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MELSEC Q Series Motion Controllers Progr amming Manu al SV13/SV22 (REAL MODE) Q172 H CPU Q173 H CPU MITSUBI SHI ELECTRIC MITSUBI SHI ELECTRIC Art. no: 201815 IB(NA)-0300113-B 01092006 Version B INDUST.
A - 1 SAFETY PRECAUT IONS (Read these precautions before using.) When using this equip m en t, thoroughly read this manual and the associated manuals int roduced in this manual. Also pay careful a ttention to safety and handle the module properly. These precautions apply only to this equipment.
A - 2 For Safe Op eration s 1. Prevention of electric shocks ! DANGER Never open the front case or terminal covers while t he power is ON or the unit is running, as this may lead to electr ic shocks. Never run the unit with the front case or term inal cover removed.
A - 3 3. For injury prevention ! CAUTION Do not apply a volt age o ther than that specif ied in the inst ruction manual on any terminal. Doing so may lead to dest ruction or dam age. Do not mistake the terminal connections, as this ma y lead to destruction or damage.
A - 4 ! CAUTION The brakes (electromagnetic brakes) assembled into t he ser v om otor are for holding applic ations, and must not be used for normal braking. The system must have a mechanical all owance so that the machine itself can stop ev en if the stroke limits switch is passed through at the max.
A - 5 ! CAUTION Set the sequence function program capacity setti ng, device capacity , latch validit y range, I/O assignment setting, and validity of continuous operation during error detection to v alues that are compatible with t he system application.
A - 6 ! CAUTION Securely fix the Motion controller and servo amplifier to the machine according t o the instruction manual. If the fixing is insufficient , these may come off during operation. Always install the servomotor w ith reduct ion gears in the designated direction.
A - 7 (4) W iring ! CAUTION Correctly and securely wire the wires. Reconfirm the connect ions f or mista k es and t he terminal screws for tightness after wiring. Failing to do so may lead t o run away of the servomotor. After wiring, install the protectiv e cov ers such as the terminal covers to the original positions.
A - 8 (6) Us a ge methods ! CAUTION Immediately t urn OFF the power if smoke, abnor m al sounds or odors are em itted from the Mot ion controller, servo amplifier or servomotor. Always execut e a test operation before star ting actual operations after the program or parameters have been changed or after maintenance and inspect ion.
A - 9 ! CAUTION If an error occurs, remo v e the cause, secure the safety and then resume operation after alarm release. The unit may suddenly resume operation after a pow er failure is restored, so do not go near the machine. (Design t he machine so that personal safety can be ensured even if the machine restarts suddenly.
A - 10 (9) About processi ng of waste W hen you discar d Mot ion contr oller, s ervo am plifier , a batter y (prim ary batt ery) a nd other option articles , pleas e follo w the law of eac h countr y (area).
A - 11 REVI SIONS The manual number is given on the bottom left of the bac k cover. Pri nt Da te Manual Num ber Revision Jun., 2005 IB(NA)-03 00113-A First edi tion Sep.
A - 12 INTRODUCT ION Thank you for choos ing the Q173HC PU/Q172HCPU Motion Contr oller. Please r ead this m anual caref ully so that eq uipm ent is used to its o ptimum . CONTENT S Safet y Precautio ns .................................................
A - 13 4.3.3 A llowa ble error r ange f o r circ ular inter polation ......................................................................... ........ 4-14 5. SERVO PROGRAM S FO R P O SITIONING CONTROL 5- 1 to 5-24 5.1 Ser vo Progr am Composit io n Are a.
A - 14 6.17.7 FI N signa l wait func tion ................................................................................................ ................. 6-150 6.18 Pos ition Follo w-Up Contro l .....................................................
A - 15 APPEND IX 3.2 R eading err or code ................................................................................................ .......App-4 9 APPEN DIX 4 Sett ing Range for Indirect S etting Dev ices........................................
A - 16 About Ma nuals The f ollowing m anuals are r elated to this product. Referring to this list, please r equest the neces sary manua ls. Related Ma nuals (1) Motion c ontroller Manual N ame Manual.
A - 17 (2) PLC Manual N ame Manual N umber (Model C ode) QCPU User's Manual (H ard w ar e Design, M aintenance and Inspection) This manual expl ains the spec ifications of the QCPU modules, pow er s upply modules, base modules, extension c ables, memory c ard battery and othe rs.
A - 18 MEMO.
1 - 1 1 OVERVIE W 1 1. OVERVIEW 1.1 Overv iew This program ming m anual describ es the positi oning c ontrol param eters, p osition ing dedic ated de vices an d posit ioning m ethod r equir ed to ex ecute pos itioni ng contr ol in th e Motion c ontro ller (S V13/22 r eal mode) .
1 - 2 1 OVERVIE W Generic term/Abbreviation Description A 0BD-PCF A10BD-PCF/A30BD-PCF SSC I/F board SSC I/F communication cabl e Abbreviation for "Cable for SSC I/F board/card" Teaching Unit.
1 - 3 1 OVERVIE W 1.2 Features 1.2.1 Performance Specifications (1) Moti on control specif ic ations Item Q173 HCPU Q173 HCPU-T Q172HCPU Q172HCPU- T Number of control ax es Up to 32 ax es Up to 8 axes SV13 0.44ms/ 1 to 3 axes 0.88ms/ 4 to 10 ax es 1.77ms/11 to 20 ax es 3.
1 - 4 1 OVERVIE W Motion control speci f icati ons (continued) Item Q173 HCPU Q173HCPU- T Q172HCPU Q172HCPU- T Number of SSCNET systems (Note-1) 2 sy stems 1 system Q172LX : 4 modules us able Q172LX :.
1 - 5 1 OVERVIE W 1.2.2 Di ff erences between Q 173HCPU /Q172 HCPU and Q173CPU (N)/Q172CPU(N) (1 ) Differenc es betw een Q 173 HCP U/Q1 72HC PU a nd Q173CPU(N )/Q172CPU(N) Item Q173HCP U Q172HCPU Q173CPU(N) Q172CPU(N) Number of control axes Up to 32 axes Up to 8 axes Up to 32 axes Up to 8 a xes SV13 0.
1 - 6 1 OVERVIE W MEM O.
2 - 1 2 POSITIONING CONTROL BY THE MOTION CPU 2 2. POSITI ONING C ONTROL B Y THE MOTION CPU 2.1 Positioning Control by the Motion CPU The pos ition ing contr ol of u p to 32 ax es in Q 173H CPU and up to 8 axes i n Q172HC PU is pos sible in the M otion C PU.
2 - 2 2 POSITIONING CONTROL BY THE MOTION CPU [Exec ution of the Mot ion SFC pr ogram start (S( P).SFC S instr uction)] Posit ioning c ontrol is exec uted b y start ing the M otion SFC progr am s pecified with S(P).SF CS instr uctio n of the PLC CPU in the Mo tion CP U.
2 - 3 2 POSITIONING CONTROL BY THE MOTION CPU Servo amp lifier Servomotor Motion CPU Motion SFC program No.15 (Program No. specified wi th the S(P).SFCS instruction.
2 - 4 2 POSITIONING CONTROL BY THE MOTION CPU [Exec ution of the po sitio ning con trol (M otion SFC pr ogram )] The pos ition ing co ntrol is execut ed us ing the servo program specif ied wit h the Motio n SFC progr am in the Mot ion CPU syst em. An over view of th e position ing control is sho wn below.
2 - 5 2 POSITIONING CONTROL BY THE MOTION CPU Servo amplifie r Servo motor Servo instruction (Sp ecifi cation of the po sition ing co ntrol me thod) Posi tioning data whi ch must be set: Axis us ed, po sitioning addre ss and positioning speed, e tc. Posi tioning data to be set if required : Dwell ti me, M-code, etc.
2 - 6 2 POSITIONING CONTROL BY THE MOTION CPU [Exec ution of the ser vo progr am star t (S(P). SVST ins truc tion)] Posit ioning c ontrol is exec uted b y start ing the s pecifi ed servo pr ogram toward the ax is specif ied wit h S(P) .SVST in structi on of PLC CPU in the Motion C PU.
2 - 7 2 POSITIONING CONTROL BY THE MOTION CPU Servo progra m . . . . . Set and correct using a pe ripheral device (Note-1) <K 25 > Servo program No.25 (Servo program No. s pecified with the S ( P ).SVST instruction.) 2 axes linear interpolation control Axis 3 .
2 - 8 2 POSITIONING CONTROL BY THE MOTION CPU [Exec ution of the JOG operat ion] JOG oper ation of s pecifi ed axis is exec uted usin g the Motion SF C progr am in the Motion CPU. JO G operat ion c an also be execut ed b y c ontro lling the J OG d edicated devic e of specif ied axis.
2 - 9 2 POSITIONING CONTROL BY THE MOTION CPU Positio ning control para meter . . . . . Servo am plifier Servom otor System sett ings Fixed parame ters Servo par ameters Paramet er block Home position.
2 - 10 2 POSITIONING CONTROL BY THE MOTION CPU [Executing Manual P ulse Generat or Operatio n] W hen the posit ionin g contr ol is ex ecuted by the m anual pulse ge nerat or connec ted t o the Q1 73PX, m anual pulse ge nerator operat ion m ust be ena bled us ing the Motion SFC pro gram.
2 - 11 2 POSITIONING CONTROL BY THE MOTION CPU Servo ampli f ier Servomoto r Positi oning control p arameter . . . . . Syst em settin gs Fixed parameters Servo parameters Par ameter bl ock Home positi.
2 - 12 2 POSITIONING CONTROL BY THE MOTION CPU (1) Positi onin g contr ol parameters There ar e fo llowing s even t ypes as position ing con trol param eters.
2 - 13 2 POSITIONING CONTROL BY THE MOTION CPU (3) Motio n SFC pro gram Motion SFC pr ogram is used t o execu te the op eration s equenc e or trans itio n contr ol com bining " Start", "Step", Transi tion", or "End" t o the ser vo pr ogram .
2 - 14 2 POSITIONING CONTROL BY THE MOTION CPU MEM O.
3 - 1 3 POSITIONING DEDICATED SIGNALS 3. POSITIONING DEDICATED SIGNALS The in ternal s i gnals of the Moti on CPU an d the exte r n al signals to the Motion C PU are used as positioni ng signals. (1) Internal signals The followin g five d evices of t he Motio n CPU a re used as the intern al sign als of the Motion C PU.
3 - 2 3 POSITIONING DEDICATED SIGNALS The p ositioning d edicated devi ces are shown bel ow. It indic ates t he dev ice refres h c y c le of the Motio n CPU for status s ignal wi th the posit ioning c ontrol, and th e device f etch c ycle of the Moti on CPU f or comm and sign al with th e positi oning c ontrol.
3 - 3 3 POSITIONING DEDICATED SIGNALS Internal relay li st (Continued) SV13 SV 22 Device No. Purpos e Device No. Purpos e M3840 to Unusable (Note) (160 points ) M4000 to User device (Note) (640 points.
3 - 4 3 POSITIONING DEDICATED SIGNALS (2) Axis stat us list Axis No. Device No. S ignal name 1 M 240 0 to M2419 2 M 242 0 to M2439 3 M 244 0 to M2459 Signal name Refresh cycle Fetch cycle Signal direc.
3 - 5 3 POSITIONING DEDICATED SIGNALS (3) Axis command signal list Axis No. Devic e No. Signal nam e 1 M3200 t o M3219 2 M3220 t o M3239 3 M3240 t o M3259 Signal name Refresh cyc le Fetch cyc le Signa.
3 - 6 3 POSITIONING DEDICATED SIGNALS (4) Common dev ice list De vice No. Signal nam e Refres h cycl e Fetch cycle Signal direct ion Remark (Note-5) De vice No.
3 - 7 3 POSITIONING DEDICATED SIGNALS Common dev ice list (Continued) De vice No. Signal nam e Refres h cycl e Fetch cycle Signal direct ion Remark (Note-5) De vice No.
3 - 8 3 POSITIONING DEDICATED SIGNALS Common dev ice list (Continued) De vice No. Signal nam e Refres h cycl e Fetch cycle Signal direct ion Remark (Note-5) De vice No.
3 - 9 3 POSITIONING DEDICATED SIGNALS Expl anation o f the request r egi ster No. Function Bit devic e Request regist er 1 PLC ready flag M2000 D704 2 Speed switchi ng point specif ied flag M2040 D705.
3 - 10 3 POSITIONING DEDICATED SIGNALS (5) Special relay allocated device l ist (Status) Device No. Signal nam e Ref resh cycle Fetch c ycle Signal direc tion Rem ark (Note) M2320 Fuse bl own detectio.
3 - 11 3 POSITIONING DEDICATED SIGNALS (6) Common dev ice list (Command si gnal) Device No. Signal nam e Refresh cycle Fetc h cycle Signal direction Remark (Note-1), (Note-2) M3072 PLC ready f lag Mai.
3 - 12 3 POSITIONING DEDICATED SIGNALS 3.1.1 Axis s tatu ses (1) Positioning start complete signal (M 2 400+20n) .......... Status sig nal (a) T his sign al turns on wit h the s tart com pletion for th e positi oning c ontrol of the axis spe cified w ith th e servo progra m .
3 - 13 3 POSITIONING DEDICATED SIGNALS (2) Positi onin g compl ete signal (M2401+20n) .................. Status signal (a) T his sign al turns on wit h the c ompleti on for th e posi tioning c ontrol of the axi s specified with the se rvo program .
3 - 14 3 POSITIONING DEDICATED SIGNALS (b) An in- positio n check is per form ed in th e follo wing c ases. • W hen the ser vo power suppl y is turn ed on. • Aft er the a utomatic decele ration is starte d durin g positi oning co ntrol. • Aft er the d ecelerati on is s tarted with th e JOG st art signa l OFF.
3 - 15 3 POSITIONING DEDICATED SIGNALS (b) T his si gnal tur ns off at the po wer sup ply on and dur ing pos ition c ont ro l. At speed/pos ition switching con trol At speed control At position con tr.
3 - 16 3 POSITIONING DEDICATED SIGNALS (8) Err o r detection si gnal (M2407+20n) ............................ Status sig nal (a) T his si gnal tur ns on with det ection of a m inor error or m ajor err or, and it is used as judgem ent of th e err or availa ble/no t availab le.
3 - 17 3 POSITIONING DEDICATED SIGNALS (10) Home posi tion return req uest signal (M2409+20n) .........................Status signal This s ignal turns on when it is nec essar y to confirm the home posit ion addres s.
3 - 18 3 POSITIONING DEDICATED SIGNALS (12) FLS sig nal (M2411+20n) (Note-1) ................................... Status signal (a) This signal is cont rolled by the ON /OFF state for the upper st r oke limit switc h input (FLS) of the Q 172LX /servo amplif ier.
3 - 19 3 POSITIONING DEDICATED SIGNALS 2) Ser vo amplif ier input us e (Note-3) RLS signal : ON RLS DI2 DICOM RLS signal : OFF RLS DI2 DICOM MR-J3- B MR-J3- B (Note-1): Refer to the "Q173HCP U/Q172HCPU Mot ion controlle r Programm ing Manual (COMMON)" for an e xternal signal.
3 - 20 3 POSITIONING DEDICATED SIGNALS 2) Ser vo amplif ier input us e (Note-3) DOG/CHA NGE signal : ON DOG/CHANGE DI3 DICOM DOG/CHANGE signal : OFF DOG/CHANGE DI3 DICOM MR-J3- B MR-J3- B (Note-1): Refer to the "Q173HCP U/Q172HCPU Mot ion controlle r Programm ing Manual (COMMON)" for an e xternal signal.
3 - 21 3 POSITIONING DEDICATED SIGNALS (18) M- code outputting signal (M 2419+20n) ..................... Status signal (a) T his sign al turns durin g M-co de is ou tputting. (b) T his sign al turns off wh en the s top com mand, c ancel s ignal, sk ip sig nal or FIN signal a re inpu tted.
3 - 22 3 POSITIONING DEDICATED SIGNALS 3.1.2 Axis command signals (1) Stop comma nd (M3200+ 20n) ............................... Command signal (a) T his com mand st ops a s tarting ax is from an exter nal s ource an d becom es eff ective at th e turn ing signa l off to on.
3 - 23 3 POSITIONING DEDICATED SIGNALS (2) Rapi d stop command (M3201+20n) ..................... Command sig nal (a) T his com mand is a sign al whic h stop a start ing axis rapid ly from an exter nal source and bec omes effective when t he sign al turns off to on.
3 - 24 3 POSITIONING DEDICATED SIGNALS (3) Forw a rd r otation JOG start command (M3202+20n) /Reverse rotation JOG start command ( M3203+20n) ......... Command sig nal (a) JO G oper ation t o the a ddress i ncrease direct ion is execute d while f orwar d rotati on JOG s tart com mand (M 3202+ 20n) is t urning on.
3 - 25 3 POSITIONING DEDICATED SIGNALS (5) Speed/position swi tching enable command ( M3205+20n) ......... Command signal (a) T his com mand is used to mak e the CHANG E si gnal (sp eed/pos ition switc hing si gnal) ef fective f rom an externa l source.
3 - 26 3 POSITIONING DEDICATED SIGNALS REMARK Refer t o APPEN DIX 1 for detai ls on the m inor err or code, m ajor err or code and servo er ror co de stor age re gisters. (8) External stop input di sa ble at start comma nd (M3209+20n) ................
3 - 27 3 POSITIONING DEDICATED SIGNALS (11) Gain chang ing command (M3216+20n) ............. Command signal This signal is use d to change th e gain of s ervo am plifier in the Motion controller by the gai n changin g comm and ON/OFF. • ON .........
3 - 28 3 POSITIONING DEDICATED SIGNALS (13) FIN sig nal (M3219+20n) .................................... Command sig nal W hen a M-code is set in a s ervo pro gram, tr ansit to the next block do es not execu te until the FIN s ignal changes as foll ows: OFF ON OFF.
3 - 29 3 POSITIONING DEDICATED SIGNALS 3.1.3 Common dev ices POINTS (1) I nternal r elays f or pos itioning contro l are no t latche d even within t he latc h range. In th is manua l, in order t o indic ate that intern al rela ys for positio ning c ontrol are not latc hed, th e expres sion used in this tex t is "M 2000 t o M2319 ".
3 - 30 3 POSITIONING DEDICATED SIGNALS 3) The process ing in above (c) 1) is not exec uted during the test m ode. It is execut ed when the test mode is c ancelle d and M2000 is ON.
3 - 31 3 POSITIONING DEDICATED SIGNALS The c onditio n which M2000 is turned O N to O FF. • Set " 0" to t he setti ng regis ter D 704 of the PLC r eady fl ag where the RUN/STOP s witch is m oved to RU N. (The M otion CPU detects t he change of the lowest r ank bit 1 0 i n D704.
3 - 32 3 POSITIONING DEDICATED SIGNALS The s tart acc ept fla g list is sho wn belo w. Axis No. Devi ce No. Axis No. Device No. Axis No . Device N o. Axis No.
3 - 33 3 POSITIONING DEDICATED SIGNALS (6) Speed sw itching point specified flag (M2040) ...... C ommand signal This flag is used wh en the s peed cha nge is s pecifi ed at the pass point of the const ant spee d contr ol.
3 - 34 3 POSITIONING DEDICATED SIGNALS (8) All a xes serv o ON command ( M2042) .................. Command sig nal This comm and is us ed to en able ser vo opera tion. (a) Ser vo oper ation e nabled … M204 2 turns o n while t he ser vo OFF c omm and (M321 5+20n) is off and ther e is no servo err or.
3 - 35 3 POSITIONING DEDICATED SIGNALS (11) All a xes serv o ON accept f lag (M2049) .................... Status si gnal This f lag turns on w h en the Motion C PU accep ts the a ll axes servo O N comm and (M204 2). Since the ser vo rea dy state of eac h axis is not c hecked, confir m it in the s ervo read y s ignal (M2415 +20n).
3 - 36 3 POSITIONING DEDICATED SIGNALS (14) Speed chang ing flag (M2061 to M2092) ................... Status signal This f lag turns on d uring sp eed chan ge b y the contr ol chang e (CHGV) instr uction (or Motio n dedic ated P LC instr uction (S(P).
3 - 37 3 POSITIONING DEDICATED SIGNALS (15) Automatic decel erating flag (M 2128 to M2159) ......... Status signal This si gnal turn s on while auto m at ic decele r ati on processi ng is perfor m ed at the p ositionin g contr ol or posit ion fol low-up c ontro l.
3 - 38 3 POSITIONING DEDICATED SIGNALS (16) Speed chang e " 0" accepting flag ( M2240 to M2271) ....………. Status signal This fl ag turn s o n w hile a speed cha nge request to speed "0" or negative speed ch ange is bei ng accepted.
3 - 39 3 POSITIONING DEDICATED SIGNALS (a) T he flag t urns of f if a s peed c hange r equest occurs during d ecelerat ion to a stop d ue to spe ed chan ge " 0".
3 - 40 3 POSITIONING DEDICATED SIGNALS (d) E ven if i t is sp eed chan ge "0" after the aut omatic deceler ation s tart to the "comm and address ", s peed cha nge "0" accepting flag turns on.
3 - 41 3 POSITIONING DEDICATED SIGNALS (17) Contr ol loop monitor status (M2272 to M2303) ............................... Command signal W hen using the ful ly closed loop contro l servo am plifier , this signa l is used t o check the fully clos ed loop c ontrol/sem i closed loop c ontrol of servo am plifier.
3 - 42 3 POSITIONING DEDICATED SIGNALS 3.2 Data Regi sters (1) Data register list SV13 SV 22 Device No. Appl ication Devi ce No. A pplication D0 D0 to Axis moni tor device (20 points 32 axes) to Axis moni tor device (20 points 32 axes) Real mode……eac h ax is Virtual m ode….
3 - 43 3 POSITIONING DEDICATED SIGNALS (2) Axis monitor device list Axis No. Device No. Signal name 1 D0 to D19 2 D20 to D39 3 D40 to D59 Signal name Refresh cycle Fetch cycle Unit Signal directi on 4.
3 - 44 3 POSITIONING DEDICATED SIGNALS (3) Contr ol change register list Axis No. Devic e No. Signal nam e 1 D640, D641 2 D642, D643 3 D644, D645 Signal name Refresh cycle Fetc h cycle Unit Signal dir.
3 - 45 3 POSITIONING DEDICATED SIGNALS (4) Common dev ice list Device No. Signal name Refresh cycle Fe tch cycle Sign al direction Device No. Signal name Refresh cycle Fe tch cycle Sign al direction D.
3 - 46 3 POSITIONING DEDICATED SIGNALS 3.2.1 Axis monitor devices The m onitoring d ata area is used by the Motion CPU to store data such as the fee d curren t value dur ing pos ition ing contr ol, the re al current va lue and the nu mber of droop pulses in the d eviatio n counter.
3 - 47 3 POSITIONING DEDICATED SIGNALS (5) Maj or e rr or code storag e register (D7+20n) ............. Monitor devi ce (a) This regi s te r stores the correspond ing error code (Refer to APPE NDIX 1.
3 - 48 3 POSITIONING DEDICATED SIGNALS (9) Execute prog ram No. storage register (D12+20n) ....…….. Monitor device (a) T his regis ter st ores th e startin g progr am No. at the ser vo progr am star ting. (b) T he fol lowing value is stor ed in th e JOG operat ion an d manu al puls e genera tor oper ation.
3 - 49 3 POSITIONING DEDICATED SIGNALS (12) Data set poi nter for constant-speed control (D15+20n) ....…….. Monitor device This pointer is used in the c onstan t-speed contro l when s pecif y i ng posi tioning data in directl y and subst ituting posit ionin g d ata dur ing opera tion.
3 - 50 3 POSITIONING DEDICATED SIGNALS [Input s ituatio n of pos itioni ng dat a in the Motion C PU] Update of da ta using the M otion SFC program Positioning data input to the M otionCPU at each poin.
3 - 51 3 POSITIONING DEDICATED SIGNALS [Intern al proces sing] (a) The positi oning data ((1) to (14)) of p oints 0 to 6 is inp ut to the Moti on CPU by the s tartin g. The last poi nt "6" of the i nput dat a to be input is stored in the data s et poin ter for c onstant -speed co ntrol a t this time.
3 - 52 3 POSITIONING DEDICATED SIGNALS 3.2.2 Control chang e registers This area stores the J OG operation s peed data. Table 3.1 Data storag e area for control change l ist Nam e Axis 1 Axis 2 Axis 3.
3 - 53 3 POSITIONING DEDICATED SIGNALS 3.2.3 Common dev ice s (1) Common bi t device SET/RST request r egister (D704 to D708, D755 to D757) ..…......
3 - 54 3 POSITIONING DEDICATED SIGNALS b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b 5 b4 b3 b 2 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 A xis 4 Axis 3.
3 - 55 3 POSITIONING DEDICATED SIGNALS (5) Manual pulse generator smoothing magni f ication setti ng registers (D752 to D754) .................................................... Comma nd device (a) T hese registers set the sm oothing tim e constants of manual p ulse generators .
3 - 56 3 POSITIONING DEDICATED SIGNALS (6) Real mode axis information reg ister (D790, D791) .................................................... M onitor device This signal is used t o store the i nform ation used as a re al mode ax is at the tim e of switc hing f rom r eal mode to virtu al mode.
3 - 57 3 POSITIONING DEDICATED SIGNALS 3.3 Motion Reg isters (# ) There ar e moti on regis ters ( #0 to #81 91) in t he Mot ion CPU. #8000 t o #806 3 are u sed as the Motion SFC ded icated d evice and #80 64 to #8 191 are used as the ser vo moni tor devi ce.
3 - 58 3 POSITIONING DEDICATED SIGNALS 3.4 S pecial Relays (SP.M) There ar e 256 s pecia l rela y points of M90 00 to M9 255 i n the Mot ion CPU . Of thes e, 7 po ints of t he M907 3 to M907 9 are used for t he pos itionin g contr ol, and their ap plicat ions are in dicated i n Table 3.
3 - 59 3 POSITIONING DEDICATED SIGNALS (3) TEST mode ON f l ag (M9075) ........……...................... Status signal (a) T his fla g is us ed as jud gement of duri ng the tes t mod e or not using a perip heral . Use it f or an i nterlock , etc. a t the st arting of the ser vo program using the Motion SF C program .
3 - 60 3 POSITIONING DEDICATED SIGNALS 3.5 Special Reg isters (SP.D) There ar e 256 s pecia l regist er points of D90 00 to D9 255 in t he Mot ion CPU. Of thes e, 23 po ints of the D91 12 and D9 180 to D 9201 are used f or the position ing contr ol. The spe c i al registers u s e d f or po sitioning ar e shown below .
3 - 61 3 POSITIONING DEDICATED SIGNALS (1) Connect/di sconnect (D9112) ..................................... Comm and device/Monitor dev ice This functio n is used to co nnect/d isconnec t the S SCNET.
3 - 62 3 POSITIONING DEDICATED SIGNALS (3) Moti on CPU W DT error cause (D9184) ………........ Monitor device This register is used as judg ement of the err or conte nts in t he Mot ion CPU. Error code Error caus e Operation when error occur s Action to take 1 S/W fault 1 2 Operation cyc le time over • R eset with th e reset ke y.
3 - 63 3 POSITIONING DEDICATED SIGNALS (4) Manual pulse generator axis setting error i nf ormatio n (D9185 to D9187) ..................................
3 - 64 3 POSITIONING DEDICATED SIGNALS (8) Serv o amplifier loading information (D9191 to D 9192) ........... Monitor devi ce The i nstallat ion sta te of the servo am plifier is c hecked a t the po wer sup ply on or resett ing of th e Motion CPU an d its r esults are stor ed in th is devic e.
3 - 65 3 POSITIONING DEDICATED SIGNALS (10) Operation cycle of the Motion CPU setting (D9197) ........... Monitor devi ce The s etting op eration cycle i s stored in [ µs ] u nit. W hen the "Autom atic s ettin g" is set in the system settin g, the oper ation c ycle corresp onding to the num ber of setting axes.
3 - 66 3 POSITIONING DEDICATED SIGNALS MEM O.
4 - 1 4 PARAMETERS FOR POSITIONING C ONT ROL 4 4. PARAMETERS FOR PO SITIONING CONTROL 4.1 System Setting s In th e Multip le CPU s ystem , the com m on system par ameters and in dividu al param eters are set f or each CPU an d written to e ach CPU.
4 - 2 4 PARAMETERS FOR POSITIONING C ONT ROL 4.2 Fixed Par ameters (1) Th e fixed par ameters are set for each a xis and their data is fi xed based on the mec hanical s ystem , etc. (2) T he fixe d param eters a re set us ing a p eripher al de vice. (3) Th e fixed par ameters to be set are show n in Table 4 .
4 - 3 4 PARAMETERS FOR POSITIONING C ONT ROL 4.2.1 Number of pul ses/travel value per rotati on The " Electron ic gear functi on" adj usts the pulse c alculat ed and output b y the par ameter set in the Q17 3HCPU/Q1 72HCPU and the r eal trav el valu e of m achine.
4 - 4 4 PARAMETERS FOR POSITIONING C ONT ROL Theref ore, AP/ AL is s et so t hat the f ollowi ng expr ession of relati ons ma y be mater ialized i n order t o conv ert the tr avel value of [mm] / [i nch] un it set in the progr am into a puls e.
4 - 5 4 PARAMETERS FOR POSITIONING C ONT ROL The tra vel va lue per m otor rota tion in this ex ample is 0.00 0076[m m]. For ex ample, when or dering the tra vel value of 19[m m], it b ecomes 249036.
4 - 6 4 PARAMETERS FOR POSITIONING C ONT ROL (1) Stro ke limit ra nge check The s troke lim it rang e is che cked at t he fol lowing s tart or during operati on.
4 - 7 4 PARAMETERS FOR POSITIONING C ONT ROL 4.2.4 Command in- position rang e The com mand in-p ositio n is the diff erence bet ween the pos itioni ng address (comm and posit ion) a nd fee d current value .
4 - 8 4 PARAMETERS FOR POSITIONING C ONT ROL 4.2.5 Speed control 10 m ultiplier setting f or degree a xis The s etting ran ge of c ommand s peed is 0.00 1 to 2147 483.
4 - 9 4 PARAMETERS FOR POSITIONING C ONT ROL • An exa m p le for posit ioning cont rol is shown bel ow when th e "speed cont rol 10 m ultiplier setting for d egree axis " of fixe d param eter and "inter polation contro l unit " of parameter block are set as fol lows.
4 - 10 4 PARAMETERS FOR POSITIONING C ONT ROL (b) Lo ng-axis re ference speci fication <K 50> 1, 2, 360.00000 20000.000 00 180.00 2 axes linear interpo l a tion control Axis used . . . . . . . Axis 1, Axis 2 Travel value to stop position Pos itioni ng spe ed .
4 - 11 4 PARAMETERS FOR POSITIONING C ONT ROL 4.3 Parameter Block (1) The pa rameter blo cks serve to make se tting cha nges easy by al lowing data s uch as the acceler ation/ decelera tion con trol t o be set f or each p osition ing proc essing. (2) A m axim um 64 b locks c an be set as par ameter b lock s.
4 - 12 4 PARAMETERS FOR POSITIONING C ONT ROL POINTS The da ta set i n the p aramet er block is use d in th e posit ioning c ontrol, home pos ition return and JO G operat ion. (1) T he param eter bloc k No. used in the pos itioni ng cont rol is s et usi ng a per ipheral device at the c reatin g of the servo program .
4 - 13 4 PARAMETERS FOR POSITIONING C ONT ROL 4.3.1 Relationships bet ween the speed limit val ue, acceleration time, deceler ation time and rapid stop deceler ation time The sp eed limit val ue is the maxi m u m spe ed at the po sitioning/ho m e position return.
4 - 14 4 PARAMETERS FOR POSITIONING C ONT ROL As sh own belo w, the S-curv e ratio se tting s erves t o sele ct the par t of the sine c urve to be used as t he acceler ation/ deceler ation curv e. A B B/2 B/2 Sine curve S-c urve rat io = B/ A 100[%] A B Positi oning speed B/A=1.
5 - 1 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL 5. SERVO PROGRAMS FOR POSITIONING CONTROL Serv o program s spec ify the type of the pos ition ing data r equir ed to ex ecute the posit ioning contro l in t he Mu ltiple CPU s ystem . This chapter d escribes the c onfigura tion and setti ng metho d of the servo pr ogram s.
5 - 2 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL (3) Posi tioning data . ..... This is the da ta required to execute servo i nstructions . The data re quired to ex ecute is f ixed for each s ervo instru ction. Refer to S ection 5.3 f or details . The f ollows a pplies f or the s ervo pr ogram shown in Figur e 5.
5 - 3 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL 5.2 Servo Instr uctions The s ervo instructio ns used in t he servo pr ograms ar e shown belo w. (1) Guide to servo instruction list Table.
5 - 4 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL (2) Ser vo instruction list The s ervo ins tructions that c an be us ed in ser vo progr ams and the positio ning data s et in t he servo instruct ion are s hown in Tab le 5.2. Ref er to Sec tion 5. 3 for deta ils of the pos itionin g data set in th e servo instr uctio ns.
5 - 5 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Pos itionin g data OSC * 1 Para meter bloc k Others Starting an gle Amplit ude Frequenc y Refere nce axis No.
5 - 6 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.2 Serv o Instruction List (continued) Pos i t ioning data Common Circul ar In struct ion sy mbol Proces sing Para meter bl ock No.
5 - 7 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Pos i t ioning data OSC *1 Parame ter block Others Starting an gle Amplit ude Frequenc y Refere nce axis No.
5 - 8 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.2 Serv o Instruction List (continued) Pos i t ioning data Common Circul ar In struct ion sy mbol Proces sing Para meter bl ock No.
5 - 9 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Pos itionin g data OSC *1 Parame ter block Others Starting an gle Amplit ude Frequenc y Refere nce axis No.
5 - 10 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.2 Serv o Instruction List (continued) Pos itionin g data Common Circul ar Instruction sy mb ol Proc essing Paramet er block N o.
5 - 11 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Pos itionin g data OSC *1 Para meter bl ock Oth ers Starting an gle Amplit ude Frequenc y Refere nce axis No.
5 - 12 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.2 Serv o Instruction List (continued) Pos itionin g data Common Circul ar Instruction sy mb ol Proc essing Paramet er block N o.
5 - 13 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Pos itionin g data OSC *1 Para meter bl ock Oth ers Starting an gle Amplit ude Frequenc y Refere nce axis No.
5 - 14 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.2 Serv o Instruction List (continued) Pos itionin g data Common Circul ar Instruction sy mb ol Proc essing Paramet er block N o.
5 - 15 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Pos i t ioning data OSC *1 Parame ter block Others Starting an gle Amplit ude Frequenc y Refere nce axis No.
5 - 16 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL 5.3 Positioning Data The pos itioning dat a set in the s ervo program s is s hown in Table 5 .3. Table 5.3 Positi oning data Setting val ue using a peripheral device Setting ran ge Name Ex planation Default value m m inc h degre e PLS Par ameter b lock No.
5 - 17 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Sett ing valu e using the Motion SFC prog ram (Ind irect se tting ) Indi rect se tting Pro cessing at the se tting er ror Setting ran ge mm i nch de .
5 - 18 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.3 Positioni ng data (Continued) Setting val ue using a peripheral device Setting ran ge Name Ex planation Default value mm inch degr ee PLS Absolute data meth od -21 4748364.8 to 214748 364.7 [ µ m] -21 474.
5 - 19 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Set ting va lue using the Mot ion SFC pr ogram (I ndirect setti ng) Indi rect sett ing Proces sing a t the sett ing erro r Setting ran ge mm i nch de.
5 - 20 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Table 5.3 Positioni ng data (Continued) Setting val ue using a peripheral device Setting ran ge Name Ex planation Default value mm inch degr ee PLS Repeat c ondition (Numbe r of repetiti ons) Set the repeat condi tions be tween FO R- TIMES instruction and NEXT instructio n.
5 - 21 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL Set ting va lue using the Mot ion SFC pr ogram (I ndirect setti ng) Indi rect sett ing Proces sing a t the sett ing erro r Setting ran ge mm i nch de.
5 - 22 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL 5.4 Setting Method fo r Posi tioning Data This section d escri bes how t o set the positi oning dat a us ed in the servo pr ogram . There ar e two wa y s t o set position ing data, as f ollows: (1) Setting by spec ifying num erical va lues … R efer t o Secti on 5.
5 - 23 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL 5.4.2 Indirect setting method by word devices (D, W and #) In th e indir ect sett ing m ethod (Note-1) b y word de vices, th e wor d device ( D, W and #) No. is sp ecified to the positio ning d ata spec ified with the servo program .
5 - 24 5 SERVO PROGRAM S FOR POSIT IONIN G CONTROL (1) Devi ces f or indi rect setting data The de vices for indirec t sett ing data are dat a reg isters (D) , link registers (W) and motion r egist ers (#) . (Wor d devices except t he data register s, link registers and motion r egist ers cann ot be used.
6 - 1 6 POSITIONING CONTROL 6. POSITIONING CONTROL This sectio n descr ibes th e posit ionin g contr ol metho ds. 6.1 Basics of Positioning Control This sectio n descr ibes th e comm on item s f or positio ning contro l, which is desc ribed in deta il after S ectio n 6.
6 - 2 6 POSITIONING CONTROL 6.1.2 Positioning speed at the interpolation control The pos ition ing spee d of the M otion CPU sets t he trav el spee d of th e control system . (1) 1 axis linear control Trave l spee d is the posit ioning s peed of the s pecifie d axis a t the 1 axis posit ioning contro l.
6 - 3 6 POSITIONING CONTROL (b) Long-axis speed specif ication It is c ontrolle d based on the positio ning spe ed (Lon g-axi s speed: V) of t he larges t trav el valu e axis among addr ess se t as e ach axis . The M otion CPU calcu lates the positi oning s peed of other ax es (V 1 to V 3 ) using th e each axis tr avel value (D 1 to D 4) .
6 - 4 6 POSITIONING CONTROL • Speed : The lar gest tr avel va lue axis is contr olled with the long- axis spe ed and the oth er axes are contr olled with th e speed based on the lon g-axis s peed, as the res ult of conv ersion.
6 - 5 6 POSITIONING CONTROL POINTS (1) Spee d limit va lue and posit ioning spee d • The s etting spee d lim it value appl ies to the l ong-axis speed. • Be c areful that the c ombine d-speed ma y exc eed t he spee d lim it value at the long- axis s peed spec ific ation.
6 - 6 6 POSITIONING CONTROL 4 axes linear interp olatio n control is sho wn bel ow. [Program exam ple] Axis 1 travel va lue: D 1 = 1 0000 [PLS] Axis 2 travel value: D 2 = 15000 [PLS] Axis 3 travel val.
6 - 7 6 POSITIONING CONTROL (3) Circ ular interpolation control The an gular sp eed is contro lled with the s etting speed a t the circ ular i nterpol ation contr ol.
6 - 8 6 POSITIONING CONTROL (2) T he com binat ions of each ax is contr ol u nits for inter polation contr ol are s hown in the ta ble below . Mm inch degree PLS mm 1) 2) 3) 3) inch 2) 1) 3) 3) degree.
6 - 9 6 POSITIONING CONTROL 6.1.5 Control i n the control unit "deg ree" If the control units are "degr ee", th e foll owing items differ f rom other contr ol units . (1) Curr ent value address The c urrent ad dresses in th e contro l unit "degr ee" are r ing ad dresses from 0° to 360°.
6 - 10 6 POSITIONING CONTROL (3) Positi onin g contr ol Posit ioning c ontrol m ethod in the c ontrol unit " degree" is sho wn belo w. (a) A bsolute data m ethod ( ABS instructions) Posit ioning in a ne ar direc tion to the sp ecified ad dress is perform ed based on the curr ent valu e.
6 - 11 6 POSITIONING CONTROL 6.1.6 Stop processi ng and restarting after stop This section d escri bes the s top proc essing after a s top c ause is input dur ing posit ioning a nd rest arting af ter st op. (1) Stop processi ng (a) St op proc essing methods Stop proc essing dur ing pos itioning b y stop cause ar e as follo w s .
6 - 12 6 POSITIONING CONTROL 4) Sto p using the manu al puls e gener ator (Pr ocess 4) ....... ...........D eceler ation sto p by the "dece leratio n time" of (Sm ooth ing mag nific ation + 1) 56.
6 - 13 6 POSITIONING CONTROL (c) Stop commands and stop causes Some s top com mands and stop causes af fect individ ual axis and ot hers aff ect all axes . However , duri ng inter polatio n contro l, stop c omm ands and s top caus es which af fect ind ividua l axis als o s top the in terpola tion axis .
6 - 14 6 POSITIONING CONTROL (2) Re-sta rtin g afte r stop (a) If it sto pped b y the stop comm and or sto p cause (except c hang e speed to speed "0"), re-st arting is not possib le.
6 - 15 6 POSITIONING CONTROL (3) Conti nuation of p ositioning control This section d escri bes the process ing whic h perf ormed ser vo progr am No. which was be ing perf ormed b efore th e stop, after sto p b y t urning on the STOP in put of the Q1 72LX ON, the st op com mand (M 3200+20 n) ON or the rap id stop comm and (M320 1+20n) ON.
6 - 16 6 POSITIONING CONTROL [Proc essing i n the Mot ion SF C Program ] 1. Transf er the start ad dress to wor d devices of th e Motion CPU bef ore starti ng. 2. Calc ulate th e target addres s by ap plying the tra vel value to the ad dress before starting .
6 - 17 6 POSITIONING CONTROL 6.1.7 Acceleration/dec eleration processing Acce leratio n/deceler ation are proc essed by the f ollowin g two m ethods. (1) Trapez oidal acceleration/deceleration pr ocessing This is a con ventiona l linear acce leratio n/decel eration process ing.
6 - 18 6 POSITIONING CONTROL S-cur ve rati o can be s et b y t he serv o program is fol lowing t wo meth ods. (a) Direct specification S-cur ve rat io is set direct ly a s a num eric va lue from 0 to 100. <K 10> INC-2 Axis Axis Combine d-speed S-curve ratio 1, 2, 100000 250000 1000 80 2 axes lin ear positioning control Axis used .
6 - 19 6 POSITIONING CONTROL 6.2 1 Axis Linear Positioning C ontrol Posit ioning c ontrol f rom the cur rent st op posit ion to the fi xed pos ition fo r spec ified ax is is ex ecuted. Posit ioning is co ntrolled us ing ABS-1 (A bsolute da ta method) or INC-1 (Increm enta l data m ethod) s ervo ins tructi ons.
6 - 20 6 POSITIONING CONTROL Contro l using INC-1 (I ncrement al dat a method) (1) Position ing c ontrol of the sp ecifi ed trav el valu e from the curr ent st op posit ion addres s is ex ecuted. (2) Th e travel dir ection is set by the sign (+/ - ) of the travel value, as foll ows: • Positi ve tra vel value .
6 - 21 6 POSITIONING CONTROL (3) Oper ation timing Operat ion tim ing for th e servo program No.0 is s hown below. Servo Program No.0 10000 V PLC ready flag (M2000) A ll axes servo ON command (M2042) .
6 - 22 6 POSITIONING CONTROL 6.3 2 Axes Linear Interpolation Control Linear interp olation contro l from the curr ent st op posit ion wit h the sp ecified 2 axes is execu ted. ABS- 2 (Absol ute data m ethod) and INC- 2 (Incr emental data m ethod) ser vo instr uctions are use d in the 2 axes line ar inter polatio n control.
6 - 23 6 POSITIONING CONTROL (2) The t ravel dire c t ion is set by th e stop addre ss (starting add ress) and posit ioning addres s of eac h axis. Forw a rd direction Y 1 Y 2 Y-axis travel value Reve.
6 - 24 6 POSITIONING CONTROL Contro l using INC-2 (I ncrement al dat a method) (1) P osition ing contr ol from the curr ent st op addres s to the position which combin ed trave l direc tion and trave l valu e specif ied with each axis is exec uted.
6 - 25 6 POSITIONING CONTROL (2) Positi onin g oper ation details The pos itionin g is used th e Axis 3 and Axis 4 servom otors. The pos itionin g operat ion by the Ax is 3 and Axis 4 s ervom otors is sho wn in the diagr am belo w. Axis 3 posit ioning direction Positioning using t he servo program No.
6 - 26 6 POSITIONING CONTROL (5) Serv o program Serv o program No.11 f or 2 axes linear inter polation contr ol is sho wn bel ow. <K 11> ABS-2 Axis Axis Combined- speed 3, 4, 50000 40000 30000 2 axes line ar interpolation control Axis used . . .
6 - 27 6 POSITIONING CONTROL 6.4 3 Axes Linear Interpolation Control Linear interp olation contro l from the curr ent st op posit ion wit h the sp ecified 3 axes is execu ted. Ite ms are set in per ipheral dev ices Commo n Arc Pa ramete r block Oth ers Servo instruction Pos itionin g meth od Number o f contr ol axes Para meter bl ock No.
6 - 28 6 POSITIONING CONTROL [Contro l details] Cont rol using ABS -3 (Absolut e data method ) (1) 3 axes l inear inter polati on from the curre nt stop address (X 1 , Y 1 or Z 1 ) based on the h ome pos ition t o the sp ecifi ed posit ionin g addres s (X 2 , Y 2 , Z 2 ) is execut ed.
6 - 29 6 POSITIONING CONTROL Contro l using INC-3 (I ncrement al dat a method) (1) P osition ing contr ol from the curr ent st op addres s to the position which combin ed trave l direc tion and trave l valu e specif ied with each axis is exec uted.
6 - 30 6 POSITIONING CONTROL [Program ] Progr am f or 3 axes linear inter polatio n contr ol is s hown as the f ollowi ng cond itions. (1) System configur ation 3 axes linear interp olati on contr ol of Ax is 1, Ax is 2 and Ax is 3.
6 - 31 6 POSITIONING CONTROL (4) Oper ation timing Opera tion tim ing for 3 axes linear i nterpol ation co ntrol is shown below. V Servo program No.21 PLC ready flag (M2000) A ll axes servo ON command.
6 - 32 6 POSITIONING CONTROL (6) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M2042 ABS-3 Axis 1, 5 0000PLS Axis 2, 4 0 000P LS Axis 3, 3 0 000.
6 - 33 6 POSITIONING CONTROL 6.5 4 Axes Linear Interpolation Control Linear interp olation contro l from the curr ent stop positio n with 4 axes s pecifi ed with the posit ioning c omm and of the PLC progr am is execut ed.
6 - 34 6 POSITIONING CONTROL [Program ] Progr am f or 4 axes linear inter polatio n contr ol is s hown as the f ollowi ng cond itions. (1) System configur ation 4 axes li near inter polati on control of Axis 1, Ax is 2, Axis 3 and Axis 4.
6 - 35 6 POSITIONING CONTROL Axis 2 positi o n ing dir ecti on (Forward direction) 5000 5000 5000 (Reverse direction) Positioning using the servo program No.
6 - 36 6 POSITIONING CONTROL (4) Oper ation timing Opera tion tim ing for 4 axes linear i nterpol ation co ntrol is shown below. PLC ready flag ( M2000) All axes servo ON command (M2042) Servo program No.
6 - 37 6 POSITIONING CONTROL (6) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. 4 axes linear interpolation control Axi s used . . . . . . . Axis 1 , Axis 2 , Axis 3 , Axis 4 Command positioning speed Combined-speed .
6 - 38 6 POSITIONING CONTROL 6.6 Au x ilia ry Point-Sp ecifie d Circular Interpo lation Con trol Circu lar inter polat ion contr ol b y specif icatio n of th e end po int addr ess a nd auxi liary point a ddress (a point on th e arc) for circu lar int erpolati on is ex ecuted.
6 - 39 6 POSITIONING CONTROL (3) T he setti ng rang e of the e nd poi nt addr ess and auxiliar y point address is (-2 31 ) to (2 31 -1). (4 ) Th e ma xi mum a rc r ad ius is 2 32 -1. Maximum arc Arc central point Radius R 2 31 -1 -2 31 0 2 32 -1 Fig.6.
6 - 40 6 POSITIONING CONTROL (4 ) Th e ma xi mum a rc r ad ius is 2 31 -1. If the e nd poi nt and aux iliar y point are s et m ore than a radius of 2 31 -1, a n e rror occurs at the start and error code [ 107] is st ored in the d ata regis ter. Maximu m arc 2 31 -1 -2 31 2 31 -1 0 Radius R Arc central point Fig.
6 - 41 6 POSITIONING CONTROL (3) Positi onin g condi tions (a) Posi tioning cond itions are show n below. Servo program No. Item No.31 Positioning method Absolute data method Positioning speed 1000 (b) P ositionin g start c omman d .
6 - 42 6 POSITIONING CONTROL (6) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. Auxiliary point-specified circular interpolation control SET M204 2 PX000*M2415*M2435 END !PX000 Wait until P X000 turn off after circular in terpolation completion.
6 - 43 6 POSITIONING CONTROL 6.7 Radius-Speci f ied C ircular Inter polation Control Circu lar inter polatio n contr ol b y specific ation of the e nd po int addr ess and radius f or circul ar inter polati on is exec uted.
6 - 44 6 POSITIONING CONTROL [Contro l details] Details for th e servo instruct ions ar e show n in the table below. Instruction Rotation direction of the servomotors Maximum controllable angle of arc.
6 - 45 6 POSITIONING CONTROL (4) The setting range for the radius is 1 to (2 31 -1). (5) The maximum arc radius is (2 32 -1). 2 31 -1 2 31 -1 -2 31 Maximum arc Arc central point Radius R 0 Fig.
6 - 46 6 POSITIONING CONTROL [Program ] Progr am for radius-s pecified circu lar inter polatio n contr ol is s hown as t he fol lowing condit ions. (1) System configur ation Radius -spec ified cir cular int erpol ation contr ol of Axis 1 and Axis 2.
6 - 47 6 POSITIONING CONTROL (4) Oper ation timing Opera tion tim ing for radius -specif ied circ ular interpo lation c ontro l is sh own be low. V PLC ready flag ( M2000) All axes servo ON command (M.
6 - 48 6 POSITIONING CONTROL (6) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M2042 PX000*M2415*M2435 END !PX000 Wait until PX 000 turn off after circular i n terpola tio n comple tion. Turn on all axes servo ON command.
6 - 49 6 POSITIONING CONTROL 6.8 Central Poi nt-Specified Circular Interpolation Control Circu lar int erpolat ion contr ol b y specif icat ion of th e end point f or circ ular in terpola tion and arc centr al poin t is ex ecuted.
6 - 50 6 POSITIONING CONTROL Control us ing ABS , ABS (Absolute data method) (1) Cir cular interpo lation of an arc with a r adius e quival ent to t he dista nce bet ween the star t point and ce ntral p oint, bet ween th e current stop address ( address befor e posit ioning) based o n the h ome pos ition a nd the s pecif ied end poi nt ad dre ss .
6 - 51 6 POSITIONING CONTROL Control us ing INC , INC (Increm ental method) (1) Cir cular interpo lation f rom the c urren t stop a ddr es s ( 0, 0) with a radius equival ent to the d istanc e betwe en the s tart poin t (0, 0) and ce ntral po int.
6 - 52 6 POSITIONING CONTROL [Program ] Progr am for central p oint-s pecifi ed circu lar int erpolat ion contr ol is s hown as the follo wing co nditi ons. (1) System configur ation Centra l poin t-spec ified c ircular interp olatio n contr ol of Axis 1 and Ax is 2.
6 - 53 6 POSITIONING CONTROL (4) Oper ation timing Oper ation timin g for central p oint-spe c ifi ed circul ar interpol ation is show n below. V PLC ready flag ( M2000) Servo Program No.
6 - 54 6 POSITIONING CONTROL (6) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M2042 PX000*M2415*M2435 END !PX000 Wait unt il PX000 turn off after circular in terpolation completion. Turn on all axes serv o ON command.
6 - 55 6 POSITIONING CONTROL 6.9 Helic al Interpolation Control The l inear int erpolat ion co ntrol wi th line ar axis is exec uted sim ultaneo usly wh ile the circul ar inter polati on specif ied wi th any 2 axes is execut ed, the s pecif ied num ber of pitches rotat es spir ally a nd perf orm s the loc us contro l to c omm and posit ion.
6 - 56 6 POSITIONING CONTROL 6.9.1 Circul ar interpolation specified method by helical i nterpolation The f ollowing method of circ ular int erpolat ion is possib le for th e helic al interp olati on.
6 - 57 6 POSITIONING CONTROL (3) W hen the travel valu e of li near ax is is "0" is s et, it can be c ontrol led. Condition Operation Number of pitches is 0 Same control as normal circul ar interpolation control. (Allowable error range for circular interpolation c an be set.
6 - 58 6 POSITIONING CONTROL ABH , AB H , ABH , ABH Abs olute ra dius-spec ified helic al interpo latio n contr ol [Contro l details] The l inear int erpolat ion to other l inear ax is is ex ecuted pe.
6 - 59 6 POSITIONING CONTROL (1) T he setti ng rang e of en d point a ddress f or the bo th of circular interpo lation ax is and line ar interp olati on axis is ( -2 31 ) to (2 31 -1). (2) Th e m axi m u m a rc radius on the circular in terpola tion plane is ( 2 31 -1).
6 - 60 6 POSITIONING CONTROL (2) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M204 2 PX000*M2415*M2435*M2455 !PX000 Wait until PX000 tu rn off after ci rcular interpolation completion. Turn on all axes servo ON com mand.
6 - 61 6 POSITIONING CONTROL INH , INH , INH , INH Incr emental r adius -spec ified he lical interpo lation contr ol [Contro l details] The linear interp olation t o other linear axis is exec uted per.
6 - 62 6 POSITIONING CONTROL Contro l deta ils fo r the se rvo instr uctio ns are s hown below. Instruction Rotation direction of servomotor Controllable angle of arc Positioning pass INH Radius-speci.
6 - 63 6 POSITIONING CONTROL (3) S et the com mand s peed with the combin ed-spe ed for 2 axes circ ular i nterpolat ion axis. (4) T he comm and sp eed uni t is sp ecified in the p arameter block . (5) S et the n umber of pitch es within t he ra nge of 0 t o 999.
6 - 64 6 POSITIONING CONTROL (2) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M204 2 PX000*M2415*M2435*M 2455 !PX000 Wait unti l PX000 turn OFF after ci rcular interpolati on completion. Turn on al l axes servo ON com mand.
6 - 65 6 POSITIONING CONTROL ABH , AB H Abs olute c entral po int-spec ifie d helica l interpo lation control [Contro l details] The l inear int erpolat ion to other l inear ax is is ex ecuted perf or.
6 - 66 6 POSITIONING CONTROL (3) Th e m axi m u m a rc radius on the circular in terpola tion plane is 2 31 -1. For exam ple, the m aximum arc radius for el ectronic ge ar 1:1 of unit [mm ] is 214748364.
6 - 67 6 POSITIONING CONTROL (2) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M2042 PX0 00*M 241 5*M 2435* M245 5 !PX00 0 Wait until PX 000 turn off after circular interpol ation completion. Turn on all axes servo ON com mand.
6 - 68 6 POSITIONING CONTROL INH , INH Incr ementa l cent ral poi nt-spec ified h elica l inter polat ion contr ol [Contro l details] The linear interp olation t o other linear axis is exec uted per f.
6 - 69 6 POSITIONING CONTROL (3) Th e m axi m u m a rc radius on the circular in terpola tion plane is ( 2 31 -1). For exam ple, the m aximum arc radius for el ectronic ge ar 1:1 of unit [mm ] is 214748364.
6 - 70 6 POSITIONING CONTROL (2) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M2042 PX000*M2415*M2435*M2455 !PX0 00 Wait until PX 000 turn off after c ircular interpo lation completion. Tu rn on all a xes ser vo ON com mand.
6 - 71 6 POSITIONING CONTROL ABH Absolut e auxilia r y point-spe cified he lical i nterpolat ion contr ol [Contro l details] The l inear int erpolat ion to other l inear ax is is ex ecuted perf orming.
6 - 72 6 POSITIONING CONTROL Maximu m arc 2 31 -1 -2 31 2 31 -1 0 Radius R Arc central point (4) S et the com mand s peed with the combin ed-spe ed for 2 axes circ ular i nterpolat ion axis. (5) T he comm and sp eed uni t is sp ecified in the p arameter block .
6 - 73 6 POSITIONING CONTROL (2) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M2042 PX000*M2415*M2435*M 2455 !PX0 00 Wait until PX000 turn off aft er circular interpolat ion completion. Turn on al l axes servo ON command.
6 - 74 6 POSITIONING CONTROL INH Incr ementa l auxiliar y point-sp ecifi ed helica l interpo lation co ntrol [Contro l details] The linear interp olation t o other linear axis is exec uted per form in.
6 - 75 6 POSITIONING CONTROL Maximu m arc 2 31 -1 -2 31 2 31 -1 0 Radius R Arc central point (4) S et the com mand s peed with the combin ed-spe ed for 2 axes circ ular i nterpolat ion axis. (5) T he comm and sp eed uni t is sp ecified in the p arameter block .
6 - 76 6 POSITIONING CONTROL (2) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M2 042 PX000*M2415*M2435*M2455 !PX000 Wait until P X000 turn o ff after circular interpolati on compl etion. Turn o n all ax es servo O N comman d.
6 - 77 6 POSITIONING CONTROL 6.10 1 Axis Fixed-Pitch Feed Control Posit ioning c ontrol f or spec ifie d axis of spec ified tr avel value f rom the c urrent stop point.
6 - 78 6 POSITIONING CONTROL [Program ] Prog ram for re petition 1 axis fixed -pitch fee d control i s shown as th e followin g condit ions. (1) System configur ation Fixed -pitch feed control of Axi s 4.
6 - 79 6 POSITIONING CONTROL (3) Oper ation timing Opera tion tim ing for fixed- pitch f eed contr ol is s hown be low. V 10000 t PLC ready flag (M 2 000) All axes servo ON command (M2042) All axes se.
6 - 80 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. 1 axis fixed-pitch fee d control SET M2042 FEED -1 Axis 4, 80000PLS Speed 10000PLS / s Dwell 1000ms PX000*M2475 !PX000*!PX001 P0 P0 END PX001 1 axis fixed-p itch feed control 1 axis fixed-pitch fee d Axis used .
6 - 81 6 POSITIONING CONTROL 6.11 Fixed- Pitch Feed Contr ol Using 2 Axes Linear Interpol ation Fixed- pitch f eed contr ol usin g 2 axes linear interp olation from the c urrent s top pos ition with th e specif ied 2 axes. Fixed- pitch f eed contr ol usin g 2 ax es linear interp olation uses the FEED-2 s ervo inst r uction .
6 - 82 6 POSITIONING CONTROL POINT Do not s et the travel v alue to "0" for f ixed- pitch fe ed contr ol. The f ollowing resu lts if the travel v alue is set to "0": (1) If the tra vel val ue of b oth is s et to "0 ", fixed- pitch f eed com pletion withou t fixed- pitch f eed.
6 - 83 6 POSITIONING CONTROL (3) Oper ation timing Opera tion tim ing for fixed- pitch f eed co ntrol us ing 2 axes lin ear int erpolat ion is shown be low.
6 - 84 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the spe ed-swi tching c ontro l is sho wn belo w. Fixed-pitch feed using 2 axes linear interpolation Fixed.
6 - 85 6 POSITIONING CONTROL 6.12 Fixed- Pitch Feed Contr ol Using 3 Axes Linear Interpol ation Fixed- pitch f eed contr ol usin g 3 axes linear interp olation from the c urrent s top pos ition with th e specif ied 3 axes. Fixed- pitch f eed contr ol usin g 3 ax es linear interp olation uses the FEED-3 s ervo inst r uction .
6 - 86 6 POSITIONING CONTROL POINT Do not s et the travel v alue to "0" for f ixed- pitch fe ed contr ol. The f ollowi ng resu lts if t he trav el va lue is s et to "0": (1) If the tra vel val ue of a ll axes are set to "0", fix ed-pit ch feed com plet ion witho ut fixed-p itch fee d.
6 - 87 6 POSITIONING CONTROL (3) Oper ation timing Opera tion tim ing for fixed- pitch f eed co ntrol us ing 3 axes lin ear int erpolat ion is shown be low.
6 - 88 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. Fixed-pitch feed u sing 3 axes linear interpolation Fixed-pitch feed .
6 - 89 6 POSITIONING CONTROL 6.13 Speed Contr ol ( ) (1) Speed c ontrol f or the spec ified ax is is execut ed. (2) Co ntrol i ncludes positio ning loo ps for c ontrol of serv o amplif iers. (3) Speed control ( ) uses the VF (F orward) an d VR (Rev erse) serv o instruct ions.
6 - 90 6 POSITIONING CONTROL (3) St op com mands a nd stop process ing The s top comm ands an d stop pr ocessi ng for s peed co ntrol are shown in the table.
6 - 91 6 POSITIONING CONTROL [Program ] Program for speed control ( ) i s shown as the fo llowing co nditions. (1) System configur ation Spee d control ( ) of Ax is 1.
6 - 92 6 POSITIONING CONTROL (4) Serv o program Serv o program No.91 f or spee d contro l ( ) is show n below. <K 91> 3000 Axis 1 Speed VF Positio ning speed . . . 3000 Axis used . . . . . . . . . Axis 1 Speed contr ol ( ) (Forward rotation) (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low.
6 - 93 6 POSITIONING CONTROL 6.14 Speed Contr ol ( ) (1) Speed c ontrol f or the spec ified ax is is execut ed. (2) Speed c ontrol not inc ludes positio ning lo ops for contro l of s ervo am plifier s. It can be used f or stop per c ontrol, etc . so t hat it m ay not bec om e error exc essive.
6 - 94 6 POSITIONING CONTROL (3) Even if the spe ed comm and is s et as pr obe data by th e digita l oscill oscope functi on, the v alue o n digital oscillos cope d oes not c hange wi th “0”. [Program ] Program for speed control ( ) is shown as the foll owing condit ions.
6 - 95 6 POSITIONING CONTROL (4) Serv o program Serv o program No.55 f or spee d contro l ( ) is shown be low. <K 55> 4000 Axis 3 Speed VVF Positioning speed . . . 4000 Axis used . . . . . . . . . Axis 3 Speed control ( ) (Forward ro tation) (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low.
6 - 96 6 POSITIONING CONTROL 6.15 Speed/Position S witching Control 6.15.1 Speed/position switching control star t Spee d/posit ion sw itching contro l for s pecif ied axis is ex ecuted. Spee d/posit ion sw itching control uses th e VPF ( Forwar d rotat ion), VPR (Re verse rotati on) and VPSTART (Re-star t) serv o instruc tions.
6 - 97 6 POSITIONING CONTROL REMARK (Note) : "The external CHANG E signa l input f rom ex ternal sour ce" is inputted to CHANG E of the Q 172LX f rom external so urce.
6 - 98 6 POSITIONING CONTROL (4) Ch ange of the tra vel va lue dur ing spee d contr ol The tra vel va lue for posit ion contr ol can be cha nged dur ing spe ed con trol af ter speed/ posit ion contr ol star t.
6 - 99 6 POSITIONING CONTROL The f ollowing ser vo program which perf orms the s peed control f or axis 4 to t he forward d irection at s peed 50000, a nd the posit ion co ntrol of the tra vel value s et in D76, D77 after the CHANG E signal f rom external s ource turns on.
6 - 10 0 6 POSITIONING CONTROL (2) No speed control Po s i tion cont r o l only is exe cuted if M320 5+20n and C HANGE sign al are tu r nin g on at th e start.
6 - 10 1 6 POSITIONING CONTROL [Program ] Progr am f or speed/ positio n switc hing c ontrol is sho wn as the fol lowing c ondit ions. (1) System configur ation Spee d/posit ion sw itching contro l of Ax is 4.
6 - 10 2 6 POSITIONING CONTROL (4) Serv o program Serv o program No.101 for s peed/pos itio n switc hing co ntrol is sho wn belo w. Speed Axis 4, 40000 <K 1 01> Dwell 1000 VPF Speed . . . . . . . 1 0 0 0 Speed/positi on switching control Dwell .
6 - 10 3 6 POSITIONING CONTROL 6.15.2 Re-starti ng after stop during control Re-star ting (co ntinuing) after stop wit h stop c omm and during s peed/p osition s witchi ng contr ol is exec uted.
6 - 10 4 6 POSITIONING CONTROL (b) If the stop occ urred dur ing posit ion contr ol, re-star t with pos ition, an d the posit ioning contro l of s ett in g t ra vel va lu e.
6 - 10 5 6 POSITIONING CONTROL [Program ] Progr am for res tarting af ter stop dur ing contr ol with th e speed/pos itio n s witch ing contr ol is sho wn as th e follo wing con ditions . (1) System configur ation Spee d/posit ion sw itching contro l of Ax is 4.
6 - 10 6 6 POSITIONING CONTROL (3) Oper ation timing Opera tion tim ing for speed /posit ion s witching c ontro l and r e-start ing ar e shown belo w. V 1000 CHANGE signal accept Speed control Posit i.
6 - 10 7 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M204 2 VPF Axis 4 , 40000PLS Speed 1000PLS/s PX000*M 2475 END Speed /position sw itching co ntrol for Axis 4 Speed/posi tion switching enable co mmand OFF with ax is 4 speed/position swit ching latch ON.
6 - 10 8 6 POSITIONING CONTROL 6.16 Speed-Sw itching Control (1) P osition ing contr ol perf orms changing t he sp eed on t he point befor ehand se t by one st art.
6 - 10 9 6 POSITIONING CONTROL [Control deta ils] Start and end of the s peed- switchi ng contro l Speed- switch ing contr ol is start ed and ended us ing the f ollowi ng instr uctions : (1) VSTART Starts the sp eed-s witching c ontrol . (2) VEND Ends the speed-sw itching con trol.
6 - 11 0 6 POSITIONING CONTROL Proc edure of the serv o prog ram and operati on tim ing Serv o program s for speed-switc hing c ontrol and th e operation tim ing are sh own bel ow.
6 - 11 1 6 POSITIONING CONTROL [Cautions] (1) T he num ber of co ntrol ax es cann ot be ch anged du ring co ntrol. (2) The spe ed-switchi ng point can be specified t he absolute data m ethod (VA BS ) and incr emental data m ethod (VI NC ) by mixed us e.
6 - 11 2 6 POSITIONING CONTROL (3) Operati on timing and speed-switching positions Operat ion tim ing and s peed- switching points f or spe ed-switc hing c ontrol are shown be low.
6 - 11 3 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the spe ed-swi tching c ontro l is sho wn belo w. SET M2042 VSTART ABS-2 Axis 2 , 1 00000PLS Axis 3, 500.
6 - 11 4 6 POSITIONING CONTROL 6.16.2 Specification o f speed-switching points using r epetition instructions Repetit ion exec ution b etween any spe ed-swi tching p oints. Ite ms are set in per ipheral dev ices Commo n Arc Pa ramete r block Ot hers Servo instructi on Positio ning method Number o f contr ol axes Para meter bl ock No.
6 - 11 5 6 POSITIONING CONTROL (3) FOR-OFF (loop- o ut trigg er condition setting) (a) T he repe tition ra nge se t until t he spec ified bi t devic e turns off is ex ecuted repeat edly. (b) T he fol lowing d evices are used as the loop-o ut trig ger co nditio n: 1) In put (X/P X) 2) Outp ut (Y/P Y) 3) Int ernal relay (M)/S pecial relay (SP.
6 - 11 6 6 POSITIONING CONTROL (3) Operati on in condition 3 ON OFF Minor err or [215] occu rred 0 1000 2000 100000 X010 X011 200000 ON OFF Error oc curs bec ause it excee ds the travel v alue to the s top positi on. [Program ] Prog ram for repe tition spe ed-switchi ng control i s shown as th e followin g condition s.
6 - 11 7 6 POSITIONING CONTROL (3) Operati on timing and speed-switching positions Operat ion tim ing and s peed- switching points f or spe ed-switc hing c ontrol are shown be low.
6 - 11 8 6 POSITIONING CONTROL (4) Serv o program Serv o pr ogram No. 501 for spee d-switc hing con trol by the r epetitio n instruc tion is shown be low.
6 - 11 9 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes speed- switch ing contro l usin g repeti tion inst ructions i s show n below.
6 - 12 0 6 POSITIONING CONTROL 6.17 Constant-Spee d Control (1) Positi oning to the pas s point bef orehand set by one star ting is ex ecuted wit h the specif ied pos itioning m etho d and p ositionin g speed. (2) T he posi tioning m ethod an d posit ioning speed c an be c hanged f or each pass point.
6 - 12 1 6 POSITIONING CONTROL [Operat ion tim ing] Operat ion tim ing for c onstant- speed c ontrol is show n belo w. [Exam ple : Op eration timing for 2 ax es const ant-spe ed contr ol] Change spee .
6 - 12 2 6 POSITIONING CONTROL (b) T he spee d switch ing and c hang e speed by CHGV instr uction ar e execu ted toward the sam e progr am in th e servo pr ogram . The l ower of t he speed chang e by CHG V instr uctions and th e comm and speed in th e servo program is select ed.
6 - 12 3 6 POSITIONING CONTROL Exam ple) Ma in c y c le: 20[ ms], Comm and spe ed: 600 [mm / m in] If the c omm and speed ( 600[m m/min]) is divi ded b y 6 0, the c omm and speed per seco nd is 10[mm/s ], and if the m ain c y c le (20 [ms ]) is divid ed by 10 00, the m ain cyc le is 0.
6 - 12 4 6 POSITIONING CONTROL 6.17.1 Specification o f pass points by repetition instructi ons This s ection des cribes th e method of the pas s points for which exec utes bet ween an y pass points repeatedl y.
6 - 12 5 6 POSITIONING CONTROL (3) FOR-OFF (loop- o ut trigg er condition setting) (a) T he repe tition ra nge se t until t he spec ified bi t devic e turns off is ex ecuted repeat edly. (b) T he fol lowing d evices are used as the loop-o ut trig ger co nditio n: 1) In put (X/P X) 2) Outp ut (Y/P Y) 3) Int ernal relay (M)/S pecial relay (SP.
6 - 12 6 6 POSITIONING CONTROL [Program ] Progr am for repetit ion cons tant-s peed con trol is sho wn as the f ollo wing con ditions . (1) System configur ation Consta nt-spee d control for Axis 2 and Ax is 3.
6 - 12 7 6 POSITIONING CONTROL (3) Oper ation timing Operat ion tim ing for c onstant- speed c ontrol is show n belo w. Axis 3 positioning dir ection 100000 40000 80000 20000 10000 V 60000 100000 2000.
6 - 12 8 6 POSITIONING CONTROL (4) Serv o program Serv o program No.510 for cons tant-s peed co ntrol is shown below. Axis 2 <K 510> 40000 ABS-2 Speed Axis 3 CPSTART 2 Axis 2, Axis 3, FOR- TIMES 10000 CPEND NEXT INC -2 Radius INC Axis 2, Axis 3, Axis 2, Axis 3, 20000 0 K 4 30000 Positioning speed .
6 - 12 9 6 POSITIONING CONTROL 6.17.2 Speed-sw itching by instruction ex ecutio n The s peed ca n be spec ified for each pass p oint dur ing the c onstan t-spee d contro l inst r uction . The s peed ch ange from a point c an be s pecif ied direc tly or indir ectl y in the ser vo program .
6 - 13 0 6 POSITIONING CONTROL [Program ] Program for which exec utes th e speed- switch ing con trol b y turnin g on M20 40 duri ng const ant-speed instruc tion i s shown as the f ollowing condit ions. (1) System configur ation Switch es sp eed for Axis 1 and Ax is 2.
6 - 13 1 6 POSITIONING CONTROL (3) Operati on timing and speed-switching positions Opera tion tim ing an d posit ions for speed s witchi ng are s hown below.
6 - 13 2 6 POSITIONING CONTROL (4) Serv o program Serv o program No.310 for spe ed-switc hing is shown belo w . Axis 1 CPEND Axis 2 20000 30000 ABS-2 <K 310> Speed CPSTART 2 Axis 1, Axis 2, ABS .
6 - 13 3 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M2042 CPSTART2 Axis 1 Axis 2 Speed 10 0 00PL S /s ABS- 2 Axis 1.
6 - 13 4 6 POSITIONING CONTROL 6.17.3 1 axis constant-speed control Ite ms are set in per ipheral dev ices Commo n Arc Par ameter block Othe rs Servo instructi on Pos i t ioning method Number o f contr ol axes Para meter bl ock No.
6 - 13 5 6 POSITIONING CONTROL [Program ] Prog ram for re petition 1 axis consta nt-speed control is s h own as the fo llowing condit ions. (1) System configur ation Axis 4 const ant-spe ed co ntrol.
6 - 13 6 6 POSITIONING CONTROL (4) Oper ation timing Operat ion tim ing for s ervo p rogram No. 500 is shown below. V P1 P2 P3 10000 -10000 P4 t P2 P3 PLC read y flag (M2000) All axes s e rvo ON comma.
6 - 13 7 6 POSITIONING CONTROL (6) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M204 2 CPSTART1 Axis 4 Speed 10000PLS / s INC-1 Axis 4, -1000PL.
6 - 13 8 6 POSITIONING CONTROL 6.17.4 2 to 4 ax es constant-speed control Consta nt-speed c ontrol for 2 t o 4 axes. Ite ms are set in per ipheral dev ices Commo n Arc Pa ramete r block Others Servo in structi on Pos i t ioning method Number o f contr ol axes Para meter bl ock No.
6 - 13 9 6 POSITIONING CONTROL [Control deta ils] Start and end f or 2 t o 4 axe s constan t-speed contro l 2 to 4 ax es co nstant-sp eed contr ol is s tarted and end ed using the fo llowing instru ctions: (1) CPSTART2 Starts the 2 ax es cons tant-s peed con trol.
6 - 14 0 6 POSITIONING CONTROL (6) ABS /INC , ABS/INC Sets c ircular interp olation c ontro l using center p oint spec ificat ion. Refer t o Sec tion 6.8 "Centr al Poin t-Spec ified Circular Interpo latio n Contr ol" for deta ils. [Program ] (1) Program for 2 axes con stant-s peed co ntrol is shown as the fo llowin g condi tions.
6 - 14 1 6 POSITIONING CONTROL (c) P ositioni ng cond itions 1) Cons tant-s peed co ntrol con ditions are sh own belo w. Item Setting Servo program No.
6 - 14 2 6 POSITIONING CONTROL (e) Motion SFC program Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M204 2 CPSTART2 Axis 2 Axis 3 Speed 10000PLS/s ABS-2 Axis 2, 3000.
6 - 14 3 6 POSITIONING CONTROL (b) Position ing c onditions 1) Cons tant-s peed co ntrol con ditions are sh own belo w. Item Setting Servo program No. 506 Positioning speed 10000 Positioning method 4 .
6 - 14 4 6 POSITIONING CONTROL (d) Motion SFC program Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. SET M2042 CPST ART4 Axis 1 Axis 2 Axis 3 Axis 4 Speed 10000PLS/s INC-.
6 - 14 5 6 POSITIONING CONTROL 6.17.5 Constant speed control for helical interpol ation The he lical interpo lation c an be specif ied as t he posi tioning c ontro l metho d to pass point f or 3 or 4 axes c onsta nt-speed c ontrol .
6 - 14 6 6 POSITIONING CONTROL Helic al inter polatio n specif ied m ethods f or cons tant-s peed con trol ar e show n belo w. Servo instruction Positioning method Circular interpolation specified met.
6 - 14 7 6 POSITIONING CONTROL [Cau tions] (1) T he hel ical i nterpol ation s pecific atio n at pass poin t for c onstant-s peed c ontrol c an be used in the both of real and virtual m ode. (2) Specif y any 3 axes am ong 4 contro lled axes in the helical interpol ation c ontrol at the pas s point f or 4 axes c onsta nt-speed c ontrol ( CPST ART4).
6 - 14 8 6 POSITIONING CONTROL 6.17.6 Pass point skip functi on This functio n stops positio ning to execut ing po int and ex ecutes positi oning to next point, by sett ing a sk ip sign al towar d each pass po int for constant-s peed control. [Data setti ng] (1) Skip signal devices The fo llowing devi ces can be spec ified as skip s i gnal devices.
6 - 14 9 6 POSITIONING CONTROL CAUTION When a skip is specified during const ant-speed control and the axis which has no stroke range [degree] is included, t he operation at the execution of skip is described.
6 - 15 0 6 POSITIONING CONTROL 6.17.7 FIN signal w ait function By sel ecting the FI N signal wai t functio n and setting a M- code at each ex ecuting poin t, a proc ess end of eac h execut ing po int is s ynchron ized wit h the FI N signa l, the FI N sign al turns ON to OFF and then the ne xt positioni ng is execut ed.
6 - 15 1 6 POSITIONING CONTROL [Program exam ple] (1) FIN sig nal wait function by the PLC program (a) System configur ation FIN s ignal wa it funct ion to ward const ant-spe ed contr ol for Axis 1 and Ax is 2.
6 - 15 2 6 POSITIONING CONTROL (c) Servo program Serv o program No.0 f or cons tant-spe ed contro l is sh own be low. <K 0 > Start constant-speed control ABS-2 Axis 2, 200000 Axis 1, 200000 Spee.
6 - 15 3 6 POSITIONING CONTROL (e) PLC program PLC pr ogram for FIN si gnal wa it functi on is s hown bel ow. Motion SFC program start request 0 11 14 26 X0 M0 M2419 M2419 END M3219 SET SP.SFCS H3E1 M0 D0 K110 M3219 RST 28 SP.DDRD H3E1 D1 M2 D13 D50 K1 D51 MOVP M3219 is set PLC pro gram Substitutes 1 for D51 after pr ogram start.
6 - 15 4 6 POSITIONING CONTROL (2) FIN sig nal wai t f uncti on using the Motion SFC progr am (a) System configur ation FIN s ignal wa it funct ion to ward const ant-spe ed contr ol for Axis 1 and Ax is 2.
6 - 15 5 6 POSITIONING CONTROL (c) Servo program Serv o program No.0 f or cons tant spee d contr ol is sho wn be low. <K 0 > Start constant-speed control ABS-2 Axis 2, 200000 Axis 1, 200000 Spee.
6 - 15 6 6 POSITIONING CONTROL (d) Motion SFC program 1) Mot ion SFC progr am f or constant- speed contro l is sh own belo w. SET M2042 PX000*M2415*M2435 Constant-speed control ABS-2 Axis 2 , 200000 A.
6 - 15 7 6 POSITIONING CONTROL 2) Mot ion SFC program whic h outputs M-code of each point f or cons tant- speed c ontro l to PY2 0 to P Y2F by BC D code is sho wn belo w. FIN sign al wai t M2419*M2 439 END #0=BCD(D13) DOUT Y20,#0 SET M3 219 P0 P0 RST M3219 !M2419*! M2439*M240 3*M2423 D13==K12 Turn on FIN signal.
6 - 15 8 6 POSITIONING CONTROL POINT (1) T he fixe d acceler ation/ deceler ation tim e m ethod is accelera tion/dec elerat ion proces sing that t he tim e which ac celera tion/dec elerati on tak es is fix ed, ev en if t he comm and spee d di ffers.
6 - 159 6 POSITIONING CONTROL 6.18 Position Follow -Up Control Posit ioning t o the a ddress s et in the word de vice of the Mot ion CPU s pecif ied wit h the servo pr ogram at one s tart i s execute d. Posit ion fo llow-up c ontro l is s tarted using th e PFST ART ser vo progr am inst ructio n.
6 - 160 6 POSITIONING CONTROL [Cautions] (1) Num ber of control axes is 1 ax is. (2) Only the abs olute data m ethod (ABS ) is used for positio ning con trol to the pa ss points . (3) Th e speed can be c h anged during the start. The c hanged s peed is effec tive unt il the s top com mand is input .
6 - 161 6 POSITIONING CONTROL (3) Oper ation timing Oper ation timin g for positio n follow - u p control is show n below. 0 V t 100 0 PLC ready flag ( M2000) All axes ser vo ON command (M2042) All ax.
6 - 162 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram , PLC progr am and param eter sett ing for posit ion fo llow-up cont rol is shown be low. (a) Motion SFC program Motion SFC pr ogram example f or pos ition f ollo w-up co ntrol is shown below.
6 - 163 6 POSITIONING CONTROL (b) PLC program PLC pr ogram example f or p osition f ollow- up contro l is s hown be low. Substitutes 2 for D51 after progr am start. 0 5 SM400 X0 M20 RST SP.DDWR H3E1 D4000 M0 D1000 D50 K2 D61 MOVP PLC prog ram 18 30 4 2 M10 M0 M2 M20 RS T 66 M30 END 81 K2 D51 MOVP M10 PLS M3240 M30 RS T X1 M1 M0 M3 SP.
6 - 164 6 POSITIONING CONTROL (c) Parameter settin g The C PU shar ed mem ory settin g exam ple for p osition follow-u p contr ol is shown be low. CP U No.
6 - 165 6 POSITIONING CONTROL 6.19 Speed control w ith fixed position stop Spee d contro l with f ixed pos itio n stop of the s pecifie d axis is exec uted. Spee d control with f ixed pos ition s top is start ed usin g the PVF (for ward ro tation) or PVR (r everse rot ation) of ser vo program instruc tion.
6 - 166 6 POSITIONING CONTROL (4) A ddress s etting r ange i s 0 to 35 999999 (0 to 3 59.999 99[degre e]) in the indirec t settin g of pos itioni ng addr ess. If it is set outs ide the s etting r ange, a servo program settin g error [ n03] oc curs and it does not star t.
6 - 167 6 POSITIONING CONTROL (10) D eceler ation sp eed b y the sto p com mand (M 3200+20 n)/rapid stop com mand (M320 1+20n) is contr olled wit h fix ed inclin ation ( decele ration s peed). Deceler ation pr ocessin g is execu ted using th e speed li mit valu e or decel eration/ rapid sto p deceler ation tim e set in the par ameter bl ock.
6 - 168 6 POSITIONING CONTROL (2) Positi onin g condi tions (a) Spee d control wi th fixed po sition stop cond itions are shown below. Item Setting Servo program No.
6 - 169 6 POSITIONING CONTROL (4) Serv o program Serv o program No.55 f or spee d contro l with f ixed pos ition s top is s hown be low. PVF Axis Speed 120.00000 <K 55> 1, 30000.000 20 M100 Fixed posit ion stop command Accel./decle. time Axi s used .
6 - 170 6 POSITIONING CONTROL 6.20Simultaneous Star t Simul taneous s tart of the sp ecified s ervo program at one s tart is ex ecuted . Simul taneous start is start ed us ing the START servo pr ogram instruct ion.
6 - 171 6 POSITIONING CONTROL [Program ] Prog ram for simul taneou s start is sh own as the follow ing conditio ns. (1) System configur ation Simu ltaneous start for "Axis 1 and Axis 2", Axis 3 and Axis 4.
6 - 172 6 POSITIONING CONTROL (5) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low. Simultaneous start control SET M2 042 PX000*M2415*M2435*M 2455 *M2475 END !PX000 STA RT K 1 K 1 4 K 4 5 Turn on all axes servo ON command.
6 - 173 6 POSITIONING CONTROL 6.21 JOG Operation The s etting JOG oper ation i s execu ted. Indiv idual star t or sim ultane ous start c an be us ed in t he JO G operat ion. JOG op eration c an be execute d using the Moti on SFC program or test m ode of perip heral d evice.
6 - 174 6 POSITIONING CONTROL 6.21.2 Indivi dual start JOG op eration f or th e specif ied ax es is st arted. JOG op eration is exec uted b y the fo llowing J OG oper atio n comm ands: • For ward JOG st art com mand ..... ...... M32 02+20n • Revers e JOG s tart com mand .
6 - 175 6 POSITIONING CONTROL (2) The se tting range for JOG speed sett ing registe rs are shown below . Setting ran ge JOG ope ration JOG sp eed setti ng registe r m m inch degre e PLS No.
6 - 176 6 POSITIONING CONTROL [Cautions] (1) If the for ward JOG start c omm and (M3202 +20n) an d revers e JOG s tart com mand (M320 3+20n) turn on s imult aneous ly for a single axis, t he for ward JO G operat ion is ex ecuted.
6 - 177 6 POSITIONING CONTROL (3) JO G opera tion b y the JO G opera tion com mand ( M3202+2 0n/M32 03+20n) is not execu ted dur ing the tes t mode using a periph eral de vices. After r elease of test m ode, t he JOG operati on is ex ecuted by turn ing the J OG operat ion com mand of f to on.
6 - 178 6 POSITIONING CONTROL (3) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes JOG op eration is sho wn below . Transfer the JOG operation speed to D640L and D642L.
6 - 179 6 POSITIONING CONTROL 6.21.3 Simultaneous st art Simu ltaneous start JOG o peratio n for s pecif ied m ultiple axes. [Control deta ils] (1) JO G oper ation contin ues a t the JOG spee d sett i.
6 - 180 6 POSITIONING CONTROL (3) The se tting range for JOG speed sett ing registe rs are shown below . Settin g range JOG ope ration JO G speed sett ing regis ter mm inch degree PLS No.
6 - 181 6 POSITIONING CONTROL [Program ] Program for s imultane ous st art of J OG opera tions ar e sho wn as the follo wing condit ions. (1) System configur ation JOG op erati on for Ax is 1 a nd Ax is 2.
6 - 182 6 POSITIONING CONTROL 6.22 Manual Puls e Generator Operation Po s i tioning con trol based on the number of pulses in putted fro m t he manual pulse genera tor is executed. Simul taneous opera tion for 1 to 3 ax es is possi ble with one m anual puls e gener ator, the num ber of c onnecta ble m odules are shown below.
6 - 183 6 POSITIONING CONTROL (b) O utput sp eed The ou tput spe ed is th e posit ioning speed c orresp onding t o the n umber of pulses input from a manual pu lse gener ator in uni t time.
6 - 184 6 POSITIONING CONTROL (5) T he setti ng m anual pul se gener ator 1- pulse input m agnificat ion chec ks th e "1- pulse input m agnific ation s etting r egister s of th e manual pulse g enerator " of th e applic able axis at the turnin g manual p ulse gener ator ena ble flag tur ns off to on.
6 - 185 6 POSITIONING CONTROL (7) E rrors detail s at the data setting for manual pu lse gene rator operatio n are sh own below. Error details Error processing Axis set to manual pu lse generator operation is specified. • Duplicated specified ax is is ignored.
6 - 186 6 POSITIONING CONTROL (5) If t he manual pu lse genera tor enabl e flag tur ns on again fo r axis dur ing smoothin g decel eration af ter manua l p ulse gener ator ena ble flag turns off, an error [2 14] is set an d manu al puls e gener ator input is no t enable d.
6 - 187 6 POSITIONING CONTROL [Program ] Progr am execu tes m anual puls e gener ator op eration is s hown as t he fol lowing condit ions. (1) System configur ation Manu al pulse ge nerator o peration of Axis 1 an d Axis 2.
6 - 188 6 POSITIONING CONTROL 6.23 Home Positi on Return (1) Us e the home pos ition retur n at th e power suppl y ON and ot her t imes wher e confir matio n of axis is at the m achine home pos itio n is r equired. (2) T he foll owing s ix m ethods for home p osition return ar e shown below.
6 - 189 6 POSITIONING CONTROL MEM O.
6 - 190 6 POSITIONING CONTROL 6.23.1 Home position r eturn data This data is used to execute the hom e posit ion ret urn. Set t his data usin g a per iphera l devic e. Table 6.3 Home p osition return data list Settin g range mm i nch degree P LS Ind irect setting No.
6 - 191 6 POSITIONING CONTROL Remarks Explanat ory section • The home po sition ret urn direct ion is set. • T he hom e positio n retu rn meth od is set . • The proximi ty dog t y pe or count ty pe are rec ommended for the servo a m p lifier w hich does not su pport abs olute v alue.
6 - 192 6 POSITIONING CONTROL (1) Trav el v a lue after proximity dog ON (a) T he trav el va lue after prox imit y dog ON is se t to ex ecute t he count type home pos iti on return. (b) After th e prox imit y dog ON, t he hom e pos ition is the f irst ze ro-po int after trav el by th e settin g travel value.
6 - 193 6 POSITIONING CONTROL (2) Home posit ion return retry function/dw ell time at the home position return retry (a) V alid/in valid of h ome p osition r eturn retr y is se t.
6 - 194 6 POSITIONING CONTROL (3) Home posit ion shift amount/speed set at t he home position shift (a) T he shif t (trav el) am ount fr om posi tion sto pped b y home pos ition r eturn is set. (b) If the hom e pos ition s hift am ount is positiv e value , it shif ts from detec ted zero point si gnal t o addres s incre ase d irecti on.
6 - 195 6 POSITIONING CONTROL (d) Valid/in valid of the s etting value f or hom e positio n shif t amount by the hom e posi tion retu rn method i s shown below .
6 - 196 6 POSITIONING CONTROL (5) Operati on setting for incompletion of home posi tion return (a) O perat ion in s electi ng "0: Execute servo pr ogram " 1) S ervo pro gram c an be ex ecuted e ven if th e hom e positi on return r eques t signal (M2409+2 0n) is ON.
6 - 197 6 POSITIONING CONTROL (b) In put of h ome pos ition r eturn In the indirec t settin g b y t he word d evices , the sp ecified word dev ice dat a are read at s ervo progr am execut ion by Motio n CPU. Set data to devices f or indir ect setting and t hen execut e the start r equest of ser vo program at home position r eturn.
6 - 198 6 POSITIONING CONTROL 6.23.2 Home position r eturn by the proximity dog t y pe 1 (1) Prox imity dog type 1 Zero po int posit ion after pr oxim ity dog ON to OFF is hom e position i n this method.
6 - 199 6 POSITIONING CONTROL (4) Cauti ons (a) Keep the proxi mity dog ON du ring decel eration fr om th e home po sition return s peed to the cre ep spee d. If the pr oxim ity dog t urns O FF befor e decel eration to the cre ep speed , a decel eration sto p is made a nd the next zero point is set as t he home posit ion.
6 - 200 6 POSITIONING CONTROL (c) W hen it d oes no t pass ( zero pass signa l: M2406 +20n ON) the zer o poin t from home pos ition r eturn s tart to deceler ation s top b y proxim ity dog ON to OFF, .
6 - 201 6 POSITIONING CONTROL 6.23.3 Home position r eturn by the proximity dog t y pe 2 (1) Prox imity dog type 2 Zero po int posit ion after pr oxim ity dog ON to OFF is hom e position i n this method.
6 - 202 6 POSITIONING CONTROL (4) Cauti ons (a) A system which t he ser vomotor can rot ate on e time or more is requ ired. (b) W hen a ser vomotor stops with sp ecified condit ion ena bles and rotates to revers e direc tion one tim e after proxim ity dog O N, m ake a s ystem f or which does not tur n OFF the exter nal upper /lower s troke lim it.
6 - 203 6 POSITIONING CONTROL 6.23.4 Home position r eturn by the count type 1 (1) Count ty pe 1 After t he pr oximit y dog ON , the zero poi nt after the s pecifie d dist ance (tr avel value after pr oxim ity dog O N) is home pos ition i n this m ethod .
6 - 204 6 POSITIONING CONTROL (4) Cauti ons (a) Hom e pos ition ret urn and c ontinu ousl y s tart of home pos ition ret urn ar e also possib le in t he proxim ity d og ON i n the co unt t ype 1.
6 - 205 6 POSITIONING CONTROL 6.23.5 Home position r eturn by the count type 2 (1) Count ty pe 2 After t he pr oximit y dog ON , the p osition which travele d the s pecifie d dist ance (tra vel val ue after proxim ity dog ON) is hom e posi tion in this m ethod.
6 - 206 6 POSITIONING CONTROL 6.23.6 Home position r eturn by the count type 3 (1) Count ty pe 3 After t he pr oximit y dog ON , the zero poi nt after the s pecifie d dist ance (tr avel value after pr oxim ity dog O N) is home pos ition i n this m ethod .
6 - 207 6 POSITIONING CONTROL (3) Home posit ion return execution Home pos itio n return by the count t ype 3 is execut ed usin g the s ervo pr ogram in Secti on 6.23.16. (4) Cauti ons (a) A system which t he ser vomotor can rot ate on e time or more is requ ired.
6 - 208 6 POSITIONING CONTROL 6.23.7 Home position r eturn by the data set type 1 (1) Data set ty pe 1 The prox imit y d og is not use d in this metho d for the abs olute posi tion system . (2) Home posit ion return by the data set ty pe 1 Home pos itio n is the comman d positi on at t he hom e positio n return o peratio n.
6 - 209 6 POSITIONING CONTROL 6.23.8 Home position r eturn by the data set type 2 (1) Data set ty pe 2 The prox imit y d og is not use d in this metho d for the abs olute posi tion system . (2) Home posit ion return by the data set ty pe 2 Home pos itio n is the real p osit ion of ser vom otor at t he hom e positio n retur n operat ion.
6 - 210 6 POSITIONING CONTROL 6.23.9 Home position r eturn by the dog cradl e type (1) Dog cradl e t y pe After dec elerat ion stop b y the proxim it y do g ON, if the zer o point is pas sed after trave ling to re verse directio n and turning the prox imit y dog OFF , the d eceler ation stop is made .
6 - 211 6 POSITIONING CONTROL (b) If the hom e pos ition r eturn is execu ted in the prox im ity dog, it travels to revers e direct ion of home p osition r eturn.
6 - 212 6 POSITIONING CONTROL (c) W hen th e proxim ity do g is s et in the home p osition return direct ion, th e proxim ity do g is t urned O FF dur ing tra vel to r evers e dire ction of home posit.
6 - 213 6 POSITIONING CONTROL (d) W hen it st arts i n the pr oximit y dog, t he zero point i s not pas sed at t he tim e of the pr oximit y dog is turned OFF dur ing tra vel to re verse direct ion of home posit ion retur n, it continu es to trav el wit h home p osition r eturn sp eed un til the ze ro point i s passe d.
6 - 214 6 POSITIONING CONTROL 6.23.10 Home positi on return by the stopper type 1 (1) Stopper ty pe 1 Posit ion of stopper is hom e pos ition in this m ethod.
6 - 215 6 POSITIONING CONTROL (4) Cauti ons (a) A zero poi nt does not m ust be passe d ( zero pass signal: M24 06+20n ON) between turnin g on th e power s uppl y and exec uting ho me posit ion ret urn. (b) Ho m e po sition re turn retry function cannot be u s e d in the stoppe r type 1.
6 - 216 6 POSITIONING CONTROL 6.23.11 Home positi on return by the stopper type 2 (1) Stopper ty pe 2 Posit ion of stopper is hom e pos ition in this m ethod.
6 - 217 6 POSITIONING CONTROL (c) Se t the torque li mit value at the reachi ng creep spee d for syste m . W hen the torqu e lim it value is too large, s ervom otors or mac hines ma y be damage d after pres sing the stop per.
6 - 218 6 POSITIONING CONTROL 6.23.12 Home posi tion return by the limit switch combined type (1) Limi t s w itch combined type The prox im ity dog is not used in this m ethod. Home position r eturn c an be execu ted by us ing the exter nal upper /lower limit s witch.
6 - 219 6 POSITIONING CONTROL (4) Cauti ons (a) F or the ax is wh ich exec utes the home p osition r eturn b y the l imit switc h com bined t y p e, if the extern al input s ignal has not s et in th e.
6 - 220 6 POSITIONING CONTROL 6.23.13 Home posi tion return retry function W hen a work h as bee n excee ded hom e pos ition during positio ning c ontrol , etc., even if it exec utes the hom e positio n r eturn, de pending on the positio n of work, a work may not t ravel to home p osition di rection.
6 - 221 6 POSITIONING CONTROL (2) Hom e posit ion ret urn retr y operati on setti ng a work outsid e the ra nge of external lim it switc h (a) W hen the directi on of "wor k hom e posi tion" an d hom e positio n retur n is sam e, normal home p ositio n return is oper ated.
6 - 222 6 POSITIONING CONTROL (3) Dwell tim e set ting at the h ome pos ition r eturn r etr y Revers e oper ation b y detect ion of the extern al up per/low er limit s witch a nd dwe ll time f unctio .
6 - 223 6 POSITIONING CONTROL (2) Mak e a s ystem f or whic h does n ot execu te the s ervo am plifier power of f or ser vo OFF b y the ext ernal u pper/l ower lim it switch . Hom e positio n retur n retr y cannot be execu ted onl y in the s tate of servo O N.
6 - 224 6 POSITIONING CONTROL 6.23.14 Home positi on shift function Norm ally, whe n the m achine h ome pos ition r eturn is execut ed, a p osition of hom e posit ion is set b y using t he prox imit y dog or zero point s ignal.
6 - 225 6 POSITIONING CONTROL [Control detail s] (1) Hom e pos ition sh ift ope ration Oper ation for th e home positio n shift fun ction is shown below .
6 - 226 6 POSITIONING CONTROL (2) Setting r ange of hom e posit ion sh ift amou nt Set t he hom e positio n shif t amount within the ran ge of f rom the detected zero signa l to exter nal upper /lower limit s witch (FL S/RLS).
6 - 227 6 POSITIONING CONTROL (b) Ho m e po sition shi ft operat ion with th e "creep spe ed" V Home position return d irection Creep speed Home position return start Home p osition Home position Proximity d og Zero point Home position shift amount is positive Home p osition s hift amount is negative Fig.
6 - 228 6 POSITIONING CONTROL 6.23.15 Condition sele ction of home position set A hom e positi on retur n must be made after t he servom otor h as been r otated m ore th an one re volutio n to pass the a xis throu gh the Z-phase (motor referenc e pos ition sign al) and the zero p ass si gnal (M24 06+20n) has b een tur ned ON.
6 - 229 6 POSITIONING CONTROL 6.23.16 Serv o program for home p osition return The hom e posi tion retur n exec uted us ing the ZERO ser vo instruc tion. Items set b y peripheral devices Commo n Arc Pa ramete r block Other s Servo in struction Posi tioning m ethod Number o f contr ollable ax es Para meter bl ock No.
6 - 230 6 POSITIONING CONTROL (2) Serv o program example Serv o program No. 0 f or hom e posit ion ret urn is s hown be low. Axis used . . . Axis 4 ZERO Home position return Axis 4 <K 0> (3) Motio n SFC pro gram Motion SFC pr ogram for which ex ecutes the ser vo progr am is shown be low.
6 - 231 6 POSITIONING CONTROL 6.24 High- Speed Oscillation Posit ioning of a spec ified ax is is caused to osc illate o n a sine wave. Ite ms set by peripher als Commo n OSC Pa ramete r bl ock Oth ers Servo in struction Posi tioning m ethod Number o f contr ollable ax es Para meter bl ock No.
6 - 232 6 POSITIONING CONTROL [Cautions] (1) If the am plitude s ettin g is outs ide the range, the ser vo progr am setti ng error [25] occurs and oper ation d oes not start. (2) If the st arting a ngle sett ing is outsid e the ra nge, th e servo pr ogram setting er ror [26] oc curs and operat ion does not st art.
7 - 1 7 7 AUXILIA RY AND APP LIED FUNCTIONS 7. AUXILI ARY AND APPLIED FUNCTIONS This sectio n descr ibes th e auxi liar y and app lied f unction s for pos itioni ng co ntr ol in t he Multip le CPU system . 7.1 M-code Output Fun ction M-cod e is a code No.
7 - 2 7 AUXILIA RY AND APP LIED FUNCTIONS (c) W hen th e M-code is read at posit ionin g compl etion, us e the p osition ing com plete sign al (M24 01+20n) as the r ead comm and. At the posit ion contr ol or s peed c ontrol Dwell time Storage of s etting M-c ode No.
7 - 3 7 AUXILIA RY AND APP LIED FUNCTIONS (4) Pr ogram example (a) Th e Motion SF C program to re ad M-code s i s shown as th e followin g condit ions. 1) Axis us ed No. ......... ......... .......... .......... ... Axis 3 2) Proc essin g at the p ositio ning start by M-c ode .
7 - 4 7 AUXILIA RY AND APP LIED FUNCTIONS 7.2 Backlash Compens ation Function This functio n compens ates f or the bac klash amount in the m achine s ystem .
7 - 5 7 AUXILIA RY AND APP LIED FUNCTIONS (2) Backlash compen sation processing Details of back lash com pensati on proces sing ar e sho wn below. Table 7.
7 - 6 7 AUXILIA RY AND APP LIED FUNCTIONS 7.3 Torque Limi t Function This functio n restricts the generating torq ue of the s ervom otor with in the s etting r ange. If the torque r equir ed for c ontrol excee ds the t orque limit va lue dur ing pos itioni ng contr ol, it res tricts with the setting torque l imit va lue.
7 - 7 7 AUXILIA RY AND APP LIED FUNCTIONS Setti ng for th e torque limi t value wit h the cons tant-speed control ( CPS TART 1) (1) Ser vo program Se ttin g item s of th e parameter block Parameter b lock 3 (P.
7 - 8 7 AUXILIA RY AND APP LIED FUNCTIONS 7.4 Skip Function in w h ich D isregards Stop Command W hen the curre nt pos itionin g is sto pped b y input fr om exter nal sourc e and t he next posit ioning contro l is per form ed, it e nables s tart ing of th e next positio ning c ontrol even if the input f rom ex ternal so urce is on (cont inuat ion).
7 - 9 7 AUXILIA RY AND APP LIED FUNCTIONS (2) O peratio n tim ing The op eration timing f or the skip f unction is shown below. Positioning start of the n ext servo prog ram by s kip fun ction A (The exte rnal STOP s ignal is igno red durin g M3209+20n is on.
7 - 10 7 AUXILIA RY AND APP LIED FUNCTIONS 7.5 Cancel o f the Serv o Program This functio n perfor ms a d ec eler at ion s top of execu ting ser vo pro gram dur ing exe cution by tu rning on the cancel s ignal.
7 - 11 7 AUXILIA RY AND APP LIED FUNCTIONS 7.5.1 Cancel/start W hen a cancel/start has been set in the set ting item s of the servo program which was started at the m otion control s tep of the Moti o.
7 - 12 7 AUXILIA RY AND APP LIED FUNCTIONS MEM O.
APP - 1 A PPENDICES APP. APPENDICES APPENDIX 1 Error Codes St ored Using Th e Motion CPU The s ervo pro gram sett ing e rrors an d posit ioning er rors are detec ted in t he Mot ion CPU side .
APP - 2 A PPENDICES (b) T he error detect ion sig nal of th e erron eous ax is tur ns on at t he error occurr ence, a nd the er ror cod es are st ored in the m inor error c ode, m ajor error c ode or servo err or co de storage regis ter.
APP - 3 A PPENDICES APPENDIX 1.1 Se rvo prog ram setting e rr ors (Stored in D 9190) The err or codes , error c ontents and cor rectiv e actions for ser vo progr am sett ing err ors are s hown in T able 1. 2. In the error codes mar k e d with "N ote" indi cates th e axis No.
APP - 4 A PPENDICES Table 1.2 Serv o program setting err or list (Co nti nued) Error code stored in D9190 Error nam e E rror contents Error proc essing Corr ective act ion (1) The auxiliary point address is outside t he setting range at the positi oning start for abs olute data met hod.
APP - 5 A PPENDICES Table 1.2 Serv o program setting err or list (Co nti nued) Error code stored in D9190 Error name Error c ontents Error proc essing Correcti ve action 15 Rapid stop decelerati on time setti ng error The rapid stop decelerati on t ime is set t o "0".
APP - 6 A PPENDICES Table 1.2 Serv o program setting err or list (Co nti nued) Error code stored in D9190 Error nam e Error cont ents Error proc essing Correcti ve action 27 High-Speed oscillat ion co.
APP - 7 A PPENDICES APPENDIX 1.2 Minor errors These er rors ar e detec ted in t he PLC pr ogram or serv o program , and the error codes of 1 to 999 are us ed. Minor errors i nclude t he sett ing dat a errors, s tarti ng erro rs, posit ioning c ontrol errors and cur rent value/sp eed ch ange err ors an d system error s.
APP - 8 A PPENDICES (2) Positi onin g contr ol start errors (100 to 199) Thes e errors ar e detec ted a t the pos itionin g contr ol start. The err or cod es, caus es, pr ocessing , and cor rectiv e actio ns are sh own in Table 1.
APP - 9 A PPENDICES Table 1.4 Po sitioning cont rol star t error (100 to 199) lis t (Continued) Control m ode Error code Positioning Fixed-pitch feed Speed Speed/position switchin g Speed switching Co.
APP - 10 A PPENDICES Table 1.4 Po sitioning cont rol star t error (100 to 199) lis t (Continued) Control m ode Error code Positioning Fixed-pitch feed Speed Speed/position switchin g Speed switching C.
APP - 11 A PPENDICES Table 1.4 Po sitioning cont rol star t error (100 to 199) lis t (Continued) Control m ode Error code Positioning Fixed-pitch feed Speed Speed/position switchin g Speed switching C.
APP - 12 A PPENDICES (3) Positi onin g contr ol errors (200 to 299) Thes e ar e errors detected d uring the pos itioni ng contro l. The err or codes , caus es, pr ocessing and cor rective actions are sho wn in T able 1.
APP - 13 A PPENDICES Table 1.5 Po sitioning cont rol e rror (200 to 299) lis t (Continued) Control m ode Error code Positioning Fixed-pitch feed Speed Speed/position switchin g Speed switching Constan.
APP - 14 A PPENDICES Table 1.5 Po sitioning cont rol e rror (200 to 299) lis t (Continued) Control m ode Error code Positioning Fixed-pitch feed Speed Speed/position switchin g Speed switching Constan.
APP - 15 A PPENDICES (4) Curr ent value/speed change error s (300 to 399) Thes e are err ors detec ted a t current value c hange or spee d change . The err or codes , caus es, pr ocessing and cor rective actions are sho wn in T able 1.
APP - 16 A PPENDICES (5) System err ors (900 to 999) Table 1.7 Sy stem error (900 to 999) li st Control m ode Error code Positionin g Fixed-pitch feed Speed Speed/position switchin g Speed switching C.
APP - 17 A PPENDICES APPENDIX 1.3 Majo r err ors These er rors oc cur b y control comm and from the exter nal input s ignal or Moti on SFC program , and t he error codes 1000 to 1 999 are used. Major errors inclu d e the positionin g co nt rol s ta rt errors, po s itionin g control errors, absolute position s ystem err ors and system errors.
APP - 18 A PPENDICES (2) Positi onin g contr ol errors (1100 to 1199) Thes e errors ar e detec ted a t the pos itionin g contr ol. The err or codes , caus es, pr ocessing and cor rective actions are sho wn in T able 1.
APP - 19 A PPENDICES (3) Absolute position syst em errors (1200 to 1299) Thes e er rors are det ected a t th e absolut e positio n system . The err or codes , caus es, pr ocessing and cor rective actions are sho wn in T able 1.
APP - 20 A PPENDICES (4) System er rors (1300 to 1399) These er rors ar e detec ted at the power -on. The err or codes , caus es, pr ocessing and cor rective actions are sho wn in T able 1.
APP - 21 A PPENDICES APPENDIX 1.4 Se rvo errors (1) Serv o amplifier errors (2000 to 2899) Thes e errors ar e detec ted b y the ser vo am plifier , and th e error c odes ar e [2000] to [289 9]. The s ervo error detect ion si gnal (M 2408+2 0n) turns on at the ser vo am plifier error occurre nce.
APP - 22 A PPENDICES Table 1.12 Serv o error (2000 to 2899) list Error caus e Error code Nam e Descripti on Error check Error processing Correc tive action • Power supply voltage is l ow.
APP - 23 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Nam e Descripti on Error check Error processing Correc tive action • Encoder c onnector (CN2) dis connect ed. • Connect c orrectly. • Encoder f ault • Rep lac e the s ervomotor.
APP - 24 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Nam e Descripti on Error check Error processing Correc tive action • Mac hi ne s t ruck . • Check the mac hine. • A ccuracy at initial magnetic pole detection is bad.
APP - 25 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Nam e Descripti on Error check Error processing Correc tive action • W rong setting of syst e m setti ng (regenerat ive brake) • Check t he regenerative brak e of system setting and set correc tly.
APP - 26 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Nam e Descripti on Error check Error processing Correc tive action • Short occ urred in servom otor power (U, V, W). • Correct the wiring. • Transist or (IPM) of the servo am plifier faulty .
APP - 27 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Nam e Descripti on Error check Error processing Correc tive action • Linear enc oder signal resolut ion dif fes from the s etting value. • Review th e settings of parameter No.
APP - 28 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Nam e Descripti on Error check Error processing Correc tive action • Servo am plifier f ai lur e • Replace the s ervo amplif ier. • The power suppl y was turned on and off continuous ly by overloaded s tatus.
APP - 29 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Nam e Descripti on Error check E rror processing Correc tive action • Machine st ruck somet hing. • Review ope ration pattern. • Install li m it sw itches.
APP - 30 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name D escript ion Error check Error processing Correc tive action • The speed of li near encoder has exceeded the range of use. • Change the s peed of linear encoder within t he range of use.
APP - 31 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name D escript ion Error check Error processing Correc tive action • Ambi ent temperature of servom otor is over 40[° C] (104[°F]). • Review envi ronment s o that ambient temperature is 0 t o 49[°C] (32 t o 104[°F ]).
APP - 32 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name Des cription Error check E rror processing Corrective action Param eter error • The s ervo parameter value is outside the setting range. (Any unauthori zed para m eter is ignored and the value before setting i s held.
APP - 33 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name Des cription Error check Error processing Corrective action Error code Param eter No.
APP - 34 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name Des cription Error check Error processing Corrective action Error code Param eter No.
APP - 35 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name Des cription Error c heck Error processing Corrective acti on Error code Param eter No.
APP - 36 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name Des cription Error check E rror processing Corrective action Ini tial paramet er error • The parameter setting is wrong. • The param eter data w as corrupted.
APP - 37 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name Des cription Error check Error processing Corrective action Error code Param eter No.
APP - 38 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name Des cription Error check Error processing Corrective action Error code Param eter No.
APP - 39 A PPENDICES Table 1.12 Serv o error (2000 to 289 9) list (Con tinue d) Error caus e Error code Name D escript ion Error check Error processing Corrective action Error code Param eter No.
APP - 40 A PPENDICES APPENDIX 1.5 PC link communication er rors Table 1.13 PC li nk communication error codes li st Error codes stor ed in D9196 Error descriptio n Corrective act ion 01 • A receiving packet for PC link communic ation does not arrive.
APP - 41 A PPENDICES APPENDIX 2 Speci al Rel a ys /special registers APPENDIX 2.1 Special relays Speci al rela ys are i nternal r ela y s whose a pplicat ions ar e fixe d in the Motion C PU. F or this re ason, the y c annot be us ed in the sam e way as the norm al interna l r elays b y t he Motion SF C program s.
APP - 42 A PPENDICES Table 2.1 Special r elay list No. Name Meanin g Details Set by (W hen set) Remark M9000 Fu se blow n d etectio n OFF : Normal ON : Fuse bl own mo dule detect ed • Tur n on when ther e is on e or m ore out put mo dules c ontrol of se lf CPU which fu se has bee n blown.
APP - 43 A PPENDICES Table 2.1 Special r elay list (continued) No. Name Meaning Details Set by (W hen set) Remark M90 77 Manual pulse ge nerator axis setting e rror flag ON : At least one D71 4 to D719 se tting is abnorm al. OFF : All D71 4 to D71 9 settin gs ar e normal .
APP - 44 A PPENDICES APPENDIX 2.2 Special regist ers Special r egisters are internal r egisters whose applic ations ar e fixed in t he Motion CPU. For this r eason, it is not poss ible to use thes e registers in Motion SFC progr ams in the s ame way that normal regis ters are us ed.
APP - 45 A PPENDICES Table 2.2 Special register list No. Name Meaning Details Set by (W hen set) Remark D900 0 Fu se b lo wn No. Mod ule No. wit h blow n fuse • W hen fuse bl own m odules a re detect ed, th e lowes t I/O mo dule No . is sto red in D9 000.
APP - 46 A PPENDICES Table 2.2 Special register list (conti nued) No. Name Meaning Details Set by (W hen set) Remark D902 6 Clock data (Day , hour) • Sto res th e day an d hour in BCD . B15 B12 to B11 B8 to B7 B4 to B3 B0 to Day Hour Example : 31st, 10 a.
APP - 47 A PPENDICES Table 2.2 Special register list (conti nued) No. Name Meanin g Details Set by (W hen set) Remark D918 8 Moti on operat i o n cyc le Moti on operat ion cyc le • Th e time when th e motion operati on cycle is stor ed in t he [ µ s] unit.
APP - 48 A PPENDICES APPENDIX 3 E x ample Programs APPENDIX 3.1 R eading M- code The pro gram ex ample for read ing M-c ode at th e com pletion of posit ioning s tart or posit ioning is sho wn bel ow. The j udgement of the positi oning st art com pletion and pos itioni ng com pletion is mad e with t he following signals.
APP - 49 A PPENDICES APPENDIX 3.2 Reading error code The pro gram example for re ading er ror cod e at the error oc currenc e is s hown bel ow. The fol lowing sign als are us ed to determ ine whether or not an error has occurre d: • Minor errors , major error s ……….
APP - 50 A PPENDICES [Program Exam ple] (1) A program that ou tputs each err or code to PY000 t o PY0 0F (minor error) , PY01 0 to PY0 1F (maj or error) and PY0 20 to PY0 2F (ser vo err or) after convers ion int o BCD code at the error occ urrence with axis 1 is sh own belo w.
APP - 51 A PPENDICES APPENDIX 4 Setting Range for Indirect Setting De v ices Posit ioning a ddress, c omman d speed or M-c ode, etc. (exclu ding the axis N o.) set in the ser vo progr am c an be set indirect ly by th e word. (1) De v ice range The num ber of device words an d devic e range at indir ect sett ing are shown belo w.
APP - 52 A PPENDICES (2) Inputting device data Indirec t sett ing dev ice data is inpu tted b y the Mot ion CPU a t the ser vo progr am start. Do not c hange the appl icabl e devic e before setting to dev ice and s tart comple tion. The proc edures by st art met hod for se tting d ata to devices and cau tions ar e shown be low.
APP - 53 A PPENDICES APPENDIX 5 Processi ng Times o f the Moti on CPU The proc essi ng time of each s ignal a nd each instruc tion f or positi oning c ontrol in the Mult iple C PU sys te m is s ho wn be low .
APP - 54 A PPENDICES (3) Axis stat us list Axis No. Device No. S ignal name 1 M 240 0 to M2419 2 M 242 0 to M2439 3 M 244 0 to M2459 Signal name Refresh cycle Fetch cycle Signal directi on 4 M 246 0 t.
APP - 55 A PPENDICES (4 ) Axis command signal lis t Axis No. Devic e No. Signal nam e 1 M3200 to M3219 2 M3220 to M3239 3 M3240 to M3259 S ignal name Refres h cycle Fetc h cycle Si gnal directi on 4 M.
APP - 56 A PPENDICES (5) Common dev ice list De vice No. Signal nam e Refres h cycl e Fetch cycle Signal direct ion Remark (Note-5) De vice No. Signal nam e Refr es h cycle F etch cycle Signal direct .
APP - 57 A PPENDICES Common dev ice list (Continued) De vice No. Signal nam e Refres h cycl e Fetch cycle Signal direct ion Remark (Note-4) De vice No.
APP - 58 A PPENDICES Common dev ice list (Continued) De vice No. Signal nam e Refres h cycl e Fet ch cycle S ignal direct ion Remark (Note-5) De vice No.
APP - 59 A PPENDICES (6) Special relay allocated device l ist (Status) Device No. S ignal name Ref resh cycle Fetch c ycle S ignal directi on Rem ark (Note) M2320 Fuse bl own detection M9000 M2321 AC/.
APP - 60 A PPENDICES (7) Common dev ice list (Command si gnal) Device No. Signal nam e Refresh c ycle Fet ch cycle Si gnal direction Rem ark (Note-1), (Note-2) M3072 PLC ready fl ag Main cycle M2000 M.
APP - 61 A PPENDICES (9) Axis monitor device list Axis No. Device No. Signal name 1 D0 to D19 2 D20 to D39 3 D40 to D59 Signal nam e Refresh cycl e Fetch cycle Unit S ignal directi on 4 D60 to D79 0 5.
APP - 62 A PPENDICES (10) Contr ol change register list Axis No. Devic e No. Signal nam e 1 D640, D641 2 D642, D643 3 D644, D645 Signal name Refresh cycle Fetc h cycle Unit Signal directi on 4 D646, D.
APP - 63 A PPENDICES (11) Common dev ice list Device No. Signal name Refresh cycle Fe tch cycle Sign al direction Device No. Signal name Refresh cycle Fe tch cycle Sign al direction D704 PLC ready f l.
APP - 64 A PPENDICES (12) Mot ion registe r list (# ) Axis No. Device No. Signal name 1 #8064 to #8067 2 #8068 to #8071 3 #8072 to #8075 4 #8076 to #8079 Signal nam e (Note-1) Si gnal description Refr.
APP - 65 A PPENDICES (13) Special relay list Device No. Signal nam e Refresh c ycle Signal t ype M9073 PC PU W DT er ror fl ag M9074 P CPU REDAY com pl ete f lag M9 075 TEST m ode ON flag M9 076 Exter.
WA RRA NTY Please confir m the follow ing product w arranty details bef ore using this product. 1. Gratis W arranty Term and G ratis Warranty Rang e If any faults or defects (here inafter "Failur.
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