ-R
Motion device assignment
Symbol Signal name Refresh cycle
Fetch cycle Signal type
Q series Motion compatible device assignment
D32047+48n Unusable
*1 It can be used as the travel value change register. The travel value change register can be set to the device optionally in the servo program. (
Page 327 Speed/Position Switching Control)
*2 Operation cycle 1.777[ms] or less: Operation cycle, operation cycle 3.555[ms] or more: 3.555[ms]
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
[Md.20] Feed current value (R: D32000+48n/Q: D0+20n, D1+20n)
• This register stores the target address output to the servo amplifier on the basis of the positioning address/travel value specified with the servo program.
• A part for the amount of the travel value from "0" after starting is stored in the fixed-pitch feed control.
• In the speed/position switching control or speed control ( ), the address at the start depends on the state of "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" as shown below.
[Rq.1152] Feed current value update command
(R: M34492+32n/Q: M3212+20n)
OFF
ON
Description
Resets the feed current value to "0" at the start.
Not reset the feed current value at the start.
• "0" is stored during speed control ( ).
• The stroke range check is performed on this feed current value data.
[Md.101] Real current value (R: D32002+48n, D32003+48n/Q: D2+20n, D3+20n)
• This device stores the converted value (in an axis control unit) of the feedback position of the motor encoder (in pulse unit).
• The "feed current value" is equal to the "real current value" in the stopped state.
[Md.102] Deviation counter value (R: D32004+48n, D32005+48n/Q: D4+20n, D5+20n)
This register stores the droop pulses read from the servo amplifier.
[Md.1003] Warning code (R: D32006+48n/Q: D6+20n)
• This register stores the corresponding warning code at the warning occurrence. If another warning occurs after warning code storing, the previous warning code is overwritten by the new warning code.
• The servo warning (Warning (error code: 0C80H)) is not stored in this device. It is stored in "[Md.1005] Servo error code (R:
D32008+48n/Q: D8+20n)".
• Warning codes can be cleared by "[Rq.1147] Error reset command (R: M34487+32n/Q: M3207+20n)" or "Error reset
(SM50)".
Refer to the following for details of the warning codes.
MELSEC iQ-R Motion controller Programming Manual (Common)
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
95
[Md.1004] Error code (R: D32007+48n/Q: D7+20n)
• This register stores the corresponding error code at the error occurrence. If another error occurs after error code storing, the previous error code is overwritten by the new error code.
• The servo error (Minor error (error code: 1C80H)) is not stored in this device. It is stored in "[Md.1005] Servo error code (R:
D32008+48n/Q: D8+20n)".
• Error codes can be cleared by "[Rq.1147] Error reset command (R: M34487+32n/Q: M3207+20n)" or "Error reset (SM50)".
Refer to the following for details of the error codes.
MELSEC iQ-R Motion controller Programming Manual (Common)
[Md.1005] Servo error code (R: D32008+48n/Q: D8+20n)
• This device stores the applicable minor error (error code: 1C80H) or the warning (error code: 0C80H) when a servo error or a servo warning occurs. The error code or the warning code read from the servo amplifier is stored in "[Md.1019] Servo amplifier display servo error code (R: D32028+48n/Q: #8008+20n)". If another servo error occurs after error code storing, the previous error code is overwritten by the new error code.
• The servo error code is stored several ms to several tens of ms after the servo error or the servo warning is detected. Refer to the following devices when immediate detection of the servo error or the servo warning is required.
Error classification
Servo error
Servo warning
Device name
• "[St.1068] Servo error detection (R: M32408+32n/Q: M2408+20n)"
• "Servo alarm (b7)" of "[Md.108] Servo status 1 (R: D32032+48n/Q: #8010+20n)"
"Servo warning (b15)" of "[Md.108] Servo status 1 (R: D32032+48n/Q: #8010+20n)"
• Servo error codes can be cleared by "[Rq.1148] Servo error reset command (R: M34488+32n/Q: M3208+20n)" or "Error reset (SM50)".
[Md.1006] Home position return re-travel value (R: D32009+48n/Q: D9+20n)
If the position stopped in the position specified with the travel value after proximity dog ON (
travel value (signed) of making it travel to zero point by re-travel at this time is stored.
(Data does not change with the last value in the data setting type.)
The following value is stored according to the number of feedback pulses of the motor connected.
Number of feedback pulses
Less than 131072 [pulse]
131072 [pulse] or more, 262144 [pulse] or less
More than 262144 [pulse]
Storage data
Home position return re-travel value ([pulse] units)
1/10 of the home position return re-travel value ( × 10 -1 [pulse] units)
1/10000 of the home position return re-travel value ( × 10 -4
*1 Confirm the actual value in "[Md.100] Home position return re-travel value (R: D32026+48n, D32027+48n/Q: #8006+20n, #8007+20n)".
(
[Md.34] Travel value after proximity dog ON (R: D32010+48n, D32011+48n/Q: D10+20n,
D11+20n)
• This register stores the travel value (unsigned) from the proximity dog ON to home position return completion after the home position return start.
• The travel value (unsigned) of the position control is stored at the time of speed/position switching control.
96
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
[Md.1008] Execute program No. (R: D32012+48n/Q: D12+20n)
• This register stores the starting program No. at the servo program starting.
• The following value is stored for the following items.
Item
JOG operation
Manual pulse generator operation
Speed control
Torque control
Continuous operation to torque control
Power supply on
Current value change execution by the Motion dedicated PLC instruction (CHGA instruction)
Direct positioning start by the Motion dedicated PLC instruction (SVSTD instruction)
Machine program operation start by the Motion dedicated PLC instruction (MCNST instruction)
Machine program operation start by the Motion SFC program (MCNST instruction)
Machine JOG operation
Pressure control
Advanced synchronous control
Monitor value
FFFFh
FFFEh
FFDFh
FFDEh
FFDDh
FF00h
FFE0h
FFE1h
FFE2h
FFE3h
FFE4h
FFEEh
FFEFh
• When the following control is being executed using MT Developer2 in the test mode, the following value is stored in this register.
Item
Home position return
Monitor value
FFFDh
During G-code control, "[Md.1008] Execute program No. (R: D32012+48n/Q: D12+20n)" is not updated.
[Md.25] M-code (R: D32013+48n/Q: D13+20n)
• This register stores the M-code *1 set to the executed servo program at the positioning start. If M-code is not set in the servo program, the value "0" is stored.
• It does not change except positioning start using the servo program.
• The value "0" is stored at leading edge of "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)".
• During machine program operation, the M-code set in positioning data is stored at positioning start completion and at the start of each point.
*1 Refer to the M-code output function for M-codes. (
Page 429 M-code Output Function)
[Md.35] Torque limit value (R: D32014+48n/Q: D14+20n)
This device stores the positive direction torque limit value to command the servo (unit: 0.1[%]).
The default value "300.0[%]" is stored when communication with the servo amplifier is established.
To monitor the positive/negative direction torque limit value, set "Positive Direction Torque Limit Value Monitor Device" and
"Negative Direction Torque Limit Value Monitor Device" in [Motion Control Parameter] [Axis Setting Parameter]
"Expansion Parameter". (
Page 195 Expansion Parameters)
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
97
1
2
3
4
5
6
7
8
9
*
10
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
NEXT
CPEND
[Md.1011] Data set pointer for continuous trajectory control (R: D32015+48n/Q:
D15+20n)
This pointer is used in the continuous trajectory control when specifying positioning data indirectly and substituting positioning data during operation.
It stores a "point" that indicates which of the values stored in indirect devices has been input to the Motion CPU.
Use this pointer to confirm which positioning data is to be updated using the Motion SFC program. Also, store the positioning data updated last time to the end of a selected device to use as an updated data set pointer for checking the extent to which the positioning data has been updated.
Data set pointer for continuous trajectory control and updated data set pointer are described below using the example servo program below.
Pass point
<K 0>
9
*
CPSTART2
Axis
Axis
Speed
FOR-TIMES
1
2
D3200
1,
2,
1,
2,
1,
2,
D3000
D3002
D3004
D3006
D3008
D3010
. . . 0
. . . 1
. . . 2
Point
Repetition instructions
FOR-TIMES
FOR-ON
FOR-OFF
NEXT
Set in ascending order (0, 1, 2...) starting from the first instructions defined by the above repetition instructions.
1,
2,
1,
2,
1,
2,
1,
2,
1,
2,
1,
2,
D3012
D3014
D3016
D3018
D3020
D3022
D3024
D3026
D3028
D3030
D3032
D3034
. . . 3
. . . 4
. . . 5
. . . 6
. . . 7
. . . 8
The input situation of positioning data to the Motion CPU is shown the next page by executing the 2-axes continuous trajectory control using above the servo program and updating the positioning data in indirect devices D3000 to D3006.
98
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
■
Input situation of positioning data in the Motion CPU
Update of data using the Motion SFC program Positioning data input to the Motion CPU at each point
Positioning point
Updated data
(A)
Updating
0
Indirect device D
(1) (A)
0
Point
Input
(B) 2 (2) (B)
(C)
(D)
8
10
4
6
(3)
(4)
(5)
(6)
(C)
(D)
1
2
First positioning
Positioning start 7 6 5 4 3
(15) (13) (11) (9) (7)
2 1
(5) (3)
0
(1)
(16) (14) (12) (10) (8) (6) (4) (2)
0 8 7 6 5 4
(17) (15) (13) (11) (9)
3 2 1
(7) (5) (3)
Data set pointer for continuous trajectory control
Indicates the last positioning data input to the Motion CPU.
Each time the positioning at a point is completed, the value increases by one.
(18) (16) (14) (12) (10) (8) (6) (4) 12
14
16
18
(7)
(8)
(9)
(10)
20
22
24
26
(11)
(12)
(13)
(14)
28
30
32
34
(15)
(16)
(17)
(18)
3
4
5
6
7
8
1 0
(A)
8 7 6 5
(17) (15) (13) (11)
4 3 2
(9) (7) (5)
(B) (18) (16) (14) (12) (10) (8) (6)
2 1
(C)
0
(A)
8 7
(17) (15)
6
(13)
5 4 3
(11) (9) (7)
(D) (B) (18) (16) (14) (12) (10) (8)
Update data set pointer
The user uses the Motion
SFC program to store the positioning data updated last time to the end of a selected device.
3 2 1 0 8 7 6 5 4
(5) (C) (A) (17) (15) (13) (11) (9)
(6) (D) (B) (18) (16) (14) (12) (10)
Second positioning
4 3
(7)
2 1 0 8 7 6 5
(5) (C) (A) (17) (15) (13) (11)
(8) (6) (D) (B) (18) (16) (14) (12)
5 4 3 2 1 0 8 7 6
(9) (7) (5) (C) (A) (17) (15) (13)
(10) (8) (6) (D) (B) (18) (16) (14)
6 5 4 3 2 1 0 8 7
(11) (9) (7) (5) (C) (A) (17) (15)
(12) (10) (8) (6) (D) (B) (18) (16)
7 6 5 4 3 2 1 0 8
(13) (11) (9) (7)
(14) (12) (10) (8)
(5) (C) (A) (17)
(6) (D) (B) (18)
8 7 6 5 4 3 2 1 0
(15) (13) (11) (9) (7) (5) (C) (A)
(16) (14) (12) (10) (8) (6) (D) (B)
Point 0 8 7 6 5 4 3 2 1
(17) (15) (13) (11) (9) (7) (5) (C)
(18) (16) (14) (12) (10) (8) (6) (D)
The internal processing shown above is described in the next page.
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
99
■
Internal processing
• The positioning data ((1) to (16)) of points 0 to 7 is input to the Motion CPU by the continuous trajectory control starting process (before positioning start). The last point "7" of the input data to be input is stored in the data set pointer for continuous trajectory control at this time. Because the positioning for point 0 starts immediately after, space opens in the input area for positioning data and the Motion CPU inputs point 8 ((17) to (18)) positioning data. The last point "8" of the input data is stored in the data set pointer for continuous trajectory control.
The "8" stored in the data set pointer for continuous trajectory control indicates that the second updating of the positioning data stored in points 0 to 8 is possible.
• The positioning data ((1) to (4)) of points 0 to 1 is updated to positioning data ((A) to (D)) using the Motion SFC program.
The last point "1" of the updated positioning data is stored in the updated data set pointer (the user must create a Motion
SFC program) at this time. Positioning data of points 2 to 8 (data (5) to (18)) can still be updated.
However, the positioning data ((A) to (D)) of the updated points 0 to 1 can also be updated because at this point it has still not been input to the Motion CPU.
• On completion of the positioning for point 0, point 1 positioning starts, the Motion CPU discards the positioning data ((3) to
(4)) of point 1, and inputs the positioning data ((A) to (B)) of point 0 (second positioning).
At this time, the value of the data set pointer for continuous trajectory control automatically proceeds and changes to "0".
• Hereafter, whenever positioning of each point is completed, the positioning data shifts one place.
The positioning data that can be updated is the data which has not yet been input to the Motion CPU.
Even if the values of the indirect devices D3008 and D3010 are updated by the Motion SFC program after the positioning completion of the point 3, the positioning data of point 2 that is input to the Motion CPU will not be updated and the second positioning will be executed using the unupdated data.
The data set pointer for continuous trajectory control has not yet been input to the Motion CPU, and indicates the positioning data which a user can update using the Motion SFC program.
Number of points that can be defined by a repeat instruction
• The Motion CPU inputs up to 8 points ahead therefore create a servo program of at least 9 points.
• Even if there are 9 points or more, and they include pass points of few travel value, the positioning at each point may be completed, and the data input to the Motion CPU, before the data has been updated using the
Motion SFC program.
• Create a sufficient number of points to ensure that data will not be input before the Motion CPU has updated the values in the indirect devices.
[Md.1012] Real current value at STOP input (R: D32018+48n, D32019+48n/Q: D18+20n,
D19+20n)
The actual current value at the detection of a stop/rapid stop cause is stored in this area.
The value is not stored during advanced synchronous control, or G-code control.
[Md.104] Motor current value (R: D32020+48n/Q: #8001+20n)
This register stores the motor current value ( × 0.1 [%]) (signed) read from the servo amplifier.
[Md.103] Motor speed (R: D32022+48n, D32023+48n/Q: #8002+20n, #8003+20n)
This register stores the motor speed ( × 0.01 [r/min]) (signed) read from the servo amplifier.
The motor speed ( × 0.01 [mm/s]) (signed) is stored at linear servo use.
[Md.28] Command speed (R: D32024+48n, D32025+48n/Q: #8004+20n, #8005+20n)
This register stores the speed (signed) at which command value to the servo amplifier for every operation cycle is converted into [pulse/s].
100
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
[Md.100] Home position return re-travel value (R: D32026+48n, D32027+48n/Q:
#8006+20n, #8007+20n)
If the position stopped in the position specified with the travel value after proximity dog ON using MT Developer2 (
travel value (signed ([pulse] units)) of making it travel to zero point by re-travel at this time is stored.
(Data does not change with the last value in the data set method.)
[Md.1019] Servo amplifier display servo error code (R: D32028+48n/Q: #8008+20n)
• This register stores the servo error code read from the servo amplifier. The hexadecimal display is the same as the LED of servo amplifier.
Servo amplifier model
MR-J5(W) B
MR-J4(W) B
MR-J3 B
MR-J3W B
MR-JE B
Servo amplifier LED display
of the LED display are shown.
The three digits of the LED display are shown.
The two digits of the LED display are shown.
The upper two digits of the LED display are shown.
The three digits of the LED display are shown.
*1 Alarm No. (3 digits) + Alarm detail No. (1 digit)
Refer to the following for details of the servo error codes.
Servo amplifier Instruction Manual
• The servo error code is stored several ms or to several tens of ms after the servo error or the servo warning is detected.
Refer to the following devices when immediate detection of the servo error or the servo warning is required.
Error classification
Servo error
Servo warning
Device
"Servo alarm (b7)" of "[St.1068] Servo error detection (R: M32408+32n/Q: M2408+20n)" or "[Md.108] Servo status 1
(R: D32032+48n/Q: #8010+20n)"
"Servo warning (b15)" of [Md.108] Servo status 1 (R: D32032+48n/Q: #8010+20n)"
[Md.107] Parameter error No. (R: D32029+48n/Q: #8009+20n)
The parameter number of error servo parameter is stored in hexadecimal at the servo error occurrence.
H
Parameter No.
Parameter group No.
0: PA group 5: PF group
1: PB group 9: PO group
2: PC group A: PS group
3: PD group B: PL group
4: PE group C: PT group
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
101
[Md.1014] Servo amplifier type (R: D32030+48n/Q: #8000+20n)
This register stores the servo amplifier type code for each axis at the servo amplifier power supply ON.
When this register is combined with "[Md.1027] Servo amplifier Vendor ID (R: D32031+48n/Q: #8016+20n)", the servo amplifier type can be judged. It is not cleared even if the servo amplifier control circuit power supply turns OFF.
[Md.1027] Servo amplifier vendor
ID (R: D32031+48n/Q: #8016+20n)
0 (Mitsubishi Electric Corporation)
3 (ORIENTAL MOTOR Co., Ltd.)
[Md.1014] Servo amplifier type (R: D32030+48n/Q: #8000+20n)
Type code Details
0
256 (0100H)
257 (0101H)
Unused
MR-J3 B
MR-J3W B (For 2-axis type)
MR-J3 B-RJ006 (For fully closed loop control)
MR-J3 B Safety (For drive safety servo)
MR-J3 B-RJ004 (For Linear servo motor)
MR-J3 B-RJ080W (For direct drive motor)
258 (0102H)
263 (0107H)
384 (0180H)
386 (0182H)
391 (0187H)
4096 (1000H)
4608 (1200H)
5120 (1400H)
8190 (1FFEH)
8191 (1FFFH)
8192 (2000H)
8193 (2001H)
12288 (3000H)
MR-J3W-0303BN6
MR-J3W-0303BN6 (For Linear servo motor)
MR-J3W-0303BN6 (For direct drive motor)
MR-J4 B
MR-J4 B-RJ
MR-J4 B-LL
MR-J4W B (For 2-axis type, 3-axis type)
MR-JE B
MR-JE BF
MR-J5 B
MR-J5 B-RJ
MR-J5W B (For 2-axis type, 3-axis type)
Virtual servo amplifier (MR-J5-B)
Virtual servo amplifier (MR-J4-B)
FR-A800-1 (Inverter)
FR-A800-2 (Inverter)
LJ72MS15 (SSCNET /H head module)
12304 (3010H)
12305 (3011H)
12306 (3012H)
12307 (3013H)
12308 (3014H)
12309 (3015H)
MR-MT2010 (Sensing SSCNET /H head module)
MR-MT2010 (Sensing SSCNET /H head module)+MR-MT2100 (Sensing I/O module Station 1)
MR-MT2010 (Sensing SSCNET /H head module)+MR-MT2200 (Sensing pulse I/O module:
Station mode Station 1)
MR-MT2010 (Sensing SSCNET /H head module)+MR-MT2300 (Sensing analog I/O module
Station 1)
MR-MT2010 (Sensing SSCNET /H head module)+MR-MT2400 (Sensing encoder I/F module
Station 1)
MR-MT2010 (Sensing SSCNET /H head module)+MR-MT2200 (Sensing pulse I/O module:
Axis mode Station 1)
MR-MT2100 (Sensing I/O module Station 2 and after)
MR-MT2200 (Sensing pulse I/O module: Station mode Station 2 and after)
MR-MT2300 (Sensing analog I/O module Station 2 and after)
12321 (3021H)
12322 (3022H)
12323 (3023H)
12324 (3024H)
12325 (3025H)
16640 (4100H)
16641 (4101H)
MR-MT2400 (Sensing encoder I/F module Station 2 and after)
MR-MT2200 (Sensing pulse I/O module: Axis mode Station 2 and after)
FR-A700 (Inverter)
FR-A700-NA (Inverter)
16642 (4102H)
16643 (4103H)
FR-A700-EC (Inverter)
FR-A700-CHT (Inverter)
-16384 (C000H) MR-MT1200
8233(2029H)
8234(202AH)
5-phase stepping motor driver
Stepping motor driver AlphaStep (AZ series)
102
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
[Md.1027] Servo amplifier vendor
ID (R: D32031+48n/Q: #8016+20n)
8 (CKD Nikki Denso Co., Ltd.)
[Md.1014] Servo amplifier type (R: D32030+48n/Q: #8000+20n)
Type code
258 (0102H)
263 (0107H)
4096 (1000H)
770(0302H)
775(0307H)
4864(1300H)
8193(2001H)
Details
VC series (For Linear stage)
VC series (For direct drive motor)
VC
VPH series (For linear stage)
VPH series (For direct drive motor)
IAI electric actuator controller 10 (IAI Corporation)
*1 When connecting SSCNET /H
*2 When connecting SSCNET
[Md.1027] Servo amplifier Vendor ID (R: D32031+48n/Q: #8016+20n)
This register stores the servo amplifier vendor ID for each axis when the control circuit power supply of the servo amplifier is turned ON.
The contents are not cleared when the control circuit power supply of the servo amplifier is turned OFF.
Monitor value
0
3
8
10
Description
Mitsubishi Electric Corporation
ORIENTAL MOTOR Co., Ltd.
CKD Nikki Denso Co., Ltd.
IAI Corporation
[Md.108] Servo status1 (R: D32032+48n/Q: #8010+20n)
This register stores the servo status read from the servo amplifier.
[Md.108] Servo status 1
(R: D32032+48n/Q: #8010+20n) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
*: The 0/1 is stored in the servo status 1.
0: OFF
1: ON
READY ON
Servo ON
Control mode
Gain changing
Fully closed control changing
Servo alarm
In-position
Torque limit
Absolute position lost
Servo warning b3
0
0
1
Item Description
READY ON (b0)
Servo ON (b1)
Gain changing (b4)
Fully closed control changing (b5)
Servo alarm (b7)
In-position (b12)
Torque limit (b13)
Absolute position lost (b14)
Servo warning (b15)
Indicates the ready ON/OFF.
Indicates the servo ON/OFF.
Indicates the control mode of servo amplifier.
Turns ON when the servo amplifier is gain changing.
Turns ON when the servo amplifier is using fully closed control.
Turn ON during the servo alarm.
The dwell pulse turns ON within the servo parameter "in-position".
Turns ON when the servo amplifier is having the torque restricted.
Turns ON when the servo amplifier is lost the absolute position.
Turn ON during the servo warning.
*1 The status of control mode (b2, b3) are as follows.
b2
0
1
0
Control mode
Position control mode
Speed control mode
Torque control mode
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
103
2
Servo warning (b15) turns ON during Motion controller forced stop or servo forced stop.
[Md.1022] Servo status2 (R: D32033+48n/Q: #8011+20n)
This register stores the servo status read from the servo amplifier.
[Md.1022] Servo status2
(R: D32033+48n/Q: #8011+20n) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Item
Zero point pass (b0)
Zero speed (b3)
Speed limit (b4)
PID control (b8)
*: The 0/1 is stored in the servo status 2.
0: OFF
1: ON
Zero point pass
Zero speed
Speed limit
PID control
Description
Turns ON if the zero point of the encoder has been passed even once.
Turns ON when the motor speed is lower than the servo parameter "zero speed."
Turn ON during the speed limit in torque control mode.
Turn ON when the servo amplifier is PID control.
[Md.125] Servo status3 (R: D32034+48n/Q: #8012+20n)
This register stores the servo status read from the servo amplifier.
[Md.125] Servo status3
(R: D32034+48n/Q: #8012+20n) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Item
Continuous operation to torque control mode (b14)
Pressure control mode (b15)
*: The 0/1 is stored in the servo status 3.
0: OFF
1: ON
Continuous operation to torque control mode
Pressure control mode
Description
Turn ON when in continuous operation to torque control mode.
Turn ON when in pressure control mode
[Md.1025] Servo status5 (R: D32036+48n/Q: #8014+20n)
This register stores the servo status read from the servo amplifier (MR-J5(W) B).
[Md.1025] Servo status5
(R: D32036+48n/Q: #8014+20n) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Item
Gain changing 2 (b4)
*: The 0/1 is stored in the servo status 5.
0: OFF
1: ON
Gain changing 2
Description
Turns ON when the servo amplifier (MR-J5(W) B) is in gain changing 2.
104
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
[Md.500] Servo status7 (R: D32038+48n/Q: #8018+20n)
This register stores the servo status read from the servo amplifier.
[Md.500] Servo status7
(R: D32038+48n/Q: #8018+20n) b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Item
Driver operation alarm (b9)
Driver operation alarm
(Note): The 0/1 is stored in the servo status7.
0: OFF
1: ON
Description
Turn ON when driver operation alarm occurs.
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
105
106
JOG speed setting registers
This area stores the JOG operation speed data.
Device No.
MELSEC iQ-R Motion device assignment
D35120, D35121
D35122, D35123
D35124, D35125
D35126, D35127
D35128, D35129
D35130, D35131
D35132, D35133
D35134, D35135
D35136, D35137
D35138, D35139
D35140, D35141
D35142, D35143
D35144, D35145
D35146, D35147
D35148, D35149
D35150, D35151
D35152, D35153
D35154, D35155
D35156, D35157
D35158, D35159
D35160, D35161
D35162, D35163
D35164, D35165
D35166, D35167
D35168, D35169
D35170, D35171
D35172, D35173
D35174, D35175
D35176, D35177
D35178, D35179
D35180, D35181
D35182, D35183
D35184, D35185
D35186, D35187
D35188, D35189
D35190, D35191
D35192, D35193
D35194, D35195
D35196, D35197
D35198, D35199
D35200, D35201
D35202, D35203
D35204, D35205
D35206, D35207
D35208, D35209
D35210, D35211
D35212, D35213
D35214, D35215
Q series Motion compatible device assignment
D664, D665
D666, D667
D668, D669
D670, D671
D672, D673
D674, D675
D676, D677
D678, D679
D680, D681
D682, D683
D684, D685
D686, D687
D688, D689
D690, D691
D692, D693
D694, D695
D696, D697
D698, D699
D700, D701
D702, D703
D640, D641
D642, D643
D644, D645
D646, D647
D648, D649
D650, D651
D652, D653
D654, D655
D656, D657
D658, D659
D660, D661
D662, D663
Signal name
Axis 1 JOG speed setting register
Axis 2 JOG speed setting register
Axis 3 JOG speed setting register
Axis 4 JOG speed setting register
Axis 5 JOG speed setting register
Axis 6 JOG speed setting register
Axis 7 JOG speed setting register
Axis 8 JOG speed setting register
Axis 9 JOG speed setting register
Axis 10 JOG speed setting register
Axis 11 JOG speed setting register
Axis 12 JOG speed setting register
Axis 13 JOG speed setting register
Axis 14 JOG speed setting register
Axis 15 JOG speed setting register
Axis 16 JOG speed setting register
Axis 17 JOG speed setting register
Axis 18 JOG speed setting register
Axis 19 JOG speed setting register
Axis 20 JOG speed setting register
Axis 21 JOG speed setting register
Axis 22 JOG speed setting register
Axis 23 JOG speed setting register
Axis 24 JOG speed setting register
Axis 25 JOG speed setting register
Axis 26 JOG speed setting register
Axis 27 JOG speed setting register
Axis 28 JOG speed setting register
Axis 29 JOG speed setting register
Axis 30 JOG speed setting register
Axis 31 JOG speed setting register
Axis 32 JOG speed setting register
Axis 33 JOG speed setting register
Axis 34 JOG speed setting register
Axis 35 JOG speed setting register
Axis 36 JOG speed setting register
Axis 37 JOG speed setting register
Axis 38 JOG speed setting register
Axis 39 JOG speed setting register
Axis 40 JOG speed setting register
Axis 41 JOG speed setting register
Axis 42 JOG speed setting register
Axis 43 JOG speed setting register
Axis 44 JOG speed setting register
Axis 45 JOG speed setting register
Axis 46 JOG speed setting register
Axis 47 JOG speed setting register
Axis 48 JOG speed setting register
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Device No.
MELSEC iQ-R Motion device assignment
D35216, D35217
D35218, D35219
D35220, D35221
D35222, D35223
D35224, D35225
D35226, D35227
D35228, D35229
D35230, D35231
D35232, D35233
D35234, D35235
D35236, D35237
D35238, D35239
D35240, D35241
D35242, D35243
D35244, D35245
D35246, D35247
Q series Motion compatible device assignment
Signal name
Axis 49 JOG speed setting register
Axis 50 JOG speed setting register
Axis 51 JOG speed setting register
Axis 52 JOG speed setting register
Axis 53 JOG speed setting register
Axis 54 JOG speed setting register
Axis 55 JOG speed setting register
Axis 56 JOG speed setting register
Axis 57 JOG speed setting register
Axis 58 JOG speed setting register
Axis 59 JOG speed setting register
Axis 60 JOG speed setting register
Axis 61 JOG speed setting register
Axis 62 JOG speed setting register
Axis 63 JOG speed setting register
Axis 64 JOG speed setting register
• Details for each axis
Device No.
MELSEC iQ-R
Motion device assignment
D35120+2n
D35121+2n
Q series Motion compatible device assignment
D640+2n
D641+2n
Symbol Signal name
Cd.1110
JOG speed setting
Refresh cycle
Fetch cycle Signal type
At start Command device
2
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
[Cd.1110] JOG speed setting (R: D35120+2n, D35121+2n/Q: D640+2n, D641+2n)
• This register stores the JOG speed at the JOG operation.
• Setting range of the JOG speed is shown below.
Item
JOG speed
Setting range mm inch degree
1 to 600000000 ( × 10 -2 [mm/min]) 1 to 600000000 ( × 10 -3 [inch/min]) 1 to 2147483647 ( × 10 -3 [degree/min])
pulse
1 to 2147483647 [pulse/s]
*1 When the "speed control 10 × multiplier setting for degree axis" is set to "valid" in the fixed parameter, the unit is 1 to 2147483647 ( × 10 -
2 [degree/min]).
• The JOG speed is the value stored in the "[Cd.1110] JOG speed setting (R: D35120+2n, D35121+2n/Q: D640+2n,
D641+2n)" at leading edge of JOG start signal. Even if data is changed during JOG operation, JOG speed cannot be changed.
• Refer to the JOG operation for details of the JOG operation. (
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
107
108
Servo input axis monitor device
Device No.
MELSEC iQ-R Motion device assignment
D35440 to D35455
D35456 to D35471
D35472 to D35487
D35488 to D35503
D35504 to D35519
D35520 to D35535
D35536 to D35551
D35552 to D35567
D35568 to D35583
D35584 to D35599
D35600 to D35615
D35616 to D35631
D35632 to D35647
D35648 to D35663
D35664 to D35679
D35680 to D35695
D35696 to D35711
D35712 to D35727
D35728 to D35743
D35744 to D35759
D35760 to D35775
D35776 to D35791
D35792 to D35807
D35808 to D35823
D35824 to D35839
D35840 to D35855
D35856 to D35871
D35872 to D35887
D35888 to D35903
D35904 to D35919
D35920 to D35935
D35936 to D35951
D35952 to D35967
D35968 to D35983
D35984 to D35999
D36000 to D36015
D36016 to D36031
D36032 to D36047
D36048 to D36063
D36064 to D36079
D36080 to D36095
D36096 to D36111
D36112 to D36127
D36128 to D36143
D36144 to D36159
D36160 to D36175
D36176 to D36191
D36192 to D36207
D36208 to D36223
Signal name
Q series Motion compatible device assignment
D12280 to D12289
D12290 to D12299
D12300 to D12309
D12310 to D12319
D12320 to D12329
D12330 to D12339
D12340 to D12349
D12350 to D12359
D12360 to D12369
D12370 to D12379
D12380 to D12389
D12390 to D12399
D12400 to D12409
D12410 to D12419
D12420 to D12429
D12430 to D12439
D12440 to D12449
D12450 to D12459
D12460 to D12469
D12470 to D12479
D12480 to D12489
D12490 to D12499
D12500 to D12509
D12510 to D12519
D12520 to D12529
D12530 to D12539
D12540 to D12549
D12550 to D12559
D12560 to D12569
D12570 to D12579
D12580 to D12589
D12590 to D12599
Axis 1 servo input axis monitor device
Axis 2 servo input axis monitor device
Axis 3 servo input axis monitor device
Axis 4 servo input axis monitor device
Axis 5 servo input axis monitor device
Axis 6 servo input axis monitor device
Axis 7 servo input axis monitor device
Axis 8 servo input axis monitor device
Axis 9 servo input axis monitor device
Axis 10 servo input axis monitor device
Axis 11 servo input axis monitor device
Axis 12 servo input axis monitor device
Axis 13 servo input axis monitor device
Axis 14 servo input axis monitor device
Axis 15 servo input axis monitor device
Axis 16 servo input axis monitor device
Axis 17 servo input axis monitor device
Axis 18 servo input axis monitor device
Axis 19 servo input axis monitor device
Axis 20 servo input axis monitor device
Axis 21 servo input axis monitor device
Axis 22 servo input axis monitor device
Axis 23 servo input axis monitor device
Axis 24 servo input axis monitor device
Axis 25 servo input axis monitor device
Axis 26 servo input axis monitor device
Axis 27 servo input axis monitor device
Axis 28 servo input axis monitor device
Axis 29 servo input axis monitor device
Axis 30 servo input axis monitor device
Axis 31 servo input axis monitor device
Axis 32 servo input axis monitor device
Axis 33 servo input axis monitor device
Axis 34 servo input axis monitor device
Axis 35 servo input axis monitor device
Axis 36 servo input axis monitor device
Axis 37 servo input axis monitor device
Axis 38 servo input axis monitor device
Axis 39 servo input axis monitor device
Axis 40 servo input axis monitor device
Axis 41 servo input axis monitor device
Axis 42 servo input axis monitor device
Axis 43 servo input axis monitor device
Axis 44 servo input axis monitor device
Axis 45 servo input axis monitor device
Axis 46 servo input axis monitor device
Axis 47 servo input axis monitor device
Axis 48 servo input axis monitor device
Axis 49 servo input axis monitor device
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Device No.
MELSEC iQ-R Motion device assignment
D36224 to D36239
D36240 to D36255
D36256 to D36271
D36272 to D36287
D36288 to D36303
D36304 to D36319
D36320 to D36335
D36336 to D36351
D36352 to D36367
D36368 to D36383
D36384 to D36399
D36400 to D36415
D36416 to D36431
D36432 to D36447
D36448 to D36463
Q series Motion compatible device assignment
Signal name
Axis 50 servo input axis monitor device
Axis 51 servo input axis monitor device
Axis 52 servo input axis monitor device
Axis 53 servo input axis monitor device
Axis 54 servo input axis monitor device
Axis 55 servo input axis monitor device
Axis 56 servo input axis monitor device
Axis 57 servo input axis monitor device
Axis 58 servo input axis monitor device
Axis 59 servo input axis monitor device
Axis 60 servo input axis monitor device
Axis 61 servo input axis monitor device
Axis 62 servo input axis monitor device
Axis 63 servo input axis monitor device
Axis 64 servo input axis monitor device
D35440+16n
D35441+16n
D35442+16n
D35443+16n
D35444+16n
D35445+16n
D35446+16n
D35447+16n
D35448+16n
D35449+16n
D35450+16n
D35451+16n
D35452+16n
D35453+16n
D35454+16n
D35455+16n
• Details for each axis
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
D12280+10n
D12281+10n
D12282+10n
D12283+10n
D12284+10n
D12285+10n
D12286+10n
D12287+10n
D12288+10n
D12289+10n
Symbol Signal name
Md.300
Md.301
Md.302
Md.303
Servo input axis current value
Servo input axis speed
Servo input axis phase compensation amount
Servo input axis rotation direction restriction amount
Unusable
Refresh cycle
Fetch cycle Signal type
Operation cycle
Monitor device
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of servo input axis monitor device.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
109
110
Servo input axis control device
Device No.
MELSEC iQ-R Motion device assignment
D41200 to D41207
D41208 to D41215
D41216 to D41223
D41224 to D41231
D41232 to D41239
D41240 to D41247
D41248 to D41255
D41256 to D41263
D41264 to D41271
D41272 to D41279
D41280 to D41287
D41288 to D41295
D41296 to D41303
D41304 to D41311
D41312 to D41319
D41320 to D41327
D41328 to D41335
D41336 to D41343
D41344 to D41351
D41352 to D41359
D41360 to D41367
D41368 to D41375
D41376 to D41383
D41384 to D41391
D41392 to D41399
D41400 to D41407
D41408 to D41415
D41416 to D41423
D41424 to D41431
D41432 to D41439
D41440 to D41447
D41448 to D41455
D41456 to D41463
D41464 to D41471
D41472 to D41479
D41480 to D41487
D41488 to D41495
D41496 to D41503
D41504 to D41511
D41512 to D41519
D41520 to D41527
D41528 to D41535
D41536 to D41543
D41544 to D41551
D41552 to D41559
D41560 to D41567
D41568 to D41575
D41576 to D41583
D41584 to D41591
Signal name
Q series Motion compatible device assignment
D14628, D14629
D14630, D14631
D14632, D14633
D14634, D14635
D14636, D14637
D14638, D14639
D14640, D14641
D14642, D14643
D14644, D14645
D14646, D14647
D14648, D14649
D14650, D14651
D14652, D14653
D14654, D14655
D14656, D14657
D14658, D14659
D14660, D14661
D14662, D14663
D14600, D14601
D14602, D14603
D14604, D14605
D14606, D14607
D14608, D14609
D14610, D14611
D14612, D14613
D14614, D14615
D14616, D14617
D14618, D14619
D14620, D14621
D14622, D14623
D14624, D14625
D14626, D14627
Axis 1 servo input axis control device
Axis 2 servo input axis control device
Axis 3 servo input axis control device
Axis 4 servo input axis control device
Axis 5 servo input axis control device
Axis 6 servo input axis control device
Axis 7 servo input axis control device
Axis 8 servo input axis control device
Axis 9 servo input axis control device
Axis 10 servo input axis control device
Axis 11 servo input axis control device
Axis 12 servo input axis control device
Axis 13 servo input axis control device
Axis 14 servo input axis control device
Axis 15 servo input axis control device
Axis 16 servo input axis control device
Axis 17 servo input axis control device
Axis 18 servo input axis control device
Axis 19 servo input axis control device
Axis 20 servo input axis control device
Axis 21 servo input axis control device
Axis 22 servo input axis control device
Axis 23 servo input axis control device
Axis 24 servo input axis control device
Axis 25 servo input axis control device
Axis 26 servo input axis control device
Axis 27 servo input axis control device
Axis 28 servo input axis control device
Axis 29 servo input axis control device
Axis 30 servo input axis control device
Axis 31 servo input axis control device
Axis 32 servo input axis control device
Axis 33 servo input axis control device
Axis 34 servo input axis control device
Axis 35 servo input axis control device
Axis 36 servo input axis control device
Axis 37 servo input axis control device
Axis 38 servo input axis control device
Axis 39 servo input axis control device
Axis 40 servo input axis control device
Axis 41 servo input axis control device
Axis 42 servo input axis control device
Axis 43 servo input axis control device
Axis 44 servo input axis control device
Axis 45 servo input axis control device
Axis 46 servo input axis control device
Axis 47 servo input axis control device
Axis 48 servo input axis control device
Axis 49 servo input axis control device
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Device No.
MELSEC iQ-R Motion device assignment
D41592 to D41599
D41600 to D41607
D41608 to D41615
D41616 to D41623
D41624 to D41631
D41632 to D41639
D41640 to D41647
D41648 to D41655
D41656 to D41663
D41664 to D41671
D41672 to D41679
D41680 to D41687
D41688 to D41695
D41696 to D41703
D41704 to D41711
Q series Motion compatible device assignment
Signal name
Axis 50 servo input axis control device
Axis 51 servo input axis control device
Axis 52 servo input axis control device
Axis 53 servo input axis control device
Axis 54 servo input axis control device
Axis 55 servo input axis control device
Axis 56 servo input axis control device
Axis 57 servo input axis control device
Axis 58 servo input axis control device
Axis 59 servo input axis control device
Axis 60 servo input axis control device
Axis 61 servo input axis control device
Axis 62 servo input axis control device
Axis 63 servo input axis control device
Axis 64 servo input axis control device
• Details for each axis
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
D14600+2n
D14601+2n
D41200+8n
D41201+8n
D41202+8n
D41203+8n
D41204+8n
D41205+8n
D41206+8n
D41207+8n
Symbol Signal name
Pr.302
Servo input axis phase compensation advance time
Unusable
Refresh cycle
Fetch cycle Signal type
Operation cycle Command device
2
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of servo input axis control device.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
111
112
Command generation axis monitor device
Device No.
MELSEC iQ-R Motion device assignment
D36480 to D36511
D36512 to D36543
D36544 to D36575
D36576 to D36607
D36608 to D36639
D36640 to D36671
D36672 to D36703
D36704 to D36735
D36736 to D36767
D36768 to D36799
D36800 to D36831
D36832 to D36863
D36864 to D36895
D36896 to D36927
D36928 to D36959
D36960 to D36991
D36992 to D37023
D37024 to D37055
D37056 to D37087
D37088 to D37119
D37120 to D37151
D37152 to D37183
D37184 to D37215
D37216 to D37247
D37248 to D37279
D37280 to D37311
D37312 to D37343
D37344 to D37375
D37376 to D37407
D37408 to D37439
D37440 to D37471
D37472 to D37503
D37504 to D37535
D37536 to D37567
D37568 to D37599
D37600 to D37631
D37632 to D37663
D37664 to D37695
D37696 to D37727
D37728 to D37759
D37760 to D37791
D37792 to D37823
D37824 to D37855
D37856 to D37887
D37888 to D37919
D37920 to D37951
D37952 to D37983
D37984 to D38015
D38016 to D38047
Signal name
Q series Motion compatible device assignment
D12600 to D12619
D12620 to D12639
D12640 to D12659
D12660 to D12679
D12680 to D12699
D12700 to D12719
D12720 to D12739
D12740 to D12759
D12760 to D12779
D12780 to D12799
D12800 to D12819
D12820 to D12839
D12840 to D12859
D12860 to D12879
D12880 to D12899
D12900 to D12919
D12920 to D12939
D12940 to D12959
D12960 to D12979
D12980 to D12999
D13000 to D13019
D13020 to D13039
D13040 to D13059
D13060 to D13079
D13080 to D13099
D13100 to D13119
D13120 to D13139
D13140 to D13159
D13160 to D13179
D13180 to D13199
D13200 to D13219
D13220 to D13239
Axis 1 command generation axis monitor device
Axis 2 command generation axis monitor device
Axis 3 command generation axis monitor device
Axis 4 command generation axis monitor device
Axis 5 command generation axis monitor device
Axis 6 command generation axis monitor device
Axis 7 command generation axis monitor device
Axis 8 command generation axis monitor device
Axis 9 command generation axis monitor device
Axis 10 command generation axis monitor device
Axis 11 command generation axis monitor device
Axis 12 command generation axis monitor device
Axis 13 command generation axis monitor device
Axis 14 command generation axis monitor device
Axis 15 command generation axis monitor device
Axis 16 command generation axis monitor device
Axis 17 command generation axis monitor device
Axis 18 command generation axis monitor device
Axis 19 command generation axis monitor device
Axis 20 command generation axis monitor device
Axis 21 command generation axis monitor device
Axis 22 command generation axis monitor device
Axis 23 command generation axis monitor device
Axis 24 command generation axis monitor device
Axis 25 command generation axis monitor device
Axis 26 command generation axis monitor device
Axis 27 command generation axis monitor device
Axis 28 command generation axis monitor device
Axis 29 command generation axis monitor device
Axis 30 command generation axis monitor device
Axis 31 command generation axis monitor device
Axis 32 command generation axis monitor device
Axis 33 command generation axis monitor device
Axis 34 command generation axis monitor device
Axis 35 command generation axis monitor device
Axis 36 command generation axis monitor device
Axis 37 command generation axis monitor device
Axis 38 command generation axis monitor device
Axis 39 command generation axis monitor device
Axis 40 command generation axis monitor device
Axis 41 command generation axis monitor device
Axis 42 command generation axis monitor device
Axis 43 command generation axis monitor device
Axis 44 command generation axis monitor device
Axis 45 command generation axis monitor device
Axis 46 command generation axis monitor device
Axis 47 command generation axis monitor device
Axis 48 command generation axis monitor device
Axis 49 command generation axis monitor device
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Device No.
MELSEC iQ-R Motion device assignment
D38048 to D38079
D38080 to D38111
D38112 to D38143
D38144 to D38175
D38176 to D38207
D38208 to D38239
D38240 to D38271
D38272 to D38303
D38304 to D38335
D38336 to D38367
D38368 to D38399
D38400 to D38431
D38432 to D38463
D38464 to D38495
D38496 to D38527
Q series Motion compatible device assignment
Signal name
Axis 50 command generation axis monitor device
Axis 51 command generation axis monitor device
Axis 52 command generation axis monitor device
Axis 53 command generation axis monitor device
Axis 54 command generation axis monitor device
Axis 55 command generation axis monitor device
Axis 56 command generation axis monitor device
Axis 57 command generation axis monitor device
Axis 58 command generation axis monitor device
Axis 59 command generation axis monitor device
Axis 60 command generation axis monitor device
Axis 61 command generation axis monitor device
Axis 62 command generation axis monitor device
Axis 63 command generation axis monitor device
Axis 64 command generation axis monitor device
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
113
D36490+32n
D36491+32n
D36492+32n
D36493+32n
D36494+32n
D36495+32n
D36496+32n
D36497+32n
D36498+32n
D36499+32n
D36500+32n
D36501+32n
D36502+32n
D36503+32n
D36504+32n
D36505+32n
D36506+32n
D36507+32n
D36508+32n
D36509+32n
D36510+32n
D36511+32n
• Details for each axis
Device No.
MELSEC iQ-R
Motion device assignment
D36480+32n
D36481+32n
D36482+32n
D36483+32n
D36484+32n
Q series Motion compatible device assignment
D12600+20n
D12601+20n
D12602+20n
D12603+20n
D12604+20n
D36485+32n
D36486+32n
D36487+32n
D36488+32n
D36489+32n
D12605+20n
D12606+20n
D12607+20n
D12608+20n
D12609+20n
D12610+20n
D12611+20n
D12612+20n
D12613+20n
D12614+20n
D12615+20n
D12616+20n
D12617+20n
D12618+20n
D12619+20n
Symbol Signal name
Md.340
Md.341
Md.342
Md.343
Md.344
Md.345
Md.346
Md.347
Md.348
Command generation axis feed current value
Command generation axis warning code
Command generation axis error code
Command generation axis execute program No.
Command generation axis M-code
Command generation axis accumulative current value
Unusable
Command generation axis data set pointer for constant-speed control
Command generation axis current value per cycle
Command generation axis command speed
Unusable
Refresh cycle
Immediate
At start
Operation cycle
Fetch cycle Signal type
Operation cycle
At start/during start
Operation cycle
Monitor device
Monitor device
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of command generation axis monitor device.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
114
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Command generation axis control device
Device No.
MELSEC iQ-R Motion device assignment
D41760 to D41767
D41768 to D41775
D41776 to D41783
D41784 to D41791
D41792 to D41799
D41800 to D41807
D41808 to D41815
D41816 to D41823
D41824 to D41831
D41832 to D41839
D41840 to D41847
D41848 to D41855
D41856 to D41863
D41864 to D41871
D41872 to D41879
D41880 to D41887
D41888 to D41895
D41896 to D41903
D41904 to D41911
D41912 to D41919
D41920 to D41927
D41928 to D41935
D41936 to D41943
D41944 to D41951
D41952 to D41959
D41960 to D41967
D41968 to D41975
D41976 to D41983
D41984 to D41991
D41992 to D41999
D42000 to D42007
D42008 to D42015
D42016 to D42023
D42024 to D42031
D42032 to D42039
D42040 to D42047
D42048 to D42055
D42056 to D42063
D42064 to D42071
D42072 to D42079
D42080 to D42087
D42088 to D42095
D42096 to D42103
D42104 to D42111
D42112 to D42119
D42120 to D42127
D42128 to D42135
D42136 to D42143
D42144 to D42151
Signal name
Q series Motion compatible device assignment
D14680 to D14683
D14684 to D14687
D14688 to D14691
D14692 to D14695
D14696 to D14699
D14700 to D14703
D14704 to D14707
D14708 to D14711
D14712 to D14715
D14716 to D14719
D14720 to D14723
D14724 to D14727
D14728 to D14731
D14732 to D14735
D14736 to D14739
D14740 to D14743
D14744 to D14747
D14748 to D14751
D14752 to D14755
D14756 to D14759
D14760 to D14763
D14764 to D14767
D14768 to D14771
D14772 to D14775
D14776 to D14779
D14780 to D14783
D14784 to D14787
D14788 to D14791
D14792 to D14795
D14796 to D14799
D14800 to D14803
D14804 to D14807
Axis 1 command generation axis control device
Axis 2 command generation axis control device
Axis 3 command generation axis control device
Axis 4 command generation axis control device
Axis 5 command generation axis control device
Axis 6 command generation axis control device
Axis 7 command generation axis control device
Axis 8 command generation axis control device
Axis 9 command generation axis control device
Axis 10 command generation axis control device
Axis 11 command generation axis control device
Axis 12 command generation axis control device
Axis 13 command generation axis control device
Axis 14 command generation axis control device
Axis 15 command generation axis control device
Axis 16 command generation axis control device
Axis 17 command generation axis control device
Axis 18 command generation axis control device
Axis 19 command generation axis control device
Axis 20 command generation axis control device
Axis 21 command generation axis control device
Axis 22 command generation axis control device
Axis 23 command generation axis control device
Axis 24 command generation axis control device
Axis 25 command generation axis control device
Axis 26 command generation axis control device
Axis 27 command generation axis control device
Axis 28 command generation axis control device
Axis 29 command generation axis control device
Axis 30 command generation axis control device
Axis 31 command generation axis control device
Axis 32 command generation axis control device
Axis 33 command generation axis control device
Axis 34 command generation axis control device
Axis 35 command generation axis control device
Axis 36 command generation axis control device
Axis 37 command generation axis control device
Axis 38 command generation axis control device
Axis 39 command generation axis control device
Axis 40 command generation axis control device
Axis 41 command generation axis control device
Axis 42 command generation axis control device
Axis 43 command generation axis control device
Axis 44 command generation axis control device
Axis 45 command generation axis control device
Axis 46 command generation axis control device
Axis 47 command generation axis control device
Axis 48 command generation axis control device
Axis 49 command generation axis control device
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
115
2
Device No.
MELSEC iQ-R Motion device assignment
D42152 to D42159
D42160 to D42167
D42168 to D42175
D42176 to D42183
D42184 to D42191
D42192 to D42199
D42200 to D42207
D42208 to D42215
D42216 to D42223
D42224 to D42231
D42232 to D42239
D42240 to D42247
D42248 to D42255
D42256 to D42263
D42264 to D42271
Q series Motion compatible device assignment
Signal name
Axis 50 command generation axis control device
Axis 51 command generation axis control device
Axis 52 command generation axis control device
Axis 53 command generation axis control device
Axis 54 command generation axis control device
Axis 55 command generation axis control device
Axis 56 command generation axis control device
Axis 57 command generation axis control device
Axis 58 command generation axis control device
Axis 59 command generation axis control device
Axis 60 command generation axis control device
Axis 61 command generation axis control device
Axis 62 command generation axis control device
Axis 63 command generation axis control device
Axis 64 command generation axis control device
• Details for each axis
Device No.
MELSEC iQ-R
Motion device assignment
D41760+8n
D41761+8n
D41762+8n
Q series Motion compatible device assignment
D14680+4n
D14681+4n
D14682+4n
D14683+4n
Symbol Signal name
Cd.340
Pr.348
Command generation axis JOG speed setting
Command generation axis JOG operation parameter block setting
Unusable D41763+8n
D41764+8n
D41765+8n
D41766+8n
D41767+8n
Refresh cycle
Fetch cycle Signal type
At start of JOG operation
Command device
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of command generation axis control device.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
116
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Synchronous encoder axis monitor device
Device No.
MELSEC iQ-R Motion device assignment
D38560 to D38591
D38592 to D38623
D38624 to D38655
D38656 to D38687
D38688 to D38719
D38720 to D38751
D38752 to D38783
D38784 to D38815
D38816 to D38847
D38848 to D38879
D38880 to D38911
D38912 to D38943
Signal name
Q series Motion compatible device assignment
D13240 to D13259
D13260 to D13279
D13280 to D13299
D13300 to D13319
D13320 to D13339
D13340 to D13359
D13360 to D13369
D13380 to D13399
D13400 to D13419
D13420 to D13439
D13440 to D13459
D13460 to D13479
Axis 1 synchronous encoder axis monitor device
Axis 2 synchronous encoder axis monitor device
Axis 3 synchronous encoder axis monitor device
Axis 4 synchronous encoder axis monitor device
Axis 5 synchronous encoder axis monitor device
Axis 6 synchronous encoder axis monitor device
Axis 7 synchronous encoder axis monitor device
Axis 8 synchronous encoder axis monitor device
Axis 9 synchronous encoder axis monitor device
Axis 10 synchronous encoder axis monitor device
Axis 11 synchronous encoder axis monitor device
Axis 12 synchronous encoder axis monitor device
D38572+32n
D38573+32n
D38574+32n
D38575+32n
D38576+32n
D38577+32n
D38578+32n
D38579+32n
D38580+32n
D38581+32n
D38582+32n
D38583+32n
D38584+32n
D38585+32n
D38586+32n
D38587+32n
D38588+32n
D38589+32n
D38560+32n
D38561+32n
D38562+32n
D38563+32n
D38564+32n
D38565+32n
D38566+32n
D38567+32n
D38568+32n
D38569+32n
D38570+32n
D38571+32n
• Details for each axis
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
D13240+20n
D13241+20n
D13242+20n
D13243+20n
D13244+20n
D13245+20n
D13246+20n
D13247+20n
D13248+20n
D13249+20n
D13250+20n
D13251+20n
D13252+20n
D13253+20n
D13254+20n
D13255+20n
D13256+20n
D13257+20n
D13258+20n
D13259+20n
Symbol Signal name
Md.320
Md.321
Md.322
Md.323
Md.324
Md.327
Md.326
Synchronous encoder axis current value
Synchronous encoder axis current value per cycle
Synchronous encoder axis speed
Synchronous encoder axis phase compensation amount
Synchronous encoder axis rotation direction restriction amount
Synchronous encoder axis warning code
Synchronous encoder axis error code
Unusable
Refresh cycle
Fetch cycle Signal type
Operation cycle
Immediate
Monitor device
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
117
2
Device No.
MELSEC iQ-R
Motion device assignment
D38590+32n
D38591+32n
Q series Motion compatible device assignment
Symbol Signal name
Unusable
Refresh cycle
Fetch cycle Signal type
Refer to the following for details of synchronous encoder axis monitor device.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
118
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Synchronous encoder axis control device
Device No.
MELSEC iQ-R Motion device assignment
D42320 to D42335
D42336 to D42351
D42352 to D42367
D42368 to D42383
D42384 to D42399
D42400 to D42415
D42416 to D42431
D42432 to D42447
D42448 to D42463
D42464 to D42479
D42480 to D42495
D42496 to D42511
Signal name
Q series Motion compatible device assignment
D14820 to D14829
D14830 to D14839
D14840 to D14849
D14850 to D14859
D14860 to D14869
D14870 to D14879
D14880 to D14889
D14890 to D14899
D14900 to D14909
D14910 to D14919
D14920 to D14929
D14930 to D14939
Axis 1 Synchronous encoder axis control device
Axis 2 Synchronous encoder axis control device
Axis 3 Synchronous encoder axis control device
Axis 4 Synchronous encoder axis control device
Axis 5 Synchronous encoder axis control device
Axis 6 Synchronous encoder axis control device
Axis 7 Synchronous encoder axis control device
Axis 8 Synchronous encoder axis control device
Axis 9 Synchronous encoder axis control device
Axis 10 Synchronous encoder axis control device
Axis 11 Synchronous encoder axis control device
Axis 12 Synchronous encoder axis control device
D42323+16n
D42324+16n
D42325+16n
D42326+16n
D42327+16n
D42328+16n
D42329+16n
D42330+16n
D42331+16n
D42332+16n
D42333+16n
D42334+16n
D42335+16n
• Details for each axis
Device No.
MELSEC iQ-R
Motion device assignment
D42320+16n
D42321+16n
D42322+16n
Q series Motion compatible device assignment
D14820+10n
D14821+10n
D14822+10n
D14823+10n
D14824+10n
D14825+10n
D14826+10n
D14827+10n
D14828+10n
D14829+10n
Symbol Signal name
Pr.326
Cd.320
Cd.321
Cd.322
Cd.325
Synchronous encoder axis phase compensation advance time
Synchronous encoder axis control start condition
Synchronous encoder axis control method
Synchronous encoder axis current value setting address
Input value for synchronous encoder via device
Unusable
Refresh cycle
Fetch cycle Signal type
Operation cycle Command device
At synchronous encoder axis control start
Operation cycle
2
Refer to the following for details of synchronous encoder axis control device.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
119
120
Output axis monitor device
Device No.
MELSEC iQ-R Motion device assignment
D39120 to D39151
D39152 to D39183
D39184 to D39215
D39216 to D39247
D39248 to D39279
D39280 to D39311
D39312 to D39343
D39344 to D39375
D39376 to D39407
D39408 to D39439
D39440 to D39471
D39472 to D39503
D39504 to D39535
D39536 to D39567
D39568 to D39599
D39600 to D39631
D39632 to D39663
D39664 to D39695
D39696 to D39727
D39728 to D39759
D39760 to D39791
D39792 to D39823
D39824 to D39855
D39856 to D39887
D39888 to D39919
D39920 to D39951
D39952 to D39983
D39984 to D40015
D40016 to D40047
D40048 to D40079
D40080 to D40111
D40112 to D40143
D40144 to D40175
D40176 to D40207
D40208 to D40239
D40240 to D40271
D40272 to D40303
D40304 to D40335
D40336 to D40367
D40368 to D40399
D40400 to D40431
D40432 to D40463
D40464 to D40495
D40496 to D40527
D40528 to D40559
D40560 to D40591
D40592 to D40623
D40624 to D40655
D40656 to D40687
Signal name
Q series Motion compatible device assignment
D13600 to D13629
D13630 to D13659
D13660 to D13689
D13690 to D13719
D13720 to D13749
D13750 to D13779
D13780 to D13809
D13810 to D13839
D13840 to D13869
D13870 to D13899
D13900 to D13929
D13930 to D13959
D13960 to D13989
D13990 to D14019
D14020 to D14049
D14050 to D14079
D14080 to D14109
D14110 to D14139
D14140 to D14169
D14170 to D14199
D14200 to D14229
D14230 to D14259
D14260 to D14289
D14290 to D14319
D14320 to D14349
D14350 to D14379
D14380 to D14409
D14410 to D14439
D14440 to D14469
D14470 to D14499
D14500 to D14529
D14530 to D14559
Axis 1 output axis monitor device
Axis 2 output axis monitor device
Axis 3 output axis monitor device
Axis 4 output axis monitor device
Axis 5 output axis monitor device
Axis 6 output axis monitor device
Axis 7 output axis monitor device
Axis 8 output axis monitor device
Axis 9 output axis monitor device
Axis 10 output axis monitor device
Axis 11 output axis monitor device
Axis 12 output axis monitor device
Axis 13 output axis monitor device
Axis 14 output axis monitor device
Axis 15 output axis monitor device
Axis 16 output axis monitor device
Axis 17 output axis monitor device
Axis 18 output axis monitor device
Axis 19 output axis monitor device
Axis 20 output axis monitor device
Axis 21 output axis monitor device
Axis 22 output axis monitor device
Axis 23 output axis monitor device
Axis 24 output axis monitor device
Axis 25 output axis monitor device
Axis 26 output axis monitor device
Axis 27 output axis monitor device
Axis 28 output axis monitor device
Axis 29 output axis monitor device
Axis 30 output axis monitor device
Axis 31 output axis monitor device
Axis 32 output axis monitor device
Axis 33 output axis monitor device
Axis 34 output axis monitor device
Axis 35 output axis monitor device
Axis 36 output axis monitor device
Axis 37 output axis monitor device
Axis 38 output axis monitor device
Axis 39 output axis monitor device
Axis 40 output axis monitor device
Axis 41 output axis monitor device
Axis 42 output axis monitor device
Axis 43 output axis monitor device
Axis 44 output axis monitor device
Axis 45 output axis monitor device
Axis 46 output axis monitor device
Axis 47 output axis monitor device
Axis 48 output axis monitor device
Axis 49 output axis monitor device
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Device No.
MELSEC iQ-R Motion device assignment
D40688 to D40719
D40720 to D40751
D40752 to D40783
D40784 to D40815
D40816 to D40847
D40848 to D40879
D40880 to D40911
D40912 to D40943
D40944 to D40975
D40976 to D41007
D41008 to D41039
D41040 to D41071
D41072 to D41103
D41104 to D41135
D41136 to D41167
Q series Motion compatible device assignment
Signal name
Axis 50 output axis monitor device
Axis 51 output axis monitor device
Axis 52 output axis monitor device
Axis 53 output axis monitor device
Axis 54 output axis monitor device
Axis 55 output axis monitor device
Axis 56 output axis monitor device
Axis 57 output axis monitor device
Axis 58 output axis monitor device
Axis 59 output axis monitor device
Axis 60 output axis monitor device
Axis 61 output axis monitor device
Axis 62 output axis monitor device
Axis 63 output axis monitor device
Axis 64 output axis monitor device
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
121
D39133+32n
D39134+32n
D39135+32n
D39136+32n
D39137+32n
D39138+32n
D39139+32n
D39140+32n
D39141+32n
D39142+32n
D39143+32n
D39144+32n
D39145+32n
D39146+32n
D39147+32n
D39148+32n
D39149+32n
D39150+32n
D39151+32n
D39120+32n
D39121+32n
D39122+32n
D39123+32n
D39124+32n
D39125+32n
D39126+32n
D39127+32n
D39128+32n
D39129+32n
D39130+32n
D39131+32n
D39132+32n
• Details for each axis
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
D13613+30n
D13614+30n
D13615+30n
D13616+30n
D13617+30n
D13618+30n
D13619+30n
D13620+30n
D13621+30n
D13622+30n
D13623+30n
D13624+30n
D13625+30n
D13626+30n
D13627+30n
D13628+30n
D13629+30n
D13600+30n
D13601+30n
D13602+30n
D13603+30n
D13604+30n
D13605+30n
D13606+30n
D13607+30n
D13608+30n
D13609+30n
D13610+30n
D13611+30n
D13612+30n
Symbol Signal name
Md.400
Md.401
Md.402
Md.422
Md.425
Md.406
Md.407
Md.408
Md.409
Md.410
Md.411
Md.412
Current value after composite main shaft gear
Current value per cycle after main shaft gear
Current value per cycle after auxiliary shaft gear
Main shaft clutch slippage (accumulative)
Auxiliary shaft clutch slippage
(accumulative)
Cam axis phase compensation amount
Cam axis current value per cycle
Cam reference position
Cam axis current feed value
Execute cam No.
Unusable
Execute cam stroke amount
Execute cam axis length per cycle
Unusable
Refresh cycle
Fetch cycle Signal type
Operation cycle
Operation cycle
Monitor device
Monitor device
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of output axis monitor device.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
122
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Output axis control device
Device No.
MELSEC iQ-R Motion device assignment
D42640 to D42799
D42800 to D42959
D42960 to D43119
D43120 to D43279
D43280 to D43439
D43440 to D43599
D43600 to D43759
D43760 to D43919
D43920 to D44079
D44080 to D44239
D44240 to D44399
D44400 to D44559
D44560 to D44719
D44720 to D44879
D44880 to D45039
D45040 to D45199
D45200 to D45359
D45360 to D45519
D45520 to D45679
D45680 to D45839
D45840 to D45999
D46000 to D46159
D46160 to D46319
D46320 to D46479
D46480 to D46639
D46640 to D46799
D46800 to D46959
D46960 to D47119
D47120 to D47279
D47280 to D47439
D47440 to D47599
D47600 to D47759
D47760 to D47919
D47920 to D48079
D48080 to D48239
D48240 to D48399
D48400 to D48559
D48560 to D48719
D48720 to D48879
D48880 to D49039
D49040 to D49199
D49200 to D49359
D49360 to D49519
D49520 to D49679
D49680 to D49839
D49840 to D49999
D50000 to D50159
D50160 to D50319
D50320 to D50479
Signal name
Q series Motion compatible device assignment
D15000 to D15149
D15150 to D15299
D15300 to D15449
D15450 to D15599
D15600 to D15749
D15750 to D15899
D15900 to D16049
D16050 to D16199
D16200 to D16349
D16350 to D16499
D16500 to D16649
D16650 to D16799
D16800 to D16949
D16950 to D17099
D17100 to D17249
D17250 to D17399
D17400 to D17549
D17550 to D17699
D17700 to D17849
D17850 to D17999
D18000 to D18149
D18150 to D18299
D18300 to D18449
D18450 to D18599
D18600 to D18749
D18750 to D18899
D18900 to D19049
D19050 to D19199
D19200 to D19349
D19350 to D19499
D19500 to D19649
D19650 to D19799
Axis 1 output axis control device
Axis 2 output axis control device
Axis 3 output axis control device
Axis 4 output axis control device
Axis 5 output axis control device
Axis 6 output axis control device
Axis 7 output axis control device
Axis 8 output axis control device
Axis 9 output axis control device
Axis 10 output axis control device
Axis 11 output axis control device
Axis 12 output axis control device
Axis 13 output axis control device
Axis 14 output axis control device
Axis 15 output axis control device
Axis 16 output axis control device
Axis 17 output axis control device
Axis 18 output axis control device
Axis 19 output axis control device
Axis 20 output axis control device
Axis 21 output axis control device
Axis 22 output axis control device
Axis 23 output axis control device
Axis 24 output axis control device
Axis 25 output axis control device
Axis 26 output axis control device
Axis 27 output axis control device
Axis 28 output axis control device
Axis 29 output axis control device
Axis 30 output axis control device
Axis 31 output axis control device
Axis 32 output axis control device
Axis 33 output axis monitor device
Axis 34 output axis monitor device
Axis 35 output axis monitor device
Axis 36 output axis monitor device
Axis 37 output axis monitor device
Axis 38 output axis monitor device
Axis 39 output axis monitor device
Axis 40 output axis monitor device
Axis 41 output axis monitor device
Axis 42 output axis monitor device
Axis 43 output axis monitor device
Axis 44 output axis monitor device
Axis 45 output axis monitor device
Axis 46 output axis monitor device
Axis 47 output axis monitor device
Axis 48 output axis monitor device
Axis 49 output axis monitor device
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
123
2
Device No.
MELSEC iQ-R Motion device assignment
D50480 to D50639
D50640 to D50799
D50800 to D50959
D50960 to D51119
D51120 to D51279
D51280 to D51439
D51440 to D51599
D51600 to D51759
D51760 to D51919
D51920 to D52079
D52080 to D52239
D52240 to D52399
D52400 to D52559
D52560 to D52719
D52720 to D52879
Q series Motion compatible device assignment
Signal name
Axis 50 output axis monitor device
Axis 51 output axis monitor device
Axis 52 output axis monitor device
Axis 53 output axis monitor device
Axis 54 output axis monitor device
Axis 55 output axis monitor device
Axis 56 output axis monitor device
Axis 57 output axis monitor device
Axis 58 output axis monitor device
Axis 59 output axis monitor device
Axis 60 output axis monitor device
Axis 61 output axis monitor device
Axis 62 output axis monitor device
Axis 63 output axis monitor device
Axis 64 output axis monitor device
124
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
• Details for each axis
Device No.
MELSEC iQ-R
Motion device assignment
D42640+160n
D42641+160n
Q series Motion compatible device assignment
D15000+150n
D15001+150n
Symbol Signal name
Pr.400
Pr.401
Main input axis No.
Sub input axis No.
D42642+160n
D42643+160n
D42644+160n
D42645+160n
D42646+160n
D42647+160n
D42648+160n
D42649+160n
D15002+150n
D15003+150n
D15004+150n
D15005+150n
D15006+150n
D15007+150n
D15008+150n
D15009+150n
Pr.402
Pr.403
Pr.404
Pr.405
Pr.406
Composite main shaft gear
Unusable
Main shaft gear: Numerator
Main shaft gear: Denominator
Main shaft clutch control setting
Main shaft clutch reference address setting
Refresh cycle
D42650+160n
D42651+160n
D42652+160n
D42653+160n
D42654+160n
D42655+160n
D42656+160n
D42657+160n
D42658+160n
D42659+160n
D42660+160n
D42661+160n
D42662+160n
D42663+160n
D42664+160n
D15010+150n
D15011+150n
D15012+150n
D15013+150n
D15014+150n
D15015+150n
D15016+150n
D15017+150n
D15018+150n
D15019+150n
D15020+150n
D15021+150n
D15022+150n
D15023+150n
D15024+150n
Pr.407
Pr.408
Main shaft clutch ON address
Travel value before main shaft clutch ON
Pr.409
Pr.410
Pr.411
Pr.412
Pr.413
Pr.414
Pr.418
Main shaft clutch OFF address
Travel value before main shaft clutch OFF
Main shaft clutch smoothing method
Main shaft clutch smoothing time constant
Slippage amount at main shaft clutch ON
Slippage amount at main shaft clutch OFF
Auxiliary shaft axis No.
D42665+160n
D42666+160n
D42667+160n
D42668+160n
D42669+160n
D42670+160n
D42671+160n
D15025+150n
D15026+150n
D15027+150n
D15028+150n
D15029+150n
D15030+150n
D15031+150n
D42672+160n
D42673+160n
D42674+160n
D42675+160n
D42676+160n
D42677+160n
D42678+160n
D42679+160n
D15032+150n
D15033+150n
D15034+150n
D15035+150n
D15036+150n
D15037+150n
D15038+150n
D15039+150n
Pr.419
Pr.420
Pr.421
Pr.422
Pr.423
Pr.424
Pr.425
Pr.426
Pr.427
Composite auxiliary shaft gear
Auxiliary shaft gear: Numerator
Auxiliary shaft gear: Denominator
Auxiliary shaft clutch control setting
Auxiliary shaft clutch reference address setting
Auxiliary shaft clutch ON address
Travel value before auxiliary shaft clutch
ON
Auxiliary shaft clutch OFF address
Travel value before auxiliary shaft clutch
OFF
Fetch cycle Signal type
At start of synchronous control
Operation cycle
At start of synchronous control
Command device
Command device
Operation cycle
At start of synchronous control
Operation cycle
At completing clutch ON condition
Operation cycle
At completing clutch OFF condition
At start of synchronous control
At turning clutch ON
At turning clutch OFF
At start of synchronous control
Operation cycle
At start of synchronous control
Operation cycle
At start of synchronous control
Operation cycle
At completing clutch ON condition
Operation cycle
At completing clutch OFF condition
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
125
Device No.
MELSEC iQ-R
Motion device assignment
D42680+160n
D42681+160n
D42682+160n
D42683+160n
D42684+160n
D42685+160n
D42686+160n
D42687+160n
D42688+160n
D42689+160n
D42690+160n
D42691+160n
D42692+160n
D42693+160n
D42694+160n
D42695+160n
D42696+160n
D42697+160n
D42698+160n
D42699+160n
D42700+160n
D42701+160n
D42702+160n
Symbol Signal name
Q series Motion compatible device assignment
D15040+150n
D15041+150n
Pr.428
Pr.429
Pr.430
Auxiliary shaft clutch smoothing method
Auxiliary shaft clutch smoothing time constant
Slippage amount at auxiliary shaft clutch
ON
D15042+150n
D15043+150n
D15044+150n
D15045+150n
D15046+150n
D15047+150n
Pr.431
Pr.434
Pr.435
Pr.436
Slippage amount at auxiliary shaft clutch
OFF
Speed change gear 1
Speed change gear 1 smoothing time constant
Speed change ratio 1: Numerator D15048+150n
D15049+150n
D15050+150n
D15051+150n
D15052+150n
D15053+150n
Pr.437
Pr.490
Pr.491
Pr.492
Speed change ratio 1: Denominator
Speed change gear 2
Speed change gear 2 smoothing time constant
Speed change ratio 2: Numerator D15054+150n
D15055+150n
D15056+150n
D15057+150n
D15058+150n
D15059+150n
D15060+150n
D15061+150n
D15062+150n
Pr.493
Pr.438
Pr.442
Pr.439
Pr.440
Speed change ratio 2: Denominator
Cam axis cycle unit setting
Cam axis length per cycle change setting
Cam axis length per cycle
Cam No.
Refresh cycle
Fetch cycle Signal type
At start of synchronous control
At turning clutch ON
At turning clutch OFF
At start of synchronous control
Operation cycle
Command device
Operation cycle
At start of synchronous control
Operation cycle
D42703+160n
D42704+160n
D42705+160n
D15063+150n
D15064+150n
D15065+150n
Pr.441
Unusable
Cam stroke amount
D42706+160n
D42707+160n
D42708+160n
D42709+160n
D42710+160n
D15066+150n
D15067+150n
D15068+150n
D15069+150n
D15070+150n
Pr.444
Pr.445
Pr.448
Pr.447
Cam axis phase compensation advance time
Cam axis phase compensation time constant
Synchronous control parameter block No.
Output axis smoothing time constant
At start of synchronous control
At start of synchronous control, At passing through the 0th point of cam data
At start of synchronous control, At passing through the 0th point of cam data
Operation cycle
Command device
At start of synchronous control
126
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
D42726+160n
D42727+160n
D42728+160n
D42729+160n
D42730+160n
D42731+160n
D42732+160n
D42733+160n
D42734+160n
D42735+160n
D42736+160n
D42737+160n
D42738+160n
D42739+160n
D42740+160n
D42711+160n
D42712+160n
D42713+160n
D42714+160n
D42715+160n
D42716+160n
D42717+160n
D42718+160n
D42719+160n
D42720+160n
D42721+160n
D42722+160n
D42723+160n
D42724+160n
D42725+160n
Device No.
MELSEC iQ-R
Motion device assignment
D42741+160n
D42742+160n
D42743+160n
D42744+160n
D42745+160n
D42746+160n
D42747+160n
D42748+160n
D42749+160n
D42750+160n
D42751+160n
D42752+160n
D42753+160n
Symbol Signal name
Q series Motion compatible device assignment
D15086+150n
D15087+150n
D15088+150n
D15089+150n
D15090+150n
D15091+150n
D15092+150n
D15093+150n
D15094+150n
D15095+150n
D15096+150n
D15097+150n
D15098+150n
D15099+150n
D15100+150n
D15071+150n
D15072+150n
D15073+150n
D15074+150n
D15075+150n
D15076+150n
D15077+150n
D15078+150n
D15079+150n
D15080+150n
D15081+150n
D15082+150n
D15083+150n
D15084+150n
D15085+150n
Pr.460
Unusable
D15101+150n
D15102+150n
D15103+150n
D15104+150n
D15105+150n
D15106+150n
D15107+150n
D15108+150n
D15109+150n
D15110+150n
D15111+150n
D15112+150n
D15113+150n
Pr.461
Pr.462
Pr.463
Pr.464
Pr.465
Pr.466
Pr.467
Pr.468
Cam axis current value per cycle (Initial setting)
Refresh cycle
Setting method of current value per cycle after main shaft gear
Setting method of current value per cycle after auxiliary shaft gear
Cam axis position restoration object
Setting method of cam reference position
Setting method of cam axis current value per cycle
Unusable
Current value per cycle after main shaft gear (Initial setting)
Current value per cycle after auxiliary shaft gear (Initial setting)
Cam reference position (Initial setting)
Fetch cycle Signal type
At start of synchronous control
Command device
At start of synchronous control
Command device
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
127
D42769+160n
D42770+160n
D42771+160n
D42772+160n
D42773+160n
D42774+160n
D42775+160n
D42776+160n
D42777+160n
D42778+160n
D42779+160n
D42780+160n
D42781+160n
D42782+160n
D42783+160n
D42784+160n
D42754+160n
D42755+160n
D42756+160n
D42757+160n
D42758+160n
D42759+160n
D42760+160n
D42761+160n
D42762+160n
D42763+160n
D42764+160n
D42765+160n
D42766+160n
D42767+160n
D42768+160n
D42785+160n
D42786+160n
D42787+160n
D42788+160n
D42789+160n
D42790+160n
D42791+160n
D42792+160n
D42793+160n
D42794+160n
D42795+160n
D42796+160n
D42797+160n
D42798+160n
D42799+160n
Device No.
MELSEC iQ-R
Motion device assignment
Symbol Signal name
Q series Motion compatible device assignment
D15129+150n
D15130+150n
D15131+150n
D15132+150n
D15133+150n
D15134+150n
D15135+150n
D15136+150n
D15137+150n
D15138+150n
D15139+150n
D15140+150n
D15141+150n
D15142+150n
D15143+150n
D15144+150n
D15114+150n
D15115+150n
D15116+150n
D15117+150n
D15118+150n
D15119+150n
D15120+150n
D15121+150n
D15122+150n
D15123+150n
D15124+150n
D15125+150n
D15126+150n
D15127+150n
D15128+150n
D15145+150n
D15146+150n
D15147+150n
D15148+150n
D15149+150n
Cd.407
Cd.409
Cd.408
Unusable
Synchronous control change command
Synchronous control reflection time
Synchronous control change value
Unusable
Refresh cycle
Fetch cycle Signal type
At requesting synchronous control change
Command device
128
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of output axis monitor device.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
129
Machine control device
Device No.
MELSEC iQ-R Motion device assignment
D52896 to D52927
D52928 to D52959
D52960 to D52991
D52992 to D53023
D53024 to D53055
D53056 to D53087
D53088 to D53119
D53120 to D53151
Q series Motion compatible device assignment
Signal name
Machine 1 machine control device
Machine 2 machine control device
Machine 3 machine control device
Machine 4 machine control device
Machine 5 machine control device
Machine 6 machine control device
Machine 7 machine control device
Machine 8 machine control device
• Details for each machine
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
D52908+32m
D52909+32m
D52910+32m
D52911+32m
D52912+32m
D52913+32m
D52914+32m
D52915+32m
D52916+32m
D52917+32m
D52918+32m
D52919+32m
D52920+32m
D52921+32m
D52922+32m
D52923+32m
D52924+32m
D52925+32m
D52926+32m
D52927+32m
D52896+32m
D52897+32m
D52898+32m
D52899+32m
D52900+32m
D52901+32m
D52902+32m
D52903+32m
D52904+32m
D52905+32m
D52906+32m
D52907+32m
Symbol Signal name
Cd.2160
Cd.2161
Cd.2162
Cd.2163
Cd.2164
Cd.2165
Cd.2166
Cd.2167
Cd.2168
Cd.2169
Machine JOG speed setting(mm)
Machine JOG speed setting(degree)
Machine JOG coordinate system setting
Base/tool translation change method
Base/tool translation setting X
Unusable
Y
Z
A
B
C
Refresh cycle
Fetch cycle Signal type
At machine
JOG start
Command device
At base/tool translation change command ON
130
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Refer to the following for details of machine command signal.
MELSEC iQ-R Motion Controller Programming Manual (Machine Control)
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
131
Machine monitor device
Device No.
MELSEC iQ-R Motion device assignment
D53168 to D53295
D53296 to D53423
D53424 to D53551
D53552 to D53679
D53680 to D53807
D53808 to D53935
D53936 to D54063
D54064 to D54191
Q series Motion compatible device assignment
Signal name
Machine 1 machine monitor device
Machine 2 machine monitor device
Machine 3 machine monitor device
Machine 4 machine monitor device
Machine 5 machine monitor device
Machine 6 machine monitor device
Machine 7 machine monitor device
Machine 8 machine monitor device
132
• Details for each machine
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
D53180+128m
D53181+128m
D53182+128m
D53183+128m
D53184+128m
D53185+128m
D53186+128m
D53187+128m
D53188+128m
D53189+128m
D53190+128m
D53191+128m
D53192+128m
D53193+128m
D53194+128m
D53195+128m
D53168+128m
D53169+128m
D53170+128m
D53171+128m
D53172+128m
D53173+128m
D53174+128m
D53175+128m
D53176+128m
D53177+128m
D53178+128m
D53179+128m
D53196+128m
D53197+128m
D53198+128m
D53199+128m
D53200+128m
D53201+128m
Symbol Signal name
Md.2020
Md.2021
Md.2022
Md.2023
Md.2024
Md.2025
Md.2026
Md.2027
Md.2028
Md.2029
Md.2030
Md.2031
Md.2033
Md.2034
Md.2035
Md.2036
Md.2037
Md.2038
Machine type
Machine operating range type
Machine error code
Machine warning code
Machine axes configuration
Feed current value
(world coordinate system)
Unusable
Feed current value
(joint coordinate system)
X
Y
Z
A
B
C
FL1
J1
J2
J3
J4
J5
J6
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Refresh cycle
At power ON
Immediate
At power ON
Operation cycle
Fetch cycle Signal type
Operation cycle
Monitor device
Monitor device
Device No.
MELSEC iQ-R
Motion device assignment
D53217+128m
D53218+128m
D53219+128m
D53220+128m
D53221+128m
D53222+128m
D53223+128m
D53224+128m
D53225+128m
D53226+128m
D53227+128m
D53228+128m
D53229+128m
D53230+128m
D53231+128m
D53232+128m
D53202+128m
D53203+128m
D53204+128m
D53205+128m
D53206+128m
D53207+128m
D53208+128m
D53209+128m
D53210+128m
D53211+128m
D53212+128m
D53213+128m
D53214+128m
D53215+128m
D53216+128m
D53233+128m
D53234+128m
D53235+128m
D53236+128m
D53237+128m
D53238+128m
D53239+128m
D53240+128m
D53241+128m
Q series Motion compatible device assignment
Symbol Signal name
Md.2039
Command coordinate value
(world coordinate system)
Md.2040
Md.2041
Md.2042
Md.2043
Md.2044
Md.2045
Md.2047
Md.2048
Md.2049
Md.2050
Md.2051
Md.2052
Md.2053
Md.2054
Md.2055
Md.2056
Md.2057
Md.2058
Md.2059
Unusable
Command coordinate value
(joint coordinate system)
Feed current value
(base coordinate system)
Unusable
X
Y
Z
A
B
C
FL1
J1
J2
J3
J4
J5
J6
X
Y
Z
A
B
C
FL1
Refresh cycle
Fetch cycle
Operation cycle
Operating cycle
Signal type
Monitor device
Monitor device
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
133
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
Symbol Signal name
Md.2061
Base translation
D53257+128m
D53258+128m
D53259+128m
D53260+128m
D53261+128m
D53262+128m
D53263+128m
D53264+128m
D53265+128m
D53266+128m
D53267+128m
D53268+128m
D53269+128m
D53270+128m
D53271+128m
D53272+128m
D53242+128m
D53243+128m
D53244+128m
D53245+128m
D53246+128m
D53247+128m
D53248+128m
D53249+128m
D53250+128m
D53251+128m
D53252+128m
D53253+128m
D53254+128m
D53255+128m
D53256+128m
D53273+128m
D53274+128m
D53275+128m
D53276+128m
D53277+128m
D53278+128m
D53279+128m
D53280+128m
D53281+128m
D53282+128m
D53283+128m
D53284+128m
D53285+128m
D53286+128m
D53287+128m
D53288+128m
D53289+128m
D53290+128m
Md.2062
Md.2063
Md.2064
Md.2065
Md.2066
Md.2069
Md.2070
Md.2071
Md.2077
Md.2078
Md.2079
Md.2080
Md.2081
Md.2083
Md.2084
Md.2085
Md.2086
Md.2087
Md.2088
Md.2089
Md.2090
Unusable
Tool translation
Unusable
Real current value
(World coordinate system)
X
Y
Z
A
B
C
X
Y
Z
Machine execute program No.
Machine execute point No.
Positioning point block No.
Machine M-code
Arrival rate
Unusable
Machine program operation target speed
X
Y
Z
A
B
C
FL1
Refresh cycle
Operation cycle
Operation cycle
Fetch cycle
At start
Operation cycle
Operation cycle
Signal type
Monitor device
Monitor device
Monitor device
Monitor device
134
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
Symbol Signal name
Unusable D53291+128m
D53292+128m
D53293+128m
D53294+128m
D53295+128m
Refresh cycle
Refer to the following for details of machine command signal.
MELSEC iQ-R Motion Controller Programming Manual (Machine Control)
Fetch cycle Signal type
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
135
G-code control common command signal
Symbol Signal name Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
D54224.E
D54224.F
D54225.0
D54225.1
D54225.2
D54225.3
D54225.4
D54225.5
D54225.6
D54225.7
D54225.8
D54225.9
D54225.A
D54225.B
D54225.C
D54225.D
D54225.E
D54225.F
D54224.0
D54224.1
D54224.2
D54224.3
D54224.4
D54224.5
D54224.6
D54224.7
D54224.8
D54224.9
D54224.A
D54224.B
D54224.C
D54224.D
Rq.3344
Unusable
Program load request while running
Unusable
Refresh cycle
Refer to the following for details of G-code control common command signal.
MELSEC iQ-R Motion Controller Programming Manual (G-Code Control)
Fetch cycle Signal type
Main cycle
Command signal
136
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
D54265
D54266
D54267
D54268
D54269
D54270
D54271
D54272
D54273
D54274
D54275
D54276
D54277
G-code control common control device
Symbol Signal name Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
D54262
D54263
D54264
Cd.3305
Unusable
Program No. for loading while running
Unusable
Refresh cycle
Refer to the following for details of G-code control common control device.
MELSEC iQ-R Motion Controller Programming Manual (G-Code Control)
Fetch cycle Signal type
At running program load request ON
Command device
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
137
G-code control common status
Symbol Signal name Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
D54438.0
St.3272
G-code control operation cycle over flag
D54438.E
D54438.F
D54439.0
D54439.1
D54439.2
D54439.3
D54439.4
D54439.5
D54439.6
D54439.7
D54439.8
D54439.9
D54439.A
D54439.B
D54439.C
D54439.D
D54439.E
D54439.F
D54438.1
D54438.2
D54438.3
D54438.4
D54438.5
D54438.6
D54438.7
D54438.8
D54438.9
D54438.A
D54438.B
D54438.C
D54438.D
Unusable
Refresh cycle
Fetch cycle Signal type
G-code control operation cycle
Status signal
Refer to the following for details of G-code control common status.
MELSEC iQ-R Motion Controller Programming Manual (G-Code Control)
138
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
G-code control common monitor device
Symbol Signal name Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
D54480
D54481
D54482
D54483
D54484
D54485
D54486
D54487
D54488
D54489
D54490
D54491
D54492
D54493
D54494
D54495
Md.3000
Md.3001
Md.3002
Md.3003
Md.3004
G-code control setting operation cycle
G-code control operation cycle
G-code control maximum operation cycle
Unusable
Program load status while running
Program load error information while running
Unusable
Refresh cycle
Fetch cycle Signal type
STOP → RUN
G-code control operation cycle
Main cycle
Monitor device
Monitor device
Refer to the following for details of G-code control common monitor device.
MELSEC iQ-R Motion Controller Programming Manual (G-Code Control)
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
139
D54226.1+2s
D54226.2+2s
D54226.3+2s
D54226.4+2s
D54226.5+2s
D54226.6+2s
D54226.7+2s
D54226.8+2s
D54226.9+2s
D54226.A+2s
D54226.B+2s
D54226.C+2s
D54226.D+2s
D54226.E+2s
D54226.F+2s
D54227.0+2s
D54227.1+2s
D54227.2+2s
D54227.3+2s
D54227.4+2s
D54227.5+2s
D54227.6+2s
D54227.7+2s
D54227.8+2s
D54227.9+2s
D54227.A+2s
D54227.B+2s
D54227.C+2s
D54227.D+2s
D54227.E+2s
D54227.F+2s
G-code control line command signal
Signal name Device No.
MELSEC iQ-R Motion device assignment
D54226 to D54227
D54228 to D54229
Q series Motion compatible device assignment
Line 1 G-code control line command signal
Line 2 G-code control line command signal
• Details for each line
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
D54226.0+2s
Symbol Signal name
Rq.3376
G-code control request
Refresh cycle
Rq.3377
Rq.3378
Rq.3379
Rq.3380
Automatic operation start (cycle start)
Automatic operation hold (feed hold)
Single block
Reset command
Unusable
Rq.3384
Macro single
Unusable
Rq.3382
Rq.3383
Auxiliary function complete 1 (FIN1)
Auxiliary function complete 2 (FIN2)
Unusable
Rq.3385
G65 argument initialization
Unusable
Rq.3381
Program operation mode (memory mode)
Unusable
Fetch cycle Signal type
Main cycle/Gcode control operation cycle
G-code control operation cycle
Command signal
G-code control operation cycle
Command signal
At G-code program start
Command signal
G-code control operation cycle
Command signal
At G-code program start
Command signal
Refer to the following for details of G-code control line command signal.
MELSEC iQ-R Motion Controller Programming Manual (G-Code Control)
140
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
G-code control line control device
Signal name Device No.
MELSEC iQ-R Motion device assignment
D54278 to D54293
D54294 to D54309
Q series Motion compatible device assignment
Line 1 G-code control line control device
Line 2 G-code control line control device
• Details for each line
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
D54278+16s
Symbol Signal name
Cd.3320
Program No. setting register
D54279+16s
D54280+16s
D54281+16s
D54282+16s
D54283+16s
D54284+16s
D54285+16s
D54286+16s
D54287+16s
D54288+16s
D54289+16s
D54290+16s
D54291+16s
D54292+16s
D54293+16s
Cd.3321
Cd.3322
Unusable
Sequence No. setting register
Block No. setting register
Unusable
Refresh cycle
Fetch cycle Signal type
G-code control operation cycle
G-code control operation cycle
Command signal
Command signal
Refer to the following for details of G-code control line control device.
MELSEC iQ-R Motion Controller Programming Manual (G-Code Control)
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
141
G-code control line status
Device No.
MELSEC iQ-R Motion device assignment
D54440 to D54443
D54444 to D54447
Q series Motion compatible device assignment
Signal name
Line 1 G-code control line status
Line 2 G-code control line status
• Details for each line
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
D54440.0+4s
D54440.1+4s
D54440.2+4s
Symbol Signal name
St.3208
St.3209
St.3210
During G-code control
G-code control error detection
All axes smoothing zero
Unusable D54440.3+4s
D54440.4+4s
D54440.5+4s
D54440.6+4s
D54440.7+4s
D54440.8+4s
D54440.9+4s
D54440.A+4s
D54440.B+4s
D54440.C+4s
D54440.D+4s
D54440.E+4s
D54440.F+4s
D54441.0+4s
D54441.1+4s
D54441.2+4s
D54441.3+4s
D54441.4+4s
D54441.5+4s
D54441.6+4s
D54441.7+4s
D54441.8+4s
D54441.9+4s
D54441.A+4s
D54441.B+4s
D54441.C+4s
D54441.D+4s
D54441.E+4s
St.3211
St.3212
St.3213
St.3214
St.3215
St.3216
St.3217
During memory mode
Unusable
During automatic operation
Automatic operation starting
Automatic operation holding
G-code control finishing
Unusable
Resetting
Reset complete
Unusable
Refresh cycle
Main cycle
Immediate
G-code control operation cycle
G-code control operation cycle
G-code control operation cycle
Fetch cycle Signal type
G-code control operation cycle
Status signal
Status signal
Status signal
Status signal
142
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
D54442.E+4s
D54442.F+4s
D54443.0+4s
D54443.1+4s
D54443.2+4s
D54443.3+4s
D54443.4+4s
D54443.5+4s
D54443.6+4s
D54443.7+4s
D54443.8+4s
D54443.9+4s
D54443.A+4s
D54443.B+4s
D54443.C+4s
D54443.D+4s
D54443.E+4s
D54443.F+4s
D54441.F+4s
D54442.0+4s
D54442.1+4s
D54442.2+4s
D54442.3+4s
D54442.4+4s
D54442.5+4s
D54442.6+4s
D54442.7+4s
D54442.8+4s
D54442.9+4s
D54442.A+4s
D54442.B+4s
D54442.C+4s
D54442.D+4s
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
Symbol Signal name
St.3234
St.3218
St.3219
St.3220
St.3221
St.3222
St.3223
St.3224
St.3225
Macro single enabled
M-code output M00
M-code output M01
M-code output M02
M-code output M30
Auxiliary function strobe 1
Auxiliary function strobe 2
Auxiliary function strobe 3
Auxiliary function strobe 4
Unusable
Refresh cycle
G-code control operation cycle
Refer to the following for details of G-code control line status.
MELSEC iQ-R Motion Controller Programming Manual (G-Code Control)
Fetch cycle Signal type
Status signal
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
143
G-code control line monitor device
Signal name Device No.
MELSEC iQ-R Motion device assignment
D54496 to D54623
D54624 to D54751
Q series Motion compatible device assignment
Line 1 G-code control line monitor device
Line 2 G-code control line monitor device
D54509+128s
D54510+128s
D54511+128s
D54512+128s
D54513+128s
D54514+128s
D54515+128s
D54516+128s
D54517+128s
D54518+128s
D54519+128s
D54520+128s
D54521+128s
D54522+128s
D54523+128s
D54524+128s
D54525+128s
D54526+128s
D54527+128s
D54528+128s
D54529+128s
D54530+128s
D54531+128s
• Details for each line
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
D54496+128s
D54497+128s
D54498+128s
D54499+128s
D54500+128s
D54501+128s
D54502+128s
D54503+128s
D54504+128s
D54505+128s
D54506+128s
D54507+128s
D54508+128s
Symbol Signal name
Md.3016
Md.3017
Md.3018
Md.3019
Md.3020
Md.3021
Md.3022
Number of axes on line
Unusable
G-code control axis configuration
Speed
G-code control error code
G-code control error details code 1
G-code control error details code 2
Unusable
Program No. being executed (main)
Md.3023
Md.3024
Md.3025
Md.3026
Md.3027
Md.3028
Md.3029
Md.3030
Md.3034
Md.3035
Md.3036
Unusable
Sequence No. being executed (main)
Block No. being executed (main)
Group 01 modal status
Group 02 modal status
Group 03 modal status
Unusable
Group 07 modal status
Tool radius compensation No.
Tool radius compensation amount
Unusable
Refresh cycle
STOP → RUN
STOP → RUN
G-code control operation cycle
Immediate
At G-code program start
G-code control operation cycle
Fetch cycle Signal type
Program No. being executed (sub/macro)
Unusable
Sequence No. being executed (sub/macro) G-code control operation cycle
Block No. being executed (sub/macro)
G-code control operation cycle
Monitor device
Monitor device
Monitor device
Monitor device
Monitor device
Monitor device
144
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
D54539+128s
D54540+128s
D54541+128s
D54542+128s
D54543+128s
D54544+128s
D54545+128s
D54546+128s
D54547+128s
D54548+128s
D54549+128s
D54550+128s
D54551+128s
D54552+128s
D54553+128s
D54554+128s
D54555+128s
D54556+128s
D54557+128s
D54558+128s
D54559+128s
D54560+128s
D54561+128s
Device No.
MELSEC iQ-R
Motion device assignment
D54532+128s
D54533+128s
D54534+128s
D54535+128s
D54536+128s
D54537+128s
D54538+128s
Q series Motion compatible device assignment
Symbol Signal name
Md.3038
Md.3039
Md.3040
Group 08 modal status
Tool length compensation No.
Tool length compensation amount
Md.3042
Unusable
Tool length compensation axis No.
Unusable
Md.3046
Md.3047
Md.3049
Md.3050
Md.3055
Md.3058
Md.3059
Md.3060
Md.3061
Group 12 modal status
Group 13 modal status
Unusable
Group 15 modal status
Group 16 modal status
Unusable
Group 21 modal status
Unusable
M-code data 1
M-code data 2
M-code data 3
M-code data 4
Refresh cycle
Fetch cycle
G-code control operation cycle
G-code control operation cycle
G-code control operation cycle
G-code control operation cycle
G-code control operation cycle
G-code control operation cycle
Signal type
Monitor device
Monitor device
Monitor device
2
Monitor device
Monitor device
Monitor device
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
145
D54583+128s
D54584+128s
D54585+128s
D54586+128s
D54587+128s
D54588+128s
D54589+128s
D54590+128s
D54591+128s
D54592+128s
D54593+128s
D54594+128s
D54595+128s
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
Symbol Signal name
Unusable D54562+128s
D54563+128s
D54564+128s
D54565+128s
D54566+128s
D54567+128s
D54568+128s
D54569+128s
D54570+128s
D54571+128s
D54572+128s
D54573+128s
D54574+128s
D54575+128s
D54576+128s
D54577+128s
D54578+128s
D54579+128s
D54580+128s
D54581+128s
D54582+128s Md.3074
Local variable depth
Md.3070
Unusable
Program comment being executed
Refresh cycle
Fetch cycle
G-code control operation cycle
At G-code program start
Signal type
Monitor device
Monitor device
146
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
Symbol Signal name
Unusable
D54611+128s
D54612+128s
D54613+128s
D54614+128s
D54615+128s
D54616+128s
D54617+128s
D54618+128s
D54619+128s
D54620+128s
D54621+128s
D54622+128s
D54623+128s
D54596+128s
D54597+128s
D54598+128s
D54599+128s
D54600+128s
D54601+128s
D54602+128s
D54603+128s
D54604+128s
D54605+128s
D54606+128s
D54607+128s
D54608+128s
D54609+128s
D54610+128s
Refresh cycle
Refer to the following for details of G-code control line monitor device.
MELSEC iQ-R Motion Controller Programming Manual (G-Code Control)
Fetch cycle Signal type
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
147
G-code control line monitor device (expansion)
Signal name Device No.
MELSEC iQ-R Motion device assignment
D55264 to D55423
D55424 to D55583
Q series Motion compatible device assignment
Line 1 G-code control line monitor device (expansion)
Line 2 G-code control line monitor device (expansion)
• Details for each line
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
D55278+160s
D55279+160s
D55280+160s
D55281+160s
D55282+160s
D55283+160s
D55284+160s
D55285+160s
D55286+160s
D55287+160s
D55288+160s
D55289+160s
D55290+160s
D55291+160s
D55292+160s
D55293+160s
D55294+160s
D55295+160s
D55264+160s
D55265+160s
D55266+160s
D55267+160s
D55268+160s
D55269+160s
D55270+160s
D55271+160s
D55272+160s
D55273+160s
D55274+160s
D55275+160s
D55276+160s
D55277+160s
Symbol Signal name
Md.3178
Program monitor being executed (1st line)
Refresh cycle
At block change
Fetch cycle Signal type
Monitor device
148
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
Symbol Signal name
Md.3179
Refresh cycle
Program monitor being executed (2nd line) At block change
D55311+160s
D55312+160s
D55313+160s
D55314+160s
D55315+160s
D55316+160s
D55317+160s
D55318+160s
D55319+160s
D55320+160s
D55321+160s
D55322+160s
D55323+160s
D55324+160s
D55325+160s
D55326+160s
D55327+160s
D55296+160s
D55297+160s
D55298+160s
D55299+160s
D55300+160s
D55301+160s
D55302+160s
D55303+160s
D55304+160s
D55305+160s
D55306+160s
D55307+160s
D55308+160s
D55309+160s
D55310+160s
Fetch cycle Signal type
Monitor device
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
149
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
Symbol Signal name
Md.3180
Refresh cycle
Program monitor being executed (3rd line) At block change
D55343+160s
D55344+160s
D55345+160s
D55346+160s
D55347+160s
D55348+160s
D55349+160s
D55350+160s
D55351+160s
D55352+160s
D55353+160s
D55354+160s
D55355+160s
D55356+160s
D55357+160s
D55358+160s
D55328+160s
D55329+160s
D55330+160s
D55331+160s
D55332+160s
D55333+160s
D55334+160s
D55335+160s
D55336+160s
D55337+160s
D55338+160s
D55339+160s
D55340+160s
D55341+160s
D55342+160s
D55359+160s
D55360+160s
D55361+160s
D55362+160s
D55363+160s
D55364+160s
D55365+160s
D55366+160s
D55367+160s
D55368+160s
D55369+160s
D55370+160s
D55371+160s
D55372+160s
D55373+160s
D55374+160s
D55375+160s
D55376+160s
Unusable
150
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Fetch cycle Signal type
Monitor device
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
Symbol Signal name
Unusable
D55392+160s
D55393+160s
D55394+160s
D55395+160s
D55396+160s
D55397+160s
D55398+160s
D55399+160s
D55400+160s
D55401+160s
D55402+160s
D55403+160s
D55404+160s
D55405+160s
D55406+160s
D55407+160s
D55377+160s
D55378+160s
D55379+160s
D55380+160s
D55381+160s
D55382+160s
D55383+160s
D55384+160s
D55385+160s
D55386+160s
D55387+160s
D55388+160s
D55389+160s
D55390+160s
D55391+160s
D55408+160s
D55409+160s
D55410+160s
D55411+160s
D55412+160s
D55413+160s
D55414+160s
D55415+160s
D55416+160s
D55417+160s
D55418+160s
D55419+160s
D55420+160s
D55421+160s
D55422+160s
D55423+160s
Refresh cycle
Fetch cycle Signal type
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
151
Refer to the following for details of G-code control line monitor device (expansion).
MELSEC iQ-R Motion Controller Programming Manual (G-Code Control)
152
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
G-code control axis status
Device No.
MELSEC iQ-R Motion device assignment
D54448, D54449
D54450, D54451
D54452, D54453
D54454, D54455
D54456, D54457
D54458, D54459
D54460, D54461
D54462, D54463
D54464, D54465
D54466, D54467
D54468, D54469
D54470, D54471
D54472, D54473
D54474, D54475
D54476, D54477
D54478, D54479
Q series Motion compatible device assignment
Signal name
Line 1 G-code control axis status of axis 1
Line 1 G-code control axis status of axis 2
Line 1 G-code control axis status of axis 3
Line 1 G-code control axis status of axis 4
Line 1 G-code control axis status of axis 5
Line 1 G-code control axis status of axis 6
Line 1 G-code control axis status of axis 7
Line 1 G-code control axis status of axis 8
Line 2 G-code control axis status of axis 1
Line 2 G-code control axis status of axis 2
Line 2 G-code control axis status of axis 3
Line 2 G-code control axis status of axis 4
Line 2 G-code control axis status of axis 5
Line 2 G-code control axis status of axis 6
Line 2 G-code control axis status of axis 7
Line 2 G-code control axis status of axis 8
• Details for each line
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
D54448.0+2sn
Symbol Signal name
St.3076
Smoothing zero
D54448.1+2sn
D54448.2+2sn
D54448.3+2sn
D54448.4+2sn
D54448.5+2sn
D54448.6+2sn
D54448.7+2sn
D54448.8+2sn
D54448.9+2sn
D54448.A+2sn
D54448.B+2sn
D54448.C+2sn
D54448.D+2sn
D54448.E+2sn
D54448.F+2sn
D54449.0+2sn
D54449.1+2sn
D54449.2+2sn
D54449.3+2sn
D54449.4+2sn
D54449.5+2sn
D54449.6+2sn
D54449.7+2sn
Unusable
Refresh cycle
Fetch cycle Signal type
G-code control operation cycle
Status signal
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
153
2
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
Symbol Signal name
Unusable D54449.8+2sn
D54449.9+2sn
D54449.A+2sn
D54449.B+2sn
D54449.C+2sn
D54449.D+2sn
D54449.E+2sn
D54449.F+2sn
Refresh cycle
Refer to the following for details of G-code control axis status.
MELSEC iQ-R Motion Controller Programming Manual (G-Code Control)
Fetch cycle Signal type
154
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
G-code control axis monitor device
Signal name Device No.
MELSEC iQ-R Motion device assignment
D54752 to D54783
D54784 to D54815
D54816 to D54847
D54848 to D54879
D54880 to D54911
D54912 to D54943
D54944 to D54975
D54976 to D55007
D55008 to D55039
D55040 to D55071
D55072 to D55103
D55104 to D55135
D55136 to D55167
D55168 to D55199
D55200 to D55231
D55232 to D55263
Q series Motion compatible device assignment
Line 1 G-code control axis monitor device of axis 1
Line 1 G-code control axis monitor device of axis 2
Line 1 G-code control axis monitor device of axis 3
Line 1 G-code control axis monitor device of axis 4
Line 1 G-code control axis monitor device of axis 5
Line 1 G-code control axis monitor device of axis 6
Line 1 G-code control axis monitor device of axis 7
Line 1 G-code control axis monitor device of axis 8
Line 2 G-code control axis monitor device of axis 1
Line 2 G-code control axis monitor device of axis 2
Line 2 G-code control axis monitor device of axis 3
Line 2 G-code control axis monitor device of axis 4
Line 2 G-code control axis monitor device of axis 5
Line 2 G-code control axis monitor device of axis 6
Line 2 G-code control axis monitor device of axis 7
Line 2 G-code control axis monitor device of axis 8
• Details of each line
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
D54752+32sn
D54753+32sn
D54754+32sn
D54755+32sn
Symbol Signal name
Md.3144
Md.3145
Md.3146
Md.3153
Axis No.
Axis name
Rotating axis setting status
Tandem function enabled information
D54756+32sn
D54757+32sn
Unusable
Refresh cycle
Fetch cycle Signal type
STOP → RUN
STOP → RUN/
MCFUN instruction execution
Transition to Gcode control/
G52 execution/
G54 to G59 instruction execution
Monitor device
D54758+32sn
D54759+32sn
D54760+32sn
D54761+32sn
D54762+32sn
D54763+32sn
D54764+32sn
D54765+32sn
D54766+32sn
D54767+32sn
Md.3154
Local coordinate offset
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
155
Device No.
MELSEC iQ-R
Motion device assignment
Q series Motion compatible device assignment
Symbol Signal name
Md.3147
Machine position D54768+32sn
D54769+32sn
D54770+32sn
D54771+32sn
D54772+32sn
D54773+32sn
D54774+32sn
D54775+32sn
D54776+32sn
D54777+32sn
D54778+32sn
D54779+32sn
D54780+32sn
D54781+32sn
D54782+32sn
D54783+32sn
Md.3148
Md.3149
Md.3150
Md.3152
Machine target position
Relative position
Relative target position
Unusable
Program target position
Unusable
Refresh cycle
Refer to the following for details of G-code control axis monitor device.
MELSEC iQ-R Motion Controller Programming Manual (G-Code Control)
Fetch cycle Signal type
Operation cycle
G-code control operation cycle
Operation cycle
G-code control operation cycle
G-code control operation cycle
Monitor device
Monitor device
156
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
D35302
D35303
D35304
D35305
D35306
D35307
D35308
D35309
D35294
D35295
D35296
D35297
D35298
D35299
D35300
D35301
D35280
D35281
D35282
D35283
D35284
D35285
D35286
D35287
D35288
D35289
D35290
D35291
D35292
D35293
D35318
D35319
D35320
D35321
D35322
D35323
D35324
D35325
D35326
D35310
D35311
D35312
D35313
D35314
D35315
D35316
D35317
Common devices
Device No.
MELSEC iQ-R
Motion device assignment
Symbol Signal name
Q series Motion compatible device assignment
D704
D705
D706
D707
D708
D709
D710
D711
Cd.1096
Unusable (6 points)
JOG operation simultaneous start axis setting register (Forward rotation JOG)
D712
D713
D714
D715
D716
D717
D718
D719
D728
D729
D730
D731
D732
D733
D734
D735
D720
D721
D722
D723
D724
D725
D726
D727
D736
D737
D738
D739
D740
Cd.1097
Cd.1098
Cd.1099
Cd.1100
Cd.1101
JOG operation simultaneous start axis setting register (Reverse rotation JOG)
Manual pulse generator axis 1 No. setting register
Manual pulse generator axis 2 No. setting register
Manual pulse generator axis 3 No. setting register
Axis 9
Axis 10
Axis 11
Axis 12
Axis 13
Axis 14
Axis 15
Axis 16
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Axis 7
Axis 8
Axis 17
Axis 18
Axis 19
Axis 20
Axis 21
Manual pulse generators 1 pulse input magnification
Refresh cycle
Fetch cycle Signal type
At start
At the manual pulse generator enable flag
OFF → ON
Command device
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
157
2
D35350
D35351
D35352
D35353
D35354
D35355
D35356
D35357
D35342
D35343
D35344
D35345
D35346
D35347
D35348
D35349
D35334
D35335
D35336
D35337
D35338
D35339
D35340
D35341
D35327
D35328
D35329
D35330
D35331
D35332
D35333
D35358
D35359
D35360
D35361
D35362
D35363
D35364
D35365
D35366
D35367
D35368
D35369
D35370
Device No.
MELSEC iQ-R
Motion device assignment
D35371
D35372
Symbol Signal name
Q series Motion compatible device assignment
D741
D742
D743
D744
D745
D746
D747
D748
D749
D750
D751
Cd.1101
D752
D753
D754
Cd.1102
Cd.1103
Cd.1104
Axis 45
Axis 46
Axis 47
Axis 48
Axis 49
Axis 50
Axis 51
Axis 52
Axis 37
Axis 38
Axis 39
Axis 40
Axis 41
Axis 42
Axis 43
Axis 44
Axis 29
Axis 30
Axis 31
Axis 32
Axis 33
Axis 34
Axis 35
Axis 36
Axis 22
Axis 23
Axis 24
Axis 25
Axis 26
Axis 27
Axis 28
Manual pulse generators 1 pulse input magnification
Axis 53
Axis 54
Axis 55
Axis 56
Axis 57
Axis 58
Axis 59
Axis 60
Axis 61
Axis 62
Axis 63
Axis 64
Manual pulse generator 1 smoothing magnification setting register
Manual pulse generator 2 smoothing magnification setting register
Manual pulse generator 3 smoothing magnification setting register
Refresh cycle
Fetch cycle Signal type
At the manual pulse generator enable flag
OFF → ON
Command device
158
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Device No.
MELSEC iQ-R
Motion device assignment
Symbol Signal name Refresh cycle
Fetch cycle Signal type
Q series Motion compatible device assignment
:
D35373
D35439
Unusable
(67 points)
:
D755
D799
Unusable
(45 points)
*1 The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
*2 The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more.
[Cd.1096] JOG operation simultaneous start axis setting registers (Forward rotation
JOG) (R: D35286 to D35289/Q: D710, D711)
• This register sets the axis No. and direction which start the forward rotation JOG operation simultaneously.
[Cd.1096] JOG operation simultaneous start axis setting registers
(Forward rotation JOG)
R: D35286/
Q: D710
R: D35287/
Q: D711 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Axis
16
Axis
15
Axis
14
Axis
13
Axis
12
Axis
11
Axis
10
Axis
9
Axis
8
Axis
7
Axis
6
Axis
5
Axis
4
Axis
3
Axis
2
Axis
1
Axis
32
Axis
31
Axis
30
Axis
29
Axis
28
Axis
27
Axis
26
Axis
25
Axis
24
Axis
23
Axis
22
Axis
21
Axis
20
Axis
19
Axis
18
Axis
17
R: D35288
Axis
48
Axis
47
Axis
46
Axis
45
Axis
44
Axis
43
Axis
42
Axis
41
Axis
40
Axis
39
Axis
38
Axis
37
Axis
36
Axis
35
Axis
34
Axis
33
R: D35289
Axis
64
Axis
63
Axis
62
Axis
61
Axis
60
Axis
59
Axis
58
Axis
57
Axis
56
Axis
55
Axis
54
Axis
53
Axis
52
Axis
51
Axis
50
Axis
49
*1: Make JOG operation simultaneous start axis setting with 1/0.
1: Simultaneous start execution
0: Simultaneous start not execution
*2: The following range is valid.
R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• Refer to the JOG operation simultaneous start for details of the JOG operation simultaneous start. (
[Cd.1097] JOG operation simultaneous start axis setting registers (Reverse rotation
JOG) (R: D35290 to D35293/Q: D712, D713)
• This register sets the axis No. and direction which start the reverse rotation JOG operation simultaneously.
[Cd.1097] JOG operation simultaneous start axis setting registers
(Reverse rotation JOG)
R: D35290/
Q: D712
R: D35291/
Q: D713
R: D35292 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Axis
16
Axis
15
Axis
14
Axis
13
Axis
12
Axis
11
Axis
10
Axis
9
Axis
8
Axis
7
Axis
6
Axis
5
Axis
4
Axis
3
Axis
2
Axis
1
Axis
32
Axis
31
Axis
30
Axis
29
Axis
28
Axis
27
Axis
26
Axis
25
Axis
24
Axis
23
Axis
22
Axis
21
Axis
20
Axis
19
Axis
18
Axis
17
Axis
48
Axis
47
Axis
46
Axis
45
Axis
44
Axis
43
Axis
42
Axis
41
Axis
40
Axis
39
Axis
38
Axis
37
Axis
36
Axis
35
Axis
34
Axis
33
R: D35293
Axis
64
Axis
63
Axis
62
Axis
61
Axis
60
Axis
59
Axis
58
Axis
57
Axis
56
Axis
55
Axis
54
Axis
53
Axis
52
Axis
51
Axis
50
Axis
49
*1: Make JOG operation simultaneous start axis setting with 1/0.
1: Simultaneous start execution
0: Simultaneous start not execution
*2: The following range is valid.
R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• Refer to the JOG operation simultaneous start for details of the JOG operation simultaneous start. (
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
159
[Cd.1098] Manual pulse generator 1 axis No. setting registers (R: D35294 to D35297/Q:
D714, D715)
• This register stores the axis No. controlled with the manual pulse generator 1.
[Cd.1098] Manual pulse generator 1 axis No. setting registers (P1)
R: D35294/
Q: D714
R: D35295/
Q: D715 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Axis
16
Axis
15
Axis
14
Axis
13
Axis
12
Axis
11
Axis
10
Axis
9
Axis
8
Axis
7
Axis
6
Axis
5
Axis
4
Axis
3
Axis
2
Axis
1
Axis
32
Axis
31
Axis
30
Axis
29
Axis
28
Axis
27
Axis
26
Axis
25
Axis
24
Axis
23
Axis
22
Axis
21
Axis
20
Axis
19
Axis
18
Axis
17
R: D35296
Axis
48
Axis
47
Axis
46
Axis
45
Axis
44
Axis
43
Axis
42
Axis
41
Axis
40
Axis
39
Axis
38
Axis
37
Axis
36
Axis
35
Axis
34
Axis
33
R: D35297
Axis
64
Axis
63
Axis
62
Axis
61
Axis
60
Axis
59
Axis
58
Axis
57
Axis
56
Axis
55
Axis
54
Axis
53
Axis
52
Axis
51
Axis
50
Axis
49
*1: Make the axis No. controlled with the manual pulse generator setting with 1/0.
1: Specified axis
0: Unspecified axis
*2: The following range is valid.
R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• Refer to the manual pulse generator operation for details of the manual pulse generator operation. (
[Cd.1099] Manual pulse generator 2 axis No. setting registers (R: D35298 to D35301/Q:
D716, D717)
• This register stores the axis No. controlled with the manual pulse generator 2.
[Cd.1099] Manual pulse generator 2 axis No. setting registers (P2)
R: D35298/
Q: D716
R: D35299/
Q: D717 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Axis
16
Axis
15
Axis
14
Axis
13
Axis
12
Axis
11
Axis
10
Axis
9
Axis
8
Axis
7
Axis
6
Axis
5
Axis
4
Axis
3
Axis
2
Axis
1
Axis
32
Axis
31
Axis
30
Axis
29
Axis
28
Axis
27
Axis
26
Axis
25
Axis
24
Axis
23
Axis
22
Axis
21
Axis
20
Axis
19
Axis
18
Axis
17
R: D35300
Axis
48
Axis
47
Axis
46
Axis
45
Axis
44
Axis
43
Axis
42
Axis
41
Axis
40
Axis
39
Axis
38
Axis
37
Axis
36
Axis
35
Axis
34
Axis
33
R: D35301
Axis
64
Axis
63
Axis
62
Axis
61
Axis
60
Axis
59
Axis
58
Axis
57
Axis
56
Axis
55
Axis
54
Axis
53
Axis
52
Axis
51
Axis
50
Axis
49
*1: Make the axis No. controlled with the manual pulse generator setting with 1/0.
1: Specified axis
0: Unspecified axis
*2: The following range is valid.
R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• Refer to the manual pulse generator operation for details of the manual pulse generator operation. (
[Cd.1100] Manual pulse generator 3 axis No. setting registers (R: D35302 to D35305/Q:
D718, D719)
• This register stores the axis No. controlled with the manual pulse generator 3.
[Cd.1100] Manual pulse generator 3 axis No. setting registers (P3)
R: D35302/
Q: D718
R: D35303/
Q: D719 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Axis
16
Axis
15
Axis
14
Axis
13
Axis
12
Axis
11
Axis
10
Axis
9
Axis
8
Axis
7
Axis
6
Axis
5
Axis
4
Axis
3
Axis
2
Axis
1
Axis
32
Axis
31
Axis
30
Axis
29
Axis
28
Axis
27
Axis
26
Axis
25
Axis
24
Axis
23
Axis
22
Axis
21
Axis
20
Axis
19
Axis
18
Axis
17
R: D35304
Axis
48
Axis
47
Axis
46
Axis
45
Axis
44
Axis
43
Axis
42
Axis
41
Axis
40
Axis
39
Axis
38
Axis
37
Axis
36
Axis
35
Axis
34
Axis
33
R: D35305
Axis
64
Axis
63
Axis
62
Axis
61
Axis
60
Axis
59
Axis
58
Axis
57
Axis
56
Axis
55
Axis
54
Axis
53
Axis
52
Axis
51
Axis
50
Axis
49
*1: Make the axis No. controlled with the manual pulse generator setting with 1/0.
1: Specified axis
0: Unspecified axis
*2: The following range is valid.
R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• Refer to the manual pulse generator operation for details of the manual pulse generator operation. (
160
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
[Cd.1101] Manual pulse generator 1-pulse input magnification setting registers (R:
D35306+n/Q: D720+n)
• This register sets the magnification (1 to 10000) per pulse of number of the input pulses from manual pulse generator at the pulse generator operation.
Setting range
1 to 10000
• Refer to the manual pulse generator operation for details of the manual pulse generator operation. (
[Cd.1102] Manual pulse generator 1 smoothing magnification setting registers (R:
D35370/Q: D752)
• This register sets the smoothing time constants of manual pulse generators 1 (P1).
Setting range
0 to 59
• When the smoothing magnification is set, the smoothing time constant is as indicated by the following expression.
Smoothing time constant (t) = (smoothing magnification + 1) × 56.8 [ms]
• Operation
Manual pulse generator input
[Rq.1125] Manual pulse generator 1 enable flag (R: M30051/Q: M2051)
OFF
V
ON
V
1
2 t t t t
Output speed (V
1
) [pulse/s] = (Number of input pulses/s) × (Manual pulse generator 1-pulse input magnification setting)
Travel value (L) = (Travel value per pulse) × (Number of input pulses) × (Manual pulse generator 1-pulse input magnification setting)
• The travel value per pulse of the manual pulse generator is shown below.
Setting unit mm inch
Travel value
0.1[ m]
0.00001[inch] degree 0.00001[degree] pulse 1[pulse]
• The smoothing time constant is 56.8[ms] to 3408[ms].
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
161
[Cd.1103] Manual pulse generator 2 smoothing magnification setting registers (R:
D35371/Q: D753)
• This register sets the smoothing time constants of manual pulse generators 2 (P2).
Setting range
0 to 59
The operation details are the same as "[Cd.1102] Manual pulse generator 1 smoothing magnification setting registers (R:
M35370/Q: D752)". (
Page 161 [Cd.1102] Manual pulse generator 1 smoothing magnification setting registers (R:
[Cd.1104] Manual pulse generator 3 smoothing magnification setting registers (R:
D35372/Q: D754)
• This register sets the smoothing time constants of manual pulse generators 3 (P3).
Setting range
0 to 59
The operation details are the same as "[Cd.1102] Manual pulse generator 1 smoothing magnification setting registers (R:
M35370/Q: D752)". (
Page 161 [Cd.1102] Manual pulse generator 1 smoothing magnification setting registers (R:
162
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
2.3
Motion Registers (#)
There are motion registers (#0 to #12287) in the Motion CPU. When using Q series Motion device assignment, #8000 to
#8639 are used as the monitor device 2 of each axis.
Motion Registers List
■
MELSEC iQ-R Motion device assignment
In MELSEC iQ-R Motion device assignment, the entire range of the motion registers can be used as user device.
Device No.
#0 to
#12287
Symbol
Purpose
User device
(12288 points)
Reference
Total number of the user device points
• 12288 points
■
Q series Motion compatible device assignment
The devices of axis 1 to 32 use Q series Motion compatible device assignment, and the devices of axis 33 to 64 use the monitor devices of each axis (D32020+48n to D32039+48n) in MELSEC iQ-R Motion device assignment.
Device No.
#0 to
#8000 to
#8640 to
#12287
Symbol
[Md.28], [Md.100], [Md.103],
[Md.104], [Md.107], [Md.108],
[Md.125], [Md.1014], [Md.1019],
[Md.1022], [Md.1025], [Md.1027]
Purpose
User device
(8000 points)
Axis monitor device 2
(20 points × 32 axes)
Unusable
(3648 points)
Reference
Page 164 Monitor devices 2 of each axis
Total number of the user device points
• 8000 points
2
2 POSITIONING DEDICATED SIGNALS
2.3 Motion Registers (#)
163
164
Monitor devices 2 of each axis
Information for each axis is stored in the monitor devices. The details of the storage data are shown below.
Device No.
Q series Motion compatible device assignment
#8000 to #8019
#8020 to #8039
#8040 to #8059
#8060 to #8079
#8080 to #8099
#8100 to #8119
#8120 to #8139
#8140 to #8159
#8160 to #8179
#8180 to #8199
#8200 to #8219
#8220 to #8239
#8240 to #8259
#8260 to #8279
#8280 to #8299
#8300 to #8319
#8320 to #8339
#8340 to #8359
#8360 to #8379
#8380 to #8399
#8400 to #8419
#8420 to #8439
#8440 to #8459
#8460 to #8479
#8480 to #8499
#8500 to #8519
#8520 to #8539
#8540 to #8559
#8560 to #8579
#8580 to #8599
#8600 to #8619
#8620 to #8639
D33556 to D33575
D33604 to D33623
D33652 to D33671
D33700 to D33719
D33748 to D33767
D33796 to D33815
D33844 to D33863
D33892 to D33911
D33940 to D33959
D33988 to D34007
D34036 to D34055
D34084 to D34103
D34132 to D34151
D34180 to D34199
D34228 to D34247
D34276 to D34295
MELSEC iQ-R Motion device assignment
D32020 to D32039
D32068 to D32087
D32116 to D32135
D32164 to D32183
D32212 to D32231
D32260 to D32279
D32308 to D32327
D32356 to D32375
D32404 to D32423
D32452 to D32471
D32500 to D32519
D32548 to D32567
D32596 to D32615
D32644 to D32663
D32692 to D32711
D32740 to D32759
D32788 to D32807
D32836 to D32855
D32884 to D32903
D32932 to D32951
D32980 to D32999
D33028 to D33047
D33076 to D33095
D33124 to D33143
D33172 to D33191
D33220 to D33239
D33268 to D33287
D33316 to D33335
D33364 to D33383
D33412 to D33431
D33460 to D33479
D33508 to D33527
Signal name
Axis 1 monitor device 2
Axis 2 monitor device 2
Axis 3 monitor device 2
Axis 4 monitor device 2
Axis 5 monitor device 2
Axis 6 monitor device 2
Axis 7 monitor device 2
Axis 8 monitor device 2
Axis 9 monitor device 2
Axis 10 monitor device 2
Axis 11 monitor device 2
Axis 12 monitor device 2
Axis 13 monitor device 2
Axis 14 monitor device 2
Axis 15 monitor device 2
Axis 16 monitor device 2
Axis 17 monitor device 2
Axis 18 monitor device 2
Axis 19 monitor device 2
Axis 20 monitor device 2
Axis 21 monitor device 2
Axis 22 monitor device 2
Axis 23 monitor device 2
Axis 24 monitor device 2
Axis 25 monitor device 2
Axis 26 monitor device 2
Axis 27 monitor device 2
Axis 28 monitor device 2
Axis 29 monitor device 2
Axis 30 monitor device 2
Axis 31 monitor device 2
Axis 32 monitor device 2
Axis 33 monitor device 2
Axis 34 monitor device 2
Axis 35 monitor device 2
Axis 36 monitor device 2
Axis 37 monitor device 2
Axis 38 monitor device 2
Axis 39 monitor device 2
Axis 40 monitor device 2
Axis 41 monitor device 2
Axis 42 monitor device 2
Axis 43 monitor device 2
Axis 44 monitor device 2
Axis 45 monitor device 2
Axis 46 monitor device 2
Axis 47 monitor device 2
Axis 48 monitor device 2
2 POSITIONING DEDICATED SIGNALS
2.3 Motion Registers (#)
Device No.
Q series Motion compatible device assignment
D34324 to D34343
D34372 to D34391
D34420 to D34439
D34468 to D34487
D34516 to D34535
D34564 to D34583
D34612 to D34631
D34660 to D34679
D34708 to D34727
D34756 to D34775
D34804 to D34823
D34852 to D34871
D34900 to D34919
D34948 to D34967
D34996 to D35015
D35044 to D35063
MELSEC iQ-R Motion device assignment
Signal name
Axis 49 monitor device 2
Axis 50 monitor device 2
Axis 51 monitor device 2
Axis 52 monitor device 2
Axis 53 monitor device 2
Axis 54 monitor device 2
Axis 55 monitor device 2
Axis 56 monitor device 2
Axis 57 monitor device 2
Axis 58 monitor device 2
Axis 59 monitor device 2
Axis 60 monitor device 2
Axis 61 monitor device 2
Axis 62 monitor device 2
Axis 63 monitor device 2
Axis 64 monitor device 2
#8004+20n
#8005+20n
#8006+20n
#8007+20n
#8008+20n
#8009+20n
#8010+20n
#8011+20n
#8012+20n
#8013+20n
#8014+20n
• Details for each axis
Device No.
Q series Motion compatible device assignment
#8000+20n
#8001+20n
#8002+20n
#8003+20n
MELSEC iQ-R
Motion device assignment
D32030+48n
D32020+48n
D32022+48n
D32023+48n
D32024+48n
D32025+48n
D32026+48n
D32027+48n
D32028+48n
D32029+48n
D32032+48n
D32033+48n
D32034+48n
D32035+48n
D32036+48n
#8015+20n
#8016+20n
#8017+20n
#8018+20n
#8019+20n
D32037+48n
D32031+48n
D32021+48n
D32038+48n
D32039+48n
Symbol Signal name
Md.1014
Md.104
Md.103
Md.28
Md.100
Md.1019
Md.107
Md.108
Md.1022
Md.125
Md.1025
Md.1027
Md.500
Servo amplifier type
Motor current value
Motor speed
Command speed
Home position return re-travel value
Refresh cycle
When the servo amplifier power-on Monitor device
Operation cycle 1.777[ms] or less:
Operation cycle
Operation cycle 3.555[ms] or more:
3.555[ms]
Operation cycle
At home position return re-travel
Signal type
Servo amplifier display servo error code
Parameter error No.
Servo status1
Servo status2
Servo status3
Unusable
Servo status5
Unusable
Servo amplifier vendor ID
Unusable
Servo status7
Unusable
Main cycle
Operation cycle 1.777[ms] or less:
Operation cycle
Operation cycle 3.555[ms] or more:
3.555[ms]
Operation cycle 1.777[ms] or less:
Operation cycle
Operation cycle 3.555[ms] or more:
3.555[ms]
Monitor device
At servo amplifier power supply ON Monitor device
Operation cycle 1.777[ms] or less:
Operation cycle
Operation cycle 3.555[ms] or more:
3.555[ms]
Monitor device
2
2 POSITIONING DEDICATED SIGNALS
2.3 Motion Registers (#)
165
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to monitor device of each axis for details of monitor device 2 of each axis (#8000 to #8639).
(
2.4
Special Relays (SM)
There are 4096 special relay points of SM0 to SM4095 in the Motion CPU.
Refer to the following for details of special relays.
MELSEC iQ-R Motion controller Programming Manual (Common)
2.5
Special Registers (SD)
There are 4096 special register points of SD0 to SD4095 in the Motion CPU.
Refer to the following for details of special registers.
MELSEC iQ-R Motion controller Programming Manual (Common)
166
2 POSITIONING DEDICATED SIGNALS
2.4 Special Relays (SM)
3
PARAMETERS FOR POSITIONING CONTROL
3.1
Parameters Used by the Motion CPU
The parameters used by the Motion CPU are as follows.
Parameters
R series common parameters
Motion CPU common parameters
Motion control parameters
Details
Common parameters for R series CPU modules
Common parameters for Motion CPU modules
Positioning control parameters and synchronous control parameters used by the Motion CPU for Motion control
The list of the parameters used by the Motion CPU is shown below.
: Input : Not input
Parameter item
R series common parameter
System parameter
CPU parameter
Module parameter
Parameter input timing
At ON/reset of
Multiple CPU system power supply
At STOP to
RUN/ test mode request
Details Reference
Motion
CPU common parameter
Motion control parameter
Basic setting
Servo network setting
Limit output data
High-speed input request signal
Mark detection
Manual pulse generator connection setting
Vision system parameter
Head module
Refresh (END/I45 executing) setting
Axis setting parameter
Fixed parameter
Home position return data
JOG operation data
External signal parameter
Set the R series CPU common parameters for the base, slot, and module settings and the
Multiple CPU system settings.
The system parameters for each CPU in the
Multiple CPU system must be matched.
Set the basic parameters of the Motion system, such as operation cycle and the external forced stop input.
Set the servo network type, and the connected servo amplifiers, SSCNET /H head modules, and sensing modules.
Set the output device and watch data for limit switch output.
Set the high precision input request signal used for synchronous control or mark detection.
Set the data for mark detection.
Set the data required for connecting the manual pulse generator to the module.
Set the parameters used for connecting the vision system.
Set the parameters used for connecting the
SSCNET /H head module and sensing module.
Set the multiple CPU refresh (main cycle/ operation cycle).
Set the fixed data based on the mechanical system, etc. of the controlled axis.
Set the data required for the home position return.
Set the data to perform the JOG operation.
Set the external signals (upper stroke limit (FLS), lower stroke limit (RLS), stop (STOP), and proximity dog or speed/position switching (DOG/
CHANGE)) used for each axis.
3
3 PARAMETERS FOR POSITIONING CONTROL
3.1 Parameters Used by the Motion CPU
167
Parameter item Parameter input timing
At ON/reset of
Multiple CPU system power supply
At STOP to
RUN/ test mode request
Details Reference
Motion control parameter
Axis setting parameter
Servo parameter
Parameter block
Expansion parameter
Speed-torque control data
Optional data monitor
Pressure control data
Override data
Vibration suppression command filter data
Set when the following functions are used.
• Monitor individually the positive and negative direction torque limit value.
• Change the acceleration/deceleration time when changing speed.
• Set the maximum speed of the servo motor.
• When performing positioning control in the absolute data method on a degrees axis, specify the positioning direction.
Set when the speed-torque control is performed.
Set the type of the monitored data and the storage device when the servo amplifier status, etc. is monitored.
Set when performing pressure control that uses a profile.
Set when using the override function.
Set when using the vibration suppression command filter function.
Parameters of the servo amplifier and sensing module are set based on the specifications of the servo amplifier, servo motor, and sensing module.
Set the data for acceleration/deceleration control, etc. used for each positioning processing.
Synchronous control parameter
Input axis parameter
Synchronous parameter
Multiple CPU advanced synchronous control setting
Set the input axis used for advanced synchronous control.
Set the synchronous parameters of the output axis used for advanced synchronous control.
Set the master CPU and slave CPU for performing Multiple CPU advanced synchronous control.
Machine control parameter
Machine common parameter
Set the common parameters such as point block used in machine control.
Machine parameter
Set the parameters for conducting machine control.
G-code control parameter
G-code control system parameter
Set the parameters used on a line for each Gcode control line.
G-code control axis parameter
Set the parameters for each axis in each G-code control line.
G-code control work parameter
Set the parameters for processing in G-code control.
*1 MELSEC iQ-R Motion controller Programming Manual (Common)
*2 MELSEC iQ-R Motion controller Programming Manual (Advanced Synchronous Control)
*3 MELSEC iQ-R Motion controller Programming Manual (Machine Control)
*4 Not input at test mode request.
*5 MELSEC iQ-R Motion controller Programming Manual (G-Code Control)
168
3 PARAMETERS FOR POSITIONING CONTROL
3.1 Parameters Used by the Motion CPU
3.2
Indirect Setting Method by Devices for Parameters
Some Motion control parameters can be set indirectly by devices.
However, special relays (SM) and special registers (SD) cannot be set as devices for indirect setting.
Refer to the following for the details of devices.
MELSEC iQ-R Motion controller Programming Manual (Common)
3.3
Fixed Parameters
The fixed parameters are set for each axis and their data is fixed based on the mechanical system, etc.
[Motion Control Parameter] [Axis Setting Parameter] "Fixed Parameter"
No. Item
1 Unit setting
Default value
3
Setting range mm
0 inch
1 degree
2 pulse
3
Direct
Valid/ invalid
Indirect setting
Valid/ invalid
(Required size)
Fetch cycle
2 1 to 2147483647 [pulse]
Reference section
3
4
5
Travel value per pulse
(A)
Number of pulses per rotation
(AP)
Travel value per rotation
(AL)
Backlash compensation amount
20000
[pulse]
20000
[pulse]
0 [pulse]
1 to
2147483647
( × 10 -1 [ μ m])
0 to 65535
( × 10 -1 [ μ m])
1 to
2147483647
( × 10 -5 [inch])
0 to 65535
( × 10 -5 [inch])
1 to
2147483647
( × 10 -5
[degree])
0 to 65535
( × 10 -5
[degree])
1 to
2147483647
[pulse]
0 to 65535
[pulse]
6
7
8
Upper stroke limit 2147483647
[pulse]
Lower stroke limit 0 [pulse]
Command inposition range
Speed control
10 × multiplier setting for degree axis
100 [pulse]
-2147483648 to
2147483647
( × 10 -1 [ μ m])
-2147483648 to
2147483647
( × 10
-1
[ μ m])
1 to
2147483647
( × 10 -1 [ μ m])
-2147483648 to
2147483647
( × 10 -5 [inch])
-2147483648 to
2147483647
( × 10
-5
[inch])
1 to
2147483647
( × 10 -5 [inch])
0 to
35999999
( × 10 -5
[degree])
0 to
35999999
( × 10 -5
[degree])
1 to
35999999
( × 10 -5
[degree])
0: Invalid
1: Valid
-2147483648 to
2147483647
[pulse]
-2147483648 to
2147483647
[pulse]
1 to
2147483647
[pulse]
*1 For direct setting using MT Developer2, use the decimal format instead of the exponential format.
3
3 PARAMETERS FOR POSITIONING CONTROL
3.2 Indirect Setting Method by Devices for Parameters
169
Unit Setting
Set the unit used for defining positioning operations.
Choose from the following units depending on the type of the control target: mm, inch, degree, or pulse.
Ex.
Different units (mm, inch, degree, and pulse) are applicable to different systems:
Unit mm, inch degree pulse
System
X-Y table, conveyor (Select mm or inch depending on the machine specifications.)
Rotating body (360 degrees/rotation)
X-Y table, conveyor
When you change the unit, note that the values of other parameters and data will not be changed automatically. After changing the unit, check if the parameter and data values are within the allowable range.
Number of pulses per rotation/Travel value per rotation
The "Electronic gear function" adjusts the actual machine movement amount and number of pulse output to servo amplifier according to the parameter set in the Motion CPU.
It is defined by the "Number of pulses per rotation" and "Travel value per revolution".
• The mechanical system error of the command travel value and real travel value is rectified by adjusting the
"electronic gear".
• The value of less than 1 pulse that cannot be execute an output when the machine travels is incremented in the Motion CPU, and a total incremented output is performed when the total incremented value becomes more than 1 pulse.
• The total incremented value of less than 1 pulse that cannot be execute an output is cleared and it is referred to as "0" at the home position return completion, current value change completion, and fixed-pitch feed control start. (When the total incremented value is cleared, the error occurs to the feed machine value only a part to have been cleared.)
Number of pulses/travel value per rotation
Number of pulses (AP)/travel value (AL) per rotation is an item which determines how many rotations (number of pulses per rotation) of the servo motor in order to make it a machine as the travel value ordered by the program.
The position control toward the servo motor is controlled with the number of feedback pulses of the encoder connected to the servo motor in the servo amplifier.
The control content of the Motion CPU is shown below.
Motion CPU
Command value
Control units
AP
AL pulse
Reduction gear
Servo amplifier pulse
M
ENC pulse
Feedback pulse
Machine
170
3 PARAMETERS FOR POSITIONING CONTROL
3.3 Fixed Parameters
For example, suppose that the servo motor was connected to the ball screw.
Because the travel value ( Δ S) of machine per motor rotation is [mm]/[inch] unit, the travel value (positioning address) set in the program is commanded in [mm]/[inch] unit. However, the servo motor is positioning controlled by the servo amplifier in pulse unit.
Therefore, AP/AL is set so that the following expression of relations may be materialized in order to convert the travel value of
[mm]/[inch] unit set in the program into a pulse.
Number of pulses per motor rotation = AP
Travel value of machine per motor rotation = AL
Electronic gear =
AP
AL
. . . . . (1)
(There is a range which can be set in the numerical value set as AP/AL, so it is necessary to make the setting range of AP/AL the value calculated from the above expression (reduced) of relations.)
• For MR-J5(W) B, the servo amplifier electronic gear is taken into account for the number of pulses per motor rotation
(AP).
Number of pulses per motor rotation (AP) = Resolution per servo motor revolution ×
Electronic gear denominator (PA07)
*1
Electronic gear numerator (PA06)
*1
*1 Servo amplifier servo parameter
When using a servo motor (such as HK-KT) that has an encoder resolution of 67108864[pulse/rev], set the
MR-J5(W) B servo parameters to the values below so that the encoder resolution becomes 4194304[pulse/ rev].
If the settings are different, a minor error (error code: 1C84H) occurs.
After changing the parameters, turn OFF the servo amplifier power supply before turning ON the power supply again.
⋅ Electronic gear numerator (PA06): 16
⋅ Electronic gear denominator (PA07): 1
The control content of the Motion CPU is shown below.
Motion CPU
Command value
Control units
AP
AL pulse
Servo amplifier
*1 pulse × 16
M
Reduction gear
Machine pulse/16
ENC
*1: Electronic gear numerator (PA06): 16
Electronic gear denominator (PA07): 1 pulse
Feedback pulse
When a minor error (error code: 1C84H) occurs, the display (3 digit 7-segment LED) of the servo amplifier with the minor error shows "b**(ready-off) *1 ", but the servo amplifier display on the SSCNET communication condition monitor in MT Developer2 will show "AH (initializing completion)". The corresponding axis does not servo ON.
*1: **= station No.
3
3 PARAMETERS FOR POSITIONING CONTROL
3.3 Fixed Parameters
171
Example of the real setting is shown below. Refer to the Number of pulses/travel value at linear servo use for the setting at linear servo. (
Page 173 Number of pulses/travel value at linear servo use)
■
For ball screw
When the ball screw pitch is 20 [mm], the servo motor is HG-KR (4194304 [pulse/rev]) and direct connection (No reduction gear) is set.
First, find how many millimeters the load (machine) will travel (AL) when the servo motor runs for one rotation (AP).
AP (Number of pulses per motor rotation) = 4194304 [pulse] *1
AL (Travel value of machine per rotation) = Ball screw pitch × Reduction ratio = 20 [mm]
Substitute this for the above expression (1).
AP
AL
=
4194304 [pulse]
20 [mm]
Although it becomes above, when a control unit is set to [mm] unit, the minimum unit of the command value in a program is
0.1 [ μ m] and converted from 20 [mm] (20.0000 [mm]) to 20000.0 [ μ m].
AP 4194304 [pulse]
=
AL 20000.0 [ μ m]
The travel value per motor rotation in this example is 0.0000047 [mm].
For example, when ordering the travel value of 19 [mm], it becomes 3984588.8 [pulse] and the fraction of 0.8 [pulse]. At this time, the Motion CPU orders the travel value of 3984588 [pulse] to the servo motor and the fraction is memorized in the
Motion CPU. Positioning is performed by taking into account the travel value with this fraction at the next positioning.
*1 When controlling a servo motor (HK-KT) (67108864[pulse/rev]) using MR-J5(W) B, the AP (Number of pulses per motor rotation) is as follows.
AP (Number of pulses per motor rotation) = 67108864[pulse] ×
1
16
= 4194304[pulse]
172
3 PARAMETERS FOR POSITIONING CONTROL
3.3 Fixed Parameters
Number of pulses/travel value at linear servo use
Motion CPU
Linear servo motor
Command value
Control units
AP
AL pulse
Servo amplifier pulse pulse
Feedback pulse
Linear encoder
Calculate the number of pulses (AP) and travel value (AL) for the linear encoder in the following conditions.
Number of pulses (AP)
Linear encoder resolution =
Travel value (AL)
Linear encoder resolution: 0.05 [ μ m]
Number of pulses (AP) [pulse]
Travel value (AL) [ μ m]
=
1
0.05
=
20
1.0
Set the number of pulses in "Number of pulses per rotation", and the movement amount in "Travel value per rotation" in the actual setting.
Set the same value as the value set in the fixed parameter to the servo parameter "Linear encoder resolution setting
Numerator (PS02)" and "Linear encoder resolution setting Denominator (PS03)".
For MR-J5(W) B, set servo parameters "Electronic gear numerator (PA06)" and "Electronic gear denominator (PA07)" to
"1".
Refer to the following for details.
Servo amplifier Instruction Manual
Instruction manual name
MR-J5-B/MR-J5W-B User's Manual (Parameters) (IB-0300581ENG)
Servo amplifier type
MR-J5 B
MR-J5W B
MR-J4 B
MR-J4W B
MR-J3 B-RJ004
SSCNET /H interface MR-J4-_B(-RJ)/ MR-J4-_B4(-RJ)/ MR-J4-_B1(-RJ) Servo amplifier Instruction Manual (SH-030106)
SSCNET /H interface Multi-axis AC Servo MR-J4W2-_B/MR-J4W3-_B Servo amplifier Instruction Manual (SH-030105)
SSCNET Compatible Linear Servo MR-J3 B-RJ004U Instruction Manual (SH-030054)
3
Backlash compensation amount
The machine backlash amount is set in the backlash compensation amount. Whenever the positioning direction changes during positioning control, compensation is performed using the backlash compensation amount.
Refer to the Backlash Compensation Function for details. (
Page 431 Backlash Compensation Function)
3 PARAMETERS FOR POSITIONING CONTROL
3.3 Fixed Parameters
173
Upper/lower stroke limit value
The upper/lower limit value for the travel range of mechanical system is set.
RLS
Stroke limit
(lower)
(Travel range of the machine)
Stroke limit
(upper)
FLS
External limit signal
Stroke limit range check
The stroke limit range is checked at the following start or during operation.
Operation start
Position follow-up control
Continuous trajectory control
Positioning control
Fixed-pitch feed control
Speed control ( )
Speed control ( )
Speed control ( )
Speed/position switching control
(including restart)
JOG operation
Manual pulse generator operation
Speed-torque control
Pressure control
Check Remarks
Check • It is checked whether the feed current value is within the stroke limit range or not at the positioning start. If it outside the range, a minor error occurs (error code: 1993H,1995H) and positioning is not executed.
• When positioning is outside of the stroke limit range, a minor error (error code: 1A18H, 1A1AH) occurs, and positioning is not executed.
• If the interpolation path exceeds the stroke limit range during circular interpolation start, a minor error occurs
(error codes: 1993H, 1995H, 19EDH) and deceleration stop is executed.
• If the current value exceeds the stroke limit range, deceleration stop is executed.
Not check The current value becomes "0", and operation continues until the external limit signal (FLS, RLS, STOP) is received.
Check It is checked after the switch to position control without checking the stroke limit range while executing speed control.
When the current value is executed a deceleration stop from current command speed, if the current value exceeds the stroke limit range, a minor error occurs (error code: 1993H, 1995H), and deceleration stop is made before a stroke limit.
Travel from outside the stroke range to the direction that returns the axis into the stroke range is possible.
For a degree axis, depending on the stroke limit setting, the direction that can return the axis into the stroke range is different.
• When upper stroke limit value > lower stroke limit value
When "Feed current value > upper stroke limit value", movement in the negative direction is possible.
When "Feed current value < lower stroke limit value", movement in the positive direction is possible.
• When upper stroke limit value < lower stroke limit value
Movement in both the positive and negative direction is possible.
If the current value exceeds the stroke limit range, a minor error occurs (error code: 1993H, 1995H), and it stops at stroke limit.
In this case, a deceleration stop is not made.
Travel from outside the stroke range to the direction that returns the axis into the stroke range is possible.
For a degree axis, depending on the stroke limit setting, the direction that can return the axis into the stroke range is different.
• When upper stroke limit value > lower stroke limit value
When "Feed current value > upper stroke limit value", movement in the negative direction is possible.
When "Feed current value < lower stroke limit value", movement in the positive direction is possible.
• When upper stroke limit value < lower stroke limit value
Movement in both the positive and negative direction is possible.
If the current feed value exceeds the stroke limit range, a minor error occurs (error code: 1993H, 1995H), and the mode is switched to position control.
*1 When "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" is ON
*2 When "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" is OFF
• Besides setting the upper/lower stroke limit value in the fixed parameters, the range of mechanical system can also be controlled by using the external limit signals (FLS, RLS).
• When the external limit signal turns off, a deceleration stop is executed. "Deceleration time" and "Rapid stop deceleration time" can be used in the parameter block for deceleration stop time.
174
3 PARAMETERS FOR POSITIONING CONTROL
3.3 Fixed Parameters
Stroke limit invalid setting
The unlimited length feed is possible by setting the stroke limit to invalid even the control unit is "other than degree axis" (mm, inch, pulse). When "(Upper stroke limit) = (Lower stroke limit)" is set as the upper and lower stroke limit is set in the fixed parameter, the stroke limit becomes invalid and the unlimited length feed is possible.
Refer to control in the control unit "degree" for details of degree axis. (
Page 262 Control in the control unit "degree")
Current value [pulse/0.1
m/10
-5 inch]
2147483647
Start point
For an ABS instruction, it is a shortcut operation.
0
3
End point
-2147483648
• If the current feed value and real current value exceeds 2147483647 [pulse/0.1
μ m/10 -5 with -2147483648 [pulse/0.1
μ m/10 -5
5 inch], it is controlled with 2147483647 [pulse/0.1
μ m/10 -5 inch].
inch], it is controlled inch]. If those values are less than -2147483648 [pulse/0.1
μ m/10 -
• The circular interpolation and helical interpolation (other than linear axis) including axis that the stroke limit is set to invalid cannot be executed. A minor error (error code: 19E8H) will occur, and operation does not start.
• The high-speed oscillation function cannot be used in the axis that set the stroke limit invalid.
• When executing a speed change to negative speed for the axis with stroke limit set to invalid, the operations below occur based on the control mode being executed.
Operation
Negative speed-change accept.
Control mode
Speed control ( ³ )
Speed control ( ´ )
Home position return
Speed-position control
Position follow-up control
Speed control with fixed position stop
Speed-position switching control
JOG operation
Manual pulse generator operation
Speed-torque control
Pressure control
Others
Warning (error code: 09EDH) occurs and speed change is ignored.
Warning (error code: 0991H) occurs and speed change is ignored.
Speed change is ignored.
Warning (error code: 09EFH) occurs and speed change is ignored.
3 PARAMETERS FOR POSITIONING CONTROL
3.3 Fixed Parameters
175
Command in-position range
The command in-position is the difference between the positioning address (command position) and feed current value.
Once the value for the command in-position has been set, the "[St.1063] Command in-position (R: M32403+32n/Q:
M2403+20n)" turns on when the difference between the command position and the feed current value enters the set range
"(command position - feed current value) ≤ (command in-position range)".
The command in-position range check is executed continuously during position control.
V
Position control start
Command in-position setting value
Speed/position switching control start
Speed/position switching
Command in-position setting value t
[St.1063]Command in-position
(R: M32403+32n/Q: M2403+20n)
ON
OFF
Execution of command in-position check Execution of command in-position check
• Command in-position can be set within the following range.
1 ≤ Command in-position range ≤ 2147483647
Speed control 10 x multiplier setting for degree axis
The setting range of command speed is 0.001 to 2147483.647 [degree/min] normally in the axis of control unit [degree].
However, when the "speed control 10 × multiplier setting for degree axis" is set to "valid" in the fixed parameter the speed setting range increases 10 × multiplier "0.01 to 21474836.47 [degree/min]".
• When the "speed control 10 × multiplier setting for degree axis" is set to "valid", the positioning control is executed by the speed increased 10 × multiplier command speed set in the servo program or servo parameter, and speed limit value.
• In the interpolation control for the axis of "control unit [degree] and [except degree]", if the interpolation control unit of parameter block is set as [degree]," the positioning control is executed by the speed increased 10 × multiplier command speed and speed limit value.
• When the "speed control 10 × multiplier setting for degree axis" is set as "valid", 2 figures below the decimal point of "***.**
[degree/min]" is displayed on the screen of MT Developer2.
<K 10>
INC-1
Axis 1, 360.00000 degree
Speed 180.00 degree/min
When the "control 10 multiplier setting for degree axis" is set to "valid", 2 figures below the decimal point is displayed.
• Speed setting range in the interpolation operation is shown below.
Command speed
Vector speed specification/Long-axis speed specification
Reference-axis speed specification
Details
If the "speed control 10 × multiplier setting for degree axis" is set to "valid" even by one axis among interpolation axes, the speed setting range is "0.01 to 21474836.47 [degree/min]"
If the "speed control 10 × multiplier setting for degree axis" is set to "valid" in the specified reference axis, the speed setting range is "0.01 to 21474836.47 [degree/min]"
176
3 PARAMETERS FOR POSITIONING CONTROL
3.3 Fixed Parameters
Example for positioning control
An example for positioning control is shown below when the "speed control 10 × multiplier setting for degree axis" of fixed parameter and "interpolation control unit" of parameter block are set as follows.
• Speed control 10 × multiplier setting for degree axis
Axis
Axis 1
Axis 2
Speed control 10 × multiplier setting for degree axis
Invalid
Valid
• Interpolation control unit of parameter block
Item
Interpolation control unit
Block 10 degree
■
1 axis linear positioning control program (Axis 1)
<K 10>
INC-1
Axis
Speed
1, 360.00000
18.000
1 axis linear positioning control
Axis used ........................................Axis 1
Travel value to stop position...........360.00000[degree]
Positioning speed .............................18.000[degree/min]
[degree/min]
V
Axis 1 speed
Servo program No.10
18.000
t
■
1 axis linear positioning control program (Axis 2)
<K 20>
INC-1
Axis 2,
Speed
360.00000
180.00
1 axis linear positioning control
Axis used ........................................Axis 2
Travel value to stop position...........360.00000[degree]
Positioning speed .............................180.00[degree/min]
[degree/min]
180.00
V
Axis 2 speed
Servo program No.20
t
3
3 PARAMETERS FOR POSITIONING CONTROL
3.3 Fixed Parameters
177
■
2 axis linear interpolation control program (Axis 1, Axis 2)
• Vector speed specification
<K 30>
INC-2
Axis 1,
Axis 2,
Vector speed
360.00000
360.00000
180.00
2 axes linear interpolation control
Axis used ...... Axis 1, Axis 2
Travel value to stop position
Axis 1........... 360.000 [degree]
Axis 2........... 360.000 [degree]
Positioning speed ....... 180.00[degree/min]
[degree/min]
180.00
V
Vector speed
Servo program No.30
[degree/min]
V
127.28
Axis 1 speed t
[degree/min]
V
127.28
Axis 2 speed
• Long-axis reference specification
<K 50>
INC-2
Axis 1, 360.00000
Axis 2,
Long-axis speed
20000.00000
180.00
2 axes linear interpolation control
Axis used ...... Axis 1, Axis 2
Travel value to stop position
Axis 1........... 360.000 [degree]
Axis 2........... 20000.00000 [degree]
Positioning speed ....... 180.00[degree/min]
[degree/min]
V
Axis 1 speed
3.24
[degree/min]
180.00
V
Axis 2 speed
Servo program No.50
t
Servo program No.50
t
Axis 2 speed t t
178
3 PARAMETERS FOR POSITIONING CONTROL
3.3 Fixed Parameters
• Reference-axis speed setting
<K 60>
INC-2
Axis 1,
Axis 2, 20000.00000
Reference-axis speed 180.00
Reference-axis
360.00000
2
2 axes linear interpolation control
Axis used ...... Axis 1, Axis 2
Travel value to stop position
Axis 1........... 360.000 [degree]
Axis 2........... 20000.00000 [degree]
Positioning speed ....... 180.00[degree/min]
[degree/min]
V
Axis 1 speed
3.24
[degree/min]
180.00
V
Axis 2 speed
Servo program No.60
t
Servo program No.60
t
When a speed change is executed by the Motion dedicated PLC instruction (M(P).CHGV/D(P).CHGV) or
Motion SFC program (CHGV instruction) after setting the "speed control 10 × multiplier setting for degree axis" to "valid", positioning control is executed at 10 × the speed of the set command speed.
3
3 PARAMETERS FOR POSITIONING CONTROL
3.3 Fixed Parameters
179
3.4
Home Position Return Data
The home position return data is used to perform the home position return.
[Motion Control Parameter] [Axis Setting Parameter] "Home Position Return Data"
No. Item Default value
Setting range mm inch degree pulse
Direct setting
Valid/ invalid
1
Valid/ invalid
(Required size)
Fetch cycle
2
3
4
5
6
7
Home position return direction
Home position return method
Home position address
Home position return speed
Creep speed
Travel value after proximity dog ON
0
2
0 [pulse] -2147483648 to
(
0: Reverse direction (Address decrease direction)
1: Forward direction (Address increase direction)
0: Proximity dog method 1
4: Proximity dog method 2
1: Count method 1
5: Count method 2
6: Count method 3
2: Data set method 1
3: Data set method 2
14: Data set method 3
7: Dog cradle method
8: Stopper method 1
9: Stopper method 2
10: Limit switch combined method
11: Scale home position signal detection method
12: Dogless home position signal reference method
13: Driver home position return method
2147483647
× 10
-1 [ μ m])
1 to
600000000
( × 10 -2 [mm/ min])
-2147483648 to
2147483647
( × 10
1 to
-5 [inch])
600000000
( × 10 -3 [inch/ min])
0 to 35999999
( × 10 -5
[degree])
-2147483648 to
2147483647
[pulse]
1 to
2147483647
[pulse/s]
1 to
600000000
( × 10 -2 [mm/ min])
0 to
2147483647
( × 10 -1 [ μ m])
1 to
600000000
( × 10 -3 [inch/ min])
0 to
2147483647
( × 10 -5 [inch])
1 to
2147483647
( × 10 -3
[degree/ min])
1 to
2147483647
( × 10 -3
[degree/ min])
0 to
2147483647
( × 10 -5
[degree])
1 to
2147483647
[pulse/s]
0 to
2147483647
[pulse]
1 to 64
(2 word) At the
(2 word) home position return start
(2 word)
(2 word)
8
9
10
Parameter block setting
Home position return retry function
Dwell time at the home position return retry
Home position shift amount
0: Invalid (Do not execute the home position return retry by limit switch.)
1: Valid (Execute the home position return retry by limit switch.)
0 to 5000 [ms]
-2147483648 to
2147483647
( × 10 -1 [ μ m])
-2147483648 to
2147483647
( × 10 -5 [inch])
-2147483648 to
2147483647
( × 10 -5
[degree])
-2147483648 to
2147483647
[pulse]
(1 word) At the home
(2 word) position return start
11 Speed set at the home position shift
0: Home position return speed
1: Creep speed
Reference section
180
3 PARAMETERS FOR POSITIONING CONTROL
3.4 Home Position Return Data
No. Item Default value
Setting range Direct setting *1
Indirect setting
*2
Reference section mm inch degree pulse Valid/ invalid
Valid/ invalid
(Required size)
Fetch cycle
12 Torque limit value at the creep speed
1 to 10000 ( × 10 -1 [%]) (1 word) At the home position return start
13 Operation setting for incompletion of home position return
1 0: Execute a servo program
1: Not execute a servo program
14
15
Home position return request setting in pulse conversion
Standby time after clear signal output in pulse conversion
0: Home position return request ON during servo OFF
1: Home position return request not ON during servo OFF
1 to 1000 [ms]
(1 word) At the home position return start
*1 For direct setting using MT Developer2, use the decimal format instead of the exponential format.
*2 Refer to the indirect setting method by devices for Parameters for the range of devices used for indirect setting. (
Setting Method by Devices for Parameters)
*3 When the "speed control 10 × multiplier setting for degree axis" is set to "valid" in the fixed parameter, the unit is 1 to 2147483647
( × 10
-2
[degree/min]).
*4 Pulse conversion use only.
*5 MELSEC iQ-R Motion Controller Programming Manual (Common)
Home position return direction
When the home position return is started, the operation starting direction is set.
Home position return direction
0: Reverse direction (Address decrease direction)
1: Forward direction (Address increase direction)
Details
The operation is executed in the direction in which the address decreases. (Arrow (1))
The operation is executed in the direction in which the address increases. (Arrow (2))
As the home position is normally set near the lower or upper limit, the "home position return direction" is set as shown below.
When the home position is set at the lower limit side, the home position return direction is in the direction of arrow (1).
Set “0” for home position return direction.
Lower limit Upper limit
(1)
Home position
Address decrement direction
Address increment direction
3
Address decrement direction
Lower limit
(2)
Home position
Upper limit
Address increment direction
When the home position is set at the upper limit side, the home position return direction is in the direction of arrow (2).
Set “1” for home position return direction.
3 PARAMETERS FOR POSITIONING CONTROL
3.4 Home Position Return Data
181
Home position return method
The home position return method for executing home position return is set.
Refer to the following for details of the home position return methods.
Home position return methods
0: Proximity dog method 1
4: Proximity dog method 2
1: Count method 1
5: Count method 2
6: Count method 3
2: Data set method 1
3: Data set method 2
14: Data set method 3
7: Dog cradle method
8: Stopper method 1
9: Stopper method 2
10: Limit switch combined method
11: Scale home position signal detection method
12: Dogless home position signal reference method
13: Driver home position return method
Reference
Page 384 Home position return by the proximity dog method 1
Page 386 Home position return by the proximity dog method 2
Page 388 Home position return by the count method 1
Page 389 Home position return by the count method 2
Page 390 Home position return by the count method 3
Page 392 Home position return by the data set method 1
Page 393 Home position return by the data set method 2
Page 394 Home position return by the data set method 3
Page 395 Home position return by the dog cradle method
Page 398 Home position return by the stopper method 1
Page 399 Home position return by the stopper method 2
Page 400 Home position return by the limit switch combined method
Page 402 Home position return by the scale home position signal detection method
Page 404 Home position return by the dogless home position signal reference method
Page 409 Home position return by the driver home position return method
Home position address
Set the address used as the reference point for positioning control (absolute data method).
(When the home position return is completed, the stop position address is changed to the set address. At the same time, it is stored in the feed current value.)
Home position return speed
Set the speed for home position return.
Set the home position return speed to the speed limit value or less.
If the speed limit value is exceeded, a minor error (error code: 1B04H) will occur, and home position return will not be executed.
The home position return speed should be equal to or faster than the bias speed at start and creep speed.
Creep speed
Set the creep speed after proximity dog ON (the low speed just before stopping after decelerating from the home position return speed).
The creep speed is set within the following range.
Home position return speed ≥ Creep speed ≥ Bias speed at start
182
3 PARAMETERS FOR POSITIONING CONTROL
3.4 Home Position Return Data
Travel value after proximity dog ON
The travel value after proximity dog ON is set to execute the count method home position return.
After the proximity dog ON, the home position is the first zero-point after travel by the setting travel value.
Set the travel value after proximity dog ON more than the deceleration distance from the home position return speed.
Ex.
The deceleration distance is calculated from the speed limit value, home position return speed, creep speed and deceleration time as shown below.
[Home position return operation]
Speed limit value: V P = 200kpps
3
Home position return speed: V
Z
= 10kpps
Creep speed: V
C
= 1kpps
Real deceleration time : t = T B
V
Z
V
P t
T
B Deceleration time: T
B
= 300ms
[Deceleration distance (shaded area under graph)]
=
1
2
V
Z
1000
t
Converts in speed per millisecond
=
=
V
Z
2000
10 10 3
T
B
V
Z
V
P
2000
300 10 10 3
200 10 3
= 75. . . . . . Set 75 or more
• A home position return must be made after the servo motor has been rotated more than one revolution to pass the axis through the Z-phase (motor reference position signal). For a proximity dog method or count method home position return, the distance between the point where the home position return program is started and the deceleration stop point before re-travel must be such that the servo motor is rotated more than one revolution to pass the axis through the Z-phase.
When a data set method home position return is made in an ABS (absolute position) system, the servo motor must also have been rotated more than one revolution by JOG operation or the like to pass the axis through the Z-phase.
When "1: No servo motor Z-phase pass after power ON" is selected in the "function selection C-4 (PC17)" of servo parameter (expansion setting parameter), even if it does not pass zero point, the home position return can be executed and restrictions are lost.
• Calculate the movement amount using the same procedure in the example above, regardless of the unit setting.
3 PARAMETERS FOR POSITIONING CONTROL
3.4 Home Position Return Data
183
Parameter block setting
Set the number of the parameter block (1 to 64) used for home position return. (
Valid/invalid of the parameter block setting for each home position return method is shown below.
: Valid : Invalid
Home position return methods
Proximity dog method
Count method
Data set method
Dog cradle method
Stopper method
Limit switch combined method
Scale home position signal detection method
Dogless home position signal reference method
Operation A
Operation B
Operation C
Driver home position return method
Valid/invalid of the parameter block setting
184
3 PARAMETERS FOR POSITIONING CONTROL
3.4 Home Position Return Data
Home position return retry function/dwell time at the home position return retry
Valid/invalid of home position return retry is set.
When the valid of home position return retry function is set, the time to stop at return of travel direction is set with dwell time at the home position return retry.
Operation for the proximity dog method home position return by setting "valid" for home position return retry function is shown below.
• Acceleration time Deceleration time
(5)
(4)
Proximity dog
Home position return direction
(6)
Home position
The temporary stop is made during time set in the
"dwell time at the home position return retry".
Home position return start
(3)
(1)
Zero point
(2)
External limit switch
(1) It travels to preset direction of home position return.
(2) If the external upper/lower limit switch turns OFF before the detection of proximity dog, a deceleration stop is made.
(3) After a deceleration stop, the temporary stop is made during time set in the
"dwell time at the home position return retry" and it travels to reverse direction of home position return with the home position return speed.
(4) A deceleration stop is made by the proximity dog OFF.
(5) After a deceleration stop, the temporary stop is made during time set in the
"dwell time at the home position return retry" and it travels to direction of home position return.
(6) Home position return ends.
The temporary stop is made during time set in the
"dwell time at the home position return retry".
Valid/invalid of home position return retry function by the home position return method is shown below.
: Valid : Invalid
Home position return methods
Proximity dog method
Count method
Data set method
Dog cradle method
Stopper method
Limit switch combined method
Scale home position signal detection method
Dogless home position signal reference method
Operation A
Operation B
Operation C
Driver home position return method
Valid/invalid of the parameter block setting
3
3 PARAMETERS FOR POSITIONING CONTROL
3.4 Home Position Return Data
185
Home position shift amount/speed set at the home position shift
The shift (travel) amount from position stopped by home position return is set.
If the home position shift amount is positive value, it shifts from detected zero point signal to address increase direction. If it is negative value, it shifts from detected zero point signal to address decrease direction.
Operation speed which set the home position shift amount except "0" is set in the speed set at the home position shift. Select one of the "home position return speed" or "creep speed".
• Home position shift amount is positive value
Address decrease direction
Home position return direction
Address increase direction
Home position return speed
Creep speed
Set the operation speed at the home position shift with speed set at the home position shift.
Select one of "home position return speed" or "creep speed".
Home position return start
Proximity dog
Home position return re-travel value
Travel value after proximity dog ON
Home position
Home position shift amount
(Positive value)
Zero point
• Home position shift amount is negative value
Address decrease direction
Home position return direction
Address increase direction
Home position return speed
Home position return start
Home position return re-travel value
Creep speed
Home position
Creep speed
Travel value after proximity dog ON
Set the operation speed at the home position shift with speed set at the home position shift.
Select one of "home position return speed" or "creep speed".
Home position return speed
Proximity dog
Home position shift amount
(Negative value)
Zero point
Valid/invalid of the setting value for home position shift amount by the home position return method is shown below.
: Valid : Invalid
Home position return methods
Proximity dog method
Count method
Data set method
Dog cradle method
Stopper method
Limit switch combined method
Scale home position signal detection method
Dogless home position signal reference method
Driver home position return method
Valid/invalid of home position shift amount
186
3 PARAMETERS FOR POSITIONING CONTROL
3.4 Home Position Return Data
• Home position shift function is used to rectify a home position stopped by the home position return. When there are physical restrictions in the home position by the relation of a proximity dog setting position, the home position is rectified to the optimal position. In addition, by using the home position shift function it is not necessary to consider the zero point when mounting the servo motor.
• After proximity dog ON, if the travel value including home position shift amount exceeds the range of "-
2147483648 to 2147483647" [ × 10 -1
μ m, × 10 -5 inch, × 10 -5 degree, pulse], "travel value after proximity dog
ON" of monitor register is not set correctly.
3
Torque limit value at the creep speed
Torque limit value at the creep speed (on press) is set in the case of using the pressed position as the home position by the home position return of stopper method 1, 2.
Valid/invalid of the torque limit value at the creep speed by the home position return method is shown below.
: Valid : Invalid
Home position return methods
Proximity dog method
Count method
Data set method
Dog cradle method
Stopper method
Limit switch combined method
Scale home position signal detection method
Dogless home position signal reference method
Driver home position return method
Valid/invalid of home position shift amount
3 PARAMETERS FOR POSITIONING CONTROL
3.4 Home Position Return Data
187
Operation setting for incompletion of home position return
Set the operation for executing or not executing the servo program when the state of the home position return request signal is ON.
When the home position return request signal is ON while G-code control is running, a minor error (error code: 1FC1H (details code: 0116H)) occurs regardless of this setting.
Operation in selecting "1: Not execute servo program"
• Servo program cannot be executed if the "[St.1069] Home position return request (R: M32409+32n/Q: M2409+20n)" is ON.
However, the servo program can be executed even if the "[St.1069] Home position return request (R: M32409+32n/Q:
M2409+20n)" is ON in the case of only servo program of home position return instruction (ZERO).
• At the time of servo program start, when "1: Not execute servo program" is selected in the operation setting for incompletion of home position return and the axis which the "[St.1069] Home position return request (R: M32409+32n/Q:
M2409+20n)" is ON exists also with one axis, a minor error (error code: 19A6H) occurs and the servo program does not start.
• JOG operation and manual pulse generator operation can be executed regardless of the "[St.1069] Home position return request (R: M32409+32n/Q: M2409+20n)" ON/OFF.
• Same operation is executed regardless of absolute position system or not. When "1: Not execute servo program" is selected in the case of not absolute position system, the "[St.1069] Home position return request (R: M32409+32n/Q:
M2409+20n)" turns ON at power supply ON or reset of Multiple CPU system and power supply ON of servo amplifier.
Therefore, it must be executed home position return before a servo program start.
• Same operation is executed in TEST mode.
Operation in selecting "0: Execute servo program"
• Servo program can be executed even if the "[St.1069] Home position return request (R: M32409+32n/Q: M2409+20n)" is
ON.
CAUTION
• Do not execute the positioning control in "[St.1069] Home position return request (R: M32409+32n/Q: M2409+20n)" is ON for the axis which uses in the positioning control. Failure to observe this could lead to an accident such as a collision.
188
3 PARAMETERS FOR POSITIONING CONTROL
3.4 Home Position Return Data
Setting items for home position return data
The home position return data that require setting are listed below by home position return method.
: Must be set (Indirect setting) : Must be set : Must be not set
Items Home position return methods
Dogless home position reference method
3
Home position return data
Parameter blocks
Home position return direction
Home position address
Home position return speed
Creep speed
Travel value after proximity dog ON
Parameter block setting
Home position return retry function
Dwell time at the home position return retry
Home position shift amount
Speed set at the home position shift
Torque limit value at the creep speed
Operation setting for incompletion of home position return
Interpolation control unit
Speed limit value
Acceleration time
Deceleration time
Rapid stop deceleration time
S-curve ratio
Advanced S-curve acceleration / deceleration
Acceleration/ deceleration system
Acceleration section
1 ratio
Acceleration section
2 ratio
Deceleration section 1 ratio
Deceleration section 2 ratio
Torque limit value
Deceleration processing at the stop time
Allowable error range for circular interpolation
Bias speed at start
3 PARAMETERS FOR POSITIONING CONTROL
3.4 Home Position Return Data
189
3.5
JOG Operation Data
JOG operation data is the data required to execute JOG operation.
[Motion Control Parameter] [Axis Setting Parameter] "JOG Operation Data"
No.
Item Default value
Setting range mm inch degree pulse
Direct
Valid/ invalid
1 to 2147483647
[pulse/s]
Indirect setting
Valid/ invalid
(Required size)
Fetch cycle
1 JOG speed limit value
20000
[pulse/s]
1 to 600000000
( × 10 -2 [mm/min])
1 to 600000000
( × 10 -3 [inch/min]) (
1 to 2147483647
× 10
-3
[degree/
2 Parameter block setting
1 1 to 64
*1 For direct setting using MT Developer2, use the decimal format instead of the exponential format.
*2 When the "speed control 10 × multiplier setting for degree axis" is valid in the fixed parameter, the setting range is 1 to 2147483647
( × 10 -2 [degree/min]).
JOG speed limit value
Set the maximum speed during JOG operation.
Set the "JOG operation speed" not higher than the JOG speed limit value.
When the JOG speed exceeds the limit value, the "JOG operation speed" is limited to the JOG speed limit value.
Parameter block setting
Set the number of the parameter block used for JOG operation.
JOG operation data check
A relative check of the JOG operation data is executed at the following timing:
• JOG operation Individual start
• JOG operation simultaneous start
• JOG operation request
190
3 PARAMETERS FOR POSITIONING CONTROL
3.5 JOG Operation Data
Data error processing
• Only data for which detected errors is controlled as default value.
• The error code corresponding to each data for erroneous axis is stored in the data register.
Start to outside the range of stroke limit of fixed parameter cannot be executed.
However, JOG operation is possible in the direction from outside the stroke limit range to back inside the stroke limit range.
Stroke limit lower Stroke limit upper
. . . Does not start
. . . Start
. . . Does not start
. . . Start
For a degree axis, depending on the stroke limit setting, the direction that can return the axis into the stroke range is different.
• When upper stroke limit value > lower stroke limit value
When "Feed current value > upper stroke limit value", movement in the negative direction is possible.
When "Feed current value < lower stroke limit value", movement in the positive direction is possible.
• When upper stroke limit value < lower stroke limit value
Movement in both the positive and negative direction is possible.
3
3 PARAMETERS FOR POSITIONING CONTROL
3.5 JOG Operation Data
191
3.6
External Signal Parameter
This parameter is used to the servo external signal (Upper stroke limit (FLS), Lower stroke limit (RLS), Stop signal (STOP),
Proximity dog/Speed-position switching (DOG/CHANGE)) used for each axis.
[Motion Control Parameter] [Axis Setting Parameter] "External Signal Parameter"
Item
FLS signal
RLS signal
STOP signal Signal type
Device
Contact
DOG signal
Signal type
Device
Contact
Signal type
Device
Contact
Signal type
Device
Contact
Precision
Setting range
Invalid
0: Invalid
0: Invalid
0: Invalid
0: Invalid
Amplifier input
1: Amplifier input
0: Normal open
1: Normal close
1: Amplifier input
0: Normal open
1: Normal close
1: Amplifier input
0: Normal open
1: Normal close
0: General
Bit device
2: Bit device
Bit device
0: Normal open
1: Normal close
2: Bit device
Bit device
0: Normal open
1: Normal close
2: Bit device
Bit device
0: Normal open
1: Normal close
2: Bit device
Bit device
0: Normal open
1: Normal close
0: General
1: High Precision
Default value
0: Invalid
0: Invalid
0: Invalid
0: Invalid
Signal type
Set the signal type to use as the external signal.
■
Invalid
The external signal is invalid.
■
Amplifier input
The input signal of servo amplifier is used as the following external signals.
Input signal
DI1
DI2
DI3
External signal
Upper stroke limit (FLS)
Lower stroke limit (RLS)
Proximity dog (DOG)
■
Bit device
The optional bit device is used as the servo external signal.
Device
Set the bit device used when the signal type is set to the bit device.
Refer to the indirect setting method by devices for parameters for the range of usable devices. (
Method by Devices for Parameters)
192
3 PARAMETERS FOR POSITIONING CONTROL
3.6 External Signal Parameter
Contact
Set the signal contact used as the external signal.
■
Normal open
External signal
FLS signal ON
RLS signal ON
STOP signal ON
DOG signal ON
Details
The upper stroke limit is detected, and "operation of direction that the feed current value increase" cannot be executed.
The lower stroke limit is detected, and "operation of direction that the feed current value decrease" cannot be executed.
The stop signal is detected, and an operation stops.
The proximity dog/speed-position switching signal is detected, and the home position return operation and speedposition control switching is executed.
■
Normal close
External signal
FLS signal OFF
RLS signal OFF
STOP signal OFF
DOG signal OFF
Details
The upper stroke limit is detected, and "operation of direction that the feed current value increase" cannot be executed.
The lower stroke limit is detected, and "operation of direction that the feed current value decrease" cannot be executed.
The stop signal is detected, and an operation stops.
The proximity dog/speed-position switching signal is detected, and the home position return operation and speedposition control switching is executed.
CAUTION
• For the stroke limit wiring, always use negative logic (normally closed contact). Using the positive logic (normally open contact) may cause serious accidents.
• The input signal of the servo amplifier is always turned OFF when the communication with the servo amplifier is disconnected. If using the state of the external signal of the disconnected axis ([St.1071] External signals FLS (R: M32411+32n/Q: M2411+20n) / [St.1072] External signals RLS (R: M32412+32n/
Q: M2412+20n) / [St.1074] External signals DOG/CHANGE (R: M32414+32n/Q: M2414+20n)) as the external signal of another axis that is not disconnected, design the system so that the machine will not go into a dangerous state due to the connection state of the servo amplifier.
Precision
Set the precision when the DOG signal is used for the count method home position return or the speed-position switching control.
Precision
General
High precision
Signal type
Bit device
Amplifier input (DI3)
Bit device
(Actual X device)
Setting required on the module side
None
None
• Enable the inter-module synchronization function.
• Set the input response time.
Detection precision [ μ s]
• Operation cycle 1.777 [ms] or less: Operation cycle
• Operation cycle 3.555 [ms] or more: 3555
0.10
0.20
0.40
0.60
1.00
5.00
10.00
20.00
70.00
*1 When an actual device with the inter-module synchronization setting is used, the inter-module synchronization cycle is used.
*2 When the function is not enabled, a moderate error (error code: 30D2H) occurs.
*3 Detection precision of the high precision setting of the bit device
Input response time
[ms]
Detection precision
Theoretical value [ μ s]
39.5
158
316
630
4.9
9.9
19.8
25.0
2500
Measured value [ μ s]
41
160
318
632
7
12
22
27
2502
3
3 PARAMETERS FOR POSITIONING CONTROL
3.6 External Signal Parameter
193
■
General
The detection precision is based on the fixed-cycle processing of the Motion CPU.
When the input module setting is "Inter-module synchronization valid" and the servo amplifier DI3 signal setting is "high precision input", the general detection precision is applied.
■
High precision
When the input module setting is "Inter-module synchronization valid", the stopping precision of the count method home position return or the speed-position switching control can be high by setting the DOG signal precision setting to "high precision".
Refer to the following for the input module setting method.
MELSEC iQ-R Motion controller Programming Manual (Common)
When this setting is applied to a signal that does not support high precision input a moderate error (error code: 30D2H) occurs.
194
3 PARAMETERS FOR POSITIONING CONTROL
3.6 External Signal Parameter
3.7
Expansion Parameters
The expansion parameters are data to execute the following operation by the parameters set in each axis.
• Monitor individually the positive and negative direction torque limit value.
• Change the acceleration/deceleration time when changing speed.
• When performing positioning control in the absolute data method on a degrees axis, specify the positioning direction.
[Motion Control Parameter] [Axis Setting Parameter] [Axis Setting Parameter]
No. Item Default value
Setting range Direct setting
Refresh cycle
Reference section
1 mm
inch degree pulse Valid/ invalid
Valid/ invalid
(Required size)
Fetch cycle
(1 word) Operation cycle
2
3
4
5
6
7
Positive direction torque limit value monitor device
Negative direction torque
Acceleration
/deceleration time change parameter
Acceleration
/deceleration time change enable device
New acceleration time value device
New deceleration time value device
Servo motor maximum speed check parameter
Maximum servo motor speed
Deceleration time constant
ABS direction in degrees device
0 ( × 10 -2
[r/min])
0[ms]
0 to 10000000( × 10 -2 [r/min])
(1 word)
(1 bit)
(2 word
(2 word
At request of speed change
(2 word) At machine
operation start
(1 word) At program start
*1 For direct setting using MT Developer2, use the decimal format instead of the exponential format.
*2 Refer to the indirect setting method by devices for parameters for the range of devices used for indirect setting. (
Setting Method by Devices for Parameters)
*3 This setting can be omitted.
*4 When the number of words used is set to 1 word in the MT Developer2 options screen, the required size for indirect setting is "1 word".
Refer to "Acceleration/Deceleration Time and Command Torque Time Constant 1 Word Setting Function" in the following manual for details on the 1 word setting.
MELSEC iQ-R Motion Controller Programming Manual (Common)
*5 When 0 is set, a deceleration stop is executed according to the stop deceleration time set in the parameter block.
*6 Can be set when the unit setting of the fixed parameter is "degree".
*7 During position follow-up control, the values of devices that were indirectly set at the change of the positioning address are input again.
*8 For continuous trajectory control, operation is by the settings at the start, even if the settings were changed during operation.
3
3 PARAMETERS FOR POSITIONING CONTROL
3.7 Expansion Parameters
195
Positive direction torque limit value monitor device/negative direction torque limit value monitor device
The positive direction torque limit value monitor device and negative direction torque limit value monitor device are set for every axis, and the positive and negative direction torque limit value are monitored (0.1 to 1000.0[%]) individually.
Positive direction torque limit value monitor device
Set the device to monitor the positive torque limit value.
The positive torque limit value (forward rotation (CCW) driving, reverse rotation (CW) regenerative torque limit value) to command the servo amplifier is stored.
The default value "300.0[%]" is stored at the control circuit power supply of servo amplifier ON.
Negative direction torque limit value monitor device
Set the device to monitor the negative torque limit value.
The negative torque limit value (reverse rotation (CW) driving, forward rotation (CCW) regenerative torque limit value) to command the servo amplifier is stored.
The default value "300.0[%]" is stored at the power supply of servo amplifier ON.
The positive torque limit value is stored in the "[Md.35] Torque limit value (R: D32014+48n/Q: D14+20n)" in
0.1 [%] unit. (The negative torque limit value is not stored.)
196
3 PARAMETERS FOR POSITIONING CONTROL
3.7 Expansion Parameters
Acceleration/deceleration time change parameter
The acceleration/deceleration time change parameter arbitrarily changes the acceleration/deceleration time at speed change, when changing speed with the Motion dedicated function (CHGV) of Motion SFC program (and also the Motion dedicated
PLC instruction (M(P).CHGV/D(P).CHGV)).
Acceleration/deceleration time change enable device
Set the device to enable the change of acceleration/deceleration time at a speed change request.
The following describes the operation for ON and OFF of the acceleration/deceleration time change enable device.
Setting value
ON
OFF
Details
Speed change is executed at a speed change request by changing the acceleration/deceleration time values in the new acceleration time value device and new deceleration time value device.
Does not change acceleration/deceleration time at a speed change request.
New acceleration time value device
Set the device to set the change value when changing the acceleration time at a speed change request.
The following change values are set in the new acceleration time value device.
Setting value
Other than above
Details
If a speed change request is executed when the acceleration/deceleration time change enable device is ON, speed change is executed by changing the acceleration time to the setting value
Acceleration time change is disabled, and speed change is maintained at the current acceleration time.
*1 When the number of words used is 1 word, the setting value is "1 to 65535[ms]".
New deceleration time value device
Set the device to set the change value when changing the deceleration time at a speed change request.
The following change values are set in the new deceleration time value device.
Setting value
Other than above
Details
If a speed change request is executed when the acceleration/deceleration time change enable device is ON, speed change is executed by changing the deceleration time to the setting value.
Deceleration time change is disabled, and speed change is maintained at the current deceleration time.
*1 When the number of words used is 1 word, the setting value is "1 to 65535[ms]".
• When the setting of acceleration/deceleration time change enable device is omitted, change of acceleration/ deceleration time at a speed change request is not executed. When changing acceleration/deceleration time at a speed change, set this parameter.
• When the setting of new acceleration time value device and new deceleration time value device is omitted, change of acceleration/deceleration time of the omitted devices is not executed.
• Use the operating system software version "26" or later when using new acceleration time value device and new deceleration time value device with the number of words used set to 1 word. If the operating system software version "25" or earlier is installed with the number of words used set to 1 word, a moderate error
(error code: 2220H) occurs when the Multiple CPU system power supply is turned ON again after installation.
3
3 PARAMETERS FOR POSITIONING CONTROL
3.7 Expansion Parameters
197
Servo motor maximum speed check parameter
Setting the servo motor maximum speed avoids an incorrect command value being sent to the servo amplifier, and shortens the braking distance when the servo motor stops. The servo motor maximum speed check parameter is enabled only on axes set as "Joint axis structure" in the machine parameter. Refer to the following for details on machine parameter.
MELSEC iQ-R Motion Controller Programming Manual (Machine Control)
The servo motor maximum speed check parameter checks that the command value to the servo amplifier is within the servo motor maximum speed settings during machine program operation and machine JOG operation. When the servo motor maximum speed setting value is exceeded a minor error (error code: 1FE2H (details code: 0007H) occurs, and a deceleration stop is executed according to the stop deceleration time set in the parameter block, or a separate deceleration time.
(
Page 264 Stop processing and restarting after stop)
Servo motor maximum speed
Set the maximum speed determined by the mechanical system, etc. for each of the controlled axes as the servo motor maximum speed.
The servo motor maximum speed is used in the joint interpolation speed restriction function, and servo motor maximum speed check. Refer to the following for details of joint interpolation speed restriction function, and servo motor maximum speed check.
MELSEC iQ-R Motion Controller Programming Manual (Machine Control)
When the servo motor maximum speed value is set to "0", the maximum speed check is disabled.
When the servo motor maximum speed is set by indirect setting, the settings are imported at the start of machine operation
(machine program operation, machine JOG operation). When the servo motor maximum speed is outside of the setting range, a warning (error code: 0EE0H (details code: 00F0H)) occurs, and the servo motor maximum speed check becomes the maximum value for the servo motor maximum speed.
When used in conjunction with coordinate transformation, because operation stops temporarily use the smoothing filter of the vibration suppression command filter function. When smoothing filter is not set during machine program operation, a warning
(error code: 0EE0H (details code: 00F1H)) occurs. Refer to vibration suppression command filter for vibration suppression command filter function. (
Page 472 Vibration Suppression Command Filter)
■
Settings when using linear servo motor
When using a linear servo motor, use the number of pulses set in servo parameter "(Linear servo motor function selection
1(PL01)(stop interval selection at the home position return))" to convert to number of revolutions. Use the following formula to calculate the value to be set servo motor maximum speed.
Linear servo motor restriction value[mm/min]×AP[pulse]×1000
Set value[rpm]=
AL[
μ m]×Number of pulses for stop interval selection at home position return[pulse]
AP: Number of pulses per revolution, AL: Travel value per revolution, 1000: [ μ m] converted to [mm]
Deceleration time constant
Set the time it takes from servo motor maximum speed to stop when the command value to the servo amplifier exceeds the servo motor maximum speed set value.
The deceleration time constant is used in the servo motor maximum speed check. Refer to the following for details on the servo motor maximum speed check.
MELSEC iQ-R Motion Controller Programming Manual (Machine Control)
When deceleration time constant is set to "0", a deceleration stop is executed according to the stop deceleration time set in the parameter block.
198
3 PARAMETERS FOR POSITIONING CONTROL
3.7 Expansion Parameters
• Relationship between the servo motor maximum speed and speed limit value
When setting the servo motor maximum speed, make sure to set it so that the speed calculated from the servo motor maximum speed([r/min]) is larger than the speed limit value. If the speed calculated from the servo motor maximum speed is smaller than the speed limit value, the motor stops before reaching the speed limit value.
• Servo motor maximum speed check during interpolation control
The servo motor maximum speed check during interpolation control is not valid for positioning speed at interpolation control (
Page 256 Positioning speed at the interpolation control), but for the positioning
speed of each axis.
When the servo motor speed exceeds the set value during interpolation control, stop processing is performed on the interpolation axis.
3
3 PARAMETERS FOR POSITIONING CONTROL
3.7 Expansion Parameters
199
ABS direction in degrees device
If performing positioning control in the absolute data method on an axis where the control unit is degrees and when the stroke limit is invalid, a shortcut operation occurs. By setting the positioning direction in the ABS direction in degrees device expansion parameter, positioning control can be performed in a specified direction.
Supported positioning controls
ABS direction in degrees is enabled only for the following positioning controls.
Positioning control Instruction symbol
Processing
Linear interpolation control 1 axis Absolute 1-axis linear interpolation
ABS-1
2 axis Absolute 2-axes linear interpolation
ABS-2
3 axis Absolute 3-axes linear interpolation
ABS-3
4 axis Absolute 4-axes linear interpolation
ABS-4
Helical interpolation control *1
Auxiliary point-specified Absolute auxiliary point- specified helical interpolation
ABH
Radius-specified
ABH
Absolute radius-specified helical interpolation less than CW 180 °
Absolute radius-specified helical interpolation CW 180 ° or more
ABH
ABH
Absolute radius-specified helical interpolation less than CCW 180 °
ABH
Absolute radius-specified helical interpolation CCW 180 ° or more
Central point-specified Absolute central point-specified helical interpolation CW
ABH
Absolute central point-specified helical interpolation CCW
ABH
Continuous trajectory control Continuous trajectory control passing point absolute specification
ABS-1
Position follow-up control
ABH
ABH
ABH
ABH
ABS-2
ABS-3
ABS-4
ABH
ABH
ABH
PFSTART
Continuous trajectory control passing point helical absolute specification
Position follow-up control start
*1 Linear axis valid only
200
3 PARAMETERS FOR POSITIONING CONTROL
3.7 Expansion Parameters
Setting range of ABS direction in degrees device
Positioning control is performed in the specified direction based on the value of ABS direction in degrees device at the start.
The following values can be set in ABS direction in degrees device.
ABS direction in degrees device value
0
1
2
Positioning direction
Shortcut
Forward direction (address increasing)
Reverse direction (address decreasing)
When the value of the ABS direction in degrees device is outside of range at the start of positioning control, a minor error
(error code: 19A4H) occurs, and positioning control does not start. When setting is changed during operation, the operation continues with the setting at the start of operation.
However, during position follow-up control, the value of the ABS direction in degrees device is input again at the time of when the positioning address is changed. When the value of the ABS direction in degrees device that is input again is out of range, a minor error (error code: 19A4H) occurs, and a deceleration stop is made.
Operation 1
Operation 1 for when ABS direction in degrees device is set is shown below.
■
Positioning conditions
Item
Servo program No.
Control axis
Positioning address
Positioning speed
ABS direction in degrees device
Current value
■
Servo program
Setting
10
1
0.00000 [degree]
18.000 [degree/min]
1 (forward direction) / 2 (reverse direction)
45.00000 [degree]
<K 10>
ABS-1
Axis 1,
Speed
0.00000degree
18.000degree/min
3
■
Operation when positioning direction is set to "1: Forward direction", "2: Reverse direction" in ABS direction in degrees device
When "1: Forward direction" is set When "2: Reverse direction" is set
0 0
45 45
270 90 270 90
180 180
3 PARAMETERS FOR POSITIONING CONTROL
3.7 Expansion Parameters
201
• When the setting of ABS direction in degrees device is omitted, a shortcut operation occurs.
• If one of the following conditions is not satisfied, the setting of ABS direction in degrees device is disabled.
(1) Control unit is set to a degrees axis.
(2) Stroke limit is set to invalid.
(3) A servo instruction with ABS direction in degrees enabled is used.
• Positioning address is within the range of "0 ° to 359.99999
° ". If performing positioning for one revolution or more, use the incremental system.
Operation 2
Operation 2 for when ABS direction in degrees device is set is shown below.
■
Positioning conditions
Item
Servo program No.
Control axis
Positioning address
Positioning speed
ABS direction in degrees device
Setting
11
1
D6000 [degree]
18.000 [degree/min]
1 (forward direction)
■
Servo program
<K 11>
PFSTART
Axis 1,
Speed
D6000degree
18.000degree/min
■
When "Movement amount from current value < deceleration stop distance" at positioning address change
Speed
Feed current value
360
Positioning address change
Positioning address t
Because a deceleration stop cannot be made at the position, after making a deceleration stop, positioning continues to the positioning address one revolution ahead.
t
Positioning address
0
350 270
202
3 PARAMETERS FOR POSITIONING CONTROL
3.7 Expansion Parameters
■
When value of ABS direction in degrees is changed at positioning address change
Changing the ABS direction in degrees device from "1: Forward direction" to "2: Reverse direction"
Speed
Feed current value
360
Positioning address change
ABS direction in degrees device change
Positioning address
ABS direction in degrees value
0
1
350 t
The ABS direction in degrees device value becomes valid at the time of when the positioning address was changed.
The ABS direction in degrees value does not become valid at the time of when it was changed.
t
2
200
3
3 PARAMETERS FOR POSITIONING CONTROL
3.7 Expansion Parameters
203
3.8
Speed-torque control data
Speed-torque control data are for executing "speed-torque control".
[Motion Control Parameter] [Axis Setting Parameter] "Speed-Torque Control Data"
No. Setting item
Setting necessity
Default value
Setting range Direct
Indirect setting
mm inch degree pulse Valid/ invalid
Valid/ invalid
(Required size)
Fetch cycle
Reference section
1
2
3
Control mode switching request device
Control mode setting device
Speed limit value at speed controltorque
4
5
6
7
8
9
10
Torque limit value at speedtorque control
Speed command device
Command speed acceleration time
Command speed deceleration time
Torque command device
Command torque time constant
(positive direction)
Command torque time constant
(negative direction)
1000[ms] 0 to 8388608[ms]
1000[ms] 0 to 8388608[ms]
1000[ms] 0 to 8388608[ms]
1000[ms] 0 to 8388608[ms]
200000
[Selected unit]
3000
( × 10
[%])
-1
1 to
60000000
0
( × 10 -2
[mm/min])
1 to
60000000
0
( × 10 -3
[inch/min])
1 to
21474836
47
( × 10 -3
[degree/
1 to 10000( × 10 -1 [%])
1 to
21474836
47
[pulse/s]
(1 bit)
(1 word)
Operation cycle
(1 word)
(2 words)
At switching of the control mode
(2 words) Operation cycle
(2 words
(2
words
(2 words
At switching of the control mode
(1 word) Operation cycle
(2 words
At switching of the control mode
204
3 PARAMETERS FOR POSITIONING CONTROL
3.8 Speed-torque control data
No. Setting item
Setting necessity
Default value
Setting range mm inch degree pulse
Direct setting
*1
Valid/ invalid
Indirect setting
*2
Valid/ invalid
(Required size)
Fetch cycle
Reference section
11 Speed initial value selection at control mode switching
0 0: Command speed
1: Feedback speed
2: Automatic selection
12
13
Torque initial value selection at control mode switching
Invalid selection during zero speed at control mode switching
0
0
0: Command torque
1: Feedback torque
0: Condition at control mode switching: valid
1: Condition during zero speed at control mode switching: invalid
*1 For direct setting using MT Developer2, use the decimal format instead of the exponential format.
*2 Refer to the indirect setting method by devices for parameters for the range of devices used for indirect setting. (
Setting Method by Devices for Parameters)
*3 This setting can be omitted.
*4 When the "speed control 10 × multiplier setting for degree axis" is set to "valid", the setting range is 1 to 2147483647( × 10
-2
[degree/min].
*5 When the number of words used is set to 1 word in the MT Developer2 options screen, the setting range and required size for indirect setting is shown in the following table. Refer to "Acceleration/Deceleration Time and Command Torque Time Constant 1 Word Setting
Function" in the following manual for details on the 1 word setting.
MELSEC iQ-R Motion Controller Programming Manual (Common)
Setting range
0 to 65535[ms]
Required size for indirect setting
1 word
Control mode switching request device
Set the device to request switching of the control mode.
When the control mode switching request device is turned OFF to ON, the mode is switched to the control mode set in the control mode setting device.
Control mode setting device
Set the device to set the control mode after switching.
When the control mode switching request device is turned from OFF to ON, the following mode is applied based on the value set in the control mode setting device.
Control mode setting device value
0
10
20
30
Control mode
Position control mode
Speed control mode
Torque control mode
Continuous operation to torque control mode
If the value of control mode setting device is outside the range at control mode switching request, a warning (error code:
09E8H) will occur, and the control mode is not switched.
3
3 PARAMETERS FOR POSITIONING CONTROL
3.8 Speed-torque control data
205
Speed limit value at speed-torque control
Set the speed limit value (absolute value) at speed control, torque control or continuous operation to torque control.
If the command speed exceeds the speed limit value at speed-torque control, a warning (error code: 0A5FH) will occur, and the control is executed with the speed limit value at speed-torque control.
Torque limit value at speed-torque control
Set the torque limit value (absolute value) in speed control, torque control or continuous operation to torque control.
If the command torque exceeds the torque limit value at speed-torque control, a warning (error code: 09E4H) will occur, and the control is executed with the torque limit value at speed-torque control.
Speed command device
Set the command speed at speed control and the speed limit command value to servo amplifier at torque control or continuous operation to torque control. The value of speed command device can be changed at any time.
The following values can be set to the speed command device.
Units mm inch degree pulse
Setting range
-600000000 to 600000000( × 10 -2 [mm/min])
-600000000 to 600000000( × 10 -3 [inch/min])
-2147483648 to 2147483647( × 10 -3
-2147483648 to 2147483647( × 10
-2
[pulse/s])
*1 When the "speed control 10 × multiplier setting for degree axis" is valid, the setting range is -2147483648 to 2147483647( × 10 min]).
-2
[degree/
The actual motor speed may not reach the speed limit value depending on the machine load situation during torque control or continuous operation to torque control.
206
3 PARAMETERS FOR POSITIONING CONTROL
3.8 Speed-torque control data
Command speed acceleration time, Command speed deceleration time
Set the acceleration time for the speed to increase from "0" to reach the speed limit value at speed-torque control and deceleration time taken to stop from the speed limit value at speed-torque control during speed control or continuous operation to torque control.
Command speed deceleration time
Speed limit value at speed-torque control
30000
V
Command speed acceleration time
20000
The command value to the servo amplifier is stored at the "[Md.28] Command speed (R: D32024+48n,
D32025+48n/Q: #8004+20n, #8005+20n)".
0
-10000
-20000 t
Speed limit value at speed-torque control
Command speed acceleration time
Command speed deceleration time
Speed command device 0 20000 30000 0 -10000 -20000 0
When the rotation direction is changed due to the command speed change during speed control, the operation is as follows.
• A deceleration is made to 0 [r/min] according to the setting value of command speed deceleration time. After that, an acceleration is made to the command speed according to the setting value of command speed acceleration time.
Use the operating system software version "26" or later when using command speed acceleration time and command speed deceleration time with the number of words used set to 1 word. If the operating system software version "25" or earlier is installed with the number of words used set to 1 word, a moderate error
(error code: 2220H) occurs when the Multiple CPU system power supply is turned ON again after installation.
3
3 PARAMETERS FOR POSITIONING CONTROL
3.8 Speed-torque control data
207
Torque command device
Set the command torque at torque control and continuous operation to torque control.
Command torque can be changed at any time.
The following values can be set to the torque command device.
Setting range
-10000 to 10000 ( × 0.1[%])
Torque control
The relation between setting of command torque and torque generation direction of servo motor differs from the setting of servo parameter "Rotation direction selection (PA14)" and "Function selection C-B (PC29) (POL reflection selection at torque control)".
Function selection C-B
(PC29) (POL reflection selection at torque control)"
0: Valid
Rotation direction selection (PA14)
Torque command device
Positive value (Forward direction)
Negative value (Reverse direction)
Torque generation direction of servo motor
CCW direction
CW direction
1: Invalid
0: Forward rotation (CCW) with the increase of the positioning address
1: Reverse rotation (CW) with the increase of the positioning address
0: Forward rotation (CCW) with the increase of the positioning address
1: Reverse rotation (CW) with the increase of the positioning address
Positive value (Forward direction)
Negative value (Reverse direction)
Positive value (Forward direction)
Negative value (Reverse direction)
Positive value (Forward direction)
Negative value (Reverse direction)
CW direction
CCW direction
CCW direction
CW direction
CCW direction
CW direction
CCW direction
CW direction
Continuous operation to torque control
The relation between setting of command torque and torque generation direction of servo motor is fixed regardless of the setting of servo parameter "Rotation direction selection (PA14)" and "Function selection C-B (PC29) (POL reflection selection at torque control)".
Function selection C-B
(PC29) (POL reflection selection at torque control)"
0: Valid
Rotation direction selection (PA14)
Torque command device
Positive value (Forward direction)
Negative value (Reverse direction)
Torque generation direction of servo motor
CCW direction
CW direction
1: Invalid
0: Forward rotation (CCW) with the increase of the positioning address
1: Reverse rotation (CW) with the increase of the positioning address
0: Forward rotation (CCW) with the increase of the positioning address
1: Reverse rotation (CW) with the increase of the positioning address
Positive value (Forward direction)
Negative value (Reverse direction)
Positive value (Forward direction)
Negative value (Reverse direction)
Positive value (Forward direction)
Negative value (Reverse direction)
CCW direction
CW direction
CCW direction
CW direction
CCW direction
CW direction
CCW direction
CW direction
208
3 PARAMETERS FOR POSITIONING CONTROL
3.8 Speed-torque control data
Command torque time constant (positive direction), Command torque time constant (negative direction)
Set the time (positive direction) for torque to increase from "0" to reach the torque limit value at speed-torque control and the time (negative direction) to decrease to "0" from the torque limit value at speed-torque control during torque control or continuous operation to torque control.
Torque
[%]
Command torque time constant
(positive direction)
Command torque time constant
(negative direction)
Torque limit value at speed-torque control
30.0
20.0
3
0
-10.0
-20.0
t
Torque limit value at speed-torque control
Command torque time constant
(positive direction)
Command torque time constant
(negative direction)
Torque command device 0 200 300 0 -100 -200 0
When the torque generation direction of servo motor is changed due to the command torque change during torque control or continuous operation to torque control, the operation is as follows.
• The torque output value is 0 [%] according to the setting value of command torque time constant (negative direction). After that, the value becomes command torque according to the setting value of command torque time constant (positive direction).
Use the operating system software version "26" or later when using command torque time constant (positive direction) and command torque time constant (negative direction) with the number of words used set to 1 word. If the operating system software version "25" or earlier is installed with the number of words used set to
1 word, a moderate error (error code: 2220H) occurs when the Multiple CPU system power supply is turned
ON again after installation.
Speed initial value selection at control mode switching
Set the speed initial value at the following control mode switching.
• Position control to speed control
• Position control to continuous operation to torque control
• Speed control to continuous operation to torque control
Command speed to servo amplifier immediately after control mode switching Speed initial value selection at control mode switching
0: Command speed
1: Feedback speed
2: Automatic selection
The speed to servo amplifier immediately after switching is the speed during command.
Motor speed received from servo amplifier at switching.
The speed to servo amplifier immediately after switching is the lower speed between "0: Command speed" and "1: Feedback speed".
When the mode is switched to continuous operation to torque control mode in cases where command speed and actual speed are different such as during acceleration/deceleration or when the speed does not reach command speed due to torque limit, set "1: Feedback speed".
3 PARAMETERS FOR POSITIONING CONTROL
3.8 Speed-torque control data
209
Torque initial value selection at control mode switching
Set the torque initial value at switching to torque control mode or continuous operation to torque control mode.
Torque initial value selection at control mode switching
0: Command speed
Command torque to servo amplifier immediately after control mode switching
1: Feedback speed
Immediately after switching the control mode, the value of torque command device is the torque to servo amplifier regardless of the command torque time constant.
Motor current value received from servo amplifier at switching is the command torque to servo amplifier.
Invalid selection during zero speed at control mode switching
Set to switch the control mode without waiting for stop of servo motor.
Invalid selection during zero speed at control mode switching
0: Condition at control mode switching: valid
1: Condition during zero speed at control mode switching: invalid
Set normally "0". Set "1" to switch to the control mode without waiting for stop of servo motor immediately after completion of the command to servo motor.
At switching to continuous operation to torque control, switching of control mode is possible without stop regardless of the setting value.
210
3 PARAMETERS FOR POSITIONING CONTROL
3.8 Speed-torque control data
3.9
Pressure control data
Set pressure control parameters when using a pressure profile.
Pressure control data for up to 8 axes can be set.
[Motion Control Parameter] [Axis Setting Parameter] "Pressure Control Data"
No. Item
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Pressure control selection
Default value
0
Feed/dwell startup device
Dwell forced switching device
Pressure release startup device
Pressure command reference
Speed limit reference
Abnormal pressure switching mode
Abnormal pressure setting
Abnormal pressure setting time
Mode reset selection after passing dwell time
Pressure profile start-device
Pressure control status device
Feed execution point device
Dwell execution point device
Pressure release execution point device
Setting range mm
1 to 32767
1 to
600000000
( × 10 -2 [mm/ min])
0: Unselect
1: Select
0 to 32767
0 to 327670 [ms]
inch
0: Do not use pressure control
1: Use pressure control
1 to
600000000
( × 10 -3 [inch/ min])
0: Do not reset mode after passing dwell time
1: Reset mode after passing dwell time pulse
1 to
2147483647
[pulse/s]
Direct setting
Valid/ invalid
(1 word)
(2 word)
(344 word)
(1 word)
(1 word)
(1 word)
(1 word)
(1 bit)
(1 bit)
(1 bit)
Valid/ invalid
(Required size)
Fetch cycle
At power supply
ON
Main cycle
At pressure control start
Reference section
At power supply
ON
*1 Refer to the indirect setting method by devices for parameters for the range of devices used for indirect setting. (
Setting Method by Devices for Parameters)
*2 Cannot be set when the unit setting of fixed parameter is "degree".
*3 This setting can be omitted.
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3 PARAMETERS FOR POSITIONING CONTROL
3.9 Pressure control data
211
Pressure control selection
Set whether to use pressure control, or not use pressure control. Pressure control data for up to 8 axes can be set.
When pressure control selection is enabled on an axis on a SSCNET line or the number of axes set to pressure control selection enabled exceeds eight, a moderate error (error code: 30F7H) occurs.
Pressure control selection
0: Do not use pressure control
1: Use pressure control
Feed/dwell startup device
Set the device to start feed/dwell operation.
When the feed/dwell start device turns OFF to ON, control switches to pressure control, and drives the system with the feed/ dwell operation.
When the feed/dwell startup device turns ON to OFF, the mode is reset, and switches from pressure control to positioning control.
Dwell forced switching device
Set the device to force the switch to dwell operation during feed operation.
Operation switches to dwell operation automatically by specifying a feed/dwell switching mode in the pressure profile.
However, by turning the force switch to dwell device OFF to ON, switch to dwell operation can be made even when conditions for switching to dwell operation are not satisfied.
Pressure release startup device
Set the device to start pressure release operation.
When the pressure release startup device turns OFF to ON, control switches to pressure control, and drives the system with the pressure release operation.
When the pressure release startup device turns ON to OFF, the mode is reset, and control switches from pressure control to positioning control.
Pressure command reference
Set the reference for the time constant of the pressure command.
The time constant of the pressure command is the time taken to reach the pressure command reference.
Speed limit reference
Set the reference for the time constant of the speed limit.
The time constant of the speed limit is the time taken to reach the speed limit reference from 0.
Abnormal pressure switching mode
Set whether to switch to dwell mode or not when the pressure reaches the value set as abnormal pressure setting during feed operation.
If "1: Select" is set, operation is forcibly switched from feed mode to dwell mode when the time in an abnormal state exceeds the time that was set to abnormal pressure.
Abnormal pressure switching mode
0: Unselect
1: Select
Abnormal pressure setting
Set the value for an abnormal pressure value of a load cell.
212
3 PARAMETERS FOR POSITIONING CONTROL
3.9 Pressure control data
Abnormal pressure setting time
Set the value for forcibly switching to dwell operation when abnormal pressure exceeds the set time during feed operation.
Mode reset selection after passing dwell time
Set whether to reset mode or not after passing dwell time.
If "1: Reset mode after passing dwell time" is selected, the system (Motion CPU) automatically resets mode after passing the set time of the dwell final step. (Operation is returned to positioning control from pressure control.)
Without turning the feed/dwell startup device ON to OFF, control automatically switches to positioning control when the set dwell time passes.
Mode reset selection after passing dwell time
0: Do not reset mode after passing dwell time
1: Reset mode after passing dwell time
Pressure profile start device
Specify the start device of the pressure profile.
Refer to the pressure profile for details of pressure profile. (
Pressure control status device
Set the device to store the status of the pressure control operation.
Pressure control status device b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Feed/dwell
Dwell
Abnormal pressure switching
Pressure release
Dwell time passed
*: 0 or 1 is stored in the pressure control status device.
• 0: OFF
•
1: ON
Feed execution point device
Set the device to store the status of the feed operation execution point.
The execution point is displayed in bits, and shifts left by 1 bit for every step advanced.
For execution point 1, 1 is displayed, and for execution point 3, 4 is displayed.
Dwell execution point device
Set the device to store the status of the dwell operation execution point.
The execution point is displayed in bits, and shifts left by 1 bit for every step advanced.
For execution point 1, 1 is displayed, and for execution point 3, 4 is displayed.
Pressure release execution point device
Set the device to store the status of the pressure release operation execution point.
For execution point 1, 1 is displayed.
3
3 PARAMETERS FOR POSITIONING CONTROL
3.9 Pressure control data
213
3.10
Override Data
Override data is for using the override function.
[Motion Control Parameter] [Axis Setting Parameter] "Override Data"
No. Item Default value
Setting range mm inch degree pulse
Direct setting
Valid/ invalid
Reference
Section
1 Override ratio setting device
Valid/ invalid
(Required size)
(1 word)
Fetch cycle
Operation cycle
*1 Refer to the indirect setting method by devices for parameters for the range of devices used for indirect setting. (
Setting Method by Devices for Parameters)
*2 This setting can be omitted.
Override ratio setting device
Set the device that sets the override ratio of the override function.
Set override ratio setting device to the override ratio values below.
Refer to override function for details of the override ratio setting device. (
Override ratio
0 to 3000( × 10 -1 [%])
214
3 PARAMETERS FOR POSITIONING CONTROL
3.10 Override Data
3.11
Vibration Suppression Command Filter Data
Vibration suppression command filter data is for using the vibration suppression command filter.
[Motion Control Parameter] [Axis Setting Parameter] "Vibration Suppression Command Filter Data"
No. Item Default value
Setting range Direct setting
mm inch degree pulse Valid/ invalid
Fetch cycle
1
2
3
Vibration suppression command filter 1
Mode selection device
Frequency
Depth
20 to 25000[ × 10 -2 Hz]
Valid/ invalid
(Required size)
(1 word)
(1 word)
(1 word)
Operation cycle
4
0: -40dB
1: -24.1dB
2: -18.1dB
3: -14.5dB
4: -12.0dB
5: -10.1dB
6: -8.5dB
7: -7.2dB
8: -6.0dB
9: -5.0dB
10: -4.1dB
11: -3.3dB
12: -2.5dB
13: -1.8dB
14: -1.2dB
15: -0.6dB
5
6
7
Vibration suppression command filter 2
Mode selection device
Frequency
Feed current value monitor
Command output complete
100 to 25000[ × 10 -2 Hz]
(1 word)
(1 word)
(2 words)
(1 bit)
Reference
Section
*1 Refer to the indirect setting method by devices for parameters for the range of devices used for indirect setting. (
Setting Method by Devices for Parameters)
*2 This setting can be omitted.
3
3 PARAMETERS FOR POSITIONING CONTROL
3.11 Vibration Suppression Command Filter Data
215
Vibration suppression command filter 1
Mode selection device
Set the device that assigns vibration suppression command filter 1 as the filter method.
With the filter enabled, the device is reflected while command output is stopped after filter (Command output complete signal after filter: ON).
With the filter disabled, a sudden operation may occur if vibration suppression command filter is enabled during positioning operation. Check command speed and travel distance, and ensure safety before using the vibration suppression command filter.
The following values are set to the mode selection device.
Setting value
0
1
2
Filter method
Disabled
Smoothing filter
FIR filter
When the mode selection device is a value outside of range, a warning (error code: 0A3AH) occurs, and the mode setting is not reflected even if changed.
Frequency
Set the frequency for suppressing vibration of the vibration suppression command filter 1.
The valid frequency range is shown below according to operation cycle and filter method set by the mode selection device.
The vibration suppression command filter is invalid when operation cycle is set to 7.111[ms].
Operation cycle[ms]
0.222
0.444
0.888
1.777
3.555
Valid range[Hz]
Smoothing filter
0.20 to 250.00
0.20 to 250.00
0.20 to 250.00
0.20 to 140.00
0.20 to 70.00
FIR filter
0.20 to 250.00
0.20 to 250.00
0.20 to 250.00
0.20 to 140.00
0.20 to 70.00
When the frequency is a value outside of range, a warning (error code: 0A3BH) occurs, and the value is changed to the lower limit value if the input value is lower than the range, and changed to the upper limit value if the input value is higher than the range.
Depth
Set the attenuation depth of the frequency that suppressing the vibration of vibration suppression command filter 1.
Setting a deeper value increases the effect of vibration suppression.
This setting is invalid for smoothing filter. (Depth is fixed at -40dB.)
For the FIR filter setting, when the depth is a value outside of range, a warning (error code: 0A3CH) occurs, and the value is changed to the lower limit value if the input value is lower than the range, and changed to the upper limit value if the input value is higher than the range.
216
3 PARAMETERS FOR POSITIONING CONTROL
3.11 Vibration Suppression Command Filter Data
Vibration suppression command filter 2
Mode selection device
Set the device that assigns vibration suppression command filter 2 as the filter method.
With the filter enabled, the device is reflected while command output is stopped after filter (Command output complete signal after filter: ON).
With the filter disabled, a sudden operation may occur if vibration suppression command filter is enabled during positioning operation. Check command speed and travel distance, and ensure safety before using the vibration suppression command filter.
The following values are set to the mode selection device.
Setting value
0
3
Filter method
Disabled
IIR filter
When the mode selection device is a value outside of range, a warning (error code: 0A3AH) occurs, and the mode setting is not reflected even if changed.
Frequency
Set the frequency for suppressing vibration of the vibration suppression command filter 1.
The valid frequency range is shown below according to operation cycle and filter method set by the mode selection device.
The vibration suppression command filter is invalid when operation cycle is set to 7.111[ms].
Operation cycle[ms]
0.222
0.444
0.888
1.777
3.555
Valid range[Hz]
IIR filter
1.00 to 250.00
1.00 to 200.00
1.00 to 100.00
1.00 to 50.00
1.00 to 25.00
When the frequency is a value outside of range, a warning (error code: 0A3BH) occurs, and the value is changed to the lower limit value if the input value is lower than the range, and changed to the upper limit value if the input value is higher than the range.
Feed current value monitor device after filter
Set the device that monitors the feed current value after filter that includes the delay caused by the vibration suppression command filter.
"[Md.20] Feed current value (R: D32000+48n, D32001+48n/Q: D0+20n, D1+20n)" does not include the delay from the vibration suppression command filter. In order to check the actual send value to the servo amplifier after filter, set this device and monitor it.
For speed control mode, torque control mode, continuous operation to torque control mode, and pressure control mode, the same value as the feed current value is stored when filter is disabled.
When backlash compensation amount has been set, feed pulses of the backlash compensation amount are added to the position command value but are not added to this device.
Command output complete signal after filter
Set the device that monitors command output complete after filter for the servo amplifier.
This device turns OFF during command output after filter, and turns ON when command output is stopped after filter. The device remains ON when filter is disabled.
For operation patterns that repeat forward rotation and reverse rotation, as this device turns ON/OFF during positioning operations, use the device with complete signals of operation patterns such as "[St.1061] Positioning complete (R:
M32401+32n/Q: M2401+20n)" or "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)".
3 PARAMETERS FOR POSITIONING CONTROL
3.11 Vibration Suppression Command Filter Data
217
3
3.12
Servo Parameters
The servo parameters are the data set in each axis and are determined by the specifications of the servo amplifier, servo motor, and sensing module to be controlled. The data is used to control the servo motors .
[Motion Control Parameter] [Servo Parameter]
Refer to the following for details of servo parameters.
Servo amplifier Instruction Manual
Sensing Module Instruction Manual
Servo amplifier and sensing module instruction manual lists are shown below.
• Servo amplifier
Type
MR-J5 B
MR-J5W B
MR-J4 B
MR-J4W B
MR-J4 B-LL
MR-J3 B
MR-J3W B
MR-J3 B-RJ004
MR-J3 B-RJ006
MR-J3 B-RJ080W
MR-J3 BS
MR-JE B
MR-JE BF
Instruction manual name
MR-J5-B/MR-J5W-B User's Manual (Parameters) (IB-0300581ENG)
SSCNET /H interface MR-J4-_B(-RJ)/ MR-J4-_B4(-RJ)/ MR-J4-_B1(-RJ) Servo amplifier Instruction Manual (SH-030106)
SSCNET /H interface Multi-axis AC Servo MR-J4W2-_B/MR-J4W3-_B Servo amplifier Instruction Manual (SH-030105)
SSCNET /H interface AC Servo for Pressure Control MR-J4-_B_-LL/MR-J4-DU_B_-LL Servo amplifier Instruction Manual (SH-
030241)
SSCNET interface MR-J3 B Servo amplifier Instruction Manual (SH-030051)
SSCNET interface 2-axis AC Servo Amplifier MR-J3W B/MR-J3W-0303BN6 Servo amplifier Instruction Manual (SH-030073)
SSCNET Compatible Linear Servo MR-J3 B-RJ004U Instruction Manual (SH-030054)
SSCNET Fully Closed Loop Control MR-J3 B-RJ006 Servo amplifier Instruction Manual (SH-030056)
SSCNET interface Direct Drive Servo MR-J3 B-RJ080W/TM-RFM Instruction Manual (SH-030079)
SSCNET interface Drive Safety integrated MR-J3 B Safety Servo amplifier Instruction Manual (SH-030084)
SSCNET /H interface AC Servo MR-JE-_B Servo amplifier Instruction Manual (SH-030152ENG)
SSCNET /H interface AC Servo With functional safety MR-JE-_BF Servo amplifier Instruction Manual (SH-030258ENG)
• Sensing module
Type
MR-MT2010
MR-MT2100
MR-MT2200
MR-MT2300
MR-MT2400
Instruction manual name
MR-MT Sensing Module Instruction Manual (SH-030251ENG)
Refer to the following for how to control servo parameters by the Motion CPU.
MELSEC iQ-R Motion Controller Programming Manual (Common)
218
3 PARAMETERS FOR POSITIONING CONTROL
3.12 Servo Parameters
3.13
Parameter Block
5
6
3
4
The parameter blocks serve to make setting changes easy by allowing data such as the acceleration/deceleration control to be set for each positioning processing.
A maximum 64 blocks can be set.
[Motion Control Parameter] [Parameter Block]
No. Setting item
1 Interpolation control unit
Default value
3
Setting range mm
0 inch
1 degree
2 pulse
3
Direct settin g
Valid/ invalid
Indirect setting Reference section
Valid/ invalid
(Requir ed size)
Fetch cycle
2 Speed limit value 200000
[pulse/s]
1 to
600000000
( × 10 -2 [mm/ min])
1 to
600000000
( × 10 -3
[inch/min])
1 to
2147483647
( × 10 -3
[degree/
1 to
2147483647
[pulse/s]
7
8
9
10
11
Acceleration time
Deceleration time
1000[ms]
1000[ms]
Rapid stop deceleration time 1000[ms]
S-curve ratio 0[%]
Advanced
S-curve acceleration/ deceleration
Acceleration
/deceleration system
Acceleration section 1 ratio
Acceleration section 2 ratio
Deceleration section 1 ratio
Deceleration section 2 ratio
Torque limit value
0:Trapezoid
/S-curve
200
( × 10 -1 [%])
3000
( × 10 -1 [%])
0 Deceleration processing on
STOP input
Allowable error range for circular interpolation
100[pulse]
Bias speed at start 0[pulse/s]
1 to 8388608[ms]
1 to 8388608[ms]
1 to 8388608[ms]
0 to 100[%]
0: Trapezoid/S-curve: Trapezoidal acceleration/ deceleration/S-curve acceleration/deceleration
1: Advanced S-curve: Advanced S-curve acceleration/ deceleration
0 to 1000( × 10 -1 [%])
1 to 10000( × 10 -1 [%])
0: Deceleration stop
1: Rapid stop
0 to
100000
( × 10 -1 [ μ m])
0 to
600000000
( × 10 -2 [mm/ min])
0 to
100000
( × 10 -5
[inch])
0 to
600000000
( × 10 -3 [inch/ min])
0 to 100000
( × 10 -5
[degree])
0 to
2147483647
( × 10 -3
[degree/
0 to 100000
[pulse]
0 to
2147483647
[pulse/s]
*1 For direct setting using MT Developer2, use the decimal format instead of the exponential format.
*2 When the "speed control 10 × multiplier setting for degree axis" is set to "valid", the setting range is 1 to 214748367 ( × 10
-2
[degree/min]).
*3 When the number of words used is set to 1 word in the MT Developer2 options screen, the setting range is "1 to 65535[ms]". Refer to
"Acceleration/Deceleration Time and Command Torque Time Constant 1 Word Setting Function" in the following manual for details on the 1 word setting.
MELSEC iQ-R Motion Controller Programming Manual (Common)
*4 When the "speed control 10 × multiplier setting for degree axis" is set to "valid", the setting range is 0 to 214748367 ( × 10 -2 [degree/min]).
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
219
3
Data set in the parameter block
• Parameter blocks are specified in the home position return data, JOG operation data or servo program.
• The various parameter block data can be changed using the servo program. (
• The data set in the parameter block is used in the positioning control, home position return and JOG operation.
• The parameter block No. used in the positioning control is set using MT Developer2 at the creating of the servo program. If it is not set, control is executed with the contents of parameter block No.1. Also, it is possible to set parameter block data individually in the servo program.
[Servo program editor screen]
Parameter block No. setting
Setting items of the parameter block
Individual parameter block data setting
Unit : Interpolation control unit
: Acceleration time
STOP : Deceleration processing on STOP input
S Ratio : S-curve ratio when S-pattern processing
is executed
Bias speed : Bias speed at start
S.R. : Speed limit value
: Deceleration time
P. Torque : Torque limit value
: Allowable error range for circular
interpolation
Adv. S-curve : Advanced S-curve acceleration/
deceleration
220
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
• The parameter block No. used in the home position return or JOG operation is set at the setting of the "home position return data" or "JOG operation data" using MT Developer2. (
Page 180 Home Position Return Data,
Page 190 JOG Operation Data)
[Home position return data setting screen]
Parameter block No. setting of the home position return
Parameter block No. setting of the JOG operation
• The processing method of acceleration/deceleration is set by the acceleration/deceleration method and S-curve ratio set in the parameter block.
• Set "Trapezoid/S-curve" as acceleration/deceleration method to execute the trapezoidal acceleration/deceleration or S-curve acceleration/deceleration.
Set 0[%] as S-curve ratio to execute the trapezoidal acceleration/deceleration, and set 1 to 100[%] to execute the S-curve acceleration/deceleration.
• Set "Advanced S-curve" to execute the Advanced S-curve acceleration/deceleration. At this time, the S-curve ratio is invalid.
Item
Trapezoidal acceleration/deceleration
S-curve acceleration/deceleration
Advanced S-curve acceleration/deceleration
Parameter block
Acceleration/deceleration system
Trapezoid/S-curve
S-curve ratio[%]
0
1 to 100
Advanced S-curve
• When the FIN acceleration/deceleration (Fixed acceleration/deceleration time method) is set in the continuous trajectory control, the setting for advanced
S-curve acceleration/deceleration is invalid.
Interpolation control unit
Set the unit for interpolation control.
The unit is also used as the unit for the command speed and the allowable error range for circular interpolation set by the servo program or the Motion dedicated PLC instruction (M(P).SVSTD/D(P).SVSTD).
Refer to the control units for interpolation control for details. (
Page 260 Control units for interpolation control)
3
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
221
Speed limit value, acceleration time, deceleration time and rapid stop deceleration time
The speed limit value is the maximum speed at the positioning/home position return.
The acceleration time is the time taken to reach the set speed limit value from the start of positioning.
The deceleration time and rapid stop deceleration time are the time taken to effect a stop from the set speed limit value.
Accordingly, the actual acceleration time, deceleration time, and rapid stop deceleration time are faster, because the positioning speed is faster than the speed limit value.
Speed
(1) Real acceleration time
Positioning speed set in the servo program
Speed limit value
Rapid stop cause occurrence
Time
(2) Real rapid stop deceleration time
(1) Real acceleration time
Time take to reach the positioning speed set in the servo program.
(2) Real rapid stop deceleration time
Time taken to effect a rapid stop from the positioning speed set in the servo program.
(3) Real deceleration time
Time taken to stop from the positioning speed set in the servo program.
Set rapid stop deceleration time
Set acceleration time
(3) Real deceleration time
Set deceleration time
Refer to the advanced S-curve acceleration/deceleration for acceleration time, deceleration time and rapid stop deceleration time of the advanced S-curve acceleration/deceleration processing. (
Page 226 Advanced S-curve acceleration/ deceleration)
The relationship between rapid stop time and deceleration time
Set a short time than the deceleration time for the rapid stop deceleration time.
■
Deceleration time < Rapid stop deceleration time
• The warning (error code 0A54H) is stored in the "Latest self-diagnosis error (SD0)" at start, and the "Latest self-diagnosis error detection (SM0)" is turned ON. When the rapid stop cause occurs during deceleration, the axis decelerates to a stop in the deceleration time.
Deceleration stop processing
Rapid stop cause
Stop
• The large value than deceleration time can be set as rapid stop deceleration time by turning ON the "Rapid stop deceleration time setting error invalid flag (SM805)".
• Turn ON the "Rapid stop deceleration time setting error invalid flag (SM805)" before operation to use the rapid stop deceleration time setting error invalid.
(The setting value is input at start.)
• For the advanced S-curve acceleration/deceleration, operation is controlled with either small value of setting value for rapid stop deceleration time and deceleration time even if the "Rapid stop deceleration time setting error invalid flag (SM805)" turns ON.
222
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
• If the rapid stop deceleration time is long than the deceleration time, an overrun may occur.
V
Speed command
The deceleration distance increases by rapid stop command.
t
Real deceleration time
ON
[Rq.1141] Rapid stop command
(R: M34481+32n/Q: M3201+20n)
OFF
• If a large value than deceleration time is set as the rapid stop deceleration time for the parameter block and positioning data of servo program, a warning will occur. However, writing to the Motion CPU is possible.
3
■
Rapid stop deceleration time
≤
Deceleration time
When the rapid stop cause occurs during deceleration, the axis decelerates to a stop in the rapid stop time.
Deceleration stop processing
Rapid stop cause
Rapid stop detection processing
Stop
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
223
S-curve ratio
S-curve ratio can be set as the acceleration/deceleration processing method for S-curve acceleration/deceleration processing.
(Refer to S-curve acceleration/deceleration processing (
Page 270 S-curve acceleration/deceleration processing) for S-
curve acceleration/deceleration processing.)
Setting range of the S-curve ratio is 0 to 100[%].
If it is set outside the range, an error occurs at the start and control is executed with the S-curve ratio set as 0[%] (Trapezoidal acceleration/deceleration).
Errors are set in the "Latest self-diagnosis error (SD0)".
Setting of the S-curve ratio enables acceleration/deceleration processing to be executed gently.
The graph for S-curve acceleration/deceleration is a sine curve as shown below.
V
Positioning speed
Sine curve
0 t
Time
Acceleration time
Deceleration time
As shown below, the S-curve ratio setting serves to select the part of the sine curve to be used as the acceleration/ deceleration curve.
V
A
B
Positioning speed
A
B
B/2 B/2
B/A = 1.0
S-curve ratio is 100[%] t
V
Positioning speed
Sine curve
S-curve ratio = B/A
×
100[%]
B
A
B/A = 0.7
S-curve ratio is 70[%] t
224
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
The S-curve pattern is recreated in the cases shown below during S-curve deceleration processing for the Scurve ratio. In these cases the deceleration pattern may not continue or an overrun may occur.
• When the continuous trajectory control instruction turns ON the stop command or the cancel signal during
S-curve deceleration processing for the end point.
Positioning speed
V
End point n
(Small travel value) n-1 point
Deceleration time
The S-curve pattern is recalculated at stop command or cancel signal ON.
The S-curve pattern is recalculated again upon reaching the starting point of the end point.
(The operation is the same as when the stop command, etc. are not ON.) t
Time
ON
The target position is exceeded.
[Rq.1140] Stop command
(R: M34480+32n/Q: M3200+20n)
/Cancel signal
OFF
(Note 1): The processing described above is also performed at STOP signal input when "Deceleration stop based on the
deceleration time" is set in "Deceleration processing on STOP input" for the parameter block or servo program.
(Note 2): The same processing is also performed when the rapid stop command is set (including when "Deceleration stop
based on the rapid stop deceleration time" is set in Deceleration processing on STOP input). However, it is possible
to prevent the end point from overrunning by adjusting the setting for the rapid stop deceleration time.
• When the skip signal is turned ON during end point processing for the continuous trajectory control instruction.
Positioning speed
V
End point n
(Small travel value) n-1 point
When the skip signal is turned ON at the end point, the S-curve pattern is recalculated due to deceleration stop processing. As a result, the target position is exceeded.
Deceleration time t
Time
ON
Skip signal OFF
• When the rapid stop command is turned ON during S-curve deceleration processing.
Positioning speed
V
The S-curve pattern is recreated based on the rapid stop deceleration time if the rapid stop command turns ON.
Deceleration time
ON t
Time
[Rq.1141]Rapid stop command
(R: M34481+32n/Q: M3201+20n)
OFF
3
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
225
Advanced S-curve acceleration/deceleration
Processing for smooth acceleration/deceleration can be executed by using the advanced S-curve acceleration/deceleration function. The acceleration section is set as a sine curve as shown in the diagram below.
Each section of acceleration/deceleration is set as a ration using the advanced S-curve acceleration/deceleration setting.
Speed Trapezoidal acceleration
/deceleration
Speed limit value
Acceleration section 2 ratio (A2R)
Deceleration section 1 ratio (D1R)
Advanced
S-curve acceleration/ deceleration
Acceleration section 1 ratio (A1R)
Section
A
Section Section
B C
Acceleration
Trapezoidal acceleration
/deceleration
Advanced S-curve acceleration/ deceleration
Sine curve
Section
D
Section
E
Section
F
Section
G
Deceleration section 2 ratio (D2R)
Time
Time
Acceleration time
(Trapezoidal acceleration
/deceleration)
Sine curve
Deceleration time
(Trapezoidal acceleration
/deceleration)
Advanced S-curve acceleration time
Advanced S-curve deceleration time
Processing for advanced S-curve acceleration/deceleration is shown below.
Section Processing
A
B
Acceleration section 1 At the start of acceleration, acceleration continuously changes in a sinusoidal manner until reaching the maximum acceleration for trapezoidal acceleration/deceleration.
Set this section in acceleration section 1 ratio (A1R).
The maximum acceleration for trapezoidal acceleration/deceleration
Operation
Acceleration Deceleration Rapid stop
C
Maximum acceleration section
Acceleration section 2
D
E
F
G
Constant-speed section
Deceleration section 1
Maximum negative acceleration section
Deceleration section 2
At the end of acceleration, acceleration continuously changes in a sinusoidal manner until reaching zero acceleration.
Set this section in acceleration section 2 ratio (A2R).
The specified control positioning speed
At the start of acceleration, deceleration continuously changes in a sinusoidal manner until reaching the maximum negative acceleration for trapezoidal acceleration/deceleration.
Set this section in deceleration section 1 ratio (D1R).
The same maximum negative acceleration for trapezoidal acceleration/deceleration
At the end of deceleration, deceleration continuously changes in a sinusoidal manner until reaching zero acceleration.
Set this section in deceleration section 2 ratio (D2R).
226
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
Set the following parameters in the parameter block for advanced S-curve acceleration/deceleration.
Item Abbreviation
Setting range
Processing Operation
Accele
-ration
Decele
-ration
Speed limit value
Acceleration time
S.R.
AT mm inch degree
1 to 600000000 ( × 10 -2 [mm/min])
1 to 600000000 ( × 10
-3
[inch/min])
1 to 2147483647 ( × 10 -3 [degree/min])
pulse 1 to 2147483647 [pulse/s]
Maximum speed at positioning/ home position return
Deceleration time DT
Rapid stop deceleration time
Acceleration section 1 ratio
Acceleration section 2 ratio
Deceleration section 1 ratio
Deceleration section 2 ratio
ET
A1R
A2R
D1R
D2R
0 to 1000 ( × 10 -1 [%])
(A1R + A2R ≤ 1000 ( × 10 -1 [%]))
0 to 1000 ( × 10
- 1
[%])
(D1R + D2R ≤ 1000 ( × 10 -1 [%]))
Time to reach the speed limit value
(S.R.) after positioning start. (During trapezoidal acceleration)
Time to stop from the speed limit value (S.R.). (During trapezoidal deceleration)
Time to stop from the speed limit value (S.R.) at rapid stop.
(Trapezoidal deceleration)
Ratio of speed limit value (S.R.) to acceleration peak from zero acceleration.
Ratio of speed limit value (S.R.) to zero acceleration from acceleration peak.
Ratio of speed limit value (S.R.) to negative acceleration peak from zero acceleration.
Ratio of speed limit value (S.R.) to zero acceleration from negative acceleration peak.
Rapid stop
*1 For direct setting using MT Developer2, use the decimal format instead of the exponential format.
*2 When the "speed control 10 × multiplier setting for degree axis" is set to "valid", the setting range is 1 to 2147483647 ( × 10 -2 [degree/ min]).
*3 When the number of words used is set to 1 word in the MT Developer2 options screen, the setting range is "1 to 65535 [ms]". Refer to
"Acceleration/Deceleration Time and Command Torque Time Constant 1 Word Setting Function" in the following manual for details on the 1 word setting.
MELSEC iQ-R Motion Controller Programming Manual (Common)
The acceleration time to reach the command speed and the travel value during acceleration changes by setting the Acceleration section 1 ratio and acceleration section 2 ratio. The deceleration time to stop from the commanded speed and the travel value during deceleration changes by setting the deceleration section 1 ratio and deceleration section 2 ratio.
3
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
227
Positioning speeds of acceleration patterns/deceleration patterns
There are patterns (below pattern 1 to 4 respectively) that depends on the positioning speed of the acceleration pattern/ deceleration pattern of advanced S-curve acceleration/deceleration.
S.R.
A2R
Speed
Trapezoidal acceleration
/deceleration
(1)
Pattern (1): Positioning speed = S.R.
Pattern (2): Vacc < Positioning speed < S.R.
Pattern (3): Positioning speed = Vacc
Pattern (4): Positioning speed < Vacc
Vacc (2)
(3)
A1R
Time
Acceleration
AmaxA
(4)
(1)
(2)
(4)
(3)
Time
*: The graph of deceleration is opposite to
acceleration because the deceleration
pattern is negative acceleration.
The actual acceleration/deceleration time for each pattern (pattern (1) to (4)) based on positioning speed is shown below.
■
Actual acceleration time
Positioning speed
High
↑
↓
Low
Pattern Positioning speed
(1) Positioning speed = S.R.
(2)
(3)
(4)
Vacc <
Positioning speed < S.R.
Positioning speed = Vacc
Positioning speed < Vacc
Description Actual acceleration time Actual maximum acceleration
AmaxA It accelerates with the acceleration section 1, maximum acceleration section and acceleration section 2.
Maximum acceleration section is short than pattern
1.
• No maximum acceleration section
• It accelerates with only acceleration section 1 and acceleration section 2.
• No maximum acceleration section
• Maximum acceleration and acceleration increase/ decrease time of acceleration section 1 and
2 are shortened.
AAT
AAT -
(S.R.-Positioning speed)
A1T + A2T
(A1T+A2T)
AmaxA
(Positioning speed/Vacc) AmaxA (Positioning speed/Vacc)
228
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
■
Actual deceleration time
Positioning speed
High
↑
↓
Low
Pattern Positioning speed
(1) Positioning speed = S.R.
(2)
(3)
(4)
Vdac <
Positioning speed < S.R.
Positioning speed = Vdac
Positioning speed < Vdac
Description Actual Deceleration time Negative actual maximum acceleration
DmaxA It accelerates with the deceleration section 1, maximum negative acceleration section and deceleration section 2.
Maximum negative acceleration section is shortened than pattern 1.
• No maximum negative acceleration section
• It decelerates with only deceleration section 1 and deceleration section 2.
• No maximum negative acceleration section
• Maximum acceleration of deceleration section 1 and deceleration section 2, and negative acceleration increase/decrease time are shortened.
ADT
ADT -
(S.R.-Positioning speed)
D1T + D2T
(D1T D2T)
DmaxA
(Positioning speed/Vdac) DmaxA (Positioning speed/Vdac)
When the positioning speed is slower than the speed limit value, adjust the acceleration in the following procedure.
• Shorten time of maximum acceleration section. (Pattern (2), (3))
• Reduce maximum acceleration and acceleration increase/decrease time of acceleration section 1 and 2. (Pattern (4))
3
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
229
Parameter calculations
The maximum acceleration and advanced S-curve acceleration time/deceleration time are calculated by parameters.
S.R.
A2R
Speed
Trapezoidal acceleration/deceleration
S.R.
D1R
Speed
Trapezoidal acceleration/deceleration
D2R
A1R
Time Time
Acceleration
AmaxA
Maximum acceleration section
Trapezoidal acceleration
/deceleration
Acceleration
Maximum negative acceleration section
Time
Time DmaxA
Trapezoidal acceleration
/deceleration
AT
AAT
DT
ADT
A1T A2T D1T D2T
Item Abbreviation
Description Calculation expression Operation
Accele
-ration
Decele
-ration
Rapid stop
Maximum acceleration
Maximum negative acceleration
Maximum negative acceleration at rapid stop
Advanced S-curve acceleration time
Advanced S-curve
Advanced S-curve rapid stop
Time of acceleration section
1
Time of acceleration section
2
Time of deceleration section
1
Time of deceleration section
2
Velocity when "AAT = A1T +
A2T"
Velocity when "ADT = D1T +
D2T"
AmaxA
DmaxA
EmaxA
AAT
ADT
AET
A1T
A2T
D1T
D2T
Vacc
Vdac
• Maximum acceleration
• Same acceleration as trapezoidal acceleration/ deceleration
• Maximum negative acceleration at (rapid stop) deceleration
• Same negative acceleration as trapezoidal acceleration/deceleration
• Time to reach the speed limit value (S.R.) after positioning start. (At advanced S-curve acceleration/deceleration)
• It can be lengthened more than trapezoidal acceleration/deceleration by using A1R or A2R.
• Time to stop from the speed limit value (S.R.) at
(rapid stop) deceleration. (Advanced S-curve acceleration/deceleration)
• It can be lengthened more than trapezoidal acceleration/deceleration by using D1R or
D2R.
Time to reach acceleration peak from zero acceleration.
Time to reach zero acceleration from acceleration peak.
Time to reach negative acceleration peak from zero acceleration.
Time to reach zero acceleration from negative acceleration peak.
The velocity when total acceleration is only "A1T
+ A2T". (No maximum acceleration section)
The velocity when total acceleration is only "D1T
+ D2T". (No maximum deceleration section)
S.R. ÷ AT
S.R. ÷ DT
S.R. ÷ ET
AT × (100.0 + A1R + A2R) ÷
100.0
DT × (100.0 + D1R + D2R) ÷
100.0
ET × (100.0 + D1R + D2R) ÷
100.0
AT × (A1R ÷ 100.0) × 2
AT × (A2R ÷ 100.0) × 2
DT × (D1R ÷ 100.0) × 2
DT × (D2R ÷ 100.0) × 2
S.R. × (A1R + A2R) ÷ 100.0
S.R. × (D1R + D2R) ÷ 100.0
*1 The actual acceleration time, actual deceleration time and actual rapid stop deceleration time are shortened when the positioning speed is less than the speed limit value.
*2 The deceleration time for advanced S-curve acceleration/deceleration is rectified so that the deceleration inclination (deceleration speed) is gradual. When the deceleration stop distance is short, the set advanced S-curve deceleration time (ADT) may be lengthened due to rectification.
230
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
Acceleration/deceleration time and the parameter block acceleration/deceleration time
Advanced S-curve acceleration/deceleration time is calculated as a function of the acceleration/deceleration time set in the parameter block by using the parameter setting of advanced S-curve acceleration/deceleration as shown below.
■
Advanced S-curve acceleration time
Condition
Acceleration section 1 ratio (A1R) = Acceleration section 2 ratio (A2R) = 0.0
Acceleration section 1 ratio (A1R) or Acceleration section 2 ratio (A2R) 0.0
Acceleration section 1 ratio (A1R) + Acceleration section 2 ratio (A2R) = 100.0
■
Advanced S-curve deceleration time
Condition
Deceleration section 1 ratio (D1R) = Deceleration section 2 ratio (D2R) = 0.0
Deceleration section 1 ratio (D1R) or Deceleration section 2 ratio (D2R) 0.0
Deceleration section 1 ratio (D1R) + Deceleration section 2 ratio (D2R) = 100.0
Advanced S-curve acceleration time
Same as acceleration time of the parameter block (Trapezoidal acceleration processing)
Longer acceleration time compared with the parameter block.
Double the acceleration time of the parameter block.
Advanced S-curve deceleration time
Same as deceleration time of the parameter block (Trapezoidal acceleration processing)
Longer deceleration time compared with the parameter block.
Double the deceleration time of the parameter block.
Deceleration process at rapid stop
Deceleration processing is executed by using the deceleration section 1 ratio (D1R) and deceleration section 2 ratio (D2R) at rapid stop deceleration.
Settings for continuous trajectory control
When the FIN acceleration/deceleration (Fixed acceleration/deceleration time method) is set in the continuous trajectory control, the setting for advanced S-curve acceleration/deceleration is invalid. However, advanced S-curve acceleration/ deceleration can be used regardless whether the "[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)" is
ON or OFF.
At home position return operation
Advanced S-curve acceleration/deceleration control is enabled at home position return operation.
When executing a home position return using a proximity dog, the movement amount to decelerate to creep speed is different compared to trapezoid acceleration/deceleration and s-curve acceleration/deceleration. This is to ensure smoothness of acceleration/deceleration. For this reason, the stop position (zero point) upon completion of home position return is different to when trapezoid acceleration/deceleration and s-curve acceleration/deceleration is used.
3
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
231
Set the advanced S-curve acceleration/deceleration setting using the parameter block on the following screen of MT Developer2. The Advanced S-curve Acceleration time and maximum acceleration are displayed by setting acceleration section 1 ratio, acceleration section 2 ratio and the acceleration time.
The advanced S-curve deceleration time and advanced S-curve rapid stop deceleration time, maximum negative acceleration and maximum negative at rapid stop are displayed by setting deceleration section 1 ratio, deceleration section 2 ratio and deceleration time.
[Advanced S-curve acceleration/deceleration setting screen (Acceleration setting)]
Adjust the acceleration 1 ratio and acceleration 2 ratio by dragging the slider up and down.
Acceleration section 1 ratio
Acceleration section 2 ratio
Acceleration time
Error
In the following cases, warning (error code :0A4EH to 0A53H) will occur, and controls will be executed as trapezoidal acceleration/deceleration (A1R = A2R = D1R = D2R = 0.0).
• Acceleration section 1 ratio is outside the range of 0.0 to 100.0[%].
• Acceleration section 2 ratio is outside the range of 0.0 to 100.0[%].
• Deceleration section 1 ratio is outside the range of 0.0 to 100.0[%].
• Deceleration section 2 ratio is outside the range of 0.0 to 100.0[%].
• "Acceleration section 1 ratio + Acceleration section 2 ratio" > 100.0[%]
• "Deceleration section 1 ratio + Deceleration section 2 ratio" > 100.0[%]
232
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
Program
A sample servo program using the advanced S-curve acceleration/deceleration is shown below.
Speed
S.R.
A2R = 35.0%
Section
X
D1R = 20.0%
ABS-1
Speed
S.R.
ASC System
ASC Accel.1
ASC Accel.2
ASC Decel.1
ASC Decel.2
500000pulse/s
500000pulse/s
1
20.0%
35.0%
20.0%
35.0%
A1R = 20.0%
Acceleration
D2R = 35.0%
Acceleration section 1 ratio (A1R): 20.0%
Acceleration section 2 ratio (A2R): 35.0%
Deceleration section 1 ratio (D1R): 20.0%
Deceleration section 2 ratio (D2R): 35.0%
When the advanced S-curve acceleration/deceleration is set, the travel value (section X above) at the commanded speed is different than when using trapezoidal acceleration/deceleration (A1R = A2R = D1R =
D2R = 0.0).
Operation
■
Stop processing
When the stop command turns ON during acceleration, the acceleration is decreased until it reaches zero according to acceleration section 2 ratio setting. Therefore, the speed will continue to increase for a while before deceleration stop processing is executed. (Deceleration is smooth.)
Speed
Setting speed
Control during stop command OFF
0
Acceleration
AmaxA
Deceleration processing after stop command
ON Deceleration stop processing
Control during stop command OFF
Time
Time
0
DmaxA
[Rq.1140] Stop command
(R: M34480+32n/Q: M3200+20n)
OFF
ON
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
233
3
When the stop command turns ON during acceleration processing of advanced S-curve acceleration/ deceleration, in order to maintain smoothness of acceleration, the speed will continue to increase until acceleration reaches zero.
Use the rapid stop command if an increase in speed is not desired.
■
Rapid stop processing
• Rapid stop during acceleration
When the rapid stop command turns ON during acceleration, acceleration immediately goes to zero, and rapid stop deceleration processing is executed. (Deceleration is abrupt.)
Speed
Setting speed
Control during rapid stop command OFF
Time
0
Acceleration
AmaxA
Rapid stop processing
Control during rapid stop command OFF
Time
0
EmaxA
ON
[Rq.1141] Rapid stop command
(R: M34481+32n/Q: M3201+20n)
OFF
• Rapid stop during deceleration
When the rapid stop command turns ON during deceleration, the negative acceleration is decreased, and the rapid stop deceleration processing is executed.
Speed
Setting speed
Control during rapid stop command OFF
Time
0
Acceleration
0
Rapid stop processing
Time
Control during rapid stop command OFF
DmaxA
EmaxA
[Rq.1141] Rapid stop command
(R: M34481+32n/Q: M3201+20n)
OFF
ON
234
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
When the rapid stop command turns ON during deceleration stop processing of advanced S-curve acceleration/deceleration, timing may be such that a rapid stop will take longer than the advanced S-curve deceleration.
In this case, the advanced S-curve deceleration stop processing will automatically continue instead of using the rapid stop processing.
■
Speed change processing
Operation in which a speed change is executed during each section of acceleration is shown below.
Speed change V
1
(Acceleration)
Speed
Command speed V
0
(Before speed change)
Command speed V
1
(After speed change)
(1) (2) (3)
Before speed change
(3)
(1), (2)
Time
0
Acceleration
AmaxA (3)
(1), (2) Before speed change
Time
0
(1)
(2)
(3)
Pattern Speed change command
Speed change V
(Acceleration)
1
Acceleration/deceleration processing at speed change
Acceleration section 1 (Increasing acceleration section)
Maximum acceleration section
Maximum acceleration section (When the speed change occurs in situations where V
0
will surpass V
1 during the decreasing acceleration section.)
Operation
• Length of maximum acceleration section is adjusted to reach speed V
1
at acceleration end.
• The acceleration is decreased until the acceleration reaches zero.
• The maximum acceleration section is interrupted, and the acceleration is decreased until the acceleration reaches zero.
• The deceleration processing is executed to reach speed V
1
.
3
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
235
■
Speed control with fixed position stop processing
The "fixed position stop acceleration/deceleration time" set in the servo program is used during acceleration/deceleration processing when a positioning start, speed change request (CHGV) or fixed position stop command ON occurs.
It operates in the fixed acceleration/deceleration time method.
• Acceleration/deceleration processing in the fixed acceleration/deceleration time method
Actual acceleration time, deceleration time and maximum acceleration are shown below.
Acceleration time
Deceleration time
Maximum acceleration
Specified acceleration time (AT) × (100.0 + A1R + A2R) ÷ 100.0
Specified deceleration time (DT) × (100.0 + D1R + D2R) ÷ 100.0
Speed difference ÷ Specified acceleration/deceleration time
• Acceleration processing from zero speed and deceleration processing to zero speed (fixed time method)
Operation for positioning to fixed position stop command position at servo program start is shown below.
Speed
Command speed V
0
Time
0
Acceleration
V
0
÷ a b
×
(100.0 + D1R + D2R)
÷
100.0
b
Time
0
(-V
0
) ÷ b a
Servo program start a × (100.0 + A1R + A2R) ÷ 100.0
(1) ON
OFF
Fixed position stop command device
Fixed position stop acceleration
/deceleration time
(Indirect setting device)
OFF a
Speed change command
(1) Servo program start (Acceleration from speed 0 to V
0
)
(2) Positioning to fixed position stop command position (Deceleration from speed V
0
to 0)
Speed difference
V
0
-V
0 b
(2) ON
Acceleration/ deceleration time a b
Maximum acceleration
V
0
÷ a
(-V
0
) ÷ b
Operation
Actual acceleration time
"a × (100.0 + A1R + A2R) ÷ 100.0"
Actual deceleration time
"b × (100.0 + D1R + D2R) ÷ 100.0"
236
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
■
Speed change (fixed time method)
Operation in which a speed change during deceleration is executed is shown below.
Speed
Command speed V
0
(Before speed change)
Speed change V
2
(Deceleration)
(1)
Before speed change
Deceleration from speed V
1
to V
2
V
1
Command speed V
2
(After speed change)
0
Acceleration
Before speed change
Same slope as acceleration decrease
Time
V
0
a
Deceleration from speed V
1
to V
2
Time
0
(V
2
- V
1
) b t1
ON
Servo program start
Fixed position stop acceleration
/deceleration time
(Indirect setting device)
OFF a b
Speed change command
Speed difference
(1) Deceleration from speed
V
1
to V
2
(V
2
- V
1
)
Acceleration/ deceleration time b
Maximum acceleration
(V
2
- V
1
) ÷ b
Operation
• The acceleration is decreased until the acceleration becomes from acceleration to "0" at speed change. This inclination of acceleration section 2 (acceleration decrease section) is calculated based on the acceleration/deceleration time before speed change.
• Deceleration processing is executed.
• The acceleration time "t1" is lengthened than "b × (100.0 + D1R +
D2R) ÷ 100.0", because the acceleration continues until the acceleration reaches zero after a speed change.
When a speed change is executed during decreasing acceleration of advanced S-curve acceleration/ deceleration, in order to maintain smoothness of acceleration, the speed will continue to increase until acceleration reaches zero. Therefore, the time for speed change is lengthened.
3
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
237
■
[St.1048] Automatic decelerating flag (R: M30208+n/Q: M2128+n)
When the automatic deceleration processing is started during acceleration, the acceleration is decreased according to the acceleration section 2 ratio setting until the acceleration reaches zero. Therefore, the speed increases for a while before deceleration stop processing is executed. (Deceleration is smooth.)
Speed change V
1
(Acceleration)
Speed
Command speed V
1
V
0
0
Acceleration
AmaxA
Deceleration stop processing
The acceleration decrease processing after automatic deceleration start
Time
Time
0
DmaxA
[St.1048] Automatic decelerating flag
(R: M30208+n/Q: M2128+n) OFF
ON
When the automatic deceleration processing is started during acceleration processing of advanced S-curve acceleration/deceleration, in order to maintain smoothness of acceleration, the speed will continue to increase until acceleration reaches zero.
Torque limit value
Set the torque limit value in the servo program.
Refer to the torque limit function for details of the torque limit value. (
Page 432 Torque Limit Function)
Deceleration processing on STOP input
Set the deceleration processing on the external signal (STOP signal, FLS signal, or RLS signal) input.
Deceleration processing on STOP
0: Deceleration stop
1: Rapid stop
238
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
Allowable error range for circular interpolation
The locus of the arc calculated from the start point address and central point address may not coincide with the set end point address for the central-specified control.
The allowable error range for circular interpolation sets the allowable range for the error between the locus of the arc determined by calculation and the end point address.
If the error is within the allowable range, circular interpolation to the set end point address is executed while also executing error compensation by means of spiral interpolation.
If it exceeds the setting range, an error occurs at the start and positioning does not start.
Such an error are set the applicable axis or error code area.
Error
Locus determined by spiral interpolation
End point address by calculation
3
Setting end point address
Start point address Central point address
Bias speed at start
Set the bias speed (minimum speed) upon starting.
When using a stepping motor, etc., set it to start the motor smoothly. (If the motor speed at start is low, the stepping motor does not start smoothly.)
The specified "bias speed at start" will be valid during the following operations:
• Positioning operation
• Home position return operation
• JOG operation
Trapezoidal acceleration/deceleration (S-curve ratio is 0%)
V
Speed limit value
Command speed
Bias speed at start
Actual acceleration time
Acceleration time
Actual deceleration time
Deceleration time
S-curve acceleration/deceleration (S-curve ratio is other than 0%)
V
Speed limit value
Command speed t
Bias speed at start
Actual acceleration time
Acceleration time
Actual deceleration time
Deceleration time t
For the 2-axes or more interpolation control, the bias speed at start is applied to the composite command speed.
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
239
Cautions
• Bias speed at start is valid regardless of motor type. Set "0" when using the motor other than the stepping motor.
Otherwise, it may cause vibration or impact even though a warning does not occur.
• Set bias speed at start according to the specification of stepping motor driver. If the setting is outside the range, it may cause the following troubles by rapid speed change or overload.
• Stepping motor steps out.
• An error occurs in the stepping motor driver.
• Set the bias speed at start to a value not more than the speed limit value. If the bias speed at start is set to a value larger than the speed limit value, a warning (error code: 0A4CH) occurs, and the bias speed at start is "0"
• The setting range for the command speed is "bias speed at start to speed limit value". When the command speed is out of range by starting a servo program or executing a speed change instruction (M(P).CHGV/D(P).CHGV,CHGV), a warning
(error code: 0A4CH), or warning (error code: 0A5DH) occurs and speed change is not performed. When bias speed at start is other than "0", a warning (error code: 0A5DH) occurs when a speed change to "0" is performed.
• When FIN acceleration/deceleration and advanced S-curve acceleration/deceleration methods are used with bias speed at start, a warning (error code: 0A4DH) occurs, and the bias speed at start is "0".
• For servo programs where speed specification at a pass point is possible (CPSTART), if the speed at the pass point is set to less than the bias speed at start, a warning (error code: 0A5AH) occurs, and the bias speed at start is "0" for the points afterwards.
240
3 PARAMETERS FOR POSITIONING CONTROL
3.13 Parameter Block
4
SERVO PROGRAMS FOR POSITIONING
CONTROL
Servo programs specify the type of the positioning data required to execute the positioning control in the Multiple CPU system. This chapter describes the configuration and setting method of the servo programs.
Refer to the positioning control for details of the servo program. (
4.1
Servo Program Composition Area
This section is described the composition of servo programs and the area in which stores the servo program.
Servo program composition
A servo program is composed a program No., servo instructions and positioning data.
When a program No. and the required servo instructions are specified using MT Developer2, the positioning data required to execute the specified servo instructions can be set.
Servo program composition example
■
Explanation of the program
Program No.
Servo instruction
Positioning data
<K 11>
ABS-3
Axis 1,
Axis 2,
Axis 3,
Vector speed
Dwell
M-code
P.B.
Control units
3000000.0
5500000.0
-2500000.0
40000.00
2500
12
3
[mm]
[mm]
[mm]
[mm/min]
[ms]
4
Servo program contents
K11
ABS-3
Axis1, 3000000.0
Axis2, 5500000.0
Axis3, -2500000.0
Vector speed
Dwell
M-code
P.B.
Setting details
Program No.
3 axes linear interpolation control as absolute data method.
Axis used
Positioning address
Axis used
Positioning address
Axis used
Positioning address
Command speed for the 3 axes (axis 1, axis 2, axis 3) combination
Dwell time
M-code
Parameter block No.
Setting value
11
ABS-3 (combination)
1
3000000.0 [ μ m]
2
5500000.0 [ μ m]
3
-2500000.0 [ μ m]
40000.00 [mm/min]
2500 [ms]
12
3
• Program No.
This No. is specified using the Motion SFC program. Any No. in the range of 0 to 8191 (for operating system software version "09" or earlier, 0 to 4095) can be set.
• Servo instruction
Type of positioning control is indicated. (
Page 243 Servo Instructions)
4 SERVO PROGRAMS FOR POSITIONING CONTROL
4.1 Servo Program Composition Area
241
• Positioning data
This is the data required to execute servo instructions. The data required to execute is fixed for each servo instruction.
(
The following table applies to the servo program shown above.
Setting condition
Items which must be set
Items which are set when required
Item
• Axis used and positioning address
• Command speed
• Dwell time
• M-code
• P.B. (parameter block) (Controlled with the default value (Parameter block 1 if not set.)
242
4 SERVO PROGRAMS FOR POSITIONING CONTROL
4.1 Servo Program Composition Area
4.2
Servo Instructions
The servo instructions used in the servo programs are shown below.
Refer to positioning control for details of the servo instruction. (
The servo instructions that can be used in servo programs are shown in the table below.
Refer to positioning data for details of the positioning data set in the servo instructions. (
: Usable : Unusable
Positioning control
Linear interpolation control
1 axis
Instruction symbol
ABS-1
INC-1
Processing
Absolute 1-axis positioning
Incremental 1-axis positioning
Command generation axis usable/unusable
Reference
2 axes
ABS-2
INC-2
Absolute 2-axes linear interpolation
Incremental 2-axes linear interpolation
3 axes
ABS-3
INC-3
Absolute 3-axes linear interpolation
Incremental 3-axes linear interpolation
4 axes
ABS-4
INC-4
Absolute 4-axes linear interpolation
Incremental 4-axes linear interpolation
Circular interpolation control
Auxiliary pointspecified
ABS
INC
Absolute auxiliary point-specified circular interpolation
Radiusspecified
Central pointspecified
ABS
ABS
ABS
ABS
INC
INC
INC
INC
ABS
ABS
INC
INC
Incremental auxiliary point-specified circular interpolation
Absolute radius-specified circular interpolation less than
CW 180 °
Absolute radius-specified circular interpolation CW 180 ° or more
Absolute radius-specified circular interpolation less than
CCW 180 °
Absolute radius-specified circular interpolation CCW
180 ° or more
Incremental radius-specified circular interpolation less than CW 180 °
Incremental radius-specified circular interpolation CW
180 ° or more
Incremental radius-specified circular interpolation less than CCW 180 °
Incremental radius-specified circular interpolation CCW
180 ° or more
Absolute central point-specified circular interpolation
CW
Absolute central point-specified circular interpolation
CCW
Incremental central point-specified circular interpolation
CW
Incremental central point-specified circular interpolation
CCW
4
4 SERVO PROGRAMS FOR POSITIONING CONTROL
4.2 Servo Instructions
243
Positioning control
Helical interpolation control
Auxiliary pointspecified
Radiusspecified
Central pointspecified
Fixed-pitch feed 1 axis
2 axes
3 axes
(
(
Speed control
)
Speed control
)
Speed-position switching control
Forward rotation
Reverse rotation
Forward rotation
Reverse rotation
Forward rotation
Reverse rotation
Restart
Speed control with fixed position stop
Forward rotation
Reverse rotation
Instruction symbol
ABH
INH
ABH
ABH
ABH
ABH
INH
INH
INH
INH
ABH
Processing
Absolute auxiliary point- specified helical interpolation
Incremental auxiliary point- specified helical interpolation
Absolute radius-specified helical interpolation less than
CW 180 °
Absolute radius-specified helical interpolation CW 180 ° or more
Absolute radius-specified helical interpolation less than
CCW 180 °
Absolute radius-specified helical interpolation CCW
180 ° or more
Incremental radius-specified helical interpolation less than CW 180 °
Incremental radius-specified helical interpolation CW
180 ° or more
Incremental radius-specified helical interpolation less than CCW 180 °
Incremental radius-specified helical interpolation CCW
180 ° or more
Absolute central point-specified helical interpolation CW
Command generation axis usable/unusable
Reference
ABH
INC
INC
FEED-1
Absolute central point-specified helical interpolation
CCW
Incremental central point-specified helical interpolation
CW
Incremental central point-specified helical interpolation
CCW
1-axis fixed-pitch feed start
FEED-2
FEED-3
VF
2-axes linear interpolation fixed-pitch feed start
3-axes linear interpolation fixed-pitch feed start
Speed control ( ) forward rotation start
VR
Speed control ( ) reverse rotation start
VVF
Speed control ( ) forward rotation start
VVR
Speed control ( ) reverse rotation start
VPF
VPR
Speed-position switching control forward rotation start
Speed-position switching control reverse rotation start
Page 327 Speed/ position switching control start
VPSTART
PVF
PVR
Speed-position switching control restart
Speed control with fixed position stop absolute specification
Page 333 Re-starting after stop during control
244
4 SERVO PROGRAMS FOR POSITIONING CONTROL
4.2 Servo Instructions
Positioning control
Continuous trajectory control
Instruction symbol
CPSTART1
CPSTART2
CPSTART3
CPSTART4
ABS-1
ABS-2
ABS-3
ABS-4
ABS
ABS
ABS
ABS
ABS
ABS
ABS
ABH
ABH
ABH
ABH
ABH
ABH
ABH
INC-1
INC-2
INC-3
INC-4
INC
INC
INC
INC
INC
INC
INC
Processing
1-axis continuous trajectory control start
2-axis continuous trajectory control start
3-axis continuous trajectory control start
4-axis continuous trajectory control start
Continuous trajectory control passing point absolute specification
Continuous trajectory control passing point helical absolute specification
Continuous trajectory control passing point incremental specification
Command generation axis usable/unusable
Reference
Page 351 1 axis continuous trajectory control
Page 354 2 to 4 axes continuous trajectory control
Page 351 1 axis continuous trajectory control
Page 354 2 to 4 axes continuous trajectory control
Continuous trajectory control for helical interpolation
Page 351 1 axis continuous trajectory control
Page 354 2 to 4 axes continuous trajectory control
4
4 SERVO PROGRAMS FOR POSITIONING CONTROL
4.2 Servo Instructions
245
Positioning control
Continuous trajectory control
Position follow-up control
High speed oscillation
Simultaneous start
Home position return
Current value change
Instruction symbol
INH
INH
INH
INH
INH
INH
INH
FOR-TIMES
FOR-ON
FOR-OFF
NEXT
CPEND
PFSTART
OSC
START
ZERO
CHGA
Processing
Continuous trajectory control passing point helical incremental specification
Repeat range start setting for repeat of the same control
Repeat range end setting for repeat of the same control
Continuous trajectory control end
Position follow-up control start
High-speed oscillation
Simultaneous start
Home position return start
Shaft Current Value Change
Command generation axis usable/unusable
Reference
Continuous trajectory control for helical interpolation
Specification of pass points by repetition instructions
Page 351 1 axis continuous trajectory control
Page 354 2 to 4 axes continuous trajectory control
Page 382 Servo program for home position return
246
4 SERVO PROGRAMS FOR POSITIONING CONTROL
4.2 Servo Instructions
4.3
Positioning Data
The positioning data set in the servo instructions that are used in the servo programs is shown below.
Name
Common
Settings
Parameter block No.
Axis
Address/ travel value
Absolute data method
Default value
1
Setting range mm inch
1 to 64
1 to 64 degree pulse
-
2147483648 to
2147483647
Valid/invalid
Direct
Indirect setting
(Required size)
(1 word)
(1 word)
(2 word)
Number of steps
2
1
1
Command speed
Dwell time
Incremental data method
0 [ms]
-
(
-
2147483648 to
2147483647
( × 10 -1 [ μ m])
-
2147483648 to
214748647
( × 10 -5 [inch])
0 to
35999999
( × 10 -5
[degree])
Except for speed/position switching control
2147483647 to
2147483647
× 10
-1
[ μ m])
-
2147483647 to
214748647
( × 10
-5
[inch])
-
2147483647 to
(
214748647
× 10
-5
[degree])
Speed/position switching control
0 to
2147483647
( × 10 -1 [ μ m])
0 to
2147483647
( × 10 -5 [inch])
0 to
2147483647
( × 10 -5
[degree])
1 to
600000000
( × 10 -2 [mm/ min])
1 to
600000000
( × 10 -3 [inch/ min])
1 to
2147483647
( × 10 -3
[degree/ min])
0 to 5000[ms]
-
2147483647 to
2147483647
0 to
2147483647
1 to
2147483647
[pulse/s]
(2 word)
(2 word)
1
1
2
M-code
Torque limit value
0 to 32767
1 to 10000 ( × 10 -1 [%])
(1 word)
(1 word)
(1 word)
2
2 Torque limit setting valued [%] in the parameter block
4
4 SERVO PROGRAMS FOR POSITIONING CONTROL
4.3 Positioning Data
247
Name
Circular interpolation
/Helical interpolation
Auxiliary point
OSC
Radius
Central point
Frequency
Reference axis No.
Incremental data method
Absolute data method
Incremental data method
Absolute data method
Incremental data method
Number of pitches
Starting angle
Amplitude
Default value
Absolute data method
Setting range mm
-
(
-
2147483648 to
2147483647
( × 10 -1 [ μ m])
-
2147483647 to
2147483647
( × 10 -1 [ μ m])
1 to
4294967295
( × 10
1 to
2147483647
×
2147483648 to
10
2147483647
( × 10
-1
-1
-1
[
[
[
μ
μ
μ m]) m]) m])
-
2147483647 to
2147483647
( × 10 -1 [ μ m])
-
-
-
2147483648 to
2147483647
( × 10 -5 [inch])
-
2147483647 to
214748647
( × 10 -5 [inch])
1 to
4294967295
( × 10
1 to
2147483647
( × 10
-5
-5
[inch])
[inch])
2147483648 to
2147483647
( × 10 -5 [inch])
2147483647 to
214748647
( × 10 -5 [inch])
-
-
0 to
35999999
( × 10 -5
[degree])
2147483647 to
214748647
( × 10 -5
[degree])
0 to
35999999
( × 10 -5
[degree])
1 to
2147483647
( × 10 -5
[degree])
0 to
35999999
( × 10 -5
[degree])
2147483647 to
214748647
( × 10 -5
[degree])
0 to 999
0 to 359.9 [degree]
1 to
2147483647
( × 10 -1 [ μ m]) inch
1 to
2147483647
( × 10 -5 [inch]) degree
1 to
2147483647
( × 10 -5
[degree]) pulse
-
2147483648 to
2147483647
-
2147483647 to
2147483647
1 to
4294967295
1 to
2147483647
-
2147483648 to
2147483647
-
2147483647 to
2147483647
1 to
2147483647
Valid/invalid
Direct setting
*1
Indirect setting
(Required size)
(2 word)
Number of steps
1
(2 word)
(2 word)
(2 word)
(2 word)
(2 word)
(1 word)
(2 word)
(2 word)
1
1
1
1
1
1
1
1
1 to 5000 [CPM] 1
1 to 64
(2 word)
(1 word)
2
248
4 SERVO PROGRAMS FOR POSITIONING CONTROL
4.3 Positioning Data
Name
Parameter block
Interpolation control unit
Speed limit value
Acceleration time
Deceleration time
Rapid stop deceleration time
S-curve ratio
Default value
3
200000
[pulse/s]
1000[ms]
1000[ms]
1000[ms]
0[%]
/
Advanced
S-curve acceleration deceleration
Acceleration
/deceleration system
Acceleration section 1 ratio
Acceleration section 2 ratio
Deceleration section 1 ratio
Deceleration section 2 ratio
Torque limit value
0
20.0[%]
20.0[%]
20.0[%]
20.0[%]
300.0[%]
Setting range mm
0
1 to
600000000
( × 10 -2 [mm/ min])
0 to 100[%] inch
1
1 to
600000000
( × 10 -3 [inch/ min])
1 to 8388608[ms]
1 to 8388608[ms]
1 to 8388608[ms]
degree
2
1 to
2147483647
( × 10 -3
[degree/ min])
pulse
3
1 to
2147483647
[pulse/s]
Valid/invalid
Direct setting
*1
Indirect setting
(Required size)
(1 word)
(2 word)
Number of steps
2
2
2
0: Trapezoidal acceleration/deceleration/S-curve acceleration/deceleration
1: Advanced S-curve acceleration/deceleration
0 to 1000 ( × 10 -1 [%])
)
)
)
(1 word)
(1 word)
(1 word)
2
2
2
2
2
0 to 1000 ( × 10 -1 [%])
(1 word)
2
0 to 1000 ( × 10 -1 [%])
(1 word)
2
0 to 1000 ( × 10 - 1 [%])
(1 word)
2
1 to 10000 ( × 10
-1
[%]) 2
(1 word)
(1 word)
2 Deceleration processing on
STOP input
Allowable error range for circular interpolation
Bias speed at start
0 0: Deceleration stop based on the deceleration time
1: Deceleration stop based on the rapid stop deceleration time
100[pulse] 1 to 100000
( × 10 -1 [ μ m])
1 to 100000
( × 10 -5 [inch])
1 to 100000
( × 10 -5
[degree])
1 to 100000
[pulse]
0[pulse/s] 0 to
600000000
( × 10 -2 [mm/ min])
0 to
600000000
( × 10 -3 [inch/ min])
0 to
2147483647
( × 10 -3
[degree/ min])
0 to
2147483647
[pulse/s]
(2 word)
(2 word)
2
2
4
4 SERVO PROGRAMS FOR POSITIONING CONTROL
4.3 Positioning Data
249
Name Default value
Setting range mm inch degree pulse
Valid/invalid
Direct setting
*1
Indirect setting
(Required size)
Number of steps
Others Repeat condition (Number of repetitions)
Repeat condition (ON/OFF)
Program No.
1 to 32767
0 to 8191
(1 word)
(1 bit)
(1 word)
(2 word)
1
1
1
Command speed
(continuous trajectory)
1 to
600000000
( × 10 -2 [mm/ min])
1 to
600000000
( × 10 -3 [inch/ min])
1 to
2147483647
( × 10 -3
[degree/ min])
1 to
2147483647
[pulse/s]
2
Cancel
Skip
(1 bit)
(1 bit)
(1 word)
2
2
FIN acceleration/ deceleration
1 to 5000 [ms] 2
WAIT-ON/OFF
(1 bit)
2
Fixed position stop acceleration/deceleration time
Fixed position stop
1000[ms] 1 to 8388608[ms]
)
1
(1 bit)
1
*1 For direct setting using MT Developer2, use the decimal format instead of the exponential format.
*2 When the "speed control 10 × multiplier setting for degree axis" is valid, the setting range is 1 to 2147483647 ( × 10 -2 [degree/min]).
*3 Only when the reference axis speed is specified
*4 When the number of words used is set to 1 word in the MT Developer2 options screen, the setting range and required size for indirect setting is shown in the following table. Refer to "Acceleration/Deceleration Time and Command Torque Time Constant 1 Word Setting
Function" in the following manual for details on the 1 word setting.
MELSEC iQ-R Motion Controller Programming Manual (Common)
Setting range
1 to 65535[ms]
Required size for indirect setting
1 word
*5 Only bit0 is valid. If the value outside the range is set, the state except bit0 is ignored.
*6 When the "speed control 10 × multiplier setting for degree axis" is valid, the setting range is 0 to 2147483647 ( × 10
-2
*7 For operating system software version "09" or earlier, 0 to 4095.
[degree/min]).
Common
Data that is common through all servo instructions.
■
Parameter block No.
Set based on which parameter block performs deceleration processing at the acceleration/deceleration processing and STOP input for every start.
■
Axis
Set the starting axis No.
It becomes the interpolation starting axis No. at the interpolation.
250
4 SERVO PROGRAMS FOR POSITIONING CONTROL
4.3 Positioning Data
■
Address/Travel value
• Address (Absolute data method)
Set the positioning address as an absolute method with an absolute address.
• Travel value (Incremental data method)
Set the positioning address as an incremental data method with a travel value. Travel direction is indicated by the sign.
Only positive settings can be made at the speed/position switching control.
Travel direction
Positive
Negative
Description
Forward rotation (address increase direction)
Reverse rotation (address decrease direction)
■
Command speed
Sets the positioning speed.
Units for speed are the "control units" set in the parameter block.
It becomes the vector speed/long-axis reference speed/reference axis speed at the interpolation starting. (PTP control only)
■
Dwell time
Set the time until outputs the "[St.1061] Positioning complete (R: M32401+32n/Q: M2401+20n)" after positioning to positioning address.
■
M-code
Set the M-code.
Set for every point at the continuous trajectory control.
Updated at the start or specified point.
■
Torque limit value
Set the torque limit value.
The torque limit value is set in speed control ( ), speed/position switching control, and continuous trajectory control.
The torque limit is performed based on the parameter block data at the start but can also be changed during operation.
Positioning control
Speed control ( )
Speed/position switching control
Continuous trajectory control
Description
Changes torque limit value during operation.
Changes torque limit value during operation.
Sets torque limit value for every point. Performs the set torque limit at the specified point.
Circular interpolation/Helical interpolation
Data that is set in the servo programs for starting circular interpolation and helical interpolation.
■
Auxiliary point (Absolute data method, incremental data method)
Set at the auxiliary point-specified circular interpolation, or auxiliary point-specified helical interpolation.
■
Radius (Absolute data method, incremental data method)
Set at the radius-specified circular interpolation, or radius-specified helical interpolation.
■
Central point (Absolute data method, incremental data method)
Set at the central point-specified circular interpolation, or central point-specified helical interpolation.
■
Number of pitches
Set at the helical interpolation.
OSC
Data that is set in high-speed oscillation. Refer to the high-speed oscillation for details. (
• Starting angle
• Amplitude
• Frequency
4
4 SERVO PROGRAMS FOR POSITIONING CONTROL
4.3 Positioning Data
251
Reference axis No.
Data that is set when a specified reference axis speed is set in 2 to 4 axes linear interpolation control.
Set the axis which is to be reference for positioning speed.
Parameter block
Set when changing the parameter block (if not set, the default value) set in the servo program. (The data of the parameter block is not changed.)
Only the data in the specified parameter block that is changed can be set.
Refer to Parameter block for details. (
• Interpolation control unit
• Speed limit value
• Acceleration time
• Deceleration time
• Rapid stop deceleration time
• S-curve ratio
• Advanced S-curve acceleration/deceleration (acceleration/deceleration system, acceleration section 1 ratio, acceleration section 2 ratio, deceleration section 1 ratio, deceleration section 2 ratio)
• Torque limit value
• Deceleration processing on STOP input
• Allowable error range for circular interpolation
• Bias speed at start
Others
■
Repeat condition
• Number of repetitions
Set the repeat conditions between FOR-TIMES instruction and NEXT instruction.
• ON/OFF
Set the repeat conditions between FOR-ON/OFF instruction and NEXT instruction.
■
Program No.
Set the program No. for simultaneous start.
■
Command speed (continuous trajectory)
Set the speed for points on the way in the servo program.
■
Cancel
Set to stop execution of a servo program by deceleration stop by turning ON the specified bit device in the servo program.
■
Skip
Set to cancel positioning to pass point and execute the positioning to the next point by turning on the specified bit device during positioning at each pass point for continuous trajectory control instruction.
■
WAIT-ON/OFF
Set to make state of the waiting for execution by continuous trajectory control and execute the positioning immediately by turning on/off the command bit device.
■
FIN acceleration/deceleration
Set to execute positioning to each pass point for continuous trajectory control instruction by turning on the FIN signal.
■
Fixed position stop acceleration/deceleration time
Set the acceleration/deceleration time used in the starting of speed control with fixed position stop, speed change request
(CHGV) or fixed position stop command ON.
■
Fixed position stop
Set the command bit device of fixed position stop.
252
4 SERVO PROGRAMS FOR POSITIONING CONTROL
4.3 Positioning Data
4.4
Setting Method for Positioning Data
This section describes how to set the positioning data used in the servo program.
There are two ways to set positioning data, as follows:
• Direct setting of data by numerical values (
Page 253 Setting method for direct setting by numerical values)
• Indirect setting by devices (
Page 253 Indirect setting method by devices)
"Direct setting by numerical values" and "indirect setting by word devices" can be used together in one servo program.
If the servo program area has insufficient capacity, perform multiple positioning control operations with one program by the indirect setting of positioning data used in the servo program. (
Page 253 Indirect setting method by devices)
Setting method for direct setting by numerical values
In the setting by numerical values, each positioning data is set by a numerical value, and it becomes fixed data.
Data can be set and corrected using MT Developer2 only.
Ex.
Direct setting example of positioning data by numerical value
Positioning data
<K 11>
ABS-3
Vector speed
Dwell
M-code
P.B.
3000000.0
5500000.0
-2500000.0
40000.00
2500
12
3
Direct setting by numerical value for positioning data
Fixed data for one servo program.
4
Indirect setting method by devices
In the indirect setting method by devices, the positioning data specified with the servo program is set by devices.
By using the contents of specified device as data for the servo program, the operation pattern can be changed with one servo program.
Ex.
Indirect setting example of positioning data by device
Axis No. can be set word device.
Positioning data
<K 11>
PVF
Axis
Speed
W10, U3E0\G10000
U3E0\G10002
Acc/DecTime
FixedPosStop
100ms
D3000.1
Indirect setting by word device
Numerical value setting
Indirect setting by bit device
Refer to the following for the details of devices.
MELSEC iQ-R Motion controller Programming Manual (Common)
4 SERVO PROGRAMS FOR POSITIONING CONTROL
4.4 Setting Method for Positioning Data
253
Inputting of positioning data
In indirect setting by word devices, the word device data is inputted when the servo program is executed using the Motion
CPU.
It must be executed the start request of the servo program after data is set in the device used for indirect setting at the positioning control.
The procedures by start method for setting data to devices and cautions are shown below.
Start method
Start by the servo program
Set the loop (FOR - NEXT) point data for
CPSTART instruction indirectly
Setting method
Set data in indirect setting devices.
↓
Start the servo program.
Set initial command data in the indirect setting device.
↓
Start using the servo program.
(or turn the cancel command device ON)
↓
Read the value of "data set pointer for continuous trajectory control" of the start axis, and update the data input by Motion CPU.
Notes
Do not change the indirect setting device before the
"positioning start complete signal" of the starting axis turns on.
Refer to the axis monitor devices for details.
(
Page 98 [Md.1011] Data set pointer for continuous trajectory control (R: D32015+48n/Q:
• Take an interlock condition by using a "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)" not to change the device data for indirect setting until the specified axis has accepted the start command. If the data is changed before the start command is accepted, positioning may not be controlled in a normal value.
• For data that uses 2 words, always set a device with an even number.
Program example that uses the CPU buffer memory
Program example to control by the data transmitted from the PLC CPU to Motion CPU is shown below.
■
Program
Program that starts the servo program (positioning) by the MP.SVST instruction after the data is written to the CPU buffer memory (U3E0\G10000 to U3E0\G10003) from the PLC CPU (CPU No.1).
Sequence program (PLC CPU side)
M0
Instruction execution command
U3E1
\G516.0
DMOVP K10000 U3E0\G10000
Servo program
K10 position command
DMOVP K100000 U3E0\G10002
Servo program
K10 speed command
MP.SVST H3E1 "J1" K10 M100 D100
Start accept flag of CPU
No.2 (Axis 1)
RST M0
Instruction execution command
Servo program (Motion CPU side)
[K10: Real]
1 INC-1
Axis 1,
Speed
U3E0\G10000 m
U3E0\G10002 mm/min
254
4 SERVO PROGRAMS FOR POSITIONING CONTROL
4.4 Setting Method for Positioning Data
5
POSITIONING CONTROL
This section describes the positioning control methods.
5.1
Basics of Positioning Control
This section describes the common items for positioning control, which is described in detail after Section 5.2. (
1 Axis Linear Positioning Control)
Positioning speed
The positioning speed is set using the servo program.
Refer to servo programs for positioning control for details of the servo programs. (
The real positioning speed is set in the positioning speed and speed limit value using the servo program is shown below:
• If the positioning speed setting is less than speed limit value, the positioning is executed with the set positioning speed.
• If the positioning speed setting is greater than speed limit value, the positioning is executed with the speed limit value.
Ex.
(Example 1) If the speed limit value is 120000 [mm/min] and the positioning speed setting is 100000 [mm/min]
V
120000
100000
Speed limit value
Positioning speed
5 t
Parameter block acceleration time
Parameter block deceleration time
(Example 2) If the speed limit value is 100000 [mm/min] and the positioning speed setting is 120000 [mm/min]
V
120000
100000
Positioning speed
Speed limit value (Real positioning speed)
Parameter block acceleration time
Parameter block deceleration time t
5 POSITIONING CONTROL
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255
Positioning speed at the interpolation control
The positioning speed of the Motion CPU sets the travel speed of the control system.
1 axis linear control
Travel speed is the positioning speed of the specified axis at the 1 axis positioning control.
Linear interpolation control
Positioning is controlled with the speed which had the control system specified at the interpolation control.
The positioning speed can be set using one of the following three methods at the 2 to 4 axes linear interpolation control:
• Vector speed specification
• Long-axis speed specification
• Reference-axis speed specification
Control method of the Motion CPU control for every specified method is shown below.
■
Vector speed specification
The Motion CPU calculates the positioning speed of each axis (V
1 on the positioning speed (V) of the setting control system.
to V
2
) using the travel value (D
1
to D
2
) of each axis based
Positioning speed of the control system is called the vector speed.
Set the vector speed and the travel value of each axis in the servo program.
Ex.
2 axes linear interpolation control
Axis 2
(10000, 15000)
[Program example]
<K 50>
ABS-2
Axis
Axis
Vector speed
1,
2,
V
10000
15000
7000
[pulse]
[pulse]
[pulse/s]
V
2
V
1
0
Setting item
Axis 1 travel value (D
1
)
Axis 2 travel value (D
2
)
Vector speed (V)
Axis 1
Setting value
10000 [pulse]
15000 [pulse]
7000 [pulse/s]
The Motion CPU calculates the positioning speed of each axis using the following calculation formulas in the above condition:
Axis
Axis 1 positioning speed
Calculation expression
V
1
=V D
1
/ D
1
2 +D
2
2
Axis 2 positioning speed
V
2
=V D
2
/ D
1
2 +D
2
2
256
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
■
Long-axis speed specification
It is controlled based on the positioning speed (Long-axis speed: V) of the largest travel value axis among address set as each axis.
The Motion CPU calculates the positioning speed of other axes (V
1
to V
3
) using each axis travel value (D
1
Set the long-axis speed and the travel value of each axis using the servo program.
to D
4
).
Ex.
4 axes linear interpolation control
[Program example]
<K 51>
ABS-4
Axis
Axis
Axis
Axis
Long-axis speed
3,
4,
1,
2,
10000
15000
5000
20000
7000
[pulse]
[pulse]
[pulse]
[pulse]
[pulse/s]
5
Setting item Setting value
Axis 1 travel value (D
1
)
Axis 2 travel value (D
2
)
Axis 3 travel value (D
3
)
Axis 4 travel value (D
4)
Long-axis speed (V)
10000 [pulse]
15000 [pulse]
5000 [pulse]
20000 [pulse]
7000 [pulse/s]
In this example, since the reference axis is axis 4 of the largest travel value, it is controlled with the positioning speed specified with axis 4.
The Motion CPU calculates the positioning speed of other axes using the following calculation formulas:
Axis
Axis 1 positioning speed
Axis 2 positioning speed
Axis 3 positioning speed
Calculation expression
V
1
= D
1
/ D
4
× V
V
2
= D
2
/ D
4
× V
V
3
= D
3
/ D
4
× V
The following conversions are performed if the control units of each axis differ.
• Combination of axes set in [mm] and [inch]
Item Description Interpolation control unit mm inch
Travel value
Speed
Travel value
Speed
Convert the travel value of axis set in [inch] into [mm] using the formula: inch setting value × 25.4.
The largest travel value axis is controlled with the long-axis speed and the other axes are controlled with the speed based on the long-axis speed, as the result of conversion.
Convert the travel value of axis set in [mm] into [inch] using the formula: mm setting value ÷ 25.4.
The largest travel value axis is controlled with the long-axis speed and the other axes are controlled with the speed based on the long-axis speed, as the result of conversion.
• Discrepancy between interpolation control units and control units
Item
Travel value
Speed
Description
The travel value of each axis is converted into [pulse] unit with the electronic gear of self axis.
The largest travel value axis is controlled with the long-axis speed and the other axes are controlled with the speed based on the long-axis speed, as the result of conversion. The positioning speed is converted into [pulse/s] unit as the long-axis speed with the electronic gear that the interpolation control units correspond to control units.
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
257
[Speed limit value and positioning speed]
• The setting speed limit value applies to the long-axis speed.
• Be careful that the vector speed may exceed the speed limit value at the long-axis speed specification.
(Example)
The following settings at the 2 axes linear interpolation, the vector speed exceeds the speed limit value.
<K 2>
INC-2
Axis 1,
Axis
Long-axis speed
2,
100
200
50
[pulse]
[pulse]
[pulse/s]
Setting item
Axis 1 travel value
Axis 2 travel value
Long-axis speed
Speed limit value
Setting value
100 [pulse]
200 [pulse]
50 [pulse]
55 [pulse]
In this example, since the reference-axis is axis 2 of the largest travel value, it is controlled with the speed limit value specified with axis 2.
The positioning speed and vector speed for each axis are as follows:
Setting item
Axis 1 positioning speed
Axis 2 positioning speed
Vector speed
Speed
100/200 50=25 [pulse/s]
50 [pulse/s]
25 2 +50 2 =55.9 [pulse/s]
Axis 1 positioning speed Vector speed
Axis 2 positioning speed
The vector speed exceeds the speed limit value setting of 55.
[Relationship between speed limit value, acceleration time, deceleration time and rapid stop deceleration time]
• The real acceleration time, deceleration time and rapid stop deceleration time are set by the setting longaxis speed.
Speed
Speed limit value
Positioning speed (long-axis speed)
Rapid stop cause occurrence
(1)
Time
(1) Real acceleration time
(2) Setting acceleration time
(3) Real deceleration time
(4) Setting deceleration time
(5) Real rapid stop deceleration time
(6) Setting rapid stop deceleration time
(2)
(5)
(3)
(6)
(4)
258
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
■
Reference-axis speed specification
The Motion CPU calculates the positioning speed of other axes (V
1
to V
3
) based on the positioning speed (reference-axis speed: V) of the setting reference-axis using each axis travel value (D
1
to D
4
).
Set the reference-axis No., reference-axis speed and each axis travel value using the servo program.
Ex.
4 axes linear interpolation control
[Program example]
[Program example]
<K 52>
ABS-4
Axis
Axis
1,
2,
Axis
Axis
3,
4,
Reference-axis speed
Reference-axis
10000
15000
5000
20000
7000
4
[pulse]
[pulse]
[pulse]
[pulse]
[pulse/s]
Setting item
Axis 1 travel value (D
1
)
Axis 2 travel value (D
2
)
Axis 3 travel value (D
3
)
Axis 4 travel value (D
4
)
Reference axis speed (V)
Setting value
10000 [pulse]
15000 [pulse]
5000 [pulse]
20000 [pulse]
7000 [pulse/s]
Reference axis Axis 4
In this example, since the reference-axis is axis 4, it is controlled with the positioning speed specified with axis 4.
The Motion CPU calculates the positioning speed of other axes using the following calculation formulas:
Axis
Axis 1 positioning speed
Axis 2 positioning speed
Axis 3 positioning speed
Calculation expression
V
1
= D
1
/ D
4
× V
V
2
= D
2
/ D
4
× V
V
3
= D
3
/ D
4
× V
• Reference-axis speed and positioning speed of other axes
Be careful that the positioning speed of an axis for a larger travel value than the reference-axis may exceed the setting reference-axis speed.
• Indirect specification of the reference-axis
The reference-axis can be set indirectly using the word devices. (
Page 253 Indirect setting method by devices)
• Relationship between speed limit value, acceleration time, deceleration time and rapid stop deceleration time.
The real acceleration time, deceleration time and rapid stop deceleration time are set by the reference-axis speed setting.
Speed
Speed limit value
Positioning speed (reference-axis speed)
Rapid stop cause occurrence
(1)
Time
(1) Real acceleration time
(2) Setting acceleration time
(3) Real deceleration time
(4) Setting deceleration time
(5) Real rapid stop deceleration time
(6) Setting rapid stop deceleration time
(2)
(5)
(3)
(6)
(4)
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
259
5
Circular interpolation control
The angular speed is controlled with the setting speed at the circular interpolation control.
Control with the setting speed
Control units for 1 axis positioning control
It is controlled in the control units specified with the fixed parameters at the 1 axis positioning control.
(The control unit specified with the parameter block is ignored.)
Control units for interpolation control
Interpolation control unit check
• The interpolation control units specified with the parameter block and the control units of the fixed parameter are checked.
If the interpolation control units specified with the parameter block differ from the control units of each axis fixed parameter for the interpolation control, it shown below.
Starting method
Normal start
Unit mismatch
(Warning (error code: 093DH))
Interpolation control units in the parameter block mm inch degree pulse
There are axes whose control unit set in the fixed parameter is [mm] and [inch].
There are axes whose control unit set in the fixed parameter is [degree].
There are axes whose control unit set in the fixed parameter is [pulse].
Control units of the fixed parameter for all axes differ from the interpolation control units specified with parameter block.
Positioning control starts by the interpolation control units of parameter block.
• If the control units of axes to be interpolation-controlled are the same, control starts in the preset control unit.
• If the control units of axes to be interpolation-controlled are different, control starts in the unit of highest priority as indicated below.
[Priority: pulse > degree > inch > mm]
(Example)
If axis is set to 1000 [pulse] and 10.000 [inch], 10.000 [inch] setting is considered to be 10000 [pulse].
Interpolation unit combinations
• The combinations of each axis control units for interpolation control are shown in the table below.
mm inch degree pulse mm
(1)
(2)
(3)
(3) inch
(2)
(1)
(3)
(3) degree
(3)
(3)
(1)
(3) pulse
(3)
(3)
(3)
(1)
(1): Same units
(2): Combination of [mm] and [inch]
(3): Unit mismatch
260
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
Same units: (1)
The position command is calculated with the setting address (travel value), positioning speed or electronic gear, the positioning is executed.
If control units for one axis are "degree" at the circular interpolation control, use "degree" also for the other axis.
Combination of [mm] and [inch]: (2)
• If interpolation control units are [mm], positioning is controlled by calculating position commands from the address, travel value, positioning speed and electronic gear, which have been converted to [mm] using the formula: inch setting value ×
25.4 = mm setting value.
• If interpolation control units are [inch], positioning is controlled by calculating position commands from the address, travel value, positioning speed and electronic gear, which have been converted to [inch] using the formula: mm setting value ÷
25.4 = inch setting value.
Discrepancy units: (3)
• The travel value and positioning speed are calculated for each axis.
• The electronic gear converts the travel value for the axis to [pulse].
• For axis where the units match, the electronic gear converts the positioning speed to units of [pulse/s]. Positioning is conducted using position commands calculated from travel values converted to [pulse] and speeds and electronic gear converted to [pulse/s].
• If the interpolation control units match for two or more axes at the 3-axes or more linear interpolation, the positioning speed is calculated with the electronic gear for the axis with the lowest No.
Although electric gear is not set for the command generation axis, the electric gear is set to "1" when calculating the position command value or the positioning speed.
5
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
261
Control in the control unit "degree"
If the control units are "degree", the following items differ from other control units.
Current value address
The current addresses in the control unit "degree" are ring addresses from 0 ° to 360 ° .
359.99999
359.99999
0 0 0
Stroke limit valid/invalid setting
The upper/lower limit value of the stroke limit in the control unit "degree" is within the range of 0 ° to 359.99999
° .
■
Stroke limit is valid
Set the "lower limit value to upper limit value of the stroke limit" in a clockwise direction to validate the stroke limit value.
0
315.00000
Clockwise
Area A
90.00000
Area B
• If the travel range in area A or area B is set, the limit values are as follows:
Area
Area A
Area B
Lower stroke limit value
315.00000
°
90.00000
°
Upper stroke limit value
90.00000
°
315.00000
°
Remarks
When the feed current value is outside of the stroke limit range, movement in both the positive and negative direction is possible with JOG operation, or manual pulse generator operation.
When the feed current value is outside of the stroke limit range, movement in the negative direction is possible when "feed current value > upper limit stroke limit", and movement in the positive direction is possible when "feed current value < lower stroke limit" with JOG operation, or manual pulse generator operation.
■
Stroke limit is invalid
Set the "upper stroke limit value" equal to "lower stroke limit value" to invalidate the stroke limit value.
It can be controlled regardless the stroke limit settings.
• Circular interpolation including the axis which set the stroke limit as invalid cannot be executed.
• When the upper/lower limit value of the axis which set the stroke limit as valid are changed, perform the home position return after that.
• When the stroke limit is set as valid in the incremental data system, perform the home position return after power supply on.
• Do not use the high-speed oscillation in the axis that invalidates a stroke limit of control unit "degree".
• The unlimited length feed is possible by setting the stroke limit to invalid even the control unit is "other than degree axis" (mm, inch, pulse). (
Page 175 Stroke limit invalid setting)
262
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
Positioning control
Positioning control method in the control unit "degree" is shown below.
■
Absolute data method (ABS
instructions)
Positioning in a near direction to the specified address is performed based on the current value.
Ex.
Positioning is executed in a clockwise direction to travel from the current value of 315.00000
° to 0 ° .
Positioning is executed in a counter clockwise direction to travel from the current value of 0 ° to 315.00000
° .
315.00000
0
0
0 315.00000
0
315.00000
315.00000
• The positioning direction of absolute data method is set a clockwise/counter clockwise direction by the setting method of stroke limit range, positioning in the shortest direction may not be possible.
(Example)
Travel from the current value 0 ° to 315.00000
° must be clockwise positioning if the lower stroke limit value is set to 0 ° and the upper limit value is set to 345.00000
° .
0
345.00000
315.00000
Clockwise positioning
• Set the positioning address within the range of 0 ° to 360 ° . Use the incremental data method for positioning of one revolution or more.
■
Incremental data method (INC
instructions)
Positioning by the specified travel value to the specified direction. The travel direction is set by the sign of the travel value, as follows:
• Positive travel value: Clockwise rotation
• Negative travel value: Counter clockwise rotation
Positioning of 360 ° or more can be executed in the incremental data method.
5
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
263
Stop processing and restarting after stop
This section describes the stop processing after a stop cause is input during positioning and restarting after stop.
Stop processing
■
Stop processing methods
Stop processing during positioning by stop cause are as follows.
• Deceleration stop
Deceleration stop by "stop deceleration time" of parameter block.
Speed limit value
Stop cause
Operation speed
Stop
Real deceleration time
"Stop deceleration time" of parameter block
• Rapid stop
Deceleration stop by "rapid stop deceleration time" of parameter block.
Stop cause
Stop
Real deceleration time
"Rapid stop deceleration time" of parameter block
• Immediate stop
Stop without deceleration processing.
Stop cause
Stop
• Deceleration stop (individual)
Deceleration stop not using "stop deceleration time" of parameter block.
(1) During manual pulse generator operation, the deceleration time is "(Smoothing magnification + 1) × 56.8 [ms]".
(2) During speed-torque control of speed control, the deceleration time is the deceleration time specified in the command speed deceleration time.
264
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
■
Priority for stop processing
Priority for stops when a stop cause is input is as follows:
Deceleration stop < Rapid stop < Immediate stop
Ex.
A rapid stop is started if a rapid stop cause is input during one of the following types of deceleration stop processing:
• After automatic deceleration start during positioning control;
• During deceleration after JOG start signal turns off;
• During deceleration stop processing by stop cause.
Deceleration stop processing
Rapid stop cause
Rapid stop deceleration processing
■
Stop commands and stop causes
Some stop commands and stop causes affect an individual axis and others affect all axes. However, during interpolation control, stop commands and stop causes which affect individual axis also stop the interpolation axis.
For example, both Axis 1 and Axis 2 stop after input of a stop command (stop cause) during the Axis 1 and Axis 2 interpolation control.
Stop cause
Stop
Axis classification
Individual axes
Stop processing
Servo program/
JOG operation
Advanced synchronous
Deceleration stop or rapid stop *6
Torque control
Continuous operation to torque control mode
Pressure control
Manual pulse generator operation/
Speed control
Immediate stop Deceleration stop
(individual)
Machine program operation/
Machine
JOG
Deceleration stop or rapid stop
G-code
Deceleration stop
STOP signal input (STOP) of the external signal ON
FLS input signal OFF of external signal
RLS input signal OFF of external signal
"[Rq.1140] Stop command
(R: M34480+32n/Q: M3200
+ 20n)" ON
"[Rq.1141] Rapid stop command (R: M34481+32n/
Q: M3201 + 20n)" ON
"[St.1068] Servo error detection (R: M32408+32n/
ON
Deceleration stop using MT
Rapid stop of all axes using
MT Developer2
Motion CPU stop
Other CPU stop error
All axes
Deceleration stop
Rapid stop
Rapid stop
Deceleration stop
Rapid stop
Deceleration stop
Immediate stop
Deceleration stop
Rapid stop
Deceleration stop
Immediate stop
5
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
265
Stop cause Axis classification
Stop processing
Servo program/
JOG operation
Advanced synchronous control
*1
Torque control
*2
/
Continuous operation to torque control mode *2 /
Pressure control
*3
Manual pulse generator operation/
Speed control
*2
Multiple CPU system reset
Motion CPU WDT error
Multiple CPU system power off
Forced stop
Servo amplifier control circuit power off
Speed change to speed "0"
All axes
Individual axes
Immediate stop
Deceleration stop
Servo motor maximum speed over
Override ratio set to "0"
Individual axes
Deceleration stop
Deceleration stop
Software stroke limit error Immediate stop Deceleration stop
(individual)
XYZ stroke limit error
Operation outside of range error/Indefinite solutions error
"[Rq.2245] Machine stop command (M43621+32m)"
ON
"[Rq.2246] Machine rapid stop command
(M43622+32m)" ON
"[Rq.3376] G-code control request (D54226.0+2s)"
OFF
"[Rq.3380] Reset command
(D54226.4+2s)" ON
"[Rq.3378] Automatic operation hold (feed hold)
(D54226.2+2s)" ON
G-code control error detection
Individual machines
G-code control lines
Fast forward rate override/ cutting feed rate override is set to "0"
*1 Refer to the following for details.
MELSEC iQ-R Motion controller Programming Manual (Advanced Synchronous Control)
*2 Refer to speed-torque control for details. (
Page 436 Speed-Torque Control)
*3 Refer to pressure control for details. (
*4 Refer to the following for details.
MELSEC iQ-R Motion controller Programming Manual (Machine Control)
*5 Refer to the following for details.
MELSEC iQ-R Motion controller Programming Manual (G-Code Control)
*6 Stops according to the setting of "Deceleration processing on STOP input" of the parameter block.
*7 The servo motor stops with dynamic brake.
*8 Test mode
*9 Applies to all axes used in the servo program set in the speed "0".
Machine program operation/
Machine
JOG operation
*4
Stop
Deceleration stop
Immediate stop
Deceleration stop
Rapid stop
G-code control
*5
Deceleration stop
266
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
Re-starting after stop
• If it stopped by the stop command or stop cause (except change speed to speed "0"), re-starting is not possible. However, it stopped by the STOP input of the external signal ON, the "[Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n)"
ON or the "[Rq.1141] Rapid stop command (R: M34481+32n/Q: M3201+20n)" ON during speed/position switching control, re-starting is possible using VPSTART instruction.
• If it stopped by the speed change to speed "0" using CHGV instruction, re-starting is possible by executing the speed change to speed other than "0".
V
Speed before speed change
Speed after re-starting
(2) t
Stop by the speed change to speed "0"
Re-starting
Servo program start
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
ON
(1) (3)
CHGV instruction
[St.1047] Speed change accepting flag (R: M30144+32n/Q: M2061+n)
[Rq.1140] Stop command
(R: M34480+32n/Q: M3200+20n)
(1) The "[St.1040] Start accept flag ( R: M30080+n/Q: M2001+n )" remains on after stop by the speed change to "0".
(2) Re-starting by changing the speed again.
(3) However, if the "[Rq.1040] Stop command ( R: M30080+n/Q: M2001+n )" turns off by turning on the "[Rq.1140] Stop command
( R: M34480+32n/Q: M3200+20n )", re-starting is not possible even if make a speed change again.
5
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
267
Continuation of positioning control
This section describes the processing which performed servo program No. which was being performed before the stop, after stop by turning on the STOP input of the external signal ON, the "[Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n)"
ON or the "[Rq.1141] Rapid stop command (R: M34481+32n/Q: M3201+20n)" ON.
■
1 axis linear control/2 or 3 axes linear interpolation control
• For ABS
Positioning control from the stop address to target address by the target address specification.
Axis 2
Stop position by stop command
Target address
Start address 2 after stop
Start address 1
Axis 1
• For INC
Positioning control of the travel value from the stop address.
Axis 2
Stop position by stop command
Travel from address 1
Travel from address 2
Address 2 (start address after stop)
Address 1 (start address)
Axis 1
When the address 2 is moved to the same address (address which calculates with start address + specified travel value) using the INC , the following processing using the servo program and Motion SFC program is required.
Servo Program
The travel value of servo program which executes the positioning from address is set indirectly by the word devices, as follows.
<K 10>
INC-2
Axis
Axis
Vector speed
1,
2,
D3000
D3002
5000
Travel value
268
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
Processing in the Motion SFC Program
1.
Transfer the start address to word devices of the Motion CPU before starting.
2.
Calculate the target address by applying the travel value to the address before starting.
3.
Calculate the residual travel value by subtracting the stop address from the target address.
4.
Store the residual travel value in the servo program for travel value register.
5.
Perform the servo program.
Axis 2
Stop position by stop command
[Address 2 (Start address after stop)]
Address 1
(start address)
Travel value from address 2 *1
Travel value from address 1
Axis 1
Travel value from address 2 *1
Travel value from address 1
*1 Store in registers for travel value.
5
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
269
Acceleration/deceleration processing
Acceleration/deceleration are processed by the following three methods.
Trapezoidal acceleration/deceleration processing
This is a conventional linear acceleration/deceleration processing. The acceleration/deceleration graph resembles a trapezoid, as shown in the diagram below.
Positioning speed
V
0
Acceleration time Deceleration time t
Time
S-curve acceleration/deceleration processing
S-curve ratio is set as a parameter to smoothly provide acceleration/deceleration processing than trapezoidal acceleration/ deceleration processing. The acceleration/deceleration graph is a sine curve as shown in the diagram below.
Set the S-curve ratio by the parameter block (
Page 224 S-curve ratio) or using the servo program.
Positioning speed
V
0
Acceleration time Deceleration time t
Time
S-curve ratio set the part of the sine curve used to produce the acceleration and deceleration curve as shown in the diagram below.
B/2
A
B
B/2
(Example)
Positioning speed
V sine curve
S-curve ratio =B/A × 100[%]
Positioning speed
V
S-curve ratio 100[%] b a b/a=0.7
t
S-curve ratio 70[%] t
270
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
S-curve ratio can be set by the servo program with the following two methods.
■
Specification by numerical value
S-curve ratio is set by a numerical value from 0 to 100.
<K 10>
INC-2
Axis
Axis
Vector speed
S-curve ratio
1,
2,
100000
250000
1000
80
2 axes linear interpolation control
Axis used ............................... Axis 1, Axis 2
Travel value to stop position
Axis 1 .........
100000
Axis 2 .........
250000
Positioning speed .......................
1000
S-curve ratio ............................... 80%
■
Indirect specification by devices
S-curve ratio is set by devices.
Refer to the following for the setting range of usable devices.
MELSEC iQ-R Motion controller Programming Manual (Common)
<K 10>
ABS-1
Axis
Speed
S-curve ratio
1, 30000
400000
D3487
1 axis linear positioning control
Axis used ............................... Axis 1
Positioning address ............... 30000
Positioning speed ....................... 400000
Indirect specification by word devices
Advanced S-curve acceleration/deceleration processing
Processing for smooth acceleration/deceleration can be executed by using the Advanced S-curve acceleration/deceleration function. The acceleration section is set as a sine curve as shown in the diagram below.
Set the advanced S-curve acceleration/deceleration by the parameter block (
Page 226 Advanced S-curve acceleration/ deceleration) or servo program.
Speed limit value
Acceleration section 2 ratio (ASC Accel.2)
Speed
Trapezoidal acceleration/deceleration
Deceleration section 1 ratio (ASC Decel.1) Advanced
S-curve acceleration/ deceleration
Acceleration section 1 ratio (ASC Accel.1)
Deceleration section 2 ratio (ASC Decel.2)
Time
Acceleration
Trapezoidal acceleration/ deceleration
Advanced S-curve acceleration/ deceleration
Sine curve
Time
Acceleration time
(Trapezoidal acceleration/ deceleration)
Advanced S-curve acceleration time
Sine curve
Deceleration time
(Trapezoidal acceleration/ deceleration)
Advanced S-curve deceleration time
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
271
5
Advanced S-curve acceleration/deceleration can be set by the servo program with the following two methods.
■
Specification by numerical value
Advanced S-curve acceleration/deceleration system and advanced S-curve acceleration/deceleration ratio are set by a numerical value.
Setting items
ASC System
Setting range
0: Trapezoidal/S-curve acceleration/deceleration
1: Advanced S-curve acceleration/deceleration
ASC Accel.1
ASC Accel.2
ASC Decel.1
ASC Decel.2
*1 ASC Accel.1 + ASC Accel.2 ≤ 100.0%, ASC Decel.1 + ASC Decel.2 ≤ 100.0%
<K 10>
INC-2
Axis
Axis
Vector speed
Vector speed
ASC Accel.1
ASC Accel.2
ASC Decel.1
ASC Decel.2
1,
2,
100000
250000
1000
1
20.0
50.0
20.0
50.0
2 axes linear interpolation control
Axis used .................................... Axis 1, Axis 2
Travel value to stop position
Axis 1..............100000
Axis 2..............250000
Positioning speed .......................... 1000
ASC System ................. 1
ASC Accel.1
................. 20.0
Advanced S-curve acceleration/deceleration
ASC Accel.2
................. 50.0
ASC Decel.1
................. 20.0
ASC Decel.2
................. 50.0
■
Specification by devices
Advanced S-curve acceleration/deceleration system and advanced S-curve acceleration/deceleration ratio is set by devices.
Refer to the following for the setting range of usable devices.
MELSEC iQ-R Motion controller Programming Manual (Common)
<K 10>
ABS-1
Axis
Speed
ASC System
ASC Accel.1
ASC Accel.2
ASC Decel.1
ASC Decel.2
1, 30000
400000
D3000
D3001
D3002
D3003
D3004
1 axis linear positioning control
Axis used ............................
Axis 1
Positioning address ............ 30000
Positioning speed ....................
400000
Indirect specification by word devices
272
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
5.2
1 Axis Linear Positioning Control
Positioning control from the current stop position to the fixed position for specified axis is executed. Positioning is controlled using ABS-1 (Absolute data method) or INC-1 (Incremental data method) servo instructions.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
5
ABS-1 Absolute
1 © ¨ ¨ ¨ © ©
INC-1 Incremental
*1 Only when the reference axis speed is specified.
© © © © © © © © © ©
Processing details
■
Control using ABS-1 (Absolute data method)
• Positioning control from the current stop address (pre-positioning address) based on the home position to the specified address is executed.
• The travel direction is set by the current stop address and the specified address.
Ex.
When the current stop address is 1000, and the specified address is 8000.
Current stop address Specified address
0 1000 8000
Home position
Positioning control
5 POSITIONING CONTROL
5.2 1 Axis Linear Positioning Control
273
■
Control using INC-1 (Incremental data method)
• Positioning control of the specified travel value from the current stop position address is executed.
• The travel direction is set by the sign (+/ -) of the travel value, as follows:
Travel direction
Positive
Negative
Description
Positioning control to forward direction (Address Increase direction)
Positioning control to reverse direction (Address decrease direction)
Current stop address
Reverse direction Forward direction
Travel direction for negative travel value
Travel direction for positive travel value
Ex.
When the current stop address is -3000, and the travel value is -5000.
-8000 -3000
Current stop address
-2000 -1000 0
Travel value = -5000
Home position
Program example
The servo program No.0 for performing the 1 axis linear positioning control of Axis 4 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Positioning operation details
Positioning using the servo program No.0 is shown below.
In this example, Axis 4 is used in servo program No.0.
Home
Current stop address position
0 1000
Positioning address using the servo program No.0
80000
■
Operation timing
Operation timing for the servo program No.0 is shown below.
V
10000
Servo Program No.0
t
[Rq.1120] PLC ready flag
(M2000)
[Rq.1123] All axes servo ON command (M2042)
[St.1045] All axes servo ON accept flag (M2049)
Axis 4 [St.1075] Servo ready
(M2475)
Start command (X0)
Servo program start
Axis 4 [St.1040] Start accept flag (M2004)
274
5 POSITIONING CONTROL
5.2 1 Axis Linear Positioning Control
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 0) for 1 axis linear positioning control is shown below.
1 axis linear positioning control
[F10]
SET M2042
[G10]
X0*M2475
Turn on all axes servo ON command.
Wait until X0 and Axis 4 servo ready turn on.
[K0]
[G20]
ABS-1
Axis 4,
Speed 10000pulse/s
!X0
1 axis linear positioning control
Axis used ...........................
Axis 4
Positioning address ...........
80000[pulse]
Command speed .................
10000[pulse/s]
Wait until X0 turn OFF after linear positioning completion.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5
5 POSITIONING CONTROL
5.2 1 Axis Linear Positioning Control
275
5.3
2 Axes Linear Interpolation Control
Linear interpolation control from the current stop position with the specified 2 axes is executed.
ABS-2 (Absolute data method) and INC-2 (Incremental data method) servo instructions are used in the 2 axes linear interpolation control.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
ABS-2 Absolute
2 © ¨ ¨ ¨ © © © © © © © © © © © © ©
INC-2 Incremental
*1 Only when the reference axis speed is specified
Processing details
■
Control using ABS-2 (Absolute data method)
• 2 axes linear interpolation from the current stop address (X
1 or Y
2
) is executed.
or Y
1
) based on the home position to the specified address (X
2
• The travel direction is set by the stop address (starting address) and positioning address of each axis.
Forward direction
Current stop address (X1, Y1)
Y
1
Y-axis travel value
Y
2
Operation for X-axis, Y-axis linear interpolation
Positioning address (X2, Y2)
Reverse direction
0
Reverse direction
X
1
X
2
X-axis travel value
Forward direction
*: Indicates setting data.
Ex.
When the current stop address is (1000, 4000), and the positioning address is (10000, 2000).
Current stop address
4000
Y-axis travel value
(4000 - 2000 = 2000)
2000
Positioning address
0 1000 5000
X-axis travel value
(10000 - 1000 = 9000)
10000
276
5 POSITIONING CONTROL
5.3 2 Axes Linear Interpolation Control
■
Control using INC-2 (Incremental data method)
• Positioning control from the current stop address to the position which combined travel direction and travel value specified with each axis is executed.
• The travel direction for each axis is set by the sign (+/ -) of the travel value for each axis, as follows:
Travel direction
Positive
Negative
Description
Positioning control to forward direction (Address increase direction)
Positioning control to reverse direction (Address decrease direction)
Forward direction
Y
1
*: Forward: Travel direction for positive travel value
Reverse: Travel direction for negative travel value
: Indicates setting data
Y-axis travel value
Reverse direction
0
Reverse direction
X
1
X
2
X-axis travel value
Current stop address
Forward direction
Ex.
When the X-axis travel value is 6000 and Y-axis travel value is -2000.
X-axis travel value
Home position
* : Current stop address
(-1000, -1000)
*
0 5000
Y-axis travel value
-3000
Stop position after positioning
Positioning operation
Program example
The program for performing 2 axes linear interpolation control of Axis 3 and Axis 4 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Positioning operation details
The positioning is used the Axis 3 and Axis 4 servo motors.
The positioning operation by the Axis 3 and Axis 4 servo motors is shown in the diagram below.
Axis 3 positioning direction
Positioning using the servo program No.11
(40000, 50000)
5
Home position (0, 0)
Axis 4 positioning direction
■
Positioning conditions
• Positioning conditions are shown below.
Item
Positioning speed
Servo Program No.
No.11
30000
• Positioning start command: X0 Leading edge (OFF → ON)
5 POSITIONING CONTROL
5.3 2 Axes Linear Interpolation Control
277
■
Operation timing
Operation timing for 2 axes linear interpolation control is shown below.
V
Servo program No.11
t
[Rq.1120] PLC ready flag
(M2000)
[Rq.1123] All axes servo ON command (M2042)
[St.1045] All axes servo ON accept flag (M2049)
Axis 3 [St.1075] Servo ready
(M2455)
Axis 4 [St.1075] Servo ready
(M2475)
Start command (X0)
Servo program start
Axis 3 [St.1040] Start accept flag (M2003)
Axis 4 [St.1040] Start accept flag (M2004)
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 11) for 2 axes linear interpolation control is shown below.
2 axes linear interpolation control
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
X0*M2455*M2475 Wait until X0, Axis 3 servo ready and Axis 4 servo ready turn on.
[K11]
ABS-2
Axis 3,
Axis 4,
Speed 30000pulse/s
[G20]
!X0
2 axes linear interpolation control
Axis used ......................
Axis 3, Axis 4
Positioning address ....
Axis 3.........50000[pulse]
Axis 4.........40000[pulse]
Command positioning speed
Vector speed ...................................
30000[pulse/s]
Wait until X0 turns off after linear interpolation completion.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
278
5 POSITIONING CONTROL
5.3 2 Axes Linear Interpolation Control
5.4
3 Axes Linear Interpolation Control
Linear interpolation control from the current stop position with the specified 3 axes is executed.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
ABS-3 Absolute
3 © ¨ ¨ ¨ © ©
INC-3 Incremental
*1 Only when the reference axis speed is specified
© © © © © © © © © © ©
Processing details
■
Control using ABS-3 (Absolute data method)
• 3 axes linear interpolation from the current stop address (X
1 positioning address (X
, Y
1
or Z
1
) based on the home position to the specified
2
, Y
2
, Z
2
) is executed.
• The travel direction is set by the stop address and specified address of each axis.
Address after positioning
(X
2
, Y
2
, Z
2
)
*:
Forward direction
Forward direction
Linear interpolation control of X-axis, Y-axis, and Z-axis
Current stop address
(X
1
, Y
1
, Z
1
)
Indicates setting data.
Reverse direction
0
Home position
Reverse direction
Reverse direction
Forward direction
5
5 POSITIONING CONTROL
5.4 3 Axes Linear Interpolation Control
279
Ex.
When the current stop address is (1000, 2000, 1000), and the specified address is (4000, 8000, 4000).
Forward direction
Positioning address
(4000, 8000, 4000)
8000
X-axis, Y-axis and Z-axis linear interpolation operation
Forward direction
2000
Current stop address
(1000, 2000, 1000)
4000
1000
0 1000
Home position
4000
Forward direction
■
Control using INC-3 (Incremental data method)
• Positioning control from the current stop address to the position which combined travel direction and travel value specified with each axis is executed.
• The travel direction for each axis is set by the sign (+/ -) of the travel value for each axis, as follows:
Travel direction
Positive
Negative
Description
Positioning control to forward direction (Address increase direction)
Positioning control to reverse direction (Address decrease direction)
Forward direction
*: Indicates setting data.
Y
1
Forward direction Z
1
Z-axis travel value
Reverse direction
Y-axis travel value
X
1
Current stop position
0
Reverse direction
X-axis travel value
Reverse direction
Forward direction
Ex.
X-axis travel value is 10000, Y-axis travel value is 5000 and Z-axis value is 6000.
Stop position after positioning
(12300, 6300, 8000)
Forward direction
Positioning operation
Forward direction
6000
Z-axis travel value (6000)
5000
Home position
0
Current stop address
(2300, 1300, 2000)
5000 10000
X-axis travel value (10000)
Y-axis travel value
(5000)
Forward direction
280
5 POSITIONING CONTROL
5.4 3 Axes Linear Interpolation Control
Program example
The program for performing 3 axes linear interpolation control of Axis 1, Axis 2, and Axis 3 is explained as an example
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Positioning operation details
The positioning is used the Axis 1, Axis 2 and Axis 3 servo motors.
The positioning operation by the Axis 1, Axis 2 and Axis 3 servo motors is shown in the diagram below.
Axis 2 positioning direction
(Forward direction)
Axis 3 positioning direction
(Forward direction)
40000
(50000, 40000, 30000)
Positioning using the servo program No.21.
(Reverse direction)
30000 Axis 1 positioning direction
Home position
50000
(Forward direction)
(0, 0, 0)
(Reverse direction)
(Reverse direction)
■
Positioning conditions
• Positioning conditions are shown below.
Item
Positioning method
Positioning speed
Servo Program No.
No.21
Absolute data method
1000
• Positioning start command: X0 Leading edge (OFF → ON)
■
Operation timing
Operation timing for 3 axes linear interpolation control is shown below.
V
Servo program No.21
t
[Rq.1120] PLC ready flag
(M2000)
[Rq.1123] All axes servo ON command (M2042)
[St.1045] All axes servo ON accept flag (M2049)
Axis 1 [St.1075] Servo ready
(M2415)
Axis 2 [St.1075] Servo ready
(M2435)
Axis 3 [St.1075] Servo ready
(M2455)
Start command (X0)
Servo program start
Axis 1 [St.1040] Start accept flag (M2001)
Axis 2 [St.1040] Start accept flag (M2002)
Axis 3 [St.1040] Start accept flag (M2003)
5
5 POSITIONING CONTROL
5.4 3 Axes Linear Interpolation Control
281
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 21) for 3 axes linear interpolation control is shown below.
3 axes linear interpolation control
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
X0*M2415*M2435*M2455
Wait until X0, Axis 1 servo ready, Axis 2 servo ready and
Axis 3 servo ready turn on.
[K21]
ABS-3
Axis 1,
Axis 2, 40000pulse
Axis 3,
Speed 1000pulse/s
[G20]
!X0
3 axes linear interpolation control
Axis used ......................
Axis 1, Axis 2, Axis 3
Axis 1 .........50000[pulse]
Positioning address ....
Axis 2.........
40000[pulse]
Axis 3.........
30000[pulse]
Command positioning speed
Vector speed ................................... 1000[pulse/s]
Wait until X0 turn OFF after linear interpolation completion.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
282
5 POSITIONING CONTROL
5.4 3 Axes Linear Interpolation Control
5.5
4 Axes Linear Interpolation Control
Linear interpolation control from the current stop position with 4 axes specified with the positioning command of the sequence program is executed.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
5
ABS-4 Absolute
4 © ¨ ¨ ¨ © © © © © © © © ©
INC-4 Incremental
*1 Only when the reference axis speed is specified
Processing details
Positioning control which starts and completes the 4 axes simultaneously is executed.
Ex.
4 axes linear interpolation
V
Travel value t
Axis 1
V
© © © t
Axis 2
V t
Axis 3
V t
Axis 4
Equal time
©
5 POSITIONING CONTROL
5.5 4 Axes Linear Interpolation Control
283
Program example
The program for performing 4 axes linear interpolation control of Axis 1, Axis 2, Axis 3, and Axis 4 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Positioning operation details
The positioning is used the Axis 1, Axis 2, Axis 3 and Axis 4 servo motors.
The positioning by the Axis 1, Axis 2, Axis 3 and Axis 4 servo motors is shown in the diagram below.
Axis 2 positioning direction
(Forward direction)
Axis 3 positioning direction
(Forward direction)
5000
5000
Axis 4 positioning direction
(Forward direction)
Positioning using the servo program No.22
(Forward direction)
(Reverse direction)
0 5000
(Reverse direction)
■
Positioning conditions
• Positioning conditions are shown below.
Item
(Reverse direction)
Positioning method
Positioning speed
Servo Program No.
No.22
Incremental data method
10000
• Positioning start command: X0 Leading edge (OFF → ON)
Axis 1 positioning direction
(Forward direction)
284
5 POSITIONING CONTROL
5.5 4 Axes Linear Interpolation Control
■
Operation timing
Operation timing for 4 axes linear interpolation control is shown below.
V
Servo program No.22
t
[Rq.1120] PLC ready flag
(M2000)
[Rq.1123] All axes servo ON command (M2042)
[St.1045] All axes servo ON accept flag (M2049)
Axis 1 [St.1075] Servo ready
(M2415)
Axis 2 [St.1075] Servo ready
(M2435)
Axis 3 [St.1075] Servo ready
(M2455)
Axis 4 [St.1075] Servo ready
(M2475)
Start command (X0)
Servo program start
Axis 1 [St.1040] Start accept flag (M2001)
Axis 2 [St.1040] Start accept flag (M2002)
Axis 3 [St.1040] Start accept flag (M2003)
Axis 4 [St.1040] Start accept flag (M2004)
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 22) for 4 axes linear interpolation control is shown below.
4 axes linear interpolation control
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
[K22]
INC-4
Axis 1,
Axis 2,
Axis 3,
Axis 4,
Speed 10000pulse/s
[G20]
X0*M2415*M2435*M2455*M2475
!X0
Wait until X0, Axis 1 servo ready, Axis 2 servo ready,
Axis 3 servo ready and Axis 4 servo ready turn on.
4 axes linear interpolation control
Axis used ...................... Axis 1, Axis 2, Axis 3, Axis 4
Axis 1.........
5000[pulse]
Positioning address ....
Axis 2.........
3000[pulse]
Axis 3.........
5000[pulse]
Axis 4.........
4000[pulse]
Command positioning speed
Vector speed ...................................
10000[pulse/s]
Wait until X0 turn OFF after linear interpolation completion.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5
5 POSITIONING CONTROL
5.5 4 Axes Linear Interpolation Control
285
5.6
Auxiliary Point-Specified Circular Interpolation
Control
Circular interpolation control by specification of the end point address and auxiliary point address (a point on the arc) for circular interpolation is executed.
Auxiliary point-specified circular uses ABS (Absolute data method) and INC (Incremental data method) servo instructions.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
ABS Absolute
2 © ¨ ¨ ¨ © ©
INC Incremental
*1 Only when the reference axis speed is specified
¨ © © © © © © © © © © © ©
Processing details
■
Control using ABS (Absolute data method)
• Circular interpolation from the current stop address (address before positioning) based on the home position through the specified auxiliary point address to the end point address is executed.
• The center of the arc is the point of intersection of the perpendicular bisectors of the start point address (current stop address) to the auxiliary point address, and the auxiliary point address to the end point address.
Forward direction
Operation by circular interpolation
End point address (X
1
, Y
1
)
Auxiliary point address (X
2
, Y
2
)
Start point address
(X
0
, Y
0
)
Reverse direction Forward direction
0
Arc central point
Reverse direction
*: Indicates setting data.
• The setting range of the end point address and auxiliary point address is (-2 31 ) to (2 31 -1).
286
5 POSITIONING CONTROL
5.6 Auxiliary Point-Specified Circular Interpolation Control
• The maximum arc radius is 2 32 -1.
2 31 -1
Maximum arc
-2 31
Arc central point
Radius R
2 31 -1
■
Control using INC (Incremental data method)
• Circular interpolation from the current stop address through the specified auxiliary point address to the end point address is executed.
• The center of the arc is the point of intersection of the perpendicular bisectors of the start point address (current stop address) to the auxiliary point address, and the auxiliary point address to the end point address.
Forward direction
Positioning speed
Y
1
*: Indicates setting data.
End point
Travel value to end point
Travel value to auxiliary point
Y
2
Auxiliary point X
1
Arc central point
X
2
Reverse direction Travel value to auxiliary point
Start point
Travel value to end point
Forward direction
Home position
• The setting range for the travel value to the end point address and auxiliary point address is 0 to ± (2 31 -1).
• The maximum arc radius is 2 31 -1. If the end point and auxiliary point are set more than a radius of 2 31 -1, an error occurs at the start and minor error (error code: 1A2AH) is stored in the data register.
2 31 -1
Maximum arc
Arc central point
0
5
-2 31
Radius R
2 31 -1
5 POSITIONING CONTROL
5.6 Auxiliary Point-Specified Circular Interpolation Control
287
Program example
The program for performing auxiliary point-specified circular interpolation control of Axis 1 and Axis 2 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Positioning details
The positioning uses the Axis 1 and Axis 2 servo motors.
The positioning by the Axis 1 and Axis 2 servo motors is shown in the diagram below.
Axis 2 positioning direction
(Forward direction)
Auxiliary point (40000, 50000)
50000 Positioning using the servo program No.31
30000
20000
0
Start point
(10000,
20000)
10000 40000
Arc central point
End point (80000, 30000)
80000
Axis 1 positioning direction
(Forward direction)
■
Positioning conditions
• Positioning conditions are shown below.
Item
Positioning method
Positioning speed
Servo program No.
No.31
Absolute data method
1000
• Positioning start command: X0 Leading edge (OFF → ON)
■
Operation timing
Operation timing for auxiliary point-specified circular interpolation control is shown below.
V
Vector speed
Servo program No.31
t
[Rq.1120] PLC ready flag
(M2000)
[Rq.1123] All axes servo ON command (M2042)
[St.1045] All axes servo ON accept flag (M2049)
Axis 1 [St.1075] Servo ready
(M2415)
Axis 2 [St.1075] Servo ready
(M2435)
Start command (X0)
Servo program start
Axis 1 [St.1040] Start accept flag (M2001)
Axis 2 [St.1040] Start accept flag (M2002)
288
5 POSITIONING CONTROL
5.6 Auxiliary Point-Specified Circular Interpolation Control
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 31) for auxiliary point-specified circular interpolation control is shown below.
Auxiliary point-specified circular interpolation control
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
X0*M2415*M2435 Waits until X0, Axis 1 servo ready and Axis 2 servo ready turn on.
[K31]
ABS
Axis 1,
Axis 2,
Speed 1000pulse/s
Auxiliary 1, 40000pulse
point
Auxiliary 2, 50000pulse
point
Auxiliary point-specified circular interpolation control
Axis used ......................... Axis 1, Axis 2
End point address......... Axis 1 .........80000[pulse]
Axis 2.........
30000[pulse]
Positioning speed .................................
1000[pulse/s]
Auxiliary point address ... Axis 1.........
40000[pulse]
Axis 2.........
50000[pulse]
[G20]
!X0
Wait until X0 turn OFF after circular interpolation completion.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5
5 POSITIONING CONTROL
5.6 Auxiliary Point-Specified Circular Interpolation Control
289
5.7
Radius-Specified Circular Interpolation Control
Circular interpolation control by specification of the end point address and radius for circular interpolation is executed.
Radius-specified circular interpolation control uses ABS , ABS , ABS and ABS (Absolute data method) and INC
, INC , INC and INC (Incremental data method) servo instructions.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
ABS
ABS
ABS
ABS
INC
INC
INC
Absolute
Incremental
2
© ¨ ¨ ¨ © ©
INC
*1 Only when the reference axis speed is specified
¨ © © © © © © © © © © © ©
290
5 POSITIONING CONTROL
5.7 Radius-Specified Circular Interpolation Control
Processing details
Details for the servo instructions are shown in the table below.
Instruction
ABS
Rotation direction of the servo motors
Clockwise
Maximum controllable angle of arc Positioning path
0 ° < θ < 180 °
INC
Start point
Radius R
< 180
Positioning path
End point
Central point
ABS Counter clockwise
Central point
Radius R
INC
Start point < 180 End point
Positioning path
ABS Clockwise 180 ° ≤ θ < 360 °
Positioning path
180 < 360
INC
Central point
Start point
Radius
R End point
ABS Counter clockwise
Start point Radius
R
End point
Central point
INC
180 < 360
Positioning path
■
Control using ABS , ABS , ABS , ABS (Absolute data method)
• Circular interpolation from the current stop address (address before positioning) based on the home position to the specified end address with the specified radius is executed.
• The center of the arc is the point of intersection of the perpendicular bisectors of the start point address (current stop address) to the end address.
Forward direction
Positioning speed
Circular interpolation path
End address (X
1,
Y
1
)
5
Start point address
(X0, Y0)
Radius R
Arc central point
Reverse direction Forward direction
0
Reverse direction
*: Indicates setting data.
• The setting range of end point address is (-2 31 ) to (2 31 -1).
• The setting range for the radius is 1 to (2 31 -1).
• The maximum arc radius is (2 32 -1).
2 31 -1
Maximum arc
-2 31
Arc central point
Radius R
2 31 -1
5 POSITIONING CONTROL
5.7 Radius-Specified Circular Interpolation Control
291
■
Control using INC , INC , INC , INC (Incremental data method)
• Circular interpolation from the current stop address (0, 0) to the specified end point with specified radius.
• The center of the arc is the point of intersection of the perpendicular bisectors of the start point address (current stop address) to the end address.
Forward direction
Positioning speed
Circular interpolation path
End point
Start point
Radius R
Arc central point
Reverse direction Forward direction
0
Reverse direction *: Indicates setting data.
• Setting range of end point address is (-2 31 ) to (2 31 -1).
• Setting range of radius is 1 to (2 31 -1).
• Maximum arc radius is (2 31 -1).
2 31 -1
Maximum arc
Arc central point
0
-2 31
Radius R
2 31 -1
Program example
The program for performing radius-specified circular interpolation control of Axis 1 and Axis 2 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Positioning operation details
The positioning uses the Axis 1 and Axis 2 servo motors.
The positioning by the Axis 1 and Axis 2 servo motors is shown in the diagram below.
Axis 2 positioning direction
(Forward direction)
Positioning using the servo program No.41.
50000 End point (100000, 50000)
30000 Start point (10000, 30000)
(Reverse direction)
Home position
0 10000
Radius 80000
(Reverse direction)
100000
Axis 1 positioning direction
(Forward direction)
Arc central point
292
5 POSITIONING CONTROL
5.7 Radius-Specified Circular Interpolation Control
■
Positioning conditions
• Positioning conditions are shown below.
Item
Positioning method
Positioning speed
Servo Program No.
No.41
Absolute data method
1000
• Positioning start command: X0 Leading edge (OFF → ON)
■
Operation timing
Operation timing for radius-specified circular interpolation control is shown below.
V
Vector speed
Servo Program No.41
t
[Rq.1120] PLC ready flag
(M2000)
[Rq.1123] All axes servo ON command (M2042)
[St.1045] All axes servo ON accept flag (M2049)
Axis 1 [St.1075] Servo ready
(M2415)
Axis 2 [St.1075] Servo ready
(M2435)
Start command (X0)
Servo program start
Axis 1 [St.1040] Start accept flag (M2001)
Axis 2 [St.1040] Start accept flag (M2002)
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 41) for radius-specified circular interpolation control is shown below.
Radius specified-circular interpolation control
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
X0*M2415*M2435 Wait until X0, Axis 1 servo ready and Axis 2 servo ready turn on.
[K41]
ABS
Axis
Axis
1, 100000pulse
2, 50000pulse
Speed 1000pulse/s
Radius 80000pulse
[G20]
!X0
Radius specified-circular interpolation control
Axis used ......................
Axis 1, Axis 2
End point address.......
Axis 1.........
100000[pulse]
Axis 2.........
50000[pulse]
Positioning speed .............................. 1000[pulse/s]
Radius ...............................................
80000[pulse]
Wait until X0 turn OFF after circular interpolation completion.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5
5 POSITIONING CONTROL
5.7 Radius-Specified Circular Interpolation Control
293
5.8
Central Point-Specified Circular Interpolation
Control
Circular interpolation control by specification of the end point for circular interpolation and arc central point is executed.
Central point-specified circular interpolation control uses ABS and ABS (Absolute data method) and INC and INC
(Incremental data method) servo instructions.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
ABS
ABS
Absolute
2
© ¨ ¨ ¨ © © ¨ © © © © © © © © © © ©
INC
INC
Incremental
*1 Only when the reference axis speed is specified
Processing details
Details for the servo instructions are shown in the table below.
Instruction
ABS
Rotation direction of the servo motors
Clockwise
Maximum controllable angle of arc Positioning path
0 ° < θ < 360 °
Positioning path
Start point 0 < < 360 End point
INC
©
Central point
ABS Counter clockwise
Central point
INC
Start point
0 < < 360
End point
Positioning path
294
5 POSITIONING CONTROL
5.8 Central Point-Specified Circular Interpolation Control
■
Control using ABS , ABS (Absolute data method)
• Circular interpolation of an arc with a radius equivalent to the distance between the start point and central point, between the current stop address (address before positioning) based on the home position and the specified end point address.
Operation by circular interpolation
Forward direction
End address (X
1
, Y
1
)
Positioning speed
Start point address
(X
0
, Y
0
)
Radius R
Reverse direction Forward direction
Arc central point
Reverse direction
*: Indicates setting data.
• Positioning control of a complete round is possible in the central point-specified circular interpolation control.
Forward direction
Circular interpolation control
Arc central point
5
Start address, end address
Reverse direction Forward direction
Reverse direction
• Setting range of end point address and arc central point is (-2 31 ) to (2 31 -1).
• The maximum arc radius is (2 32 -1).
2 31 -1
Maximum arc
-2 31 2 31 -1
Radius R
Arc central point
■
Control using INC , INC (Incremental method)
• Circular interpolation from the current stop address (0, 0) with a radius equivalent to the distance between the start point (0,
0) and central point.
Forward direction
Operation by circular interpolation (for INC )
End point
Positioning speed
Start point
Reverse direction
Home point
Reverse direction
Arc central point
Forward direction
*: Indicates setting data.
5 POSITIONING CONTROL
5.8 Central Point-Specified Circular Interpolation Control
295
• Positioning control of a complete round is possible in the central point-specified circular interpolation control.
Forward direction
Circular interpolation control
Arc central point
Start address, end address
Reverse direction Forward direction
Reverse direction
• Setting range of travel value to end point address and arc central point is 0 to ± (2 31 -1).
• The maximum arc radius is (2 31 -1). If the end point and central point are set more than a radius of (2 31 -1), an error occurs at the start and minor error (error code: 1A2FH) is stored in the data register.
2 31 -1
Maximum arc
Arc central point
0
-2 31
Radius R
2 31 -1
Program example
The program for performing central point-specified circular interpolation control of Axis 1 and Axis 2 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Positioning operation details
The positioning uses the Axis 1 and Axis 2 servo motors.
The positioning by the Axis 1 and Axis 2 servo motors is shown in the diagram below.
Axis 2 positioning direction
(Forward direction)
Start address
(11459, 30000)
Positioning using the servo program No.51
30000
20000
0 11459
End address
(78541, 30000)
Central point address
(45000, 20000)
45000 78541
Axis 1 positioning direction
(Forward direction)
■
Positioning conditions
• Positioning conditions are shown below.
Item
Positioning method
Positioning speed
Servo Program No.
No.51
Absolute data method
1000
• Positioning start command: X0 Leading edge (OFF → ON)
296
5 POSITIONING CONTROL
5.8 Central Point-Specified Circular Interpolation Control
■
Operation timing
Operation timing for central point-specified circular interpolation is shown below.
V
Vector speed
Servo Program No.51
t
[Rq.1120] PLC ready flag
(M2000)
[Rq.1123] All axes servo ON command (M2042)
[St.1045] All axes servo ON accept flag (M2049)
Axis 1 [St.1075] Servo ready
(M2415)
Axis 2 [St.1075] Servo ready
(M2435)
Start command (X0)
Servo program start
Axis 1 [St.1040] Start accept flag (M2001)
Axis 2 [St.1040] Start accept flag (M2002)
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 51) for central point-specified circular interpolation control is shown below.
Central point specifiedcircular interpolation control
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
X0*M2415*M2435 Wait until X0, Axis 1 servo ready and Axis 2 servo ready turn on.
[K51]
ABS
Axis 1,
Axis 2,
Speed 1000pulse/s
Central point 1, 45000pulse
Central point 2, 20000pulse
Central point specified-circular interpolation control
Axis used ......................... Axis 1, Axis 2
End point address.........
Axis 1.........78541[pulse]
Axis 2.........30000[pulse]
Positioning speed .................................
1000[pulse/s]
Central point address .....
Axis 1.........45000[pulse]
Axis 2.........20000[pulse]
[G20]
!X0
Wait until X0 turn OFF after circular interpolation completion.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5
5 POSITIONING CONTROL
5.8 Central Point-Specified Circular Interpolation Control
297
5.9
Helical Interpolation Control
The linear interpolation control with linear axis is executed simultaneously while the circular interpolation specified with any 2 axes is executed, the specified number of pitches rotates spirally and performs the locus control to command position.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
INH
INH
INH
INH
ABH
ABH
INH
INH
ABH
ABH
ABH
ABH
Absolute
Incremental
Absolute
Incremental
3
© ¨ ¨ ¨ © ©
© ¨ ¨ ¨ © ©
ABH Absolute
© ¨ ¨ ¨ © ©
INH Incremental
*1 Only when the reference axis speed is specified
¨
¨ ¨
¨ ¨
¨
© © © © © © © © © © ©
© © © © © © © © © © ©
© © © © © © © © © © ©
298
5 POSITIONING CONTROL
5.9 Helical Interpolation Control
Circular interpolation specified method by helical interpolation
The following method of circular interpolation is possible for the helical interpolation.
The specified method of circular interpolation connected start point and end point at the seeing on the plane for which performs circular interpolation are as follows.
Servo instruction
INH
ABH
INH
ABH
INH
ABH
INH
ABH
INH
ABH
INH
ABH
INH
ABH
Positioning method
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Circular interpolation specified method
Radius-specified method less than CW180 °
Radius-specified method less than CCW180 °
Radius-specified method CW180 ° or more.
Radius-specified method CCW180 ° or more.
Central point-specified method CW
Central point- specified method CCW
Auxiliary point-specified method
Precautions
• When the travel value of linear axis is "0" is set, it can be controlled.
Condition
Number of pitches is 0
Number of pitches is not 0
Operation
Same control as normal circular interpolation control. (Allowable error range for circular interpolation can be set.)
Linear interpolation to linear axis does not executed, circle for the number of pitches is drawn on the circle plane.
(Allowable error range for circular interpolation can be set.)
• Units for linear axis have not restrictions.
• Circular interpolation axis has the following restrictions.
• When the unit of one axis is [degree] axis (with stroke range), set another axis also as [degree] axis (without stroke range).
• The axis of [degree] unit as without stroke range cannot be set.
• Specified the speed which executes speed change by CHGV instruction during helical interpolation operation with the vector speed of circular interpolation axis 2. If speed change is requested by specifying negative speed by CHGV instruction during helical interpolation operation, deceleration starts from the time and it is possible to return to reverse direction at the deceleration completion.
• If start point = end point, number of pitches = 1 and travel value of linear axis = 0, at the only central point-specified circular interpolation, full circle can be drawn. When the address of "start point = end point" is set at the radius-specified helical interpolation or auxiliary point-specified helical interpolation, a minor error (error code: 1A2BH) occurs at the start and cannot be start.
• When the control unit is [degree] and the stroke limit is invalid, if the helical interpolation control is executed using absolute data method, positioning in near direction to specified address based on the current value.
• Allowable error range for circular interpolation can be set.
5
5 POSITIONING CONTROL
5.9 Helical Interpolation Control
299
ABH , ABH , ABH , ABH Absolute radius-specified helical interpolation control
Processing details
The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from current stop position (X
0
Y
0
, Z
0
) to specified circular end address (X
1
, Y
1
) or linear axis end point address (Z
1 executed so that it may become a spiral course.
,
), and the absolute helical interpolation is
It goes around on the specified circle for the specified number of pitches, the circular interpolation which had remainder specified is executed, and positioning to end address is executed. The radius-specified circle specifies circular interpolation method connected start point and end point at the seeing on the plane for which performs circular interpolation.
Operation details for absolute radius-specified helical interpolation are shown below.
End point address (X
1
, Y
1
, Z
1
) Circular interpolation plane
End point address (X
1
, Y
1
)
Linear interpolation travel value = Z
1
-Z
0 Helical interpolation path
Number of pitches a
Radius R
Central angle
Positioning speed V
1
Circular interpolation plane
Start point (X
0
, Y
0
, Z
0
) Start point (X
0
, Y
0
)
*: Indicates setting data.
Control details for the servo instructions are shown below.
Instruction Rotation direction of servo motor
Clockwise (CW)
Controllable angle of arc
0 ° < θ < 180 ° ABH
Radius-specified helical interpolation less than
CW 180 °
Positioning path
ABH
Radius-specified helical interpolation less than
CCW 180 °
Counter clockwise (CCW)
ABH
Radius-specified helical interpolation CW 180 ° or more
Clockwise (CW)
ABH
Radius-specified helical interpolation CCW 180 ° or more
Counter clockwise (CCW)
180 ° ≤ θ ≤ 360 °
Start point
Radius R
< 180
Positioning path
End point
Central point
Central point
Radius R
Start point < 180 End point
Positioning path
Start point
180 360
Positioning path
Central point
Radius
R
End point
Start point Radius
R
End point
Central point
180 360
Positioning path
300
5 POSITIONING CONTROL
5.9 Helical Interpolation Control
• The setting range of end point address for the both of circular interpolation axis and linear interpolation axis is (-2 31 ) to (2 31 -
1).
• The maximum arc radius on the circular interpolation plane is (2 31 -1). For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7 [ μ m].
2 31 -1
Maximum arc
Arc central point
0
-2 31
Radius R
2 31 -1
• Set the command speed with the vector speed for 2 axes circular interpolation axis.
• The command speed unit is specified in the parameter block.
• Set the number of pitches within the range of 0 to 999. If it is set outside the setting range, the minor error (error code:
1A36H) occurs, and cannot be started.
• All of the circular interpolation axis, linear axis and point address, command speed, radius (2 word data above) and number of pitches (1 word data) are set indirectly by the word devices.
Program example
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 52) for absolute radius-specified helical interpolation control is shown below.
Absolute radius-specified helical interpolation control
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
[K52]
ABH
Axis 1, 100000pulse
Axis 2, 50000pulse
Linear axis 3, 25000pulse
Speed 1000pulse/s
Number of pitches 100
Radius 60000pulse
[G20]
X0*M2415*M2435*M2455
!X0
Wait until X0, Axis 1 servo ready, Axis 2 servo ready, and
Axis 3 servo ready turn on.
Absolute radius specified-circular helical interpolation
Axis for the circular interpolation .........
Axis 1, Axis 2
End point address of the Axis 1.........
100000[pulse] circular interpolation axis ...................
Linear axis for the circular
Axis 2.........
interpolation and linear interpolation.... Axis 3
50000[pulse]
End point address of the linear axis ....................... 25000[pulse]
Positioning speed .....................................................
1000[pulse/s]
Number of pitches ....................................................
100
Radius on a circular interpolation plane ................... 60000[pulse]
Wait until X0 turn OFF after circular interpolation completion.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5
5 POSITIONING CONTROL
5.9 Helical Interpolation Control
301
INH , INH , INH , INH Incremental radius-specified helical interpolation control
Processing details
The linear interpolation to other linear axis is executed performing circular interpolation from current stop position (start point) to specified circular relative end address (X
1
, Y
1
) or linear axis end point relative address (Z
1
), and the incremental helical interpolation control is executed so that it may become a spiral course.
It goes around on the specified circle for the specified number of pitches, the circular interpolation which had remainder specified is executed, and positioning to end address is executed. The radius-specified circle specifies circular interpolation method connected start point and end point at the seeing on the plane for which performs circular interpolation.
Operation details for incremental radius-specified helical interpolation are shown below.
End point relative address (X
1
, Y
1
, Z
1
) Circular interpolation plane
End point relative address (X
1
, Y
1
)
Linear interpolation travel value = Z
1 Helical interpolation path
Central angle
Positioning speed V
1
Number of pitches a
Radius R
Circular interpolation plane
Start point Start point
*: Indicates setting data.
Control details for the servo instructions are shown below.
Instruction
INH
Radius-specified helical interpolation less than
CW 180 °
INH
Radius-specified helical interpolation less than CCW 180 °
Rotation direction of servo motor
Clockwise (CW)
Counter clockwise (CCW)
Controllable angle of arc
0 ° < θ < 180 °
Positioning path
Start point
Radius R
< 180
Positioning path
End point
Central point
Central point
Radius R
Start point < 180 End point
Positioning path
INH
Radius-specified helical interpolation CW 180 ° or more
Clockwise (CW) 180 ° ≤ θ ≤ 360 °
Start point
180 360
Positioning path
Central point
Radius
R End point
INH
Radius-specified helical interpolation CCW 180 ° or more
Counter clockwise (CCW)
Start point Radius
R
End point
Central point
180 360
Positioning path
• The setting range of end point relative address for the both of circular interpolation axis and linear interpolation axis is 0 to
± (2 31 -1). The travel direction is set by the sign (+/ -) of the travel value, as follows:
Travel direction
Positive
Negative
Description
Positioning control to forward direction (Address increase direction)
Positioning control to reverse direction (Address decrease direction)
302
5 POSITIONING CONTROL
5.9 Helical Interpolation Control
• The maximum arc radius on the circular interpolation plane is 2 31 -1. For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7 [ μ m].
2 31 -1
Maximum arc
Arc central point
0
-2 31
Radius R
2 31 -1
• Set the command speed with the vector speed for 2 axes circular interpolation axis.
• The command speed unit is specified in the parameter block.
• Set the number of pitches within the range of 0 to 999. If it is set outside the setting range, the minor error (error code:
1A36H) occurs and operation does not start.
• All of the circular interpolation axis, linear axis end point relative address, command speed, radius (2 word data above) and number of pitches (1 word data) are set indirectly by the word devices.
Program example
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 53) for incremental radius-specified helical interpolation control is shown below.
Incremental radius-specified helical interpolation control
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
X0*M2415*M2435*M2455
[K53]
INH
Axis
Axis
1, 100000pulse
2, 50000pulse
Linear axis 3, 25000pulse
Speed 1000pulse/s
Number of pitches 100
Radius 60000pulse
[G20]
!X0
Wait until X0, Axis 1 servo ready, Axis 2 servo ready and
Axis 3 servo ready turn on.
Incremental radius specified-circular helical interpolation
Axis for the circular interpolation .........
Axis 1, Axis 2
End point relative address of the circular interpolation axis .............
Axis 1.........
100000[pulse]
Axis 2.........
50000[pulse]
Linear axis for the circular interpolation and linear interpolation.... Axis 3
End point relative address of the linear axis ........... 25000[pulse]
Positioning speed .....................................................
1000[pulse/s]
Number of pitches ....................................................
100
Radius on a circular interpolation plane ................... 60000[pulse]
Wait until X0 turn OFF after circular interpolation completion
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5
5 POSITIONING CONTROL
5.9 Helical Interpolation Control
303
ABH , ABH Absolute central point-specified helical interpolation control
Processing details
The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from current stop position (X
0
Y
0
, Z
0
) to specified circular end address (X
1
, Y
1
) or linear axis end point address (Z
1 executed so that it may become a spiral course.
,
), and the absolute helical interpolation is
It goes around on the specified circle for the specified number of pitches, the circular interpolation which had remainder specified is executed, and positioning to end address is executed. The central point-specified circle specifies circular interpolation method connected start point and end point at the seeing on the plane for which performs circular interpolation.
Operation details for absolute central point-specified helical interpolation are shown below.
End point address (X
1
, Y
1
, Z
1
) Circular interpolation plane
End point address (X
1
, Y
1
)
Linear interpolation travel value = Z
1
-Z
0 Helical interpolation path
Positioning speed V
1
Number of pitches a
Radius R
Circular interpolation plane
Start point (X
0
, Y
0
, Z
0
)
Arc central point address (X
2
, Y
2
)
Start point (X
0
, Y
0
)
*: Indicates setting data.
Control details for the servo instructions are shown below.
Instruction
ABH
Central point- specified helical interpolation CW
Rotation direction of servo motor
Clockwise (CW)
Controllable angle of arc
0 ° < θ ≤ 360 °
Positioning path
Start point 0 < θ 360
Positioning path
End point
Central point
ABH
Central point- specified helical interpolation CCW
Counter clockwise (CCW)
Central point
Start point
0 < 360 End point
Positioning path
• The setting range of end point address for the both of circular interpolation axis and linear interpolation axis is (-2 31 ) to (2 31 -
1).
• The setting range of central point address is (-2 31 ) to (2 31 -1).
• The maximum arc radius on the circular interpolation plane is 2 31 -1. For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7 [ μ m].
2 31 -1
Maximum arc
Arc central point
0
-2 31
Radius R
2 31 -1
• Set the command speed with the vector speed for 2 axes circular interpolation axis.
• The command speed unit is specified in the parameter block.
• Set the number of pitches within the range of 0 to 999. If it is set outside the setting range, the minor error (error code:
1A36H) occurs and operation does not start.
304
5 POSITIONING CONTROL
5.9 Helical Interpolation Control
• All of the circular interpolation axis, linear axis end point address, command speed, radius (2 word data above) and number of pitches (1 word data) are set indirectly by the word devices.
• If start point = end point, number of pitches = 1 and travel value of linear axis = 0, at the only central point-specified circular interpolation, full circle can be drawn.
Program example
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 55) for absolute central point-specified helical interpolation control is shown below.
Absolute central point-specified helical interpolation control
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
[K55]
ABH
Axis
Axis
1, 88541pulse
2, 30000pulse
Linear axis 3, 20000pulse
Speed 1000pulse/s
Number of pitches 500
Ctr.P. 1, 45000pulse
Ctr.P. 2, 20000pulse
[G20]
X0*M2415*M2435*M2455
!X0
Wait until X0, Axis 1 servo ready, Axis 2 servo ready and
Axis 3 servo ready turn on.
Absolute central point-specified circular helical interpolation
Axis for the circular interpolation .........
Axis 1, Axis 2
End point address of the circular interpolation axis ...................
Axis 1.........
88541[pulse]
Axis 2.........
30000[pulse]
Linear axis for the circular interpolation and linear interpolation.... Axis 3
End point address of the linear axis ....................... 20000[pulse]
Positioning speed ..................................................... 1000[pulse/s]
Number of pitches .................................................... 500
Central point address of the arc ..........
Axis 1.........
45000[pulse]
Axis 2.........
20000[pulse]
Wait until X0 turn OFF after circular interpolation completion.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5
5 POSITIONING CONTROL
5.9 Helical Interpolation Control
305
INH , INH Incremental central point-specified helical interpolation control
Processing details
The linear interpolation to other linear axis is executed performing circular interpolation from current stop position (start point) to specified circular relative end address (X
1
, Y
1
) or linear axis end point relative address (Z
1
), and the incremental helical interpolation control is executed so that it may become a spiral course.
It goes around on the specified circle for the specified number of pitches, the circular interpolation which had remainder specified is executed, and positioning to end address is executed. The central point-specified circle specifies circular interpolation method connected start point and end point at the seeing on the plane for which performs circular interpolation.
Operation details for incremental central point-specified helical interpolation are shown below.
End point relative address (X
1
, Y
1
, Z
1
) Circular interpolation plane
End point relative address (X
1
, Y
1
)
Linear interpolation travel value = Z
1 Helical interpolation path
Positioning speed V
1
Number of pitches a
Radius R
Circular interpolation plane
Start point Start point
Arc central point relative address (X
2
, Y
2
)
*: Indicates setting data.
Control details for the servo instructions are shown below.
Instruction
INH
Central point-specified helical interpolation CW
Rotation direction of servo motor
Clockwise (CW)
Controllable angle of arc
0 ° < θ ≤ 360 °
Positioning path
Start point
0 < 360
Positioning path
End point
Central point
INH
Central point-specified helical interpolation
CCW
Counter clockwise (CCW)
Central point
Start point
0 < 360
End point
Positioning path
• The setting range of end point relative address for the both of circular interpolation axis and linear interpolation axis is 0 to
± (2 31 -1).
• The setting range of central point relative is 0 to ± (2 31 -1).
• The maximum arc radius on the circular interpolation plane is (2 31 -1). For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7 [ μ m].
2 31 -1
Maximum arc
Arc central point
0
-2 31
Radius R
2 31 -1
• Set the command speed with the vector speed for 2 axes circular interpolation axis.
• The command speed unit is specified in the parameter block.
• Set the number of pitches within the range of 0 to 999. If it is set outside the setting range, the minor error (error code:
1A36H) occurs and operation does not start.
306
5 POSITIONING CONTROL
5.9 Helical Interpolation Control
• All of the circular interpolation axis, linear axis end relative address, command speed, radius (2 word data above) and number of pitches (1 word data) are set indirectly by the word devices.
• If start point = end point, number of pitches = 1 and travel value of linear axis = 0, at the only central point-specified circular interpolation, full circle can be drawn.
Program example
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 56) for incremental central point-specified helical interpolation control is shown below.
Incremental central point-specified helical interpolation control
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
[K56]
INH
Axis
Axis
1, 88541pulse
2, 30000pulse
Linear axis 3, 20000pulse
Speed 1000pulse/s
Number of pitches 500
Ctr.P. 1, 45000pulse
Ctr.P. 2, 20000pulse
[G20]
X0*M2415*M2435*M2455
!X0
Wait until X0, Axis 1 servo ready, Axis 2 servo ready and
Axis 3 servo ready turn on.
Incremental central point-specified helical interpolation control
Axis for the circular interpolation .........
Axis 1, Axis 2
End point relative address of the circular interpolation axis .............
Axis 1.........
88541[pulse]
Axis 2.........
30000[pulse]
Linear axis for the circular interpolation and linear interpolation.... Axis 3
End point relative address of the linear axis........... 20000[pulse]
Positioning speed ..................................................... 1000[pulse/s]
Number of pitches .................................................... 500
Central point relative address of the arc .............................................
Axis 1.........
45000[pulse]
Axis 2.........
20000[pulse]
Wait until X0 turn OFF after circular interpolation completion.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5
5 POSITIONING CONTROL
5.9 Helical Interpolation Control
307
ABH Absolute auxiliary point-specified helical interpolation control
Processing details
The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from current stop position (X
0
Y
0
, Z
0
) to specified circular end address (X
1
, Y
1
) or linear axis end point address (Z
1 executed so that it may become a spiral course.
,
), and the absolute helical interpolation is
It goes around on the specified circle for the specified number of pitches, the circular interpolation which had remainder specified is executed, and positioning to end address is executed. The auxiliary point-specified circle specifies circular interpolation method connected start point and end point at the seeing on the plane for which performs circular interpolation.
Operation details for absolute auxiliary point-specified helical interpolation are shown below.
End point address (X
1
, Y
1
, Z
1
) Circular interpolation plane
End point address (X
1
, Y
1
)
Linear interpolation travel value = Z
1
-Z
0 Helical interpolation path
Positioning speed V
1
Number of pitches a
Radius R
Circular interpolation plane
Start point (X
0
, Y
0
, Z
0
)
*: Indicates setting data.
Control details for the servo instructions are shown below.
Instruction
ABH
Auxiliary point-specified helical interpolation
Rotation direction of servo motor
Clockwise (CW)/
Counter clockwise (CCW)
Controllable angle of arc
0 ° < θ ≤ 360 °
• The setting range of end point address for the both of circular interpolation axis and linear interpolation axis is (-2 31 ) to (2 31 -
1).
• The setting range of auxiliary point address is (-2 31 ) to (2 31 -1).
• The maximum arc radius on the circular interpolation plane is 2 31 -1. For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7 [ μ m].
2 31 -1
Maximum arc
Start point (X
0
, Y
0
)
Arc auxiliary point address (X
2
, Y
2
)
Arc central point
0
-2 31
Radius R
2 31 -1
• Set the command speed with the vector speed for 2 axes circular interpolation axis.
• The command speed unit is specified in the parameter block.
• Set the number of pitches within the range of 0 to 999. If it is set outside the setting range, the minor error (error code:
1A36H) occurs and operation does not start.
• All of the circular interpolation axis, linear axis end relative address, command speed, radius (2 word data above) and number of pitches (1 word data) are set indirectly by the word devices.
308
5 POSITIONING CONTROL
5.9 Helical Interpolation Control
Program example
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 60) for absolute auxiliary point-specified helical interpolation control is shown below.
Absolute auxiliary point-specified helical interpolation control
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
[K60]
ABH
Axis
Axis
1, 88541pulse
2, 30000pulse
Str.Ax. 3, 20000pulse
Speed 1000pulse/s
Number of pitches 500
Aux.P. 1, 45000pulse
Aux.P. 2, 20000pulse
[G20]
X0*M2415*M2435*M2455
!X0
Wait until X0, Axis 1 servo ready, Axis 2 servo ready and
Axis 3 servo ready turn on.
Absolute auxiliary point-specified circular helical interpolation
Axis for the circular interpolation .........
Axis 1, Axis 2
End point address of the circular interpolation axis ...................
Axis 1.........
88541[pulse]
Axis 2.........
30000[pulse]
Linear axis for the circular interpolation and linear interpolation ........................ Axis 3
End point address of the linear axis ....................... 20000[pulse]
Positioning speed ..................................................... 1000[pulse/s]
Number of pitches .................................................... 500
Auxiliary point address of the arc ........
Axis 1.........
45000[pulse]
Axis 2.........
20000[pulse]
Wait until X0 turn OFF after circular interpolation completion
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5
5 POSITIONING CONTROL
5.9 Helical Interpolation Control
309
INH Incremental auxiliary point-specified helical interpolation control
Processing details
The linear interpolation to other linear axis is executed performing circular interpolation from current stop position (start point) to specified circular relative end address (X
1
, Y
1
) or linear axis end point relative address (Z
1
), and the incremental helical interpolation control is executed so that it may become a spiral course.
It goes around on the specified circle for the specified number of pitches, the circular interpolation which had remainder specified is executed, and positioning to end address is executed. The auxiliary point-specified circle specifies circular interpolation method connected start point and end point at the seeing on the plane for which performs circular interpolation.
Operation details for incremental auxiliary point-specified helical interpolation are shown below.
End point relative address (X
1
, Y
1
, Z
1
) Circular interpolation plane
End point relative address (X
1
, Y
1
)
Linear interpolation travel value = Z
1 Helical interpolation path
Positioning speed V
1
Number of pitches a
Radius R
Circular interpolation plane
Arc auxiliary point address (X2, Y2)
Start point Start point
*: Indicates setting data.
Control details for the servo instructions are shown below.
Instruction
INH
Auxiliary point-specified helical interpolation
Rotation direction of servo motor
Clockwise (CW)/
Counter clockwise (CCW)
Controllable angle of arc
0 ° < θ ≤ 360 °
• The setting range of end point relative address for the both of circular interpolation axis and linear interpolation axis is 0 to
± (2 31 -1).
• The setting range of auxiliary point relative is 0 to ± (2 31 -1).
• The maximum arc radius on the circular interpolation plane is (2 31 -1). For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7 [ μ m].
2 31 -1
Maximum arc
Arc central point
0
-2 31
Radius R
2 31 -1
• Set the command speed with the vector speed for 2 axes circular interpolation axis.
• The command speed unit is specified in the parameter block.
• Set the number of pitches within the range of 0 to 999. If it is set outside the setting range, the minor error (error code:
1A36H) occurs and operation does not start.
• All of the circular interpolation axis, linear axis end point address, command speed, radius (2 word data above), and number of pitches (1 word data) are set indirectly by the word devices.
310
5 POSITIONING CONTROL
5.9 Helical Interpolation Control
Program example
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 61) for incremental auxiliary point-specified helical interpolation control is shown below.
Incremental auxiliary point-specified helical interpolation control
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
[K61]
INH
Axis
Axis
1, 88541pulse
2, 30000pulse
Str.Ax. 3, 20000pulse
Speed 1000pulse/s
Number of pitches 500
Aux.P. 1, 45000pulse
Aux.P. 2, 20000pulse
[G20]
X0*M2415*M2435*M2455
!X0
Wait until X0, Axis 1 servo ready, Axis 2 servo ready and
Axis 3 servo ready turn on.
Incremental auxiliary point-specified circular helical interpolation
Axis for the circular interpolation .........
Axis 1, Axis 2
End point relative address of the circular interpolation axis ...................
Axis 1.........
88541[pulse]
Axis 2.........
30000[pulse]
Linear axis for the circular interpolation and linear interpolation.... Axis 3
End point relative address of the linear axis........... 20000[pulse]
Positioning speed ..................................................... 1000[pulse/s]
Number of pitches .................................................... 500
Auxiliary point relative address of the arc .............................................
Axis 1.........
45000[pulse]
Axis 2.........
20000[pulse]
Wait until X0 turn OFF after circular interpolation completion.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5
5 POSITIONING CONTROL
5.9 Helical Interpolation Control
311
5.10
Axis Fixed-Pitch Feed Control
Positioning control for specified axis of specified travel value from the current stop point.
Fixed-pitch feed control uses the FEED-1servo instruction.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
FEED-1 Incremental 1
*1 Only when the reference axis speed is specified
Processing details
• Positioning control for the specified travel value from the current stop position "0" is executed.
• The travel direction is set by the sign (+/ -) of the travel value, as follows:
Travel direction
Positive
Negative
Description
Positioning control to forward direction (Address increase direction)
Positioning control to reverse direction (Address decrease direction)
Positioning direction
Reverse direction
Travel direction for negative sign
Current stop position
Travel direction for positive sign
Forward direction
Operation timing
V
Command speed
Fixed-pitch feed by FEED-1 instruction
Travel value
Servo program start
*: Indicates setting data.
t
Do not set the travel value to "0" for fixed-pitch feed control.
If the travel value is set to "0", fixed-pitch feed completion without fixed-pitch feed.
312
5 POSITIONING CONTROL
5.10 Axis Fixed-Pitch Feed Control
Precautions
The feed current value is changed to "0" at the start.
When fixed-pitch feed control is executed in the absolute position system, the feed current value that is restored when the control circuit power supply of the servo amplifier or the Multiple CPU system power supply is turned ON again, may be different from the feed current value before the power supply was turned ON again.
Program example
The program for repeating 1 axis fixed-pitch feed control of Axis 4 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Fixed-pitch feed control conditions
• Positioning conditions are shown below.
Item
Servo program No.
Control axis
Control speed
Travel value
Setting
No.300
Axis 4
10000
80000
• Fixed-pitch feed control start command: X0 Leading edge (OFF → ON)
• Fixed-pitch feed control end command: X1 Leading edge (OFF → ON)
■
Operation timing
Operation timing for fixed-pitch feed control is shown below.
Servo program No.300
V
10000 t
Dwell 1 second Dwell 1 second Dwell 1 second
[Rq.1120] PLC ready flag
(M2000)
[Rq.1123] All axes servo ON command (M2042)
[St.1045] All axes servo ON accept flag (M2049)
Axis 4 [St.1075] Servo ready
(M2475)
Start command (X0)
Servo program start
Axis 4 [St.1040] Start accept flag (M2004)
End command (X1)
5
5 POSITIONING CONTROL
5.10 Axis Fixed-Pitch Feed Control
313
■
Motion SFC program
The Motion SFC program for executing servo program (No. 300) for 1 axis fixed-pitch feed control is shown below.
1 axis fixed-pitch feed control
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
X0*M2475 Wait until X0 and Axis 4 servo ready turn on.
P0
[K300]
FEED-1
Axis
Speed
Dwell
[G20]
[G30]
X1
!X0*!X1
4, 80000pulse
10000pulse/s
1000ms
1 axis fixed-pitch feed control
Axis used ....................Axis 4
Travel value ................80000 [pulse]
Command speed...........10000 [pulse/s]
Dwell.............................1000 [ms]
P0
After fixed-pitch feed completion,
PX001 is OFF: Fixed-pitch feed starts.
PX001 is ON : Motion SFC program ends.
Wait until X0 and X1 turn OFF after fixed-pitch feed completion.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
314
5 POSITIONING CONTROL
5.10 Axis Fixed-Pitch Feed Control
5.11
Fixed-Pitch Feed Control Using 2 Axes Linear
Interpolation
Fixed-pitch feed control using 2 axes linear interpolation from the current stop position with the specified 2 axes.
Fixed-pitch feed control using 2 axes linear interpolation uses the FEED-2 servo instruction.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
5
FEED-2 Incremental 2
*1 Only when the reference axis speed is specified
Processing details
• Positioning control from the current stop position "0" to the position which combined travel direction and travel value specified with each axis is executed.
• The travel direction for each axis is set by the sign (+/ -) of the travel value for each axis, as follows:
Travel direction
Positive
Negative
Description
Positioning control to forward direction (Address increase direction)
Positioning control to reverse direction (Address decrease direction)
Positioning direction
Forward direction
Operation timing
V
Command speed
Fixed-pitch feed by FEED-2 instruction
Y-axis travel value
Reverse direction
Current stop position
X-axis travel value
Reverse direction
Forward direction
Servo program start
*: Indicates setting data.
t
Do not set the travel value to "0" for fixed-pitch feed control.
The following results if the travel value is set to "0":
• If the travel value of both is set to "0", fixed-pitch feed completion without fixed-pitch feed.
5 POSITIONING CONTROL
5.11 Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation
315
Precautions
The feed current value is changed to "0" at the start.
When fixed-pitch feed control is executed in the absolute position system, the feed current value that is restored when the control circuit power supply of the servo amplifier or the Multiple CPU system power supply is turned ON again, may be different from the feed current value before the power supply was turned ON again.
Program example
The program for performing fixed-pitch feed control using 2 axes linear interpolation with Axis 2 and Axis 3 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Fixed-pitch feed control
• Fixed-pitch feed control conditions are shown below.
Item
Servo program No.
Positioning speed
Control axis
Travel value
Setting
No.310
10000
Axis 2
500000
Axis 3
300000
• Fixed-pitch feed control start command: X0 Leading edge (OFF → ON)
■
Operation timing
Operation timing for fixed-pitch feed control using 2 axes linear interpolation is shown below.
Servo program No.310
V
10000 t
[Rq.1120] PLC ready flag
(M2000)
[Rq.1123] All axes servo ON command (M2042)
[St.1045] All axes servo ON accept flag (M2049)
Axis 2 [St.1075] Servo ready
(M2435)
Axis 3 [St.1075] Servo ready
(M2455)
Start command (X0)
Servo program start
Axis 2 [St.1040] Start accept flag (M2002)
Axis 3 [St.1040] Start accept flag (M2003)
316
5 POSITIONING CONTROL
5.11 Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 310) for fixed-pitch feed control using 2 axes linear interpolation is shown below.
Fixed-pitch feed using
2 axes linear interpolation
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
X0*M2435*M2455 Wait until X0, Axis 2 servo ready and Axis 3 servo ready turn on.
P0
[K310]
[G20]
FEED-2
Axis
Axis
2, 500000pulse
3, 300000pulse
Speed 10000pulse/s
X0
Fixed-pitch feed using 2 axes linear interpolation
Axis used ....................Axis 2, Axis 3
Travel value ............. Axis 2.........500000[pulse]
Axis 3.........300000[pulse]
Positioning speed .........10000[pulse/s]
P0
After fixed-pitch feed completion,
X0 is ON : Fixed-pitch feed start again.
X0 is OFF : Motion SFC program end.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5
5 POSITIONING CONTROL
5.11 Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation
317
5.12
Fixed-Pitch Feed Control Using 3 Axes Linear
Interpolation
Fixed-pitch feed control using 3 axes linear interpolation from the current stop position with the specified 3 axes.
Fixed-pitch feed control using 3 axes linear interpolation uses the FEED-3 servo instruction.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
FEED-3 Incremental 3
© ¨ ¨ ¨ © ©
*1 Only when the reference axis speed is specified
© © © © © © © © © © ©
Processing details
• Positioning control from the current stop position "0" to the position which combined travel direction and travel value specified with each axis is executed.
• The travel direction for each axis is set by the sign (+/ -) of the travel value for each axis, as follows:
Travel direction
Positive travel value
Negative travel value
Description
Positioning control to forward direction (Address increase direction)
Positioning control to reverse direction (Address decrease direction)
Positioning direction
Forward direction
Operation timing
V
Command speed
Fixed-pitch feed by FEED-3 instruction
Forward direction t
Z-axis travel value
Reverse direction
Y-axis travel value
Forward direction
Servo program start
Reverse direction
X-axis travel value
Reverse direction
*: Indicates setting data.
Do not set the travel value to "0" for fixed-pitch feed control.
The following results if the travel value is set to "0":
• If the travel value of all axes are set to "0", fixed-pitch feed completion without fixed-pitch feed.
318
5 POSITIONING CONTROL
5.12 Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation
Precautions
The feed current value is changed to "0" at the start. When fixed-pitch feed control is executed in the absolute position system, the feed current value that is restored when the control circuit power supply of the servo amplifier or the Multiple CPU system power supply is turned ON again, may be different from the feed current value before the power supply was turned
ON again.
Program example
The program for performing fixed-pitch feed control using 3 axes linear interpolation with Axis 1, Axis 2, and Axis 3 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Fixed-pitch feed control
• Fixed-pitch feed control conditions are shown below.
Item
Servo program No.
Positioning speed
Control axes
Travel value
Setting
No.320
1000
Axis 1
50000
Axis 2
40000
Axis 3
30000
• Fixed-pitch feed control start command: X0 Leading edge (OFF → ON)
■
Operation timing
Operation timing for fixed-pitch feed control using 3 axes linear interpolation is shown below.
Servo program No.320
V
1000
5 t
[Rq.1120] PLC ready flag
(M2000)
Rq.1123] All axes servo ON command (M2042)
[St.1045] All axes servo ON accept flag (M2049)
Axis 1 [St.1075] Servo ready
(M2415)
Axis 2 [St.1075] Servo ready
(M2435)
Axis 3 [St.1075] Servo ready
(M2455)
Start command (X0)
Servo program start
Axis 1 [St.1040] Start accept flag (M2001)
Axis 2 [St.1040] Start accept flag (M2002)
Axis 3 [St.1040] Start accept flag (M2003)
5 POSITIONING CONTROL
5.12 Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation
319
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 320) for fixed-pitch feed control using 3 axes linear interpolation is shown below.
Fixed-pitch feed using
3 axes linear interpolation
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
X0*M2415*M2435*M2455 Wait until X0, Axis 1 servo ready, Axis 2 servo ready and
Axis 3 servo ready turn on.
P0
[K320]
FEED-3
Axis
Axis
Axis
Speed
1, 50000pulse
2, 40000pulse
3, 30000pulse
1000pulse/s
Fixed-pitch feed using 3 axes linear interpolation
Axis used ....................Axis 1, Axis 2, Axis 3
Travel value .............
Axis 1 .........50000[pulse]
Axis 2.........
40000[pulse]
Axis 3.........
30000[pulse]
Positioning speed .........
1000[pulse/s]
[G20]
!X0
P0
After fixed-pitch feed completion,
X0 is ON : Fixed-pitch feed start again.
X0 is OFF: Motion SFC program end.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
320
5 POSITIONING CONTROL
5.12 Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation
5.13
Speed Control (I)
• Speed control for the specified axis is executed.
• Control includes positioning loops for control of servo amplifiers.
Refer to the speed-torque control for performing speed control that does not include positioning loops without using the servo program. (
Page 436 Speed-Torque Control)
• Speed control ( ) uses the VF (Forward) and VR (Reverse) servo instructions.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
5
VF
«
1 © ¨ ¨ © © © © © © © © © © ©
VR
*1 Only when the reference axis speed is specified
Processing details
• Controls the axis at the specified speed until the input of the stop command after starting of the servo motors.
Servo instruction
VF
VR
Description
Forward direction start
Reverse direction start
• The operation of the feed current value during speed control is as follows depending on the status of the "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)".
Setting value
ON
OFF
Description
The feed current value is updated. The software stroke limit is valid.
"0" is stored in the feed current value.
V
Stop command accept
Setting speed
Speed control start
Operation speed
Stop t
• Refer to the stop processing and restarting after stop for stop commands and stop processing during speed control.
(
Page 264 Stop processing and restarting after stop)
5 POSITIONING CONTROL
5.13 Speed Control (I)
321
Precautions
• When "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" is OFF, the feed current value is changed to "0". When speed control ( ) is executed in the absolute position system, the feed current value that is restored when the control circuit power supply of the servo amplifier or the Multiple CPU system power supply is turned ON again, may be different from the feed current value before the power supply was turned ON again.
• The dwell time cannot be set.
Program example
The program for performing speed control ( ) of Axis 1 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Speed control (I) conditions
• Speed control ( ) conditions are shown below.
Item
Servo program No.
Control axis
Control speed
Rotation direction
Setting
No.91
Axis 1
3000
Forward
• Speed control ( ) start command: X0 Leading edge (OFF → ON)
• Stop command: X0 Trailing edge (ON → OFF)
■
Operation timing
Operation timing for speed control ( ) is shown below.
Speed control by servo program No.91
V
3000
Stop command accept t
[Rq.1120] PLC ready flag
(M2000)
[Rq.1123] All axes servo ON command (M2042)
[St.1045] All axes servo ON accept flag (M2049)
Axis 1 [St.1075] Servo ready
(M2415)
Start command (X0)
Servo program start
Axis 1 [St.1040] Start accept flag (M2001)
[Rq.1140] Stop command
(M3200)
322
5 POSITIONING CONTROL
5.13 Speed Control (I)
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 91) for speed control ( ) is shown below.
Speed control (
³
)
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
X0*M2415 Wait until X0 and Axis 1 servo ready turn on.
[K91]
VF
Axis
Speed
1
3000pulse/s
Speed control (
³
) (Forward rotation)
Axis used ......................
Axis 1
Positioning speed .........3000 [pulse/s]
[G20]
!X0
[F20]
SET M3200
[G30]
!M2001
[F30]
RST M3200
Wait until X0 turns OFF after speed control (
³
) start.
Turn on Axis 1 stop command.
Wait until Axis 1 start accept flag turn OFF.
Turn OFF Axis 1 stop command.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5
5 POSITIONING CONTROL
5.13 Speed Control (I)
323
5.14
Speed Control (II)
• Speed control for the specified axis is executed.
• Speed control not includes positioning loops for control of servo amplifiers. It can be used for control, etc. so that it may not become error excessive.
Refer to the speed-torque control for executing speed control that does not include positioning loops without using the servo program. (
Page 436 Speed-Torque Control)
• Speed control ( ) uses the VVF (Forward) and VVR (Reverse) servo instructions.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
VVF
«
1 © ¨ ¨ © ©
VVR
*1 Only when the reference axis speed is specified
© © © © © © © © © ©
Processing details
• Controls the axis at the specified speed until the input of the stop command after starting of the servo motors.
Servo instruction
VVF
VVR
Description
Forward direction start
Reverse direction start
• Current value or deviation counter do not change at "0".
• When the setting for "torque" is set in the servo program and an indirect setting made, the torque limit value can be changed during operation by changing the value of the indirect device.
• The stop command and stop processing are the same as for speed control ( ). (
Page 264 Stop processing and restarting after stop)
Precautions
• The feed current value is changed to "0" at the start. When speed control ( ) is executed in the absolute position system, the feed current value that is restored when the control circuit power supply of the servo amplifier or the Multiple CPU system power supply is turned ON again, may be different from the feed current value before the power supply was turned
ON again.
• The dwell time cannot be set.
324
5 POSITIONING CONTROL
5.14 Speed Control (II)
Program example
The program for performing speed control ( ) of Axis 3 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Speed control (II) conditions
• Speed control ( ) conditions are shown below.
Item
Servo program No.
Control axis
Control speed
Rotation direction
Setting
No.55
Axis 3
4000
Forward
• Speed control ( ) start command: X0 Leading edge (OFF → ON)
• Stop command: X0 Trailing edge (ON → OFF)
■
Operation timing
Operation timing for speed control ( ) is shown below.
Speed control by servo program No.55
V
4000
Stop command accept t
[Rq.1120] PLC ready flag
(M2000)
[Rq.1123] All axes servo ON command (M2042)
[St.1045] All axes servo ON accept flag (M2049)
Axis 3 [St.1075] Servo ready
(M2455)
Start command (X0)
Servo program start
Axis 3 [St.1040] Start accept flag (M2003)
[Rq.1140] Stop command
(M3240)
5
5 POSITIONING CONTROL
5.14 Speed Control (II)
325
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 55) for speed control ( ) is shown below.
Speed control (
´
)
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
X0*M2455 Wait until X0 and Axis 3 servo ready turn on.
[K55]
VVF
Axis
Speed
3
4000pulse/s
Speed control (
´
) (Forward rotation)
Axis used ......................Axis 3
Positioning speed .........4000 [pulse/s]
[G20]
!X0
[F20]
SET M3240
[G30]
!M2003
[F30]
RST M3240
Wait until X0 turn OFF after speed control (
´
) start.
Turn on Axis 3 stop command.
Wait until Axis 3 start accept flag turn OFF.
Turn OFF Axis 3 stop command.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
326
5 POSITIONING CONTROL
5.14 Speed Control (II)
5.15
Speed/Position Switching Control
Speed/position switching control start
Speed/position switching control for specified axis is executed.
Speed/position switching control uses the VPF (Forward rotation), VPR (Reverse rotation) and VPSTART (Re-start) servo instructions.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
5
VPF
«
1 © ¨ ¨ ¨ © © ©
VPR
*1 Only when the reference axis speed is specified
© © © © © © © © © ©
Processing details
• The speed control (including positioning loops) is executed after the start of the servo motor, and changes from speed control to position control with the CHANGE (Speed/position switching) signal from external source, and then the specified positioning travel value is executed.
Servo instruction
VPF
VPR
Description
Forward rotation direction (Address increase direction) start
Reverse rotation direction (Address decrease direction) start
5 POSITIONING CONTROL
5.15 Speed/Position Switching Control
327
• The CHANGE signal from external source is effective during "[Rq.1145] Speed/position switching enable signal (R:
M34485+32n/Q: M3205+20n)" is on only. If "[Rq.1145] Speed/position switching enable signal (R: M34485+32n/Q:
M3205+20n)" turns on after the CHANGE signal turned on, it does not change from speed control to position control and speed control is continued.
V Setting travel value t
Speed controlling
Position controlling
CHANGE signal valid
ON
[Rq.1145] Speed/position switching enable command (R: M34485+32n/Q: M3205+20n)
OFF
CHANGE signal input from external source *1
*1 The CHANGE input signal from external source uses the input set for the DOG signal in the external signal parameter. When "normally open contact input" is set, CHANGE input occurs at the CHANGE signal on, and when "normally closed contact input" is set, CHANGE input occurs at the CHANGE signal off. (
Page 192 External Signal Parameter)
■
Feed current value processing
The feed current value is as follows by turning "[Rq.1152] Feed current value update command (R: M34492+32n/Q:
M3212+20n)" on/off at the speed/position switching control start.
"[Rq.1152] Feed current value update command
(R: M34492+32n/Q: M3212+20n)"
OFF
Description
ON
• The feed current value is cleared to "0" at the start.
• The feed current value is updated from the start (speed control).
• The feed current value after stop is as follows:
Feed current value after stop = Travel value during speed control + Travel value for position control
• The feed current value is not cleared at the start.
• The feed current value is updated from the start (speed control).
• The feed current value after stop is as follows:
Feed current value after stop = Address before speed control start + Travel value during speed control +
Travel value for position control
"[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" OFF
CHANGE input
Speed controlling
0
Position controlling
Feed current value
**
Update feed current value
Clear feed current value
[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)
OFF
"[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" ON
CHANGE input
Feed current value **
[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)
OFF
ON
Speed controlling
**
Position controlling
Update feed current value
328
5 POSITIONING CONTROL
5.15 Speed/Position Switching Control
If it is started with "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" on, leave "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" on until positioning control is completed.
If it is turns off during control, the feed current value cannot be guaranteed.
■
Change of the travel value during speed control
The travel value for position control can be changed during speed control after speed/position switching control start.
• The travel value is set in indirect specification by optional device (2-word data) in the servo program. When a negative value is set in the travel value, a deceleration stop is made after switching to the position control.
Ex.
Servo program which performs the speed control for axis 4 to the forward direction at speed 50000, and the position control of the travel value set in D3000, D3001 after the CHANGE signal from external source turns on.
<K 11>
VPF
Axis
Speed
4, D3000
50000
Indicates indirect specification of travel value
5
• The travel value is stored in the data register for travel value change during speed control in the Motion SFC program.
When the CHANGE signal turns on, the contents of the data register for travel value change are set as the travel value.
V
Speed controlling
Position controlling t
CHANGE signal input from external source
Travel value change possible
ON
OFF
Data register for travel value change P1 P2 P3
P2 is reset as the travel value
■
Travel value area after proximity dog ON
The travel value since the position mode was selected by the CHANGE signal input from external source is stored in the travel value "[Md.34] After proximity dog ON (R: D32010+48n, D32011+48n/Q: D10+20n, D11+20n)".
Precautions
■
Item check at the CHANGE signal ON from external source
When the external CHANGE signal turns on, speed control switches to position control if the following conditions are met:
• "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)" is turning on.
• Speed control is executing after starting of the speed/position switching control.
• "[Rq.1145] Speed/position switching enable command (R: M34485+32n/Q: M3205+20n)" is turning on.
5 POSITIONING CONTROL
5.15 Speed/Position Switching Control
329
■
No speed control
Position control only is executed if "[Rq.1145] Speed/position switching enable command (R: M34485+32n/Q: M3205+20n)" and CHANGE signal are turning on at the start. The "[Rq.1064] Speed controlling (R: M32404+32n/Q: M2404+20n)" does not turn on.
Position control only is executed if "[Rq.1145] Speed/position switching enable command (R: M34485+32n/Q: M3205+20n)" and CHANGE signal are turning on at the start.
V t
[Rq.1145] Speed/position switching enable command (R: M34485+32n/Q: M3205+20n)
OFF
ON
ON
Speed switching signal input (CHANGE) OFF
ON
Servo program start OFF
[St.1064] Speed controlling
(R: M32404+32n/Q: M2404+20n)
[St.1065] Speed/position switching latch
(R: M32405+32n/Q: M2405+20n)
OFF
OFF
ON
■
"Travel value for position control" is less than "deceleration distance"
• The deceleration distance from the time when CHANGE is input is calculated based on the controlling speed, the real current value, and the deviation counter. When the travel value for position control is less than this deceleration distance, deceleration processing starts immediately when CHANGE is input.
• The difference between the deceleration distance and the travel value for position control is the overrun. At this time, the
"[St.1067] Error detection signal (R: M32407+32n/Q: M2407+20n)" turns on and minor error (error code: 1A57H) is stored in the data register.
• The "[St.1061] Positioning complete (R: M32401+32n/Q: M2401+20n)" does not turn on.
V
: Travel value for position control
: Overrun t
ON
[Rq.1145] Speed/position switching enable command (R: M34485+32n/Q: M3205+20n)
OFF
ON
Position switching signal input (CHANGE) OFF
OFF
ON
[St.1067] Error detection
(R: M32407+32n/Q: M2407+20n)
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
OFF
■
Stroke limit check
Stroke limit range is not checked during the speed mode. If the travel value exceeds the stroke limit range, a minor error (error code: 19EEH) occurs when position mode is selected, and performs a deceleration stop.
■
When "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" is
OFF
When "[Rq.1152] Feed current value update command (R: M34492+32n/Q: M3212+20n)" is OFF, the feed current value is changed to "0" at the start. When speed-position switching control is executed in the absolute position system, the feed current value that is restored when the control circuit power supply of the servo amplifier or the Multiple CPU system power supply is turned ON again, may be different from the feed current value before the power supply was turned ON again.
330
5 POSITIONING CONTROL
5.15 Speed/Position Switching Control
Program example
The program for performing speed/position switching control of Axis 4 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Positioning conditions
• Positioning conditions are shown below.
Item
Servo program No.
Control axis
Travel value for positioning control
Command speed
Positioning conditions
101
Axis 4
40000
1000
• Positioning start command: X0 Leading edge (OFF → ON)
• Speed/position switching enable command: M3265
■
Operation timing
Operation timing for speed/position switching control is shown below.
V
Servo program No.101
: Speed control
: Position control t
1 second 1 second
[Rq.1120] PLC ready flag (M2000)
[Rq.1123] All axes servo ON command (M2042)
[St.1045] All axes servo ON accept flag (M2049)
Axis 4 [St.1075] Servo ready
(M2475)
Start command (X0)
Servo program start
Axis 4 [St.1040] Start accept flag
(M2004)
[Rq.1145] Speed/position switching enable command (M3265)
CHANGE signal input (External input)
[St.1065] Speed/position switching latch (M2465)
Axis 4 [St.1061] Positioning complete
(M2461)
5
5 POSITIONING CONTROL
5.15 Speed/Position Switching Control
331
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 101) for speed-position switching control is shown below.
Speed/position switching control
[F10]
SET M2042
[G10]
X0*M2475
[F20]
SET M3265 Axis 4 speed/position switching enable command ON.
[K101]
VPF
Axis
Speed
Dwell
[G20]
M2465
4, 40000pulse
1000pulse/s
1000ms
Speed/position switching control
Axis used ....................
Axis 4
Travel value ................
40000[pulse]
Command speed ..........
1000[pulse/s]
Dwell.............................
1000ms
Axis 4 speed/position switching latch
[F30]
RST M3265
[G30]
!X0*M2461
Turn on all axes servo ON command.
Wait until X0 and Axis 4 servo ready turn on.
Axis 4 speed/position switching enable command OFF
Wait until positioning completion and X0 turn OFF.
END
*: Shift transition is used to transit into the next processing during the positioning.
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
332
5 POSITIONING CONTROL
5.15 Speed/Position Switching Control
Re-starting after stop during control
Re-starting (continuing) after stop with stop command during speed/position switching control is executed.
Re-starting uses VPSTART servo instruction.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
VPSTART Incremental 1
¨
*1 Only when the reference axis speed is specified
©
Processing details
• The continuous control after stop during speed control is executed, after speed/position switching control start.
• Re-starting using the VPSTART is effective by stop during speed control or position control.
• Re-starts with the speed control at the stop during speed control, then switches to position control by turning on the CHANGE signal. The control contents after re-starting are same as the speed/position switching control. (
Page 327 Speed/position switching control start)
V Setting travel value
[Rq.1145] Speed/position switching enable signal (R: M34485+32n/Q: M3205+20n)
[Rq.1145] Speed/position switching enable command (R: M34485+32n/Q: M3205+20n)
OFF
CHANGE signal input from external source
Speed controlling
Position controlling
CHANGE signal valid
ON t
5
5 POSITIONING CONTROL
5.15 Speed/Position Switching Control
333
• If the stop occurred during position control, re-start with position, and the positioning control of setting travel value. The travel value after the re-start is calculated as follows:
Travel value after re-start (P2) = Setting travel value (P) - Travel value before stop (P1)
Servo program start
V
CHANGE signal ON
Operation speed
P1: Travel value before stop
P2: Travel value after restart
Stop command accept
Speed/position switching control start
P1
Restart
Stop P2 t
Speed control
Position control Position control
VPF/VPR instruction
VPSTART instruction
[Rq.1140] Stop command
(R: M34480+32n/Q: M3200+20n)
ON
[Rq.1145] Speed/position switching enable command (R: M34485+32n/Q: M3205+20n)
OFF
• It controls at the speed stored at the VPF/VPR instruction execution in the re-starting. Therefore, even if the speed change before stop during control, it becomes the speed at the VPF/VPR instruction execution.
V
Speed change Operation speed CHANGE signal ON
Setting speed
Stop command
Restart t
Speed control Speed control
Position control
Program example
The program for performing restarting after stop during control with the speed/position switching control of Axis 4 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Positioning conditions
• Positioning conditions are shown below.
Item
Servo program No.
Control axis
Travel value for positioning control
Command speed
Positioning conditions
Speed/position switching control
101
Axis 4
40000
1000
Restart
102
Axis 4
• Positioning start command: X0 Leading edge (OFF → ON)
• Speed/position switching enable command: M3265
• Re-start command: X1 Leading edge (OFF → ON)
• Stop command: X2 Leading edge (OFF → ON)
334
5 POSITIONING CONTROL
5.15 Speed/Position Switching Control
■
Operation timing
Operation timing for speed/position switching control and re-starting are shown below.
CHANGE signal accept
V
1000
Speed control Position control t
[Rq.1120] PLC ready flag (M2000)
[Rq.1123] All axes servo ON command (M2042)
[St.1045] All axes servo ON accept flag (M2049)
Axis 4 [St.1075] Servo ready
(M2475)
Start command (X0)
Restart command (X1)
Servo program start
Axis 4 [St.1040] Start accept flag
(M2004)
[Rq.1145] Speed/position switching enable command (M3265)
CHANGE signal input (External input)
[St.1065] Speed/position switching latch (M2465)
Stop command
(X2, [Rq.1140] (M3260))
5
5 POSITIONING CONTROL
5.15 Speed/Position Switching Control
335
■
Motion SFC program
The Motion SFC program for executing the servo programs (No. 101 and No. 102) for re-starting after stop during control is shown below.
Re-starting after stop during control
[F10]
SET M2042
[G10]
X0*M2475
[F20]
SET M3265 Axis 4 speed/position switching enable command ON
[K101]
[G20]
VPF
Axis
Speed
SET M3260=X2
RST M3265=M2465
!M2004
4, 40000pulse
1000pulse/s
Speed/position switching control for Axis 4
Axis used ....................
Axis 4
Travel value ................
40000[pulse]
Command speed ..........1000[pulse/s]
Axis 4 stop command ON with X2 ON.
Speed/position switching enable command OFF with axis 4 speed/position switching latch ON.
Axis 4 start accept flag OFF.
[G30]
M3260
[G40]
X1 Wait until X1 turn on.
END
End with stop due to error.
[F30]
RST M3260
[K102]
VPSTART
Axis 4
Turn on all axes servo ON command.
Wait until X0 and Axis 4 servo ready turn on.
Axis 4 stop command OFF
Re-start
Axis used ......................
Axis4
[G50]
[G60]
RST M3265=M2465
!M2004
!X0*!X1*!X2
Speed/position switching enable command OFF with axis 4 speed/position switching latch ON.
Axis 4 start accept flag OFF.
Wait until X0, X1 and X2 turn off with re-starting after stop during speed-position switching control.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
336
5 POSITIONING CONTROL
5.15 Speed/Position Switching Control
5.16
Speed Control with Fixed Position Stop
Speed control with fixed position stop of the specified axis is executed.
Speed control with fixed position stop is started using the PVF (forward rotation) or PVR (reverse rotation) of servo program instruction.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
5
PVF
Absolute 1 © ¨ ¨ ¨ © ©
PVR
*1 Only when the reference axis speed is specified
© © © © © © © © ©
Processing details
• After starting of servo motor, control at the specified speed is executed until the fixed position stop command turns on.
Servo instruction
PVF
PVR
Description
Forward rotation direction (Address increase direction) start
Reverse rotation direction (Address decrease direction) start
• When the fixed position stop command turns on, a positioning control to the specified address is executed.
[Positioning address: 180.00000 [degree]]
¨ ¨
359.99999[degree]
Current value 180.00000[degree]
0[degree]
ON
Servo program start OFF
ON
Fixed position stop command
OFF device
• It can be controlled in the axis which "control unit is [degree] and stroke limit is invalid ("upper stroke limit value" equal to
"lower stroke limit value")". If it is started for axis which "control unit is except [degree] or stroke limit is not invalid", a minor error (error code: 19EAH) occurs and it does not start.
• Address setting range is "0 to 35999999 (0 to 359.99999 [degree])" in the indirect setting of positioning address. If it is set outside the setting range, a minor error (error code: 1A31H) occurs and it does not start. Positioning address is input at the program start.
5 POSITIONING CONTROL
5.16 Speed Control with Fixed Position Stop
337
• It is controlled in the fixed position stop acceleration/deceleration time set in the servo program at positioning start, speed change request (CHGV) and fixed position stop command ON. The fixed acceleration/deceleration time method is used as an acceleration/deceleration processing in this case.
• The setting range of fixed position stop acceleration/deceleration time is "1 to 8388608 [ms] *1 ".
*1 When the number of words used is set to 1 word in the MT Developer2 options screen, the setting range is "1 to 65535 [ms]". Refer to
"Acceleration/Deceleration Time and Command Torque Time Constant 1 Word Setting Function" in the following manual for details on the 1 word setting.
MELSEC iQ-R Motion Controller Programming Manual (Common)
• In the case of indirect setting, the fixed position stop acceleration/deceleration time is input in the following timing.
• Positioning start
• Speed change request (CHGV)
• Fixed position stop command ON
• When the positioning to specified address completes, the "[St.1061] Positioning complete (R: M32401+32n/Q:
M2401+20n)" turns on. It does not turn on at the time of stop by the "[Rq.1140] Stop command (R: M34480+32n/Q:
M3200+20n)" / "[Rq.1141] Rapid stop command (R: M34481+32n/Q: M3201+20n)". The "[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)" turns off at leading edge of "[Rq.1144] Complete signal OFF command (R: M34484+32n/
Q: M3204+20n)" or positioning start.
• Prior to turning ON the fixed position stop command device, speed change can be executed any number of times by the speed change request (CHGV) instruction during operation. The speed change request (CHGV) instruction is disabled after the fixed position stop command device turns ON. If the fixed position stop device turns ON while changing the speed by the speed change request (CHGV) instruction, the acceleration/deceleration is stopped and positioning is performed for the specified address using the speed at that time.
V
Change value by speed change request (CHGV).
t a b c d
ON
Fixed position stop acceleration/deceleration time Servo program start OFF
ON
Speed change request (CHGV) OFF
Fixed position stop command device
Fixed position stop acceleration/ deceleration time
(Indirect setting device)
OFF a b c
ON d
• Deceleration speed by the "[Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n)" / "[Rq.1141] Rapid stop command
(R: M34481+32n/Q: M3201+20n)" is controlled with fixed inclination (deceleration speed). Deceleration processing is executed using the speed limit value or deceleration/ rapid stop deceleration time set in the parameter block.
V
*1
*1
Rapid stop by fixed inclination
(deceleration speed).
(Inclination is set by the speed limit value and rapid stop deceleration time of parameter block.) t
Servo program start OFF
[Rq.1141] Rapid stop command
(R: M34481+32n/Q: M3201+20n), servo error, etc.
OFF
ON
Speed change request (CHGV) OFF
ON
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
[St.1063] Command in-position
(R: M32403+32n/Q: M2403+20n)
ON
OFF
OFF
ON
ON
*1: Rapid stop cause
338
5 POSITIONING CONTROL
5.16 Speed Control with Fixed Position Stop
• When the fixed position stop command turns on, the command in-position check starts. When the absolute value of difference between the setting address and feed current value below the "command in-position range" set in the fixed parameter, the "[St.1063] Command in-position (R: M32403+32n/Q: M2403+20n)" turns on. The "[St.1063] Command inposition (R: M32403+32n/Q: M2403+20n)" turns OFF by a positioning start.
• When speed control with fixed position stop is started with the fixed position stop command turned ON, or when the fixed position stop command is turned ON after a speed change to "0", positioning is executed at the speed that was specified by the speed limit value.
Program example
The program for performing speed control with fixed position stop of Axis 1 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Positioning conditions
• Speed control with fixed position stop conditions are shown below.
Item
Servo program No.
Start direction
Control axis
Positioning address
Control speed
Acceleration/deceleration time
Fixed position stop command device
Setting
55
Forward
Axis 1
120.00000 [degree]
30000 [degree/min]
20 ms
M100
• Speed control with fixed position stop start command: X0 Leading edge (OFF → ON)
• Speed control with fixed position stop command: X0 Trailing edge (ON → OFF)
■
Operation timing
Operation timing for speed control with fixed position stop is shown below.
Stop command of speed control with fixed position stop
(X0 Leading edge)
359.99999[degree]
Current value 120.00000[degree]
0[degree]
20[ms]
[Rq.1120] PLC ready flag (M2000) OFF
ON
ON
[Rq.1123] All axes servo ON command (M2042)
Axis 1 [St.1075] Servo ready
(M2415)
OFF
[St.1045] All axes servo ON accept flag (M2049)
OFF
OFF
ON
ON
ON
Start command (X0) OFF
ON
Servo program start OFF
ON
Axis 1 [St.1040] Start accept flag
(M2001)
Fixed position stop command device (M100)
Axis 1 [St.1061] Positioning complete (M2401)
Axis 1 [Rq.1144] Complete signal
OFF command (M3204)
Axis 1 [St.1063] Command in-position (M2403)
OFF
OFF
ON
OFF
ON
OFF
OFF
ON
ON
5
5 POSITIONING CONTROL
5.16 Speed Control with Fixed Position Stop
339
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 55) for speed control with fixed position stop is shown below.
Speed control with fixed position stop
[F10]
SET M2042
[G10]
X0*M2415
Turn on all axes servo ON command.
Wait until X0, Axis 1 servo ready turn on.
[K55]
PVF
Axis
Speed
1, 120.00000degree
30000.000degree/min
Accel./decel. time 20ms
Fixed position stop M100
[G20]
!X0
Fixed position stop with speed control start
Axis used ..................................
Axis 1
Stop position.............................
120.00000[degree]
Speed ......................................... 30000.000[degree/min]
Accel./decel. time ....................... 20[ms]
Fixed position stop command.....
M100
Wait until X0 turn OFF after speed control with fixed position stop start.
[F20]
SET M100
[G30]
!M2001
[F30]
RST M100
Turn on fixed position stop command.
Wait until Axis 1 start accept flag turn OFF.
Turn OFF fixed position stop command.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
340
5 POSITIONING CONTROL
5.16 Speed Control with Fixed Position Stop
5.17
Continuous Trajectory Control
• Positioning to the pass point beforehand set by one starting is executed with the specified positioning method and positioning speed.
• The positioning method and positioning speed can be changed for each pass point.
• The following parameters is set in the servo program.
• Pass point
• Positioning method from any pass point to the next pass point.
• Positioning speed from any pass point to the next pass point.
• Repetition control between any pass points can be performed by using repetition instructions.
• M-codes and torque limit values can be changed at each speed-switching point.
• 1 to 4 axes can be controlled.
Procedure to write servo programs
The method to write the servo programs for continuous trajectory control is shown below.
■
Example servo program for 2 axes continuous trajectory control
Start
Set the continuous trajectory control axis and speed
Set each pass point
Set the positioning method
Set the positioning address
(travel value)
Set the speed-switching
Point
4
1
2
4
3
<K 1>
CPSTART2
Axis
Axis
Speed
ABS-2
Axis
Axis
ABS-2
Axis
Axis
Speed
ABS-2
Axis
Axis
CPEND
2
3
2,
3,
2,
3,
2,
3,
10000 [pulse/s]
40000
60000
[pulse]
[pulse]
60000
60000
15000
[pulse]
[pulse]
[pulse/s]
100000
80000
[pulse]
[pulse]
NO
All pass points are set?
YES
End continuous trajectory control
End
5
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
341
Operation timing
Operation timing for continuous trajectory control is shown below.
■
Example operation timing for 2 axes continuous trajectory control
Axis 3 positioning direction
80000
60000
P1
P2
P3
Positioning speed for
2 axes linear interpolation
15000
V
0
Axis2 positioning direction
40000 60000 100000
Change speed after speed-switching
Set speed
10000 t
0
342
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
Caution
• The number of control axes cannot be changed during control.
• The pass point can be specified the absolute data method (ABS ) and incremental method (INC ) by mixed use.
• The pass point can also be specified an address which change in travel direction. The acceleration processing at a pass point is executed for 1 axis continuous trajectory control. However, the acceleration/deceleration processing at a pass point is not executed for 2 to 4 axes continuous trajectory control, so be careful of the servo error occurrence, etc.
• When the FIN acceleration/deceleration is not set in the program with only one pass point, this operation is the same as
PTP control.
• Speed change is possible after the start. Note the following points at the speed change.
• The central point-specified circular interpolation is included the continuous trajectory control.
When the arc path calculated from the start address and central-point address is differ (within the allowable error range for circular interpolation) from the setting end address, if the speed is changed, error compensation (
Page 239 Allowable error range for circular interpolation) may not function normally.
When the central point-specified circular interpolation as positioning method is used at the continuous trajectory control, set the start address, central point address and end address becomes arc correctly.
• The speed switching and change speed by CHGV instruction are executed toward the same program in the servo program.
The lower of the speed change by CHGV instructions and the command speed in the servo program is selected.
The speed change by CHGV instructions are executed if the speed is lower than the speed set in the servo program; otherwise the CHGV instructions are not executed.
(1) Change speed by CHGV instruction > command speed in the servo program
The command speed in the servo program is selected.
V
Command speed in the servo program
Speed change by CHGV instruction
Speed change to command speed in the servo program
5 t
(2) Change speed by CHGV instruction < command speed in the servo program
The change speed by CHGV instructions is effective.
V
Speed change by command speed in the servo program
(Speed set by the CHGV instructions is valid) t
Speed change by CHGV instructions
(Speed does not change due to more than command speed in the servo program.)
• An overrun occurs if the distance remaining to the final positioning point when the final positioning point is detected is less than the deceleration distance at the positioning speed after the start (command speed). The minor error (error code:
1A58H) is stored in the "[Md.1004] Error code (R: D32007+48n/Q: D7+20n)" for each axis.
• If positioning to outside the stroke limit range is executed after the start, the minor error (error code: 1A18H, 1A1AH) is stored in the "[Md.1004] Error code (R: D32007+48n/Q: D7+20n)" for each axis and a deceleration stop is executed.
• The minimum travel value between continuous trajectory control pass points is shown below:
Positioning speed drops if the distance between pass points is short the minimum travel value.
Command speed per second (control unit/s) × Main cycle [s] < Travel distance [control unit]
Ex.
Main cycle: 20 [ms], Command speed: 600 [mm/min]
If the command speed (600 [mm/min]) is divided by 60, the command speed per second is 10 [mm/s], and the main cycle is
0.02 [s].
Therefore, the travel distance is as follow.
10 [mm/s] × 0.02 [s] = 0.2 [mm]
Set the travel distance to more than 0.2 [mm].
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
343
Specification of pass points by repetition instructions
This section describes the method of the pass points for which executes between any pass points repeatedly.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
FOR-TIMES
FOR-ON
FOR-OFF
NEXT
*1 Only when the reference axis speed is specified
Processing details
The first of repetition range is set by the following instructions.
■
FOR-TIMES (number of loops setting)
• The repetition range set specified number of times is executed repeatedly.
• The setting range is 1 to 32767. Outside the range of -32768 to 0 is controlled as a setting of "1".
• A decimal constant (K), a hexadecimal constant (H), or a word device can be used for the number of repetition times. Refer to the following for the setting range of usable devices.
MELSEC iQ-R Motion controller Programming Manual (Common)
■
FOR-ON (Loop-out trigger condition setting)
• The repetition range set until the specified bit device turns on is executed repeatedly.
• A bit device (or a specified bit in a word device) can be used for the loop-out trigger condition. Refer to the following for the setting range of usable devices.
MELSEC iQ-R Motion controller Programming Manual (Common)
■
FOR-OFF (loop-out trigger condition setting)
• The repetition range set until the specified bit device turns off is executed repeatedly.
• A bit device (or a specified bit in a word device) can be used for the loop-out trigger condition. Refer to the following for the setting range of usable devices.
MELSEC iQ-R Motion controller Programming Manual (Common)
344
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
■
Repetition control operation
The repetition control operation using FOR-TIMES, FOR-ON and FOR-OFF is shown below.
[Servo program]
<K 701>
CPSTART2
Axis
Axis
Speed
ABS-2
Axis
Axis
(1)
INC-2
Axis
Axis
INC-2
Axis
Axis
NEXT
CPEND
1
2
1,
2,
1,
2,
1,
2,
1000
40000
20000
(2)
30000
0
20000
20000
(3)
(1)
FOR-TIMES
FOR-ON
FOR-OFF
Axis 2
50000
(2)
Condition 1
K1
X010 → ON during first positioning (3)
X011 → OFF during first positioning (3)
Condition 2 Condition 3
K2
X010 → ON during second positioning (3)
K3
X010 → ON during third positioning (3)
X011 → OFF during second positioning (3) X011 → OFF during third positioning (3)
Repeat (3)
Operation in condition 3
Operation in condition 2
Operation in condition 1
5
Axis 1
0 100000 200000
Precautions
• During a FOR-ON loop, or a FOR-OFF loop, if the travel value of the specified pass point is smaller than the travel value of one operation cycle shown below, it will not loop-out even when trigger conditions are satisfied. To perform a loop-out, make the travel value of the pass point larger than the travel value of one operation cycle, or set a smaller speed command.
The travel value for which positioning is completed in one operation cycle is shown below.
Travel value of one operation cycle [control unit] = Command speed per second [control unit/s] × Operation cycle [s]
Ex.
Command speed: 100.00 [mm/min], Operation cycle: 0.444 [ms]
100
60
[mm/s] × 0.444 [ms] = 0.74 [ μ m]
If the travel value of the pass point exceeds 0.74 [ μ m], it will loop-out normally.
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
345
• During a FOR-ON loop, or a FOR-OFF loop, if the time from satisfaction of trigger conditions until reaching end point of the loop is shorter than the indicated time below, positioning operations are not normal. Set the trigger conditions so that the time from satisfaction of trigger conditions until reaching end point of the loop is longer than the indicated time below.
Time required from satisfaction of trigger conditions until reaching end point of the loop = Main cycle + Time required for deceleration stop
• At the end positioning address detection, an overrun occurs if the deceleration distance is insufficient for the output speed, and a minor error (error code: 1A58H) occurs. If the end point has a movement amount 0, a minor error does not occur.
Program example
The program for repeating continuous trajectory control of Axis 2 and Axis 3 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Positioning conditions
• Continuous trajectory control conditions are shown below.
Item
Servo program No.
Control axis
Positioning speed
Setting
510
Axis 2, Axis 3
10000
• Continuous trajectory control start command: X0 Leading edge (OFF → ON)
■
Operation timing
Operation timing for continuous trajectory control is shown below.
Axis 3 positioning direction
100000
80000
60000
40000
20000
Radius
20000
0
V
1000
Vector speed
50000 100000 150000 200000
Axis 2 positioning direction t
[Rq.1120] PLC ready flag
(M2000)
[Rq.1123] All axes servo ON command (M2042)
[St.1045] All axes servo ON accept flag (M2049)
Axis 2 [St.1075] Servo ready
(M2435)
Axis 3 [St.1075] Servo ready
(M2455)
Start command (X0)
Servo program start
Axis 2 [St.1040] Start accept flag (M2002)
Axis 3 [St.1040] Start accept flag (M2003)
346
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
■
Motion SFC program
The Motion SFC program for executing the servo program (No.510) for continuous trajectory control is shown below.
Continuous trajectory control
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
X0*M2435*M2455 Wait until X0, Axis 2 servo ready and Axis 3 servo ready turn on.
[K510]
CPSTART2
Axis
Axis
Speed
ABS-2
Axis
Axis
FOR-TIMES
3, 20000pulse
INC-2
Axis
Axis
INC
2
3
10000pulse/s
2, 40000pulse
K 4
2, 30000pulse
3, 0pulse
Axis
Axis
2, 20000pulse
3, 20000pulse
Radius 20000pulse
NEXT
CPEND
[G20]
!X0
Start continuous trajectory control
Axis used......................Axis 2, Axis 3
Positioning speed .........10000 [pulse/s]
2 axes linear interpolation control (Absolute data method)
Axis used ....................Axis 2, Axis 3
End address ...............
Axis 2.........40000 [pulse]
Axis 3.........20000 [pulse]
Number of repetitions 4
Pass point setting
Positioning method
Travel value
Axis 2
Axis 3
2 axes linear interpolation
30000[pulse]
End repetition region
0[pulse]
End continuous trajectory control
Radius-specified circular interpolation
20000[pulse]
20000[pulse]
Wait until X0 turns OFF after continuous trajectory control completion.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
347
Speed-switching by instruction execution
The speed can be specified for each pass point during the continuous trajectory control instruction.
The speed change from a point can be specified directly or indirectly in the servo program.
Precautions
• The speed switching during servo instruction is possible at the continuous trajectory control for 1 to 4 axes.
• The speed command can be set for point.
• By turning on the "[Rq.1122] Speed-switching point specified flag (R: M30040/Q: M2040)" before the start, the point which completes speed change can be specified. The speed change timing at the flag ON/OFF.
[Rq.1122] Speed-switching point specified flag
(R: M30040/Q: M2040)
OFF
Details
The speed change starts with the specified speed-switching point.
V
Speed change complete point
Speed change start point
ON The speed change ends with the specified speed-switching point.
V
Speed change complete point
Speed change start point t
Speed-switching specified point (position) t
Speed-switching specified point (position)
348
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
Program example
The program for switching speed of Axis 1 and Axis 2 by turning ON "[Rq.1122] Speed-switching point specified flag (M2040)" during the continuous trajectory control instruction is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Positioning conditions
• Speed switching conditions are shown below.
Item
Servo program No.
Positioning speed
Positioning method
Setting
310
10000
2 axes linear interpolation
15000
2 axes linear interpolation 2 axes linear interpolation
Pass point Axis 1
Axis 2
20000
10000
Central point-specified circular interpolation
30000
20000
40000
25000
50000
40000
• The continuous trajectory control start command for speed switching: X0 Leading edge (OFF → ON)
■
Operation timing and speed-switching positions
Operation timing and positions for speed switching are shown below.
Axis 2 positioning direction
P4
40000
5
20000
P3
P2
P1
20000
Central point
40000 0
V
15000
10000
Axis 1 positioning direction
Axis 1 positioning direction t
[Rq.1122] Speed switching point specified flag (M2040)
[Rq.1120] PLC ready flag
(M2000)
[Rq.1123] All axes servo ON command (M2042)
[St.1045] All axes servo ON accept flag (M2049)
Axis 1 [St.1075] Servo ready
(M2415)
Axis 2 [St.1075] Servo ready
(M2435)
Start command (X0)
Servo program start
Axis 1 [St.1040] Start accept flag
(M2001)
Axis 2 [St.1040] Start accept flag
(M2002)
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
349
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 310) for speed switching during instruction is shown below.
Speed-switching during instruction execution
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
X0*M2415*M2435 Wait until X0, Axis 1 servo ready and Axis 2 servo ready turn ON.
[F20]
SET M2040=X10
RST M2040=!X10
Speed-switching point specified flag turn ON when X10 turn ON.
Speed-switching point specified flag turn OFF when X10 turn OFF.
[K310]
CPSTART2
Axis
Axis
Speed
1
2
10000pulse/s
ABS-2
Axis
Axis
ABS
Axis
1, 20000pulse
2, 10000pulse
1, 30000pulse
Axis 2, 20000pulse
Center 1,
Center 2,
ABS-2
Axis 1, 40000pulse
Axis
Speed
2, 25000pulse
15000pulse/s
ABS-2
Axis
Axis
CPEND
1, 50000pulse
2, 40000pulse
[G20]
!X0
Set P1
Set P2
Set P3
Speed change
Set P4
Wait until X0 turn OFF after continuous trajectory control completion.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
350
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
1 axis continuous trajectory control
Executes continuous trajectory control for the specified axis.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
CPSTART1
CPEND
ABS-1
Absolute
INC-1 Incremental
1
1
1
*1 Only when the reference axis speed is specified
Processing details
■
Start and end for 1 axis continuous trajectory control
1 axis continuous trajectory control is started and ended by the following instructions:
Instruction
CPSTART1
CPEND
Description
Starts the 1 axis continuous trajectory control.
Sets the axis No. and command speed.
Ends the 1 axis continuous trajectory control for CPSTART1.
■
Positioning control method to the pass point
The positioning control to change control is specified with the following instructions:
Instruction
ABS-1, INC-1
Description
Sets the 1 axis linear positioning control.
Control details are identical to 1 axis linear positioning control. (
Page 273 1 Axis Linear Positioning Control)
5
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
351
Program example
The program for repeating 1 axis continuous trajectory control of Axis 4 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Positioning conditions
• Continuous trajectory control conditions are shown below.
Item
Servo program No.
Control axis
Positioning speed
Number of repetitions
Pass point travel value P1
P2
P3
P4
Setting
500
Axis 4
10000
100
-1000
2000
-2000
1000
• Continuous trajectory control start command: X0 Leading edge (OFF → ON)
■
Details of positioning operation
Number of repetitions
100
Retur n
Out
3
2
1
Retur n
Out
Retur n
Out
Retur n
Out
Address
-1000 0 1000
■
Operation timing
Operation timing for servo program No.500 is shown below.
V P1 P2 P3 P2
10000
-10000
[Rq.1120] PLC ready flag
(M2000)
[Rq.1123] All axes servo ON command (M2042)
[St.1045] All axes servo ON accept flag (M2049)
Axis 4 [St.1075] Servo ready
(M2475)
Start command (X0)
Servo program start
Axis 4 [St.1040] Start accept flag (M2004)
P3 P4 t
352
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 500) for 1 axis continuous trajectory control is shown below.
1 axis continuous trajectory control
[F10]
SET M2042
[G10]
X0*M2475
Turn on all axes servo ON command.
Wait until X0 and Axis 4 servo ready turn ON.
[K500]
CPSTART1
Axis 4
Speed 10000pulse/s
INC-1
Axis
FOR-TIMES
4, -1000pulse
INC-1
Axis
INC-1
Axis
NEXT
INC-1
Axis
CPEND
4, 2000pulse
4, -2000pulse
4, 1000pulse
[G20]
!X0
Start continuous trajectory control
Axis used ...................................Axis 4
Positioning speed ......................10000 [pulse/s]
1 axis linear positioning control
Axis used .................................Axis 4
Travel value to pass point........-1000 [pulse]
Number of repetitions 100
1 axis linear positioning control
Axis used .................................Axis 4
Travel value to pass point........2000 [pulse]
1 axis linear positioning control
Axis used .................................Axis 4
Travel value to pass point........-2000 [pulse]
End repetition region
1 axis linear positioning control
Axis used .................................Axis 4
Travel value to pass point........1000 [pulse]
End continuous trajectory control
Wait until X0 turn OFF after continuous trajectory control completion.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
353
2 to 4 axes continuous trajectory control
Continuous trajectory control for 2 to 4 axes.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
CPSTART2
«
CPSTART3
«
CPSTART4
«
CPEND «
ABS-2
ABS-3
ABS-4
ABS
ABS
ABS
ABS
ABS
Absolute
ABS
ABS
INC-2
INC-3
INC-4
INC
INC
INC
INC
Incremental
4
«
2
3
2
3
4
2
2
2
3
4
© ¨
© ¨
© ¨
¨ ¨
¨ ¨
¨ ¨
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© ©
© ©
© ©
© © ¨
© ©
© ©
© ©
© ©
© ©
© © ¨
© ©
INC
INC
¨ ¨ © ©
INC
*1 Only when the reference axis speed is specified
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¨
¨
¨
354
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
© © © © © © © © © © ©
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© © © © © © © © © © ©
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Processing details
■
Start and end for 2 to 4 axes continuous trajectory control
2 to 4 axes continuous trajectory control is started and ended using the following instructions:
Instruction
CPSTART2
CPSTART3
CPSTART4
CPEND
Description
Starts the 2 axes continuous trajectory control. Sets the axis No. and command speed.
Starts the 3 axes continuous trajectory control. Sets the axis No. and command speed.
Starts the 4 axes continuous trajectory control. Sets the axis No. and command speed.
Ends the 2, 3, or 4 axes continuous trajectory control for CPSTART2, CPSTART3, or CPSTART4.
■
Positioning control method to the pass point
Positioning control to change control is specified using the following instructions:
Instruction
ABS-2, INC-2
ABS-3, INC-3
ABS-4, INC-4
ABS/INC
ABS/INC
ABS/INC
ABS/INC
, ABS/INC
, ABS/INC
, ABS/INC
,
Description
Sets 2 axes linear interpolation control.
Control details are identical to 2 axes linear interpolation control. (
Page 276 2 Axes Linear Interpolation Control)
Sets 3 axes linear interpolation control.
Control details are identical to 3 axes linear interpolation control. (
Page 279 3 Axes Linear Interpolation Control)
Sets 4 axes linear interpolation control.
Control details are identical to 4 axes linear interpolation control. (
Page 283 4 Axes Linear Interpolation Control)
Sets circular interpolation control using auxiliary point specification.
Control details are identical to auxiliary point-specified circular interpolation control. (
Specified Circular Interpolation Control)
Sets circular interpolation control using radius specification.
Control details are identical to radius-specified circular interpolation control. (
Page 290 Radius-Specified Circular
Sets circular interpolation control using center point specification.
Control details are identical to central point-specified circular interpolation control. (
Specified Circular Interpolation Control)
Precautions
For circular interpolation control at the pass points for continuous trajectory control of 2 to 4 axes, specify any 2 axes among the controlled axes. When axes other than the axes specified for circular interpolation control are detected, an error occurs, resulting in a deceleration stop.
Program example
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Program example 1
The program for repeating 2 axis continuous trajectory control of Axis 2 and Axis 3 is explained as an example.
• Positioning conditions
• Continuous trajectory control conditions are shown below.
Item
Servo program No.
Positioning speed
Positioning method
Pass point Axis 2
Axis 3
Setting
505
10000
2 axes linear interpolation
30000
30000
Radius-specified circular interpolation
50000
50000
• Continuous trajectory control start command: X0 Leading edge (OFF → ON)
2 axes linear interpolation
90000
100000
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5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
355
• Positioning operation details
Axis 2 and axis 3 servo motors is used for positioning operation. Positioning details for Axis 2 and Axis 3 servo motors are shown below.
Axis 3 positioning direction
P3
100000
50000
30000
P1
P2
30000 50000
Axis 2 positioning direction
0 90000
• Motion SFC program
The Motion SFC program for executing the servo program (No. 505) for 2 axes continuous trajectory control is shown below.
2 axes continuous trajectory control
[F10]
SET M2042
[G10]
X0*M2435*M2455
Turn on all axes servo ON command.
[G20]
!X0
Wait until X0, Axis 2 servo ready and Axis 3 servo ready turn on.
[K505]
CPSTART2
Axis
Axis
2
3
10000pulse/s Speed
ABS-2
Axis
Axis
ABS
2, 30000pulse
3, 30000pulse
Axis
Axis
2, 50000pulse
3, 50000pulse
Radius 20000pulse
ABS-2
Axis
Axis
CPEND
2, 90000pulse
3, 100000pulse
Start continuous trajectory control
Axis used ......................Axis 2, Axis 3
Positioning speed .........10000 [pulse/s]
2 axes linear interpolation control
Axis 2.........30000 [pulse]
Positioning address ......
Axis 3.........30000 [pulse]
Circular interpolation control
Positioning address ......
Axis 2.........50000 [pulse]
Axis 3.........50000 [pulse]
Radius ..........................20000 [pulse]
2 axes linear interpolation control
Axis 2.........90000 [pulse]
Positioning address ......
Axis 3.........100000 [pulse]
End continuous trajectory control
Wait until X0 turn OFF after continuous trajectory control completion.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
356
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
■
Program example 2
The program for performing 4 axes continuous trajectory control of Axis 1, Axis 2, Axis 3, and Axis 4 is explained as an example.
• Positioning conditions
• Continuous trajectory control conditions are shown below.
Item
Servo program No.
Positioning speed
Positioning method
Pass point Axis 1
Axis 2
Axis 3
Axis 4
Setting
506
10000
4 axes linear interpolation
3000
4000
4000
4000
4 axes linear interpolation
5000
3500
-4000
-6000
• Continuous trajectory control start command: X0 Leading edge (OFF → ON)
4 axes linear interpolation
5000
3500
3000
6000
• Motion SFC program
The Motion SFC program for executing the servo program (No. 506) for 4 axes continuous trajectory control is shown below.
4 axes continuous trajectory control
[F10]
SET M2042
[G20]
!X0
Turn on all axes servo ON command.
[G10]
X0*M2415*M2435*M2455*M2475
Wait until X0, Axis 1 servo ready, Axis 2 servo ready,
Axis 3 servo ready and Axis 4 servo ready turn on.
[K506]
CPSTART4
Axis 1
Axis 2
Axis
Axis
3
4
INC-4
Axis
Axis
Axis
Axis
INC-4
Axis
Axis
Axis
Axis
INC-4
Axis
Axis
Axis
Axis
CPEND
1, 3000pulse
2, 4000pulse
3, 4000pulse
4, 4000pulse
1, 5000pulse
2, 3500pulse
3, -4000pulse
4, -6000pulse
1, 5000pulse
2, 3500pulse
3, 3000pulse
4, 6000pulse
Start continuous trajectory control
Axis used ...................................4Axis 1, Axis 2, Axis 3, Axis 4
Positioning speed ......................10000 [pulse/s]
4 axes linear interpolation control (P1)
Travel value to pass point .........
End continuous trajectory control
Axis 1.........3000[pulse]
Axis 2.........4000[pulse]
Axis 3.........4000[pulse]
Axis 4.........4000[pulse]
4 axes linear interpolation control (P2)
Axis 1.........5000[pulse]
Travel value to pass point .........
Axis 2.........3500[pulse]
Axis 3.........-4000[pulse]
Axis 4.........-6000[pulse]
4 axes linear interpolation control (P3)
Axis 1.........5000[pulse]
Travel value to pass point .........
Axis 2.........3500[pulse]
Axis 3.........3000[pulse]
Axis 4.........6000[pulse]
Wait until X0 turn OFF after continuous trajectory control completion.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
357
Continuous trajectory control for helical interpolation
The helical interpolation can be specified as the positioning control method to pass point for 3 or 4 axes continuous trajectory control.
Starting or ending instruction for continuous trajectory control uses the same CPSTART3, CPSTART4 or CPEND as 3 or 4 axes continuous trajectory control instruction.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
ABH
ABH
ABH
ABH
ABH
ABH
ABH
INH
INH
INH
INH
INH
Absolute
Incremental
2
¨ ¨
¨ ¨
¨ ¨
¨ ¨
¨ ¨
© © ¨
© ©
© ©
© © ¨
© ©
INH
¨ ¨ © ©
INH
*1 Only when the reference axis speed is specified
¨
¨
¨
¨
¨ ¨
¨
¨
¨ ¨
358
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
© © ©
© © ©
© © ©
© © ©
© © ©
© © ©
Processing details
Helical interpolation specified methods for continuous trajectory control are shown below.
Servo instruction
INH
ABH
INH
ABH
INH
ABH
INH
ABH
INH
ABH
INH
ABH
INH
ABH
Positioning method
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Absolute
Incremental
Circular interpolation specified method
Radius-specified method less than CW180 °
Radius-specified method less than CCW180 °
Radius-specified method CW180 ° or more.
Radius-specified method CCW180 ° or more.
Central point-specified method CW
Central point-specified method CCW
Auxiliary point-specified method
Precautions
• Specify any 3 axes among 4 controlled axes in the helical interpolation control at the pass point for 4 axes continuous trajectory control (CPSTART4). When axes other than the axes specified for helical interpolation control are detected, an error occurs, resulting in a deceleration stop.
• Command speed at the helical interpolation specified point is controlled with the speed of circumference. Control is the same as before at the point except for the helical interpolation specification. (Both of the linear interpolation-specified point and circular interpolation-specified point are the vector speed for number of interpolation axes.)
• Skip function toward the helical interpolation-specified each point for continuous trajectory control is possible. If the absolute-specified helical interpolation is specified to point since the skip signal specified point, set the absolute linear interpolation between them. If it does not set, it may occur an error and stop.
• FIN signal wait function toward the helical interpolation specified each pass point for continuous trajectory control is possible. M-code outputting signal is outputted to all circular interpolation axes and linear axes. Fin signal can be operated with the both of circular interpolation axes and linear axes.
• If negative speed change toward the helical interpolation-specified each pass point for continuous trajectory control is executed, it can be returned before 1 point during positioning control.
• Speed-switching point-specified flag is effective toward the helical interpolation-specified each pass point for continuous trajectory control.
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5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
359
Program example
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Program 1
• Motion SFC program
The Motion SFC program for executing the servo program (No. 510) for specifying helical interpolation at the pass points of
3 axes continuous trajectory control is shown below.
Helical interpolation
[F10]
SET M2042 Turn ON all axes servo ON command.
[G10]
X0*M2415*M2435*M2455
[K510]
CPSTART3
Axis
Axis
Axis
Speed
ABS-3
Axis
1
2
3
10000
Axis
Axis
ABH
Axis
Axis
ABS-3
Axis
Axis
Axis
CPEND
1,
2,
3,
1,
2,
Linear axis 3,
Number of pitches
Radius
1,
2,
3,
Wait until X0, Axis 1 servo ready, Axis 2 servo ready and
Axis 3 servo ready turn ON
Continuous trajectory control
Axis used ......................Axis 1, Axis 2, Axis 3
3000
4000
4000
5000
3500
-4000
6
1000
5000
3500
3000
Positioning speed ...... 10000
3 axes linear interpolation control (P1)
Axis 1......................... 3000
Positioning address ......
Axis 2......................... 4000
Axis 3......................... 4000
3 axes helical interpolation control (P2)
Axis 1......................... 5000
Axis 2......................... 3500
Positioning address ......
Axis 3......................... -4000
Number of pitches ..... 6
Radius ....................... 1000
3 axes linear interpolation control (P3)
Axis 1......................... 5000
Positioning address ......
Axis 2......................... 3500
Axis 3......................... 3000
End continuous trajectory control
[G12]
!M2001*!M2002*!M2003
END
Wait until Axis 1, Axis 2 and Axis 3 start accept flag turn OFF
Control with the following speed.
For linear/circular interpolation : Vector speed for number of interpolation axes.
For helical interpolation : 2 axes vector speed for circular interpolation.
360
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
■
Program 2
The program that controls the nozzle direction so that the nozzle stays perpendicular to the circular arc curve by 3 axes continuous trajectory control of Axis 1, Axis 2, and Axis 3 is explained as an example.
• Positioning operation details
The operation of completing a full-cycle around a shape starting and ending at the start point, while keeping the nozzle perpendicular to the surface indicated by the thick line shown in the figure below, can be programmed using the helical interpolation function.
Y (Axis 2)
Start point
150000.0
Nozzle
180°
100000.0
50000.0
0.0
-150000.0
-100000.0
R=50
R=100
50000.0
150000.0
100000.0
X (Axis 1)
90° 270°
-100000.0
-150000.0
[Unit: m]
0°
Z-axis (Rotation angle)
X,Y-axis plane
• Positioning conditions
• Helical interpolation conditions for continuous trajectory control are shown below.
Item
Servo program No.
Positioning speed
Control axis
Pass point
P3
P4
P5
P6
Start point
P1
P2
P7
P8
Setting
61, 62
1000.00 [mm/min]
Positioning address
Axis 1 [ μ m]
0.0
50000.0
150000.0
150000.0
50000.0
-50000.0
-150000.0
-150000.0
-50000.0
Axis 2 [ μ m]
150000.0
150000.0
50000.0
-50000.0
-150000.0
-150000.0
-50000.0
50000.0
150000.0
Axis 3 [degree]
0.00000
0.00000
90.00000
90.00000
180.00000
180.00000
270.00000
270.00000
0.00000
Vibration may cause the machine at the pass point depend on the speed change.
In this case, reduce the speed change (acceleration) in the FIN acceleration/deceleration.
However, a locus will change depend on the setting time of the FIN acceleration/deceleration.
• Continuous trajectory control start command: X0 Leading edge (OFF → ON)
Central point
Axis 1 [ μ m]
50000.0
50000.0
-50000.0
-50000.0
Axis 2 [ μ m]
50000.0
-50000.0
-50000.0
50000.0
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5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
361
• Motion SFC program
Motion SFC program for is shown below.
Helical interpolation
[F10]
[G10]
[K61]
[G11]
SET M2042
X0*M2415*M2435*M2455
ABS-3
Axis
Axis
Axis
1,
2,
3,
0.0
μ m
150000.0
μ m
0.00000degree
Vectro speed 30000.00mm/min
!M2001*!M2002*!M2003
Turn ON all axes servo ON command.
Wait until X0, Axis 1 servo ready, Axis 2 servo ready and
Axis 3 servo ready turn ON
3 axes linear interpolation control (Travel to start point)
Axis used .................. Axis 1, Axis 2, Axis 3
Positioning address .........
Axis 1........... 0.0 [ m]
Axis 2........... 150000.0 [ m]
Axis 3........... 0.00000 [degree]
Command positioning speed
Vector speed ....................................30000.00 [mm/min]
Wait until Axis 1, Axis 2 and Axis 3 start accept flag turn OFF
[K62] CPSTART3
Axis
Axis
Axis
Speed
ABS-3
Axis
Axis
Axis
1
2
3
1000.00mm/min
ABH
Axis 1, 150000.0
μ m
Axis 2, 50000.0
μ m
Linear Axis 3, 90.00000degree
Number of pitches 0
Ctr.P.
Ctr.P.
ABS-3
Axis
Axis
1, 50000.0
μ m
2, 150000.0
μ m
3, 0.00000degree
1, 50000.0
μ m
2, 50000.0
μ m
1,
2,
150000.0
-50000.0
μ
μ m m
Axis
ABH
Axis
Axis
3, 90.00000degree
1, 50000.0
μ
2, -150000.0
m
μ m
Linear Axis 3, 180.00000degree
Number of pitches 0
Ctr.P. 1, 50000.0
μ m
Ctr.P.
ABS-3
Axis
Axis
Axis
ABH
Axis
Axis
2, -50000.0
μ m
1, -50000.0
2, -150000.0
μ m
3, 180.00000degree
1, -150000.0
2, -50000.0
μ
μ
μ m m m
Linear Axis 3, 270.00000degree
Number of pitches 0
Ctr.P.
Ctr.P.
ABS-3
1,
2,
-50000.0
-50000.0
μ
μ m m
Axis
Axis
Axis
ABH
Axis
1, -150000.0
2, 50000.0
μ
μ m m
3, 270.00000degree
1, -50000.0
μ m
Axis 2, 150000.0
μ m
Linear Axis 3, 0.00000degree
Number of pitches 0
Ctr.P. 1, -50000.0
μ m
Ctr.P.
ABS-3
Axis
Axis
Axis
CPEND
2, 50000.0
μ m
1, 0.0
μ m
2, 150000.0
μ m
3, 0.00000degree
[G12]
!M2001*!M2002*!M2003
3 axes continuous trajectory control start
Axis used........................... Axis 1, Axis 2, Axis 3
Positioning speed .............. 1000.00 [mm/min]
3 axes linear interpolation control (P1)
Axis 1 ............ 50000.0 [ m]
Positioning address ...........
Axis 2 .......... 150000.0 [ m]
Axis 3 ............ 0.00000 [degree]
3 axes helical interpolation control (P2)
Positioning address ...........
Axis 1 .......... 150000.0 [ m]
Axis 2 ............ 50000.0 [ m]
Axis 3 .......... 90.00000 [degree]
Number of pitches .... 0
Central point address of the arc .......
Axis 1 .......... 50000.0 [ m]
Axis 2 .......... 50000.0 [ m]
3 axes linear interpolation control (P3)
Positioning address ...........
Axis 1 .......... 150000.0 [ m]
Axis 2 ........... -50000.0 [ m]
Axis 3 .......... 90.00000 [degree]
3 axes helical interpolation control (P4)
Positioning address ...........
Axis 1 ............ 50000.0 [ m]
Axis 2 ......... -150000.0 [ m]
Axis 3 ........ 180.00000 [degree]
Number of pitches .... 0
Central point address of the arc .......
Axis 1 .......... 50000.0 [ m]
Axis 2 ......... -50000.0 [ m]
3 axes linear interpolation control (P5)
Positioning address ...........
Axis 1 ........... -50000.0 [ m]
Axis 2 ......... -150000.0 [ m]
Axis 3 ........ 180.00000 [degree]
3 axes helical interpolation control (P6)
Positioning address ...........
Axis 1 ......... -150000.0 [ m]
Axis 2 ........... -50000.0 [ m]
Axis 3 ........ 270.00000 [degree]
Number of pitches .... 0
Central point address of the arc .......
3 axes linear interpolation control (P7)
Axis 1 ......... -50000.0 [ m]
Axis 2 ......... -50000.0 [ m]
Positioning address ...........
Axis 1 ......... -150000.0 [ m]
Axis 2 ............ 50000.0 [ m]
Axis 3 ........ 270.00000 [degree]
3 axes helical interpolation control (P8)
Positioning address ...........
Axis 1 ........... -50000.0 [ m]
Axis 2 .......... 150000.0 [ m]
Axis 3 ............ 0.00000 [degree]
Number of pitches .... 0
Central point address of the arc .......
Axis 1 ......... -50000.0 [ m]
Axis 2 .......... 50000.0 [ m]
3 axes linear interpolation control Start point
Axis 1 .................... 0.0 [ m]
Positioning address ...........
Axis 2 .......... 150000.0 [ m]
Axis 3 ............ 0.00000 [degree]
Wait until Axis 1, Axis 2 and Axis 3 start accept flag turn OFF
END
362
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
Pass point skip function
This function stops positioning to executing point and executes positioning to next point, by setting a skip signal toward each pass point for continuous trajectory control.
Setting data
■
Skip signal devices
A bit device (or a specified bit in a word device) can be used.
Refer to the following for the setting range of usable devices.
MELSEC iQ-R Motion controller Programming Manual (Common)
Precautions
• When an absolute circular interpolation or absolute helical interpolation is specified to since point since the skip signal specified point, set the absolute linear interpolation between them. If it does not set, it may occur an error and stop.
• If a skip signal is inputted at the end point, a deceleration stop occurs at that point and the program is ended.
• If setting the S-curve ratio, the S-curve pattern is recalculated by the skip signal input. Refer to S-curve ratio for details of the operation. (
Program example
<K 0>
CPSTART2
Axis
Axis
Speed
ABS-2
Axis
Axis
Speed
Skip
ABS-2
Axis
Axis
Speed
CPEND
1
2
1,
2,
1,
2,
10000
100000
200000
10000
M200
200000
200000
15000
Servo program start
Start accept
Skip signal
(M200)
V
Point 1 positioning processing
Skip
Skip signal
No skip t
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5.17 Continuous Trajectory Control
363
CAUTION
When a skip is specified during continuous trajectory control and the axis which has no stroke range [degree] is included, the operation at the execution of skip is described.
• If there is an ABS instruction after the skip in these conditions, the end positioning point and the travel distance in the program as a whole will be the same regardless of whether the skip is executed or not.
(1) All instructions after the skip are INC instructions:
Program example
1
When skip is not executed
0 180 0 270[degree]
CPSTART1
Axis
Speed
INC-1
Axis
Skip
INC-1
Axis
INC-1
Axis
CPEND
1,
1,
1,
10.000
180.00000
M100
180.00000
270.00000
When skip is executed
0 100 280
When the skip occurs at 100 [degree]
190[degree]
(2) Instruction immediately after the skip is ABS instruction:
Program example
When skip is not executed
CPSTART1
Axis
Speed
INC-1
Axis
Skip
ABS-1
Axis
INC-1
Axis
CPEND
1
1,
1,
1,
10.000
180.00000
M100
350.00000
270.00000
0 180
When skip is executed
0 100
350
(The end positioning point is same regardless of whether the skip is executed or not.)
350
260[degree]
260[degree]
When the skip occurs at 100 [degree]
(3) Instruction immediately after the skip is INC instruction and there is ABS instruction after that:
Program example
When skip is not executed
CPSTART1
Axis
Speed
INC-1
Axis
Skip
INC-1
Axis
INC-1
Axis
ABS-1
Axis
CPEND
1
1,
1,
1,
1,
10.000
360.00000
M100
180.00000
180.00000
90.00000
0
When skip is executed
0 80
When the skip occurs at 80 [degree]
0
260
180
80
This point moves at 370 [degree], not 10 [degree].
0 90[degree]
(The end positioning point is same regardless of whether the skip is executed or not.)
90[degree]
364
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
<K 0>
CPSTART2
Axis
Axis
Speed
FIN
ABS-2
Axis
Axis
M code
ABS-2
Axis
Axis
M code
ABS-2
Axis
Axis
M code
ABS-2
Axis
Axis
CPEND
1
2
1,
2,
1,
2,
1,
2,
1,
2,
FIN signal wait function
By selecting the FIN signal wait function and setting a M-code at each executing point, a process end of each executing point is synchronized with the FIN signal, the FIN signal turns ON to OFF and then the next positioning is executed.
Turn the FIN signal on/off using the Motion SFC program or sequence program.
Setting data
When the FIN signal wait function is selected, the fixed acceleration/deceleration time method is used. Set the acceleration/ deceleration time within the range of 1 to 5000 [ms] by "FIN acceleration/deceleration" (selecting item) in the servo program.
Indirect setting is also possible by the word devices (1 word).
Precautions
• If the acceleration/deceleration time is specified outside the setting range, the warning (error code: 0A44H) will occur at the start and it is controlled with the acceleration/deceleration time of 1000 [ms].
• M-code outputting signal is output to all interpolation axes at the interpolation control. In this case, turn on the FIN signal for one of the interpolation axes.
• When M-code is set at the end point, positioning ends after the FIN signal has turn OFF to ON to OFF.
• When the FIN acceleration/deceleration (Fixed acceleration/deceleration time method) is set in the continuous trajectory, the setting for advanced S-curve acceleration/deceleration is invalid.
Processing details
Servo program K0 for FIN signal wait function is shown below.
Vector speed
10000
100 [ms]
Point
M-code
200000
200000
10
M-code outputting
FIN signal 300000
250000
11
350000
300000
12
400000
400000
1
10
Explanatory
100[ms]
WAIT 1
11
1. When the positioning of point 1 starts, M-code 10 is output and
M-code outputting signal turns ON.
2. FIN signal turns ON after performing required processing in the
Motion SFC program.
Transition to the next point does not execute until the FIN signal turns ON.
3. When the FIN signal turns ON, M-code outputting signal turns OFF.
4.When the FIN signal turns OFF after the M-code outputting signal turns OFF, the positioning to the next point 2 starts.
5
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5.17 Continuous Trajectory Control
365
Program example
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
FIN signal wait function by the PLC program
The program for executing the FIN signal wait function for continuous trajectory control of Axis 1 and Axis 2 is explained as an example.
• Positioning conditions
• Continuous trajectory control conditions are shown below.
Item
Servo program No.
Positioning speed
FIN acceleration/deceleration time
Positioning method
Pass point Axis 1
Axis 2
M-code
Setting
0
10000
100 [ms]
2 axes linear interpolation control
200000 300000
200000 250000
10 11
350000
300000
12
• Continuous trajectory control start command: X0 Leading edge (OFF → ON) (PLC CPU device)
400000
400000
• Motion SFC program
The Motion SFC program for executing the servo program (No. 0) for continuous trajectory control is shown below.
Continuous trajectory control
[F10]
SET M2042
[G10]
M2415*M2435
[K0]
CPSTART2
Axis
Axis
Speed
FIN
ABS-2
Axis 1,
Axis
M code
1,
ABS-2
Axis
Axis
1,
2,
1
2
M code
ABS-2
Axis 1,
Axis
M code
2,
ABS-2
Axis
Axis
CPEND
1,
2,
10000
100
200000
200000
10
300000
250000
11
350000
300000
12
400000
400000
Turn on all axes servo ON command.
Wait until Axis 1 servo ready and Axis 2 servo ready turn on.
Start continuous trajectory control
Axis used ................................... Axis 1, Axis 2
Positioning speed ......................10000 [pulse/s]
FIN acceleration/deceleration....100 [ms]
2 axes linear interpolation control
Axis used .................................Axis 1, Axis 2
Address of stop position ................
Axis 1.........200000[pulse]
Axis 2.........200000[pulse]
M-code output ...........................10
2 axes linear interpolation control
Axis used .................................Axis 1, Axis 2
Address of stop position ................
Axis 1.........300000[pulse]
Axis 2.........250000[pulse]
M-code output ...........................11
2 axes linear interpolation control
Axis used .................................Axis 1, Axis 2
Address of stop position ................
Axis 1.........350000[pulse]
Axis 2.........300000[pulse]
M-code output ..........................12
2 axes linear interpolation control
Axis used ................................. Axis 1, Axis 2
Address of stop position ................
Axis 1.........400000[pulse]
Axis 2.........400000[pulse]
End continuous trajectory control
END
366
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
• Sequence program
Sequence program for FIN signal wait function is shown below.
X0
0
M0
11
14
M2419
DP.SFCS H3E1
DP.DDRD
H3E1 D50
K110 M0 D0
MOVP K1 D51
"D13" D1 M2
SET M3219
Motion SFC program start request
Substitutes 1 for D51 after program start.
Reads data of D13 for Multiple CPU system
No.2 by turning M2419 on, and stores in the data area D1 of self
M3219 is set
26
M2419
RST M3219 Resets M3219 by turning M2419 OFF.
28 END
*: Details of D1 is used as control.
*1 The automatic refresh setting example for FIN signal wait function is shown below.
5
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
367
• Parameter setting
The refresh (END) setting example for FIN signal wait function is shown below.
[Example of allocating the devices allocated as Motion dedicated devices to the PLC CPU]
■ CPU No. 1 (PLC CPU) (GX Works3)
• Set the device transmitted to CPU No.2 (M3200 to M3295)
■ CPU No. 2 (Motion CPU) (MT Developer2)
• Set the device received from CPU No.1 (M3200 to M3295)
• Set the device received from CPU No.2 (M2400 to M2495)
• Set the device transmitted to CPU No.1 (M2400 to M2495)
• Q Compatibility high-speed refresh setting (MT Developer2 only)
368
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
■
FIN signal wait function using the Motion SFC program
The program for executing the FIN signal wait function for continuous trajectory control of Axis 1 and Axis 2 is explained as an example.
• Positioning conditions
• Continuous trajectory control conditions are shown below.
Item
Servo program No.
Positioning speed
FIN acceleration/deceleration time
Positioning method
Pass point Axis 1
Axis 2
M-code
Setting
0
10000
100 [ms]
2 axes linear interpolation control
200000 300000
200000
10
250000
11
• Continuous trajectory control start command: X0 Leading edge (OFF → ON)
350000
300000
12
400000
400000
• Motion SFC program
• The Motion SFC program for executing the servo program (No. 0) for continuous trajectory control is shown below.
Continuous trajectory control
[F10]
SET M2042
[G10]
X0*M2415*M2435
[K0]
CPSTART2
Axis
Axis
Speed
FIN
ABS-2
Axis 1,
Axis
M code
1,
ABS-2
Axis
Axis
1,
2,
1
2
M code
ABS-2
Axis 1,
Axis
M code
2,
ABS-2
Axis
Axis
CPEND
1,
2,
10000
100
200000
200000
10
300000
250000
11
350000
300000
12
400000
400000
Stand by FIN signal
Turn on all axes servo ON command.
Wait until X0, Axis 1 servo ready and Axis 2 servo ready turn on.
Start continuous trajectory control
Axis used ...................................Axis 1, Axis 2
Positioning speed ......................10000 [pulse/s]
FIN acceleration/deceleration . . . . . 100 [ms]
2 axes linear interpolation control
Axis used ................................. Axis 1, Axis 2
Address of stop position ............. Axis 1.........200000[pulse]
Axis 2.........200000[pulse]
M-code output ...........................10
2 axes linear interpolation control
Axis used .................................Axis 1, Axis 2
Address of stop position ............. Axis 1.........300000[pulse]
Axis 2.........250000[pulse]
M-code output ...........................11
2 axes linear interpolation control
Axis used .................................Axis 1, Axis 2
Address of stop position ............. Axis 1.........350000[pulse]
Axis 2.........300000[pulse]
M-code output ...........................12
2 axes linear interpolation control
Axis used .................................Axis 1, Axis 2
Address of stop position ............. Axis 1.........400000[pulse]
Axis 2.........400000[pulse]
End continuous trajectory control
END
5
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
369
• The Motion SFC program which outputs M-code of each point for continuous trajectory control to Y20 to Y2F by BCD code is shown below.
FIN signal wait
*: Details of #0 is used as control.
P0
[G50]
M2419*M2439
[G70]
D13==K12
Turn ON Axis 1, Axis 2 M-code outputting signal.
[F20]
#0=BCD(D13)
DOUT Y20,#0
SET M3219
Output Axis 1 M-code.
Turn ON FIN signal.
[G60]
!M2419*!M2439*M2403*M2423
Turn OFF Axis 1, Axis 2 M-code outputting signal and turn ON Axis 1, Axis 2 command in-position signal.
[F30]
RST M3219 Turn OFF FIN signal.
P0 Repeat until M-code value become 12.
END
370
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
• The fixed acceleration/deceleration time method is acceleration/deceleration processing that the time which acceleration/deceleration takes is fixed, even if the command speed differs.
V t
Acceleration/deceleration time is fixed
(1) Rapid stop deceleration time in parameter block, completion point specification method for speed change point, and S-curve acceleration/deceleration processing and parameters are invalid in the fixed acceleration/ deceleration time method.
(2) The speed processing for each axis is as shown below in positioning operation (continuous trajectory) as shown in the following figure.
Ay
Y V
Axis 1
Axis 2
Address Ax
Axis 1 Ax
Positioning operation
X
V
Ax t
Axis 2
Address Ay t
Ay
Continuous-trajectory control processing of each axis
• When the rapid stop command is executed by the setting "deceleration time < rapid stop deceleration time" during continuous trajectory control, the point data currently executed in the middle of deceleration, and the positioning may be completed suddenly as a speed "0".
In the case of "deceleration time ≥ rapid stop deceleration time", the above operation is not executed. For the following condition, note that the speed may become 0 in the middle of deceleration.
Travel value by the point data currently executed at the rapid stop command (Up to 9 points) < speed at rapid stop command input × rapid stop deceleration time / 2
[Operation pattern]
ON
Start accept flag
Positioning complete signal
OFF
Rapid stop command OFF
ON
OFF
ON
(1) (2) (3) (4) (5) (6) (7) (8)
Vector speed
Deceleration speed at the normal stop
5
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
371
5.18
Position Follow-Up Control
Positioning to the address set in the word device of the Motion CPU specified with the servo program at one start is executed.
Position follow-up control is started using the PFSTART servo program instruction.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
PFSTART Absolute 1 © ¨ ¨ ¨ © © © © © © © © © © ©
*1 Only when the reference axis speed is specified
Processing details
■
Control using PFSTART instruction
• Positioning to the address set in the word device of the Motion CPU specified with the servo program is executed.
• Position follow-up control is executed until the stop instruction is input. If the word device value changes during operation, positioning is executed to the changed address.
V
Positioning address has not change using PFSTART instruction t
Before reaching A, positioning address changed to B (return direction)
Positioning address A B
Precautions
• Number of control axes is 1 axis.
• Only the absolute data method (ABS ) is used for positioning control to the pass points.
• The speed can be changed during the start. The changed speed is effective until the stop command is input.
• Set the positioning address in the servo program using indirect setting with the word devices.
• Use only even-numbered devices for indirect setting of positioning address in the servo program.
• Positioning speeds can be set in the servo program using indirect setting with the word devices. However, this data is effective only at the position follow-up control start (servo program start) and the speed does not change if the indirect setting are changed during the start.
372
5 POSITIONING CONTROL
5.18 Position Follow-Up Control
• Change the value of the positioning address so that it is within the range below.
-2147483648 ≤ (Change in positioning address ÷ Travel value per rotation × Number of pulses per rotation) ≤ 2147483647
Ex.
When calculating the positioning address values with the conditions below
Item
Number of pulses per servo motor revolution
Ball screw pitch
External gear ratio
Value
4194304[pulse]
1[mm]
1/10
When the electronic gear setting is:
• Number of pulses per servo motor revolution: 4194304[pulse]
• Travel distance per servo motor revolution: 100.0[μm]
Actual change in positioning address[μm]
=
Maximum value of change in positioning address[pulse]
×
Travel distance per servo motor revolution
Number of pulses per servo motor revolution
=
2147483647[pulse] × 100
4194304
≈ 51200.0[μm]
However, the actual change in positioning address needs to be less than "±51200.0[μm]".
Program example
The program for performing Axis 3 position follow-up control for PLC CPU (CPU No.1) to Motion CPU (CPU No.2) is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Positioning conditions
• Position follow-up conditions are shown below.
Item
Servo program No.
Control axis
Positioning address
Positioning speed
Setting
100
Axis 3
D4000
20000
• Position follow-up control start command: X0 Leading edge (OFF → ON) (PLC CPU device)
5
5 POSITIONING CONTROL
5.18 Position Follow-Up Control
373
■
Operation timing
Operation timing for position follow-up control is shown below.
V
Positioning address (D4000)
[Rq.1120] PLC ready flag
(M2000)
[Rq.1123] All axes servo ON command (M2042)
[St.1045] All axes servo ON accept flag (M2049)
Axis 3 [St.1075] servo ready
(M2455)
Start command (X0)
Servo program start
Axis 3 [St.1040] Start accept flag
(M2003)
Axis 3 [St.1060] Positioning start complete (M2440)
Axis 3 [St.1061] Positioning complete (M2441)
Axis 3 [St.1063] Command in-position (M2443)
Stop command (X1)
Axis 3 [Rq.1140] Stop command
(M3240)
0 100 0 t
374
5 POSITIONING CONTROL
5.18 Position Follow-Up Control
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 100) for position follow-up control is shown below.
This program is started using D(P).SFCS instruction from PLC CPU (CPU No. 1).
Position follow-up control
[F10]
SET M2042 Turn on all axes servo ON command.
[G10]
M2049*M2455
Wait until all axes servo ON accept flag and
Axis 3 servo ready turn ON.
[K100]
PFSTART
Axis
Speed
3, D4000
20000pulse/s
[G20]
!M2003
Position follow-up control
Axis used .......................... Axis 3
Positioning address .......... D4000
Positioning speed ............... 2000 [pulse/s]
Wait until Axis 3 start accept flag turn OFF after position follow-up control completion.
0
SM400
X0
3
END
■
Sequence program
Sequence program example for position follow-up control is shown below.
MOVP K2
PLS
D1
M10
Substitute 2 for D1 after program start.
Starts by turning X0 on.
DMOV K150000 D1000 Substitute 150000 for D1000
DMOV K0 D1300 Substitute 0 for D1300
12
X1
16
M10 M0
M3240
RST M20
DP.DDWR H3E1 D0
DP.SFCS H3E1
RST M30
D1000 "D4000" M0
K150 M2 D1100
Reads data of D1000 of self CPU for
Multiple CPU system by turning M10 on, and writes to D4000 of CPU No.2.
Starts the Motion SFC program No.150.
M1
38
42
M20
M2 M3
SET M20
DMOV D40 D1200 Substitutes the value of D40 for D1200
M2441 M2442
52
M30
67
M4
D= D1200 D1000
DP.DDWR H3E1 D0
RST M20
SET M30
D1300 "D4000" M4
RST M30
END
Resets M20 and sets M30 at the axis 3 positioning completion and
D1200 = D1000.
Reads data of D1300 of self CPU for
Multiple CPU system by turning M30 on, and writes to D4000 of CPU No.2.
*1 The automatic refresh setting example for position follow-up control is shown below.
5
5 POSITIONING CONTROL
5.18 Position Follow-Up Control
375
■
Parameter setting
The refresh (END) setting example for position follow-up control is shown below.
[Allocation example of devices allocated in the Motion dedicated device to the PLC CPU]
■ CPU No. 1 (PLC CPU) (GX Works3)
• Set the device transmitted to CPU No.2 (M3200 to M3295)
■ CPU No. 2 (Motion CPU) (MT Developer2)
• Set the device received from CPU No.1 (M3200 to M3295)
• Set the device received from CPU No.2 (M2400 to M2495, D40 to D59)
• Set the device transmitted to CPU No.1 (M2400 to M2495, D40 to D59)
• Q Compatibility high-speed refresh setting (MT Developer2 only)
376
5 POSITIONING CONTROL
5.18 Position Follow-Up Control
5.19
High-Speed Oscillation
Positioning of a specified axis is caused to oscillate on a sine wave.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
OSC
«
1
© ¨ ©
*1 Only when the reference axis speed is specified
¨ ¨ ¨
Processing details
The designated axis caused to oscillate on a specified sine wave.
Acceleration/deceleration processing is not performed.
360 [degree]
Amplitude
© ©
Starting angle
■
Amplitude
Set the amplitude of the oscillation in the setting units.
The amplitude can be set within the range of 1 to 2147483647.
■
Starting angle
Set the angle on the sine curve at which oscillation is to start.
The setting range is 0 to 359.9 [degree]
■
Frequency
Set how many sine curve cycles occur in one minute.
The setting range is 1 to 5000 [CPM].
Since acceleration/deceleration processing is not performed, you should set the starting angle to 90 or 270
[degree] in order to avoid an abrupt start.
5 POSITIONING CONTROL
5.19 High-Speed Oscillation
377
5
Precautions
• If the amplitude setting is outside the range, the minor error (error code: 1A52H) occurs and operation does not start.
• If the starting angle setting is outside the range, the minor error (error code: 1A53H) occurs and operation does not start.
• If the frequency setting is outside the range, the minor error (error code: 1A54H) occurs and operation does not start.
• Operation is continually repeated until a stop signal is input after the start.
• Speed changes during operation are not possible. Attempted speed changes will cause warning (error code: 09EEH).
• Do not use the high-speed oscillation in the axis that invalidates a stroke limit of control unit "degree".
Program example
An example of a program for high-speed oscillation is shown below.
<K 6>
OSC
Axis 1
Starting angle 90.0
Amplitude 1000
Frequency 100
[degree]
[pulse]
[CPM]
378
5 POSITIONING CONTROL
5.19 High-Speed Oscillation
5.20
Simultaneous Start
Simultaneous start of the specified servo program at one start is executed.
Simultaneous start is started using the START servo program instruction.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
START *2 *2
¨
*1 Only when the reference axis speed is specified
*2 It changes depending on the servo program for simultaneous start
Processing details
■
Control using START instruction
• Simultaneous start of the specified servo programs is executed.
• The servo program except for the simultaneous start (START instruction) can be specified.
• Up to 3 servo programs can be specified.
• A word device can be used as the servo program number. Refer to the following for the setting range of usable devices.
MELSEC iQ-R Motion controller Programming Manual (Common)
• When the servo program number is specified using a word device, the device value can be set to start the program or not start the program.
Setting value
-1
Description
Servo program number not specified
Program number to start
*1 For operating system software version "09" or earlier, 0 to 4095.
• Each axis is controlled using the specified servo program after the simultaneous start.
5
5 POSITIONING CONTROL
5.20 Simultaneous Start
379
Precautions
A check is made at the start. An error occurs and operation does not start in the following cases.
• Specified servo program does not exist.
• START instruction is set as the specified servo program.
• The specified servo program start axis is already used.
• A servo program cannot start by an error.
• The specified program number for simultaneous start is already used.
• The program number for simultaneous start is set as the self program number.
• The real axis program and command generation axis program are mixed.
• The program to start does not exist.
• All of the specified program numbers are "-1".
Program example
The program for performing simultaneous start of Axis 1, Axis 2, Axis 3, and Axis 4 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Number of specified servo programs and program No.
• Number of specified servo programs: 3
• Specified servo program No.
Servo Program No.
No.1
No.14
No.45
Used axis
Axis 1, Axis 2
Axis 3
Axis 4
Control Details
Circular interpolation control
Speed control
Home position return control
■
Start conditions
• Simultaneous start servo program No.: No.121
• Simultaneous start execute command: X0 Leading edge (OFF → ON)
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 121) for simultaneous start control is shown below.
Simultaneous start control
[F10]
SET M2042
[G20]
!X0
Turn on all axes servo ON command.
[G10]
X0*M2415*M2435*M2455*M2475
Wait until X0, Axis 1 servo ready, Axis 2 servo ready,
Axis 3 servo ready and Axis 4 servo ready turn ON.
[K121]
START
Program No.
K 1
Simultaneous start control
No.1 servo program
Program No.
No.14 servo program
Program No.
No.45 servo program
Wait until X0 turn OFF after simultaneous start completion.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program
380
5 POSITIONING CONTROL
5.20 Simultaneous Start
5.21
Home Position Return
• Use the home position return at the power supply ON and other times where decision of axis is at the machine home position is required.
• The home position return data must be set for each axis to execute the home position return. Refer to the following details of the home position return data. (
Page 180 Home Position Return Data)
• The home position return methods that are available are proximity dog method, count method, data set method, dog cradle method, stopper method, limit switch combined method, scale home position signal detection method, dogless home position signal reference method, and driver home position return method. Select the optimal home position return method for the system configuration and applications with reference to the following.
Home position return methods Reference position
Applications
Proximity dog method
Data set method
Data set method 3
Dog cradle method
Stopper method
Proximity dog method 1
Proximity dog method 2
Count method Count method 1
Count method 2
Count method 3
Data set method 1
Data set method 2
Stopper method 1
Stopper method 2
Limit switch combined method
Scale home position signal detection method
Motor zero point
Command position
Motor zero point
Command position
Motor actual position
Motor zero point
Motor actual position
Motor zero point
DOG
(FLS/RLS)
DOG
(FLS/RLS)
DOG
FLS (for forward home position return direction)/RLS (for reverse home position return direction)
DOG
• It is used in the system which can surely pass a zero point from the home position return start to proximity dog ON → OFF.
• When the proximity dog is ON, it cannot be started.
• This method is valid when the stroke range is short and
"proximity dog method 1" cannot be used.
• When the proximity dog is ON, it can be started.
It is used in the system which can surely pass a zero point from the home position return start to point of travel distance set as "travel value after proximity dog ON".
This method is used when the proximity dog is near the stroke end and the stroke range is narrow.
This method is valid when the stroke range is short and "count method 1" cannot be used.
• It is used in a system where external input signals such as dog signal are not set in the absolute position system.
• This method is valid for the data set independent of a deviation counter value.
It is used in a system where external input signals such as dog signal are not set in the absolute position system.
It is used to perform home position return during servo OFF.
• Home position is zero point of servo motor immediately after the proximity dog signal ON.
• It is easy to set the position of proximity dog, because the proximity dog is set near the position made to the home position.
This method is valid to improve home position accuracy in order to make the home position for the position which stopped the machine by the stopper.
It is used in a system where the proximity dog signal cannot be used and only external limit switch can be used.
Dogless home position signal reference method
Driver home position return method Position in driver settings
(FLS/RLS)
• The travel direction is reversed at the proximity dog ON, and home position is encoder zero point after reversal.
• This method is valid to make the home position for the load side at the linear motors or direct drive motors use.
• It is used in a system where proximity dog signal cannot be used and stops at the zero point of servo motor.
• Home position return operation differs by servo amplifier.
The driver performs home position return operation autonomously according to the settings on the driver-side.
*1 The signal in parentheses is required when the home position return retry function is used.
5
5 POSITIONING CONTROL
5.21 Home Position Return
381
Servo program for home position return
The home position return executed using the ZERO servo instruction.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
ZERO
«
1
¨
*1 Only when the reference axis speed is specified
Processing details
Home position return is executed by the home position return method specified with the home position return data (
180 Home Position Return Data).
Refer to the following for details of the home position return methods.
Home position return methods
Proximity dog method 1
Proximity dog method 2
Count method 1
Count method 2
Count method 3
Data set method 1
Data set method 2
Data set method 3
Dog cradle method
Stopper method 1
Stopper method 2
Limit switch combined method
Scale home position signal detection method
Dogless home position signal reference method
Driver home position return method
Reference
Page 384 Home position return by the proximity dog method 1
Page 386 Home position return by the proximity dog method 2
Page 388 Home position return by the count method 1
Page 389 Home position return by the count method 2
Page 390 Home position return by the count method 3
Page 392 Home position return by the data set method 1
Page 393 Home position return by the data set method 2
Page 394 Home position return by the data set method 3
Page 395 Home position return by the dog cradle method
Page 398 Home position return by the stopper method 1
Page 399 Home position return by the stopper method 2
Page 400 Home position return by the limit switch combined method
Page 402 Home position return by the scale home position signal detection method
Page 404 Home position return by the dogless home position signal reference method
Page 409 Home position return by the driver home position return method
382
5 POSITIONING CONTROL
5.21 Home Position Return
Program example
The servo program No. 0 for performing home position return of Axis 4 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 0) for home position return is shown below.
Home position return
[F10]
SET M2042
[G10]
X0*M2475*M2462
[K0]
ZERO
Axis 4
Turn on all axes servo ON command.
Wait until X0, Axis 4 servo ready and in-position signal turn ON.
*1
Home position return
Axis used ............... Axis 4
[G20]
!X0
Wait until X0 turn OFF after home position return completion.
END
*1 It is necessary to turn on the zero pass signal before execution of the home position return instruction for data set method home position return.
*2 Example of the above Motion SFC program is started using the automatic start or sequence program.
Precautions
If the home position is not within the in-position range of servo parameter, it does not mean having reached the home position and the home position return does not end in the proximity dog method, count method, data set method 1, dog cradle method, limit switch combined method, scale home position signal detection method, dogless home position signal reference method, or driver home position return method home position return. In this case, adjusts the in-position range of servo parameter or position control gain.
5
5 POSITIONING CONTROL
5.21 Home Position Return
383
Home position return by the proximity dog method 1
Proximity dog method 1
Zero point position after proximity dog ON to OFF is home position in this method. When it does not pass ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" OFF) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, an error will occur and home position return is not executed. However, when "1: Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4 (PC17)" of servo parameter (expansion setting parameter), if it does not pass zero point from home position return start to deceleration stop by proximity dog ON to
OFF, the home position return can be executed.
V
Home position return by the proximity dog method 1
Operation of home position return by proximity dog method 1 for passing ("[St.1066] Zero pass (R: M32406+32n/Q:
M2406+20n)" ON) the zero point from home position return start to deceleration stop by proximity dog ON to OFF is shown below.
Home position return direction
Home position return speed
Creep speed
*: A deceleration stop occurs after the proximity dog OFF. Positioning is carried out from this position to the zero point.
The distance to the zero point is based on the servo data.
t
Home position return start
Proximity dog
ON OFF
Zero point
The travel value in this range is stored in the monitor register
"travel value after proximity dog ON".
The travel value in this range is stored in the monitor register
"home position return re-travel
Home position return execution
Home position return by the proximity dog method 1 is executed using the servo program. (
Page 382 Servo program for home position return)
Cautions
• Keep the proximity dog ON during deceleration from the home position return speed to the creep speed. If the proximity dog turns OFF before deceleration to the creep speed, a deceleration stop is made and the next zero point is set as the home position.
Home position return speed
The zero point is passed during deceleration stop by the proximity dog OFF.
Setting creep speed t
Proximity dog
ON OFF
Zero point
Zero point of this range does not become the home position.
The next zero point becomes the home position.
384
5 POSITIONING CONTROL
5.21 Home Position Return
• The position executed deceleration stop by the proximity dog OFF is near zero point, a home position discrepancy equivalent to one revolution of the servo motor may occur. Adjust the position of proximity dog OFF, such that the home position return re-travel value becomes half the travel value for one revolution of the servo motor.
If the position executed deceleration stop by the proximity dog
OFF is near zero point, the creep speed and deceleration settings may result in a home position discrepancy equivalent to one revolution of the servo motor.
t
Proximity dog
ON OFF
Zero point
When the home position return retry function is not set in the following cases, execute the home position return, after return the axis once to position before the proximity dog ON by the JOG operation, etc.
Home position return cannot be executed without returning to position before the proximity dog ON.
• Home position return with a position after the proximity dog ON to OFF.
• When the power supply turned OFF to ON after home position return end.
• When it does not pass ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" ON) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, a minor error (error code: 197AH) will occur, a deceleration stop is made and home position return does not end normally. When a distance between home position return start position and home position is near and a zero point is not passed, select the proximity dog method 2.
• If home position return is executed in the proximity dog ON, a minor error (error code: 197DH) will occur, the home position return is not executed. Use the proximity dog method 2 in this case.
• When home position return retry function is not set, if home position return is executed again after home position return end, a minor error (error code: 197BH) will occur, the home position return is not executed.
• If "[St.1062] In-position (R: M32402+32n/Q: M2402+20n)" does not turn ON, home position return is not ended.
5
5 POSITIONING CONTROL
5.21 Home Position Return
385
Home position return by the proximity dog method 2
Proximity dog method 2
Zero point position after proximity dog ON to OFF is home position in this method.
When it passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" ON the zero point from home position return start to deceleration stop by proximity dog ON to OFF, operation for "proximity dog method 2" is the same as "proximity dog method
1". (
Page 384 Home position return by the proximity dog method 1)
When it does not pass ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" OFF) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, it moves to home position return direction after the servo motor is rotated one revolution to reverse direction and it passed the zero point, and the first zero point position is set as home position after proximity dog ON to OFF.
Home position return by the proximity dog method 2
Operation of home position return by proximity dog method 2 for not passing the zero point from home position return start to deceleration stop by proximity dog ON to OFF is shown below.
V
Home position return speed
(1)
Home position return direction
Home position return start
(4)
(2)
Home position return speed
1 revolution
Proximity dog
(3)
(5)
Home position
Creep speed
(1) It travels to preset direction of home position return with the home position return speed.
(2) A deceleration is made to the creep speed by the proximity dog ON, after that, it travels with the creep speed.
(If the proximity dog turns OFF during a deceleration, a deceleration stop is made and the operation for 4) starts.)
(3) A deceleration stop is made by the proximity dog OFF.
(4) After a deceleration stop, it travels for one revolution of servo motor to reverse direction of home position return with the home position return speed.
(5) It travels to direction of home position return with the home position return speed, the home position return ends with first zero point after the proximity dog ON to OFF.
(At this time, a deceleration to the creep speed is not made with the proximity dog OFF to ON. And if the zero point is not passed because of droop pulses for processing of (4) and (5), a minor error (error code: 197AH) will occur, a deceleration stop is made and the home position return does not end normally. In this case, adjust a position of proximity dog OFF.)
Zero point
Zero point no passing
The travel value in this range is stored in the monitor register
"travel value after proximity dog ON".
The travel value in this range is stored in the monitor register
"home position return re-travel value".
Home position return execution
Home position return by the proximity dog method 2 is executed using the servo program. (
Page 382 Servo program for home position return)
386
5 POSITIONING CONTROL
5.21 Home Position Return
Cautions
• A system which the servo motor can rotate one time or more is required.
• When a servo motor stops with specified condition enables and rotates to reverse direction one time after proximity dog
ON, make a system for which does not turn OFF the external upper/lower stroke limit.
• Keep the proximity dog ON during deceleration from the home position return speed to the creep speed. If the proximity dog turns OFF before deceleration to the creep speed, a deceleration stop is made and the next zero point is set as the home position.
• If home position return is executed in the proximity dog ON, it starts with the creep speed.
• When home position return retry function is not set, if home position return is executed again after home position return completion, a minor error (error code: 197BH) will occur, the home position return is not executed.
• When "1: Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4
(PC17)" of servo parameter (expansion setting parameter), even if it does not pass zero point at the servo amplifier power
ON, the "[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" turns ON. This operation is the same as proximity dog method 1.
• If "[St.1062] In-position (R: M32402+32n/Q: M2402+20n)" does not turn ON, home position return is not ended.
5
5 POSITIONING CONTROL
5.21 Home Position Return
387
Home position return by the count method 1
Count method 1
After the proximity dog ON, the zero point after the specified distance (travel value after proximity dog ON) is home position in this method. When the zero point is not passed ("[St.1066] Zero pass "(R: M32406+32n/Q: M2406+20n)" OFF) until it travels the distance set in the "travel value after proximity dog ON" from home position return start, an error will occur and home position return is not executed. However, when "1: Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4 (PC17)" of servo parameter (expansion setting parameter), if the zero point is not passed until it travels the distance set in the "travel value after proximity dog ON" from home position return start, the home position return can be executed.
The travel value after proximity dog ON is set in the home position return data (
Page 180 Home Position Return Data).
Home position return by the count method 1
Operation of home position return by count method 1 for passing the zero point during travel of specified distance set in the
"travel value after proximity dog ON" from the home position return start is shown below.
Home position return direction
V
Home position return speed
Creep speed
*: After the proximity dog ON, positioning of the
"travel value after the proximity dog ON" of the home position return data and the positioning from the position to zero point.
The distance to the zero point is based on the servo data t
Home position return start
Proximity dog
ON
Zero point
The travel value in this range is stored in the monitor register "travel value after proximity dog ON".
"Travel value after proximity dog ON" of the home position return data
The travel value in this range is stored in the monitor register "home position return re-travel value".
Home position return execution
Home position return by the count method 1 is executed using the servo program. (
Page 382 Servo program for home position return)
Cautions
• Home position return and continuously start of home position return are also possible in the proximity dog ON in the count method 1. When the home position return or continuously start of home position return are executed in the proximity dog
ON, the home position return is executed after return the axis once to position of the proximity dog OFF.
• When the zero point is not passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" ON) until it travels the distance set in the "travel value after proximity dog ON" from home position return start, a minor error (error code: 197AH) will occur, a deceleration stop is made and home position return does not end normally. When a distance between home position return start position and home position is near and a zero point is not passed, select the count method 3.
• When the "travel value after proximity dog ON" is less than the deceleration distance from "home position return speed" to
"creep speed", a minor error (error code: 1A57H) will occur and deceleration stop is made.
• If "[St.1062] In-position (R: M32402+32n/Q: M2402+20n)" does not turn ON, home position return is not ended.
388
5 POSITIONING CONTROL
5.21 Home Position Return
Home position return by the count method 2
Count method 2
After the proximity dog ON, the position which traveled the specified distance (travel value after proximity dog ON) is home position in this method.
It is not related for zero point pass or not pass.
A count method 2 is effective method when a zero point signal cannot be taken. (However, dispersions will occur to the stop position at the home position return compared with the count method 1.)
The travel value after proximity dog ON is set in the home position return data (
Page 180 Home Position Return Data).
Home position return by the count method 2
Operation of home position return by count method 2 is shown below.
V
Home position return direction
Home position return speed
Creep speed
*: After the proximity dog ON, a position which traveled the distance "travel value after proximity dog ON" of the home position return data is home position.
t
Home position return start
Proximity dog
The travel value in this range is stored in the monitor register "travel value after proximity dog ON".
*: "Home position return re-travel value" = 0
Home position return execution
Home position return by the count method 2 is executed using the servo program. (
Page 382 Servo program for home position return)
Cautions
• Home position return and continuously start of home position return are also possible in the proximity dog ON in the count method 2. When the home position return and continuously start of home position return are executed in the proximity dog
ON, the home position return is executed after return the axis once to position of the proximity dog OFF.
• When the "travel value after proximity dog ON" is less than the deceleration distance from "home position return speed" to
"creep speed", a minor error (error code: 1A57H) will occur and deceleration stop is made.
• Command position is the home position.
• If "[St.1062] In-position (R: M32402+32n/Q: M2402+20n)" does not turn ON, home position return is not ended.
5
5 POSITIONING CONTROL
5.21 Home Position Return
389
Home position return by the count method 3
Count method 3
After the proximity dog ON, the zero point after the specified distance (travel value after proximity dog ON) is home position in this method.
When the zero point is passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" ON) during travel of specified distance set in the "travel value after proximity dog ON" from the home position return start, home position return operation is the same as "count method 1". (
Page 388 Home position return by the count method 1)
When a zero point is not passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" OFF) during travel of specified distance set in the "travel value after proximity dog ON" from the home position return start, it rotates one time to reverse direction and passes the zero point, re-travels to home position return direction, and then the first zero point after the specified distance (travel value after proximity dog ON) after proximity dog ON is set as home position.
The travel value after proximity dog ON is set in the home position return data (
Page 180 Home Position Return Data).
Home position return by the count method 3
Operation of home position return by count method 3 for not passing the zero point during travel of specified distance set in the "travel value after proximity dog ON" from the home position return start is shown below.
V
Home position return speed
(1)
Home position return direction
Home position return start
(4)
(2)
Home position return speed
1 revolution
Proximity dog
(3)
(5)
Home position
Creep speed
(1) It travels to preset direction of home position return with the home position return speed.
(2) A deceleration is made to the creep speed by the proximity dog ON, after that, it travels with the creep speed.
(3) A deceleration stop is made in the position which traveled the travel value set as travel value after proximity dog ON.
(4) After a deceleration stop, it travels for one revolution of servo motor to reverse direction of home position return with the home position return speed.
(5) It travels to direction of home position return with the home position return speed, the home position return with first zero point after traveling the travel value set as travel value after proximity dog ON from after the proximity dog ON.
(At this time, a deceleration to the creep speed is not made with the proximity dog OFF to ON. And if the zero point is not passed because of droop pulses for processing of (4) and (5), a minor error (error code: 197AH) will occur, a deceleration stop is made and home position return does not end normally. In this case, adjust a position of proximity dog ON.)
Zero point
Zero point no passing
The travel value in this range is stored in the monitor register
"travel value after proximity dog ON".
The travel value in this range is stored in the monitor register
"home position return re-travel value".
Home position return execution
Home position return by the count method 3 is executed using the servo program (
Page 382 Servo program for home position return).
390
5 POSITIONING CONTROL
5.21 Home Position Return
Cautions
• A system which the servo motor can rotate one time or more is required.
• After the proximity dog ON, when a servo motor rotates one time to reverse direction after stop with travel value set in the
"travel value after proximity dog ON", make a system which does not turn OFF the external upper/lower stroke limit.
• Home position return and continuously start of home position return are also possible in the proximity dog ON in the count method 3. When the home position return and continuously start of home position return are executed in the proximity dog
ON, the home position return is executed after return the axis once to position of the proximity dog OFF.
• When the "travel value after proximity dog ON" is less than the deceleration distance from "home position return speed" to
"creep speed", a minor error (error code: 1A57H) will occur and deceleration stop is made.
• When "1: Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4
(PC17)" of servo parameter (expansion setting parameter), even if it does not pass zero point at the servo amplifier power
ON, the "[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" turns ON. This operation is the same as count method 1.
• If "[St.1062] In-position (R: M32402+32n/Q: M2402+20n)" does not turn ON, home position return is not ended.
5
5 POSITIONING CONTROL
5.21 Home Position Return
391
Home position return by the data set method 1
Data set method 1
The proximity dog is not used in this method.
Home position return by the data set method 1
Home position is the command position at the home position return operation.
The address at the home position return operation is registered as the home position address.
t
Home position return by the servo program start instruction
Home position return execution
Home position return by the data set method 1 is executed using the servo program (
Page 382 Servo program for home position return).
Cautions
• A zero point must be passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" ON) between turning ON the power supply and executing home position return. If home position return is executed without passing a zero point once, minor error (error code: 197AH) occurs. If minor error (error code: 197AH) occurred, perform the home position return again, after reset the error and turn the servo motor at least one revolution by the JOG operation. The zero point passing can be confirmed with the "[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)". However, when "1: Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4 (PC17)" of servo parameter
(expansion setting parameter), even if it does not pass zero point at the servo amplifier power ON, the home position return is possible because the "[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" turns ON.
• Home position return is started by the data set method 1 when the absolute position system does not support, it becomes same function as the current value change command.
• The home position return data required for the data set method 1 are the home position return direction and home position address.
• If "[St.1062] In-position (R: M32402+32n/Q: M2402+20n)" does not turn ON, home position return is not ended.
392
5 POSITIONING CONTROL
5.21 Home Position Return
Home position return by the data set method 2
Data set method 2
The proximity dog is not used in this method.
Home position return by the data set method 2
Home position is the real position of servo motor at the home position return operation.
Machine travel range
Real position of machine at the home position return start
Command position at the home position return start
Home position return by the servo program start instruction
Home position is the real position at the home position return
Home position return execution
Home position return by the data set method 2 is executed using the servo program (
Page 382 Servo program for home position return).
Cautions
• A zero point must be passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" ON) between turning on the power supply and executing home position return. If home position return is executed without passing a zero point once, minor error (error code: 197AH) occurs. If minor error (error code: 197AH) occurred, perform the home position return again, after reset the error and turn the servo motor at least one revolution by the JOG operation. The zero point passing can be confirmed with the "[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)". However, when "1: Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4 (PC17)" of servo parameter
(expansion setting parameter), even if it does not pass zero point at the servo amplifier power ON, the home position return is possible because the "[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" turns ON.
• The home position return data required for the data set method 2 are the home position return direction and home position address.
5
5 POSITIONING CONTROL
5.21 Home Position Return
393
Home position return by the data set method 3
Data set method 3
The proximity dog is not used in this method that allows home position return to be performed during servo ON/OFF.
Home position return by the data set method 3
Home position is the real position of servo motor at the home position return operation.
Machine travel range
Real position of machine at the home position return start
Command position at the home position return start
Home position return by the servo program start instruction
Home position is the real position at the home position return
Home position return execution
Home position return by the data set method 3 is executed using the servo program (
Page 382 Servo program for home position return).
Cautions
• A zero point must be passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" ON) between turning on the power supply and executing home position return. If home position return is executed without passing a zero point once, minor error (error code: 197AH) occurs. If minor error (error code: 197AH) occurred, perform the home position return again, after reset the error and turn the servo motor at least one revolution by the JOG operation. The zero point passing can be confirmed with the "[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)". However, when "1: Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4 (PC17)" of servo parameter
(expansion setting parameter), even if it does not pass zero point at the servo amplifier power ON, the home position return is possible because the "[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" turns ON.
• When executing home position return during servo OFF, fix the home position return target axis. (For servo motor speed of
20[r/min] or less, the home position return is completed.)
• Home position return is not performed at a servo error or forced stop. Perform a home position return after removing the error cause and resetting the error.
• When performing data set method 3 home position return, do not change the servo ON/OFF status of the home position return target axis while the home position return is being executed.
• The home position return data required for the data set method 3 are the home position return direction and home position address.
394
5 POSITIONING CONTROL
5.21 Home Position Return
Home position return by the dog cradle method
Dog cradle method
After deceleration stop by the proximity dog ON, it travels to reverse direction. If the zero point is passed ("[St.1066] Zero pass
(R: M32406+32n/Q: M2406+20n)" ON) after traveling to reverse direction and turning the proximity dog OFF, a deceleration stop is made. It then moves in the direction of home position return again with creep speed and the first zero point after proximity dog ON is home position in this method.
Home position return by the dog cradle method
Operation of home position return by the dog cradle method for setting the proximity dog in the home position return direction is shown below.
Acceleration time
º
Deceleration time
V
Home position return direction
Home position return speed
Creep speed
(4)
(1)
(1) It travels to preset direction of home position return with the home position return speed, and a deceleration stop is made by the proximity dog ON.
(2) After a deceleration stop, it travels to reverse direction of home position return with the home position return speed.
(3) A deceleration stop is made when proximity dog turns
OFF and zero point is passed.
(4) After a deceleration stop, it travels to direction of home position return with the creep speed, the home position return ends with first zero point after the proximity dog ON.
5
Home position return start
(3)
Home position
(2)
ON
Proximity dog
The travel value in this range is stored in the monitor register
"home position return re-travel value".
The travel value in this range is stored in the monitor register
"travel value after proximity dog ON".
Zero point
Home position return execution
Home position return by the dog cradle method is executed using the servo program (
Page 382 Servo program for home position return).
5 POSITIONING CONTROL
5.21 Home Position Return
395
Cautions
• When home position return retry function is not set, if home position return is executed again after home position return end, a minor error (error code: 197BH) will occur, the home position return is not executed.
• If the home position return is executed in the proximity dog, it travels to reverse direction of home position return. If proximity dog turns OFF, a deceleration stop is made, it travels to direction of home position return again with the creep speed and the first zero point after proximity dog ON is home position.
Acceleration time
º
Deceleration time
V
Home position return direction
(3)
Creep speed
(1) It travels to preset reverse direction of home position return with the home position return speed.
(2) A deceleration stop is made when proximity dog turns
OFF and zero point is passed.
(3) After a deceleration stop, it travels to direction of home position return with the creep speed, and the home position return ends with first zero point after the proximity dog ON.
(2)
Home position
(1)
Home position return start
Proximity dog
ON
Zero point
• When the proximity dog is set in the home position return direction, the proximity dog is turned OFF during travel to reverse direction of home position return, and the zero point is not passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)"
OFF). It continues to travel in the reverse direction of home position return with home position return speed until the zero point is passed. The zero point is passed again during deceleration by zero point pass, the home position becomes this side compared with the case to pass zero point at the time of the proximity dog OFF.
Acceleration time º Deceleration time
V
Home position return direction
Home position return speed
(1)
Creep speed
(2)
(1) It travels to preset direction of home position return with the return speed.
(2) A deceleration stop is made by the proximity dog ON.
(3) After a deceleration stop, it travels to reverse direction of home position return with the home position return speed.
(4) It continues to travel after proximity dog turns OFF, and a deceleration stop is made when zero point is passed.
(5) After a deceleration stop, it travels to direction of home position return with the creep speed, and the home position return ends with first zero point after the proximity dog ON.
(5)
Home position
Home position return start
(4)
(3)
Home position return speed
Proximity dog
Zero point
396
5 POSITIONING CONTROL
5.21 Home Position Return
• When it starts in the proximity dog, the zero point is not passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)"
OFF) at the time of the proximity dog is turned OFF during travel to reverse direction of home position return. It continues to travel with home position return speed until the zero point is passed. The zero point is passed again during deceleration by zero point pass, the home position becomes this side compared with the case to pass zero point at the time of the proximity dog OFF.
Acceleration time º Deceleration time
V
Home position return direction
Creep speed
(3)
(1) It travels to preset reverse direction of home position return with the home position return speed.
(2) It continues to travel after proximity dog turns OFF, and a deceleration stop is made when zero point is passed.
(3) After a deceleration stop, it travels to direction of home position return with the creep speed, and the home position return ends with first zero point after the proximity dog ON.
(2)
(1)
Home position
Home position return start
Home position return speed
Proximity dog
Zero point
• If the zero point is passed during deceleration, the nearest zero point from deceleration stop position to home position return direction is set as the home position.
Acceleration time
º
Deceleration time
V
Home position return direction
Home position return speed
Creep speed
(4)
(1)
(1) It travels to preset direction of home position return with the home position return speed, and a deceleration stop is made by the proximity dog ON.
(2) After a deceleration stop, it travels to reverse direction of home position return with the home position return speed.
(3) If the zero point is passed by the proximity dog OFF, a deceleration stop is made. (The zero point is passed during deceleration.)
(4) After a deceleration stop, it travels to the nearest zero point of home position return direction with the creep speed, and the home position return ends.
Home position
Home position return start
(3)
(2)
The travel value in this range is stored in the monitor register
"home position return re-travel value".
Proximity dog
ON
The travel value in this range is stored in the monitor register
"travel value after proximity dog ON".
Zero point
5
5 POSITIONING CONTROL
5.21 Home Position Return
397
Home position return by the stopper method 1
Stopper method 1
Position of stopper is home position in this method.
It travels to the direction set in the "home position return direction" with the "home position return speed", after a deceleration starts by proximity dog OFF to ON and it presses against the stopper and makes to stop with the torque limit value set in the
"torque limit value at the creep speed" and "creep speed" of home position return data. Real position of servo motor at the time of detection for turning the torque limiting signal OFF to ON is home position.
Torque limit value after reaching creep speed is set in the "torque limit value at the creep speed" of home position return data.
Home position return by the stopper method 1
Operation of home position return by the stopper method 1 is shown below.
V
Home position return direction
Home position return speed
Real position of servo motor at this point is home position.
Stopper
Creep speed t
Home position return start
Time which stops rotation of servo motors forcibly by the stopper
Home position return data
"torque limit value at the creep speed"
Torque limit value
Torque limit value of parameter block at the home position return
Proximity dog
ON
[St.1076] Torque limiting
(R: M32416+32n/Q: M2416+20n)
OFF
*: "Travel value after proximity dog ON" storage register becomes "0" at the home position return start.
Home position return execution
Home position return by the stopper method 1 is executed using the servo program (
Page 382 Servo program for home position return).
Cautions
• A zero point does not must be passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" ON) between turning on the power supply and executing home position return.
• Home position return retry function cannot be used in the stopper method 1.
• Set the torque limit value after reaching the creep speed for system. When the torque limit value is too large, servo motors or machines may be damaged after pressing the stopper. Also, when the torque limit value is too small, it becomes the torque limiting before pressing the stopper and ends the home position return.
• If the home position return is executed again after home position return completion, a minor error (error code: 197BH) will occur, the home position return is not executed.
• Home position return is started during the proximity dog ON, it is started from the "creep speed".
398
5 POSITIONING CONTROL
5.21 Home Position Return
Home position return by the stopper method 2
Stopper method 2
Position of stopper is home position in this method.
It travels the direction set in the "home position return direction" with the "creep speed", and it presses against the stopper and makes to stop with the "creep speed". (The torque limit value is valid set in the "torque limit value at the creep speed" of the home position return data from the home position return start.) Real position of servo motor at the time of detection for turning the torque limiting signal OFF to ON is home position. Torque limit value after reaching creep speed is set in the "torque limit value at the creep speed" of home position return data.
Home position return by the stopper method 2
Operation of home position return by the stopper method 2 is shown below.
V
Home position return direction Stopper
Creep speed
Real position of servo motor at this point is home position.
5 t
Home position return start
Time which stops rotation of servo motors forcibly by the stopper
Torque limit value Home position return data "torque limit value at the creep speed"
ON
[St.1076] Torque limiting
(R: M32416+32n/Q: M2416+20n)
OFF
*: "Travel value after proximity dog ON" storage register becomes "0" at the home position return start.
Home position return execution
Home position return by the stopper method 2 is executed using the servo program (
Page 382 Servo program for home position return).
Cautions
• A zero point does not must be passed ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" ON) between turning on the power supply and executing home position return.
• Home position return retry function cannot be used in the stopper method 2.
• Set the torque limit value at the reaching creep speed for system. When the torque limit value is too large, servo motors or machines may be damaged after pressing the stopper. Also, when the torque limit value is too small, it becomes the torque limiting before pressing the stopper and ends the home position return.
• If the home position return is executed again after home position return completion, a minor error (error code: 197BH) will occur, the home position return is not executed.
5 POSITIONING CONTROL
5.21 Home Position Return
399
Home position return by the limit switch combined method
Limit switch combined method
The proximity dog is not used in this method. Home position return can be executed by using the external upper/lower limit switch.
When the home position return is started, it travels to direction of home position return with "home position return speed".
Deceleration is made by turning the limit switch of home position return direction ON to OFF, it travels to reverse direction of home position return with creep speed, and the zero point just before limit switch is home position.
Home position return by the limit switch combined method
Operation of home position return by limit switch combined method for setting the limit switch in the home position return direction is shown below.
Acceleration time
º
Deceleration time
V
Home position return direction
(1)
Home position return speed
(2)
(1) It travels to preset direction of home position return with the home position return speed.
(2) A deceleration stop is made by the external limit switch ON to OFF.
(3) After a deceleration stop, it travels to reverse direction of home position return with the creep speed, and the home position return ends with the zero point just before limit switch.
Home position return start
Home position (3)
Creep speed
External limit switch
(Indicates with normally closed contact)
Zero point
The travel value in this range is stored in the monitor register
"travel value after proximity dog ON".
The travel value in this range is stored in the monitor register
"home position return re-travel value".
Home position return execution
Home position return by the limit switch combined method is executed using the servo program (
Page 382 Servo program for home position return).
400
5 POSITIONING CONTROL
5.21 Home Position Return
Cautions
• For the axis which executes the home position return by the limit switch combined method, if the external input signal has not been set in [Motion Control Parameter] → [Axis Setting Parameter] → "External Signal Parameter", a minor error (error code: 19ECH) will occur and home position return is not executed.
• When the limit switch reverse to home position return direction is turned ON to OFF, deceleration stop is made, home position return is not completed and a minor error (error code: 1905H, 1907H) will occur.
• Home position return retry function cannot be used in the limit switch combined method.
• If the home position return is executed with the limit switch OFF, it is started to reverse direction of home position return with creep speed.
• When it does not pass ("[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" ON) the zero point from home position return start to deceleration stop by limit switch OFF, a minor error (error code: 197AH) will occur, a deceleration stop is made and home position return does not end normally. However, when "1: Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4 (PC17)" of servo parameter (expansion setting parameter), if the zero point is not passed until from home position return start to deceleration stop by limit switch OFF, the home position return can be executed.
• Deceleration stop is executed after the limit switch OFF. Set the limit switch in expectation of deceleration distance.
• If the "[St.1062] In-position (R: M32402+32n/Q: M2402+20n)" is turned ON, home position return is not ended.
• When the width is in a zero point, the home position differs from the home position return by the proximity dog method 1, proximity dog method 2, count method 1, count method 3, dog cradle method and scale home position signal detection method.
5
5 POSITIONING CONTROL
5.21 Home Position Return
401
Home position return by the scale home position signal detection method
Scale home position signal detection method
Home position return is executed using home position signal (zero point). After detecting the proximity dog, it makes to travel to reverse direction of home position return. And the detecting position of home position signal (zero point) is home position in this method.
Home position return by the scale home position signal detection method
Operation of home position return by the scale home position signal detection method for setting the proximity dog in the home position return direction is shown below.
V
Home position return direction
Creep speed
(4)
Home position return speed
(1)
(1) It travels to preset direction of home position return with the home position return speed, and a deceleration stop is made by the proximity dog ON.
(2) After a deceleration stop, it travels to reverse direction of home position return with the home position return speed.
(3) Home position signal (zero point) is detected, and a deceleration stop is made.
(4) After a deceleration stop, it travels to preset direction of home position return with the creep speed, the home position return ends with the position of home position signal (zero point).
Home position return start (3)
Home position
(2)
The travel value in this range is stored in the monitor register
"home position return re-travel value".
Proximity dog
The travel value in this range is stored in the monitor register
"travel value after proximity dog ON".
External limit switch
Zero point
Home position return execution
Home position return by the scale home position signal detection method is executed using the servo program (
Servo program for home position return).
Cautions
• When home position is in the proximity dog, if home position return is executed again after home position return end, a minor error (error code: 1940H) will occur, the home position return is not executed.
• Set "0: Need to pass motor Z phase after the power supply is switched on" in the "function selection C-4 (PC17)" of servo parameter (expansion setting parameter). When "1: Not need to pass motor Z phase after the power supply is switched on" is set, a minor error (error code: 1978H) will occur at home position return by the scale home position signal detection method starting, the home position return is not executed.
• When "[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" turns on by passing zero point at home position return start, this signal turns off once at the reverse direction of home position return start and turns on again at the next zero point passage.
402
5 POSITIONING CONTROL
5.21 Home Position Return
• Home position return is executed in the proximity dog, it travels to reverse direction of home position return. If home position signal (zero point) is detected, a deceleration stop is made, it travels to direction of home position return again with the creep speed and the detecting position of home position signal (zero point) is home position.
V Home position return direction
Creep speed
(3)
Home position return start
(1) It travels to preset reverse direction of home position return with the home position return speed.
(2) Home position signal (zero point) is detected, and a deceleration stop is made.
(3) After a deceleration stop, it travels to preset direction of home position return with the creep speed, and the home position return ends with the position of home position signal (zero point).
Home position
(2)
(1)
Proximity dog
External limit switch
Zero point
• If the zero point is passed during deceleration, the nearest position of home position signal (zero point) of home position return direction from deceleration stop position is set as the home position.
V
Home position return direction
Home position return start
Creep speed
(4)
Home position return speed
Home position
(1)
(1) It travels to preset direction of home position return with the home position return speed, and a deceleration stop is made by the proximity dog ON.
(2) After a deceleration stop, it travels to reverse direction of home position return with the home position return speed.
(3) Home position signal (zero point) is detected, and a deceleration stop is made. (The home position signal
(zero point) is passed during deceleration.)
(4) After a deceleration stop, it travels to preset direction of home position return with the creep speed, the home position return ends with the nearest position of home position signal (zero point).
(3) (2)
5
Proximity dog
External limit switch
Zero point
• Home position return retry function cannot be used in the scale home position signal detection method.
• An error always occurs without the proximity dog in home position return direction from home position return starting position. Make the proximity dog overlap in limit switch as shown in the figure above so that the proximity dog is set before limit switch of home position return direction. And, when home position return is executed in the proximity dog, an error will occur if zero point is not in reverse direction of home position return from home position return starting position.
• When there is only one zero point in the motor like linear motor, home position return may not be ended if zero point is in the proximity dog. Set zero point before the proximity dog.
• If the "[St.1062] In-position (R: M32402+32n/Q: M2402+20n)" is not turned ON, home position return is not ended.
5 POSITIONING CONTROL
5.21 Home Position Return
403
Home position return by the dogless home position signal reference method
Dogless home position signal reference method
Home position return is executed using home position signal (zero point). This is a home position return method that does not use proximity dogs.
Home position, home position return operation, home position return data (home position return retry function, dwell time at the home position return retry) differ by the servo amplifier connected as shown below.
Also, set the servo parameter "Function selection C-4 (PC17) (Selection of home position setting condition)" as follows.
Servo amplifier model
MR-J5 B
MR-J5W B
MR-J5 B-RJ
MR-J4 B
MR-J4W B
MR-J4 B-RJ
MR-J4 B-LL
Standard
Direct drive motor
Linear servo
Linear encoder type
Home position
Home position signal (zero point)
Home position return operation
Operation B
Operation A
Operation C
Home position return data servo parameter
Home position return retry function
Dwell time at the home position return retry
"Function selection C-
4 (PC17)
(Selection of home position setting condition)"
Invalid
Valid
Invalid
1: Not need to pass motor
Z phase after the power supply is switched on.
0: Need to pass motor Z phase after the power supply is switched on.
Both Absolute position type
Position where address of absolute linear encoder becomes 0.
Incremental type Reference mark Operation A Valid
Fully closed loop control
Absolute position type
Position where address of absolute linear encoder becomes 0.
Incremental type Reference mark
Operation C
Operation A
Invalid
Valid
0: Need to pass motor Z phase after the power supply is switched on.
Both
MR-J3 B
MR-J3 B Safety
MR-J3W B
MR-J3 B-RJ004
MR-J3 B Safety
Home position signal (zero point)
Absolute position type
Position where address of absolute linear encoder becomes 0.
Incremental type Reference mark
Operation B
Operation C
Operation A
Invalid
Valid
0: Need to pass motor Z phase after the power supply is switched on.
1: Not need to pass motor
Z phase after the power supply is switched on.
Both
MR-J3
MR-J3 B Safety
Operation C Invalid
0: Need to pass motor Z phase after the power supply is switched on.
Both
MR-J3 B-RJ080W
MR-JE B
MR-JE BF
Absolute position type
Position where address of absolute linear encoder becomes 0.
Incremental type Reference mark
Home position signal (zero point)
Home position signal (zero point)
Operation A
Operation B
Valid
Invalid
0: Need to pass motor Z phase after the power supply is switched on.
1: Not need to pass motor
Z phase after the power supply is switched on.
*1 For the home position return operations, refer to home position return by the dogless home position signal reference method.
• Operation A (
• Operation B (
• Operation C (
*2 During semi closed loop control is equivalent to MR-J5 B (standard), MR-J4 B (standard), and MR-J3 B.
404
5 POSITIONING CONTROL
5.21 Home Position Return
Home position return by the dogless home position signal reference method
■
Operation A
"Operation A" of a home position return by the dogless home position signal reference method is shown below.
• When the zero point is in the home position return direction
V
Home position return direction
(1)
Home position return speed
(2)
(1) It travels to preset direction of home position return with the home position return speed.
(2) Home position signal (zero point) is detected, and a deceleration stop is made.
(3) After a deceleration stop, it travels to reverse direction of home position return with the creep speed, the home position return ends with the position of home position signal (zero point).
Home position return start
Home position (3)
Creep speed
Zero point
• If an external limit switch is detected during a deceleration stop after zero point detection, an error occurs and stops. Ensure there is enough distance between the zero point signal and external limit switch, or set the deceleration time so the decelerating distance is shortened.
• If multiple home position signals (zero points) are passed during deceleration after zero point detection, by the connected servo amplifier, the following operation occurs.
Servo amplifier model
MR-J5 B
MR-J5W B
MR-J5-
B-RJ
MR-J4 B
MR-J4W-
B
MR-J4 B-RJ
MR-J3 B-RJ004
MR-J3 B-RJ006
Direct drive motor
Linear servo
Fully closed loop control
MR-J3 B-RJ080W
Operation
Home position return ends at the position of the last home position signal (zero point) passed.
Home position return ends at the position of the first home position signal (zero point) passed.
Home position return ends at the position of the last home position signal (zero point) passed.
• When the zero point is not in the home position return direction
V Home position return speed
Home position return direction
(5) Home position
(4)
(6)
Home position return speed
(1)
(7)
Home position
Creep speed return start
Home position return speed
(2)
(1) It travels to preset direction of home position return with the home position return speed.
(2) External limit switch is detected, and a deceleration stop is made.
(3) After a deceleration stop, it travels to reverse direction of home position return with the home position return speed.
(4) Home position signal (zero point) is detected, and a deceleration stop is made.
(5) After a deceleration stop, it travels to home position return with the home position return speed.
(6) Home position signal (zero point) is detected, and a deceleration stop is made.
(7) After a deceleration stop, it travels to reverse direction of home position return with the creep speed, the home position return ends with the position of home position signal (zero point).
External limit switch
Zero point
5
Set home position return retry function to "valid".
When set as "invalid" at the detection of the external limit switch, an error occurs and stops.
5 POSITIONING CONTROL
5.21 Home Position Return
405
■
Operation B
"Operation B" of a home position return by the dogless home position signal reference method is shown below.
V Home position return direction
(1)
Creep speed
(1) It travels to preset direction of home position return with the creep speed.
(2) The home position return ends with first zero point.
(2)
Home position
Home position return start
Zero point
• If an external limit switch is detected during home position return operation, an error occurs and stops.
• Home position return retry function cannot be used.
■
Operation C
"Operation C" of a home position return by the dogless home position signal reference method is shown below.
• When the position where address of absolute linear encoder becomes 0 is in the home position return direction
V Home position return direction
Creep speed
(1)
(1) It travels to preset direction of home position return with the creep speed.
(2) The home position return ends the position where address of absolute linear encoder becomes 0.
(2)
Home position
Home position return start
Linear encoder address
Linear encoder address=0
• If an external limit switch is detected during home position return operation, an error occurs and stops.
• Home position return retry function cannot be used.
• When the position where address of absolute linear encoder becomes 0 is not in the home position return direction
V Home position return direction
Creep speed
(3) Home position return start
Home position
(1) It travels to reverse of preset direction of home position return with the home position return speed.
(2) The position where address of absolute linear encoder becomes
0 is detected, and a deceleration stop is made.
(3) After a deceleration stop, it travels to direction of home position return with the creep speed, and the home position return ends with the position where address of absolute linear encoder becomes 0.
(2) (1)
Linear encoder address
Home position return speed
406
5 POSITIONING CONTROL
5.21 Home Position Return
Linear encoder address=0
• If an external limit switch is detected during home position return operation, an error occurs and stops.
• Home position return retry function cannot be used.
Home position return execution
Home position return by dogless home position signal reference method is executed using the servo program (
Servo program for home position return).
Cautions
• If a home position return is started for an axis connected with servo amplifiers other than MR-J5(W) B, MR-J4(W) B,
MR-J3(W) B, and MR-JE B, a minor error (error code: 1979H) will occur and the home position return is not executed.
• If home position return is executed again after home position return end, a minor error (error code: 197BH) will occur, the home position return is not executed.
• If connecting a rotational motor on the load side with a fully closed loop control servo amplifier (MR-J5(W) B, MR-J4(W)-
B, and MR-J3 B-RJ006), execute home position return in a semi closed loop control state. (The home position return operation becomes that of "Operation B".)
If a home position return is performed in a fully closed loop control state, the home position return is at the position of encoder current value of multiple revolution position=0, and single revolution position=0 (The home position return operation becomes that of "Operation C"), and the motor might revolve more than necessary.
When connecting a rotational motor on the load side, execute home position return in a semi closed loop control state.
5
• If executing home position return with a fully closed loop control servo amplifier (MR-J5(W) B, MR-J4(W) B, and MR-
J3 B-RJ006), do not change fully closed loop control/semi closed loop control during home position return operation.
When fully closed loop control/semi closed loop control is changed during home position return operation, the home position return might not be completed normally
• If performing home position return from zero point, depending on the actual motor position at the start, and it's relative position to zero point, the home position return might be completed at the next zero point. It is recommended to move the start of the home position return from the zero point to a position in the reverse direction of home position return direction.
• The operation for when home position return is executed during the operation of amplifier-less operation function is shown below.
Servo amplifier
MR-J5(W) B
MR-J4(W) B
MR-JE B
MR-J3(W) B
Operation
Home position return is performed by the home position return operation that complies with the amplifier operation mode that is set in [Motion CPU Common Parameter] [Servo Network Setting] "Amplifier Setting".
Regardless of the servo amplifier model, home position return is executed by the home position return operation of
"Operation B".
5 POSITIONING CONTROL
5.21 Home Position Return
407
• The following describes precautions for the home position return operations for the home position return by dogless home position signal reference method.
Home position return operation Cautions
Operation A
Operation B
Operation C
• Set the servo parameter (expansion parameter) "Function selection C-4 (PC17)" to "0: Need to pass motor Z phase after the power supply is switched on". If set to "1: Not need to pass motor Z phase after the power supply is switched on", when home position return by dogless home position signal reference method (operation A) is started, a minor error (error code: 1978H) will occur and the home position return is not executed.
• If the "[St.1066] Zero pass (R: M32406+32n/Q: M2046+20n)" was on at home position return start, this signal turns off once at the home position return start and turns on again at the next zero point passage.
• If an external limit switch is detected during a deceleration stop after zero point detection, an error occurs and stops. Ensure there is enough distance between the zero point signal and external limit switch, or set the deceleration time so the decelerating distance is shortened.
• With home position return retry function valid, if zero point is detected during a deceleration stop after external limit switch is detected, an error occurs and stops. Set the external limit switch in a position that puts the zero signal inside the external limit switch.
• Set the servo parameter (expansion parameter) "Function selection C-4 (PC17)" to "1: Not need to pass motor Z phase after the power supply is switched on". If set to "0: Need to pass motor Z phase after the power supply is switched on", when home position return by dogless home position signal reference method (operation B) is started, a minor error (error code: 1978H) will occur and the home position return is not executed.
• Home position return retry function cannot be used.
• If an external limit switch is detected during home position return operation, an error occurs and stops.
• Home position return retry function cannot be used.
408
5 POSITIONING CONTROL
5.21 Home Position Return
Home position return by the driver home position return method
Driver home position return method
The stepping driver performs home position return autonomously based on the positioning patterns set on the stepping driver side. Home position return data is set with the parameters on the stepping driver side.
Driver home position return method cannot be used on anything other than a stepping driver. Refer to the manual of the stepping driver being used for home position return operations and parameters.
Home position return by driver home position return method
The operation for home position return by driver home position return method is shown below.
V
5 t
Home position return start
Operates according to the home position return pattern set on the stepping driver
Home position return execution
Home position return by driver home position return method is executed using a servo program. (
Page 382 Servo program for home position return)
Cautions
• If a home position return is started for an axis that is not connected to a stepping driver, a minor error (error code: 1979H) will occur and the home position return is not executed.
• When a stop cause is detected during driver home position return, home position return operation is stopped. The stopping operation for when a stop cause is detected depends on the stepping driver. Refer to the manual of the stepping driver being used for details.
• During driver home position return, the home position return is performed based on the home position return direction of the parameters on the stepping driver side. Make sure the home position return direction is the same as home position return direction of the parameters on the stepping driver side.
5 POSITIONING CONTROL
5.21 Home Position Return
409
Home position return retry function
When a current value has been exceeded home position during positioning control, etc., even if it executes the home position return, depending on the position of current value, a current value may not travel to home position direction. In this case, a current value is normally travelled before the proximity dog by the JOG operation etc., and the home position return is started again. However, by using the home position return retry function, the home position return can be executed regardless of current value position.
Refer to the following for home position return method by using the home position return retry function. (
Page 189 Setting items for home position return data)
Setting data
When the "home position return retry function" is used, set the following "home position return data" using MT Developer2.
Set the "dwell time at the home position return retry" as required.
Set the parameters for every axis.
■
Home position return data
Items Setting details
Home position return retry function 0: Invalid (Do not execute the home position return retry by limit switch.)
1: Valid (Execute the home position return retry by limit switch.)
Dwell time at the home position return retry The stop time at the deceleration stop during the home position return retry is set.
Setting value Initial value
0, 1 0
0 to 5000 [ms] 0
Processing details
Operation for the home position return retry function is shown below.
■
Home position return retry operation setting a current value within the range of external limit switch
Acceleration time º Deceleration time
Home position return direction
(5)
(4)
(6)
Home position
Home position return start
(3)
(1)
(2)
External limit switch
(1) It travels to preset direction of home position return.
(2) If the external upper/lower limit switch turns OFF before the detection of proximity dog, a deceleration stop is made.
(3) After a deceleration stop, it travels to reverse direction of home position return with the home position return speed.
(4) A deceleration stop is made by the proximity dog OFF.
(5) After a deceleration stop, it travels to direction of home position return.
(6) Home position return ends.
Proximity dog
Zero point
410
5 POSITIONING CONTROL
5.21 Home Position Return
■
Home position return retry operation setting a current value outside the range of external limit switch
• When the direction of "current value → home position" and home position return is same, normal home position return is operated.
Direction of "current value home position" and home position return is same
Home position return direction
Home position return start
Home position
RLS FLS
Proximity dog
Zero point
Travel range
• When the direction of "current value → home position" and home position return is reverse, deceleration stop is made with the proximity dog OFF and home position return is operated to preset direction of home position return.
Direction of "current value home position" and home position return is reverse
Home position return direction
(1) It travels to preset reverse direction of home position return with the home position return speed.
(2) A deceleration stop is made by the proximity dog OFF.
(3) After a deceleration stop, it travels to direction of home position return, the home position return ends.
(3)
Home position return start
5
Home position
(2)
(1)
RLS FLS
Proximity dog
Zero point
Travel range
5 POSITIONING CONTROL
5.21 Home Position Return
411
■
Dwell time setting at the home position return retry
Reverse operation by detection of the external upper/lower limit switch and dwell time function at the home position return start after stop by proximity dog OFF are possible with the dwell time at the home position return retry in the home position return retry function.
Dwell time at the home position return retry becomes valid at the time of deceleration stop of the following 2) and 4). (Dwell time operates with the same value.)
The temporary stop is made during time set in the
"dwell time at the home position return retry".
Home position return direction
(5) (1)
(2)
(6)
(4)
Home position
Home position return start
(3)
External limit switch
Proximity dog
Zero point
The temporary stop is made during time set in the
"dwell time at the home position return retry".
(1) It travels to preset direction of home position return.
(2) If the external upper/lower limit switch turns OFF before the detection of proximity dog, a deceleration is made and the temporary stop is made during time set in the
"dwell time at the home position return retry".
(3) After a stop, it travels to reverse direction of home position return with the home position return speed.
(4) A deceleration is made by the proximity dog OFF and the temporary stop is made during time set in the "dwell time at the home position return retry".
(5) After a stop, it travels to direction of home position return.
(6) Home position return ends. At this time, the "dwell time at the home position return retry" is invalid.
Precautions
• Possible/not possible of home position return retry function by the home position return method is shown below.
: Possible, : Not possible
Home position return methods
Proximity dog method
Count method
Data set method
Dog cradle method
Stopper method
Limit switch combined method
Scale home position signal detection method
Dogless home position signal reference method
Operation A
Operation B
Operation C
Driver home position return method
Possible/not possible of home position return retry function
• Make a system for which does not execute the servo amplifier power off or servo OFF by the external upper/lower limit switch. Home position return retry cannot be executed only in the state of servo ON.
• Deceleration is made by detection of the external limit switch and travel to reverse direction of home position return is started. In this case, a minor error (error codes: 1904H to 1907H) will not occur.
CAUTION
• Be sure to set the external limit switch (FLS, RLS) in the upper/lower position of machines. If the home position return retry function is used without external limit switch, servo motors continue rotating.
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5 POSITIONING CONTROL
5.21 Home Position Return
Home position shift function
Normally, when the machine home position return is executed, a position of home position is set by using the proximity dog or zero point signal. However, by using the home position shift function, the position to which only the specified travel value was travelled from the position which detected the zero point signal can be regarded as home position.
Setting data
Set the following "home position return data" using MT Developer2 to use the home position shift function.
Refer to the following for home position return method by using the home position shift function. (
Page 189 Setting items for home position return data)
Set the parameters for every axis.
■
Home position return data
Items
Home position shift amount
Speed set at the home position shift
Setting details Setting value
The shift amount at the home position shift is set.
-2147483648 to 2147483647
[ × 10 -1
μ m, × 10 -5 inch, × 10 -5 degree, pulse]
The speed at the home position shift is set.
0: Home position return speed
1: Creep speed
Initial value
0
0
Processing details
■
Home position shift operation
Operation for the home position shift function is shown below.
Home position shift amount is positive value
Address decrease direction
Home position return direction
Address increase direction
Home position return speed
Home position return start
Creep speed
Set the operation speed at the home position shift with speed set at the home position shift.
Select one of "home position return speed" or "creep speed"
5
Proximity dog
Home position shift amount
(Positive value)
Home position return re-travel value
Travel value after proximity dog ON
Home position
Zero point
Home position shift amount is negative value
Address decrease direction
Home position return direction
Home position return start
Address increase direction
Home position return speed
Home position return re-travel value
Creep speed
Home position
Creep speed Travel value after proximity dog ON
Home position return speed
Proximity dog
Home position shift amount
(Negative value)
Zero point
Set the operation speed at the home position shift with speed set at the home position shift.
Select one of "home position return speed" or "creep speed".
5 POSITIONING CONTROL
5.21 Home Position Return
413
■
Setting range of home position shift amount
Set the home position shift amount within the range of from the detected zero signal to external upper/lower limit switch (FLS/
RLS). If the range of external upper/lower limit switch is exceeded, a minor error (error codes: 1905H, 1907H) will occur at that time and the home position return is not ended.
RLS
Setting range of negative home position shift amount
Address decrease direction
Proximity dog
Address increase direction
Setting range of positive home position shift amount
Home position return direction
FLS
Zero point
■
Travel speed at the home position shift
When the home position shift function is used, set the travel speed at the home position shift as the speed set at the home position shift. Either the home position return speed or creep speed is selected as the travel speed at the home position shift.
The travel speed at the home position shift for the home position return by proximity dog method is shown below.
• Home position shift operation with the "home position return speed"
V
Home position return direction
Home position return speed
Home position shift amount is positive
Home position
Home position return start Home position shift amount is negative
Home position
Proximity dog
Zero point
• Home position shift operation with the "creep speed"
V
Home position return direction
Creep speed
Home position shift amount is positive
Home position
Home position return start
Proximity dog
Home position shift amount is negative
Home position
Zero point
414
5 POSITIONING CONTROL
5.21 Home Position Return
Precautions
• Valid/invalid of home position shift amount setting value by the home position return method.
: Valid, : Invalid
Home position return methods
Proximity dog method
Count method
Data set method
Dog cradle method
Stopper method
Limit switch combined method
Scale home position signal detection method
Dogless home position signal reference method
Driver home position return method
Possible/not possible of home position return retry function
• Axis monitor devices and axis statuses are set after completion of home position shift.
• When the home position return by proximity dog method set the travel value after proximity dog ON and home position shift amount within the range of "-2147483648 to 2147483647" [ × 10 -1
μ m, × 10 -5 inch, × 10 -5 degree, pulse].
5
5 POSITIONING CONTROL
5.21 Home Position Return
415
Home position set condition selection
A home position return must be made after the servo motor has been rotated more than one revolution to pass the axis through the Z-phase (motor reference position signal) and "[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" has been turned ON. When "1: Not need to pass motor Z phase after the power supply is switched on" is selected in "Function selection
C-4 (PC17), Selection of home position setting condition" in the servo parameter (expansion setting parameter), "[St.1066]
Zero pass (R: M32406+32n/Q: M2406+20n)" can be turned ON even if the servo motor does not pass zero point with the motor rotation after turning the servo amplifier power ON.
Setting data
Set the following "Servo parameter" using MT Developer2 to select "Function selection C-4 (PC17)".
Set the servo parameters for every axis.
■
Servo parameter (expansion setting parameter)
Items
Function selection C-4 (PC17)
Selection of home position setting condition
Setting details
Set the home position set condition for the absolute position system.
Setting value
0: Need to pass motor Z phase after the power supply is switched on
1: Not need to pass motor Z phase after the power supply is switched on
Initial value
0
Precautions
• When "1: Not need to pass motor Z phase after the power supply is switched on" is set as the above servo parameter, a restrictions such as "make the home position return after the servo motor is rotated more than one revolution to pass the axis through the Z-phase (motor reference position signal)" is lost.
• When "1: Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4
(PC17)" of servo parameter (expansion setting parameter), if it does not pass zero point at the servo amplifier power ON, the "[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)" turns ON.
• When the above parameter is changed, control circuit power supply of the servo amplifier is turned OFF to ON after resetting or turning power OFF to ON of Multiple CPU system.
• Set "0: Need to pass motor Z phase after the power supply is switched on" in the "function selection C-4
(PC17)" of servo parameter (expansion setting parameter) for the home position return by the scale home position signal detection method. If "1: Not need to pass motor Z phase after the power supply is switched on" is set, a minor error (error code: 1978H) will occur at the home position return start and the home position return is not executed.
• When executing home position return by dogless home position signal reference method, set the servo parameter (expansion parameter) "Function selection C-4 (PC17)" by the servo amplifier connected.
(
Page 404 Home position return by the dogless home position signal reference method)
416
5 POSITIONING CONTROL
5.21 Home Position Return
5.22
Current Value Change
The current value of the specified servo motor/command generation axis is changed.
: Must be set, : Set if required
Servo instruction
Positioning method
Number of control axes
Positioning data set in servo instructions
Common Arc OSC Parameter block Others
CHGA Absolute 1
¨ ¨
*1 Only when the reference axis speed is specified
Processing details
• Executing the CHGA instruction changes the current value in the following procedure.
1.
The "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)" corresponding to the specified axis is turned on. For the command generation axis, "[St.345] Command generation axis start accept flag (R: M36570+32n/Q: M9810+20n)" corresponding to the specified axis is turned on.
2.
The feed current value of the specified axis is changed to the specified address. In this case, the servo motor (output axis) does not move.
3.
Start accept flag is turned off at completion of the feed current value change.
• When the servo program is not assigned to the command generation axis program, the operation is as follows.
• The current value of the specified servo motor axis is changed.
• The address which made the current value change by CHGA instruction is valid on the power supply turning on
• The feed current value that is restored after the Multiple CPU system power supply or the control circuit power supply of the servo amplifier is turned ON again, is returned to the state before the performing of the current value change by the CHGA instruction.
• When the servo program is assigned to the command generation axis program, a current value change is performed for the specified command generation axis.
Program example
A program for performing the current value change control of Axis 2 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
The current value change control conditions
• The current value change control conditions are shown below.
Items
Servo program No.
Control axis No.
Current value change address
Setting value
10
2
50
• Start command of current value change control: Leading edge of X0 (OFF → ON)
5 POSITIONING CONTROL
5.22 Current Value Change
417
5
■
Operation timing
The operation timing for current value change is shown below.
CHGA instruction
Start accept flag
Current value change completion
■
Motion SFC program
The Motion SFC program for executing the servo program (No. 10) for current value change is shown below.
Current value change control
[F10]
SET M2042
[G10]
X0*M2435
[K10]
CHGA
Axis 2,
[G20]
!X0
Turn on all axes servo ON command.
Wait until X0 and Axis 2 servo ready turn ON.
50
Current value change control
Axis used .......................................
Axis 2
Current value change address ......
50
Wait until X0 turn OFF after current value change completion.
END
[Current value changing instructions]
• When "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" or "PCPU READY complete flag (SM500)" is OFF, a minor error (error code: 19A1H) occurs and a current value change is not made.
• If a current value change is made while the specified axis is starting, a minor error (error code: 192AH) (start accept signal of the corresponding axis is ON) occurs and the current value change is not made.
• If the servo of the corresponding axis is not servo on, a minor error (error code: 1901H) occurs and the current value change is not made.
• If the corresponding axis is in a servo error, a minor error (error code: 1927H) occurs and the current value change is not made.
• Set the current value change program of the command generation axis within the command generation axis program No. range set in "Command generation axis program allocation setting" of MT Developer2.
418
5 POSITIONING CONTROL
5.22 Current Value Change
6
MANUAL CONTROL
This section describes the manual control methods.
6.1
JOG Operation
The setting JOG operation is executed.
Individual start or simultaneous start can be used in the JOG operation.
JOG operation can be executed using the Motion SFC program or test mode of MT Developer2. Refer to the following for
JOG operation method in the test mode of MT Developer2.
Help of MT Developer2
JOG operation data must be set for each axis for JOG operation. (
Individual start
JOG operation for the specified axes is started.
JOG operation is executed by the following JOG start commands:
• [Rq.1142] Forward JOG start command (R: M34482+32n/Q: M3202+20n)
• [Rq.1143] Reverse JOG start command (R: M34483+32n/Q: M3203+20n)
Processing details
• JOG operation continues at the "[Cd.1110] JOG speed setting (R: D35120+2n, D35121+2n/Q: D640+2n, D641+2n)" value while the JOG start command turns on, and a deceleration stop is made by the JOG start command OFF. Control of acceleration/deceleration is based on the data set in JOG operation data. JOG operation for axis for which JOG start command is turning on is executed.
V JOG operation speed
Acceleration based on
JOG operation data
Deceleration stop based on JOG operation data
6 t
ON
JOG start command
[Rq.1142] Forward JOG start command
(R: M34482+32n/Q: M3202+20n)
[Rq.1143] Reverse JOG start command
(R: M34483+32n/Q: M3203+20n)
OFF
• The setting range for "[Cd.1110] JOG speed setting (R: D35120+2n, D35121+2n/Q: D640+2n, D641+2n)" are shown below.
Device name
[Cd.1110] JOG speed setting
(R: D35120+2n, D35121+2n/
Q: D640+2n, D641+2n)
Setting range mm
1 to 600000000
( × 10 -2 [mm/min]) inch
1 to 600000000
( × 10 -3 [inch/min]) degree
1 to 2147483647
( × 10 -3
pulse
1 to 2147483647
[pulse/s]
*1 When the "speed control 10 × multiplier setting for degree axis" is set to "valid" in the fixed parameter, the unit is " × 10 -2 [degree/min]"
6 MANUAL CONTROL
6.1 JOG Operation
419
Precautions
• If the "[Rq.1142] Forward JOG start command (R: M34482+32n/Q: M3202+20n)" and "[Rq.1143] Reverse JOG start command (R: M34483+32n/Q: M3203+20n)" turn on simultaneously for a single axis, the forward JOG operation is executed. When a deceleration stop is made by the "[Rq.1142] Forward JOG start command (R: M34482+32n/Q:
M3202+20n)" OFF the reverse JOG operation is not executed even if the "[Rq.1143] Reverse JOG start command (R:
M34483+32n/Q: M3203+20n)" is ON. After that, when the reverse JOG start command turns off to on, the reverse JOG operation is executed.
V
Forward JOG operation t
[Rq.1142] Forward JOG start command
(R: M34482+32n/Q: M3202+20n)
OFF
[Rq.1143] Reverse JOG start command
(R: M34483+32n/Q: M3203+20n)
OFF
ON
ON
Reverse JOG operation
Reverse JOG start command ignored
• If the JOG start command ("[Rq.1142] Forward JOG start command (R: M34482+32n/Q: M3202+20n)" / "[Rq.1143]
Reverse JOG start command (R: M34483+32n/Q: M3203+20n)") turns on during deceleration by the JOG start command
OFF, after deceleration stop, JOG operation is not executed. After that, the JOG operation is executed by the JOG start command OFF to ON.
V
JOG operation t
ON
JOG start command OFF
• JOG operation by the JOG start command ("[Rq.1142] Forward JOG start command (R: M34482+32n/Q: M3202+20n)" /
"[Rq.1143] Reverse JOG start command (R: M34483+32n/Q: M3203+20n)") is not executed during the test mode using MT
Developer2. After release of test mode, the JOG operation is executed by turning the JOG start command off to on.
V JOG operation is impossible because not leading edge of
JOG start command
JOG operation is impossible during test mode (start error)
JOG operation t
During test mode (SM501)
ON
JOG start command OFF
ON
OFF
420
6 MANUAL CONTROL
6.1 JOG Operation
Program example
The program for performing JOG operation of Axis 1 and Axis 2 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
JOG operation conditions
Item
Axis No.
JOG start speed
JOG start commands Forward JOG start
Reverse JOG start
Axis 1
Axis 2
Axis 1
Axis 2
JOG operation conditions
Axis 1, Axis 2
100000 (1000.00 [mm/min])
X3 ON
X5 ON
X4 ON
X6 ON
■
Motion SFC program
Motion SFC program for which executes JOG operation is shown below.
JOG operation-individual start
[F10]
SET M2042
[G10]
M2415*M2435
Turn on all axes servo ON command.
Wait until Axis 1 servo ready and Axis 2 servo ready turn on.
P1
[F20]
D640L=K100000
D642L=K100000
Transfer the JOG operation speed to D640L and D642L.
[F30]
SET M3202=X3*!M3203
RST M3202=!X3
SET M3203=X4*!M3202
RST M3203=!X4
SET M3222=X5*!M3223
RST M3222=!X5
SET M3223=X6*!M3222
RST M3223=!X6
Axis 1, Axis 2 forward/reverse JOG operation
Axis 1 forward JOG start command SET/RST
Axis 1 reverse JOG start command SET/RST
Axis 2 forward JOG start command SET/RST
Axis 2 reverse JOG start command SET/RST
P1
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
6
6 MANUAL CONTROL
6.1 JOG Operation
421
Simultaneous start
Simultaneous start JOG operation for specified multiple axes.
Processing details
• JOG operation continues at the JOG speed setting register value for each axis while the "[Rq.1124] JOG operation simultaneous start command (R: M30048/Q: M2048)" turns on, and a deceleration stop is made by the "[Rq.1124] JOG operation simultaneous start command (R: M30048/Q: M2048)" OFF. Control of acceleration/deceleration is based on the data set in the JOG operation data.
V
JOG operation speed
Acceleration based on
JOG operation data
Deceleration stop based on JOG operation data t
JOG operation by data on JOG operation simultaneous start axis setting register [Cd.1096] JOG operation simultaneous start axis setting register
(forward JOG) (R: D35286 to D35289/Q: D710, D711)/
[Cd.1097] JOG operation simultaneous start axis setting register
(reverse JOG) (R: D35290 to D35293/Q: D712, D713)
ON
[Rq.1124] JOG operation simultaneous start command
(R: M30048/Q: M2048)
OFF
• JOG operation axis is set in the "[Cd.1096] JOG operation simultaneous start axis setting register (forward JOG) (R:
D35286 to D35289/Q: D710, D711)" / "[Cd.1097] JOG operation simultaneous start axis setting register (reverse JOG) (R:
D35290 to D35293/Q: D712, D713)".
[Cd.1096] JOG operation simultaneous start axis setting registers
(Forward rotation JOG)
R: D35286/
Q: D710
R: D35287/
Q: D711 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Axis
16
Axis
15
Axis
14
Axis
13
Axis
12
Axis
11
Axis
10
Axis
9
Axis
8
Axis
7
Axis
6
Axis
5
Axis
4
Axis
3
Axis
2
Axis
1
Axis
32
Axis
31
Axis
30
Axis
29
Axis
28
Axis
27
Axis
26
Axis
25
Axis
24
Axis
23
Axis
22
Axis
21
Axis
20
Axis
19
Axis
18
Axis
17
R: D35288
Axis
48
Axis
47
Axis
46
Axis
45
Axis
44
Axis
43
Axis
42
Axis
41
Axis
40
Axis
39
Axis
38
Axis
37
Axis
36
Axis
35
Axis
34
Axis
33
R: D35289
Axis
64
Axis
63
Axis
62
Axis
61
Axis
60
Axis
59
Axis
58
Axis
57
Axis
56
Axis
55
Axis
54
Axis
53
Axis
52
Axis
51
Axis
50
Axis
49
[Cd.1097] JOG operation simultaneous start axis setting registers
(Reverse rotation JOG)
R: D35290/
Q: D712
R: D35291/
Q: D713
R: D35292
Axis
16
Axis
15
Axis
14
Axis
13
Axis
12
Axis
11
Axis
10
Axis
9
Axis
8
Axis
7
Axis
6
Axis
5
Axis
4
Axis
3
Axis
2
Axis
1
Axis
32
Axis
31
Axis
30
Axis
29
Axis
28
Axis
27
Axis
26
Axis
25
Axis
24
Axis
23
Axis
22
Axis
21
Axis
20
Axis
19
Axis
18
Axis
17
Axis
48
Axis
47
Axis
46
Axis
45
Axis
44
Axis
43
Axis
42
Axis
41
Axis
40
Axis
39
Axis
38
Axis
37
Axis
36
Axis
35
Axis
34
Axis
33
R: D35293
Axis
64
Axis
63
Axis
62
Axis
61
Axis
60
Axis
59
Axis
58
Axis
57
Axis
56
Axis
55
Axis
54
Axis
53
Axis
52
Axis
51
Axis
50
Axis
49
*1: Make JOG operation simultaneous start axis setting with 1/0.
1: Simultaneous start execution
0: Simultaneous start not execution
*2: The following range is valid.
R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The setting range for "[Cd.1110] JOG speed setting (R: D35120+2n, D35121+2n/Q: D640+2n, D641+2n)" are shown below.
Device name
[Cd.1110]JOG speed setting
(R: D35120+2n, D35121+2n/
Q: D640+2n, D641+2n)
Setting range mm
1 to 600000000
( × 10 -2 [mm/min]) inch
1 to 600000000
( × 10 -3 [inch/min]) degree
1 to 2147483647
( × 10 -3
pulse
1 to 2147483647
[pulse/s]
*1 When the "speed control 10 × multiplier setting for degree axis" is set to "valid" in the fixed parameter, the unit is " × 10 -2 [degree/min]".
422
6 MANUAL CONTROL
6.1 JOG Operation
Program example
The program for performing simultaneous start of JOG operations of Axis 1 and Axis 2 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
JOG operation conditions
• JOG operation conditions are shown below.
Item
Axis No.
JOG operation speed
JOG operation conditions
Axis 1
150000
Axis 2
150000
• JOG start command: During X0 ON
■
Motion SFC program
Motion SFC program for which executes the simultaneous start of JOG operation is shown below.
Simultaneous start
[F10]
SET M2042
JOG operation is executed with the speed of
150000 [mm/min] as the following, when the
2 axes simultaneous start switch (X0) turns on.
Turn on all axes servo ON command.
[G10]
M2415*M2435 Wait until Axis 1 servo ready and Axis 2 servo ready turn on.
P1
[G20]
[F20]
X0
JOG operation is executed at the JOG
D710=H0002
D712=H0001
D640L=K150000 operation simultaneous start command ON
[F30]
RST M2048
D642L=K150000
SET M2048
P1
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
6
6 MANUAL CONTROL
6.1 JOG Operation
423
6.2
Manual Pulse Generator Operation
Positioning control based on the number of pulses inputted from the manual pulse generator is executed.
Simultaneous operation for 1 to 3 axes is possible with one manual pulse generator, the number of connectable modules are shown below.
Number of connectable to the manual pulse generator
3
Setting data
■
Usable modules
The manual pulse generator is connected to a high-speed counter module controlled by the self CPU. The following highspeed counter modules can be used.
Module
High-speed counter modules
Model
RD62P2
RD62D2
■
Manual pulse generator connection setting
Set the manual pulse generator to be connected (P1 to P3) in [Motion CPU common parameter] [manual pulse generator connection setting]. Refer to the following for details of the pulse generator connection.
MELSEC iQ-R Motion controller Programming Manual (Common)
No.
1
2
3
Item
Validity setting
Start XY
Channel number
Setting Range
0: Invalid/1: Valid
0000h to 0FF0h
1 to 2
■
High-speed counter module setting
Setting of the high-speed counter module for connecting the manual pulse generator is as follows.
• Setting of GX Works3
Set the self Motion CPU as the control CPU in control CPU setting.
[System Parameter] [I/O Assignment Setting] "Control CPU Setting".
• Setting of MT Developer2
Set the following in the detailed settings of the module.
[R Series Common Parameter] [Module Configuration List] "Setting item" "Detail" button
Setting item
Counter type
Counter operation mode
Details
Set to "Ring counter".
Set to "Pulses counter mode".
If a fault is detected when the above setting is checked during initialization of a Motion CPU, a moderate error (error code:
30D4H) is output and the Motion CPU does not run.
The count enable command (Y signal) is set to "Always ON" for the relevant channel of the high-speed counter module for which the manual pulse generator is set to connect to.
424
6 MANUAL CONTROL
6.2 Manual Pulse Generator Operation
Processing details
■
Manual pulse generator enable flag
• Positioning of the axis set in the manual pulse generator axis setting register based on the pulse input from the manual pulse generator. Manual pulse generator operation is only valid while the manual pulse generator enable flag turn ON.
Manual pulse generator connecting position
P1
Manual pulse generator axis No. setting register Manual pulse generator enable flag
P2
P3
[Cd.1098] Manual pulse generator 1 axis No. setting register
(R: D35294 to D35297/Q: D714, D715)
[Cd.1099] Manual pulse generator 2 axis No. setting register
(R: D35298 to D35301/Q: D716, D717)
[Cd.1100] Manual pulse generator 3 axis No. setting register
(R: D35302 to D35305/Q: D718, D719)
[Rq.1125] Manual pulse generator 1 enable flag
(R: M30051/Q: M2051)
[Rq.1126] Manual pulse generator 2 enable flag
(R: M30052/Q: M2052)
[Rq.1127] Manual pulse generator 3 enable flag
(R: M30053/Q: M2053)
■
Travel value and output speed for positioning control
The travel value and output speed for positioning control based on the pulse input from manual pulse generator are shown below.
• Travel value
The travel value based on the pulse input from a manual pulse generator is calculated using the following formula.
[Travel value] = [Travel value per pulse] × [Number of input pulses] × [Manual pulse generator 1-pulse input magnification setting]
The travel value per pulse for manual pulse generator operation is shown below.
Unit mm inch degree pulse
Travel value
0.1 [ μ m]
0.00001 [inch]
0.00001 [degree]
1 [pulse]
If units is [mm], the command travel value for input of one pulse is: (0.1 [ μ m]) × (1 [pulse]) × (Manual pulse generator 1-pulse input magnification setting)
• Output speed
The output speed is the positioning speed corresponding to the number of pulses input from a manual pulse generator in unit time.
[Output speed] = [Number of input pulses per 1 [ms]] × [Manual pulse generator 1-pulse input magnification setting]
■
Setting of the axis operated by the manual pulse generator
The axis operated by the manual pulse generator is set in the following manual pulse generator axis setting register.
The bit corresponding to the axis controlled (1 to 64) is set.
• [Cd.1098] Manual pulse generator 1 axis No. setting register (R: D35294 to D35297/Q: D714, D715)
• [Cd.1099] Manual pulse generator 2 axis No. setting register (R: D35298 to D35301/Q: D716, D717)
• [Cd.1100] Manual pulse generator 3 axis No. setting register (R: D35302 to D35305/Q: D718, D719)
■
Manual pulse generator 1-pulse input magnification setting
Make magnification setting for 1-pulse input from the manual pulse generator for each axis.
Device name Setting range
[Cd.1101] 1-pulse input magnification setting register (R: D35306+n/Q: D720+n) 1 to 10000
*1 The manual pulse generator does not have a speed limit value, so set the magnification setting within the rated speed of the servo motor.
6
6 MANUAL CONTROL
6.2 Manual Pulse Generator Operation
425
■
Check of the manual pulse generator 1-pulse input magnification
The setting manual pulse generator 1-pulse input magnification checks the "1-pulse input magnification setting registers of the manual pulse generator" of the applicable axis at leading edge of manual pulse generator enable flag. If the value is outside of range, a warning (error code: 0988H) occurs and a value of "1" is used for the magnification.
■
Manual pulse generator smoothing magnification setting
A magnification to smooth leading edge/trailing edge of manual pulse generator operation is set. When a value outside the range is set, a warning (error code: 098FH) occurs, and the magnification "0" is applied.
Manual pulse generator 1 (P1)
Manual pulse generator 2 (P2)
Manual pulse generator 3 (P3)
Manual pulse generator smoothing magnification setting register Setting range
[Cd.1102] Manual pulse generator 1 smoothing magnification setting register (R: D35370/Q: D752) 0 to 59
[Cd.1103] Manual pulse generator 2 smoothing magnification setting register (R: D35371/Q: D753)
[Cd.1104] Manual pulse generator 3 smoothing magnification setting register (R: D35372/Q: D754)
• Operation
Manual pulse generator input
[Rq.1125] Manual pulse generator 1 enable flag (R: M30051/Q: M2051)
OFF
ON
V V1 t t t t
Output speed (V1) = [Number of input pulses/ms] × [Manual pulse generator 1-pulse input magnification setting]
Travel value (L) = [Travel value per pulse] × [Number of input pulses] × [Manual pulse generator 1-pulse input magnification setting]
• When the smoothing magnification is set, the smoothing time constant is as following formula.
Smoothing time constant (t) = [Smoothing magnification + 1] × 56.8 [ms]
The smoothing time constant is within the range of 56.8 to 3408 [ms].
■
Errors when setting manual pulse operation data
Errors details at the data setting for manual pulse generator operation are shown below.
Error details
Axis setting is 4 axes or more
All of bit is "0" for the effective axis No. of manual pulse generator axis No. setting register.
Error processing
A warning (error code: 098EH) occurs, and a manual pulse generator operation is executed according to valid for 3 axes from the lowest manual pulse generator axis setting register.
A minor error (error code: 198FH) occurs, and a manual pulse generator operation is not executed.
426
6 MANUAL CONTROL
6.2 Manual Pulse Generator Operation
Precautions
• The start accept flag turns on for axis during manual pulse generator operation. Positioning control or home position return cannot be started using the Motion CPU or MT Developer2. Turn off the manual pulse generator enable flag after the manual pulse generator operation end.
• When the torque limit value is not specified with M(P).CHGT/D(P).CHGT (torque limit value change request instruction form the PLC CPU to the Motion CPU), or CHGT (torque limit value change request), the torque limit value is fixed at 300.0 [%] during manual pulse generator operation.
• If the manual pulse generator enable flag turns on for the axis for which the start accept flag is ON, a minor error (error code: 192AH) occurs, and manual pulse generator input is not enabled. When enabling the manual pulse generator input, turn the manual pulse generator flag ON again while the start accept flag is OFF.
Positioning control
V
Manual pulse generator operation t
ON
[Rq.1125]Manual pulse generator 1 enable flag (R: M30051/Q: M2051)
OFF
Enable
Manual pulse generator enable status Disable
ON
Start accept flag OFF
• If another axis is set and the same manual pulse generator enable flag turns on again during smoothing deceleration after manual pulse generator enable flag turns off, a minor error (error code: 198EH) occurs, and the manual pulse generator input is not enabled. At this time, include the start accept flag OFF for specified axis as an interlock condition for turning ON the manual pulse generator enable flag.
Operating procedure
Procedure for manual pulse generator operation is shown below.
Start
6
Set the manual pulse generator
1-pulse input magnification
Set the manual pulse generator operation axis
Using the Motion SFC program
Turn the manual pulse generator enable flag ON
Execute the positioning by manual pulse generator
Turn the manual pulse generator enable flag OFF
. . . . . Using the Motion SFC program
End
6 MANUAL CONTROL
6.2 Manual Pulse Generator Operation
427
Program example
The program for performing manual pulse generator operation of Axis 1 and Axis 2 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■
System configuration
Motion CPU control module
R61P R04
CPU
R32MT
CPU
RX40
C7
RY40
NT5P
RD62
P2
AMP
Axis
1 M
AMP
Axis
2 M
AMP
Axis
3 M
Manual pulse generator: P1
Manual pulse generator: P2
AMP
Manual pulse generator enable flag
[Rq.1125] Manual pulse generator 1 enable flag
(M2051): P1
[Rq.1126] Manual pulse generator 2 enable flag
(M2052): P2
Axis
4 M
■
Manual pulse generator operation conditions
Item
Manual pulse generator operation axis
Manual pulse generator 1-pulse input magnification
Manual pulse generator operation enable
Manual pulse generator operation end
Manual pulse generator operation conditions
Axis 1, Axis 2
100
M2051(Axis 1) ON: P1
M2052(Axis 2) ON: P2
M2051(Axis 1) OFF: P1
M2052(Axis 2) OFF: P2
■
Motion SFC program
Motion SFC program for manual pulse generator operation is shown below.
Manual pulse generator
[F10]
SET M2042
[G10]
X0*M2415*M2435
[F20]
D720=100
D721=100
D714L=H00000001
D716L=H00000002
SET M2051
SET M2052
Wait until X0, Axis 1 servo ready and Axis 2 servo ready turn ON.
Manual pulse generator 1-pulse input magnification for Axis 1, Axis 2.
Control Axis 1 by P1.
Control Axis 2 by P2.
Manual pulse generator 1 enable flag ON for P1
Manual pulse generator 2 enable flag ON for P2
[G20]
!X0
Wait until X0 turn OFF after manual pulse generator operation end.
[F30]
RST M2051
RST M2052
Manual pulse generator 1 enable flag OFF for P1
Manual pulse generator 2 enable flag OFF for P2
*: Turn the manual pulse generator enable flag OFF for P1, P2, so that the operation may not continue for safety.
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
428
6 MANUAL CONTROL
6.2 Manual Pulse Generator Operation
7
AUXILIARY AND APPLIED FUNCTIONS
This section describes the auxiliary and applied functions for positioning control in the Multiple CPU system.
7.1
M-code Output Function
M-code is a code No. between 0 and 32767 which can be set for every positioning control.
During positioning control, these M-codes are read using the Motion SFC program to check the servo program during operation and to command auxiliary operations, such as clamping, drill rotation and tool replacement.
Setting of M-codes
M-code can be set using MT Developer2 at the creation and correction of the servo program.
Storage of M-code and read timing
• M-codes are stored in the M-code storage register of the axis specified with the positioning start completion and specified points (continuous trajectory control). During interpolation control, the M-codes are stored in all axes which perform interpolation control.
• When the M-code is read at the positioning start completion, use the "[St.1060] Positioning start complete (R: M32400+32n/
Q: M2400+20n)" as the reading command.
• When the M-code is read at positioning completion, use the "[St.1061] Positioning complete (R: M32401+32n/Q:
M2401+20n)" as the read command.
■
At the position control or speed control
V Dwell time t
[Rq.1120] PLC ready flag
(R: M30000/Q: M2000)
M-code
OFF
Servo program start
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
[St.1060] Positioning start complete
(R: M32400+32n/Q: M2400+20n)
OFF
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
OFF
ON
ON
ON
ON
Storage of setting M-code No.
Resetting of M-codes
M-codes can be reset by setting of the M-code output devices to zero.
Use this method during positioning control to perform operations unrelated to the servo program, such as when it has been difficult to output the M-code during the previous positioning control. However, M-code is set during the speed switching control or continuous trajectory control, the M-code output of the servo program takes priority.
7
7 AUXILIARY AND APPLIED FUNCTIONS
7.1 M-code Output Function
429
Program example
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
• The Motion SFC program to read M-codes is shown as the following conditions.
Item
Axis used No.
Processing at the positioning start by M-code
Processing at the positioning completion by M-code M-code = 3
M-code = 5
M-code is except for (3 or 5)
Condition of use
Axis 3
M-code No. is output as BCD code to Y10 to Y1F
Y20 turns on
Y21 turns on
Y22 turns on
• Motion SFC program with the above conditions are shown below.
System Configuration
R61P R04
CPU
R16MT
CPU
RX40
C7
X0 to
XF
RY41
NT2P
Y10 to
Y2F
Motion SFC program
Reading of M-codes
[F10]
#0=0
#1=0
#2=0
[F20]
SET M2042 All axes servo ON command turns on
[G10]
X0*M2455 Stand by until X0 and Axis 3 servo ready turns on
[K100]
CPSTART1
Axis 3
Speed 1000pulse/s
INC-1
Axis 3,
M-code 3
INC-1
Axis 3, 300000pulse
M-code 5
INC-1
Axis 3, 400000pulse
M-code 4
CPEND
P0
1 axis continuous trajectory control
Axis used . . . Axis 3
Speed . . . . . . 1000 pulse/s
1 axis linear positioning control
Axis used . . . . . . . . . . Axis 3
Positioning address. . . 200000 pulse
M-code output . . . . . . . 3
1 axis linear positioning control
Axis used . . . . . . . . . . Axis 3
Positioning address. . . 300000 pulse
M-code output . . . . . . . 5
1 axis linear positioning control
Axis used . . . . . . . . . . Axis 3
Positioning address. . . 400000 pulse
M-code output . . . . . . . 4
[G20]
D53==3 M-code (3) for axis 3?
[F30]
#0=BCD(D53)
DOUT Y10,#0
SET Y20
After M-code storage area for axis 3 is changed into
BCD code, it is output to Y10 and Y20 turns on.
[G30]
D53==5
[F40]
1=BCD(D53)
DOUT Y10,#1
SET Y21
M-code (5) for axis 3?
After M-code storage area for axis 3 is changed into BCD code, it is output to Y10 and Y21 turns on.
[G40]
(D53==3)+(D53==5)
[F50]
#2=BCD(D53)
DOUT Y10,#2
SET Y22
M-code (except 3 or 5) for axis 3?
After M-code storage area for axis 3 is changed into BCD code, it is output to
Y10 and Y22 turns on.
[G50]
!M2003
P0
END
430
7 AUXILIARY AND APPLIED FUNCTIONS
7.1 M-code Output Function
7.2
Backlash Compensation Function
This function compensates for the backlash amount in the machine system.
When the backlash compensation amount is set, extra feed pulses equivalent to the backlash compensation amount set up whenever the travel direction is generated at the positioning control, JOG operation or manual pulse generator operation.
Feed screw
Workpiece
Backlash compensation amount
Setting of the backlash compensation amount
The backlash compensation amount is one of the fixed parameters, and is set for each axis using MT Developer2.
The setting range differs according to whether [mm], [inch], [degree] or [pulse] units are used as shown below.
Units mm inch degree pulse
Setting range
0 to 65535 ( × 10 -1 [ μ m])
0 to 65535 ( × 10 -5 [inch])
0 to 65535 ( × 10 -5 [degree])
0 to 65535 [pulse]
A servo error (AL.35 etc.) may occur depending on the type of the servo amplifier (servo motor) or operation cycle even if the backlash compensation amount fulfils the above condition. Set the backlash compensation amount within the following range to avoid an error occurrence.
A ≤
Motor instantaneous permissible speed [r/min] Encoder resolution [pulse] Operation cycle [ms]
[pulse]
60 [s] 1000 [ms]
The backlash compensation amount is output in one operation cycle.
Backlash compensation processing
Details of backlash compensation processing are shown below.
Condition
First start after power on
JOG operation start
Positioning start
Manual pulse generator operation
Home position return completion
Absolute position system
Processing
• If travel direction is equal to home position return direction, the backlash compensation is not executed.
• If travel direction is not equal to home position return direction, the backlash compensation is executed.
If travel direction is changed at the JOG operation start, the backlash compensation is executed.
If travel direction is changed, the backlash compensation is executed.
If travel direction is changed, the backlash compensation is executed.
The backlash compensation is executed after home position return completion.
Status stored at power off and applied to absolute position system.
7
• When backlash compensation amount has been set, feed pulses of the backlash compensation amount are added to the position command value but are not added to feed current value.
• When the backlash compensation amount is changed, the home position return is required. When the home position return is not executed, the original backlash compensation amount is not changed.
7 AUXILIARY AND APPLIED FUNCTIONS
7.2 Backlash Compensation Function
431
7.3
Torque Limit Function
This function restricts the generating torque of the servo motor within the setting range.
If the torque required for control exceeds the torque limit value during positioning control, it restricts with the setting torque limit value.
Default of the torque limit value
The default 300.0[%] is set as torque limit value at the servo amplifier's control circuit power supply or Multiple CPU system's power supply ON.
Even while the Multiple CPU system power supply is ON, the torque limit value is returned to the default value of 300.0[%] when the control circuit power supply of the servo amplifier is turned ON again, or when the
SSCNET communication is disconnected or connected again. Set the torque control value again as required using the Motion SFC program or the Motion dedicated PLC instruction.
Setting method of torque limit value
Set the torque limit value by the following method.
The positive direction of torque limit value restricts the forward rotation (CCW) driving and reverse rotation (CW) regenerative torque of servo motor, and the negative direction of torque limit value restricts the reverse rotation (CW) driving and forward rotation (CCW) regenerative torque.
Setting method Setting details Reference
Parameter block
Setting range
Setting units
1 to 10000 0.1[%]
Servo program
Motion SFC program
Torque limit value change request (CHGT)
Set the torque limit value in the parameter block. By setting the parameter block No. used in the servo program, the torque limit value of specified axis is changed to same value for both of positive direction and negative direction for every positioning control.
Set the torque limit value in the parameter block. By setting the parameter block in the home position return data and JOG operation data for every axis, the torque limit value at home position return and
JOG operation is changed to same value for both of positive direction and negative direction.
By setting the torque limit value in the servo program, the torque limit value of specified axis at servo program execution is changed to same value for both of positive direction and negative direction.
Motion dedicated
PLC instruction
Torque limit value change request instruction (M(P).CHGT/
D(P).CHGT) .
Executing the torque limit value change request (CHGT) in the operating control step of Motion SFC program changes the torque limit value of specified axis. A different value for positive direction and negative direction can be specified.
Executing the torque limit value change request instruction
(M(P).CHGT/D(P).CHGT) in the PLC CPU changes the torque limit value of specified axis. A different value for positive direction and negative direction can be specified.
*1 MELSEC iQ-R Motion Controller Programming Manual (Program Design)
Priority of torque limit value setting
When the multiple torque limit values are set on the same axis, the latest torque limit value is valid. However, the setting of torque limit value set in the parameter block or servo program is valid only if lower than the torque limit value set in the Motion
SFC program, Motion dedicated PLC instruction, and speed-torque control. Also, the setting of torque limit value in speedtorque control is valid only if lower than the current torque limit value.
When the torque limit value is set individually for positive direction and negative direction in the Motion SFC program or Motion dedicated PLC instruction, only either one of the positive direction or negative direction may become valid depending on the setting value of servo program.
432
7 AUXILIARY AND APPLIED FUNCTIONS
7.3 Torque Limit Function
Monitoring of torque limit status
The torque limit value of each axis can be monitored with "[Md.35] Torque limit value (R: D32014+48n/Q: D14+20n)", and the positive/negative direction torque limit value can be monitored by setting "Positive Direction Torque Limit Value Monitor
Device" and "Negative Direction Torque Limit Value Monitor Device" in the expansion parameter of Motion control parameter.
The torque limit status of each axis can be also monitored with "[St.1076] Torque limiting (R: M32416+32n/Q: M2416+20n)".
Operation description
Torque limit value [%]
60.0
: Positive direction torque limit value (Forward rotation (CCW) driving torque and
reverse rotation (CW) regenerative torque)
: Negative direction torque limit value (Reverse rotation (CW) regenerative torque
and forward rotation (CCW) driving torque)
40.0
20.0
t
0
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
Torque limit value change request (CHGT)
Positive direction: 40.0[%] Negative direction: 20.0[%] Positive direction: -1 Negative direction: 10.0[%]
Servo program start
(Torque limit value: 30[%])
Positive direction torque limit value monitor device
300.0[%] 40.0[%]
*2
30.0[%]
Negative direction torque limit value monitor device
[Md.35] Torque limit value storage register
(R: M32014+48n/Q: D14+20n)
300.0[%]
300.0[%] 40.0[%]
20.0[%]
*1
30.0[%]
10.0[%]
*1 The torque limit value specified with servo program is clamped with the negative direction torque limit value changed by CHGT.
*2 The torque limit value is not changed so that "-1" is set as the positive direction torque limit value of CHGT.
7
7 AUXILIARY AND APPLIED FUNCTIONS
7.3 Torque Limit Function
433
7.4
Skip Function in which Disregards Stop Command
When the current positioning is stopped by input from external source and the next positioning control is performed, it enables starting of the next positioning control even if the input from external source is on (continuation).
There are following tow functions in the function called "Skip".
• Skip during CP command (
Page 363 Pass point skip function)
• Skip in which disregards stop command
Usually, although an error [***] occurs with the servo program start during the STOP signal on, if "[Rq.1149] External stop input disable at start command (R: M34489+32n/Q: M3209+20n)" turns on and the servo program starts, the next servo program starts even if during the STOP signal on.
Skip function procedure
The procedure for the skip function by the external STOP signal and Motion SFC program is shown below.
Start
Positioning start using the servo program
. . . . . Positioning does not start if the STOP signal,
"[Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n)" or
"[Rq.1141] Rapid stop command (R: M34481+32n/Q: M3201+20n)" turns on.
Turn on the external STOP signal at the positioning stop
Turn on the "[Rq.1149] External stop input disable at start command (R: M34489+32n/
Q: M3209+20n)"
Start the positioning using the next servo program after deceleration stop
. . . . . Turn "[Rq.1149] External stop input disable at start command
(R: M34489+32n/Q: M3209+20n)" on to use the skip function.
(The external STOP signal becomes invalid at the next positioning start.)
If "[Rq.1149] External stop input disable at start command
(R: M34489+32n/Q: M3209+20n)" turns off, the external STOP signal becomes valid, and if the STOP signal is input, the positioning does not start.
. . . . . Confirm the operation stop with the "[St.1040] start accept flag
(R: M30080+n/Q: M2001+n)" turns off.
End
Operation timing
The operation timing for the skip function is shown below.
V
Positioning start to point A
Positioning to point A
Deceleration stop by STOP input
ON
A
(The "[Rq.1149] External STOP input disable at start
(R: M34489+32n/Q: M3209+20n)" is on.) t
Positioning start of the next servo program by skip function
[Rq.1120] PLC ready flag
(R: M30000/Q: M2000)
[Rq.1123] All axes servo ON command
(R: M30042/Q: M2042)
Servo program start
OFF
OFF
OFF
ON
ON
External STOP signal OFF
[Rq.1149] External stop input disable at start
(R: M34489+32n/Q: M3209+20n)
OFF
ON
ON
Turn on before the next positioning start.
434
7 AUXILIARY AND APPLIED FUNCTIONS
7.4 Skip Function in which Disregards Stop Command
7.5
Cancel of the Servo Program
This function performs a deceleration stop for the servo program being executed by turning on the cancel signal.
When the cancel signal is turned on during the execution of a program for which the cancel has been specified, the positioning processing is suspended, and a deceleration stop is executed.
Cancel signal device
A bit device (or a specified bit in a word device) can be used for the cancel signal.
Refer to the following for the setting range of usable devices.
MELSEC iQ-R Motion controller Programming Manual (Common)
Cautions
• This function cannot be used in the home position return instruction (ZERO) or simultaneous start instruction (START).
Refer to the relevant section of the instruction used for other instructions.
• Refer to the S-curve ratio for the operation when S-curve ratio is set. (
Operation timing
The operation timing for deceleration stop when the cancel signal is turned ON is shown below.
V
Positioning start to point A
Execution of servo program No. K0
Deceleration stop by turning the cancel signal on t
A
[Rq.1120] PLC ready flag
(R: M30000/Q: M2000)
[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)
OFF
OFF
Cancel signal OFF
ON
ON
Program example
Motion SFC program is shown below.
<K 0>
ABS-1
Axis 1,
Speed
Cancel
30000
5000
X0 Cancel signal·····X0
ON
Cancel/start
When a cancel/start has been set in the setting items of the servo program which was started at the motion control step of the
Motion SFC program, the cancel of the servo program being executed is valid but the servo program specified to start after the cancel is ignored, and will not be started.
An example of a Motion SFC program which executes control equivalent to a cancel/start is shown below.
Selective branch K0
G0 G1
K1
By providing transition G1 with the cancel device condition specified in servo program K0, the execution of servo program K0 will be canceled, allowing servo program K1 to start.
7 AUXILIARY AND APPLIED FUNCTIONS
7.5 Cancel of the Servo Program
435
7
7.6
Speed-Torque Control
This function is used to execute the speed control or torque control that does not include the position loop for the command to servo amplifier.
The "continuous operation to torque control mode" that switches the control mode to torque control mode without stop of servo motor during positioning operation when tightening a bottle cap or a screw.
Switch the control mode from "position control mode" to "speed control mode", "torque control mode" or "continuous operation to torque control mode" to execute the "Speed-torque control.
For performing the speed-torque control, setting the speed-torque control data is required for every axis. (
Control mode
Position control mode
Speed control mode
Torque control mode
Continuous operation to torque control mode
Control
Positioning control
*1 , home position return control, JOG
operation, and manual pulse generator operation
Speed-torque control
Remark
Control that include the position loop for the command to servo amplifier.
Control that does not include the position loop for the command to servo amplifier.
Control that does not include the position loop for the command to servo amplifier.
Control mode can be switched during positioning control or speed control.
*1 Excluding speed control ( )
Use the servo amplifiers whose software versions are compatible with each control mode to execute the "Speed-torque control".
Servo amplifier software versions that are compatible with each control mode are shown below.
: There is no restriction by the version.
Servo amplifier model Software version
Speed control Torque control
MR-J5 B
MR-J5W B
MR-J4 B
MR-J4W B
MR-J3 B
MR-J3W B
MR-J3 B Safety
MR-JE B
MR-JE BF
B3 or later
Continuous operation to torque control
C7 or later
Not compatible
C7 or later
*1 In the servo amplifier that supports continuous operation to torque control, the torque generation direction of servo motor can be switched by setting "Function selection C-B (PC29) (POL reflection selection at torque control)". (
Page 208 Torque command device)
In the servo amplifier that does not support continuous operation to torque control, the operation is the same as when "0: Valid" is set in
"Function selection C-B (PC29) (POL reflection selection at torque control)".
CAUTION
• If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo lock status) or in a 30 r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal relay protection.
436
7 AUXILIARY AND APPLIED FUNCTIONS
7.6 Speed-Torque Control
Operation of speed-torque control
Switching of control mode (Speed control/Torque control)
■
Switching method of control mode
Turn OFF to ON the control mode switching request device after setting the control mode (10: Speed control mode, 20:
Torque control mode) in the control mode setting device to switch to the speed control or torque control.
When the mode is switched to the speed control mode or torque control mode, the control data used in each control mode must be set before turning ON the control mode switching request device.
When the switching condition is satisfied at control mode switching request, the control mode is switched, and the "[St.1040]
Start accept flag (R: M30080+n/Q: M2001+n)" turns ON.
A Warning (error code: 09E7H) or minor error (error code: 192AH) will occur if the switching condition is not satisfied, and the control mode is not switched.
The following shows the switching condition of each control mode.
Position control mode
(1) (2) (4) (3)
(5)
Speed control mode Torque control mode
(6)
(1)
(2)
(3)
(4)
(5)
(6)
Switching operation
Position control mode → Speed control mode
Seed control mode → Position control mode
Position control mode → Torque control mode
Torque control mode → Position control mode
Seed control mode → Torque control mode
Torque control mode → Speed control mode
Switching condition
Not during positioning *1 and during motor stop *2
Not during positioning *1 and during motor stop *2
None
*1 The "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)" is OFF.
*2 ZERO speed (b3) of "[Md.1022] Servo status2 (R: D32033+48n/Q: #8011+20n)" is ON.
The control mode can be changed without checking the switching condition of "during motor stop" in Motion CPU by setting "1: Condition during zero speed at control mode switching: invalid" in "Invalid selection during zero speed at control mode switching". Set "1:
Condition during zero speed at control mode switching: invalid" to switch the control mode without waiting for stop of servo motor.
Confirm the control mode with "control mode (b2, b3)" of "[Md. 108] Servo status 1 (R: D32032+48n/Q: #8010+20n)".
• Control mode (b2, b3) of "[Md.108] Servo status 1 (R: D32032+48n/Q: #8010+20n)" b3
0
0
1 b2
0
1
0
Control mode
Position control mode
Speed control mode
Torque control mode
■
Precautions at control mode switching
• The "[St.1060] Positioning start complete (R: M32400+32n/Q: M2400+20n)" and "[St.1061] Positioning complete (R:
M32401+32n/Q: M2401+20n)" do not turn ON at control mode switching.
• During speed control or torque control, the "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)" turns ON.
• The motor speed might change momentarily at switching from the speed control mode to torque control mode. Therefore, it recommended to switch from the speed control mode to torque control mode after the servo motors are stopped.
• Cannot use press with limited torque during speed control mode.
• "[St.1064] In speed controlling (R: M32404+32n/Q: M2404+20n)" does not turn ON during speed control mode in the speed-torque control.
7
7 AUXILIARY AND APPLIED FUNCTIONS
7.6 Speed-Torque Control
437
■
Operation for "Position control mode
⇔
Speed control mode switching"
When the mode is switched from position control mode to speed control mode, the command speed immediately after switching is the speed set in "speed initial value selection at control mode switching".
Speed initial value selection at control mode switching
0: Command speed
1: Feedback speed
2: Automatic selection
Command speed to servo amplifier immediately after switching from position control mode to speed control mode
The speed to servo amplifier immediately after switching is "0".
Motor speed received from servo amplifier at switching.
At control mode switching, operation is the same as "0: Command speed".
When the mode is switched from speed control mode to position control mode, the command position immediately after switching is the current feed value at switching.
The following chart shows the operation timing.
30000
V
Position control mode
20000
Speed control mode Position control mode t 0
6 to 11ms
ON
Control mode switching request device
Control mode setting device
OFF
0
Speed command device
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
Control mode (b2, b3)([Md.108] Servo status1 (R: D32032+48n/Q: #8010+20n))
Zero speed (b3)([Md.1022] Servo status2 (R: D32033+48n/Q: #8011+20n))
ON
0
[0, 0]
ON
10: Speed control mode
20000 30000
OFF
[1, 0]
6 to 11ms
0: Position control mode
0
[0, 0]
438
7 AUXILIARY AND APPLIED FUNCTIONS
7.6 Speed-Torque Control
■
Operation for "Position control mode
⇔
torque control mode switching"
When the mode is switched from position control mode to torque control mode, the command torque immediately after switching is the torque set in "torque initial value selection at control mode switching".
Torque initial value selection at control mode switching
0: Command torque
1: Feedback torque
Command torque to servo amplifier immediately after switching from position control mode to torque control mode
Immediately after switching the control mode, the value of torque command device is the torque to servo amplifier regardless of the command torque time constant.
Motor current value received from servo amplifier at switching is the torque to servo amplifier.
When the servo parameter "POL reflection selection at torque control (PC29)" is set to "0: Valid" and "Torque initial value selection at control mode switching" is set to "1: Feedback torque", a warning (error code: 0A55H) will occur at control mode switching, and the command value immediately after switching is the same as the case of selecting "0: Command torque". If the feedback torque is selected, set "1: Invalid" in the servo parameter "POL reflection selection at torque control (PC29)".
When the mode is switched from torque control mode to position control mode, the command position immediately after switching is the current feed value at switching.
The following chart shows the operation timing.
Torque
Position control mode
30.0%
20.0%
Torque control mode Position control mode t 0
6 to 11ms
ON
Control mode switching request device
Control mode setting device
OFF
0
Torque command device
Speed command device
(Speed limit command value)
0
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
Control mode (b2, b3)
([Md.108] Servo status1
(R: D32032+48n/Q: #8010+20n))
OFF
0
[0, 0]
ON
20: Torque control mode
200 300
50000
[0, 1]
6 to 11ms
0: Position control mode
0
[0, 0]
7
7 AUXILIARY AND APPLIED FUNCTIONS
7.6 Speed-Torque Control
439
■
Operation for "Speed control mode
⇔
Torque control mode switching"
When the mode is switched from speed control mode to torque control mode, the command torque immediately after switching is the torque set in "Torque initial value selection at control mode switching".
Torque initial value selection at control mode switching
0: Command torque
1: Feedback torque
Command torque to servo amplifier immediately after switching from speed control mode to torque control mode
Immediately after switching the control mode, the value of torque command device is the torque to servo amplifier regardless of the command torque time constant.
Motor current value received from servo amplifier at switching is the torque to servo amplifier.
When the servo parameter "POL reflection selection at torque control (PC29)" is set to "0: Valid" and "Torque initial value selection at control mode switching" is set to "1: Feedback torque", a warning (error code: 0A55H) will occur at control mode switching, and the command value immediately after switching is the same as the case of selecting "0: Command torque". If the feedback torque is selected, set "1: Invalid" in the servo parameter "POL reflection selection at torque control (PC29)".
When the mode is switched from torque control mode to speed control mode, the command speed immediately after switching is the motor speed at switching.
The following chart shows the operation timing.
30000
20000
V
Speed control mode Torque control mode Speed control mode t 0
Torque
20.0%
0
Control mode switching request device
OFF
Control mode setting device
Speed command device
(During torque control:
Speed limit command value)
10
20000
Torque command device
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
Control mode (b2, b3)
([Md.108] Servo status1
(R: D32032+48n/Q: #8010+20n))
ON
[1, 0]
ON
0
0
20: Torque control mode
10000
200
[0, 1] t
10: Speed control mode
0 30000
0
[1, 0]
440
7 AUXILIARY AND APPLIED FUNCTIONS
7.6 Speed-Torque Control
Switching of control mode (Continuous operation to torque control)
■
Switching method of control mode
Turn OFF to ON the control mode switching request device after setting the control mode in the control mode setting device
(30: Continuous operation to torque control mode) to switch from position control mode or speed control mode to continuous operation to torque control.
When the mode is switched to continuous operation to torque control mode, the control data used in continuous operation to torque control mode must be set before turning on the control mode switching request device.
When the switching condition is satisfied at control mode switching request, the control mode is switched, and the "[St.1040]
Start accept flag (R: M30080+n/Q: M2001+n)" turns ON.
The following shows the switching condition of continuous operation to torque control mode.
Position control mode Speed control mode Torque control mode
(1) (2) (3) (4) (5) (6)
Continuous operation to torque control mode
Continuous operation to torque control mode
Continuous operation to torque control mode
(2)
(3)
(4)
Switching operation
(1)
(5)
(6)
Switching condition
Position control mode → Continuous operation to torque control mode
or during following positioning mode
• ABS-1: 1-axis linear control (ABS)
• INC-1: 1-axis linear control (INC)
• FEED-1: 1-axis fixed-feed control
• VF: Speed control ( ) (Forward)
• VR: Speed control ( ) (Reverse)
• VPF: Speed-position switching control (Forward)
• VPR: Speed-position switching control (Reverse)
• PFSTART: Position follow-up control
• CPSTART1: 1-axis continuous trajectory control
• PVF: Speed control with fixed position stop (Forward)
• PVR: Speed control with fixed position stop (Reverse)
*: JOG operation, Speed control ( ) (VVF, VVR), High-speed oscillation control (OSC) are not supported.
Continuous operation to torque control mode → Position control mode
Speed control mode → Continuous operation to torque control mode
Continuous operation to torque control mode → Speed control mode
None
Torque control mode → Continuous operation to torque control mode
Continuous operation to torque control mode → Torque control mode
Switching not possible
*1 The "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)" is OFF.
*2 ZERO speed (b3) of "[Md.1022] Servo status2 (R: D32033+48n/Q: #8011+20n)" is ON. The control mode can be changed without checking the switching condition of "during motor stop" in Motion CPU by setting "1: Condition during zero speed at control mode switching: invalid" in "Invalid selection during zero speed at control mode switching". Set "1: Condition during zero speed at control mode switching: invalid" to switch the control mode without waiting for stop of servo motor.
Confirm the status of continuous operation to torque control mode with "Continuous operation to torque control (b14)" of
"[Md.125] Servo status3 (R: D32034+48n/Q: #8012+20n)". When the mode is switched to continuous operation to torque control mode, the value in "control mode (b2, b3)" of "[Md.108] Servo status1 (R: D32032+48n/Q: #8010+20n)" will stay the same before control mode switching.
• Continuous operation to torque control mode (b14) of "[Md.125] Servo status3 (R: D32034+48n/Q: #8012+20n)" b14
0
1
Continuous operation to torque control mode
Not continuous operation to torque control mode
Continuous operation to torque control mode
7
7 AUXILIARY AND APPLIED FUNCTIONS
7.6 Speed-Torque Control
441
• When the mode is switched from position control mode to continuous operation to torque control mode, only the switching from continuous operation to torque control mode to position control mode is possible. If the mode is switched to other control modes, a warning (error code: 09E8H) will occur, and the control mode is not switched.
• When the mode is switched from speed control mode to continuous operation to torque control mode, only the switching from continuous operation to torque control mode to speed control mode is possible. If the mode is switched to other control modes, a warning (error code: 09E8H) will occur, and the control mode is not switched.
■
Precautions at control mode switching
• The "[St.1060] Positioning start complete (R: M32400+32n/Q: M2400+20n)" and "[St.1061] Positioning complete (R:
M32401+32n/Q: M2401+20n)" do not turn ON at control mode switching.
• During continuous operation to torque control, the "[St.1040] start accept flag (R: M30080+n/Q: M2001+n)" turns ON.
• When using continuous operation to torque control mode, use the servo amplifiers that are compatible with continuous operation to torque control. If servo amplifiers that are not compatible with continuous operation to torque control are used, a minor error (error code: 19E7H) will occur at request of switching to continuous operation to torque control mode. (A deceleration stop is made during the positioning control. The mode is switched to position control during the speed control, and the operation immediately stops.)
■
Operation for "Position control mode
⇔
Continuous operation to torque control mode switching
When the mode is switched from position control mode to continuous operation to torque control mode, the command torque and command speed immediately after switching are the values set in "Torque initial value selection at control mode switching" and "Speed initial value selection at control mode switching".
• Command torque
Torque initial value selection at control mode switching
0: Command torque
1: Feedback torque
Command torque to servo amplifier immediately after switching from position control mode to continuous operation to torque control mode
Immediately after switching the control mode, the value of torque command device is the torque to servo amplifier regardless of the command torque time constant.
Motor current value received from servo amplifier at switching is the torque to servo amplifier.
• Command speed
Speed initial value selection at control mode switching
0: Command speed
1: Feedback speed
2: Automatic selection
Command speed to servo amplifier immediately after switching from position control mode to continuous operation to torque control mode
The speed to servo amplifier immediately after switching is the speed during command.
Motor speed received from servo amplifier at switching.
The speed commanded to servo amplifier immediately after switching is the lower speed between "0: Command speed" and "1: Feedback speed".
When the mode is switched to continuous operation to torque control mode in cases where command speed and actual speed are different such as during acceleration/deceleration or when the speed does not reach command speed due to torque limit, set "1: Feedback speed" in "Speed initial value selection at control mode switching".
442
7 AUXILIARY AND APPLIED FUNCTIONS
7.6 Speed-Torque Control
The following chart shows the operation timing.
V
Position control mode
1000
0
Torque
30.0%
0
Continuous operation to torque control mode
Contact with target
Position control mode t t
ON
Control mode switching request device OFF
Control mode setting device
• Command speed
Speed initial value selection at control mode switching
0: Command speed
1: Feedback speed
2: Automatic selection
0 30: Continuous operation to torque control mode 0: Position control mode
Speed command device (During continuous operation to torque control: Speed limit command value)
0
Torque command device
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
Control mode (b2, b3) ([Md.108] Servo status1
(R: D32032+48n/Q: #8010+20n))
ON
0
[0, 0]
1000
300
OFF
Control mode (b14) ([Md.125] Servo status3
(R: D32034+48n/Q: #8012+20n))
[0] [1] [0]
■
Operation for "Speed control mode
⇔
Continuous operation to torque control mode switching"
When the mode is switched from speed control mode to continuous operation to torque control mode, the command torque and command speed immediately after switching are the values set in "Torque initial value selection at control mode switching" and "Speed initial value selection at control mode switching".
• Command torque
Torque initial value selection at control mode switching
0: Command torque
1: Feedback torque
Command torque to servo amplifier immediately after switching from speed control mode to continuous operation to torque control mode
Immediately after switching the control mode, the value of torque command device is the torque to servo amplifier regardless of the command torque time constant.
Motor current value received from servo amplifier at switching is the torque to servo amplifier.
Command speed to servo amplifier immediately after switching from speed control mode to continuous operation to torque control mode
The speed to servo amplifier immediately after switching is the speed during command.
Motor speed received from servo amplifier at switching.
The speed to servo amplifier immediately after switching is the lower speed between "0: Command speed" and
"1: Feedback speed".
7
7 AUXILIARY AND APPLIED FUNCTIONS
7.6 Speed-Torque Control
443
The following chart shows the operation timing.
Speed control mode
V
Speed control mode
10000
1000
0
-10000
Torque
30.0%
0
Continuous operation to torque control mode
Contact with target
Speed control mode t t
ON
Control mode switching request device OFF
Control mode setting device 10
Speed command device (During continuous operation to torque control: Speed limit command value)
Torque command device
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
Control mode (b2, b3) ([Md.108] Servo status1
(R: D32032+48n/Q: #8010+20n))
ON
0
Control mode (b14) ([Md.125] Servo status3
(R: D32034+48n/Q: #8012+20n))
30: Continuous operation to torque control mode
10000 1000
300
[0]
[1, 0]
[1]
10: Speed control mode
-10000
[0]
When the mode is switched from continuous operation to torque control mode to speed control mode, the torque command during continuous operation to torque control is invalid. As shown in the figure above, when the target is pressed in continuous operation to torque control direction, if the mode is switched to speed control, torque is output to the torque limit value.
Execute the following either if such operation will be a problem.
• Set the speed command which is in opposite direction of continuous operation to torque control direction in the speed command device before switching to the speed control mode.
• Change the torque limit value to the lower value by torque limit value change request (CHGT) before switching to the speed control mode.
444
7 AUXILIARY AND APPLIED FUNCTIONS
7.6 Speed-Torque Control
Speed control mode
■
Operation for speed control mode
The speed control is executed at speed set in "Speed command device" in the speed control mode.
Set a positive value for forward rotation and a negative value for reverse rotation. "Speed command device" can be changed any time during speed control mode.
Acceleration/deceleration is a trapezoidal acceleration/deceleration processing. Set acceleration/deceleration time toward
"Speed limit value at speed-torque control" in "Command speed acceleration time" and "Command speed deceleration time".
The value when the control mode switching request device turns OFF to ON is valid.
The command speed during speed control mode is limited with "Speed limit value at speed-torque control". If the speed exceeds speed limit value is set, a warning (error code: 0A5FH) will occur, and the operation is controlled with speed limit value.
Confirm the command speed to servo amplifier the "[Md.28] Command speed (R: D32024+48n, D32025+48n/Q: #8004+20n,
#8005+20n)".
Speed change request (CHGV, M(P).CHGV/D(P).CHGV) is invalid (no operation).
Torque limit value can be changed within the range of "Torque limit value at speed-torque control" by torque limit value change request (CHGT, M(P).CHGT/D(P).CHGT). If the change outside the range of "Torque limit value at speed-torque control" is requested by torque limit value change request, a warning (error code: 0A5EH) will occur, and the torque limit value is not changed.
■
Current feed value during speed control mode
"[Md.20] Feed current value (R: D32000+48n, D32001+48n/Q: D0+20n, D1+20n)" and "[Md.101] Real current value (R:
D32002+48n, D32003+48n/Q: D2+20n, D3+20n)" are updated even during speed control mode.
If the current feed value exceeds the software stroke limit, a minor error (error code: 1993H, 1995H) will occur and the operation is switched to position control mode. Invalidate the software stroke limit to execute one-way feed.
■
Stop cause during speed control mode
The operation for stop cause during speed control mode is shown below.
Item
The "[Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n)" turned ON.
The "[Rq.1141] Rapid stop command (R: M34481+32n/Q:
M3201+20n)" turned ON.
The external stop input turned ON.
The "[Rq.1123] All axes servo ON (R: M30042/Q: M2042)" turned
OFF.
The "[Rq.1155] Servo OFF command (R: M34495+32n/Q:
M3215+20n)" turned ON.
The current value reached to software stroke limit.
The position of motor reached to hardware stroke limit
The "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turned
OFF.
The forced stop input to Motion CPU.
The forced stop input to servo amplifier.
The servo error occurred.
The servo amplifier's control circuit power supply turned OFF.
Operation during speed control mode
The motor decelerates to speed "0" by setting value of "command speed deceleration time".
The mode is switched to position control mode when "ZERO speed (b3)" of "[Md.1022]
Servo status2 (R: D32033+48n/Q: #8011+20)" turns ON, and the operation stops.
The servo OFF is not executed during speed control mode. The command status at that time becomes valid when the mode is switched to position control mode.
A minor error (error code: 1900H, 1905H, 1907H, 1993H, 1995H) will occur, and the motor decelerates to speed "0" by setting value of "Command speed deceleration time".
The mode is switched to position control when "ZERO speed (b3)" of "[Md.1022] Servo status2 (R: D32033+48n/Q: #8011+20n) turns ON, and the operation stops.
The mode is switched to position control mode when the servo OFF (The "[St.1075] Servo ready (R: M32415+32n/Q: M2415+20n)" turns OFF) is executed. (While the servo amplifier is servo OFF, even if the mode is switched to position control mode, the servo motor occurs to the free run. (The operation stops with dynamic brake.))
The motor occurs to the free run. (The operation stops with dynamic brake.) (The mode is to position control mode at the servo amplifier's power supply ON again.)
7
7 AUXILIARY AND APPLIED FUNCTIONS
7.6 Speed-Torque Control
445
Torque control mode
■
Operation for torque control mode
The torque control is executed at command torque set in "Torque command device" in the torque control mode.
Command torque can be changed any time during torque control mode.
Set time that reaches "Torque limit value at speed-torque control" from 0[%] in "Command torque time constant (Positive direction)" and time that decreases 0[%] from "Torque limit value at speed-torque control" in "Command torque time constant
(Negative direction)". The value when the control mode switching request turns OFF to ON is valid for command torque time constant (Positive direction) and command torque time constant (Negative direction). The command torque during torque control mode is limited with "Torque limit value at speed-torque control". If the torque exceeds torque limit value is set, a warning (error code: 09E4H) will occur, the operation is controlled with torque limit value at speed-torque control.
Speed change request (CHGV, M(P).CHGV/D(P).CHGV) is invalid (no operation).
Torque limit value to servo amplifier can be changed within the range of "Torque limit value at speed-torque control" by torque limit value change request (CHGT, M(P).CHGT/D(P).CHGT) but the value is valid when the mode is switched to position control mode. Command torque time constant is calculated based on the "Torque limit value at speed-torque control" at torque control mode switching after the torque limit value is changed. If the change outside the range of "Torque limit value at speedtorque control" is requested by torque limit value change request, a warning (error code: 0A5EH) will occur, and the torque limit value is not changed.
■
Speed during torque control mode
The speed during torque control mode is controlled with the absolute value of value set in "Speed command device" as speed limit command value. When the speed reaches the absolute value of "Speed command device", "Speed limit (b4)" of
"[Md.1022] Servo status2 (R: D32033+48n/Q: #8011+20n)" turns ON.
And, the value of "Speed command device" (speed limit command value for torque control) is limited with "Speed limit value at speed-torque control". If the speed limit command value exceeds speed limit value at speed-torque control is set, a warning
(error code: 0A5FH) will occur, and the operation is controlled with speed limit value at speed-torque control.
The acceleration/deceleration processing is invalid for the value of "Speed command device".
The actual motor speed may not reach the speed limit command value depending on the machine load situation during torque control.
■
Current feed value during torque control mode
"[Md.20] Feed current value (R: D32000+48n, D32001+48n/Q: D0+20n, D1+20n)" and "[Md.101] Real current value (R:
D32002+48n, D32003+48n/Q: D2+20n, D3+20n)" are updated even in torque control.
If the current feed value exceeds the software stroke limit, a minor error (error code: 1993H, 1995H) will occur and the operation is switched to position control mode. Invalidate the software stroke limit to execute one-way feed.
446
7 AUXILIARY AND APPLIED FUNCTIONS
7.6 Speed-Torque Control
■
Stop cause during speed control mode
The operation for stop cause during torque control mode is shown below.
Item
The "[Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n)" turned ON.
The "[Rq.1141] Rapid stop command (R: M34481+32n/Q:
M3201+20n)" turned ON.
The external stop input turned ON.
Operation during torque control mode
The speed limit command value commanded to servo amplifier is "0" regardless of the setting value of "Speed command device". The mode is switched to position control mode when "ZERO speed (b3)" of "[Md.1022] Servo status2 (R: D32033+48n/Q: #8011+20n)" turns ON, and the operation stops immediately. (Deceleration processing is not executed.) The value of command torque is not changed. It might take time to reach at the speed "0" depending on the current torque command value.
The servo OFF is not executed during torque control mode. The command status at that time becomes valid when the mode is switched to position control mode.
The "[Rq.1123] All axes servo ON command (R: M30042/Q:
M2042)" turned OFF.
The "[Rq.1155] servo OFF command (R: M34495+32n/Q:
M3215+20n)" turned ON.
The current value reached to software stroke limit.
The position of motor reached to hardware stroke limit
The "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turned
OFF.
The forced stop input to Motion CPU.
The forced stop input to servo amplifier.
The servo error occurred.
The servo amplifier's control circuit power supply turned OFF.
The minor error (error code: 1900H, 1905H, 1907H, 1993H, 1995H) will occur. The mode is switched to position control mode at current position, and the operation immediately stops. (Deceleration processing is not executed.)
The mode is switched to position control mode when the servo OFF (The "[St.1075] Servo ready signal (R: M32415+32n/Q: M2415+20n)" turns OFF) is executed. (While the servo amplifier is servo OFF, even if the mode is switched to position control mode, the servo motor occurs to the free run. (The operation stops with dynamic brake.))
The motor occurs to the free run. (The operation stops with dynamic brake.) (The mode is to position control mode at the servo amplifier's power supply ON again.)
Continuous operation to torque control mode
■
Operation for continuous operation to torque control mode
In continuous operation to torque control, the torque control can be executed by the speed limit command value after acceleration/deceleration processing without stopping the operation during the positioning in position control mode or speed command in speed control mode.
Ex.
When the torque command is changed from 0.0% to 100% with the torque command device.
Operation for continuous operation to torque control mode Operation for torque control mode
Command speed
Speed limit command value acceleration time
Speed limit value in speed-torque control
Speed command device value
0
Speed limit command value
Controlled by speed limit command value after acceleration/deceleration processing t
Speed command device value
0 t
Torque command device 0 1000 Torque command device 0 1000
During continuous operation to torque control mode, the torque control is executed at command torque set in "Torque command device". Command torque can be changed any time during continuous operation to torque control mode.
Speed change request (CHGV, M(P).CHGV/D(P).CHGV) is invalid (no operation).
Torque limit value to servo amplifier can be changed within the range of "Torque limit value at speed-torque control" by torque limit value change request (CHGT, M(P).CHGT/D(P).CHGT) but the value is valid when the mode is switched to position control mode. Command torque time constant is calculated based on the "Torque limit value at speed-torque control" at torque control mode switching after the torque limit value is changed. If the change outside the range of "Torque limit value at speedtorque control" is requested by torque limit value change request a warning (error code: 0A5EH) will occur, and the torque limit value is not changed.
7
When oscillations such as vibrations occur during continuous operation to torque control, check if lowering the value of the "Torque feedback loop gain (PB03)" servo parameter reduces the oscillations.
7 AUXILIARY AND APPLIED FUNCTIONS
7.6 Speed-Torque Control
447
■
Torque command setting method
During continuous operation to torque control mode, set time for the command torque to increase from 0[%] to torque limit value at speed-torque control" in "Command torque time constant (Positive direction)", and the command torque to decrease from "Torque limit value at speed-torque control" to 0[%] in "Command torque time constant (Negative direction)". The value when the control mode switching request turns OFF to ON is valid for command torque time constant (Positive direction) and command torque time constant (Negative direction).
The command torque during continuous operation to torque control mode is limited with "Torque limit value at speed-torque control".
If torque exceeds torque limit value is commanded, a warning (error code: 09E4H) will occur, and the operation is controlled with torque limit value at speed-torque control.
■
Acceleration/deceleration processing at continuous operation to torque control mode
Acceleration/deceleration is a trapezoidal acceleration/deceleration processing.
Set acceleration/deceleration time toward "Speed limit value at speed-torque control" in "Command speed acceleration time" and "Command speed deceleration time". The value when the control mode switching request device turns OFF to ON is valid.
Command speed during continuous operation to torque control mode is limited with "Speed limit value at speed-torque control". If the speed exceeds speed limit value is commanded, a warning (error code: 0A5FH) will occur, and the operation is controlled with speed limit value.
Confirm the command speed to servo amplifier with "[Md.28] Command speed (R: D32024+48n, D32025+48n/Q: #8004+20n,
#8005+20n)".
V Position control mode or speed control mode
Continuous operation to torque control mode
Command speed deceleration time
Position control mode or speed control mode
Speed limit value at speed-torque control
Contact with target
1000
0 t
Speed limit value at speed-torque control
Torque
Torque limit value at speed-torque control
30.0%
0 t
Torque limit value at speed-torque control
Speed command device 0 1000 0
Torque command device 0 300 0
■
Precautions at continuous operation to torque control mode
The following servo amplifier functions cannot be used during continuous operation to torque mode.
• Base cut delay time function
• Forced stop deceleration function
• Vertical axis freefall prevention function
448
7 AUXILIARY AND APPLIED FUNCTIONS
7.6 Speed-Torque Control
■
Speed during continuous operation to torque control mode
The speed during continuous operation to torque control mode is limited with the absolute value of speed limit command value after acceleration/deceleration processing with signed value set in "Speed command device". Speed direction depends on the torque command. When the speed reaches the absolute value of speed limit command value, "Speed limit (b4)" of
"[Md.1022] Servo status2 (R: D32033+48n/Q: #8011+20n)" turns ON".
And, the value of "Speed command device" (speed limit command value for continuous operation to torque control) is limited with "Speed limit value at speed-torque control". If the speed limit command value exceeds speed limit value at speed-torque control is set, a warning (error code: 0A5FH) will occur, and the operation is controlled with speed limit value at speed-torque control.
• The actual motor speed may not reach the speed limit command value depending on the machine load situation during continuous operation to torque control mode.
• It is recommended to match the direction of torque command and speed command. When the direction of torque command and speed command is different, the speed may decelerate to 0.
■
Current feed value during continuous operation to torque control mode
"[Md.20] Feed current value (R: D32000+48n, D32001+48n/Q: D0+20n, D1+20n)" and "[Md.101] Real current value (R:
D32002+48n, D32003+48n/Q: D2+20n, D3+20n)" are updated even in continuous operation to torque control mode.
If the current feed value exceeds the software stroke limit, a minor error (error code: 1993H, 1995H) will occur and the operation is switched to position control mode. Invalidate the software stroke limit to execute one-way feed.
■
Stop cause during continuous operation to torque control mode
The operation for stop cause during continuous operation to torque control mode is shown below.
Item
The "[Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n)" turned ON.
The "[Rq.1141] Rapid stop command (R: M34481+32n/Q:
M3201+20n)" turned ON.
The external stop input turned ON.
Operation during torque control mode
The speed limit command value commanded to servo amplifier is "0" regardless of the setting value of "Speed command device". The mode is switched to position control mode when "ZERO speed (b3)" of "[Md.1022] Servo status2 (R: D32033+48n/Q: #8011+20n)" turns ON, and the operation stops immediately. (Deceleration processing is not executed.)
The value of command torque is not changed. It might take time to reach at the speed "0" depending on the current torque command value.
The servo OFF is not executed during torque control mode. The command status at that time becomes valid when the mode is switched to position control mode.
The "[Rq.1123] All axes servo ON command (R: M30042/Q:
M2042)" turned OFF.
"[Rq.1155] Servo OFF command (R: M34495+32n/Q:
M3215+20n)" turned ON.
The current value reached to software stroke limit.
The position of motor reached to hardware stroke limit
The "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turned
OFF.
The forced stop input to Motion CPU.
The forced stop input to servo amplifier.
The servo error occurred.
The servo amplifier's control circuit power supply turned OFF.
The minor error (error code: 1900H, 1905H, 1907H, 1993H, 1995H) will occur. The mode is switched to position control mode at current position, and the operation immediately stops. (Deceleration processing is not executed.)
When the operation immediately stops, the motor will start hunting depending on the motor speed. Therefore, be sure not to reach to limit in high speed or do not turn OFF the
PLC READY.
The mode is switched to position control mode when the servo OFF (The "[St.1075] Servo ready signal (R: M32415+32n/Q: M2415+20n)" turns OFF) is executed. (While the servo amplifier is servo OFF, even if the mode is switched to position control mode, the servo motor occurs to the free run. (The operation stops with dynamic brake.))
The motor occurs to the free run. (The operation stops with dynamic brake.) (The mode is to position control mode at the servo amplifier's power supply ON again.)
7
7 AUXILIARY AND APPLIED FUNCTIONS
7.6 Speed-Torque Control
449
7.7
Acceleration/Deceleration Time Change Function
This function arbitrarily changes the acceleration/deceleration time at speed change, when changing speed with Motion dedicated functions (CHGV, CHGVS) of Motion SFC program (and also the Motion dedicated PLC instruction M(P).CHGV/
D(P).CHGV, M(P).CHGVS/D(P).CHGVS).
Normally (speed change without changing the acceleration/deceleration time), the acceleration/deceleration time is controlled by the positioning data of the servo program or the parameter block at the start. However, if a speed change is executed after setting the acceleration/deceleration time change parameter, speed changes at the set acceleration/deceleration time.
"Acceleration/deceleration time after change" is the acceleration/deceleration time of positioning control being executed. "Acceleration/deceleration time after change" is valid until the switching of the next positioning point. (Automatic decelerating processing at positioning completion is also controlled by "Acceleration/ deceleration time after change".)
Speed change instructions for acceleration/deceleration time change
The speed change instructions for acceleration/deceleration time change are shown below.
Classification
Motion SFC program
(Motion dedicated function)
Motion dedicated PLC instruction
Instruction
CHGV
CHGVS
M(P).CHGV/D(P).CHGV
M(P).CHGVS/D(P).CHGVS
Description
Speed change request
Command generation axis speed change request
Speed change request of the specified axis
Speed change request of the specified command generation axis
Control details
After setting the acceleration/deceleration time change parameter, if speed change command is executed, the acceleration/ deceleration time changes. The acceleration/deceleration time change parameter is set for every axis in [Motion Control
Parameter] [Axis Setting Parameter] "Expansion Parameter" of MT Developer2. Refer to the Expansion Parameter for details of acceleration/deceleration time change parameter. (
Page 195 Expansion Parameters)
Refer to the following for details of command generation axis parameter.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
• Set the change value of acceleration/deceleration time in the device set by acceleration time change value device/ deceleration time change value device.
Name
New acceleration time value device
New deceleration time value device
Setting range
Other than above: Time change invalid
*1 When the number of words used is set to 1 word in the MT Developer2 options screen, the setting range is "1 to 65535 [ms]". Refer to
"Acceleration/Deceleration Time and Command Torque Time Constant 1 Word Setting Function" in the following manual for details on the 1 word setting.
MELSEC iQ-R Motion Controller Programming Manual (Common)
• Device set by the acceleration/deceleration time change enable device turns ON (valid).
450
7 AUXILIARY AND APPLIED FUNCTIONS
7.7 Acceleration/Deceleration Time Change Function
• Operation at acceleration/deceleration time change is shown below.
[K100]
INC-1
Axis
Travel
Speed
S.R.
1
1000000 pulse
100000 pulse/s
200000 pulse/s
1000 ms
1000 ms
[When acceleration/deceleration time change enable is invalid]
[pulse/s]
V Acceleration time set by servo instruction
200000
150000
100000
Deceleration time set by servo instruction t
1000 ms 250 ms 1000 ms
Acceleration/deceleration time change enable device
OFF
New acceleration time value device
New deceleration time value device
Speed change request
(CHGV)
OFF
0
0
ON
2000
500
Change speed 150000
[When acceleration/deceleration time change enable is valid]
[pulse/s]
V
Acceleration time set by new acceleration/deceleration time value
200000
150000
100000
Deceleration time set by new acceleration/deceleration time value
500 ms 500 ms t
1000 ms
Acceleration/deceleration time change enable device
OFF
New acceleration time value device
New deceleration time value device
0
0
Speed change request
(CHGV)
Change speed
OFF
ON
ON
2000
500
150000
7
7 AUXILIARY AND APPLIED FUNCTIONS
7.7 Acceleration/Deceleration Time Change Function
451
Cautions
• In the following cases acceleration time or deceleration time does not change when a speed change is executed. The acceleration time or deceleration time at the time of speed change accept is maintained.
• When setting of the acceleration/deceleration time change enable device was omitted.
• When setting of new acceleration time value device or new deceleration time value device was omitted.
• When the device set by new acceleration time value device or new deceleration time value device is set to "0".
V
Change of acceleration time is not executed
Decelerate at deceleration time after change t
ON
Acceleration/deceleration time change enable device
OFF
New acceleration time value device
0
New deceleration time value device
0 500
ON
Speed change request (CHGV) OFF
• During interpolation control, change of acceleration/deceleration time is executed by the acceleration/deceleration time change parameter of the axis No. specified with the speed change command.
• Acceleration/deceleration time change function becomes invalid for axes executing the following servo instructions:
• Circular interpolation control (including point during CPSTART)
• Helical interpolation control (including point during CPSTART)
• Speed control with fixed position stop
• Acceleration/deceleration time change function becomes invalid for axes executing the following acceleration/deceleration methods:
• FIN acceleration/deceleration
• Advanced S-curve acceleration/deceleration control
• If a negative speed change request is executed acceleration/deceleration time change function is only valid for axes executing speed control ( ), or speed control ( ). If a negative speed change request is executed for axes executing other instructions, acceleration/deceleration time change function becomes invalid. Also, if an acceleration/deceleration time change is performed for axes operating at a negative speed, acceleration/deceleration time change function becomes invalid.
[pulse/s]
V
200000
Acceleration/deceleration time change is not executed at negative speed change request.
(Except speed control( ³ ) and speed control( ´ ).)
100000
0
Acceleration/deceleration time change is executed
Acceleration/deceleration time change is not executed for during operation at negative speed.
V
-100000
-200000
Acceleration/deceleration time change enable device
OFF
New acceleration time value device
New deceleration time value device
1000
1000
ON
ON
Speed change request (CHGV) OFF
Change speed -100000
452
7 AUXILIARY AND APPLIED FUNCTIONS
7.7 Acceleration/Deceleration Time Change Function
2000
2000
-200000 200000
• After changing deceleration time, operations for a stop or rapid stop are shown below:
Operation
Stop
Rapid stop
Description
Deceleration stop by the deceleration speed after change.
Rapid stop by parameter setting values at start.
If changing deceleration time by the acceleration/deceleration time change function, regardless of whether the "Rapid stop deceleration time setting error invalid flag (SM805)" is ON or OFF, deceleration time can be changed. Therefore, if the setting values of the rapid stop deceleration time are larger than the deceleration time change value after change, an overrun may occur.
Refer to the Speed limit value, acceleration time, deceleration time and rapid stop deceleration time for details of operation.
(
Page 222 Speed limit value, acceleration time, deceleration time and rapid stop deceleration time)
• When the current value is to execute a deceleration stop from current command speed, if the current value exceeds the stroke limit range, a minor error (error code: 1993H, 1995H) occurs, and deceleration stop is made before a stroke limit.
However, if the deceleration distance after the deceleration time change is longer than the distance until the stroke limit, deceleration stop exceeds the stroke limit. Execute a speed change at a position where enough movement amount until the stroke limit is ensured.
• During a positioning operation where acceleration/deceleration time is changed, and the deceleration distance to the final positioning address for the output speed is not enough, a minor error (error code: 1A58H) occurs and the operation immediately stops at the final positioning address. Execute a speed change at a position where enough movement amount until the stop position is ensured.
• If acceleration/deceleration time is changed during speed control in speed-position switching (VPF/VPR), control continues at the acceleration/deceleration times changed during speed control even after switching from speed to position control. To control with the acceleration/deceleration time of the start after switching to position control, execute speed change again.
• If acceleration/deceleration time is changed during continuous trajectory control (CPSTART), control at the "acceleration/ deceleration time after change" occurs only between the points where change was executed. From the next point onward, control at the "acceleration/deceleration time at start" set beforehand occurs. If the "[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)" is ON in continuous trajectory control (CPSTART), speed change is executed up to the speed switching point at the "acceleration/deceleration time after change". (If the acceleration/deceleration time is changed to a large value, speed change may not be completed up to the speed switching point).
[K101]
CPSTART-1
Axis 1
Speed
S.R.
1500000 pulse/s
2000000 pulse/s
1000 ms
1000 ms
INC-1
Axis
Travel
Speed
M-code
INC-1
Axis
1
800000 pulse
100000 pulse/s
10
Travel
Speed
M-code
INC-1
Axis
1
1000000 pulse
150000 pulse/s
20
Travel
Speed
M-code
CPEND
1
600000 pulse
50000 pulse/s
30
[pulse/s]
V
200000
150000
100000
75000
50000
[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)
ON
[Md.25] M-code
(R: D32013+48n/Q: D13+20n)
Acceleration/deceleration time change enable device
OFF
New acceleration time value device 0
10
ON
20
Control at deceleration time after change
Control at deceleration time at start
2000
30 t
New deceleration time value device 0 500
ON
Speed change request (CHGV) OFF
Change speed 75000
7
7 AUXILIARY AND APPLIED FUNCTIONS
7.7 Acceleration/Deceleration Time Change Function
453
• For control with changed acceleration/deceleration time, even if acceleration/deceleration time change enable device is turned OFF (invalid), control at acceleration/deceleration time after change continues until the operation ends.
V
Control at acceleration/ deceleration time after change t
Acceleration/deceleration time change enable device
OFF
New acceleration time value device
0
ON
2000
New deceleration time value device
0 500
ON
Speed change request (CHGV) OFF
• When position follow-up control (PFSTART) is performed in an axis where trapezoidal acceleration/deceleration is set, and deceleration time is changed to a value smaller than the operation cycle by the acceleration/deceleration time change function during automatic deceleration, positioning to the set address is completed instantly. This can cause vibrations or collisions, and depending on the remaining movement amount, servo errors (such as AL.35) can occur. Add "[St.1048]
Automatic decelerating flag (R: M30208+n/Q: M2128+n)" to an interlock condition to so that acceleration/deceleration time change is not performed during automatic deceleration, or change the acceleration/deceleration time at a deceleration time where deceleration stop can be performed without fail.
454
7 AUXILIARY AND APPLIED FUNCTIONS
7.7 Acceleration/Deceleration Time Change Function
7.8
Pressure Control
In "pressure control" the pressure value of a load cell is controlled by performing pressure control with a pressure control compatible servo amplifier (MR-J4 B-LL).
By setting the feed, dwell, and pressure release processes to devices as profiles, and turning ON the "feed/dwell startup device", control switches to "pressure control mode" and executes pressure control.
When performing pressure control, setting pressure control data for each axis is required. Refer to the pressure control for details on pressure control data. (
Page 211 Pressure control data)
For performing "pressure control", use a pressure control compatible servo amplifier and software version.
The software versions for pressure control compatible servo amplifiers are shown in the table below.
: Not supported
Servo amplifier model Software version
Basic operation
MR-J5(W) B
MR-J4(W) B
MR-J4 B-LL
MR-J3(W) B
MR-JE B
B0 or later
Pressure increasing direction selection for positioning address
(Servo parameter "Pressure control function selection 1 (PT12)")
B7 or later
7
• Pressure control is not supported when control unit is [degree]. If the control unit is set to [degree] and the pressure control parameters are enabled, a moderate error (error code: 30F7H) occurs.
• Up to 8 axes can be controlled with pressure control. When the number of axes set for pressure control exceeds 8 axes, a moderate error (error code: 30F7H) occurs.
• Set the "Stop function at forward/reverse side" of the servo parameter "Pressure control function selection 1
(PT12)" to "1 (Stop at forward side: Valid, stop at reverse side: Invalid)". When stop at reverse side is set to
"Valid", a minor error (error code: 19DFH) occurs.
7 AUXILIARY AND APPLIED FUNCTIONS
7.8 Pressure Control
455
System configuration
A system configuration that uses a pressure control compatible servo amplifier (MR-J4 B-LL) is shown below.
Motion CPU module
R MTCPU
Servo amplifier
MR-J5(W) B/MR-J4(W) B/MR-JE B
Servo amplifier
MR-J4 B-LL
SSCNET cable
MR-J3BUS M(-A/-B)
SSCNET /H (CN1)
Analog input of servo amplifier *2
• Pressure feedback
(load cell pressure feedback)
Servo amplifier
MR-J5(W) B/MR-J4(W) B/MR-JE B
Servo amplifier
MR-J4 B-LL
SSCNET /H (CN2)
External input signals of servo amplifier *1
• Upper stroke limit
• Lower stroke limit
• Proximity dog
R64MTCPU: 2 lines (Up to 64 axes (up to 32 axes per line))
R32MTCPU: 2 lines (Up to 32 axes (up to 16 axes per line))
R16MTCPU: 1 line (Up to 16 axes)
*: Of the axes being used, up to 8 axes may be MR-J4 B-LL
*1 External input signals of the servo amplifier (proximity dog, upper/lower stroke limit) cannot be input with the MR-J4 B-LL. When using external input signals, use "bit device" for the signal type in external signal parameters. When the external signal parameter is set to
"amplifier input" external input signals cannot be used.
*2 Wire the load cell servo amplifier output to the analog input. For more details about MR-J4 B-LL, please consult your local Mitsubishi representative.
456
7 AUXILIARY AND APPLIED FUNCTIONS
7.8 Pressure Control
Outline of pressure control
Pressure control
Pressure control for feed/dwell is available.
The load cell pressure can be monitored with the optional data monitor function. (The load cell pressure is used for feedback for pressure control in the servo amplifier)
Change speed switching point
In the feed operation, the setting of switching points that are before the current value are skipped.
Speed
*: Positioning is performed for sections.
V2
V1 V3
V0 V4
S1 S2 S3
Current value
S4 S5
Stop at speed zero setting
When in feed/dwell operation and a switching point is set to speed 0, a deceleration stop from that point is made.
Ex.
When "V4=0", a deceleration stop from S4 is made.
Speed
V2
V1
V0
S1 S2 S3
V3
S4
V4
S5 S6
Precautions for when backlash compensation is conducted on a pressure control axis
Determining rotation direction at the command level is difficult. Therefore the real current value and the feed current value at the time of changing to position control mode may be displaced by the maximum backlash compensation amount.
(Displacement does not accumulate)
7
7 AUXILIARY AND APPLIED FUNCTIONS
7.8 Pressure Control
457
Pressure profile
Set the pressure profile data specified by the pressure profile start device in order to perform feed/dwell operation.
Setting pressure profile data
Pressure profile data can be set with a Motion SFC program, or with MT Developer2.
■
Setting with Motion SFC program
Write the values directly from the Motion SFC program to the devices on or after the pressure profile start device set in the pressure control data.
■
Setting with MT Developer2
Write the devices in the pressure profile test of MT Developer2.
Refer to the following for details of operation method.
Help of MT Developer2
[Online] [Pressure profile test]
Window
The profile data set in the pressure profile test is not saved to the project. In order to enable profile data when starting up the Motion CPU, perform the following.
• Set the device area of devices set by the pressure profile data to the latch range.
• Create a Motion SFC program to set pressure profile data.
458
7 AUXILIARY AND APPLIED FUNCTIONS
7.8 Pressure Control
+156
+157
+158
+159
+160
+161
+26
+27
+28
+29
+30
+31
+152
+153
+154
+155
+21
+22
+23
+24
+25
+16
+17
+18
+19
+20
+6
+7
+8
+9
+1
+2
+3
+4
+5
Device assignment of pressure profile data
Pressure profile data is stored to the device that is set as the pressure profile start device as follows.
Offset Name
+0 Feed data Number of steps
Unusable
Step No.0
End address (SE)
Description
Set the number of steps for feed data.
Set the data for the set number of steps.
Set 0.
Set the final intended position in feed/dwell operation.
Cannot be changed while running.
Range
1 to 16
0
-2147483648 to 2147483647
Start speed (V0) Set the start speed limit value for feed operation.
Can be changed during feed operation.
Start pressure (PR0) Set the start pressure command value for feed operation.
Cannot be changed while running.
mm : 0 to 600000000 inch : 0 to 600000000 pulse : 0 to 2147483647
0 to 32767
0 to 8388608 [ms]
+10
+11
+12
+13
+14
+15
Speed limit value time constant
Set the acceleration/deceleration time for the speed limit value.
Set the time taken for speed limit value to reach the pressure control speed limit reference from 0.
Step No.1
Pressure command time constant
Switching address
(S1)
Set the pressurization/depressurization time for the pressure command. Set the time taken for pressure command to reach the pressure command reference from 0.
Set the switching address of the speed setting/pressure for feed operation.
Cannot be changed while running.
Switching speed (V1) Set the speed limit value for feed operation.
Can be changed during feed operation.
Switching pressure
(PR1)
Set the pressure command for feed operation.
Cannot be changed while running.
0 to 8388608 [ms]
-2147483648 to 2147483647 mm : 0 to 600000000 inch : 0 to 600000000 pulse : 0 to 2147483647
0 to 32767
Unusable
Step No.2
Switching address
(S2)
Switching speed (V2)
Switching pressure
(PR2)
Set 0.
Data for the number of steps set in "Number of steps" is valid.
Setting of data for steps after the set number of steps is not necessary.
0
-2147483648 to 2147483647 mm : 0 to 600000000 inch : 0 to 600000000 pulse : 0 to 2147483647
0 to 32767
Unusable
Step No.15 Switching address
(S15)
Switching speed
(V15)
Switching pressure
(PR15)
Unusable
0
-2147483648 to 2147483647 mm : 0 to 600000000 inch : 0 to 600000000 pulse : 0 to 2147483647
0 to 32767
0
7
7 AUXILIARY AND APPLIED FUNCTIONS
7.8 Pressure Control
459
+188
+189
+190
+191
+192
+193
+180
+181
+182
+183
+184
+185
+186
+187
+174
+175
+176
+177
+178
+179
Offset Name
+162
+163
+164
+165
Feed to dwell switching conditions
Switching address (SC)
Feed/dwell switching mode
+166
+167
+168
+169
+170
+171
+172
+173
Dwell data
Description
Specify the feed to dwell switching address.
Specify the feed to dwell switching condition.
Switching pressure (PRC)
Feed to dwell switching Speed limit value time constant
Feed to dwell switching Pressure command time constant
Number of steps
Mode selection
Specify the feed to dwell switching pressure value when "1:
Address & load cell pressure" is specified in feed/dwell switching mode.
Set the acceleration/deceleration time of the speed limit value for when switching from feed to dwell. Set the time taken for speed limit value to reach the pressure control speed limit reference from 0.
Set the pressurization/depressurization time of position command for when switching from feed to dwell. Set the time taken for pressure command to reach the pressure command reference from 0.
Set the number of steps for dwell data.
Set the data for the set number of steps.
Set the dwell operation mode.
The time constant is valid for the speed limit value.
Step No.1
Set time (T1)
Range
-2147483648 to 2147483647
0: Address
1: Address & load cell pressure
0 to 32767
0 to 8388608 [ms]
0 to 8388608 [ms]
1 to 16
0: The time constant is valid for the second step and after
1: The time constant is invalid and pressure command points for the second step and after are connected with a straight line
0 to 999999 [ms]
Set speed (V1)
Set pressure (PR1)
Unusable
Set the dwell speed/pressure switching time.
Cannot be changed while running.
Set the speed limit value for dwell operation.
Cannot be changed while running.
Set the pressure command for dwell operation.
When mode selection is "0", can be changed during dwell operation.
When mode selection is "1", cannot be changed during dwell operation.
Set 0.
mm : 0 to 600000000 inch : 0 to 600000000 pulse : 0 to 2147483647
0 to 32767
0
Step No.2
Set time (T2)
Set speed (V2)
Set pressure (PR2)
Unusable
Data for the number of steps set in "Number of steps" is valid.
Setting of data for steps after the set number of steps is not necessary.
0 to 999999 [ms] mm : 0 to 600000000 inch : 0 to 600000000 pulse : 0 to 2147483647
0 to 32767
0
460
7 AUXILIARY AND APPLIED FUNCTIONS
7.8 Pressure Control
+338
+339
+340
+341
+328
+329
+330
+331
+332
+333
+334
+335
+336
+337
Offset Name
+324
+325
+326
+327
Dwell data
Step No.16 Set time (T16)
Set speed (V16)
Set pressure (PR16)
Unusable
Pressure release data
End address (SE2)
Start speed (V0)
+342
+343
Start pressure (PR0)
Speed limit value time constant
Speed limit value stop time constant
Description
Data for the number of steps set in "Number of steps" is valid.
Setting of data for steps after the set number of steps is not necessary.
Range
0 to 999999 [ms] mm : 0 to 600000000 inch : 0 to 600000000 pulse : 0 to 2147483647
0 to 32767
0
Set the final intended position in pressure release operation.
Cannot be changed during pressure release operation.
Set the start speed limit value for pressure release operation.
Cannot be changed during pressure release operation.
-2147483648 to
2147483647 mm : 0 to 600000000 inch : 0 to 600000000 pulse : 0 to 2147483647
0 to 32767 Set the start pressure command value for pressure release operation.
Can be changed during pressure release operation.
Set the acceleration/deceleration time for the speed limit value of speed limit value time constant pressure release operation.
Set the time taken for speed limit value to reach the pressure control speed limit reference from 0.
Set the deceleration time of the speed limit value that decelerates to the end address. Set the time taken for speed limit value to reach the pressure control speed limit reference from 0.
0 to 8388608 [ms]
0 to 8388608 [ms]
• The M-code output function is not supported. Determine the current point with the execution point device.
• The unit of the pressure command value differs to that of the pressure unit. The analog input value from the load cell is processed as A/D conversion data within the range of 0 to 32767. (The A/D converted data unit is the analog input conversion value of the 10 V parameter in the servo amplifier)
• If the applicable axis is already starting at startup of pressure control, pressure control does not startup.
• The speed change processing by CHGV instruction to an axis that is running pressure control is invalid.
• If the difference between the end address and real current value exceeds 2 -31 [pulse] in motor encoder pulse units, a minor error (error code: 19E0H) may occur. Operate within a stroke range that does not exceed 2 -31 [pulse] in motor encoder pulse units.
7
7 AUXILIARY AND APPLIED FUNCTIONS
7.8 Pressure Control
461
Feed/dwell operation
A servo program for feed/dwell operation is not necessary. Pressure profile data from the device specified with the pressure control parameter "Pressure profile start device" is written to the device, and feed/dwell operation starts by turning the feed/ dwell startup device from OFF to ON. The acceleration/deceleration time or pressurization/depressurization time for the speed limit value and pressure command can be set separately.
An acceleration/deceleration time or pressurization/depressurization time for speed limit value or pressure command that is valid only when switching from feed operation to dwell operation can also be set.
By setting "1: The time constant is invalid and pressure command points for the second step and after are connected with a straight line" in "Mode selection" of the pressure profile data, the time constant can be made invalid for the pressure command of the second step of dwell data and after, and the operation can connect steps with a straight line.
When the "Pressure increasing direction selection for positioning address" of the servo parameter "Pressure control function selection 1 (PT12)" is set to "0: Increase pressure with the decrease of positioning address", or for servo amplifiers that do not support "Pressure increasing direction selection for positioning address", set the address direction of the servo amplifier so that forward direction is a negative direction.
Dwell
Speed/
Pressure
Feed
V3
PR0
PR1 PR2
V2
V1
V0 PR3
V4
PR4
V1
PR1
V2
PR2
SS
1H
S1
2 4
Execution point output No.
8
S2 S3 S4
10 1H 2
T1
Feed to dwell switching Mode reset
When the servo parameter "Pressure control function selection 1 (PT12)" is changed, turn the power supply of the Multiple CPU system OFF to ON again, or reset the Multiple CPU system.
If operated without the new settings being reflected in the system, an unintended operation such as the movement to the end address without referring to load cell pressure may occur.
462
7 AUXILIARY AND APPLIED FUNCTIONS
7.8 Pressure Control
Processing details
• Feed/dwell operation starts by turning ON the feed/dwell startup device from the sequence program or Motion SFC program. When feed/dwell operation is started, a check of set data, change speed switching point, and speed zero check is performed.
• Based on the mode switching information set in the feed to dwell switching conditions, the Motion CPU automatically determines the switching point to dwell mode.
• After starting operation, control is performed with the values that were set.
• Upon reaching the end address, the mode is reset. (Switch from pressure control to positioning control)
• Speed/pressure changes can be ended at the number of feed/dwell steps that are set.
• The switching timer is ignored, and the end pressure of the dwell operation continues until the feed/dwell startup device is turned OFF. This setting can also be changed to mode reset at the passing of the switching timer in the mode reset selection after passing dwell time. The dwell time passed (b4) of the pressure control status device turns ON after the passing of the switching timer for the end pressure, and turns OFF with the feed/dwell startup device turning OFF to ON.
• The feed start step operates at "pressure command time constant = 0" without referring to the settings. Step 2 and after, operates at the set time constant.
• The execution point No. is stored as the execution step in bits.
• The pressure release operation cannot be executed during feed/dwell operation.
• When the required setting values at the startup of pressure control are outside the range, the pressure control status device
(feed/dwell (b0)) does not turn ON, and a minor error (error code: 19E1H) occurs.
• When the required setting values are changed to values outside the range during pressure control, the setting values are ignored, operation continues with the present setting values, and a warning (error code: 09E3H) occurs.
• Abnormal pressure switching forcibly switches from feed mode to dwell mode when the time in an abnormal state exceeds the time that was set to abnormal pressure. Selecting the abnormal pressure switching mode beforehand is necessary.
When "[Rq.2000] PLC ready flag (R: M30000/Q: M2000)" turns OFF at feed or pressure release operation, pressure control mode ends. Set the "Stop function at forward/reverse side" of the servo parameter "Pressure control function selection 1
(PT12)" to "1 (Stop at forward side: Valid, stop at reverse side: Invalid)". When stop at reverse side is set to "Valid", a minor error (error code: 19DFH) occurs. Set a software stroke limit in a mode where the pressure control axis will continue reversing due to a failure in the load cell during pressure control.
• When an axis that has pressure control set to valid does not support pressure control, a minor error (error code: 1CB1H) occurs.
Mode selection
By setting the mode selection, "0: The time constant is valid for the second step and after", or "1: The time constant is invalid and pressure command points for the second step and after are connected with a straight line" can be selected for the pressure command of the second step of dwell operation and after.
Pressure
: Mode selection "0"
: Mode selection "1"
32767
Change by the pressure command time constant at switching
6000
5000
4000
Change by the pressure command time constant
Connect two points with a straight line
3000
2000
1000
0
Feed operation
Dwell step 1
0 1000 2000 3000 4000 5000 6000
Dwell step 2
Dwell step 3
Dwell step 4
Dwell step 5
Time[ms]
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7 AUXILIARY AND APPLIED FUNCTIONS
7.8 Pressure Control
463
Pressure release operation
A servo program for pressure release operation is not necessary. Pressure profile data from the device specified with the pressure control parameter "Pressure profile start device" is written to the device, and pressure release operation starts by turning the pressure release startup device from OFF to ON. The speed limit value time constant can be set.
Mode reset
V0
Load cell pressure
PR0
SE2
Pressure release operation startup
Processing details
• Pressure release operation starts by turning ON the pressure release startup device from the sequence program or Motion
SFC program. If the load cell pressure drops below the set pressure when either the real current value passes the end address or the output speed is 0, the mode resets.
• When the deceleration start point of the speed limit value stop time constant to the end address is reached, deceleration starts automatically. Note that if the output speed is a minute number, it may not reach the end address. In this case, increase the start speed (V0), or reduce the speed limit value stop time constant.
• The mode resets regardless of the status by turning OFF the pressure release startup device. When this happens, the speed limit value time constant is used to decelerate to a stop.
• Pressure can be changed during pressure release operation. Speed and address cannot be changed during pressure release operation.
• Feed/dwell operation cannot be executed during pressure release operation.
• When the required setting values at the startup of pressure release operation are outside the range, the pressure control status device (pressure release (b3)) does not turn ON, and a minor error (error code: 19E1H) occurs.
• When the required setting values are changed to values outside the range during pressure release control, the setting values are ignored, operation continues with the present setting values, and a warning (error code: 09E3H) occurs.
• "1" is stored in the execution point device of pressure release operation.
Operation by stroke limit
When the real current value exceeds the software stroke limit, a minor error (error code: 1993H, 1995H) occurs, and control switches to positioning control.
Be sure to set a software stroke limit because the pressure control axis has modes that continue reversing due to a failure in the load cell during pressure control.
Using point No. to substitute M-code
The execution point No. stores the execution step in a value converted to hexadecimal. Each step is displayed in bits, and shifts left by 1 bit for every step advanced.
464
7 AUXILIARY AND APPLIED FUNCTIONS
7.8 Pressure Control
Pressure control settings
This section explains the address for feed/dwell operation, and setting method for speed/pressure.
Feed step 1 Feed step 2 Dwell step 1 Dwell step 2
Motor speed
Load cell pressure
Speed limit value
Pressure command value
Feed Dwell
Switching point
*: is change by the time constant setting.
• The time constant of the switching point is set in "Feed to dwell switching speed limit value time constant" and "Feed to dwell switching pressure command time constant". Set the switching point slightly before the position where load cell pressure increases dramatically. When setting the mode switching point, and switching by position only, specify "0:
Address" to the feed/dwell switching mode. When also making the load cell pressure as a switching condition, specify "1:
Address & load cell pressure" to the feed/dwell switching mode, and set the switching pressure.
• For points that start deceleration at low speeds, set the point so that the motor is at a low speed until pressure increases even slightly.
• Set pressure settings so that feed step 1 = dwell step 1. During feed, the pressure command is clamped by the speed limit value, therefore it is not true pressure control.
• When the load cell pressure overshoots at the switching point, make the feed to dwell switching speed limit value time constant longer.
• To make operation smooth, make the speed limit value time constant and pressure command time constant longer.
• When the motor speed at the start of operation does not reach the set speed, make the first step of pressure command during feed larger. (Changing the value of the first step of dwell is not required.)
• When a load cell fails and becomes a high pressure, the motor continues reversing in order to lower pressure and may collide with machinery. Set a stroke limit to prevent a collision.
• The servo parameter "Pressure control F/B input offset (PT21)" is normally set to "0". When adjusting offset with the user program, change the servo parameter with the servo parameter read/change function. Refer to the following for details on the servo parameter read/change function.
MELSEC iQ-R Motion Controller Programming Manual (Common)
7
7 AUXILIARY AND APPLIED FUNCTIONS
7.8 Pressure Control
465
Mode reset after passing dwell time
When "1: Reset mode after passing dwell time" is set in mode reset selection after passing dwell time, the system (Motion
CPU) automatically resets mode after passing the set time of the dwell final step. (Operation is returned to positioning control from pressure control.)
Without turning the feed/dwell startup device OFF, control automatically returns to positioning control when the set dwell time passes.
When "0: Do not reset mode after passing dwell time" is set, "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)" stays turned ON even after passing the set time of the dwell final step.
Regardless of the setting for the mode reset selection after passing dwell time, if the real current value reaches the final address, "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)" turns OFF, and the mode resets. (Returns to positioning control from pressure control)
Precautions
The feed/dwell startup device is not turned OFF automatically.
Check if the control mode has been changed to position control mode by viewing the status of pressure control status devices
(feed/dwell (B0), dwell (B1)).
When starting pressure control again, turn OFF the feed/dwell startup device, and turn it back ON again to execute pressure control.
Stop causes during pressure control mode
The following describes the operations for stop causes during pressure control mode.
Item
The "[Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n)" turned ON
The "[Rq.1141] Rapid stop command (R: M34481+32n/Q:
M3201+20n)" turned ON
The external stop input turned ON
The "[Rq.1123] All axes servo ON command (R: M30042/Q:
M2042)" turned OFF
The "[Rq.1155] servo OFF command (R: M34495+32n/Q:
M3215+20n)" turned ON
The software stroke limit is reached
The hardware stroke limit is reached
The "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turned
OFF.
The forced stop input to Motion CPU.
The forced stop input to servo amplifier.
The servo error occurred.
The servo amplifier's control circuit power supply turned OFF.
Operation during torque control mode
The speed limit command value commanded to servo amplifier is 0 regardless of the setting value of "speed limit value". The mode is switched to position control mode when
"ZERO speed (b3)" of "[Md.1022] Servo status2 (R: D32033+48n/Q: #8011+20n)" turns
ON, and the operation stops immediately. (Deceleration processing is not executed.)
The servo OFF is not executed during pressure control mode. The command status at that time becomes valid when the mode is switched to position control mode.
The minor error (error code: 1900H, 1905H, 1907H, 1993H, 1995H) will occur. The mode is switched to position control mode at current position, and the operation immediately stops. (Deceleration processing is not executed.)
The mode is switched to position control mode when the servo OFF (The "[St.1075] Servo ready (R: M32415+32n/Q: M2415+20n)" turns OFF) is executed.
(While the servo amplifier is servo OFF, even if the mode is switched to position control mode, the servo motor occurs to the free run. (The operation stops with dynamic brake.))
The motor occurs to the free run. (The operation stops with dynamic brake.) (The mode is to position control mode at the servo amplifier's power supply ON again.)
466
7 AUXILIARY AND APPLIED FUNCTIONS
7.8 Pressure Control
7.9
Override Function
The override function sets an override ratio of 0.0 to 300.0[%] in increments of 0.1[%] to be applied to the command speed during positioning control. The speed command with the override ratio applied is the actual feed speed. For interpolation operations or machine operations, the override ratio setting of the lowest axis is valid.
The types of controls where override function can be used are shown below.
: Usable, : Unusable
Control mode Servo instruction Usable/unusable
Servo axis
Linear control
Command generation axis
ABS-1 ABS-2 ABS-3 ABS-4
INC-1 INC-2 INC-3 INC-4
Circular interpolation control
ABS circular INC circular
Helical interpolation control
ABS helical INC helical
Fixed-pitch feed control
FEED-1 FEED-2 FEED-3
Continuous trajectory control
CPSTART1 CPSTART2 CPSTART3 CPSTART4
Speed control ( )
VF VR
Speed control ( )
VVF VVR
Speed-position switching control
VPF VPR VPSTART
Position follow-up control
PFSTART
Speed control with fixed position stop
Simultaneous start
PVF PVR
START
JOG operation
Manual pulse generator operation
High-speed oscillation
OSC
Home position return
ZERO
Speed-torque control
Pressure control
Machine control
Direct positioning control by Motion dedicated PLC instruction (M(P).SVSTD/D(P).SVSTD)
*1 In high-speed oscillation, the override is applied to the frequency.
*2 The override of axes assigned as G-code control axes is ignored. The override for G-code control is used.
Setting the override
The change of speed by override function is set in the override ratio setting device. The override ratio setting device sets override data, and each axis in the command generation axis parameter.
Refer to override data for details on override data. (
Refer to the following for details of the command generation axis parameter.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
• Set the value of the override ratio to the device set as the override ratio setting device.
Name
Override ratio setting device
Setting range
0 to 3000( × 10 -1 [%])
7
7 AUXILIARY AND APPLIED FUNCTIONS
7.9 Override Function
467
Precautions
• The acceleration/deceleration processing for when the override ratio is changed during positioning control is performed at the acceleration/deceleration time set in the parameter block (or positioning data of the servo instruction) at the start.
However when the acceleration/deceleration time change function is valid, acceleration/deceleration processing is performed at the acceleration/deceleration time set in the acceleration/deceleration time change function. The positioning controls for which acceleration/deceleration time change is valid are shown below.
• Linear control
• Fixed-pitch feed
• Speed control ( )
• Speed control ( )
• Speed-position switching control
• Position follow-up control
• Continuous trajectory control (linear control only)
• JOG operation
• When the data set to the override ratio is outside of range, a warning (error code: 09E2H) occurs, and speed is not changed. (At startup, operation is at 100.0[%] of the program command speed, when running, operation is at the speed before the change.)
For machine control, a warning (error code: 0EE0H(details code: 00F2H)) occurs.
• At startup, if "[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)" is ON and advanced S-curve acceleration/deceleration is being used, the override function is disabled.
• When the override ratio is changed after performing a speed change request (CHGV) for speed "0", the speed is "0" even after applying the override to speed "0". Change the override ratio after changing the speed change request (CHGV) to a speed other than "0".
• For a speed change by override function, "[St.1047] Speed change accepting flag (R: M30144+n/Q: M2061+n)" and
"[St.346] Command generation axis speed change accepting flag (R: M36571+32n/Q: M9811+20n)" do not turn ON.
• When override ratio is set to "0", "[St.1049] Speed change "0" accepting flag (R: M30272+n/Q: M2240+n)" and "[St.347]
Command generation axis speed change "0" accepting flag (R: M36572+32n/Q: M9812+20n)" turn ON. In this case, an event history is recorded.
• When the speed after "program command speed × override ratio" exceeds the speed limit value, the feed speed is clamped at the speed limit value and a warning (error code: 0991H) occurs.
For machine control, a warning (error code: 0EE0H(details code: 00F3H)) occurs.
• When the speed after "program command speed × override ratio" is less than bias speed at start, a warning (error code:
0A5DH) occurs and speed is not changed. (At startup, operation is at 100.0[%] of the program command speed, when running, operation is at the speed before the change.)
• In high-speed oscillation the override is applied to the frequency. There is a possibility of operating at a frequency that exceeds the frequency set by the program due to the override ratio. When the range for frequency (1 to 5000[CPM) is exceeded due to the override ratio, a warning (error code: 09E1H) occurs, and frequency is clamped at 5000[CPM].
• Speed is not changed by override ratio after the fixed position stop command is turned ON during speed control with fixed position stop.
• Speed is not changed by override ratio when override ratio is changed during automatic deceleration, or during stop/rapid stop.
• The values of "[Md.28] Command speed (R: D32024+48n, D32025+48n/Q: #8004+20n, #8005+20n)" and "[Md.348]
Command generation axis command speed (R: D36492+48n, D36493+48n/Q: D12612+20n, D12613+20n)" are updated with the value including the override ratio when override is being used.
In machine program operation,"[Md.2083] Machine program operation target speed (D53276+128m, D53277+128m)" is also updated with the value including the override ratio when override is being used.
• Override is disabled in the output axes of advanced synchronous control.
• Override is disabled in positioning control in test mode.
468
7 AUXILIARY AND APPLIED FUNCTIONS
7.9 Override Function
• When "[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)" is ON in continuous trajectory control, speed is not changed by override ratio if the override ratio is changed during deceleration for a speed change at a pass point. For this case, from the pass point, speed is changed to the speed calculated by "command speed of the next point × override ratio".
V
P3 command speed override ratio
P1 and P2 command speed
P3 command speed t
Continuous trajectory control pass point
[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)
OFF
P1
ON
Override ratio setting device 1000
P2 P3
3000
(1)
When the override ratio is changed during deceleration of the speed change to P3 (section (1)), the speed is not changed.
Speed is changed to the speed of “P3 command speed override ratio” from the beginning of P3.
• In machine control, the override ratio setting of the machine configuration axis with the lowest axis No. is valid.
Ex.
For the following machine configuration axes
The override ratio setting of axis 1 is valid.
Item
Joint axis JNT1
Joint axis JNT2
Joint axis JNT3
Machine configuration axis
Axis 3
Axis 1
Axis 2
• In sequential coordinate command control of machine program operation, override is invalid.
Combining with speed change request (CHGV)
The following describes the operation for when speed is changed with Motion dedicated functions (CHGV, CHGVS), or Motion dedicated PLC instructions (M(P).CHGV/D(P).CHGV) when using override.
• Operation is at the speed of "speed change request (CHGV) speed × override ratio". However, when the speed of "speed change request (CHGV) speed × override ratio" exceeds the speed limit value, a warning (error code: 0991H) occurs, and the feed speed is clamped at the speed limit value.
• When the speed after "speed change request (CHGV) speed × override ratio" is less than bias speed at start, a warning
(error code: 0A5DH) occurs and speed is not changed.
• For continuous trajectory control, "speed change request (CHGV) speed > command speed in servo program" is permitted.
(For continuous trajectory control where override is not used, the command speed in servo program cannot not be exceeded.)
• For continuous trajectory control, speed is maintained unless the command speed is specified at a point. For points where command speed is specified, speed change request (CHGV) is cancelled, and the speed becomes "program command speed × override ratio".
• When the override ratio is changed during acceleration or deceleration for a speed change request (CHGV), speed is changed to the speed of "speed change request (CHGV) speed × override ratio" from the point where the override ratio was changed.
7
7 AUXILIARY AND APPLIED FUNCTIONS
7.9 Override Function
469
Operation timing
The operation timing of a speed change by the override function is shown below.
■
When override ratio is changed
[Servo program]
[K 1]
INC-1
Axis
Travel value
Speed
1
50000 pulse
10000 pulse/s
[K 2]
INC-1
Axis
Travel value
Speed
1
10000 pulse
10000 pulse/s
[K 3]
INC-1
Axis
Travel value
Speed
1
100000 pulse
10000 pulse/s
[Operation timing]
Command speed [pulse/s]
V
30000
20000
10000
(4) t
Override ratio setting device
1000 3000 250 0 1500 500
(1) (1)
Servo program start
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
[St.1049] Speed change "0" accepting flag
(R: M30272+n/Q: M2240+n)
OFF
ON
(2) ON (3)
Servo program No.1
Servo program No.2
Servo program No.3
(1) When running, speed change starts from the position where override ratio was changed.
(2) When override ratio is set to "0", just as when speed is changed to "0", a deceleration stop is performed and
"[St.1049] Speed change "0" accepting flag (R: M30272+n/Q: M2240+n)" turns ON.
(3) Operation is restarted by changing the override ratio from "0".
(4) Even when the override ratio has been changed at the start, acceleration/deceleration is performed with the
speed including the override ratio.
470
7 AUXILIARY AND APPLIED FUNCTIONS
7.9 Override Function
■
When speed change request (CHGV) is executed
[Servo program]
[K1]
CPSTART1
Axis
Speed
INC-1
Axis
1
20000 pulse/s
1
Travel value 50000 pulse
INC-1
Axis 1
Travel value 80000 pulse
Speed
CPEND
40000 pulse/s
[Operation timing]
Command speed [pulse/s]
V
40000
30000
20000
10000
(2)
(1)
Override ratio setting device
Speed change request
(CHGV) (Specified speed:
60000[pulse/s])
Servo program start
500
ON
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
1st point 2nd point
(1) When speed change request (CHGV) is executed, speed is changed to "speed change request (CHGV) override ratio".
During continuous trajectory control, speed can be changed to a speed that exceeds the command speed
of each point.
(2) Speed change request (CHGV) for switching to a point with command speed specified, is cancelled and
the speed is "program command speed override ratio".
t
7
7 AUXILIARY AND APPLIED FUNCTIONS
7.9 Override Function
471
7.10
Vibration Suppression Command Filter
The vibration suppression command filter function is used to suppress vibrations in position control on the load-side such as vibrations of the work platform and shaking of the machine frame. The function is used to suppress vibrations of low frequencies that cannot be set in a filter such as the servo amplifier command notch filter, and applications where frequency is changed during operation. By setting the vibration frequency, a command that suppresses that frequency is generated, thus controlling vibration. Up to two vibration suppression command filters can be set simultaneously to one servo amplifier axis.
When activating the vibration suppression command filter, the vibration suppression command filter data for each axis must be set. Refer to vibration suppression command filter data for details of vibration suppression command filter data. (
215 Vibration Suppression Command Filter Data)
The control modes that support vibration suppression command filter are shown in the chart below.
The vibration suppression command filter is only valid in positioning control mode, however if the filter is set during home position return, it stays invalid.
: Valid : Invalid
Control mode
Positioning control mode
Speed control mode
Torque control mode
Continuous operation to torque control mode
Pressure control mode
Vibration suppression command filter valid/invalid
(Invalid during speed control( ) and during home position return)
Vibration suppression command filter operation
There are two types of filter that are set in vibration suppression command filter data: "Vibration suppression command filter
1", and "Vibration suppression command filter 2".
Before starting positioning control, set the "frequency" of "vibration suppression command filter 1" and "vibration suppression command filter 2", and change "mode selection device" in "vibration suppression command filter 1" and "Vibration suppression command filter 2" from "0: Invalid" to the filter method to be set (1: Smoothing filter, 2: FIR filter, 3: IIR filter).
Smoothing filter and FIR filter can be set to vibration suppression command filter 1. When changing settings such as the filter frequency, change with the status of the device set in command output complete signal after filter turned ON. If the value is changed while the filter is operating, the filter becomes invalid.
IIR filter can be set to vibration suppression command filter 2. When IIR filter is set, the filter frequency setting can be changed immediately during positioning operation.
Parameters written from MT Developer2 are fetched by turning the power supply of the Multiple CPU system OFF and ON again. When parameter settings are changed, turn the Multiple CPU system back ON again, or reset the system.
Filter method selection
The operation examples and application examples for filter method selection are shown below.
■
Application examples
Application example
Minimizing torque change of the motor
Suppressing a frequency below 1Hz
Minimizing the command delay caused by the filter
Changing frequency during positioning operation
Suppressing more than one frequency
Filter method
Smoothing filter
Smoothing filter
FIR filter
FIR filter
IIR filter
Use filter methods together
• Low frequency: Smoothing filter or FIR filter
• High frequency: IIR filter
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7 AUXILIARY AND APPLIED FUNCTIONS
7.10 Vibration Suppression Command Filter
■
Operation example
• Smoothing filter
The smoothing filter can remove frequencies higher than the set frequency creating smooth acceleration/deceleration waveforms from all waveforms higher than the set value. The smoothing time constant is 1/frequency[s], and the acceleration/deceleration times are extended by the smoothing time constant only. Depth setting is invalid in the smoothing filter.
Positioning speed
V
: Before filter
: After filter
Acceleration time
Smoothing time constant
Deceleration time t
Time
Smoothing time constant
• FIR filter
The FIR filter removes only the specified frequencies by superimposing the waveforms that delay phases for only half of the vibration cycle for position control. The filter time constant is "1/(frequency × 2)[s]", and the acceleration/deceleration times are extended by the filter time constant only. Filter depth can be set. When the effect of the filter is too small, make the depth larger.
Positioning speed
V
: Before filter
: After filter
7
Acceleration speed
Filter time constant
Deceleration time t
Time
Filter time constant
• IIR filter
The IIR filter removes only the specified frequencies for position control. Although the delay time changes depending on the pattern, acceleration/deceleration times are extended 1/frequency[s] to approximately 1/1.5
× frequency. For the IIR filter, the frequency value can also be changed during positioning operation. However, if the frequency value is changed drastically in a short period of time, a sudden operation can occur, and an alarm or warning can occur. When changing frequency during operation, while checking operation, gradually change the value by units such as 0.01[Hz].
Positioning speed
V
: Before filter
: After filter
Acceleration time Deceleration time t
Time
7 AUXILIARY AND APPLIED FUNCTIONS
7.10 Vibration Suppression Command Filter
473
Deceleration stop by stop command/rapid stop command
Because a deceleration stop at a stop command/rapid stop command is conducted at command values after filter, the travel distance after a stop signal is longer compared to when filter is invalid.
Also, when a stop command and rapid stop command are input during acceleration, because of the delay from the filter, a time delay occurs until speed begins to decelerate, thus the stop takes more time.
When using stop command/rapid stop command with vibration suppression command filter, check the actual delay time and travel distance by taking the estimated stop position and stopping distance into consideration and use only after ensuring safety.
■
When stop signal turns ON during a fixed speed
Set speed
V
: Speed without using filter
: Speed when using filter
[Rq.1140] Stop command
(R: M34480+32n/Q: M3200+20n)
OFF
■
When stop signal turns ON during acceleration
Set speed
V
Deceleration time
ON
Delay time
: Speed without using filter
: Speed when using filter
Stop t
Deceleration stop time according to settings
Stop t
Deceleration
ON time
Delay time
[Rq.1140] Stop command
(R: M34480+32n/Q: M3200+20n)
OFF
Measuring vibration
With the filter invalid, measure the vibration cycle with the vibration of the deviation counter occurring after command stop
(after command speed 0), or the value of the external acceleration sensor signal with a graph function (MR Configurator2) etc., and set that frequency.
The frequency can be analyzed by using the FFT analyzer function of MR Configurator2. Refer to the following for details.
Help of MR Configurator2 dB
Droop pulse value (MR Configurator2), external acceleration sensor signal etc.
FFT analyzer function example Vibration cycle [Hz] of the shake or vibration
Command speed
[pulse/s] t t
Vibration cycle [Hz]
474
7 AUXILIARY AND APPLIED FUNCTIONS
7.10 Vibration Suppression Command Filter
Monitor values when using vibration suppression command filter
Although the positioning complete signal is turned ON after positioning control, because of the delay caused by the filter, the actual positioning operation may not be complete. To check the completion of command outputs to the positioning address, check the command output complete signal after the filter.
Each monitor value is as follows when filter is set.
Monitor value for before filter
• [St.1040] Start accept flag (R: M30080+n/Q: M20001+n)
• [St.1061] Positioning complete (R: M32401+32n/Q: M2401+20n)
• [St.1063] Command in-position (R: M32403+32n/Q: M2403+20n)
• [Md.20] Feed current value (R: D32000+48n, D32001+48n/Q: D0+20n,
D1+20n)
• [Pr.300] Servo input axis type (feed current value, servo command value)
• [St.1048] Automatic decelerating flag (R: M30208+n/Q: M2128+n)
Monitor value for after filter
• Feed current value monitor device after filter
• Command output complete signal after filter
• [Md.101] Real current value (R: D32002+48n, D32003+48n/Q: D2+20n,
D3+20n)
• [Md.102] Deviation counter value (R: D32004+48n, D32005+48n/Q:
D4+20n, D5+20n)
• [Md.28] Command speed (R: D32024+48n, D32025+48n/Q: #8004+20n,
#8005+20n)
• [Pr.300] Servo input axis type (real current value, feedback value)
• Optional data monitor (registered monitor: Servo command value)
• Mark detection data (servo command value)
• Limit output data (Watch data: Servo command value)
Precautions when using vibration suppression command filter
• The filter is performed when processing send commands to the servo amplifier and the results are reflected in "[Md.28]
Command speed (R: D32024+48n, D32025+48n/Q: #8004+20n, #8005+20n)", "feed current value monitor device after filter", and "servo command value" in the optional data monitor, but values before filter are reflected in "[Md.20] Feed current value (R: D32000+48n, D32001+48n/Q: D0+20n, D1+20n)", "[St.1063] Command in-position (R: M32403+32n/Q:
M2403+20n)", "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)", "[St.1061] Positioning complete (R: M32401+32n/
Q: M2401+20n)" etc. When checking the actual completion of positioning operation, use "[St.1062] In-position (R:
M32402+32n/Q: M2402+20n)" and "command output complete signal after filter" together.
• When using vibration suppression command filter 1, FIN acceleration/deceleration cannot be used. With mode selection device set , and FIN acceleration/deceleration set in continuous trajectory control, a warning (error code: 0A39H) occurs and FIN acceleration/deceleration is disabled. When using FIN acceleration/deceleration, do not set the mode selection device of vibration suppression command filter 1.
• "[Md.20] Feed current value (R: D32000+48n, D32001+48n/Q: D0+20n, D1+20n)" is updated with the value before filter, and "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)", "[St.1061] Positioning complete (R: M32401+32n/Q:
M2401+20n)", and "[St.1063] Command in-position (R: M32403+32n/Q: M2403+20n)" operate based on "[Md.20] Feed current value (R: D32000+48n, D32001+48n/Q: D0+20n, D1+20n)". Check the positioning command being sent to the servo amplifier with "feed current value monitor device after filter", or "servo command value" in the optional data monitor.
"[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)" turns OFF with the value before filter, however at this stage the command being sent to the servo amplifier may not have reached the target position. To confirm if the command has reached the target position, check that the "command output complete signal after filter" is turned ON.
7
7 AUXILIARY AND APPLIED FUNCTIONS
7.10 Vibration Suppression Command Filter
475
• If the filter method setting (1: Smoothing filter, 2: FIR filter, 3: IIR filter) for the "mode selection device" of "vibration suppression filter 1/2" is changed to "0: Invalid" while the vibration suppression command filter is operating, the vibration suppression command filter is not invalid immediately. The vibration suppression command filter is invalid when command output complete signal after filter turns ON.
V
[Md.20] Feed current value
(R: D32000+48n, D32001+48n/Q: D0+20n, D1+20n)
Feed current value after filter
Filter change processing starts
V
Filter continues as enabled t
Servo program start
Command in-position set value
ON
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
OFF
ON
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
OFF
ON
[St.1063] Command in-position
(R: M32403+32n/Q: M2403+20n)
Vibration suppression command filter frequency
Vibration suppression command filter mode selection device
Command output complete signal after filter
ON
0
0: Invalid 1: Smoothing filter
OFF
20.0Hz
0: Invalid
• When a servo program is started up consecutively before the command output complete signal after filter turns ON, filter processing continues and does not become invalid even by changing the mode selection device to "0: Invalid".
[Md.20] Feed current value
(R: D32000+48n, D32001+48n/Q: D0+20n, D1+20n)
Feed current value after filter t
Servo program start
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
OFF
ON
[St.1063] Command in-position
(R: M32403+32n/Q: M2403+20n)
Vibration suppression command filter frequency
Vibration suppression command filter mode selection device
Command output complete signal after filter
0
0: Invalid
ON
ON
Command in-position set value
ON
OFF
20.0Hz
1: Smoothing filter 0: Invalid
Filter is invalid before positioning complete
OFF
476
7 AUXILIARY AND APPLIED FUNCTIONS
7.10 Vibration Suppression Command Filter
• M-code output for continuous trajectory control (CPSTART instruction) is output at the time when the feed current value before filter reaches the specified point. Consequently, due to the delay by the filter, M-code may be updated before the feed current value after filter reaches the specified point.
P
[Md.20] Feed current value (R: D32000+48n, D32001+48n/D0+20n, D1+20n)
30000
20000
10000
Feed current value after filter t
Execution point
1 2
M-code 10 20
• In advanced synchronous control, filter is applied to feed current values of output axis modules.
• Each monitor value for advanced synchronous control is the value before filter.
• The vibration suppression filter is not supported for command generation axis.
• When input axis modules for advanced synchronous control are servo input axes, filter valid/invalid is as follows.
: Valid, : Invalid
Specified value for "[Pr.300] Servo input axis type"
1: Feed current value
2: Real current value
3: Servo command value
4: Feedback value
Filter valid/invalid
• For operation patterns that repeat forward rotation and reverse rotation in vibration suppression command filter 1, the command output complete signal after filter may turn ON during operation as illustrated below. If the vibration suppression command filter 1 values (mode selection device/frequency/depth) are changed with the filter operation not settled, the values are discontinued in the middle of operation which causes the feed current value and feed current value after filter to misalign. When changing the setting values for vibration suppression command filter 1, after checking that the operation pattern before filter is complete with "[St.1061] Positioning complete (R: M32401+32n/Q: M2401+20n)" or "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)", wait for a filter time constant before changing the values.
V
Feed current value stop
: Speed before filter
: Speed after filter
7
Positioning speed
Feed current value stop after filter t
[St.1061] Positioning complete
(R: M32401+32n/Q: M2410+20n)
OFF
ON
Command output complete signal after filter
Setting values for vibration suppression command filter 1
(mode selection device/ frequency/depth)
OFF
ON
Filter time constant
Setting values may be changed
7 AUXILIARY AND APPLIED FUNCTIONS
7.10 Vibration Suppression Command Filter
477
APPENDICES
Appendix 1
Processing Times of the Motion CPU
The processing time of each signal and each instruction for positioning control in the Multiple CPU system is shown below.
Motion operation cycle [ms] (Default)
The following shows the operation cycles of the Motion CPU.
Motion CPU
R64MTCPU
R32MTCPU
R16MTCPU
No. of set axes
1 to 2
3 to 8
9 to 20
21 to 38
39 to 64
1 to 2
3 to 8
9 to 20
21 to 32
1 to 2
3 to 8
9 to 16
Operation cycle[ms]
0.222
0.444
0.888
1.777
0.222
0.444
0.888
0.222
0.444
0.888
1.777
3.555
478
APPENDICES
Appendix 1 Processing Times of the Motion CPU
CPU processing time [ms]
The instruction processing time means the time until the content is reflected to servo amplifier side after each instruction is executed.
(Including the transmission time between Motion controller and servo amplifier.)
Operation cycle [ms]
Servo program start processing
"WAIT ON/OFF" + Motion control step
Only Motion control step
R64MTCPU/R32MTCPU/R16MTCPU
0.222
0.444
0.444
0.888
0.888
1.777
1.777
3.554
3.555
7.110
7.111
14.222
Direct positioning start request processing time
Speed change processing time
Dedicated instruction (D(P).SVST) from the PLC CPU
Dedicated instruction (M(P).SVST) from the PLC CPU
Dedicated instruction
(D(P).SVSTD) from the PLC CPU
Dedicated instruction
(M(P).SVSTD) from the PLC CPU
Instruction (CHGV) from the
Motion SFC
Dedicated instruction (D(P).CHGV) from the PLC CPU
Dedicated instruction
(M(P).CHGV) from the PLC CPU
Command generation axis speed change processing time
Instruction (CHGVS) from the
Motion SFC
Dedicated instruction
(D(P).CHGVS) from the PLC CPU
Dedicated instruction
(M(P).CHGVS) from the PLC CPU
Instruction (CHGT) from the
Motion SFC
Torque limit value change processing time
Dedicated instruction (D(P).CHGT) from the PLC CPU
Dedicated instruction
(M(P).CHGT) from the PLC CPU
Instruction (CHGP) from the
Motion SFC
Target position change processing time
Machine program operation start processing time
Instruction (MCNST) from the
Motion SFC
Dedicated instruction
(D(P).MCNST) from the PLC CPU
Dedicated instruction
(M(P).MCNST) from the PLC CPU
G-code control program start processing time
Automatic operation start (cycle start) ON
Time from "[Rq.1120] PLC ready flag (R: M30000/Q:
M2000)" ON to "PCPU READY complete flag (SM500)"
ON
0.666 to 0.888 1.110 to 1.554 1.998 to 2.886 3.776 to 5.553 7.332 to
10.887
1.332 to 1.554 1.776 to 2.220 2.664 to 3.552 3.554 to 5.331 7.110 to
10.665
14.444 to
21.555
14.222 to
21.333
0.888 to 1.110 1.332 to 1.776 2.220 to 3.108 2.666 to 4.443 5.333 to 8.888 10.667 to
14.222
1.332 to 1.554 1.776 to 2.220 2.664 to 3.552 3.554 to 5.331 7.110 to
10.665
14.222 to
21.333
0.888 to 1.110 1.332 to 1.776 2.220 to 3.108 2.666 to 4.443 5.333 to 8.888 10.667 to
14.222
0.444 to 0.888 0.888 to 1.332 1.776 to 2.664 2.665 to 4.442 4.443 to 7.998 7.999 to
15.110
0.888 to 1.110 1.332 to 1.776 2.220 to 3.108 3.109 to 4.886 4.887 to 8.442 11.998 to
19.109
0.666 to 0.888 1.110 to 1.554 1.998 to 2.886 2.887 to 4.664 4.665 to 8.220 11.776 to
18.887
0.444 to 0.888 0.888 to 1.332 1.776 to 2.664 2.665 to 4.442 4.443 to 7.998 7.999 to
15.110
0.888 to 1.110 1.332 to 1.776 2.220 to 3.108 3.109 to 4.886 4.887 to 8.442 11.998 to
19.109
0.666 to 0.888 1.110 to 1.554 1.998 to 2.886 2.887 to 4.664 4.665 to 8.220 11.776 to
18.887
0.444 to 0.888 0.888 to 1.332 1.776 to 2.664 2.665 to 4.442 4.443 to 7.998 7.999 to
15.110
0.888 to 1.110 1.332 to 1.776 2.220 to 3.108 3.109 to 4.886 4.887 to 8.442 8.443 to
15.554
0.666 to 0.888 1.110 to 1.554 1.998 to 2.886 2.887 to 4.664 4.665 to 8.220 8.221 to
15.332
0.444 to 0.888 0.888 to 1.332 1.776 to 2.664 2.665 to 4.442 4.443 to 7.998 7.999 to
15.110
1.332 to 1.776 1.776 to 2.664 2.665 to 4.442 4.443 to 7.998
1.776 to 2.220 2.664 to 3.552 3.554 to 5.331 7.110 to
10.665
1.332 to 1.776 2.220 to 3.108 2.666 to 4.443 5.333 to 8.888
15.111 to
19.556
30.222 to
39.111
60.444 to
78.222
120.889 to
156.444
*1 FEED instruction varies greatly depending on the condition (whether other axes are operating).
*2 The processing time gets larger depending on the number of axes set.
*3 CPU processing time when "Number of positioning points = 1".
A
APPENDICES
Appendix 1 Processing Times of the Motion CPU
479
REVISIONS
* The manual number is given on the bottom left of the back cover
Revision date
July 2014
March 2015
June 2015
February 2016
June 2016
September 2016
December 2016
December 2017
June 2018
December 2018
February 2020
June 2022
June 2023
November 2023
*Manual number
IB(NA)-0300241-A
IB(NA)-0300241-B
IB(NA)-0300241-C
IB(NA)-0300241-D
IB(NA)-0300241-E
IB(NA)-0300241-F
IB(NA)-0300241-G
IB(NA)-0300241-H
IB(NA)-0300241-J
IB(NA)-0300241-K
IB(NA)-0300241-L
IB(NA)-0300241-M
IB(NA)-0300241-N
IB(NA)-0300241-P
Description
First edition
■ Added functions
ABS direction in degrees setting, Pressure control, Servo amplifier (MR-J4 -B-LL) compatible
■ Added or modified parts
SAFETY PRECAUTIONS, RELEVANT MANUALS, TERMS, Section 2.1, 2.2, 2.3, 3.1, 3.3, 3.7, 3.9, 3.10,
3.11, 5.1, 6.2, 7.5, 7.6, 7.7, Appendix 1
■ Added functions
Override function, vibration suppression command filter
■ Added or modified parts
TERMS, Section 2.1, 3.1, 3.10, 3.11, 3.12, 3.13, 5.21, 7.2, 7.7, 7.8, 7.9
■ Added models
R64MTCPU
■ Added functions
Servo motor maximum speed check parameter, Home position return by driver home position return method
■ Added or modified parts
SAFETY PRECAUTIONS, INTRODUCTION, RELEVANT MANUALS, TERMS, MANUAL PAGE
ORGANIZATION, Section 1.1, 2, 2.1, 2.2, 2.3, 3.1, 3.3, 3.4, 3.6, 3.7, 3.11, 3.13, 4.3, 4.4, 5.1, 5.15, 5.16,
5.17, 5.21, 5.22, 6.1, 6.2, 7.1, 7.3, 7.4, 7.5, 7.6, 7.7, 7.8, 7.9, Appendix 1, WARRANTY
■ Added functions
Home position return by data set method 3
■ Added or modified parts
SAFETY PRECAUTIONS, INTRODUCTION, Section 2.1, 2.2, 3.4, 5.1, 5.21, 7.8
■ Added or modified parts
TERMS, Section 2.1, 2.2, 3.1, 3.12, 5.17, Appendix 1
■ Added or modified parts
SAFETY PRECAUTIONS, Chapter 2, Section 2.2, 4.1, 4.3, 5.20, 7.5
■ Added or modified parts
SAFETY PRECAUTIONS, RELEVANT MANUALS, MANUAL PAGE ORGANIZATION, Section 2.1, 2.2, 3.1,
3.3, 3.4, 3.5, 5.1, 5.17, 5.21, 7.8, Appendix 1
■ Added or modified parts
SAFETY PRECAUTIONS, Section 2.1, 2.2, 2.3, 3.9
■ Added or modified parts
SAFETY PRECAUTIONS, Section 2.2, 3.13, 6.2
■ Added or modified parts
Section 2.1, 2.2, 3.13, 5.16, 5.17, 5.21, 7.2
■ Added functions
Cancel of the servo program function
■ Added or modified parts
SAFETY PRECAUTIONS, CONDITIONS OF USE FOR THE PRODUCT, TERMS, Section 2.1, 2.2, 2.3, 3.3,
3.12, 3.13, 4.3, 4.4, 5.2, 5.3, 5.4, 5.5, 5.6, 5.7, 5.8, 5.9, 5.10, 5.11, 5.12, 5.13, 5.14, 5.15, 5.16, 5.17, 5.18,
5.19, 5.20, 5.21, 5.22, 7.3, 7.5, 7.6, 7.8
■ Added or modified parts
SAFETY PRECAUTIONS, Section 3.7, 3.8, 3.13, 4.3, 5.16, 7.7
■ Added or modified parts
SAFETY PRECAUTIONS, TERMS, Section 2.2, 3.4, 3.9, 3.12, 5.21, 7.6, 7.8
Japanese manual number: IB-0300240-P
This manual confers no industrial property 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.
2014 MITSUBISHI ELECTRIC CORPORATION
480
WARRANTY
Please confirm the following product warranty details before using this product.
1. Gratis Warranty Term and Gratis Warranty Range
If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service
Company.
However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be solely at the customer's discretion. Mitsubishi shall not be held responsible for any re-commissioning, maintenance, or testing on-site that involves replacement of the failed module.
[Gratis Warranty Term]
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.
[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.
1. Failure occurring from inappropriate storage or handling, carelessness or negligence by the user. Failure caused by the user's hardware or software design.
2. Failure caused by unapproved modifications, etc., to the product by the user.
3. 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.
4. Failure that could have been avoided if consumable parts (battery, backlight, fuse, etc.) designated in the instruction manual had been correctly serviced or replaced.
5. 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.
6. Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi.
7. Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user.
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.
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 to:
(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.
(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.
(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products.
(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.
5. Changes in product specifications
The specifications given in the catalogs, manuals or technical documents are subject to change without prior notice.
481
INFORMATION AND SERVICES
For further information and services, please contact your local Mitsubishi Electric sales office or representative.
Visit our website to find our locations worldwide.
MITSUBISHI ELECTRIC Factory Automation Global Website
Locations Worldwide www.MitsubishiElectric.com/fa/about-us/overseas/
TRADEMARKS
Microsoft and Windows are trademarks of the Microsoft group of companies.
The company names, system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies.
In some cases, trademark symbols such as ' ' or ' ' are not specified in this manual.
482
IB(NA)-0300241-P
MODEL: RMT-P-POS-E
MODEL CODE: 1XB008
HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN
When exported from Japan, this manual does not require application to the
Ministry of Economy, Trade and Industry for service transaction permission.
Specifications subject to change without notice.
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