Contents

Mitsubishi Electric Q172HCPU Q173HCPU Programming Manual v4 PDF

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Summary of Content for Mitsubishi Electric Q172HCPU Q173HCPU Programming Manual v4 PDF

Q173HCPU/Q172HCPU Motion Controller (SV13/SV22) Programming Manual (REAL MODE)

-Q172HCPU -Q173HCPU

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SAFETY PRECAUTIONS (Read these precautions before using.)

When using this equipment, thoroughly read this manual and the associated manuals introduced in this manual. Also pay careful attention to safety and handle the module properly. These precautions apply only to this equipment. Refer to the Q173HCPU/Q172HCPU Users manual for a description of the Motion controller safety precautions. These SAFETY PRECAUTIONS classify the safety precautions into two categories: "DANGER" and "CAUTION".

! DANGER

CAUTION!

Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight personal injury or physical damage.

Depending on circumstances, procedures indicated by ! CAUTION may also be linked to serious results. In any case, it is important to follow the directions for usage.

Store this manual in a safe place so that you can take it out and read it whenever necessary. Always forward it to the end user.

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For Safe Operations 1. Prevention of electric shocks

! DANGER Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks.

Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks. Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF. The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks. When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and then check the voltage with a tester, etc.. Failing to do so may lead to electric shocks. Be sure to ground the Motion controller, servo amplifier and servomotor. (Ground resistance : 100 or less) Do not ground commonly with other devices. The wiring work and inspections must be done by a qualified technician. Wire the units after installing the Motion controller, servo amplifier and servomotor. Failing to do so may lead to electric shocks or damage. Never operate the switches with wet hands, as this may lead to electric shocks. Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this may lead to electric shocks. Do not touch the Motion controller, servo amplifier or servomotor terminal blocks while the power is ON, as this may lead to electric shocks. Do not touch the built-in power supply, built-in grounding or signal wires of the Motion controller and servo amplifier, as this may lead to electric shocks.

2. For fire prevention

! CAUTION Install the Motion controller, servo amplifier, servomotor and regenerative resistor on inflammable material. Direct installation on flammable material or near flammable material may lead to fire.

If a fault occurs in the Motion controller or servo amplifier, shut the power OFF at the servo amplifiers power source. If a large current continues to flow, fire may occur. When using a regenerative resistor, shut the power OFF with an error signal. The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead to fire. Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may lead to fire.

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3. For injury prevention

! CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage. Do not touch the servo amplifier's heat radiating fins, regenerative resistor and servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this timing, these parts become very hot and may lead to burns.

Always turn the power OFF before touching the servomotor shaft or coupled machines, as these parts may lead to injuries.

Do not go near the machine during test operations or during operations such as teaching. Doing so may lead to injuries.

4. Various precautions

Strictly observe the following precautions.

Mistaken handling of the unit may lead to faults, injuries or electric shocks.

(1) System structure

! CAUTION Always install a leakage breaker on the Motion controller and servo amplifier power source. If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor. Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off. Use the Motion controller, servo amplifier, servomotor and regenerative resistor with the combi- nations listed in the instruction manual. Other combinations may lead to fire or faults. If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion controller, servo amplifier and servomotor, make sure that the safety standards are satisfied. Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system. In systems where coasting of the servomotor will be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use dynamic brakes. Make sure that the system considers the coasting amount even when using dynamic brakes. In systems where perpendicular shaft dropping may be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic brakes. The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be used for normal braking.

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! CAUTION The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications, and must not be used for normal braking.

The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed. Use wires and cables that have a wire diameter, heat resistance and bending resistance compatible with the system. Use wires and cables within the length of the range described in the instruction manual. The ratings and characteristics of the parts (other than Motion controller, servo amplifier and servomotor) used in a system must be compatible with the Motion controller, servo amplifier and servomotor. Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation. There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure (when the ball screw and servomotor are connected with a timing belt, etc.). Install a stopping device to ensure safety on the machine side.

(2) Parameter settings and programming

! CAUTION Set the parameter values to those that are compatible with the Motion controller, servo amplifier, servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect.

The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode, servo amplifier and servo power supply module. The protective functions may not function if the settings are incorrect. Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Set the stroke limit input validity parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect. Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect. Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Set the servo amplifier capacity and type parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Use the program commands for the program with the conditions specified in the instruction manual.

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! CAUTION Set the sequence function program capacity setting, device capacity, latch validity range, I/O assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.

Some devices used in the program have fixed applications, so use these with the conditions specified in the instruction manual. The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error, etc. Thus, an error correspondence interlock program specified in the instruction manual must be used. Use the interlock program specified in the special function module's instruction manual for the program corresponding to the special function module.

(3) Transportation and installation

! CAUTION Transport the product with the correct method according to the mass. Use the servomotor suspension bolts only for the transportation of the servomotor. Do not transport the servomotor with machine installed on it.

Do not stack products past the limit. When transporting the Motion controller or servo amplifier, never hold the connected wires or cables.

When transporting the servomotor, never hold the cables, shaft or detector. When transporting the Motion controller or servo amplifier, never hold the front case as it may fall off.

When transporting, installing or removing the Motion controller or servo amplifier, never hold the edges.

Install the unit according to the instruction manual in a place where the mass can be withstood. Do not get on or place heavy objects on the product. Always observe the installation direction. Keep the designated clearance between the Motion controller or servo amplifier and control panel inner surface or the Motion controller and servo amplifier, Motion controller or servo amplifier and other devices.

Do not install or operate Motion controller, servo amplifiers or servomotors that are damaged or that have missing parts.

Do not block the intake/outtake ports of the servomotor with cooling fan. Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the Motion controller, servo amplifier or servomotor.

The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them.

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! CAUTION Securely fix the Motion controller and servo amplifier to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation.

Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks. Store and use the unit in the following environmental conditions.

Conditions Environment

Motion controller/Servo amplifier Servomotor

Ambient temperature

According to each instruction manual. 0C to +40C (With no freezing)

(32F to +104F)

Ambient humidity According to each instruction manual. 80% RH or less

(With no dew condensation) Storage temperature

According to each instruction manual. -20C to +65C (-4F to +149F)

Atmosphere Indoors (where not subject to direct sunlight).

No corrosive gases, flammable gases, oil mist or dust must exist

Altitude 1000m (3280.84ft.) or less above sea level Vibration According to each instruction manual

When coupling with the synchronization encoder or servomotor shaft end, do not apply impact such as by hitting with a hammer. Doing so may lead to detector damage. Do not apply a load larger than the tolerable load onto the servomotor shaft. Doing so may lead to shaft breakage. When not using the module for a long time, disconnect the power line from the Motion controller or servo amplifier. Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store. When storing for a long time, please contact with our sales representative.

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(4) Wiring

! CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor.

After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier. Correctly connect the output side (terminals U, V, W). Incorrect connections will lead the servomotor to operate abnormally. Do not connect a commercial power supply to the servomotor, as this may lead to trouble. Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake signals, etc. Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning. Do not connect or disconnect the connection cables between each unit, the encoder cable or PLC expansion cable while the power is ON.

Servo amplifier

VIN (24VDC)

Control output signal RA

Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may lead to the cables combing off during operation. Do not bundle the power line or cables.

(5) Trial operation and adjustment

! CAUTION Confirm and adjust the program and each parameter before operation. Unpredictable movements may occur depending on the machine.

Extreme adjustments and changes may lead to unstable operation, so never make them. When using the absolute position system function, on starting up, and when the Motion controller or absolute value motor has been replaced, always perform a home position return.

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(6) Usage methods

! CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo amplifier or servomotor.

Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. The units must be disassembled and repaired by a qualified technician. Do not make any modifications to the unit. Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the Motion controller or servo amplifier. When using the CE Mark-compliant equipment, refer to the "EMC Installation Guidelines" (data number IB(NA)-67339) for the Motion controllers and refer to the corresponding EMC guideline information for the servo amplifiers, inverters and other equipment. Use the units with the following conditions.

Conditions Item

Q61P-A1 Q61P-A2 Q61P Q62P Q63P Q64P +10% +10% +10% +30% +10%100 to 120VAC -15%

200 to 240VAC -15%

100 to 240VAC -15%

24VDC -35%

100 to 120VAC -15%

/ +10%

200 to 240VAC -15% Input power

(85 to 132VAC) (170 to 264VAC) (85 to 264VAC) (15.6 to 31.2VDC) (85 to 132VAC/ 170 to 264VAC)

Input frequency 50/60Hz 5% Tolerable momentary power failure

20ms or less

(7) Corrective actions for errors

! CAUTION If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the check details according to the instruction manual, and restore the operation.

If a dangerous state is predicted in case of a power failure or product failure, use a servomotor with electromagnetic brakes or install a brake mechanism externally. Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally.

Electro- magnetic brakes

Servomotor

24VDC

RA1 EMG

Shut off with servo ON signal OFF, alarm, magnetic brake signal.

Shut off with the emergency stop signal(EMG).

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! CAUTION If an error occurs, remove the cause, secure the safety and then resume operation after alarm release.

The unit may suddenly resume operation after a power failure is restored, so do not go near the machine. (Design the machine so that personal safety can be ensured even if the machine restarts suddenly.)

(8) Maintenance, inspection and part replacement

! CAUTION Perform the daily and periodic inspections according to the instruction manual. Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier. Do not place fingers or hands in the clearance when opening or closing any opening. Periodically replace consumable parts such as batteries according to the instruction manual. Do not touch the lead sections such as ICs or the connector contacts. Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or wood, plastic or vinyl that may cause static electricity buildup. Do not perform a megger test (insulation resistance measurement) during inspection. When replacing the Motion controller or servo amplifier, always set the new module settings correctly. When the Motion controller or absolute value motor has been replaced, carry out a home position return operation using one of the following methods, otherwise position displacement could occur. 1) After writing the servo data to the Motion controller using programming software, switch on the

power again, then perform a home position return operation. 2) Using the backup function of the programming software, load the data backed up before

replacement. After maintenance and inspections are completed, confirm that the position detection of the absolute position detector function is correct. Do not short circuit, charge, overheat, incinerate or disassemble the batteries. The electrolytic capacitor will generate gas during a fault, so do not place your face near the Motion controller or servo amplifier. The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary damage from faults. Replacements can be made by our sales representative.

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(9) About processing of waste

When you discard Motion controller, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area).

! CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life. When considering this product for operation in special applications such as machinery or systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi sales representative. Although this product was manufactured under conditions of strict quality control, you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident.

(10) General cautions

! CAUTION All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections. When operating the product, always return the covers and partitions to the designated positions, and operate according to the instruction manual.

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REVISIONS

The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Jun., 2005 IB(NA)-0300113-A First edition Sep., 2006 IB(NA)-0300113-B [Additional model]

Q61P, MR-J3- B(Large capacity), MR-J3- B-RJ006 [Additional function] Control loop changing command, Control loop monitor status [Additional correction/partial correction] About Manuals, Device lists, Error list, etc.

Japanese Manual Number IB(NA)-0300093

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

2005 MITSUBISHI ELECTRIC CORPORATION

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INTRODUCTION

Thank you for choosing the Q173HCPU/Q172HCPU Motion Controller. Please read this manual carefully so that equipment is used to its optimum.

CONTENTS

Safety Precautions .........................................................................................................................................A- 1 Revisions ........................................................................................................................................................A-11 Contents .........................................................................................................................................................A-12 About Manuals ...............................................................................................................................................A-16

1. OVERVIEW 1- 1 to 1- 6

1.1 Overview................................................................................................................................................... 1- 1 1.2 Features ................................................................................................................................................... 1- 3

1.2.1 Performance Specifications .............................................................................................................. 1- 3 1.2.2 Differences betweenQ173HCPU/Q172HCPU and Q173CPU(N)/Q172CPU(N).......................... 1- 5

2. POSITIONING CONTROL BY THE MOTION CPU 2- 1 to 2-14

2.1 Positioning Control by the Motion CPU................................................................................................... 2- 1

3. POSITIONING DEDICATED SIGNALS 3- 1 to 3-66

3.1 Internal Relays ......................................................................................................................................... 3- 2 3.1.1 Axis statuses ..................................................................................................................................... 3-12 3.1.2 Axis command signals ...................................................................................................................... 3-22 3.1.3 Common devices .............................................................................................................................. 3-29

3.2 Data Registers.......................................................................................................................................... 3-42 3.2.1 Axis monitor devices ......................................................................................................................... 3-46 3.2.2 Control change registers................................................................................................................... 3-52 3.2.3 Common devices .............................................................................................................................. 3-53

3.3 Motion Registers(#).................................................................................................................................. 3-57 3.4 Special Relays (SP.M) ............................................................................................................................. 3-58 3.5 Special Registers (SP.D) ......................................................................................................................... 3-60

4. PARAMETERS FOR POSITIONING CONTROL 4- 1 to 4-14

4.1 System Settings ....................................................................................................................................... 4- 1 4.2 Fixed Parameters..................................................................................................................................... 4- 2

4.2.1 Number of pulses/travel value per rotation....................................................................................... 4- 3 4.2.2 Backlash compensation amount....................................................................................................... 4- 5 4.2.3 Upper/lower stroke limit value........................................................................................................... 4- 5 4.2.4 Command in-position range.............................................................................................................. 4- 7 4.2.5 Speed control 10 multiplier setting for degree axis ........................................................................ 4- 8

4.3 Parameter Block....................................................................................................................................... 4-11 4.3.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid stop

deceleration time............................................................................................................................... 4-13 4.3.2 S-curve ratio ...................................................................................................................................... 4-13

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4.3.3 Allowable error range for circular interpolation................................................................................. 4-14

5. SERVO PROGRAMS FOR POSITIONING CONTROL 5- 1 to 5-24

5.1 Servo Program Composition Area........................................................................................................... 5- 1 5.1.1 Servo program composition.............................................................................................................. 5- 1 5.1.2 Servo program area .......................................................................................................................... 5- 2

5.2 Servo Instructions .................................................................................................................................... 5- 3 5.3 Positioning Data ....................................................................................................................................... 5-16 5.4 Setting Method for Positioning Data........................................................................................................ 5-22

5.4.1 Setting method by specifying numerical values ............................................................................... 5-22 5.4.2 Indirect setting method by word devices (D, W and #) .................................................................... 5-23

6. POSITIONING CONTROL 6- 1 to 6-232

6.1 Basics of Positioning Control ................................................................................................................... 6- 1 6.1.1 Positioning speed.............................................................................................................................. 6- 1 6.1.2 Positioning speed at the interpolation control .................................................................................. 6- 2 6.1.3 Control units for 1 axis positioning control........................................................................................ 6- 7 6.1.4 Control units for interpolation control................................................................................................ 6- 7 6.1.5 Control in the control unit "degree"................................................................................................... 6- 9 6.1.6 Stop processing and restarting after stop........................................................................................ 6-11 6.1.7 Acceleration/deceleration processing............................................................................................... 6-17

6.2 1 Axis Linear Positioning Control............................................................................................................. 6-19 6.3 2 Axes Linear Interpolation Control ......................................................................................................... 6-22 6.4 3 Axes Linear Interpolation Control ......................................................................................................... 6-27 6.5 4 Axes Linear Interpolation Control ......................................................................................................... 6-33 6.6 Auxiliary Point-Specified Circular Interpolation Control .......................................................................... 6-38 6.7 Radius-Specified Circular Interpolation Control ...................................................................................... 6-43 6.8 Central Point-Specified Circular Interpolation Control ............................................................................ 6-49 6.9 Helical Interpolation Control..................................................................................................................... 6-55

6.9.1 Circular interpolation specified method by helical interpolation....................................................... 6-56 6.10 1 Axis Fixed-Pitch Feed Control............................................................................................................ 6-77 6.11 Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation ............................................................... 6-81 6.12 Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation ............................................................... 6-85 6.13 Speed Control ( ).................................................................................................................................... 6-89 6.14 Speed Control ( )................................................................................................................................... 6-93 6.15 Speed/Position Switching Control ......................................................................................................... 6-96

6.15.1 Speed/position switching control start ............................................................................................ 6-96 6.15.2 Re-starting after stop during control .............................................................................................6-103

6.16 Speed-Switching Control .....................................................................................................................6-108 6.16.1 Speed-switching control start, speed-switching points and end specification ............................6-108 6.16.2 Specification of speed-switching points using repetition instructions..........................................6-114

6.17 Constant-Speed Control ......................................................................................................................6-120 6.17.1 Specification of pass points by repetition instructions .................................................................6-124 6.17.2 Speed-switching by instruction execution ....................................................................................6-129 6.17.3 1 axis constant-speed control .......................................................................................................6-134 6.17.4 2 to 4 axes constant-speed control...............................................................................................6-138 6.17.5 Constant speed control for helical interpolation ...........................................................................6-145 6.17.6 Pass point skip function ................................................................................................................6-148

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6.17.7 FIN signal wait function.................................................................................................................6-150 6.18 Position Follow-Up Control ..................................................................................................................6-159 6.19 Speed control with fixed position stop.................................................................................................6-165 6.20 Simultaneous Start...............................................................................................................................6-170 6.21 JOG Operation .....................................................................................................................................6-173

6.21.1 JOG operation data.......................................................................................................................6-173 6.21.2 Individual start ...............................................................................................................................6-174 6.21.3 Simultaneous start ........................................................................................................................6-179

6.22 Manual Pulse Generator Operation ....................................................................................................6-182 6.23 Home Position Return..........................................................................................................................6-188

6.23.1 Home position return data.............................................................................................................6-190 6.23.2 Home position return by the proximity dog type 1 .......................................................................6-198 6.23.3 Home position return by the proximity dog type 2 .......................................................................6-201 6.23.4 Home position return by the count type 1 ....................................................................................6-203 6.23.5 Home position return by the count type 2 ....................................................................................6-205 6.23.6 Home position return by the count type 3 ....................................................................................6-206 6.23.7 Home position return by the data set type 1 ................................................................................6-208 6.23.8 Home position return by the data set type 2 ................................................................................6-209 6.23.9 Home position return by the dog cradle type ...............................................................................6-210 6.23.10 Home position return by the stopper type 1 ...............................................................................6-214 6.23.11 Home position return by the stopper type 2 ...............................................................................6-216 6.23.12 Home position return by the limit switch combined type............................................................6-218 6.23.13 Home position return retry function ............................................................................................6-220 6.23.14 Home position shift function........................................................................................................6-224 6.23.15 Condition selection of home position set....................................................................................6-228 6.23.16 Servo program for home position return ....................................................................................6-229

6.24 High-Speed Oscillation ........................................................................................................................6-231

7. AUXILIARY AND APPLIED FUNCTIONS 7- 1 to 7-12

7.1 M-code Output Function .......................................................................................................................... 7- 1 7.2 Backlash Compensation Function........................................................................................................... 7- 4 7.3 Torque Limit Function .............................................................................................................................. 7- 6 7.4 Skip Function in which Disregards Stop Command ............................................................................... 7- 8 7.5 Cancel of the Servo Program .................................................................................................................. 7-10

7.5.1 Cancel/start ....................................................................................................................................... 7-11

APPENDICES App- 1 to App-65

APPENDIX 1 Error Codes Stored Using The Motion CPU.....................................................................App- 1 APPENDIX 1.1 Servo program setting errors (Stored in D9190) .........................................................App- 3 APPENDIX 1.2 Minor errors ..................................................................................................................App- 7 APPENDIX 1.3 Major errors ..................................................................................................................App-17 APPENDIX 1.4 Servo errors..................................................................................................................App-21 APPENDIX 1.5 PC link communication errors ......................................................................................App-40

APPENDIX 2 Special Relays/special registers .........................................................................................App-41 APPENDIX 2.1 Special relays ...............................................................................................................App-41 APPENDIX 2.2 Special registers ...........................................................................................................App-44

APPENDIX 3 Example Programs..............................................................................................................App-48 APPENDIX 3.1 Reading M-code...........................................................................................................App-48

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APPENDIX 3.2 Reading error code.......................................................................................................App-49 APPENDIX 4 Setting Range for Indirect Setting Devices.........................................................................App-51 APPENDIX 5 Processing Times of the Motion CPU ................................................................................App-53

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About Manuals

The following manuals are related to this product.

Referring to this list, please request the necessary manuals.

Related Manuals

(1) Motion controller

Manual Name Manual Number (Model Code)

Q173HCPU/Q172HCPU Motion controller User's Manual This manual explains specifications of the Motion CPU modules, Q172LX Servo external signal interface

module, Q172EX Serial absolute synchronous encoder interface module, Q173PX Manual pulse

generator interface module, Teaching units, Power supply modules, Servo amplifiers, SSCNET cables,

synchronous encoder cables and others.

(Optional)

IB-0300110 (1XB910)

Q173HCPU/Q172HCPU Motion controller Programming Manual (COMMON) This manual explains the Multiple CPU system configuration, performance specifications, common

parameters, auxiliary/applied functions and others.

(Optional)

IB-0300111 (1XB911)

Q173HCPU/Q172HCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC) This manual explains the functions, programming, debugging, error codes and others of the Motion SFC.

(Optional)

IB-0300112 (1XB912)

Q173HCPU/Q172HCPU Motion controller (SV22) Programming Manual (VIRTUAL MODE) This manual describes the dedicated instructions use to the synchronous control by virtual main shaft,

mechanical system program create mechanical module.

This manual explains the servo parameters, positioning instructions, device list, error list and others.

(Optional)

IB-0300114 (1XB914)

Q173HCPU/Q172HCPU Motion controller (SV43) Programming Manual This manual describes the dedicated instructions to execute the positioning control by Motion program of

EIA language (G-code).

This manual explains the servo parameters, positioning instructions, device list, error list and others.

(Optional)

IB-0300115 (1XB915)

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(2) PLC

Manual Name Manual Number (Model Code)

QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains the specifications of the QCPU modules, power supply modules, base modules,

extension cables, memory card battery and others.

(Optional)

SH-080483ENG (13JR73)

QCPU User's Manual (Function Explanation, Program Fundamentals) This manual explains the functions, programming methods and devices and others to create programs

with the QCPU.

(Optional)

SH-080484ENG (13JR74)

QCPU User's Manual (Multiple CPU System) This manual explains the functions, programming methods and cautions and others to construct the

Multiple CPU system with the QCPU.

(Optional)

SH-080485ENG (13JR75)

QCPU (Q Mode)/QnACPU Programming Manual (Common Instructions) This manual explains how to use the sequence instructions, basic instructions, application instructions and

micro computer program.

(Optional)

SH-080039 (13JF58)

QCPU (Q Mode)/QnACPU Programming Manual (PID Control Instructions) This manual explains the dedicated instructions used to exercise PID control.

(Optional)

SH-080040 (13JF59)

QCPU (Q Mode)/QnACPU Programming Manual (SFC) This manual explains the system configuration, performance specifications, functions, programming,

debugging, error codes and others of MELSAP3.

(Optional)

SH-080041 (13JF60)

I/O Module Type Building Block User's Manual This manual explains the specifications of the I/O modules, connector, connector/terminal block

conversion modules and others.

(Optional)

SH-080042 (13JL99)

(3) Servo amplifier

Manual Name Manual Number (Model Code)

MR-J3- B Servo amplifier Instruction Manual This manual explains the I/O signals, parts names, parameters, start-up procedure and others for

MR-J3- B Servo amplifier.

(Optional)

SH-030051 (1CW202)

Fully Closed Loop Control MR-J3- B-RJ006 Servo amplifier Instruction Manual This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Fully

Closed Loop Control MR-J3- B-RJ006 Servo amplifier.

(Optional)

SH-030056 (1CW304)

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MEMO

1 - 1

1 OVERVIEW

1

1. OVERVIEW

1.1 Overview

This programming manual describes the positioning control parameters, positioning dedicated devices and positioning method required to execute positioning control in the Motion controller (SV13/22 real mode). The following positioning control is possible in the Motion controller (SV13/22 real mode).

Applicable CPU Number of positioning control axes

Q173HCPU (32 axes) Up to 32 axes Q172HCPU (8 axes) Up to 8 axes

In this manual, the following abbreviations are used.

Generic term/Abbreviation Description Q173HCPU/Q172HCPU or Motion CPU (module)

Q173HCPU/Q172HCPU/Q173HCPU-T/Q172HCPU-T Motion CPU module

Q172LX/Q172EX/Q173PX or Motion module

Q172LX Servo external signals interface module/ Q172EX-S2/-S3 Serial absolute synchronous encoder interface module(Note-1)/ Q173PX(-S1) Manual pulse generator interface module

MR-J3- B Servo amplifier model MR-J3- B

AMP or Servo amplifier General name for "Servo amplifier model MR-J3- B"

QCPU, PLC CPU or PLC CPU module Qn(H)CPU

Multiple CPU system or Motion system Abbreviation for "Multiple PLC system of the Q series"

CPUn Abbreviation for "CPU No.n (n= 1 to 4) of the CPU module for the Multiple CPU system"

Programming software package General name for "MT Developer" and "GX Developer"

Operating system software General name for "SW RN-SV Q "

SV13 Operating system software for conveyor assembly use (Motion SFC) : SW6RN-SV13Q

SV22 Operating system software for automatic machinery use (Motion SFC) : SW6RN-SV22Q

MT Developer Abbreviation for Integrated start-up support software package "MT Developer (Version 00K or later)"

GX Developer Abbreviation for MELSEC PLC programming software package "GX Developer (Version 6 or later)"

Manual pulse generator or MR-HDP01 Abbreviation for "Manual pulse generator (MR-HDP01)"

Serial absolute synchronous encoder or Q170ENC

Abbreviation for "Serial absolute synchronous encoder (Q170ENC)"

SSCNET (Note-2) High speed synchronous network between Motion controller and servo amplifier

SSCNET(Note-2) High speed serial communication between Motion controller and servo amplifier

Absolute position system General name for "system using the servomotor and servo amplifier for absolute position"

Battery holder unit Battery holder unit (Q170HBATC)

External battery General name for "Q170HBATC" and "Q6BAT"

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1 OVERVIEW

Generic term/Abbreviation Description

A 0BD-PCF A10BD-PCF/A30BD-PCF SSC I/F board

SSC I/F communication cable Abbreviation for "Cable for SSC I/F board/card"

Teaching Unit or A31TU-D3K /A31TU-DNK

A31TU-D3 /A31TU-DN Teaching unit(Note-3)

Intelligent function module Abbreviation for "MELSECNET/H module/Ethernet module/CC-Link module/ Serial communication module"

(Note-1) : Q172EX can be used in SV22.

(Note-2) : SSCNET: Servo System Controller NETwork

(Note-3) : Teaching unit can be used in SV13.

REMARK

For information about the each module, design method for program and parameter, refer to the following manuals relevant to each module.

Item Reference Manual

Motion CPU module/Motion unit Q173HCPU/Q172HCPU Users Manual

PLC CPU, peripheral devices for PLC program design, I/O modules and intelligent function module

Manual relevant to each module

Operation method for MT Developer Help of each software

Multiple CPU system configuration Performance specification Design method for common parameter Auxiliary and applied functions (common)

Q173HCPU/Q172HCPU Motion controller Programming Manual (COMMON)

SV13/SV22 Design method for Motion SFC program Design method for Motion SFC parameter Motion dedicated PLC instruction

Q173HCPU/Q172HCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)

SV22 (Virtual mode)

Design method for mechanical system program

Q173HCPU/Q172HCPU Motion controller (SV13/SV22) Programming Manual (VIRTUAL MODE)

! CAUTION When designing the system, provide external protective and safety circuits to ensure safety in the event of trouble with the Motion controller. There are electronic components which are susceptible to the effects of static electricity mounted on the printed circuit board. When handling printed circuit boards with bare hands you must ground your body or the work bench.

Do not touch current-carrying or electric parts of the equipment with bare hands. Make parameter settings within the ranges stated in this manual. Use the program instructions that are used in programs in accordance with the conditions stipulated in this manual. Some devices for use in programs have fixed applications: they must be used in accordance with the conditions stipulated in this manual.

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1 OVERVIEW

1.2 Features

1.2.1 Performance Specifications

(1) Motion control specifications Item Q173HCPU Q173HCPU-T Q172HCPU Q172HCPU-T

Number of control axes Up to 32 axes Up to 8 axes

SV13

0.44ms/ 1 to 3 axes 0.88ms/ 4 to 10 axes 1.77ms/11 to 20 axes 3.55ms/21 to 32 axes

0.44ms/ 1 to 3 axes 0.88ms/ 4 to 8 axes

Operation cycle (default)

SV22

0.88ms/ 1 to 5 axes 1.77ms/ 6 to 14 axes 3.55ms/15 to 28 axes 7.11ms/29 to 32 axes

0.88ms/ 1 to 4 axes 1.77ms/ 5 to 8 axes

Interpolation functions Linear interpolation (Up to 4 axes), Circular interpolation (2 axes),

Helical interpolation (3 axes)

Control modes PTP(Point to Point) control, Speed control, Speed-position control, Fixed-pitch feed,

Constant speed control, Position follow-up control, Speed control with fixed position stop, Speed switching control, High-speed oscillation control, Synchronous control (SV22)

Acceleration/ deceleration control

Automatic trapezoidal acceleration/deceleration, S-curve acceleration/deceleration

Compensation Backlash compensation, Electronic gear, Phase compensation (SV22) Programming language Motion SFC, Dedicated instruction, Mechanical support language (SV22) Servo program capacity 14k steps Number of positioning points

3200 points (Positioning data can be designated indirectly)

Programming tool IBM PC/AT Peripheral I/F USB/SSCNET Teaching operation function

None Provided (SV13 use) None Provided (SV13 use)

Home position return function

Proximity dog type (2 types), Count type (3 types), Data set type (2 types), Dog cradle type, Stopper type (2 types), Limit switch combined type

(Home position return re-try function provided, home position shift function provided)

JOG operation function Provided

Manual pulse generator operation function

Possible to connect 3 modules

Synchronous encoder operation function

Possible to connect 12 modules Possible to connect 8 modules

M-code function M-code output function provided

M-code completion wait function provided Limit switch output function

Number of output points 32 points Watch data: Motion control data/Word device

Absolute position system Made compatible by setting battery to servo amplifier.

(Possible to select the absolute data method or incremental method for each axis)

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1 OVERVIEW

Motion control specifications (continued)

Item Q173HCPU Q173HCPU-T Q172HCPU Q172HCPU-T

Number of SSCNET systems

(Note-1)

2 systems 1 system

Q172LX : 4 modules usable Q172LX : 1 module usable

Q172EX : 6 modules usable Q172EX : 4 modules usable Motion related interface module

Q173PX : 4 modules usable (Note-2)

Q173PX : 3 modules usable (Note-2)

(Note-1) : The servo amplifiers for SSCNET cannot be used. (Note-2) : When using the incremental synchronous encoder (SV22 use), you can use above number of modules.

When connecting the manual pulse generator, you can use only 1 module.

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1 OVERVIEW

1.2.2 Differences between Q173HCPU/Q172HCPU and Q173CPU(N)/Q172CPU(N)

(1) Differences between Q173HCPU/Q172HCPU and Q173CPU(N)/Q172CPU(N)

Item Q173HCPU Q172HCPU Q173CPU(N) Q172CPU(N)

Number of control axes Up to 32 axes Up to 8 axes Up to 32 axes Up to 8 axes

SV13

0.44ms/ 1 to 3 axes 0.88ms/ 4 to 10 axes 1.77ms/11 to 20 axes 3.55ms/21 to 32 axes

0.44ms/ 1 to 3 axes 0.88ms/ 4 to 8 axes

0.88ms/ 1 to 8 axes 1.77ms/ 9 to 16 axes 3.55ms/17 to 32 axes

0.88ms/ 1 to 8 axes Operation cycle (Default) (It can be set up by parameters.)

SV22

0.88ms/ 1 to 5 axes 1.77ms/ 6 to 14 axes 3.55ms/15 to 28 axes 7.11ms/29 to 32 axes

0.88ms/ 1 to 5 axes 1.77ms/ 6 to 8 axes

0.88ms/ 1 to 4 axes 1.77ms/ 5 to 12 axes 3.55ms/13 to 24 axes 7.11ms/25 to 32 axes

0.88ms/ 1 to 4 axes 1.77ms/ 5 to 8 axes

Motion SFC program capacity Code total : 543 kbyte Text total : 484 kbyte

Code total : 287 kbyte Text total : 224 kbyte

Peripheral devices I/F USB/SSCNET USB/RS-232/SSCNET

Servo amplifier I/F SSCNET (Optical communication)

Q173HCPU : 2 systems Q172HCPU : 1 system

SSCNET Q173CPU(N) : 4 systems (Note-1) Q172CPU(N) : 1 system

Fixed position stop function with speed control

Phase compensation function

Indirect setting of home position return data

Indirect setting with word devices (D, W, #) of Motion CPU.

Only direct setting by programming software.

Expansion of speed setting range in the unit [degree]

When the speed control 10 multiplier setting for degree axis is valid ;

0.01 to 21474836.47[degree/min] When the speed control 10 multiplier setting

for degree axis is invalid ; 0.001 to 2147483.647[degree/min]

0.001 to 2147483.647[degree/min] fixed

Fetch of external signal input Q172LX/General input of servo amplifier (Note-2) Q172LX

Optional data monitor function 3 points/axis (Specified device D, W, #)

Minor error [303], [304]

When the speed change is executed after positioning automatic decerelation start or during decerelation by the JOG start command signal

(M3202+20n, M3203+20n) OFF, since the speed change request is ignored, a minor error

[303], [304] will not occur.

When the speed change is executed after positioning automatic decerelation start or during decerelation by the JOG start command signal (M3202+20n, M3203+20n) OFF, a minor error

[303], [304] will occur.

Processing with power supply OFF of servo amplifier

Servo OFF is executed for all servo amplifier connected behind servo amplifier with which the

control power supply was turned OFF.

Servo OFF is executed for only servo amplifier with which the control power supply was turned

OFF.

Back-up battery for internal memory

Internal rechargeable battery (Set the external battery (Q6BAT) if continuous power off time is longer for 1 month or more.)

(Note-3)

Internal rechargeable battery (Set the external battery (A6BAT/MR-BAT) if

continuous power off time is longer for 1 month or more.) (Note-4)

(Note-1) : Use the Dividing unit (Q173DV) or dividing cable (Q173J2B CBL M/Q173HB CBL M). (Note-2) : When selecting the each servo amplifier general input, the speed/position switching control cannot be executed. And, the external

stop input cannot be used. (Note-3) : When adding the external battery (Q6BAT), use the Q170HBATC. (Note-4) : When adding the external battery (A6BAT/MR-BAT), use the Q173DV (Q173HCPU use) or Q170BAT (Q172HCPU use).

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1 OVERVIEW

MEMO

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2 POSITIONING CONTROL BY THE MOTION CPU

2

2. POSITIONING CONTROL BY THE MOTION CPU

2.1 Positioning Control by the Motion CPU

The positioning control of up to 32 axes in Q173HCPU and up to 8 axes in Q172HCPU is possible in the Motion CPU. There are following four functions as controls toward the servo amplifier/servomotor. (1) Servo operation by the positioning instructions.

There are following two methods for execution of the positioning instruction. (a) Programming using the motion control step "K" of Motion SFC.

The starting method of Motion SFC program is shown below. 1) Motion SFC start request (S(P).SFCS) of PLC CPU 2) Automatic start setting of Motion SFC program

(Note): Step "K" of the positioning instruction cannot be programmed to NMI task and event task.

3) Start by the Motion SFC program (GSUB) (b) Execution of servo program by the servo program start request (S(P).SVST) of

PLC CPU.

(2) JOG operation by the each axis command signal of Motion CPU.

(3) Manual pulse generator operation by the positioning dedicated device of Motion CPU.

(4) Speed change and torque limit value change during positioning control by the

Motion dedicated PLC instruction (S(P).CHGV, S(P).CHGT) and Motion dedicated function (CHGV, CHGT) of operation control step "F". (Note): Refer to the "Q173HCPU/Q172HCPU Motion controller(SV13/SV22)

Programming Manual (Motion SFC)" for the Motion dedicated PLC instruction.

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2 POSITIONING CONTROL BY THE MOTION CPU

[Execution of the Motion SFC program start (S(P).SFCS instruction)]

Positioning control is executed by starting the Motion SFC program specified with S(P).SFCS instruction of the PLC CPU in the Motion CPU. (The Motion SFC program can also be started automatically by parameter setting.) An overview of the starting method using the Motion SFC is shown below. Multiple CPU control system

Positioning execute command

SP.SFCS H3E3 K15

Motion SFC program No.15

Target CPU

PLC CPU

PLC program . . . . . . . . .

S(P).SFCS instruction

1) The Motion SFC program No. is set using the S(P).SFCS instruction in the PLC program. 2) When the S(P).SFCS instruction is executed, the program of the Motion SFC program No. specified with the Motion CPU is executed.

Start request of the Motion SFC program

Create using a peripheral device (Note-1)

M0 D0

Complete device

Device which stores the complete status

Start request of the Motion SFC program

(1) Create the Motion SFC programs and positioning control parameters using a

peripheral device.

(2) Perform the positioning start using the PLC program (S(P).SFCS instruction) of PLC CPU. (a) Motion SFC program No. is specified with the S(P).SFCS instruction.

1) Motion SFC program No. can be set either directly or indirectly.

(3) Perform the specified positioning control using the specified with Motion SFC program.

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2 POSITIONING CONTROL BY THE MOTION CPU

Servo amplifier

Servomotor

Motion CPU

Motion SFC program No.15 (Program No. specified with the S(P).SFCS instruction.)

System settings

Fixed parameters

Servo parameters

Parameters block

Home position return data

JOG operation data

Limit switch output data

System data such as axis allocations

Fixed data by the mechanical system, etc.

Data by the specifications of the connected servo amplifier

Data required for the acceleration, deceleration of the positioning control, etc.

Data required for the home position return

Data required for the JOG operation

ON/OFF pattern data required for the limit switch output function

Motion SFC program . . . . .

Positioning control parameters . . . . .

F10

K100

G100

START

END

G101

Create and correct using a peripheral device (Note-1)

Set and correct using a peripheral device (Note-1)

Once execution type operation control step Command which performs numerical operation and bit operation. "WAIT" Command which transits to the next step by formation of transition condition Gn.

Motion control step Command which performs starting of the servo program "Kn", etc.

REMARK

(Note-1) : The following peripheral devices started by the SW6RN-GSV P can be used.

The personal computer by which WindowsNT R 4.0/Windows R 98/ Windows R 2000/Windows R XP works. (IBM PC/AT compatible)

WindowsNT R , Windows R are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.

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2 POSITIONING CONTROL BY THE MOTION CPU

[Execution of the positioning control (Motion SFC program)]

The positioning control is executed using the servo program specified with the Motion SFC program in the Motion CPU system. An overview of the positioning control is shown below. Motion CPU control system

Motion SFC program

[F100] SET M2042

[K100] ABS-1 Axis 4, 80000PLS Speed 10000PLS/s

[G200] PX000*M2475

END

[G210] !PX000

1 axis linear positioning control

All axes servo ON command on

Stand by until PX000 is on and Axis 4 servo ON.

1 axis linear positioning control Axis used . . . . . . . . . . . Axis 4 Positioning address . . . 80000[PLS] Command speed . . . . . 10000[PLS/s]

Stand by until PX000 is OFF after positioning completion.

Start request of the servo program

(1) Create the servo programs and positioning control parameters using a peripheral

device. (2) Specify the servo program started by the Motion SFC program. (3) Perform the specified positioning control using the specified with servo program.

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2 POSITIONING CONTROL BY THE MOTION CPU

Servo amplifier

Servomotor

Servo instruction (Specification of the positioning control method) Positioning data which must be set: Axis used, positioning address and positioning speed, etc.

Positioning data to be set if required: Dwell time, M-code, etc.

ABS-1 Axis Speed

Dwell time M-code

4, 80000 10000

- -

System settings

Fixed parameters

Servo parameters

Parameters block

Home position return data

JOG operation data

Limit switch output data

Servo program . . . . .

Positioning control parameters . . . . . Create and correct using a peripheral device (Note-1)

Create and correct using a peripheral device (Note-1)

System data such as axis allocations

Fixed data by the mechanical system, etc.

Data by the specifications of the connected servo amplifier Data required for the acceleration, deceleration of the positioning control, etc.

Data required for the home position return

Data required for the JOG operation

ON/OFF pattern data required for the limit switch output function

REMARK

(Note-1) : The following peripheral devices started by the SW6RN-GSV P can be used.

The personal computer by which WindowsNT R 4.0/Windows R 98/ Windows R 2000/Windows R XP works. (IBM PC/AT compatible)

WindowsNT R , Windows R are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.

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2 POSITIONING CONTROL BY THE MOTION CPU

[Execution of the servo program start (S(P).SVST instruction)]

Positioning control is executed by starting the specified servo program toward the axis specified with S(P).SVST instruction of PLC CPU in the Motion CPU. An overview of the starting method using the servo program is shown below. Multiple CPU control system

PLC CPU

Create using a peripheral device (Note-1)PLC program . . . . .

SP.SVST instruction

Positioning execute command

SP.SVST H3E3 K25 M0 D0"J3J4"

Device which stores the complete status Complete device

Servo program No.25

Starting axis No.3 and 4 Target CPU

Start request of the servo program

Start request of the servo program

1) The starting axis No. and servo program No. are set using the S(P).SVST instruction in the PLC program. 2) When the S(P).SVST instruction is executed, the program of the servo program No. is executed toward the specified axis.

(1) Create the servo programs and positioning control parameters using a peripheral

device.

(2) Perform the positioning start using the PLC program (S(P).SVST instruction) of PLC CPU. (a) Starting axis No. and servo program No. are specified with the S(P).SVST

instruction. 1) Servo program No. can be set either directly or indirectly.

(3) Perform the positioning control of specified servo program toward the specified

axis.

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2 POSITIONING CONTROL BY THE MOTION CPU

Servo program . . . . . Set and correct using a peripheral device (Note-1)

Servo program No.25 (Servo program No. specified with the S(P).SVST instruction.)

2 axes linear interpolation control

Axis 3 . . . . . . 50000 Axis used . . . . . . . . . . . Axis 3, Axis 4

Travel value to stop position Axis 4 . . . . . . 40000

Command positioning speed Combined speed . . . . . . 30000

ABS-2 Axis 3, 50000 Axis 4, 40000 Combined speed 30000

System settings

Fixed parameters

Servo parameters

Parameters block

Home position return data

JOG operation data

Limit switch output data

Positioning control parameters . . . . . Create and correct using a peripheral device (Note-1)

System data such as axis allocations

Fixed data by the mechanical system, etc.

Data by the specifications of the connected servo amplifier Data required for the acceleration, deceleration of the positioning control, etc.

Data required for the home position return

Data required for the JOG operation

ON/OFF pattern data required for the limit switch output function

Servo amplifier

Servomotor

Motion CPU

REMARK

(Note-1) : The following peripheral devices started by the SW6RN-GSV P can be used.

The personal computer by which WindowsNT R 4.0/Windows R 98/ Windows R 2000/Windows R XP works. (IBM PC/AT compatible)

WindowsNT R , Windows R are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.

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2 POSITIONING CONTROL BY THE MOTION CPU

[Execution of the JOG operation]

JOG operation of specified axis is executed using the Motion SFC program in the Motion CPU. JOG operation can also be executed by controlling the JOG dedicated device of specified axis. An overview of JOG operation is shown below. Motion CPU control system

Axis 1 forward JOG command RST

Motion SFC program . . . . .

[F120] D640L=K100000

[G120] SET M3202=PX000 * !M3203

JOG

Axis 1 JOG operation speed = 100000[PLS/s]

P0

P0

Axis 1 forward JOG command SET

[G130] RST M3202=!PX000

Create and correct using a peripheral device (Note-1)

JOG operation by the JOG dedicated

device control

Note) : Do not stop this task during operation. Operation may not stop.

(1) Set the positioning control parameters using a peripheral device. (2) Set the JOG speed to the JOG speed setting register for each axis using the

Motion SFC program. (3) Perform the JOG operation while the JOG start command signal is ON in the

Motion SFC program.

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2 POSITIONING CONTROL BY THE MOTION CPU

Positioning control parameter . . . . .

Servo amplifier

Servomotor

System settings

Fixed parameters

Servo parameters

Parameter block

Home position return data

JOG operation data

Limit switch output data

Set and correct using a peripheral device (Note-1)

System data such as axis allocations

Fixed data by the mechanical system, etc.

Data by the specifications of the connected servo amplifier Data required for the acceleration, deceleration of the positioning control, etc.

Data required for the home position return

Data required for the JOG operation

ON/OFF pattern data required for the limit switch output function

REMARK

(Note-1) : The following peripheral devices started by the SW6RN-GSV P can be used.

The personal computer by which WindowsNT R 4.0/Windows R 98/ Windows R 2000/Windows R XP works. (IBM PC/AT compatible)

WindowsNT R , Windows R are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.

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2 POSITIONING CONTROL BY THE MOTION CPU

[Executing Manual Pulse Generator Operation]

When the positioning control is executed by the manual pulse generator connected to the Q173PX, manual pulse generator operation must be enabled using the Motion SFC program. An overview of manual pulse generator operation is shown below.

Motion CPU control system

Motion SFC program

[F130] D720=100 D714L=H0000001 SET M2051

END

Control axis 1 by P1. P1 manual pulse generator enable flag ON.

Set "axis 1" 1-pulse input magnification.

Manual pulse generator operation

Manual pulse generator operation by the manual pulse generator

dedicated device

(1) Set the positioning control parameters using a peripheral device. (2) Set the used manual pulse generator, operated axis No. and magnification for 1

pulse input using the Motion SFC program. (3) Turn the manual pulse generator enable flag on using the Motion SFC program

................................................ Manual pulse generator operation enabled (4) Perform the positioning by operating the manual pulse generator. (5) Turn the manual pulse generator enable flag OFF using the Motion SFC program

............................................ Manual pulse generator operation completion

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2 POSITIONING CONTROL BY THE MOTION CPU

Servo amplifier

Servomotor

Positioning control parameter . . . . .

System settings

Fixed parameters

Servo parameters

Parameter block

Home position return data

JOG operation data

Limit switch output data

Manual pulse generator

Set and correct using a peripheral device (Note-1)

System data such as axis allocations

Fixed data by the mechanical system, etc.

Data by the specifications of the connected servo amplifier Data required for the acceleration, deceleration of the positioning control, etc.

Data required for the home position return

Data required for the JOG operation

ON/OFF pattern data required for the limit switch output function

REMARK

(Note-1) : The following peripheral devices started by the SW6RN-GSV P can be used.

The personal computer by which WindowsNT R 4.0/Windows R 98/ Windows R 2000/Windows R XP works. (IBM PC/AT compatible)

WindowsNT R , Windows R are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.

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2 POSITIONING CONTROL BY THE MOTION CPU

(1) Positioning control parameters

There are following seven types as positioning control parameters. Parameter data can be set and corrected interactively using a peripheral device.

Item Description Reference

1 System settings Multiple system settings, Motion modules and axis No., etc. are set. Section

4.1

2 Fixed parameters

Data by such as the mechanical system are set for every axis. They are used for calculation of a command position at the positioning control.

Section 4.2

3 Servo parameters

Data by such as the servo amplifier and motor type with connected servomotor are set for every axis. They are set to control the servomotors at the positioning control.

(Note-1)

4 Home position return data

Data such as the direction, method and speed of the home position return used at the positioning control are set for every axis.

Section 6.23.1

5 JOG operation data

Data such as the JOG speed limit value and parameter block No. used at the JOG operation are set for every axis.

Section 6.21.1

6 Parameter block

Data such as the acceleration, deceleration time and speed control value at the positioning control are set up to 16 parameter blocks. They are set with the servo program, JOG operation data and home position return data, and it is used to change easily the acceleration/deceleration processing (acceleration/deceleration time and speed limit value) at the positioning control.

Section 4.3

7 Limit switch output data

Output device, watch data, ON section, output enable/disable bit and forced output bit used for the limit output function for every limit output are set.

(Note-2)

(Note-1): Refer to Section 3.3 of the "Q173HCPU/Q172HCPU Motion controller Programming Manual (COMMON)".

(Note-2): Refer to Section 4.1 of the "Q173HCPU/Q172HCPU Motion controller Programming Manual (COMMON)".

(2) Servo program

The servo program is used for the positioning control in the Motion SFC program. The positioning control by servo program is executed using the Motion SFC program and Motion dedicated PLC instruction (Servo program start request (S(P).SVST)) . It comprises a program No., servo instructions and positioning data. Refer to Chapter 5 for details. Program No. ............... It is specified using the Motion SFC program and

Motion dedicated PLC instruction. Servo instruction ......... It indicates the type of positioning control. Positioning data .......... It is required to execute the servo instructions.

The required data is fixed for every servo instruction.

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2 POSITIONING CONTROL BY THE MOTION CPU

(3) Motion SFC program

Motion SFC program is used to execute the operation sequence or transition control combining "Start", "Step", Transition", or "End" to the servo program. The positioning control, JOG operation and manual pulse generator operation by the servo program can be executed. Refer to the "Q173HCPU/Q172HCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for details.

(4) PLC program

The positioning control by the servo program can be executed using the Motion dedicated PLC instruction of PLC program. Refer to the "Q173HCPU/Q172HCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for details.

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2 POSITIONING CONTROL BY THE MOTION CPU

MEMO

3 - 1

3 POSITIONING DEDICATED SIGNALS

3. POSITIONING DEDICATED SIGNALS

The internal signals of the Motion CPU and the external signals to the Motion CPU are used as positioning signals.

(1) Internal signals

The following five devices of the Motion CPU are used as the internal signals of the Motion CPU. Internal relay (M) ..............................M2000 to M3839 (1840 points) Special relay (SP.M) ........................M9073 to M9079 (7 points) Data register (D) ..............................D0 to D799 (800 points) Motion register (#) ............................#8000 to #8191 (192 points) Special register (SP.D) ....................D9112 and D9180 to D9201 (23 points)

(2) External signals

The external input signals to the Motion CPU are shown below. Upper/lower limit switch input ..........The upper/lower limit of the positioning

range is controlled. Stop signal .......................................This signal makes the starting axis stop. Proximity dog signal ........................ON/OFF signal from the proximity dog. Speed/position switching signal ......Signal for switching from speed to position. Manual pulse generator input ..........Signal from the manual pulse generator.

Configuration between modules

Sensor, solenoid, etc. (DI/O)

Motion CPU

Shared CPU memory

1)

PLC CPU

Device memory

PLC control processor

Motion control dedicated I/F (DOG signal, manual pulse generator)

Device memory

2)

M M

SSCNET

Servo amplifier

Servomotor

PLC bus

Note) : Device memory data : 1) = 2)

Shared CPU memory

Motion control processor

PLC intelligent function module (A/D, D/A, etc.)

Fig.3.1 Flow of the internal signals/external signals

3

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3 POSITIONING DEDICATED SIGNALS

The positioning dedicated devices are shown below. It indicates the device refresh cycle of the Motion CPU for status signal with the positioning control, and the device fetch cycle of the Motion CPU for command signal with the positioning control. The operation cycle of the Motion CPU is shown below.

Item Q173HCPU Q172HCPU

Number of control axes Up to 32 axes Up to 8 axes

SV13

0.44ms/ 1 to 3 axes 0.88ms/ 4 to 10 axes 1.77ms/11 to 20 axes 3.55ms/21 to 32 axes

0.44ms/ 1 to 3 axes 0.88ms/ 4 to 8 axes

Operation cycle (Default)

SV22

0.88ms/ 1 to 5 axes 1.77ms/ 6 to 14 axes 3.55ms/15 to 28 axes 7.11ms/29 to 32 axes

0.88ms/ 1 to 5 axes 1.77ms/ 6 to 8 axes

3.1 Internal Relays

(1) Internal relay list SV13 SV22

Device No. Purpose Device No. Purpose

M0 M0

to

User device (2000 points) to

User device (2000 points)

M2000 M2000

to

Common device (320 points) to

Common device (320 points)

M2320 M2320

to

Special relay allocated device (Status) (80 points) to

Special relay allocated device (Status) (80 points)

M2400 M2400

to Axis status (20 points 32 axes) to

Axis status (20 points 32 axes) Real modeEach axis Virtual mode.Output module

M3040 M3040

to

Unusable (32 points) to

Unusable (32 points)

M3072 M3072

to

Common device (Command signal) (64 points) to

Common device (Command signal) (64 points)

M3136 M3136

to

Special relay allocated device (Command signal) (64 points) to

Special relay allocated device (Command signal) (64 points)

M3200 M3200

to Axis command signal (20 points 32 axes) to

Axis command signal (20 points 32 axes) Real modeEach axis Virtual mode.Output module

3 - 3

3 POSITIONING DEDICATED SIGNALS

Internal relay list (Continued)

SV13 SV22

Device No. Purpose Device No. Purpose

M3840 to

Unusable (Note)

(160 points)

M4000

to User device (Note) (640 points)

M4640

to Synchronous encoder axis status (4 points 12 axes)

M4688

M3840

to Unusable (Note)

(112 points)

M4800 to to

User device (Note) (640 points)

M5440

to

Synchronous encoder axis command signal (4 points 12 axes)

M5488

to Unusable (Note)

(112 points)

M5600 to

M8191

User device (4352 points)

M8191

User device (2592 points)

It can be used as an user device. (Note): It can be used as an user device in the SV22 real mode only.

POINT Total number of user device points 6352 points (SV13) / 6256 points (SV22 real mode only)

3 - 4

3 POSITIONING DEDICATED SIGNALS

(2) Axis status list

Axis No. Device No. Signal name

1 M2400 to M2419

2 M2420 to M2439

3 M2440 to M2459 Signal name Refresh cycle Fetch cycle Signal direction

4 M2460 to M2479 0 Positioning start complete 5 M2480 to M2499 1 Positioning complete 6 M2500 to M2519 2 In-position 7 M2520 to M2539 3 Command in-position 8 M2540 to M2559 4 Speed controlling 9 M2560 to M2579 5 Speed/position switching latch 10 M2580 to M2599 6 Zero pass

Operation cycle

11 M2600 to M2619 7 Error detection Immediate 12 M2620 to M2639 8 Servo error detection Operation cycle 13 M2640 to M2659 9 Home position return request Main cycle 14 M2660 to M2679 10 Home position return complete Operation cycle 15 M2680 to M2699

11 FLS

16 M2700 to M2719 12 RLS 17 M2720 to M2739 13 STOP 18 M2740 to M2759 14

External signals

DOG/CHANGE

Main cycle

19 M2760 to M2779 15 Servo ready 20 M2780 to M2799 16 Torque limiting

Operation cycle

Status signal

21 M2800 to M2819 17 Unusable 22 M2820 to M2839 23 M2840 to M2859

24 M2860 to M2879

18

Virtual mode continuation operation disable warning signal (SV22) (Note-1)

At virtual mode transition

25 M2880 to M2899 19 M-code outputting signal Operation cycle

Status signal

26 M2900 to M2919 27 M2920 to M2939

28 M2940 to M2959

29 M2960 to M2979

30 M2980 to M2999 31 M3000 to M3019 32 M3020 to M3039

(Note-1): It is unusable in the SV13/SV22 real mode. (Note-2): The range of axis No.1 to 8 is valid in the Q172HCPU. (Note-3): Device area of 9 axes or more is unusable in the Q172HCPU.

3 - 5

3 POSITIONING DEDICATED SIGNALS

(3) Axis command signal list

Axis No. Device No. Signal name

1 M3200 to M3219

2 M3220 to M3239 3 M3240 to M3259

Signal name Refresh cycle Fetch cycle Signal

direction

4 M3260 to M3279 0 Stop command 5 M3280 to M3299 1 Rapid stop command

Operation cycle

6 M3300 to M3319 2 Forward rotation JOG start command 7 M3320 to M3339 3 Reverse rotation JOG start command 8 M3340 to M3359 4 Complete signal OFF command

Main cycle

9 M3360 to M3379 10 M3380 to M3399

5 Speed/position switching enable command

Operation cycle

Command signal

11 M3400 to M3419 6 Unusable

12 M3420 to M3439 7 Error reset command 13 M3440 to M3459 8 Servo error reset command

Main cycle

14 M3460 to M3479 15 M3480 to M3499

9 External stop input disable at start command

At start

Command signal

16 M3500 to M3519 10 17 M3520 to M3539 11

Unusable 18 M3540 to M3559 19 M3560 to M3579

12 Feed current value update request command

At start

20 M3580 to M3599 21 M3600 to M3619

13 Address clutch reference setting command (SV22 only) (Note-1)

22 M3620 to M3639 23 M3640 to M3659

14 Cam reference position setting command (SV22 only) (Note-1)

At virtual mode transition

24 M3660 to M3679 15 Servo OFF command Operation cycle 25 M3680 to M3699 16 Gain changing command

Operation cycle (Note-4)

Command signal

26 M3700 to M3719 17 Unusable 27 M3720 to M3739 18 Control loop changing command

28 M3740 to M3759

29 M3760 to M3779 19 FIN signal

Operation cycle Command

signal

30 M3780 to M3799 31 M3800 to M3819 32 M3820 to M3839

(Note-1): It is unusable in the SV13/SV22 real mode. (Note-2): The range of axis No.1 to 8 is valid in the Q172HCPU. (Note-3): Device area of 9 axes or more is unusable in the Q172HCPU. (Note-4): Operation cycle 7.1[ms] or more: Every 3.5[ms]

3 - 6

3 POSITIONING DEDICATED SIGNALS

(4) Common device list

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Remark

(Note-5)

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Remark

(Note-5)

M2000 PLC ready flag Main cycle Command

signal (Note-4)

M3072

M2053 Manual pulse generator 3 enable flag

Main cycle Command

signal (Note-4)

M3079

M2001 Axis 1

M2002 Axis 2 M2054 Operation cycle over flag Operation cycle

Status signal

M2003 Axis 3 M2055

M2004 Axis 4 M2056

M2005 Axis 5 M2057

M2006 Axis 6 M2058

M2007 Axis 7 M2059

M2008 Axis 8 M2060

Unusable (6 points)

M2009 Axis 9 M2061 Axis 1

M2010 Axis 10 M2062 Axis 2

M2011 Axis 11 M2063 Axis 3

M2012 Axis 12 M2064 Axis 4

M2013 Axis 13 M2065 Axis 5

M2014 Axis 14 M2066 Axis 6

M2015 Axis 15 M2067 Axis 7

M2016 Axis 16 M2068 Axis 8

M2017 Axis 17 M2069 Axis 9

M2018 Axis 18 M2070 Axis 10

M2019 Axis 19 M2071 Axis 11

M2020 Axis 20 M2072 Axis 12

M2021 Axis 21 M2073 Axis 13

M2022 Axis 22 M2074 Axis 14

M2023 Axis 23 M2075 Axis 15

M2024 Axis 24 M2076 Axis 16

M2025 Axis 25 M2077 Axis 17

M2026 Axis 26 M2078 Axis 18

M2027 Axis 27 M2079 Axis 19

M2028 Axis 28 M2080 Axis 20

M2029 Axis 29 M2081 Axis 21

M2030 Axis 30 M2082 Axis 22

M2031 Axis 31 M2083 Axis 23

M2032 Axis 32

Start accept flag Operation cycle

Status signal

(Note-1), (Note-2)

M2084 Axis 24

M2033 Unusable M2085 Axis 25

M2086 Axis 26 M2034

Personal computer link communication error flag

Operation cycle Status signal

M2087 Axis 27

M2035 Motion SFC error history clear request flag (Note-6)

Main cycle Command

signal M3080 M2088 Axis 28

M2036 M2089 Axis 29

M2037 M2090 Axis 30

M2038

Unusable (3 points)

M2091 Axis 31

M2092 Axis 32

Speed changing flag Operation cycle

Status signal

(Note-1), (Note-2)

M2039 Motion SFC error detection flag

Immediate Status signal

M2093

M2094

M2095M2040 Speed switching point specified flag

At start Command

signal (Note-4)

M3073

M2096

M2097 M2041 System setting error flag Operation cycle

Status signal

M2098

M2042 All axes servo ON command Operation cycle M3074 M2099

M2100

Unusable (8 points)

M2043 Real/virtual mode switching request (SV22)

At virtual mode transition

Command signal

(Note-4) M3075

M2101 Axis 1

M2102 Axis 2 M2044

Real/virtual mode switching status (SV22) M2103 Axis 3

M2104 Axis 4

M2105 Axis 5 M2045 Real/virtual mode switching error detection signal (SV22)

M2106 Axis 6

M2046 Out-of-sync warning (SV22)

At virtual mode transition

M2107 Axis 7

M2108 Axis 8 M2047 Motion slot fault detection flag Operation cycle

Status signal

M2109 Axis 9

M2110 Axis 10

M2111 Axis 11 M2048 JOG operation rsimultaneous start command

Main cycle Command

signal (Note-4)

M3076

M2112 Axis 12

Synchronous encoder current value changing flag (Note-3) (12 axes)

Operation cycle

Status signal

(Note-1), (Note-2)

M2049 All axes servo ON accept flag M2113

M2050 Start buffer full Operation cycle

Status signal

M2114

M2115 M2051

Manual pulse generator 1 enable flag

M3077 M2116

M2117 M2052

Manual pulse generator 2 enable flag

Main cycle Command

signal (Note-4) M3078

M2118

Unusable (6 points)

3 - 7

3 POSITIONING DEDICATED SIGNALS

Common device list (Continued)

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Remark

(Note-5)

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Remark

(Note-5)

M2119 M2180 Main shaft side

M2120

M2121 M2181

Output axis 11 Auxiliary input

side

M2122 M2182 Main shaft side

M2123

M2124 M2183

Output axis 12

Auxiliary input side

M2125 M2184 Main shaft side

M2126

M2127

Unusable (9 points)

M2185

Output axis 13

Auxiliary input side

M2128 Axis 1 M2186 Main shaft side

M2129 Axis 2

M2130 Axis 3 M2187

Output axis 14

Auxiliary input side

M2131 Axis 4 M2188 Main shaft side

M2132 Axis 5

M2133 Axis 6 M2189

Output axis 15

Auxiliary input side

M2134 Axis 7 M2190 Main shaft side

M2135 Axis 8

M2136 Axis 9 M2191

Output axis 16

Auxiliary input side

M2137 Axis 10 M2192 Main shaft side

M2138 Axis 11

M2139 Axis 12 M2193

Output axis 17

Auxiliary input side

M2140 Axis 13 M2194 Main shaft side

M2141 Axis 14

M2142 Axis 15 M2195

Output axis 18

Auxiliary input side

M2143 Axis 16 M2196 Main shaft side

M2144 Axis 17

M2145 Axis 18 M2197

Output axis 19

Auxiliary input side

M2146 Axis 19 M2198 Main shaft side

M2147 Axis 20

M2148 Axis 21 M2199

Output axis 20

Auxiliary input side

M2149 Axis 22 M2200 Main shaft side

M2150 Axis 23

M2151 Axis 24 M2201

Output axis 21

Auxiliary input side

M2152 Axis 25 M2202 Main shaft side

M2153 Axis 26

M2154 Axis 27 M2203

Output axis 22

Auxiliary input side

M2155 Axis 28 M2204 Main shaft side

M2156 Axis 29

M2157 Axis 30 M2205

Output axis 23

Auxiliary input side

M2158 Axis 31 M2206 Main shaft side

M2159 Axis 32

Automatic deceleration flag

M2160 Main shaft side M2207

Output axis 24

Auxiliary input side

M2208 Main shaft side M2161

Output axis 1

Auxiliary input side

M2162 Main shaft side M2209

Output axis 25

Auxiliary input side

M2210 Main shaft side M2163

Output axis 2

Auxiliary input side

M2164 Main shaft side M2211

Output axis 26

Auxiliary input side

M2212 Main shaft side M2165

Output axis 3

Auxiliary input side

M2166 Main shaft side M2213

Output axis 27

Auxiliary input side

M2214 Main shaft side M2167

Output axis 4

Auxiliary input side

M2168 Main shaft side M2215

Output axis 28

Auxiliary input side

M2216 Main shaft side M2169

Output axis 5

Auxiliary input side

M2170 Main shaft side M2217

Output axis 29

Auxiliary input side

M2218 Main shaft side M2171

Output axis 6

Auxiliary input side

M2172 Main shaft side M2219

Output axis 30

Auxiliary input side

M2220 Main shaft side M2173

Output axis 7

Auxiliary input side

M2174 Main shaft side M2221

Output axis 31

Auxiliary input side

M2222 Main shaft side M2175

Output axis 8

Auxiliary input side

M2176 Main shaft side M2223

Output axis 32

Auxiliary input side

C lu

tc h

st at

us (S

V2 2)

(N ot

e- 3)

Operation cycle

Status signal

(Note-1), (Note-2)

M2224 M2177

Output axis 9

Auxiliary input side M2225

M2178 Main shaft side M2226

M2227 M2179

Output axis 10

Auxiliary input side

C lu

tc h

st at

us (S

V2 2)

(N ot

e- 3)

Operation cycle

Status signal

(Note-1), (Note-2)

M2228

Unusable (5 points)

3 - 8

3 POSITIONING DEDICATED SIGNALS

Common device list (Continued)

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Remark

(Note-5)

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Remark

(Note-5)

M2229 M2276 Axis 5

M2230 M2277 Axis 6

M2231 M2278 Axis 7

M2232 M2279 Axis 8

M2233 M2280 Axis 9

M2234 M2281 Axis 10

M2235 M2282 Axis 11

M2236 M2283 Axis 12

M2237 M2284 Axis 13

M2238 M2285 Axis 14

M2239

Unusable (11 points)

M2286 Axis 15

M2240 Axis 1 M2287 Axis 16

M2241 Axis 2 M2288 Axis 17

M2242 Axis 3 M2289 Axis 18

M2243 Axis 4 M2290 Axis 19

M2244 Axis 5 M2291 Axis 20

M2245 Axis 6 M2292 Axis 21

M2246 Axis 7 M2293 Axis 22

M2247 Axis 8 M2294 Axis 23

M2248 Axis 9 M2295 Axis 24

M2249 Axis 10 M2296 Axis 25

M2250 Axis 11 M2297 Axis 26

M2251 Axis 12 M2298 Axis 27

M2252 Axis 13 M2299 Axis 28

M2253 Axis 14 M2300 Axis 29

M2254 Axis 15 M2301 Axis 30

M2255 Axis 16 M2302 Axis 31

M2256 Axis 17 M2303 Axis 32

Control loop monitor status

Operation cycle

Status signal

(Note-1), (Note-2)

M2257 Axis 18 M2304

M2258 Axis 19 M2305

M2259 Axis 20 M2306

M2260 Axis 21 M2307

M2261 Axis 22 M2308

M2262 Axis 23 M2309

M2263 Axis 24 M2310

M2264 Axis 25 M2311

M2265 Axis 26 M2312

M2266 Axis 27 M2313

M2267 Axis 28 M2314

M2268 Axis 29 M2315

M2269 Axis 30 M2316

M2270 Axis 31 M2317

M2271 Axis 32

Speed change "0" accepting flag

Operation cycle

Status signal

(Note-1), (Note-2)

M2318

M2272 Axis 1 M2319

Unusable (16 points)

M2273 Axis 2

M2274 Axis 3

M2275 Axis 4

Control loop monitor status

Operation cycle

Status signal

(Note-1), (Note-2)

3 - 9

3 POSITIONING DEDICATED SIGNALS

Explanation of the request register

No. Function Bit device Request register

1 PLC ready flag M2000 D704

2 Speed switching point specified flag M2040 D705

3 All axes servo ON command M2042 D706

4 Real/virtual mode switching request (SV22) M2043 D707

5 JOG operation simultaneous start command M2048 D708

6 Manual pulse generator 1 enable flag M2051 D755

7 Manual pulse generator 2 enable flag M2052 D756

8 Manual pulse generator 3 enable flag M2053 D757

(Note-1): The range of axis No.1 to 8 is valid in the Q172HCPU. (Note-2): Device area of 9 axes or more is unusable in the Q172HCPU. (Note-3): This signal is unusable in the SV13/SV22 real mode. (Note-4): Handling of D704 to D708 and D755 to D757 registers

Because cannot be turn ON/OFF for every bit from the PLC CPU, the above bit devices are assigned to D register, and each bit device becomes on with the lowest rank bit 0 1 of each register, and each bit device becomes off with 1 0. Use it when the above functions are requested from the PLC CPU using the S(P).DDRD and S(P).DDWR instruction. Refer to the "Q173HCPU/Q172HCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for the S(P).DDRD and S(P).DDWR instruction. The direct bit device ON/OFF is possible in the Motion SFC program.

(Note-5): It can also be ordered the device of a remark column. (Note-6): M3080 does not turn off automatically. Turn it off as an user side.

CAUTION The data executed later becomes effective when the same device is executed in the Motion SFC program and PLC program.

3 - 10

3 POSITIONING DEDICATED SIGNALS

(5) Special relay allocated device list (Status)

Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark (Note)

M2320 Fuse blown detection M9000

M2321 AC/DC DOWN detection M9005

M2322 Battery low M9006

M2323 Battery low latch M9007

M2324 Self-diagnostic error M9008

M2325 Diagnostic error

Error occurrence

M9010

M2326 Always ON M9036

M2327 Always OFF

Main operation M9037

M2328 Clock data error M9026

M2329 PCPU WDT error flag

Error occurrence M9073

M2330 PCPU READY complete flag M9074

M2331 Test mode ON flag At request

M9075

M2332 External forced stop input flag Operation

cycle M9076

M2333 Manual pulse generator axis setting error flag

M9077

M2334 TEST mode request error flag M9078

M2335 Servo program setting error flag

Error occurrence

M9079

M2336 CPU No.1 reset flag M9240

M2337 CPU No.2 reset flag M9241

M2338 CPU No.3 reset flag M9242

M2339 CPU No.4 reset flag M9243

M2340 CPU No.1 error flag M9244

M2341 CPU No.2 error flag M9245

M2342 CPU No.3 error flag M9246

M2343 CPU No.4 error flag

At status change

Status signal

M9247

M2344 Unusable

M2345 CPU No.1 MULTR complete flag M9216

M2346 CPU No.2 MULTR complete flag M9217

M2347 CPU No.3 MULTR complete flag M9218

M2348 CPU No.4 MULTR complete flag

At instruction completion

Status signal

M9219

M2349

to

M2399

Unusable (51 points)

(Note): The same status as a remark column is output.

3 - 11

3 POSITIONING DEDICATED SIGNALS

(6) Common device list (Command signal)

Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark

(Note-1), (Note-2)

M3072 PLC ready flag Main cycle M2000

M3073 Speed switching point specified flag At start M2040

M3074 All axes servo ON command Operation

cycle M2042

M3075 Real/virtual mode switching request (SV22)

At virtual mode transition

M2043

M3076 JOG operation simultaneous start command

M2048

M3077 Manual pulse generator 1 enable flag M2051

M3078 Manual pulse generator 2 enable flag M2052

M3079 Manual pulse generator 3 enable flag M2053

M3080 Motion SFC error history clear request flag (Note-3)

Main cycle

Command signal

M2035

M3081

to

M3135

Unusable (55 points)

(Note-1): The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column turns OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks column is turned on directly. In addition, when the request from a data register and the request from the above device are performed simultaneously, the request from the above device becomes effective.

(Note-2): It can also be ordered the device of a remark column. (Note-3): M3080 does not turn off automatically. Turn it off as an user side.

(7) Special relay allocated device list (Command signal)

Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark

(Note-1), (Note-2)

M3136 Clock data set request M9025

M3137 Clock data read request M9028

M3138 Error reset

Main cycle Command

signal

M9060

M3139

to

M3199

Unusable (61 points)

(Note-1): The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column turns OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks column is turned on directly.

(Note-2): It can also be ordered the device of a remark column.

3 - 12

3 POSITIONING DEDICATED SIGNALS

3.1.1 Axis statuses

(1) Positioning start complete signal (M2400+20n) .......... Status signal (a) This signal turns on with the start completion for the positioning control of

the axis specified with the servo program. It does not turn on at the starting using JOG operation or manual pulse generator operation. It can be used to read a M-code at the positioning start. (Refer to Section 7.1.)

(b) This signal turns off at turning the complete signal OFF command (M3204+20n) off to on or positioning completion.

When the complete signal OFF command (M3204+20n) turns off to on.

Servo program start

Start accept flag (M2001 to M2032)

Positioning start complete signal (M2400+20n)(Note-1)

Complete signal OFF command (M3204+20n)(Note-1)

Dwell time V

t

OFF

OFF

OFF ON

ON

ON

When the positioning is completed.

Servo program start

Dwell time

Positioning completion

OFF

OFF ON

ON

V

t

Start accept flag (M2001 to M2032)

Positioning start complete signal (M2400+20n)(Note-1)

REMARK

(Note-1): In the above descriptions, "n" in "M3204+20n", etc. indicates a value corresponding to axis No. such as the following tables.

Axis No. n Axis No. n Axis No. n Axis No. n

1 0 9 8 17 16 25 24 2 1 10 9 18 17 26 25 3 2 11 10 19 18 27 26 4 3 12 11 20 19 28 27 5 4 13 12 21 20 29 28 6 5 14 13 22 21 30 29 7 6 15 14 23 22 31 30 8 7 16 15 24 23 32 31

Calculate as follows for the device No. corresponding to each axis. (Example) M3200+20n (Stop command)=M3200+20 31=M3820

M3215+20n (Servo OFF) =M3215+20 31=M3835 The range (n=0 to 7) of axis No.1 to 8 is valid in the Q172HCPU.

3 - 13

3 POSITIONING DEDICATED SIGNALS

(2) Positioning complete signal (M2401+20n) ..................Status signal

(a) This signal turns on with the completion for the positioning control of the axis specified with the servo program. It does not turn on at the start or stop on the way using home position return, JOG operation, manual pulse generator operation or speed control. It does not turn on at the stop on the way during positioning. It can be used to read a M-code at the positioning completion. (Refer to Section 7.1.)

(b) This signal turns off at turning the complete signal OFF command

(M3204+20n) off to on or positioning start. When the complete signal OFF command (M3204+20n) turns off to on.

Dwell time

OFF ON

ON OFF

ON OFF

V

t

Servo program start

Start accept flag (M2001 to M2032)

Positioning complete signal (M2401+20n)

Complete signal OFF command (M3204+20n)

ON OFF

When the next positioning starts.

Dwell time

OFF ON

V

t

ON

OFF

Positioning completion Positioning start

Servo program start

Start accept flag (M2001 to M2032)

Positioning complete signal (M2401+20n)

ON

OFF

(3) In-position signal (M2402+20n) ...................................Status signal (a) This signal turns on when the number of droop pulses in the deviation

counter becomes below the "in-position range" set in the servo parameters. It turns off at the start.

Number of droop pulses

In-position (M2402+20n)

In-position range

OFF

ON

t

3 - 14

3 POSITIONING DEDICATED SIGNALS

(b) An in-position check is performed in the following cases.

When the servo power supply is turned on. After the automatic deceleration is started during positioning control. After the deceleration is started with the JOG start signal OFF. During the manual pulse generator operation. After the proximity dog ON during a home position return. After the deceleration is started with the stop command. When the speed change to a speed "0" is executed.

(4) Command in-position signal (M2403+20n) .................Status signal

(a) This signal turns on when the absolute value of difference between the command position and feed current value becomes below the "command in-position range" set in the fixed parameters. This signal turns off in the following cases. Positioning control start Home position return Speed control JOG operation Manual pulse generator operation

(b) Command in-position check is continually executed during position control.

This check is not executed during speed control or speed control in the speed/position switching control.

(c)

(5) Speed controlling signal (M2404+20n) ........................Status signal (a) This signal turns on during speed control, and it is used as judgement of

during the speed control or position control. It is turning on while the switching from speed control to position control by the external CHANGE signal at the speed/position switching control.

Command in-position (M2403+20n)

Position control start

Command in-position setting

Speed/position control start

Switch from speed to position Command in-position setting

Execution of command in-position check Execution of command in-position check

ON

OFF

t

V

3 - 15

3 POSITIONING DEDICATED SIGNALS

(b) This signal turns off at the power supply on and during position control.

At speed/position switching control At speed control At position control

Speed/position control start

CHANGE Speed control start Positioning start

Speed controlling signal (M2404+20n)

Speed control

Position control

ON

OFF

t

(6) Speed/position switching latch signal (M2405+20n) .........................Status signal

(a) This signal turns on when the control is switched from speed control to position control. It can be used as an interlock signal to enable or disable changing of the travel value in position control.

(b) The signal turns off at the following start.

Position control Speed/position control Speed control JOG operation Manual pulse generator operation

Speed/position control start

CHANGE Start

Speed/position switching latch signal(M2405+20n)

CHANGE signal from external source

ON

OFF

t

OFF

ON

(7) Zero pass signal (M2406+20n) ....................................Status signal This signal turns on when the zero point is passed after the power supply on of the servo amplifier. Once the zero point has been passed, it remains on state until the CPU has been reset. However, in the home position return method of proximity dog, count, dog cradle or limit switch combined type, this signal turns off once at the home position return start and turns on again at the next zero point passage.

3 - 16

3 POSITIONING DEDICATED SIGNALS

(8) Error detection signal (M2407+20n) ............................Status signal

(a) This signal turns on with detection of a minor error or major error, and it is used as judgement of the error available/not available. The applicable error code (Note-1) is stored in the minor error code storage register with detection of a minor error. (Refer to Section 3.2.1) The applicable error code (Note-2) is stored in the major error code storage register with detection of a major error. (Refer to Section 3.2.1)

(b) This signal turns off when the error reset command (M3207+20n) turns on.

Error detection signal (M2407+20n)

Error reset command (M3207+20n)

ON

OFF

OFF

ON

Error detection

REMARK

(Note-1): Refer to APPENDIX 1.2 for the error codes with detection of minor errors. (Note-2): Refer to APPENDIX 1.3 for the error codes with detection of major errors.

(9) Servo error detection signal (M2408+20n) ..................Status signal (a) This signal turns on when an error occurs at the servo amplifier side (except

for errors cause of alarms and emergency stops) (Note-1), and it is used as judgement of the servo error available/not available. When an error is detected at the servo amplifier side, the applicable error code (Note-1) is stored in the servo error code storage register. (Refer to Section 3.2.1)

(b) This signal turns off when the servo error reset command (M3208+20n)

turns on or the servo power supply turns on again.

Servo error detection signal (M2408+20n)

Servo error reset command (M3208+20n)

ON

OFF

OFF

ON

Servo error detection

REMARK

(Note-1): Refer to APPENDIX 1.4 for the error codes on errors detected at the servo amplifier side.

3 - 17

3 POSITIONING DEDICATED SIGNALS

(10) Home position return request signal (M2409+20n)

.........................Status signal This signal turns on when it is necessary to confirm the home position address. (a) When not using an absolute position system

1) This signal turns on in the following cases: Motion CPU power supply on or reset Servo amplifier power supply on Home position return start

(Unless a home position return is completed normally, the home position return request signal does not turn off.)

2) This signal turns off by the completion of home position return.

(b) When using an absolute position system 1) This signal turns on in the following cases:

When not executing a home position return once after system start. Home position return start

(Unless a home position return is completed normally, the home position return request signal does not turn off.)

Erase of an absolute data in Motion CPU according to causes, such as battery error

Servo error [2025] (absolute position erase) occurrence Servo error [2143] (absolute position counter warning) occurrence Major error [1203] or [1204] occurrence When the "rotation direction selection" of servo parameter is changed.

2) This signal turns off by the completion of the home position return.

CAUTION When using the absolute position system function, on starting up, and when the Motion controller or absolute value motor has been replaced, always perform a home position return. In the case of the absolute position system, use the PLC program to check the home position return request before performing the positioning operation. Failure to observe this could lead to an accident such as a collision.

(11) Home position return complete signal (M2410+20n)

.......................Status signal (a) This signal turns on when the home position return operation using the

servo program has been completed normally.

(b) This signal turns off at the positioning start, JOG operation start and manual pulse generator operation start.

(c) If the home position return of proximity dog, dog cradle or stopper type

using the servo program is executed during this signal on, the "continuous home position return start error (minor error: 115)" occurs and it cannot be start the home position return.

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3 POSITIONING DEDICATED SIGNALS

(12) FLS signal (M2411+20n) (Note-1) ...................................Status signal

(a) This signal is controlled by the ON/OFF state for the upper stroke limit switch input (FLS) of the Q172LX/servo amplifier. Upper stroke limit switch input OFF ...... FLS signal: ON Upper stroke limit switch input ON ........ FLS signal: OFF

(b) The state for the upper stroke imit switch input (FLS) when the FLS signal is

ON/OFF is shown below. 1) Q172LX use (Note-2)

FLS signal : ON FLS signal : OFF

Q172LX Q172LX

FLS FLS

COM

FLS FLS

COM

2) Servo amplifier input use (Note-3)

FLS signal : ON FLS signal : OFF

FLS DI1

DICOM

FLS DI1

DICOM

MR-J3- B MR-J3- B

(Note-1): Refer to the "Q173HCPU/Q172HCPU Motion controller Programming Manual

(COMMON)" for an external signal.

(Note-2): Refer to the "Q173HCPU/Q172HCPU Users Manual" for a pin configuration.

(Note-3): Refer to the "MR-J3- B Servo Amplifier Instruction Manual" for a pin configuration.

(13) RLS signal (M2412+20n) (Note-1) .................................. Status signal

(a) This signal is controlled by the ON/OFF state for the lower stroke limit switch input (FLS) of the Q172LX/servo amplifier. Lower stroke limit switch input OFF ...... RLS signal: ON Lower stroke limit switch input ON ........ RLS signal: OFF

(b) The state of the lower stroke limit switch input (RLS) when the RLS signal is ON/OFF is shown below. 1) Q172LX use (Note-2)

RLS signal : ON

Q172LX

RLS RLS

COM

RLS signal : OFF Q172LX

RLS RLS

COM

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3 POSITIONING DEDICATED SIGNALS

2) Servo amplifier input use (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 "Q173HCPU/Q172HCPU Motion controller Programming Manual

(COMMON)" for an external signal.

(Note-2): Refer to the "Q173HCPU/Q172HCPU Users Manual" for a pin configuration.

(Note-3): Refer to the "MR-J3- B Servo Amplifier Instruction Manual" for a pin configuration. (14) STOP signal (M2413+20n) ........................................Status signal

(a) This signal is controlled by the ON/OFF state for the stop signal input (STOP) of the Q172LX. Stop signal input of the Q172LX OFF ..... STOP signal: OFF Stop signal input of the Q172LX ON ....... STOP signal: ON

(b) The state of the stop signal input (STOP) of the Q172LX when the STOP

signal input is ON/OFF is shown below.

STOP signal : ON Q172LX

STOP STOP

COM

STOP signal : OFF Q172LX

STOP STOP

COM

(15) DOG/CHANGE signal (M2414+20n) (Note-1) ..................Status signal (a) This signal turns on/off by the proximity dog input (DOG) of the

Q172LX/servo amplifier at the home position return. This signal turns on/off by the speed/position switching input (CHANGE) of the Q172LX at the speed/position switching control. (There is no CHANGE signal in the servo amplifier.)

(b) When using the Q172LX, "Normally open contact input" and "Normally

closed contact input" of the system setting can be selected. The state of the speed/position switching input (CHANGE) when the CHANGE signal is ON/OFF is shown below. 1) Q172LX use (Note-2)

DOG/CHANGE signal : ON

Q172LX

DOG/CHANGE DOG/CHANGE

COM

DOG/CHANGE signal : OFF Q172LX

DOG/CHANGE

DOG/CHANGE

COM

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3 POSITIONING DEDICATED SIGNALS

2) Servo amplifier input use (Note-3)

DOG/CHANGE 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 "Q173HCPU/Q172HCPU Motion controller Programming Manual

(COMMON)" for an external signal.

(Note-2): Refer to the "Q173HCPU/Q172HCPU Users Manual" for a pin configuration.

(Note-3): Refer to the "MR-J3- B Servo Amplifier Instruction Manual" for a pin configuration. (16) Servo ready signal (M2415+20n) ..............................Status signal

(a) This signal turns on when the servo amplifiers connected to each axis are in the READY state.

(b) This signal turns off in the following cases.

M2042 is off Servo amplifier is not installed Servo parameter is not set It is received the forced stop input from an external source Servo OFF by the servo OFF command (M3215+20n) ON Servo error occurs Refer to APPENDIX 1.4 "Servo errors" for details.

Q61P Q02H

CPU

Q38B

Communication is normal

Servo ready signal : ON

M

Q172 LX

Q172H CPU

AMP

M

AMP

POINT When the part of multiple servo amplifiers connected to the SSCNET becomes a servo error, only an applicable axis becomes the servo OFF state.

(17) Torque limiting signal (M2416+20n) ..........................Status signal

This signal turns on while torque limit is executed. The signal toward the torque limiting axis turns on

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3 POSITIONING DEDICATED SIGNALS

(18) M-code outputting signal (M2419+20n) .....................Status signal

(a) This signal turns during M-code is outputting.

(b) This signal turns off when the stop command, cancel signal, skip signal or FIN signal are inputted.

FIN signal (M3219+20n)

M-code

M-code outputting signal (M2419+20n)

M1 M2 M3

OFF

OFF

ON

ON

POINTS (1) The FIN signal and M-code outputting signal are both for the FIN signal wait

function. (2) The FIN signal and M-code outputting signal are effective only when FIN

acceleration/deceleration is designated in the servo program. Otherwise, the FIN signal wait function is disabled, and the M-code outputting signal does not turn on.

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3 POSITIONING DEDICATED SIGNALS

3.1.2 Axis command signals

(1) Stop command (M3200+20n) ............................... Command signal (a) This command stops a starting axis from an external source and becomes

effective at the turning signal off to on. (An axis for which the stop command is turning on cannot be started.)

Stop command (M3200+20n)

Setting speed

OFF

ON

V Stop command for specified axis

Control when stop command turns off

Deceleration stop processing

Stop

t

(b) The details of stop processing when the stop command turns on are shown below. (Refer to Section 6.13 or 6.14 for details of the speed control.)

Processing at the turning stop command on Control details

during execution During control During deceleration stop processing

Positioning control Speed control ( , )

JOG operation

Speed control with fixed position stop

The axis decelerates to a stop in the deceleration time set in the parameter block or servo program.

The stop command is ignored and deceleration stop processing is continued.

Manual pulse generator operation

An immediate stop is executed without deceleration processing.

Home position return

(1) The axis decelerates to a stop in the deceleration time set in the parameter block. (2) A "stop error during home position return" occurs and the error code [202] is

stored in the minor error storage register for each axis.

(c) The stop command in a dwell time is invalid. (After a dwell time, the start

accept flag (M2001+n) turns OFF, and the positioning complete signal (M2401+20n) turns ON.)

POINT

If it is made to stop by turning on the stop command (M3200+20n) during a home position return, execute the home position return again. If the stop command is turned on after the proximity dog ON in the proximity dog type, execute the home position return after move to before the proximity dog ON by the JOG operation or positioning.

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3 POSITIONING DEDICATED SIGNALS

(2) Rapid stop command (M3201+20n) ..................... Command signal

(a) This command is a signal which stop a starting axis rapidly from an external source and becomes effective when the signal turns off to on. (An axis for which the rapid stop command turns on cannot be started.)

Rapid stop command (M3201+20n)

Setting speed

OFF

ON

V Rapid stop command for specified axis

Control when rapid stop command turns off

Stop

t

Rapid stop processing

(b) The details of stop processing when the rapid stop command turns on are shown below.

Processing at the turning rapid stop command on Control details

during execution During control During deceleration stop processing

Position control Speed control ( , ) JOG operation Speed control with fixed position stop

The axis decelerates to a rapid stop deceleration time set in the parameter block or servo program.

Deceleration processing is canceled and rapid stop processing executed instead.

Manual pulse generator operation

An immediate stop is executed without deceleration processing.

Home position return

(1) The axis decelerates to a stop in the rapid stop deceleration time set in the parameter block.

(2) A "stop error during home position return" error occurs and the error code [203] is stored in the minor error storage register for each axis.

(c) The rapid stop command in a dwell time is invalid. (After a dwell time, the

start accept flag (M2001+n) turns OFF, and the positioning complete signal (M2401+20n) turns ON.)

POINT

If it is made to stop rapidly by turning on the rapid stop command (M3201+20n) during a home position return, execute the home position return again. If the rapid stop command turned on after the proximity dog ON in the proximity dog type, execute the home position return after move to before the proximity dog ON by the JOG operation or positioning.

3 - 24

3 POSITIONING DEDICATED SIGNALS

(3) Forward rotation JOG start command (M3202+20n)/Reverse

rotation JOG start command (M3203+20n) ......... Command signal (a) JOG operation to the address increase direction is executed while forward

rotation JOG start command (M3202+20n) is turning on. When M3202+20n is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.

(b) JOG operation to the address decrease direction is executed while reverse

rotation JOG start command (M3203+20n) is turinig on. When M3203+20n is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.

POINT

Take an interlock so that the forward rotation JOG start command (M3202+20n) and reverse rotation JOG start command (M3203+20n) may not turn on simultaneously.

(4) Complete signal OFF command (M3204+20n)

......................... Command signal (a) This command is used to turn off the positioning start complete signal

(M2400+20n) and positioning complete signal (M2401+20n).

Positioning start complete signal (M2400+20n)

Positioning complete signal (M2401+20n)

Complete signal OFF command (M3204+20n)

OFF

OFF

OFF

ON

ON

ON

Dwell time

t

Dwell time

POINT Do not turn the complete signal OFF command on with a PLS instruction. If it is turned on with a PLS instruction, it cannot be turned off the positioning start complete signal (M2400+20n) and the positioning complete signal (M2401+20n).

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3 POSITIONING DEDICATED SIGNALS

(5) Speed/position switching enable command (M3205+20n)

......... Command signal (a) This command is used to make the CHANGE signal (speed/position

switching signal) effective from an external source. ON .......... Control switches from speed control to position control when

the CHANGE signal turned on. OFF .......... Control does not switch from speed to position control even if

the CHANGE signal turns on.

Control does not switch from speed control to position control because M3205+20n turns off

Control switches from speed control to position control because M3205+20n turns on

CHANGE CHANGE

ON

OFF

OFF

Speed/position switching enable command (M3205+20n)

CHANGE signal from external source

t

(6) Error reset command (M3207+20n) ..................... Command signal This command is used to clear the minor/major error code storage register of an axis for which the error detection signal has turn on (M2407+20n: ON), and reset the error detection signal (M2407+20n).

ON

OFF

OFF

ON

00

00

**

**

Error detection signal (M2407+20n)

Error reset command (M3207+20n) Minor error code storage register (D6+20n)

Major error code storage register (D7+20n)

** : Error code

(7) Servo error reset command (M3208+20n) ........... Command signal This command is used to clear the servo error code storage register of an axis for which the servo error detection signal has turn on (M2408+20n: ON), and reset the servo error detection signal (M2408+20n).

Servo error detection signal (M2408+20n)

Servo error reset command (M3208+20n)

Servo error code storage register

ON

OFF

OFF

ON

00**

** : Error code

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3 POSITIONING DEDICATED SIGNALS

REMARK

Refer to APPENDIX 1 for details on the minor error code, major error code and servo error code storage registers.

(8) External stop input disable at start command (M3209+20n)

....................... Command signal This signal is used to set the external stop signal input valid or invalid. ON .......... External stop input is set as invalid, and even axes which stop

input is turning on can be started. OFF .......... External stop input is set as valid, and axes which stop input is

turning on cannot be started.

POINT When it stops an axis with the external stop input after it starts by turning on the external stop input disable at start command (M3209+20n), switch the external stop input from OFF ON (if the external stop input is turning on at the starting, switch it from ON OFF ON).

(9) Feed current value update request command (M3212+20n)

....................... Command signal This signal is used to set whether the feed current value will be cleared or not at the starting in speed/position switching control. ON .......... The feed current value is updated from the starting.

The feed current value is not cleared at the starting. OFF .......... The feed current value is updated from the starting.

The feed current value is cleared at the starting.

POINT When it starts by turning on the feed current value update request command (M3212+20n), keep M3212+20n on until completion of the positioning control. If M3212+20n is turned off on the way, the feed current value may not be reliable.

(10) Servo OFF command (M3215+20n) .................. Command signal

This command is used to execute the servo OFF state (free run state). M3215+20n: OFF ..... Servo ON M3215+20n: ON ....... Servo OFF (free run state) This command becomes invalid during positioning, and should therefore be executed after completion of positioning.

CAUTION Turn the power supply of the servo amplifier side off before touching a servomotor, such as machine adjustment.

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3 POSITIONING DEDICATED SIGNALS

(11) Gain changing command (M3216+20n) ............. Command signal

This signal is used to change the gain of servo amplifier in the Motion controller by the gain changing command ON/OFF. ON .......... Gain changing command ON OFF .......... Gain changing command OFF Refer to the "MR-J3- B Servo Amplifier Instruction Manual" for details of gain changing function. Instruction Manual list is shown below.

Servo amplifier type Instruction manual name

MR-J3- B MR-J3- B Servo Amplifier Instruction Manual (SH-030051)

(12) Control loop changing command (M3216+20n)

....................... Command signal When using the fully closed loop control servo amplifier, this signal is used to change the fully closed loop control/semi closed loop control of servo amplifier in the Motion controller by the control loop changing command ON/OFF. ON .......... During fully closed loop control OFF .......... During semi closed loop control

Fully closed loop control change

ON

OFF

OFF

ON

Semi closed loop control change

Control loop changing command (M3218+20n)

Control loop monitor status (M2272+n) Refer to the "Fully closed loop control MR-J3- B-RJ006 Servo Amplifier Instruction Manual" for details of control loop changing. Instruction Manual list is shown below.

Servo amplifier type Instruction manual name

MR-J3- B-RJ006 Fully closed loop control MR-J3- B-RJ006 Servo Amplifier Instruction Manual (SH-030056)

POINTS

(1) When the servo amplifier is not started (LED: "AA", "Ab", "AC", "Ad" or "AE"), if the control loop changing command is turned ON/OFF, the command becomes invalid.

(2) When the followings are operated during the fully closed loop, it returns to the semi closed loop control. (a) Power supply ON or reset of the Motion CPU (b) Wire breakage of the SSCNET cable between the servo amplifier and

Motion controller (c) Control circuit power supply OFF of the servo amplifier

REMARK

It can be use in the SW6RN-SV13Q /SV22Q (Ver.00D or later).

3 - 28

3 POSITIONING DEDICATED SIGNALS

(13) FIN signal (M3219+20n) .................................... Command signal

When a M-code is set in a servo program, transit to the next block does not execute until the FIN signal changes as follows: OFF ON OFF. Positioning to the next block begins after the FIN signal changes as above. It is valid, only when the FIN accelaration/deceleration is set and FIN signal wait function is selected.

Point

M-code

M-code outputting signal (M2419+20n) FIN signal (M3219+20n)

1 WAIT 2

10 11

CPSTART2 Axis Axis Speed FIN acceleration/ deceleration ABS-2 Axis Axis M-code ABS-2 Axis Axis M-code ABS-2 Axis Axis M-code ABS-2 Axis Axis CPEND

1

2

3

4

1 2

1, 2,

1, 2,

1, 2,

1, 2,

10000 100

200000 200000

10

300000 250000

11

350000 300000

12

400000 400000

Point

Timing Chart for Operation Description 1. When the positioning of point 1 starts, M-code 10 is output and

the M-code outputting signal turns on. 2. FIN signal turns on after performing required processing in the

Motion SFC program. Transition to the next point does not execute until the FIN signal turns on.

3. When the FIN signal turns on, the M-code outputting signal turns off.

4. When the FIN signal turns off after the M-code outputting signal turns off, the positioning to the next point 2 starts.

POINTS (1) The FIN signal and M-code outputting signal are both signal for the FIN signal

wait function. (2) The FIN signal and M-code outputting signal are valid only when FIN

acceleration/deceleration is designated in the servo program. Otherwise, the FIN signal wait function is disabled, and the M-code outputting signal does not turn on.

3 - 29

3 POSITIONING DEDICATED SIGNALS

3.1.3 Common devices

POINTS (1) Internal relays for positioning control are not latched even within the latch range.

In this manual, in order to indicate that internal relays for positioning control are not latched, the expression used in this text is "M2000 to M2319".

(2) The range devices allocated as internal relays for positioning control cannot be

used by the user even if their applications have not been set.

(1) PLC ready flag (M2000) .............. Command signal

(a) This signal informs the Motion CPU that the PLC CPU is normal. 1) The positioning control, home position return, JOG operation or manual

pulse generator operation using the servo program which performs the Motion SFC program when the M2000 is ON.

2) The above 1) control is not performed even if the M2000 is turned on during the test mode [TEST mode ON flag (M9075): ON] using a peripheral device.

(b) The setting data such as the fixed parameters, servo parameters and limit

switch output data can be changed using a peripheral device when the M2000 is OFF only. The above data using a peripheral device cannot be written when the M2000 is ON.

(c) The following processings are performed when the M2000 turns OFF to ON.

1) Processing details Clear the M-code storage area of all axes. Turn the PCPU READY complete flag (M9074) on. (Motion SFC

program can be executed.) Start to execute the Motion SFC program of the automatic starting

from the first. 2) If there is a starting axis, an error occurs, and the processing in above

(c) 1) is not executed.

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3 POSITIONING DEDICATED SIGNALS

3) The processing in above (c) 1) is not executed during the test mode.

It is executed when the test mode is cancelled and M2000 is ON.

PLC ready flag (M2000)

PCPU READY complete flag (M9074)

Clear a M-code

V

Positioning start Deceleration stop

OFF

OFF

ON

ON

PCPU READY complete flag (M9074) does not turn on because during deceleration.

t

(d) The following processings are performed when the M2000 turns ON to OFF. 1) Processing details

Turn the PCPU READY complete flag (M9074) off. Deceleration stop of the starting axis. Stop to execute the Motion SFC program. Turn all points of the real output PY off.

(e) Operation setting at STOP RUN

The condition which the PLC ready flag (M2000) turns on is set in the sysytem setting. Select the following either. 1) M2000 turns on by the switch (STOP RUN). (Default)

The condition which M2000 turns OFF to ON. Move the RUN/STOP switch from STOP to RUN. Turn the power supply on or release to reset where the RUN/STOP

switch is moved to RUN.

The condition which M2000 turns ON to OFF. Move the RUN/STOP switch from RUN to STOP.

2) M2000 turns on by set "1" to the switch (STOP RUN) + setting

register. (M2000 is turned on by set "1" to the switch RUN setting register.) The condition which M2000 is turned ON to OFF.

Set "1" to the setting register D704 of the PLC ready flag where the RUN/STOP switch is moved to RUN. (The Motion CPU detects the change of the lowest rank bit 0 1 in D704.)

3 - 31

3 POSITIONING DEDICATED SIGNALS

The condition which M2000 is turned ON to OFF.

Set "0" to the setting register D704 of the PLC ready flag where the RUN/STOP switch is moved to RUN. (The Motion CPU detects the change of the lowest rank bit 1 0 in D704.)

Move the RUN/STOP switch from RUN to STOP.

(2) Start accept flag (M2001 to M2032) ............................ Status signal (a) This flag turns on when the servo program is started. The start accept flag

corresponding to an axis specified with the servo program turns on.

(b) The ON/OFF processing of the start accept flag is shown below. 1) When the servo program is started using the Motion SFC program or

Motion dedicated PLC instruction (S(P).SVST), the start accept flag corresponding to an axis specified with the servo program turns on and it turns off at the positioning completion. This flag also turns off when it is made to stopping on the way. (When it is made to stop on the way by the speed change to speed "0", this flag remains on.)

Normal positioning completion

Dwell time

ON

OFF

ON

OFF

V

Positioning completion

t

Servo program start

Start accept flag (M2001+n)

Positioning complete (M2401+20n)

Positioning start complete (M2400+20n)

Servo program start

Start accept flag (M2001+n)

Positioning complete (M2401+20n)

Positioning start complete (M2400+20n)

Positioning stop during control

ON

OFF

V

t

OFF

OFF

ON

Positioning start

Positioning stop completion

2) This flag turns on at the positioning control by turning on the JOG start command (M3202+20n or M3203+20n), and turns off at the positioning stop by turning off the JOG start command.

3) This flag turns on during the manual pulse generator enable (M2051 to M2053: ON), and turns off at the manual pulse generator disable (M2051 to M2053: OFF).

4) This flag turns on during a current value change by the CHGA instruction of servo program or Motion dedicated PLC instruction (S(P).CHGA), and turns off at the completion of the current value change.

OFF

ON CHGA instruction

Start accept flag (M2001 to M2032)

Current value changing processing

Turns off at the completion of current value change.

3 - 32

3 POSITIONING DEDICATED SIGNALS

The start accept flag list is shown below.

Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No. 1 M2001 9 M2009 17 M2017 25 M2025 2 M2002 10 M2010 18 M2018 26 M2026 3 M2003 11 M2011 19 M2019 27 M2027 4 M2004 12 M2012 20 M2020 28 M2028 5 M2005 13 M2013 21 M2021 29 M2029 6 M2006 14 M2014 22 M2022 30 M2030 7 M2007 15 M2015 23 M2023 31 M2031 8 M2008 16 M2016 24 M2024 32 M2032

(Note): The range of axis No.1 to 8 is valid in the Q172HCPU.

CAUTION Do not turn the start accept flags ON/OFF in the user side.

If the start accept flag is turned off using the Motion SFC program or peripheral devices while this flag is on, no error will occur but the positioning operation will not be reliable. Depending on the type of machine, it might operate in an unanticipated operation.

If the start accept flag is turned on using the Motion SFC program or peripheral devices while this flag is off, no error will occur but the "start accept on error" will occur at the next starting and cannot be started.

(3) Personal computer link communication error flag (M2034)

..... Status signal This flag turns on when the communication error occurs in the personal computer link communication. ON : Personal computer link communication error occurs OFF: No personal computer link communication error

(It turns off if normal communication is resumed.) Refer to APPENDIX 1.5 for details on the PC link communication errors.

(4) Motion SFC error history clear request flag (M2035)

.. Command signal This flag is used to clear the backed-up Motion SFC error history (#8000 to #8063). The Motion SFC error history is cleared at the turning M2035 OFF to ON. After detection of the turning M2035 OFF to ON, the Motion SFC error history is cleared, and then the M2035 is automatically turned OFF.

(5) Motion SFC error detection flag (M2039) ...... Status signal

This flag turns on with error occurrence at the execution of the Motion SFC program. When turned off this flag, execute it by the user side after checking the error contents.

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3 POSITIONING DEDICATED SIGNALS

(6) Speed switching point specified flag (M2040) ...... Command signal

This flag is used when the speed change is specified at the pass point of the constant speed control. (a) By turning M2040 on before the starting of the constant speed control

(before the servo program is started), control with the change speed can be executed from the first of pass point. OFF .......... Speed is changed to the specified speed from the pass point

of the constant speed control. ON .......... Speed has been changed to the specified speed at the pass

point of the constant speed control.

Pass points of the constant speed control (When the speed change is specified with P3.)

Speed switching point specified flag (M2040)

Servo program start

Start accept flag (M2001+n)

OFF

ON

OFF

V

P1 P2 P3 P4

t

M2040 OFF

OFF

ON

V

P1 P2 P3 P4

t

M2040 ON

ON

OFF

Speed switching point specified flag (M2040)

Servo program start

Start accept flag (M2001+n)

Pass points of the constant speed control (When the speed change is specified with P3.)

(7) System setting error flag (M2041)................................. Status signal This flag set the "system setting data" and performs an adjustment check with a real installation state (CPU base unit/extension base units) at the power supply on or resetting of the Motion CPU. ON .......... Error OFF .......... Normal (a) When an error occurs, the ERR. LED at the front of the CPU turns on.

The error contents can be confirmed using the error list monitor of a peripheral device started by SW6RN-GSV P.

(b) When M2041 is on, positioning cannot be started. Remove an error factor,

and turn the power supply on again or reset the Multiple CPU system.

REMARK

Even if the module which is not set as the system setting with the peripheral device is installed in the slot, it is not set as the object of an adjustment check. And, the module which is not set as the system setting cannot be used in the Motion CPU.

3 - 34

3 POSITIONING DEDICATED SIGNALS

(8) All axes servo ON command (M2042) .................. Command signal

This command is used to enable servo operation. (a) Servo operation enabled M2042 turns on while the servo OFF command

(M3215+20n) is off and there is no servo error.

(b) Servo operation disable ...... M2042 is off The servo OFF command (M3215+20n) is on Servo error state

OFF

ON

OFF

ON

All axes servo ON command (M2042)

All axes servo ON accept flag (M2049)

Each axis servo ready state

ON

OFF (Note)

(Note): Refer to "3.1.1 Axis statuses "Servo ready signal"" for details.

POINT

When M2042 turns on, it is not turned off even if the CPU is set in the STOP state.

(9) Motion slot fault detection flag (M2047) ....................... Status signal This flag is used as judgement which modules installed in the motion slot of the CPU base unit is "normal" or "abnormal". ON .......... Installing module is abnormal OFF .......... Installing module is normal The module information at the power supply on and after the power supply injection are always checked, and errors are detected. (a) Perform the disposal (stop the starting axis, servo OFF, etc.) of error

detection using the Motion SFC program.

(10) JOG operation simultaneous start command (M2048) .. Command signal

(a) When M2048 turns on, JOG operation simultaneous start based on the JOG operation execution axis set in the JOG operation simultaneous start axis setting register (D710 to D713).

(b) When M2048 turns off, the axis during operation decelerates to a stop.

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3 POSITIONING DEDICATED SIGNALS

(11) All axes servo ON accept flag (M2049) .................... Status signal

This flag turns on when the Motion CPU accepts the all axes servo ON command (M2042). Since the servo ready state of each axis is not checked, confirm it in the servo ready signal (M2415+20n).

OFF

ON

OFF

ON

ON

OFF

All axes servo ON command (M2042)

All axes servo ON accept flag (M2049)

Each axis servo ready state (Note)

(Note): Refer to "3.1.1 Axis statuses "Servo ready signal"" for details.

(12) Manual pulse generator enable flag (M2051 to M2053)

.......... Command signal This flag set the enabled or disabled state for positioning with the pulse input from the manual pulse generators connected to P1 to P3 (Note) of the Q173PX. ON .......... Positioning control is executed by the input from the manual pulse

generators. OFF .......... Positioning control cannot be executed by the manual pulse

generators because of the input from the manual pulse generators is ignored.

Default value is invalid (OFF).

REMARK

(Note): Refer to the "Q173HCPU/Q172HCPU User's Manual" for P1 to P3 connector of the Q173PX.

(13) Operation cycle over flag (M2054) ............................ Status signal

This flag turns on when the time concerning motion operation exceeds the operation cycle of the Motion CPU setting. Perform the following operation, in making it turn off. Turn the power supply of the Multiple CPU system on to off Reset the Multiple CPU system Reset using the user program [Error measures]

1) Change the operation cycle into a large value in the system setting. 2) The number of instruction completions of an event task or NMI task in

the Motion SFC program.

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3 POSITIONING DEDICATED SIGNALS

(14) Speed changing flag (M2061 to M2092) ................... Status signal

This flag turns on during speed change by the control change (CHGV) instruction (or Motion dedicated PLC instruction (S(P).CHGV)) of the Motion SFC program.

CHGV instruction

Speed changing flag

Setting speed

OFF

ON

Speed change

Speed change completion

Speed after speed change

0 to 4ms

t

The speed changing flag list is shown below. Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No.

1 M2061 9 M2069 17 M2077 25 M2085 2 M2062 10 M2070 18 M2078 26 M2086 3 M2063 11 M2071 19 M2079 27 M2087 4 M2064 12 M2072 20 M2080 28 M2088 5 M2065 13 M2073 21 M2081 29 M2089 6 M2066 14 M2074 22 M2082 30 M2090 7 M2067 15 M2075 23 M2083 31 M2091 8 M2068 16 M2076 24 M2084 32 M2092

(Note): The range of axis No.1 to 8 is valid in the Q172HCPU.

REMARK

In the SV22 virtual mode, the flag is that of the virtual servomotor axis.

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3 POSITIONING DEDICATED SIGNALS

(15) Automatic decelerating flag (M2128 to M2159) ......... Status signal

This signal turns on while automatic deceleration processing is performed at the positioning control or position follow-up control. (a) This flag turns on during automatic deceleration processing to the

command address at the position follow-up control, but it turns off if the command address is changed.

(b) When the normal start is completed at the control in all control system, it turns off.

(c) In any of the following cases, this flag does not turn off. During deceleration by the JOG signal off During manual pulse generator operation At deceleration on the way due to stop command or stop cause

occurrence When travel value is 0

Automatic deceleration flag (Note) OFF

ON

V

t

The automatic deceleration flag list is shown below. Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No.

1 M2128 9 M2136 17 M2144 25 M2152 2 M2129 10 M2137 18 M2145 26 M2153 3 M2130 11 M2138 19 M2146 27 M2154 4 M2131 12 M2139 20 M2147 28 M2155 5 M2132 13 M2140 21 M2148 29 M2156 6 M2133 14 M2141 22 M2149 30 M2157 7 M2134 15 M2142 23 M2150 31 M2158 8 M2135 16 M2143 24 M2151 32 M2159

(Note): The range of axis No.1 to 8 is valid in the Q172HCPU.

REMARK

In the SV22 virtual mode, the flag is that of the virtual servomotor axis.

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3 POSITIONING DEDICATED SIGNALS

(16) Speed change "0" accepting flag (M2240 to M2271)

..... Status signal This flag turns on while a speed change request to speed "0" or negative speed change is being accepted. It turns on when the speed change request to speed "0" or negative speed change is accepted during a start. After that, this signal turns off when a speed change is accepted or on completion of a stop due to a stop cause.

Start accept flag

OFF

ON

V

Speed change "0" accepting flag

Positioning complete signal

Speed change "0"

Speed change V2

Deceleration stop at the speed change "0" accept.

Thereafter, by changing speed to except "0", it starts continuously.V1

V2

t

The speed change "0" accepting flag list is shown below. Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No.

1 M2240 9 M2248 17 M2256 25 M2264 2 M2241 10 M2249 18 M2257 26 M2265 3 M2242 11 M2250 19 M2258 27 M2266 4 M2243 12 M2251 20 M2259 28 M2267 5 M2244 13 M2252 21 M2260 29 M2268 6 M2245 14 M2253 22 M2261 30 M2269 7 M2246 15 M2254 23 M2262 31 M2270 8 M2247 16 M2255 24 M2263 32 M2271

(Note): The range of axis No.1 to 8 is valid in the Q172HCPU.

REMARK

(1) Even if it has stopped, when the start accept flag (M2001 to M2032) is ON state, the state where the request of speed change "0" is accepted is indicated. Confirm by this speed change "0" accepting flag.

(2) During interpolation, the flags corresponding to the interpolation axes are set. (3) In any of the following cases, the speed change "0" request is invalid.

After deceleration by the JOG signal off During manual pulse generator operation After positioning automatic deceleration start After deceleration due to stop cause

(4) During the SV22 virtual mode, the flag is that of the virtual servomotor axis.

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3 POSITIONING DEDICATED SIGNALS

(a) The flag turns off if a speed change request occurs during deceleration to a

stop due to speed change "0".

Start accept flag

Speed change "0" accepting flag

OFF

ON

V V1

V2

t

Speed change "0"

Speed change V2

(b) The flag turns off if a stop cause occurs after speed change "0" accept.

Start accept flag

Speed change "0" accepting flag

OFF

ON

V

t

Speed change "0"

Stop cause

(c) The speed change "0" accepting flag does not turn on if a speed change "0" occurs after an automatic deceleration start.

Start accept flag

Speed change "0" accepting flag

V

t

Speed change "0"

(OFF)

Automatic deceleration start

3 - 40

3 POSITIONING DEDICATED SIGNALS

(d) Even if it is speed change "0" after the automatic deceleration start to the

"command address", speed change "0" accepting flag turns on.

Start accept flag

Speed change "0" accepting flag

V

t

Speed change "0"

Automatic deceleration start

Speed change V2

Command address P1

Command address P2

P1 P2

ON

OFF

V1

V2

REMARK

It does not start, even if the "command address" is changed during speed change "0" accepting.

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3 POSITIONING DEDICATED SIGNALS

(17) Control loop monitor status (M2272 to M2303)

............................... Command signal When using the fully closed loop control servo amplifier, this signal is used to check the fully closed loop control/semi closed loop control of servo amplifier. ON .......... During fully closed loop control OFF .......... During semi closed loop control It can be changed the fully closed loop control/semi closed loop control of servo amplifier in the Motion controller by the control loop changing command ON/OFF.

Fully closed loop control change

ON

OFF

OFF

ON

Semi closed loop control change

Control loop changing command (M3218+20n)

Control loop monitor status (M2272+n)

The Control loop monitor status list is shown below.

Axis No. Device No. Axis No. Device No. Axis No. Device No. Axis No. Device No. 1 M2272 9 M2280 17 M2288 25 M2296 2 M2273 10 M2281 18 M2289 26 M2297 3 M2274 11 M2282 19 M2290 27 M2298 4 M2275 12 M2283 20 M2291 28 M2299 5 M2276 13 M2284 21 M2292 29 M2300 6 M2277 14 M2285 22 M2293 30 M2301 7 M2278 15 M2286 23 M2294 31 M2302 8 M2279 16 M2287 24 M2295 32 M2303

(Note): The range of axis No.1 to 8 is valid in the Q172HCPU.

REMARK

It can be use in the SW6RN-SV13Q /SV22Q (Ver.00D or later).

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3 POSITIONING DEDICATED SIGNALS

3.2 Data Registers

(1) Data register list SV13 SV22

Device No. Application Device No. Application

D0 D0

to

Axis monitor device (20 points 32 axes) to

Axis monitor device (20 points 32 axes) Real modeeach axis Virtual mode.output module

D640 D640

to

Control change register (2 points 32 axes) to

Control change register (2 points 32 axes)

D704 D704

to

Common device (Command signal) (54 points) to

Common device (Command signal) (54 points)

D758 D758

to

Common device (Monitor) (42 points) to

Common device (Monitor) (42 points)

D800

to

Virtual servomotor axis monitor device (Note) (10 points 32 axes) (Mechanical system setting axis only)

D1120

to

Syncronous encoder axis monitor device (Note) (10 points 12 axes)

D1240

D800 to

CAM axis monitor device (Note) (10 points 32 axes)

D1560

to

to

D8191

User device (7392 points)

D8191

User device (6632 points)

Usable in the user device.

(Note): When it is used in the SV22 real mode only, it can be used as an user device.

POINT

Total number of user device points 7392 points (SV13) / 6632 points (SV22 real mode only)

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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

direction

4 D60 to D79 0 5 D80 to D99 1

Feed current value

6 D100 to D119 2 7 D120 to D139 3

Real current value

Command

unit

8 D140 to D159 4 9 D160 to D179 5

Deviation counter value

Operation cycle

PLS

10 D180 to D199 6 Minor error code 11 D200 to D219 7 Major error code

Immediate

12 D220 to D239 8 Servo error code Main cycle

13 D240 to D259 14 D260 to D279

9 Home position return re-travel value

PLS

15 D280 to D299 10 16 D300 to D319 11

Travel value after proximity dog ON

Operation cycle Command

unit 17 D320 to D339 12 Execute program No. At start 18 D340 to D359 13 M-code 19 D360 to D379 14 Torque limit value

Operation cycle %

20 D380 to D399 21 D400 to D419

15 Data set pointer for constant-speed control

At start/during start

Monitor device

22 D420 to D439 16 23 D440 to D459 17

Travel value change register

Operation cycle Command

device 24 D460 to D479 18 25 D480 to D499 19

Real current value at stop input

Operation cycle

Command

unit Monitor device

26 D500 to D519 27 D520 to D539 28 D540 to D559 29 D560 to D579 30 D580 to D599 31 D600 to D619 32 D620 to D639

(Note-1): The range of axis No.1 to 8 is valid in the Q172HCPU. (Note-2): Device area of 9 axes or more is unusable in the Q172HCPU.

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3 POSITIONING DEDICATED SIGNALS

(3) Control change register list

Axis No.

Device No. Signal name

1 D640, D641

2 D642, D643 3 D644, D645

Signal name Refresh cycle Fetch cycle Unit Signal

direction

4 D646, D647 0 5 D648, D649 1

JOG speed setting At start Command

unit Command

device

6 D650, D651 7 D652, D653 8 D654, D655 9 D656, D657 10 D658, D659 11 D660, D661 12 D662, D663 13 D664, D665 14 D666, D667 15 D668, D669 16 D670, D671 17 D672, D673 18 D674, D675 19 D676, D677 20 D678, D679 21 D680, D681 22 D682, D683 23 D684, D685 24 D686, D687 25 D688, D689 26 D690, D691 27 D692, D693 28 D694, D695 29 D696, D697 30 D698, D699 31 D700, D701 32 D702, D703

(Note-1): The range of axis No.1 to 8 is valid in the Q172HCPU. (Note-2): Device area of 9 axes or more is unusable in the Q172HCPU.

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3 POSITIONING DEDICATED SIGNALS

(4) Common device list

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

D704 PLC ready flag request D752

Manual pulse generator 1 smoothing magnification setting register

D705 Speed switching point specified flag request D753

Manual pulse generator 2 smoothing magnification setting register

D706 All axes servo ON command request D754

Manual pulse generator 3 smoothing magnification setting register

At the manual pulse

generator enable flag

D707 Real/virtual mode switching request (SV22) D755

Manual pulse generator 1 enable flag request

D708 JOG operation simultaneous start command request

Main cycle Command

device

D756 Manual pulse generator 2 enable flag request

D709 Unusable D757 Manual pulse generator 3 enable flag request

Main cycle

Command device

D710 D758 Unusable

D711 D759 PCPU ready complete flag status Main cycle

Monitor device

D712 D760

D713

JOG operation simultaneous start axis setting register At start

D761

D714 D762

D715

Manual pulse generator axis 1 No. setting register

D763

D716 D764

D717

Manual pulse generator axis 2 No. setting register

D765

D718 D766

D719

Manual pulse generator axis 3 No. setting register

D767

D720 Axis 1 D768

D721 Axis 2 D769

D722 Axis 3 D770

D723 Axis 4 D771

D724 Axis 5 D772

D725 Axis 6 D773

D726 Axis 7 D774

D727 Axis 8 D775

D728 Axis 9 D776

D729 Axis 10 D777

D730 Axis 11 D778

D731 Axis 12 D779

D732 Axis 13 D780

D733 Axis 14 D781

D734 Axis 15 D782

D735 Axis 16 D783

D736 Axis 17 D784

D737 Axis 18 D785

D738 Axis 19 D786

D739 Axis 20 D787

D740 Axis 21 D788

D741 Axis 22 D789

Unusable (30 points)

D742 Axis 23 D790

D743 Axis 24 D791

Real mode axis information register (SV22) (Note-1) Main cycle Monitor

device

D744 Axis 25 D792

D745 Axis 26 D793

D746 Axis 27 D794

D747 Axis 28 D795

D748 Axis 29 D796

D749 Axis 30 D797

D750 Axis 31 D798

D751 Axis 32

Manual pulse generators 1 pulse input magnification setting register (Note-2), (Note-3)

At the manual pulse

generator enable flag

Command device

D799

Unusable (8 points)

(Note-1): This signal is unusable in the SV13/SV22 real mode. (Note-2): The range of axis No.1 to 8 is valid in the Q172HCPU. (Note-3): Device area of 9 axes or more is unusable in the Q172HCPU.

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3 POSITIONING DEDICATED SIGNALS

3.2.1 Axis monitor devices

The monitoring data area is used by the Motion CPU to store data such as the feed current value during positioning control, the real current value and the number of droop pulses in the deviation counter. It can be used to check the positioning control state using the Motion SFC program. The user cannot write data to the monitoring data area (except the travel value change register). Refer to APPENDIX 5 "Processing Time of the Motion CPU" for the delay time between a positioning device (input, internal relay and special relay) turning on/off and storage of data in the monitor data area. (1) Feed current value storage register (D0+20n, D1+20n)

...... Monitor device (a) This register stores the target address output to the servo amplifier on the

basis of the positioning address/travel value specified with the servo program. 1) A part for the amount of the travel value from "0" after starting is stored in

the fixed-pitch feed control. 2) The current value from address at the time of starting is stored in the

speed/position switching control. However, the address at the time of starting varies depending on the ON/OFF state of the feed current value update command (M3212+20n) at the start. M3212+20n: OFF ..... Resets the feed current value to "0" at the start. M3212+20n: ON ..... Not reset the feed current value at the start. 3) "0" is stored during speed control.

(b) The stroke range check is performed on this feed current value data.

(2) Real current value storage register (D2+20n, D3+20n)

...... Monitor device (a) This register stores the real current value which took the droop pulses of the

servo amplifier into consideration to the feed current value.

(b) The "feed current value" is equal to the "real current value" in the stopped state.

(3) Deviation counter value storage register (D4+20n, D5+20n)

...... Monitor device This register stores the droop pulses read from the servo amplifier.

(4) Minor error code storage register (D6+20n) ............. Monitor device

(a) This register stores the corresponding error code (Refer to APPENDIX 1.2) at the minor error occurrence. If another minor error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Minor error codes can be cleared by an error reset command (M3207+20n).

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3 POSITIONING DEDICATED SIGNALS

(5) Major error code storage register (D7+20n) ............. Monitor device

(a) This register stores the corresponding error code (Refer to APPENDIX 1.3) at the major error occurrence. If another major error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Major error codes can be cleared by an error reset command (M3207+20n).

(6) Servo error code storage register (D8+20n) ......... Monitor device

(a) This register stores the corresponding error code (Refer to APPENDIX 1.4) at the servo error occurrence. If another servo error occurs after error code storing, the previous error code is overwritten by the new error code.

(b) Servo error codes can be cleared by an error reset command (M3208+20n).

(7) Home position return re-travel value storage register (D9+20n)

...... Monitor device If the position stopped in the position specified with the travel value setting (Refer to Section 6.23.1) after the proximity dog ON by a peripheral device is not zero point, it made to travel to zero point by re-travel in the Motion CPU. The travel value (signed) of making it travel to zero point by re-travel at this time is stored. (Data does not change with the last value in the data setting type.) The following value is stored according to the number of feedback pulses of the motor connected.

Number of feedback pulses Storage data Less than 131072[PLS] Feedback pulses 131072[PLS] or more, 262144[PLS] or less 1/10 of feedback pulses More than 262144[PLS] 1/10000 of feedback pulses

(8) Travel value after proximity dog ON storage register

(D10+20n, D11+20n) Monitor device (a) This register stores the travel value (unsigned) from the proximity dog ON to

home position return completion after the home position return start.

(b) The travel value (signed) of the position control is stored at the time of speed/position switching control.

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3 POSITIONING DEDICATED SIGNALS

(9) Execute program No. storage register (D12+20n)

...... Monitor device (a) This register stores the starting program No. at the servo program starting.

(b) The following value is stored in the JOG operation and manual pulse

generator operation. 1) JOG operation...................................... FFFF 2) Manual pulse generator operation ...... FFFE 3) Power supply on................................... FF00

(c) When either of the following is being executed using a peripheral device in

the test mode, FFFD is stored in this register. Home position return.

(10) M-code storage register (D13+20n) ............ Monitor device

(a) This register stores the M-code (Note) set to the executed servo program at the positioning start. If M-code is not set in the servo program, the value "0" is stored.

(b) It does not change except positioning start using the servo program.

(c) When the PLC ready flag (M2000) turns off to on, the value "0" is stored.

REMARK

(Note): Refer to the following sections for M-codes and reading M-codes. M-code ......................... Section 7.1 Reading M-code ........... APPENDIX 3.1

(11) Torque limit value storage register (D14+20n) ...... Monitor device

This register stores the torque limit value imposed on the servo amplifier. The default value "300[%]" is stored at the power supply of servo amplifier ON.

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3 POSITIONING DEDICATED SIGNALS

(12) Data set pointer for constant-speed control (D15+20n)

...... Monitor device This pointer is used in the constant-speed control when specifying positioning data indirectly and substituting positioning data during operation. It stores a "point" that indicates which of the values stored in indirect devices has been input to the Motion CPU when positioning is being repeated by using a repetition instructions (FOR-TIMES, FOR-ON or FOR-OFF). Use this pointer in conjunction with the updated data set pointer (controlled by the user in the Motion SFC program) - which indicates the extent to which the positioning data has been updated using the Motion SFC program - to confirm which positioning data is to be updated. Data set pointer for constant-speed control and updated data set pointer are described here using the example servo program below.

CPSTART2 Axis Axis Speed FOR-TIMES

ABS-2 Axis Axis ABS-2 Axis Axis ABS-2 Axis Axis ABS-2 Axis Axis ABS-2 Axis Axis ABS-2 Axis Axis ABS-2 Axis Axis ABS-2 Axis Axis NEXT CPEND

1 2

1, 2,

1, 2,

1, 2,

1, 2,

1, 2,

1, 2,

1, 2,

1, 2,

D3200

D3000 D3002

D3004 D3006

D3008 D3010

D3012 D3014

D3016 D3018

D3020 D3022

D3024 D3026

D3028 D3030

9

*

1

2

3

4

5

6

7

8

* 9

. . . 0

. . . 1

. . . 2

. . . 3

. . . 4

. . . 5

. . . 6

. . . 7

Point Repetition instructions

FOR-TIMES FOR-ON FOR-OFF NEXT

0, 1, 2, etc., starting from the first instructions defined by the above repetition instructions :

Pass point

The input situation of positioning data to the Motion CPU is shown the next page by executing the 2-axes constant-speed control using above the servo program and updating the positioning data in indirect devices D3000 to D3006.

3 - 50

3 POSITIONING DEDICATED SIGNALS

[Input situation of positioning data in the Motion CPU]

Update of data using the Motion SFC program Positioning data input to the MotionCPU at each point

(A)

(B)

(C)

(D)

(A)

(B)

(C)

(D)

0

2

4

6

8

10

12

14

16

18

20

22

24

26

28

30

0

1

2

3

4

5

6

7

(1)

(5)

(6)

(7)

(8)

(9)

(10)

(11)

(12)

(13)

(14)

(15)

(16)

Updated data Indirect device D Updating

First positioning

Second positioning

Point Input

Positioning point

Point 0

1

2

3

4

5

6

7

Point 0

Data set pointer for constant-speed control

Indicates the last positioning data input to the Motion CPU. Each time the positioning at a point is completed, the value increases by one.

Update data set pointer Indicates the last positioning data updated by the Motion SFC program last time. The user controls this pointer in the Motion SFC program.

0123456

(1)(3)(5)(7)(9)(11)(13)

(2)(4)(6)(8)(10)(12)(14)

1234567

(3)(5)(7)(9)(11)(13)(15)

(4)(6)(8)(10)(12)(14)(16)

2345670

(5)(7)(9)(11)(13)(15)(A)

(6)(8)(10)(12)(14)(16)(B)

3456701

(7)(9)(11)(13)(15)(A)(C)

(8)(10)(12)(14)(16)(B)(D)

456702

(9)(11)(13)(15)(A)(C)(5)

(10)(12)(14)(16)(B)(D)(6)

567023

(11)(13)(15)(A)(C)(5)(7)

(12)(14)(16)(B)(D)(6)(8)

670234

(13)(15)(A)(C)(5)(7)(9)

(14)(16)(B)(D)(6)(8)(10)

702345

(15)(A)(C)(5)(7)(9)(11)

(16)(B)(D)(6)(8)(10)(12)

023456

(A)(C)(5)(7)(9)(11)(13)

(B)(D)(6)(8)(10)(12)(14)

1

1

1

1

1

(2)

(3)

(4)

The internal processing shown above is described in the next page.

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3 POSITIONING DEDICATED SIGNALS

[Internal processing]

(a) The positioning data ((1) to (14)) of points 0 to 6 is input to the Motion CPU by the starting. The last point "6" of the input data to be input is stored in the data set pointer for constant-speed control at this time. The "6" stored in the data set pointer for constant-speed control indicates that updating of the positioning data stored in points 0 to 6 is possible.

(b) The positioning data ((A) to (D)) of points 0 to 1 is updated using the Motion

SFC program. The last point "1" of the positioning data to be rewritten is stored in the updated data set pointer (which must be controlled by the user in the Motion SFC program). Updating of positioning data of points 2 to 6 (data (5) to (14)) remains possible.

(c) On completion of the positioning for point 0, the value in the data set pointer

for constant-speed control is automatically incremented by one to "7". The positioning data ((1) to (2)) of point 0 is discarded and the positioning data ((15) to (16)) for point 7 is input to the Motion CPU at this time.

(d) Hereafter, whenever positioning of each point is completed, the positioning

data shifts one place. The positioning data that can be updated is the data after that indicated by the updated data set pointer: this is the data which has not yet been input to the Motion CPU. Even if the values of the indirect devices D8 and D10 are updated by the Motion SFC program after the positioning completion of the point 3, the positioning data of point 2 that is input to the Motion CPU will not be updated and the second positioning will be executed using the unupdated data. The data set pointer for constant-speed control has not yet been input to the Motion CPU, and indicates the positioning data which a user can update using the Motion SFC program.

POINT

Number of points that can be defined by a repeat instruction Create the servo program at least eight points. If there are less than eight points and they include pass points of few travel value,

the positioning at each point may be completed, and the data input to the Motion CPU, before the data has been updated using the Motion SFC program. Create a sufficient number of points to ensure that data will not be input before the Motion CPU has updated the values in the indirect devices.

(13) Travel value change register (D16+20n, D17+20n)

...... Command device This area is used when the travel value of the position control is changed at the speed/position switching control (Refer to Section 6.15).

(14) Real current value at STOP input storage register

(D18+20n, D19+20n) ................ Monitor device This register stores the real current value at the STOP signal (STOP) input of the Q172LX.

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3 POSITIONING DEDICATED SIGNALS

3.2.2 Control change registers

This area stores the JOG operation speed data.

Table 3.1 Data storage area for control change list Name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8

D641, D640 D643, D642 D645, D644 D647, D646 D649, D648 D651, D650 D653, D652 D655, D654 Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16

D657, D656 D659, D658 D661, D660 D663, D662 D665, D664 D667, D666 D669, D668 D671, D670 Axis 17 Axis 18 Axis 19 Axis 20 Axis 21 Axis 22 Axis 23 Axis 24

D673, D672 D675, D674 D677, D676 D679, D678 D681, D680 D683, D682 D685, D684 D687, D686 Axis 25 Axis 26 Axis 27 Axis 28 Axis 29 Axis 30 Axis 31 Axis 32

JOG speed setting register

D689, D688 D691, D690 D693, D692 D695, D694 D697, D696 D699, D698 D701, D700 D703, D702

(Note): The range of axis No.1 to 8 is valid in the Q172HCPU.

(1) JOG speed setting registers (D640+2n) ...... Command device (a) This register stores the JOG speed at the JOG operation.

(b) Setting range of the JOG speed is shown below.

mm inch degree PLS Unit Item Setting range Unit Setting range Unit Setting range Unit(Note) Setting range Unit

JOG speed 1 to

600000000 10-2

[mm/min] 1 to

600000000 10-3

[inch/min] 1 to

2147483647 10-3

[degree/min] 1 to

2147483647 [PLS/s]

(Note) : When the " speed control 10 multiplier setting for degree axis" is set to "valid" in the fixed parameter, the unit is " 10-2[degree/min] ".

(c) The JOG speed is the value stored in the JOG speed setting registers when

the JOG start signal turns off to on. Even if data is changed during JOG operation, JOG speed cannot be changed.

(d) Refer to Section 6.21 for details of JOG operation.

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3 POSITIONING DEDICATED SIGNALS

3.2.3 Common devices

(1) Common bit device SET/RST request register (D704 to D708, D755 to D757) .............................................. Command device Because cannot be turn on/off in every bit from the PLC CPU, the bit device is assigned to D register, and each bit device turns on with the lowest rank bit 0 to 1 and each bit device becomes off with 1 to 0. The details of request register are shown below. (Refer to Section "3.1.3 Common devices" for the bit device M2000 to M2053.)

Details of the request register

No. Function Bit device Request register

1 PLC ready flag M2000 D704

2 Speed switching point specified flag M2040 D705

3 All axes servo ON command M2042 D706

4 Real/virtual mode switching request (SV22) M2043 D707

5 JOG operation simultaneous start command M2048 D708

6 Manual pulse generator 1 enable flag M2051 D755

7 Manual pulse generator 2 enable flag M2052 D756

8 Manual pulse generator 3 enable flag M2053 D757

(2) JOG operation simultaneous start axis setting registers (D710 to

D713) ........ Command device (a) These registers set the axis No. and direction which start simultaneously the

JOG operation.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

Forward rotation JOG

Reverse rotation JOG

D710

D711

D712

D713

(Note-1) : Make JOG operation simultaneous start axis setting with 1/0. 1 : Simultaneous start execution 0 : Simultaneous start not execution

(Note-2) : The range of axis No.1 to 8 is valid in the Q172HCPU.

(b) Refer to Section 6.21.3 for details of the JOG operation simultaneous start.

(3) Manual pulse generator axis No. setting registers (D714 to D719) ...... Command device

(a) These registers stores the axis No. controlled with the manual pulse generator.

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3 POSITIONING DEDICATED SIGNALS

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

D714

D715

D716

D717

D718

D719

P1

P2

P3

(Note-1) : Make the axis No. controlled with the manual pulse generator setting with 1/0.

1 : Specified axis 0 : Unspecified axis

(Note-2) : The range of axis No.1 to 8 is valid in the Q172HCPU.

(b) Refer to Section 6.22 for details of the manual pulse generator operation.

(4) Manual pulse generator 1-pulse input magnification setting registers (D720 to D751) ..................................... Command device (a) These register set the magnification (1 to 10000) per pulse of number of the

input pulses from manual pulse generator at the pulse generator operation. 1-pulse input magnification

setting register Axis No. Setting range

1-pulse input magnification

setting register Axis No. Setting range

D720 Axis 1 D736 Axis 17 D721 Axis 2 D737 Axis 18 D722 Axis 3 D738 Axis 19 D723 Axis 4 D739 Axis 20 D724 Axis 5 D740 Axis 21 D725 Axis 6 D741 Axis 22 D726 Axis 7 D742 Axis 23 D727 Axis 8 D743 Axis 24 D728 Axis 9 D744 Axis 25 D729 Axis 10 D745 Axis 26 D730 Axis 11 D746 Axis 27 D731 Axis 12 D747 Axis 28 D732 Axis 13 D748 Axis 29 D733 Axis 14 D749 Axis 30 D734 Axis 15 D750 Axis 31 D735 Axis 16

1 to 10000

D751 Axis 32

1 to 10000

(Note-1): The range of axis No.1 to 8 is valid in the Q172HCPU.

(b) Refer to Section 6.22 for details of the manual pulse generator operation.

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3 POSITIONING DEDICATED SIGNALS

(5) Manual pulse generator smoothing magnification setting registers

(D752 to D754) .................................................... Command device (a) These registers set the smoothing time constants of manual pulse

generators. Manual pulse generator smoothing

magnification setting register Setting range

Manual pulse generator 1 (P1): D752 Manual pulse generator 2 (P1): D753 Manual pulse generator 3 (P1): D754

0 to 59

(b) When the smoothing magnification is set, the smoothing time constant is as

indicated by the following expression. Smoothing time constant (t) = (smoothing magnification + 1) 56.8 [ms]

(c) Operation

OFF

ON

V

Manual pulse generator input

V1

t t t t

Manual pulse generator enable flag (M2051)

Output speed (V1) [PLS/s] = (Number of input pulses/s) (Manual pulse generator 1-pulse input magnification setting)

Travel value (L) = (Travel value per pulse)

Number of input pulses

(Manual pulse generator 1-pulse input magnification setting)

REMARK

(1) The travel value per pulse of the manual pulse generator is shown below. Setting unit mm :0.1[m]

inch :0.00001[inch]

degree :0.00001[degree]

PLS :1[PLS]

(2) The smoothing time constant is 56.8[ms] to 3408[ms].

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3 POSITIONING DEDICATED SIGNALS

(6) Real mode axis information register (D790, D791)

.................................................... Monitor device This signal is used to store the information used as a real mode axis at the time of switching from real mode to virtual mode. The real mode axis information does not change at the time of switching from virtual mode to real mode.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

Real mode axis information

D790

D791

(Note-1): The range of axis No.1 to 8 is valid in the Q172HCPU.

0 : Real mode axis 1 : Except real mode axis

(Note-2): Refer to APPENDIX 2.1 of the "Q173HCPU/Q172HCPU Motion controller (SV22) Programming Manual (VIRTUAL MODE)" for the expression method of the axis number corresponding to each bit of word data.

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3 POSITIONING DEDICATED SIGNALS

3.3 Motion Registers (#)

There are motion registers (#0 to #8191) in the Motion CPU. #8000 to #8063 are used as the Motion SFC dedicated device and #8064 to #8191 are used as the servo monitor device. Refer to the "Q173HCPU/Q172HCPU Motion Controller (SV13/SV22) Programming Manual (Motion SFC)" for details of the motion registers and Motion SFC dedicated device.

(1) Servo monitor devices (#8064 to #8191) ................. Monitor device

Information about "servo amplifier type", "motor current" and "motor speed" for each axis is stored the servo monitor devices. The details of the storage data are shown below.

Axis No.

Device No. Signal name

1 #8064 to #8067

2 #8068 to #8071

3 #8072 to #8075

4 #8076 to #8079

Signal name

(Note-1) Signal description Refresh cycle

Signal direction

5 #8080 to #8083

6 #8084 to #8087

7 #8088 to #8091

8 #8092 to #8095

9 #8096 to #8099

+0 Servo amplifier type

0 : Unused 256 : MR-J3-B 257 : MR-J3-B (Fully closed

loop control) 258 : MR-J3-B (Linear)

When the servo amplifier power-on

10 #8100 to #8103 +1 Motor current 0.1[%] 11 #8104 to #8107

+2

12 #8108 to #8111 +3 Motor speed 0.1[r/min]

Operation cycle 1.7[ms] or less: Operation cycle Operation cycle 3.5[ms] or more: 3.5[ms]

Monitor devise

13 #8112 to #8115 14 #8116 to #8119

(Note-1) : The value that the lowest servo monitor device No. was added "+0, +1 " on each axis is shown.

15 #8120 to #8123 16 #8124 to #8127 17 #8128 to #8131 18 #8132 to #8135 19 #8136 to #8139 20 #8140 to #8143 21 #8144 to #8147 22 #8148 to #8151 23 #8152 to #8155 24 #8156 to #8159 25 #8160 to #8163 26 #8164 to #8167 27 #8168 to #8171 28 #8172 to #8175 29 #8176 to #8179 30 #8180 to #8183 31 #8184 to #8187 32 #8188 to #8191

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3 POSITIONING DEDICATED SIGNALS

3.4 Special Relays (SP.M)

There are 256 special relay points of M9000 to M9255 in the Motion CPU. Of these, 7 points of the M9073 to M9079 are used for the positioning control, and their applications are indicated in Table 3.2. (Refer to APPENDIX 2.1 "Special relays" for the applications of the special relays except M9073 to M9079.)

Table 3.2 Special relay list

Device No. Signal name Refresh cycle Signal type

M9073 PCPU WDT error flag M9074 PCPU REDAY complete flag M9075 TEST mode ON flag M9076 External forced stop input flag M9077 Manual pulse generator axis setting error flag M9078 TEST mode request error flag M9079 Servo program setting error flag

Main cycle Status signal

(1) PCPU WDT error flag (M9073) ................................... Status signal

This flag turns on when a "watchdog timer error" is detected of the Motion CPU self-diagnosis function. When the Motion CPU detects a WDT error, it executes an immediate stop without deceleration of the operating axes. If the Motion CPU WDT error flag has turn on, reset the Motion CPU. If M9073 remains on after resetting, there is a fault at the Motion CPU side. The error cause is stored in the "Motion CPU WDT error cause (D9184)". (Refer to Section 3.5).

(2) PCPU REDAY complete flag (M9074) ............ Status signal

This flag is used as judgement of the normal or abnormal in the Motion CPU side using the PLC program. (a) When the PLC ready flag (M2000) turns off to on, the fixed parameters,

servo parameters and limit switch output data are checked, and if error is not detected, this flag turns on. The servo parameters are written to the servo amplifiers and the M-codes are cleared.

(b) This flag turns off when the PLC ready flag (M2000) turns off.

PLC ready flag (M2000)

PCPU READY complete flag (M9074) The servo parameters are

written to the servo amplifiers and the M-codes are cleared.

t

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3 POSITIONING DEDICATED SIGNALS

(3) TEST mode ON flag (M9075) .............................. Status signal

(a) This flag is used as judgement of during the test mode or not using a peripheral. Use it for an interlock, etc. at the starting of the servo program using the Motion SFC program. OFF ......... Except the test mode ON ......... During the test mode

(b) If the test mode request is executed in the test mode request from the

peripheral device, the TEST mode request error flag (M9078) turns on.

(4) External forced stop input flag (M9076) .... Status signal This flag checks the external forced stop input signal ON/OFF. OFF ........ During the external forced stop input on ON ........ During the external forced stop input off

POINTS

(1) If the forced stop signal is input during positioning, the feed current value is advanced within the rapid stop deceleration time set in the parameter block. At the same time, the servo OFF state is established because the all axes servo ON command (M2042) turns off. When the rapid stop deceleration time has elapsed after input of the forced stop signal, the feed current value returns to the value at the point when the emergency stop was initiated.

(2) If the forced stop is reset before the emergency stop deceleration time has

elapsed, a servo error occurs.

(5) Manual pulse generator axis setting error flag (M9077) ....... Status signal

(a) This flag is use as judgement of normal or abnormal setting of the manual pulse generator axis No. setting registers (D714 to D719). OFF ......... D714 to D719 is normal ON ......... D714 to D719 is abnormal

(b) When M9077 turns on, the error contents are stored in the manual pulse

generator axis setting error information (D9185 to D9187).

(6) TEST mode request error flag (M9078) ........... Status signal (a) This flag turns on when the test mode is not executed in the test mode

request using a peripheral device.

(b) When M9078 turns on, the error contents are stored in the test mode request error information (D9182, D9183).

(7) Servo program setting error flag (M9079) .............. Status signal

This flag is used as judgement of normal or abnormal for the servo program positioning data. OFF ...... Normal ON ...... Abnormal

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3 POSITIONING DEDICATED SIGNALS

3.5 Special Registers (SP.D)

There are 256 special register points of D9000 to D9255 in the Motion CPU. Of these, 23 points of the D9112 and D9180 to D9201 are used for the positioning control. The special registers used for positioning are shown below. (Refer to APPENDIX 2.2 "Special registers" for the applications of special registers except D9112 and D9180 to D9201.)

Table 3.3 Special register list

Device No. Signal name Refresh cycle Fetch cycle Signal direction

D9112 Connect/disconnect Main cycle Main cycle Command device/

Monitor device D9180

D9181 Unusable

D9182 D9183

Test mode request error information At test mode request

D9184 Motion CPU WDT error cause At Motion CPU WDT error

occurrence D9185 D9186 D9187

Manual pulse generator axis setting error information

At the manual pulse generator enable flag

D9188 Motion operation cycle Operation cycle D9189 Error program No. D9190 Error item information

At start

D9191 D9192

Servo amplifier loading information At power supply on/

operation cycle

D9193 D9194 D9195

Real/virtual mode switching error information (SV22)

At virtual mode transition

D9196 PC link communication error codes Operation cycle D9197 Operation cycle of the Motion CPU setting At power supply on

Monitor device

D9198 D9199

Unusable

D9200 State of switch Main cycle D9201 State of LED Immediate

Monitor device

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3 POSITIONING DEDICATED SIGNALS

(1) Connect/disconnect (D9112)

..................................... Command device/Monitor device This function is used to connect/disconnect the SSCNET communication temporarily, when the servo amplifiers or SSCNET cables on the SSCNET system are exchanged during power supply on of the Motion CPU. The user side requires to connect/disconnect for a system, and the system side stores the states of command accept waiting or execute waiting for connect/disconnect. Moreover, also connect the servo amplifiers disconnected with the connect/disconnect device using this device. When turning the power supply OFF/ON for the axis 1 of SSCNET system, there is no necessity for connect/disconnect processing. 0 Connect/disconnect command accept waiting -1 .. Connect/disconnect execute waiting 1 to 32 .. Disconnect command -10 . Re-connect command -2 ... Connect/disconnect execute command

(2) Test mode request error information (D9182, D9183)

........... Monitor device If there are operating axis at a test mode request from a peripheral device, a test mode request error occurs, the test mode request error flag (M9078) turns on, and the during operation/stop data of the each axis are stored.

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

Stores the during operation/stop data of each axis

D9182

D9183

(Note): The range of axis No.1 to 8 is valid in the Q172HCPU. 0 : During stop 1 : During operation

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3 POSITIONING DEDICATED SIGNALS

(3) Motion CPU WDT error cause (D9184) ........ Monitor device

This register is used as judgement of the error contents in the Motion CPU.

Error code Error cause Operation when error

occurs Action to take

1 S/W fault 1

2

Operation cycle time over Reset with the reset key. If the error reoccurs after resetting,

1) Change the operation cycle into a large value in the system setting.

2) Reduce the number of command execution of the event task or NMI task in the system setting.

3

Q bus WDT error Reset with the reset key. If the error reoccurs after resetting, the

relevant module or the relevant slot (base unit) is probably faulty: replace the module/base unit.

4 WDT error

30 Information processor H/W error

Reset with the reset key. If the error reoccurs after resetting,

explain the error symptom and get advice from our sales representaitive.

201 to 215

Q bus H/W fault

201

Error contents 01 : Q bus error 1 02 : Q bus error 2 04 : Q bus error 4 08 : Q bus error 8

Error code = Total of the error contents + 200

250 to 253

Servo amplifier interface H/W fault

250

Faulty SSCNET No. 0 : SSCNET 1 1 : SSCENT 2

Error code = Total of the faulty SSCNET No. + 250

Reset with the reset key. If the error reoccurs after resetting, the

relevant module or the relevant slot (base unit) is probably faulty: replace the module/base unit.

300 S/W fault3 Reset with the reset key. 8 or more points of CPSTART instruction were used to start programs in excess of simultaneously startable program.

Number of simultaneous startable programs 14

301

All axes stop immediately, after which operation cannot be started.

Reset with the reset key. Use 8 or more points of CPSTART

instruction to start programs within the number of simultaneously startable programs.

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3 POSITIONING DEDICATED SIGNALS

(4) Manual pulse generator axis setting error information

(D9185 to D9187) ................................................. Monitor device The setting information is checked when the manual pulse generator enable signal turns off to on, if an error is found, the following error information is stored into D9185 to D9187 and the manual pulse generator axis setting error flag (M9077) turns on.

Store the 1-pulse input magnification setting errors of the axis.

0 : Normal 1 : Setting error

(Input magnification of each axis is except 1 to 10000.)

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

0 0 0 0 0 0 0 0 0 0 P3 P2 P1 P3 P2 P1

All turn to 0.

(Note-1): The range of axis No.1 to 8 is valid in the Q172HCPU.

D9185

D9186

D9187

Store the axis setting errors of the manual pulse generators connected to P1 to P3 of Q173PX.

0 : Normal 1 : Setting error

Store the smoothing magnification setting errors of the manual pulse generators connected to P1 to P3 of Q173PX.

0 : Normal 1 : Setting error

(Axis setting in each digit is except 1 to 32)

(Axis setting in each digit is except 0 to 59)

(5) Motion operation cycle (D9188) .... Monitor device The time which motion operation took for every motion operation cycle is stored in [s] unit.

(6) Error program No. (D9189) ........................... Monitor device

(a) When the servo program error occurs at the servo program operation, the program setting error flag (M9079) turns on and the error servo program No. (0 to 4095).

(b) If an error occurs in another servo program when error program No. has

been stored, the program No. of the new error is stored.

(7) Error item information (D9190) ...................... Monitor device When the servo program error occurs at the servo program operation, the program setting error flag (M9079) turns on and the error code corresponds to the error setting item is stored. Refer to APPENDIX 1.1 for details of servo program setting errors.

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(8) Servo amplifier loading information (D9191 to D9192)

........... Monitor device The installation state of the servo amplifier is checked at the power supply on or resetting of the Motion CPU and its results are stored in this device. If communication with servo amplifier stops, it is reset. Installation state is stored also about the axis which from non-installation to installation or from installation to non-installation after power supply on.

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D9191

D9192

(Note): The range of axis No.1 to 8 is valid in the Q172HCPU.

Servo amplifier installation state Installation Non-installation

. . . . . . . . 1 . . . . 0

(a) Servo amplifier installation state

1) Installation/non-installation state "Installation" state ....... The servo amplifier is normal.

(Communication with the servo amplifier is normal.)

"Non-installation" state ... No servo amplifier is installed. The servo amplifier power is off. Normal communication with the servo amplifier is not possible due to a connecting cable fault, etc.

2) The system settings and servo amplifier installation states are shown below.

Servo amplifier System Settings

Installation Non-installation

Used (axis No. setting) 1 is stored 0 is stored Unused 0 is stored

(9) PC link communication error codes (D9196) ........... Monitor device

When an error occurs during the PC link communication, the error code is stored in this device.

PC communication error code storage register Contents

D9196

00: No error 01: Receiving timing error 02: CRC error 03: Communication response code error 04: Received frame error 05: Communication task start error

(Each error code is reset to "00" when normal communication is restarted.)

Refer to APPENDIX 1.5 for details of the PC link communication errors.

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(10) Operation cycle of the Motion CPU setting (D9197)

........... Monitor device The setting operation cycle is stored in [s] unit. When the "Automatic setting" is set in the system setting, the operation cycle corresponding to the number of setting axes. When "0.4[ms] / 0.8[ms] / 1.7[ms] / 3.5[ms] / 7.1[ms] / 14.2[ms]" is set in the system setting, the operation cycle corresponding to each setting. (Note): If the servo amplifiers of 9 axes or more are connected to one SSCNET

system, it does not support an operation cycle of 0.4[ms]. 0.8[ms] is used as the real operation cycle, even if 0.4[ms] is set in the system setting.

(11) State of switch (D9200) .. Monitor device

The switch state of CPU is stored in the form of the following.

Switch state of CPU

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1

Memory card switch Always OFF (All setting of each digit is "0".)

b0

D9200

No used

0 : RUN 1 : STOP 2 : L.CLR

0 : OFF 1 : ON

b8 to b12 corresponds to SW1 to SW5 of the system setting switch. (b13 to b15 : Not used)

(12) State of LED (D9201).. Monitor device It stores whether the LED of CPU is in which state in next by the following bit patterns. 0 is OFF, 1 is ON and 2 is Flicker.)

RUN

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

D9201

ERROR

M.RUN

BAT.ALARM

BOOT

Not used

MODE 0 : OFF 1 : Green 2 : Orange

(Note): Indicate the following setting. 0 : OFF 1 : ON 2 : Flicker

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3 POSITIONING DEDICATED SIGNALS

MEMO

4 - 1

4 PARAMETERS FOR POSITIONING CONTROL

4

4. PARAMETERS FOR POSITIONING CONTROL

4.1 System Settings

In the Multiple CPU system, the common system parameters and individual parameters are set for each CPU and written to each CPU. (1) The base settings, Multiple CPU settings and Motion slot settings are set in the

common system parameter setting.

(2) The basic system settings, self CPU installation position setting, servo amplifier/motor setting, high-speed read setting and battery setting are set in the individual parameter setting.

(3) The data setting and correction can be performed in dialog form using a

peripheral device. (Refer to the "Q173HCPU/Q172HCPU Motion Controller Programming Manual (COMMON)" for details of the setting contents.)

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4 PARAMETERS FOR POSITIONING CONTROL

4.2 Fixed Parameters

(1) The fixed parameters are set for each axis and their data is fixed based on the mechanical system, etc.

(2) The fixed parameters are set using a peripheral device.

(3) The fixed parameters to be set are shown in Table 4.1.

Table 4.1 Fixed parameter list

Setting range mm inch degree PLS No. Item

Setting range Units Setting range Units Setting range Units Setting range Units

Initial value Units Remarks Section

1 Unit setting 0 1 2 3 3

Set the command value for each axis at the positioning control.

2

Number of pulses per rotation (AP)

1 to 2147483647[PLS] 20000

Set the number of feedback pulses per motor rotation based on the mechanical system.

3

Tr av

el v

al ue

p er

p ul

se (A

)

Travel value per rotation (AL)

0.1 to 214748364.7

0.00001 to 21474.83647

0.00001 to 21474.83647

1 to 2147483647

20000

Set the travel value per motor based on the mechanical system.

4.2.1

4 Backlash compensation amount (Note)

0 to 6553.5 0 to 0.65535 0 to 0.65535 0 to 65535 0

Set the backlash amount of the machine.

Every time of the positioning direction changes at the positioning, compensation by the backlash compensation amount is executed. The expression below shows the setting range. 0 (backlash compensation amount) AP/AL 65535

7.2

5 Upper stroke limit (Note)

-214748364.8 to

214748364.7

-21474.83648 to

21474.83647

0 to 359.99999

-2147483648 to

2147483647 2147483647

Set the upper limit for the machine travel range. The expression below shows the setting range. (SV13 only) -2147483648 (upper stroke limit value) AP/AL 2147483647

6 Lower stroke limit (Note)

-214748364.8 to

214748364.7

-21474.83648 to

21474.83647

0 to 359.99999

-2147483648 to

2147483647 0

Set the lower limit for the machine travel range. The expression below shows the setting range. (SV13 only) -2147483648 (lower stroke limit value) AP/AL 2147483647

4.2.3

7 Command in- position range (Note)

0.1 to 214748364.7

m

0.00001 to 21474.83647

inch

0.00001 to 359.99999

degree

1 to 2147483647

PLS

100

PLS

Set the position at which the command in-position signal (M2403+20n) turns on [(positioning address) - (current value)]. The expression below shows the setting range. 1 (command in-position range) AP/AL 32767

4.2.4

8

Speed control 10 multiplier setting for degree axis

Invalid/Valid Invalid

Set whether the positioning control is executed with a value 10 multiplier the speed of a command speed setting, when a control unit is degree axis.

4.2.5

(Note): The display of the possible setting range changes according to the electronic gear value.

4 - 3

4 PARAMETERS FOR POSITIONING CONTROL

4.2.1 Number of pulses/travel value per rotation

The "Electronic gear function" adjusts the pulse calculated and output by the parameter set in the Q173HCPU/Q172HCPU and the real travel value of machine. It is defined by the "Number of pulses per rotation" and "Travel value per revolution".

POINTS

(1) The mechanical system error of the command travel value and real travel value is rectified by adjustment the "electronic gear".

(2) The value of less than 1 pulse that cannot be execute a pulse output when the

machine travels is incremented in the Q173HCPU/Q172HCPU, and a total incremented pulse output is performed when the total incremented value becomes more than 1 pulse.

(3) The total incremented value of less than 1 pulse that cannot be execute a pulse

output is cleared and it is referred to as "0" at the home position return completion, current value change completion, speed-switching control start (except the feed current value update) and fixed-pitch feed control start. (When the total incremented value is cleared, the error occurs to the feed machine value only a part to have been cleared.)

"Number of pulses/travel value per rotation" are shown below.

(1) Number of pulses/travel value per rotation

Number of pulses(AP)/travel value(AL) per rotation is an item which determines how many rotations (number of pulses per rotation) of the servomotor in order to make it a machine as the travel value ordered by the program. The position control toward the servomotor is controlled with the number of feedback pulses of the encoder connected to the servomotor in the servo amplifier. The control content of the Motion CPU is shown below.

M

Reduction gear

ENC

PLS

Servo amplifier

PLS

Feedback pulse

Command value PLS AP

AL Control units

Q173HCPU/Q172HCPU

Machine

Fig. 4.1 Control content of the Motion CPU

For example, suppose that the servomotor was connected to the ball screw. Because the travel value ( S) of machine per motor rotation is [mm] / [inch] unit, the travel value (positioning address) set in the program is commanded in [mm] / [inch] unit. However, the servomotor is positioning controlled by the servo amplifier in pulse unit.

4 - 4

4 PARAMETERS FOR POSITIONING CONTROL

Therefore, AP/AL is set so that the following expression of relations may be materialized in order to convert the travel value of [mm] / [inch] unit set in the program into a pulse.

Number of pulses per motor rotation = AP Travel value of machine per motor rotation = AL

= AP AL

Electronic gear

. . . . . (1)

(There is a range which can be set in the numerical value set as AP/AL, so it is necessary to make the setting range of AP/AL the value calculated from the above expression (reduced) of relations.) Example of the real setting is shown below.

(a) For ball screw

When the ball screw pitch is 20[mm], the servomotor is HF-KP (262144[PLS/rev]) and direct connection (No reduction gear) is set.

Machine

Motor

Fig. 4.2 For ball screw

First, find how many millimeters the load (machine) will travel (AL) when the servomotor runs for one rotation (AP). AP (Number of pulses per motor rotation) = 262144[PLS] AL (Travel value of machine per rotation)

= Ball screw pitch Reduction ratio = 20[mm]

Substitute this for the above expression (1).

= AP AL

262144[PLS] 20[mm]

Although it becomes above, when a control unit is set to [mm] unit, the minimum unit of the command value in a program is 0.1[m] and converted from 20[mm] (20.0000[mm]) to 20000.0[m].

= AP AL

262144[PLS] 20000.0[ m]

4 - 5

4 PARAMETERS FOR POSITIONING CONTROL

The travel value per motor rotation in this example is 0.000076[mm]. For example, when ordering the travel value of 19[mm], it becomes 249036.8[PLS] and the fraction of 0.8[PLS]. At this time, the Motion CPU orders the travel value of 249036[PLS] to the servomotor and the fraction is memorized in the Motion CPU. Positioning is performed by seasoning the travel value with this fraction at the next positioning.

4.2.2 Backlash compensation amount

(1) Backlash compensation amount can be set within the following range. (Refer to Section "7.2 Backlash Compensation Function" for details.)

Backlash compensation amount Number of pulses per rotation (AP)

0 Travel value per rotation (AL)

(=A) 65535[PLS]

(2) The servo error may occur depending on the type of the servo amplifier

(servomotor) or operation cycle even if the backlash compensation amount which fulfill the above condition. Set the backlash compensation amount within the following range in order for servo error may not occur.

Maximum motor speed [r/min] 1.2 Encoder resolution [PLS] Operation cycle [ms]

A 60[s] 1000[ms]

[PLS]

4.2.3 Upper/lower stroke limit value

The upper/lower limit value for the travel range of the mechanical system is set.

RLS

Stroke limit (lower)

Stroke limit (upper)

(Travel range of the machine)

Limit switch for emergency stopFLS

Fig. 4.3 Travel range at the upper/lower stroke limit value setting

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4 PARAMETERS FOR POSITIONING CONTROL

(1) Stroke limit range check

The stroke limit range is checked at the following start or during operation. Operation start Check Remarks

Position follow-up control Constant-speed control Speed switching control Positioning control Fixed-pitch feed control

Check

It is checked whether the feed current value is within the stroke limit range or not at the positioning start. If it outside the range, an error occurs (error code: 106) and positioning is not executed.

If the interpolation path exceeds the stroke limit range during circular interpolation start, an error occurs (error codes: 207, 208) and deceleration stop is executed.

If the current value exceeds the stroke limit range, deceleration stop is executed.

Speed control ( ) Speed control ( )

Not check The current value becomes "0", and operation continues

until the external limit signal (FLS, RLS, STOP) is received.

Speed/position switching control (including restart)

It is checked after the switch to position control.

JOG operation

When the current value is executed a deceleration stop from current command speed, if the current value exceeds the stroke limit range, a deceleration stop is made before a stroke limit. (Error code: 207) Travel to the direction that returns the axis into the stroke range is possible.

Manual pulse generator operation

Check

If the current value exceeds the stroke limit range, it stops at stroke limit. (Error code: 207) In this case, a deceleration stop is not made. Travel to the direction that returns the axis into the stroke range is possible.

POINTS

(1) Besides setting the upper/lower stroke limit value in the fixed parameters, the stroke limit range can also be set by using the external limit signals (FLS, RLS).

(2) When the external limit signal turns off, a deceleration stop is executed.

"Deceleration time" and "Rapid stop deceleration time" can be used in the parameter block for deceleration stop time.

4 - 7

4 PARAMETERS FOR POSITIONING CONTROL

4.2.4 Command in-position range

The command in-position is the difference between the positioning address (command position) and feed current value. Once the value for the command in-position has been set, the command in-position signal (M2403+20n) turns on when the difference between the command position and the feed current value enters the set range [(command position - feed current value) (command in-position range)]. The command in-position range check is executed continuously during position control.

Command in-position ( M2403+20n )

Position control start

Command in-position setting value Speed

position control start

Speed/position switching

Command in-position setting value

ON

OFF

Execution of command in-position check Execution of command in-position check

V

t

4 - 8

4 PARAMETERS FOR POSITIONING CONTROL

4.2.5 Speed control 10 multiplier setting for degree axis

The setting range of command speed is 0.001 to 2147483.647[degree/min] normally in the axis of control unit [degree]. However, when the "speed control 10 multiplier setting for degree axis" is set to "valid" in the fixed parameter the speed setting range increases 10 multiplier "0.01 to 21474836.47[degree/min]". (1) When the "speed control 10 multiplier setting for degree axis" is set to "valid", the

positioning control is executed by the speed increased 10 multiplier command speed set in the servo program or servo parameter, and speed limit value.

(2) In the interpolation control for the axis of "control unit [degree] and [except

degree]", if the interpolation control unit of parameter block is set as [degree]," the positioning control is executed by the speed increased 10 multiplier command speed and speed limit value.

(3) When the "speed control 10 multiplier setting for degree axis" is set as "valid", 2

figures below the decimal point of ***.** [degree/min] is displayed on the screen of SW6RN-GSV P.

When the "control 10 multiplier setting for degree axis" is set to "valid", 2 figures below the decimal point is displayed .

INC-1 Axis Speed

1, 360.00000degree 180.00degree/min

(4) Speed setting range in the interpolation operation is shown below. (a) Combined-speed specification/Long-axis speed specification

If the "speed control 10 multiplier setting for degree axis" is set to "valid" even by one axis among interpolation axes, the speed setting range is "0.01 to 21474836.47[degree/min] ".

(b) Reference-axis speed specification

If the "speed control 10 multiplier setting for degree axis" is set to "valid" in the specified reference axis, the speed setting range is "0.01 to 21474836.47[degree/min] ".

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4 PARAMETERS FOR POSITIONING CONTROL

An example for positioning control is shown below when the "speed control 10 multiplier setting for degree axis" of fixed parameter and "interpolation control unit" of parameter block are set as follows. Speed control 10 multiplier setting for degree axis

Axis Speed control 10 multiplier setting for degree axis Axis 1 Invalid

Axis 2 Valid

Interpolation control unit of parameter block Block 10

Interpolation control unit degree

(1) 1 axis linear positioning control program (Axis 1) (2) 1 axis linear positioning control program (Axis 2)

INC-1 Axis Speed

1,

360.00000 18.000

18.000

V

1 axis linear positioning control

[degree/min]

Axis used . . . . . . . Axis 1 Travel value to stop position . . . . . . . 360.00000[degree]

Positioning speed . . . . 18.000[degree/min]

Axis 1 speed

Servo program No.10

t

INC-1 Axis Speed

2,

360.00000 180.00

1 axis linear positioning control Axis used . . . . . . . Axis 2 Travel value to stop position . . . . . . . 360.00000[degree]

Positioning speed . . . . 180.00[degree/min]

[degree/min]

180.00

Axis 2 speed

V

Servo program No.20

t

(3) 2 axes linear interpolation control program (Axis 1, Axis 2) (a) Combined-speed specification

V[degree/min]

1, 2,

360.00000 360.00000

180.00

2 axes linear interpolation control Axis used . . . . . . . Axis 1, Axis 2 Travel value to stop position

Positioning speed . . . 180.00[degree/min]

INC-2 Axis Axis Combined speed

Axis 1 . . . . . 360.000[degree] Axis 2 . . . . . 360.000[degree]

[degree/min] 180.00

Combined speed

V

Servo program No.30

t

[degree/min] V

127.28

Axis 2 speed

Axis 1 speed

127.28

t

t

Example

4 - 10

4 PARAMETERS FOR POSITIONING CONTROL

(b) Long-axis reference specification

1, 2,

360.00000 20000.00000

180.00

2 axes linear interpolation control Axis used . . . . . . . Axis 1, Axis 2 Travel value to stop position

Positioning speed . . . 180.00[degree/min]

INC-2 Axis Axis Long-axis speed

Axis 1 . . . . . 360.00000[degree] Axis 2 . . . 20000.00000[degree]

[degree/min]

3.24

Axis 1 speed

V

Servo program No.50

t

[degree/min] V 180.00

Axis 2 speed

Servo program No.50

t

(c) Reference-axis speed setting

1, 2,

360.00000 20000.00000

180.00 2

2 axes linear interpolation control Axis used . . . . . . . Axis 1, Axis 2 Travel value to stop position

Positioning speed . . . 180.00[degree/min]

INC-2 Axis Axis Reference-axis speed Reference-axis

Axis 1 . . . . . 360.00000[degree] Axis 2 . . . 20000.00000[degree]

[degree/min]

3.24

Axis 1 speed

V

Servo program No.60

t

180.00 V[degree/min]

Axis 2 speed

Servo program No.60

t

POINTS When a speed change is executed by the Motion dedicated PLC instruction (S(P).CHGV) or servo program (CHGV instruction) after setting the "speed control 10 multiplier setting for degree axis is valid", the positioning control is executed by the speed increased 10 multiplier setting value.

Example

4 - 11

4 PARAMETERS FOR POSITIONING CONTROL

4.3 Parameter Block

(1) The parameter blocks serve to make setting changes easy by allowing data such as the acceleration/deceleration control to be set for each positioning processing.

(2) A maximum 64 blocks can be set as parameter blocks.

(3) Parameter blocks can be set using a peripheral device.

(4) Parameter block to be set are shown in Table 4.2.

Table 4.2 Parameter Block Setting List

Setting range mm inch degree PLS No. Item

Setting range Units Setting range Units Setting range Units Setting range Units

Initial value

Units Remarks Section

1 Interpolation control unit

0 1 2 3 3

Set the units for compensation control.

It can be also used as the units for the command speed and allowable error range for circular interpolation set in the servo program.

6.1.4

2 Speed limit value

0.01 to 6000000.00

mm/ min

0.001 to 600000.000

inch/ min

0.001 to 2147483.647

(Note-1)

degree/ min

1 to 2147483647

PLS/s 200000 PLS/s

Set the maximum speed for positioning/home position return.

If the positioning speed or home position return speed setting exceeds the speed limit value, control is executed at the speed limit value.

3 Acceleration time

1 to 65535[ms] 1000 ms

Set the time taken to reach the speed limit value from the start of motion.

4 Deceleration time

1 to 65535[ms] 1000 ms Set the time taken to stop from

the speed limit value.

5 Rapid stop deceleration time

1 to 65535[ms] 1000 ms Set the time taken to stop from

the speed limit value when a rapid stop is executed.

4.3.1

6 S-curve ratio 0 to 100[%] 0 %

Set the S-curve ratio for S-pattern processing.

When the S-curve ratio is 0[%], trapezoidal acceleration/deceleration processing is executed.

4.3.2

7 Torque limit value

1 to 1000[%] 300 % Set the torque limit value in the

servo program.

8 Deceleration processing on STOP input

0 : Deceleration stop is executed based on the deceleration time. 1 : Deceleration stop is executed based on the rapid stop deceleration time.

0

Set the deceleration processing when external signals (STOP, FLS, RLS) are input.

9

Allowable error range for circular interpolation

0 to 10000.0 m 0 to 1.00000 inch 0 to 1.00000 degree 0 to 100000 PLS 100 PLS

Set the permissible range for the locus of the arc and the set end point coordinates.

4.3.3

(Note-1): When the "speed control 10 multiplier setting for degree axis" is set to "valid", the setting range is 0.01 to 21474836.47[degree/min]. However, setting range of 0.001 to 2147483.647[degree/min] is displayed in the parameter block setting screen of programming software.

POINTS (1) Parameter blocks are specified in the home position return data, JOG operation

data or servo program. (2) The various parameter block data can be changed using the servo program.

(Refer to Section 5.3.)

4 - 12

4 PARAMETERS FOR POSITIONING CONTROL

POINTS

The data set in the parameter block is used in the positioning control, home position return and JOG operation. (1) The parameter block No. used in the positioning control is set using a peripheral device

at the creating of the servo program. If it is not set, control is executed with the contents of parameter block No.1. Also, it is possible to set parameter block data individually in the servo program. [Servo program creation screen]

Individual parameter block data setting

Parameter block setting

Parameter block No. setting

UNIT : Interpolation control unit, S.R. : Speed limit value, : Acceleration time, : Deceleration time, E : Rapid stop deceleration time, P.TORQ : Torque limit value, STOP : Deceleration processing on STOP input, : Allowable error range for circular interpolation, SPEED : Change speed when constant-speed control is executed, S RATIO : S-curve ratio when S-pattern processing is executed

(2) The parameter block No. used in the home position return or JOG operation is set at the setting of the "home position return data" or "JOG operation data" using a peripheral device. Refer to Section "6.23.1 Home position return data" or "6.21.1 JOG operation data" for details. [Home position return data setting screen]

Parameter block No. setting of the home position return

Parameter block No. setting of the JOG operation

4 - 13

4 PARAMETERS FOR POSITIONING CONTROL

4.3.1 Relationships between the speed limit value, acceleration time, deceleration time and

rapid stop deceleration time

The speed limit value is the maximum speed at the positioning/home position return. The acceleration time is the time taken to reach the set speed limit value from the start of positioning. The deceleration time and rapid stop deceleration time are the time taken to effect a stop from the set speed limit value. Accordingly, the actual acceleration time, deceleration time, and rapid stop deceleration time are faster, because the positioning speed is faster than the speed limit value.

Speed Speed limit value

Rapid stop cause occurrence

Positioning speed set in the servo program

1) Real accele- ration time

Set acceleration time

Set rapid stop deceleration time

3) Real deceleration time

Set deceleration time

Time

Real acceleration time Time take to reach the positioning speed set in the servo program.

Real rapid stop deceleration time Time taken to effect a rapid stop from the positioning speed set in the servo program.

Real deceleration time Time taken to stop from the positioning speed set in the servo program.

2) Real rapid stop deceleration time

1)

2)

3)

4.3.2 S-curve ratio

S-curve ratio can be set as the acceleration and deceleration processing method for S- pattern processing. (Refer to Section 6.1.7 for details of S-curve acceleration/deceleration processing.) Setting range of the S-curve ratio is 0 to 100[%]. If it is set outside the range, an error occurs at the start and control is executed with the S-curve ratio set as 100[%]. Errors are set in the error item information area (D9190). Setting of the S-curve ratio enables acceleration/deceleration processing to be executed gently. The graph for S-pattern processing is a sine curve as shown below.

Positioning speed

Sine curve

0 Acceleration time

Deceleration time

Time

t

V

4 - 14

4 PARAMETERS FOR POSITIONING CONTROL

As shown below, the S-curve ratio setting serves to select the part of the sine curve to be used as the acceleration/deceleration curve.

A

B

B/2 B/2

Sine curve

S-curve ratio = B/A 100[%]

A BPositioning speed

B/A=1.0

V

t

Positioning speed

V

A B B/A=0.7

S-curve ratio is 100[%]

S-curve ratio is 70[%] t

4.3.3 Allowable error range for circular interpolation

The locus of the arc calculated from the start point address and central point address may not coincide with the set end point address for the central-specified control. The allowable error range for circular interpolation sets the allowable range for the error between the locus of the arc determined by calculation and the end point address. If the error is within the allowable range, circular interpolation to the set end point address is executed while also executing error compensation by means of spiral interpolation. If it exceeds the setting range, an error occurs at the start and positioning does not start. Such an error are set the applicable axis or minor error code area.

Locus determined by spiral interpolation

Error

End point address by calculation

Setting end point address

Start point address Central point address Fig. 4.4 Spiral Interpolation

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5 SERVO PROGRAMS FOR POSITIONING CONTROL

5. SERVO PROGRAMS FOR POSITIONING CONTROL

Servo programs specify the type of the positioning data required to execute the positioning control in the Multiple CPU system. This chapter describes the configuration and setting method of the servo programs. Refer to Chapter "6 POSITIONING CONTROL" for details of the servo program.

5.1 Servo Program Composition Area

This section is described the composition of servo programs and the area in which stores the servo program.

5.1.1 Servo program composition

A servo program is composed a program No., servo instructions and positioning data. When a program No. and the required servo instructions are specified using a peripheral device, the positioning data required to execute the specified servo instructions can be set.

[Explanation of the program] K11 . . . . . . . Program No.11 ABS-3 . . . . . 3 axes linear interpolation control as absolute data method.

Axis1, 3000000.0 Axis2, 5500000.0 . . . Axis used and positioning address Axis3, -2500000.0

Used axes Positioning address

1 3000000.0[m]

2 5500000.0[m]

3 -2500000.0[m]

Program No.

Servo instruction

Positioning data

ABS-3 Axis 1, Axis 2, Axis 3, Combined speed Dwell M-code P.B.

3000000.0 5500000.0

-2500000.0 40000.00

2500 12 3

Control units

[mm] [mm] [mm] [mm/min] [ms]

Number of program steps 10 Number of used programs 20/13312

Combined speed Command speed for the 3 axes (axis 1, axis 2, axis 3) combination 40000.00 [mm/min] Dwell . Dwell time 2500 [ms] M-code . M-code 12 P.B. ... Parameter block No. 3

Fig. 5.1 Composition example of servo program

(1) Program No. ........... This No. is specified using the Motion SFC program.

Any No. in the range of 0 to 4095 can be set.

(2) Servo instruction . Type of positioning control is indicated. Refer to Section 5.2 for details.

5

5 - 2

5 SERVO PROGRAMS FOR POSITIONING CONTROL

(3) Positioning data ...... This is the data required to execute servo instructions.

The data required to execute is fixed for each servo instruction. Refer to Section 5.3 for details. The follows applies for the servo program shown in Figure 5.1:

Axis used and positioning address

Command speed

Data which must be set in order to execute the servo instruction.

Dwell time M-code

Data which will be set to default values for control if not set.

P.B. (parameter block)

Control is executed using the data of parameter block 3 (P.B.3).

5.1.2 Servo program area

(1) Servo program area This area is an internal memory of the Multiple CPU system which store the servo program created using a peripheral device. This area is an internal RAM.

(2) Servo program capacity

The servo program area has a capacity of 14334 steps.

0 Program No.10 Program No.1 Program No. 2

14333

Servo programs are stored in the order in which their program No. were created.

Servo program area (14k steps)

Step Fig. 5.2 Servo program area

POINT

If the servo program area has insufficient capacity, execute the multiple positioning control operations with one program by indirect setting of the positioning data used in the servo program. (Refer to Section 5.4.2 for details of indirect setting.)

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5 SERVO PROGRAMS FOR POSITIONING CONTROL

5.2 Servo Instructions

The servo instructions used in the servo programs are shown below. (1) Guide to servo instruction list

Table. 5.1 Guide to Servo Instruction List

2 1(B)

Instruction symbol

Processing

Positioning data Common Circular Parameter block Other

N um

be r o

f s te

ps

Pa ra

m et

er b

lo ck

N o.

OSC

Virtual enable

Number of step

Number of indirect words

3) 4) 5) 6) 7) 8)

1) 2)

1

2 2 1

Po si

tio ni

ng c

on tro

l

Ax is

Ad dr

es s/

tra ve

l

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R ad

iu s

C en

tra l p

oi nt

Pi tc

h St

ar tin

g an

gl e

Am pl

itu de

Fr eq

ue nc

y R

ef er

en ce

a xi

s N

o.

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

e R

ap id

s to

p de

ce le

ra tio

n tim

e

To rq

ue li

m it

va lu

e D

ec el

er at

io n

pr oc

es si

ng

S- cu

rv e

ra tio

R ep

ea t c

on di

tio n

Pr og

ra m

N o.

C om

m an

d sp

ee d

(c on

st an

t s pe

ed )

C an

ce l

Sk ip

FI N

a cc

el er

at io

n/ de

ce le

ra tio

n

2 2

1(B)1(B) 2

11

1/

1

1

1

2

1 222

1

1111

11112112

1111111111111111

2 2 122 21111 2

2

1

W A

IT -O

N /O

FF

ABS-1

INC-1

ABS-2

1 ax

is

4 to 17

Absolute 1-axis positioning

ax es

Incremental 1-axis positioning

Absolute 2-axes linear

1(B)

at s

to p

in pu

t Al

lo w

ab le

e rro

r r an

ge fo

r c irc

ul ar

in

te rp

ol at

io n

2

Fi xe

d po

si tio

n st

op a

cc el

er at

io n

/d ec

el er

at io

n tim

e

Fi xe

d po

si tio

n st

op

2 1(B)

1

1

1

Number Description

Instruction symbol Gives the servo instructions usable in servo programs. 1)

Processing Gives the processing outlines of the servo instructions. (a) Indicates positioning data which can be set in servo instructions. 1) : Item which must be set (Data which cannot execute the servo instruction unless it sets.) 2) : Item which is set when required (Data which will be controlled by the default value unless it sets.) (b) Allows direct or indirect designation (except axis No.) 1) Direct designation : Set with numerical value. 2) Indirect designation : Set with word device (D, W, #). Servo program execution is controlled using the preset word device contents. Each setting item may either be 1 or 2 word data. For 2 word data, set the first device No..

2)

(c) Number of steps As there are more setting items, there are more number of instruction steps. (The number of steps is displayed when a servo program is created.) (The instruction + item comprise the minimum steps, and one item increases the number of steps by 1.)

3) Items common to the servo instructions 4) Items set in circular interpolation starting servo programs 5) Items set for high-speed oscillation

6) Set when changing the parameter block (default value when not set) data set in the servo program to control. (The parameter block data are not changed.)

7) Setting items other than the common, circular and parameter block items (Items to be set vary with the servo instruction.) 8) Indicates the number of steps of each servo instruction.

5 - 4

5 SERVO PROGRAMS FOR POSITIONING CONTROL

(2) Servo instruction list

The servo instructions that can be used in servo programs and the positioning data set in the servo instruction are shown in Table 5.2. Refer to Section 5.3 for details of the positioning data set in the servo instructions.

Table 5.2 Servo instruction list

Positioning data

Common Circular

Instruction symbol

Processing

Pa ra

m et

er b

lo ck

N o.

Ax is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e

Au xi

lia ry

p oi

nt

R ad

iu s

C en

tra l p

oi nt

Pi tc

h

Virtual enable

Number of steps 1 1 1 1 1 1 1 1 1 1 1

Po si

tio ni

ng c

on tro

l

Number of indirect words 1 2 2 1 1 1 2 2 2 1

ABS-1 Absolute 1-axis positioning

1 ax

is

INC-1 Incremental 1-axis positioning

ABS-2 Absolute 2-axes linear interpolation

2 ax

es

INC-2 Incremental 2-sxes linear interpolation

ABS-3 Absolute 3-axes linear interpolation

3 ax

es

INC-3 Incremental 3-axes linear interpolation

ABS-4 Absolute 4-axes linear interpolation

Li ne

ar in

te rp

ol at

io n

co nt

ro l

4 ax

es

INC-4 Incremental 4-axes linear interpolation

ABS Absolute auxiliary point-specified circular interpolation

Au xi

lia ry

po

in t-

s p ec

ifi ed

INC Incremental auxiliary point-specified circular interpolation

ABS Absolute radius-specified circular interpolation less than CW 180

ABS Absolute radius-specified circular interpolation CW 180 or more

ABS Absolute radius-specified circular interpolation less than CCW 180

ABS Absolute radius-specified circular interpolation CCW 180 or more

INC Incremental radius-specified circular interpolation less than CW 180

INC Incremental radius-specified circular interpolation CW 180 or more

INC Incremental radius-specified circular interpolation less than CCW 180

C irc

ul ar

in te

rp ol

at io

n co

nt ro

l

R ad

iu s-

sp ec

ifi ed

INC Incremental radius-specified circular interpolation CCW 180 or more

5 - 5

5 SERVO PROGRAMS FOR POSITIONING CONTROL

Positioning data

OSC *1 Parameter block Others

S ta

rti ng

a ng

le

A m

pl itu

de

Fr eq

ue nc

y

R ef

er en

ce a

xi s

N o.

C on

tro l u

ni t

S pe

ed li

m it

va lu

e

A cc

el er

at io

n tim

e

D ec

el er

at io

n tim

e

R ap

id s

to p

de ce

le ra

tio n

tim e

To rq

ue li

m it

va lu

e

D ec

el er

at io

n pr

oc es

si ng

a t s

to p

in pu

t

A llo

w ab

le e

rr or

ra ng

e fo

r c irc

ul ar

in te

rp ol

at io

n

S -c

ur ve

ra tio

R ep

ea t c

on di

tio n

Pr og

ra m

N o.

C om

m an

d sp

ee d

(c

on st

an t s

pe ed

)

C an

ce l

Sk ip

FI N

a cc

el er

at io

n/ de

ce le

ra tio

n

W AI

T- O

N /O

FF

Fi xe

d po

si tio

n st

op a

cc el

er at

io n

/d ec

el er

at io

n tim

e

Fi xe

d po

si tio

n st

op

1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 1

2 2 2 1 1 2 1 1 1 1 1 2 1 *2 1/

1(B) 2

*2 1(B)

*2 1(B)

1 *2

1(B) 1

*2 1(B)

Number of steps

4 to 17

5 to 20

7 to 21

8 to 22

7 to 22

6 to 21

: Must be set. : Set if required.

*1 : Only reference axis speed specification. *2 : (B) indicates a bit device.

5 - 6

5 SERVO PROGRAMS FOR POSITIONING CONTROL

Table 5.2 Servo Instruction List (continued)

Positioning data

Common Circular

Instruction symbol

Processing

Pa ra

m et

er b

lo ck

N o.

Ax is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e

Au xi

lia ry

p oi

nt

R ad

iu s

C en

tra l p

oi nt

Pi tc

h

Virtual enable

Number of steps 1 1 1 1 1 1 1 1 1 1 1

Po si

tio ni

ng c

on tro

l

Number of indirect words 1 2 2 1 1 1 2 2 2 1

ABS Absolute central point-specified circular interpolation CW

ABS Absolute central point-specified circular interpolation CCW

INC Incremental central point-specified circular interpolation CW

C irc

ul ar

in te

rp ol

at io

n co

nt ro

l

C en

tra l p

oi nt

-s pe

ci fie

d

INC Incremental central point-specified circular interpolation CCW

ABH Absolute auxiliary point- specified helical interpolation

A ux

ili ar

y

po in

t- s p

ec ifi

ed

INH Incremental auxiliary point- specified helical interpolation

ABH Absolute radius-specified helical interpolation less than CW 180

ABH Absolute radius-specified helical interpolation CW 180 or more

ABH Absolute radius-specified helical interpolation less than CCW 180

ABH Absolute radius-specified helical interpolation CCW 180 or more

INH Incremental radius-specified helical interpolation less than CW 180

INH Incremental radius-specified helical interpolation CW 180 or more

INH Incremental radius-specified helical interpolation less than CCW 180

R ad

iu s-

sp ec

ifi ed

INH Incremental radius-specified helical interpolation CCW 180 or more

ABH Absolute central point-specified helical interpolation CW

ABH Absolute central point-specified helical interpolation CCW

INH Incremental central point-specified helical interpolation CW

H el

ic al

in te

rp ol

at io

n co

nt ro

l

C en

tra l p

oi nt

-s pe

ci fie

d

INH Incremental central point-specified helical interpolation CCW

5 - 7

5 SERVO PROGRAMS FOR POSITIONING CONTROL

Positioning data

OSC *1 Parameter block Others

S ta

rti ng

a ng

le

A m

pl itu

de

Fr eq

ue nc

y

R ef

er en

ce a

xi s

N o.

C on

tro l u

ni t

S pe

ed li

m it

va lu

e

A cc

el er

at io

n tim

e

D ec

el er

at io

n tim

e

R ap

id s

to p

de ce

le ra

tio n

tim e

To rq

ue li

m it

va lu

e

D ec

el er

at io

n pr

oc es

si ng

a t s

to p

in pu

t

A llo

w ab

le e

rr or

ra ng

e fo

r c irc

ul ar

in te

rp ol

at io

n

S -c

ur ve

ra tio

R ep

ea t c

on di

tio n

Pr og

ra m

N o.

C om

m an

d sp

ee d

(c

on st

an t s

pe ed

)

C an

ce l

Sk ip

FI N

a cc

el er

at io

n/ de

ce le

ra tio

n

W AI

T- O

N /O

FF

Fi xe

d po

si tio

n st

op a

cc el

er at

io n

/d ec

el er

at io

n tim

e

Fi xe

d po

si tio

n st

op

1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 1

2 2 2 1 1 2 1 1 1 1 1 2 1 *2 1/

1(B) 2

*2 1(B)

*2 1(B)

1 *2

1(B) 1

*2 1(B)

Number of steps

7 to 22

10 to 27

9 to 26

10 to 27

: Must be set. : Set if required.

*1 : Only reference axis speed specification. *2 : (B) indicates a bit device.

5 - 8

5 SERVO PROGRAMS FOR POSITIONING CONTROL

Table 5.2 Servo Instruction List (continued)

Positioning data

Common Circular

Instruction symbol

Processing

Pa ra

m et

er b

lo ck

N o.

Ax is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e

Au xi

lia ry

p oi

nt

R ad

iu s

C en

tra l p

oi nt

Pi tc

h

Virtual enable

Number of steps 1 1 1 1 1 1 1 1 1 1 1

Po si

tio ni

ng c

on tro

l

Number of indirect words 1 2 2 1 1 1 2 2 2 1

1 ax

is

FEED-1 1-axis fixed-pitch feed start

2 ax

es

FEED-2 2-axes linear interpolation fixed-pitch feed start

Fi xe

d- pi

tc h

fe ed

3 ax

es

FEED-3 3-axes linear interpolation fixed-pitch feed start

Fo rw

ar d

ro ta

tio n

VF Speed control ( ) forward rotation start

Sp ee

d co

nt ro

l ( )

R ev

er se

ro

ta tio

n

VR Speed control ( ) reverse rotation start

Fo rw

ar d

ro ta

tio n

VVF Speed control ( ) forward rotation start

Sp ee

d co

nt ro

l ( )

R ev

er se

ro

ta tio

n

VVR Speed control ( ) reverse rotation start

Fo rw

ar d

ro ta

tio n

VPF Speed-position control forward rotation start

R ev

er se

ro

ta tio

n

VPR Speed-position control reverse rotation start

Sp ee

d- po

si tio

n co

nt ro

l

R es

ta rt

VPSTART Speed-position control restart

VSTART Speed-switching control start

VEND Speed-switching control end

ABS-1

ABS-2

ABS-3

Speed-switching control end point address

INC-1

INC-2

INC-3

Travel value up to speed-switching control end point

VABS Speed-switching point absolute specification

Sp ee

d- sw

itc hi

ng c

on tro

l

VINC Speed-switching point incremental specification

5 - 9

5 SERVO PROGRAMS FOR POSITIONING CONTROL

Positioning data

OSC *1 Parameter block Others

S ta

rti ng

a ng

le

A m

pl itu

de

Fr eq

ue nc

y

R ef

er en

ce a

xi s

N o.

C on

tro l u

ni t

S pe

ed li

m it

va lu

e

A cc

el er

at io

n tim

e

D ec

el er

at io

n tim

e

R ap

id s

to p

de ce

le ra

tio n

tim e

To rq

ue li

m it

va lu

e

D ec

el er

at io

n pr

oc es

si ng

a t s

to p

in pu

t

A llo

w ab

le e

rr or

ra ng

e fo

r c irc

ul ar

in te

rp ol

at io

n

S -c

ur ve

ra tio

R ep

ea t c

on di

tio n

Pr og

ra m

N o.

C om

m an

d sp

ee d

(c

on st

an t s

pe ed

)

C an

ce l

Sk ip

FI N

a cc

el er

at io

n/ de

ce le

ra tio

n

W AI

T- O

N /O

FF

Fi xe

d po

si tio

n st

op a

cc el

er at

io n

/d ec

el er

at io

n tim

e

Fi xe

d po

si tio

n st

op

1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 1

2 2 2 1 1 2 1 1 1 1 1 2 1 *2 1/

1(B) 2

*2 1(B)

*2 1(B)

1 *2

1(B) 1

*2 1(B)

Number of steps

4 to 17

5 to 19

7 to 21

3 to 15

3 to 16

4 to 18

2 to 4

1 to 13

1

4 to 9

5 to 10

7 to 12

4 to 9

5 to 10

7 to 12

4 to 6

: Must be set. : Set if required.

*1 : Only reference axis speed specification. *2 : (B) indicates a bit device.

5 - 10

5 SERVO PROGRAMS FOR POSITIONING CONTROL

Table 5.2 Servo Instruction List (continued)

Positioning data

Common Circular

Instruction symbol

Processing

P ar

am et

er b

lo ck

N o.

A xi

s

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e

A ux

ili ar

y po

in t

R ad

iu s

C en

tra l p

oi nt

P itc

h

Virtual enable

Number of steps 1 1 1 1 1 1 1 1 1 1 1

Po si

tio ni

ng c

on tro

l

Number of indirect words 1 2 2 1 1 1 2 2 2 1

Fo rw

ar d

ro ta

tio n

PVF

Sp ee

d co

nt ro

l w

ith fi

xe d

po si

tio n

st op

R ev

er se

ro

ta tio

n

PVR

Speed control with fixed position stop absolute specification

Po si

tio n

fo llo

w -u

p co

nt ro

l

PFSTART Position follow-up control start

CPSTART1 1-axis constant-speed control start

CPSTART2 2-axes constant-speed control start

CPSTART3 3-axes constant-speed control start

CPSTART4 4-axes constant-speed control start

ABS-1

ABS-2

ABS-3

ABS-4

ABS

ABS

ABS

ABS

ABS

ABS

ABS

Constant-speed control passing point absolute specification

ABH

ABH

ABH

ABH

ABH

ABH

C on

st an

t-s pe

ed c

on tro

l

ABH

Constant-speed control passing point helical absolute specification

5 - 11

5 SERVO PROGRAMS FOR POSITIONING CONTROL

Positioning data

OSC *1 Parameter block Others

S ta

rti ng

a ng

le

A m

pl itu

de

Fr eq

ue nc

y

R ef

er en

ce a

xi s

N o.

C on

tro l u

ni t

S pe

ed li

m it

va lu

e

A cc

el er

at io

n tim

e

D ec

el er

at io

n tim

e

R ap

id s

to p

de ce

le ra

tio n

tim e

To rq

ue li

m it

va lu

e

D ec

el er

at io

n pr

oc es

si ng

a t s

to p

in pu

t

A llo

w ab

le e

rr or

ra ng

e fo

r c irc

ul ar

in te

rp ol

at io

n

S -c

ur ve

ra tio

R ep

ea t c

on di

tio n

Pr og

ra m

N o.

C om

m an

d sp

ee d

(c

on st

an t s

pe ed

)

C an

ce l

Sk ip

FI N

a cc

el er

at io

n/ de

ce le

ra tio

n

W AI

T- O

N /O

FF

Fi xe

d po

si tio

n st

op a

cc el

er at

io n

/d ec

el er

at io

n tim

e

Fi xe

d po

si tio

n st

op

1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 1

2 2 2 1 1 2 1 1 1 1 1 2 1 *2 1/

1(B) 2

*2 1(B)

*2 1(B) 1

*2 1(B) 1

*2 1(B)

Number of steps

6 to 19

4 to 16

3 to 15

3 to 17

4 to17

2 to 10

3 to 11

4 to 12

5 to 13

5 to 14

4 to 13

5 to 14

9 to 14

8 to 13

9 to 14

: Must be set. : Set if required.

*1 : Only reference axis speed specification. *2 : (B) indicates a bit device.

5 - 12

5 SERVO PROGRAMS FOR POSITIONING CONTROL

Table 5.2 Servo Instruction List (continued)

Positioning data

Common Circular

Instruction symbol

Processing

P ar

am et

er b

lo ck

N o.

A xi

s

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e

A ux

ili ar

y po

in t

R ad

iu s

C en

tra l p

oi nt

P itc

h

Virtual enable

Number of steps 1 1 1 1 1 1 1 1 1 1 1

Po si

tio ni

ng c

on tro

l

Number of indirect words 1 2 2 1 1 1 2 2 2 1

INC-1

INC-2

INC-3

INC-4

INC

INC

INC

INC

INC

INC

INC

Constant-speed control passing point incremental specification

INH

INH

INH

INH

INH

INH

INH

Constant-speed control passing point helical incremental specification

C on

st an

t-s pe

ed c

on tro

l

CPEND Constant-speed control end

5 - 13

5 SERVO PROGRAMS FOR POSITIONING CONTROL

Positioning data

OSC *1 Parameter block Others

S ta

rti ng

a ng

le

A m

pl itu

de

Fr eq

ue nc

y

R ef

er en

ce a

xi s

N o.

C on

tro l u

ni t

S pe

ed li

m it

va lu

e

A cc

el er

at io

n tim

e

D ec

el er

at io

n tim

e

R ap

id s

to p

de ce

le ra

tio n

tim e

To rq

ue li

m it

va lu

e

D ec

el er

at io

n pr

oc es

si ng

a t s

to p

in pu

t

A llo

w ab

le e

rr or

ra ng

e fo

r c irc

ul ar

in te

rp ol

at io

n

S -c

ur ve

ra tio

R ep

ea t c

on di

tio n

Pr og

ra m

N o.

C om

m an

d sp

ee d

(c

on st

an t s

pe ed

)

C an

ce l

Sk ip

FI N

a cc

el er

at io

n/ de

ce le

ra tio

n

W AI

T- O

N /O

FF

Fi xe

d po

si tio

n st

op a

cc el

er at

io n

/d ec

el er

at io

n tim

e

Fi xe

d po

si tio

n st

op

1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 1

2 2 2 1 1 2 1 1 1 1 1 2 1 *2 1/

1(B) 2

*2 1(B)

*2 1(B) 1

*2 1(B) 1

*2 1(B)

Number of steps

2 to 10

3 to 11

4 to 12

5 to 13

5 to 14

4 to 13

5 to 14

9 to 14

8 to 13

9 to 14

1 to 2

: Must be set. : Set if required. *1 : Only reference axis speed specification. *2 : (B) indicates a bit device.

5 - 14

5 SERVO PROGRAMS FOR POSITIONING CONTROL

Table 5.2 Servo Instruction List (continued)

Positioning data

Common Circular

Instruction symbol

Processing

P ar

am et

er b

lo ck

N o.

A xi

s

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e

A ux

ili ar

y po

in t

R ad

iu s

C en

tra l p

oi nt

P itc

h

Virtual enable

Number of steps 1 1 1 1 1 1 1 1 1 1 1

Po si

tio ni

ng c

on tro

l

Number of indirect words 1 2 2 1 1 1 2 2 2 1

FOR-TIMES

FOR-ON

FOR-OFF

Repeat range start setting

R ep

et iti

on o

f sa

m e

co nt

ro l

(u se

d in

s pe

ed

sw itc

hi ng

co

nt ro

l, co

ns ta

nt -

sp ee

d co

nt ro

l)

NEXT Repeat range end setting

Si m

ul ta

ne ou

s st

ar t

START Simultaneous start

H om

e po

si tio

n re

tu rn

ZERO Home position return start

H ig

h sp

ee d

os ci

lla tio

n

OSC High-speed oscillation

CHGA Servomotor/Virtual Servomotor Shaft Current Value Change

CHGA-E Encoder current value change

C ur

re nt

V al

ue

ch an

ge

CHGA-C CAM shaft current value change

5 - 15

5 SERVO PROGRAMS FOR POSITIONING CONTROL

Positioning data

OSC *1 Parameter block Others

S ta

rti ng

a ng

le

A m

pl itu

de

Fr eq

ue nc

y

R ef

er en

ce a

xi s

N o.

C on

tro l u

ni t

S pe

ed li

m it

va lu

e

A cc

el er

at io

n tim

e

D ec

el er

at io

n tim

e

R ap

id s

to p

de ce

le ra

tio n

tim e

To rq

ue li

m it

va lu

e

D ec

el er

at io

n pr

oc es

si ng

a t s

to p

in pu

t

A llo

w ab

le e

rr or

ra ng

e fo

r c irc

ul ar

in te

rp ol

at io

n

S -c

ur ve

ra tio

R ep

ea t c

on di

tio n

Pr og

ra m

N o.

C om

m an

d sp

ee d

(c

on st

an t s

pe ed

)

C an

ce l

Sk ip

FI N

a cc

el er

at io

n/ de

ce le

ra tio

n

W AI

T- O

N /O

FF

Fi xe

d po

si tio

n st

op a

cc el

er at

io n

/d ec

el er

at io

n tim

e

Fi xe

d po

si tio

n st

op

1 1 1 1 1 2 1 1 1 1 1 1 1 1 1 2 2 2 1 2 1 1

2 2 2 1 1 2 1 1 1 1 1 2 1 *2 1/

1(B) 2

*2 1(B)

*2 1(B) 1

*2 1(B) 1

*2 1(B)

Number of steps

2

3

2 to 3

2

5 to 10

3

: Must be set. : Set if required.

*1 : Only reference axis speed specification. *2 : (B) indicates a bit device.

5 - 16

5 SERVO PROGRAMS FOR POSITIONING CONTROL

5.3 Positioning Data

The positioning data set in the servo programs is shown in Table 5.3.

Table 5.3 Positioning data

Setting value using a peripheral device Setting range Name Explanation Default

value mm inch degree PLS

Parameter block No.

Set based on which parameter block deceleration processing at the acceieration/ deceleration processing and STOP input.

1 1 to 64

Axis Set the starting axis. It becomes the interpolation starting axis No.

at the interpolation. 1 to 32

Absolute data method

Address Set the positioning address as an absolute method with an absolute address.

-214748364.8

to 214748364.7 [m]

-21474.83648 to

21474.83647 0 to 359.99999

-2147483648 to

2147483647

Expect for the speed/position switching control 0 to 2147483647

Speed/position switching control

A dd

re ss

/tr av

el v

al ue

Incremental data method

Travel value

Set the positioning address as an incremental data method with a travel value. Travel direction is indicated by the sign. Only positive settings can be made at the speed/position control. Positive : Forward rotation

(address increase direction) Negative: Reverse rotation

(address decrease direction)

0 to

214748364.7 [m]

0 to 21474.83647

0 to 21474.83647

0 to 2147483647

Command speed

Sets the positioning speed. Units for speed are the "control units" set in

the parameter block. It becomes the combined-speed/long-axis

reference speed/reference axis speed at the interpolation starting. (PTP control only)

0.01 to

6000000.00 [mm/min]

0.001 to 600000.000 [inch/min]

0.001 to 2147483.647 [degree/min]

(Note-5)

1 to 2147483647

[PLS/s]

Dwell time Set the time until outputs the positioning

complete signal (M2401+20n) after positioning to positioning address.

0[ms] 0 to 5000[ms]

M-code

Set the M-code. Set for each point at the speed-switching

control and constant-speed control. Updated it at the start or specified point.

0 0 to 32767

C om

m on

S et

tin gs

Torque limit value

Set the torque limit value. The torque limit is perfomed based on the

parameter block data at the start. The speed- switching control can be set for each point and the setting torque limit values can be performed with the specified point.

Torque limit setting

valued [%] in the

parameter block

1 to 1000[%]

5 - 17

5 SERVO PROGRAMS FOR POSITIONING CONTROL

Setting value using the Motion SFC program (Indirect setting) Indirect setting Processing at the setting error Setting range

mm inch degree PLS Possible/

not possible Number of used words

Error item data (Note-4) (Stored in D9190)

Control using default value

Not start

1 to 64 1 1

-2147483648 to 2147483647

( 10-1[m])

-2147483648 to 214748647 ( 10-5[inch])

0 to 35999999 ( 10-5[degree])

-2147483648 to 2147483647

Except for the speed/position switching control 0 to 214783647

n03 (Note-1)

Speed/position switching control

0 to 2147483647 ( 10-1[m])

0 to 2147483647 ( 10-5[inch])

0 to 2147483647 ( 10-5[degree])

0 to 2147483647

2

1 to 600000000 ( 10-2

[mm/min])

1 to 600000000 ( 10-3

[inch/min])

1 to 2147483647 ( 10-3

[degree/min]) (Note-5)

1 to 2147483647

[PLS/s] 2 4 (Note-2) (Note-3)

0 to 5000[ms] 1 5

0 to 32767 1 6

1 to 1000[%] 1 7

REMARK

(Note-1): The "n" in n03, n08, n09 and n10, indicates the axis No. (1 to 32). (Note-2): When an error occurs because the speed limit value is exceeded, it is

controlled at the speed limit value. (Note-3): Applies when the command speed is "0". (Note-4): If there are multiple errors in the same program, the latest error item data is

stored. (Note-5): When the "speed control 10 multiplier setting for degree axis" is set to

"valid", the setting range is 0.01 to 21474836.47 [degree/min].

5 - 18

5 SERVO PROGRAMS FOR POSITIONING CONTROL

Table 5.3 Positioning data (Continued)

Setting value using a peripheral device

Setting range Name Explanation Default value mm inch degree PLS

Absolute data method

-214748364.8 to 214748364.7

[m]

-21474.83648 to 21474.83647

0 to 359.99999 -2147483648

to 2147483647

A ux

ili ar

y po

in t

Incremental data method

Set at the auxiliary point-specified circular interpolation.

0 to 2147483647

Absolute data method

0.1 to 429496729.5

[m]

0.00001 to 42949.67295

0 to 359.99999 1 to 4294967295

R ad

iu s

Incremental data method

Set at the radius-specified circular interpolation.

The sitting ranges depending on the positioning nethod is shown to the right. 0.1 to

214748364.7 [m]

0.00001 to 21474.83647

0.00001 to 21474.83647

1 to 2147483647

Absolute data method

-214748364.8 to 214748364.7

[m]

-21474.83648 to 21474.83647

0 to 359.99999 -2147483648

to 2147483647

C en

tra l p

oi nt

Incremental data method

Set at the central point-specified circular interpolation.

0 to 2147483647

C irc

ul ar

In te

rp ol

at io

n

Number of pitches Set at the helical interpolation. 0 to 999 Control unit 3 0 1 2 3

Speed limit value 200000 [PLS/s]

0.01 to 6000000.00

[mm/min]

0.001 to 600000.000 [inch/min]

0.001 to 2147483.647 [degree/min]

(Note-5)

1 to 2147483647

[PLS/s]

Acceleration time 1000[ms] 1 to 65535[ms] Deceleration time 1000[ms] 1 to 65535[ms] Rapid stop deceleration time

1000[ms] 1 to 65535[ms]

S-curve ratio 0[%] 0 to 100[%] Torque limit value 300[%] 1 to 1000[%] Deceleration processing on STOP input

0 0: Deceleration stop based on the deceleration time 1: Deceleration stop based on the rapid stop deceleration time

P ar

am et

er b

lo ck

Allowable error range for circular interpolation

It can be set only items to be changed of the specified parameter block data.

Refer to Section 4.3 "Parameter Block" for details of each data.

100[PLS] 0 to 10000.0

[m] 0 to 1.00000 0 to 1.00000 0 to 100000

5 - 19

5 SERVO PROGRAMS FOR POSITIONING CONTROL

Setting value using the Motion SFC program (Indirect setting) Indirect setting Processing at the setting error Setting range

mm inch degree PLS Possible/

not possible Number of used words

Error item data (Note-4) (Stored in D9190)

Control using default value

Not start

-2147483648 to 2147483647 ( 10-1[m])

-2147483648 to 2147483647 ( 10-5[inch])

0 to 35999999 ( 10-5[degree])

-2147483648 to 2147483647

0 to 2147483647

2 2 n08 (Note-1)

1 to 4294967295 ( 10-1[m])

1 to 4294967295 ( 10-5[inch])

0 to 35999999 ( 10-5[degree])

1 to 4294967295

1 to 2147483647 ( 10-1[m])

1 to 2147483647 ( 10-5[inch])

1 to 2147483647 ( 10-5[degree])

1 to 2147483647

2 n09 (Note-1)

-2147483648 to 2147483647

( 10-1[m])

-2147483648 to 2147483647 ( 10-5[inch])

0 to 35999999 ( 10-5[degree])

-2147483648 to 2147483647

0 to 2147483647

2 2 n10 (Note-1)

0 to 999 1 28 0 1 2 3 1 11

1 to 600000000 ( 10-2

[mm/min])

1 to 600000000 ( 10-3

[inch/min])

1 to 2147483647 ( 10-3

[degree/min]) (Note-5)

1 to 2147483647

[PLS/s] 2 12

1 to 65535[ms] 1 13 1 to 65535[ms] 1 14

1 to 65535[ms] 1 15

0 to 100[%] 1 21 1 to 1000[%] 1 16 0: Deceleration to a stop in accordance with the deceleration time

1: Deceleration to a stop in accordance with the rapid stop deceleration time

1

1 to 100000 ( 10-1[m])

1 to 100000 ( 10-5[inch])

1 to 100000 ( 10-5[degree])

1 to 100000 [PLS] 2 17

REMARK

(Note-1): The "n" in n03, n08, n09 and n10, indicates the axis No. (1 to 32). (Note-4): If there are multiple errors in the same program, the latest error item data is

stored. (Note-5): When the "speed control 10 multiplier setting for degree axis is set to

"valid", is 0.01 to 21474836.47 [degree/min].

5 - 20

5 SERVO PROGRAMS FOR POSITIONING CONTROL

Table 5.3 Positioning data (Continued)

Setting value using a peripheral device

Setting range Name Explanation Default value mm inch degree PLS

Repeat condition (Number of repetitions)

Set the repeat conditions between FOR- TIMES instruction and NEXT instruction. 1 to 32767

Repeat condition (ON/OFF)

Set the repeat conditions between FOR- ON/OFF instruction and NEXT instruction. X, Y, M, B, F

Program No. Set the program No. for simultaneous start. 0 to 4095

Command speed (constant-speed)

Set the speed for points on the way in the servo program.

0.01 to

6000000.00 [mm/min]

0.001 to 600000.000 [inch/min]

0.001 to 2147483.647 [degree/min]

(Note-5)

1 to 2147483647

[PLS/s]

Cancel Set to stop execution of a servo program by deceleration stop by turning on the specified bit device in the servo program.

X, Y, M, B, F

Skip

Set to cancel positioning to pass point and execute the positioning to the next point by turning on the specified bit device during positioning at each pass point for constant- speed control instruction.

X, Y, M, B, F

FIN acceleration/ deceleration

Set to execute positioning to each pass point for constant-speed control instruction by turning on the FIN signal.

1 to 5000[ms]

WAIT-ON/OFF

Set to make state of the wating for execution by constnt-speed control and execute the positioning immediately by turning on/off the command bit device.

X, Y, M, B, F

Fixed position stop acceleration/ deceleration time

Acceleration/deceleration time used in the starting of speed control with fixed position stop, speed change request (CHGV) or fixed position stop command ON.

1 to 65535[ms]

O th

er s

Fixed position stop Command bit device of fixed position stop is set. X, Y, M, B, F

5 - 21

5 SERVO PROGRAMS FOR POSITIONING CONTROL

Setting value using the Motion SFC program (Indirect setting) Indirect setting Processing at the setting error Setting range

mm inch degree PLS Possible/

not possible Number of used words

Error item data (Note-4) (Stored in D9190)

Control using default value

Not start

1 to 32767 1 18 Control by K1

0 to 4095 1 19

1 to 600000000 ( 10-2

[mm/min])

1 to 600000000 ( 10-3

[inch/min])

1 to 2147483647 ( 10-3

[degree/min]) (Note-5)

1 to 2147483647

[PLS/s] 2 4 (Note-2) (Note-3)

1 to 5000[ms] 1 13

Control by 1000[ms]

1 to 65535[ms] 1 13 Control by 1000[ms]

REMARK

(Note-2): When an error occurs because the speed limit value is exceeded, it is controlled at the speed limit value.

(Note-3): Applies when the command speed is "0". (Note-4): If there are multiple errors in the same program, the latest error item data is

stored. (Note-5): When the "speed control 10 multiplier setting for degree axis is set to

"valid", is 0.01 to 21474836.47 [degree/min].

5 - 22

5 SERVO PROGRAMS FOR POSITIONING CONTROL

5.4 Setting Method for Positioning Data

This section describes how to set the positioning data used in the servo program. There are two ways to set positioning data, as follows: (1) Setting by specifying numerical values Refer to Section 5.4.1

(2) Indirect setting by word devices . Refer to Section 5.4.2

"Setting by specifying numerical values" and "indirect setting by word devices" can be used together in one servo program.

5.4.1 Setting method by specifying numerical values

In the setting method by specifying numerical values, each positioning data is set by a numerical value, and it becomes fixed data. Data can be set and corrected using a peripheral device only.

ABS-3 Axis 1, Axis 2, Axis 3, Combined-speed Dwell M-code P.B.

3000000.0 5500000.0

-2500000.0 40000.00

2500 12 3

Positioning data

Numerical value setting for positioning data

Fixed data for one servo program.

Fig. 5.3 Setting example of positioning data by specifying numerical value

5 - 23

5 SERVO PROGRAMS FOR POSITIONING CONTROL

5.4.2 Indirect setting method by word devices (D, W and #)

In the indirect setting method (Note-1) by word devices, the word device (D, W and #) No. is specified to the positioning data specified with the servo program. By using the contents (data) of specified word device using the Motion SFC program (Automatic refresh, etc.), multiple positioning controls can be executed in one servo program. The word device used in the indirect setting is the device of the Motion CPU but the device of the PLC CPU. The device memory composition of the Motion CPU and PLC CPU is shown below.

Composition between modules

Sensor, solenoid, etc. (DI/O)

Motion CPU

Shared memory

1)

PLC CPU

Device memory

PLC intelligent function module (A/D, D/A, etc.)

Motion control dedicated I/F (DOG signal, manual pulse generator)

Shared memory

Device memory

Motion control processor

2)

M M

SSCNET

Servo amplifier

Servomotor

PLC bus

Note): Device memory data : 1) = 2)

PLC control processor

(Note-1): Device memory in the Motion CPU.

5 - 24

5 SERVO PROGRAMS FOR POSITIONING CONTROL

(1) Devices for indirect setting data

The devices for indirect setting data are data registers (D), link registers (W) and motion registers (#). (Word devices except the data registers, link registers and motion registers cannot be used.) The usable data registers are shown in the table below.

Word device Usable devices

D 800 to 8191 W 0 to 1FFF # 0 to 7999

ABS-3 Axis 1, Axis 2, Axis 3, Combined-speed Dwell M-code P.B.

Positioning data

D3000 D3004 W010

40000.00 W1B0 D3600

3

Indirect setting by word device Execute the positioning control by the data of (D3001, D3000), (D3005, D3004), (W11, W10), W1B0 and D3600.

Numerical value setting

Axis No. cannot be set indirectly by word device.

Fig. 5.4 Example of setting positioning data by numerical value setting

(2) Inputting of positioning data

In indirect setting by word devices, the word device data is inputted when the servo program is executed using the Motion CPU. It must be executed the start request of the servo program after data is set in the device used for indirect setting at the positioning control.

POINTS

(1) Indirect setting by word devices of the axis No. cannot be set in the servo program.

(2) Take an interlock by using a start accept flag (M2001 to M2032) not to change

the device data for indirect setting until the specified axis has accepted the start command. If the data is changed before the start command is accepted, positioning may not be controlled in a normal value.

6 - 1

6 POSITIONING CONTROL

6. POSITIONING CONTROL

This section describes the positioning control methods. 6.1 Basics of Positioning Control

This section describes the common items for positioning control, which is described in detail after Section 6.2.

6.1.1 Positioning speed

The positioning speed is set using the servo program. Refer to Chapter 5 for details of the servo programs. The real positioning speed is set in the positioning speed and speed limit value using the servo program is shown below: If the positioning speed setting is less than speed limit value, the positioning is

executed with the setting positioning speed. If the positioning speed setting is less than speed limit value, the positioning is

executed with the positioning speed.

(1) If the speed limit value is 120000[mm/min] and the positioning speed setting is

100000[mm/min], the positioning speed is as follows.

120000 100000

Speed limit value Positioning speed

Acceleration time of parameter block

Deceleration time of parameter block

V

t

(2) If the speed limit value is 100000[mm/min] and the positioning speed setting is

120000[mm/min], the positioning speed is as follows.

120000 100000

Speed limit value (Real positioning speed)

Positioning speed V

t

Acceleration time of parameter block

Deceleration time of parameter block

Examples

6

6 - 2

6 POSITIONING CONTROL

6.1.2 Positioning speed at the interpolation control

The positioning speed of the Motion CPU sets the travel speed of the control system. (1) 1 axis linear control

Travel speed is the positioning speed of the specified axis at the 1 axis positioning control.

(2) Linear interpolation control

Positioning is controlled with the speed which had the control system specified at the interpolation control. The positioning speed can be set using one of the following three methods at the 2 to 4 axes linear interpolation control: Combined-speed specification Long-axis speed specification Reference-axis speed specification Control method of the Motion CPU control for every specified method is shown below. (a) Combined-speed specification

The Motion CPU calculates the positioning speed of each axis (V1 to V2) using the travel value (D1 to D4) of each axis based on the positioning speed (V) of the setting control system. Positioning speed of the control system is called the combined-speed. Set the combined-speed and the travel value of each axis in the servo program.

2 axes linear interpolation control is shown below.

Axis 1

Axis 2

(10000, 15000)

V

V1

V2

0 0

Axis 1 travel value: D1 = 10000[PLS] Axis 2 travel value: D2 = 15000[PLS] Combined speed: V = 7000[PLS/s]

[Program example]

[PLS] [PLS] [PLS/s]

ABS-2 Axis Axis Combined-speed

1, 2,

10000 15000 7000

The Motion CPU calculates the positioning speed of each axis using the following

calculation formulas in the above condition:

V = V D / D + D1 1 1 2 2

2Axis 1 positioning speed : V = V D / D + D2 2 1

2 2 2Axis 2 positioning speed :

Example

6 - 3

6 POSITIONING CONTROL

(b) Long-axis speed specification

It is controlled based on the positioning speed (Long-axis speed: V) of the largest travel value axis among address set as each axis. The Motion CPU calculates the positioning speed of other axes (V1 to V3) using the each axis travel value (D1 to D4). Set the long-axis speed and the travel value of each axis using the servo program.

4 axes linear interpolation control is shown below.

[Program example] Axis 1 travel value: D1 = 10000[PLS] Axis 2 travel value: D2 = 15000[PLS] Axis 3 travel value: D3 = 5000[PLS] Axis 4 travel value: D4 = 20000[PLS] Long-axis speed: V = 7000[PLS/s] In this example, since the reference axis

is axis 4 of the largest travel value, it is controlled with the positioning speed specified with axis 4.

The Motion CPU calculates the positioning speed of other axes using the following calculation formulas:

ABS-4 Axis Axis Axis Axis Long-axis speed

1, 2, 3, 4,

10000 15000 5000

20000 7000

[PLS] [PLS] [PLS] [PLS] [PLS/s]

V = D / D V1 1Axis 1 positioning speed : 4

V = D / D V2 2Axis 2 positioning speed : 4

V = D / D V3 3 4Axis 3 positioning speed :

The following conversions are performed if the control units of each axis differ. 1) Combination of axes set in [mm] and [inch]

a) If the interpolation control units are [mm] Travel value: Convert the travel value of axis set in [inch] into [mm]

using the formula: inch setting value 25.4. Speed : The largest travel value axis is controlled with the long-

axis speed and the other axes are controlled with the speed based on the long-axis speed, as the result of conversion.

b) If the interpolation control units are [inch] Travel value: Convert the travel value of axis set in [mm] into [inch]

using the formula: mm setting value 25.4. Speed : The largest travel value axis is controlled with the long-

axis speed and the other axes are controlled with the speed based on the long-axis speed, as the result of conversion.

2) Discrepancy between interpolation control units and control units Travel value: The travel value of each axis is converted into [PLS] unit

with the electronic gear of self axis.

Example

6 - 4

6 POSITIONING CONTROL

Speed : The largest travel value axis is controlled with the long-

axis speed and the other axes are controlled with the speed based on the long-axis speed, as the result of conversion. The positioning speed is converted into [PLS/s] unit as the long-axis speed with the electronic gear that the interpolation control units correspond to control units.

6 - 5

6 POSITIONING CONTROL

POINTS

(1) Speed limit value and positioning speed The setting speed limit value applies to the long-axis speed. Be careful that the combined-speed may exceed the speed limit value at the

long-axis speed specification. The following settings at the 2 axes linear interpolation, the combined-speed

exceeds the speed limit value.

Axis 1 travel value : 100 [PLS] Axis 2 travel value : 200 [PLS] Long-axis speed : 50 [PLS/s] Speed limit value : 55 [PLS/s]

In this example, since the reference-axis is axis 2 of the largest travel value, it is controlled with the speed limit value specified with axis 2.

The positioning speed and combined-speed for each axis are as follows:

Axis 1 positioning speed : 100/ 200 50 = 25 [PLS/s] Axis 2 positioning speed : 50 [PLS/s] Combined-speed : 25 + 50 = 55.9[PLS/s]2 2

Axis 1 positioning speed

Axis 2 positioning speed

Combined-speed

INC-2 Axis Axis Long-axis speed

1, 2,

100 200 50

[PLS] [PLS] [PLS/s]

The combined-speed exceeds the speed limit value setting of 55.

(2) Relationship between speed limit value, acceleration time, deceleration time and rapid stop deceleration time. The real acceleration time, deceleration time and rapid stop deceleration time are set by the setting long-axis speed.

Speed Speed limit value

Positioning speed(long-axis speed) Rapid stop cause occurrence

Time 1)

2) 4)

6) 5)

3)

1) Real acceleration time 2) Setting acceleration time 3) Real deceleration time 4) Setting deceleration time 5) Real rapid stop deceleration time 6) Setting rapid stop deceleration time

(c) Reference-axis speed specification The Motion CPU calculates the positioning speed of other axes (V1 to V3) based on the positioning speed (reference-axis speed : V) of the setting reference-axis using the each axis travel value (D1 to D4). Set the reference-axis No., reference-axis speed and each axis travel value using the servo program.

Example

6 - 6

6 POSITIONING CONTROL

4 axes linear interpolation control is shown below.

[Program example] Axis 1 travel value: D1 = 10000 [PLS]

Axis 2 travel value: D2 = 15000 [PLS] Axis 3 travel value: D3 = 5000 [PLS] Axis 4 travel value: D4 = 20000 [PLS] Reference axis speed: V = 7000 [PLS/s] Reference axis: Axis 4 In this example, since the reference-axis

is axis 4, it is controlled with the positioning speed specified with axis 4. The Motion CPU calculates the positioning speed of other axes using the following calculation formulas:

V = D / D V1 41Axis 1 positioning speed : V = D / D V2Axis 2 positioning speed : 42

V = D / D V3Axis 3 positioning speed : 43

ABS-4 Axis Axis Axis Axis Reference-axis speed Reference-axis

1, 2, 3, 4,

10000 15000

5000 20000 70000

4

[PLS] [PLS] [PLS] [PLS] [PLS/s]

POINTS (1) Reference-axis speed and positioning speed of other axes

Be careful that the positioning speed of an axis for a larger travel value than the reference-axis may exceed the setting reference-axis speed.

(2) Indirect specification of the reference-axis

The reference-axis can be set indirectly using the word devices D, W and #. (Refer to Section 5.4.2.)

(3) Relationship between speed limit value, acceleration time, deceleration time

and rapid stop deceleration time. The real acceleration time, deceleration time and rapid stop deceleration

time are set by the reference-axis speed setting

Speed Speed limit value

Positioning speed (reference-axis speed) Rapid stop cause occurrence

Time 1)

2) 4)

6) 5)

3)

1) Real acceleration time 2) Setting acceleration time 3) Real deceleration time 4) Setting deceleration time 5) Real rapid stop deceleration time 6) Set rapid stop deceleration time

Example

6 - 7

6 POSITIONING CONTROL

(3) Circular interpolation control

The angular speed is controlled with the setting speed at the circular interpolation control.

Control with the setting speed

6.1.3 Control units for 1 axis positioning control

It is controlled in the control units specified with the fixed parameters at the 1 axis positioning control. (The control unit specified with the parameter block is ignored.)

6.1.4 Control units for interpolation control

(1) The interpolation control units specified with the parameter block and the control units of the fixed parameter are checked. If the interpolation control units specified with the parameter block differ from the control units of the each axis fixed parameter for the interpolation control, it shown below.

Interpolation control units in the parameter block mm inch degree PLS

Starting method

Condition for normal start

There are axes whose control unit set in the fixed parameter is [mm] and [inch].

There are axes whose control unit set in the fixed parameter is [degree].

There are axes whose control unit set in the fixed parameter is [PLS].

Positioning control starts by the interpolation control units of parameter block.

Condition for unit mismatch error (Error code [40])

Control units of the fixed parameter for all axes differ from the interpolation control units specified with parameter block.

If the control units of axes to be interpolation- controlled are the same, control starts in the preset control unit.

If the control units of axes to be interpolation- controlled are different, control starts in the unit of highest priority as indicated below.

Priority: PLS > degree > inch > mm

If axis is set to 1000[PLS] and 10.000[inch], 10.000[inch] setting is considered to be 10000[PLS].

6 - 8

6 POSITIONING CONTROL

(2) The combinations of each axis control units for interpolation control are shown in

the table below. Mm inch degree PLS

mm 1) 2) 3) 3) inch 2) 1) 3) 3)

degree 3) 3) 1) 3) PLS 3) 3) 3) 1)

Remarks

1): Same units 2): Combination of [mm] and [inch] 3): Unit mismatch

(a) Same units ( 1) ) The position command is calculated with the setting address (travel value), positioning speed or electronic gear, the positioning is executed.

POINT

If control units for one axis are "degrees" at the circular interpolation control, use "degrees" also for the other axis.

(b) Combination of [mm] and [inch] ( 2) )

If interpolation control units are [mm], positioning is controlled by calculating position commands from the address, travel value, positioning speed and electronic gear, which have been converted to [mm] using the formula: inch setting value 25.4 = mm setting value.

If interpolation control units are [inch], positioning is controlled by calculating position commands from the address, travel value, positioning speed and electronic gear, which have been converted to [inch] using the formula: mm setting value 25.4 = inch setting value.

(c) Discrepancy units ( 3) ) The travel value and positioning speed are calculated for each axis.

a) The electronic gear converts the travel value for the axis to [PLS]. b) For axis where the units match, the electronic gear converts the

positioning speed to units of [PLS/s]. Positioning is conducted using position commands calculated from travel values converted to [PLS] and speeds and electronic gear converted to [PLS/s].

If the interpolation control units match for two or more axes at the 3-axes or more linear interpolation, the positioning speed is calculated with the electronic gear for the axis with the lowest No.

6 - 9

6 POSITIONING CONTROL

6.1.5 Control in the control unit "degree"

If the control units are "degree", the following items differ from other control units. (1) Current value address

The current addresses in the control unit "degree" are ring addresses from 0 to 360.

359.99999 359.99999

000

(2) Stroke limit valid/invalid setting The upper/lower limit value of the stroke limit in the control unit "degree" is within the range of 0 to 359.99999 (a) Stroke limit is valid

Set the "lower limit value to upper limit value of the stroke limit" in a clockwise direction to validate the stroke limit value.

315.00000

90.00000

0

Clockwise Area A

Area B

1) If travel range in area A is set, the limit values are as follows:

a) Lower stroke limit value: 315.00000 b) Upper stroke limit value: 90.00000

2) If travel range in area B is set, the limit values are as follows: a) Lower stroke limit lower limit value: 90.00000 b) Upper stroke limit upper limit value: 315.00000

(b) Stroke limit is invalid

Set the "upper stroke limit value" equal to "lower stroke limit value" to invalidate the stroke limit value. It can be controlled regardless the stroke limit settings.

POINTS

(1) Circular interpolation including the axis which set the stroke limit as invalid cannot be executed.

(2) When the upper/lower limit value of the axis which set the stroke limit as valid

are changed, perform the home position return after that. (3) When the stroke limit is set as valid in the incremental data system, perform

the home position return after power supply on.

6 - 10

6 POSITIONING CONTROL

(3) Positioning control

Positioning control method in the control unit "degree" is shown below. (a) Absolute data method (ABS instructions)

Positioning in a near direction to the specified address is performed based on the current value.

(1) Positioning is executed in a clockwise direction to travel from the current value

of 315.00000to 0. (2) Positioning is executed in a counter clockwise direction to travel from the

current value of 0 to 315.00000.

315.00000 315.00000

0 0

0 315.00000315.00000 0

POINTS (1) The positioning direction of absolute data method is set a clockwise/counter

clockwise direction by the setting method of stroke limit range, positioning in the shortest direction may not be possible.

Travel from the current value 0 to 315.00000must be clockwise positioning

if the lower stroke limit value is set to 0and the upper limit value is set to 345.00000.

315.00000

0345.00000

Clockwise positioning

(2) Set the positioning address within the range of 0 to 360.

Use the incremental data method for positioning of one revolution or more.

(b) Incremental data method (INC instructions) Positioning by the specified travel value to the specified direction. The travel direction is set by the sign of the travel value, as follows: 1) Positive travel value ................Clockwise rotation 2) Negative travel value...............Counter clockwise rotation

POINT

Positioning of 360 or more can be executed in the incremental data method.

Examples

Example

6 - 11

6 POSITIONING CONTROL

6.1.6 Stop processing and restarting after stop

This section describes the stop processing after a stop cause is input during positioning and restarting after stop. (1) Stop processing

(a) Stop processing methods Stop processing during positioning by stop cause are as follows. 1) Deceleration stop (Process 1).......Deceleration stop by "stop deceleration

time" of parameter block. Speed limit value

Stop cause

Operation speed

Stop

Real deceleration time

"Stop deceleration time" of parameter block

2) Rapid stop (Process 2)..................Deceleration stop by "rapid stop

deceleration time" of parameter block. Stop cause

Stop

Real deceleration time "Rapid stop deceleration time" of parameter block

3) Immediate stop (Process 3)...........Stop without deceleration processing.

Stop cause

Stop

6 - 12

6 POSITIONING CONTROL

4) Stop using the manual pulse generator (Process 4)

..................Deceleration stop by the "deceleration time" of (Smoothing magnification + 1) 56.8[ms].

(b) Priority for stop processing

Priority for stops when a stop cause is input is as follows: Process 1 < Process 2 < Process 3

A rapid stop is started if a rapid stop cause is input during one of the following types

of deceleration stop processing : After automatic deceleration start during positioning control; During deceleration after JOG start signal turns off; During deceleration stop processing by stop cause (Process 1).

Deceleration stop processing

Stop

Rapid stop cause

Rapid stop deceleration processing

Example

6 - 13

6 POSITIONING CONTROL

(c) Stop commands and stop causes

Some stop commands and stop causes affect individual axis and others affect all axes. However, during interpolation control, stop commands and stop causes which affect individual axis also stop the interpolation axis. For example, both Axis 1 and Axis 2 stop after input of a stop command (stop cause) during the Axis 1 and Axis 2 interpolation control.

Stop processing No. Stop cause

Axis classification Positioning

control Speed control

Jog operation

Home position return

Manual pulse generator

Error processing

1 STOP signal input (STOP) of the Q172LX ON

Process 1 or Process 2 According to deceleration processing on STOP input

parameter of parameter block.

2 Stop command "M3200 + 20n" ON

Process 1

3 Rapid stop command "M3201 + 20n" ON

Process 2

4 FLS input signal OFF of Q172LX/servo amplifier

5 RLS input signal OFF of Q172LX/servo amplifier

Process 1 or Process2 According to deceleration processing on STOP input

parameter of parameter block.

Process 4

6 Servo error detection "M2408 +20n" ON

Individual

Process 3

7 PLC ready flag M2000 OFF Process 1

8 Deceleration stop using a peripheral devices (Note-1)

Process 1

9 Rapid stop of the all axes using a peripheral devices (Note-1)

Process 2

10 Motion CPU stop Process 1

Process 4

Refer to "APPENDIX 1 Error Codes Stored Using The Motion CPU"

11 Motion CPU reset Process 3

12 PCPU WDT error Process 3 M9073 (PCPU WDT error) ON

13 Other CPU WDT error Process 1

14 Motion CPU power off Process 3

15 Forced stop

All axes

Process 3 Servo amplifier is stopped at the servo OFF.

16 Servo amplifier power off Individual Process 3 Major error at the start (no servo)

17 Speed change to speed "0" Individual

(Note-2) Process 1

(Note-1): Test mode (Note-2): Applies to all axes used in the servo program set in the speed "0".

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6 POSITIONING CONTROL

(2) Re-starting after stop

(a) If it stopped by the stop command or stop cause (except change speed to speed "0"), re-starting is not possible. However, it stopped by the STOP input of the Q172LX ON, the stop command (M3200+20n) ON or the rapid stop command (M3201+20n) ON during speed/position switching control, re-starting is possible using VPSTART instruction.

(b) If it stopped by the speed change to speed "0" using CHGV instruction, re- starting is possible by executing the speed change to speed other than "0".

Speed before speed change

Speed after re-starting

V

t Re-startingStop by the speed

change to speed "0"

1)

2)

3)OFF ON

Start accept flag (M2001 to M2032)

CHGV instruction

Speed changing flag (M2061+n) Stop command (M3200+20n)

Servo program start

1) The start accept flag (M2001 to M2032) remains on after stop by the speed change to "0".

2) Re-starting by changing the speed again. 3) However, if the start accept flag (M2001 to M2032) turns off by turning

on the stop command (M3200+20n), re-starting is not possible even if make a speed change once again.

6 - 15

6 POSITIONING CONTROL

(3) Continuation of positioning control

This section describes the processing which performed servo program No. which was being performed before the stop, after stop by turning on the STOP input of the Q172LX ON, the stop command (M3200+20n) ON or the rapid stop command (M3201+20n) ON. (a) 1 axis linear control/2 or 3 axes linear interpolation control

1) For ABS ....... Positioning control from the stop address to target address by the target address specification.

Stop position by stop command

Start address 2 after stop

Target address

Start address 1

Axis 1

Axis 2

2) For INC ........ Positioning control of the travel value from the stop address.

Stop position by stop command

Travel from address 1 Travel from address 2

Address 2 (start address after stop)

Address 1 (start address)

Axis 2

Axis 1

When the address 2 is moved to the same address (address which calculates with start address + specified travel value) using the INC , the following processing using the servo program and Motion SFC program is required.

[Servo Program]

The travel value of servo program which executes the positioning from address is set indirectly by the word devices, as follows.

Travel value

INC-2 Axis Axis Combined-speed

1, 2,

D3000 D3002

5000

6 - 16

6 POSITIONING CONTROL

[Processing in the Motion SFC Program]

1. Transfer the start address to word devices of the Motion CPU before starting.

2. Calculate the target address by applying the travel value to the address before starting.

3. Calculate the residual travel value by subtracting the stop address from the target address.

4. Store the residual travel value in the servo program for travel value register.

5. Perform the servo program. Axis 2

Axis 1

Stop position by stop command [Address 2 (start address after stop)]

Address 1 (start address)

Travel value from Address 2 (Note)

Travel value from Address 1

Travel value from Address 1 (Note): Store in registers for travel value.

Travel value from Address 2 (Note)

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6 POSITIONING CONTROL

6.1.7 Acceleration/deceleration processing

Acceleration/deceleration are processed by the following two methods. (1) Trapezoidal acceleration/deceleration processing

This is a conventional linear acceleration/deceleration processing. The acceleration/deceleration graph resembles a trapezoid, as shown in the diagram below.

Positioning speed

V

Acceleration time Deceleration time Time

t 0

(2) S-curve acceleration/deceleration processing S-curve ratio is set as a parameter to provide gentler acceleration and deceleration than trapezoidal processing. The acceleration/deceleration graph is sinusoidal, as shown in the diagram below. Set the S-curve ratio in the parameter block (Refer to Section 4.3.2) or using the servo program.

Positioning speed V

Acceleration time Deceleration time Time

t 0

S-curve ratio set the part of the sine curve used to produce the acceleration and deceleration curve as shown in the diagram below.

sine curve

A

B B/2 (Example)

Positioning speed

V

Positioning speed

S-curve ratio 100[%]

S-curve ratio 70[%] t

b

a b/a = 0.7

B/2

S-curve ratio = B/A 100[%]

V

t

6 - 18

6 POSITIONING CONTROL

S-curve ratio can be set by the servo program is following two methods. (a) Direct specification

S-curve ratio is set directly as a numeric value from 0 to 100.

INC-2 Axis Axis Combined-speed S-curve ratio

1, 2,

100000 250000

1000 80

2 axes linear positioning control Axis used . . . . . . . . . . Axis 1, Axis 2

Travel value to . . . . . . . stop position

Axis 1 . . . 100000 Axis 2 . . . 250000

Positioning speed . . . . 1000 S-curve ratio . . . . . . . . 80[%]

(b) Indirect specification S-curve ratio is set by the contents of data registers. The usable data registers are shown below.

Word devices Usable devices

D 800 to 8191 W 0 to 1FFF # 0 to 7999

ABS-1 Axis Speed S-curve ratio

1, 30000 400000 D3487

1 axis linear positioning control Axis used . . . . . . . . . . . . . Axis 1, Axis 2 Positioning address . . . . . 30000 Positioning speed . . . . . . . 400000 Indirect specification by word devices

6 - 19

6 POSITIONING CONTROL

6.2 1 Axis Linear Positioning Control

Positioning control from the current stop position to the fixed position for specified axis is executed. Positioning is controlled using ABS-1 (Absolute data method) or INC-1 (Incremental data method) servo instructions.

Items are set in peripheral devices Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

e R

ap id

S to

p de

ce le

ra tio

n tim

e To

rq ue

li m

it va

lu e

D ec

el er

at io

n pr

oc es

si ng

o n

st op

in pu

t Al

lo w

ab le

e rro

r r an

ge fo

r c irc

ul ar

in te

rp ol

at io

n S-

cu rv

e ra

tio

C an

ce l

W AI

T- O

N /O

FF

Speed change

ABS-1 Absolute

INC-1 Incremental 1 Valid

: Must be set : Set if required

[Control details]

Control using ABS-1 (Absolute data method)

(1) Positioning control from the current stop address (pre-positioning address) based on the home position to the specified address is executed.

(2) The travel direction is set by the current stop address and the specified address.

When the current stop address is 1000, and the specified address is 8000.

Current stop address

10000

Home position Positioning control

Specified address

8000

Fig.6.1 Positioning using absolute data method

Example

6 - 20

6 POSITIONING CONTROL

Control using INC-1 (Incremental data method)

(1) Positioning control of the specified travel value from the current stop position

address is executed.

(2) The travel direction is set by the sign (+/ -) of the travel value, as follows: Positive travel value .............Positioning control to forward direction

(Address Increase direction) Negative travel value............Positioning control to reverse direction

(Address decrease direction) Current stop address

Reverse direction

Forward direction

Travel direction for negative travel value

Travel direction for positive travel value

When the current stop address is -3000, and the travel value is -5000.

Current stop address

-8000 -3000 -2000 -1000 0

Home positionTravel value = -5000

Fig.6.2 Positioning using incremental data method

[Program]

Servo program No. 0 for positioning control is shown as the following conditions. (1) System configuration

1 axis linear positioning control of Axis 4.

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

Positioning start command (PX000)

AMP

M M MM

Motion CPU control module

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP

(2) Positioning operation details Positioning using the servo program No.0 is shown below. In this example, Axis 4 is used in servo program No.0.

Home position

Current stop address Positioning address using the servo program No.0

0 1000 80000

Example

6 - 21

6 POSITIONING CONTROL

(3) Operation timing

Operation timing for the servo program No.0 is shown below.

Servo Program No.010000

V

PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049)

Start command (PX000)

Servo program start Axis 4 start accept flag (M2004)

Axis 4 servo ready (M2475)

t

(4) Servo program Servo program No.0 for positioning control is shown below.

INC-1 Axis Speed

4,

80000 10000

1 axis linear positioning control Axis used . . . . . . . . . . . Axis 4 Travel value to . . . . . . . . 80000 stop position Command speed . . . . . . 10000

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

SET M2042

INC-1 Axis 4, 80000PLS Speed 10000PLS/s

PX000*M2475

END

!PX000

1 axis linear positioning control Axis used . . . . . . . . . . Axis 4 Travel value to . . . . . . . 80000[PLS] stop position Command speed . . . . . 10000[PLS/s]

1 axis linear positioning control

Turn on all axes servo ON command.

Wait until PX000 and Axis 4 servo ready turn on.

Wait until PX000 turn off after linear positioning completion.

1 axis linear positioning control

[F10]

[G10]

[G20]

[K0]

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

6 - 22

6 POSITIONING CONTROL

6.3 2 Axes Linear Interpolation Control

Linear interpolation control from the current stop position with the specified 2 axes is executed. ABS-2 (Absolute data method) and INC-2 (Incremental data method) servo instructions are used in the 2 axes linear interpolation control.

Items are set in peripheral devices Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

e R

ap id

s to

p de

ce le

ra tio

n tim

e To

rq ue

li m

it va

lu e

D ec

el er

at io

n pr

oc es

si ng

o n

st op

in pu

t Al

lo w

ab le

e rro

r r an

ge fo

r c irc

ul ar

in te

rp ol

at io

n S-

cu rv

e ra

tio

C an

ce l

W AI

T- O

N /O

FF

Speed change

ABS-2 Absolute

INC-2 Incremental 2 Valid

: Must be set : Set if required

[Control details]

Control using ABS-2 (Absolute data method)

(1) 2 axes linear interpolation from the current stop address (X1 or Y1) based on the home position to the specified address (X2 or Y2) is executed.

6 - 23

6 POSITIONING CONTROL

(2) The travel direction is set by the stop address (starting address) and positioning

address of each axis.

Forward direction

Y1

Y2

Y-axis travel value

Reverse direction

Reverse direction

Current stop address (X1, Y1)

Positioning address (X2, Y2)

Operation for X-axis, Y-axis linear interpolation

X-axis travel value

X1 X2

: Indicates setting data

Forward direction0

(Note)

When the current stop address is (1000, 4000), and the positioning address is (10000, 2000).

Current stop address

Positioning addressY-axis travel value (4000 - 2000 = 2000)

X-axis travel value (10000 - 1000 = 9000)

4000

2000

0 5000 100001000

Fig.6.3 Positioning using absolute data method

Example

6 - 24

6 POSITIONING CONTROL

Control using INC-2 (Incremental data method)

(1) Positioning control from the current stop address to the position which combined

travel direction and travel value specified with each axis is executed.

(2) The travel direction for each axis is set by the sign (+/ -) of the travel value for each axis, as follows: Positive travel value .............Positioning control to forward direction

(Address increase direction) Negative travel value............Positioning control to reverse direction

(Address decrease direction)

Forward direction

Y-axis travel value

Reverse direction

Reverse direction

X-axis travel value

0

Y1

X1 Current stop address

Forward direction

Reverse: Travel direction for

: Indicates setting data negative travel value

positive travel value Forward: Travel direction for(Note-1):

When the X-axis travel value is 6000 and Y-axis travel value is -2000.

Y-axis travel value

X-axis travel value (Note-2): Current stop address (-1000, -1000)

Stop position after positioning

Positioning operation

-3000

Home position

50000(Note-2)

Fig.6.4 Positioning using incremental data method

[Program]

Program for 2 axes linear interpolation control is shown as the following conditions. (1) System configuration

2 axes linear interpolation control of Axis 3 and Axis 4.

Positioning start command (PX000)

M M MM

Motion CPU control module

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

Example

6 - 25

6 POSITIONING CONTROL

(2) Positioning operation details

The positioning is used the Axis 3 and Axis 4 servomotors. The positioning operation by the Axis 3 and Axis 4 servomotors is shown in the diagram below.

Axis 3 positioning direction

Positioning using the servo program No.11

Axis 4 positioning direction(0, 0)Home position

(40000, 50000)

(3) Positioning conditions (a) Positioning conditions are shown below.

Servo Program No. Item

No.11

Positioning speed 30000

(b) Positioning start command ........ Turning PX000 off to on (OFF ON)

(4) Operation timing

Operation timing for 2 axes linear interpolation control is shown below.

Servo program No.11

PLC ready flag (M2000)

V

All axes servo ON command (M2042) All axes servo ON accept flag (M2049)

Start command (PX000)

Axis 3 start accept flag (M2003) Axis 4 start accept flag (M2004)

Axis 3 servo ready (M2455)

Axis 4 servo ready (M2475)

Servo program start

t

6 - 26

6 POSITIONING CONTROL

(5) Servo program

Servo program No.11 for 2 axes linear interpolation control is shown below.

ABS-2 Axis Axis Combined-speed

3, 4,

50000 40000 30000

2 axes linear interpolation control Axis used . . . . . . . . . . Axis 3, Axis 4

Axis 3 . . . 50000

Axis 4 . . . 40000 Command positioning speed

Combined-speed . . . . . 30000

. . . . . . Travel value to stop position

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

SET M2042

ABS-2 Axis 3, 50000PLS Axis 4, 40000PLS Speed 30000PLS/s

PX000*M2455*M2475

END

!PX000

2 axes linear interpolation control

2 axes linear

Wait until PX000 turns off after linear interpolation completion.

Turn on all axes servo ON command.

Wait until PX000, Axis 3 servo ready and Axis 4 servo ready turn on.

2 axes linear interpolation control Axis used . . . . . . . . . . . . Axis 3, Axis 4

Command positioning speed Combined-speed . . . . . . . . . 30000[PLS/s]

. . . . . . . . Axis 3 . . . 50000[PLS] Axis 4 . . . 40000[PLS]

Travel value to stop position

interpolation control

[F10]

[G10]

[G20]

[K11]

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

6 - 27

6 POSITIONING CONTROL

6.4 3 Axes Linear Interpolation Control

Linear interpolation control from the current stop position with the specified 3 axes is executed.

Items are set in peripheral devices Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

e R

ap id

s to

p de

ce le

ra tio

n tim

e To

rq ue

li m

it va

lu e

D ec

el er

at io

n pr

oc es

si ng

o n

st op

in pu

t Al

lo w

ab le

e rro

r r an

ge fo

r c irc

ul ar

in te

rp ol

at io

n S-

cu rv

e ra

tio

C an

ce l

W AI

T- O

N /O

FF

Speed change

ABS-3 Absolute

INC-3 Incremental 3 Valid

: Must be set : Set if required

6 - 28

6 POSITIONING CONTROL

[Control details]

Control using ABS-3 (Absolute data method)

(1) 3 axes linear interpolation from the current stop address (X1, Y1 or Z1) based on the home position to the specified positioning address (X2, Y2, Z2) is executed.

(2) The travel direction is set by the stop address and specified address of each axis.

Address after positioning (X2, Y2, Z2)

Linear interpolation control of X-axis,Y-axis and Z-axis

Forward direction

Forward direction

Reverse direction

Reverse direction

Home position 0

Reverse direction

Current stop address (X1, Y1, Z1)

: Indicates setting data (Note)

Forward direction

When the current stop address is (1000, 2000, 1000), and the specified

address is (4000, 8000, 4000). Positioning address (4000, 8000, 4000)

Forward direction

Forward direction

8000

X-axis, Y-axis and Z-axis linear interpolation operation

Current stop address (1000, 2000, 1000)

1000 1000

4000

4000 Home position

0

2000

Forward direction

Fig.6.5 Positioning using absolute data method

Example

6 - 29

6 POSITIONING CONTROL

Control using INC-3 (Incremental data method)

(1) Positioning control from the current stop address to the position which combined

travel direction and travel value specified with each axis is executed.

(2) The travel direction for each axis is set by the sign (+/ -) of the travel value for each axis, as follows: Positive travel value .............Positioning control to forward direction

(Address increase direction) Negative travel value............Positioning control to reverse direction

(Address decrease direction)

Forward direction

Forward direction

Forward direction

Reverse direction

Reverse direction

Reverse direction

Z-axis

Z1

Y1

0

X1

Current stop address

: Indicates setting data (Note)

X-axis travel value

Y-axis travel value

travel value

When the X-axis travel value is 10000, Y-axis travel value is 5000 and X-axis

value is 6000. Stop position after positioning (11300, 6300, 8000)

Positioning operation

Y-axis travel value (5000)

Current stop address (1300, 1300, 2000)

50006000

Z-axis travel value (6000)

Home position 5000 10000

X-axis travel value (10000)

Forward direction

Forward direction

Forward direction

Reverse direction

Fig.6.6 Positioning using incremental data method

Example

6 - 30

6 POSITIONING CONTROL

[Program]

Program for 3 axes linear interpolation control is shown as the following conditions. (1) System configuration

3 axes linear interpolation control of Axis 1, Axis 2 and Axis 3.

Positioning start command (PX000)

M M MM

Motion CPU control module

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

(2) Positioning operation details The positioning is used the Axis 1, Axis 2 and Axis 3 servomotors. The positioning operation by the Axis 1, Axis 2 and Axis 3 servomotors is shown in the diagram below.

Axis 2 positioning direction

(50000, 40000, 30000)

Positioning using the servo program No.21.40000

30000

50000Home position (0, 0, 0)

(Reverse direction)

Axis 3 positioning direction

Axis 1 positioning direction(Reverse direction)

(Reverse direction)

(Forward direction)

(Forward direction)

(Forward direction)

(3) Positioning conditions (a) Positioning conditions are shown below.

Servo Program No. Item

No.21

Positioning method Absolute data method Positioning speed 1000

(b) Positioning start command ........ Turning PX000 off to on (OFF ON)

6 - 31

6 POSITIONING CONTROL

(4) Operation timing

Operation timing for 3 axes linear interpolation control is shown below.

V

Servo program No.21

PLC ready flag (M2000)

All axes servo ON command (M2042) All axes servo ON accept flag (M2049)

Start command (PX000)

Axis 2 start accept flag (M2002) Axis 3 start accept flag (M2003)

Axis 3 servo ready (M2455)

Axis 2 servo ready (M2435)

Axis 1 servo ready (M2415)

Servo program start

t

Axis 1 start accept flag (M2001)

(5) Servo program Servo program No.21 for 3 axes linear interpolation control is shown below.

ABS-3 Axis Axis Axis Combined-speed

1, 2, 3,

50000 40000 30000 1000

3 axes linear interpolation control Axis used . . . . . . . .. Axis 1, Axis 2, Axis 3

Positioning address Axis1 . . . 50000 Axis2 . . . 40000 Axis3 . . . 30000

Command positioning speed Combined-speed . . . 1000

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

6 - 32

6 POSITIONING CONTROL

(6) Motion SFC program

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

SET M2042

ABS-3 Axis 1, 50000PLS Axis 2, 40000PLS Axis 3, 30000PLS Speed 1000PLS/s

PX000*M2415*M2435*M2455

END

!PX000

3 axes linear interpolation control

3 axes linear

Wait until PX000 turn off after linear interpolation completion.

Turn on all axes servo ON command.

Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and Axis 3 servo ready turn on.

3 axes linear interpolation control Axis used . . . . . . . . . . . . Axis 1, Axis 2, Axis 3

Command positioning speed Combined-speed . . . . . . . . 1000[PLS/s]

. . . . Axis 1 . . . 50000[PLS] Axis 2 . . . 40000[PLS] Axis 3 . . . 30000[PLS]

Positioning address

interpolation control

[F10]

[G10]

[G20]

[K21]

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

6 - 33

6 POSITIONING CONTROL

6.5 4 Axes Linear Interpolation Control

Linear interpolation control from the current stop position with 4 axes specified with the positioning command of the PLC program is executed.

Items are set in peripheral devices Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e A

ux ili

ar y

po in

t R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni t

S pe

ed li

m it

va lu

e A

cc el

er at

io n

tim e

D ec

el er

at io

n tim

e R

ap id

s to

p de

ce le

ra tio

n tim

e To

rq ue

li m

it va

lu e

D ec

el er

at io

n pr

oc es

si ng

o n

st op

in pu

t A

llo w

ab le

e rr

or ra

ng e

fo r c

irc ul

ar in

te rp

ol at

io n

S -c

ur ve

ra tio

C

an ce

l

W AI

T- O

N /O

FF

Speed change

ABS-4 Absolute

INC-4 Incremental 4 Valid

: Must be set : Set if required

[Control details] Positioning control which starts and completes the 4 axes simultaneously is executed.

4 axes linear interpolation V

V

V

V

t Axis 1

t Axis 2

t Axis 3

t Axis 4

Travel value

Equal time

Example

6 - 34

6 POSITIONING CONTROL

[Program]

Program for 4 axes linear interpolation control is shown as the following conditions. (1) System configuration

4 axes linear interpolation control of Axis 1, Axis 2, Axis 3 and Axis 4.

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

Positioning start command (PX000)

M M MM

Motion CPU control module

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

(2) Positioning operation details The positioning is used the Axis 1, Axis 2, Axis 3 and Axis 4 servomotors. The positioning by the Axis 1, Axis 2, Axis 3 and Axis 4 servomotors is shown in the diagram below.

Axis 2

Axis 1

Axis 4

Axis 3

Fig.6.7 Axis configuration

6 - 35

6 POSITIONING CONTROL

Axis 2 positioning direction (Forward direction)

5000

5000

5000

(Reverse direction)

Positioning using the servo program No.22 (Forward direction)

Axis 4 positioning direction (Forward direction)

Axis 1 positioning direction (Forward direction)

Axis 3 positioning direction (Forward direction)

(Reverse direction)

(Reverse direction) Fig.6.8 Positioning for 4 axes linear interpolation control

(3) Positioning conditions

(a) Positioning conditions are shown below. Servo Program No.

Item No.22

Positioning method Incremental data method Positioning speed 10000

(b) Positioning start command ........ Turning PX000 off to on (OFF ON)

6 - 36

6 POSITIONING CONTROL

(4) Operation timing

Operation timing for 4 axes linear interpolation control is shown below.

PLC ready flag (M2000) All axes servo ON command (M2042)

Servo program No.22

All axes servo ON accept Flag (M2049)

Start command (PX000)

Axis 1 start accept flag (M2001) Axis 2 start accept flag (M2002) Axis 3 start accept flag (M2003) Axis 4 start accept flag (M2004)

V

Axis 1 servo ready (M2415)

Axis 3 servo ready (M2455)

Axis 2 servo ready (M2435)

Axis 4 servo ready (M2475)

Servo program start

t

(5) Servo program Servo program No.22 for 4 axes linear interpolation control is shown below.

INC-4 Axis Axis Axis Axis Combined-speed

1, 2, 3, 4,

3000 4000 4000 4000

10000

4 axes linear interpolation control

Axis used . . . . Axis 1, Axis 2, Axis 3, Axis4

Travel value to stop position . . . . . . .

Axis 1 . . . . . 3000 Axis 2 . . . . . 4000 Axis 3 . . . . . 4000 Axis 4 . . . . . 4000

Command positioning speed Combined-speed . . . . . . . . . . . . . . 10000

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

6 - 37

6 POSITIONING CONTROL

(6) Motion SFC program

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

4 axes linear interpolation control Axis used . . . . . . . Axis 1, Axis 2, Axis 3, Axis 4

Command positioning speed Combined-speed . . . . . . . . . . . . . . . 10000[PLS/s]

SET M2042

INC-4 Axis 1, 3000PLS Axis 2, 4000PLS Axis 3, 4000PLS Axis 4, 4000PLS Speed 10000PLS/s

PX000*M2415*M2435*M2455

END

!PX000

4 axes linear interpolation control

4 axes linear

Wait until PX000 turn off after linear interpolation completion.

Turn on all axes servo ON command.

Wait until PX000, Axis 1 servo ready, Axis 2 servo ready, Axis 3 servo ready and Axis 4 servo ready turn on.

. . . . . . . Axis 1 . . . 3000[PLS] Axis 2 . . . 4000[PLS] Axis 3 . . . 4000[PLS] Axis 4 . . . 4000[PLS]

Travel value to stop position

*M2475

interpolation control

[F10]

[G10]

[K22]

[G20]

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

6 - 38

6 POSITIONING CONTROL

6.6 Auxiliary Point-Specified Circular Interpolation Control

Circular interpolation control by specification of the end point address and auxiliary point address (a point on the arc) for circular interpolation is executed. Auxiliary point-specified circular uses ABS (Absolute data method) and INC (Incremental data method) servo instructions.

Items are set in peripheral devices Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

P ar

am et

er b

lo ck

N o.

A

xi s

A dd

re ss

/tr av

el v

al ue

C

om m

an d

sp ee

d D

w el

l t im

e M

-c od

e To

rq ue

li m

it va

lu e

A ux

ili ar

y po

in t

R ad

iu s

C en

tra l p

oi nt

C

on tro

l u ni

t S

pe ed

li m

it va

lu e

A cc

el er

at io

n tim

e D

ec el

er at

io n

tim e

R ap

id s

to p

de ce

le ra

tio n

tim e

To rq

ue li

m it

va lu

e D

ec el

er at

io n

pr oc

es si

ng o

n st

op in

pu t

A llo

w ab

le e

rr or

ra ng

e fo

r c irc

ul ar

in te

rp ol

at io

n S

-c ur

ve ra

tio

C an

ce l

W AT

-O N

/O FF

Speed change

ABS Absolute

INC Incremental 2 Valid

: Must be set : Set if required

[Control details]

Control using ABS (Absolute data method)

(1) Circular interpolation from the current stop address (address before positioning) based on the home position through the specified auxiliary point address to the end point address is executed.

(2) The center of the arc is the point of intersection of the perpendicular bisectors of

the start point address (current stop address) to the auxiliary point address, and the auxiliary point address to the end point address.

Forward direction

Reverse direction

End point address (X1, Y1)

Auxiliary point address (X2, Y2)

Arc central point

Operation by circular interpolation

0 Forward direction

Reverse direction

Start point address (X0, Y0)

: Indicates setting data (Note) Fig.6.9 Circular interpolation control using absolute data method

6 - 39

6 POSITIONING CONTROL

(3) The setting range of the end point address and auxiliary point address is (-231) to

(231-1).

(4) The maximum arc radius is 232-1.

Maximum arc

Arc central point Radius R

231-1-231

0

232-1

Fig.6.10 Maximum arc

Control using INC (Incremental data method)

(1) Circular interpolation from the current stop address through the specified auxiliary

point address to the end point address is executed.

(2) The center of the arc is the point of intersection of the perpendicular bisectors of the start point address (current stop address) to the auxiliary point address, and the auxiliary point address to the end point address. Forward direction Positioning speed

End point

Travel value to auxiliary point

Start point

Home position

Y1

Y2 X1

X2

Travel value to end point

Travel value to end point

Travel value to auxiliary point

Forward direction

Reverse direction

: Indicates setting data (Note)

Auxiliary point Arc central point

Fig.6.11 Circular interpolation control using incremental data method

(3) The setting range for the travel value to the end point address and auxiliary point

address is 0 to (231-1).

6 - 40

6 POSITIONING CONTROL

(4) The maximum arc radius is 231-1.

If the end point and auxiliary point are set more than a radius of 231-1, an error occurs at the start and error code [107] is stored in the data register.

Maximum arc

231-1-231

231-1

0

Radius R

Arc central point

Fig.6.12 Maximum arc

[Program]

Program for auxiliary point-specified circular interpolation control is shown as the following conditions. (1) System configuration

Auxiliary point-specified circular interpolation control of Axis 1 and Axis 2.

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

Positioning start command (PX000)

M M MM

Motion CPU control module

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

(2) Positioning details The positioning uses the Axis 1 and Axis 2 servomotors. The positioning by the Axis 1 and Axis 2 servomotors is shown in the diagram below.

Axis 2 positioning direction

(Forward direction)

50000

30000

20000

10000 40000 80000

Auxiliary point (40000, 50000)

Positioning using the servo program No.31

Start point (10000, 20000)

Arc central point

0

End point (80000, 30000)

Axis 1 positioning direction (Forward direction)

6 - 41

6 POSITIONING CONTROL

(3) Positioning conditions

(a) Positioning conditions are shown below. Servo program No.

Item No.31

Positioning method Absolute data method Positioning speed 1000

(b) Positioning start command ........ Turning PX000 off to on (OFF ON)

(4) Operation timing

Operation timing for auxiliary point-specified circular interpolation control is shown below.

PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049)

V

Combined-speed

Axis 1 start accept flag (M2001) Axis 2 start accept flag (M2002)

Start command (PX000)

Servo program No.31

Axis 1 servo ready (M2415)

Axis 2 servo ready (M2435)

Servo program start

t

(5) Servo program Servo program No.31 for auxiliary point-specified circular interpolation control is shown below.

ABS Axis Axis Speed Auxiliary point Auxiliary point

1, 2,

1, 2,

80000 30000

1000 40000

50000

Auxiliary point-specified circular interpolation control

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

End point address

Positioning speed . . . . . . . . . . . . . . 1000

Auxiliary point address Axis 1 . . . 40000 Axis 2 . . . 50000

Axis 1 . . . . . . 80000 Axis 2 . . . . . . 30000

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

6 - 42

6 POSITIONING CONTROL

(6) Motion SFC program

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

Auxiliary point-specified circular interpolation control

SET M2042

PX000*M2415*M2435

END

!PX000 Wait until PX000 turn off after circular interpolation completion.

Turn on all axes servo ON command.

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

Auxiliary point-specified circular interpolation control Axis used. . . . . . . . . . . . . . . Axis 1, Axis 2

Positioning speed . . . . . . . . . . . . . . . . . . . .

. . . . . . . Axis 1 . . . 80000[PLS] Axis 2 . . . 30000[PLS]End point address

Auxiliary point-specified circular interpolation control

ABS Axis 1, 80000PLS Axis 2, 30000PLS Speed 1000PLS/s Auxiliary 1, 40000PLS point Auxiliary 2, 50000PLS point

. . . . . Axis 1 . . . 40000[PLS] Axis 2 . . . 50000[PLS]

1000[PLS/s]

Auxiliary point address

[F10]

[G10]

[K10]

[G20]

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

6 - 43

6 POSITIONING CONTROL

6.7 Radius-Specified Circular Interpolation Control

Circular interpolation control by specification of the end point address and radius for circular interpolation is executed. Radius-specified circular interpolation control uses ABS , ABS , ABS and ABS (Absolute data method) and INC , INC , INC and INC (Incremental data method) servo instructions.

Items are set in peripheral devices Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

e R

ap id

s to

p de

ce le

ra tio

n tim

e To

rq ue

li m

it va

lu e

D ec

el er

at io

n pr

oc es

si ng

o n

st op

in pu

t Al

lo w

ab le

e rro

r r an

ge fo

r c irc

ul ar

in te

rp ol

at io

n S-

cu rv

e ra

tio

C an

ce l

W AI

T- O

N /O

FF

Speed change

ABS ABS

ABS

ABS

Absolute

INC

INC

INC

INC

Incremental

2 Valid

: Must be set : Set if required

6 - 44

6 POSITIONING CONTROL

[Control details]

Details for the servo instructions are shown in the table below.

Instruction Rotation direction of

the servomotors Maximum controllable

angle of arc Positioning path

ABS

INC Clockwise

Positioning path End point

Radius R Central point

<180 Start point

ABS

INC Counter clockwise

0 < < 180 Central point

Radius R

Start point

End point Positioning path

<180

ABS

INC

Clockwise

Positioning path

180 <360 Central point

End pointStart point Radius R

<=

ABS

INC

Counter clockwise

180 < 360

Radius R Start point

End point

Positioning path

Central point 180 <360<=

Control using ABS , ABS , ABS , ABS (Absolute data method)

(1) Circular interpolation from the current stop address (address before positioning)

based on the home position to the specified end address with the specified radius is executed.

(2) The center of the arc is the point of intersection of the perpendicular bisectors of

the start point address (current stop address) to the end address.

Forward direction Positioning speed

Circular interpolation path

End address (X1, Y1)

Radius R Arc central point

Reverse direction 0

Start point address (X0, Y0)

Forward direction

Reverse direction : Indicates setting data (Note) Fig.6.13 Circular interpolation control using absolute data method

(3) The setting range of end point address is (-231) to (231-1).

6 - 45

6 POSITIONING CONTROL

(4) The setting range for the radius is 1 to (231-1).

(5) The maximum arc radius is (232-1).

231-1

231-1-231

Maximum arc

Arc central point Radius R

0

Fig.6.14 Maximum arc

Control using INC , INC , INC , INC (Incremental data method)

(1) Circular interpolation from the current stop address (0, 0) to the specified end

point with specified radius.

(2) The center of the arc is the point of intersection of the perpendicular bisectors of the start point address (current stop address) to the end address.

Reverse direction 0

Start point Radius R

Arc central point

Circular interpolation path

End point

Positioning speed

Forward direction

Reverse direction

Forward direction

: Indicates setting data (Note) Fig.6.15 Circular interpolation control using incremental data method

(3) Setting range of end point address is (-231) to (231-1).

(4) Setting range of radius is 1 to (231-1).

(5) Maximum arc radius is (231-1).

Maximum arc

231-1-231

231-1

0

Radius R

Arc central point

Fig.6.16 Maximum arc

6 - 46

6 POSITIONING CONTROL

[Program]

Program for radius-specified circular interpolation control is shown as the following conditions. (1) System configuration

Radius-specified circular interpolation control of Axis 1 and Axis 2.

Positioning start command (PX000)

M M MM

Motion CPU control module

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

(2) Positioning operation details The positioning uses the Axis 1 and Axis 2 servomotors. The positioning by the Axis 1 and Axis 2 servomotors is shown in the diagram below.

Axis 2 positioning direction

(Forward direction)

Positioning using the servo program No.41.

End point (100000, 50000)

a 80000

Arc central point

Radius 80000 10000010000

30000

50000

Start point (10000, 30000)

(Reverse direction)

Home position 0

(Reverse direction)

Axis 1 positioning direction (Forward direction)

(3) Positioning conditions (a) Positioning conditions are shown below.

Servo Program No. Item

No.41

Positioning method Absolute data method Positioning speed 1000

(b) Positioning start command ........ Turning PX000 off to on (OFF ON)

6 - 47

6 POSITIONING CONTROL

(4) Operation timing

Operation timing for radius-specified circular interpolation control is shown below.

V

PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049)

Start command (PX000)

Axis 1 start accept flag (M2001) Axis 2 start accept flag (M2002)

Combined-speed Servo Program No.41

Axis 1 servo ready (M2415)

Axis 2 servo ready (M2435)

Servo program start

t

(5) Servo program Servo program No.41 for radius-specified circular interpolation control is shown below.

ABS Axis Axis Speed Radius

1, 2,

100000 50000 1000

80000

Radius specified-circular interpolation control

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

End address Axis 1 . . . 100000 Axis 2 . . . . 50000

Positioning speed . . . . . . . . . 1000 Radius . . . . . . . . . . . . . . . 80000

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

6 - 48

6 POSITIONING CONTROL

(6) Motion SFC program

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

SET M2042

PX000*M2415*M2435

END

!PX000 Wait until PX000 turn off after circular interpolation completion.

Turn on all axes servo ON command.

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

Radius specified-circular interpolation control Axis used . . . . . . . . . . . . . . . Axis 1, Axis 2

Positioning speed . . . . . . . . . . . . . . . . . . . . .

. . . . . . . Axis 1 . . . 100000[PLS] Axis 2 . . . . 50000[PLS]End point address

Radius specified-circular interpolation control

ABS Axis 1, 100000PLS Axis 2, 50000PLS Speed 1000PLS/s Radius 80000PLS 1000[PLS/s]

Radius . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Radius specified-circular interpolation control

80000[PLS]

[F10]

[G10]

[G20]

[K41]

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

6 - 49

6 POSITIONING CONTROL

6.8 Central Point-Specified Circular Interpolation Control

Circular interpolation control by specification of the end point for circular interpolation and arc central point is executed. Central point-specified circular interpolation control uses ABS and ABS (Absolute data method) and INC and INC (Incremental data method) servo instructions.

Items are set in peripheral devices Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni ts

Sp

ee d

lim it

va lu

e Ac

ce le

ra tio

n tim

e D

ec el

er at

io n

tim e

R ap

id s

to p

de ce

le ra

tio n

tim e

To rq

ue li

m it

va lu

e D

ec el

er at

io n

pr oc

es si

ng o

n st

op in

pu t

Al lo

w ab

le e

rro r r

an ge

fo r c

irc ul

ar in

te rp

ol at

io n

S- cu

rv e

ra tio

C

an ce

l

W AI

T- O

N /O

FF

Speed change

ABS ABS

Absolute

INC

INC Incremental

2 Valid

: Must be set : Set if required

[Control details] Details for the servo instructions are shown in the table below.

Instruction Rotation direction of

the servomotors Maximum controllable

angle of arc Positioning path

ABS

INC

Clockwise

Positioning path

Start point End point

Central point

0 < <360

ABS

INC

Counter clockwise

0 < < 360 Central point

Start point End point

Positioning path

0 < <360

6 - 50

6 POSITIONING CONTROL

Control using ABS , ABS (Absolute data method)

(1) Circular interpolation of an arc with a radius equivalent to the distance between

the start point and central point, between the current stop address (address before positioning) based on the home position and the specified end point address.

Forward direction

Reverse direction

Positioning speed

End address (X1, Y1)

Arc central point

Radius R

Operation by circular interpolation

Start point address (X0, Y0)

Reverse direction

Forward direction

: Indicates setting data (Note) Fig.6.17 Circular interpolation control using absolute date method

(2) Positioning control of a complete round is possible in the central point-specified

circular interpolation control.

Forward direction Circular interpolation control

Arc central point

Start address, end addressReverse direction Forward direction

Reverse direction Fig.6.18 Positioning control of a complete round

(3) Setting range of end point address and arc central point is (-231) to (231-1).

(4) The maximum arc radius is (232-1).

231-1

231-1

Maximum arc

Arc central point Radius R -231

Fig.6.19 Maximum arc

6 - 51

6 POSITIONING CONTROL

Control using INC , INC (Incremental method)

(1) Circular interpolation from the current stop address (0, 0) with a radius equivalent

to the distance between the start point (0, 0) and central point.

Forward direction

Home point

Reverse direction

Operation by circular interpolation (for INC )

Positioning speed

End point

Arc central point

Start point

Forward direction

Reverse direction : Indicates setting data (Note) Fig.6.20 Circular interpolation control using incremental data method (INC )

(2) Positioning control of a complete round is possible in the central point-specified

circular interpolation control. Forward direction

Circular interpolation control

Arc central point

0

Reverse direction

0

Start address, end address

Reverse direction

Forward direction

Fig.6.21 Positioning control of a complete round

(3) Setting range of travel value to end point address and arc central point is 0 to

(231-1).

(4) The maximum arc radius is (231-1). If the end point and central point are set more than a radius of (231-1), an error occurs at the start and error code [109] is stored in the data register.

Maximum arc

231-1-231

231-1

0

Radius R

Arc central point

Fig.6.22 Maximum arc radius

6 - 52

6 POSITIONING CONTROL

[Program]

Program for central point-specified circular interpolation control is shown as the following conditions. (1) System configuration

Central point-specified circular interpolation control of Axis 1 and Axis 2.

Positioning start command (PX000)

M M MM

Motion CPU control module

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

(2) Positioning operation details The positioning uses the Axis 1 and Axis 2 servomotors. The positioning by the Axis 1 and Axis 2 servomotors is shown in the diagram below.

Axis 2 positioning direction

(Forward direction)

Start address (111459, 30000)

Positioning using the servo program No.51

30000

20000

0 11459 45000 78541

End address

Central point address (78541, 30000)

(45000, 20000) Axis 1 positioning direction

(Forward direction)

(3) Positioning conditions (a) Positioning conditions are shown below.

Servo Program No. Item

No.51

Positioning method Absolute data method Positioning speed 1000

(b) Positioning start command ........ Turning PX000 off to on (OFF ON)

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6 POSITIONING CONTROL

(4) Operation timing

Operation timing for central point-specified circular interpolation is shown below.

V

PLC ready flag (M2000)

Servo Program No.51

All axes servo ON command (M2042) All axes servo ON accept flag (M2049)

Start command (PX000)

Axis 1 start accept flag (M2001) Axis 2 start accept flag (M2002)

Axis 1 servo ready (M2415)

Axis 2 servo ready (M2435)

Servo program start

t

Combined-speed

(5) Servo program Servo program No.51 for central point-specified circular interpolation is shown below.

ABS Axis Axis Speed Central point Central point

1, 2, 1, 2,

78541 30000

1000 45000 20000

Central point specified-circular interpolation control

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

End address Axis 1 . . . . . . . . . 78541

Axis 2 . . . . . . . . . 30000 Positioning speed . . . . . . . . . . . . . 1000

Central point address Axis 1 . . . 45000

Axis 2 . . . 20000

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

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6 POSITIONING CONTROL

(6) Motion SFC program

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

SET M2042

PX000*M2415*M2435

END

!PX000 Wait until PX000 turn off after circular interpolation completion.

Turn on all axes servo ON command.

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

Central point specified-circular interpolation control Axis used . . . . . . . . . . . . . . . Axis 1, Axis 2

Positioning speed . . . . . . . . . . . . . . . . . . . . .

. . . . . . . Axis 1 . . . . 78541[PLS] Axis 2 . . . . 30000[PLS]End point address

ABS Axis 1, 78541PLS Axis 2, 30000PLS Speed 1000PLS/s Central point 1, 45000PLS Central point 2, 20000PLS

1000[PLS/s]

Central point specified-circular interpolation control

. . . . . . Axis 1 . . . . 45000[PLS] Axis 2 . . . . 20000[PLS]Central point address

[F10]

[G10]

[G20]

[K51]

Central point specified- circular interpolation control

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

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6 POSITIONING CONTROL

6.9 Helical Interpolation Control

The linear interpolation control with linear axis is executed simultaneously while the circular interpolation specified with any 2 axes is executed, the specified number of pitches rotates spirally and performs the locus control to command position.

Items are set in peripheral devices Common Arc Parameter block Others

Servo instruction

Processing Number of

control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

Pi tc

h co

un t

C on

tro l u

ni ts

Sp

ee d

lim it

va lu

e Ac

ce le

ra tio

n tim

e D

ec el

er at

io n

tim e

R ap

id s

to p

de ce

le ra

tio n

tim e

To rq

ue li

m it

va lu

e D

ec el

er at

io n

pr oc

es si

ng o

n st

op in

pu t

Al lo

w ab

le e

rro r r

an ge

fo r c

irc ul

ar in

te rp

ol at

io n

S- cu

rv e

ra tio

C

an ce

l

W AI

T- O

N /O

FF

Speed change

ABH Absolute radius-specified helical interpolation less than CW 180 3

ABH Absolute radius-specified helical interpolation CW 180 or more 3

ABH Absolute radius-specified helical interpolation less than CCW 180 3

ABH Absolute radius-specified helical interpolation CCW 180 or more 3

INH Incremental radius-specified helical interpolation less than CW 180

3

INH Incremental radius-specified helical interpolation CW 180 or more

3

INH Incremental radius-specified helical interpolation less than CCW 180

3

INH Incremental radius-specified helical interpolation CCW 180 or more

3

ABH Absolute central point-specified helical interpolation CW 3

ABH Absolute central point-specified helical interpolation CCW 3

INH Incremental central point-specified helical interpolation CW 3

INH Incremental central point-specified helical interpolation CCW 3

ABH Absolute auxiliary point- specified helical interpolation 3

INH Incremental auxiliary point- specified helical interpolation 3

Valid

: Must be set : Set if required

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6 POSITIONING CONTROL

6.9.1 Circular interpolation specified method by helical interpolation

The following method of circular interpolation is possible for the helical interpolation. The specified method of circular interpolation connected start point and end point at the seeing on the plane for which performs circular interpolation are as follows.

Servo instruction Positioning method Circular interpolation specified method

ABH Absolute

INH Incremental

Radius-specified method less than CW180

ABH Absolute

INH Incremental

Radius-specified method less than CCW180

ABH Absolute

INH Incremental

Radius-specified method CW180 or more.

ABH Absolute

INH Incremental

Radius-specified method CCW180 or more.

ABH Absolute

INH Incremental Central point-specified method CW

ABH Absolute

INH Incremental Central point- specified method CCW

ABH Absolute

INH Incremental Auxiliary point-specified method

[Cautions]

(1) The helical interpolation instruction can be used at the both of real/virtual mode.

(2) When the number of pitches is 0 and travel value of linear axis is not "0" is set, operation example is shown below.

Arc center

Linear axis operates so that it may become a position according to this angle.

Circular interpolation path

End point (X1, Y1, Z1)

Start point (X0, Y0, Z0)

Linear axis operation

Condition Operation

Number of pitches is 0 Control on the circular plane. Number of pitches is not 0 Rotation spirally of the number of pitches to linear axis direction.

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6 POSITIONING CONTROL

(3) When the travel value of linear axis is "0" is set, it can be controlled.

Condition Operation

Number of pitches is 0 Same control as normal circular interpolation control. (Allowable error range for circular interpolation can be set.)

Number of pitches is not 0 Linear interpolation to linear axis does not executed, circle for the number of pitches is drawn on the circle plane. (Allowable error range for circular interpolation can be set.)

(4) Units for linear axis have not restrictions.

(5) Circular interpolation axis has the following restrictions.

When the unit of one axis is [degree] axis (with stroke range), set another axis also as [degree] axis (without stroke range).

The axis of [degree] unit as without stroke range cannot be set. The axis as without stroke range cannot be set in the virtual mode.

(6) Specified the speed which executes speed change by CHGV instruction during

helical interpolation operation with the combined-speed of circular interpolation axis 2. If speed change is requested by specifying negative speed by CHGV instruction during helical interpolation operation, deceleration starts from the time and it is possible to return to reverse direction at the deceleration completion.

(7) If start point = end point, number of pitches = 1 and travel value of linear axis = 0,

at the only central point-specified circular interpolation, full circle can be drawn. when the address of "start point = end point" is set at the radius-specified helical interpolation or auxiliary point-specified helical interpolation, a minor error (error code [108]) occurs at the start and cannot be start.

(8) When the control unit is [degree] and the stroke limit is invalid, if the helical

interpolation control is executed using absolute data method, positioning in near direction to specified address based on the current value.

(9) Allowable error range for circular interpolation can be set.

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6 POSITIONING CONTROL

ABH , ABH , ABH , ABH Absolute radius-specified helical interpolation control

[Control details] The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from current stop position (X0, Y0, Z0) to specified circular end address (X1, Y1) or linear axis end point address (Z1), and the absolute helical interpolation is executed so that it may become a spiral course. It goes around on the specified circle for the specified number of pitches, the circular interpolation which had remainder specified is executed, and positioning to end address is executed. The radius-specified circle specifies circular interpolation method connected start point and end point at the seeing on the plane for which performs circular interpolation.

Operation details for absolute radius-specified helical interpolation are shown below.

Number of pitches a

End point address (X , Y , Z )

Start point (X0, Y0, Z0)

Helical interpolation path

Circular interpolation plane

Linear interpolation travel value = Z1-Z0

1 1 1

: Indicates setting data (Note)

Positioning speed V1

Start point (X0, Y0)

Radius R Central angle

Circular interpolation plane

End point address (X1, Y1)

: Indicates setting data (Note)

Control details for the servo instructions are shown below.

Instruction Rotation direction

of servomotor Controllable angle of

arc Positioning pass

ABH Radius-specified helical interpolation less than CW 180

Clockwise (CW)

Positioning path End point

Radius R Central point

<180 Start point

ABH Radius-specified helical interpolation less than CCW 180

Counter clockwise (CCW)

0 < < 180 Central point

Radius R

Start point

End point Positioning path

<180

ABH Radius-specified helical interpolation CW 180 or more

Clockwise (CW)

Positioning path

180 360 Central point

End pointStart point Radius R

<= <=

ABH Radius-specified helical interpolation CCW 180 or more

Counter clockwise (CCW)

180 360 Radius R

Start point End point

Positioning path

Central point 180 360<= <=

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6 POSITIONING CONTROL

(1) The setting range of end point address for the both of circular interpolation axis

and linear interpolation axis is (-231) to (231-1).

(2) The maximum arc radius on the circular interpolation plane is (231-1). For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7[m].

Maximum arc

231-1-231

231-1

0

Radius R

Arc central point

(3) Set the command speed with the combined-speed for 2 axes circular interpolation axis.

(4) The command speed unit is specified in the parameter block.

(5) Set the number of pitches within the range of 0 to 999. If it is set outside the

setting range, the servo program error [28] occurs, and cannot be started.

(6) All of the circular interpolation axis, linear axis and point address, command speed, radius (2 word data above) and number of pitches (1 word data) are set indirectly by D, W and #.

[Program]

(1) Servo program Servo program No.52 for absolute radius-specified helical interpolation control is shown below.

ABH Axis Axis Linear axis Speed Number of pitches Radius

1, 2, 3,

100000 50000 25000 1000 100

60000

Axis for the circular . . . . . . . . interpolation

End point address of the linear axis . . . . . 25000 Positioning speed . . . 1000 Number of pitches . . . Radius on a circular interpolation plane . . . . . 60000

Axis 1 . . . 100000 Axis 2 . . . . 50000

Linear axis for the circular. . . . . . . . . . . . . Axis 3 interpolation and linear interpolation

End point address of the . . . circular interpolation axis

100

Axis 1, Axis 2

Absolute radius specified-circular helical interpolation

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

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6 POSITIONING CONTROL

(2) Motion SFC program

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

SET M2042

PX000*M2415*M2435*M2455

!PX000

Wait until PX000 turn off after circular interpolation completion.

Turn on all axes servo ON command.

Wait until PX000, Axis 1 servo ready, Axis 2 servo ready, and Axis 3 servo ready turn on.

ABS Axis 1, 100000PLS Axis 2, 50000PLS Linear axis Speed Number of pitches Radius

Absolute radius-specified helical interpolation control

[F10]

[G10]

[G20]

[K52]

END

Absolute radius-specified helical interpolation control

1000PLS/s 100 60000PLS

Axis for the circular . . . . . . . . interpolation

End point address of the linear axis . . . . . 25000[PLS]

Positioning speed . . . 1000[PLS/s] Number of pitches . . . Radius on a circular interpolation plane . . . . . 60000[PLS]

Axis 1 . . . 100000[PLS] Axis 2 . . . . 50000[PLS]

Linear axis for the circular . . . . . . . . . . . . Axis 3 interpolation and linear interpolation

End point address of the . . . circular interpolation axis

Absolute radius specified-circular helical interpolation

100

Axis 1, Axis 2

3, 25000PLS

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

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6 POSITIONING CONTROL

INH , INH , INH , INH Incremental radius-specified helical interpolation control

[Control details]

The linear interpolation to other linear axis is executed performing circular interpolation from current stop position (start point) to specified circular relative end address (X1, Y1) or linear axis end point relative address (Z1), and the incremental helical interpolation control is executed so that it may become a spiral course. It goes around on the specified circle for the specified number of pitches, the circular interpolation which had remainder specified is executed, and positioning to end address is executed. The radius-specified circle specifies circular interpolation method connected start point and end point at the seeing on the plane for which performs circular interpolation. Operation details for incremental radius-specified helical interpolation are shown below.

Number of pitches a

End point relative address (X1, Y1, Z1)

Start point

Helical interpolation path

Circular interpolation plane

Linear interpolation travel value = Z1

: Indicates setting range (Note)

End point relative address (X1, Y1)

Positioning speed V1

Start point

Radius R Center angle

Circular interpolation plane

: Indicates setting range (Note)

6 - 62

6 POSITIONING CONTROL

Control details for the servo instructions are shown below.

Instruction Rotation direction

of servomotor Controllable angle of

arc Positioning pass

INH Radius-specified helical interpolation less than CW 180

Clockwise (CW)

Positioning path End point

Radius R Central point

<180 Start point

INH Radius-specified helical interpolation less than CCW 180

Counter clockwise (CCW)

0 < < 180 Central point

Radius R

Start point

End point Positioning path

<180

INH Radius-specified helical interpolation CW 180 or more

Clockwise (CW)

Positioning path

180 360 Central point

End pointStart point Radius R

<= <=

INH Radius-specified helical interpolation CCW 180 or more

Counter clockwise (CCW)

180 360

Radius R Start point

End point

Positioning path

Central point 180 360<= <=

(1) The setting range of end point relative address for the both of circular interpolation axis and linear interpolation axis is 0 to (231-1). The travel direction is set by the sign (+/ -) of the travel value, as follows: Positive travel value .............Positioning control to forward direction

(Address increase direction) Negative travel value............Positioning control to reverse direction

(Address decrease direction)

(2) The maximum arc radius on the circular interpolation plane is 231-1. For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7[m].

Maximum arc

231-1-231

231-1

0

Radius R

Arc central point

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6 POSITIONING CONTROL

(3) Set the command speed with the combined-speed for 2 axes circular interpolation

axis.

(4) The command speed unit is specified in the parameter block.

(5) Set the number of pitches within the range of 0 to 999. If it is set outside the setting range, the servo program error [28] occurs and operation does not start.

(6) All of the circular interpolation axis, linear axis end point relative address,

command speed, radius (2 word data above) and number of pitches (1 word data) are set indirectly by D, W and #.

[Program]

(1) Servo program Servo program No.53 for incremental radius-specified helical interpolation control is shown below.

INH Axis Axis Linear axis Speed Number of pitches Radius

1, 2, 3,

100000 50000 25000 1000 100

60000

Axis for the circular . . . . . . . . interpolation

End point relative address of the linear axis . . . 25000 Positioning speed . . . 1000 Number of pitches . . . . . . Radius on a circular interpolation plane . . . . . . . . . 60000

Axis 1 . . . 100000 Axis 2 . . . . 50000

Linear axis for the circular . . . . . . . . . . . . . . . . . Axis 3 interpolation and linear interpolation

End point relative address of . . . the circular interpolation axis

100

Axis 1, Axis 2 Incremental radius specified-circular helical interpolation

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

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6 POSITIONING CONTROL

(2) Motion SFC program

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

SET M2042

PX000*M2415*M2435*M2455

!PX000 Wait until PX000 turn OFF after circular interpolation completion.

Turn on all axes servo ON command.

Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and Axis 3 servo ready turn on.

INH Axis 1, 100000PLS Axis 2, 50000PLS Linear axis Speed Number of pitches Radius

Incremental radius-specified helical interpolation control

[F10]

[G10]

[G20]

[K53]

END

Incremental radius-specified helical interpolation control

1000PLS/s 100 60000PLS

Axis for the circular . . . . . . . . interpolation

End point relative address of the linear axis . . . 25000[PLS] Positioning speed . . . 1000[PLS/s] Number of pitches . . . . Radius on a circular interpolation plane . . . . . . . . . 60000[PLS]

Axis 1 . . . 100000[PLS] Axis 2 . . . . 50000[PLS]

Linear axis for the circular . . . . . . . . . . . . . Axis 3 interpolation and linear interpolation

End point relative address of . . . the circular interpolation axis

100

Axis 1, Axis 2

3, 25000PLS

Incremental radius specified-circular helical interpolation

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

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6 POSITIONING CONTROL

ABH , ABH Absolute central point-specified helical interpolation control

[Control details] The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from current stop position (X0, Y0, Z0) to specified circular end address (X1, Y1) or linear axis end point address (Z1), and the absolute helical interpolation is executed so that it may become a spiral course. It goes around on the specified circle for the specified number of pitches, the circular interpolation which had remainder specified is executed, and positioning to end address is executed. The central point-specified circle specifies circular interpolation method connected start point and end point at the seeing on the plane for which performs circular interpolation. Operation details for absolute central point-specified helical interpolation are shown below.

Number of pitches a

End point address (X , Y , Z )

Start point (X0, Y0, Z0)

Helical interpolation path

Circular interpolation plane

Linear interpolation travel value = Z1-Z0

1 1 1

: Indicates setting range (Note)

Positioning speed V1

Start point (X0,Y0)

Radius R

Arc central point address (X2, Y2)

Circular interpolation plane

End point address (X1, Y1)

: Indicates setting range (Note)

Control details for the servo instructions are shown below.

Instruction Rotation direction

of servomotor Controllable angle of

arc Positioning pass

ABH Central point- specified helical interpolation CW

Clockwise (CW)

Positioning path

Start point End point

Central point

0 < 360<=

ABH Central point- specified helical interpolation CCW

Counter clockwise (CCW)

0 < 360

Central point

Start point End point

Positioning path

0 < 360<=

(1) The setting range of end point address for the both of circular interpolation axis

and linear interpolation axis is (-231) to (231-1).

(2) The setting range of central point address is (-231) to (231-1).

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6 POSITIONING CONTROL

(3) The maximum arc radius on the circular interpolation plane is 231-1.

For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7[m].

Maximum arc

231-1-231

231-1

0

Radius R

Arc central point

(4) Set the command speed with the combined-speed for 2 axes circular interpolation axis.

(5) The command speed unit is specified in the parameter block.

(6) Set the number of pitches within the range of 0 to 999. If it is set outside the

setting range, the servo program error [28] occurs and operation does not start.

(7) All of the circular interpolation axis, linear axis end point address, command speed, radius (2 word data above) and number of pitches (1 word data) are set indirectly by D, W and #.

(8) If start point = end point, number of pitches = 1 and travel value of linear axis = 0,

at the only central point-specified circular interpolation, full circle can be drawn. [Program]

(1) Servo program Servo program No.55 for absolute central point-specified helical interpolation control is shown below.

ABH Axis Axis Linear axis Speed Number of pitches Central point Central point

1, 2, 3,

1, 2,

88541 30000 20000 1000 500

45000 20000

Axis for the circular . . . . . . . . interpolation

End point address of the linear axis . . . . . 20000 Positioning speed . . . . 1000 Number of pitches . . . . . . . Central point address . . . . . . . of the arc

Axis 1 . . . . 88541 Axis 2 . . . . 30000

Linear axis for the circular . . . . . . . . . . . . Axis 3 interpolation and linear interpolation

End point address of the . . . circular interpolation axis

500

Axis 1, Axis 2

Axis 1 . . . . 45000 Axis 2 . . . . 20000

Absolute central point specified-circular helical interpolation

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

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6 POSITIONING CONTROL

(2) Motion SFC program

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

SET M2042

PX000*M2415*M2435*M2455

!PX000 Wait until PX000 turn off after circular interpolation completion.

Turn on all axes servo ON command.

Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and Axis 3 servo ready turn on.

ABH Axis 1, 88541PLS Axis 2, 30000PLS Linear axis Speed Number of pitches Ctr.P. 1, Ctr.P. 2,

Absolute central point-specified helical interpolation control

[F10]

[G10]

[G20]

[K55]

END

Absolute central point-specified helical interpolation control

1000PLS/s 500 45000PLS

20000PLS

Axis for the circular . . . . . . . interpolation

End point address of the linear axis . . . . . 20000[PLS] Positioning speed . . . 1000[PLS/s] Number of pitches . . .

Axis 1 . . . 88541[PLS] Axis 2 . . . . 30000[PLS]

Linear axis for the circular . . . . . . . . . . . . Axis 3 interpolation and linear interpolation

End point address of the . . . circular interpolation axis

500

Axis 1, Axis 2

Central point address . . . . . . . . of the arc

Axis 1 . . . . 45000[PLS] Axis 2 . . . . 20000[PLS]

3, 20000PLS

Absolute central point-specified circular helical interpolation

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

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6 POSITIONING CONTROL

INH , INH Incremental central point-specified helical interpolation control

[Control details] The linear interpolation to other linear axis is executed performing circular interpolation from current stop position (start point) to specified circular relative end address (X1, Y1) or linear axis end point relative address (Z1), and the incremental helical interpolation control is executed so that it may become a spiral course. It goes around on the specified circle for the specified number of pitches, the circular interpolation which had remainder specified is executed, and positioning to end address is executed. The central point-specified circle specifies circular interpolation method connected start point and end point at the seeing on the plane for which performs circular interpolation. Operation details for incremental central point -specified helical interpolation are shown below.

Number of pitches a

End point relative address (X1, Y1, Z1)

Start point

Helical interpolation path

Circular interpolation plane

Linear interpolation travel value = Z1

: Indicates setting range (Note)

Positioning speed V1

Start point

Radius R

Arc central point relative address (X2, Y2)

Circular interpolation plane

End point relative address (X1, Y1)

: Indicates setting range (Note)

Control details for the servo instructions are shown below.

Instruction Rotation direction

of servomotor Controllable angle of

arc Positioning pass

INH Central point-specified helical interpolation CW

Clockwise (CW)

Positioning path

Start point End point

Central point

0 < 360<=

INH Central point-specified helical interpolation CCW

Counter clockwise (CCW)

0 < 360 Central point

Start point End point

Positioning path

0 < 360<=

(1) The setting range of end point relative address for the both of circular interpolation axis and linear interpolation axis is 0 to (231-1).

(2) The setting range of central point relative is 0 to (231-1).

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6 POSITIONING CONTROL

(3) The maximum arc radius on the circular interpolation plane is (231-1).

For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7[m].

Maximum arc

231-1-231

231-1

0

Radius R

Arc central point

(4) Set the command speed with the combined-speed for 2 axes circular interpolation axis.

(5) The command speed unit is specified in the parameter block.

(6) Set the number of pitches within the range of 0 to 999. If it is set outside the

setting range, the servo program error [28] occurs and operation does not start.

(7) All of the circular interpolation axis, linear axis end relative address, command speed, radius (2 word data above) and number of pitches (1 word data) are set indirectly by D, W and #.

(8) If start point = end point, number of pitches = 1 and travel value of linear axis = 0,

at the only central point-specified circular interpolation, full circle can be drawn. [Program]

(1) Servo program Servo program No.56 for incremental central point-specified helical interpolation control is shown below.

INH Axis Axis Linear axis Speed Number of pitches Central point Central point

1, 2, 3,

1, 2,

88541 30000 20000 1000 500

45000 20000

Axis for the circular . . . . . . . . . interpolation

End point relative address from . . . . . . . . . 20000 the linear axis specification

Positioning speed . . . . 1000 Number of pitches . . . Central point relative address . . of the arc

Axis 1 . . . . 88541 Axis 2 . . . . 30000

Linear axis for the circular. . . . . . . . . . . . . . Axis 3 interpolation and linear interpolation

End point relative address of the circular interpolation axis

500

Axis 1, Axis 2

Axis 1 . . . . 45000 Axis 2 . . . . 20000

Incremental central point specified-circular helical interpolation

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

6 - 70

6 POSITIONING CONTROL

(2) Motion SFC program

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

SET M2042

PX000*M2415*M2435*M2455

!PX000 Wait until PX000 turn off after circular interpolation completion.

Turn on all axes servo ON command.

Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and Axis 3 servo ready turn on.

INH Axis 1, 88541PLS Axis 2, 30000PLS Linear axis Speed Number of pitches Ctr.P. 1, Ctr.P. 2,

Incremental central point-specified helical interpolation control

[F10]

[G10]

[G20]

[K56]

END

Incremental central point-specified helical interpolation control

1000PLS/s 500 45000PLS 20000PLS

Axis for the circular . . . . . . . . interpolation

End point relative address of the linear axis . . .20000[PLS] Positioning speed . . . 1000[PLS/s] Number of pitches. . . .

Axis 1 . . . 88541[PLS] Axis 2 . . . 30000[PLS]

Linear axis for the circular . . . . . . . . . . . . . Axis 3 interpolation and linear interpolation

End point relative address of . . . . . the circular interpolation axis

500

Axis 1, Axis 2

Central point relative address . . . . . . of the arc

Axis 1 . . . . 45000[PLS] Axis 2 . . . . 20000[PLS]

3, 20000PLS

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

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6 POSITIONING CONTROL

ABH Absolute auxiliary point-specified helical interpolation control

[Control details] The linear interpolation to other linear axis is executed performing 2 axes circular interpolation from current stop position (X0, Y0, Z0) to specified circular end address (X1, Y1) or linear axis end point address (Z1), and the absolute helical interpolation is executed so that it may become a spiral course. It goes around on the specified circle for the specified number of pitches, the circular interpolation which had remainder specified is executed, and positioning to end address is executed. The auxiliary point-specified circle specifies circular interpolation method connected start point and end point at the seeing on the plane for which performs circular interpolation. Operation details for absolute auxiliary point-specified helical interpolation are shown below.

Number of pitches a

End point address (X , Y , Z )

Start point (X0, Y0, Z0)

Helical interpolation path

Circular interpolation plane

Linear interpolation travel value = Z1-Z0

1 1 1

: Indicates setting range (Note)

Positioning speed V1

Start point

Radius R

Arc auxiliary point address (X2, Y2)

Circular interpolation plane

End point address (X1, Y1)

: Indicates setting range (Note)

Control details for the servo instructions are shown below.

Instruction Rotation direction

of servomotor Controllable angle of arc

ABH Auxiliary point- specified helical interpolation

Clockwise (CW)/ Counter clockwise (CCW)

0 < 360

(1) The setting range of end point address for the both of circular interpolation axis

and linear interpolation axis is (-231) to (231-1).

(2) The setting range of auxiliary point address is (-231) to (231-1).

(3) The maximum arc radius on the circular interpolation plane is 231-1. For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7[m].

6 - 72

6 POSITIONING CONTROL

Maximum arc

231-1-231

231-1

0

Radius R

Arc central point

(4) Set the command speed with the combined-speed for 2 axes circular interpolation axis.

(5) The command speed unit is specified in the parameter block.

(6) Set the number of pitches within the range of 0 to 999. If it is set outside the

setting range, the servo program error [28] occurs and operation does not start.

(7) All of the circular interpolation axis, linear axis end relative address, command speed, radius (2 word data above) and number of pitches (1 word data) are set indirectly by D, W and #.

[Program]

(1) Servo program Servo program No.60 for absolute auxiliary point-specified helical interpolation control is shown below.

ABH Axis Axis Linear axis Speed Number of pitches Auxiliary point Auxiliary point

1, 2, 3,

1, 2,

88541 30000 20000 1000 500

45000 20000

Axis for the circular . . . . . . . interpolation

End point address of the linear axis . . . . . 20000 Positioning speed . . . . 1000 Number of pitches . . . . Auxiliary point address . . . . . . . of the arc

Axis 1 . . . . 88541 Axis 2 . . . . 30000

Linear axis for the circular . . . . . . . . . . . . . Axis 3 interpolation and linear interpolation

End point address of the . . . circular interpolation axis

500

Axis 1, Axis 2

Axis 1 . . . . 45000 Axis 2 . . . . 20000

Absolute auxiliary point-specified circular helical interpolation

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

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6 POSITIONING CONTROL

(2) Motion SFC program

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

SET M2042

PX000*M2415*M2435*M2455

!PX000 Wait until PX000 turn off after circular interpolation completion.

Turn on all axes servo ON command.

Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and Axis 3 servo ready turn on.

ABH Axis 1, 88541PLS Axis 2, 30000PLS Str.Ax. 3, 20000PLS Speed Number of pitches Aux.P. 1, Aux.P. 2,

Absolute auxiliary point-specified helical interpolation control

[F10]

[G10]

[G20]

[K60]

END

Absolute auxiliary point-specified helical interpolation control

1000PLS/s 500 45000PLS 20000PLS

Axis for the circular . . . . . . . . interpolation

End point address of the linear axis . . . . . 20000[PLS] Positioning speed . . . 1000[PLS/s] Number of pitches . . .

Axis 1 . . . 88541[PLS] Axis 2 . . . . 30000[PLS]

Linear axis for the circular . . . . . . . . . . . . . Axis 3 interpolation and linear interpolation

End point address of the . . . circular interpolation axis

500

Axis 1, Axis 2

Auxiliary point address . . . . . . . of the arc

Axis 1 . . . . 45000[PLS] Axis 2 . . . . 20000[PLS]

Absolute auxiliary point-specified circular helical interpolation

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

6 - 74

6 POSITIONING CONTROL

INH Incremental auxiliary point-specified helical interpolation control

[Control details] The linear interpolation to other linear axis is executed performing circular interpolation from current stop position (start point) to specified circular relative end address (X1, Y1) or linear axis end point relative address (Z1), and the incremental helical interpolation control is executed so that it may become a spiral course. It goes around on the specified circle for the specified number of pitches, the circular interpolation which had remainder specified is executed, and positioning to end address is executed. The auxiliary point-specified circle specifies circular interpolation method connected start point and end point at the seeing on the plane for which performs circular interpolation. Operation details for incremental auxiliary point-specified helical interpolation are shown below.

Number of pitches a

End point relative address (X1, Y1, Z1)

Start point

Helical interpolation path

Circular interpolation plane

Linear interpolation travel value = Z1

: Indicates setting range (Note)

Positioning speed V1

Start point

Radius R

Arc auxiliary point address (X2, Y2)

Circular interpolation plane

End point relative address (X1, Y1)

: Indicates setting range (Note)

Control details for the servo instructions are shown below.

Instruction Rotation direction

of servomotor Controllable angle of arc

INH Auxiliary point- specified helical interpolation

Clockwise (CW)/ Counter clockwise (CCW)

0 < 360

(1) The setting range of end point relative address for the both of circular interpolation

axis and linear interpolation axis is 0 to (231-1).

(2) The setting range of auxiliary point relative is 0 to (231-1).

(3) The maximum arc radius on the circular interpolation plane is (231-1). For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7[m].

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6 POSITIONING CONTROL

Maximum arc

231-1-231

231-1

0

Radius R

Arc central point

(4) Set the command speed with the combined-speed for 2 axes circular interpolation axis.

(5) The command speed unit is specified in the parameter block.

(6) Set the number of pitches within the range of 0 to 999. If it is set outside the

setting range, the servo program error [28] occurs and operation does not start.

(7) All of the circular interpolation axis, linear axis end point address, command speed, radius (2 word data above), and number of pitches (1 word data) are set indirectly by D, W and #.

[Program]

(1) Servo program Servo program No.61 for incremental auxiliary point-specified helical interpolation control is shown below.

INH Axis Axis Linear axis Speed Number of pitches Auxiliary point Auxiliary point

1, 2, 3,

1, 2,

88541 30000 20000 1000 500

45000 20000

Axis for the circular . . . . . . . . interpolation

End point relative address from . . . . . . . . . 20000 the linear axis specification

Positioning speed . . . . 1000 Number of pitches . . . . Auxiliary point relative . . . . . . . . address of the arc

Axis 1 . . . . 88541 Axis 2 . . . . 30000

Linear axis for the circular . . . . . . . . . . . . . Axis 3 interpolation and linear interpolation

End point relative address of the circular interpolation axis

500

Axis 1, Axis 2

Axis 1 . . . . 45000 Axis 2 . . . . 20000

Incremental auxiliary point-specified circular helical interpolation

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

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6 POSITIONING CONTROL

(2) Motion SFC program

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

SET M2042

PX000*M2415*M2435*M2455

!PX000 Wait until PX000 turn off after circular interpolation completion.

Turn on all axes servo ON command.

Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and Axis 3 servo ready turn on.

INH Axis 1, 88541PLS Axis 2, 30000PLS Linear axis Speed Number of pitches Aux.P. 1, Aux.P. 2,

Incremental auxiliary point-specified helical interpolation control

[F10]

[G10]

[G20]

[K61]

END

Incremental auxiliary point-specified helical interpolation control

1000PLS/s 500 45000PLS 20000PLS

Axis for the circular . . . . . . . . . . . . interpolation

End point relative address of the linear axis . . . 20000[PLS] Positioning speed . . . 1000[PLS/s] Number of pitches . . .

Axis 1 . . . 88541[PLS] Axis 2 . . . . 30000[PLS]

Linear axis for the circular . . . . . . . . . . . . Axis 3 interpolation and linear interpolation

End point relative address of . . . . the circular interpolation axis

500

Axis 1, Axis 2

Auxiliary point relative address . . . . . of the arc

Axis 1 . . . . 45000[PLS] Axis 2 . . . . 20000[PLS]

3, 20000PLS

Incremental auxiliary point-specified circular helical interpolation

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

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6 POSITIONING CONTROL

6.10 1 Axis Fixed-Pitch Feed Control

Positioning control for specified axis of specified travel value from the current stop point. Fixed-pitch feed control uses the FEED-1servo instruction.

Items are set in peripheral devices Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni ts

Sp

ee d

lim it

va lu

e Ac

ce le

ra tio

n tim

e D

ec el

er at

io n

tim e

R ap

id s

to p

de ce

le ra

tio n

tim e

To rq

ue li

m it

va lu

e D

ec el

er at

io n

pr oc

es si

ng o

n st

op in

pu t

Al lo

w ab

le e

rro r r

an ge

fo r c

irc ul

ar in

te rp

ol at

io n

S- cu

rv e

ra tio

C

an ce

l

W AI

T- O

N /O

FF

Speed change

FEED-1 Incremental 1 Valid

: Must be set : Set if required

[Control details] (1) Positioning control for the specified travel value from the current stop position "0"

is executed.

(2) The travel direction is set by the sign (+/ -) of the travel value, as follows: Positive travel value .............Positioning control to forward direction

(Address increase direction) Negative travel value............Positioning control to reverse direction

(Address decrease direction)

Positioning direction Operation timing

Reverse direction

Forward direction

Travel direction for negative sign

Travel direction for positive sign

Current stop position Command speed

Fixed-pitch feed by FEED-1 instruction

Travel value

V

t

Servo program start

: Indicates setting data (Note) Fig.6.23 1 axis fixed-pitch feed control

POINT

Do not set the travel value to "0" for fixed-pitch feed control. If the travel value is set to "0", fixed-pitch feed completion without fixed-pitch feed.

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6 POSITIONING CONTROL

[Program]

Program for repetition 1 axis fixed-pitch feed control is shown as the following conditions. (1) System configuration

Fixed-pitch feed control of Axis 4.

M M MM

Motion CPU control module

Positioning start command (PX000) Positioning end command (PX001)

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

(2) Fixed-pitch feed control conditions (a) Positioning conditions are shown below.

Item Setting

Servo program No. No.300 Control axis Axis 4 Control speed 10000 Travel value 80000

(b) Fixed-pitch feed control start command ....... Turning PX000 off to on

(OFF ON)

(c) Fixed-pitch feed control end command ..... Turning PX001 off to on (OFF ON)

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6 POSITIONING CONTROL

(3) Operation timing

Operation timing for fixed-pitch feed control is shown below.

V 10000

t

PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 4 servo ready (M2475)

Start command (PX000)

Servo program start Axis 4 start accept flag (M2004)

End command (PX001)

Servo program No.300

Dwell 1second Dwell 1secondDwell 1second

(4) Servo program Servo program No.300 for fixed-pitch feed control is shown below.

FEED-1 Axis Speed Dwell

4,

80000 10000 1000

1 axis fixed-pitch feed Axis used . . . . . . . . . . Axis 4 Travel value . . . . . . . . 80000

Command speed Dwell . . . . . . . . . . . . . . 1000

. . . 10000

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

6 - 80

6 POSITIONING CONTROL

(5) Motion SFC program

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

1 axis fixed-pitch feed control

SET M2042

FEED-1 Axis 4, 80000PLS Speed 10000PLS/s Dwell 1000ms

PX000*M2475

!PX000*!PX001

P0

P0

END

PX001

1 axis fixed-pitch feed control

1 axis fixed-pitch feed Axis used . . . . . . . . . . Axis 4 Travel value . . . . . . . . 80000[PLS]

Command speed . . . . . . 10000[PLS/s] Dwell . . . . . . . . . . . . . . . . . 1000[ms]

Turn on all axes servo ON command.

Wait until PX000 and Axis 4 servo ready turn on.

Wait until PX000 and PX001 turn off after fixed-pitch feed completion.

[F10]

[G10]

[K300]

[G20]

[G30]

After fixed-pitch feed completion, PX001 is ON : Fixed-pitch feed starts. PX001 is OFF : Motion SFC program ends.

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

6 - 81

6 POSITIONING CONTROL

6.11 Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation

Fixed-pitch feed control using 2 axes linear interpolation from the current stop position with the specified 2 axes. Fixed-pitch feed control using 2 axes linear interpolation uses the FEED-2 servo instruction.

Items are set in peripheral devices

Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l T

im e

M -C

od e

To rq

ue L

im it

Va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

e R

ap id

s to

p de

ce le

ra tio

n tim

e To

rq ue

li m

it va

lu e

D ec

el er

at io

n pr

oc es

si ng

o n

st op

in pu

t Al

lo w

ab le

e rro

r r an

ge fo

r c irc

ul ar

in te

rp ol

at io

n S-

cu rv

e ra

tio

C an

ce l

W AI

T- O

N /O

FF

Speed change

FEED-2 Incremental 2 Valid

: Must be set : Set if required

[Control details] (1) Positioning control from the current stop position "0" to the position which

combined travel direction and travel value specified with each axis is executed.

(2) The travel direction for each axis is set by the sign (+/ -) of the travel value for each axis, as follows: Positive travel value .............Positioning control to forward direction

(Address increase direction) Negative travel value............Positioning control to reverse direction

(Address decrease direction)

0

Current stop position

Reverse direction

Forward direction

Reverse direction

Y-axis travel value

X-axis travel value

Positioning direction

Forward direction

Operation timing

V

t

Fixed-pitch feed by FEED-2 instruction

Command speed

Servo program start

: Indicates setting data (Note) Fig.6.24 Fixed-pitch feed control using 2 axes linear interpolation

6 - 82

6 POSITIONING CONTROL

POINT

Do not set the travel value to "0" for fixed-pitch feed control. The following results if the travel value is set to "0": (1) If the travel value of both is set to "0", fixed-pitch feed completion without fixed-

pitch feed.

[Program]

Program for fixed-pitch feed control using 2 axes linear interpolation is shown as the following conditions. (1) System configuration

Fixed-pitch feed control using 2 axes linear interpolation of Axis 2 and Axis 3.

M M MM

Motion CPU control module

Positioning start command (PX000)

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

(2) Fixed-pitch feed control (a) Fixed-pitch feed control conditions are shown below.

Item Setting

Servo program No. No.310 Positioning speed 10000 Control axis Axis 2 Axis 3 Travel value 500000 300000

(b) Fixed-pitch feed control start command ....... Turning PX000 off to on

(OFF ON)

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6 POSITIONING CONTROL

(3) Operation timing

Operation timing for fixed-pitch feed control using 2 axes linear interpolation is shown below.

10000

V

t

PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 2 servo ready (M2435)

Axis 3 servo ready (M2455)

Start command (PX000)

Servo program start Axis 2 start accept flag (M2002) Axis 3 start accept flag (M2003)

Servo program No.310

(4) Servo program Servo program No.310 for fixed-pitch feed control using 2 axes linear interpolation is shown below.

Fixed-pitch feed using 2 axes linear interpolation

FEED-2 Axis 2, Axis 3, Speed

500000 300000 10000

Axis used . . . . . . . . Axis 2, Axis 3

Travel value . . . . . Axis 2 . . . 500000 Axis 3 . . . 300000

Positioning speed . . . . . . . . . . . . . 10000

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

6 - 84

6 POSITIONING CONTROL

(5) Motion SFC program

Motion SFC program for which executes the speed-switching control is shown below.

Fixed-pitch feed using 2 axes linear interpolation

Fixed-pitch feed using 2 axes linear interpolation

SET M2042

FEED-2 Axis 2, 500000PLS Axis 3, 300000PLS Speed

PX000*M2435*M2455

END

!PX000

Positioning speed . . . . . . . . . . . . . . . 10000[PLS/s]

P0

P0

Fixed-pitch feed using 2 axes linear interpolation

Turn on all axes servo ON command.

Wait until PX000, Axis 2 servo ready and Axis 3 servo ready turn on.

Axis used . . . . . . . . . . Axis 2, Axis 3 Axis 2 . . . 500000[PLS] Axis 3 . . . 300000[PLS]

Travel value . . . . . .

After fixed-pitch feed completion, PX000 is ON : Fixed-pitch feed start again. PX000 is OFF : Motion SFC program end.

10000PLS/s

[G10]

[F10]

[K310]

[G20]

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

6 - 85

6 POSITIONING CONTROL

6.12 Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation

Fixed-pitch feed control using 3 axes linear interpolation from the current stop position with the specified 3 axes. Fixed-pitch feed control using 3 axes linear interpolation uses the FEED-3 servo instruction.

Items are set in peripheral devices

Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

e R

ap id

s to

p de

ce le

ra tio

n tim

e To

rq ue

li m

it va

lu e

D ec

el er

at io

n pr

oc es

si ng

o n

st op

in pu

t Al

lo w

ab le

e rro

r r an

ge fo

r c irc

ul ar

in te

rp ol

at io

n S-

cu rv

e ra

tio

C an

ce l

W AI

T- O

N /O

FF

Speed change

FEED-3 Incremental 3 Valid

: Must be set : Set if required

[Control details] (1) Positioning control from the current stop position "0" to the position which

combined travel direction and travel value specified with each axis is executed.

(2) The travel direction for each axis is set by the sign (+/ -) of the travel value for each axis, as follows: Positive travel value .............Positioning control to forward direction

(Address increase direction) Negative travel value............Positioning control to reverse direction

(Address decrease direction)

Z-axis travel value

Forward direction

Forward direction

Positioning direction

X-axis travel value

Y-axis travel value

Forwar directio

Reverse direction

Reverse direction Reverse direction

V

t

Operation timing

Command speed

Servo program start

: Indicates setting data (Note)

Fixed-pitch feed by FEED-3 instruction

Fig. 6.25 Fixed-pitch feed control using 3 axes linear interpolation

6 - 86

6 POSITIONING CONTROL

POINT

Do not set the travel value to "0" for fixed-pitch feed control. The following results if the travel value is set to "0": (1) If the travel value of all axes are set to "0", fixed-pitch feed completion without

fixed-pitch feed.

[Program]

Program for fixed-pitch feed control using 3 axes linear interpolation is shown as the following conditions. (1) System configuration

Fixed-pitch feed control using 3 axes linear interpolation of Axis 1, Axis 2 and Axis 3.

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

M M MM

Motion CPU control module

Positioning start command (PX000)

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

(2) Fixed-pitch feed control (a) Fixed-pitch feed control conditions are shown below.

Item Setting

Servo program No. No.320 Positioning speed 1000 Control axes Axis 1 Axis 2 Axis 3 Travel value 50000 40000 30000

(b) Fixed-pitch feed control start command ....... Turning PX000 off to on

(OFF ON)

6 - 87

6 POSITIONING CONTROL

(3) Operation timing

Operation timing for fixed-pitch feed control using 3 axes linear interpolation is shown below.

t

V

1000

PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049)

Axis 2 servo ready (M2435)

Axis 1 servo ready (M2415)

Axis 3 servo ready (M2455)

Start command (PX000)

Servo program start

Axis 2 start accept flag (M2002)

Axis 1 start accept flag (M2001)

Axis 3 start accept flag (M2003)

Servo program No.320

(4) Servo program Servo program No.320 for fixed-pitch feed control using 3 axes linear interpolation is shown below.

Fixed-pitch feed using 3 axes linear interpolation

FEED-3 Axis 1, Axis 2,

Speed

50000 40000

1000

Axis used . . . . . . . . . Axis 1, Axis 2, Axis 3

Travel value . . . . . Axis 1 . . . 50000 Axis 2 . . . 40000

Positioning speed . . . . . . . . . . . . 1000

Axis 3, 30000

Axis 3 . . . 30000

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

6 - 88

6 POSITIONING CONTROL

(5) Motion SFC program

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

Fixed-pitch feed using 3 axes linear interpolation

Fixed-pitch feed using 3 axes linear interpolation

SET M2042

FEED-3 Axis 1, 50000PLS Axis 2, 40000PLS Axis 3, 30000PLS Speed

PX000*M2415*M2435*M2455

END

!PX000

Positioning speed . . . . . . . . . . . . . . . 10000[PLS/s]

P0

P0

Fixed-pitch feed using 3 axes linear interpolation

Turn on all axes servo ON command.

Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and Axis 3 servo ready turn on.

Axis used . . . . . . . . . Axis 1, Axis 2, Axis 3 Axis 1 . . . 500000[PLS] Axis 2 . . . 400000[PLS] Travel value . . . . . .

1000PLS/s Axis 3 . . . 300000[PLS]

After fixed-pitch feed completion, PX000 is ON : Fixed-pitch feed start again. PX000 is OFF : Motion SFC program end.

[G10]

[F10]

[K320]

[G20]

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

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6 POSITIONING CONTROL

6.13 Speed Control ( )

(1) Speed control for the specified axis is executed.

(2) Control includes positioning loops for control of servo amplifiers.

(3) Speed control ( ) uses the VF (Forward) and VR (Reverse) servo instructions. Items are set in peripheral devices

Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

e R

ap id

s to

p de

ce le

ra tio

n tim

e To

rq ue

li m

it va

lu e

D ec

el er

at io

n pr

oc es

si ng

o n

st op

in pu

t Al

lo w

ab le

e rro

r r an

ge fo

r c irc

ul ar

in te

rp ol

at io

n S-

cu rv

e ra

tio

C an

ce l

W AI

T- O

N /O

FF

Speed change

VF VR

1 Valid

: Must be set : Set if required

[Control details] (1) Controls the axis at the specified speed until the input of the stop command after

starting of the servomotors. VF ......... Forward direction start VR ........ Reverse direction start

(2) Current value does not change at "0".

Stop

Stop command accept Setting speed

V

Speed control start

Operation speed

t

Fig.6.26 Speed control ( )

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6 POSITIONING CONTROL

(3) Stop commands and stop processing

The stop commands and stop processing for speed control are shown in the table.6.1.

Table.6.1 Stop commands and stop processing

Stop command Stop condition Stop axis Stop processing

STOP signal input of the Q172LX (STOP)

Deceleration stop based on the parameter block or the "deceleration time on STOP input" specified with the servo instruction.

Stop command (M3200+20n)

Deceleration stop based on the parameter block or the "deceleration time" specified with the servo instruction.

Rapid stop command (Note)

(M3201+20n)

OFF ON Specified

axis

Deceleration stop based on the parameter block or the "rapid stop deceleration time" specified with the servo instruction.

Rapid stop of the all axes/ deceleration stop from the peripheral devices. (Note)

(Test mode)

Click icon All axes

Deceleration stop based on the parameter block or the "rapid stop deceleration time" specified with the servo instruction.

Speed change to speed "0" Speed change

request Specified

axis

Deceleration stop based on the parameter block or the "deceleration time" specified with the servo instruction.

POINT

(Note): The rapid stop command and the rapid stop of the all axes from the peripheral devices are also valid during deceleration by the "STOP signal input of the Q172LX" (STOP) or stop command (M3200+20n), and processing based on the "rapid stop deceleration time" parameter starts at the time the stop condition occurs.

Operation speed

Speed limit value "STOP signal input of the Q172LX" (STOP) or stop command

Rapid stop command or rapid stop of the all axes from the peripheral device

[Cautions]

(1) After executing of the speed control using the absolute position system, the feed current value cannot be set to "0" by the following operations: Reset Turning the servo power supply on (OFF ON)

(2) The dwell time cannot be set.

6 - 91

6 POSITIONING CONTROL

[Program]

Program for speed control ( ) is shown as the following conditions. (1) System configuration

Speed control ( ) of Axis 1.

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

M M MM

Motion CPU control module

Start/stop command (PX000)

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

(2) Speed control ( ) conditions (a) Speed control ( ) conditions are shown below.

Item Setting

Servo program No. No.91 Control axis Axis 1 Control speed 3000 Rotation direction Forward

(b) Speed control ( ) start command........ Turning PX000 off to on

(OFF ON) (c) Stop command...... Turning PX000 on to off

(ON OFF)

(3) Operation timing Operation timing for speed control ( ) is shown below.

Speed control by servo program No.91

3000

V

t

PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 1 servo ready (M2415)

Start command (PX000)

Servo program start Axis 1 start accept flag (M2001) Stop command (M3200)

Stop command accept

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6 POSITIONING CONTROL

(4) Servo program

Servo program No.91 for speed control ( ) is shown below.

3000 Axis 1 Speed

VF

Positioning speed . . . 3000 Axis used . . . . . . . . . Axis 1 Speed control ( ) (Forward rotation)

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

Speed control ( )

SET M2042

VF Axis 1 Speed 3000PLS/s

PX000*M2415

END

SET M3200

!M2001

Turn on Axis 1 stop command.

RST M3200

!PX000

Turn on all axes servo ON command.

Wait until PX000 and Axis 1 servo ready turn on.

Speed control ( ) (Forward rotation)

Speed control ( )

Axis used . . . . . . . . . Axis 1 Positioning speed . . . 3000[PLS/s]

Turn off Axis 1 stop command.

Wait until Axis 1 start accept flag turn off.

Wait until PX000 turns off after speed control ( ) start.

[G10]

[F10]

[K91]

[G20]

[G30]

[F20]

[F30]

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

6 - 93

6 POSITIONING CONTROL

6.14 Speed Control ( )

(1) Speed control for the specified axis is executed.

(2) Speed control not includes positioning loops for control of servo amplifiers. It can be used for stopper control, etc. so that it may not become error excessive.

(3) Speed control ( ) uses the VVF (Forward) and VVR (Reverse) servo instructions.

Items are set in peripheral devices

Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

e R

ap id

s to

p de

ce le

ra tio

n tim

e To

rq ue

li m

it va

lu e

D ec

el er

at io

n pr

oc es

si ng

o n

st op

in pu

t Al

lo w

ab le

e rro

r r an

ge fo

r c irc

ul ar

in te

rp ol

at io

n S-

cu rv

e ra

tio

C an

ce l

W AI

T- O

N /O

FF

Speed change

VVF VVR

1 Valid

: Must be set : Set if required

[Control details] (1) Controls the axis at the specified speed until the input of the stop command after

starting of the servomotors. VVF ....... Forward direction start VVR....... Reverse direction start

(2) Current value or deviation counter do not change at "0".

(3) When the setting for "torque" is set in the servo program and an indirect setting

made, the torque limit value can be changed during operation by changing the value of the indirect device.

(4) The stop command and stop processing are the same as for speed control (I).

[Cautions]

(1) After executing of the speed control using the absolute position system, the feed current value cannot be set to "0" by the following operations: Reset Turning the servo power supply on (OFF ON)

(2) The dwell time cannot be set.

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6 POSITIONING CONTROL

(3) Even if the speed command is set as probe data by the digital oscilloscope

function, the value on digital oscilloscope does not change with 0. [Program]

Program for speed control ( ) is shown as the following conditions. (1) System configuration

Speed control ( ) of Axis 3.

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

M

Motion CPU control module

Start/stop command (PX000)

M Axis 1

Axis 3

AMP AMP AMP AMP

M Axis 2 M

Axis 4

(2) Speed control ( ) conditions (a) Speed control ( ) conditions are shown below.

Item Setting

Servo program No. No.55 Control axis Axis 3 Control speed 4000 Rotation direction Forward

(b) Speed control ( ) start command ....... Turning PX000 off to on

(OFF ON) (c) Stop command ..... Turning PX000 on to off

(ON OFF)

(3) Operation timing Operation timing for speed control ( ) is shown below.

t

4000

V

PLC ready flag (M2000)

All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 3 servo ready (M2455)

Start command (PX000)

Servo program start Axis 3 start accept flag (M2003) Stop command (M3240)

Speed control by servo program No.55 Stop command

accept

6 - 95

6 POSITIONING CONTROL

(4) Servo program

Servo program No.55 for speed control ( ) is shown below.

4000 Axis 3 Speed

VVF

Positioning speed . . . 4000 Axis used . . . . . . . . . Axis 3 Speed control ( ) (Forward rotation)

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

Speed control ( )

SET M2042

VVF Axis 3 Speed 4000PLS/s

PX000*M2455

END

SET M3240

!M2003

Turn on Axis 3 stop command.

RST M3240 Turn off Axis 3 stop command.

!PX000

Speed control ( )

Turn on all axes servo ON command.

Wait until PX000 and Axis 3 servo ready turn on.

Speed control ( ) (Forward rotation) Axis used . . . . . . . . . Axis 3 Positioning speed . . . 4000[PLS/s]

Wait until PX000 turn off after speed control ( ) start.

Wait until Axis 3 start accept flag turn off.

[G10]

[F10]

[K55]

[G20]

[G30]

[F20]

[F30]

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

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6 POSITIONING CONTROL

6.15 Speed/Position Switching Control

6.15.1 Speed/position switching control start

Speed/position switching control for specified axis is executed. Speed/position switching control uses the VPF (Forward rotation), VPR (Reverse rotation) and VPSTART (Re-start) servo instructions.

Items are set in peripheral devices Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

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ap id

s to

p de

ce le

ra tio

n tim

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rq ue

li m

it va

lu e

D ec

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at io

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oc es

si ng

o n

st op

in pu

t Al

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ab le

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r c irc

ul ar

in te

rp ol

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cu rv

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tio

C an

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W AI

T- O

N /O

FF

Speed change

VPF VPR

Incremental 1 Valid

: Must be set : Set if required

[Control details] (1) The speed control is executed after the start of the servomotor, and changes from

speed control to position control with the CHANGE (Speed/position switching) signal from external source, and then the specified positioning travel value is executed. VPF...... Forward rotation direction (Address increase direction) start VPR.. Reverse rotation direction (Address decrease direction) start

(2) The CHANGE signal from external source is effective during speed/position

switching enable signal (M3205+20n) is on only. If M3205+20n turns on after the CHANGE signal turned on, it does not change from speed control to position control and speed control is continued.

V

ON

t Position controlling

Speed controlling

Setting travel value

OFF Speed/position switching enable signal (M3205+20n) CHANGE signal input from external source

CHANGE signal valid

(Note)

6 - 97

6 POSITIONING CONTROL

REMARK

(Note): "The external CHANGE signal input from external source" is inputted to CHANGE of the Q172LX from external source. When "normally open contact input" is set in the system settings, CHANGE input occurs at the CHANGE signal on, and when "normally closed contact input" is set, CHANGE input occurs at the CHANGE signal off. (Refer to the "Q173HCPU/Q172HCPU Motion controller User's Manual".)

(3) Feed current value processing

The feed current value is as follows by turning feed current value update request command (M3212+20n) on/off at the speed/position switching control start. (a) M3212+20n OFF...... The feed current value is cleared to "0" at the start.

The feed current value is updated from the start (speed control).

The feed current value after stop is as follows:

Feed current value after stop

Travel value during speed

control

Travel value for position

control = +

(b) M3212+20n ON.... The feed current value is not cleared at the start. The feed current value is updated from the start

(speed control). If the feed current value exceeds the stroke limit, a

deceleration stop is executed. The feed current value after stop is as follows:

= + + Feed current

value after stop Travel value during speed

control

Travel value for position

control

Address before speed control start

0 Feed current value

OFFM3212 +20n OFF

* *

[M3212+20n OFF] [M3212+20n ON]

CHANGE input CHANGE input

ON M3212 +20n

* ** * Feed current value

Update feed current value

Speed controlling

Position controlling

Speed controlling

Position controlling

Update feed current value

Clear feed current value

POINT If it is started with M3212+20n on, leave M3212+20n on until positioning control is completed. If it is turns off during control, the feed current value cannot be guaranteed.

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6 POSITIONING CONTROL

(4) Change of the travel value during speed control

The travel value for position control can be changed during speed control after speed/position control start. (a) The travel value is set in indirect specification by data registers (2-word data)

shown in the table below in the servo program. Data registers for travel value change Axis No.

(Note)

Data register No. at indirect specification Higher rank data Lower rank data

1 D16 D17 D16 2 D36 D37 D36 3 D56 D57 D56 4 D76 D77 D76 5 D96 D97 D96 6 D116 D117 D116 7 D136 D137 D136 8 D156 D157 D156 9 D176 D177 D176

10 D196 D197 D196 11 D216 D217 D216 12 D236 D237 D236 13 D256 D257 D256 14 D276 D277 D276 15 D296 D297 D296 16 D316 D317 D316 17 D336 D337 D336 18 D356 D357 D356 19 D376 D377 D376 20 D396 D397 D396 21 D416 D417 D416 22 D436 D437 D436 23 D456 D457 D456 24 D476 D477 D476 25 D496 D497 D496 26 D516 D517 D516 27 D536 D537 D536 28 D556 D557 D556 29 D576 D577 D576 30 D596 D597 D596 31 D616 D617 D616 32 D636 D637 D636

(Note): The range of axis No.1 to 8 is valid in the Q172HCPU.

6 - 99

6 POSITIONING CONTROL

The following servo program which performs the speed control for axis 4 to the

forward direction at speed 50000, and the position control of the travel value set in D76, D77 after the CHANGE signal from external source turns on.

VPF

Speed 50000 Axis 4, D76 Indicates indirect specification of travel value

(b) The travel value is stored in the data register for travel value change during

speed control in the Motion SFC program. When the CHANGE signal turns on, the contents of the data register for travel value change are set as the travel value.

P2 is reset as the travel value

Travel value

Position controlling

Speed controlling

V

Data register for travel value change

OFF

t

ON

P2P1 P3

change possible

CHANGE signal input from external source

(5) Travel value area after proximity dog ON The travel value since the position mode was selected by the CHANGE signal input from external source is stored in the travel value storage register after proximity dog ON. (Refer to Section 3.2.1)

[Cautions]

(1) Item check at the CHANGE signal ON from external source When the external CHANGE signal turns on, speed control switches to position control if the following conditions are met: Start accept flag (M2001+n) is turning on. Speed control is executing after starting of the speed/position switching control. Speed/position switching enable command (M3205+20n) is turning on.

Example

6 - 100

6 POSITIONING CONTROL

(2) No speed control

Position control only is executed if M3205+20n and CHANGE signal are turning on at the start. The speed controlling signal (M2404+20n) does not turn on.

Speed controlling (M2404+20n)

Servo program start

Speed switching signal input (CHANGE)

ON OFF

Speed/position switching enable command (M3205+20n)

t

Position control only is executed, if M3205+20n and CHANGE are turning on at the start.

V

OFF

OFF

OFF

OFF

ON

ONSpeed/position switching latch (M2405+20n)

(3) "Travel value for position control" is less than "deceleration distance"

(a) If the travel value for position control is less than the deceleration distance at controlling speed, deceleration processing starts immediately when CHANGE is input.

(b) The difference between travel value for the deceleration stop and position control is the overrun. At this time, the error detection signal (M2407+20n) turns on and error code [209] is stored in the data register.

(c) The positioning complete signal (M2401+20n) does not turn on.

Positioning complete signal (M2401+20n)

Error detection (M2407+20n)

t

Overrun

Travel value for position control

V

ON

ON

ON

OFF

OFF

OFF

OFF

Speed/position switching enable command (M3205+20n)

Position switching signal input (CHANGE)

(4) Stroke limit check Stroke limit range is not checked during the speed mode. If the travel value exceeds the stroke limit range, a minor error (error code: 210) occurs when position mode is selected, and performs a deceleration stop.

6 - 101

6 POSITIONING CONTROL

[Program]

Program for speed/position switching control is shown as the following conditions. (1) System configuration

Speed/position switching control of Axis 4.

Q172 LX

M M MM

Motion CPU control module

Start command (PX000)

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

QX41

(2) Positioning conditions (a) Positioning conditions are shown below.

Item Positioning conditions

Servo program No. 101 Control axis Axis 4 Travel value for positioning control 40000

Command speed 1000

(b) Positioning start command .................................. Turning PX000 off to on (c) Speed/position switching enable command ........ M3265

(3) Operation timing

Operation timing for speed/position switching control is shown below.

Speed/position switching enable command (M3265)

t

Position control Speed controlServo program No.101V

Speed/position switching latch (M2465)

PLC ready flag (M2000) All axes servo ON command (M2042) All axes servo ON accept flag (M2049)

Axis 4 servo ready (M2475)

Start command (PX000)

Servo program start

Axis 4 start accept flag (M2004)

Axis 4 positioning completion (M2461)

1second 1second

CHANGE signal input of the Q172LX

6 - 102

6 POSITIONING CONTROL

(4) Servo program

Servo program No.101 for speed/position switching control is shown below.

Speed Axis 4, 40000

Dwell 1000

VPF

Speed . . . . . . . 1000

Speed/position switching control

Dwell . . . . . . . . 1000

1000 Axis used . . . . . Axis 4 Travel value . . . 40000

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

SET M2042

VPF Axis 4, 40000PLS Speed 1000PLS/s Dwell 1000ms

PX000*M2475

Speed/position switching control

RST M3265

!PX000*M2461

SET M3265

M2465

Note : Shift transition is used to transit into the next processing during the positioning.

END

Speed/position

Turn on all axes servo ON command.

Wait until PX000 and Axis 4 servo ready turn on.

Speed/position switching control Axis used . . . . . . . . . . Axis 4 Travel value . . . . . . . . 40000PLS

Command speed . . . . . 1000PLS/s Dwell . . . . . . . . . . . . . . 1000ms

Axis 4 speed/position switching latch

Axis 4 speed/position switching enable command ON.

Axis 4 speed/position switching enable command OFF

Wait until positioning completion and PX000 turn off.

switching control

[G10]

[F10]

[K101]

[G20]

[G30]

[F20]

[F30]

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

6 - 103

6 POSITIONING CONTROL

6.15.2 Re-starting after stop during control

Re-starting (continuing) after stop with stop command during speed/position switching control is executed. Re-starting uses VPSTART servo instruction.

Items are set in peripheral devices Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

e R

ap id

s to

p de

ce le

ra tio

n tim

e To

rq ue

li m

it va

lu e

D ec

el er

at io

n pr

oc es

si ng

o n

st op

in pu

t Al

lo w

ab le

e rro

r r an

ge fo

r c irc

ul ar

in te

rp ol

at io

n S-

cu rv

e ra

tio

C an

ce l

W AI

T- O

N /O

FF

Speed change

VPSTART

: Must be set : Set if required

[Control details] (1) The continuous control after stop during speed control is executed, after speed/

position switching control start.

(2) Re-starting using the VPSTART is effective by stop during speed control or position control. (a) Re-starts with the speed control at the stop during speed control, then

switches to position control by turning on the CHANGE signal. The control contents after re-starting are same as the speed/position

switching control. Refer to Section "6.15.1 Speed/position switching control start".

V

ON

t Position controlling

Speed controlling

Setting travel value

OFF Speed/position switching enable command (M3205+20n)

CHANGE signal valid

CHANGE signal input from external source

Fig. 6.27 Re-starting during speed control

6 - 104

6 POSITIONING CONTROL

(b) If the stop occurred during position control, re-start with position, and the

positioning control of setting travel value. The travel value after the re-start is calculated as follows:

Travel value before stop

(P1)

Travel value after re-start

(P2) Setting travel

value(P)= -

P1

P1: Travel value before stop

Stop command accept CHANGE signal ON Operation speed

V

Stop

P2: Travel value after restart

Position control

Speed control

t

P2 Restart

VPF/VPR instruction

Servo program start

Speed/position switching enable command (M3205+20n)

VPSTART

ON OFF

Speed/position switching control start

Stop command (M3200+20n)

Position control

Fig.6.28 Re-starting during speed control

(3) It controls at the speed stored at the VPF/VPR instruction execution in the re-

starting. Therefore, even if the speed change before stop during control, it becomes the speed at the VPF/VPR instruction execution.

Stop command

CHANGE signal ONOperation speedSpeed change

Setting speed

V

Speed control

Restart

Position control

Speed control

t

Fig.6.29 Re-starting after speed change

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6 POSITIONING CONTROL

[Program]

Program for restarting after stop during control with the speed/position switching control is shown as the following conditions. (1) System configuration

Speed/position switching control of Axis 4.

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

M M MM

Motion CPU control module

Start command (PX000), restart command (PX001), stop command (PX002)

Axis 4

Axis 1

Axis 2

Axis 3

AMPAMP AMPAMP

(2) Positioning conditions (a) Positioning conditions are shown below.

Positioning conditions Item Speed/position

switching control Restart

Servo program No. 101 102 Control axis Axis 4 Axis 4 Travel value for positioning control

40000

Command speed 1000

(b) Positioning start command ................................... Turning PX000 off to on (OFF ON)

(c) Speed/position switching enable command ......... M3265

(d) Re-start command .................................................Turning PX001 off to on

(OFF ON)

(e) Stop command ..................................................... Turning PX002 off to on (OFF ON)

6 - 106

6 POSITIONING CONTROL

(3) Operation timing

Operation timing for speed/position switching control and re-starting are shown below.

V

1000

CHANGE signal accept

Speed control

Position control t

Speed/position switching enable command (M3265)

Speed/position switching latch (M2465)

PLC ready flag (M2000)

All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 4 servo ready (M2475)

Start command (PX000)

Servo program start

Axis 4 start accept flag (M2004)

Restart command (PX001)

Stop command (PX002, M3260)

CHANGE signal input of the Q172LX

(4) Servo program Servo program No.101 and No.2 for speed/position control and re-starting are shown below.

Axis 4, 40000 Speed 1000

VPF

Axis 4 VPSTART

Speed . . . . . . . . . .

Speed/position switching control

Axis used . . . . . . . Axis 4 Re-start

Axis used . . . . . Axis 4 Travel value . . . 40000

1000

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

6 - 107

6 POSITIONING CONTROL

(5) Motion SFC program

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

SET M2042

VPF Axis 4, 40000PLS Speed 1000PLS/s

PX000*M2475

END

Speed/position switching control for Axis 4

Speed/position switching enable command OFF with axis 4 speed/position switching latch ON. Axis 4 start accept flag OFF.

Re-starting after stop during speed/position switching control

RST M3260

!PX000*!PX001*!PX002

Axis 4 stop command OFF

SET M3260=PX002 RST M3265=M2465 !M2004

SET M3265

PX001

VPSTART Axis 4

Re-start

END M3260

Turn on all axes servo ON command.

Wait until PX000 and Axis 4 servo ready turn on.

Command speed . . . 1000[PLS/s] Travel value . .. . . . 40000[PLS] Axis used . . .. . . . . Axis 4

Axis 4 speed/position switching enable command ON

Wait until PX001 turn on.

Re-starting after stop during control

Wait until PX000, PX001 and PX002 turn off with re-starting after stop during speed-position switching control.

[G10]

[F10]

[K101]

[G20]

[G30]

[F20]

[F30]

[G40]

[G60]

[K102]

Axis 4 stop command ON with PX002 ON .

Axis used . . .. . . . . Axis 4

End with stop due to error.

RST M3265=M2465 !M2004

[G50] Speed/position switching enable command OFF with axis 4 speed/position switching latch ON. Axis 4 start accept flag OFF.

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

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6 POSITIONING CONTROL

6.16 Speed-Switching Control

(1) Positioning control performs changing the speed on the point beforehand set by one start.

(2) The speed-switching points and speed are set using the servo program.

(3) Repetition control between any speed-switching points can be performed by using

repetition instructions.

(4) M-codes and torque limit values can be changed at each speed-switching point. 6.16.1 Speed-switching control start, speed-switching points and end specification

Items are set in peripheral devices Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

e R

ap id

s to

p de

ce le

ra tio

n tim

e To

rq ue

li m

it va

lu e

D ec

el er

at io

n pr

oc es

si ng

o n

st op

in pu

t Al

lo w

ab le

e rro

r r an

ge fo

r c irc

ul ar

in te

rp ol

at io

n S-

cu rv

e ra

tio

C an

ce l

W AI

T- O

N /O

FF

Speed change

Start VSTART

End VEND

ABS-1 1

ABS-2 2 End point address

ABS-3

Absolute data

3

INC-1 1

INC-2 2 Travel

value to end point INC-3

Incremental

3

Valid

VABS Absolute data Speed- Switching

point VINC Incremental

: Must be set : Set if required

6 - 109

6 POSITIONING CONTROL

[Control details]

Start and end of the speed-switching control

Speed-switching control is started and ended using the following instructions: (1) VSTART

Starts the speed-switching control.

(2) VEND Ends the speed-switching control.

Travel value setting to end address/end point

The travel value to end address/end point with the speed-switching control, positioning control method and positioning speed to the end point are set using the following instructions : (1) ABS-1/INC-1

Set 1 axis linear positioning control. The control contents are same as Section 6.2 "1 Axis Linear Positioning Control".

(2) ABS-2/INC-2

Set 2 axes linear interpolation control. The control contents are same as Section 6.3 "2 Axes Linear Interpolation Control".

(3) ABS-3/INC-3

Set 3 axes linear interpolation control. The control contents are same as Section 6.4 "3 Axes Linear Interpolation Control".

Speed-switching point setting

The address (travel value) of the speed-switching point and the positioning speed are set using the following instructions: (1) VABS

Set the speed-switching point using the absolute data method.

(2) VINC Set the speed-switching point using the incremental data method.

POINT The axis which set the speed-switching point (travel value) and positioning speed by 2 or 3 axes linear interpolation control is first set in the "travel value to end address/end point".

Set the speed-switching point (travel value) and positioning speed.

VSTART ABS-2 Axis Axis Speed

2, 3,

75000 60000 2000

6 - 110

6 POSITIONING CONTROL

Procedure of the servo program and operation timing

Servo programs for speed-switching control and the operation timing are shown below.

[Servo program]

VSTART ABS-2 Axis Axis Speed VABS Axis Speed VABS Axis Speed VABS Axis Speed VEND

4, 3,

4,

4,

4,

80000 60000 2000

20000 7000

60000 6000

70000 4000

. . . P1

. . . P2

. . . P3

. . . P4

Start

Start speed-switching control

Specify end address

Specify speed-switching point

All speed-switching points specified ?

End speed-switching control

END

NO

YES

[Operation timing]

P4

t

P3

60000

P2

P1 Axis 3 positioning direction

Axis 4 positioning direction

5000

0

V

Stop (P1)

0

Speed-switching point

20000 60000 70000

80000

Speed-switching point (P2)

6 - 111

6 POSITIONING CONTROL

[Cautions]

(1) The number of control axes cannot be changed during control.

(2) The speed-switching point can be specified the absolute data method (VABS ) and incremental data method (VINC ) by mixed use.

(3) The speed-switching point cannot be specified an address which change in travel

direction. If the travel direction change, the error code [215] is stored in the minor error storage register for each axis and the deceleration stop is performed.

(4) It checks whether to be the end address within the stroke limit range at the start.

If it is positioning to outside the stroke limit range, the error code [106] is stored in the minor error storage register for each axis and operation does not start.

(5) If the travel value between speed-switching points is so short and it shifts to the

next speed-switching point during speed-switching control, the speed-switching does not perform.

(6) If the M-code from the previous point is retained in the point with which M-code is

not specified. [Program]

Program for speed-switching is shown as the following conditions. (1) System configuration

Speed-switching control of Axis 2 and Axis 3.

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

M M MM

Motion CPU control module

Start command (PX000)

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

(2) Positioning conditions (a) Speed-switching control conditions are shown below.

Item Setting

Servo program No. 500 Control axis Axis 2 Axis 3 End address 100000 50000

(b) Speed-switching control start command ....... Turning PX000 off to on

(OFF ON)

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6 POSITIONING CONTROL

(3) Operation timing and speed-switching positions

Operation timing and speed-switching points for speed-switching control are shown below.

50000

8000

40000

5000

Axis 3 positioning direction

V 70000

2000

100000

ON OFF

t

ON

ON

ON

OFF

OFF

OFF

Axis 2 positioning direction

PLC ready flag (M2000)

All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 2 servo ready (M2435)

Start command (PX000)

Servo program start

Axis 2 start accept flag (M2002)

Axis 3 servo ready (M2455)

Axis 3 start accept flag (M2003)

0

(4) Servo program Servo program No.500 for speed-switching control is shown below.

2000

ABS-2 VSTART

Speed-switching point, speed setting

VABS

Axis 2,

VEND

Axis 3, Speed

100000 50000

Axis 2, Speed

VABS Axis 2, Speed

2 axes linear interpolation control (absolute data method) Start speed/position switching control

Speed to speed-switching point Speed-switching point

Positioning speed . . . . . . . . . . 2000

Indicated axis No. Axis 2

40000

End speed switching control

8000 70000 5000

40000 8000

70000 5000

Axis used . . . Axis 2, Axis 3

End address Axis 2 . . . 100000 Axis 3 . . . . 50000

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

6 - 113

6 POSITIONING CONTROL

(5) Motion SFC program

Motion SFC program for which executes the speed-switching control is shown below.

SET M2042

VSTART ABS-2 Axis 2, 100000PLS Axis 3, 50000PLS Speed 2000PLS/s VABS Axis 2, 40000PLS Speed 8000PLS/s VABS Axis 2, 70000PLS Speed 5000PLS/s VEND

PX000*M2435*M2455

Speed-switching control

END

Speed-switching control

!PX000

(Unit : Point [PLS]/speed[PLS/s])

Turn on all axes servo ON command.

Wait until PX000, Axis 2 servo ready and Axis 3 servo ready turn on.

Start speed-switching control 2 axes linear interpolation control (absolute data method)

Axis used . . . . . . . . . . . Axis 2, Axis 3

End address Axis 2 . . . 100000[PLS] Axis 3 . . . . 50000[PLS]

Positioning speed . . . . . . . .. . 2000[PLS/s] Speed-switching point, speed setting

Axis2 40000 70000

50008000Speed to speed-switching point Speed-switching point

Indicated axis No.

End speed-switching control

Wait until PX000 turn off after speed-switching control completion.

[K500]

[F10]

[G10]

[G20]

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

6 - 114

6 POSITIONING CONTROL

6.16.2 Specification of speed-switching points using repetition instructions

Repetition execution between any speed-switching points. Items are set in peripheral devices

Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

e R

ap id

s to

p de

ce le

ra tio

n tim

e To

rq ue

li m

it va

lu e

D ec

el er

at io

n pr

oc es

si ng

o n

st op

in pu

t Al

lo w

ab le

e rro

r r an

ge fo

r c irc

ul ar

in te

rp ol

at io

n S-

cu rv

e ra

tio

R ep

ea te

d co

nd iti

on

C an

ce l

W AI

T- O

N /O

FF

Speed change

FOR-TIMES FOR-ON FOR-OFF

NEXT

: Must be set : Set if required

[Control details]

First repetition range setting

The first repetition range is set using the following instructions: (1) FOR-TIMES (number of loops setting)

(a) The repetition range set specified number of times is executed repeatedly. (b) The setting range is 1 to 32767.

Outside the range of 32768 to 0 is controlled as a setting of "1". (c) The following devices can be used as the repetition number of times:

1) Data register (D) 2) Link register (W) For indirect setting 3) Motion register (#) 4) Decimal constant (K) 5) Hexadecimal constant (H)

(2) FOR-ON (loop-out trigger condition setting)

(a) The repetition range set until the specified bit device turns on is executed repeatedly.

(b) The following devices are used as the loop-out trigger condition: 1) Input (X/PX) 2) Output (Y/PY) 3) Internal relay (M)/Special relay (SP.M) 4) Latch relay (L) 5) Link relay (B) 6) Annunciator (F)

6 - 115

6 POSITIONING CONTROL

(3) FOR-OFF (loop-out trigger condition setting)

(a) The repetition range set until the specified bit device turns off is executed repeatedly.

(b) The following devices are used as the loop-out trigger condition: 1) Input (X/PX) 2) Output (Y/PY) 3) Internal relay (M)/Special relay (SP.M) 4) Latch relay (L) 5) Link relay (B) 6) Annunciator (F)

Operation of the repetition control using FOR-TIMES, FOR-ON, and FOR-OFF is shown below.

[Servo program]

2)

1) Condition 1 Condition 2 Condition 3

FOR-TIMES K1 K2 K3

FOR-ON X010 ON from start

X010 ON during first execution of 3)

X010 ON during third execution of 3)

FOR-OFF X011 OFF from start

X011 OFF during first execution of 3)

X011 OFF during third execution of 3)

VSTART

2000

2)

VINC Speed

1)

VINC

VINC

NEXT VEND

40000

2000

30000

20000 1000

3)

INC-2 230000

10000

500Speed Axis 1,

Axis 1, Speed

Speed Axis 1,

Axis 2, Axis 1,

(1) Operation in condition 1

1000

0

2000

100000 200000 ON

OFFX010

X011 OFF ON

(2) Operation in condition 2

1000

0 200000

2000

100000 ON

OFFX010

X011 OFF ON

6 - 116

6 POSITIONING CONTROL

(3) Operation in condition 3

ON OFF

Minor error [215] occurred

0

1000

2000

100000

X010

X011

200000

ON OFF

Error occurs because it exceeds the travel value to the stop position.

[Program] Program for repetition speed-switching control is shown as the following conditions. (1) System configuration

Speed-switching control of Axis 2 and Axis 3.

M M MM

Motion CPU control module

Start command (PX000)

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

(2) Positioning conditions (a) Speed-switching control conditions are shown below.

Item Setting

Servo program No. 501 Control axes Axis 2 Axis 3 End address 230000 100000

(b) Speed-switching control start command ...... Turning PX000 off to on

(OFF ON)

6 - 117

6 POSITIONING CONTROL

(3) Operation timing and speed-switching positions

Operation timing and speed-switching points for speed-switching control are shown below.

100000V

50000

100000

50000

50000

t

150000 200000

Axis 3 positioning direction

Axis 2 positioning direction

PLC ready flag (M2000)

All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 2 servo ready (M2435)

Start command (PX000)

Servo program start

Axis 2 start accept flag (M2002)

Axis 3 servo ready (M2455)

Axis 3 start accept flag (M2003)

0

0

6 - 118

6 POSITIONING CONTROL

(4) Servo program

Servo program No. 501 for speed-switching control by the repetition instruction is shown below.

Axis 3, Axis 2,

Speed

VSTART INC-2

VINC

FOR-TIMES

NEXT VEND

Axis 2, Speed

VINC Axis 2, Speed

VINC Axis 2, Speed

10000

Starts speed-switching control

40000

K 2

100000 230000

40000

30000 20000

50000 40000

Positioning speed

End speed-switching control

Number or repetition 2

Speed to speed-switching point Speed-switching point

Indicated Axis No. Axis 2

30000 20000

50000 40000

Speed-switching point, speed setting

2 axes linear interpolation control (incremental data method)

Speed-switching point, speed setting

Axis used . . . . .. . . . . .. . . . .. Axis 2, Axis 3 Travel value to stop position Axis 2 . . . 230000

Axis 3 . . . 100000

Travel value to speed-switching point . . . 40000 Indicated axis . . . . . . . . . . . . . . . . . . . . . Axis 2

End repetition region

Speed to speed-switching point . . . . . . . . . . 40000

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

6 - 119

6 POSITIONING CONTROL

(5) Motion SFC program

Motion SFC program for which executes speed-switching control using repetition instructions is shown below.

Specification of speed-switching points using repetition instructions

SET M2042

VSTART INC-2 Axis 2, Axis 3, Speed VINC Axis 2, Speed FOR-TIMES K 2 VINC Axis 2, Speed VINC Axis 2, Speed NEXT VEND

PX000*M2435*M2455

END

!PX000

Turn on all axes servo ON command.

Wait until PX000, Axis 2 servo ready and Axis 3 servo ready turn on.

Starts speed-switching control 2 axes linear interpolation control (incremental data method)

Axis used . . . . . . . . . . . . . . . . Axis 2, Axis 3 Travel value to . . . . . . . . . stop position

Axis 2 . . . 230000 Axis 3 . . . 100000

Positioning speed . . . 10000[PLS/s] Speed-switching point, speed setting

Indicated axis . . . Axis 2 Travel value to speed-switching point . . . 40000[PLS]

Speed-switching point, speed setting

Speed to speed-switching point Speed-switching point

Indicated axis No. Axis 2 30000 20000

50000 40000

40000PLS/s 50000PLS

20000PLS/s

40000PLS/s

10000PLS/s

30000PLS

40000PLS

100000PLS 230000PLS

Number of repetitions 2

End speed-switching control

(Unit : Point [PLS]/speed [PLS/s])

points using repeat instructions

Wait until PX000 turn off after speed switching control completion.

S eed-switching control using repetition instructions

End repetition region

[F10]

[G10]

[K501]

[G20]

Speed to speed-switching point . . .. . . . . . . 40000[PLS/s]

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

6 - 120

6 POSITIONING CONTROL

6.17 Constant-Speed Control

(1) Positioning to the pass point beforehand set by one starting is executed with the specified positioning method and positioning speed.

(2) The positioning method and positioning speed can be changed for each pass

point.

(3) The following parameters is set in the servo program. Pass point Positioning method from any pass point to the next pass point. Positioning speed from any pass point to the next pass point.

(4) Repetition control between any pass points can be performed by using repetition

instructions.

(5) M-codes and torque limit values can be changed at each speed-switching point.

(6) 1 to 4 axes can be controlled. [Procedure to write servo programs]

The method to write the servo programs for constant-speed control is shown below.

[Procedure] [Example : Servo program for 2 axes constant-speed control]

Set the constant-speed control axis and speed

YES

End constant-speed control

Set the positioning address (travel value)

Set the each pass point

All pass points are set ?

Set the positioning method

NO

Set the speed-switching

2

3

Point 4

Axis 3

1

Axis 2

Speed

4

CPSTART

ABS-2

CPEND

40000

[PLS/s]10000

Axis 2, Axis 3,

ABS-2 Axis 2, Axis 3, Speed

ABS-2 Axis 2, Axis 3,

60000

60000 60000 15000

100000 80000

[PLS/s]

[PLS] [PLS]

[PLS] [PLS]

[PLS] [PLS]

Start

End

6 - 121

6 POSITIONING CONTROL

[Operation timing]

Operation timing for constant-speed control is shown below. [Example : Operation timing for 2 axes constant-speed control]

Change speed after speed-switching

Axis 3 positioning direction

P1

80000

60000

Axis2 positioning direction

P2

P3

15000

Positioning speed for 2 axes linear interpolation

V

10000

t

Set speed

40000 60000

100000 0

0 [Caution]

(1) The number of control axes cannot be changed during control.

(2) The pass point can be specified the absolute data method (ABS ) and incremental method (INC ) by mixed use.

(3) The pass point can also be specified an address which change in travel direction.

The acceleration processing at a pass point is executed for 1 axis constant-speed. However, the acceleration/deceleration processing at a pass point is not executed for 2 to 4 axes constant-speed, so be careful of the servo error occurrence, etc.

(4) Speed change is possible after the start.

Note the following points at the speed change. (a) The central point-specified circular interpolation is included the constant-

speed control. When the arc path calculated from the start address and central-point address is differ (within the allowable error range for circular interpolation) from the setting end address, if the speed is changed, error compensation (Refer to Section 4.3.3) may not function normally. When the central point-specified circular interpolation as positioning method is used at the constant-speed control, set the start address, central point address and end address becomes arc correctly.

6 - 122

6 POSITIONING CONTROL

(b) The speed switching and change speed by CHGV instruction are executed

toward the same program in the servo program. The lower of the speed change by CHGV instructions and the command speed in the servo program is selected. The speed change by CHGV instructions are executed if the speed is lower than the speed set in the servo program; otherwise the CHGV instructions are not executed. 1) Change speed by CHGV instruction > command speed in the servo

program The command speed in the servo program is selected.

V

Speed change to command speed in the servo program

Command speed in the servo program Speed change by CHGV instruction

t 2) Change speed by CHGV instruction < command speed in the servo

program The change speed by CHGV instructions is effective.

V Speed change by command speed in the servo program (Speed set by the CHGV instructions is valid)

Speed change by CHGV instructions (Speed does cot change due to more than command speed in the servo program.)

t

(5) An overrun occurs if the distance remaining to the final positioning point when the final positioning point is detected is less than the deceleration distance at the positioning speed after the start (command speed). The error code [211] (overrun error) is stored in the minor error storage register for each axis.

(6) If positioning to outside the stroke limit range is executed after the start, the error

code [106] is stored in the minor error storage register for each axis and a deceleration stop is executed.

(7) The minimum travel value between constant-speed control pass points is shown

below: Command speed per second (control unit/s) Main cycle [s] < Travel distance [PLS]

6 - 123

6 POSITIONING CONTROL

Example) Main cycle: 20[ms], Command speed: 600[mm/min]

If the command speed (600[mm/min]) is divided by 60, the command speed per second is 10[mm/s], and if the main cycle (20[ms]) is divided by 1000, the main cycle is 0.02[s]. Therefore, the travel distance is as follow.

10[mm/s] 0.02[s] = 0.2[mm] Set the travel distance to more than 0.2[mm].

Positioning speed drops if the distance between pass points is short the minimum travel value.

6 - 124

6 POSITIONING CONTROL

6.17.1 Specification of pass points by repetition instructions

This section describes the method of the pass points for which executes between any pass points repeatedly.

Items are set in peripheral devices Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er B

lo ck

N o.

Ax

is

Ad dr

es s/

Tr av

el V

al ue

C

om m

an d

sp ee

d D

w el

l T im

e M

C od

e To

rq ue

L im

it Va

lu e

Au xi

lia ry

P oi

nt

R ad

iu s

C en

tra l p

oi nt

C

on tro

l U ni

t Sp

ee d

Li m

it V

al ue

Ac

ce le

ra tio

n Ti

m e

D ec

el er

at io

n Ti

m e

R ap

id S

to p

D ec

el er

at io

n Ti

m e

To rq

ue L

im it

Va lu

e D

ec el

er at

io n

P ro

ce ss

in g

on S

to p

In pu

t Al

lo w

ab le

E rro

r R an

ge fo

r C irc

ul ar

In te

rp ol

at io

n S-

C ur

ve R

at io

R

ep ea

te d

C on

di tio

n C

an ce

l W

AI T-

O N

/O FF

Speed change

FOR-TIMES FOR-ON FOR-OFF

NEXT

: Must be set : Set if required

[Control details]

Setting the first of repetition range

The first of repetition range is set by the following instructions: (1) FOR-TIMES (number of loops setting)

(a) The repetition range set specified number of times is executed repeatedly. (b) The setting range is 1 to 32767.

Outside the range of 32768 to 0 is controlled as a setting of "1". (c) The following devices can be used as the repetition number of times:

1) Data register (D) 2) Link register (W) For indirect setting 3) Motion register (#) 4) Decimal constant (K) 5) Hexadecimal constant (H)

(2) FOR-ON (Loop-out trigger condition setting)

(a) The repetition range set until the specified bit device turns on is executed repeatedly.

(b) The following devices are used as the loop-out trigger condition : 1) Input (X/PX) 2) Output (Y/PY) 3) Internal relay (M)/Special relay (SP.M) 4) Latch relay (L) 5) Link relay (B) 6) Annunciator (F)

6 - 125

6 POSITIONING CONTROL

(3) FOR-OFF (loop-out trigger condition setting)

(a) The repetition range set until the specified bit device turns off is executed repeatedly.

(b) The following devices are used as the loop-out trigger condition: 1) Input (X/PX) 2) Output (Y/PY) 3) Internal relay (M)/Special relay (SP.M) 4) Latch relay (L) 5) Link relay (B) 6) Annunciator (F)

The repetition control operation using FOR-TIMES, FOR-ON and FOR-OFF is shown below.

[Servo program]

2) 1)

Condition 1 Condition 2 Condition 3

FOR-TIMES K1 K2 K3

FOR-ON X010 ON during first positioning 3)

X010 ON during second positioning 3)

X010 ON during third positioning 3)

FOR-OFF X011 OFF during first positioning 3)

X011 OFF during second positioning 3)

X011 OFF during third positioning 3)

Axis 1 Axis 2

CPSTART

20000

2)

ABS-2 Speed

Axis 1, Axis 2, 1)

INC-2 Axis 1, Axis 2,

INC-2 Axis 1, Axis 2,

NEXT CPEND

0

40000

1000

30000

20000 20000

3)

50000

Operation in condition 2

Repeat 3)

Operation in condition 3

Axis 2

Operation in condition 1

1000000 Axis 1

200000

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6 POSITIONING CONTROL

[Program]

Program for repetition constant-speed control is shown as the following conditions. (1) System configuration

Constant-speed control for Axis 2 and Axis 3.

M M MM

Motion CPU control module

Start command (PX000)

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

(2) Positioning conditions (a) Constant-speed control conditions are shown below.

Item Setting

Servo program No. 510 Control axis Axis 2, Axis 3 Positioning speed 10000

(b) Constant-speed control start command ....... Turning PX000 off to on

(OFF ON)

6 - 127

6 POSITIONING CONTROL

(3) Operation timing

Operation timing for constant-speed control is shown below. Axis 3 positioning direction

100000

40000

80000

20000

10000

V

60000

100000 20000050000 150000

Radius 20000

t

Axis 2 positioning direction

Combined speed

0

PLC ready flag (M2000)

All axes servo ON command (M2042)

Axis 2 servo ready (M2435)

Start command (PX000)

Servo program start

Axis 2 start accept flag (M2002)

Axis 3 servo ready (M2455)

Axis 3 start accept flag (M2003)

All axes servo ON accept flag (M2049)

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6 POSITIONING CONTROL

(4) Servo program

Servo program No.510 for constant-speed control is shown below.

Axis 2

40000 ABS-2 Speed Axis 3

CPSTART2

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 . . . 10000

20000 20000

20000

Start constant-speed control Axis used . . . . . . . . . Axis 2, Axis 3

Positioning method

Pass point setting

2 axes linear interpolation

Number of repetitions 4

30000Travel value Axis 3

Axis 2

Radius-specified circular interpolation

0

20000

20000

Pass point setting

End constant-speed control End repetition region

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

Positioning method

2 axes linear interpolation

30000[PLS]Travel value Axis 3

Axis 2 0[PLS]

20000[PLS] 20000[PLS]

SET M2042

CPSTART2 Axis 2 Axis 3 Speed 10000PLS/s ABS-2 Axis 2, 40000PLS Axis 3, 20000PLS FOR-TIMES K 4 INC-2 Axis 2, 30000PLS Axis 3, 0PLS INC Axis 2, 20000PLS Axis 3, 20000PLS Radius 20000PLS NEXT CPEND

PX000*M2435*M2455

END

Constant-speed control

!PX000

Constant-speed control

Turn on all axes servo ON command.

Wait until PX000, Axis 2 servo ready and Axis 3 servo ready turn on.

Start constant-speed control

2 axes linear interpolation control (Absolute data method)

Axis used . . . . . . . . . . Axis 2, Axis 3

End address Axis 2 . . . 40000[PLS] Axis 3 . . . 200000[PLS]

Positioning speed . . . 10000[PLS/s]

Axis used . . . . . . . Axis 2, Axis 3

Number of repetitions 4 Pass point setting

End constant-speed control End repetition region

Wait until PX000 turns off after constant-speed control completion.

[F10]

[G10]

[K510]

[G20]

Radius-specified circular interpolation

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

6 - 129

6 POSITIONING CONTROL

6.17.2 Speed-switching by instruction execution

The speed can be specified for each pass point during the constant-speed control instruction. The speed change from a point can be specified directly or indirectly in the servo program.

[Cautions] (1) The speed switching during servo instruction is possible at the constant-speed

control for 1 to 4 axes.

(2) The speed command can be set for each point.

(3) By turning on the speed-switching point specified flag M2040 (Refer to Section 3.1.3) before the start, the point which completes speed change can be specified. The speed change timing at the flag ON/OFF. (a) M2040 is OFF

The speed change starts with the specified speed-switching point.

Speed change complete point

t

V

Speed-switching specified point

Speed change start point

(position) (b) M2040 is ON

The speed change ends with the specified speed-switching point.

t

V

Speed change complete point

Speed-switching specified point

Speed change start point

(position)

6 - 130

6 POSITIONING CONTROL

[Program]

Program for which executes the speed-switching control by turning on M2040 during constant-speed instruction is shown as the following conditions. (1) System configuration

Switches speed for Axis 1 and Axis 2.

M M MM

Motion CPU control module

Start command (PX000)

Axis 4

Axis 1

Axis 2

Axis 3

Speed switching point specified flag (M2040) ON command (PX010)

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

(2) Positioning conditions (a) Speed switching conditions are shown below.

Item Setting

Servo program No. 310 Positioning speed 10000 15000

Positioning method 2 axes linear interpolation

Central point- specified circular

interpolation

2 axes linear interpolation

2 axes linear interpolation

Axis 1 20000 30000 40000 50000 Pass point

Axis 2 10000 20000 25000 40000

(b) The constant-speed start command for speed switching

..............................................................Turning PX000 off to on (OFF ON)

6 - 131

6 POSITIONING CONTROL

(3) Operation timing and speed-switching positions

Operation timing and positions for speed switching are shown below.

20000

P1

P2

40000 P4

20000

Axis 2 positioning direction

P3

10000

Center point

15000

V

t

40000

PLC ready flag (M2000)

All axes servo ON command (M2042)

Axis 1 servo ready (M2415)

Start command (PX000)

Servo program start

Axis 1 start accept flag (M2001)

Axis 2 servo ready (M2435)

Axis 2 start accept flag (M2002)

All axes servo ON accept flag (M2049)

Speed switching point specified flag (M2040)

Axis 1 positioning direction0

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6 POSITIONING CONTROL

(4) Servo program

Servo program No.310 for speed-switching is shown below.

Axis 1

CPEND

Axis 2

20000 30000

ABS-2

Speed

CPSTART2

Axis 1, Axis 2,

ABS Axis 1, Axis 2, Center 1, Center 2,

ABS-2 Axis 1, Axis 2, Speed

ABS-2 Axis 1, Axis 2,

10000

30000

20000 10000

Set P3 10000

25000 40000

15000

50000 40000

Set P2

Set P1

Speed change Set P4

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

6 - 133

6 POSITIONING CONTROL

(5) Motion SFC program

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

SET M2042

CPSTART2 Axis 1 Axis 2 Speed 10000PLS/s ABS-2 Axis 1, 20000PLS Axis 2, 10000PLS ABS Axis 1, 30000PLS Axis 2, 20000PLS Center 1, 30000PLS Center 2, 10000PLS ABS-2 Axis 1, 40000PLS Axis 2, 25000PLS Speed 15000PLS/s ABS-2 Axis 1, 50000PLS Axis 2, 40000PLS CPEND

PX000*M2415*M2435

END

Set P1

Speed-switching during instruction execution

!PX000

SET M2040=PX010 RST M2040=!PX010

Speed change

Speed-switching during instruction execution

Turn on all axes servo ON command.

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

Set P4

Set P2

Set P3

Wait until PX000 turn off after constant-speed control completion.

[F10]

[G10]

[K310]

[G20]

[F20] Speed-switching point specified flag turn on when PX010 turn on. Speed-switching point specified flag turn off when PX010 turn off.

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

6 - 134

6 POSITIONING CONTROL

6.17.3 1 axis constant-speed control

Items are set in peripheral devices Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

e R

ap id

s to

p de

ce le

ra tio

n tim

e To

rq ue

li m

it va

lu e

D ec

el er

at io

n pr

oc es

si ng

o n

st op

in pu

t Al

lo w

ab le

e rro

r r an

ge fo

r c irc

ul ar

in te

rp ol

at io

n S-

cu rv

e ra

tio

C om

m an

de d

sp ee

d (C

on st

an t)

C an

ce l

Sk ip

FI

N a

cc el

er at

io n/

de ce

le ra

tio n

W AI

T- O

N /O

FF

Speed change

Start CPSTART1 1

End CPEND

ABS-1 Absolute data 1 Pass point

INC-1 Incremental 1

Valid

: Must be set : Set if required

[Control details]

Start and end for 1 axis constant-speed control

1 axis constant-speed control is started and ended by the following instructions: (1) CPSTART1

Starts the 1 axis constant-speed control. Sets the axis No. and command speed.

(2) CPEND Ends the 1 axis constant-speed control for CPSTART1.

Positioning control method to the pass point

The positioning control to change control is specified by the following instructions: (1) ABS-1/INC-1

Sets the 1 axis linear positioning control. Refer to Section 6.2 "1 Axis Linear Positioning Control" for details.

6 - 135

6 POSITIONING CONTROL

[Program]

Program for repetition 1 axis constant-speed control is shown as the following conditions. (1) System configuration

Axis 4 constant-speed control.

M M MM

Motion CPU control module

Positioning start command (PX000)

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

(2) Positioning conditions (a) Constant-speed control conditions are shown below.

Item Setting

Servo program No. 500 Control axis Axis 4 Positioning speed 10000 Number of repetitions 100

P1 -1000 P2 2000 P3 -2000

Pass point travel value

P4 1000

(b) Constant-speed control start command ........ Turning PX000 off to on (OFF ON)

(3) Details of positioning operation

Number of repetitions

100

3

Return

1

-1000

2

0 1000 Address

Out

Return

Out

Return

Out

Return

Out

6 - 136

6 POSITIONING CONTROL

(4) Operation timing

Operation timing for servo program No.500 is shown below. V

P1 P2 P3

10000

-10000

P4

t

P2 P3

PLC ready flag (M2000)

All axes servo ON command (M2042)

Axis 4 servo ready (M2475)

Start command (PX000)

Servo program start

Axis 4 start accept flag (M2004)

All axes servo ON accept flag (M2049)

0

(5) Servo program Servo program No.500 for constant-speed control is shown below.

CPSTART1 Axis 4 Speed INC-1 Axis 4, FOR-TIMES INC-1 Axis 4, INC-1 Axis 4, NEXT INC-1 Axis 4, CPEND

100000

-1000

K 100

2000

-2000

1000

Starts constant-speed control Axis used . . . . . . . . . . Axis 4 Positioning speed . . . 10000

1 axis linear positioning control

Number of repetitions 100

Ends repetition region

End constant-speed control

1 axis linear positioning control

1 axis linear positioning control

1 axis linear positioning control

Travel value to pass point . . . -1000

Axis used . . . . . . . . . . . . . . . Axis 4

Travel value to pass point . . . 2000

Axis used . . . . . . . . . . . . . . . Axis 4

Travel value to pass point . . . -2000

Axis used . . . . . . . . . . . . . . . Axis 4

Travel value to pass point . . .1000 Axis used . . . . . . . . . . . . . . . Axis 4

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

6 - 137

6 POSITIONING CONTROL

(6) Motion SFC program

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

SET M2042

CPSTART1 Axis 4 Speed 10000PLS/s INC-1 Axis 4, -1000PLS FOR-TIMES K 100 INC-1 Axis 4, 2000PLS

INC-1 Axis 4, -2000PLS NEXT

INC-1 Axis 4, 1000PLS CPEND

PX000*M2475

END

1 axis constant-speed control

!PX000

Travel value to pass point . . . -1000[PLS/s]

End constant-speed control

Number of repetitions 100

Start constant-speed control

Turn on all axes servo ON command.

Wait until PX000 and Axis 4 servo ready turn on.

Axis used . . . Axis 4 Positioning speed . . . . . . . . . . 10000[PLS/s]

Axis used . . . . . . . . . . . . . . . Axis 4 1 axis linear positioning control

1 axis linear positioning control

1 axis linear positioning control

1 axis linear positioning control

End repetition region

1 axis constant-speed control

Travel value to pass point . . . 2000[PLS/s] Axis used . . . . . . . . . . . . . . . Axis 4

Travel value to pass point . . . -2000[PLS/s] Axis used . . . . . . . . . . . . . . . Axis 4

Travel value to pass point . . . 1000[PLS/s] Axis used . . . . . . . . . . . . . . . Axis 4

Wait until PX000 turn off after constant-speed control completion.

[F10]

[G10]

[K500]

[G20]

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

6 - 138

6 POSITIONING CONTROL

6.17.4 2 to 4 axes constant-speed control

Constant-speed control for 2 to 4 axes. Items are set in peripheral devices

Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

e R

ap id

s to

p de

ce le

ra tio

n tim

e To

rq ue

li m

it va

lu e

D ec

el er

at io

n pr

oc es

si ng

o n

st op

in pu

t Al

lo w

ab le

e rro

r r an

ge fo

r c irc

ul ar

in te

rp ol

at io

n S-

cu rv

e ra

tio

C om

m an

de d

sp ee

d (C

on st

an t)

C an

ce l

Sk ip

FI

N a

cc el

er at

io n/

de ce

le ra

tio n

W AI

T- O

N /O

FF

Speed change

CPSTART2 2

CPSTART3 3 Start

CPSTART4 4

End CPEND

ABS-2 2

ABS-3 3

ABS-4 4

ABS

ABS

ABS

ABS

ABS

ABS

ABS

Absolute data

2

INC-2 2

INC-3 3

INC-4 4

INC

INC

INC

INC

INC

INC

Pass point

INC

Incremental data

2

Valid

: Must be set : Set if required

6 - 139

6 POSITIONING CONTROL

[Control details]

Start and end for 2 to 4 axes constant-speed control

2 to 4 axes constant-speed control is started and ended using the following instructions: (1) CPSTART2

Starts the 2 axes constant-speed control. Sets the axis No. and command speed.

(2) CPSTART3

Starts the 3 axes constant-speed control. Sets the axis No. and command speed.

(3) CPSTART4

Starts the 4 axes constant-speed control. Sets the axis No. and command speed.

(4) CPEND

Ends the 2, 3, or 4 axes constant-speed control for CPSTART2, CPSTART3, or CPSTART4.

Positioning control method to the pass point

Positioning control to change control is specified using the following instructions: (1) ABS-2/INC-2

Sets 2 axes linear interpolation control. Refer to Section 6.3 "2 Axes Linear Interpolation Control" for details.

(2) ABS-3/INC-3

Sets 3 axes linear interpolation control. Refer to Section 6.4 "3 Axes Linear Interpolation Control" for details.

(3) ABS-4/INC-4

Sets 4 axes linear interpolation control. Refer to Section 6.5 "4 Axes Linear Interpolation Control" for details.

(4) ABS/INC

Sets circular interpolation control using auxiliary point specification. Refer to Section 6.6 "Auxiliary Point-Specified Circular Interpolation Control" for details.

(5) ABS/INC , ABS/INC , ABS/INC , ABS/INC

Sets circular interpolation control using radius specification. Refer to Section 6.7 "Radius-Specified Circular Interpolation Control" for details.

6 - 140

6 POSITIONING CONTROL

(6) ABS/INC , ABS/INC

Sets circular interpolation control using center point specification. Refer to Section 6.8 "Central Point-Specified Circular Interpolation Control" for details.

[Program] (1) Program for 2 axes constant-speed control is shown as the following conditions.

(a) System configuration Constant-speed control for Axis 2 and Axis 3.

M M MM

Motion CPU control module

Start command (PX000)

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

(b) Positioning operation details Axis 2 and axis 3 servomotors is used for positioning operation. Positioning details for Axis 2 and Axis 3 servomotors are shown below.

Axis 3 positioning direction

30000

P1

P2

100000

30000

P3

50000

50000 90000 Axis 2 positioning direction0

Fig.6.30 Positioning for Axis 2 and Axis 3

6 - 141

6 POSITIONING CONTROL

(c) Positioning conditions

1) Constant-speed control conditions are shown below. Item Setting

Servo program No. 505 Positioning speed 10000

Positioning method 2 axes linear interpolation

Radius-specified circular

interpolation

2 axes linear interpolation

Axis 2 30000 50000 90000 Pass point

Axis 3 30000 50000 100000

2) Constant-speed control start command ... Turning PX000 off to on

(OFF ON)

(d) Servo program Servo program No.505 for constant-speed control is shown below.

Speed Axis 3 Axis 2

CPSTART2 Start constant-speed control Axis used . . . . . . . . Axis 2, Axis 3 Positioning speed . . . . . . . . . . . 10000

Positioning address Axis 2 . . . 30000 Axis 3 . . . 30000

Positioning address Axis 2 . . . 50000 Axis 3 . . . 50000

Axis 2 . . . 90000 Axis 3 . . . 100000

End constant-speed control

Axis 3,

Axis 3,

Radius

ABS

ABS-2 Axis 2,

Axis 2,

ABS-2 Axis 2, Axis 3,

CPEND

10000

30000 30000

50000 50000

90000

20000

100000

Radius . . . . . . . . . . . . . . . . . . . . 20000

2 axes linear interpolation control

2 axes linear interpolation control Positioning address

Circular interpolation control

6 - 142

6 POSITIONING CONTROL

(e) Motion SFC program

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

SET M2042

CPSTART2 Axis 2 Axis 3 Speed 10000PLS/s ABS-2 Axis 2, 30000PLS Axis 3, 30000PLS ABS Axis 2, 50000PLS Axis 3, 50000PLS Radius ABS-2 Axis 2, 90000PLS Axis 3, 100000PLS CPEND

PX000*M2435*M2455

END

!PX000

2 axes constant-speed control

2 axes constant-speed control

20000PLS

Turn on all axes servo ON command.

Wait until PX000, Axis 2 servo ready and Axis 3 servo ready turn on.

Start constant-speed control Axis used . . . Axis 2, Axis 3

Positioning speed . . . . . . . . . . 10000[PLS/s] 2 axes linear interpolation control

Positioning address Axis 2 . . . 30000[PLS] Axis 3 . . . 30000[PLS]

Circular interpolation control

Radius . . . 20000[PLS] 2 axes linear interpolation control

End constant-speed control

Positioning address Axis 2 . . . 50000[PLS] Axis 3 . . . 50000[PLS]

Positioning address Axis 2 . . . 90000[PLS] Axis 3 . . 100000[PLS]

Wait until PX000 turn off after constant-speed control completion.

[F10]

[G10]

[K505]

[G20]

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

(2) Program for 4 axes constant-speed control is shown as the following conditions.

(a) System configuration Constant-speed control for Axis 1, Axis 2, Axis 3, and Axis 4.

M M MM

Motion CPU control module

Start command (PX000)

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

6 - 143

6 POSITIONING CONTROL

(b) Positioning conditions

1) Constant-speed control conditions are shown below. Item Setting

Servo program No. 506 Positioning speed 10000

Positioning method 4 axes linear interpolation

4 axes linear interpolation

4 axes linear interpolation

Axis 1 3000 5000 5000 Axis 2 4000 3500 3500 Axis 3 4000 -4000 3000

Pass point

Axis 4 4000 -6000 6000

2) Constant-speed control start command... Turning PX000 off to on

(OFF ON)

(c) Servo program Servo program No.506 for constant-speed control is shown below.

CPSTART4

Axis 2

Axis 1, Axis 2,

Speed

Axis 1

INC-4

Constant-speed control

Axis 3 Axis 4

Axis 3, Axis 4,

INC-4 Axis 1, Axis 2,

10000

Axis used . . . Axis 1, Axis 2, Axis 3, Axis 4

CPEND

3000

Axis 3, Axis 4,

INC-4 Axis 1, Axis 2, Axis 3, Axis 4,

4000

4000 4000

3000

5000 3500

-4000 -6000

5000 3500

6000

Axis 1 . . . 3000

Travel value to pass point Axis 2 . . . 4000 Axis 3 . . . 4000

Positioning speed . . . 10000

Axis 4 . . . 4000

End constant-speed control

4 axes linear interpolation control (P1)

4 axes linear interpolation control (P2)

4 axes linear interpolation control (P3)

Axis 1 . . . 5000

Travel value to pass point Axis 2 . . . 3500 Axis 3 . . . -4000 Axis 4 . . . -6000

Axis 1 . . . 5000

Travel value to pass point Axis 2 . . . 3500 Axis 3 . . . 3000 Axis 4 . . . 6000

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

6 - 144

6 POSITIONING CONTROL

(d) Motion SFC program

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

SET M2042

CPSTART4 Axis 1 Axis 2 Axis 3 Axis 4 Speed 10000PLS/s INC-4 Axis 1, 3000PLS Axis 2, 4000PLS Axis 3, 4000PLS Axis 4, 4000PLS INC-4 Axis 1, 5000PLS Axis 2, 3500PLS Axis 3, -4000PLS Axis 4, -6000PLS INC-4 Axis 1, 5000PLS Axis 2, 3500PLS Axis 3, 3000PLS Axis 4, 6000PLS CPEND

PX000*M2415*M2435*M2455

END

4 axes constant speed control

!PX000

4 axes constant speed control

Turn on all axes servo ON command.

Wait until PX000, Axis 1 servo ready, Axis 2 servo ready, Axis 3 servo ready and Axis 4 servo ready turn on.

Start constant-speed control Axis used. . . Axis 1, Axis 2, Axis 3, Axis 4

Positioning speed . . . . . . . . . . 10000[PLS/s] 4 axes linear interpolation control (P1)

Travel value to pass point

Axis 1 . . . 3000PLS Axis 2 . . . 4000PLS Axis 3 . . . 4000PLS Axis 4 . . . 4000PLS

End constant-speed control

4 axes linear interpolation control (P2)

*M2475

4 axes linear interpolation control (P3)

Travel value to pass point

Axis 1 . . . 5000PLS Axis 2 . . . 3500PLS Axis 3 . . . -4000PLS Axis 4 . . . -6000PLS

Travel value to pass point

Axis 1 . . . 5000PLS Axis 2 . . . 3500PLS Axis 3 . . . 3000PLS Axis 4 . . . 6000PLS

Wait until PX000 turn off after constant-speed control completion.

[F10]

[G10]

[K506]

[G20]

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

6 - 145

6 POSITIONING CONTROL

6.17.5 Constant speed control for helical interpolation

The helical interpolation can be specified as the positioning control method to pass point for 3 or 4 axes constant-speed control. Starting or ending instruction for constant-speed control uses the same CPSTART3, CPSTART4 or CPEND as 3 or 4 axes constant-speed control instruction.

: Must be set : Set if required

Items are set in peripheral devices Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

Pi tc

h C

on tro

l u ni

t Sp

ee d

lim it

va lu

e Ac

ce le

ra tio

n tim

e D

ec el

er at

io n

tim e

R ap

id s

to p

de ce

le ra

tio n

tim e

To rq

ue li

m it

va lu

e D

ec el

er at

io n

pr oc

es si

ng o

n st

op in

pu t

Al lo

w ab

le e

rro r r

an ge

fo r c

irc ul

ar in

te rp

ol at

io n

S- cu

rv e

ra tio

C

om m

an de

d sp

ee d

(C on

st an

t) C

an ce

l Sk

ip

FI N

a cc

el er

at io

n/ de

ce le

ra tio

n W

AI T-

O N

/O FF

Speed change

ABH

ABH

ABH

ABH

ABH

ABH

ABH

Constant-speed pass point absolute

specification

2

INH

INH

INH

INH

INH

INH

INH

Constant speed pass point

incremental specification

2

Valid

6 - 146

6 POSITIONING CONTROL

Helical interpolation specified methods for constant-speed control are shown below.

Servo instruction Positioning method Circular interpolation specified method

ABH Absolute

INH Incremental

Radius-specified method less than CW180

ABH Absolute

INH Incremental

Radius-specified method less than CCW180

ABH Absolute

INH Incremental

Radius-specified method CW180 or more.

ABH Absolute

INH Incremental

Radius-specified method CCW180 or more.

ABH Absolute

INH Incremental Central point-specified method CW

ABH Absolute

INH Incremental Central point-specified method CCW

ABH Absolute

INH Incremental Auxiliary point-specified method

[Program]

(1) Servo program Servo program for which helical interpolation specified pass point for constant- speed control is shown below.

3 axes helical interpolation control (P2)

CPSTART4

Axis 2

Axis 1, Axis 2,

Speed

Axis 1

ABS-3

Constant-speed control

Axis 3

Axis 3,

ABH Axis 1, Axis 2,

10000

Axis used . . . Axis 1, Axis 2, Axis 3, Axis 4

CPEND

3000

Linear axis Number of pitches

ABS-3 Axis 1, Axis 2, Axis 3,

4000 4000

3000

5000 3500

-4000 -6000

5000 3500

Axis 1 . . . 3000 Positioning address Axis 2 . . . 4000

Axis 3 . . . 4000

Positioning speed . . . 10000

Positioning address

Axis 1 . . . . . . . . . . . 5000 Axis 2 . . . . . . . . . . . 3500 Axis 3 . . . . . . . . . . -4000 Number of pitches . -6000

End constant-speed control

Positioning address

Radius 1000 Radius . . . . . . . . . . . 1000

Control with the following speed. For linear/circular interpolation: Combined-speed for number of interpolation axes. For helical interpolation: 2 axes combined-speed for circular interpolation.

3 axes linear interpolation control (P1)

3 axes linear interpolation control (P3)

3,

Axis 1 . . . 5000 Axis 2 . . . 3500 Axis 3 . . . 3000

6 - 147

6 POSITIONING CONTROL

[Cautions]

(1) The helical interpolation specification at pass point for constant-speed control can be used in the both of real and virtual mode.

(2) Specify any 3 axes among 4 controlled axes in the helical interpolation control at

the pass point for 4 axes constant-speed control (CPSTART4).

(3) Command speed at the helical interpolation specified point is controlled with the speed of circumference. Control is the same as before at the point except for the helical interpolation specification. (Both of the linear interpolation-specified point and circular interpolation-specified point are the combined-speed for number of interpolation axes.)

(4) Skip function toward the helical interpolation-specified each point for constant-

speed control is possible. If the absolute-specified helical interpolation is specified to point since the skip signal specified point, set the absolute linear interpolation between them. If it does not set, it may occur an error and stop.

(5) FIN signal wait function toward the helical interpolation specified each pass point

for constant-speed control is possible. M-code outputting signal is outputted to all circular interpolation axes and linear axes. Fin signal can be operated with the both of circular interpolation axes and linear axes.

(6) If negative speed change toward the helical interpolation-specified each pass

point for constant-speed control is executed, it can be returned before 1 point during positioning control.

(7) Speed-switching point-specified flag is effective toward the helical interpolation-

specified each pass point for constant-speed control.

,

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6 POSITIONING CONTROL

6.17.6 Pass point skip function

This function stops positioning to executing point and executes positioning to next point, by setting a skip signal toward each pass point for constant-speed control.

[Data setting] (1) Skip signal devices

The following devices can be specified as skip signal devices. X, Y, M, B, F

[Cautions] (1) When an absolute circular interpolation or absolute helical interpolation is

specified to since point since the skip signal specified point, set the absolute linear interpolation between them. If it does not set, it may occur an error and stop.

(2) If a skip signal is inputted at the end point, a deceleration stop occurs at that point and the program is ended.

[Program]

Axis 1 CPSTART2

Skip

ABS-2 Speed Axis 2

Axis 1, Axis 2, Speed

ABS-2 Axis 1, Axis 2, Speed

CPEND

100000

Point 1 positioning processing

200000

Skip signal (M200)

M200 Servo program start

V

10000

10000

200000 200000 Start accept

15000

t Skip signal

No skip Skip

6 - 149

6 POSITIONING CONTROL

CAUTION When a skip is specified during constant-speed control and the axis which has no stroke range [degree] is included, the operation at the execution of skip is described.

(Note-1): If there is an ABS instruction after the skip in these conditions, the end positioning point and the travel distance in the program as a whole will be the same regardless of whether the skip is executed or not.

(1) All instructions after the skip are INC instructions:

CPSTART1 0

CPEND

Skip

INC-1 Speed Axis 1

Axis 1,

INC-1 Axis 1,

INC-1 Axis 1,

190[degree]

180

When skip is not executed

M100 180.00000

10.000

270.00000

180.00000

0 270[degree]

When the skip occurs at 100 [degree]

2801000

Program example

When skip is executed

(2) Instruction immediately after the skip is ABS instruction:

Program example

Skip ABS-1

Speed Axis 1

CPSTART1

INC-1

0

270.00000 CPEND

Axis 1,

Axis 1, INC-1 Axis 1,

10.000

180.00000

350.00000

M100

180 260[degree]

100

350

0 350 260[degree]

When skip is not executed

When the skip occurs at 100 [degree]

When skip is executed (The end positioning point is same regardless of whether the skip is executed or not.)

(3) Instruction immediately after the skip is INC instruction and there is ABS instruction after that:

When the skip occurs at 80 [degree]

When skip is executed (The end positioning point is same regardless of whether the skip is executed or not.)

When skip is not executedProgram example

Skip

ABS-1

Speed Axis 1

CPSTART1

INC-1

CPEND

Axis 1,

INC-1

Axis 1,

10.000

360.00000 M100

INC-1 Axis 1,

Axis 1,

180.00000

180.00000

90.00000

0 180 90[degree]0 0

0 80 90[degree]260 80

This point moves at 370 [degree], not 10 [degree].

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6 POSITIONING CONTROL

6.17.7 FIN signal wait function

By selecting the FIN signal wait function and setting a M-code at each executing point, a process end of each executing point is synchronized with the FIN signal, the FIN signal turns ON to OFF and then the next positioning is executed. Turn the FIN signal on/off using the Motion SFC program or PLC program.

[Data setting]

(1) When the FIN signal wait function is selected, the fixed acceleration/deceleration time method is used. Set the acceleration/deceleration time within the range of 1 to 5000 [ms] by "FIN acceleration/deceleration" (selecting item) in the servo program. Indirect setting is also possible by D, W and # devices (1 word).

[Cautions]

(1) If the acceleration/deceleration time is specified outside the setting range, the servo program setting error [13] will occur at the start and it is controlled with the acceleration/deceleration time of 1000[ms].

(2) M-code outputting signal is output to all interpolation axes at the interpolation

control. In this case, turn on the signal for one of the interpolation axes.

(3) When M-code is set at the end point, positioning ends after the FIN signal has turn OFF to ON to OFF.

[Operation]

Servo program K0 for FIN signal wait function is shown below.

1

FIN signal

M-code outputting

ABS-2

Axis 2, 200000 Axis 1, 200000

FIN acceleration/ deceleration

Speed 10000 Axis 2 Axis 1

CPSTART2

M code 10 ABS-2 Axis 1, 300000 Axis 2, 250000 M code 11

ABS-2 Axis 1, 350000 Axis 2, 300000 M code 12

ABS-2 Axis 1, 400000 Axis 2, 400000

CPEND

[ms] 1110

Point

M-code

2WAIT

4. When the FIN signal turns off after the M-code outputting signal turns off, the positioning to the next point 2 starts.

Explanatory

2. FIN signal turns on after performing required processing in the Motion SFC program. Transition to the next point does not execute until the FIN signal turns on. 3. When the FIN signal turns on, M-code outputting signal turns off.

1. When the positioning of point 1 starts, M-code 10 is output and M-code outputting signal turns on.

Combined-speed 100[ms]

100

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6 POSITIONING CONTROL

[Program example]

(1) FIN signal wait function by the PLC program (a) System configuration

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

M M MM

PLC CPU control module

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

Positioning start command : X0 (PLC CPU device)

(b) Positioning conditions 1) Constant-speed control conditions are shown below.

Item Setting

Servo program No. 0 Positioning speed 10000 FIN acceleration/deceleration time

100[ms]

Positioning method 2 axes linear interpolation control Axis 1 200000 300000 350000 400000

Pass point Axis 2 200000 250000 300000 400000

M-code 10 11 12

2) Constant-speed control start command ..............................................................Turning X0 off to on (OFF ON)

(PLC CPU device)

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6 POSITIONING CONTROL

(c) Servo program

Servo program No.0 for constant-speed control is shown below.

Start constant-speed control

ABS-2

Axis 2, 200000 Axis 1, 200000

Speed 10000 Axis 2 Axis 1

CPSTART2

M-code 10 ABS-2 Axis 1, 300000 Axis 2, 250000 M-code 11 ABS-2 Axis 1, 350000 Axis 2, 300000 M-code 12

ABS-2 Axis 1, 400000 Axis 2, 400000

CPEND

Positioning speed . . . 10000[PLS/s]

Axis 1 . . . 200000[PLS] Axis 2 . . . 200000[PLS]

100 FIN acceleration/ . . . . . 100[ms]

FIN acceleration/ deceleration

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

deceleration 2 axes linear interpolation control

Axis used . . . . . . Axis 1, Axis 2 Address of . . . . . stop position

M-code output . . . . . . 10

End constant-speed control

Axis 1 . . . 300000[PLS] Axis 2 . . . 250000[PLS]

2 axes linear interpolation control Axis used . . . . . . Axis 1, Axis 2

M-code output . . . . . . 11

Axis 1 . . . 350000[PLS] Axis 2 . . . 300000[PLS]

2 axes linear interpolation control Axis used . . . . . . Axis 1, Axis 2

M-code output . . . . . . 12

Axis 1 . . . 400000[PLS] Axis 2 . . . 400000[PLS]

2 axes linear interpolation control Axis used . . . . . . Axis 1, Axis 2

Address of . . . . . stop position

Address of . . . . . stop position

Address of . . . . . stop position

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

SET M2042

M2415*M2435

Constant-speed control

END

ABS-2

Axis 2, 200000 Axis 1, 200000

Speed 10000 Axis 2 Axis 1

CPSTART2

M-code 10 ABS-2 Axis 1, 300000 Axis 2, 250000 M-code 11

ABS-2 Axis 1, 350000 Axis 2, 300000 M-code 12

ABS-2 Axis 1, 400000 Axis 2, 400000

CPEND

100FIN acceleration/ deceleration

Start constant-speed control

Positioning speed . . . 10000[PLS/s]

Axis 1 . . . 200000[PLS] Axis 2 . . . 200000[PLS]

FIN acceleration/ . . . . . 100[ms]

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

deceleration 2 axes linear interpolation control

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

M-code output . . . . . 10

Axis 1 . . . 300000[PLS] Axis 2 . . . 250000[PLS]

2 axes linear interpolation control Axis used . . . . . Axis 1, Axis 2

M-code output . . . . . 11

Axis 1 . . . 350000[PLS] Axis 2 . . . 300000[PLS]

2 axes linear interpolation control Axis used . . . . . Axis 1, Axis 2

M-code output . . . . . 12

Axis 1 . . . 400000[PLS] Axis 2 . . . 400000[PLS]

2 axes linear interpolation control Axis used . . . . . Axis 1, Axis 2

End constant-speed control

Turn on all axes servo ON command.

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

[F10]

[G10]

[K0]

Address of . . . . . stop position

Address of . . . . . stop position

Address of . . . . . stop position

Address of . . . . . stop position

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

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6 POSITIONING CONTROL

(e) PLC program

PLC program for FIN signal wait function is shown below.

Motion SFC program start request0

11

14

26

X0

M0

M2419

M2419

END

M3219SET

SP.SFCS H3E1 M0 D0K110

M3219RST

28

SP.DDRD H3E1 D1 M2D13D50

K1 D51MOVP

M3219 is set

PLC program

Substitutes 1 for D51 after program start. Reads data of D13 for Multiple CPU system No.2 by turning M2419 on, and stores in the data area of self CPU

Resets M3219 by turning M2419 off.

(Note): Details of D1 is used as control.

(f) Parameter setting

The CPU shared memory setting example for FIN signal wait function is shown below.

CPU No. 1 (PLC CPU) (GX Developer) Multiple CPU Setting (setting 1: M2400 to M2495)

CPU shared memory setting

CPU No. 2 (Motion CPU) (SW6RN-GSV P) Multiple CPU Setting (setting 1: M2400 to M2495)

CPU shared memory setting

Multiple CPU Setting (setting 2: M3200 to M3295)

CPU shared memory setting

Multiple CPU Setting (setting 2: M3200 to M3295)

CPU shared memory setting

6 - 154

6 POSITIONING CONTROL

(2) FIN signal wait function using the Motion SFC program

(a) System configuration FIN signal wait function toward constant-speed control for Axis 1 and Axis 2.

QX41 QY41

M M MM

Motion CPU control module

Axis 4

Axis 1

Axis 2

Axis 3

QY41

PX020 ~PX02F

PX010 ~PX01F

PX000 ~PX00F

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

(b) Positioning conditions 1) Constant-speed control conditions are shown below.

Item Setting

Servo program No. 0 Positioning speed 10000 FIN acceleration/deceleration time

100[ms]

Positioning method 2 axes linear interpolation control Axis 1 200000 300000 350000 400000

Pass point Axis 2 200000 250000 300000 400000

M-code 10 11 12

2) Constant-speed control start command ... Turning PX000 off to on (OFF ON)

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6 POSITIONING CONTROL

(c) Servo program

Servo program No.0 for constant speed control is shown below.

Start constant-speed control

ABS-2

Axis 2, 200000 Axis 1, 200000

Speed 10000 Axis 2 Axis 1

CPSTART2

M-code 10 ABS-2 Axis 1, 300000 Axis 2, 250000 M-code 11 ABS-2 Axis 1, 350000 Axis 2, 300000 M-code 12

ABS-2 Axis 1, 400000 Axis 2, 400000

CPEND

Positioning speed . . . 10000[PLS/s]

Axis 1 . . . 200000[PLS] Axis 2 . . . 200000[PLS]

100 FIN acceleration/ . . . . . 100[ms]

FIN acceleration/ deceleration

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

deceleration 2 axes linear interpolation control

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

M-code output . . . . . . 10

End constant- speed control

Axis 1 . . . 300000[PLS] Axis 2 . . . 250000[PLS]

2 axes linear interpolation control Axis used . . . . . . Axis 1, Axis 2

M-code output . . . . . . 11

Axis 1 . . . 350000[PLS] Axis 2 . . . 300000[PLS]

2 axes linear interpolation control Axis used . . . . . . Axis 1, Axis 2

M-code output . . . . . . 12

Axis 1 . . . 400000[PLS] Axis 2 . . . 400000[PLS]

2 axes linear interpolation control Axis used . . . . . . Axis 1, Axis 2

Address of . . . . . stop position

Address of . . . . . stop position

Address of . . . . . stop position

Address of stop position

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

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6 POSITIONING CONTROL

(d) Motion SFC program

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

SET M2042

PX000*M2415*M2435

Constant-speed control

ABS-2

Axis 2, 200000 Axis 1, 200000

Speed 10000 Axis 2 Axis 1

CPSTART2

M-code 10 ABS-2 Axis 1, 300000 Axis 2, 250000 M-code 11 ABS-2 Axis 1, 350000 Axis 2, 300000 M-code 12

ABS-2 Axis 1, 400000 Axis 2, 400000

CPEND

100FIN acceleration/ deceleration

Start constant-speed control

Positioning speed . . . 10000[PLS/s]

Axis 1 . . . 200000[PLS] Axis 2 . . . 200000[PLS]

FIN acceleration/ . . . . . 100[ms]

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

deceleration 2 axes linear interpolation control

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

M-code output . . . . . 10

Axis 1 . . . 300000[PLS] Axis 2 . . . 250000[PLS]

2 axes linear interpolation control Axis used . . . . . . Axis 1, Axis 2

M-code output . . . . . 11

Axis 1 . . . 350000[PLS] Axis 2 . . . 300000[PLS]

2 axes linear interpolation control Axis used . . . . . . Axis 1, Axis 2

M-code output . . . . . 12

Axis 1 . . . 400000[PLS] Axis 2 . . . 400000[PLS]

2 axes linear interpolation control Axis used . . . . . . Axis 1, Axis 2

End constant-speed control

Turn on all axes servo ON command.

Stand by FIN signal

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

END

[F10]

[G10]

[K0]

Address of . . . . . stop position

Address of . . . . . stop position

Address of . . . . . stop position

Address of . . . . . stop position

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

6 - 157

6 POSITIONING CONTROL

2) Motion SFC program which outputs M-code of each point for constant-

speed control to PY20 to PY2F by BCD code is shown below.

FIN signal wait

M2419*M2439

END

#0=BCD(D13) DOUT Y20,#0 SET M3219

P0

P0

RST M3219

!M2419*!M2439*M2403*M2423

D13==K12

Turn on FIN signal. Output Axis 1 M-code.

Turn on Axis 1, Axis 2 M-code outputting signal.

Turn off Axis 1, Axis 2 M-code outputting signal and turn on Axis 1, Axis 2 command in-position signal.

Turn off FIN signal.

FIN signal wait

(Note): Details of #0 is used as control.

Repeat until M-code value become 12.

[G10]

[G20]

[F10]

[F20]

[G30]

6 - 158

6 POSITIONING CONTROL

POINT

(1) The fixed acceleration/deceleration time method is acceleration/deceleration processing that the time which acceleration/deceleration takes is fixed, even if the command speed differs.

Acceleration/deceleration time is fixed

V

t

(a) The following processing and parameters are invalid in the fixed

acceleration/deceleration time method. Rapid stop acceleration/deceleration time in parameter block Completion point specification method for speed change point S-curve acceleration/deceleration

(b) The speed processing for each axis is as shown below in positioning operation (constant-speed) as shown in the following figure.

Y

Axis 1

Axis 2

Address Ax

Positioning operation

X Ax

Ay

Address Ay

t

V

V

Axis 1

Axis 2

Ay

t

Constant-speed control processing of each axis

Ax

(2) When the rapid stop command is executed by the setting "deceleration time < rapid stop

deceleration time" during constant-speed control, the point data currently executed in the middle of deceleration, and the positioning may be completed suddenly as a speed "0". In the case of, "deceleration time rapid stop deceleration time", the above operation is not executed.

Travel value by the point data currently executed at the rapid stop command (Up to 9 points) < speed at rapid stop command input rapid stop deceleration time/2

[Operation pattern]

Positioning complete signal

Rapid stop command

Deceleration speed at the normal stop

Combined-speed

OFF

ON OFF

OFF ON

Start accept flag

8)7)6)5)4)3)2)1)

ON

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6 POSITIONING CONTROL

6.18 Position Follow-Up Control

Positioning to the address set in the word device of the Motion CPU specified with the servo program at one start is executed. Position follow-up control is started using the PFSTART servo program instruction.

Items are set in peripheral devices Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

e R

ap id

s to

p de

ce le

ra tio

n tim

e To

rq ue

li m

it va

lu e

D ec

el er

at io

n pr

oc es

si ng

o n

st op

in pu

t Al

lo w

ab le

e rro

r r an

ge fo

r c irc

ul ar

in te

rp ol

at io

n S-

cu rv

e ra

tio

C an

ce l

W AI

T- O

N /O

FF

Speed change

PFSTART Absolute 1 Valid

: Must be set : Set if required

[Control details] Control using PFSTART instruction

(1) Positioning to the address set in the word device of the Motion CPU specified with

the servo program is executed.

(2) Position follow-up control is executed until the stop instruction is input. If the word device value changes during operation, positioning is executed to the changed address.

V Positioning address has not change using PFSTART instruction

t

Before reaching A, positioning address changed to B (return direction)

BPositioning address A

6 - 160

6 POSITIONING CONTROL

[Cautions]

(1) Number of control axes is 1 axis.

(2) Only the absolute data method (ABS ) is used for positioning control to the pass points.

(3) The speed can be changed during the start.

The changed speed is effective until the stop command is input.

(4) Set the positioning address in the servo program using indirect setting with the word devices D, W and #.

(5) Use only even-numbered devices for indirect setting of positioning address in the

servo program. If odd-numbered devices are used, an error [141] occurs at the start and control does not start.

(6) Positioning speeds can be set in the servo program using indirect setting with the

word devices D, W and #. However, this data is effective only at the position follow-up control start (servo program start) and the speed does not change if the indirect setting are changed during the start.

[Program] (1) System configuration

Axis 3 position follow-up control for PLC CPU (CPU No.1) to Motion CPU (CPU No.2).

M M MM

PLC CPU control module

Positioning start command : X0 (PLC CPU device)

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

QX41

(2) Positioning conditions (a) Position follow-up conditions are shown below.

Item Setting Servo program No. 100 Control axis Axis 3 Positioning address D4000 Positioning speed 20000

(b) Position follow-up control start command

..............................................................Turning X0 off to on (OFF ON) (PLC CPU device)

6 - 161

6 POSITIONING CONTROL

(3) Operation timing

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

0

V

t

100 0

PLC ready flag (M2000)

All axes servo ON command (M2042) All axes servo ON accept flag (M2049) Axis 3 servo ready (M2455)

Start command (X0)

Servo program start Axis 3 start accept flag (M2003)

Axis 3 stop command (M3240)

Positioning address (D4000)

Axis 3 positioning start completion (M2440) Axis 3 positioning completion (M2441) Axis 3 command in-position (M2443)

Stop command (X1)

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

PFSTART Axis Speed

3,

Position follow-up control Axis used . . . . . . . . . . . Axis 3 Positioning address . . . D4000 Speed . . . . . . . . . . . . . 20000

D 4000 20000

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

6 - 162

6 POSITIONING CONTROL

(5) Motion SFC program

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

Motion SFC program example for position follow-up control is shown below. This program is started using S(P).SFCS instruction from PLC CPU (CPU No.1).

Position follow-up control

SET M2042

M2049*M2455

END

!M2003

D4000L=K100 Transfer the axis 3 positioning address to D4000.

PFSTART Axis 3, D4000 Speed 20000PLS/s

Position follow-up control

Turn on all axes servo ON command.

Wait until all axes servo ON accept flag and Axis 3 servo ready turn on.

Position follow-up control Axis used Positioning address . . . D4000 Positioning speed . . . . 2000[PLS/s]

. . . . . . . . . . Axis 3

Wait until Axis 3 start accept flag turn off after position follow-up control completion.

[G10]

[G20]

[F10]

[F20]

[K100]

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

6 - 163

6 POSITIONING CONTROL

(b) PLC program

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

Substitutes 2 for D51 after program start.

0

5

SM400

X0

M20RST

SP.DDWR H3E1 D4000 M0D1000D50

K2 D61MOVP

PLC program

18

30

42

M10

M0

M2

M20RST

66 M30

END81

K2 D51MOVP

M10PLS

M3240

M30RST

X1

M1

M0

M3

SP.SFCS H3E1 M2 D1100K150

M20SET

SP.DDRD H3E1 D1200 M4D40D6045 M20 M4

M2441 M2442 D1200 D1000D=

M30SET

SP.DDWR H3E1 D4000 M6D1300D50

M30RST

M6

14

K0 D1300DMOV

K150000 D1000DMOV

Substitutes 2 for D61 after program start.

Starts by turning X0 on.

Substitutes 150000 for D1000 .

Substitutes 0 for D1300 .

Reads data of D1000 for Multiple CPU system No.2 by turning M10 on, and writes to D4000 of CPU No.2.

Starts the Motion SFC program No.150.

After the Motion SFC program No.150 is started, reads data of D40 for Multiple CPU system No.2 and stores in D1200 self CPU.

Resets M20 and sets M30 at the axis 3 positioning completion and D1200 = D1000.

Reads data of D1300 for Multiple CPU system No.2 by turning M30 on, and writes to D4000 of CPU No.2.

(Note): The CPU shared memory setting example for position follow-up control is shown next page.

6 - 164

6 POSITIONING CONTROL

(c) Parameter setting

The CPU shared memory setting example for position follow-up control is shown below.

CPU No. 1 (PLC CPU) (GX Developer) Multiple CPU Setting (setting 1: M2400 to M2495)

CPU shared memory setting

Multiple CPU Setting (setting 2: M3200 to M3295)

CPU shared memory setting

CPU No. 2 (Motion CPU) (SW6RN-GSV P) Multiple CPU Setting (setting 1: M2400 to M2495)

CPU shared memory setting

Multiple CPU Setting (setting 2: M3200 to M3295)

CPU shared memory setting

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6 POSITIONING CONTROL

6.19 Speed control with fixed position stop

Speed control with fixed position stop of the specified axis is executed. Speed control with fixed position stop is started using the PVF (forward rotation) or PVR (reverse rotation) of servo program instruction.

Items are set in peripheral devices Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

e R

ap id

s to

p de

ce le

ra tio

n tim

e To

rq ue

li m

it va

lu e

D ec

el er

at io

n pr

oc es

si ng

o n

st op

in pu

t Al

lo w

ab le

e rro

r r an

ge fo

r c irc

ul ar

in te

rp ol

at io

n S-

cu rv

e ra

tio

C an

ce l

W AI

T- O

N /O

FF

Fi xe

d po

si tio

n st

op a

cc el

./d ec

el .ti

m e

Fi xe

d po

si tio

n st

op

Speed change

PVF Absolute 1 Valid

PVR Absolute 1 Valid

: Must be set : Set if required

[Control details]

(1) After starting of servomotor, control at the specified speed is executed until the fixed position stop command turns on. PVF...... Forward rotation direction (Address increase direction) start PVR...... Reverse rotation direction (Address decrease direction) start

(2) When the fixed position stop command turns on, a positioning control to the

specified address is executed.

359.99999[degree]

0[degree] Current value

Servo program start

[Positioning address :180.00000[degree]]

OFF ON

180.00000[degree]

ON OFF

Fixed position stop command device

(3) It can be controlled in the real mode only for axis which "control unit is [degree]

and stroke limit is invalid ("upper stroke limit value" equal to "lower stroke limit value")". If it is started for axis which "control unit is except [degree] or stroke limit is not invalid", a minor error [130] occurs and it does not start. And, if it is started for the virtual servomotor axis in the virtual mode, a servo program setting error [905] occurs and it does not start. (It can be started for real mode axis.)

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6 POSITIONING CONTROL

(4) Address setting range is 0 to 35999999 (0 to 359.99999[degree]) in the indirect

setting of positioning address. If it is set outside the setting range, a servo program setting error [n03] occurs and it does not start. Positioning address is input at the program start.

(5) It is controlled in the fixed position stop acceleration/deceleration time set in the servo program at the time of positioning start, speed change request (CHGV) and fixed position stop command ON. The fixed acceleration/deceleration time method is used as an acceleration/deceleration processing in this case.

(6) The setting range of fixed position stop acceleration/deceleration time is 1 to 65536[ms].

(7) In the case of indirect setting, the fixed position stop acceleration/deceleration

time is input in the following timing. Positioning start Speed change request (CHGV) Fixed position stop command ON

(8) When the positioning to specified address completes, the positioning complete

signal (M2401+20n) turns on. It does not turn on at the time of stop by the stop command (M3200+20n)/rapid stop command (M3201+20n). The positioning complete signal (M2401+20n) turns off by turning the complete signal OFF command (M3204+20n) off to on or positioning start.

(9) Speed change can be executed any number of times by the speed change request (CHGV) instruction during operation.

Servo program start

OFF

a b c d

a b c d

V

t

OFF

OFF ON

ON Speed change request (CHGV)

Fixed position stop command device

Fixed position stop accel./decel. time (Indirect setting device)

ON

Change value by speed change request (CHGV).

Fixed position stop accel./decel. time

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6 POSITIONING CONTROL

(10) Deceleration speed by the stop command (M3200+20n)/rapid stop command

(M3201+20n) is controlled with fixed inclination (deceleration speed). Deceleration processing is executed using the speed limit value or deceleration/ rapid stop deceleration time set in the parameter block.

OFF

ON

ON

OFF

ON OFF

OFF ON

V

t

OFF

ON

Servo program start

Rapid stop command (M3201+20n), servo error, etc.

Speed change request (CHGV) Positioning complete signal (M2401+20n)

Command in-position signal (M2403+20n)

(Note-1)

(Note-1): Rapid stop cause

(Note-1)

Rapid stop by fixed inclination (deceleration speed). (Inclination is set by the speed limit value and rapid stop deceleration time of parameter block.)

(11) When the fixed position stop command turns on, the command in-position check

starts. When the absolute value of difference between the setting address and feed current value below the "command in-position range" set in the fixed parameter, the command in-position signal (M2403+20n) turns on. The command in-position signal (M2403+20n) turns on by a positioning start.

[Program]

Program for speed control with fixed position stop is shown as the following conditions. (1) System configuration

Speed control with fixed position stop for "Axis 1.

Positioning start command (PX000)

M M MM

Motion CPU control module

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

6 - 168

6 POSITIONING CONTROL

(2) Positioning conditions

(a) Speed control with fixed position stop conditions are shown below. Item Setting

Servo program No. 55 Start direction Forward Control axis Axis 1 Positioning address 120.00000[degree] Control speed 30000[degree/min] Acceleration/deceleration time 20ms Fixed position stop command device M100

(b) Speed control with fixed position stop start command

............................................................Turning PX000 off to on (OFF ON)

(c) Speed control with fixed position stop stop command ............................................................Turning PX000 on to off (ON OFF)

(3) Operation timing

Operation timing for speed control with fixed position stop is shown below.

359.99999[degree]

0[degree] 120.00000[degree]

PLC ready flag (M2000)

20[ms]

OFF

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF All axes servo ON command (M2042) All axes servo ON accept flag (M2049)

Axis 1 servo ready (M2415)

Start command (PX000)

Servo program start

Axis 1 start accept flag (M2001)

Fixed position stop command device (M100) Positioning complete signal (M2401)

Complete signal OFF command (M3204) Command in-position signal (M2403)

Current value

Stop command of speed control with fixed position stop (PX000 turn on to off)

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6 POSITIONING CONTROL

(4) Servo program

Servo program No.55 for speed control with fixed position stop is shown below.

PVF Axis Speed

120.00000

1,

30000.000 20

M100Fixed position stop command

Accel./decle. time

Axis used . . . . . . . . . . . . . Axis 1 Stop position. . . . . . . 120.00000

Speed. . . . . . . . . . . . . . . 30000.000 Accel./decel. time . . . . . . . . . . . . 20 Fixed position stop command

. . . . . . . . . M100

Speed control with fixed position stop

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

(5) Motion SFC program

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

END

RST M100

!PX000

SET M100

!M2001

SET M2042

120.00000 degree 1,

30000.000 degree/min 20 ms

M100

PVF Axis Speed

Fixed position stop command

Accel./decle. time

[F10]

[G10]

[K55]

[G20]

[F20]

[G30]

[F30]

Speed control with fixed position stop

Speed control with fixed position stop

PX000*M2415

Turn on all axes servo ON command.

Wait until PX000, Axis 1 servo ready turn on.

Fixed position stop with speed control start

Axis used Stop position . . . . . . . . . . . . . 120.00000

. . . . . . . . . . . . . . . Axis 1

Speed . . . . . . . . . . . . . . . . . . . . . 30000.000 Accel./decel. time . . . . . . . . . . . . 20 Fixed position stop command . . . M100

Wait until PX000 turn off after speed control with fixed position stop start.

Turn on fixed position stop command.

Wait until Axis 1 start accept flag turn off.

Turn off fixed position stop command.

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

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6 POSITIONING CONTROL

6.20Simultaneous Start

Simultaneous start of the specified servo program at one start is executed. Simultaneous start is started using the START servo program instruction.

Items are set in peripheral devices Common Arc Parameter block Others

Servo instruction

Positioning method

Number of control axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

e R

ap id

s to

p de

ce le

ra tio

n tim

e To

rq ue

li m

it va

lu e

D ec

el er

at io

n pr

oc es

si ng

o n

st op

in pu

t Al

lo w

ab le

e rro

r r an

ge fo

r c irc

ul ar

in te

rp ol

at io

n S-

cu rv

e ra

tio

O th

er s

Pr og

ra m

N o.

Speed change

START : Must be set : It changes by the servo program

for simultaneous start. [Control details]

Control using START instruction

(1) Simultaneous start of the specified servo programs is executed.

(2) The servo program except for the simultaneous start (START instruction) can be specified.

(3) Up to 3 servo programs can be specified.

(4) Each axis is controlled using the specified servo program after the simultaneous

start. [Cautions]

(1) A check is made at the start. An error occurs and operation does not start in the following cases.

Stored codes Error Error processing

D9189 D9190 Specified servo program does not exist. START instruction is set as the specified servo program. The specified servo program start axis is already used.

Erroneous program No. of simultaneous start.

19

A servo program cannot start by an error.

Servo program setting error flag (M9079): ON Start accept flag (M2001+n): OFF Erroneous program No. of

program specified with simultaneous start.

Error Item data (Refer to Section 3.5)

(2) The servo program No. specified using START instruction cannot be set indirectly.

6 - 171

6 POSITIONING CONTROL

[Program]

Program for simultaneous start is shown as the following conditions. (1) System configuration

Simultaneous start for "Axis 1 and Axis 2", Axis 3 and Axis 4.

Start command (PX000)

M M MM

Motion CPU control module

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

(2) Number of specified servo programs and program No. (a) Number of specified servo programs : 3 (b) Specified servo program No. are shown below.

Servo Program No. Used axis Control Details No.1 Axis 1, Axis 2 Circular interpolation control

No.14 Axis 3 Speed control No.45 Axis 4 Home position return control

(3) Start conditions

(a) Simultaneous start servo program No. .................. No.121 (b) Simultaneous start execute command .................. Turning PX000 off to on

(OFF ON)

(4) Servo program Servo program No.121 for simultaneous start is shown below.

START K

K K

1 14 45

Simultaneous start No.1 servo program No.14 servo program No.45 servo program

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

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6 POSITIONING CONTROL

(5) Motion SFC program

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

Simultaneous start control

SET M2042

PX000*M2415*M2435*M2455 *M2475

END

!PX000

START K 1 K 14 K 45

Turn on all axes servo ON command.

Wait until PX000, Axis 1 servo ready, Axis 2 servo ready, Axis 3 servo ready and Axis 4 servo ready turn on.

Wait until PX000 turn off after simultaneous start completion.

Simultaneous start control

Simultaneous start control

No.1 servo program No.14 servo program No.45 servo program

[F10]

[G20]

[G10]

[K121]

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

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6 POSITIONING CONTROL

6.21 JOG Operation

The setting JOG operation is executed. Individual start or simultaneous start can be used in the JOG operation. JOG operation can be executed using the Motion SFC program or test mode of peripheral device. (Refer to the help of each software for JOG operation method using a peripheral device.) JOG operation data must be set for each axis for JOG operation. (Refer to Section 6.21.1.)

6.21.1 JOG operation data

JOG operation data is the data required to execute JOG operation. Set the JOG operation data using a peripheral device.

Table 6.2 JOG operation data list Setting range

mm inch degree PLS No. Item Setting range

Units Setting range

Units Setting range

Units Setting range

Units

Initial value

Units Remarks Explanatory

section

1 JOG speed limit value

0.01 to 6000000.00

mm /min

0.001 to 600000.000

inch /min

0.001 to 2147483.647

(Note-1)

degree /min

1 to 2147483647

PLS/ s

2000 0

PLS/s

Sets the maximum speed at the JOG operation.

If JOG speed setting exceeds the JOG speed limit value, it is controlled with JOG speed limit value.

2 Parameter block setting

1 to 64 1 Sets the parameter block No.

to be used at the JOG operation.

4.3

(Note-1): When the "speed control 10 multiplier speed setting for degree axis" is set to "valid", the setting range is 0.01 to 21474836.47[degree/min].

(1) JOG operation data check

A relative check of the JOG operation data is executed at the following timing: JOG operation Individual start JOG operation simultaneous start JOG operation request

(2) Data error processing

Only data for which detected errors is controlled as default value. The error code corresponding to each data for erroneous axis is stored in the

data register.

POINT Start to outside the range of stroke limit of fixed parameter cannot be executed. However, JOG operation is possible in the direction from outside the stroke limit range to back inside the stroke limit range.

Stroke limit lower Stroke limit upper

. . . Dose not start . . . Start

. . . Dose not start

. . . Start

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6 POSITIONING CONTROL

6.21.2 Individual start

JOG operation for the specified axes is started. JOG operation is executed by the following JOG operation commands: Forward JOG start command ........... M3202+20n Reverse JOG start command ........... M3203+20n

[Control details] (1) JOG operation continues at the JOG speed setting register value while the JOG

operation command turns on, and a deceleration stop is made by the JOG operation command OFF. Control of acceleration/deceleration is based on the data set in JOG operation data.

Deceleration stop based on JOG operation data

JOG operation speedAcceleration based on JOG operation data

V

t

ON OFFJOG operation command

(M3202+20n/M3203+20n) JOG operation for axis for which JOG operation command is turning on is executed.

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6 POSITIONING CONTROL

(2) The setting range for JOG speed setting registers are shown below.

Setting range JOG operation JOG speed setting register

mm inch degree PLS No. (Note)

Forward JOG Reverse JOG Most significant Least significant Setting range

Units Setting range

Units Setting range

Units Setting range

Units

1 M3202 M3203 D641 D640 2 M3222 M3223 D643 D642 3 M3242 M3243 D645 D644 4 M3262 M3263 D647 D646 5 M3282 M3283 D649 D648 6 M3302 M3303 D651 D650 7 M3322 M3323 D653 D652 8 M3342 M3343 D655 D654 9 M3362 M3363 D657 D656 10 M3382 M3383 D659 D658 11 M3402 M3403 D661 D660 12 M3422 M3423 D663 D662 13 M3442 M3443 D665 D664 14 M3462 M3463 D667 D666 15 M3482 M3483 D669 D668 16 M3502 M3503 D671 D670 17 M3522 M3523 D673 D672 18 M3542 M3543 D675 D674 19 M3562 M3563 D677 D676 20 M3582 M3583 D679 D678 21 M3602 M3603 D681 D680 22 M3622 M3623 D683 D682 23 M3642 M3643 D685 D684 24 M3662 M3663 D687 D686 25 M3682 M3683 D689 D688 26 M3702 M3703 D691 D690 27 M3722 M3723 D693 D692 28 M3742 M3743 D695 D694 29 M3762 M3763 D697 D696 30 M3782 M3783 D699 D698 31 M3802 M3803 D701 D700 32 M3822 M3823 D703 D702

1 to 600000000

10-2

mm /min

1 to 600000000

10-3

inch /min

1 to 2147483647

10-3 degree

/min (Note-1)

1 to 2147483647

PLS/s

(Note-1) : When the "speed control 10 multiplier setting for degree axis" is set to "valid" in the fixed parameter, the unit is " 10-2[degree/min] ". (Note-2): The range of axis No.1 to 8 is valid in the Q172HCPU.

POINT

When the JOG operation speed is set in the Motion SFC program, stores a value which is 100 times the real speed in units of [mm] or 1000 times the speed in units of [inch] or [degree] in the JOG speed setting register.

If JOG operation speed of 6000.00[mm/min] is set, stores the value "600000" in

the JOG speed setting register.

(Note): Store a value which is 100 times the real speed in the JOG speed setting register for the "degree axis control 10 multiplier speed setting valid".

Example

6 - 176

6 POSITIONING CONTROL

[Cautions]

(1) If the forward JOG start command (M3202+20n) and reverse JOG start command (M3203+20n) turn on simultaneously for a single axis, the forward JOG operation is executed. When a deceleration stop is made by the forward JOG start command OFF the reverse JOG operation is not executed even if the reverse JOG start command is ON. After that, when the reverse JOG start command turns off to on, the reverse JOG operation is executed.

t

Forward JOG operation V

OFF

ON

ON

OFF

Forward JOG start command

Reverse JOG start command

Reverse JOG operation

Reverse JOG start command ignored

(2) If the JOG operation command (M3202+20n/M3203+20n) turns on during

deceleration by the JOG operation command OFF, after deceleration stop, JOG operation is not executed. After that, the JOG operation is executed by the JOG operation command OFF to ON.

t

JOG operation

V

ON

JOG operation command

OFF

6 - 177

6 POSITIONING CONTROL

(3) JOG operation by the JOG operation command (M3202+20n/M3203+20n) is not

executed during the test mode using a peripheral devices. After release of test mode, the JOG operation is executed by turning the JOG operation command off to on.

During test mode (M9075)

JOG operation

ON

t

V

ON JOG operation command

OFF

OFF

JOG operation is impossible during test mode (start error)

JOG operation is impossible without turning JOG operation command off to on

[Program]

Program for JOG operation is shown as the following conditions. (1) System configuration

JOG operation for Axis 1 and Axis 2.

M M MM

Motion CPU control module

Axis 4

Axis 1

Axis 2

Axis 3

Forward JOG operation command (PX003 : Axis 1, PX005 : Axis 2) Reverse JOG operation command (PX004 : Axis 1, PX006 : Axis 2)AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

(2) JOG operation conditions (a) Axis No. ............................. Axis 1, Axis 2 (b) JOG operation speed .............. 100000 (c) JOG operation commands

1) Forward JOG operation ....... Axis 1: PX003 ON, Axis 2: PX005 ON 2) Reverse JOG operation ...... Axis 1: PX004 ON, Axis 2: PX006 ON

6 - 178

6 POSITIONING CONTROL

(3) Motion SFC program

Motion SFC program for which executes JOG operation is shown below.

Transfer the JOG operation speed to D640L and D642L.

SET M2042

M2415*M2435

JOG operation-individual start

Axis 1, Axis 2 forward/reverse JOG operation

P1

P1

D640L=K100000 D642L=K100000

SET M3202=PX003 * !M3203 RST M3202=!PX003 SET M3203=PX004 * !M3202 RST M3203=!PX004 SET M3222=PX005 * !M3223 RST M3222=!PX005 SET M3223=PX006 * !M3222 RST M3223=!PX006

Axis 1 forward JOG start command SET/RST

Axis 2 forward JOG start command SET/RST

Axis 1 reverse JOG start command SET/RST

Axis 2 reverse JOG start command SET/RST

Turn on all axes servo ON command.

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

JOG operation-individual start

[F10]

[G10]

[F20]

[F30]

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

6 - 179

6 POSITIONING CONTROL

6.21.3 Simultaneous start

Simultaneous start JOG operation for specified multiple axes. [Control details]

(1) JOG operation continues at the JOG speed setting register value for each axis while the JOG operation simultaneous start command (M2048) turns on, and a deceleration stop is made by the M2048 OFF. Control of acceleration/deceleration is based on the data set in the JOG operation data.

JOG operation speed Acceleration based on JOG operation data

Deceleration stop based on JOG operation data

JOG operation based on D710 to D713 data

D710 to D713

M2048 OFF

ON

V

t

(2) JOG operation axis is set in the JOG operation simultaneous start axis setting register (D710 to D713).

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1

Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17

Forward rotation JOG

Reverse rotation JOG

D710

D711

D712

D713

(Note-1) Set the JOG operation simultaneous start axis with 1/0. 1: Simultaneous start is executed 0: Simultaneous start is not executed (Note-2) The range of axis No.1 to 8 is valid in the Q172HCPU.

6 - 180

6 POSITIONING CONTROL

(3) The setting range for JOG speed setting registers are shown below.

Setting range JOG operation JOG speed setting register mm inch degree PLS No.

(Note) Forward JOG Reverse JOG Most significant Least significant

Setting range

Units Setting range

Units Setting range

Units Setting range

Units

1 M3202 M3203 D641 D640 2 M3222 M3223 D643 D642 3 M3242 M3243 D645 D644 4 M3262 M3263 D647 D646 5 M3282 M3283 D649 D648 6 M3302 M3303 D651 D650 7 M3322 M3323 D653 D652 8 M3342 M3343 D655 D654 9 M3362 M3363 D657 D656 10 M3382 M3383 D659 D658 11 M3402 M3403 D661 D660 12 M3422 M3423 D663 D662 13 M3442 M3443 D665 D664 14 M3462 M3463 D667 D666 15 M3482 M3483 D669 D668 16 M3502 M3503 D671 D670 17 M3522 M3523 D673 D672 18 M3542 M3543 D675 D674 19 M3562 M3563 D677 D676 20 M3582 M3583 D679 D678 21 M3602 M3603 D681 D680 22 M3622 M3623 D683 D682 23 M3642 M3643 D685 D684 24 M3662 M3663 D687 D686 25 M3682 M3683 D689 D688 26 M3702 M3703 D691 D690 27 M3722 M3723 D693 D692 28 M3742 M3743 D695 D694 29 M3762 M3763 D697 D696 30 M3782 M3783 D699 D698 31 M3802 M3803 D701 D700 32 M3822 M3823 D703 D702

1 to 600000000

10-2

mm /min

1 to 600000000

10-3

inch /min

1 to 2147483647

10-3 degree

/min (Note-1)

1 to 2147483647

PLS/s

(Note-1): When the "speed control 10 multiplier setting for degree axis" is set to "valid" in the fixed parameter, the unit is " 10-2[degree/min] ". (Note-2): The range of axis No.1 to 8 is valid in the Q172HCPU.

6 - 181

6 POSITIONING CONTROL

[Program]

Program for simultaneous start of JOG operations are shown as the following conditions. (1) System configuration

JOG operation for Axis 1 and Axis 2.

JOG operation command (PX000)

M M MM

Motion CPU control module

Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

(2) JOG operation conditions (a) JOG operation conditions are shown below.

Item JOG operation conditions Axis No. Axis 1 Axis 2 JOG operation speed 150000 150000

(b) JOG operation command ...... During PX000 ON

(3) Motion SFC program

Motion SFC program for which executes the simultaneous start of JOG operation is shown below.

Simultaneous start

SET M2042

M2415*M2435

D710=H0002 D712=H0001 D640L=K150000 D642L=K150000 SET M2048

RST M2048

PX000

P0

P0

Simultaneous start

Turn on all axes servo ON command.

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

JOG operation is executed at the JOG operation simultaneous start command ON

JOG operation is executed with the speed of 150000[mm/min] as the following, when the 2 axes simultaneous start switch (PX000) turns on.

[F10]

[G10]

[G20]

[F20] [F30]

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

6 - 182

6 POSITIONING CONTROL

6.22 Manual Pulse Generator Operation

Positioning control based on the number of pulses inputted from the manual pulse generator is executed. Simultaneous operation for 1 to 3 axes is possible with one manual pulse generator, the number of connectable modules are shown below.

Number of connectable to the manual pulse generator

3

POINT When two or more Q173PXs are installed, connect the manual pulse generator to

first (It counts from 0 slot of the CPU base) Q173PX. (When the manual pulse generator is used, only first Q173PX is valid.)

[Control details]

(1) Positioning of the axis set in the manual pulse generator axis setting register based on the pulse input from the manual pulse generator. Manual pulse generator operation is only valid while the manual pulse generator enable flag turn ON.

Manual pulse generator connecting position

Manual pulse generator axis No. setting register

Manual pulse generator enable flag

P1 D714, D715 M2051 P2 D716, D717 M2052 P3 D718, D719 M2053

(2) The travel value and output speed for positioning control based on the pulse input

from manual pulse generator are shown below. (a) Travel value

The travel value based on the pulse input from a manual pulse generator is calculated using the following formula.

[Travel value] = [Travel value per pulse] [Number of input pulses] [Manual pulse generator 1- pulse input magnification setting]

The travel value per pulse for manual pulse generator operation is shown below.

Unit Travel value mm 0.1 [m] inch 0.00001 [inch] degree 0.00001 [degree] PLS 1 [PLS]

If units is [mm], the command travel value for input of one pulse is: (0.1[m]) (1[PLS]) (Manual pulse generator 1- pulse input magnification setting)

6 - 183

6 POSITIONING CONTROL

(b) Output speed

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

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

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

The axis operated by the manual pulse generator is set in the manual pulse generator axis setting register (D714 to D719). The bit corresponding to the axis controlled (1 to 32) is set.

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

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

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

D720 Axis 1 D721 Axis 2 D722 Axis 3 D723 Axis 4 D724 Axis 5 D725 Axis 6 D726 Axis 7 D727 Axis 8 D728 Axis 9 D729 Axis 10 D730 Axis 11 D731 Axis 12 D732 Axis 13 D733 Axis 14 D734 Axis 15 D735 Axis 16 D736 Axis 17 D737 Axis 18 D738 Axis 19 D739 Axis 20 D740 Axis 21 D741 Axis 22 D742 Axis 23 D743 Axis 24 D744 Axis 25 D745 Axis 26 D746 Axis 27 D747 Axis 28 D748 Axis 29 D749 Axis 30 D750 Axis 31 D751 Axis 32

1 to 10000

(Note-1): The range of axis No.1 to 8 is valid in the Q172HCPU.

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

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6 POSITIONING CONTROL

(5) The setting manual pulse generator 1- pulse input magnification checks the "1- pulse input magnification setting registers of the manual pulse generator" of the applicable axis at the turning manual pulse generator enable flag turns off to on. If the value is outside of range, the manual pulse generator axis setting error register (D9185 to D9187) and manual pulse generator axis setting error flag (M9077) are set and a value of "1" is used for the magnification.

(6) Manual pulse generator smoothing magnification setting

A magnification to smooth the turning the manual pulse generator operation off to on or on to off is set.

Manual pulse generator smoothing magnification setting register

Setting range

Manual pulse generator 1 (P1): D752 Manual pulse generator 2 (P2): D753 Manual pulse generator 3 (P3): D754

0 to 59

(a) Operation

Manual pulse generator input

Manual pulse generator 1 enable flag (M2051)

t

ON

V

OFF

V1

ttt

Output speed (V1) = [Number of input pulses/ms] [Manual pulse generator 1- pulse input magnification setting]

Travel value (L) = [Travel value per pulse] [Number of input pulses] [Manual pulse generator 1-pulse input magnification setting]

(b) When the smoothing magnification is set, the smoothing time constant is as following formula. Smoothing time constant (t) = (Smoothing magnification + 1) 56.8 [ms]

REMARK

The smoothing time constant is within the range of 56.8 to 3408 [ms].

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6 POSITIONING CONTROL

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

below. Error details Error processing

Axis set to manual pulse generator operation is specified.

Duplicated specified axis is ignored. First setting manual pulse generator operation is

executed.

Axis setting is 4 axes or more Manual pulse generator operation is executed

according to valid for 3 axes from the lowest manual pulse generator axis setting register.

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

Manual pulse generator operation is not executed.

[Cautions]

(1) The start accept flag turns on for axis during manual pulse generator operation. Positioning control or home position return cannot be started using the Motion CPU or a peripheral device. Turn off the manual pulse generator enable flag after the manual pulse generator operation end.

(2) The torque limit value is fixed at 300[%] during manual pulse generator operation.

(3) If the manual pulse generator enable flag turns on for the starting axis by

positioning control or JOG operation, an error [214] is set to the applicable axis and manual pulse generator input is not enabled. After the axis has been stopped, the turning off to on of the manual pulse generator enable flag becomes valid, the start accept flag turns on by the manual pulse generator input enabled status, and input from the manual pulse generator is input.

Positioning control

Manual pulse generator operation

Input from manual pulse generator is ignored.

Manual pulse generator 1 enable flag (M2051)

Start accept flag

OFF

V

t

Manual pulse generator enable status ON

Disable

OFF

ON

Enable

(4) If the manual pulse generator enable flag of another manual pulse generator No. turns on for axis during manual pulse generator operation, an error [214] is set to the applicable axis and the input of that manual pulse generator is not enabled. Turn the manual pulse generator enable flag on again after stopping the manual pulse generator operation which had become input enable previously.

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6 POSITIONING CONTROL

(5) If the manual pulse generator enable flag turns on again for axis during smoothing

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

(6) If another axis is set and the same manual pulse generator enable flag turns on

again during smoothing deceleration after manual pulse generator enable flag turns off, the manual pulse generator input is not enabled. At this time, the manual pulse generator axis setting error bit of the manual pulse generator axis setting error storage register (D9185 to D9187) turns on, and the manual pulse generator axis setting error flag (M9077) turns on. Include the start accept flag OFF for specified axis in interlocks as the conditions which turn on the manual pulse generator enable flag.

[Procedure for manual pulse generator operation]

Procedure for manual pulse generator operation is shown below.

Turn the manual pulse generator enable flag OFF

Turn the manual pulse generator enable flag ON

Set the manual pulse generator operation axis

Set the manual pulse generator 1- pulse input magnification

Start

Execute the positioning by manual pulse generator

End

Using the Motion SFC program

. . . . . . . Using the Motion SFC program

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6 POSITIONING CONTROL

[Program]

Program executes manual pulse generator operation is shown as the following conditions. (1) System configuration

Manual pulse generator operation of Axis 1 and Axis 2.

Manual pulse generator enable flag (M2051 : P1, M2052 : P2)

M M MM

Motion CPU control module

Axis 4

Axis 1

Axis 2

Axis 3

Manual pulse generator P2

Manual pulse generator P1

AMP AMP AMP AMP

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

(2) Manual pulse generator operation conditions (a) Manual pulse generator operation axis................Axis 1, Axis 2 (b) Manual pulse generator 1- pulse input magnification............ 100 (c) Manual pulse generator operation enable ...........M2051 (Axis 1)/

M2052 (Axis 2) ON (d) Manual pulse generator operation end ................M2051 (Axis 1)/

M2052 (Axis 2) OFF

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

Manual pulse generator

D720=100 D721=100 D714L=H00000001 D716L=H00000002 SET M2051 SET M2052

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

RST M2051 RST M2052

END

SET M2042

PX000*M2415*M2435

!PX000

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

Manual pulse generator

Manual pulse generator 1- pulse input magnification for Axis 1, Axis 2. Control Axis 1 by P1. Control Axis 2 by P2. Manual pulse generator enable flag ON for Axis 1, Axis 2.

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

(Note): Turn the manual pulse generator enable flag off for P1, P2, so that the operation may not continued for safety.

[F10]

[G10]

[F20]

[G20]

[F30]

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

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6.23 Home Position Return

(1) Use the home position return at the power supply ON and other times where confirmation of axis is at the machine home position is required.

(2) The following six methods for home position return are shown below.

Proximity dog type Count type Data set type Dog cradle type Stopper type Limit switch combined type

(3) The home position return data must be set for each axis to execute the home

position return.

(4) Select the optimal home position return method for the system configuration and applications with reference to the following.

Home position return methods Contents Applications

Proximity dog type 1 Home position is zero point of servomotor. When the proximity dog is ON, it cannot be

started.

It is used in the system which can surely pass a zero point from the home position return start to proximity dog ON OFF.

Proximity dog type

Proximity dog type 2 Home position is zero point of servomotor. When the proximity dog is ON, it can be

started.

This method is valid when the stroke range is short and "proximity dog type 1" cannot be used.

Count type 1

Home position is zero point of servomotor. It is used in the system which can surely pass a zero point from the home position return start to point of travel distance set as "travel value after proximity dog ON".

Count type 2 Zero point is not used in the home position

return. This method is used when the proximity dog is

near the stroke end and the stroke range is narrow.

Count type (Note)

Count type 3 Home position is zero point of servomotor. This method is valid when the stroke range is short and "count type 1" cannot be used.

Data set type 1

Home position is command position of Motion CPU.

External input signals such as dog signal are not set in the absolute position system.

This method is valid for the data set independent of a deviation counter value. Data set type

Data set type 2 Home position is real position of servomotor.

External input signals such as dog signal are not set in the absolute position system.

Dog cradle type Home position is zero point of servomotor

immediately after the proximity dog signal ON.

It is easy to set the position of proximity dog, because the proximity dog is set near the position made to the home position.

Stopper type 1 Home position is position which stopped

the machine by the stopper. Proximity dog is used. Stopper type

Stopper type 2 Home position is position which stopped

the machine by the stopper. Proximity dog is not used.

This method is valid to improve home position accuracy in order to make the home position for the position which stopped the machine by the stopper.

Limit switch combined type Home position is zero point of servomotor. Proximity dog is not used. External limit switch is surely used.

It is used in the system that the proximity dog signal cannot be used and only external limit switch can be used.

(Note): If the proximity dog signal of servo amplifier is used, the count type home position return cannot be execute.

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MEMO

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6.23.1 Home position return data

This data is used to execute the home position return. Set this data using a peripheral device.

Table 6.3 Home position return data list Setting range

mm inch degree PLS Indirect setting

No. Item Setting range Units Setting range Units Setting range Units Setting range Units

Initial value Units

Valid/ invalid

Number of words

1 Home position return direction

0: Reverse direction (Address decrease direction) 1: Forward direction (Address increase direction) 0

2 Home position return method

0: Proximity dog type 1 4: Proximity dog type 2 1: Count type 1 5: Count type 2 6: Count type 3 2: Data set type 1 3: Data set type 2

7: Dog cradle type 8: Stopper type 1 9: Stopper type 2 10: Limit switch combined type

0

3 Home position address

-214748364.8 to

214748364.7 m

-21474.83648 to

21474.83647 inch 0 to

359.99999 degree -2147483648

to 2147483647

PLS 0 PLS 2

4 Home position return speed

0.01 to 6000000.00 mm/min 0.001 to

600000.000 inch/min 0.001 to

2147483.647 (Note-1)

degree/min 1 to 10000000 PLS/s 1 PLS/s 2

5 Creep speed 0.01 to 6000000.00 mm/min 0.001 to

600000.000 inch/min 0.001 to

2147483.647 (Note-1)

degree/min 1 to 10000000 PLS/s 1 PLS/s 2

6 Travel value after proximity dog ON

0.0 to 214748364.7 m

0.00000 to

21474.83647 inch 0.00000 to

21474.83647 degree 0 to 2147483647 PLS 0 PLS 2

7 Parameter Block setting 1 to 64 1

8 Home position return retry function

0: Invalid (Do not execute the home position return retry by limit switch.) 1: Valid (Execute the home position return retry by limit switch.) 0

9

Dwell time at the home position return retry

0 to 5000 [ms] 0 ms 1

10 Home position shift amount

-214748364.8 to

214748364.7 m

-21474.83648 to

21474.83647 inch

-21474.83648 to

21474.83647 degree

-2147483648 to

2147483647 PLS 0 PLS 2

11 Speed set at the home position shift

0: Home position return speed 1: Creep speed 0

12 Torque limit value at the creep speed

1 to 1000 [%] 300 % 1

13

Operation setting for incompletion of home position return

0: Execute a servo program 1: Not execute a servo program 1

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Remarks Explanatory section

The home position return direction is set.

The home position return method is set. The proximity dog type or count type are recommended for the servo amplifier which does not support absolute value.

The current value of home position after the home position return is set. It is recommended that the home position address is set in the upper stroke limit value or lower stroke limit value.

The home position return speed is set.

The creep speed (low speed immediately before stopping after deceleration from home position return speed) after the proximity dog ON is set.

The travel value after the proximity dog ON for the count type is set. More than the deceleration distance at the home position return speed is set. 6.23.1 (1)

The parameter block (Refer to Section 4.3) No. to use for home position return is set.

Valid/invalid of home position return retry is set.

The stop time at the deceleration stop during the home position return retry is set. 6.23.1 (2)

The shift amount at the home position shift is set.

The operation speed which set the home position shift amount except "0" is set. 6.23.1 (3)

The torque limit value with creep speed at the stopper type home position return is set. 6.23.1 (4)

When the home position return request signal is ON, it set whether a servo program can be executed or not.

6.23.1 (5)

(Note-1): When the "speed control 10 multiplier setting for degree axis" is set to "valid" in the fixed parameter, the setting range is "0.01 to 21474836.47[degree/min] ".

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(1) Travel value after proximity dog ON

(a) The travel value after proximity dog ON is set to execute the count type home position return.

(b) After the proximity dog ON, the home position is the first zero-point after

travel by the setting travel value.

(c) Set the travel value after proximity dog ON more than the deceleration distance from the home position return speed.

The deceleration distance is calculated from the speed limit value, home position return speed, creep speed and deceleration time as shown below.

[Home position return operation] Speed limit value : VP=200kpps

. . . . . . Set 75 or more

Creep speed : VC=1kpps

Real deceleration time : t=TB

Home position return speed : VZ=10kpps

[Deceleration distance (shaded area under graph)]

Deceleration time : TB=300msTB

t

Converts in speed per millisecond

= 2 1

1000 VZ t

= 2000 VZ

VP

VZTB

= 2000 10 103

200 10300 103

103

= 75

VP

VZ

POINT A home position return must be made after the servomotor has been rotated more than one revolution to pass the axis through the Z-phase (motor reference position signal). For a proximity dog type or count type home position return, the distance between the point where the home position return program is started and the deceleration stop point before re-travel must be such that the servomotor is rotated more than one revolution to pass the axis through the Z-phase. When a data set type home position return is made in an ABS (absolute position) system, the servomotor must also have been rotated more than one revolution by JOG operation or the like to pass the axis through the Z-phase. (Note) : When "1 : No servomotor Z-phase pass after power ON" is selected in the

"function selection C-4" of servo parameter (expansion setting parameter), even if it does not pass zero point, the home position return can be executed and restrictions are lost.

Example

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(2) Home position return retry function/dwell time at the home position

return retry (a) Valid/invalid of home position return retry is set.

(b) When the valid of home position return retry function is set, the time to stop

at return of travel direction is set with dwell time at the home position return retry.

(c) Operation for the proximity dog type home position return by setting "valid"

for home position return retry function is shown below.

1) It travels to preset direction of home position return. 2) If the external upper/lower limit switch turns OFF before the detection of proximity dog, a deceleration stop is made. 3) After a deceleration stop, the temporary stop is made during time set in the "dwell time at the home position return retry"

and it travels to reverse direction of home position return with the home position return speed. 4) A deceleration stop is made by the proximity dog OFF. 5) After a deceleration stop, the temporary stop is made during time set in the "dwell time at the home position return retry"

and it travels to direction of home position return. 6) Home position return ends.

Acceleration time Deceleration time

Home position return direction

Home position return start

Home position

The temporary stop is made during time set in the "dwell time at the home position return retry".

External limit switch

Zero point

Proximity dog

6) 5) 1) 2)

3) 4)

The temporary stop is made during time set in the "dwell time at the home position return retry".

Fig. 6.31 Operation for home position return retry function

(d) Possible/not possible of home position return retry function by the home

position return method is shown below. Home position return

methods Possible/not possible of home position

return retry function Proximity dog type Count type Data set type Dog cradle type Stopper type Limit switch combined type

: Possible, : Not possible

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(3) Home position shift amount/speed set at the home position shift

(a) The shift (travel) amount from position stopped by home position return is set.

(b) If the home position shift amount is positive value, it shifts from detected zero point signal to address increase direction. If it is negative value, it shifts from detected zero point signal to address decrease direction.

(c) Operation speed which set the home position shift amount except "0" is set in the speed set at the home position shift. Select one of the "home position return speed" or "creep speed".

Set the operation speed at the home position shift with speed set at the home position shift. Select one of "home position return speed" or "creep speed".

Zero point

Home position shift amount is positive value

Home position return speed

Home position

Creep speed

Home position return speed

Home position

Home position return direction

Home position return speed

Creep speed

Home position shift amount (Positive value)

Home position return start

Proximity dog Travel value after proximity dog ON

Home position shift amount is negative value

Home position return direction

Home position return re-travel value

Creep speed Home position return start

Travel value after proximity dog ON

Proximity dog

Zero point

Home position shift amount (Negative value)

Set the operation speed at the home position shift with speed set at the home position shift. Select one of "home position return speed" or "creep speed".

Address decrease direction return derection

Address increase direction return derection

Address decrease direction return derection

Address increase direction return derection

Home position return re-travel value

Fig. 6.32 Home position shift amount/speed set at the home position shift

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(d) Valid/invalid of the setting value for home position shift amount by the home

position return method is shown below. Home position return

methods Valid/invalid of home position shift

amount Proximity dog type Count type Data set type Dog cradle type Stopper type Limit switch combined type

: Valid, : Invalid

POINT (1) Home position shift function is used to rectify a home position stopped by the

home position return. When there are physical restrictions in the home position by the relation of a proximity dog installation position, the home position is rectified to the optimal position. Also, by using the home position shift function, it is not necessary to care the zero point for an installation of servomotor.

(2) After proximity dog ON, if the travel value including home position shift amount exceeds the range of -2147483648 to 2147483647 [ 10-1m, 10-5inch,

10-5degree, PLS], travel value after proximity dog ON of monitor register is not set correctly.

(4) Torque limit value at the creep speed

(a) Torque limit value at the creep speed (on press) is set in the case of using the pressed position as the home position by the home position return of stopper type 1, 2.

(b) Valid/invalid of the torque limit value at the creep speed by the home position return method is shown below.

Home position return methods

Valid/invalid of torque limit value at the creep speed

Proximity dog type Count type Data set type Dog cradle type Stopper type Limit switch combined type

: Valid, : Invalid

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(5) Operation setting for incompletion of home position return

(a) Operation in selecting "0: Execute servo program" 1) Servo program can be executed even if the home position return request

signal (M2409+20n) is ON.

(b) Operation in selecting "1: Not execute servo program" 1) Servo program cannot be executed if the home position return request

signal (M2409+20n) is ON. However, the servo program can be executed even if the home position return request signal (M2409+20n) is ON in the case of only servo program of home position return instruction (ZERO).

2) At the time of servo program start, when "1: Not execute servo program" is selected in the operation setting for incompletion of home position return and the axis which the home position return request signal (M2409+20n) is ON exists also with one axis, a minor error [121] occurs and the servo program does not start.

3) JOG operation and manual pulse generator operation can be executed regardless of the home position return request signal (M2409+20n) ON/OFF.

4) Same operation is executed regardless of absolute position system or not. When "1: Not execute servo program" is selected in the case of not absolute position system, the home position return request signal (M2409+20n) turns ON at power supply ON or reset of Motion CPU and power supply ON of servo amplifier. Therefore, it must be executed home position return before a servo program start.

5) Same operation is executed in also TEST mode. 6) This setting is valid in the real mode only. Servo program can be

executed for a virtual axis connected to the output axis which the home position return request signal (M2409+20n) is ON.

(6) Indirect setting of home position return data

A part of home position return data can be executed the indirect setting by the word devices (D, W, #) of Motion CPU. (a) Data devices for indirect setting

There are data registers (D), link registers (W) and Motion registers (#) as data devices for indirect setting. (Word devices except data registers, link registers and Motion registers cannot be used.) Usable devices are shown below. (Set the number of words for 2 words as even number.)

Word devices Usable devices

D 800 to 8191 W 0 to 1FFF # 0 to 7999

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6 POSITIONING CONTROL

(b) Input of home position return

In the indirect setting by the word devices, the specified word device data are read at servo program execution by Motion CPU. Set data to devices for indirect setting and then execute the start request of servo program at home position return.

POINT

(1) Indirect setting of axis cannot be executed using word devices in the servo program.

(2) Take an interlock with start accept flag (M2001 to M2032) not to change until the device data specified for indirect setting. If the device data is changed before starting accept, it may not execute the home position return at the normal value.

(7) Setting items for home position return data

Home position return methods

Items

Pr ox

im ity

d og

ty pe

1

Pr ox

im ity

d og

ty pe

2

C ou

nt ty

pe 1

C ou

nt ty

pe 2

C ou

nt ty

pe 3

D at

a se

t t yp

e 1

D at

a se

t t yp

e 2

D og

c ra

dl e

ty pe

St op

pe r t

yp e

1

St op

pe r t

yp e

2

Li m

it sw

itc h

co m

bi ne

d ty

pe

Home position return direction Home position address

Home position return speed

Creep speed

Travel value after proximity dog ON Parameter block setting

Home position return retry function Dwell time at the home position return retry Home position shift amount

Speed set at the home position shift

Torque limit value at the creep speed

Home position return data

Operation setting for incompletion of home position return

Interpolation control unit Speed limit value Acceleration time

Deceleration time

Rapid stop deceleration time

S-curve ratio

Torque limit value

Deceleration processing at the stop time

Parameter blocks

Allowable error range for circular interpolation : Must be set (Indirect setting) : Must be set : Must be not set

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6.23.2 Home position return by the proximity dog type 1

(1) Proximity dog type 1 Zero point position after proximity dog ON to OFF is home position in this method. When it does not pass (zero pass signal: M2406+20n OFF) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, an error will occur and home position return is not executed. However, when "1 : Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4" of servo parameter (expansion setting parameter), if it does not pass zero point from home position return start to deceleration stop by proximity dog ON to OFF, the home position return can be executed.

(2) Home position return by the proximity dog type 1

Operation of home position return by proximity dog type 1 for passing (zero pass signal: M2406+20n ON) the zero point from home position return start to deceleration stop by proximity dog ON to OFF is shown below.

Creep speed

Home position return start

V

Home position return direction

Home position return speed

Proximity dog

ON OFF Zero point

The travel value in this range is stored in the monitor register "travel value after proximity dog ON".

t

The travel value in this range is stored in the monitor register "home position return re-travel value".

The distance to the zero point is based on the servo data.

(Note) : A deceleration stop occurs after the proximity dog OFF. Positioning is carried out from this position to the zero point.

Fig. 6.33 Home position return operation by the proximity dog type 1

(3) Home position return execution

Home position return by the proximity dog type 1 is executed using the servo program in Section 6.23.16.

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(4) Cautions

(a) Keep the proximity dog ON during deceleration from the home position return speed to the creep speed. If the proximity dog turns OFF before deceleration to the creep speed, a deceleration stop is made and the next zero point is set as the home position.

ON

Proximity dog

Setting creep speed

The zero point is passed during deceleration stop by the proximity dog OFF.

Home position return speed

OFF Zero point

Zero point of this range does not become the home position. The next zero point becomes the home position.

(b) The position executed deceleration stop by the proximity dog OFF is near

zero point, a home position discrepancy equivalent to one revolution of the servomotor may occur. Adjust the position of proximity dog OFF, such that the home position return re-travel value becomes half the travel value for one revolution of the servomotor.

OFF ON Proximity dog

If the position executed deceleration stop by the proximity dog OFF is near zero point, the creep speed and deceleration settings may result in a home position discrepancy equivalent to one revolution of the servomotor.

Zero point

POINT When the home position return retry function is not set in the following cases, execute the home position return, after return the axis once to position before the proximity dog ON by the JOG operation, etc. Home position return cannot be executed without returning to position before the proximity dog ON. (1) Home position return with a position after the proximity dog ON to OFF. (2) When the power supply turned OFF to ON after home position return end.

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(c) When it does not pass (zero pass signal: M2406+20n ON) the zero point

from home position return start to deceleration stop by proximity dog ON to OFF, a minor error "ZCT not set" (error code: 120) will occur, a deceleration stop is made and home position return does not end normally. When a distance between home position return start position and home position is near and a zero point is not passed, select the proximity dog type 2.

(d) If home position return is executed in the proximity dog ON, a major error

"proximity dog signal is turning ON at the home position return start" (error code: 1003) will occur, the home position return is not executed. Use the proximity dog type 2 in this case.

(e) When home position return retry function is not set, if home position return is

executed again after home position return end, a minor error "home position return completion signal is turning ON at the proximity dog type home position return start" (error code: 115) will occur, the home position return is not executed.

(f) If in-position signal (M2402+20n) does not turn ON, home position return is

not ended.

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6.23.3 Home position return by the proximity dog type 2

(1) Proximity dog type 2 Zero point position after proximity dog ON to OFF is home position in this method. When it passed (zero pass signal: M2406+20n ON) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, operation for "proximity dog type 2" is the same as "proximity dog type 1". (Refer to Section 6.23.2) When it does not pass (zero pass signal: M2406+20n OFF) the zero point from home position return start to deceleration stop by proximity dog ON to OFF, it moves to home position return direction after the servomotor is rotated one revolution to reverse direction and it passed the zero point, and the first zero point position is set as home position after proximity dog ON to OFF.

(2) Home position return by the proximity dog type 2

Operation of home position return by proximity dog type 2 for not passing the zero point from home position return start to deceleration stop by proximity dog ON to OFF is shown below.

V

1) It travels to preset direction of home position return with the home position return speed. 2) A deceleration is made to the creep speed by the proximity dog ON, after that, it travels

with the creep speed. (If the proximity dog turns OFF during a deceleration, a deceleration stop is made and the operation for 4) starts.)

3) A deceleration stop is made by the proximity dog OFF. 4) After a deceleration stop, it travels for one revolution of servomotor to reverse direction of home position return with the home position return speed. 5) It travels to direction of home position return with the home position return speed, the home position return ends with first zero point

after the proximity dog ON to OFF. (At this time, a deceleration to the creep speed is not

made with the proximity dog OFF to ON . And

if the zero point is not passed because of droop pulses for processing of 4) and 5), a minor error "ZCT not set" (error code: 120) will occur, a deceleration stop is made and the home position return does not end

Home position return direction

3)

2)

4)

1)

5)

Home position return speed

Creep speed

Home position

Home position return speed

Zero point

The travel value in this range is stored in the monitor register "travel value after proximity dog ON". The travel value in this range is stored in the monitor register "home position return re-travel value".

Zero point no passing

Home position return start

1 revolution Proximity dog

Fig. 6.34 Home position return operation by the proximity dog type 2

(zero point no passing)

(3) Home position return execution Home position return by the proximity dog type 2 is executed using the servo program in Section 6.23.16.

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(4) Cautions

(a) A system which the servomotor can rotate one time or more is required.

(b) When a servomotor stops with specified condition enables and rotates to reverse direction one time after proximity dog ON, make a system for which does not turn OFF the external upper/lower stroke limit.

(c) Keep the proximity dog ON during deceleration from the home position

return speed to the creep speed. If the proximity dog turns OFF before deceleration to the creep speed, a deceleration stop is made and the next zero point is set as the home position.

(d) If home position return is executed in the proximity dog ON, it starts with the

creep speed.

(e) When home position return retry function is not set, if home position return is executed again after home position return completion, a minor error "home position return completion signal is turning ON at the proximity dog type home position return start" (error code: 115) will occur, the home position return is not executed.

(f) When "1 : Not need to pass motor Z phase after the power supply is

switched on" is selected in the "function selection C-4" of servo parameter (expansion setting parameter), even if it does not pass zero point at the servo amplifier power ON, the zero pass signal (M2406+20n) turns ON. This operation is the same as proximity dog type 1.

(g) If in-position signal (M2402+20n) does not turn ON, home position return is

not ended.

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6.23.4 Home position return by the count type 1

(1) Count type 1 After the proximity dog ON, the zero point after the specified distance (travel value after proximity dog ON) is home position in this method. (If the proximity dog signal of servo amplifier is used, the count type 1 home position return cannot be executed.) When the zero point is not passed (zero pass signal: M2406+20n OFF) until it travels the distance set in the "travel value after proximity dog ON" from home position return start, an error will occur and home position return is not executed. However, when "1 : Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4" of servo parameter (expansion setting parameter), if the zero point is not passed until it travels the distance set in the "travel value after proximity dog ON" from home position return start, the home position return can be executed. The travel value after proximity dog ON is set in the home position return data (Refer to Section 6.23.1).

(2) Home position return by the count type 1

Operation of home position return by count type 1 for passing the zero point during travel of specified distance set in the "travel value after proximity dog ON" from the home position return start is shown below.

t

V

ON

Creep speed

Home position return start

Home position return direction

Home position return speed

Proximity dog

Zero point

(Note) : After the proximity dog ON, positioning of the "travel value after the proximity dog ON" of the home position return data and the positioning from the position to zero point.

"Travel value after proximity dog ON" of the home position return data

The travel value in this range is stored in the monitor register "travel value after proximity dog ON".

The travel value in this range is stored in the monitor register "home position return re-travel value".

The distance to the zero point is based on the servo data

Fig. 6.35 Home position return operation by the count type 1

(3) Home position return execution

Home position return by the count type 1 is executed using the servo program in Section 6.23.16.

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(4) Cautions

(a) Home position return and continuously start of home position return are also possible in the proximity dog ON in the count type 1. When the home position return or continuously start of home position return are executed in the proximity dog ON, the home position return is executed after return the axis once to position of the proximity dog OFF.

(b) When the zero point is not passed (zero pass signal: M2406+20n ON) until it

travels the distance set in the "travel value after proximity dog ON" from home position return start, a minor error "ZCT not set" (error code: 120) will occur, a deceleration stop is made and home position return does not end normally. When a distance between home position return start position and home position is near and a zero point is not passed, select the count type 3.

(c) When the "travel value after proximity dog ON" is less than the deceleration

distance from "home position return speed" to "creep speed", a minor error "an overrun occurred because the setting travel value is less than the deceleration distance at the proximity dog signal input during home position return of count type" (error code: 209) will occur and deceleration stop is made.

(d) If in-position signal (M2402+20n) does not turn ON, home position return is

not ended.

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6.23.5 Home position return by the count type 2

(1) Count type 2 After the proximity dog ON, the position which traveled the specified distance (travel value after proximity dog ON) is home position in this method. It is not related for zero point pass or not pass. (If the proximity dog signal of servo amplifier is used, the count type 2 home position return cannot be executed.) A count type 2 is effective method when a zero point signal cannot be taken. (However, dispersions will occur to the stop position at the home position return compared with the count type 1.) The travel value after proximity dog ON is set in the home position return data (Refer to Section 6.23.1).

(2) Home position return by the count type 2

Operation of home position return by count type 2 is shown below. V

Home position return direction

t

Home position return speed

Creep speed

Home position return start

Proximity dog

The travel value in this range is stored in the monitor register "travel value after proximity dog ON".

(Note): "Home position return re-travel value" = 0

(Note): After the proximity dog ON, a position which traveled the distance "travel value after proximity dog ON" of the home position return data is home position.

Fig. 6.36 Home position return operation by the count type 2

(3) Home position return execution

Home position return by the count type 2 is executed using the servo program in Section 6.23.16.

(4) Cautions

(a) Home position return and continuously start of home position return are also possible in the proximity dog ON in the count type 2. When the home position return and continuously start of home position return are executed in the proximity dog ON, the home position return is executed after return the axis once to position of the proximity dog OFF.

(b) When the "travel value after proximity dog ON" is less than the deceleration

distance from "home position return speed" to "creep speed", a minor error "an overrun occurred because the setting travel value is less than the deceleration distance at the proximity dog signal input during home position return of count type." (error code: 209) will occur and deceleration stop is made.

(c) Command position is the home position.

(d) If in-position signal (M2402+20n) does not turn ON, home position return is

not ended.

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6.23.6 Home position return by the count type 3

(1) Count type 3 After the proximity dog ON, the zero point after the specified distance (travel value after proximity dog ON) is home position in this method. (If the proximity dog signal of servo amplifier is used, the count type 3 home position return cannot be executed.) When the zero point is passed (zero pass signal: M2406+20n ON) during travel of specified distance set in the travel value after proximity dog ON from the home position return start, home position return operation is the same as count type 1. (Refer to Section 6.23.4) When a zero point is not passed (zero pass signal: M2406+20n OFF) during travel of specified distance set in the travel value after proximity dog ON from the home position return start, it rotates one time to reverse direction and passes the zero point, re-travels to home position return direction, and then the first zero point after the specified distance (travel value after proximity dog ON) after proximity dog ON is set as home position. The travel value after proximity dog ON is set in the home position return data (Refer to Section 6.23.1).

(2) Home position return by the count type 3

Operation of home position return by count type 3 for not passing the zero point during travel of specified distance set in the travel value after proximity dog ON from the home position return start is shown below.

V

1 revolution

Home position return speed

Home position return direction

Creep speed

Home position

Zero point

Zero point no passing

1) 2)

3)

5)

4)

The travel value in this range is stored in the monitor register "travel value after proximity dog ON". The travel value in this range is stored in the monitor register "home position return re-travel value".

1) It travels to preset direction of home position return with the home position return speed. 2) A deceleration is made to the creep speed by the proximity dog ON, after that, it travels with the creep speed. 3) A deceleration stop is made in the position which traveled the travel value set as travel

value after proximity dog ON. 4) After a deceleration stop, it travels for one revolution of servomotor to reverse direction of home position return with the home position return speed. 5) It travels to direction of home position return with the home position return speed, the home position return with first zero

point after traveling the travel value set as travel value after proximity dog ON from after the proximity dog ON.

(At this time, a deceleration to the creep speed is not made with the proximity dog OFF to ON. And if the zero point is not passed because of droop pulses for processing of 4) and 5), a minor error "ZCT not set" (error code: 120) will occur, a deceleration stop is made and home position return does not end normally. In this case, adjust a position of proximity dog ON.)

Home position return start

Home position return speed

Proximity dog

Fig. 6.37 Home position return operation by the count type 3 (zero point no passing)

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(3) Home position return execution

Home position return by the count type 3 is executed using the servo program in Section 6.23.16.

(4) Cautions (a) A system which the servomotor can rotate one time or more is required.

(b) After the proximity dog ON, when a servomotor rotates one time to reverse

direction after stop with travel value set in the "travel value after proximity dog ON", make a system which does not turn OFF the external upper/lower stroke limit.

(c) Home position return and continuously start of home position return are also possible in the proximity dog ON in the count type 3. When the home position return and continuously start of home position return are executed in the proximity dog ON, the home position return is executed after return the axis once to position of the proximity dog OFF.

(d) When the "travel value after proximity dog ON" is less than the deceleration distance from "home position return speed" to "creep speed", a minor error "an overrun occurred because the setting travel value is less than the deceleration distance at the proximity dog signal input during home position return of count type." (error code: 209) will occur and deceleration stop is made.

(e) When "1 : Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4" of servo parameter (expansion setting parameter), even if it does not pass zero point at the servo amplifier power ON, the zero pass signal (M2406+20n) turns ON. This operation is the same as count type 1.

(f) If in-position signal (M2402+20n) does not turn ON, home position return is not ended.

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6.23.7 Home position return by the data set type 1

(1) Data set type 1 The proximity dog is not used in this method for the absolute position system.

(2) Home position return by the data set type 1

Home position is the command position at the home position return operation.

Home position return by the servo program start instruction

t

The address at the home position return operation is registered as the home position address.

Fig. 6.38 Home position return operation by the date set type 1

(3) Home position return execution

Home position return by the data set type 1 is executed using the servo program in Section 6.23.16.

(4) Cautions

(a) A zero point must be passed (zero pass signal: M2406+20n ON) between turning ON the power supply and executing home position return. If home position return is executed without passing a zero point once, "no zero point passed error" occurs. If "no zero point passed error" occurred, perform the home position return again, after reset the error and turn the servomotor at least one revolution by the JOG operation. The zero point passing can be confirmed with the zero pass signal (M2406+20n). However, when "1 : Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4" of servo parameter (expansion setting parameter), even if it does not pass zero point at the servo amplifier power ON, the home position return is possible because the zero pass signal (M2406+20n) turns ON.

(b) Home position return is started by the data set type 1 when the absolute

position system does not support, it becomes same function as the current value change command.

(c) The home position return data required for the data set type 1 are the home

position return direction and home position address.

(d) If in-position signal (M2402+20n) does not turn ON, home position return is not ended.

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6.23.8 Home position return by the data set type 2

(1) Data set type 2 The proximity dog is not used in this method for the absolute position system.

(2) Home position return by the data set type 2

Home position is the real position of servomotor at the home position return operation.

Machine travel range

Real position of machine at the home position return start

Command position at the home position return start

Home position is the real position at the home position return Home position return

by servo program start instruction

Fig. 6.39 Home position return operation by the date set type 2

(3) Home position return execution Home position return by the data set type 2 is executed using the servo program in Section 6.23.16.

(4) Cautions

(a) A zero point must be passed (zero pass signal: M2406+20n ON) between turning on the power supply and executing home position return. If home position return is executed without passing a zero point once, "no zero point passed error" occurs. If "no zero point passed error" occurred, perform the home position return again, after reset the error and turn the servomotor at least one revolution by the JOG operation. The zero point passing can be confirmed with the zero pass signal (M2406+20n). However, when "1 : Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4" of servo parameter (expansion setting parameter), even if it does not pass zero point at the servo amplifier power ON, the home position return is possible because the zero pass signal (M2406+20n) turns ON.

(b) The home position return data required for the data set type 2 are the home

position return direction and home position address.

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6.23.9 Home position return by the dog cradle type

(1) Dog cradle type After deceleration stop by the proximity dog ON, if the zero point is passed after traveling to reverse direction and turning the proximity dog OFF, the deceleration stop is made. And it moves to direction of home position return again with creep speed and the first zero point after proximity dog ON is home position in this method.

(2) Home position return by the dog cradle type

Operation of home position return by the dog cradle type for setting the proximity dog in the home position return direction is shown below.

V Home position return direction

ON

Acceleration time Deceleration time

Home position return speed

Creep speed

Home position return start Home position

Proximity dog

The travel value in this range is stored in the monitor register "travel value after proximity dog ON".

The travel value in this range is stored in the monitor register "home position return re-travel value".

Zero point

1) It travels to preset direction of home position return with the home position return speed, and a deceleration stop is made by the proximity dog ON. 2) After a deceleration stop, it travels to reverse direction of home position return with the home position return speed. 3) If the zero point is passed by the proximity dog OFF, a deceleration stop is made. 4) After a deceleration stop, it travels to direction of home position return with the creep speed, the home position return ends

with first zero point after the proximity dog ON.

1)

4)

3) 2)

Fig. 6.40 Home position return operation by the dog cradle type

(3) Home position return execution

Home position return by the dog cradle type is executed using the servo program in Section 6.23.16.

(4) Cautions

(a) When home position return retry function is not set, if home position return is executed again after home position return end, a minor error "home position return completion signal is turning ON at the dog cradle type home position return start" (error code: 115) will occur, the home position return is not executed.

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(b) If the home position return is executed in the proximity dog, it travels to

reverse direction of home position return. If proximity dog turns OFF, a deceleration stop is made, it travels to direction of home position return again with the creep speed and the first zero point after proximity dog ON is home position.

V

Acceleration time Deceleration time

Home position return direction

Creep speed

Home position return start

Proximity dog

3)

2) 1)

Zero point

1) It travels to preset reverse direction of home position return with the home position return speed. 2) If the zero point is passed by the proximity dog OFF, a deceleration stop is made. 3) After a deceleration stop, it travels to direction of home position return with the creep speed, and the home

position return ends with first zero point after the proximity dog ON.

Home position

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(c) When the proximity dog is set in the home position return direction, the

proximity dog is turned OFF during travel to reverse direction of home position return, and the zero point is not passed, it continues to travel in the reverse direction of home position return with home position return speed until the zero point is passed. The zero point is passed again during deceleration by zero point pass, the home position becomes this side compared with the case to pass zero point at the time of the proximity dog OFF.

V Home position return direction

Home position return speed

Creep speed

Home position Home position return start

Home position return speed

Proximity dog

Zero point

1) 2)

5)

3)4)

Acceleration time Deceleration time 1) It travels to preset direction of home

position return with the home position return speed. 2) A deceleration stop is made by the proximity dog ON. 3) After a deceleration stop, it travels to reverse direction of home position return with the home position return speed. 4) If the zero point is passed by the proximity dog OFF, a deceleration stop is made. 5) After a deceleration stop, it travels to direction of home position return with the creep speed, and the home position return ends with first zero point after the proximity dog ON.

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(d) When it starts in the proximity dog, the zero point is not passed at the time of

the proximity dog is turned OFF during travel to reverse direction of home position return, it continues to travel with home position return speed until the zero point is passed. The zero point is passed again during deceleration by zero point pass, the home position becomes this side compared with the case to pass zero point at the time of the proximity dog OFF.

V

Acceleration time Deceleration time

Home position return direction Creep speed

Home position

Home position return startHome position

return speed

Proximity dog

2)

Zero point

3)

1)

1) It travels to preset reverse direction of home position return with the home position return speed. 2) If the zero point is passed by the proximity dog OFF, a deceleration stop is made. 3) After a deceleration stop, it travels to direction of home position return with the creep speed, and the home position return ends with first zero point after the proximity dog ON.

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6.23.10 Home position return by the stopper type 1

(1) Stopper type 1 Position of stopper is home position in this method. It travels to the direction set in the "home position return direction" with the "home position return speed", after a deceleration starts by proximity dog OFF to ON and it presses against the stopper and makes to stop with the torque limit value set in the "torque limit value at the creep speed" and "creep speed" of home position return data. Real position of servomotor at the time of detection for turning the torque limiting signal OFF to ON is home position. Torque limit value after reaching creep speed is set in the "torque limit value at the creep speed" of home position return data.

(2) Home position return by the stopper type 1

Operation of home position return by the stopper type 1 is shown below.

V

t

Home position return direction

Home position return speed

Creep speed

Home position return start

Proximity dog

Torque limit value

Torque limiting signal (M2416+20n)

Stopper

(Note): "Travel value after proximity dog ON" storage register becomes "0" at the home position return start.

Real position of servomotor at this point is home position.

ON OFF

Time which stops rotation of servomotors forcibly by the stopper

Home position return data "torque limit value at the creep speed"

Torque limit value of parameter block at the home position return

Fig. 6.41 Home position return operation by the stopper type 1

(3) Home position return execution

Home position return by the stopper type 1 is executed using the servo program in Section 6.23.16.

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(4) Cautions

(a) A zero point does not must be passed (zero pass signal: M2406+20n ON) between turning on the power supply and executing home position return.

(b) Home position return retry function cannot be used in the stopper type 1.

(c) Set the torque limit value after reaching the creep speed for system. When the torque limit value is too large, servomotors or machines may be damaged after pressing the stopper. Also, when the torque limit value is too small, it becomes the torque limiting before pressing the stopper and ends the home position return.

(d) If the home position return is executed again after home position return completion, a minor error "home position return completion signal is turning ON at the stopper type home position return start" (error code: 115) will occur, the home position return is not executed.

(e) Home position return is started during the proximity dog ON, it is started from the "creep speed".

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6.23.11 Home position return by the stopper type 2

(1) Stopper type 2 Position of stopper is home position in this method. It travels the direction set in the "home position return direction" with the "creep speed", and it presses against the stopper and makes to stop with the "creep speed". (The torque limit value is valid set in the "torque limit value at the creep speed" of the home position return data from the home position return start.) Real position of servomotor at the time of detection for turning the torque limiting signal OFF to ON is home position. Torque limit value after reaching creep speed is set in the "torque limit value at the creep speed" of home position return data.

(2) Home position return by the stopper type 2

Operation of home position return by the stopper type 2 is shown below.

Creep speed

Stopper Real position of servomotor at this point is home position.

Home position return start

Torque limit value

V

Torque limiting signal (M2416+20n)

Time which stops rotation of servomotors forcibly by the stopper

(Note): "Travel value after proximity dog ON" storage register becomes "0" at the home position return start.

t

Home position return data "torque limit value at the creep speed"

Home position return direction

ON OFF

Fig. 6.42 Home position return operation by the stopper type 2

(3) Home position return execution

Home position return by the stopper type 2 is executed using the servo program in Section 6.23.16.

(4) Cautions (a) A zero point does not must be passed (zero pass signal: M2406+20n ON)

between turning on the power supply and executing home position return.

(b) Home position return retry function cannot be used in the stopper type 2.

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(c) Set the torque limit value at the reaching creep speed for system.

When the torque limit value is too large, servomotors or machines may be damaged after pressing the stopper. Also, when the torque limit value is too small, it becomes the torque limiting before pressing the stopper and ends the home position return.

(d) If the home position return is executed again after home position return completion, a minor error home position return completion signal is turning ON at the stopper type home position return start (error code: 115) will occur, the home position return is not executed.

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6.23.12 Home position return by the limit switch combined type

(1) Limit switch combined type The proximity dog is not used in this method. Home position return can be executed by using the external upper/lower limit switch. When the home position return is started, it travels to direction of home position return with "home position return speed". Deceleration is made by turning the limit switch of home position return direction ON to OFF, it travels to reverse direction of home position return with creep speed, and the zero point just before limit switch is home position.

(2) Home position return by the limit switch combined type

Operation of home position return by limit switch combined type for setting the limit switch in the home position return direction is shown below.

Acceleration time Deceleration time

Home position return direction

Home position return speedV

Creep speedHome positionHome position return start

Zero point

External limit switch

The travel value in this range is stored in the monitor register "travel value after proximity dog ON".

The travel value in this range is stored in the monitor register "home position return re-travel value".

1)

2)

3)

(Indicates with normally closed contact)

1) It travels to preset direction of home position return with the home position return speed. 2) A deceleration stop is made by the external limit switch ON to OFF. 3) After a deceleration stop, it travels to reverse direction of home position return with the creep speed, and the home position return ends with the zero point just before limit switch.

Fig. 6.43 Home position return operation by the limit switch combined type

(3) Home position return execution

Home position return by the limit switch combined type is executed using the servo program in Section 6.23.16.

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(4) Cautions

(a) For the axis which executes the home position return by the limit switch combined type, if the external input signal has not set in the system settings, a minor error "the positioning control which use the external input signal was executed for the axis which has not set the external input signal in the system settings" (error code: 142) will occur and home position return is not executed.

(b) When the limit switch reverse to home position return direction is turned ON to OFF, deceleration stop is made, home position return is not completed and a major error "external limit switch detection error" (error code : 1101, 1102) will occur.

(c) Home position return retry function cannot be used in the limit switch combined type.

(d) If the home position return is executed with the limit switch OFF, it is started to reverse direction of home position return with creep speed.

(e) When it does not pass (zero pass signal: M2406+20n ON) the zero point from home position return start to deceleration stop by limit switch OFF, a minor error "ZCT not set" (error code: 120) will occur, a deceleration stop is made and home position return does not end normally. However, when "1 : Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4" of servo parameter (expansion setting parameter), if the zero point is not passed until from home position return start to deceleration stop by limit switch OFF, the home position return can be executed.

(f) Deceleration stop is executed after the limit switch OFF. Set the limit switch in expectation of deceleration distance.

(g) If the in-position signal (M2402+20n) is turned ON, home position return is not ended.

(h) When the width is in a zero point, the home position differs from the home position return by the proximity dog type 1, proximity dog type 2, count type 1, count type 3 and dog cradle type.

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6.23.13 Home position return retry function

When a work has been exceeded home position during positioning control, etc., even if it executes the home position return, depending on the position of work, a work may not travel to home position direction. In this case, a work is normally travelled before the proximity dog by the JOG operation, etc, and the home position return is started again. However, by using the home position return retry function, even if a work is where, the home position return can be executed. Refer to Section 6.23.1(7) for home position return method by using the home position return retry function.

[Data Setting]

When the "home position return retry function" is used, set the following "home position return data" using a peripheral devices. Set the "dwell time at the home position return retry" as required. Set the parameters for every axis.

Table 6.4 Home position return data

Items Setting details Setting value Initial value

Home position return retry function

0 : Invalid (Do not execute the home position return retry by limit switch.)

1 : Valid (Execute the home position return retry by limit switch.)

0, 1 0

Dwell time at the home position return retry

The stop time at the deceleration stop during the home position return retry is set

0 to 5000 [ms]

0

[Control details]

Operation for the home position return retry function is shown below. (1) Home position return retry operation setting a work within the range of external

limit switch

1) It travels to preset direction of home position return. 2) If the external upper/lower limit switch turns OFF before the detection of proximity dog,

a deceleration stop is made. 3) After a deceleration stop, it travels to reverse direction of home position return with the home position return speed. 4) A deceleration stop is made by the proximity dog OFF. 5) After a deceleration stop, it travels to direction of home position return. 6) Home position return ends.

Acceleration time Deceleration time

Home position return direction

Home position

Home position return start

Zero point

External limit switch

1)

Proximity dog

2)

3)

6)

4)

5)

Fig. 6.44 Operation for home position return retry (proximity dog type)

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(2) Home position return retry operation setting a work outside the range of external

limit switch (a) When the direction of "work home position" and home position return is

same, normal home position return is operated.

Direction of "work home position" and home position return is same

FLS

Travel range

RLS

Home position return direction

Proximity dog

Home position return start

Home position

Zero point

(b) When the direction of "work home position" and home position return is

reverse, deceleration stop is made with the proximity dog OFF and home position return is operated to preset direction of home position return.

Direction of "work home position" and home position return is reverse

2)

Home position return direction

Home position return start

Proximity dog

Home position

Travel range

Zero point

FLSRLS 1)

3)

1) It travels to preset reverse direction of home position return with the home position return speed. 2) A deceleration stop is made by the proximity dog OFF. 3) After a deceleration stop, it travels to direction of home position return, the home position return ends.

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(3) Dwell time setting at the home position return retry

Reverse operation by detection of the external upper/lower limit switch and dwell time function at the home position return start after stop by proximity dog OFF are possible with the dwell time at the home position return retry in the home position return retry function. Dwell time at the home position return retry becomes valid at the time of deceleration stop of the following 2) and 4). (Dwell time operates with the same value.)

The temporary stop is made during time set in the "dwell time at the home position return retry".

The temporary stop is made during time set in the "dwell time at the home position return retry".

Home position return direction

Proximity dog

Zero point

3)

1) 2)6) 5)

4)

External limit switch

Home position return start

1) It travels to preset direction of home position return. 2) If the external upper/lower limit switch turns OFF before the detection of proximity dog, a deceleration is made and the temporary stop is made during time set in the "dwell time at the home position return retry". 3) After a stop, it travels to reverse direction of home position return with the home position return speed. 4) A deceleration is made by the proximity dog OFF and the temporary stop is made during time set in the "dwell time at the home position return retry". 5) After a stop, it travels to direction of home position return. 6) Home position return ends. At this time, the "dwell time at the home position return retry" is invalid.

Home position

Fig. 6.45 Dwell time setting at the home position return retry

[Cautions]

(1) Possible/not possible of home position return retry function by the home position return method is shown below.

Home position return methods

Possible/not possible of home position return retry function

Proximity dog type Count type Data set type Dog cradle type Stopper type Limit switch combined type

: Possible, : Not possible

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6 POSITIONING CONTROL

(2) Make a system for which does not execute the servo amplifier power off or servo

OFF by the external upper/lower limit switch. Home position return retry cannot be executed only in the state of servo ON.

(3) Deceleration is made by detection of the external limit switch and travel to reverse direction of home position return is started. In this case, a major error external limit switch detection error (error codes: 1001, 1002, 1101, 1102) will not occur.

CAUTION Be sure to set the external limit switch (FLS, RLS) in the upper/lower position of machines. If the home position return retry function is used without external limit switch, servomotors continue rotating.

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6 POSITIONING CONTROL

6.23.14 Home position shift function

Normally, when the machine home position return is executed, a position of home position is set by using the proximity dog or zero point signal. However, by using the home position shift function, the position to which only the specified travel value was travelled from the position which detected the zero point signal can be regarded as home position. Refer to Section 6.23.1(7) for home position return method by using the home position shift function.

[Data Setting]

Set the following "home position return data" using a peripheral devices to use the "home position shift function". Set the parameters for every axis.

Table 6.5 Home position return data

Items Setting details Setting value Initial value

Home position shift amount

The shift amount at the home position shift is set.

-2147483648 to 2147483647 [ 10-1 m, 10-5 inch, 10-5 degree, PLS]

0

Speed set at the home position shift

The speed at the home position shift is set.

0 : Home position return speed 1: Creep speed

0

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6 POSITIONING CONTROL

[Control details]

(1) Home position shift operation Operation for the home position shift function is shown below.

Home position shift amount is positive value

Home position return direction

Home position return speed

Creep speed

Home position return start

Proximity dog Travel value after proximity dog ON

Zero point

Set the operation speed at the home position shift with speed set at the home position shift. Select one of "home position return speed" or "creep speed".

Home position shift amount (Positive value)

Set the operation speed at the home position shift with speed set at the home position shift. Select one of "home position return speed" or "creep speed".

Home position shift amount is negative value

Home position return direction

Home position return speed

Home position return start Creep speed

Home position return re-travel value

Zero point

Creep speed

Home position return speed

Travel value after proximity dog ON

Proximity dog

Home position

Home position

Home position return re-travel value

Home position shift amount (Negative value)

Address decrease direction

Address decrease direction

Address increase direction

Address increase direction

Fig. 6.46 Operation for home position shift

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6 POSITIONING CONTROL

(2) Setting range of home position shift amount

Set the home position shift amount within the range of from the detected zero signal to external upper/lower limit switch (FLS/RLS). If the range of external upper/lower limit switch is exceeded, a major error "external limit switch detection error" (error codes: 1102, 1103) will occur at that time and the home position return is not ended.

FLSRLS

Setting range of negative home position shift amount

Setting range of positive home position shift amount

Address increase direction

Address decrease direction

Proximity dog Home position return direction

Zero point

Fig. 6.47 Setting range of home position shift amount

(3) Travel speed at the home position shift When the home position shift function is used, set the travel speed at the home position shift as the speed set at the home position shift. Either the home position return speed or creep speed is selected as the travel speed at the home position shift. The travel speed at the home position shift for the home position return by proximity dog type is shown below. (a) Home position shift operation with the "home position return speed"

V

Zero point

Home position shift amount is negative

Home position shift amount is positive

Proximity dog

Home position

Home position return direction

Home position return speed

Home position

Home position return start

Fig. 6.48 Operation for home position shift with the home position return

speed

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6 POSITIONING CONTROL

(b) Home position shift operation with the "creep speed"

V Home position return direction

Creep speed

Home position return start

Home position Home position

Proximity dog

Zero point

Home position shift amount is positive

Home position shift amount is negative

Fig. 6.49 Operation for home position shift with the creep speed

[Cautions]

(1) Valid/invalid of home position shift amount setting value by the home position return method.

Home position return methods

Valid/invalid of home position shift amount

Proximity dog type Count type Data set type Dog cradle type Stopper type Limit switch combined type

: Valid, : Invalid

(2) Axis monitor devices and axis statuses are set after completion of home position shift.

(3) When the home position return by proximity dog type set the travel value after

proximity dog ON and home position shift amount within the range of "-2147483648 to 2147483647" [ 10-1 m, 10-5 inch, 10-5 degree, PLS].

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6 POSITIONING CONTROL

6.23.15 Condition selection of home position set

A home position return must be made after the servomotor has been rotated more than one revolution to pass the axis through the Z-phase (motor reference position signal) and the zero pass signal (M2406+20n) has been turned ON. When "1 : Not need to pass motor Z phase after the power supply is switched on" is selected in the "function selection C-4, (PC17) Condition selection of home position set" of servo parameter (expansion setting parameter), if it does not pass zero point with the motor rotation after turning the servo amplifier power ON, the zero pass signal (M2406+20n) can be turned ON.

[Data Setting]

Set the following "servo parameter" using a peripheral devices to select the "function selection C-4". Set the servo parameters for every axis.

Table 6.6 Servo parameter (expansion setting parameter)

Items Setting details Setting value Initial value

Function selection C-4 (PC17) Condition selection of home position set

Set the condition selection of home position set in the absolute position system.

0: Need to pass motor Z phase after the power supply is switched on

1: Not need to pass motor Z phase after the power supply is switched on

0

[Cautions]

(1) When "1 : Not need to pass motor Z phase after the power supply is switched on" is set as the above servo parameter, a restrictions such as "make the home position return after the servomotor is rotated more than one revolution to pass the axis through the Z-phase (motor reference position signal) " is lost.

(2) When "1 : Not need to pass motor Z phase after the power supply is switched on"

is selected in the "function selection C-4" of servo parameter (expansion setting parameter), if it does not pass zero point at the servo amplifier power ON, the zero pass signal (M2406+20n) turns ON.

(3) When the above parameter is changed, turn the servo amplifier power OFF to ON

after resetting or turning power OFF to ON of Multiple CPU system.

CAUTION Do not set the "1 : Not need to pass motor Z phase after the power supply is switched on" for axis which executes the home position return again after it continues traveling the same direction infinitely.

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6 POSITIONING CONTROL

6.23.16 Servo program for home position return

The home position return executed using the ZERO servo instruction. Items set by peripheral devices

Common Arc Parameter block Others

Servo instruction Positioning method Number of

controllable axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e Au

xi lia

ry p

oi nt

R

ad iu

s C

en tra

l p oi

nt

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

e R

ap id

s to

p de

ce le

ra tio

n tim

e To

rq ue

li m

it va

lu e

D ec

el er

at io

n pr

oc es

si ng

o n

st op

in pu

t Al

lo w

ab le

e rro

r r an

ge fo

r c irc

ul ar

in te

rp ol

at io

n S-

cu rv

e ra

tio

O th

er s

Pr og

ra m

N o.

Speed change

ZERO 1

: Must be set [Control details]

(1) Home position return is executed by the home position return method specified with the home position return data (Refer to Section 6.23.1). Refer to the following sections for details of the home position return methods : Proximity dog type 1................... Section 6.23.2 Proximity dog type 2................... Section 6.23.3 Count type 1............................... Section 6.23.4 Count type 2............................... Section 6.23.5 Count type 3............................... Section 6.23.6 Data set type 1............................ Section 6.23.7 Data set type 2............................ Section 6.23.8 Dog cradle type........................... Section 6.23.9 Stopper type 1............................ Section 6.23.10 Stopper type 2............................ Section 6.23.11 Limit switch combined type........ Section 6.23.12

[Program]

Servo program No. 0 for home position return is shown as the following conditions. (1) System configuration

Home position return of Axis 4.

Home position return command (PX000)

M M MM Axis 4

Axis 1

Axis 2

Axis 3

AMP AMP AMP AMP

Motion CPU control module

Q61P Q02H CPU

Q172H CPU

Q172 LX

QX41

6 - 230

6 POSITIONING CONTROL

(2) Servo program example

Servo program No. 0 for home position return is shown below.

Axis used . . . Axis 4 ZERO Home position return

Axis 4

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

SET M2042

ZERO Axis 4

PX000*M2475*M2462

Home position return

END

Home position return Axis used . . . Axis 4

Home position return

!PX000

Turn on all axes servo ON command.

Wait until PX000, Axis 4 servo ready and in-position signal turn on.

Wait until PX000 turn off after home position return completion.

[F10]

[G10]

[K0]

[G20]

(Note-1)

(Note-1) : It is necessary to turn on the zero pass signal before execution of the home position return

instruction for data set type home position return. (Note-2) : Example of the above Motion SFC program is started using the automatic start or PLC program.

[Cautions] If the home position is not within the in-position range of servo parameter, it does not mean having reached the home position data and the home position return does not end in the proximity dog type, count type, data set type 1, dog cradle type, or limit switch combined type home position return. In this case, adjusts the in-position range of servo parameter or position control gain.

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6 POSITIONING CONTROL

6.24 High-Speed Oscillation

Positioning of a specified axis is caused to oscillate on a sine wave. Items set by peripherals

Common OSC Parameter block Others

Servo instruction Positioning method Number of

controllable axes

Pa ra

m et

er b

lo ck

N o.

Ax

is

Ad dr

es s/

tra ve

l v al

ue

C om

m an

d sp

ee d

D w

el l t

im e

M -c

od e

To rq

ue li

m it

va lu

e St

ar tin

g an

gl e

Am pl

itu de

Fr

eq ue

nc y

C on

tro l u

ni t

Sp ee

d lim

it va

lu e

Ac ce

le ra

tio n

tim e

D ec

el er

at io

n tim

e R

ap id

s to

p de

ce le

ra tio

n tim

e To

rq ue

li m

it va

lu e

D ec

el er

at io

n pr

oc es

si ng

o n

st op

in pu

t Al

lo w

ab le

e rro

r r an

ge fo

r c irc

ul ar

in te

rp ol

at io

n S-

cu rv

e ra

tio

C an

ce l

W AI

T- O

N /O

FF

Speed change

OSC 1 Invalid

: Must be set : Set if required

[Control details] The designated axis caused to oscillate on a specified sine wave. Acceleration/deceleration processing is not performed.

360[degree]

Starting angle

Amplitude

(1) Amplitude

Set the amplitude of the oscillation in the setting units. The amplitude can be set within the range of 1 to 2147483647.

(2) Starting angle

Set the angle on the sine curve at which oscillation is to start. The setting range is 0 to 359.9 [degree]

(3) Frequency

Set how many sine curve cycles occur in one minute. The setting range is 1 to 5000 [CPM].

POINT

Since acceleration/deceleration processing is not performed, you should set the starting angle to 90 or 270 [degree] in order to avoid an abrupt start.

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6 POSITIONING CONTROL

[Cautions]

(1) If the amplitude setting is outside the range, the servo program setting error [25] occurs and operation does not start.

(2) If the starting angle setting is outside the range, the servo program setting error

[26] occurs and operation does not start.

(3) If the frequency setting is outside the range, the servo program setting error [27] occurs and operation does not start.

(4) Operation is continually repeated until a stop signal is input after the start.

(5) Speed changes during operation are not possible. Attempted speed changes will

cause minor error [310].

[Program] An example of a program for high-speed oscillation is shown below.

1000

Axis 90.0

OSC 1

100

Starting angle Amplitude

[degree]

Frequency [CPM] [PLS]

7 - 1

7

7 AUXILIARY AND APPLIED FUNCTIONS

7. AUXILIARY AND APPLIED FUNCTIONS

This section describes the auxiliary and applied functions for positioning control in the Multiple CPU system.

7.1 M-code Output Function

M-code is a code No. between 0 and 32767 which can be set for every positioning control. During positioning control, these M-codes are read using the Motion SFC program to check the servo program during operation and to command auxiliary operations, such as clamping, drill rotation and tool replacement. (1) Setting of M-codes

M-code can be set using a peripheral device at the creation and correction of the servo program.

(2) Storage of M-code and read timing

(a) M-codes are stored in the M-code storage register of the axis specified with the positioning start completion and specified points (at the speed switching control or constant-speed control). During interpolation control, the M-codes are stored in all axes which perform interpolation control.

(b) When the M-code is read at the positioning start completion, use the positioning start complete signal (M2400+20n) as the reading command.

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7 AUXILIARY AND APPLIED FUNCTIONS

(c) When the M-code is read at positioning completion, use the positioning

complete signal (M2401+20n) as the read command. At the position control or speed control

Dwell time

Storage of setting M-code No.

M-code

Positioning complete signal (M2401+20n)

Start accept flag (M2001+n)

Servo program start

PLC ready flag (M2000) OFF

ON

OFF

OFF

OFF

ON ON

ON

t

V

Positioning start complete signal (M2400+20n)

At the speed switching control

t

P3 (Stop)

P2 (Speed-switching point) P1 (Speed-switching point)V

OFF

OFF

OFF

Positioning start complete signal (M2400+20n)

Start accept flag (M2001+n)

Servo program start

PLC ready flag (M2000)

ON

ON

ON

ON

Storage of setting M-code No.

M-code

Positioning complete signal (M2401+20n)

OFF

(3) Resetting of M-codes M-codes can be reset by setting of the M-code output devices to zero. Use this method during positioning control to perform operations unrelated to the servo program, such as when it has been difficult to output the M-code during the previous positioning control. However, M-code is set55 during the speed switching control or constant-speed control, the M-code output of the servo program takes priority.

7 - 3

7 AUXILIARY AND APPLIED FUNCTIONS

(4) Program example

(a) The Motion SFC program to read M-codes is shown as the following conditions. 1) Axis used No. ......................................... Axis 3 2) Processing at the positioning start by M-code

.................... M-code No. is output as BCD code to Y110 to Y11F

3) Processing at the positioning completion by M-code a) M-code = 3......................................... Y120 turns on b) M-code = 5......................................... Y121 turns on c) M-code is except for (3 or 5) ............. Y122 turns on

(b) Motion SFC program with the above conditions are shown below.

QY40

System Configuration

Motion SFC program

Q61P - A

Q172 LX

Q172H CPU

PX000*M2455

D53==3 M-code (3) for axis 3 ?

P0

P0

Reading of M-codes

CPSTART1 Axis 3 Speed 1000PLS/s INC-1 Axis 3, 200000PLS M-code 3 INC-1 Axis 3, 300000PLS M-code 5 INC-1 Axis 3, 400000PLS M-code 4 CPEND

PY000 to

PY00F

SET M2042

#0=BCD(D53) DOUT Y110, #0 SET Y120

After M-code storage area for axis 3 is changed into BCD code, it is output to Y110 and Y120 turns on.

Speed . . . 1000PLS/s

M-code output . . . 3

Positioning . . . 200000PLS address

1)

#2=BCD(D53) DOUT Y110, #2 SET Y122

(D53==3)+(D53==5)

D53==5

!M2003

END

#0=0 #1=0 #2=0

#1=BCD(D53) DOUT Y110, #1 SET Y121

All axes servo ON command turns on

1 axis constant-speed control

Stand by until PX000 and Axis 3 servo ready turns on

Axis used . . . Axis 3

1 axis linear positioning control

1 axis linear positioning control

1 axis linear positioning control

Axis used . . . Axis 3 Positioning . . . 300000PLS address M-code output . . . 5

Axis used . . . Axis 3

Axis used . . . Axis 3 Positioning . . . 400000PLS address M-code output . . . 4

[F10]

[F20]

[G10]

[K100]

[G20]

[F30]

[G30]

[F40]

[G40]

[G50]

[F50]

M-code (except 3 or 5) for axis 3 ?

M-code (5) for axis 3 ?

After M-code storage area for axis 3 is changed into BCD code, it is output to Y110 and Y121 turns on.

After M-code storage area for axis 3 is changed into BCD code, it is output to Y110 and Y122 turns on.

1)

Q02H CPU

7 - 4

7 AUXILIARY AND APPLIED FUNCTIONS

7.2 Backlash Compensation Function

This function compensates for the backlash amount in the machine system. When the backlash compensation amount is set, extra feed pulses equivalent to the backlash compensation amount set up whenever the travel direction is generated at the positioning control, JOG operation or manual pulse generator operation.

Feed screw

Backlash compensation amount

Workpiece

Fig.7.1 Backlash compensation amount

(1) Setting of the backlash compensation amount

The backlash compensation amount is one of the fixed parameters, and is set for each axis using a peripheral device. The setting range differs according to whether [mm], [inch], [degree] or [PLS] units are used as shown below. (a) [mm] units

0 to 6553.5 (Backlash compensation amount)

0 (Travel value per PLS)

65535[PLS]

(Decimal fraction rounded down)

(b) [inch] or [degree] units 0 to 0.65535

(Backlash compensation amount) 0

(Travel value per PLS) 65535[PLS]

(Decimal fraction rounded down)

(c) [PLS] units 0 to 65535

(Backlash compensation amount) (PLS per rotation) 0

(Travel value per rotation) 65535[PLS]

(Decimal fraction rounded down)

7 - 5

7 AUXILIARY AND APPLIED FUNCTIONS

(2) Backlash compensation processing

Details of backlash compensation processing are shown below.

Table 7.2 Details of backlash compensation processing Condition Processing

First start after power on

If travel direction is equal to home position return direction, the backlash compensation is not executed.

If travel direction is not equal to home position return direction, the backlash compensation is executed.

JOG operation start If travel direction is changed at the JOG operation start, the

backlash compensation is executed.

Positioning start If travel direction is changed, the backlash compensation is

executed.

Manual pulse generator operation

If travel direction is changed, the backlash compensation is executed.

Home position return completion

The backlash compensation is executed after home position return completion.

Absolute position system Status stored at power off and applied to absolute position system.

POINTS (1) The feed pulses of backlash compensation amount are added to the feed

current value. (2) When the backlash compensation amount is changed, the home position

return is required. When the home position return is not executed, the original backlash compensation amount is not changed.

7 - 6

7 AUXILIARY AND APPLIED FUNCTIONS

7.3 Torque Limit Function

This function restricts the generating torque of the servomotor within the setting range. If the torque required for control exceeds the torque limit value during positioning control, it restricts with the setting torque limit value. (1) Setting range of the torque limit value

It can be set within the range of 1 to 1000[%] of the rated torque.

(2) Setting method of torque limit value Set the torque limit value is shown below. (a) Setting in the parameter block (Refer to Section 4.3).

Set the torque limit value in the parameter block. By setting the parameter block No. used in the servo program, it can be restricted the generating torque of the servomotor within the specified torque limit value for every positioning control.

(b) Setting in the servo program By setting the torque limit value in the servo program, it can be restricted the generating torque of the servomotor within the specified torque limit value at the execution of the servo program.

(c) Setting in the Motion SFC program By executing the torque limit value change request (CHGT) in the Motion SFC program or operating control step, it can be set the generating torque of the servomotor within the specified torque control value. (Refer to the "Q173HCPU/Q172HCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)" for details.

7 - 7

7 AUXILIARY AND APPLIED FUNCTIONS

Setting for the torque limit value with the constant-speed control (CPSTART 1) (1) Servo program

Setting items of the parameter block

Parameter block 3 (P.B.3) setting at the start

Torque setting from the pass point

(2) Parameter block

Torque limit value setting

(3) Operation description

0

300[%]

40000

P1 V1Constant-speed control

Torque limit to the servo amplifier

P2

Torque control with torque limit value (300[%]) of the parameter block 3 (P.B.3).

Torque control with torque limit value (50[%]) of the servo program.

50[%]

Parameter block or torque limit value specified with the servo program at the start.

60000

Example

7 - 8

7 AUXILIARY AND APPLIED FUNCTIONS

7.4 Skip Function in which Disregards Stop Command

When the current positioning is stopped by input from external source and the next positioning control is performed, it enables starting of the next positioning control even if the input from external source is on (continuation). There are following tow functions in the function called "Skip". Skip during CP command (Refer to Section "6.17.6 Pass point skip function".)

Skip in which disregards stop command

Usually, although an error [ ] occurs with the servo program start during the STOP signal on, if M3209+20n turns on and the servo program starts, the next servo program starts even if during the STOP signal on.

(1) The procedure for the skip function by the external STOP signal and Motion SFC

program is shown below.

Positioning start using the servo program

Start

Turn on the external STOP signal at the positioning stop

Turn on the external stop input disable at start command (M3209+20n)

Start the positioning using the next servo program after deceleration stop

End

Positioning does not start if the STOP signal, stop command (M3200+20n) or rapid stop command (M3201+20n) turns on.

Turn M3209+20n on to use the skip function. (The external STOP signal becomes invalid at the next positioning start.)

If M3209+20n turns off, the external STOP signal becomes valid, and if the STOP signal is input, the positioning does not start.

Confirm the operation stop with the start accept flag (M2001 to M2032) turns off.

. . . . . . .

. . . . . . .

. . . . . . .

7 - 9

7 AUXILIARY AND APPLIED FUNCTIONS

(2) Operation timing

The operation timing for the skip function is shown below.

Positioning start of the next servo program by skip function

A

(The external STOP signal is ignored during M3209+20n is on.)

Deceleration stop by STOP input Positioning to point A

Positioning start to point A

V

PLC ready flag (M2000)

External stop input disable at start (M3209+20n)

All axes servo ON command (M2042)

ON OFF

OFF

OFF

OFF

ON

ON

ON Turn on before the next positioning start.

Servo program start OFF ON

External STOP signal

t

7 - 10

7 AUXILIARY AND APPLIED FUNCTIONS

7.5 Cancel of the Servo Program

This function performs a deceleration stop of executing servo program during execution by turning on the cancel signal.

[Control details] (1) When the cancel signal is turned on during execution of a program for which the

cancel has been specified, the positioning processing is suspended, and a deceleration stop is executed.

[Data setting] (1) Cancel signal device

The usable cancel signal devices are shown below. X, Y, M, B, F

[Note] (1) This function cannot be used in the home position return instruction (ZERO) or

simultaneous start instruction (START). For details on whether other instructions can be used or not, refer to the servo instruction list (5.2(2)).

[Operation timing] The operation timing for deceleration stop is shown below.

A

Deceleration stop by turning the cancel signal on Execution of servo program No. K0

Positioning start to point A

V

PLC ready flag (M2000)

All axes servo ON command (M2042)

Cancel signal

OFF

OFF

OFF

ON

ON

ON

t

[Program example]

Motion SFC program is shown bellow.

Cancel X0000 Speed 5000 Axis 1, 30000

ABS-1

Cancel signal . . . . X0000

7 - 11

7 AUXILIARY AND APPLIED FUNCTIONS

7.5.1 Cancel/start

When a cancel/start has been set in the setting items of the servo program which was started at the motion control step of the Motion SFC program, the cancel of the running servo program is valid but the servo program specified to start after a cancel is ignored, without being started. Example of the Motion SFC program which executed control equivalent to a cancel start is shown below.

K1

G1G0 Providing transition G1 with cancel device condition specified with servo program K0 will cancel to execute of servo program K0 and allow servo program K1 to start.

Selective branch K0

7 - 12

7 AUXILIARY AND APPLIED FUNCTIONS

MEMO

APP - 1

APPENDICES

APP.

APPENDICES

APPENDIX 1 Error Codes Stored Using The Motion CPU

The servo program setting errors and positioning errors are detected in the Motion CPU side.

(1) Servo program setting errors

These are positioning data errors set in the servo program, and it checks at the start of the each servo program. They are errors that occur when the positioning data is specified indirectly. The operations at the error occurrence are shown below. The servo program setting error flag (M9079) turns on. The erroneous servo program is stored in the error program No. storage register

(D9189). The error code is stored in the error item information register (D9190).

(2) Positioning error

(a) Positioning errors occurs at the positioning start or during positioning control. There are minor errors, major errors and servo errors. 1) Minor errors These errors occur in the Motion SFC program or servo

program, and the error codes 1 to 999 are used. Check the error code, and remove the error cause by correcting the Motion SFC program or servo program.

2) Major errors These errors occur in the external input signals or control commands from the Motion SFC program, and the error codes 1000 to 1999 are used. Check the error code, and remove the error cause of the external input signal state or Motion SFC program.

3) Servo errors .. These errors detected in the servo amplifier, and the error codes 2000 to 2999 are used. Check the error code, and remove the error cause of the servo amplifier side.

APP - 2

APPENDICES

(b) The error detection signal of the erroneous axis turns on at the error

occurrence, and the error codes are stored in the minor error code, major error code or servo error code storage register.

Table 1.1 Error code storage registers, error detection signals

Error code storage register Device Error class

Axis 1

Axis 2

Axis 3

Axis 4

Axis 5

Axis 6

Axis 7

Axis 8

Axis 9

Axis 10

Axis 11

Axis 12

Axis 13

Axis 14

Axis 15

Axis 16

Error detection

signal

Minor error D6 D26 D46 D66 D86 D106 D126 D146 D166 D186 D206 D226 D246 D266 D286 D306 Major error D7 D27 D47 D67 D87 D107 D127 D147 D167 D187 D207 D227 D247 D267 D287 D307

M2407+20n

Servo error D8 D28 D48 D68 D88 D108 D128 D148 D168 D188 D208 D228 D248 D268 D288 D308 M2408+20n

Error code storage register Device

Error class

Axis 17

Axis 18

Axis 19

Axis 20

Axis 21

Axis 22

Axis 23

Axis 24

Axis 25

Axis 26

Axis 27

Axis 28

Axis 29

Axis 30

Axis 31

Axis 32

Error detection

signal

Minor error D326 D346 D366 D386 D406 D426 D446 D466 D486 D506 D526 D546 D566 D586 D606 D626 Major error D327 D347 D367 D387 D407 D427 D447 D467 D487 D507 D527 D547 D567 D587 D607 D627

M2407+20n

Servo error D328 D348 D368 D388 D408 D428 D448 D468 D488 D508 D528 D548 D568 D588 D608 D628 M2408+20n

(Note): The range of axis No. 1 to 8 is valid in the Q172HCPU.

(c) If another error occurs after an error code has been stored, the existing error

code is overwritten, deleting it. However, the error history can be checked using a peripheral device started with the SW6RN-GSV P software.

(d) Error detection signals and error codes are held until the error code reset

command (M3207+20n) or servo error reset command (M3208+20n) turns on.

POINTS

(1) Even if the servo error reset (M3208+20n) turns on at the servo error occurrence, the same error code might be stored again.

(2) Reset the servo error after removing the error cause of the servo amplifier side

at the servo error occurrence.

APP - 3

APPENDICES

APPENDIX 1.1 Servo program setting errors (Stored in D9190)

The error codes, error contents and corrective actions for servo program setting errors are shown in Table 1.2. In the error codes marked with "Note" indicates the axis No. (1 to 32).

Table 1.2 Servo program setting error list

Error code stored in D9190

Error name Error contents Error processing Corrective action

1 Parameter block No. setting error

The parameter block No. is outside the range of 1 to 64.

Execute the servo program with the default value "1" of parameter block.

Set the parameter block No. within the range of 1 to 64.

(1) The address is outside the setting range at the positioning start for absolute data method.

Unit Address setting range

degree

0 to 35999999

105

[degree]

(1) If the control unit is [degree], set the address within the range of 0 to 35999999.

n03 (Note)

Address (travel value) setting error (Except the speed control and speed/position control.) (Setting error for linear axis at the helical-interpolation.)

(2) The travel value is set to -2147483648 (H80000000) at the positioning start for incremental data method.

(1) Positioning control does not start. (All interpolation control at the interpolation control.)

(2) If the error is detected during the speed- switching control or constant-speed control, a deceleration stop is made.

(3) If an error occurs in one servo program, all servo programs do not execute during the simultaneous start.

(2) Set the travel value within the range of "0 to (231-1)".

(1) The command speed is outside the range of 1 to the speed limit value.

(2) The command speed is outside the setting range.

Unit Speed setting range

mm 1 to

600000000 10-2

[mm/min]

inch

1 to 600000000

10-3

[inch/min]

degree 1 to

2147483647

10-3

[degree /min]

(Note-1)

PLS 1 to

2147483647 [PLS/s]

4

Command speed error

(1) Positioning control does not start if the command speed is "0" or less.

(2) If the command speed exceeds the speed limit value, control with the speed limit value.

Set the command speed within the range of 1 to the speed limit value.

5 Dwell time setting error

The dwell time is outside the range of 0 to 5000.

Control with the default value "0".

Set the dwell time within the range of 0 to 5000.

6 M-code setting error The M-code is outside the range

of 0 to 32767. Control with the default value "0".

Set the M-code within the range of 0 to 32767.

7 Torque limit value setting error

The torque limit value is outside the range of 1 to 1000.

Control with the torque limit value of the specified parameter block.

Set the torque limit value within the range of 1 to 1000.

(Note-1): When the "speed control 10 multiplier setting for degree axis" is set to "valid", the setting range is 0.01 to 21474836.47 [degree/min].

APP - 4

APPENDICES

Table 1.2 Servo program setting error list (Continued)

Error code stored in D9190

Error name Error contents Error processing Corrective action

(1) The auxiliary point address is outside the setting range at the positioning start for absolute data method.

Unit Address setting range

degree 0 to

35999999 10-5

[degree]

Positioning control does not start.

(1) If the control unit is [degree], set the auxiliary point address within the range of 0 to 35999999.

n08 (Note)

Auxiliary point setting error (At the auxiliary point-specified circular interpolation. ) (At the auxiliary point-specified helical nterpolation.)

(2) The auxiliary point address is set to -2147483648 (H80000000) at the positioning start for incremental data method.

(2) Set the auxiliary point address within the range of 0 to (231-1).

(1) The radius is outside the setting range at the positioning control for absolute data method.

Unit Address setting range

degree 0 to

35999999 10-5

[degree]

Positioning control does not start.

(1) If the control unit is [degree], set the radius within the range of 0 to 35999999.

n09 (Note)

Radius setting error (At the radius- specified circular interpolation.) (At the radius- specified helical interpolation.)

(2) The radius is set to "0" or negative setting at the positioning start for incremental data method.

(2) Set the radius within the range of 1 to (231-1).

(1) The central point address is outside the setting range at the positioning start for absolute data method.

Unit Address setting range

degree 0 to

35999999 10-5

[degree]

Positioning control does not start.

(1) If the control unit is [degree], set the central point address within the range of 0 to 35999999.

N10 (Note)

Central point setting error (At the central point- specified circular interpolation.) (At the central point- specified helical interpolation.)

(2) The central point is set to -2147483648 (H80000000) at the positioning start for incremental data method.

(2) Set the central point address within the range of 0 to (231-1).

11 Interpolation control unit setting error

The interpolation control unit is set outside the range of 0 to 3.

Control with the default value "3".

Set the interpolation control unit within the range of 0 to 3.

12

Speed limit value setting error

The speed limit value is set outside the setting range.

Control with the default value 200000[PLS/s].

Set the speed limit value within the setting range. [For PLS]

1 to 2147483647[PLS/s] Acceleration time setting error

The acceleration time is set to "0". Set the acceleration time within the range of 1 to 65535.

FIN acceleration/ deceleration setting error

The FIN acceleration/deceleration time is set except 1 to 5000.

The FIN acceleration/ deceleration time within the range of 1 to 5000. 13

Fixed position stop acceleration/ deceleration time setting error

The fixed position stop acceleration/ deceleration time is set to "0".

Set the fixed position stop acceleration/deceleration time within the range of 1 to 65535.

14 Deceleration time setting error

The deceleration time is set to "0".

Control with the default value "1000".

Set the deceleration time within the range of 1 to 65535.

APP - 5

APPENDICES

Table 1.2 Servo program setting error list (Continued)

Error code stored in D9190

Error name Error contents Error processing Corrective action

15 Rapid stop deceleration time setting error

The rapid stop deceleration time is set to "0".

Control with the default value "1000".

Set the rapid stop deceleration time within the range of 1 to 65535.

16 Torque limit value setting error

The torque limit value is outside the range of 1 to 1000.

Control with the default value "300[%]".

Set the torque limit value within the range of 1 to 1000.

The allowable error range for circular interpolation is outside the setting range. Unit Address setting range mm [m] inch 10-5 [inch]

degree 10-5

[degree] PLS

0 to 100000

[PLS]

Set the allowable error range for circular interpolation within the setting range.

17

Allowable error range for circular interpolation setting error

Control with the default value "100[PLS]".

18 Repeat count error The repeat count is outside the

range of 1 to 32767. Control the repeat count with "1".

Set the repeat count within the range of 1 to 32767.

(1) The servo program specified with the START instruction does not exist.

(1) Create the servo program specified with the START instruction.

(2) There is a START instruction in the specified servo program.

(2) Delete the servo program specified with the START instruction.

19

START instruction setting error

(3) The starting axis of the specified servo program overlap.

Positioning control does not start.

(3) Do not overlap the starting axis.

20 Point setting error Point is not specified in the

instruction at the constant-speed control.

Positioning control does not start.

Set a point between CPSTART and CPEND.

21

Reference axis speed setting error

The axis except interpolation axis is set as the reference axis at the linear interpolation of the reference axis speed-specified method.

Positioning control does not start.

Set one of the interpolation axes as the reference axis.

22 S-curve ratio setting error

S-curve ratio is set outside the range of 0 to 100[%] at the S-curve acceleration/deceleration.

Control the S-curve ratio with 100[%].

Set the S-curve ratio within the range of 0 to 100[%].

23

VSTART setting error

Not even one speed-switching point has been set between a VSTART and VEND instruction, or between FOR and NEXT instruction.

Positioning control does not start.

Set the speed switching point between the VSTART and VEND instructions or the FOR and NEXT instructions.

24 Cancel function start program No. error

The start program No. for the cancel function is set outside the range 0 to 4095.

Positioning control does not start.

Start after set the start program No. within the range of 0 to 4095.

25

High-Speed oscillation command amplitude error

Operation cannot be started because the amplitude specified with the high-speed oscillation function is outside the range 1 to 2147483647.

Positioning control does not start.

Start after set the command amplitude within the range of 1 to 214783647.

26

High-Speed oscillation command starting angle error

Operation cannot be started because the starting angle specified with the high-speed oscillation function is outside the range of 0 to 3599 ( 0.1[degrees]).

Positioning control does not start.

Start after set the starting angle within the range of 0 to 3599 ( 0.1 [degree]).

APP - 6

APPENDICES

Table 1.2 Servo program setting error list (Continued)

Error code stored in D9190

Error name Error contents Error processing Corrective action

27

High-Speed oscillation command frequency error

Operation cannot be started because the frequency specified with the high-speed oscillation function is outside the range of 1 to 5000[CPM].

Positioning control does not start.

Start after set the frequency within the range of 1 to 5000[CPM].

28 Number of helical interpolation pitches error

The specified number of pitches of helical interpolation is outside the range of 0 to 999.

Positioning control does not start.

Set the specified number of pitches within the range of 0 to 999.

900 START instruction setting error

The servo program specified with the servo program start does not exist.

Positioning control does not start.

Set the correct servo program No..

901 START instruction setting error

The axis No. set in the servo program start is different from the axis No. set in the servo program.

Positioning control does not start.

Set the correct axis No.

902

Servo program instruction code error

The instruction code cannot be decoded. (A non-existent instruction code has been specified.)

Positioning control does not start.

Set the correct instruction code.

903 Start error A virtual mode program was

started in the real mode. Positioning control does not start.

904 Start error A real mode program was started

in the virtual mode. Positioning control does not start.

Check the program mode allocation.

Operation disable instructions (VPF, VPR, VPSTART, PVF, PVR, ZERO, VVF, VVR, OSC) was started in virtual mode. Operation disable instructions (ZERO, OSC, CHGA-C, CHGA-E) was started in real mode axis.

Correct the servo program.

905

Start error

Operation disable instructions (CHGA-C, CHGA-E) from the S(P).SVST instruction of Motion dedicated instruction was started.

Positioning control does not start.

Use the S(P).CHGA instruction of Motion dedicated instruction.

Unused axis of the system setting is set in the Motion SFC program set in the servo program start. It was started by setting the real mode axis in the virtual servo program. It was started in the condition that the real mode axis had been mixed with virtual axis in the interpolation axis.

906

Axis No. setting error

It was started by setting the virtual axis in the real mode program in virtual mode.

Positioning control does not start.

Set the axis No. set in the system setting or mechanical system program.

907 Start error It was started during processing for

switching from real mode to virtual mode.

908 Start error It was stated during processing

for switching from virtual mode to real mode.

Positioning control does not start.

Use M2043 (real/virtual mode switching request), M2044 (real/virtual mode switching status) as interlocks for start.

APP - 7

APPENDICES

APPENDIX 1.2 Minor errors

These errors are detected in the PLC program or servo program, and the error codes of 1 to 999 are used. Minor errors include the setting data errors, starting errors, positioning control errors and current value/speed change errors and system errors. (1) Setting data errors (1 to 99)

These errors occur when the data set in the parameters for positioning control is not correct. The error codes, causes, processing, and corrective actions are shown in Table 1.3.

Table 1.3 Setting data error (1 to 99) list

Error code

Erroneous data

Check timing Error cause Error

processing Corrective action

21

Home position return start of the count, proximity dog, data set, dog cradle, stopper and limit switch combined type

The home position address is outside the range of 0 to 35999999 ( 105[degree]) with degree axis.

Set the home position address within the setting range using a peripheral device.

22 The home position return speed is outside the range of 1 to speed limit value.

Set the home position return speed or less to the speed limit value using a peripheral device.

23

Home position return start of the count, proximity dog, dog cradle, stopper and limit switch combined type

The creep speed is outside the range of 1 to home position return speed.

Set the creep speed below to the home position return speed or less using a peripheral device.

24 Home position return start of the count type

The travel value after the proximity dog ON is outside the range of 0 to (231-1) ( unit).

Set the travel value after the proximity dog ON within the setting range using a peripheral device.

25

Home position return start of the count, proximity dog, dog cradle, stopper and limit switch combined type

The parameter block No. is outside the range of 1 to 64.

Set the parameter block No. within the setting range using a peripheral device.

26 Home position return start of the stopper type

Torque limit value at the creep speed is outside the range of 1 to 1000[%].

Set the torque limit value at the creep speed within the setting range using a peripheral device.

27

Home position return data

Home position return start of the usable retry function

Dwell time at the home position return is outside the range of 0 to 5000[ms].

Home position return is not started.

Set the dwell time at the home position return retry within the setting range using a peripheral device.

40 Parameter block

Interpolation control start

The interpolation control unit of the parameter block is different from the control unit of the fixed parameters.

Control with the control unit of the fixed parameters.

Set the same control unit of the fixed parameters and servo parameters.

POINT

When the interpolation control unit of parameter block is different from the control unit of fixed parameters, an error code may not be stored with the combination of units. Refer to Section 6.1.4 for details.

APP - 8

APPENDICES

(2) Positioning control start errors (100 to 199)

These errors are detected at the positioning control start. The error codes, causes, processing, and corrective actions are shown in Table 1.4.

Table 1.4 Positioning control start error (100 to 199) list

Control mode

Error code

Po si

tio ni

ng

Fi xe

d- pi

tc h

fe ed

Sp ee

d

Sp ee

d/ po

si tio

n sw

itc hi

ng

Sp ee

d sw

itc hi

ng

C on

st an

t-s pe

ed

JO G

M an

ua l p

ul se

g en

er at

or

H om

e po

si tio

n re

tu rn

Po si

tio n

fo llo

w -u

p co

nt ro

l

O SC

Sp

ee d

co nt

ro l w

ith

fix ed

p os

iti on

s to

p Error cause Error

processing Corrective action

100 The PLC ready flag (M2000)

or PCPU ready flag (M9074) is OFF.

Set the Motion CPU to RUN. Turn the PLC ready flag

(M2000) on.

101

The start accept flag (M2001 to M2032) for applicable axis is ON.

Take an interlock in the program not to start the starting axis. (Use the start accept flag OFF of the applicable axis as the starting condition).

103 The stop command

(M3200+20n) for applicable axis is ON.

Turn the stop command (M3200+20n) off and start.

104 The rapid stop command

(M3201+20n) for applicable axis is ON.

Turn the rapid stop command (M3201+20n) off and start.

105 (Note)

The feed current value is outside the range of stroke limit at the start.

Set within the stroke limit range by the JOG operation.

Set within the stroke limit range by the home position return or current value change.

106 (Note) Positioning is outside the

range of stroke limit. Perform the positioning within

the range of stroke limit. The address that does not

generate an arc is set at the auxiliary point-specified circular interpolation or auxiliary point-specified helical interpolation.

107

Relationship between the start point, auxiliary point and end point.

The address that does not generate an arc is set at the R (radius) specified circular interpolation R (radius) specified helical interpolation.

108 (Note)

Relationship between the start point, radius and end point.

Positioning control does not start.

Correct the addresses of the servo program.

(Note): These errors are stored the error codes of the all applicable interpolation axes at the interpolation operation.

APP - 9

APPENDICES

Table 1.4 Positioning control start error (100 to 199) list (Continued)

Control mode

Error code

Po si

tio ni

ng

Fi xe

d- pi

tc h

fe ed

Sp ee

d

Sp ee

d/ po

si tio

n sw

itc hi

ng

Sp ee

d sw

itc hi

ng

C on

st an

t-s pe

ed

JO G

M an

ua l p

ul se

g en

er at

or

H om

e po

si tio

n re

tu rn

P os

iti on

fo llo

w -u

p co

nt ro

l

O SC

Sp

ee d

co nt

ro l w

ith

fix ed

p os

iti on

s to

p Error cause Error

processing Corrective action

The address that does not generate an arc is set at the central point-specified circular interpolation or central point-specified helical interpolation.

109

Relationship between the start point, central point and end point.

110 (Note)

The difference between the end point address and ideal end point is outside the allowable error range for circular interpolation at the circular interpolation.

Correct the addresses of the servo program.

111

The speed/position control restarting was performed, although it was not after stop during operation of the speed/position switching control.

Do not re-start except the stop during speed/position switching control.

115

The home position return complete signal (M2410+20n) turned on at the home position return of proximity dog, dog cradle and stopper type.

Do not start continuously for the home position return. Return to a point before the proximity dog signal ON by JOG operation or positioning operation, etc., and perform the home position return.

The setting JOG speed is "0".

Positioning control does not start.

The setting JOG speed exceeded the JOG speed limit value.

Control with the JOG speed limit value.

Set the correct speed (within the setting range).

116 The setting JOG speed limit value exceeded the setting range.

Control with the maximum setting range of each control unit.

Set the correct JOG speed limit value (within the setting range).

(Note): These errors are stored the error codes of the all applicable interpolation axes at the interpolation operation.

APP - 10

APPENDICES

Table 1.4 Positioning control start error (100 to 199) list (Continued)

Control mode

Error code

Po si

tio ni

ng

Fi xe

d- pi

tc h

fe ed

Sp ee

d

Sp ee

d/ po

si tio

n sw

itc hi

ng

Sp ee

d sw

itc hi

ng

C on

st an

t-s pe

ed

JO G

M an

ua l p

ul se

g en

er at

or

H om

e po

si tio

n re

tu rn

P os

iti on

fo llo

w -u

p co

nt ro

l

O SC

Sp

ee d

co nt

ro l w

ith

fix ed

p os

iti on

s to

p Error cause Error

processing Corrective action

117

Both of forward and reverse rotation were set at the simultaneous start for the JOG operation.

Only the applicable axis set to the forward direction starts.

Set a correct data.

The speed-switching point exceeded the end address.

Set the speed-switching point before the end address.

118 The address of the positioning in the reverse direction is not set.

Positioning control does not start.

Set the forward direction adddress.

120

ZCT not set The zero pass signal (M2406+20n) turned off at the re-travel at the home position return for proximity dog, count and limit switch combined type or start in the home position return for data set type.

Home position return is not completed correctly.

Execute the home position return after the zero point passed.

121

When "Not execute servo program" is selected in the operation setting for incompletion of home position return, the home position return request signal (M2409+20n) turns on.

Execute servo program after home position return.

In the system which enables execution of servo program even if the home position return request signal (M2409+20n) turns on, set "Execute servo program" as "operation setting for incompletion of home position return".

130

Speed control with fixed position stop with was started for the axis set in except unit [degeree].

Speed control with fixed position stop was started in the axis which is not "stroke limit invalid".

Positioning control does not start.

Set the unit [degree] in the axis which starts speed control with fixed position stop.

Set the stroke limit invalid

"(Upper stroke limit value) equal to (lower stroke limit value)" in the axis which starts speed control with fixed position stop.

APP - 11

APPENDICES

Table 1.4 Positioning control start error (100 to 199) list (Continued)

Control mode

Error code

Po si

tio ni

ng

Fi xe

d- pi

tc h

fe ed

Sp ee

d

Sp ee

d/ po

si tio

n sw

itc hi

ng

Sp ee

d sw

itc hi

ng

C on

st an

t-s pe

ed

JO G

M an

ua l p

ul se

g en

er at

or

H om

e po

si tio

n re

tu rn

P os

iti on

fo llo

w -u

p co

nt ro

l

O SC

Sp

ee d

co nt

ro l w

ith

fix ed

p os

iti on

s to

p Error cause Error

processing Corrective action

140

The travel value of the reference axis is set at "0" in the linear interpolation for reference axis specification.

Do not set axis of travel value "0" as the reference axis.

141

The position command device of position follow-up control is set the odd number.

Set the even number for the position command device of position follow-up control.

142

The positioning control which use the external input signal was executed for the axis which has not set the external input signal in the system settings.

Set the external input signal in the system setting.

145

Unusable instructions were started in the external input signal setting via servo amplifier.

Do not start the speed/position switching control and count type home position return in the external input signal setting via servo amplifier.

151

Not allowed axis started in the virtual mode. (It cannot be started with error at real/ virtual mode switching.

152

It started at the virtual mode and during deceleration by all axes servo OFF (M2042 OFF).

153

It started at the virtual mode and during deceleration by occurrence of the output module servo error.

Positioning control does not start.

Start in the virtual mode again after correct the error cause in the real mode.

APP - 12

APPENDICES

(3) Positioning control errors (200 to 299)

These are errors detected during the positioning control. The error codes, causes, processing and corrective actions are shown in Table 1.5.

Table 1.5 Positioning control error (200 to 299) list

Control mode

Error code

Po si

tio ni

ng

Fi xe

d- pi

tc h

fe ed

Sp ee

d

Sp ee

d/ po

si tio

n sw

itc hi

ng

Sp ee

d sw

itc hi

ng

C on

st an

t-s pe

ed

JO G

M an

ua l p

ul se

g en

er at

or

H om

e po

si tio

n re

tu rn

Po si

tio n

fo llo

w -u

p co

nt ro

l

O SC

Sp

ee d

co nt

ro l w

ith

fix ed

p os

iti on

s to

p Error cause Error

processing Corrective action

200 The PLC ready flag (M2000)

turned off during the control by the servo program.

Turn the PLC ready flag (M2000) on after all axes have stopped.

201

The PLC ready flag (M2000) turned off during the home position return.

Perform the home position return again after turning the PLC ready flag (M2000) on or turning the stop command (M3200+20n) or rapid stop command (M3201+20n) off.

202

The stop command (M3200+20n) turned on during the home position return.

Decelera- tion stop

203

The rapid stop command (M3201+20n) turned on during the home position return.

Rapid stop

Return to a point before the proximity dog signal ON using JOG operation or positioning operation, and perform the home position return again in the proximity dog type.

Turn the PLC ready flag (M2000) off to on after all axes have stopped.

204

The PLC ready flag (M2000) turned off to on again during deceleration by turning off the PLC ready flag (M2000).

No operation Turn the PLC ready flag

(M2000) off to on during deceleration is "no operation".

Return to a point before the proximity dog signal ON using JOG operation or positioning operation, and perform the home position return again in the proximity dog type.

Return to a point before the proximity dog signal ON using JOG operation or positioning operation, and perform the home position return again, when the proximity dog signal turns off in the count type.

206

All axes rapid stop ([Back Space] key input) is executed using the test mode of a peripheral device during the home position return.

Rapid stop

Perform the home position return operation again, when the proximity dog signal turns on in the count type.

APP - 13

APPENDICES

Table 1.5 Positioning control error (200 to 299) list (Continued)

Control mode

Error code

Po si

tio ni

ng

Fi xe

d- pi

tc h

fe ed

Sp ee

d

Sp ee

d/ po

si tio

n sw

itc hi

ng

Sp ee

d sw

itc hi

ng

C on

st an

t-s pe

ed

JO G

M an

ua l p

ul se

g en

er at

or

H om

e po

si tio

n re

tu rn

P os

iti on

fo llo

w -u

p co

nt ro

l

O SC

Sp

ee d

co nt

ro l w

ith

fix ed

p os

iti on

s to

p Error cause Error

processing Corrective action

207

The feed current value exceeded the stroke limit range during positioning control. Only the axis exceed the stroke limit range is stored at the circular/helical interpolation. All interpolation axes are stored in the linear interpolation.

208

The feed current value of another axis exceeded the stroke limit value during the circular/helical interpolation control or simultaneous manual pulse generator operation. (For detection of other axis errors).

Correct the stroke limit range or travel value setting so that positioning control is within the range of the stroke limit.

209

An overrun occurred because the setting travel value is less than the deceleration distance at the speed/position switching (CHANGE) signal input during speed/position switching control, or at the proximity dog signal input during home position return of count type.

Set the speed setting so that overrun does not occur.

Set the travel value so that overrun does not occur.

210

The setting travel value exceeded the stroke limit range at the speed/position switching (CHANGE) signal input during the speed/ position switching control.

Correct the stroke limit range or setting travel value so that positioning control is within the range of stroke limit.

211

During positioning control, an overrun occurred because the deceleration distance for the output speed is not attained at the point where the final positioning address was detected.

Decelera- tion stop

Set the speed setting so that overrun does not occur.

Set the travel value so that overrun does not occur.

214

The manual pulse generator was enabled during the start of the applicable axis, the manual pulse generator operation was executed.

Manual pulse generator input is ignored until the axis stops.

Execute the manual pulse generator operation after the applicable axis stopped.

APP - 14

APPENDICES

Table 1.5 Positioning control error (200 to 299) list (Continued)

Control mode

Error code

Po si

tio ni

ng

Fi xe

d- pi

tc h

fe ed

Sp ee

d

Sp ee

d/ po

si tio

n sw

itc hi

ng

Sp ee

d sw

itc hi

ng

C on

st an

t-s pe

ed

JO G

M an

ua l p

ul se

g en

er at

or

H om

e po

si tio

n re

tu rn

P os

iti on

fo llo

w -u

p co

nt ro

l

O SC

Sp

ee d

co nt

ro l w

ith

fix ed

p os

iti on

s to

p Error cause Error

processing Corrective action

The speed switching point address exceed the end point address.

The positioning address in the reverse direction was set during the speed switching control.

Set the speed-switching point between the previous speed switching point address and the end point address.

215

The same servo program was executed again.

Rapid stop

Correct the Motion SFC program.

When the control unit is "degrees" during the position follow-up control, the command address exceeded the range of 0 to 35999999.

When the control unit is "degree", set the command address within the range of 0 to 35999999.

220

The command address for the position follow-up control exceeded the stroke limit range.

Set the address within the stroke limit range.

221

During the speed control with fixed position stop, the setting address exceeded the range of 0 to 35999999 at the fixed position stop command device ON.

Decelera- tion stop

(M2001+n OFF)

Set the command address within the range of 0 to 35999999.

222

During the speed control with fixed position stop, the fixed position acceleration/deceleration time is "0" at the fixed position acceleration/deceleration time input.

Control with the default value "1000".

Set the acceleration/deceleration time within the range of 1 to 65535.

225

The speed at the pass point exceeded the speed limit value during the constant- speed control.

Control with the speed limit value.

Set the speed command value within the range of 1 to speed limit value.

230

When the skip is executed in the constant-speed control, the next interpolation instruction is an absolute circular interpolation or absolute helical interpolation.

Immediate stop

Execute the absolute linear interpolation after a point which make a skip.

APP - 15

APPENDICES

(4) Current value/speed change errors (300 to 399)

These are errors detected at current value change or speed change. The error codes, causes, processing and corrective actions are shown in Table 1.6.

Table 1.6 Current value/speed change error (300 to 399) list

Control mode

Error code

Po si

tio ni

ng

Fi xe

d- pi

tc h

fe ed

Sp ee

d

Sp ee

d/ po

si tio

n sw

itc hi

ng

Sp ee

d sw

itc hi

ng

C on

st an

t-s pe

ed

JO G

M an

ua l p

ul se

g en

er at

or

H om

e po

si tio

n re

tu rn

Po si

tio n

fo llo

w -u

p co

nt ro

l

O SC

Sp

ee d

co nt

ro l w

ith

fix ed

p os

iti on

s to

p Error cause Error

processing Corrective action

The current value was changed during positioning control of the applicable axis.

The current value was changed for the axis that had not been started.

300

The current value was changed for the servo OFF axis.

Current value is not changed.

Use the following devices as interlocks not to change the current value for the applicable axis.

(1) The start accept flag (M2001 to M2032) OFF for applicable axis.

(2) The servo READY signal (M2415+20n) ON.

301 The speed was changed for

the axis during home position return.

Do not change speed during home position return.

302 The speed was changed for

the axis during circular interpolation.

Speed is not changed. Do not change speed during

circular interpolation.

The speed after speed change is set outside the range of 0 to speed limit value.

Set the speed after speed change within the range of 0 to speed limit value.

305

The absolute value of speed after speed change is set outside the range of 0 to speed limit value.

Control with the speed limit value.

Set the absolute value of speed after speed change within the range of 0 to speed limit value.

309

The current value was changed outside the range of 0 to 35999999 ( 10-5

[degrees]) for the degree axis.

Current value is not changed.

Set the current value within the range of 0 to 35999999 ( 10-5[degree]).

The speed was changed during high-speed oscillation.

310 The speed change to "0"

was requested during high- speed oscillation.

Speed is not changed.

Do not change speed during high-speed oscillation.

311

The value outside the range of 1 to 1000[%] was set in the torque limit value change request (CHGT).

Set the change request within the range of 1 to 1000[%].

312

The torque limit value change request (CHGT) was made for the axis that had not been started.

Torque limit value is not changed.

Request the change for the starting axis.

APP - 16

APPENDICES

(5) System errors (900 to 999)

Table 1.7 System error (900 to 999) list

Control mode

Error code

Po si

tio ni

ng

Fi xe

d- pi

tc h

fe ed

Sp ee

d

Sp ee

d/ po

si tio

n sw

itc hi

ng

Sp ee

d sw

itc hi

ng

C on

st an

t-s pe

ed

JO G

M an

ua l p

ul se

g en

er at

or

H om

e po

si tio

n re

tu rn

P os

iti on

fo llo

w -u

p co

nt ro

l

O SC

Sp

ee d

co nt

ro l w

ith

fix ed

p os

iti on

s to

p Error cause Error

processing Corrective action

901

The motor travel value while the power is off exceeded the "System setting mode- allowable travel value during power off" set in the system settings at the turning on of the servo amplifier.

Further operation is possible.

Check the position. Check the battery of encoder.

APP - 17

APPENDICES

APPENDIX 1.3 Major errors

These errors occur by control command from the external input signal or Motion SFC program, and the error codes 1000 to 1999 are used. Major errors include the positioning control start errors, positioning control errors, absolute position system errors and system errors. (1) Positioning control start errors (1000 to 1099)

These errors are detected at the positioning control start. The error codes, causes, processing and corrective actions are shown in Table 1.8.

Table 1.8 Positioning control start error (1000 to 1099) list Control mode

Error code

Po si

tio ni

ng

Fi xe

d- pi

tc h

fe ed

Sp ee

d

Sp ee

d/ po

si tio

n sw

itc hi

ng

Sp ee

d sw

itc hi

ng

C on

st an

t-s pe

ed

JO G

M an

ua l p

ul se

g en

er at

or

H om

e po

si tio

n re

tu rn

Po si

tio n

fo llo

w -u

p co

nt ro

l

O SC

Sp

ee d

co nt

ro l w

ith

fix ed

p os

iti on

s to

p

Error cause Error

processing Corrective action

1000 The external STOP signal of

the applicable axis turned on. Turn the STOP signal off.

1001

The external signal FLS (upper limit LS) turned off at the forward direction (address increase direction) start.

Move in the reverse direction by the JOG operation, etc. and set within the external limit range.

1002

The external signal RLS (lower limit LS) turned off at the reverse direction (address decrease direction) start.

Move in the forward direction by the JOG operation, etc. and set within the external limit range.

1003

The external DOG (proximity dog) signal turned on at the home position return start of the proximity dog type.

Perform the home position return after move to the proximity dog ON by the JOG operation, etc. at the home position return of the proximity dog type.

1004

The applicable axis is not servo READY state. (M2415+20n: OFF). (1) The power supply of the

servo amplifier is OFF. (2) During initial processing

after turning on the servo amplifier.

(3) The servo amplifier is not installed.

(4) A servo error is occurred. (5) Cable fault. (6) Servo OFF command

(M3215+20n) is ON.

Wait until the servo READY state (M2415+20n: ON).

1005

The servo error detection signal of the applicable axis (M2408+20n) turned on.

Positioning control does not start.

Eliminate the servo error, reset the servo error detection signal (M2408+20n) by the servo error reset command (M3208+20n), then start operation.

APP - 18

APPENDICES

(2) Positioning control errors (1100 to 1199)

These errors are detected at the positioning control. The error codes, causes, processing and corrective actions are shown in Table 1.9.

Table 1.9 Positioning control error (1100 to 1199) list

Control mode

Error code

Po si

tio ni

ng

Fi xe

d- pi

tc h

fe ed

Sp ee

d

Sp ee

d/ po

si tio

n sw

itc hi

ng

Sp ee

d sw

itc hi

ng

C on

st an

t-s pe

ed

JO G

M an

ua l p

ul se

g en

er at

or

H om

e po

si tio

n re

tu rn

Po si

tio n

fo llo

w -u

p co

nt ro

l

O SC

Sp

ee d

co nt

ro l w

ith

fix ed

p os

iti on

s to

p Error cause Error

processing Corrective action

1101

The external signal FLS (upper limit LS) turned off during the forward direction (address increase direction).

Travel in the reverse direction by the JOG operation, etc. and set within the external limit range.

1102

The external signal RLS (lower limit LS) turned off during the reverse direction (address decrease direction).

Travel in the forward direction by the JOG operation, etc. and set within the external limit range.

1103

The external STOP signal (stop signal) turned on during home position return of proximity dog type.

Decelera- tion stop by "Stop processing on STOP input" of the parameter block.

Perform the home position return after move to the proximity dog ON by the JOG operation, etc. at the home position return of the proximity dog type.

1104

The servo error detection signal turned on during positioning control.

Immediate stop without decelera- ting.

Start after disposal at the servo error.

1105

The power supply of the servo amplifier turned off during positioning control. (Servo not installed status detection, cable fault, etc.)

Home position return did not complete normally without stop within the in-position range of home position at the home position return.

Turn the servo READY (M2415+ 20n) off.

Turn on the power supply of the servo amplifier.

Check the connecting cable to the servo amplifier.

Make the gain adjustment.

Q172EX or encoder hardware error.

Disconnected encoder cable.

Immediate input stop

Check (replace) the Q172EX or encoder.

Check the encoder cable.

1151 A synchronous encoder set

in the system setting differs from a synchronous encoder actually connected.

Q170ENC is connected to Q172EX/Q172EX-S1.

Input from synchro- nous encoder does not accept.

Set a synchronous encoder actually connected in the system setting.

Use Q172EX/Q172EX-S1 to connect Q170ENC.

APP - 19

APPENDICES

(3) Absolute position system errors (1200 to 1299)

These errors are detected at the absolute position system. The error codes, causes, processing and corrective actions are shown in Table 1.10.

Table 1.10 Absolute position system error (1200 to 1299) list

Control mode

Error code

Po si

tio ni

ng

Fi xe

d- pi

tc h

fe ed

Sp ee

d

Sp ee

d/ po

si tio

n sw

itc hi

ng

Sp ee

d sw

itc hi

ng

C on

st an

t-s pe

ed

JO G

M an

ua l p

ul se

g en

er at

or

H om

e po

si tio

n re

tu rn

Po si

tio n

fo llo

w -u

p co

nt ro

l

O SC

Sp

ee d

co nt

ro l w

ith

fix ed

p os

iti on

s to

p Error cause Error

processing Corrective action

1201

A sum check error occurred with the backup data in the controller at the turning on servo amplifier power supply.

Home position return was not performed.

CPU module battery error. Home position return started

but did not complete normally.

Home position return request ON

Check the battery and execute a home position return.

1202

A communication error between the servo amplifier and encoder occurred at the turning on servo amplifier power supply.

Home position return request ON, servo error [2016] set. (Fully closed loop control servo amplifier use: Servo error [2070] is set.)

Check the motor and encoder cables and execute a home position return again.

1203

The amount of change in encoder current value is excessive during operation. A continual check is performed (both of servo ON and OFF states) after the servo amplifier power has been turned ON.

1204

The following expression holds: "Encoder current value [PLS] feedback current value [PLS] (encoder effective bit number)" during operation. A continual check is performed (both of servo ON and OFF states) after the servo amplifier power has been turned on.

Home position return request ON

Check the motor and encoder cables.

APP - 20

APPENDICES

(4) System errors (1300 to 1399)

These errors are detected at the power-on. The error codes, causes, processing and corrective actions are shown in Table 1.11.

Table 1.11 System error (1300 to 1399) list

Control mode

Error code

Po si

tio ni

ng

Fi xe

d- pi

tc h

fe ed

Sp ee

d

Sp ee

d/ po

si tio

n sw

itc hi

ng

Sp ee

d sw

itc hi

ng

C on

st an

t-s pe

ed

JO G

M an

ua l p

ul se

g en

er at

or

H om

e po

si tio

n re

tu rn

Po si

tio n

fo llo

w -u

p co

nt ro

l

O SC

Sp

ee d

co nt

ro l w

ith

fix ed

p os

iti on

s to

p Error cause Error

processing Corrective action

1310

Initial communication with the Multiple CPU system did not complete normally.

Motion CPU fault.

Positioning control does not start.

Replace the Motion CPU.

APP - 21

APPENDICES

APPENDIX 1.4 Servo errors

(1) Servo amplifier errors (2000 to 2899) These errors are detected by the servo amplifier, and the error codes are [2000] to [2899]. The servo error detection signal (M2408+20n) turns on at the servo amplifier error occurrence. Eliminate the error cause, reset the servo amplifier error by turning on the servo error reset command (M3208+20n) and perform re-start. (The servo error detection signal does not turn on because the codes [2100] to [2599] are for warnings.) (Note-1): As for the regenerative alarm (error code [2030]) or overload 1 or 2

(error codes [2050], [2051]), the state at the operation is held also for after the protection circuit operation in the servo amplifier. The memory contents are cleared with the external power supply off, but are not cleared by the reset signal.

(Note-2): If resetting by turning off the external power supply is repeated at the occurrence of error code [2030], [2050] or [2051], it may cause devices to be destroyed by overheating. Re-start operation after eliminating the cause of the error certainly.

Details of servo errors are shown in Table 1.12.

CAUTION If a controller, servo amplifier self-diagnosis error occurs, check the points stated in this manual and clear the error.

APP - 22

APPENDICES

Table 1.12 Servo error (2000 to 2899) list

Error cause Error code Name Description

Error check Error

processing Corrective action

Power supply voltage is low. MR-J3- B: 160VAC or less MR-J3- B1: 83 VAC or less MR-J3- B4: 280 VAC or less

There was an instantaneous control power failure of 60[ms] or longer.

Shortage of power supply capacity caused the power supply voltage to drop at start, etc.

The bus voltage dropped to the following value or less. MR-J3- B: 200VDC MR-J3- B1: 158VDC MR-J3- B4: 380VDC

Review the power supply.

2010 Undervoltage

Faulty parts in the servo amplifier [Checking method] Servo error [2010] occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.

Any time during operation

Replace the servo amplifier.

2012 Memory error 1 (RAM)

Faulty parts in the servo amplifier (RAM memory error) [Checking method] Servo error [2012] occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.

Servo amplifier power on.

Multiple CPU system power on.

Replace the servo amplifier.

Faulty parts in the servo amplifier (Printed board fault) [Checking method] Servo error [2013] occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.

Replace the servo amplifier.

2013 Clock error

Faulty the controller (Clock error transmitted from the controller) [Checking method] Servo error [2013] occurs if Motion CPU is used in the Multiple CPU system.

Replace the Motion CPU.

2014 CPU Watchdog Faulty hardware of servo amplifier

Any time during operation

Faulty parts in the servo amplifier (EEP-ROM fault) [Checking method] Servo error [2015] occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.

2015 Memory error 2 (EEP-ROM)

The number of write times to EEP-ROM exceeded 100,000.

Servo amplifier power on.

Multiple CPU system power on.

Immediate stop

Replace the servo amplifier.

APP - 23

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error cause Error code Name Description

Error check Error

processing Corrective action

Encoder connector (CN2) disconnected. Connect correctly.

Encoder fault Replace the servomotor. Encoder cable faulty

(Wire breakage or shorted) Repair or replace the cable.

2016 Encoder error 1 (At power on)

Encoder cable type (2-wire, 4-wire) selection was wrong in parameter setting.

Set the correct encoder type of servo parameter.

2017 Board error

Faulty parts in the servo amplifier (CPU/parts fault) [Checking method] Servo error [2017] occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.

2019 Memory error 3 (Flash ROM)

Faulty parts in the servo amplifier (ROM memory fault) [Checking method] Servo error [2019] occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.

Servo amplifier power on.

Multiple CPU system power on.

Replace the servo amplifier.

Encoder connector (CN2) disconnected. Connect correctly. Encoder fault Replace the servomotor.

2020 Encoder error 2 Encoder cable faulty

(Wire breakage or shorted) Repair or replace the cable.

Power input wires and servomotor power wires are in contact. [Checking method] Servo error [2024] occurs if servo is switched on after disconnecting the U, V and W power cables from the servo amplifier.

Correct the wiring.

Sheathes of servomotor power cables deteriorated, resulting in ground fault.

Replace the cable.

2024 Main circuit error

Main circuit of servo amplifier failed.

Any time during operation

Immediate stop

Replace the servo amplifier. Voltage drop in encoder

(Battery of servo amplifier disconnected.)

After leaving the servo error [2025] occurring for a few minutes, switch power off, then on again. Always make home position return again.

Battery voltage low

Battery cable or battery is faulty.

Replace the battery. Always make home position return again.

2025 Absolute position erase

Home position return not set. (Power was switched on for the first time in the absolute position detection system.)

Servo amplifier power on.

Multiple CPU system power on.

Immediate stop

Home

position return

request ON

After leaving the servo error [2025] occurring for a few minutes, switch power off, then on again. Always make home position return again.

APP - 24

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error cause Error code Name Description

Error check Error

processing Corrective action

Machine struck. Check the machine.

Accuracy at initial magnetic pole detection is bad.

Review the parameter No.PS09 setting (magnetic pole detection voltage level).

Wrong wiring of the servomotor wires (U, V, and W).

Correct the wiring.

Linear encoder resolution differs from the setting value.

Review the parameter No.PS02 and PS03 setting (linear encoder resolution).

Check the installation of linear encoder.

Mismatch of the linear encoder installation direction.

Check the installation direction of linear encoder.

2027 Initial magnetic pole detection error

Magnetic pole detection limit switch is not on.

Servo amplifier power on.

Multiple CPU system power on.

Connect the magnetic detection limit switch correctly.

Set the limit switch to forced ON by the parameter No.PD02 setting. (When the amplifier input is used in the Motion CPU, do not set to forced ON since it is shared with the input signal.)

The temperature of linear encoder is high.

Check the temperature of linear encoder and contact with the linear encoder manufacturer. 2028

Linear encoder error 2

The signal level of linear encoder has dropped.

Any time during operation

Immediate stop

Check the installation of linear encoder.

APP - 25

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error cause Error code Name Description

Error check Error

processing Corrective action

Wrong setting of system setting (regenerative brake)

Check the regenerative brake of system setting and set correctly.

Built-in regenerative brake resistor or regenerative brake option is not connected.

Connect correctly.

High-duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative brake option to be exceeded. [Checking method] Call the servo monitor and check the regenerative level.

Reduce the frequency of positioning. (Call the regenerative level [%] of servo monitor and reduce the frequency of acceleration/deceleration or feed speed.)

Use the regenerative brake option of larger capacity.

Reduce the load. Power supply voltage is abnormal.

MR-J3- B: 260VAC or more MR-J3- B1: More than 135VAC MR-J3- B4: 535VAC or more

Review the power supply

Built-in regenerative brake resistor or regenerative brake option faulty.

Replace the servo amplifier or regenerative brake option..

2030 Regenerative alarm

Regenerative transistor faulty. [Checking method]

The regenerative brake option has overheated abnormally.

Servo error [2030] occurs even after removal of the built-in regenerative brake resistor or regenerative brake option.

Replace the servo amplifier.

Command speed is too high. (Motor speed has exceeded the instantaneous permissible speed.)

Check the servo program or mechanical system program, and set correctly.

Small acceleration/deceleration time constant caused overshoot to be large.

If an overshoot occurs during acceleration/deceleration, check the acceleration/deceleration time in the fixed parameters.

Servo system is instable to cause overshoot.

Re-set servo gain to proper value.

If servo gain cannot be set to proper value: 1) Reduce load inertia moment

ratio; or 2) Reexamine acceleration/

deceleration time constant. Electronic gear ratio is high. Set correctly.(Check if the

number of pulses per revolution and travel value per revolution in the fixed parameters match the machine system.

2031 Overspeed

Encoder faulty.

Any time during operation

Immediate stop

Replace the servomotor.

APP - 26

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error cause Error code Name Description

Error check Error

processing Corrective action

Short occurred in servomotor power (U, V, W).

Correct the wiring.

Transistor (IPM) of the servo amplifier faulty. [Checking method] Servo error [2032] occurs if power is switched on after U, V and W are disconnected.

Replace the servo amplifier.

Ground fault occurred in servomotor power (U, V, W).

Correct the wiring.

2032 Overcurrent

External noise caused the overcurrent detection circuit to misoperate.

Take noise suppression measures.

Lead of built-in regenerative brake resistor or regenerative brake option is open or disconnected.

Replace the lead. Connect correctly.

Regenerative transistor faulty. Replace the servo amplifier. Wire breakage of built-in regenerative

brake resistor or regenerative brake option.

For wire breakage of built-in regenerative brake resistor, replace the servo amplifier.

For wire breakage of regenerative brake option, replace the regenerative brake option.

Capacity of built-in regenerative brake resistor or regenerative brake option is insufficient.

Add regenerative brake option or increase capacity.

Power supply voltage is high. Review the power supply.

2033 Overvoltage

Ground fault occurred in servomotor power (U, V, W).

Correct the wiring.

2034 Communica- tions error

Data received from the Motion CPU faulty.

Check the connection of SSCNET cable.

Check if there is a disconnection in the SSCNET cable.

There is excessive variation in the position commands and command speed is too high from the Motion CPU.

Check the command speed and the number of pulses per revolution/travel value per revolution of the fixed parameters.

Noise entered the commands from the Motion CPU.

Check the connection of SSCNET cable.

Check if there is a disconnection in the SSCNET cable.

Check if any relays or solenoids are operating in the vicinity.

2035 Command frequency error

Motion CPU failure Replace the Motion CPU.

2036 Transmission error

Fault in communication with the Motion CPU.

Any time during operation

Immediate stop

Check the connection of SSCNET cable.

Check if there is a disconnection in the SSCNET cable.

APP - 27

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error cause Error code Name Description

Error check Error

processing Corrective action

Linear encoder signal resolution diffes from the setting value.

Review the settings of parameter No.PS02 and PS03 setting (linear encoder resolution).

Check the installation of linear encoder.

Initial magnetic pole detection has not been performed.

Perform initial magnetic pole detection.

Mismatch of the linear encoder installation direction.

Check the installation direction of linear encoder.

Review the setting of parameter No. PC27 (encoder pulse count polarity).

Wrong wiring of the servomotor wires (U, V, and W).

Correct the wiring.

The position deviation exceeded the detection level.

Review the operation condition. Review the setting of parameter

No.PS05 (Linear servo control position deviation error detection level) as required.

The speed deviation exceeded the detection level.

Review the operation condition. Review the setting of parameter

No.PS06 (Linear servo control speed deviation error detection level) as required.

2042

Linear servo control error (Linear servo amplifier)

The thrust deviation exceeded the detection level.

Review the operation condition. Review the setting of parameter

No.PS07 (Linear servo control thrust deviation error detection level) as required.

Load side encoder resolution differs from the setting value.

Review the settings of parameter No.PE04 and PE05 (Fully closed loop control feedback pulse electronic gear).

Check the installation of load side encoder.

Mismatch of the load side encoder installation direction.

Check the installation direction of load side encoder.

Review the setting of parameter No. PC27 (encoder pulse count polarity).

The position deviation exceeded the detection level.

Review the operation condition. Review the setting of parameter

No.PE07 (Fully closed loop control position deviation error detection level) as required.

2042

Fully closed control error (Fully closed loop control servo amplifier)

The speed deviation exceeded the detection level.

Servo amplifier power on.

Multiple CPU system power on.

Immediate stop

Review the operation condition. Review the setting of parameter

No. PE06 (Fully closed loop control speed deviation error detection level) as required.

APP - 28

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error cause Error code Name Description

Error check Error

processing Corrective action

Servo amplifier failure Replace the servo amplifier.

The power supply was turned on and off continuously by overloaded status.

The drive method is reviewed.

Ambient temperature of servo amplifier is over 55[C] (131[F]).

Review environment so that ambient temperature is 0 to 55[C] (32 to 131[F]).

2045 Main circuit device overheat

Used beyond the specifications of close mounting of servo amplifier.

Use within the range of specifications.

Ambient temperature of servomotor is over 40[C] (104[F]).

Review environment so that ambient temperature is 0 to 40[C] (32 to 104[F]).

Servomotor is overloaded. Reduce load. Review operation pattern. Use servomotor that provides

larger output.

2046 Servomotor overheat

Thermal sensor in encoder is faulty. Replace the servomotor.

Cooling fan life expiration Replace the cooling fan of the servo amplifier.

Foreign matter caught in the fan stopped rotation.

Remove the foreign matter. 2047 Cooling fan alarm

The power supply of the cooling fan failed.

Replace the servo amplifier.

Servo amplifier is used in excess of its continuous output current.

Reduce load. Review operation pattern. Use servomotor that provides

larger output.

Servo system is instable and hunting. Repeat acceleration/ deceleration to execute auto tuning.

Change auto tuning response setting.

Set auto tuning to OFF and make gain adjustment manually.

Machine struck something. Review operation pattern. Install limit switches.

Wrong connection of servo motor. (Servo amplifier's output terminals U, V, W do not match servo motor's input terminals U, V, W.)

Connect correctly.

2050 Overload 1

Encoder faulty. [Checking method] When the servomotor shaft is rotated with the servo off, the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway.

Any time during operation

Immediate stop

Replace the servomotor.

APP - 29

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error cause Error code Name Description

Error check Error

processing Corrective action

Machine struck something. Review operation pattern. Install limit switches.

Wrong connection of servomotor. (Servo amplifier's output terminals U, V, W do not match servo motor's input terminals U, V, W.)

Connect correctly.

Servo system is instable and hunting. ` Repeat acceleration/ deceleration to execute auto tuning.

Change auto tuning response setting.

Set auto tuning to OFF and make gain adjustment manually.

2051 Overload 2

Encoder faulty. [Checking method] When the servomotor shaft is rotated with the servo off, the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway.

Replace the servomotor.

Acceleration/deceleration time constant is too small.

Increase the acceleration/deceleration time.

Torque limit value is too small. Increase the torque limit value. Motor cannot be started due to torque

shortage caused by power supply voltage drop.

Review the power supply capacity.

Use servomotor which provides larger output.

Model loop gain value of servo parameter is small.

Increase set value and adjust to ensure proper operation.

Servomotor shaft was rotated by external force.

When torque is limited, increase the limit value.

Reduce load. Use servomotor that provides

larger output. Machine struck something. Review operation pattern.

Install limit switches. Encoder faulty Replace the servomotor.

2052 Error excessive

Wrong connection of servomotor. (Servo amplifier's output terminals U, V, W do not match servomotor's input terminals U, V, W.)

Any time during operation

Connect correctly.

2060 (AL.1A)

Motor combination error

Fault in combination with the servo amplifier and servomotor.

Servo amplifier power on.

Multiple CPU system power on.

Immediate stop

Use the correct combination with the servo amplifier and servomotor.

APP - 30

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error cause Error code Name Description

Error check Error

processing Corrective action

The speed of linear encoder has exceeded the range of use.

Change the speed of linear encoder within the range of use.

Noise entered. Take the noise reduction measures.

Alarm of the linear encoder. Contact with the linear encoder manufacturer.

2061 (AL.2A)

Linear encoder error 1

Defective installation positions of the scale and head.

Any time during operation

Adjust the positions of the scale and head.

The connector CN2L is disconnected. Connect correctly.

Faulty of the load side encoder cable Repair or change the cable. Wrong wiring of the load side encoder

cable Review the wiring connection.

The load side encoder cable type (2- wire, 4-wire) selection was wrong in the parameter setting.

Correct the setting in the fourth digit of parameter No. PC26 encoder cable communication system selection)..

2070 Load side encoder error 1

The startup timing is slow. (For the load side encoder with the external power supply input)

Servo amplifier power on.

Multiple CPU system power on.

Make the startup timing of the external power supply fast.

Faulty of the load side encoder cable Repair or change the cable.

Wrong wiring of the load side encoder cable

Review the wiring connection.

2071 Load side encoder error 2 The power supply voltage dropped.

(For the load side encoder with the external power supply input)

Check the power supply capacity and voltage.

2088 (88)

Watchdog CPU, parts faulty

Immediate stop

Replace the servo amplifier.

Bttery cable for absolute position detection system is open.

Repair the cable or replace the battery.

2102 (AL.92)

Open battery cable warning

Voltage of battery for absolute position detection system supplied fell to about 3V or less. (Detected with the encoder.)

Replace the battery.

After home position return, droop pulses remaining are greater than the in- position range setting.

Re-try the home position return. 2106

(AL.96) Home position setting warning

Creep speed is high. Reduce the creep speed.

2116 (AL.9F)

Battery warning Voltage of battery for absolute position

detection system installed to servo amplifier fell to 3.2V or less. (Detected with the servo amplifier.)

Replace the battery.

2140 (AL.E0)

Excessive regenerative warning

There is a possibility that regenerative alarm [2030] may occur. (Detected 85[%] regenerative level of the maximum load capacity for the regenerative register.)

Refer to the details on the regenerative alarm [2030].

2141 (AL.E1)

Overload warning 1

There is a possibility that overload alarm [2050], [2051] may occur. (Detected 85[%] overload level.)

Any time during operation Operation

continues

Refer to the details on the overload alarm [2050], [2051].

APP - 31

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error cause Error code Name Description

Error check Error

processing Corrective action

Ambient temperature of servomotor is over 40[C] (104[F]).

Review environment so that ambient temperature is 0 to 49[C] (32 to 104[F]).

Servomotor is overloaded. Reduce load. Review operation pattern. Use servomotor that provides

larger output.

2142 (AL.E2)

Servo motor overheat warning

Thermistor in encoder is faulty.

Operation continues

Replace the servomotor.

2143 (AL.E3)

Absolute position counter warning

Absolute position encoder pulses faulty. Operation continues

Home

position return

request ON

Take noise suppression measures.

Replace the servomotor. Execute the home position return

after measures.

2146 (AL.E6)

Servo forced stop warning

Servo amplifier are forced stop state. (Servo amplifier input signal EM1 is OFF.)

Ensure safety and deactivate forced stop.

2147 (AL.E7)

Controller forced stop warning

A forced stop signal is input from the Motion CPU

Immediate stop Ensure safety and deactivate

forced stop.

Cooling fan life expiration Replace the cooling fan of servo amplifier.

Replace the servo amplifier. 2148

(AL.E8)

Cooling fan speed reduction warning

The power supply of the cooling fan is broken.

Replace the cooling fan of servo amplifier.

2149 (AL.E9)

Main circuit off warning

Servo-on signal was turned on with main circuit power off.

Switch on the main circuit power.

2152 (AL.EC)

Overload warning 2

During a stop, the status in which a current flew intensively in any of the U, V and W phases of the servomotor occurred repeatedly, exceeding the warning level.

Reduce the positioning frequency at the specific positioning address.

Reduce the load. Replace the servo amplifier/

servomotor with the one of larger capacity.

2153 (AL.ED)

Output watt excess warning

Continuous operation was performed with the output wattage (speed torque) of the servomotor exceeding 150[%] of the rated output.

Any time during operation

Operation continues

Reduce the servomotor speed. Reduce the load.

APP - 32

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error cause Error code Name Description

Error check Error

processing Corrective action

Parameter error The servo parameter value is outside the setting

range. (Any unauthorized parameter is ignored and the value before setting is held.) Error code

Parameter No.

Name

2301 PA01 For manufacturer setting

2302 PA02 Regenerative brake option

2303 PA03 Absolute position detection system

2304 PA04 Function selection A-1

2305 PA05 For manufacturer setting

2306 PA06 For manufacturer setting

2307 PA07 For manufacturer setting

2308 PA08 Auto tuning mode

2309 PA09 Auto tuning response

2310 PA10 In-position range

2311 PA11 For manufacturer setting

2312 PA12 For manufacturer setting

2313 PA13 For manufacturer setting

2314 PA14 Rotation direction selection

2315 PA15 Encoder output pulse

2301 2316 PA16 For manufacturer setting

to 2317 PA17 For manufacturer setting

2599 2318 PA18 For manufacturer setting

2319 PA19 Parameter write inhibit

2320 PB01 Adaptive tuning mode

2321 PB02 Vibration suppression control filter tuning mode

2322 PB03 For manufacturer setting

2323 PB04 Feed forward gain

2324 PB05 For manufacturer setting

2325 PB06 Ratio of load inertia moment to servo motor inertia moment

2326 PB07 Model loop gain

2327 PB08 Position loop gain

2328 PB09 Speed loop gain

2329 PB10 Speed integral compensation

2330 PB11 Speed differential compensation

2331 PB12 For manufacturer setting

2332 PB13 Machine resonance suppression filter 1

2333 PB14 Notch form selection 1

2334 PB15 Machine resonance suppression filter 2

2335 PB16 Notch form selection 2

Parameter error

Any time during operation

Operation continues

Check the setting ranges of the servo parameters.

APP - 33

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error cause Error code Name Description

Error check Error

processing Corrective action

Error code

Parameter No.

Name

2336 PB17 For manufacturer setting

2337 PB18 Low-pass filter

2338 PB19 Vibration suppression control vibration frequency setting

2339 PB20 Vibration suppression control resonance frequency setting

2340 PB21 For manufacturer setting

2341 PB22 For manufacturer setting

2342 PB23 Low-pass filter selection

2343 PB24 Slight vibration suppression control selection

2344 PB25 For manufacturer setting

2345 PB26 Gain changing selection

2346 PB27 Gain changing condition

2347 PB28 Gain changing time constant

2348 PB29 Gain changing ratio of load inertia moment to servo motor inertia moment

2349 PB30

Gain changing position loop gain

2301

to

2350 PB31

Gain changing speed loop gain

2599

2351 PB32

Gain changing speed integral compensation

2352 PB33 Gain changing vibration suppression control vibration frequency setting

2353 PB34 Gain changing vibration suppression control resonance frequency setting

2354 PB35 For manufacturer setting

2355 PB36 For manufacturer setting

2356 PB37 For manufacturer setting

2357 PB38 For manufacturer setting

2358 PB39 For manufacturer setting

2359 PB40 For manufacturer setting

2360 PB41 For manufacturer setting

2361 PB42 For manufacturer setting

2362 PB43 For manufacturer setting

2363 PB44 For manufacturer setting

2364 PB45 For manufacturer setting

2365 PC01 Error excessive alarm level

2366 PC02 Electromagnetic brake sequence output

Parameter error

Any time during operation

Operation continues

Check the setting ranges of the servo parameters.

APP - 34

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error cause Error code Name Description

Error check Error

processing Corrective action

Error code

Parameter No.

Name

2367 PC03 Encoder output pulses selection

2368 PC04 Function selection C-1

2369 PC05 Function selection C-2

2370 PC06 For manufacturer setting

2371 PC07 Zero speed

2372 PC08 For manufacturer setting

2373 PC09 Analog monitor output 1

2374 PC10 Analog monitor output 2

2375 PC11 Analog monitor 1 offset

2376 PC12 Analog monitor 2 offset

2377 PC13 For manufacturer setting

2378 PC14 For manufacturer setting

2379 PC15 For manufacturer setting

2380 PC16 For manufacturer setting

2381 PC17 Function selection C-4

2382 PC18 For manufacturer setting

2383 PC19 For manufacturer setting

2384 PC20 For manufacturer setting

2385 PC21 Alarm history clear

2301 2386 PC22 For manufacturer setting

to 2387 PC23 For manufacturer setting

2599 2388 PC24 For manufacturer setting

2389 PC25 For manufacturer setting

2390 PC26 For manufacturer setting

2391 PC27 For manufacturer setting

2392 PC28 For manufacturer setting

2393 PC29 For manufacturer setting

2394 PC30 For manufacturer setting

2395 PC31 For manufacturer setting

2396 PC32 For manufacturer setting

2397 PD01 For manufacturer setting

2398 PD02 For manufacturer setting

2399 PD03 For manufacturer setting

2400 PD04 For manufacturer setting

2401 PD05 For manufacturer setting

2402 PD06 For manufacturer setting

2403 PD07 Output signal device selection 1

2404 PD08 Output signal device selection 2

2405 PD09 Output signal device selection 3

2406 PD10 For manufacturer setting

Parameter error

Any time during operation

Operation continues

Check the setting ranges of the servo parameters.

APP - 35

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error cause Error code Name Description

Error check Error

processing Corrective action

Error code

Parameter No.

Name

2407 PD11 Input filter setting

2408 PD12 For manufacturer setting

2409 PD13 For manufacturer setting

2410 PD14 Function selection D-3

2411 PD15 For manufacturer setting

2412 PD16 For manufacturer setting

2413 PD17 For manufacturer setting

2414 PD18 For manufacturer setting

2415 PD19 For manufacturer setting

2416 PD20 For manufacturer setting

2417 PD21 For manufacturer setting

2418 PD22 For manufacturer setting

2419 PD23 For manufacturer setting

2420 PD24 For manufacturer setting

2421 PD25 For manufacturer setting

2422 PD26 For manufacturer setting

2423 PD27 For manufacturer setting

2424 PD28 For manufacturer setting

2425 PD29 For manufacturer setting

2301 2426 PD30 For manufacturer setting

to 2427 PD31 For manufacturer setting

2599 2428 PD32 For manufacturer setting

Parameter error

Any time during operation

Operation continues

Check the setting ranges of the servo parameters.

APP - 36

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error cause Error code Name Description

Error check Error

processing Corrective action

Initial parameter error The parameter setting is wrong. The parameter data was corrupted.

Error code

Parameter No.

Name

2601 PA01 For manufacturer setting

2602 PA02 Regenerative brake option

2603 PA03 Absolute position detection system

2604 PA04 Function selection A-1

2605 PA05 For manufacturer setting

2606 PA06 For manufacturer setting

2607 PA07 For manufacturer setting

2608 PA08 Auto tuning mode

2609 PA09 Auto tuning response

2610 PA10 In-position range

2611 PA11 For manufacturer setting

2612 PA12 For manufacturer setting

2613 PA13 For manufacturer setting

2614 PA14 Rotation direction selection

2615 PA15 Encoder output pulse

2616 PA16 For manufacturer setting

2601 2617 PA17 For manufacturer setting

to 2618 PA18 For manufacturer setting

2899 2619 PA19 Parameter write inhibit

2620 PB01 Adaptive tuning mode

2621 PB02 Vibration suppression control filter tuning mode

2622 PB03 For manufacturer setting

2623 PB04 Feed forward gain

2624 PB05 For manufacturer setting

2625 PB06 Ratio of load inertia moment to servo motor inertia moment

2626 PB07 Model loop gain

2627 PB08 Position loop gain

2628 PB09 Speed loop gain

2629 PB10 Speed integral compensation

2630 PB11 Speed differential compensation

2631 PB12 For manufacturer setting

2632 PB13 Machine resonance suppression filter 1

2633 PB14 Notch form selection 1

2634 PB15 Machine resonance suppression filter 2

2635 PB16 Notch form selection 2

Initial parameter error

Servo amplifier power on.

Multiple CPU system power on.

Immediate stop

After checking and correcting of the parameter setting, turn off to on or reset the power of Multiple CPU system.

APP - 37

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error cause Error code Name Description

Error check Error

processing Corrective action

Error code

Parameter No.

Name

2636 PB17 For manufacturer setting

2637 PB18 Low-pass filter

2638 PB19 Vibration suppression control vibration frequency setting

2639 PB20 Vibration suppression control resonance frequency setting

2640 PB21 For manufacturer setting

2641 PB22 For manufacturer setting

2642 PB23 Low-pass filter selection

2643 PB24 Slight vibration suppression control selection

2644 PB25 For manufacturer setting

2645 PB26 Gain changing selection

2646 PB27 Gain changing condition

2647 PB28 Gain changing time constant

2648 PB29 Gain changing ratio of load inertia moment to servo motor inertia moment

2649 PB30

Gain changing position loop gain

2601

to

2650 PB31

Gain changing speed loop gain

2899

2651 PB32

Gain changing speed integral compensation

2652 PB33 Gain changing vibration suppression control vibration frequency setting

2653 PB34 Gain changing vibration suppression control resonance frequency setting

2654 PB35 For manufacturer setting

2655 PB36 For manufacturer setting

2656 PB37 For manufacturer setting

2657 PB38 For manufacturer setting

2658 PB39 For manufacturer setting

2659 PB40 For manufacturer setting

2660 PB41 For manufacturer setting

2661 PB42 For manufacturer setting

2662 PB43 For manufacturer setting

2663 PB44 For manufacturer setting

2664 PB45 For manufacturer setting

2665 PC01 Error excessive alarm level

2666 PC02 Electromagnetic brake sequence output

Initial parameter error

Servo amplifier power on.

Multiple CPU system power on.

Immediate stop

After checking and correcting of the parameter setting, turn off to on or reset the power of Multiple CPU system.

APP - 38

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error cause Error code Name Description

Error check Error

processing Corrective action

Error code

Parameter No.

Name

2667 PC03 Encoder output pulses selection

2668 PC04 Function selection C-1

2669 PC05 Function selection C-2

2670 PC06 For manufacturer setting

2671 PC07 Zero speed

2672 PC08 For manufacturer setting

2673 PC09 Analog monitor output 1

2674 PC10 Analog monitor output 2

2675 PC11 Analog monitor 1 offset

2676 PC12 Analog monitor 2 offset

2677 PC13 For manufacturer setting

2678 PC14 For manufacturer setting

2679 PC15 For manufacturer setting

2680 PC16 For manufacturer setting

2681 PC17 Function selection C-4

2682 PC18 For manufacturer setting

2683 PC19 For manufacturer setting

2684 PC20 For manufacturer setting

2685 PC21 Alarm history clear

2601 2686 PC22 For manufacturer setting

to 2687 PC23 For manufacturer setting

2899 2688 PC24 For manufacturer setting

2689 PC25 For manufacturer setting

2690 PC26 For manufacturer setting

2691 PC27 For manufacturer setting

2692 PC28 For manufacturer setting

2693 PC29 For manufacturer setting

2694 PC30 For manufacturer setting

2695 PC31 For manufacturer setting

2696 PC32 For manufacturer setting

2697 PD01 For manufacturer setting

2698 PD02 For manufacturer setting

2699 PD03 For manufacturer setting

2700 PD04 For manufacturer setting

2701 PD05 For manufacturer setting

2702 PD06 For manufacturer setting

2703 PD07 Output signal device selection 1

2704 PD08 Output signal device selection 2

2705 PD09 Output signal device selection 3

2706 PD10 For manufacturer setting

Initial parameter error

Servo amplifier power on.

Multiple CPU system power on.

Immediate stop

After checking and correcting of the parameter setting, turn off to on or reset the power of Multiple CPU system.

APP - 39

APPENDICES

Table 1.12 Servo error (2000 to 2899) list (Continued)

Error cause Error code Name Description

Error check Error

processing Corrective action

Error code

Parameter No.

Name

2707 PD11 Input filter setting 2708 PD12 For manufacturer setting 2709 PD13 For manufacturer setting

2710 PD14 Function selection D-3 2711 PD15 For manufacturer setting 2712 PD16 For manufacturer setting 2713 PD17 For manufacturer setting 2714 PD18 For manufacturer setting 2715 PD19 For manufacturer setting

2716 PD20 For manufacturer setting 2717 PD21 For manufacturer setting 2718 PD22 For manufacturer setting

2719 PD23 For manufacturer setting 2720 PD24 For manufacturer setting 2721 PD25 For manufacturer setting 2722 PD26 For manufacturer setting

2723 PD27 For manufacturer setting 2724 PD28 For manufacturer setting 2725 PD29 For manufacturer setting 2726 PD30 For manufacturer setting

2601 2727 PD31 For manufacturer setting to 2728 PD32 For manufacturer setting

2899

Initial parameter error

Servo amplifier power on.

Multiple CPU system power on.

Immediate stop

After checking and correcting of the parameter setting, turn off to on or reset the power of Multiple CPU system.

APP - 40

APPENDICES

APPENDIX 1.5 PC link communication errors

Table 1.13 PC link communication error codes list Error codes stored

in D9196 Error description Corrective action

01

A receiving packet for PC link communication does not arrive.

The arrival timing of the receiving packet is too late.

Check whether the power of PC has been turned on.

Check the connection of the communication cable.

Check the communication cable for wire breakage.

Check whether the A 0BD-PCF/ A30CD-PCF has been installed correctly.

02

A receiving packet CRC code is not right.

Check whether there is a noise source near the PC.

Check the connection of the communication cable.

Check the communication cable for wire breakage.

03

A receiving packet data ID is not right.

Check whether the A 0BD-PCF/ A30CD-PCF has been installed correctly.

Replace the A 0BD-PCF/A30CD- PCF.

04

The number of received frames is not right.

Check whether there is a noise source near the PC.

Check the connection of the communication cable.

Check the communication cable for wire breakage.

05 A PC communication task

does not start. Start the communication task for PC

side.

APP - 41

APPENDICES

APPENDIX 2 Special Relays/special registers

APPENDIX 2.1 Special relays

Special relays are internal relays whose applications are fixed in the Motion CPU. For this reason, they cannot be used in the same way as the normal internal relays by the Motion SFC programs. However, they can be turned ON/OFF as needed in order to control the Motion CPU.

The headings in the table that follows have the following meanings.

Item Explanation

No. Indicates the device No. of the special relay.

Name Indicates the name of the special relay.

Meaning Indicates the nature of the special relay.

Details Indicates detailed information about the nature of the special relay.

Set by

(When set)

Indicates whether the relay is set by the system or user, and, if it is set by system, when

setting is performed.

S: Set by system (Motion CPU)

U: Set by user (Motion SFC program or test operation using a peripheral device)

S/U: Set by both system (Motion CPU) and user

Indicated only if setting is done by system (Motion CPU).

Main process: Set during each main processing (free time processing of the CPU)

Initial process: Set only during initial processing (when power supply is turned ON, or

when executed the reset)

Status change : Set only when there is a change in status

Error : Set when error is occurred.

Request : Set only when there is a user request (Special relay, etc.)

Operation cycle : Set during each operation cycle of the Motion CPU.

APP - 42

APPENDICES

Table 2.1 Special relay list

No. Name Meaning Details Set by

(When set) Remark

M9000 Fuse blown detection OFF : Normal ON : Fuse blown module

detected

Turn on when there is one or more output modules control of self CPU which fuse has been blown. Remains on if normal status is restored.

Turn on if a momentary power interruption of less than 20[ms] occurred during use of the AC power supply module, and reset by turning power off to on.

M9005 AC/DC DOWN detection

OFF : AC/DC DOWN not detected

ON : AC/DC DOWN detected

Turn on if a momentary power interruption of less than 10[ms] occurred during use of the DC power supply module, and reset by turning power off to on.

M9006 Battery low OFF : Normal ON : Battery low

Turned on when the voltage of the external battery reduces to less than specified value. Turn off when the voltage of the external battery becomes normal.

Synchronizes with "BAT. LED" Check the voltage of the external battery, only when it is

set with "external battery use" by system setting.

M9007 Battery low latch OFF : Normal ON : Battery low

Turn on when the voltage of the external battery reduces to less than specified value. Remains on if normal status is restored.

Synchronizes with "BAT. LED" Check the voltage of the external battery, only when it is

set with "external battery use" by system setting.

M9008 Self-diagnostic error OFF : No error ON : Error

Turn on when error is found as a result of self-diagnosis. Remains on if normal status is restored.

M9010 Diagnostic error OFF : No error ON : Error

Turn on when error is found as a result of diagnosis. Remains on if normal status is restored.

S(Occur an error)

M9025 Clock data set request OFF : Ignored ON : Set request present

used

Write clock data stored in D9025 to D9028 to the clock element when M9025 has changed from off to on.

U

M9026 Clock data error OFF : No error ON : Error

Turn on by clock data (D9025 to D9028) error. S(Request)

M9028 Clock data read request OFF : Ignored ON : Read request

Read clock data from D9025 to D9028 in BCD when M9028 is on.

U

M9036 Always ON ON OFF

Turn on without regard to position of RUN/STOP switch on.

M9037 Always OFF ON OFF

Turn off without regard to position of RUN/STOP switch on.

S(Main processing)

M9060 Error reset OFF ON : Error reset A release of the error is executed. U

M9073 PCPU WDT error flag ON : Abnormal OFF : Normal

Turn on when a "watchdog timer error" is detected by the Motion CPU self-diagnosis function. When the Motion CPU detects a WDT error, it executes an immediate stop without deceleration of the operating axes.

The error cause is stored in the "Motion CPU WDT error cause (D9184)".

S(Occur an error)

M9074 PCPU READY complete flag

ON : PCPU READY completion

OFF : PCPU READY uncompletion

When the PLC ready flag (M2000) turn off to on, the fixed parameters, servo parameters and limit switch output data, etc., are checked, and if no error is detected this flag turns on.

Turn off when the PLC ready flag (M2000) turns off.

S(Request)

M9075 Test mode ON flag

ON : TEST mode is in effect.

OFF : TEST mode is not in effect.

This flag status indicates whether a TEST mode established from a peripheral device is currently in effect.

If the TEST mode is not established in response to a TEST mode request from a peripheral device, the "TEST mode request error flag (M9078)" will turn on.

S(Request)

M9076 External forced stop input flag

ON : Forced stop OFF OFF : Forced stop ON

This flag status indicate whether the forced stop. S(Operation cycle)

APP - 43

APPENDICES

Table 2.1 Special relay list (continued)

No. Name Meaning Details Set by

(When set) Remark

M9077 Manual pulse generator axis setting error flag

ON : At least one D714 to D719 setting is abnormal.

OFF : All D714 to D719 settings are normal.

This flag indicates whether the setting designated at the manual pulse generator axis setting register (D714 to D719) is normal or abnormal.

When this relay turns on, the error content is stored at the manual pulse generator axis setting error register (D9185 to D9187).

M9078 TEST mode request error flag

ON : Abnormal OFF : Normal

Turn on if the TEST mode is not established in response to a TEST mode request from a peripheral device.

When this relay turns on, the error content is stored at the TEST mode request error register (D9182 to D9183).

M9079 Servo program setting error flag

ON : Abnormal OFF : Normal

This flag status indicates whether the positioning data of the servo program(K) specified with the Motion SFC program is normal or abnormal, and if error is detected this flag turns on.

The content of a servo program setting error is stored at D9189 and D9190.

S(Occur an error)

M9216 CPU No.1 MULTR complete flag

OFF to ON : CPU No.1 read completion

Turn on when the data read from CPU No.1 is performed normally by MULTR instruction.

M9217 CPU No.2 MULTR complete flag

OFF to ON : CPU No.2 read completion

Turn on when the data read from CPU No.2 is performed normally by MULTR instruction.

M9218 CPU No.3 MULTR complete flag

OFF to ON : CPU No.3 read completion

Turn on when the data read from CPU No.3 is performed normally by MULTR instruction.

M9219 CPU No.4 MULTR complete flag

OFF to ON : CPU No.4 read completion

Turn on when the data read from CPU No.4 is performed normally by MULTR instruction.

S(Read completion)

M9240 CPU No.1 reset flag OFF : CPU No.1 reset

release ON : CPU No.1 resetting

Turn off at reset release of the CPU No.1. Turn on during reset of the CPU No.1. (It also contains when a CPU is removed from the base unit.)

The other CPU is also resetting.

M9241 CPU No.2 reset flag OFF : CPU No.2 reset

release ON : CPU No.2 resetting

Turn off at reset release of the CPU No.2. Turn on during reset of the CPU No.2. (It also contains when a CPU is removed from the base unit.)

The error of the "MULTI CPU DOWN" (error code : 7000) occurs in the other CPU.

M9242 CPU No.3 reset flag OFF : CPU No.3 reset

release ON : CPU No.3 resetting

Turn off at reset release of the CPU No.3. Turn on during reset of the CPU No.3. (It also contains when a CPU is removed from the base unit.)

The error of the "MULTI CPU DOWN" (error code : 7000) occurs in the other CPU.

M9243 CPU No.4 reset flag OFF : CPU No.4 reset

release ON : CPU No.4 resetting

Turn off at reset release of the CPU No.4. Turn on during reset of the CPU No.4. (It also contains when a CPU is removed from the base unit.)

The error of the "MULTI CPU DOWN" (error code : 7000) occurs in the other CPU.

M9244 CPU No.1 error flag OFF : CPU No.1 normal ON : On CPU No.1 stop

error

Turn off when the CPU No.1 is normal. (It contains at continuation error.)

Turn on during stop error of the CPU No.1. (Note-1)

M9245 CPU No.2 error flag OFF : CPU No.2 normal ON : On CPU No.2 stop

error

Turn off when the CPU No.2 is normal. (It contains at continuation error.)

Turn on during stop error of the CPU No.2. (Note-1)

M9246 CPU No.3 error flag OFF : CPU No.3 normal ON : On CPU No.3 stop

error

Turn off when the CPU No.3 is normal. (It contains at continuation error.)

Turn on during stop error of the CPU No.3. (Note-1)

M9247 CPU No.4 error flag OFF : CPU No.4 normal ON : On CPU No.4 stop

error

Turn off when the CPU No.4 is normal. (It contains at continuation error.)

Turn on during stop error of the CPU No.4. (Note-1)

S(Change status)

(Note-1): The CPU No.1 is reset after the factor of the stop error is removed to cancel a stop error. Resetting is cancelled.

APP - 44

APPENDICES

APPENDIX 2.2 Special registers

Special registers are internal registers whose applications are fixed in the Motion CPU. For this reason, it is not possible to use these registers in Motion SFC programs in the same way that normal registers are used. However, data can be written as needed in order to control the Motion CPU. Data stored in the special registers are stored as BIN values if no special designation has been made to the contrary.

The headings in the table that follows have the following meanings.

Item Explanation

Number Indicates the No. of the special register.

Name Indicates the name of the special register.

Meaning Indicates the nature of the special register.

Details Indicates detailed information about the nature of the special register.

Set by

(When set)

Indicates whether the register is set by the system or user, and, if it is set by system,

when setting is performed.

S: Set by system (Motion CPU)

U: Set by user (Motion SFC program or test operation using a peripheral device)

S/U: Set by both system (Motion CPU) and user

Indicated only if setting is done by system (Motion CPU).

Main process: Set during each main processing (free time processing of the CPU)

Initial process: Set only during initial processing (when power supply is turned ON, or

when executed the reset)

Status change : Set only when there is a change in status

Error : Set when error is occurred.

Request : Set only when there is a user request (Special relay, etc.)

Operation cycle : Set during each operation cycle of the Motion CPU.

APP - 45

APPENDICES

Table 2.2 Special register list

No. Name Meaning Details Set by

(When set) Remark

D9000 Fuse blown No. Module No. with blown fuse

When fuse blown modules are detected, the lowest I/O module No. is stored in D9000.

D9005 AC/DC DOWN counter No.

Number of times for AC/DC DOWN

1 is added to the stored value each time the input voltage becomes 85[%] (AC power supply/65[%] DC power supply) or less of the rating while the CPU module is performing an operation, and the value is stored in BIN code.

D9008 Diagnostic error Diagnostic error number

When error is found as a result of self-diagnosis, error No. is stored in BIN code.

Refer to "2.4 Multiple CPU Error Codes" of the "Q173HCPU/Q172HCPU Motion Controller Programming Manual (COMMON)" for details of the error code.

D9010

The age (A.D, the rightmost two digits) when data on D9008 are updated, and the month stored with a BCD code two digits.

Year(0 to 99) Month(1 to 12) B15 B7 B0B8to to Example : October 1995

H9510

D9011

The day when data on D9008 are updated, and the hour stored with a BCD code two digits.

Day(1 to 31) Hour(0 to 23) B15 B7 B0B8to to Example : 25st, 10 a.m

H2510

D9012

Diagnostic error occurrence time

Diagnostic error occurrence time

The minute when data on D9008 are updated, and the second stored with a BCD code two digits.

Minute(0 to 59) Second(0 to 59) B15 B7 B0B8to to Example : 35 min., 48 sec.

H3548

D9013 Error information classification

Error information classification code

The classification code to judge the error information stored in the error information (D9014) is stored.

The following codes are stored. 0: None 1: Module No./CPU No./Base No. 2: Parameter No.

D9014 Error information Error information

Error information to comply with the diagnostic error (D9008) is stored. There are following two types information to be stored. 1) Module No./CPU No./Base No.

Module No. or CPU No. is stored according to the error which occurred in the case of the Multiple CPU system. (Refer to each error code which is stored.) CPU No.1: 1, CPU No.2: 2, CPU No.3: 3, CPU No.4: 4

2) Parameter No.

S(Occur an error)

The operation states of CPU as shown below are stored in D9015. B15 B12B11 B8 B7 B4 B3 B0

1)2) 1) Operating state of CPU 0: RUN

2: STOP

2) STOP cause

Note: Priority is earliest first

0: RUN/STOP switch 4: Error

D9015 Operating state of CPU

Operating state of CPU

D9017 Scan time

Scan time (1ms units)

Main cycle is stored in the unit 1ms. Setting range (0 to 65535[ms])

D9019 Maximum scan time

Maximum scan time (1ms units)

The maximum value of the main cycle is stored in the unit 1ms. Setting range (0 to 65535[ms])

S(Main processing)

D9025 Clock data Clock data (Year, month)

Stores the year (2 lower digits) and month in BCD. B15 B12to B11 B8to B7 B4to B3 B0to

Year Month

Example : July 1993 H9307

S/U(Request)

APP - 46

APPENDICES

Table 2.2 Special register list (continued)

No. Name Meaning Details Set by

(When set) Remark

D9026 Clock data (Day, hour)

Stores the day and hour in BCD. B15 B12to B11 B8to B7 B4to B3 B0to

Day Hour

Example : 31st, 10 a.m. H3110

D9027

Clock data

Clock data (Minute, second)

Stores the minute and second in BCD. Example : 35 min., 48 sec. H3548

B15 B12to B11 B8to B7 B4to B3 B0to

Minute Second

D9028 Clock data Clock data (Day of week)

Stores the day of the week in BCD. B15 B12to B11 B8to B7 B4to B3 B0to

"0" must be set here.

Day of week

0

1

2

3

4

5

6

Sunday

Monday

Tuesday

Wednesday

Thursday

Friday

Saturday

Example : Friday H0005

S/U(Request)

D9060 Error reset Error No. of releasing an error

Error No. of canceling error is stored. U

D9061 Multiple CPU No. Multiple CPU No. CPU No. of the self CPU is stored. S(Initial processing)

When the servo amplifier or SSCNET cable of SSCNET system are exchanged or re-connected, an user side requires connect/disconnect, and a system side stores the states of command accept waiting or execute waiting for connect/disconnect.

0 : Connect/disconnect command accept waiting -1 : Connect/disconnect execute waiting

S (Main processing)

1 to 32 : Disconnect command -10 : Re-connect command

D9112 Connect/ disconnect

Connect/ disconnect of SSCNET

-2 : Connect/disconnect execute command U

D9182 D9183

Test mode request error

It is operating in requirement error occurrence of the test mode, axis information

Each axis is stopping: 0/Operating: 1, information is stored as a bit data. D9182: b0 to b15 (Axis 1 to Axis 16) D9183: b0 to b15 (Axis 17 to Axis 32)

D9184 Motion CPU WDT error cause

Error meaning of WDT error occurs

The following error codes are stored in D9184. 1: S/W fault 1 2: Operation cycle over 3: Q bus WDT error 4: WDT error 30: Information processor H/W error 201 to 215: Q bus H/W fault 250 to 253: Servo amplifier interface H/W fault 300: S/W fault3 301: 15 CPSTART instructions of 8 or more points were started

simultaneously.

D9185 D9186 D9187

Manual pulse generator axis setting error

Manual pulse generator axis setting error information

Contents of the manual pulse generator axis setting error is stored when the manual pulse generator axis setting error flag (M9077) turn on. (Normal: 0/Setting error: 1) D9185: The manual pulse generator axis setting error is stored in b0 to b2

(P1 to P3). The smoothing magnification setting is stored in b3 to b5 (P1 to P3).

D9186: One pulse input magnification setting error is stored in b0 to b15 (axis 1 to axis 16).

D9187: One pulse input magnification setting error is stored in b0 to b15 (axis 17 to axis 32).

S(Occur an error)

APP - 47

APPENDICES

Table 2.2 Special register list (continued)

No. Name Meaning Details Set by

(When set) Remark

D9188 Motion operation cycle

Motion operation cycle

The time when the motion operation cycle is stored in the [s] unit. S(Operation cycle)

D9189 Error program No.

Error program No. of servo program

When the servo program setting error flag (M9079) turns on, the erroneous servo program No. will be stored.

D9190 Error item information

Error code of servo program

When the servo program setting error flag (M9079) turns on, the error code corresponding to the erroneous setting item will be stored.

S(Occur an error)

D9191 D9192

Servo amplifier loading information

Servo amplifier loading information

The loading status (loading: 1/non-loading: 0) of the servo amplifier checked in initial process, and stored as the bit data. D9191: b0 to b15 (axis 1 to axis 16) D9192: b0 to b15 (axis 17 to axis 32)

The axis which turned from non-loading to loading status after power-on is handled as loaded. (However, the axis which turned from loading to non- loading status remains as loaded.)

S(Initial processing)

D9193 D9194 D9195

Real/virtual mode switching error information

Real/virtual mode Switching error code

When a mode switching error occurs in real-to-virtual or virtual-to-real mode switching, or a mode continuation error occurs in the virtual mode, its error information is stored.

D9196 PC link communication error codes

PC link communication error codes

The following error code is stored. 00: No error 01: Receiving timing error 02: CRC error 03: Communication response code error 04: Received frame error 05: Communication task start error (Each error code is reset to "00" when normal communication is restarted.)

S(Occur an error)

D9197 Operation cycle of the Motion CPU setting

Operation cycle of the Motion CPU setting

The time when the setting operation cycle is stored in the [s] unit. S(Initial processing)

The CPU switch status is stored in the following format. B15 B12B11 B8 B7 B4 B3 B0

1)2)No used.3) 1) CPU switch status 0: RUN

1: STOP 2: L.CLR

2) Memory card switch Always OFF

3) Dip switch B8 through B12 correspond to SW1 through SW5 of system setting switch 1. 0: OFF/1: ON B13 through B15 is not used.

D9200 State of switch State of CPU switch

S(Main processing)

Information concerning which of the following states the LEDs on the CPU are in is stored in the following bit patterns.

0 is off, 1 is on, and 2 is flicker B15 B12 B11 B8 B7 B4 B3 B0

1)2)4) 3)5)6)8) 7) 1): RUN 5): BOOT 2): ERROR 6): No used 3): M.RUN 7): No used

4): BAT.ALARM 8): MODE

D9201 State of LED State of CPU-LED

Bit patterns for MODE 0: OFF 1: Green 2: Orange

S(Change status)

APP - 48

APPENDICES

APPENDIX 3 Example Programs

APPENDIX 3.1 Reading M-code

The program example for reading M-code at the completion of positioning start or positioning is shown below. The judgement of the positioning start completion and positioning completion is made with the following signals. Positioning start completion M2400+20n (positioning start complete signal) Positioning completion M2401+20n (positioning complete signal)

[Program Example]

(1) A program that outputs the M-code from PY000 to PY00F to external destination after conversion into BCD code at the positioning start completion is shown below.

#0D150=BCD( D100) DOUT YOC D150

QY40

System configuration Motion SFC program

Q61P

PY000 to PY00F

Q172H CPU

M2401

Positioning start complete flag for axis 1 ON ?

=BCD(D13) UT PY0, #

END

Reading M-code

[G10]

[F10]

Q02H CPU

Read M-code for axis 1, and store to #0 after BCD conversion. Output the data of "#0" to "PY000 to PY00F".

Q172 LX

APP - 49

APPENDICES

APPENDIX 3.2 Reading error code

The program example for reading error code at the error occurrence is shown below. The following signals are used to determine whether or not an error has occurred: Minor errors, major errors . Error detection signal (M2407+20n) Servo errors ... Servo error detection signal (M2408+20n)

POINT

(1) The following delay occurs in the turning off to on of M2407+20n/M2408+20n and storage of the error code. (a) If the PLC program scan time is 80[ms] or less, there will be a delay of up to

80[ms]. (b) If the PLC program scan time is 80[ms] or more, there will be a delay of up

to one scan time. The error code is stored to each error code stprage area after turning on M2407+20n/M2408+20n, and then read the error code.

APP - 50

APPENDICES

[Program Example]

(1) A program that outputs each error code to PY000 to PY00F (minor error), PY010 to PY01F (major error) and PY020 to PY02F (servo error) after conversion into BCD code at the error occurrence with axis 1 is shown below.

QY40

Motion SFC program

Q61P Q172 LX

Q172H CPU

M2407

PY000 to PY00F

D6!=K0

D7!=K0

#0=BCD(D6) DOUT PY0, #0

#0=BCD(D7) DOUT PY10, #0

END

M2408*(D8!=0)

#0=BCD(D8) DOUT PY20, #0

END

#0=K0 Store to "#0". #0=K0

QY40

PY010 to PY01F

QY40

PY020 to PY02F

System configuration

Reading error code

Reading error code (minor error/major error) Reading error code (servo error)

Reading error code

[F10]

[G10]

[G20]

[F20]

[G30]

[F30]

[F10]

[G10]

[F20]

Error detection signal ON for axis 1.

Minor error check for axis 1.

Output to PY000 after converting the minor error code of D6 into BCD code.

Major error check for axis 1.

Output to PY010 after converting the major error of D7 into BCD code.

Store to "#0".

Error detection signal ON for axis 1 and the servo error check for axis 1.

Output to PY020 after converting the servo error code for axis 1 into BCD code.

Q02H CPU

APP - 51

APPENDICES

APPENDIX 4 Setting Range for Indirect Setting Devices

Positioning address, command speed or M-code, etc. (excluding the axis No.) set in the servo program can be set indirectly by the word. (1) Device range

The number of device words and device range at indirect setting are shown below.

Item Number of

device words Device setting range Remarks

Address (travel value) 2 Command speed 2

Dwell time 1 Device Range

M-code 1 D 800 to 8191 Torque limit value 1 W 0000 to 1FFF

C om

m on

Parameter block No. 1 # 0000 to 7999

Auxiliary point 2 Radius 2 Central point 2 A

rc

Pitch 1 Control unit 1 Speed limit value 2 Acceleration time 1 Deceleration time 1 Rapid stop deceleration time 1 Torque limit value 1 STOP input deceleration processing

1

Circular interpolation error allowance range 2

P ar

am et

er b

lo ck

S-curve ratio 1 Program No. 1 Simultaneous start Command speed (Constant speed) 2 FIN acceleration/deceleration 1 Fixed position stop acceleration/deceleration time 1

Repetition condition (Number of repetitions) 1

Repetition condition (ON/OFF)

Cancel

Device Range

Skip X 0000 to 1FFF

WAIT ON/OFF Y 0000 to 1FFF Fixed position stop M/L 0 to 8191

Special relay 9000 to 9255 B 0000 to 1FFF F 0 to 2047

O th

er s

Bit

(Note): Synchronous encoder axis area cannot be set.

POINT Be sure to set even-numbered devices for 2-word setting items. Be sure to set as 32-bit integer type when the data is set in these devices using the Motion SFC programs. (Example : #0L, D0L)

APP - 52

APPENDICES

(2) Inputting device data

Indirect setting device data is inputted by the Motion CPU at the servo program start. Do not change the applicable device before setting to device and start completion. The procedures by start method for setting data to devices and cautions are shown below.

Start method Setting method Notes

Start by the servo program Set data in indirect setting devices.

Start the servo program.

Do not change the indirect setting device before the "positioning start complete signal" of the starting axis turns on.

Set the loop (FOR - NEXT) point data for CPSTART instruction indirectly

Set initial command data in the indirect setting device.

Start using the servo program (or turn the cancel command device on).

Read the value of "data set pointer for constant-speed control" of the start axis, and update the data input by Motion CPU.

Refer to the positioning signal data register "Monitoring data area" for details.

APP - 53

APPENDICES

APPENDIX 5 Processing Times of the Motion CPU

The processing time of each signal and each instruction for positioning control in the Multiple CPU system is shown below. (1) Motion operation cycle [ms] (Default)

Q173HCPU Q172HCPU Number of setting axes (SV22) 1 to 5 6 to 14 15 to 28 29 to 32 1 to 5 6 to 8 Number of setting axes (SV13) 1 to 3 4 to 10 11 to 20 21 to 32 1 to 3 4 to 8 Operation cycle [ms] 0.44 0.88 1.77 3.55 7.11 0.44 0.88 1.77

(2) CPU processing time [ms]

Q173HCPU Q172HCPU Operation cycle 0.44 0.88 1.77 3.55 7.11 0.44 0.88 1.77

"WAIT ON/OFF" + Motion control step

0.8 to 1.0 1.1 to 1.6 2.5 to 3.2 4.3 to 6.0 8.1 to 11.1 0.8 to 1.0 1.1 to 1.6 2.5 to 3.2Servo program start processing time (Note-1) Only Motion

control step 1.0 to 1.6 1.8 to 2.3 3.0 to 3.9 4.8 to 6.6 9.4 to 11.5 1.0 to 1.6 1.8 to 2.3 3.0 to 3.9

Speed change response 0.9 to 1.2 1.2 to 2.0 2.8 to 3.6 4.5 to 5.9 8.5 to 11.0 0.9 to1.2 1.2 to 2.0 2.8 to 3.6 Torque limit value change response

0.4 or less

0.8 or less

1.7 or less

3.5 or less

3.5 or less

0.4 or less

0.8 or less

1.7 or less

Simultaneous start processing time (Note-2)

0.9 to 1.6 1.7 to 2.5 3.5 to 4.2 5.0 to 6.5 8.6 to 12.0 0.9 to 1.6 1.7 to 2.5 3.5 to 4.2

Time from PLC ready flag (M2000) ON to PCPU ready flag (M9074) ON

39 to 433

(Note-1): FEED instruction varies greatly depending on the condition (whether other axes are operating or being stopped). (Note-2): This processing time varies depending on the simultaneous start command. Use this time merely for reference. (Note-3): If the servo amplifiers of 9 axes or more are connected to one SSCNET system, it does not support an operation

cycle of 0.4[ms]. 0.8[ms] is used as the real operation cycle, even if 0.4[ms] is set in the system setting.

APP - 54

APPENDICES

(3) Axis status list

Axis No. Device No. Signal name

1 M2400 to M2419

2 M2420 to M2439

3 M2440 to M2459 Signal name Refresh cycle Fetch cycle Signal direction

4 M2460 to M2479 0 Positioning start complete 5 M2480 to M2499 1 Positioning complete 6 M2500 to M2519 2 In-position 7 M2520 to M2539 3 Command in-position 8 M2540 to M2559 4 Speed controlling 9 M2560 to M2579 5 Speed/position switching latch 10 M2580 to M2599 6 Zero pass

Operation cycle

11 M2600 to M2619 7 Error detection Immediate 12 M2620 to M2639 8 Servo error detection Operation cycle 13 M2640 to M2659 9 Home position return request Main cycle 14 M2660 to M2679 10 Home position return complete Operation cycle 15 M2680 to M2699

11 FLS

16 M2700 to M2719 12 RLS 17 M2720 to M2739 13 STOP 18 M2740 to M2759 14

External signals

DOG/CHANGE

Main cycle

19 M2760 to M2779 15 Servo ready 20 M2780 to M2799 16 Torque limiting

Operation cycle

Status signal

21 M2800 to M2819 17 Unusable 22 M2820 to M2839 23 M2840 to M2859

24 M2860 to M2879

18

Virtual mode continuation operation disable warning signal (SV22) (Note-1)

At virtual mode transition

25 M2880 to M2899 19 M-code outputting signal Operation cycle

Status signal

26 M2900 to M2919 27 M2920 to M2939

28 M2940 to M2959 29 M2960 to M2979

30 M2980 to M2999 31 M3000 to M3019 32 M3020 to M3039

(Note-1): It is unusable in the SV13/SV22 real mode. (Note-2): The range of axis No.1 to 8 is valid in the Q172HCPU. (Note-3): Device area of 9 axes or more is unusable in the Q172HCPU.

APP - 55

APPENDICES

(4) Axis command signal list

Axis No. Device No. Signal name

1 M3200 to M3219

2 M3220 to M3239 3 M3240 to M3259

Signal name Refresh cycle Fetch cycle Signal

direction

4 M3260 to M3279 0 Stop command 5 M3280 to M3299 1 Rapid stop command

Operation cycle

6 M3300 to M3319 2 Forward rotation JOG start command 7 M3320 to M3339 3 Reverse rotation JOG start command 8 M3340 to M3359 4 Complete signal OFF command

Main cycle

9 M3360 to M3379 10 M3380 to M3399

5 Speed/position switching enable command

Operation cycle

Command signal

11 M3400 to M3419 6 Unusable

12 M3420 to M3439 7 Error reset command 13 M3440 to M3459 8 Servo error reset command

Main cycle

14 M3460 to M3479 9 External stop input disable at start

At start

Command signal

15 M3480 to M3499 10 16 M3500 to M3519 11

Unusable 17 M3520 to M3539 18 M3540 to M3559

12 Feed current value update request command

At start

19 M3560 to M3579 20 M3580 to M3599

13 Address clutch reference setting command (SV22 only) (Note-1)

21 M3600 to M3619 22 M3620 to M3639

14 Cam reference position setting command (SV22 only) (Note-1)

At virtual mode transition

23 M3640 to M3659 15 Servo OFF command Operation cycle

24 M3660 to M3679 16 Gain changing command

Operation cycle (Note-4)

Command signal

25 M3680 to M3699 17 Unusable

26 M3700 to M3719 18 Control loop changing command

27 M3720 to M3739

28 M3740 to M3759 19 FIN signal

Operation cycle Command

signal

29 M3760 to M3779 30 M3780 to M3799 31 M3800 to M3819 32 M3820 to M3839

(Note-1): It is unusable in the SV13/SV22 real mode. (Note-2): The range of axis No.1 to 8 is valid in the Q172HCPU. (Note-3): Device area of 9 axes or more is unusable in the Q172HCPU. (Note-4): Operation cycle 7.1[ms] or more: Every 3.5[ms]

APP - 56

APPENDICES

(5) Common device list

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Remark

(Note-5)

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Remark

(Note-5)

M2000 PLC ready flag Main cycle Command

signal (Note-4)

M3072

M2053 Manual pulse generator 3 enable flag

Main cycle Command

signal (Note-4)

M3079

M2001 Axis 1

M2002 Axis 2 M2054 Operation cycle over flag Operation cycle

Status signal

M2003 Axis 3 M2055

M2004 Axis 4 M2056

M2005 Axis 5 M2057

M2006 Axis 6 M2058

M2007 Axis 7 M2059

M2008 Axis 8 M2060

Unusable (6 points)

M2009 Axis 9 M2061 Axis 1

M2010 Axis 10 M2062 Axis 2

M2011 Axis 11 M2063 Axis 3

M2012 Axis 12 M2064 Axis 4

M2013 Axis 13 M2065 Axis 5

M2014 Axis 14 M2066 Axis 6

M2015 Axis 15 M2067 Axis 7

M2016 Axis 16 M2068 Axis 8

M2017 Axis 17 M2069 Axis 9

M2018 Axis 18 M2070 Axis 10

M2019 Axis 19 M2071 Axis 11

M2020 Axis 20 M2072 Axis 12

M2021 Axis 21 M2073 Axis 13

M2022 Axis 22 M2074 Axis 14

M2023 Axis 23 M2075 Axis 15

M2024 Axis 24 M2076 Axis 16

M2025 Axis 25 M2077 Axis 17

M2026 Axis 26 M2078 Axis 18

M2027 Axis 27 M2079 Axis 19

M2028 Axis 28 M2080 Axis 20

M2029 Axis 29 M2081 Axis 21

M2030 Axis 30 M2082 Axis 22

M2031 Axis 31 M2083 Axis 23

M2032 Axis 32

Start accept flag Operation cycle

Status signal

(Note-1), (Note-2)

M2084 Axis 24

M2033 Unusable M2085 Axis 25

M2086 Axis 26 M2034

Personal computer link communication error flag

Operation cycle Status signal

M2087 Axis 27

M2035 Motion SFC error history clear request flag (Note-6)

Main cycle Command

signal M3080 M2088 Axis 28

M2036 M2089 Axis 29

M2037 M2090 Axis 30

M2038

Unusable (3 points)

M2091 Axis 31

M2092 Axis 32

Speed changing flag Operation cycle

Status signal

(Note-1), (Note-2)

M2039 Motion SFC error detection flag

Immediate Status signal

M2093

M2094

M2095M2040 Speed switching point specified flag

At start Command

signal (Note-4)

M3073

M2096

M2097 M2041 System setting error flag Operation cycle

Status signal

M2098

M2042 All axes servo ON command Operation cycle M3074 M2099

M2100

Unusable (8 points)

M2043 Real/virtual mode switching request (SV22)

At virtual mode transition

Command signal

(Note-4) M3075

M2101 Axis 1

M2102 Axis 2 M2044

Real/virtual mode switching status (SV22) M2103 Axis 3

M2104 Axis 4

M2105 Axis 5 M2045 Real/virtual mode switching error detection signal (SV22)

M2106 Axis 6

M2046 Out-of-sync warning (SV22)

At virtual mode transition

M2107 Axis 7

M2108 Axis 8 M2047 Motion slot fault detection flag Operation cycle

Status signal

M2109 Axis 9

M2110 Axis 10

M2111 Axis 11 M2048 JOG operation rsimultaneous start command

Main cycle Command

signal (Note-4)

M3076

M2112 Axis 12

Synchronous encoder current value changing flag (Note-3) (12 axes)

Operation cycle

Status signal

(Note-1), (Note-2)

M2049 All axes servo ON accept flag M2113

M2050 Start buffer full Operation cycle

Status signal

M2114

M2115 M2051

Manual pulse generator 1 enable flag

M3077 M2116

M2117 M2052

Manual pulse generator 2 enable flag

Main cycle Command

signal (Note-4) M3078

M2118

Unusable (6 points)

APP - 57

APPENDICES

Common device list (Continued)

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Remark

(Note-4)

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Remark

(Note-4)

M2119 M2180 Main shaft side

M2120

M2121 M2181

Output axis 11 Auxiliary input

side

M2122 M2182 Main shaft side

M2123

M2124 M2183

Output axis 12

Auxiliary input side

M2125 M2184 Main shaft side

M2126

M2127

Unusable (9 points)

M2185

Output axis 13

Auxiliary input side

M2128 Axis 1 M2186 Main shaft side

M2129 Axis 2

M2130 Axis 3 M2187

Output axis 14

Auxiliary input side

M2131 Axis 4 M2188 Main shaft side

M2132 Axis 5

M2133 Axis 6 M2189

Output axis 15

Auxiliary input side

M2134 Axis 7 M2190 Main shaft side

M2135 Axis 8

M2136 Axis 9 M2191

Output axis 16

Auxiliary input side

M2137 Axis 10 M2192 Main shaft side

M2138 Axis 11

M2139 Axis 12 M2193

Output axis 17

Auxiliary input side

M2140 Axis 13 M2194 Main shaft side

M2141 Axis 14

M2142 Axis 15 M2195

Output axis 18

Auxiliary input side

M2143 Axis 16 M2196 Main shaft side

M2144 Axis 17

M2145 Axis 18 M2197

Output axis 19

Auxiliary input side

M2146 Axis 19 M2198 Main shaft side

M2147 Axis 20

M2148 Axis 21 M2199

Output axis 20

Auxiliary input side

M2149 Axis 22 M2200 Main shaft side

M2150 Axis 23

M2151 Axis 24 M2201

Output axis 21

Auxiliary input side

M2152 Axis 25 M2202 Main shaft side

M2153 Axis 26

M2154 Axis 27 M2203

Output axis 22

Auxiliary input side

M2155 Axis 28 M2204 Main shaft side

M2156 Axis 29

M2157 Axis 30 M2205

Output axis 23

Auxiliary input side

M2158 Axis 31 M2206 Main shaft side

M2159 Axis 32

Automatically deceleration flag

M2160 Main shaft side M2207

Output axis 24

Auxiliary input side

M2208 Main shaft side M2161

Output axis 1

Auxiliary input side

M2162 Main shaft side M2209

Output axis 25

Auxiliary input side

M2210 Main shaft side M2163

Output axis 2

Auxiliary input side

M2164 Main shaft side M2211

Output axis 26

Auxiliary input side

M2212 Main shaft side M2165

Output axis 3

Auxiliary input side

M2166 Main shaft side M2213

Output axis 27

Auxiliary input side

M2214 Main shaft side M2167

Output axis 4

Auxiliary input side

M2168 Main shaft side M2215

Output axis 28

Auxiliary input side

M2216 Main shaft side M2169

Output axis 5

Auxiliary input side

M2170 Main shaft side M2217

Output axis 29

Auxiliary input side

M2218 Main shaft side M2171

Output axis 6

Auxiliary input side

M2172 Main shaft side M2219

Output axis 30

Auxiliary input side

M2220 Main shaft side M2173

Output axis 7

Auxiliary input side

M2174 Main shaft side M2221

Output axis 31

Auxiliary input side

M2222 Main shaft side M2175

Output axis 8

Auxiliary input side

M2176 Main shaft side M2223

Output axis 32

Auxiliary input side

C lu

tc h

st at

us (S

V2 2)

(N ot

e- 3)

Operation cycle

Status signal

(Note-1), (Note-2)

M2224 M2177

Output axis 9

Auxiliary input side M2225

M2178 Main shaft side M2226

M2227 M2179

Output axis 10

Auxiliary input side

C lu

tc h

st at

us (S

V2 2)

(N ot

e- 3)

Operation cycle

Status signal

(Note-1), (Note-2)

M2228

Unusable (5 points)

APP - 58

APPENDICES

Common device list (Continued)

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Remark

(Note-5)

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Remark

(Note-5)

M2229 M2276 Axis 5

M2230 M2277 Axis 6

M2231 M2278 Axis 7

M2232 M2279 Axis 8

M2233 M2280 Axis 9

M2234 M2281 Axis 10

M2235 M2282 Axis 11

M2236 M2283 Axis 12

M2237 M2284 Axis 13

M2238 M2285 Axis 14

M2239

Unusable (11 points)

M2286 Axis 15

M2240 Axis 1 M2287 Axis 16

M2241 Axis 2 M2288 Axis 17

M2242 Axis 3 M2289 Axis 18

M2243 Axis 4 M2290 Axis 19

M2244 Axis 5 M2291 Axis 20

M2245 Axis 6 M2292 Axis 21

M2246 Axis 7 M2293 Axis 22

M2247 Axis 8 M2294 Axis 23

M2248 Axis 9 M2295 Axis 24

M2249 Axis 10 M2296 Axis 25

M2250 Axis 11 M2297 Axis 26

M2251 Axis 12 M2298 Axis 27

M2252 Axis 13 M2299 Axis 28

M2253 Axis 14 M2300 Axis 29

M2254 Axis 15 M2301 Axis 30

M2255 Axis 16 M2302 Axis 31

M2256 Axis 17 M2303 Axis 32

Control loop monitor status

Operation cycle

Status signal

(Note-1), (Note-2)

M2257 Axis 18 M2304

M2258 Axis 19 M2305

M2259 Axis 20 M2306

M2260 Axis 21 M2307

M2261 Axis 22 M2308

M2262 Axis 23 M2309

M2263 Axis 24 M2310

M2264 Axis 25 M2311

M2265 Axis 26 M2312

M2266 Axis 27 M2313

M2267 Axis 28 M2314

M2268 Axis 29 M2315

M2269 Axis 30 M2316

M2270 Axis 31 M2317

M2271 Axis 32

Speed change "0" accepting flag

Operation cycle

Status signal

(Note-1), (Note-2)

M2318

M2272 Axis 1 M2319

Unusable (16 points)

M2273 Axis 2

M2274 Axis 3

M2275 Axis 4

Control loop monitor status

Operation cycle

Status signal

(Note-1), (Note-2)

(Note-1): The range of axis No. 1 to 8 is valid in the Q172HCPU.

(Note-2): Device area of 9 axes or more is unusable in the Q172HCPU.

(Note-3): This signal is unusable in the SV22 real mode.

(Note-4): It can also be ordered the device of a remark column.

(Note-5): M3080 does not turn off automatically. Turn it off as an user side.

APP - 59

APPENDICES

(6) Special relay allocated device list (Status)

Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark (Note)

M2320 Fuse blown detection M9000

M2321 AC/DC DOWN detection M9005

M2322 Battery low M9006

M2323 Battery low latch M9007

M2324 Self-diagnostic error M9008

M2325 Diagnostic error

Error occurrence

M9010

M2326 Always ON M9036

M2327 Always OFF

Main operation M9037

M2328 Clock data error M9026

M2329 PCPU WDT error flag

Error occurrence M9073

M2330 PCPU READY complete flag M9074

M2331 Test mode ON flag At request

M9075

M2332 External forced stop input flag Operation

cycle M9076

M2333 Manual pulse generator axis setting error flag

M9077

M2334 TEST mode request error flag M9078

M2335 Servo program setting error flag

Error occurrence

M9079

M2336 CPU No.1 reset flag M9240

M2337 CPU No.2 reset flag M9241

M2338 CPU No.3 reset flag M9242

M2339 CPU No.4 reset flag M9243

M2340 CPU No.1 error flag M9244

M2341 CPU No.2 error flag M9245

M2342 CPU No.3 error flag M9246

M2343 CPU No.4 error flag

At status change

Status signal

M9247

M2344 Unusable

M2345 CPU No.1 MULTR complete flag M9216

M2346 CPU No.2 MULTR complete flag M9217

M2347 CPU No.3 MULTR complete flag M9218

M2348 CPU No.4 MULTR complete flag

At instruction completion

Status signal

M9219

M2349

to

M2399

Unusable (51 points)

(Note): The same status as a remark column is output.

APP - 60

APPENDICES

(7) Common device list (Command signal)

Device No.

Signal name Refresh cycle Fetch cycle Signal direction Remark

(Note-1), (Note-2)

M3072 PLC ready flag Main cycle M2000

M3073 Speed switching point designation flag At start M2040

M3074 All axes servo ON command Operation

cycle M2042

M3075 Real/virtual mode change request (SV22) At virtual

mode transition

M2043

M3076 JOG operation simultaneous start command

M2048

M3077 Manual pulse generator 1 enable flag M2051

M3078 Manual pulse generator 2 enable flag M2052

M3079 Manual pulse generator 3 enable flag M2053

M3080 Motion SFC error history clear request flag (Note-3)

Main cycle

Command signal

M2035

M3081

to

M3135

Unusable (55 points)

(Note-1): The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column turns OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks column is turned on directly. In addition, when the request from a data register and the request from the above device are performed simultaneously, the request from the above device becomes effective.

(Note-2): It can also be ordered the device of a remark column. (Note-3): M3080 does not turn off automatically. Turn it off as an user side.

(8) Special relay allocated device list (Command signal)

Device No.

Signal name Refresh cycle Fetch cycle Signal direction Remark

(Note-1), (Note-2) M3136 Clock data set request M9025

M3137 Clock data read request M9028

M3138 Error reset

Main cycle Command signal

M9060

M3139

to

M3199

Unusable (61 points)

(Note-1): The device of a remarks column turns ON by OFF to ON of the above device, and the device of a remarks column turns OFF by ON to OFF of the above device. The state of a device is not in agreement when the device of a remarks column is turned on directly.

(Note-2): It can also be ordered the device of a remark column.

APP - 61

APPENDICES

(9) 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

direction

4 D60 to D79 0 5 D80 to D99 1

Feed current value

6 D100 to D119 2 7 D120 to D139 3

Real current value

Command

unit

8 D140 to D159 4 9 D160 to D179 5

Deviation counter value

Operation cycle

PLS

10 D180 to D199 6 Minor error code 11 D200 to D219 7 Major error code

Immediate

12 D220 to D239 8 Servo error code Main cycle

13 D240 to D259 14 D260 to D279

9 Home position return re-travel value

PLS

15 D280 to D299 10 16 D300 to D319 11

Travel value after proximity dog ON

Operation cycle Command

unit 17 D320 to D339 12 Execute program No. At start 18 D340 to D359 13 M-code 19 D360 to D379 14 Torque limit value

Operation cycle %

20 D380 to D399 21 D400 to D419

15 Data set pointer for constant-speed control

At start/during start

Monitor device

22 D420 to D439 16 23 D440 to D459 17

Travel value change register

Operation cycle Command

device 24 D460 to D479 18 25 D480 to D499 19

Real current value at stop input

Operation cycle

Command

unit Monitor device

26 D500 to D519 27 D520 to D539 28 D540 to D559 29 D560 to D579 30 D580 to D599 31 D600 to D619 32 D620 to D639

(Note-1): The range of axis No.1 to 8 is valid in the Q172HCPU. (Note-2): Device area of 9 axes or more is unusable in the Q172HCPU.

APP - 62

APPENDICES

(10) Control change register list

Axis No.

Device No. Signal name

1 D640, D641

2 D642, D643 3 D644, D645

Signal name Refresh cycle Fetch cycle Unit Signal

direction

4 D646, D647 0 5 D648, D649 1

JOG speed setting At start Command

unit Command

device

6 D650, D651 7 D652, D653 8 D654, D655 9 D656, D657 10 D658, D659 11 D660, D661 12 D662, D663 13 D664, D665 14 D666, D667 15 D668, D669 16 D670, D671 17 D672, D673 18 D674, D675 19 D676, D677 20 D678, D679 21 D680, D681 22 D682, D683 23 D684, D685 24 D686, D687 25 D688, D689 26 D690, D691 27 D692, D693 28 D694, D695 29 D696, D697 30 D698, D699 31 D700, D701 32 D702, D703

(Note-1): The range of axis No.1 to 8 is valid in the Q172HCPU. (Note-2): Device area of 9 axes or more is unusable in the Q172HCPU.

APP - 63

APPENDICES

(11) Common device list

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

Device

No. Signal name Refresh cycle Fetch cycle

Signal

direction

D704 PLC ready flag request D752

Manual pulse generator 1 smoothing magnification setting register

D705 Speed switching point specified flag request D753

Manual pulse generator 2 smoothing magnification setting register

D706 All axes servo ON command request D754

Manual pulse generator 3 smoothing magnification setting register

At the manual pulse

generator enable flag

D707 Real/virtual mode switching request (SV22) D755

Manual pulse generator 1 enable flag request

D708 JOG operation simultaneous start command request

Main cycle Command

device

D756 Manual pulse generator 2 enable flag request

D709 Unusable D757 Manual pulse generator 3 enable flag request

Main cycle

Command device

D710 D758 Unusable

D711 D759 PCPU ready complete flag status Main cycle

Monitor device

D712 D760

D713

JOG operation simultaneous start axis setting register At start

D761

D714 D762

D715

Manual pulse generator axis 1 No. setting register

D763

D716 D764

D717

Manual pulse generator axis 2 No. setting register

D765

D718 D766

D719

Manual pulse generator axis 3 No. setting register

D767

D720 Axis 1 D768

D721 Axis 2 D769

D722 Axis 3 D770

D723 Axis 4 D771

D724 Axis 5 D772

D725 Axis 6 D773

D726 Axis 7 D774

D727 Axis 8 D775

D728 Axis 9 D776

D729 Axis 10 D777

D730 Axis 11 D778

D731 Axis 12 D779

D732 Axis 13 D780

D733 Axis 14 D781

D734 Axis 15 D782

D735 Axis 16 D783

D736 Axis 17 D784

D737 Axis 18 D785

D738 Axis 19 D786

D739 Axis 20 D787

D740 Axis 21 D788

D741 Axis 22 D789

Unusable (30 points)

D742 Axis 23 D790

D743 Axis 24 D791

Real mode axis information register (SV22) (Note-1)

Main cycle Monitor device

D744 Axis 25 D792

D745 Axis 26 D793

D746 Axis 27 D794

D747 Axis 28 D795

D748 Axis 29 D796

D749 Axis 30 D797

D750 Axis 31 D798

D751 Axis 32

Manual pulse generators 1 pulse input magnification setting register (Note-2), (Note-3)

At the manual pulse

generator enable flag

Command device

D799

Unusable (8 points)

(Note-1): This signal is unusable in the SV13/SV22 real mode. (Note-2): The range of axis No.1 to 8 is valid in the Q172HCPU. (Note-3): Device area of 9 axes or more is unusable in the Q172HCPU.

APP - 64

APPENDICES

(12) Motion register list (#)

Axis No.

Device No. Signal name

1 #8064 to #8067

2 #8068 to #8071

3 #8072 to #8075

4 #8076 to #8079

Signal name

(Note-1) Signal description Refresh cycle

Signal direction

5 #8080 to #8083

6 #8084 to #8087

7 #8088 to #8091

8 #8092 to #8095

9 #8096 to #8099

+0 Servo amplifier type

0 : Unused 256 : MR-J3-B 257 : MR-J3-B (Fully closed

loop control) 258 : MR-J3-B (Linear)

When the servo amplifier power-on

10 #8100 to #8103 +1 Motor current 0.1[%] 11 #8104 to #8107

+2

12 #8108 to #8111 +3 Motor speed 0.1[r/min]

Operation cycle 1.7[ms] or less: Operation cycle Operation cycle 3.5[ms] or more: 3.5[ms]

Monitor devise

13 #8112 to #8115 14 #8116 to #8119

(Note-1) : The value that the lowest servo monitor device No. was added "+0, +1 " on each axis is shown.

15 #8120 to #8123 16 #8124 to #8127 17 #8128 to #8131 18 #8132 to #8135 19 #8136 to #8139 20 #8140 to #8143 21 #8144 to #8147 22 #8148 to #8151 23 #8152 to #8155 24 #8156 to #8159 25 #8160 to #8163 26 #8164 to #8167 27 #8168 to #8171 28 #8172 to #8175 29 #8176 to #8179 30 #8180 to #8183 31 #8184 to #8187 32 #8188 to #8191

APP - 65

APPENDICES

(13) Special relay list

Device No. Signal name Refresh cycle Signal type

M9073 PCPU WDT error flag M9074 PCPU REDAY complete flag M9075 TEST mode ON flag M9076 External forced stop input flag M9077 Manual pulse generator axis setting error flag M9078 TEST mode request error flag M9079 Servo program setting error flag

Main cycle Status signal

(14) Special register list

Device No. Signal name Refresh cycle Fetch cycle Signal direction

D9112 Connect/disconnect Main cycle Main cycle Command device/

Monitor device D9180

D9181 Unusable

D9182 D9183

Test mode request error information At test mode request

D9184 Motion CPU WDT error cause At Motion CPU WDT error

occurrence D9185 D9186 D9187

Manual pulse generator axis setting error information

At the manual pulse generator enable flag

D9188 Motion operation cycle Operation cycle D9189 Error program No. D9190 Error item information

At start

D9191 D9192

Servo amplifier loading information At power supply on/

operation cycle

D9193 D9194 D9195

Real/virtual mode switching error information (SV22)

At virtual mode transition

D9196 PC link communication error codes Operation cycle D9197 Operation cycle of the Motion CPU setting At power supply on

Monitor device

D9198 D9199

Unusable

D9200 State of switch Main cycle D9201 State of LED Immediate

Monitor device

WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range

If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company. However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be solely at the customer's discretion. Mitsubishi shall not be held responsible for any re-commissioning, maintenance, or testing on-site that involves replacement of the failed module.

[Gratis Warranty Term]

Note that an installation period of less than one year after installation in your company or your customers premises or a period of less than 18 months (counted from the date of production) after shipment from our company, whichever is shorter, is selected.

[Gratis Warranty Range] (1) Diagnosis of failure

As a general rule, diagnosis of failure is done on site by the customer. However, Mitsubishi or Mitsubishi service network can perform this service for an agreed upon fee upon the customers request. There will be no charges if the cause of the breakdown is found to be the fault of Mitsubishi.

(2) Breakdown repairs

There will be a charge for breakdown repairs, exchange replacements and on site visits for the following four conditions, otherwise there will be a charge. 1) Breakdowns due to improper storage, handling, careless accident, software or hardware design by the

customer 2) Breakdowns due to modifications of the product without the consent of the manufacturer 3) Breakdowns resulting from using the product outside the specified specifications of the product 4) Breakdowns that are outside the terms of warranty

Since the above services are limited to Japan, diagnosis of failures, etc. are not performed abroad. If you desire the after service abroad, please register with Mitsubishi. For details, consult us in advance.

2. Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability

Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; opportunity loss or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other than Mitsubishi products; and to other duties.

3. Onerous Repair Term after Discontinuation of Production

Mitsubishi shall accept onerous product repairs for seven years after production of the product is discontinued. 4. Delivery Term

In regard to the standard product, Mitsubishi shall deliver the standard product without application settings or adjustments to the customer and Mitsubishi is not liable for on site adjustment or test run of the product.

5. Precautions for Choosing the Products

(1) These products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life.

(2) Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine, passenger movement vehicles or under water relays, contact Mitsubishi.

(3) These products have been manufactured under strict quality control. However, when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system.

(4) When exporting any of the products or related technologies described in this catalogue, you must obtain an export license if it is subject to Japanese Export Control Law.

IB(NA)-030011

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