Contents

Mitsubishi A172SHCPU Controller Programming Manual PDF

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Summary of Content for Mitsubishi A172SHCPU Controller Programming Manual PDF

MOTION CONTROLLER (SV22)

(VIRTUAL MODE) Programming Manual

type A172SHCPU,A171SHCPU

MITSUBISHI ELECTRIC

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I

INTORODUCTION

Thank you for purchasing the Mitsubishi Motion Controller/Personal Machine Controller. This instruction manual describes the handing and precautions of this unit. Incorrect handling will lead to unforeseen events, so we ask that you please read this manual thoroughly and use the unit correctly. Please make sure that this manual is delivered to the final user of the unit and that it is stored for future reference.

Precautions for Safety

Please read this instruction manual and enclosed documents before starting installation, operation, maintenance or inspections to ensure correct usage. Thoroughly understand the machine, safety information and precautions before starting operation. The safety precautions are ranked as "Warning" and "Caution" in this instruction manual.

WARNING When a dangerous situation may occur if handling is mistaken leading to fatal or major injuries.

CAUTION When a dangerous situation may occur if handling is mistaken leading to medium or minor injuries, or physical damage.

Note that some items described as cautions may lead to major results depending on the situation. In any case, important information that must be observed is described.

II

For Sate Operations

1. Prevention of electric shocks

WARNING

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 control unit 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.

Always ground the control unit, servo amplifier and servomotor with Class 3 grounding.

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 control unit, 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 control unit, servo amplifier or servomotor terminal blocks while the power is ON, as this may lead to electric shocks.

Do not touch the internal power supply, internal grounding or signal wires of the control unit and servo amplifier, as this may lead to electric shocks.

2. For fire prevention

CAUTION

Install the control unit, servo amplifier, servomotor and regenerative resistor on inflammable material. Direct installation on flammable material or near flammable material may lead to fires.

If a fault occurs in the control unit or servo amplifier, shut the power OFF at the servo amplifiers power source. If a large current continues to flow, fires 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 fires.

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 fires.

III

3. For injury prevention

CAUTION

Do not apply a voltage other than that specified in A172SHCPU user's manual/A171SHCPU user's manual, or the instruction manual for the product you are using on any terminal. Doing so may lead to destruction or damage. Do not mistake the polarity (+/), as this may lead to destruction or damage. The servo amplifier's heat radiating fins, regenerative resistor and servo amplifier, etc., will be hot while the power is ON and for a short time after the power is turned OFF. Do not touch these parts as doing so 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 control unit and servo amplifier power source. If installation of a magnetic contactor for power shut off during an error, etc., is specified in the instruction manual for the servo amplifier, etc., always install the magnetic contactor. Install an external emergency stop circuit so that the operation can be stopped immediately and the power shut off. Use the control unit, servo amplifier, servomotor and regenerative resistor with the combinations listed in A172SHCPU user's manual/A171SHCPU user's manual, or the instruction manual for the product you are using. Other combinations may lead to fires or faults. If safety standards (ex., robot safety rules, etc.,) apply to the system using the control unit, servo amplifier and servomotor, make sure that the safety standards are satisfied. If the operation during a control unit or servo amplifier error and the safety direction operation of the control unit differ, construct a countermeasure circuit externally of the control unit and servo amplifier. In systems where coasting of the servomotor will be a problem during emergency stop, servo OFF or when the power is shut 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 emergency stop, servo OFF or when the power is shut OFF, use both dynamic brakes and magnetic brakes. The dynamic brakes must be used only during emergency stop and errors where servo OFF occurs. These brakes must not be used for normal braking. The brakes (magnetic brakes) assembled into the servomotor are for holding applications, and must not be used for normal braking. Construct the system so that there is a mechanical allowance allowing stopping even if the stroke end limit 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.

IV

CAUTION

Use wires and cables within the length of the range described in A172SHCPU user's manual/A171SHCPU user's manual, or the instruction manual for the product you are using .

The ratings and characteristics of the system parts (other than control unit, servo amplifier, servomotor) must be compatible with the control unit, 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 magnetic 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 control unit, 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 unit. 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.

Set the sequence function program capacity setting, device capacity, latch validity range, I/O assigment 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 unit's instruction manual for the program corresponding to the special function unit.

V

(3) Transportation and installation

CAUTION

Transport the product with the correct method according to the weight.

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 control unit or servo amplifier, never hold the connected wires or cables.

When transporting the servomotor, never hold the cabled, shaft or detector.

When transporting the control unit or servo amplifier, never hold the front case as it may fall off.

When transporting, installing or removing the control unit or servo amplifier, never hold the edges.

Install the unit according to A172SHCPU user's manual/A171SHCPU user's manual, or the instruction manual for the product you are using in a place where the weight 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 control unit or servo amplifier and control panel inner surface or the control unit and servo amplifier, control unit or servo amplifier and other devices.

Do not installer operate control units, 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 control unit, servo amplifier or servomotor.

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

Securely fix the control unit and servo amplifier to the machine according to A172SHCPU user's manual/A171SHCPU user's manual, or the instruction manual for the product you are using. 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

Control unit/Servo Amplifier Servo Motor

Ambient temperature

0C to +55C (With no freezing)

0C to +40C (With no freezing)

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

Atmosphere Indoors (where not subject to direct sunlight).

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

Altitude 1000 m (305 Feet) or less above sea level

Vibration According to each instruction manual

VI

CAUTION

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 unit for a long time, disconnect the power line from the control unit or servo amplifier.

Place the control unit and servo amplifier in static electricity preventing vinyl bags and store.

When storing for a long time, contact the Service Center or Service Station.

(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 sequence ex- pansion 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.

If the absolute positioning system is used, home position return is required after initial start up or after replacement of a controller or absolute positioning compatible motor.

VII

(6) Usage methods

CAUTION

Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the control unit, 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 magnetic obstacles to a minimum by installing a noise filter or by using wire shields, etc. Magnetic obstacles may affect the electronic devices used near the control unit or servo amplifier. Use the units with the following conditions.

Item Conditions Input power According to A172SHCPU/A171SHCPU specifications Input frequency According to A172SHCPU/A171SHCPU specifications Tolerable momentary power failure

According to A172SHCPU/A171SHCPU specifications

(7) Remedies for errors

CAUTION

If an error occurs in the self diagnosis of the control unit or servo amplifier, confirm the check details according to this manual or 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 magnetic brakes or install a brake mechanism externally. Use a double circuit construction so that the magnetic brake operation circuit can be operated by emergency stop signals set externally. If an error occurs, remove the cause, secure the safety and then resume operation. 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.)

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

Servo motor

Magnetic brakes

RA1 EMG

24VDC

Shut off with the emergency stop signal(EMG).

(8) Maintenance, inspection and part replacement

CAUTION

Perform the daily and periodic inspections according to A172SHCPU user's manual/ A171SHCPU user's manual, or the instruction manual for the product you are using. Perform maintenance and inspection after backing up the program and parameters for the control unit 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 A172SHCPU user's manual/A171SHCPU user's manual, or the instruction manual for the product you are using.

VIII

CAUTION

Do not touch the lead sections such as ICs or the connector contacts.

Do not place the control unit 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 mugger test (insulation resistance measurement) during inspection.

When replacing the control unit or servo amplifier, always set the new unit settings correctly.

To prevent positional displacements after a controller or absolute positioning compatible motor is replaced, use one of the following methods to conduct home position return.

1) PC write the servo data with the peripheral device, turn the power OFF and back ON, then conduct home position return.

2) Use the peripheral device back-up functions to 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 control unit or servo amplifier.

The electrolytic capacitor and fan will deteriorate. Periodically change these to prevent secondary damage from faults. Replacements can be made by the Service Center or Service Station.

(9) Disposal

CAUTION

Dispose of this unit as general industrial waste.

Do not disassemble the control unit, servo amplifier or servomotor parts.

Dispose of the battery according to local laws and regulations.

(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 this manual.

Revisions

*The manual number is given on the bottom left of the back cover.

Print Date *Manual Number Revision

Apr.,1998 IB(NA)-67397-B First edition

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.

1998 Mitsubishi Electric Corporation

I

CONTENTS

1. GENERAL DESCRIPTION ....................................................................................................... 1- 1 to 1- 9

1.1 General Comparison Between A172SHA171SHA171S(S3) ....................................................... 1- 3

1.2 System Configuration........................................................................................................................ 1- 4

1.2.1 A172SHCPU System overall configuration ................................................................................ 1- 4

1.2.2 A171SHCPU System overall configuration ................................................................................ 1- 5

1.2.3 System configuration precautions .............................................................................................. 1- 6

1.3 Summary of REAL and VIRTUAL Modes ......................................................................................... 1- 8

2. PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL........................................... 2- 1 to 2- 8

2.1 System Start-Up............................................................................................................................... 2- 1

2.2 Operation.......................................................................................................................................... 2- 4

2.2.1 Operation with incremental system ........................................................................................... 2- 4

2.2.2 Operation with an absolute (absolute position) system ............................................................. 2- 5

2.3 Differences Between the REAL and VIRTUAL Modes..................................................................... 2- 6

2.3.1 Positioning data ......................................................................................................................... 2- 6

2.3.2 Positioning device...................................................................................................................... 2- 6

2.3.3 Servo program........................................................................................................................... 2- 7

2.3.4 Control change (present value change & speed change) ......................................................... 2- 8

3. PERFORMANCE SPECIFICATIONS ....................................................................................... 3- 1 to 3- 2

4. SERVO SYSTEM CPU DEVICES .......................................................................................... 4- 1 to 4- 35

4.1 Internal Relays ................................................................................................................................. 4- 1

4.1.1 Internal relay list......................................................................................................................... 4- 1

4.1.2 Each axis status ........................................................................................................................ 4- 3

4.1.3 Command signals of each axis ................................................................................................. 4- 3

4.1.4 Virtual servo motor axis status .................................................................................................. 4- 4

4.1.5 Virtual servo motor axis command signals................................................................................ 4- 4

4.1.6 Synchronous encoder axis status.............................................................................................. 4- 5

4.1.7 Synchronous encoder axis command signals ........................................................................... 4- 5

4.1.8 Common devices....................................................................................................................... 4- 6

4.2 Data Registers ................................................................................................................................ 4-16

4.2.1 Data register list........................................................................................................................ 4-16

4.2.2 Monitor devices of each axis .................................................................................................... 4-18

4.2.3 Control change registers .......................................................................................................... 4-18

4.2.4 Virtual servo motor axis monitor devices.................................................................................. 4-19

4.2.5 Virtual servo motor axis main shaft differential gear present value.......................................... 4-19

4.2.6 Synchronous encoder axis monitor devices............................................................................. 4-20

4.2.7 Synchronous encoder axis main shaft differential gear present value ..................................... 4-20

4.2.8 Cam axis monitor devices ........................................................................................................ 4-20

4.2.9 Common devices...................................................................................................................... 4-21

4.3 Special Relays/Special Registers List ............................................................................................. 4-25

4.3.1 Special relays ........................................................................................................................... 4-25

4.3.2 Special registers ....................................................................................................................... 4-27

II

5. MECHANICAL SYSTEM PROGRAM....................................................................................... 5- 1 to 5- 5

5.1 Mechanical Module Connection Diagram ........................................................................................ 5- 2

(1) Block ........................................................................................................................................ 5- 3

(2) System ..................................................................................................................................... 5- 3

(3) Transmission module connections .......................................................................................... 5- 3

5.2 Mechanical Module List.................................................................................................................... 5- 4

6. DRIVE MODULE.......................................................................................................................6- 1 to 6-37

6.1 Virtual Servo Motor........................................................................................................................... 6- 1

6.1.1 Virtual servo motor operation .................................................................................................... 6- 1

(1) START procedure ............................................................................................................. 6- 1

(2) Procedure for stopping before completion ........................................................................ 6- 3

(3) Control items ..................................................................................................................... 6- 3

(4) Control change .................................................................................................................. 6- 3

(5) Operation mode when error occurs................................................................................... 6- 4

(6) Virtual servo motor axis continuous operation .................................................................. 6- 5

(7) Reverse return during positioning ..................................................................................... 6- 5

6.1.2 Parameter list ............................................................................................................................ 6- 8

(1) Virtual axis No. setting....................................................................................................... 6- 8

(2) Stroke limit UPPER/LOWER limit settings........................................................................ 6- 8

(3) Command in-position range ............................................................................................. 6-10

(4) JOG speed limit and parameter block settings ................................................................ 6-10

6.1.3 Virtual servo motor axis devices (internal relays, data registers) ............................................. 6-11

(1) Virtual servo motor axis status ......................................................................................... 6-11

(2) Virtual servo motor axis command signals....................................................................... 6-16

(3) Virtual servo motor axis monitor device ........................................................................... 6-21

(4) Virtual servo motor axis main shaft differential gear present value.................................. 6-23

6.2 Synchronous Encoder ..................................................................................................................... 6-24

6.2.1 Synchronous encoder operation............................................................................................... 6-24

(1) Operation START............................................................................................................. 6-24

(2) Operation END ................................................................................................................. 6-25

(3) STOP procedure .............................................................................................................. 6-26

(4) Contral items .................................................................................................................... 6-26

(5) Control change ................................................................................................................. 6-26

(6) Operation mode when error occurs.................................................................................. 6-27

6.2.2 Parameter list ........................................................................................................................... 6-28

6.2.3 Synchronous encoder axis device (internal relay, data register) .............................................. 6-29

(1) Synchronous encoder axis device.................................................................................... 6-29

(2) Synchronous encoder axis command signal.................................................................... 6-30

(3) Synchronous encoder axis monitor device....................................................................... 6-31

(4) Synchronous encoder axis main shaft differential gear present value............................. 6-32

6.3 Virtual Servo Motor / Synchronous Encoder Control Change......................................................... 6-33

6.3.1 Virtual servo motor control change........................................................................................... 6-33

(1) Control change registers .................................................................................................. 6-33

(2) Present value change....................................................................................................... 6-34

III

6.3.2 Synchronous encoder control change ...................................................................................... 6-35

(1) Present value change by the CHGA instruction ............................................................... 6-35

(2) Present value change by the DSFLP instruction .............................................................. 6-36

7. TRANSMISSION MODULE ..................................................................................................... 7- 1 to 7-24

7.1 Gear ................................................................................................................................................. 7- 3

7.1.1 Gear operation........................................................................................................................... 7- 3

7.1.2 Parameters ................................................................................................................................ 7- 3

(1) Gear ratio .......................................................................................................................... 7- 4

(2) Direction of rotation of output shaft ................................................................................... 7- 4

7.2 Clutch ............................................................................................................................................... 7- 5

7.2.1 Explanation of clutch operation ................................................................................................. 7- 9

(1) ON/OFF mode................................................................................................................... 7- 9

(2) Address mode .................................................................................................................. 7-10

(3) External input mode ......................................................................................................... 7-13

7.2.2 Parameters ............................................................................................................................... 7-17

(1) Control mode.................................................................................................................... 7-17

(2) Mode setting device

(set only when using ON/OFF mode and address mode in conjunction; 1 word) ........... 7-18

(3) Clutch ON/OFF command device .................................................................................... 7-18

(4) Clutch ON/OFF address setting device

(can only be set when the ON/OFF mode and address mode are used in conjuction; 2 words

for each mode) .............................................................................................................. 7-19

(5) Smoothing method ........................................................................................................... 7-19

(6) Smoothing time constant.................................................................................................. 7-19

(7) Amount of slip setting device (2 words) ........................................................................... 7-19

7.3 Speed Change Gear ....................................................................................................................... 7-20

7.3.1 Operation.................................................................................................................................. 7-20

7.3.2 Parameter list ........................................................................................................................... 7-21

(1) Speed change gear ratio upper limit value/lower limit value ............................................ 7-21

(2) Speed change gear ratio setting device ........................................................................... 7-22

(3) Smoothing time constant.................................................................................................. 7-22

7.4 Differential Gear .............................................................................................................................. 7-23

7.4.1 Operation.................................................................................................................................. 7-23

(1) When the input shaft clutch is engaged ........................................................................... 7-23

(2) When the input shaft clutch is disengaged....................................................................... 7-23

(3) When the differential gear is used to connect to the virtual main shaft............................ 7-24

7.4.2 Parameters (setting not necessary) ......................................................................................... 7-24

8. OUTPUT MODULES ............................................................................................................... 8- 1 to 8-50

8.1 Rollers .............................................................................................................................................. 8- 4

8.1.1 Roller operation ......................................................................................................................... 8- 4

(1) Operation........................................................................................................................... 8- 4

(2) Control details.................................................................................................................... 8- 4

IV

8.1.2 Parameter list ............................................................................................................................ 8- 5

(1) Unit setting......................................................................................................................... 8- 5

(2) Roller diameter (L) / Number of pulses per roller revolution(NL)....................................... 8- 5

(3) Permissible droop pulse value .......................................................................................... 8- 6

(4) Speed control limit (VL) ..................................................................................................... 8- 6

(5) Torque limit value setting device (1 word)......................................................................... 8- 6

(6) Comment........................................................................................................................... 8- 6

8.2 Ball Screws....................................................................................................................................... 8- 7

8.2.1 Ball screw operation .................................................................................................................. 8- 7

(1) Operation........................................................................................................................... 8- 7

(2) Control details.................................................................................................................... 8- 7

8.2.2 Parameter list ............................................................................................................................ 8- 8

(1) Unit setting......................................................................................................................... 8- 8

(2) Ball screw pitch (P) / Number of pulses per ball screw revolution (NP)............................. 8- 8

(3) Permissible droop pulse value .......................................................................................... 8- 9

(4) Stroke limit upper limit value/lower limit value................................................................... 8- 9

(5) Speed limit value (VL)........................................................................................................ 8- 9

(6) Limit switch output............................................................................................................. 8- 9

(7) Torque limit value setting device (1 word)........................................................................ 8-10

(8) Comment.......................................................................................................................... 8-10

8.3 Rotary Tables .................................................................................................................................. 8-11

8.3.1 Rotary table operation .............................................................................................................. 8-11

(1) Operation.......................................................................................................................... 8-11

(2) Control details................................................................................................................... 8-11

8.3.2 Parameter list ........................................................................................................................... 8-12

(1) Number of pulses per rotary table revolution (ND) ........................................................... 8-12

(2) Permissible droop pulse value ......................................................................................... 8-12

(3) Stroke limit upper limit value/lower limit value.................................................................. 8-12

(4) Speed limit value (VL) ....................................................................................................... 8-13

(5) Limit switch output............................................................................................................ 8-13

(6) Torque limit value setting device (1 word)........................................................................ 8-13

(7) Comment.......................................................................................................................... 8-13

(8) Virtual axis present value in one revolution storage device

(main shaft side)(2 words) ................................................................................................ 8-14

(9) Virtual axis present value in one revolution storage device

(auxiliary input shaft side)(2 words) .................................................................................. 8-16

8.4 Cams............................................................................................................................................... 8-18

8.4.1 Cam operation .......................................................................................................................... 8-19

(1) Procedure for switching from the REAL mode to the VIRTUAL mode............................. 8-19

(2) Processing on switching from the REAL mode to the VIRTUAL mode............................ 8-19

(3) Operation.......................................................................................................................... 8-19

(4) Switching the stroke and cam No. during operation......................................................... 8-20

(5) Control details................................................................................................................... 8-21

(6) Changing control .............................................................................................................. 8-22

(7) Example sequence program ............................................................................................ 8-22

V

8.4.2 Settings when creating cam data ............................................................................................. 8-23

(1) Cam No. ........................................................................................................................... 8-23

(2) Resolution......................................................................................................................... 8-23

(3) Stroke/cam No. change point ........................................................................................... 8-23

(4) Control mode.................................................................................................................... 8-24

(5) Cam data table ................................................................................................................. 8-25

8.4.3 Parameter list ........................................................................................................................... 8-26

(1) Number of pulses per cam shaft revolution (NC) ............................................................. 8-26

(2) Used cam No.................................................................................................................... 8-26

(3) Cam No. setting device (1 word) ...................................................................................... 8-27

(4) Permissible droop pulse value ......................................................................................... 8-27

(5) Unit setting........................................................................................................................ 8-27

(6) Stroke setting device (2 words) ........................................................................................ 8-27

(7) Limit switch output............................................................................................................ 8-28

(8) Torque limit setting device (1 word) ................................................................................. 8-28

(9) Comment.......................................................................................................................... 8-29

(10) Stroke lower limit value storage device .......................................................................... 8-29

(11) Virtual axis present value in one revolution storage device

(main shaft side)(2 words).............................................................................................. 8-29

(12) Virtual axis present value in one revolution storage device

(auxiliary input shaft side)(2 words)................................................................................ 8-32

8.4.4 Cam curve list........................................................................................................................... 8-34

(1) Cam curve characteristics................................................................................................ 8-34

(2) Free-form curve................................................................................................................ 8-34

8.4.5 Creation of cam data by user ................................................................................................... 8-34

8.4.6 Limit switch outputs in present value mode & present value in 1 cam revolution mode .......... 8-35

(1) Limit switch outputs in present value mode...................................................................... 8-35

(2) Limit switch outputs in 1 cam shaft revolution present value ........................................... 8-36

8.4.7 Limit switch output data in present value within 1 cam revolution mode.................................. 8-38

8.5 Common Devices (Input/Output, Internal Relays, Data Registers) ................................................ 8-39

8.5.1 Internal relays (M)..................................................................................................................... 8-39

(1) Internal relay (M) list ......................................................................................................... 8-39

(2) Internal relay (M) details ................................................................................................... 8-41

8.5.2 Data registers (D) ..................................................................................................................... 8-48

(1) Data register (D) list ......................................................................................................... 8-48

(2) Data register (D) details ................................................................................................... 8-49

9. REAL & VIRTUAL MODE SWITCHING AND STOP/RESTART ............................................ 9- 1 to 9-10

9.1 Switching from the REAL to VIRTUAL Mode ................................................................................... 9- 1

9.2 Switching from the VIRTUAL to REAL Mode ................................................................................... 9- 5

9.2.1 VIRTUAL to REAL mode switching by user .............................................................................. 9- 5

9.2.2 VIRTUAL to REAL mode switching by OS ................................................................................ 9- 5

9.3 Precautions When Switching between REAL and VIRTUAL Modes ............................................... 9- 6

9.4 STOP & RESTART .......................................................................................................................... 9- 8

VI

10. AUXILIARY / APPLIED FUNCTIONS..................................................................................10- 1 to 10- 6

10.1 Present Value Change / Speed Change ....................................................................................... 10- 1

10.1.1 Present value change by CHGA instruction and speed change by CHGV instruction ........... 10- 1

10.1.2 Present value & speed changes by DSFLP instruction .......................................................... 10- 3

10.2 Improved Present Value Management.......................................................................................... 10- 5

11. ERROR CODES STORED AT THE PCPU ........................................................................11- 1 to 11-29

11.1 Related Systems & Error Processing............................................................................................ 11- 4

11.2 Servo Program Setting Errors ....................................................................................................... 11- 5

11.3 Drive Module Errors ...................................................................................................................... 11- 8

11.4 Servo Errors ................................................................................................................................. 11-11

11.5 Output Module Errors................................................................................................................... 11-22

11.6 Error At REAL VIRTUAL Mode Switching ............................................................................... 11-28

APPENDICES ..................................................................................................................... APP- 1 to APP-18

APPENDIX 1 Cam Curves ................................................................................................................... APP- 1

APPENDIX 2 Processing Time List...................................................................................................... APP- 5

APPENDIX 3 Setting Range of Indirect Setting Devices..................................................................... APP-15

Appendix 3.1 Servo program ............................................................................................................ APP-15

Appendix 3.2 Mechanical system program ....................................................................................... APP-17

1. GENERAL DESCRIPTION

1 1

1. GENERAL DESCRIPTION

The A172SHCPU/A171SHCPU (hereafter referred to as "servo system CPU") features two operating modes (REAL and VIRTUAL) at motion controllers where the operating systems (OS) shown below have been installed:

SW0SRX-SV22C A172SHCPU SW0NX-SV22C

SW0SRX-SV22F A171SHCPU SW0NX-SV22F

collectively abbreviated to "SV22"

This manual explains the mechanical device program required to operate the motion controller in the VIRTUAL mode. In order to execute positioning control in the VIRTUAL mode, positioning parameter settings, servo programs, and a positioning sequence program must be created in addition to the mechanical system program. Details for these procedures are given in the following manual:

Motion Controller (SV13/22) Programming Manual (REAL Mode) ............. IB-67265

Differences between the REAL and VIRTUAL modes are discussed in section 2.3 of this manual. Be sure to familiarize yourself with these differences before attempting positioning control in the VIRTUAL mode.

REMARK

(1) Abbreviations used in this manual are shown in the following table.

Names Abbreviation IBM PC/AT in which PC-DOS V5.0 or later version is installed IBM PC MR-H-B/MR-J2-B type servo amplifier MR-[ ]-B

IBM PC/AT is a register trade mark of the International Business Machines Corporation

CAUTION

When designing the system, provide external protective and safety circuits for safety in the event of trouble with the motion controller. Printed circuit boards have components susceptible to the effects of static electricity mounted on them: ground your body or the work bench before handling them. Do not directly touch conductive or electric parts of the product. Set parameter within the ranges indicated in this manual. Use the program instructions in accordance with the conditions stipulated in this manual. Some of the devices used in programs have fixed applications: use them in accordance with the conditions stipulated in this manual.

1. GENERAL DESCRIPTION

1 2

[Conventions Used in This Manual]

Where positioning signals appear in this manual, they are shown in the "A172SHCPUA171SHCPU"order. If only one positioning signal is shown, it applies to all the CPUs. Moreover, all detailed explanations given in this manual are based on the A172SHCPU operation. If another CPU is being used, the positioning signals which appear in these explanations should be replaced with the ones which apply to the CPU being used. (Positioning signals for each CPU are shown in Appendix 4.)

4.2.5 JOG simultaneous START command (M2015) Signal sent from SCPU to PCPU

(1) When M2015 switches ON. a JOG simultaneous START will occur at the JOG

execution axis (axes 1 to 8/axes 1 to 4/axes) designated at the JOG Simultaneous

START Axis Area (D1015).

(2) When M2015 switches OFF, the JOG axis motion will decelerate and stop.

REMARK

*1: For details regarding the A172SENC/A171SENC PULSER(connector), refer to

the Motion Controller(A172SHCPU/A171SHCPU) User's Manual.

4. SERVO SYSTEM CPU DEVICES

4.2.3 All-Axes servo START accept flag (M2009) Signal sent from PCPU to SCPU

The all-axes servo START flag indicates that servo operation is possible.

ON Servo is operative.

OFF Servo is inoperative.

4.2.4 Manual pulse generator enabled flag (M2012) Signal sent from SCPU to PCPU

The manual pulse generator flag designates the enabled/disabled status for positioning

executed by pulse inputs from manual pulse generators connected to the A172SENC

/A171SENC PULSER.

ON Positioning control by manual pulse generator inputs is enabled.

OFF Positioning control by manual pulse generator inputs is disabled

(inputs are ignored)

ON

ON

Servo ON

All-axes servo

START accept flag

OFF

All-axes servo

START command

OFF

1. GENERAL DESCRIPTION

1 3

1.1 General Comparison Between A172SHA171SHA171S(S3)

Item A172SHCPU A171SHCPU A171SCPU(S3)

Number of control axes 8-axes 4-axes 4-axes 3.5ms/1 to 3axes

SV13 7.1ms/4axes

3.5ms/1 to 2axesM ot

io n

Computing frequency 3.5ms/1 to 8axes 3.5ms/1 to 4axes SV22

7.1ms/3 to 4axes

Sequencer CPU Equivalent to reinforced I/O memory of A2SHCPU

Equivalent to A2SHCPU Equivalent to A1SCPU

Direct method

0.25 to 1.9s/step 1.0 to 2.3s/step Processing speed (s) (Sequence instruction)

Refresh method

0.25s/step 1.0s/step

Number of I/O 2048 I/O Number of actual I/O 1024 I/O 512 I/O 256 I/O Memory capacity (built-in RAM)

192k bytes (Equivalent to A3NMCA24)

64k bytes (Equivalent to A3NMCA8)

32k bytes

Program capacity (main sequence)

Max. 30k step Max. 14k step Max. 8k step

Number of file register (R) Max. 8192 registers Max. 4096 registers Number of expansion file register block (*1)

Max. 11 blocks Max. 3 blocks None

MELSECNET/J !(Supported by special commands) !(By means of FROM/TO commands)

P C

Number of PC extension base units

Max. 1 Max. 1

Pulse synchronous encoder interface unit

A172SENC (Corresponding to external signal input 8-axes)

A171SENC (Corresponding to external signal input 4-axes)

A171S :1CH. Number of SSCNET I/F

2CH. SSCNET1..........For connection of servo amplifier SSCNET2..........For personal computer link dedicated A171S-S3 :2CH.(as given to the left)

Number of available A271DVP Unavailable Max. 2

A30TU ! !S ys

te m

c on

fig ur

at io

n

Teaching unit (OS with teaching function) A31TU !(With deadman switch) Sequence program, parameter Servo program Mechanical program (SV22) Parameter

After starting A172SH/A171SH and reading a file, those created by A171SCPU can be used as it is.

C om

pa tib

ili ty

System setting

By making sure of system setting screen after being started up by A172SH/A171SH and reading a file, changeover below is carried out: now the system is ready for operation.

Compatible with a high resolution encoder (32768PLS/131072PLS)

!

REAL mode

! Possible to

change the torque limit value from the sequence program (CHGT instruction newly added)

VIRTUAL mode

(However, it is possible in the mechanical system program.)

(However, it is possible in the mechanical system program.)

Reverse return is possible during positioning

!

A dd

ed f

un ct

io ns

Possible to invalidate the virtual servo motor stroke limit (SV22)

!

(*1) The number of expansion file register blocks will vary depending on such things as program capacity, number of file registers, and

number of comments.

1. GENERAL DESCRIPTION

1 4

1.2 System Configuration

1.2.1 A172SHCPU System overall configuration

The following diagram indicates the system configuration when A172SHCPU is used.

AC100/200V

A172SHCPU A172S ENC

A1S Y42

FLS Upper limit LS RLS Lower limit LS STOP Signal DOG/CHANGE

8

A6BAT

d8d2d1

M

E

Motion slot

P Manual pulse generator 1 (MR-HDP01)

E

d3 Termination resistance

SSCNET1

TREN Tracking

M

E

M

E

M

E

P o

w er

s up

p ly

m o

d u

le

IBM PC

RS422

SSCNET2

RS422

M a

n ua

l p ul

se g

e ne

ra to

r/ sy

n ch

ro n

ou s

e n

co de

r in

te rf

a ce

m

o d

ul e

PC module slot

Li m

it sw

itc h

o u

tp u

t m

o du

le

Battery

Emergency stop input

A1S I/O module or special function module

Extension cable (A1SC[ ]B)

Main base unit (A178B-S1/A17[ ]B) PC extension base Up to one extension base unit for A1S6[ ]B A168B (GOT compatible)

Synchronous encoder 1 (MR-HENC)

Synchronous encoder cable (MR-HSCBL[ ]M)

Teaching unit A31TU/A30TU

External input signals

Near-zero point dog/changeover between speed and position

Break output

Motion net cableCommunication cable (A270CDCBL[ ]M/ A270BDCBL[ ]M) IBM PC

SSCNET interface card/board (A30CD-PCF/A30BD-PCF)

MR-H-B/MR-J2-B/MR-J-B model Servo amplifier, max. 8-axes

1

NOTES

(1) Use A168B when the GOT bus connecting type is used. (2) When using a teaching unit (A31TU) with a deadman switch, use a dedicated

cable (A31TUCBL03M) to connect the CPU and A31TU connector. When the dedicated cable is not used, i.e., the teaching unit is directly connected to the CPU RS422 connector, it does not work at all. Attach a short-circuit connector (A31SHORTCON) for A31TUCBL after detaching the A31TU.

(3) Use motion slots to mount PC A1S I/O modules if necessary. (4) When the power supply to the servo system CPU is switched ON and OFF,

erroneous process outputs may temporarily be made due to the delay between the servo system CPU power supply and the external power supply for processing (especially DC), and the difference in startup times. For example, if the power supply to the servo system CPU comes on after the external power supply for processing comes on at a DC output module, the DC output module may temporarily give erroneous outputs when the power to the servo system CPU comes on. Accordingly a circuit that ensures that the power supply to the servo system CPU comes on first should be constructed.

1. GENERAL DESCRIPTION

1 5

1.2.2 A171SHCPU System overall configuration

The following diagram indicates the system configuration when A171SHCPU is used.

AC100/200V

A171SHCPU A172S ENC

A1S Y42

FLS Upper limit LS RLS Lower limit LS STOP Signal DOG/CHANGE

4

A6BAT

d2d1

M

E

Motion slot

P Manual pulse generator 1 (MR-HDP01)

E

d3SSCNET1

TREN Tracking

M

E

M

E

d4 Termination resistance

M

E

P o

w e

r su

p p

ly m

o d

ul e

IBM PC

RS422

SSCNET2

RS422

M an

u a

l p u

ls e

g en

er a

to r/

sy n

ch ro

no u

s e

nc o

d er

in te

rf a

ce

m od

u le

PC module slot

L im

it sw

itc h

o ut

p u

t m od

u le

Battery

Emergency stop input

A1S I/O module or special function module

Extension cable (A1SC[ ]B)

Main base unit (A178B-S1/A17[ ]B) PC extension base Up to one extension base unit for A1S6[ ]B A168B (GOT compatible)

Synchronous encoder 1 (MR-HENC)

Synchronous encoder cable (MR-HSCBL[ ]M)

Teaching unit A31TU/A30TU

External input signals

Near-zero point dog/changeover between speed and position

Break output

Motion net cableCommunication cable (A270CDCBL[ ] M/ A270BDCBL[ ] M) IBM PC

SSCNET interface card/board (A30CD-PCF/A30BD-PCF)

MR-H-B/MR-J2-B/MR-J-B model Servo amplifier, max. 4-axes

1

NOTES

(1) Use A168B when the GOT bus connecting type is used. (2) When using a teaching unit (A31TU) with a deadman switch, use a dedicated

cable (A31TUCBL03M) to connect the CPU and A31TU connector. When the dedicated cable is not used, i.e., the teaching unit is directly connected to the CPU RS422 connector, it does not work at all. Attach a short-circuit connector (A31SHORTCON) for A31TUCBL after detaching the A31TU.

(3) Use motion slots to mount PC A1S I/O modules if necessary. (4) Though A172SENC has external input signals for 8 axes, make settings for the first 4

axes (PX0 to PX0F). (5) When the power supply to the servo system CPU is switched ON and OFF,

erroneous process outputs may temporarily be made due to the delay between the servo system CPU power supply and the external power supply for processing (especially DC), and the difference in startup times. For example, if the power supply to the servo system CPU comes on after the external power supply for processing comes on at a DC output module, the DC output module may temporarily give erroneous outputs when the power to the servo system CPU comes on. Accordingly a circuit that ensures that the power supply to the servo system CPU comes on first should be constructed.

1. GENERAL DESCRIPTION

1 6

1.2.3 System configuration precautions

The following table summarizes the notes on system configuration, system setup items, and relative checks that differ from those of the A171SCPU.

Product Name

Module Name

Number of Available Modules

System Setup Item Relative Check Notes and Remarks

1. MR-J2-B allows the use of the following motors with high-resolution encoders. HC-MF***W1 (32768PLS) HA-FF***W1 (32768PLS) HC-SF**2W2 (131072PLS)

2. [Allowable travel value during power-off] When ABS motor is used, set the allowable travel value during servo amplifier power-off by rpm (rotations per minute). This setting value is used for checking when the servo amplifier is switched ON.

Setting range Default value

0 to 16383 (rpm) 10 (rpm)

Separated amplifier

MR-J2-B MR-H-B MR-J-B

Max. 8 axes for A172SHCPU

Max. 4 axes for A171SHCPU

Connect the servo amplifier to the "SSCNET1" interface.

The setting range changes for high- resolution encoder support.

1. External signals (1) Set the axis numbers of external signals

FLS, RLS, STOP, and DOG/CHANGE for A172SENC CTRL connector signals PX0 to PX1F. Axes need not be set unless they are used by external signals.

CPU unit Setting range Default value

A172SHCPU Set axes 1 to 8 for PX0 to PX1F.

Axes 1 to 8 are set.

A172SHCPU Set axes 1 to 4 for the first half (PX0 to PX0F).

Axes 1 to 4 are set.

A172SENC 1 The same axis number must not be set.

Manual pulse generator/ synchro- nous encoder interface module

A171SENC 0 Settings cannot be made.

The external signal setup window has been improved for a better understanding.

The conventional A171SENC can also be used for A171SHCPU and A172SHCPU. However, it must be set as A172SENC during system setting.

Man/machi- ne control module

A271DVP 0 Not available. Settings cannot be made.

1. Set the number of points and the starting I/O number for PC CPU I/O modules to be mounted on the motion extension base unit. The number to be set must not precede the I/O numbers for use by the PC extension base unit.

CPU unit Effective

setting range Default value

A172SHCPU X/Y0 to X/Y3FF

A171SHCPU X/Y0 to X/Y1FF

PC CPU I/O module (motion slot)

A1SX** A1SY** A1SH42

Up to 256 I/O points (total)

The total number of points must be less than or equal to 256.

The starting I/O number plus number of occupied points must be less than or equal to X/Y800.

Though settings can be made within a range of X/Y0 to X/Y7FF, they must be made in the range defined in the left- hand column.

A1S68B A1S65B

1 stage Use this unit for systems capable of one-stage extension.

PC extension base unit

A168B 1 stage Use this unit for bus connection GOT.

1. GENERAL DESCRIPTION

1 7

POINTS

1. When using the existing A171SCPU user program and parameters, perform the following procedure:

(1) Start the peripheral S/W package by A172SHCPU or A171SHCPU, then read the sequence file and servo file created for A171SCPU via the File Read function.

(2) Display the System Setup screen. The existing system status is displayed with the following alert: (Start by A172SHCPU)

Replaces A171SCPU with A172SHCPU The character string "A171SHCPU" is displayed only when A171SHCPU is used for startup.

Replaces A171SENC with A172SENC This message is displayed only when A171SENC has been set.

YES NO

(3) Select "YES" and the existing settings will be replaced with those for the startup CPU module. Select "NO" and the existing A171SCPU settings will remain in effect.

* Other than system setup data can be used without change.

1. GENERAL DESCRIPTION

1 8

1.3 Summary of REAL and VIRTUAL Modes

(1) REAL mode (a) The REAL mode is used to execute direct control by the servo program at

systems using servomotors.

(b) To utilize the REAL mode, positioning parameter settings must be designated ,and a positioning sequence program must be created.

(c) The procedure for REAL mode positioning control is as follows: 1) A REAL mode servo program "start request" is issued with a

DSFRP/SVST instruction in the positioning sequence program.

2) Positioning control occurs in accordance with the specified servo program. (Output to amplifier and servo amplifier modules.)

3) Servomotor control is executed.

Sequence program

DSFRP D1 K15

ABS-1

Axis

Speed

1, 100000

1000

Positioning parameters

REAL

Home position return data

JOG operation data

Parameter block

Servo parameters

Fixed parameters

System setting

Limit switch output data

SCPU Control Range

Servo amplifier

Servomotor

PCPU Control Range

Servo program

Sequence program

SVST J1 K15

1)

1)or

Servo program "start request"

2)

3)

Servo System CPU

1. GENERAL DESCRIPTION

1 9

(2) VIRTUAL mode (a) The VIRTUAL mode is used to execute synchronous processing (with

software) using a mechanical system program comprised of a virtual main shaft and mechanical module. This mode permits the synchronous control for conventional positioning by main shaft, gear, and cam, etc., to be replaced by a servomotor positioning control format.

(b) In addition to the positioning parameter settings, servo program, and positioning sequence program used in the REAL mode, the VIRTUAL mode also requires a "mechanical system program".

(c) The procedure for VIRTUAL mode positioning control is as follows. 1) A VIRTUAL mode servo program "start request" is issued with a

DSFRP/SVST instruction in the positioning sequence program.

2) The mechanical system program's virtual servomotor is started.

3) The calculation result from the transmission module is output to the amplifier module/servo amplifier designated for the output module.

4) Servomotor control is executed.

Servo amplifier

Servomotor

(Axis 1)

Transmission module

(virtual servomotor) Drive module

Mechanical system program

< K2000>

ABS-1

PCPU Control Range

Output module

Sequence program

DSFRP D1 K2000

SCPU Control Range

1)

Servo program "start request"

Servo program

VIRTUAL

Axis

Speed

1, 100000

1000

Positioning parameters

Parameter block

Servo parameters

Fixed parameters

System setting

Limit switch output data

2)

3)

4)

Servo amplifier

Servomotor

Sequence program

SVST J1 K2000

1)or

Servo System CPU

Home position return data is not used in the VIRTUAL mode because a home position return operation is impossible. (Home position returns occur in the REAL mode.) VIRTUAL mode JOG operations occur in accordance with the JOG operation data designated at the drive module parameters.

2. PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL

2 1

2. PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL

The procedure for VIRTUAL mode positioning control is discussed in this section.

2.1 System Start-Up

The procedure for a VIRTUAL mode system start-up is shown below.

Start SW0SRX-CAMPE

Write setting data to hard disk or floppy disk, then end SW2SRX/SW2NX-GSV22PE operation

Register SW2SRX/SW2NX- GSV22PE, SW0SRX/SW0NX- CAMPE

Start SW2SRX/SW2NX-GSV22PE

Designate system settings

Designate the following positioning parameter settings: Fixed parameters Servo parameters Parameter block

Conduct a relative check and correct setting errors

Will cam be used?

START

NO

YES

Section 2.3

(1) (11)

Reference Section Reference Manual

Motion Controller (SV13/22) Programming Manual (REAL Mode)

SW2SRX/SW2NX-GSV22PE /SW0SRX/SW0NX-CAMPE Operating Manual

Chapter 4

Section 6.1

Chapter 7

Chapter 8

Section 8.4

Section 6.2

Section 21.1

Chapter 4

Chapter 4

Setting by peripheral device

2. PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL

2 2

Reference Section Reference Manual

SW2SRX/SW2NX-GSV22PE SW0SRX/SW0NX-CAMPE Operating Manual

Chapter 22

Section 21.2

Section 6.1

Section 10.2.5

Chapter 11

Chapter 10

Start SW2SRX/SW2NX-GSV22PE

(1)

Designate cam data settings

Write setting data to hard disk or floppy disk, then end SW0SRX/ SW0NX-CAMPE operation

Create the mechanical system program

Check mechanical system program and correct setting errors

Create the servo program

(11)

Switch the power supply module ON

Write the following data from the peripheral device to the servo system CPU: System setting data Positioning data Servo program Mechanical device program Cam data Sequence program

Motion Controller (SV13/22) Programming Manual (REAL Mode)

Section 6 Section 7

Section 8.4

Section 5

Section 2.3

Turn the "PC READY" signal (M2000) ON

Execute an "all-axes servo START request" (switch M2042 ON)

(2)

Section 4.1

Section 4.1

2. PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL

2 3

(2)

Reference Section Reference Manual

Motion Controller (SV13/22) Programming Manual (REAL Mode)

Start-up servo by peripheral device

Execute home position return test by JOG/manual pulse generator operation

Adjust cam setting axis (bottom dead center, stroke amount adjustments, etc.)

VIRTUAL mode operation START position alignment

Designate data settings at parameter setting device

Switch from REAL mode to VIRTUAL mode

Designate operation START address by present value change procedure

Start drive module operation/motion

Check operation status at servo monitor & mechanical device monitor

Execute clutch ON/OFF switching to check operation

END

REAL Mode

VIRTUAL Mode

Section 7.2

Section 8.5

SW2SRX/SW2NX-GSV22PE/ SW0SRX/SW0NX-CAMPE Operating Manual Section 12.2

Sections 12.4 to 12.6

Chapter 13 Chapter 14

Sections 7.19 to 7.21

Chapter 9

Chapter 10

Chapter 6

Chapter 6 to 8

Section 8.8

2. PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL

2 4

2.2 Operation

The preparation procedure for VIRTUAL mode operation is shown below.

2.2.1 Operation with incremental system

The operation procedure when an incremental system is used is shown below.

Execute VIRTUAL mode operation

Execute an "all-axes servo START request" (switch M2042 ON)

Execute a home position return

Reference Section Reference Manual

Motion Controller (SV13/22) Programming Manual (REAL Mode)

Switch power supply unit ON

Turn the "PC READY" signal (M2000) ON

Designate data settings at parameter setting device

VIRTUAL mode operation START position alignment

Designate operation START address by present value change procedure

Switch from REAL mode to VIRTUAL mode

REAL Mode

VIRTUAL Mode

Chapter 10

Chapter 9

Section 4.1

Section 8.5

Section 7.21

Section 8.8

Section 4.1

START

Chapter 6 to 8

2. PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL

2 5

2.2.2 Operation with an absolute (absolute position) system

The operation procedure when an absolute system is used is shown below.

YES

Execute an "all-axes servo START request" (switch M2042 ON)

START

Switch the power supply unit ON

Turn the "PC READY" signal (M2000) ON

Is the "home position return request"

signal ON?

Execute a home position return

NO

VIRTUAL mode operation START position alignment

Switch from REAL mode to VIRTUAL mode

Designate operation START address by present value change procedure

Execute VIRTUAL mode operation

Designate data settings at parameter setting device

NO

REAL Mode

VIRTUAL Mode

YES

Section 4.1

Section 4.1

Section 8.5.1

Section 8.5

Chapter 9

Chapter 10

Reference Section Reference Manual

Motion Controller (SV13/22) Programming Manual (REAL Mode)

Section 3.1

Section 7.21

Is the "continua- tion disabled" warning signal

ON?

Chapter 6 to 8

2. PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL

2 6

2.3 Differences Between The REAL and VIRTUAL Modes

Portions of the positioning data, positioning device, and servo programs, etc., used in REAL mode operations are different when used in VIRTUAL mode operations. The Motion Controller (SV13/22) Programming Manual (REAL Mode) should be read after acquainting yourself with these differences.

2.3.1 Positioning data

Positioning data used in the VIRTUAL mode is shown in Table 2.1 below.

Table 2.1 Positioning Data List

Item REAL Mode VIRTURL Mode Remarks

System settings ! !

Fixed parameters !

System-of-units varies

according to the output

module used

Servo parameters ! !

Parameter block ! Use of "pulse"only

Home position return data !

JOG operation data !

Limit switch output data !

[!]:Used [ ]:Conditional use []:Not used

2.3.2 Positioning device

The operating ranges of VIRTUAL mode positioning devices are shown in Tables 2.2 below.

Table 2.2 Operating Range of Positioning Devices

Device Name REAL Mode VIRTURL Mode

Internal relays M1600 to M2047 M1200 to M2047

Special relays M9073 to M9079

Data registers D800 to D1023 D670 to D1023

Special registers D9180 to D9199

2. PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL

2 7

2.3.3 Servo program

(1) Servo program area (a) The same servo program No. cannot be used in both the REAL and

VIRTUAL modes. For VIRTUAL mode operations, the servo program's range must be designated in advance. (The range setting is executed at an IBM PC running the SW2SRX/SW2NX-GSV22PE software.)

(2) Servo instructions (a) The home position return, speed control (II), speed/position switching

functions, and high-speed oscillation functions are inoperative in the VIRTUAL mode.

(b) The parameter block's control system-of-units and the torque limit value items (positioning data designated by the servo program) are not used.

(3) The servo instructions available in the TEST and VIRTUAL modes are shown in Table 2.5 below.

Table 2.5 Servo Instruction List for REAL & VIRTUAL Modes

Item REAL

Mode

VIRTURL

Mode Remarks

VPF

VPR

Speed/

position

control VPSTART

!

VVFSpeed

control(II) VVR !

Home

position

return

ZERO !

Switch to VIRTUAL

mode after home

position return has been

executed in the REAL

mode

Servo

instruction

High-speed

oscillation OSC !

Control system-

of-units ! Fixed as "pulse"

Positioning

data

Parameter

block Torque limit value !

Designated at drive

module's parameter

setting

[!]:Used []:Unusable []:Not used

2. PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL

2 8

2.3.4 Control change (present value change & speed change)

When a control change is executed in the VIRTUAL mode, the drive module's feed present value and speed will change. Control changes are not possible for the output module. The differences between control changes in the REAL and VIRTUAL modes are shown in Table 2.6 below.

Table 2.6 Control Changes in the REAL & VIRTUAL Modes

VIRTUAL Mode

Drive Module Output Module Item

REAL

Mode VIRTUAL

Servo motor

Synchronous

Encoder Roller

Ball

Screw

Rotary

Table Cam

Remarks

Present

value

change

! !

The programming method for a

synchronous encoder "present

value change" is different

(See Appendix 10.1.1)

Speed

change ! ! *

REMARK

(1) The [!], [], [] symbols used in Table 2.6 indicate the following. [!] : Setting/execution possible [] : Execution possible, but programming method is different [] : Setting/execution impossible

(2) *: If the output module is a roller which uses a speed change gear, a speed change can be executed by changing the speed change gear ratio.

(3) For details regarding the drive and output modules, refer to the sections shown below. Drive module : Chapters 5 & 6 Output module : Chapters 5 & 8

3. PERFORMANCE SPECIFICATIONS

3 1

3. Performance Specifications

Table 3.1 gives the performance specifications of the PCPU.

Table 3.1 PCPU Performance Specifications (VIRTUAL Mode)

Item A172SHCPU A171SHCPU

Number of control axes 8 axes 4 axes

Control modes Synchronous control

Virtual servo motor

Drive module Synchronous

encoder

Fixed as "PULSE"

Roller

Ball screw mminch

Rotary table Fixed as "degree"

Control unit

Output module

Cam mminchPULSE

Programming language Dedicated instructions (sequence ladders + servo programs + mechanical system programs)

* SFC programming of servo programs is also possible.

Capacity 13k steps (13312 steps) * Capacity matching the servo program for the REAL mode

Approx. 400 points/axis Approx. 800 points/axis Servo program Number of points

for positioning (These values vary depending on the programs. Positioning data can be designated

indirectly.)

Number of modules that can be set per CPU

VIRTUAL

module 8 axes 4 axes

Drive

modules Synchronous

encoder 1 axis 1 axis

Main shaft 8 4

Virtual axes Auxiliary input

axis 8 4

Gear 16 8

Clutch 16 8

Speed change

gear 16 8

Differential gear 8 4

Transmission

modules

Differential gear

for the main shaft 8 4

Roller 8 4

Ball screw 8 4

Rotary table 8 4

M ec

ha ni

ca l s

ys te

m p

ro gr

am

Output

modules

Cam 8

Total of 8

4

Total of 4

Program setting method Setting with an IBM PC, running the GSV22P software

Types Max. of 64

Resolution per cycle 25651210242048

Memory capacity Approx. 32k bytes

Storage memory for cam data

and cam rotation mode limit RAM memory in CPU

Stroke resolution 32767

C am

Control mode Two-way cam/feed cam

Cam data setting method Setting with an IBM PC, running the CAMP software

3. PERFORMANCE SPECIFICATIONS

3 2

Table 3.1 PCPU Performance Specifications (VIRTUAL Mode) (Continued)

Item A172SHCPU A171SHCPU

Interpolation functions Linear interpolation (max. of 4 axes), circular interpolation (2 axes)

Control modes PTP (point to point), speed control, fixed-pitch feed, constant speed control, position follow-up

control, speed switching control

Method

PTP :Selection of absolute data method or incremental method

Fixed pitch feed :Selection of incremental method

Constant speed control, speed switching control

:The absolute method and incremental method can be used together

Position follow-up control :Absolute data method

Position command Address setting range 2147483648 to 2147483648 (PULSE)

Positioning

Speed command Speed setting range 1 to 10000000 (PLS/S) (*1)

Accelerationfixed

acceleration/deceleration Timefixed acceleration/deceleration

Acceleration time: 1 to 65535 ms Acceleration/deceleration time: 1 to 5000 ms

Deceleration time: 1 to 65535 ms (Only constant speed control is possible)

Automatic

trapezoidal

acceleration/

deceleration

Acceleration/

deceleration

control

S curve

acceleration/

deceleration

S curve ratio setting: 0 to 100%

JOG operation function Provided

M function M code output function provided, and M code completion wait function provided

Skip function Provided

V irt

ua l s

er vo

m ot

or

Manual pulse generator operation

function(test mode only)

A maximum of one manual pulse generator can be connected

A maximum of three manual pulse generators can be operated

Setting of magnification: 1 to 100. It is possible to set the smoothing magnification

Number of output points 8 points/axis

Number of ON/OFF setting points 10 points/axis Limit switch output function

Control mode Present value mode/

Cam axis present value in one revolution mode

Number of input

points (*2)

Max. of 9 points

(TREN input of A172SENC (1 point) + one motion slot PC input module (8 points))High-speed reading

of designated data Data latch

timing

At leading edge of the TREN input signal

Within 0.8ms of the signal leading edge for the PC input module

Absolute position system Possible with a motor equipped with an absolute position detector

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

(*1) The setting range has been expanded from the previous range as a result of compatibility with the high resolution encoder.

(*2) When a TREN input signal is used as an "External input mode clutch" the high speed reading function can not be used.

4. SERVO SYSTEM CPU DEVICES

4 1

4 . SERVO SYSTEM CPU DEVICES

The servo system CPU devices for which positioning control is carried out using the VIRTUAL mode and the applications of these devices are explained in this chapter. The signals which are sent from the PCPU to the SCPU indicate the PCPU device refresh cycle and the signals sent from the SCPU to the PCPU indicate the PCPU device fetch cycle.

4.1 Internal Relays

4.1.1 Internal relay list

A172SHCPU (! Valid) A171SHCPU (! Valid)

Device No. Classification REAL VIRTUAL Device No. Classification REAL VIRTUAL

M0 User devices (1200 points) M0 User devices (1200 points)

M1200

(*1)

Virtual servo motor axes (*2)

status

(20 points 4 axes)

(3)

Back up !M1200

(*1)

Virtual servo motor axes (*2)

status

(20 points 8 axes)

(3)

Back up !

M1280

(*1)

User devices

(80 points)

M1360

(*1)

Synchronous encoder axis

status

(4 points 1 axis) (5)

! ! M1360

(*1)

Synchronous encoder axis

status

(4 points 1 axis) (5)

! !

M1364

(*1)

Unusable

(37 points)

M1364

(*1)

Unusable

(37 points)

M1400

(*1)

Virtual servo motor axes (*2)

command signal

(20 points 4 axes) (4)

!M1400

(*1)

Virtual servo motor axes (*2)

command signal

(20 points 8 axes)

(4)

!

M1480

(*1)

User devices (80 points)

M1560

(*1)

Synchronous encoder axis

command signal

(4 points 1 axis) (6)

! M1560

(*1)

Synchronous encoder axis

command signal

(4 points 1 axis) (6)

!

M1564

(*1)

Unusable (36 points) M1564

(*1)

Unusable(36 points)

M1600 Status of each axis

(20 points 4 axes)

REAL mode........... Each axis

VIRTUAL mode

............................... Output

modules

(1)

! !M1600 Status of each axis

(20 points 8 axes)

REAL mode ...........Each axis

VIRTUAL mode

...............................Output

modules

(1)

! !

M1760 Unusable (40 points)

M1680 Unusable (120 points)

M1800 Command signals of each axis

(20 points 4 axes)

REAL mode........... Each axis

VIRTUAL mode

............................... Output

modules

(2)

M1800 Command signals of each axis

(20 points 8 axes)

REAL mode ...........Each axis

VIRTUAL mode

...............................Output

modules

(2)

! !

M1880 Unusable (80 points)

! !

M1960 ! ! M1960 Common devices

(88 points)

(7)

! !

M2000

M2047

Common devices

(88 points)

(7)

M2000

M2047

4. SERVO SYSTEM CPU DEVICES

4 2

POINTS

(*1) When the VIRTUAL mode is used do not set M1200 to M1599 in the latch range.

(*2) The virtual servo motor axis status signals/command signals occupy only the areas of the axes set in the mechanical system program. The area of an axis that is not set in the mechanical system program can be used by the user. Total number of points for the user devices

A172SHCPU 1200 points

A171SHCPU 1360 points

4. SERVO SYSTEM CPU DEVICES

4 3

4.1.2 Each axis status

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name Reference

Item

(! Valid)

VIRTUAL1 M1600

to M1619

M1600 to

M1619 Signal Name REAL Roller

Ball screw

Rotary table

Cam

Signal Direction

Refresh Cycle

Fetch Cycle

0 Positioning start completed ! OFF OFF OFF OFF2 M1620

to M1639

M1620 to

M1639 1 Positioning completed ! OFF OFF OFF OFF

2 In-position ! ! ! ! ! 3.5ms 3 Command in-position ! OFF OFF OFF OFF3

M1640 to

M1659

M1640 to

M1659 4 Speed control in progress ! OFF OFF OFF OFF 5 Speed/position switching latch ! OFF OFF OFF OFF

6 Zero pass ! ! ! ! ! 3.5ms 4

M1660 to

M1679

M1660 to

M1679 7 Error detection ! ! ! ! ! Immedi-

ately 8 Servo error detection ! ! ! ! ! 3.5ms 9 Home position return request ! ! ! ! ! 10ms

5 M1680

to M1699 10

Home position return completed

! ! ! ! ! 3.5ms

11 External signal FLS ! ! ! ! ! 12 External signal RLS ! ! ! ! !6

M1700 to

M1719 13 External signal STOP ! ! ! ! !

14 External signal DOG/CHANGE

! ! ! ! !

10ms

15 Servo ON/OFF ! ! ! ! ! 7

M1720 to

M1739 16 Torque control in progress ! ! ! ! !

3.5ms

17 Unusable

18 Virtual mode intermittent actuation disabled warning

! ! ! ! ! 10ms8 M1740

to M1759

19 M code output in progress ! OFF OFF OFF OFF

SCPU PCPU

4.1.3 Command signals of each axis

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name Reference

Item

(! Valid)

VIRTUAL1 M1800

to M1819

M1800 to

M1819 Signal Name REAL Roller

Ball screw

Rotary table

Cam Signal

Direction Refresh Cycle

Fetch Cycle

0 Stop command ! 2 M1820

to M1839

M1820 to

M1839 1 Rapid stop command ! 2 Forward JOG start ! 3 Reverse JOG start ! 3

M1840 to

M1859

M1840 to

M1859 4 End signal OFF command ! 5

Speed/position switching enabled

!

6 Limit switch output enabled ! ! ! ! 3.5ms 4

M1860 to

M1879

M1860 to

M1879 7 Error reset ! ! ! ! ! 10ms

8 Servo error reset ! 9

External STOP input valid/invalid when starting

! 5 M1880

to M1899

10 Unusable 11 Unusable

12 Feed present value update request command

!

6 M1900

to M1919

13 Address clutch reference setting

! !

14 Cam reference position setting

!

REAL to VIR-

TUAL switch7

M1920 to

M1939 15 Servo OFF ! ! ! ! ! 3.5ms

16 Unusable 17 Unusable 8

M1940 to

M1959 18 Unusable

19 FIN signal !

SCPU PCPU

4. SERVO SYSTEM CPU DEVICES

4 4

4.1.4 Virtual servo motor axis status

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name Reference

Item

(! Valid)

1 M1200

to M1219

M1200 to

M1219 Signal Name REAL VIRTUAL Signal

Direction Refresh Cycle Fetch Cycle

0 Positioning start completed !

1 Positioning completed ! 3.5ms

2 M1220

to M1239

M1220 to

M1239 2 Unusable 3 Command in-position !

4 Speed control in progress ! 3.5ms

3 M1240

to M1259

M1240 to

M1259 5 Unusable 6 Unusable

7 Error detection ! Immediately4 M1260

to M1279

M1260 to

M1279 8 Unusable 9 Unusable 10 Unusable 5

M1280 to

M1299 11 Unusable 12 Unusable 13 Unusable 6

M1300 to

M1319 14 Unusable 15 Unusable 16 Unusable 7

M1320 to

M1339 17 Unusable 18 Unusable

19 M code output in progress

Backup

!

SCPUPCPU

3.5ms8 M1340

to M1359

4.1.5 Virtual servo motor axis command signals

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name Reference

Item

(! Valid)

1 M1400

to M1419

M1400 to

M1419 Signal Name REAL VIRTUAL Signal

Direction Refresh Cycle Fetch Cycle

0 Stop command

1 Rapid stop command 3.5ms

2 M1420

to M1439

M1420 to

M1439 2 Forward JOG start

3 Reverse JOG start

4 End signal OFF command

!

10ms

3 M1440

to M1459

M1440 to

M1459 5 Unusable

6 Unusable

7 Error reset ! 10ms4 M1460

to M1479

M1460 to

M1479 8 Unusable

9 External STOP input valid/invalid when starting

! Start timing

10 Unusable 5

M1480 to

M1499 11 Unusable

12 Unusable

13 Unusable6 M1500

to M1519 14 Unusable

15 Unusable

16 Unusable7 M1520

to M1539 17 Unusable

18 Unusable

19 FIN signal !

SCPUPCPU

3.5ms8 M1540

to M1559

4. SERVO SYSTEM CPU DEVICES

4 5

4.1.6 Synchronous encoder axis status

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name Reference

Item

M1360 M1360 (! Valid)

to to1

M1363 M1363 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

0 Error detection ! ! Immediately

1 External signal TREN ! !

2 Virtual mode intermittent

actuation disabled warning ! !

10ms

3 Unusable

SCPUPCPU

4.1.7 Synchronous encoder axis command signals

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name Reference

Item

M1560 M1560 (! Valid)

to to1

M1563 M1563 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

0 Error reset ! 10ms

1 Unusable

2 Unusable

3 Unusable

SCPUPCPU

4. SERVO SYSTEM CPU DEVICES

4 6

4.1.8 Common devices

A172SHCPU A171SHCPU (! Valid) (! Valid)Device

Number Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle

Fetch Cycle

Device Number Signal Name

REAL VIRTUAL Signal

Direction Refresh Cycle

Fetch Cycle

Reference Item

M1960 M1960 M1961 M1961 M1962 M1962 M1963 M1963 M1964 M1964 M1965 M1965 M1966 M1966 M1967 M1967 M1968 M1968 M1969 M1969 M1970 M1970 M1971 M1971 M1972 M1972 M1973 M1973 M1974 M1974 M1975 M1975 M1976 M1976 M1977 M1977 M1978 M1978 M1979 M1979 M1980 M1980 M1981 M1981 M1982 M1982 M1983

Unusable (24 points)

M1983

Unusable (24 points)

M1984 Main shaft side M1984 Main shaft side

M1985 Output axis 1 Auxiliary input

axis side M1985

Output axis 1 Auxiliary input

axis side M1986 Main shaft side M1986 Main shaft side

M1987 Output axis 2 Auxiliary input

axis side M1987

Output axis 2 Auxiliary input

axis side M1988 Main shaft side M1988 Main shaft side

M1989 Output axis 3 Auxiliary input

axis side M1989

Output axis 3 Auxiliary input

axis side M1990 Main shaft side M1990 Main shaft side

M1991 Output axis 4 Auxiliary input

axis side M1991

Output axis 4 Auxiliary input

axis side

C lu

tc h

st at

us

Backup ! SCPU PCPU 3.5ms

M1992 Main shaft side M1992

M1993 Output axis 5 Auxiliary input

axis side M1993

M1994 Main shaft side M1994

M1995 Output axis 6 Auxiliary input

axis side M1995

M1996 Main shaft side M1996

M1997 Output axis 7 Auxiliary input

axis side M1997

M1998 Main shaft side M1998

M1999 Output axis 8 Auxiliary input

axis side

C lu

tc h

st at

us

Backup ! SCPU PCPU 3.5ms

M1999

Unusable (8 points)

M2000 PC READY flag ! ! SCPU PCPU 10ms M2000 PC READY flag ! !

SCPU PCPU 10ms

M2001 Axis 1 M2001 Axis 1 M2002 Axis 2 M2002 Axis 2 M2003 Axis 3 M2003 Axis 3 M2004 Axis 4 M2004 Axis 4

Start accept flag (4 points)

! ! SCPU PCPU 10ms

M2005 Axis 5 M2005 M2006 Axis 6 M2006 M2007 Axis 7 M2007 M2008 Axis 8

Start accept flag (8 points)

M2008

Unusable (4 points)

M2009 All-axes servo ON accept flag

! ! SCPU PCPU 10ms

M2009 All-axes servo ON accept flag ! ! SCPU PCPU 10ms

M2010 M2010 M2011

Unusable (2 points)

M2011 Unusable (2 points)

M2012 Manual pulse generator 1 enabled

! SCPU PCPU 10ms M2012 Manual pulse generator 1

enabled ! SCPU

PCPU 10ms

M2013 M2013 M2014

Unusable (2 points)

M2014 Unusable (2 points)

M2015 JOG simultaneous start command ! !

SCPU PCPU 10ms M2015 JOG simultaneous start

command ! ! SCPU PCPU 10ms

M2016 M2016 M2017 M2017 M2018 M2018 M2019

Unusable (4 points)

M2019

Unusable (4 points)

M2020 START buffer full M2020 START buffer full M2021 Axis 1 M2021 Axis 1 M2022 Axis 2 M2022 Axis 2 M2023 Axis 3 M2023 Axis 3 M2024 Axis 4 M2024 Axis 4

Speed change in progress flag (4 points)

! ! SCPU PCPU END

M2025 Axis 5 M2025 M2026 Axis 6 M2026 M2027 Axis 7 M2027 M2028 Axis 8

Speed change in progress flag (8 points)

! ! SCPU PCPU END

M2028 M2029 M2029 M2030 M2030 M2031 M2031 M2032 M2032 M2033

Unusable (6 points)

M2033

Unusable (9 points)

M2034 PC link communication error flag

! ! SCPU PCPU END M2034 PC link communication error

flag ! !

SCPU PCPU END

M2035 M2035 M2036 M2036 M2037 M2037 M2038 M2038 M2039

Unusable (5 points)

M2039

Unusable (5 points)

Section 4.1.8

* The "END" of the refresh cycle is the longer of 80 ms and the sequence program scan time.

4. SERVO SYSTEM CPU DEVICES

4 7

A172SHCPU A171SHCPU (! Valid) (! Valid)Device

Number Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle

Fetch Cycle

Device Number Signal Name

REAL VIRTUAL Signal

Direction Refresh Cycle

Fetch Cycle

Reference Item

M2040 CPU completion point setting ! ! SCPU PCPU

Start timing

M2040 CPU completion point setting ! ! SCPU PCPU

Start timing

M2041 System setting error flag ! ! SCPU PCPU END M2041 System setting error flag ! !

SCPU PCPU END

M2042 All-axes servo ON command ! ! 3.5ms M2042 All-axes servo ON command ! ! 3.5ms

M2043 REAL/VIRTUAL mode switching request

! ! SCPU PCPU 10ms M2043 REAL/VIRTUAL mode

switching request ! !

SCPU PCPU 10ms

M2044 REAL/VIRTUAL mode switching status

! ! M2044 REAL/VIRTUAL mode switching status

! !

M2045 REAL/VIRTUAL mode switching error

! ! M2045 REAL/VIRTUAL mode switching error

! !

M2046 Synchronization discrepancy warning

! ! M2046 Synchronization discrepancy warning

! !

M2047 Motion slot module error detection flag

! !

SCPU PCPU END

M2047 Motion slot module error detection flag

! !

SCPU PCPU END

Section 4.1.8

* The "END" of the refresh cycle is the longer of 80 ms and the sequence program scan time.

(1) PC READY flag (M2000)...................................Signal sent from SCPU to PCPU (a) This signal notifies the PCPU that SCPU operation is normal. It is switched

ON and OFF by the sequence program. 1) When M2000 is ON, positioning or home position return functions can

be executed by the servo program specified by the sequence program, and JOG operations can be executed by the sequence program.

2) When M2000 is OFF, and when a TEST mode has been established ("M9075" TEST mode in progress flag is ON)* from a peripheral device, the functions described at item (a) above will be inoperative even if M2000 is switched ON.

(b) The fixed parameters, servo parameters, and limit switch output parameters can only be changed using a peripheral device when M2000 is OFF. If an attempt is made to change this data while M2000 is ON, an error will occur.

(c) When M2000 is switched from OFF to ON, the following processing occurs. 1) Processing details

The servo parameters are transferred to the servo amplifier. The M code storage area for all axes is cleared. The default value of 300% is set in the torque limit value storage area. The PCPU READY-completed flag (M9074) * is turned ON.

2) If there is an axis currently being driven, an error occurs, and the processing in (3), (a) above is not executed.

3) While the test mode is in effect, the processing in (3), (a) above is not executed. When the test mode is cancelled, the processing in (3), (a) will be executed if M2000 is ON.

V Start of positioning Deceleration to stop

The PCPU READY-completed flag (M9074) does not come ON because deceleration is in progress.

Servo parameters set in the servo amplifiers Clearance of M codes

t

ON

OFF ON

OFF

PC ready flag (M2000)

PCPU READY -com- pleted flag (M9074)

4. SERVO SYSTEM CPU DEVICES

4 8

(d) When M2000 turns OFF, the following processing is executed. 1) Processing details

The PCPU READY flag (M9074) is turned OFF. Operating axes are decelerated to a stop.

POINT

The PC READY flag (M2000) switches OFF when a servo system CPU "STOP" status exists. When the RUN status is resumed, the status which existed prior to the STOP will be re-established.

M2000 OFF

ON

RUNSTOP switching STOPRUN switching

(2) Virtual servomotor START accept flags (M2001 + n) ................................................................................Signals from PCPU to SCPU (a) The START accept flag switches ON when the sequence program's

positioning START instruction (DSFRP/SVST)*2 is executed, and should be used for DSFRP/SVST enabled/disabled interlock purposes.

When requesting servo program execution for positioning at axes 1 and 3, the following START accept flags are used.

DSFRP instruction execution request DSFRP instruction execution enabled/ disabled determinationM2001 M2003

DSFRP D13 K1

Axis No.1 START

accept flag Axis No.3 START

accept flag

(b) START accept flag ON/OFF processing occurs as shown below. 1) When the sequence program's DSFRP/SVST instruction is executed,

the START accept flag for the axis specified by the DSFRP/SVST instruction switches ON. The START accept flag switches OFF when positioning is completed. The START accept flag also switches OFF if positioning is stopped before completion.

Dwell time

Positioning completed Positioning

START

In-progress STOP completed

t

V

t

V

DSFRP/SVST instruction

START accept flag

Positioning completed*1 signal

Positioning START completed*1 signal

DSFRP/SVST instruction

START

accept flag

Positioning completed signal

Positioning START completed signal

ON

OFF

OFF ON

OFF

ON

OFF

ON

OFF

When positioning is completed normally When positioning is stopped before completion

4. SERVO SYSTEM CPU DEVICES

4 9

2) When executing positioning by switching the JOG instruction ON, the START accept flag will switch OFF when positioning is stopped by a JOG instruction OFF.

3) The START accept flag is ON when the manual pulse generator is enabled (M2012:ON), and is OFF when the manual pulse generator is disabled (M2012:OFF).

4) The START accept flag is ON during a present value change being executed by a sequence program DSFLP/CHGA instruction. The START accept flag will switch OFF when the present value change is completed.

DSFLP/CHGA instruction

START accept flag OFF

ON

Present value change processing

OFF at present value change completion

5) When M2000 is OFF, execution of a DSFRP/SVST instruction *2 causes the start accept flag to come ON; the flag goes OFF when M2000 comes ON.

PC READY (M2000)

DSFRP/SVST instruction

OFF

ON

START accept flag OFF

ON

CAUTION

The user must not turn start accept flags ON/OFF. If a start accept flag that is ON is switched OFF with the sequence program or a peripheral

device, no error will occur but the positioning operation will not be reliable. Depending on the type of machine, it might operate in an unanticipated manner.

If a start accept flag that is OFF is switched ON with the sequence program or a peripheral device, no error will occur at that time, but the next time an attempt is made to start the axis a start accept flag ON error will occur and the axis will not start.

4. SERVO SYSTEM CPU DEVICES

4 10

(3) All-Axes servo START accept flag (M2009) ..........................................................................Signal sent from PCPU to SCPU The all-axes servo START flag indicates that servo operation is possible. ON................Servo is operative. OFF..............Servo is inoperative.

All-axes servo START Accept flag

All-axes servo START command

OFF

ON

Servo ON

OFF

ON

(4) Manual pulse generator enabled flag (M2012) ..........................................................................Signal sent from SCPU to PCPU The manual pulse generator flag designates the enabled/disabled status for positioning executed by pulse inputs from manual pulse generators connected to the A172SENC/A171SENC PULSER. ON................Positioning control by manual pulse generator inputs is enabled. OFF..............Positioning control by manual pulse generator inputs is disabled

(inputs are ignored).

(5) JOG simultaneous START command (M2015) ..........................................................................Signal sent from SCPU to PCPU (a) When M2015 switches ON, a JOG simultaneous START will occur at the

JOG execution axis (axes 1 to 8/axes 1 to 4) designated at the JOG Simultaneous START Axis Area(D1015).

(b) When M2015 switches OFF, the JOG axis motion will decelerate and stop.

(6) START buffer full (M2020) ................................Signal sent from PCPU to SCPU (a) This signal switches ON when the PCPU fails to process the specified data

within 15 seconds following a positioning START (DSFRP/SVST) instruction or a control change (DSFLP/CHGA/CHGV) instruction from the sequence program.

(b) An M2020 reset must be executed from the sequence program.

4. SERVO SYSTEM CPU DEVICES

4 11

(7) Speed change in progress flag (M2021 to M2028/M2021 to M2024) ..........................................................................Signal sent from PCPU to SCPU This flag switches ON when a speed change (designated by a control change (DSFLP/ CHGV) instruction at the sequence program) is in progress. This flag should be used for speed change program interlock purposes.

Delay due to sequence program

Speed change command

DSFLP/CHGV instruction

OFF

ON Speed change in progress flag

OFF

ON

Set speed

Speed change

Speed after speed change

Speed change completed

13 to 16ms

(8) PC link communication error flag (M2034) This flag comes ON when an error occurs during personal computer linking communication. When M2034 comes ON the error code is stored in the personal computer link communication error code storage register (D9196). The devices dedicated to personal computer communication are indicated below.

Table 9.1 PC link communication device list

Device Number

Device Name Contents A273UHCPU

(32 axes)

A273UHCPU

(8 axes) A171SCPU-S3

PC link

communication error

flag

OFF: No PC link

communication error

ON : PC link communication

error detected

(Flag changes to OFF if

normal communication is

restored.)

M2034 M2034 M2034

PC link

communication error

codes

00: No error

01: Receiving timing error

02: CRC error

03: Communication response

code error

04: Receiving frame error

05: Communication task start

error

(Error codes are reset to 00

by normal communication

restart.)

D9196 D9196 D9196

4. SERVO SYSTEM CPU DEVICES

4 12

Table 9.2 PC link communication error code list

Error Codes

stored in D9196 Error Contents Correction Method

01

PC link communication

receiving packet did not

arrive.

Receiving packet arrival

timing was late.

Confirm that the personal computer power is

on.

Check the communication cable connection.

Check for communication cable burnout.

Confirm that A30BD-PCF/A30CD-PCF is

properly placed.

02 The receiving packet CRC

code is incorrect.

Confirm that there is nothing causing noise in

the vicinity.

Check the communication cable connection.

Check for communication cable burnout.

03 The receiving packet data ID

is incorrect.

Confirm that A30BD-PCF/A30CD-PCF is

properly placed.

Replace the A30BD-PCF/A30CD-PCF.

04 The number of the frame

received is incorrect.

Check the communication cable connection.

Check for communication cable burnout.

Confirm that there is nothing causing noise in

the vicinity.

05

The communication task on

the personal computer side

has not been started.

Start the communication task on the personal

computer side.

(9) Speed switching point designation flag (M2040) ..........................................................................Signal sent from SCPU to PCPU The speed switching point designation flag is used when a speed change is designated at the pass point in constant speed control. (a) By turning M2040 ON before the start of constant speed control (before the

servo program is started using the DSFRP/SVST instruction), control can be executed with a speed change at the start of the pass point.

V

t

OFF

Pass points in constant speed control (here, a speed change is designated at P3)

ON

M2040 OFF

V

t

P1 P2 P3 P4

M2040 ON

OFF

Speed switching point designator flag

DSFRP/SVST instruction

Start accept flag

P1 P2 P3 P4

ON

OFF

ON

OFF

Pass points in constant speed control (here, a speed change is designated at P3)

Speed switching point designator flag

DSFRP/SVST instruction

Start accept flag

(b) After completion of start accept processing, the speed switching point designation flag can be turned OFF at any time.

4. SERVO SYSTEM CPU DEVICES

4 13

(10) System setting error flag (M2041)...................Signal sent from PCPU to SCPU When the power is switched ON, or when the servo system CPU is reset, the system setting data set with a peripheral device is input, and a check is performed to determine if the set data matches the module mounting status (of the main base unit and extension base units). ON..............Error OFF............Normal (a) The ERROR LED on the front of the CPU will switch ON when an error

occurs. Moreover, a log of errors which have occurred can be referred to at a peripheral device (device running SW2SRX/SW2NX-GSV22P).

(b) Positioning cannot be started when M2041 is ON. To start the positioning operation, eliminate the error cause, and either switch the power back ON or execute a servo system CPU reset.

REMARK

A slot designated as "not used" at the system setting data will be regarded as "not used" even if loaded with a module.

(11) All-axes servo START command (M2042) .....Signal sent from SCPU to PCPU This signal is used to enable servo operation. Servo operation ENABLED ............When M2042 is switched ON, the servo

OFF signal is OFF, and there are no active servo errors.

Servo operation DISABLED ...........When M2042 switches ON, the servo OFF signal is ON, or a servo error is detected.

All-axes servo START command

Servo ON

OFF

ON

All-axes servo START accept flag

OFF

ON

POINT

Once M2042 is switched ON, it will not switch OFF even if the CPU is stopped.

4. SERVO SYSTEM CPU DEVICES

4 14

(12) REAL/VIRTUAL mode switching request flag (M2043) ........................................................................Signal sent from SCPU to PCPU This flag is used for switching between the REAL and VIRTUAL modes. (a) To switch from the REAL to the VIRTUAL mode, turn M2043 ON after the

M9074 PCPU READY flag comes ON. An error check occurs when M2043 is switched from OFF to ON.

If no error is detected, switching to the VIRTUAL mode occurs, and the M2044 REAL/VIRTUAL Mode Determination flag switches ON.

If an error is detected, switching to the VIRTUAL mode will not occur. In this case, the M2045 REAL/VIRTUAL Mode Switching Error flag will switch ON, and the error code will be stored at the D9195 error code storage error.

(b) To switch from the VIRTUAL to the REAL mode, turn M2043 OFF. If an "all-axes stopped" status exists at the virtual servomotors, switching

to the REAL mode will occur, and M2044 will go OFF. Switching to the REAL mode will not occur if any of the virtual

servomotor axes are in motion. In this case, M2045 will switch ON, and an error code will be stored at the D9195 error code storage error.

(c) For details regarding the procedure for switching between the REAL and VIRTUAL modes, see Chapter 9.

(13) REAL/VIRTUAL mode status flag (M2044) ........................................................................Signal sent from PCPU to SCPU This flag verifies that switching between the REAL and VIRTUAL modes is completed, and verifies the present mode. OFF when the REAL mode is in effect, and switching from the VIRTUAL to

REAL mode is completed. ON when switching from REAL to VIRTUAL mode is completed.

This flag should be used as an interlock function when executing a servo program START or a control change (speed change, present value change).

(14) REAL/VIRTUAL mode switching error detection flag (M2045) ........................................................................Signal sent from PCPU to SCPU This flag indicates whether or not an error was detected when switching between the REAL and VIRTUAL modes. Remains OFF if no error was detected at mode switching. Switches ON if an error was detected at mode switching. In this case, the error code will be stored at D9195.

4. SERVO SYSTEM CPU DEVICES

4 15

(15) Synchronization discrepancy warning flag (M2046) ........................................................................Signal sent from PCPU to SCPU (a) This signal switches ON in the VIRTUAL mode when a discrepancy occurs

between the drive module and output module synchronized positions. This signal status determines whether or not drive module operation can be resumed after it has stopped. M2046: ON................Continued operation disabled M2046: OFF ..............Continued operation enabled

(b) The synchronization discrepancy warning flag will switch ON when the following conditions occur. When operation is stopped by an external emergency stop (EMG)

command. When a servo error occurs at the output module.

(c) When the synchronization discrepancy warning flag switches ON, operation can be resumed by the following procedure. 1) Return to the REAL mode and eliminate the error cause. 2) Synchronize the axes. 3) Switch the synchronization discrepancy warning flag (M2046) OFF. 4) Switch to the VIRTUAL mode. 5) Resume operation.

(16) Motion slot module error detection flag (M2047) ........................................................................Signal sent from PCPU to SCPU This flag indicates whether the status of modules mounted at the base unit and extension base units is normal or abnormal. ON..............Status of mounted module is abnormal OFF ...........Status of mounted module is normal Module information is checked for errors both when the power is switched ON and after the power has been switched ON. (a) When M2047 switches ON, the A172SHCPU/A171SHCPU "ERROR" LED

switches ON.

(b) Required processing when an error is detected (axis STOP, servo OFF, etc.) should be conducted at the sequence program.

POINT

Positioning control will continue even if an error is detected at an optional slot.

4. SERVO SYSTEM CPU DEVICES

4 16

4.2 Data Registers

4.2.1 Data register list

A172SHCPU (! Valid) A171SHCPU (! Valid)

Device No. Classification REAL VIRTUAL Device No. Classification REAL VIRTUAL

D0 User devices

(670 points)

D0 User devices

(670 points)

D670 Virtual servo motor axes

main shaft (*2) differential

gear present value

(2 points 4 axes) (4)

Back

up

!D670 Virtual servo motor axes

main shaft (*2) differential

gear present value

(2 points 8 axes)

(4)

Back

up

!

D678 User devices

(8 points)

D686 Synchronous encoder

axis main shaft (*2)

differential gear present

value

(2 points 1 axis) (6)

Back

up

! D686 Synchronous encoder axis

main shaft (*2) differential

gear present value

(2 points 1 axis) (6)

Back

up

!

D688 Unusable (12 points) D688 Unusable (12 points)

D700 Virtual servo motor axes

(*2) monitor devices

(6 points 8 axes) (3)

Back

up

!D700 Virtual servo motor axes

(*2) monitor devices

(6 points 8 axes)

(3)

Back

up

!

D724 User devices

(24 points)

D748 Synchronous encoder

axis (*2) monitor device

(4 points 1 axis) (5)

Back

up

! D748 Synchronous encoder axis

(*2) monitor device

(4 points 1 axis) (5)

Back

up

!

D752 Unusable (8 points) D752 Unusable (8 points)

D760 Cam axis monitor devices

(*2)

(5 points 4 axes) (7)

Back

up

!D760 Cam axis monitor devices

(*2)

(5 points 8 axes)

(7)

Back

up

!

D780 User devices

(20 points)

D800 Axis monitor device

(20 points 4 axes) REAL mode............Each axis

VIRTUAL mode

...............................Output

modules

(1)

! !D800 Axis monitor device

(20 points 8 axes) REAL mode........... Each axis

VIRTUAL mode

.............................. Output

modules

(1)

! !

D880 Unusable (80 points)

D960 Control change registers

(6 points 4 axes)

! !D960 Control change registers

(6 points 8 axes)

(2)

! !

D984 Unable (24 points)

D1008

D1023

Common devices

(16 points)

(8)

! ! D1008

D1023

Common devices

(16 points)

(8)

! !

4. SERVO SYSTEM CPU DEVICES

4 17

POINT

(*2) The virtual servo motor axis / synchronous encoder axis / cam axis monitor device occupy only the areas of the axes set in the mechanical system program. The area of an axis that is not set in the mechanical system program can be used by the user.

Total number of points for the user devices

A172SHCPU 670 points

A171SHCPU 722 points

4. SERVO SYSTEM CPU DEVICES

4 18

4.2.2 Monitor devices of each axis

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name Reference

Item

(! Valid)

1

D800

to

D819

D800

to

D819 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

0

1

Feed present value/roller

cycle2

D820

to

D839

D820

to

D839 2

D840 3 Actual present value

to 43

D859

D840

to

D859 5 Deviation counter value

3.5ms

D860 6 Minor error code

to 7 Major error code Immediately

4

D879

D860

to

D879 8 Servo error code

! !

10ms

9

10

Travel value when the near-zero

point DOG/CHANGE is ON END

5

D880

to

D899 11 Home position return second

travel value

! Backup

12 Execution program Number

13 M code ! !

6

D900

to

D919 14 Torque limit value ! !

SCPUPCPU

3.5ms

15

16 Travel value change register ! SCPUPCPU 3.5ms

7

D920

to

D939 17

18

Actual present value when

STOP is input ! END

19 Data set pointer for constant

speed control ! !

SCPUPCPU At driving or

during driving 8

D940

to

D959

4.2.3 Control change registers

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name Reference

Item

D960 D960 (! Valid)

to to1

D965 D965 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

D966 D966 0

to to 1

Present value change register

CHGA execution2

D971 D971 2

D972 D972 3 Speed change register

CHGV execution

to to 43

D977 D977 5

JOG speed setting register (*1)

! ! SCPUPCPU

At driving

D978 D978

to to (*1) Represents a backup register.

4

D983 D983

D984

to5

D989

D990

to6

D995

D996

to7

D1001

D1002

to8

D1007

*The "END" of the refresh cycle is the longer of 80 ms and the sequence program scan time.

4. SERVO SYSTEM CPU DEVICES

4 19

4.2.4 Virtual servo motor axis monitor devices

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name Reference

Item

D700 D700 (! Valid)

to to1

D705 D705 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

D706 D706 0

to to 1 Feed present value 3.5 ms

2

D711 D711 2 Minor error code

D712 D712 3 Major error code Immediately

to to 4 Execution program Number3

D717 D717 5 M code

Backup ! SCPUPCPU

3.5 ms

D718 D718

to to4

D723 D723

D724

to5

D729

D730

to6

D735

D736

to7

D741

D742

to8

D747

4.2.5 Virtual servo motor axis main shaft differential gear present value

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name Reference

Item

(! Valid) 1

D760

D671

D760

D671 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

2 D672

D673

D672

D673

3 D674

D675

D674

D675

0

1

Virtual servo motor axis main

shaft differential gear present

value

Backup ! SCPUPCPU 3.5 ms

4 D676

D677

D676

D677

5 D678

D679

6 D680

D681

7 D682

D683

8 D684

D685

4. SERVO SYSTEM CPU DEVICES

4 20

4.2.6 Synchronous encoder axis monitor devices

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name Reference

Item

D748 D748 ! Valid

to to1

D751 D751 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

0

1 Feed present value Backup 3.5ms

2 Minor error code

3 Major error code

!

(*2)

! SCPUPCPU

Immediately

(*2) Set when the controller power is turned on only in the case of an absolute synchronous encoder.

4.2.7 Synchronous encoder axis main shaft differential gear present value

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name Reference

Item

D686 D686 ! Valid 1

D687 D687 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

0

1

Synchronous encoder axis main shaft differential gear present value

Backup ! SCPUPCPU 3.5ms

4.2.8 Cam axis monitor devices

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name Reference

Item

! Valid

1

D760

to

D764

D760

to

D764 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

0 Execution cam No.

12

D765

to

D769

D765

to

D769 2 Execution stroke value

3

4

Cam axis present value within

one revolution

Backup ! SCPUPCPU Every END

3

D770

to

D774

D770

to

D774

4

D775

to

D779

D775

to

D779

5

D780

to

D784

6

D785

to

D789

7

D790

to

D794

8

D795

to

D799

* "Every END" of the refresh cycle is referred to as the sequence program scan time.

4. SERVO SYSTEM CPU DEVICES

4 21

4.2.9 Common devices

A172SHCPU

(! Valid) Device No. Signal Name

REAL VIRTUAL

Signal

Direction Refresh Cycle Fetch Cycle Reference Item

D1008

D1009

D1010

D1011

Limit switch output disabled setting

register

(4 points)

3.5ms

D1012

Setting Register for a axis number

controlled with manual pulse generator

1

! ! SCPUPCPU

Manual pulse

generator

operation

enabled

D1013

D1014

Unusable

(2 points)

D1015 JOG operation simultaneous start axis

setting register At driving

D1016 Axis 1

D1017 Axis 2

D1018 Axis 3

D1019 Axis 4

D1020 Axis 5

D1021 Axis 6

D1022 Axis 7

D1023 Axis 8

1 pulse input modification

setting register for manual

pulse generators

(8 points)

! ! SCPUPCPU Manual pulse

generator

operation

enabled

Section 4.2.9

A171SHCPU

(! Valid) Device No. Signal Name

REAL VIRTUAL

Signal

Direction Refresh Cycle Fetch Cycle Reference Item

D1008

D1009

Limit switch output disabled setting

register (2 points) ! ! SCPUPCPU 3.5ms

D1010

D1011

Unusable

(2 points)

D1012

Setting Register for a axis number

controlled with manual pulse generator

1

! ! SCPUPCPU

Manual pulse

generator

operation

enabled

D1013

D1014

Unusable

(2 points)

D1015 JOG operation simultaneous start axis

setting register At driving

D1016 Axis 1

D1017 Axis 2

D1018 Axis 3

D1019 Axis 4

1 pulse input modification

setting register for manual

pulse generator

(4 points)

! ! SCPUPCPU Manual pulse

generator

operation

enabled

D1020

D1021

D1022

D1023

Unusable

(4 points)

Section 4.2.9

4. SERVO SYSTEM CPU DEVICES

4 22

(1) Limit switch output disabled setting registers (D1008 to D1011/D1008 to D1009) ............................................................................ Data sent from SCPU to PCPU This register is used to disable (in 1-point units) external output of limit switch outputs. Limit switch output is disabled by setting its corresponding bit to "1" (external output OFF). (a) When A172SHCPU is used

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

D1008 LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00

For axis 2

D1009 LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10

D1010 LY2F LY2E LY2D LY2C LY2B LY2A LY29 LY28 LY27 LY26 LY25 LY24 LY23 LY22 LY21 LY20

D1011 LY3F LY3E LY3D LY3C LY3B LY3A LY39 LY38 LY37 LY36 LY35 LY34 LY33 LY32 LY31 LY30

For axis 4

For axis 6

For axis 8

For axis 1

For axis 3

For axis 5

For axis 7

(1) Each bit setting is designated as "1" or "0".

1: Disable ...... Limit switch output remains OFF.

0: Enable........ Limit switch output turns ON and OFF in accordance with the set data.

(2) The "LY" of LY00 to LY3F indicates the limit switch output.

(b) When A171SHCPU is used

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

D1008 LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00

For axis 2

D1009 LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10

For axis 4

For axis 1

For axis 3

(1) Each bit setting is designated as "1" or "0".

1: Disable ...... Limit switch output remains OFF.

0: Enable ....... Limit switch output turns ON and OFF in accordance with the set data.

(2) The "LY" of LY00 to LY1F indicates the limit switch output.

4. SERVO SYSTEM CPU DEVICES

4 23

(2) Register for setting virtual servo motor axis numbers controlled by manual pulse generators (D1012) ............................... Data from the SCPU to the PCPU (a) The register stores the virtual servo motor axis numbers controlled by

manual pulse generators.

b15 b12 b11 b8 b7 b4 b3 b0

P1 D1012

With a maximum of 3 decimal digits, set the controlled axes (1 to 4) for each digit.

3 digits 2 digits 1 digit

(b) For details on manual pulse generator operation, refer to section 7.20 of the Motion Controller (SV13/SV22 REAL mode) Programming Manual.

(3) JOG operation simultaneous start axes setting register (D1015) ........................................................................ Data from the SCPU to the PCPU (a) This register is used to set the virtual servo motor axis numbers on which

JOG operation is to be executed, and the direction of motion.

Axis 8

Axis 7

Axis 6

Axis 5

Axis 4

Axis 3

Axis 2

Axis 1

Axis 8

Axis 7

Axis 6

Axis 5

Axis 4

Axis 3

Axis 2

Axis 1

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

D1015

* The possible settings for each axis moved in a simultaneous start JOG operation are "1" or "0" 1: Simultaneous start executed 0: Simultaneous start not executed

Axes started in reverse JOG operation Axes started in forward JOG operation

Axis 4

Axis 3

Axis 2

Axis 1

Axis 4

Axis 3

Axis 2

Axis 1

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

D1015

* The possible settings for each axis moved in a simultaneous start JOG operation are "1" or "0" 1: Simultaneous start executed 0: Simultaneous start not executed

Axes started in reverse JOG operation Axes started in forward JOG operation

(b) For details on simultaneous starting in JOG operation, refer to section 7.19.3 of the Motion Controller (SV13/SV22 REAL mode) Programming Manual.

4. SERVO SYSTEM CPU DEVICES

4 24

(4) 1 pulse input magnification setting registers for manual pulse generators (D1016 to D1023/D1016 to D1019) ................ Data from the SCPU to the PCPU (a) This register is used to set the magnification (from 1 to 100) per pulse for

the number of input pulses from a manual pulse generator in manual pulse generator operation.

1-pulse Input

Magnification Setting

Register

Corresponding Virtual

Servo Motor Axis No. Setting Range

D1016 Axis 1

D1017 Axis 2

D1018 Axis 3

D1019 Axis 4

D1020 Axis 5

D1021 Axis 6

D1022 Axis 7

D1023 Axis 8

1 to 100

1-pulse Input

Magnification Setting

Register

Corresponding Virtual

Servo Motor Axis No. Setting Range

D1016 Axis 1

D1017 Axis 2

D1018 Axis 3

D1019 Axis 4

1 to 100

(b) For details on the manual pulse generator operation, refer to section 7.20 of the Motion Controller (SV13/SV22 REAL mode) Programming Manual.

4. SERVO SYSTEM CPU DEVICES

4 25

4.3 Special Relays/Special Registers List

4.3.1 Special relays

(! Valid) Device No. Signal Name

REAL VIRTUAL

Signal

Direction Refresh Cycle Fetch Cycle

M9073 PCPU WDT error flag

M9074 PCPU READY flag

M9075 TEST mode ON flag

M9076 External emergency stop input

flag

M9077 Manual pulse generator axis

setting error flag

M9078 TEST mode request flag

M9079 Servo program setting error flag

! ! SCPUPCPU END

(1) WDT error flag (M9073)....................................Signal sent from PCPU to SCPU This flag switches ON when a "watchdog timer error" is detected by the PCPU's self- diagnosis function. When the PCPU detects a WDT error, it executes an immediate stop without deceleration of the driven axes. If the WDT error flag switches ON, press the servo system CPU's [RESET] key to execute a reset. If M9073 remains ON after a reset occurs, there is a PCPU malfunction. The error cause is stored in the "PCPU error cause (D9184)" storage area (see Section 4.5.2).

(2) PCPU READY flag (M9074)..............................Signal sent from PCPU to SCPU This flag is used to determine (at the sequence program) if the PCPU is normal or abnormal. (a) When the PC READY flag (M2000) turns from OFF to ON, the fixed

parameters, servo parameters, limit switch output data, etc., are checked, and if no error is detected the PCPU READY-completed flag comes ON. The servo parameters are written to the servo amplifiers and the M codes are cleared.

(b) The PCPU READY flag switches OFF when the PC READY (M2000) signal switches OFF.

PC READY (M2000)

PCPU READY (M9074)

t

Servo parameters are written to the servo amplifier, and M-codes are cleared.

(3) TEST mode ON flag (M9075) ...........................Signal sent from PCPU to SCPU (a) This flag status indicates whether a TEST mode established from a

peripheral device is currently in effect. It can be used as an interlock function when starting the servo program by a sequence program DSFRP/SVST instruction. OFF................... TEST mode is not in effect. ON .................... TEST mode is in effect.

(b) 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 switch ON.

4. SERVO SYSTEM CPU DEVICES

4 26

(4) External emergency stop input flag (M9076) ..........................................................................Signal sent from PCPU to SCPU This flag status indicates whether the external emergency stop input to the power module's EMG terminal is ON or OFF. OFF ..............External emergency stop input is ON. ON ................External emergency stop input is OFF.

(5) Manual Pulse Generator Axis Setting Error Flag (M9077) ..........................................................................Signal sent from PCPU to SCPU (a) This flag indicates whether the setting designated at the manual pulse

generator axis setting register (D1012) is normal or abnormal. OFF................... All D1012 settings are normal. ON .................... At least one D1012 setting is abnormal.

(b) When M9077 switches ON, the error content is stored at the manual pulse generator axis setting error register (D9187).

(6) TEST Mode Request Error Flag (M9078) .........Signal sent from PCPU to SCPU (a) This flag switches ON if the TEST mode is not established in response to a

TEST mode request from a peripheral device.

(b) When M9078 switches ON, the error content is stored at the manual pulse generator axis setting error register (D9188).

(7) Servo Program Setting Error Flag (M9079) ......Signal sent from PCPU to SCPU This flag status indicates whether the positioning data at the servo program designated by the DSFRP/SVST instruction is normal or abnormal. OFF ..............Normal ON ................Abnormal The content of a servo program error is stored at D9189 and D9190.

4. SERVO SYSTEM CPU DEVICES

4 27

4.3.2 Special registers

(! Valid) Device No. Signal Name

REAL VIRTUAL

Signal

Direction Refresh Cycle Fetch Cycle

D9180

D9181

D9182

D9183

Limit switch output status storage

area 3.5ms

D9184 PCPU WDT error cause

D9185

D9186 Servo amplifier type

10ms

D9187 Manual pulse generator axis

setting error

Manual pulse

generator

operation

enabled

D9188 Test mode request error TEST mode

request

D9189 Error program number

D9190 Error item information At driving

D9191 Servo amplifier loading

information

! ! SCPUPCPU

D9192

Area for setting the manual pulse

generator smoothing

magnification

! ! SCPUPCPU

Manual pulse

generator

operation

enabled

D9193 Unusable

D9194 Unusable

D9195 REAL/VIRTUAL mode switching

error information

D9196 PC link communication error

codes

! ! SCPUPCPU Mode

switching

D9197 Unusable

D9198 Unusable

D9199 Unusable

* The "END" of the refresh cycle is the longer of 80 ms and the sequence program scan time.

4. SERVO SYSTEM CPU DEVICES

4 28

(1) Limit switch output status storage area(D9180 to D9183/D9180 to D9181) ............................................................................ Data sent from PCPU to SCPU (a) The status (ON/OFF) of limit switch outputs (designated from a peripheral

device)to A1SY42 and AY42 are stored here as "1" or "0" data. ON .................... 1 OFF................... 0

(b) This area can be used to execute external outputs of limit switch output data, etc., from the sequence program.

< When A172SCPU is used >

D9180 LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00

For axis 2 For axis 1

D9181 LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10

D9182 LY2F LY2E LY2D LY2C LY2B LY2A LY29 LY28 LY27 LY26 LY25 LY24 LY23 LY22 LY21 LY20

D9183 LY3F LY3E LY3D LY3C LY3B LY3A LY39 LY38 LY37 LY36 LY35 LY34 LY33 LY32 LY31 LY30

For axis 4

For axis 6

For axis 8

For axis 3

For axis 5

For axis 7

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

*A setting of "1" or "0" is stored at each D9180 to D9183 bit. ON ......... 1 OFF........ 0

REMARK

The "LY" at the D9180 to D9183 LY [ ] [ ] items indicates a limit switch output.

< When A171SHCPU is used >

D9180 LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00

D9181 LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10

For axis 2

For axis 4

For axis 1

For axis 3

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

*A setting of "1" or "0" is stored at each D9180 to D9181 bit. ON.......... 1

OFF........ 0

REMARK

The "LY" at the D9180-D9181 LY [ ] [ ] items indicates a limit switch output.

4. SERVO SYSTEM CPU DEVICES

4 29

(2) PCPU error cause (D9184)................................. Data sent from PCPU to SCPU This register is used to identify the nature of errors occurring in the PCPU part of the servo system.

Error

Code Error Cause

Operation When Error

Occurs Action to Take

1 PCPU software error 1

2 PCPU operation period too long

3 PCPU software error 2

30 Hardware error between PCPU and SCPU

Reset with the reset key.

200

201

Hardware error in module installed in the motion main base unit

2 [ ] [ ]

Indicates the slot number (0 - 7) of the

module where the error occurred.

Base information for the module where the

error occurred.

0: Main base unit

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.

250

251

Hardware error in SSCNET interface

2 5 [ ]

SSCNET number where error occurred

0: SSCNET 1 (Amplifier connection interface)

1: SSCNET 2 (Personal computer link

connection interface)

Replace the CPU unit.

300 PCPU software error 3

All axes stop immediately,

after which operation

cannot be started.

Reset with the reset key.

302

In defining the ROM operation mode, ROM data in the FLASH

ROM is not correct (invalid registration code) when the CPU is

switched on.

ROM data in the FLASH

ROM is not loaded into the

internal SRAM and the

ROM operation mode is

not set. The CPU is

placed in the stopped state

and is never initiated.

Check internal SPRM

program parameters, then

perform operations from

ROM encoding to ROM

operation mode setting

again. If the same error

recurs, the service life of

the FLASH ROM is

expired. Operate the CPU

unit in the ROM operation

mode or replace it.

(3) Servo amplifier type (D9185 D9186) ............................................................................ Data sent from PCPU to SCPU When a servo system CPU power ON or reset occurs, the servo amplifier type designated at the system settings will be stored.

(a) When A172SHCPU is used

Axis 4

Axis 8

Axis 3

Axis 7

Axis 2

Axis 6

Axis 1

Axis 5

0: Unused axis 2: Separated amplifier

D9185

D9186

b15 to b12 b11 to b8 b7 to b4 b3 to b1

(b) When A171SHCPU is used

0

Axis 4 Axis 3 Axis 2 Axis 1D9185

D9186

b15 to b12 b11 to b8 b7 to b4 b3 to b1

4. SERVO SYSTEM CPU DEVICES

4 30

(4) Manual pulse generator axis setting error (D9187) ............................................................................ Data sent from PCPU to SCPU

When an error is detected in checking the setting at the leading edge of the manual pulse generator enable signal, the contents of the error are set in D9187 and the manual pulse generator axis setting error flag (M9077) comes ON.

(a) When A172SHCPU is used

0 P1 0 P1

b15 b14 b13 b12 b11 b10 b9 b8 b7 b4 b3 b2 b1 b0to

D9187 Axis 8

Axis 7

Axis 6

Axis 5

Axis 4

Axis 3

Axis 2

Axis 1

Stores axis setting errors for manual pulse generator. 0: Normal 1: Setting error (Axis setting outside the 1 to 8 range)

Stores smoothing magnification setting errors for the manual pulse generator. 0: Normal 1: Setting error (Magnification setting outside the 1 to 59 range)

1-pulse input magnification setting errors stored for each axis. 0: Normal 1: Setting error (Input magnification setting outside the 1 to 100 range)

(b) When A171SHCPU is used

0 P1 0 P1

b15 b12 b11 b10 b9 b8 b7 b4 b3 b2 b1 b0to

D9187 Axis 4

Axis 3

Axis 2

Axis 1

Stores axis setting errors for manual pulse generator. 0: Normal 1: Setting error (Axis setting outside the 1 to 4 range)

Stores smoothing magnification setting errors for the manual pulse generator. 0: Normal 1: Setting error (Magnification setting outside the 1 to 59 range)

1-pulse input magnification setting errors stored for each axis. 0: Normal 1: Setting error (Input magnification setting outside the 1 to 100 range)

0

to

4. SERVO SYSTEM CPU DEVICES

4 31

(5) TEST mode request error (D9188/D9188/D9182 to D9183) ............................................................................ Data sent from PCPU to SCPU When the TEST mode request error flag (M9078) switches ON, the axis data for axes in motion at that time will be stored. (a) When A172SHCPU is used

The OPERATING/STOPPED status of

each axis is stored.

0: Stopped

1: Operating

All set to "0".

D9188 0 0 0 0 0 0 0

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

Axis 8

Axis 7

Axis 6

Axis 5

Axis 4

Axis 3

Axis 2

Axis 10

(b) When A171SHCPU is used

The OPERATING/STOPPED status of

each axis is stored.

0: Stopped

1: Operating

All set to "0".

D9188 0 0 0 0 0 0 0

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

Axis 4

Axis 3

Axis 2

Axis 10 0 0 0 0

(6) Error program No. (D9189) ................................. Data sent from PCPU to SCPU (a) When the servo program setting error flag (M9079) switches ON, the No. of

the servo program (0 to 4095) where the error occurred is stored.

(b) Each time another error occurs at other servo programs, the stored servo program No. is replaced by the No. of the servo program where the most recent error occurred

4. SERVO SYSTEM CPU DEVICES

4 32

(7) Error item information (D9190) ........................... Data sent from PCPU to SCPU When the servo program setting error flag (M9079) switches ON, the error code corresponding to the erroneous setting item will be stored.

Error Code Error Description

900 The servo program designated by the DSFRP/SVST instruction does not

exist.

901 The axis No. designated by the DSFRP/SVST instruction is different from

the axis No. designated by the servo program.

902 The instruction code is unreadable (incorrect code).

904 A REAL mode servo program was started while in the VIRTUAL mode.

905 An instruction that cannot be executed in the VIRTUAL mode

(VPF,VPR,VVF,VVR,VPSTART, ZERO) was designated.

906 An axis designated as "unused" at the system settings is used in the servo

program designated by the DSFRP/SVST instruction.

Error item

data

A setting item error exists in the servo program designated by the

DSFRP/SVST instruction.*1

REMARK

*1: For details regarding error item data, see Section 6.3 of the Motion Controller (SV13/22) Programming Manual (REAL Mode).

4. SERVO SYSTEM CPU DEVICES

4 33

(8) Servo amplifier installation information (D9191) ............................................................................ Data sent from PCPU to SCPU When a servo system CPU power ON or reset occurs, the servo amplifier installation status is checked, and the results are stored. An INSTALLED status will be established at axes where the installation status changes from NOT INSTALLED to INSTALLED when power is switched ON. If the status changes from INSTALLED to NOT INSTALLED at power ON, the INSTALLED status will remain in effect. (a) When A172SHCPU is used

Servo amplifier installation

status

Installed......... 1

Not installed .. 0

D9191 0

to b8 b7 b6 b5 b4 b3 b2 b1 b0 Axis

8 Axis

7 Axis

6 Axis

5 Axis

4 Axis

3 Axis

2 Axis

1

b15

(b) When A171SHCPU is used

Servo amplifier installation status

Installed......... 1

Not installed .. 0

D9191 0

to b4 b3 b2 b1 b0 Axis

4 Axis

3 Axis

2 Axis

1

b15

Servo amplifier installation status 1) Installed/not installed status

Installed ............. MR-[ ]-B status is normal (normal communication with servo amplifier)

Not installed....... Servo amplifier is not installed. Servo amplifier power is OFF. Normal communication with the servo amplifier is impossible due to a connecting cable problem, etc.

2) The system settings and servo amplifier installation statuses are shown below.

MR-[ ]-B System Settings

Installed Not Installed

USED (axis No. setting) "1" is stored "0" is stored

NOT USED "0" is stored "0" is stored

4. SERVO SYSTEM CPU DEVICES

4 34

(9) Manual pulse generator smoothing magnification setting area(D9192) ............................................................................ Data sent from SCPU to PCPU (a) This area is used for setting the manual pulse generator's smoothing time

constant.

Manual Pulse Generator Smoothing

Magnification Setting Register Setting Range

D9192 0 to 59

(b) When the smoothing magnification setting is designated, the smoothing time constant is determined by the following formula. Smoothing time constant (t) = [Smoothing magnification + 1] 56.8 (ms)

(c) Operation

Manual pulse generator input

Manual pulse generator enabled

flag

OFF

ON

V

V1

t t t t

Output speed (V1)

= Number of input

pulses/ms

Manual pulse generator's 1-pulse input magnification

setting

Travel value (L) = Travel value

per pulse

Number of input

pulses/ms

Manual pulse generator's 1-pulse input magnification

setting

REMARKS

(1) The following units are used for the "travel value per pulse" value. Setting units: mm : 0.1 m

inch : 0.00001 inch degree : 0.00001 degree pulse : 1 pulse

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

(10) REAL/VIRTUAL mode switching error information (D9195) .......................................................................... Data sent from PCPU to SCPU 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.

4. SERVO SYSTEM CPU DEVICES

4 35

(11)Personal computer communication error codes (D9196) ........................................................................... Data sent from PCPU to SCPU

One of the following error codes are stored when an error occurs during PC link communication.

Error Code

stored in

D9196

Error Contents Correction Method

01

PC link communication receiving packet did not

arrive.

Receiving packet arrival timing was late.

Confirm that the personal computer power is on.

Check the communication cable connection.

Check for communication cable burnout.

Confirm that A30BD-PCF/A30CD-PCF is properly

placed.

02 The receiving packet CRC code is incorrect.

Confirm that there is nothing causing noise in the

vicinity.

Check the communication cable connection.

Check for communication cable burnout.

03 The receiving packet data ID is incorrect.

Confirm that A30BD-PCF/A30CD-PCF is properly

placed.

Replace the A30BD-PCF/A30CD-PCF.

04 The number of the frame received is incorrect.

Check the communication cable connection.

Check for communication cable burnout.

Confirm that there is nothing causing noise in the

vicinity.

05 The communication task on the personal computer

side has not been started.

Start the communication task on the personal

computer side.

5. MECHANICAL SYSTEM PROGRAM

5 1

5 MECHANICAL SYSTEM PROGRAM

This section discusses the VIRTUAL mode's mechanical system program.

This program consists of a mechanical module connection diagram and the mechanical module parameters.

The mechanical module connection diagram shows the virtual mechanical system consisting of connected virtual mechanical modules.

The mechanical module parameters are the parameters used at the mechanical module connection diagram for control of the mechanical modules.

For details regarding the mechanical module parameters, refer to the mechanical module parameter lists shown in Chapters 6 to 8.

5. MECHANICAL SYSTEM PROGRAM

5 2

5.1 Mechanical Module Connection Diagram

The mechanical module connection diagram shows a virtual system consisting of mechanical modules. The mechanical module connection configuration is shown in Fig. 5.1 below.

Indicates rotation direction

Drive module

Virtual servomotor

Synchro-

nous

encoder

Transmission module

Differential gear

Virtual axis

Virtual main shaft

Cam

Virtual auxiliary input shaft

Gear

Speed change gear

Clutch

Clutch

Differential gear

Connection shaft

Roller Ball

screw Rotary table

Tr a n sm

is si

o n m

o d u le

1 block

1 system

Virtual servomotor

Synchro-

nous

encoder

Drive module

Virtual servomotor

Synchro-

nous

encoder

Gear

Speed change gear

Output shaft O

ut p

ut m

o du

le

Fig. 5.1 Mechanical Module Connection Configuration

POINTS

(1) Either a virtual servomotor or a virtual synchronous encoder can be connected at the drive module.

(2) One of the following can be connected at the output module: Cam, roller, ball screw, or rotary table.

5. MECHANICAL SYSTEM PROGRAM

5 3

(1) Block The term "block" refers to a single series of elements between and including a virtual transmission module (gear connected to the virtual main shaft) and an output module. Refer to Table 5.1 to determine the number of mechanical modules which can be connected in one block.

(2) System The term "system" refers to all the blocks which are connected to a single virtual main shaft. One system can consist of up to 8 blocks.

(3) Transmission module connections There are 3 transmission module connection patterns: Pattern 1 ....... Without a differential gear. Pattern 2 ....... Without a speed change gear at the output side of the

differential gear. Pattern 3 ....... With a speed change gear at the output side of the differential

gear.

Pattern 1 Pattern 2 Pattern 3

Gear

A

Output module

Differential gear

B

Output module

Drive module

Gear

A

Gear Differential

gear

B

Output module

Drive

module

Gear

C

Gear

Speed change gear

(a) Transmission modules which can be connected at "A" and "B" above 1) A clutch, speed change gear, and clutch & speed change gear can be

connected at "A" and "B". 2) If a clutch & speed change gear are used, there are no connection

constraints.

Clutch Speed

change gear Clutch

Speed change gear

Speed change gear

Clutch

(b) Transmission module which can be connected at "C" Only a clutch can be connected at "C".

5. MECHANICAL SYSTEM PROGRAM

5 4

5.2 Mechanical Module List

Summaries of mechanical modules used in VIRTUAL mode mechanical module connection diagrams are given in Tables 5.1. For details regarding each mechanical module, see Chapters 5 to 8.

Table 5.1 Mechanical Module List Max. Number Used Max. Number Used

Mechanical Module A172SHCPU A171SHCPU

Number Per Block Number Per Block Classi- fication

Name Appearance

Number Per

Servo System

CPU

Number Per

System

Connect- ion Shaft

Side

Auxiliary Input Shaft Side

Number Per

Servo System

CPU

Number Per

System

Connect- ion Shaft

Side

Auxiliary Input Shaft Side

Function Description Referen-

ce Section

Virtual servo motor

8 8 4 4

Used to drive the mechanical system program's virtual axis by servo program or JOG operation.

Section 6.1

Drive module Synch-

ronous enco- der

3

Total of 11

3

Total of 11

1

Total of 5

1

Total of 5

Used to drive the virtual axis by input pulses from an external synchronous encoder.

Section 6.2

Virtual main shaft

8 1 4 1

This is a virtual "link shaft". Drive module rotation is

transferred to the transmission module.

Virtual axis

Virtual auxili- ary input shaft

8

Total of 16

8 4

Total of 8

4

This is the auxiliary input shaft for input to the transmission module's differential gear.

This shaft is automatically displayed when a differential gear and gear are connected.

Gear 16 16 1 1 8 8 1 1

Transfers the drive module's rotation to the output shaft.

The travel value (pulse) input from the drive module is adjusted according to the gear ratio setting value, and is then transmitted to the output shaft so that rotation occurs in the set direction.

Section 7.1

Direct clutch

Smoo- thing clutch

16 16 1 1 8 8 1 1

Engages/ disengages the output module with the drive module rotation.

In response to clutch ON/OFF switching, there is a direct clutch for direct transfer, and a smoo-thing clutch for acceleration/ deceleration processing which occurs in accordance with the smoothing time constant setting.

The ON/OFF mode, address mode, or the external input mode can be used, depending on the application.

Section 7.2

Trans- mission module

Speed change gear

16 16 1 1 8 8 1 1

Used to change the speed of the output module (roller).

The input shaft speed is adjusted according to the gear ratio setting value, and is then transmitted to the output shaft.

Section 7.3

5. MECHANICAL SYSTEM PROGRAM

5 5

Table 5.1 Mechanical Module List (Continued) Max. Number Used Max. Number Used

Mechanical Module A172SHCPU A171SHCPU

Number Per Block Number Per Block Classi- fication

Name Appearance

Number Per

Servo System

CPU

Number Per

System

Connect- ion Shaft

Side

Auxiliary Input Shaft Side

Number Per

Servo System

CPU

Number Per

System

Connect- ion Shaft

Side

Auxiliary Input Shaft Side

Function Description Referen-

ce Section

8 1 4 4 1

Auxiliary input shaft rotation is subtracted from virtual main shaft rotation and the result is transmitted to the output shaft.

Trans- mission module

Diffe- rential gear

8

1

1 1

Auxiliary input shaft rotation is subtracted from virtual main shaft rotation and the result is transmitted to the output shaft. (For virtual main shaft connection)

Section 7.4

Roller 8 8 4 4

Used when speed control occurs at the final output. Section

8.1

Ball screw

8 8 4 4

Used when linear positioning occurs at the final output. Section

8.2

Rotary table

8 8 4 4

Used when angle control occurs at the final output shaft. Section

8.3Output module

Cam 8

Total of 8

8

Total of 8

1 1

4

Total of 4

4

Total of 4

1 1

Used when control other than those shown above occurs at the final output shaft. Position control will occur in accordance with the cam pattern setting data.

There are 2 cam control modes: the two-way cam mode, and the feed cam mode.

Section 8.4

6. DRIVE MODULE

6 1

6. DRIVE MODULE

The drive module drives the virtual axis. There are 2 types of drive module:

Virtual servo motor......................See Section 6.1 Synchronous encoder .................See Section 6.2

6.1 Virtual Servo Motor

The virtual servo motor is used to control the virtual axis by servo program or by JOG operation. Virtual servo motor operation and parameters are discussed below.

6.1.1 Virtual servo motor operation

(1) START procedure The virtual servo motor is started by the servo program or by JOG operation. (a) START by servo program

The servo program is started by a sequence program DSFRP/SVST instruction. The start accept flag *1 (M2001 to M2008/M2001 to M2004) of the designated axis will then switch ON.

SVST J1 K100 START request

Virtual

[Virtual axis1]

Virtual servo motor

Control

Sequence program Servo program Mechanical system program

ABS-1 Axis1, 10000 Speed 1000

REMARK

*1........For details regarding the START accept flag, see Section 4.1.8 (2).

6. DRIVE MODULE

6 2

(b) START by JOG operation An "individual" or "simultaneous" START can be executed at the JOG operation.*1

1) Individual START ............Each axis can be started by a forward/reverse JOG command *2.

Program example for virtual axis 1 individual START Mechanical system program

Virtual servo motor

Forward JOG Y102

Y103

Reverse JOG

2) Simultaneous START......The simultaneous START axis Nos. and rotation directions (forward/reverse) are designated at the JOG Simultaneous START Axis Setting Register (D1015)*3, and the axes are started when the JOG Simultaneous START Command Flag (M2015)*3 switches ON.

Virtual servo motor

JOG operation M2015

MOVP H3 D1015

Mechanical system program Program example for simultaneous START of virtual axes 1 and 2

[Virtual axis 2]

[Virtual axis 1]

REMARKS

*1 For details regarding JOG operations refer to section 7.19 of the Motion Controller (SV13/SV22 REAL mode) Programming Manual.

*2 For details regarding the forward/reverse JOG commands, see Section 6.1.3.

*3 See Section 6.1.3 for details regarding the JOG Simultaneous START Register, and Section 4.1.8 (5) for details regarding the JOG Simultaneous START Command Flag.

6. DRIVE MODULE

6 3

(2) Procedure for stopping before completion To stop virtual servo motor operation before positioning is completed, switch the stop/rapid stop command ON in the sequence program. (There are no external stop causes (STOP, FLS, RLS) for the virtual servo motor.)

(3) Control items (a) During positioning control, the virtual servo motor backlash compensation

amount is processed as "0".

(b) As the virtual servo motor has no feedback pulse, the deviation counter value and the present value are not stored.

(c) The virtual servo motor's feed present value is recorded in a backup memory, and is restored after switching from the REAL to VIRTUAL mode occurs following a power ON. 1) Operation continuation is possible when the output module is using the

absolute position system (when position detection module/servo amplifier are used). However, if the servo motor for the output module which is connected to the virtual servo motor is operated while power is OFF, continuation will become impossible even if the absolute position system is being used. If this occurs, a "VIRTUAL mode continuation disabled" warning signal*1

will switch ON. To continue operation, the virtual servo motor or the output module's servo motor must be moved to the position where synchronous operation is possible.

2) If the output module is not using the absolute position system, the feed present value must be corrected (using the "present value change" function) after switching from the REAL to the VIRTUAL mode occurs.

(4) Control change The following virtual servo motor control items can be changed: Present value change Speed change Present value changes are executed by the CHGA/DSFLP instruction, and speed changes are executed by the CHGV/DSFLP instruction. (See Section 10.1) For details regarding the CHGA, CHGV, and DSFLP instructions, see Section 5.3 of the Motion Controller (SV13/22) Programming Manual (REAL Mode).

REMARK

*1........For details regarding the "VIRTUAL mode continuation disabled" warning signal, see Section 6.3.1.

6. DRIVE MODULE

6 4

(5) Operation mode when error occurs The operation method when major errors occur at the output modules of a given system can be designated as shown below. Control occurs as shown below, based on the parameter settings (see Table 6.1) of the virtual servo motor which is connected to the virtual main shaft. (a) Continuation ........ Output module operation continues even if a major

output module error occurs. The error detection signal (M1607+20n) will switch ON at such times, and the corresponding error code will be recorded at the major error storage area. The system and output module continuation/stop setting when a major output module error occurs is designated in the sequence program.

(b) Clutch OFF .......... When a major output module error occurs, that system's clutch will be switched OFF and all connected output modules will stop. At this time, the clutch ON/OFF command device will not switch OFF, but the clutch status storage device will switch OFF regardless of the clutch ON/OFF command device's ON/OFF status. Operation will continue at axes where no clutch is connected. The drive module can be stopped from the sequence pro-gram, if required. To resume operation, eliminate the error cause, then switch the clutch ON/OFF command device ON.

Clutch ON

Clutch ON

Clutch ON

Major error occurrence

Major error occurrence

Clutch OFF

Clutch OFF

Stop

Operation continuation

Clutch OFF

Virtual servo motor [Operation in Progress] [Operation When Major Error Occurs]

Operation With "Clutch OFF" Setting

6. DRIVE MODULE

6 5

(6) Virtual servo motor axis continuous operation By setting the virtual servo motor stroke limit upper and lower limit parameters such that the upper stroke limit = lower stroke limit, the stroke limit can be disabled thereby allowing operation to continue indefinitely. When the stroke limit is disabled it is also possible for the startup of the feed present value to take place in a direction that exceeds 32 bits. In such a case the feed present value is converted to a 32 bit ring address.

2147483648 2147483647

The following operations are possible depending on the control mode.

Control Mode Control Contents

Positioning (Linear)

Speed switching

Constant speed (Linear)

When the ABS command is used for startup it proceeds in a direction

within the 32 bit range. Startup will not proceed in a direction that

exceeds the 32 bit range.

When the INC command is used for startup it proceeds in the direction

that has been set thus also making it possible to move in a direction

that exceeds 32 bits.

Fixed pitch feed Startup proceeds in the set direction and thus it is possible to proceed

in a direction that exceeds 32 bits.

Position follow-up

High speed oscillation

The set address is controlled by the absolute method so that startup in

a direction that exceeds 32 bits is not possible.

Speed

JOG

Manual pulse generation

Stroke is disabled. Moves in the set direction.

Positioning (Circular)

Constant speed (Circular)

A start error (107, 108, 109) accompanies the ABS or INC command

and startup is not possible.

(7) Reverse return during positioning By setting a negative speed and carrying out a speed change request using the CHGV (or DSFLP) instruction while startup is in progress, it is possible to initiate deceleration at that point and return in the reverse direction once deceleration is completed. The following operations are possible via use of servo commands.

Control Mode Servo Command Operation

Linear control

ABS-1

INC-1

ABS-2

INC-2

ABS-3

INC-3

ABS-4

INC-4

Circular interpolation control ABS circular

INC circular

Fixed pitch feed FEED-1

FEED-2

FEED-3

The direction of movement is reversed when deceleration

is complete, the servo returns to the positioning starting

point using the absolute value of the set speed, and then

stops (stand by). In the case of circular interpolation the

servo returns along the circular orbit.

Constant speed control CPSTART 1

CPSTART 2

CPSTART 3

CPSTART 4

The direction of movement is reversed when deceleration

is complete, the servo returns to the previous point using

the absolute value of the set speed, and then stops

(stand by).

Speed control (I) VF

VR

Deceleration is completed and the direction of movement

is reversed using the absolute value of the set speed. It

does not stop until the stop command is input.

Position follow-up control PFSTART

Speed switching control VSTART

JOG operation

Reverse return is not possible.

This should be viewed as a normal speed change

request.

The minor error 305 results and the speed limit value is

used for control.

(Remarks) Minor error 305: The set speed is out of range the from 0 to the speed limit.

6. DRIVE MODULE

6 6

[Control contents] (1) If a speed change is made to a negative speed, control is carried out as

indicated in the previous table in accordance with the control mode during startup.

(2) The command speed during return becomes the absolute value of the changed speed. If the speed limit value is exceeded the minor error 305 will result and control will use the speed limit value.

(3) The following hold true when the servo is in the stand by status at the return position. (a) Status of each signal

Start received (M2001+n) ON (No change prior to CHGV execution) Positioning start completed (M1600+20n) ON (No change prior to

CHGV execution) Positioning completed (M1601+20n) OFF In-position (M1602+20n) ON Command in-position (M1603+20n) OFF Speed change "0" receiving in progress flag () ON

(b) In the case of a restart carry out a speed change to the normal speed.

(c) When positioning is completed set the stop command to ON.

(d) If a negative speed change is carried out a second time it is ignored.

(4) The following are true during reverse return using the speed control mode. (a) If the direction of movement is returned a second time, carry out a speed

change to the normal speed.

(b) To stop set the stop command to ON.

(c) If a negative speed change is carried out a second time, carry out speed change using the reverse return direction.

[Error contents] (1) During startup of reverse return in a valid control mode, if the absolute value of

the negative changed speed exceeds the speed limit, the minor error 305 will occur and reverse return will be carried out using the speed limit value.

(2) During constant speed control if the absolute value of the negative changed speed exceeds the speed set in the servo program, reverse return will be carried out using the speed set in the program. (Speed clamp control in relation to a speed change during constant speed control) An error will not occur at this time.

(3) Not enabled after the initial automatic deceleration. Minor error 303 results.

6. DRIVE MODULE

6 7

[Operation example of constant speed control] The diagram below shows an example of operation when a reverse return request is carried out in relation to constant speed control.

[Servo program] [Track]

1000 1000

P1

P2 P3 P1

P2

P3

Start point

Start request SVST

Axis 2

Axis 1

CPSTART2 Axis 1 Axis 2 Speed 1000 ABS-2 Axis 1 10000 Axis 2 0 ABS-2 Axis 1 10000 Axis 2 10000 ABS-2 Axis 1 20000 Axis 2 10000 CPEND

Negative speed change

Start recption M200n

Speed change request CHGV

Changed speed

Composite speed

Command in-position (OFF)

Return operation to point P1 Stand by at point P1

Speed change "0" receive in progress flag

As shown above, when a speed change is carried out to a negative speed while execution of positioning at P2 is in progress, the system returns to P1 in accordance with the start set in the program and waits in stand by at P1.

POINTS

(1) If the M code FIN wait function is used in constant speed control and a reverse return request is carried out during FIN wait stoppage, the request will be ignored.

(2) In the above example, if the reverse return request return is carried out just prior to P2 and P2 is passed during deceleration, the system will return to P2.

(3) A172SHCPU and A171SHCPU have no dedicated positioning device for the speed change "0" receiving in progress flag.

P1

P2 P3

Reverse return request carried out here

Start point Axis 1

Axis 2

6. DRIVE MODULE

6 8

6.1.2 Parameter list

The virtual servo motor parameters are shown in Table 6.1. Parameters shown in this table are explained in items (1) to (4) below. For details regarding the virtual servo motor parameter setting procedure, refer to the SW2SRX-GSV22PE/SW0IX-CAMPE Operating Manual.

Table 6.1 Parameter List

No. Setting Item Default Value Setting Range

A172SHCPU 1 to 8 1 Virtual axis No.

A171SHCPU 1 to 4 2 Stroke limit upper limit 2147483647 PLS 2147483648 to 2147483647 PLS

3 Stroke limit lower limit 0 PLS 2147483648 to 2147483647 PLS

4 Command in-position range 100 PLS 1 to 32767 PLS

5 JOG speed limit 20000 PLS/s 1 to 10000000 (*1) PLS/s

6 JOG operation data

Parameter block 1 1 to 16 7 Operation mode when error occurs Continuation Continuation/Clutch OFF

(*1): The setting range has been expended from the previous range as a result of compatibility with the high resolution encoder.

(1) Virtual axis No. setting The virtual axis No. is designated by the servo program during VIRTUAL mode operation. The number of the virtual servo motor which is connected to the virtual main shaft or the virtual auxiliary input shaft is designated.

(2) Stroke limit UPPER/LOWER limit settings Designates the stroke range of the virtual servo motor axis. (a) When the stroke limit lower limit is made effective:

Designate the stroke range in such a way that the stroke limit lower limit is less than the stroke limit upper limit. The stroke limit check during start and its control take place as follows at start time.

Error check

startup startup in progressControl Mode

106 207 208 220

Remarks

Linear ! Positioning

Circular ! ! ! Fixed pitch feed ! Speed switching ! ! ! Constant speed ! ! ! Position follow-up ! ! !

Startup in the return direction in a stroke from

the stroke range is possible.

Speed The stroke is disabled. The feed present

value does not become "0".

JOG ! Manual pulse generation ! !

Startup in the return direction in a stroke from

outside the stroke range is possible.

6. DRIVE MODULE

6 9

Error Code Contents Operation

106 Command position is outside of the stroke limit range at startup. Does not start

Error Code Contents Operation

207 Feed present value is outside of the stroke limit range during

startup.

208 The feed present value of another axis is outside of the stroke limit

range when circular interpolation starts.

220 The command address is outside of the stroke limit range during

position follow-up control.

Deceleration

stop is initiated.

(b) When the stroke limit is disabled Set such that the stroke limit lower limit = stroke limit upper limit. When the stroke limit is disabled, feed present value startup in a direction that exceeds 32 bits is possible. In such a case the feed present value is converted to a 32 bit ring address.

2147483648 2147483647

The following operations are possible depending on the control mode.

Control Mode Control Contents

Positioning (Linear)

Speed switching

Constant speed (Linear)

When the ABS command is used for startup it proceeds in a direction

within the 32 bit range. Startup will not proceed in a direction that

exceeds the 32 bit range.

When the INC command is used for startup it proceeds in the direction

that has been set thus also making it possible to move in a direction

that exceeds 32 bits.

Fixed pitch feed Startup proceeds in the set direction and thus it is also possible to

proceed in a direction that exceeds 32 bits.

Position follow-up

High speed oscillation

The set address is controlled by the absolute method so that startup in

a direction that exceeds 32 bits is not possible.

Speed

JOG

Manual pulse generation

Stroke is disabled. Moves in the direction set.

Positioning (Circular)

Constant speed (Circular)

A start error (107, 108, 109) accompanies the ABS or INC command

and startup is not possible.

6. DRIVE MODULE

6 10

(3) Command in-position range The term "command in-position" refers to the difference between the positioning address (command position) and present feed value. The "command in-position" signal switches ON when the difference between the command position and the feed present value enters the setting range ([command in-position] [feed present value] [command in-position range]). The command in-position range is checked constantly during positioning control. (The command in-position range is not checked during speed control and JOG operation.)

Command in-position setting Position control start

Command in-position

Execution of command in-position check

ON

OFF

V

Fig. 6.1 Command In-position Range

(4) JOG speed limit and parameter block settings The speed limit and parameter block used for JOG operations are explained below. (a) JOG speed limit

Designates the maximum JOG speed for the virtual axis. If the JOG speed is set higher than the JOG speed limit value, the JOG speed is restricted to the JOG speed limit value.

(b) Parameter block setting Designates the parameter block No. which is used for the JOG operation. The following parameter block data items are valid during a JOG operation: acceleration time, deceleration time, rapid stop deceleration time, and deceleration processing on STOP input.

Designated JOG speed JOG speed limit value

Set acceleration time

Actual acceleration time

Set rapid stop time

Actual rapid stop time

V

t

V

t

Set deceleration time

Actual deceleration time

Designated JOG speed JOG speed limit value

Fig. 6.2 Relationships between the JOG Speed Limit, Acceleration Time, Deceleration Time, and Rapid Stop Time

POINT

The parameter block system-of-units for interpolation control during a JOG operation is fixed as "pulses", regardless of the system-of-units setting.

6. DRIVE MODULE

6 11

6.1.3 Virtual servo motor axis devices (internal relays, data registers)

(1) Virtual servo motor axis status

Axis No.

A172SHCPU Device

Number

A171SHCPU Device

Number Signal Name

(! Valid) 1

M1200 to

M1219

M1200 to

M1219 Signal Name Real Virtual Signal

Direction Refresh Cycle

Fetch Cycle

0 Positioning start completed !

1 Positioning completed ! 3.5ms

2 M1220

to M1239

M1220 to

M1239 2 Unusable 3 Command in-position !

4 Speed control in progress ! 3.5ms

3 M1240

to M1259

M1240 to

M1259 5 Unusable 6 Unusable

7 Error detection ! Immediately4 M1260

to M1279

M1260 to

M1279 8 Unusable 9 Unusable

10 Unusable 5 M1280

to M1299 11 Unusable

12 Unusable 13 Unusable 6

M1300 to

M1319 14 Unusable 15 Unusable 16 Unusable 7

M1320 to

M1339 17 Unusable 18 Unusable

19 M code output in progress

Backup

!

SCPU PCPU

3.5ms8 M1340

to M1359

6. DRIVE MODULE

6 12

(a) Positioning START completed signal (M1200+20n)*1 1) This signal switches ON when a positioning START is completed at the

axis designated by a DSFRP/SVST instruction in the sequence program. This signal is inoperative during JOG and speed control operations. This signal can be used for M-code readouts, etc., when positioning is started.

2) The positioning START completed signal will switch OFF at the leading edge (OFFON) of the "completed" signal OFF command (M1404+20n)*1, or when positioning is completed.

1) At leading edge of "completed" signal OFF command (OFF ON)

DSFRP/SVST instruction

START accept (M2001+n)

Positioning START completed (M1200+20n)

"Completed" signal OFF command (M1404+20n)

Dwell time

ON

ON

OFF

ON

OFF

OFF

t

V

DSFRP/SVST instruction

START accept (M2001+n)

Positioning START completed (M1200+20n)

Dwell time

ON

ON OFF

OFF

t V

Positioning completed

2) When positioning is completed

REMARK

(1) *1:The "n" of M2000+n, M1200+20n, M1404+20n represents the numerical value corresponding to the virtual axis No.

n 0 1 2 3 4 5 6 7

A172SHCPU 1 2 3 4 5 6 7 8 Virtual axis No.

A171SHCPU 1 2 3 4

6. DRIVE MODULE

6 13

(b) Positioning completed signal (M1201+20n) 1) This signal switches ON when positioning is completed at the axis

designated by a DSFLP/SVST instruction in the sequence program. This signal will not switch ON when JOG or speed control operations are started, or when they are stopped while in progress. This signal can be used for M-code readouts when positioning is completed.

2) The positioning completed signal will switch OFF at the leading edge (OFFON) of the "completed" signal OFF command (M1404+20n) or when a positioning START is completed.

2) When next positioning control START is completed

1) At leading edge of Yn4 completed signal OFF command (OFFON)

DSFRP/SVST instruction

START accept (M2001+n)

Positioning START completed (M1201+20n)

Completed signal OFF command (M1404+20n)

Dwell time

ON

ON

OFF

ON

OFF

OFF

t

V

DSFRP/SVST instruction

START accept (M2001+n)

Positioning START completed (M1201+20n)

Dwell time

ON

ON

OFF

t

V

Positioning completed

Positioning START

6. DRIVE MODULE

6 14

(c) Command in-position command (M1203+20n) 1) This signal switches ON when the absolute difference between the

command position and the present value is less than the "command in- position range" designated by the virtual servo motor parameter setting (see Section 6.1.2). This signal switches OFF when the following occur: Positioning control START Speed control JOG operation

2) A command in-position check occurs constantly during position control, but does not occur during speed control.

Position control start

Command in-position setting value

Speed control start

Command in-position (M1203+20n)

ON

OFF

Execution of command in-position check

V

(d) Speed control in-progress signal (M1204+20n) 1) Since the speed control in progress signal is ON while speed control is in

progress this signal can be used to determine whether speed control is in progress or positioning is in progress. The speed control in progress signal that comes ON during speed control will go OFF when the next positioning control operation starts.

2) When the power is turned on or positioning control is in progress this signal will be OFF.

ON

OFF

Speed control start

Speed control

Positioning start

Speed control in-progress signal (M1204+20n)

Positioning control

t

6. DRIVE MODULE

6 15

(e) Error detection signal (M1207+20n) 1) The error detection signal comes ON when a minor error or major error is

detected in a virtual servo motor or output module connected to a virtual servo motor. The ON/OFF status of the error detection signal is used to distinguish whether or not an error exists.

2) When the error detection signal comes ON the corresponding error code is then stored in the error code storage area. Minor error code*1 ........Stored in the minor error code storage area*2. Major error code*1 ........Stored in the major error code storage area*2. The distinction as to whether the detected error is a virtual servo motor error or an output module error can be confirmed by the contents of the error code or by the ON/OFF status of the output module error detection signal.

3) When the virtual servo motor or output module connected to the virtual servo motor is in its normal status the error reset command (M1407 + 20n) is ON and the error detection signal is OFF.

REMARKS

(1) *1:Refer to section 11.3 for details regarding virtual servo motor minor/major error codes. Refer to section 11.5 for details regarding output module minor/major error codes.

(2) *2:Refer to section 6.1.3 for details concerning the minor error code storage area and major error code storage area.

(f) M code output in progress signal (M1219+20n) 1) Signal indicating that M code output is in progress. 2) This will be OFF when a stop command, cancel signal, skip signal, or

FIN signal has been input.

OFF ONM code output in progress signal (M1219 20n)

FIN signal (M1419 20n)

M3M1 M2M code

OFF ON

POINTS

(1) The M code output in progress signal is the signal for the FIN signal wait function.

(2) The M code output in progress signal is only enabled when the FIN acceleration/deceleration speed has been set in the servo program. If it is not set the FIN signal wait function is disabled and the M code output in progress signal does not come ON.

6. DRIVE MODULE

6 16

(2) Virtual servo motor axis command signals

Axis No.

A172SHCPU Device No.

A171SHCPU Device No.

Signal Name

(!: Valid) 1

M1400 to

M1419

M1400 to

M1419 Signal Name REAL VIRTUAL Signal

Direction Refresh Cycle

Fetch Cycle

0 Stop command

1 Rapid stop command 3.5ms

2 M1420

to M1439

M1420 to

M1439 2 Forward JOG start

3 Reverse JOG start

4 End signal OFF command

!

10ms

3 M1440

to M1459

M1440 to

M1459 5 Unusable

6 Unusable

7 Error reset ! 10ms4 M1460

to M1479

M1460 to

M1479 8 Unusable

9 External STOP input valid/invalid when starting

! Start timing

10 Unusable 5

M1480 to

M1499 11 Unusable

12 Unusable

13 Unusable6 M1500

to M1519 14 Unusable

15 Unusable

16 Unusable7 M1520

to M1539 17 Unusable

18 Unusable

19 FIN signal !

SCPU PCPU

3.5ms8 M1540

to M1559

6. DRIVE MODULE

6 17

(a) Stop command (M1400+20n)*1

1) The stop command is used to stop operation at an axis where motion is in progress, and it becomes effective at the leading edge (OFFON) of the signal. (Operation cannot be started at axes where the stop command is ON.)

Stop command (M1400+20n)

OFF

Designated speed

V

Deceleration stop processing

STOP

Control when stop command is OFF

Stop command at specified axis

ON

t

2) The stop command can also be used during speed control. (For details regarding speed control, see Section 7.12 of the Motion Controller (SV13/22) Programming Manual (REAL Mode).

3) STOP processing which occurs in response to the stop command is shown in Table 6.2 below.

Table 6.2 Stop Processing at Stop Command ON

Processing at Stop Command ON Control in Progress When Control is in progress

When Deceleration to Stop is in Progress

Position control Speed control JOG operation

Deceleration to a stop occurs within the deceleration time designated in the servo program or parameter block.

Stop command is ignored, and the deceleration stop processing continues.

REMARK

*1: The "n" in M1400+20n represents the numerical value corresponding to the virtual axis No.

n 0 1 2 3 4 5 6 7

A172SHCPU 1 2 3 4 5 6 7 8 Virtual axis No.

A171SHCPU 1 2 3 4

6. DRIVE MODULE

6 18

(b) Rapid stop command (M1401+20n) 1) This command is used to execute a rapid stop at an axis which is in

motion, and it becomes effective at its leading edge (OFFON). (Operation cannot be started at axes where the rapid stop command is ON.)

Rapid stop command (M1401+20n)

OFF

Designated speed

t

Rapid stop processing *1

STOP

Control when rapid stop command is OFF

Rapid stop command at specified axis

ON

V

2) The rapid stop processing which occurs when the rapid stop command switches ON is shown in Table 6.3 below.

Table 6.3 Rapid Stop Processing When Rapid Stop Command is Switched ON

Processing at Stop command ON Control in Progress When Control is in Progress When Deceleration to Stop is in

Progress

Position control

Speed control

JOG operation

Rapid stop occurs

Rapid stop processing

Speed limit value

Designated speed

Rapid stop deceleration time

Deceleration processing is aborted, and rapid stop processing begins.

Rapid stop command

Speed limit value

Designated speed

Rapid stop deceleration time

STOP deceleration

REMARKS

*1: Rapid stop processing results in deceleration to a stop within the rapid stop deceleration time designated at the parameter block or servo program.

(c) Forward JOG start command (M1402+20n)/Reverse JOG start command (M1403+20n) 1) When the forward JOG start command (M1402+20n) is ON in the

sequence program, JOG operation occurs in the forward direction (direction in which the address increases). When the forward JOG start command (M1402+20n) is switched OFF, a deceleration and STOP will occur within the deceleration time designated at the parameter block.

2) When the reverse JOG start command (M1403+20n) is ON in the sequence program, JOG operation occurs in the reverse direction (direction in which the address decreases). When the reverse JOG start command (M1403+20n) is switched OFF a deceleration and STOP will occur within the deceleration time designated at the parameter block.

6. DRIVE MODULE

6 19

POINT

The sequence program features an interlock function which prevents the for- ward (M1402+20n) and reverse (M1403+20n) JOG start commands from being switched ON simultaneously.

(d) Completed signal OFF command (M1404+20n) This command is used to switch the "positioning START completed signal" (M1200+20n) and the "positioning completed signal" (M1201+20n) OFF in the sequence program.

Positioning START completed (M1200+20n)

Positioning completed (M1201+20n)

Completed signal OFF command (M1404+20n)

Dwell time

ON

ON

OFF

ON

OFF

OFF

Dwell time t

POINT

Do not switch the "completed signal OFF command" ON by a PLS instruction. Such an action will make it impossible to switch the "positioning START completed signal"(M1200+20n) and the "positioning completed signal" (M1201+20n) OFF.

(e) Error reset command (M1407+20n) 1) The error reset command is used to clear the minor or major error code

storage area of the virtual servo motor for which an error has been detected and to reset the error detection signal.

2) The following processing is carried out when the error reset command comes ON. If the virtual servo motor and output module are normal the minor and

major error code storage areas are cleared and the error detection signal is reset.

If the virtual servo motor and output module error has not been canceled, the error code is again stored in the minor/major error code storage area. In this case the error detection signal (M1207+20n) remains ON.

POINT

Do not turn the error reset command (M1407+20n) ON using the PLS command. If it is set to ON using the PLS command it may not be possible to carry out error reset.

6. DRIVE MODULE

6 20

(f) External STOP input invalid command at START (M1409+20n) This command is used to designate a valid/invalid setting for the external STOP input. ON ......... The external STOP input will be invalid, and axes where the

STOP input is ON can be started. OFF ....... The external STOP input will be valid, and axes where the

STOP input is ON cannot be started.

POINTS

After operation has been started by switching external STOP input invalid command at START (M1409+20n) ON, switch the STOP input from OFF to ON to stop the operation by an external STOP input. (If the STOP input is ON when the START occurs, switch the STOP input ON OFF ON.)

(g) FIN signal (M1419+20n) When an M code is set in a point during positioning, travel to the next block does not take place until the FIN signal state changes as follows: OFFONOFF Positioning to the next block begins after the FIN signal state changes as above.

M code PS

Execution point 1 2WAIT

10 11

VIRTUAL

CPSTART2 Axis 1 Axis 2 Speed 10000 FIN acceleration/deceleration 100 [ms] ABS-2 Axis 1, 200000 Axis 2, 200000 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

Timing Chart for Operation Description

1. Once positioning to point 1 begins, M code 10 is output and the M code output in progress signal goes ON.

2. After the PC takes appropriate action, the FIN signal goes ON. Travel to the next point does not take place unless the FIN signal goes ON.

3. When the PC's action causes the FIN signal to go ON, the M code output in progress signal goes OFF.

4. After the M code output in progress goes OFF, the PC takes appropriate action so that the FIN signal goes OFF. Positioning to the next point 2 begins through the above steps.

1

2

3

4

M code output in progress PS

FIN signal SP

POINTS

(1) The FIN signal and M code output in progress signal are for the FIN signal wait function.

(2) The FIN signal and M code output in progress signal are only enabled when the FIN acceleration/deceleration speed has been set in the servo program. If it is not set the FIN signal wait function is disabled and the M code output in progress signal does not come ON.

6. DRIVE MODULE

6 21

(3) Virtual servo motor axis monitor device

Axis No.

SV22C Device No.

SV22F Device No.

Signal Name

(!: Valid) 1

M700 to

M705

M700 to

M705 Signal Name REAL VIRTUAL Signal

Direction Refresh Cycle

Fetch Cycle

0 1

Feed present value 3.5ms 2

M706 to

M711

M706 to

M711 2 Minor error code

3 Major error code Immediately

4 Execution program Number3 M712

to M717

M712 to

M717 5 M code

Backup ! SCPU PCPU

3.5ms

4 M718

to M723

M718 to

M723

5 M724

to M729

6 M730

to M735

7 M736

to M741

8 M742

to M747

(a) Feed present value storage register(D700+6n)*1

...................................................................... Data sent from PCPU to SCPU 1) The target address which was output to the virtual servo motor in

accordance with the servo program's positioning address and travel value is stored at this register.

2) This feed present value data is subjected to a stroke range check. 3) A "231 pulse to (2311) pulse" ring address is established.

(2311)

231

4) Data in the feed present value storage register is stored in a backup memory when a power OFF or servo system CPU reset occurs.

(b) Minor error code storage register (D702+6n) ...................................................................... Data sent from PCPU to SCPU 1) When a minor error occurs at the virtual servo motor or at the output

module, the corresponding error code (see Section 11.3) is stored in this register. Each time a minor error occurs, the previous error code stored in this register will be overwritten by the new error code.

2) To clear error codes for minor errors which occurred at the virtual servo motor or synchronous encoder, execute the drive module error reset command*2. To clear error codes for minor errors which occurred at the output module, execute the output module error reset command*3.

6. DRIVE MODULE

6 22

REMARKS

(1) *1: The "n" in D700+6n represents the number corresponding to the virtual axis No.

n 0 1 2 3 4 5 6 7

A172SHCPU 1 2 3 4 5 6 7 8 Virtual axis No.

A171SHCPU 1 2 3 4

(2) *2: For details regarding the drive module error reset command, see Section 6.1.3.

(3) *3: For details regarding the output module error reset command, see Section 8.5.1.

(c) Major error code storage register (D703+6n) ...................................................................... Data sent from PCPU to SCPU 1) When a major error occurs at the virtual servo motor or at the output

module, the corresponding error code (see Section 11.3) is stored in this register. Each time a major error occurs, the previous error code stored in this register will be overwritten by the new error code.

2) To clear error codes for major errors which occurred at the virtual servo motor or synchronous encoder, execute the drive module error reset command*1. To clear error codes for major errors which occurred at the output module, execute the output module error reset command*2.

(d) Execution program No. storage register.......Data sent from PCPU to SCPU 1) The No. of the program being run is stored in this register when the

DSFRP/SVST instruction is executed. 2) When the DSFRP/SVST instruction is not executed, the following value

are stored in this register. JOG operation................................................................. FFFFH

At power ON ................................................................... FF00H

When REAL VIRTUAL mode switching occurs.......... FF00H

(e) M-code storage register (D705+6n) ..............Data sent from PCPU to SCPU 1) The M-code settings in the servo program being run are stored in this

register when positioning is started. If the servo program contains no M-codes, "0" will be stored.

2) The stored data will not be changed if positioning is started by a means other than a servo program.

3) The stored data will revert to "0" when REAL to VIRTUAL mode switching occurs at the leading edge of the programmable controller READY signal (M2000).

REMARKS

(1) *1: For details regarding the drive module error reset command, see Section 6.3.1.

(2) *2: For details regarding the output module error reset command, see Section 8.5.1.

6. DRIVE MODULE

6 23

(4) Virtual servo motor axis main shaft differential gear present value

Axis No.

SV22C Device No.

SV22F Device No.

Signal Name

(!: Valid) 1

M670 M671

M670 M671

Signal Name REAL VIRTUAL Signal

Direction Refresh Cycle

Fetch Cycle

2 M672 M673

M672 M673

3 M674 M675

M674 M675

0 1

Virtual servo motor axis main shaft differential gear present value

Backup ! SCPU PCPU

3.5ms

4 M676 M677

M676 M677

5 M678 M679

6 M680 M681

7 M682 M683

8 M684 M685

(a) Virtual servo motor axis main shaft differential gear present value storage register (D670+2n)*1 ......................................Data sent from PCPU to SCPU 1) When switching the virtual mode the present value will be the same as

the main shaft side drive module present value. 2) When a present value change is carried out in relation to the main shaft

side drive module, the present value of the main shaft differential gear will also be changed to the set present value at the same time.

3) If the differential gear is not connected to the main shaft, the main shaft drive module present value will always be stored in the main shaft differential gear present value storage register.

REMARKS

(1) *1: The "n" in D670+2n represents the number corresponding to the virtual axis No.

n 0 1 2 3 4 5 6 7

A172SHCPU 1 2 3 4 5 6 7 8 Virtual axis No.

A171SHCPU 1 2 3 4

6. DRIVE MODULE

6 24

6.2 Synchronous Encoder

The synchronous encoder is used to execute virtual axis operation by pulse inputs from an external source. Synchronous encoder operation and parameters are discussed below.

6.2.1 Synchronous encoder operation

(1) Operation START A synchronous encoder axis START occurs when the reception of the pulse inputs from the external synchronous encoder begins. Pulse input reception occurs when switching from the REAL to the VIRTUAL mode is executed, and when the external signal (TREN: synchronous encoder input START signal)*2

input occurs. (a) Pulse input reception at REAL to VIRTUAL mode switching occurs as

follows 1) Reception of pulse inputs from the external synchronous encoder begins

from the point when REAL to VIRTUAL mode switching occurs.

REAL/VIRTUAL mode*1

switching request flag (M2043)

REAL/VIRTUAL mode*1

status flag (M2044)

Pulse input from external synchronous encoder

Feed present value (pulse) of synchronous encoder axis

Synchronous encoder axis operation START

VIRTUAL mode

(2311)

(231)

REAL mode

OFF

ON

ON

OFF

2) The clutch control mode*3 operation will be identical to its operation in the ON/OFF mode and the address mode, and can be used with incremental or absolute type synchronous encoders.

3) Transmission of synchronous encoder operation to the output module will or will not occur depending on the ON/OFF status of the connected clutch. When clutch is ON........ Transmission to the output module occurs. When clutch is OFF ...... Transmission to the output module does not

occur.

CAUTION

If the mode is switched from REAL mode to VIRTUAL mode while the clutch is ON, use the smoothing clutch. If the direct clutch is used and the mode is switched from REAL mode to VIRTUAL mode while the clutch is ON, rapid acceleration will occur at the output module axis, causing a servo error, and the machine will be subjected to a jolt.

6. DRIVE MODULE

6 25

(b) Pulse input reception at an external signal input occurs as follows 1) Reception of pulse inputs from the external synchronous encoder begins

when the clutch is switched ON.

REAL/VIRTUAL mode*1

switching request flag (M2043)

REAL/VIRTUAL mode*1 status flag (M2044)

Pulse input from external synchronous encoder

Feed present value (pulse) of synchronous encoder axis

Clutch ON/OFF command device

External signal (TREN)

Synchronous encoder axis operation START

VIRTUAL mode

(2311)

(231)

REAL mode

OFF

ON

OFF

ON

OFF

ON

OFF

ON

Synchronous encoder axis operation STOP

OFF

ON

2) The clutch control mode*3 operation will be identical its operation at the external input mode. The synchronous encoder and clutch operations occur in a corresponding manner.

(2) Operation END (a) Operation at the synchronous encoder axis is ended when the REAL mode

is established in response to a VIRTUAL to REAL mode switching request (M2043 switched from ON to OFF).

(b) The procedure for ending operation at the synchronous encoder axis is as follows. 1) Stop the output module

Stop the external synchronous encoder. Switch the connected clutch OFF.

2) Switch from the VIRTUAL to REAL mode.

CAUTION

Switching to the REAL mode while synchronous encoder axis and output module operation is in progress will cause a sudden stop at the output module, resulting in a servo error, and the machine will be subjected to a jolt.

6. DRIVE MODULE

6 26

REMARKS

(1) *1: For details regarding the REAL/VIRTUAL mode switching request flag and the REAL/VIRTUAL mode switching status flag, see Section 4.2.

(2) For details regarding switching between the REAL and VIRTUAL modes, see Chapter 9.

(3) *2: The synchronous encoder input START signal is input to the A172SENC/ A171SENC "TREN" terminal. For details regarding the A172SENC/A171SENC "TREN" terminal, refer to the Motion Controller [A172SHCPU/A171SHCPU] User's Manual.

(4) *3: For details regarding the clutch control mode, see Section 7.2.1.

(3) STOP procedure The synchronous encoder can be stopped by stopping the external synchronous encoder.

There are no external inputs (FLS, RLS, STOP), sequence program stop commands, or rapid stop commands for the synchronous encoder.

(4) Control items (a) As the synchronous encoder has no feedback pulse, the "deviation counter

value" and "actual present value" are not stored in memory.

(b) The synchronous encoder's feed present value is recorded in a backup memory, and is restored after switching from the REAL to VIRTUAL mode occurs following a power ON. 1) Operation continuation is possible when the output module is using the

absolute position system (when position detection module/servo amplifier are used). However, if the servo motor for the output module which is connected to the synchronous encoder is operated while power is OFF, or if the synchronous encoder is operated while power is OFF, continuation will become impossible even if the absolute position system is being used. If this occurs, a "VIRTUAL mode continuation disabled" warning signal will switch ON. To continue operation, the output module's servo motor must be moved to the position where synchronous operation is possible.

2) If the output module is not using the absolute position system, the feed present value must be corrected (using the "present value change" function) after switching from the REAL to the VIRTUAL mode occurs.

(5) Control change The following synchronous encoder control item can be changed: Present value change Present value changes are executed by the CHGA instruction. For details regarding the CHGA and DSFLP instructions, see Section 5.3 of the Motion Controller (SV13/22) Programming Manual (REAL Mode).

6. DRIVE MODULE

6 27

(6) Operation mode when error occurs The operation method when major errors occur at the output modules of a given system can be designated as shown below. Control occurs as shown below, based on the parameter settings (see Table 6.2) of the synchronous encoder which is connected to the synchronous encoder main shaft. (a) Continuation ....... Output module operation continues even if a major output

module error occurs. The error detection signal (M1607+20n) will switch ON at such times, and the corresponding error code will be recorded at the major error storage area. The system and output module continuation/stop setting when a major output module error occurs is designated in the sequence program.

(b) Clutch OFF......... When a major output module error occurs, that system's clutch will be switched OFF and all connected output modules will stop. At this time, the clutch ON/OFF command device will not switch OFF, but the clutch status storage device will switch OFF regardless of the clutch ON/OFF command device's ON/OFF status. Operation will continue at axes where no clutch is connected. The drive module can be stopped from the sequence pro- gram, if required. To resume operation, eliminate the error cause, then switch the clutch ON/OFF command device ON.

Synchronous encoder

Clutch ON

Clutch ON

Clutch ON

Major error occurrence

Major error occurrence

Clutch OFF

Clutch OFF

Stop

Operation continuation

Clutch OFF

[Operation in Progress] [Operation When Major Error Occurs]

Operation With "Clutch OFF" Setting

6. DRIVE MODULE

6 28

6.2.2 Parameter list

The synchronous encoder parameters are shown in Tables 6.4. For details regarding the synchronous encoder parameter setting procedure, refer to the SW2SRX-GSV22PE/SW0IX-CAMPE Operating Manual.

Table 6.4 Synchronous Encoder Parameter List (for A171SCPU)

No. Setting Item Default Value Setting Range 1 Encoder No. 1 2 Operation mode when error occurs Continuation Continuation/Clutch OFF

(a) Encoder No. Designates the number of the synchronous encoder which is connected to the manual pulse generator and synchronous encoder interface.

Manual Pulse Generator/Synchronous Encoder Interface Unit's Encoder No. P1/E1 1

P1: Connected to the manual pulse generator's input interface. This is for incremental type synchronous encoders.

E1: Connected to the serial synchronous encoder interface. This is for absolute type synchronous encoders.

6. DRIVE MODULE

6 29

6.2.3 Synchronous encoder axis device (internal relay, data register)

(1) Synchronous encoder axis device

Axis No.

SV22C Device No.

SV22F Device No.

Signal Name

(!: Valid) 1

M1360 to

M1363

M1360 to

M1363 Signal Name REAL VIRTUAL Signal

Direction Refresh Cycle

Fetch Cycle

0 Error detection ! ! Immediately 1 External signal TREN ! !

2 VIRTUAL mode

continuation disabled warning

! ! 10ms

3 Unusable

SCPU PCPU

(a) Error detection signal (M1360) 1) The error detection signal switches ON when a minor or major error

occurs at the drive module, or at an output module which is connected to the drive module. ON/OFF switching of this signal permits error valid/invalid identification processing.

2) When the error detection signal switches ON, the corresponding error code is recorded at the error code storage area. Minor error code*1 ......Stored at minor error code storage area*2. Major error code*1 ......Stored at major error code storage area*2. The error code or the output module error detection signal's ON/OFF status indicates whether the error occurred at the drive module or the output module.

3) When a normal status is restored at the drive module and output module, and the error reset command (M1560) is switched ON, the error detection signal will switch OFF.

(b) External signal TREN (M1361) 1) The external signal TREN is used for clutch control in the external input

mode. This signal switches ON when input occurs at the A172SENC/ A171SENC "TREN" input terminal, and indicates the TREN terminal's input ON/OFF status.

(c) VIRTUAL mode continuation disabled warning signal (M1362) 1) As happens when the absolute type synchronous encoder is moved while

power is OFF, this signal will switch ON when the present value read at power ON differs from that which was stored at power OFF (final present value of VIRTUAL mode operation). This signal status indicates whether VIRTUAL mode operation can be continued following a power ON or servo system CPU reset.

6. DRIVE MODULE

6 30

REMARKS

(1) *1: For details regarding drive module major and minor errors, see Section 11.3. For details regarding output module major and minor errors, see Section 11.5.

(2) *2: For details regarding the minor and major error code storage areas, see Section 6.1.3.

(2) Synchronous encoder axis command signal

Axis No.

SV22C Device No.

SV22F Device No.

Signal Name

(!: Valid) 1

M1560 to

M1563

M1560 to

M1563 Signal Name REAL VIRTUAL Signal

Direction Refresh Cycle

Fetch Cycle

0 Error reset ! 10 ms 1 Unusable 2 Unusable 3 Unusable

SCPU PCPU

(a) Error reset command (M1560) 1) The error reset command is used to clear minor and major error code

storage areas for the drive module of the axis where the error occurred, and to reset the error detection signal.

2) When the error reset command switches ON, the following processing occurs. When the drive module and output module statuses are normal, the

minor or major error code storage area is cleared, and the error detection signal is reset.

If an error status still exists at the drive module and output module, the error code will again be recorded at the minor or major error code storage area. In this case, the error detection signal (M1360) will remain ON.

POINT

Do not switch the error reset command (M1560) ON with a PLS instruction since this can disable the error reset function.

6. DRIVE MODULE

6 31

(3) Synchronous encoder axis monitor device

Axis No.

SV22C Device

Number

SV22F Device

Number Signal Name

(!: Valid) 1 M748 to M751 M748 to M751

Signal Name REAL VIRTUAL Signal

Direction Refresh Cycle

Fetch Cycle

0 1

Feed present value Backup 3.5ms

2 Minor error code 3 Major error code

! (*2)

! SCPU PCPU

Immediately

(*2) Set when the controller power is turned on only in the case of an absolute synchronous encoder.

(a) Present value storage register (D748, D749) ...................................................................... Data sent from PCPU to SCPU 1) The virtual drive module and synchronous encoder present values are

stored in this register. 2) A "2147483648 (231) pulse to 2147483647 (2311)" ring address is

established. 3) Data in the present value storage register is stored in a backup memory

when a power OFF or servo system CPU reset occurs.

(b) Minor error code storage register (D750) ...................................................................... Data sent from PCPU to SCPU 1) When a minor error occurs at the synchronous encoder or at the output

module, the corresponding error code (see Section 11.3) is stored in this register. Each time a minor error occurs, the previous error code stored in this register will be overwritten by the new error code.

2) To clear error codes for minor errors which occurred at the virtual servo motor or synchronous encoder, execute the drive module error reset command*1. To clear error codes for minor errors which occurred at the output module, execute the output module error reset command*2.

REMARKS

(1) *1: For details regarding the drive module error reset command, see Section 6.1.3.

(2) *2: For details regarding the output module error reset command, see Section 8.5.1.

(c) Major error code storage register (D751) ...................................................................... Data sent from PCPU to SCPU 1) When a major error occurs at the synchronous encoder or at the output

module, the corresponding error code (see Section 11.3) is stored in this register. Each time a major error occurs, the previous error code stored in this register will be overwritten by the new error code.

2) To clear error codes for major errors which occurred at the virtual servo motor or synchronous encoder, execute the drive module error reset command. To clear error codes for major errors which occurred at the output module, execute the output module error reset command.

6. DRIVE MODULE

6 32

(4) Synchronous encoder axis main shaft differential gear present value

Axis No.

SV22C Device No.

SV22F Device No.

Signal Name

(!: Valid) 1

D686 D687

D686 D687

Signal Name REAL VIRTUAL Signal

Direction Refresh Cycle

Fetch Cycle

0 1

Synchronous encoder axis main shaft differential gear present value

Backup ! SCPU PCPU

3.5ms

(a) Synchronous encoder axis main shaft differential gear present value storage registers (D686, D687) ....................................... PCPUSCPU data 1) When switching the virtual mode the present value will be the same as

the main shaft side drive module present value. 2) When a present value change is carried out in relation to the main shaft

side drive module, the present value of the main shaft differential gear will also be changed to the set present value at the same time.

3) If the differential gear is not connected to the main shaft, the main shaft drive module present value will always be stored in the main shaft differential gear present value storage register.

6. DRIVE MODULE

6 33

6.3 Virtual Servo Motor/Synchronous Encoder Control Change

This section provides explanations regarding virtual servo motor present value changes, speed change JOG speed changes, and synchronous encoder present value changes. Present value changes are carried out using the CHGA instruction/DSFLP instruction and speed changes are conducted using the CHGV instruction/DSFLP instruction. Refer to the Motion Controller (SV13/SV22 REAL Mode) Programming Manual for details regarding the CHGA instruction/CHGV instruction/DSFLP instruction.

6.3.1 Virtual servo motor control change

(1) Control change registers

Axis No.

SV22C Device No.

SV22F Device No.

Signal Name

(!: Valid) 1

M960 to

M965

M960 to

M965 Signal Name REAL VIRTUAL Signal

Direction Refresh Cycle

Fetch Cycle

0 1

Present value change register

DSFLP execution2

M966 to

M971

M966 to

M971 2 3

Speed change register DSFLP

execution

3 M972

to M977

M972 to

M977 4 5

JOG speed setting register (*1)

! ! SCPU PCPU

At driving

(*1) represents a backup register.4 M978

to M983

M978 to

M983

5 M984

to M989

6 M990

to M995

7 M996

to M1001

8 M1002

to M1007

(a) Present value change register (D960+6n) ...................................................................... Data sent from SCPU to PCPU 1) When the feed present value of an axis that is stopped is changed, the

feed present value after the change is stored in the register. 2) The setting range of the present value change register is 2147483648

(231) pulse to 2147483647 (2311) pulse. 3) When the positioning control change instruction (DSFLP/CHGA)*1 is

executed, the value set in the present value change register becomes the feed present value.

6. DRIVE MODULE

6 34

(b) Speed change register (D962+6n) ................Data sent from SCPU to PCPU 1) When a speed change occurs at an axis in motion, the new speed is

stored in this register. 2) The speed change register's setting range is "1 to 1000000 pulse/s". 3) When a positioning control change instruction (DSFLP/CHGV)*1 is

executed, the value designated in the speed change register will become the positioning speed value.

REMARK

*1: For details regarding the positioning control change instructions, see Section 5.4 of the Motion Controller (SV13/22) Programming Manual (REAL Mode).

(c) JOG speed setting register (D964+6n) ...... Data sent from SCPU to PCPU 1) The JOG speed which is used at JOG operations is stored in this

register. 2) The JOG speed setting range is 1 to 1000000 pulse/s. 3) The JOG speed setting stored in this register is adopted at the leading

edge (OFFON) of the JOG START signal. Even if the JOG speed setting is changed while a JOG operation is in progress, the JOG speed will remain unchanged.

4) For details regarding JOG operation, see Section 7.19 of the Motion Controller (SV13/22) Programming Manual (REAL Mode).

(2) Present value change (a) Present value change by the CHGA instruction

A program example is illustrated below. Virtual servo motor present value change program (when the virtual servo motor axis 1 feed present value is changed to 1000 pulses)

CHGV J1 K1000

Command M2044 M2021

Setting of the present value change

Virtual servo axis No.

REMARK

(1) M2001: Start accept flag (see section 4.2.2)

(2) M2044: REAL mode/VIRTUAL mode status flag (see section 4.2.20)

6. DRIVE MODULE

6 35

(b) Present value change by the DSFLP instruction A program example is illustrated below. Virtual servo motor present value change program (when the virtual servo motor axis 1 feed present value is changed to 12345 pulses)

DMOVP K12345 D960

Command M2044 M2001 Virtual servo motor axis present value register to be changed

Setting of the present value change

DSFLP D1 K0

Present value change setting

Virtual servo motor axis to be changed

REMARKS

(1) M2001: Start accept flag (see section 4.1.8 (2))

(2) M2044: REAL mode/VIRTUAL mode status flag (see section 4.1.8 (13))

6.3.2 Synchronous encoder control change

(1) Present value change by the CHGA instruction A program example is given below. Synchronous encoder present value change program (when encoder No. 1 is changed to a value of 20000 pulses)

CHGA E1 K20000

Command M2044 M2031

Setting of the present value change

Encoder No. setting

(a) The change in the present value and speed are set using the devices described below. Indirect setting....... Data register (D)

Link register (W) Double word File register (R)

Direct setting ......... Decimal constant (K)

(b) The encoder No. setting range is described below. Encoder No. 1 .......E1

6. DRIVE MODULE

6 36

(c) Precautions When a synchronous encoder present value change is carried out in the

REAL mode an error will occur and the present value change will not be carried out.

A synchronous encoder present value change can be executed in the VIRTUAL mode even while operation is in progress (during pulse input from the synchronous encoder). When the present value is changed the synchronous encoder present value will be continued from the changed value.

Even if a synchronous encoder present value change is carried out, it will have no effect on the output module present value.

REMARK

(1) M2044: REAL mode/VIRTUAL mode status flag (see section 4.1.8 (13))

(2) Present value change by the DSFLP instruction Synchronous encoder present value change program (when encoder No. 1 is changed to a value of 12345 pulses)

DMOVP K12345 D200

Command M2044

1) Optional device

Setting of the present value change

DSFLP D200 K2

Encoder No. setting ("2" in the case of E1)

Device set in 1)

D n

(a) The devices that can be used in "D" and "n" described above are given below. D............................ Data register (D)

Link register (W) File register (R) Timer (T) Counter (C)

n ............................ Decimal constant (K) Hexadecimal constant (H)

(b) The encoder No. setting method is given below. Encoder No. 1 .......K2/H2

6. DRIVE MODULE

6 37

(c) Precautions When a synchronous encoder present value change is carried out in the

REAL mode an error will occur and the present value change will not be carried out.

A synchronous encoder present value change can be executed in the VIRTUAL mode even while operation is in progress (during pulse input from the synchronous encoder). When the present value is changed the synchronous encoder present value will be continued from the changed value.

Even if a synchronous encoder present value change is carried out, it will have no effect on the output module present value.

REMARK

(1) M2044: REAL mode/VIRTUAL mode status flag (see section 4.1.8 (13))

7. TRANSMISSION MODULE

7 1

7. TRANSMISSION MODULE

There are the following four types of transmission module. Gear................................... Section 7.1 Clutch................................. Section 7.2 Speed change gear .......... Section 7.3 Differential gear ................. Section 7.4

The following describes the device range and procedure for indirect setting of items by devices among transmission module parameters.

(1) Device range

The following shows the number of device words and device range during indirect setting.

Device setting range

Module Item

Number

of device

words A172SHCPU A171SHCPU

Remark

Device Range

X 000 to 7FF

Y 000 to 7FF

M/L 0 to 2047

B 000 to 3FF

F 0 to 255

TT (timer contact) 0 to 255

TC (timer coil) 0 to 255

CT (counter contact) 0 to 255

CC (counter coil) 0 to 255

Clutch ON/OFF command

device Bit

Mode setting device 1

Clutch ON address setting

device 2

Clutch OFF address

setting device 2

Device

D

Range

0 to 799

Clutch

Slippage setting device 2 W 000 to 3FF

Number of input axis

gear teeth 1

Gear Number of output axis

gear teeth 1

Speed change

gear

Speed change ratio

setting device 1

POINTS

For items set using two words, always set an even numbered device. In addition, when setting data in the sequence program for that device, always use the DMOV (P) command.

When a two word monitor device leads the sequence program, always acquire it in the user device using the DMOV (P) command. Use the fetched device for carrying out such things as upper/lower comparison and calculations.

7. TRANSMISSION MODULE

7 2

(2) Device data fetch When the data of a device that has been set indirectly is switched from the REAL to VIRTUAL mode, first acquire everything as default values and thereafter carry out fetch control during virtual mode operation for the corresponding module. Shown in the table below are the fetch timing of each device and the refresh cycle of the set device. The device fetch timing and device refresh cycle are the same for both A172SHCPU and A171SHCPU.

Device Fetch Timing

Module Item Fetch

Device

Refresh

Device

REAL VIRTUAL

Mode

Switching

During VIRTUAL Mode

Operation

Device

Refresh

Cycle

! !Clutch ON/OFF command

device

Mode setting device ! !

Clutch ON address setting

device ! !

Clutch OFF address

setting device ! !

Fetched every 3.5 ms

(calculation cycle)Clutch

Slippage setting device ! !

Number of input axis gear

teeth ! !

Gear Number of output axis

gear teeth ! !

Fetched when the

present value change of

the connection source

drive module (virtual

servo motor

axis/synchronous

encoder axis) is

executed (CHGA) and

the gear ratio change is

carried out

Speed change

gear

Speed change ratio

setting device ! !

Fetched every 3.5 ms

(calculation cycle)

7. TRANSMISSION MODULE

7 3

7.1 Gear

The operation of the gear and the parameters required to use a gear are explained here.

7.1.1 Gear operation

(1) The gear transfers a number of pulses which is the travel value (number of pulses) of the drive module (virtual servo motor, synchronous encoder) multiplied by the gear ratio set in the parameters, to the output shaft

[Number of output shaft pulses]

= [Number of input

shaft pulses] [gear ratio] (Units: pulses)

(2) The direction of rotation of the output shaft is set in the gear parameters.

Input shaft

Gear (gear ratio)

Output shaft

Drive module

REMARK

See Section 7.1.2 for details on the gear parameters.

7.1.2 Parameters

The gear parameters are presented in Table 7.1, and the items in this table are ex- plained in (1) and (2) below. (For the method for setting gear parameters, refer to the SW2SRX-GSV22PE/SW0IX-CAMPE Operating Manual.)

Table 7.1 Parameter List

Setting Range

No. Setting Item Setting

Default Value Direct

Setting

Indirect

Setting

D0 to D799Number of gear

teeth at input shaft

(GI)

1 1 to 65535 W0 to W3FF

D0 to D799 1 Gear ratio

Number of gear

teeth at output shaft

(GO)

1 1 to 65535 W0 to W3FF

2 Direction of rotation of output shaft Forward Forward

Reverse

7. TRANSMISSION MODULE

7 4

(1) Gear ratio (a) The gear ratio is the setting which determines the number of output pulses

that are transmitted to the output shaft for every pulse from the drive module.

(b) The gear ratio is determined by the settings for the number of gear teeth at the input shaft (GI) and the number of gear teeth at the output shaft (GO).

Number of gear teeth at input shaft (GI)Gear ratio = Number of gear teeth at output shaft (GO)

(2) Direction of rotation of output shaft (a) This is the setting for the direction of rotation of the output shaft with

respect to the direction of rotation of the input shaft.

(b) There are two directions of rotation for the output shaft: forward and reverse. 1) Forward

When the input shaft rotates in the direction in which addresses increase, the output shaft also rotates in the direction in which addresses increase.

Drive module

Input shaft rotating in direction in which addresses increase

Output shaft rotates in direction in which addresses increase

Gear

2) Reverse When the input shaft rotates in the direction in which addresses increase, the output shaft rotates in the direction in which addresses decrease.

Drive module

Gear

Input shaft rotating in direction in which addresses increase

Output shaft rotates in direction in which addresses decrease

7. TRANSMISSION MODULE

7 5

7.2 Clutch

There are two types of clutch: the smoothing clutch and the direct clutch. These two clutches operate in the same way; the difference is that with the smoothing clutch, acceleration and deceleration processing by smoothing processing is executed when the clutch is switched ON and OFF but this does not happen with the direct clutch.

(1) Comparison of smoothing clutch and direct clutch (a) Smoothing clutch

When the clutch is switched ON/OFF, the output to the output shaft is executed by acceleration and deceleration processing (smoothing proces- sing) in accordance with the smoothing time constant or amount of slip set in the clutch parameters.

(b) Direct clutch When the clutch is switched ON/OFF, output to the output shaft is executed without acceleration and deceleration processing.

V

Clutch ON

Acceleration in accordance with smoothing processing

Clutch OFF

Deceleration in accordance with smoothing processing

Deceleration in accordance with smoothing processing

Acceleration in accordance with smoothing processing

Amount of slip

V

V

V

t*

A B

Input to the clutch

When a time constant is designated Output to the output shaft determined by the smoothing clutch

When an amount of slip is designated Output to the output shaft determined by the smoothing clutch

Output to the output shaft determined by the direct clutch

Fig. 7.1 Output to the Output Shaft Determined by the Smoothing Clutch and Direct Clutch

7. TRANSMISSION MODULE

7 6

REMARKS

(1) Clutch ON/OFF status Clutch ON status..........The status in which pulses input to the clutch are

output to the output shaft. Clutch OFF status........The status in which pulses input to the clutch are

not output to the output shaft.

Input to the clutch (input shaft)

Clutch

Output shaft

(2) .................. t: Smoothing time constant "t" is the time taken to reach the following condition:

A t =

B 100 = 63%

(2) Smoothing processing (a) Method in which a smoothing time constant is designated

1) Since the time constant is fixed, the amount of slip of the clutch changes according to the speed of the drive module.

VA,VB: Drive module speed

: Amount of slip at VA (PLS)

: Amount of slip at VB (PLS)

V

VA

VB

Smoothing time constant

VB

0.63

VA

0.63

Internal clutch status

t

SB

SA

SB

SA

7. TRANSMISSION MODULE

7 7

2) If the input to the clutch (drive module travel value gear ratio) changes after completion of smoothing, smoothing processing is executed at that point also.

Output to the output shaft in accordance with smoothing clutch when a time constant is designated

V

(Drive module travel value gear ratio)

t

V

t

Input to the clutch

Internal clutch status

Clutch status device

Completion of smoothing

*t *t *t *t

*t: Smoothing time constant

(b) Method in which the amount of slip is designated 1) Designate the amount of slip indicated by the shaded area in the diagram

below. You are recommended to designate an amount of slip that is greater than the input to the clutch (drive module travel value gear ratio).

Input to the clutch

V

Amount of slip (PLS)

(ON)

(OFF) Internal clutch status

t

7. TRANSMISSION MODULE

7 8

2) Since the amount of slip remains constant even if the drive module speed changes, the clutch ON/OFF position can be controlled without any influ-ence from speed changes.

V

VA

VB

tB tA

t

VA,VB: Drive module speed

tA, tB: Smoothing completion time

: Amount of slip at VA (PLS)

: Amount of slip at VB (PLS)SB

SA

SA

SB

3) If the input to the clutch (drive module travel value gear ratio) changes after completion of smoothing, smoothing processing is not executed at that point and direct output continues.

V

Input to the clutch

Drive module travel

value gear ratio

Output to the output

shaft in accordance

with smoothing

clutch when a time

constant is

designated

Internal clutch status

Clutch status

device

Completion of smoothing

V

t

t

7. TRANSMISSION MODULE

7 9

7.2.1 Explanation of clutch operation

There are three clutch modes: ON/OFF mode Address mode External input mode

Each of these modes is explained below.

(1) ON/OFF mode (a) In this mode, the clutch is turned ON and OFF in accordance with the

ON/OFF status of the clutch ON/OFF command device. 1) When the clutch ON/OFF command device comes ON, the clutch is set

to the ON status. 2) When the clutch ON/OFF command device goes OFF, the clutch is set to

the OFF status.

(b) In the ON/OFF mode, there is a maximum time lapse of 7.1 ms between the ON/OFF of the clutch ON/OFF device and the clutch being set to the ON/OFF status. If greater accuracy is required, use the "address mode".

(c) The clutch ON/OFF status can be checked by means of the clutch ON/OFF status device.

Corresponding Device Connected Module

A172SHCPU A171SHCPU

Drive shaft M1984 M1984 Output module for axis 1

Auxiliary input shaft M1985 M1985

Drive shaft M1986 M1986 Output module for axis 2

Auxiliary input shaft M1987 M1987

Drive shaft M1988 M1988 Output module for axis 3

Auxiliary input shaft M1989 M1989

Drive shaft M1990 M1990 Output module for axis 4

Auxiliary input shaft M1991 M1991

Drive shaft M1992 Output module for axis 5

Auxiliary input shaft M1993

Drive shaft M1994 Output module for axis 6

Auxiliary input shaft M1995

Drive shaft M1996 Output module for axis 7

Auxiliary input shaft M1997

Drive shaft M1998 Output module for axis 8

Auxiliary input shaft M1999

7. TRANSMISSION MODULE

7 10

(d) See Appendix 2 for details about the refresh period of the clutch ON/OFF status device.

END 0 END 0 END 0 END 0

END processing Sequence program operation

OFF

ON

OFF ON

MAX 7.1ms

MAX 7.1ms MAX 7.1ms

Clutch status device

Clutch ON/OFF command device

Present value of input shaft

Present value of output shaft

Clutch OFF status Clutch ON status Clutch OFF status

Continuation from the present value when the clutch was OFF Continuation from

the present value when the clutch was OFF

Fig. 7.2 Operation Timing for the ON/OFF Mode

(2) Address mode (a) In this mode, the clutch is turned ON and OFF in accordance with the clutch

ON/OFF command device and the present value of the virtual axis (effective when the mode setting device is set to "1"). 1) When the designated clutch ON address is reached while the clutch

ON/OFF command is ON, the clutch is set to the ON status. 2) When the designated OFF address is reached while the clutch ON/OFF

command is OFF, the clutch is set to the OFF status.

(b) The clutch ON/OFF control differs according to the type of output module connected. 1) If the output module is a ball screw or roller, ON/OFF control is executed

in accordance with the present value of the virtual axis. If a differential gear is connected to the main shaft, ON/OFF control is executed in accordance with the present value after the main shaft's differential gear.

2) If the output module is a rotary table or cam, ON/OFF control is based on the virtual axis present value in one revolution. (See Rotary Tables and Cams in Section 8 "Output Modules" for details.)

7. TRANSMISSION MODULE

7 11

(c) Make sure that the clutch ON/OFF command device is turned ON/OFF, and the status in which the clutch ON/OFF address can be accepted is estab- lished, before the present value of the virtual axis reaches the clutch ON/OFF address. In the address mode, a delay occurs from the time the clutch ON/OFF com- mand device is turned ON/OFF until the clutch ON/OFF address can be ac- cepted. See Appendix 2 for details about the delay times. 1) When the clutch ON/OFF device is OFF, the clutch will not be set to the

ON status even if the clutch ON address is reached. 2) When the clutch ON/OFF device is ON, the clutch will not be set to the

OFF status even if the clutch OFF address is reached.

(d) The clutch ON/OFF status can be checked by means of the clutch ON/OFF status device.

Corresponding Device Connected Module

A172SHCPU A171SHCPU

Drive shaft M1984 M1984 Output module for axis 1

Auxiliary input shaft M1985 M1985

Drive shaft M1986 M1986 Output module for axis 2

Auxiliary input shaft M1987 M1987

Drive shaft M1988 M1988 Output module for axis 3

Auxiliary input shaft M1989 M1989

Drive shaft M1990 M1990 Output module for axis 4

Auxiliary input shaft M1991 M1991

Drive shaft M1992 Output module for axis 5

Auxiliary input shaft M1993

Drive shaft M1994 Output module for axis 6

Auxiliary input shaft M1995

Drive shaft M1996 Output module for axis 7

Auxiliary input shaft M1997

Drive shaft M1998 Output module for axis 8

Auxiliary input shaft M1999

7. TRANSMISSION MODULE

7 12

(e) See Appendix 2 for details about the refresh period of the clutch ON/OFF status device.

END 0 END 0 END 0 END 0 END processing Sequence program operation

0 1

OFF

ON

Minimum of 3.5 ms required

Clutch ON/OFF command device

Mode setting device value

Present value of drive module

Present value of output shaft Clutch OFF status Clutch ON status Clutch OFF status

Continuation from the present value when the clutch was OFF

Clutch OFF address

ON

OFF

ON

OFF

ON/OFF mode

Clutch status device

Clutch OFF address

Minimum of 3.5 ms required

Address mode

Fig. 7.3 Operation Timing for the Address Mode

POINT

(1) If the mode setting device stores a value other than "0" or "1", this is re- garded as an error and control is continued on the basis of the previously set value.

(2) See Appendix 2 for details about reading periods of the clutch ON/OFF address setting device value.

(3) Control mode changes (mode setting device value: 01) are valid at any time.

7. TRANSMISSION MODULE

7 13

(3) External input mode (a) In this mode the clutch is turned ON and OFF in accordance with the clutch

ON/OFF command bit device and the external input (TREN signal: synchro- nous encoder start signal). Since the input pulses from the synchronous encoder are counted in response to the leading edge of the external input signal, the clutch in this mode gives high-speed response and high accuracy. 1) The clutch is set to the ON status at the leading edge (OFFON) of the

external input signal after the clutch ON/OFF command bit device has come ON.

2) When the clutch ON/OFF command bit device goes OFF, the clutch is set to the OFF status after a maximum delay of 7.1 ms.

(b) Make sure that the clutch ON/OFF command device is turned ON and the external input acceptance enabled status is established before the external input (TREN signal) comes ON. In the external input mode, a maximum of 7.1 ms is required after the clutch ON/OFF command device comes ON before the external input acceptance enabled status is established. 1) When the clutch ON/OFF command device is OFF, the clutch is not set

to the ON status even if the external input changes from OFF to ON. 2) When the external input is ON, the clutch is not set to the ON status even

if the clutch ON/OFF status comes ON. 3) Even if the external input goes OFF after the clutch has been set to the

ON status, the clutch will remain ON.

(c) The clutch ON/OFF status can be checked by means of the clutch ON/OFF status device. The ON/OFF status of the clutch status device is refreshed at 3.5 ms intervals.

Corresponding Device Connected Module

A172SHCPU A171SHCPU

Drive shaft M1984 M1984 Output module for axis 1

Auxiliary input shaft M1985 M1985

Drive shaft M1986 M1986 Output module for axis 2

Auxiliary input shaft M1987 M1987

Drive shaft M1988 M1988 Output module for axis 3

Auxiliary input shaft M1989 M1989

Drive shaft M1990 M1990 Output module for axis 4

Auxiliary input shaft M1991 M1991

Drive shaft M1992 Output module for axis 5

Auxiliary input shaft M1993

Drive shaft M1994 Output module for axis 6

Auxiliary input shaft M1995

Drive shaft M1996 Output module for axis 7

Auxiliary input shaft M1997

Drive shaft M1998 Output module for axis 8

Auxiliary input shaft M1999

7. TRANSMISSION MODULE

7 14

(d) The present value of the input shaft (virtual axis) only changes when the clutch is in the ON status.

END 0 END 0 END 0END processing

Sequence program operation

OFF

ON

Minimum of 3.5 ms required

Clutch ON/OFF command device

Input pulse from synchronous encoder

Present value of input shaft (synchronous encoder)

Present value of output shaft

Clutch OFF status Clutch ON status Clutch OFF status

Continuation from the present value when the clutch was OFF

ON

OFF

ON

MAX7.1ms

V

Clutch status device

External input (TREN signal)

ON

OFF

Fig. 7.4 Operation Timing for the External Input Mode

(e) When using the external input mode, only axes for which an incremental synchronous encoder (manual pulse generator) is set as the drive module can be used. Axes for which an absolute synchronous encoder is set as the drive module cannot be used.

(f) A synchronous encoder, external input and external input mode clutch can only be set in a 1:1 ratio. The relationship between the synchronous encoder and external input is shown in the table below.

Synchronous Encoder External Input (TREN Signal)

P1/E1 TREN 1

7. TRANSMISSION MODULE

7 15

(g) If the clutch connected to an encoder is used in the external input mode, all other clutches connected to the same encoder number must be set to the external input mode. However, it is permissible to use a combination of direct clutches and smoothing clutches.

Example 1 Synchronous encoder connected to a drive shaft If an external input mode clutch is used, set all clutches connected to the synchronous encoder to the external input mode. (Also set clutch ON/OFF devices to the same setting.)

Synchronous encoder

Set all to external input mode (Also set clutch ON/OFF devices to the same setting.)

Example 2 Synchronous encoder connected to auxiliary input shafts Set all the clutches connected to the same synchronous encoder set to the external input mode. (Also set clutch ON/OFF devices to the same setting.)

Set both to external input mode. (Also set clutch ON/OFF devices to the same setting.)

Synchronous encoder No.1Synchronous encoder No.1

7. TRANSMISSION MODULE

7 16

Example 3 Same synchronous encoder connected to a drive shaft and

auxiliary input shaft Set all the connected clutches to the external input mode. (See examples 1 and 2 )

Set to external input mode

Synchronous encoder

Synchronous encoder No.1

7. TRANSMISSION MODULE

7 17

7.2.2 Parameters

The clutch parameters are presented in Table 7.2 and each item in this table is ex- plained in (1) through (6) below. For the method for setting clutch parameters, refer to the SW2SRX-GSV22PE/SW0IX-CAMPE Operating Manual.

Table 7.2 Parameter List

No. Setting Item Default Value Setting Range Setting Possible

1 Control Mode ON/OFF mode ON/OFF mode

ON/OFF mode

Address mode

in conjunction

External input

mode Direct clutch

Smoothing

clutch

2 Mode setting device

(1 word) Word device ! !

3 Clutch ON/OFF

command device Bit device ! !

4 Clutch ON address

setting device (2 words)

5 Clutch OFF address

setting device (2 words)

Word device ! !

6 Clutch status storage

device

7 Smoothing method Time constant

designation

Time constant designation/

Amount of slip designation !

8 Smoothing time

constant 0 0 to 65535ms !

9 Amount of slip setting

device (2 words) Word device !

(1) Control mode (a) This is the setting for the mode used to switch the clutch ON/OFF.

The following three modes can be set: ON/OFF mode ON/OFF mode and address mode in conjunction External input mode For details on each of the control modes, see Section 7.2.1.

(b) If a synchronous encoder is used as the drive module, the control modes that can be set differ depending on the encoder interface connected to the A172SENC/A171SENC.

Clutch Control Mode A172SENC/A171SENC

Encoder Interface ON/OFF Mode Address Mode External Input

Mode

Manual pulse generator input (INC) ! ! !

Serial encoder input (ABS) ! ! !: Can be set : Cannot be set

7. TRANSMISSION MODULE

7 18

(2) Mode setting device (set only when using ON/OFF mode and address mode in conjunction; 1 word) (a) This is the device used to switch between the ON/OFF mode and the

address mode. The settings of the mode setting device are as follows: 0 : ON/OFF mode 1 : Address mode If a value other than 0 or 1 is set, this is regarded as an error and the previously set mode remains in effect.

(b) The following devices can be used as the mode setting device.

Device Type A172SHCPU/A171SHCPU

Data register *1

*2 D0 to D799

Link register W0 to W3FF

*1 : If a cam is used at the output module, the area used for the cam cannot be set.

*2 : If a differential gear is connected to the main shaft, the area it uses cannot be

set.

(3) Clutch ON/OFF command device (a) This device is used to execute the clutch ON/OFF command.

(b) The following devices can be used as the clutch ON/OFF command device.

Device Type A172SHCPU/A171SHCPU

Input X0 to X7FF

Output Y0 to Y7FF

Internal relay/

latch relay M/L0 to M/L1959

TC0 to TC255 (timer coil) Timer

TT0 to TT255 (timer contact)

CC0 to CC255 (counter coil) Counter

CT0 to CT255 (counter contact)

Link relay B0 to B3FF

*1: The area used for the synchronous encoder shaft cannot be set.

7. TRANSMISSION MODULE

7 19

(4) Clutch ON/OFF address setting device (can only be set when the ON/OFF mode and address mode are used in conjunction; 2 words for each mode) (a) This device serves to set the address at which the clutch is switched ON

and address at which the clutch is switched OFF in the address mode.

(b) The following devices can be used as clutch ON/OFF address setting devices:

Device Type A172SHCPU/A171SHCPU

Data register

*1

*2 D0 to D799

*3

Link register W0 to W3FF

*1: If a cam is used at the output module, the area used for the cam cannot be set.

*2: If a differential gear is connected to the main shaft, the area it uses cannot be

set.

*3: The first device number of the devices must be an even number.

(c) The applicable range for clutch ON/OFF address settings is as follows. 1) When the output module is a ball screw or roller

2147483648 (231) to 2147483647 (2311) pulse 2) When the output module is a cam or rotary table

0 to number of pulses in one rotation

(5) Smoothing method (a) Set the method used for smoothing processing at the clutch.

The following two methods can be set: Time constant designation Amount of slip designation

(b) For details on the operation with each method, see Section 7.2.

(6) Smoothing time constant This is the time taken to reach 63% of the speed of the output shaft speed.

(7) Amount of slip setting device (2 words) (a) This is the device used to set the amount of clutch slip.

(b) The following devices can be used as amount of slip setting devices.

Device Type A172SHCPU/A171SHCPU

Data register

*1

*2 D0 to D799

*3

Link register W0 to W3FF

*1: If a cam is used at the output module, the area used for the cam cannot be set.

*2: If a differential gear is connected to the main shaft, the area it uses cannot be

set.

*3: The first device number of the devices must be an even number.

(c) The applicable setting range for amount of slip is 0 to 2147483647 pulse.

7. TRANSMISSION MODULE

7 20

7.3 Speed Change Gear

This section describes the operation of the speed change gear and the parameters required to use it.

7.3.1 Operation

This section describes the operation of the speed-change gear.

(1) The speed change gear transmits a speed which is the input shaft speed multiplied by a speed change gear ratio set in the speed change gear ratio setting device, to the output shaft.

[speed change gear ratio] [Output shaft speed] = [input shaft speed]

10000 (Units: pulse/s)

Input shaft

Speed change gear (speed change gear ratio)

Output moduleOutput shaft

(2) If the speed change gear ratio changes, acceleration and deceleration processing is executed in accordance with the smoothing time constant (t) set in the speed change gear parameters.

V

t

Input shaft

Speed change gear ratio

Output shaft

10000 2500 8000

28.4ms 28.4ms

t

ttt

A B

C D

E F

REMARK

"t" is the time taken to reach the following condition:

100 = 100 = 100 = 63% A B

C D

E F

7. TRANSMISSION MODULE

7 21

7.3.2 Parameter list

The speed change gear parameters are presented in Table 7.3 and each item in this table is explained in (1) through (3) below. For the method for setting speed change gear parameters, refer to the SW2SRX-GSV22PE/SW0IX-CAMPE Operating Manual.

Table 7.3 Speed Change Gear Parameter List

No. Setting Item Default Value Setting Range

1 Speed change gear ratio upper limit 10000 1 to 10000

2 Speed change gear ratio lower limit 1 1 to 10000

D0 to D799 3

Speed change gear ratio setting

device (1 word)

W0 to W3FF

4 Smoothing time constant 0 0 to 65535(ms)

(1) Speed change gear ratio upper limit value/lower limit value (a) This is the setting for the effective range (0.01% to 100%) for the speed

change gear ratio set in the speed change gear ratio setting device.

(b) If the set value of the speed change gear ratio setting device is greater than the speed change gear ratio upper limit value, control is executed with the speed change gear ratio clamped at the upper limit value. Conversely, if the set value of the speed change gear ratio setting device is smaller than the speed change gear ratio lower limit value, control is executed with the speed change gear ratio clamped at the lower limit value.

Clamped at speed change gear ratio upper limit value

Clamped at speed change gear ratio lower limit value

10000 Speed change gear ratio upper limit

Speed change gear ratio lower limit

1

Speed change gear ratio

Control executed at set speed change gear ratio

(c) The speed change gear ratio upper limit value/lower limit value is set in the range 1 to 10000, i.e. 100 times the settings actually made: 0.01% to 100%.

(d) Set the speed change gear ratio upper limit value/lower limit value in accor- dance with the formula below.

1 Speed change gear ratio

lower limit Speed change gear ratio

upper limit 10000

7. TRANSMISSION MODULE

7 22

(2) Speed change gear ratio setting device (a) This is the setting for the device that sets the speed change gear ratio of the

speed change gear.

(b) The following devices can be used as speed change gear ratio setting devices.

Device Type A172SHCPU/A171SHCPU

Data register *1

*2 D0 to D799

Link register W0 to W3FF

*1 : If a cam is used at the output module, the area used for the cam cannot be set.

*2 : If a differential gear is connected to the main shaft, the area it uses cannot be

set.

(c) The setting range is from the speed change gear ratio lower limit value to the speed change gear ratio upper limit value.

(3) Smoothing time constant This is the setting for the time taken to reach 63% of the output shaft speed.

7. TRANSMISSION MODULE

7 23

7.4 Differential Gear

The differential gear is used for the following purposes; For shifting the output module phase or carrying out alignment of the operation

start position For carrying out independent operation separated from the virtual main shaft

7.4.1 Operation

(1) When the input shaft clutch is engaged The differential gear subtracts the auxiliary input shaft travel distance from the input shaft travel distance and transmits this to the output axis.

Output shaft travel value =

Input shaft travel value

Auxiliary input shaft travel value (Unit: pulse)

Virtual main shaft

Auxiliary input shaft

Input shaft

Differential gear

Output shaft

Clutch

Drive module

Output module

(2) When the input shaft clutch is disengaged Independent operation is possible using the auxiliary input shaft since the differential gear transmits only the amount of travel from the auxiliary input shaft to the output shaft.

7. TRANSMISSION MODULE

7 24

(3) When the differential gear is used to connect to the virtual main shaft This is used for operation in which the main shaft is switched or when the same drive module is used as auxiliary input to control all blocks.

Input shaft Differential gear

Output shaft Virtual main shaft

Virtual servomotor/ synchronous encoder

Auxiliary input shaft

Drive module

Set different drive modules for the virtual main shaft side and auxiliary input shaft side.

The mechanical modules enclosed by the dotted line frames take the place of the following elements, and the mechanical module processing time coefficient can be eliminated: Deferential gear 1 Drive module at auxiliary shaft side 1

Same drive module

7.4.2 Parameters (setting not necessary)

No parameters need to be set for the differential gear.

8. OUTPUT MODULES

8 1

8. OUTPUT MODULES

Determine which of the following categories the mechanism actually controlled by the output module falls under and set the parameters in accordance with that mechanism. Rollers.................... Section 8.1 Ball screws............. Section 8.2 Rotary tables.......... Section 8.3 Cams ..................... Section 8.4

(1) Output module types (a) Roller

This is set when the final output (axis) is used to carry out speed control.

Roller

(b) Ball screw This is set when the final output (axis) is used to carry out linear positioning control.

Ball screw

(c) Rotary table This is set when the final output (axis) is used to carry out angle control.

Rotary table

(d) Cam The cam settings are made when the last output (axis) is connected to a software cam and controlled.

Cam (software cam)

8. OUTPUT MODULES

8 2

Device Range

D 0 to 799

W 0 to 3FF

(2) Device range and device data fetch of the output module parameters Such things as the device range and setting method are indicated below for the output module parameters and items that are set indirectly using devices. (a) Device range

The number of device words and device range utilized when an item is set indirectly are indicated below.

Device Setting Range Module Item

Number

of Device

Words A172SHCPU A171SHCPU Remarks

Roller Torque limit value setting

device 1

Ball screw Torque limit value setting

device 1

Torque limit value setting

device 1

Virtual axis present value

within one revolution

storage device (main shaft

side)

2

Rotary table

Virtual axis present value

within one revolution

storage device (auxiliary

input axis side)

2

Cam No. setting device 1

Stroke setting device 2

Torque limit value setting

device 1

Stroke lower limit value

storage device 2

Virtual axis present value

within one revolution

storage device (main shaft

side)

2

Cam

Virtual axis present value

within one revolution

storage device (auxiliary

input axis side)

2

POINTS

For items set using two words, always set an even numbered device. In addition, when setting data in the sequence program for that device, always use the DMOV (P) command.

When a two word monitor device leads the sequence program, always acquire it in the user device using the DMOV(P) command. Use the fetched device for carrying out such things as upper/lower comparison and calculations.

8. OUTPUT MODULES

8 3

(b) Device data fetch When the data of a device that has been set indirectly is switched from the REAL to VIRTUAL mode, first acquire everything as default values and thereafter carry out fetch control during virtual mode operation for the corresponding module. Shown in the table below are the fetch timing of each device and the refresh cycle of the set device. The device fetch timing and device refresh cycle are the same for both A172SHCPU and A171SHCPU.

Device Fetch Timing

Module Item Fetch

Device

Refresh

Device

REAL VIRTUAL

Mode

Switching

During VIRTUAL Mode

Operation

Device

Refresh

Cycle

Roller Torque limit value setting device ! !

Ball screw Torque limit value setting device ! !

Torque limit value setting device ! !

Fetched every 3.5 ms

(calculation cycle)

Virtual axis present value within

one revolution storage device

(main shaft side)

! Rotary table

Virtual axis present value within

one revolution storage device

(auxiliary input axis side)

!

3.5ms

Cam No. setting device ! !

Stroke setting device ! !

Fetched every 3.5 ms

(calculation cycle).

However, the cam No. and

stroke switching position

pass point are enabled.

Torque limit value setting device ! ! Fetched every 3.5 ms

(calculation cycle)

Stroke lower limit value storage

device !

Virtual axis present value within

one revolution storage device

(main shaft side)

!

Cam

Virtual axis present value within

one revolution storage device

(auxiliary input axis side)

!

3.5ms

8. OUTPUT MODULES

8 4

8.1 Rollers

The operation of rollers and the parameter settings required to use rollers are explained here.

8.1.1 Roller operation

This section describes the operation of the roller.

(1) Operation (a) The roller speed is controlled to a speed which is the speed of the drive

module multiplied by the gear ratio/speed change gear ratio of the transmission module.

[Roller speed] = Drive module speed

(pulse/s) [gear ratio]

speed change

gear ratio (Units: pulses/s)

Drive module

Gear...gear ratio

Clutch

Speed change gear

..... speed change gear ratio

Roller

(b) If a clutch is used, the roller is controlled from the point when the clutch is turned ON.

(2) Control details (a) The roller has no present value.

However, when a switch is made from the virtual mode to the real mode, the present value corresponding to the position reached by travel in the virtual mode is established. [The present value is a ring address in the range 2147483648 (231) pulses to 2147483647 (2311) pulses.]

(2311)

231

Present value

(b) Backlash compensation processing is continued in accordance with the settings made in the fixed parameters regardless of switches between the real mode and virtual mode.

(c) The peripheral velocity of the roller is monitored by means of a peripheral device and the roller peripheral velocity register. For the calculation formula for the roller peripheral velocity, see Section 8.1.2, and for details on the roller peripheral velocity register, see Section 8.5.2.

8. OUTPUT MODULES

8 5

8.1.2 Parameter list

The parameters for rollers are presented in Table 8.1, and each of the items in the table is explained in (1) to (6) below. For details on setting roller parameters, refer to the SW2SRX/SW2NX-GSV22P/ SW0SRX/SW0NX-CAMP Operating Manual.

Table 8.1 Parameter List

No. Setting Default

Value Setting Range

When using an A172SHCPU 0 1 to 8 1

Output shaft

number When using an A171SHCPU 0 1 to 4

2 Unit setting mm mm inch

3 Roller diameter (L) 0 0.1 to 214748364.7 m 0.00001 to 21474.83647

4 Number of pulses per roller revolution (NL) 0 1 to 2147483647 pulse

5 Permissible droop pulse value 65535 1 to 65535 pulse

6 Speed limit value (VL) 0 0.01 to 6000000.00 mm/inch 0.01 to 600000.000 inch/min

7 Torque limit value setting device (1 word) (300%) / word device

8 Comment None 16 one-byte characters

(1) Unit setting (a) This is the setting for the units (mm/inch) for the roller.

(b) When an axis for which a roller setting has been made is in the real mode, the units (unit setting in the fixed parameters) can be any of the following: mm/inch/degree/pulse.

(2) Roller diameter (L)/Number of pulses per roller revolution (NL) (a) These are the settings for the roller diameter, and number of pulses per

roller revolution, for the roller connected to the servomotor.

Roller diameter (L)

Number of pulses per roller revolution (NL)

(b) The roller peripheral velocity is calculated from the roller diameter and number of pulses per roller revolution in accordance with the formula below. 1) When the units are millimeters

[Roller periheral velocity] = [number of input per minute]

2) When the units are inches [Roller periheral velocity]= [number of input per minute]

An integral value obtained by raising 10n to power of the result of calculations 1) and 2) is stored in the roller peripheral velocity register.

L NL

(mm/min) L: mm

L NL

(mm/min) L: mm

8. OUTPUT MODULES

8 6

(3) Permissible droop pulse value (a) This is the setting for the permissible number of droop pulses at the

deviation counter.

(b) The deviation counter value is continually monitored, and if it becomes larger than the permissible droop pulse value, the error detection signal (M1607+20n) comes ON. However, since operation of the roller shaft continues, the user must execute the appropriate error processing.

(4) Speed control limit (VL) (a) This is the setting for the maximum speed of the roller shaft.

(b) Set the speed limit value within the following range.

1 1000000 [pulse/s]

(c) If the speed of the roller shaft exceeds the speed limit value, the error detection signal (M1607+20n) comes ON. However, the roller shaft speed is not clamped.

V

Even if the speed limit value is exceeded, control is executed at the set speed.

Setting for speed limit value

(5) Torque limit value setting device (1 word) (a) This sets the device which stores the setting for the torque limit value for the

roller shaft. Once the device has been set, torque control is executed in accordance with the setting stored in this device. In the virtual mode, the torque limit setting is always valid. If no device setting is made, the torque limit is set at 300%.

(b) The following devices can be set as the torque limit setting device.

Device Type A172SHCPU/A171SHCPU

Data register *1

*2

Link register W0 to W3FF

*1: If a cam is used at the output module, the area used for the cam cannot be set.

*2: If a differential gear is connected to the main shaft, the area it uses cannot be

set.

(c) The setting range for the torque limit value is 1 to 500%.

(6) Comment (a) A comment is created for purposes such as describing the application of the

roller shaft. If a comment is created, it can be displayed when monitoring at a peripheral device.

(b) Comments up to 16 one-byte characters long can be created.

VL NL

60 L VL:[mm/min] or [inch/min] L :[mm] or [inch]

D0 to D799

8. OUTPUT MODULES

8 7

8.2 Ball Screws

The operation of ball screws and the parameter settings required to use ball screws are explained here.

8.2.1 Ball screw operation

This section describes the operation of the ball screw.

(1) Operation A ball screw outputs a travel value which is the product of the drive module travel value and the gear ratio of the transmission module.

[Ball screw travel value] = [transmission module travel

value (pulses)] [gear ratio]

(Units: pulses)

Gear...gear ratio Drive module

Clutch

Ball screw

If a clutch is used, the ball screw is controlled from the point at which the clutch is turned ON.

(2) Control details (a) The feed present value is maintained on switching from the real mode to the

virtual mode or from the virtual mode to the real mode.

(b) Backlash compensation processing is continued in accordance with the settings made in the fixed parameters regardless of switches between the real mode and virtual mode.

(c) The travel value per pulse is controlled by the ball screw parameters (ball screw pitch, number of pulses per ball screw revolution). Make it the same value as the travel value per pulse in the fixed parameters.

8. OUTPUT MODULES

8 8

8.2.2 Parameter list

The parameters for ball screws are presented in Table 8.2, and each of the items in the table is explained in (1) to (8) below. For details on setting ball screw parameters, refer to the SW2SRX/SW2NX- GSV22P/SW0SRX/SW0NX-CAMP Operating Manual.

Table 8.2 Parameter List

No. Setting Default Value Setting Range

When using an A172SHCPU 0 1 to 8 1

Output shaft

number When using an A171SHCPU 0 1 to 4

2 Unit setting mm mm inch

3 Ball screw pith (P) 0 0.1 to 214748364.7 m 0.00001 to 21474.83647inch

4 Number of pulses per ball screw revolution

(NP) 0 1 to 2147483647pulse

5 Permissible droop pulse value 65535 1 to 635535pulse

6 Stroke limit upper limit value 2311

7 Stroke limit lower limit value 0

214748364.8 to

214748364.7 m

21474.83648 to

21474.83647 inch

8 Speed limit value (VL) 0.01 to 6000000.00

mm/inch

0.01 to 600000.000

inch/min

9 Limit switch output Not used Used / Not used

10 Torque control limit setting device (1 word) (300%) / word device

11 Comment None 16 one-byte characters

(1) Unit setting (a) This is the setting for the units (mm/inch) for the ball screw.

(b) Set the same units as used in the real mode (unit setting in the fixed parameters) for the ball screw units. If the ball screw units and units in the real mode are different, a mode switching error will occur on switching from the real mode to the virtual mode.

(2) Ball screw pitch (P)/Number of pulses per ball screw revolution (NP) (a) These are the settings for the pitch of the ball screw connected to the

servomotor and the number of pulses when the ball screw rotates one revolution.

Moving part

Ball screw

Number of pulses per ball screw

revolution

Ball screw pitch (P)

(b) The travel value per pulse is calculated from the ball screw pitch and number of pulses per ball screw revolution.

[Travel per pulse] = P

NP

8. OUTPUT MODULES

8 9

(3) Permissible droop pulse value (a) This is the setting for the permissible number of droop pulses at the

deviation counter.

(b) The deviation counter value is continually monitored, and if it becomes larger than the permissible droop pulse value, the error detection signal (M1607+20n) comes ON.

(4) Stroke limit upper limit value/lower limit value (a) This is the setting for the stroke range in the virtual mode.

(b) If the stroke range is exceeded during operation, the error detection signal (M1607+20n) comes ON. However, ball screw shaft stop processing is not executed.

(5) Speed limit value (VL) (a) This is the setting for the maximum speed of the ball screw.

(b) Set the speed limit value within the following range. 1) When the units are millimeters

1 1000000 [pulse/s]

2) When the units are inches

1 1000000 [pulse/s]

(c) If the speed of the ball screw shaft exceeds the speed limit value, the error detection signal (M1607+20n) comes ON. However, the ball screw speed is not clamped.

V

Even if the speed limit value is exceeded,

control is executed at the set speed.

Setting for speed limit value

(6) Limit switch output (a) This setting determines whether or not a limit switch signal is output for the

ball screw shaft. Limit switch output used .................. Limit switch signal is output based on the ball screw's actual present value. Limit switch output not used ............ Limit switch signal is not output.

VL 104 NP

60 P

VL 105 NP

60 P

8. OUTPUT MODULES

8 10

(7) Torque limit value setting device (1 word) (a) This sets the device which stores the setting for the torque limit value for the

ball screw shaft. Once the device has been set, torque control is executed in accordance with the setting stored in this device. In the virtual mode, the torque limit setting is always valid. If no device setting is made, the torque limit is set at 300%.

(b) The following devices can be set as the torque limit setting device.

Device Type A172SHCPU/A171SHCPU

Data register *1

*2

Link register W0 to W3FF

*1: If a cam is used at the output module, the area used for the cam cannot be set.

*2: If a differential gear is connected to the main shaft, the area it uses cannot be

set.

(c) The setting range for the torque limit value is 1 to 500%.

(8) Comment (a) A comment is created for purposes such as describing the application of the

ball screw shaft. If a comment is created, it can be displayed when monitoring at a peripheral device.

(b) Comments up to 16 one-byte characters long can be created.

D0 to D799

8. OUTPUT MODULES

8 11

8.3 Rotary Tables

The operation of rotary tables and the parameter settings required to use rotary tables are explained here.

8.3.1 Rotary table operation

This section describes the operation of the rotary table.

(1) Operation (a) A rotary table outputs a travel value which is the product of the drive module

travel value and the gear ratio of the transmission module.

[Rotary table travel value] = transmission module travel value (pulses)

[gear ratio] (Units: pulses)

Drive module Gear gear ratio

Clutch

Rotary

table

(b) If a clutch is used, the rotary table is controlled from the point at which the clutch is turned ON.

(2) Control details (a) The feed present value is maintained on switching from the real mode to the

virtual mode or from the virtual mode to the real mode.

(b) Backlash compensation processing is continued in accordance with the settings made in the fixed parameters regardless of switches between the real mode and virtual mode.

(c) The travel value per pulse is controlled by the rotary table parameters (number of pulses per rotary table revolution). Make it the same value as the travel value per pulse in the fixed parameters.

8. OUTPUT MODULES

8 12

8.3.2 Parameter list

The parameters for rotary tables are presented in Table 8.3, and each of the items in the table is explained in (1) to (9) below. For details on setting rotary table parameters, refer to the SW2SRX/SW2NX- GSV22P/SW0SRX/SW0NX-CAMP Operating Manual.

Table 8.3 Parameter List

No. Setting Default Value Setting Range

When using an A172SHCPU 0 1 to 8 1

Output shaft

number When using an A171SHCPU 0 1 to 4

2 Number of pulses per rotary table revolution

(ND) 1 to 1073741824 (pulse)

3 Permissible droop pulse value 65535 1 to 65535 (pulse)

4 Stroke limit upper limit value 0 0 to 359.99999 (degree)

5 Stroke limit lower limit value 0 0 to 359.99999 (degree)

6 Speed limit value (VL) 0 0.01 to 2147483.647 (degree/min)

7 Limit switch output Not used Used / Not used

8 Torque control limit setting device (1 word) (300%) / word device

9 Comment None 16 one-byte characters

10 Virtual axis present value in one revolution

storage device (main shaft side) (2 word) / word device

11

Virtual axis present value in one revolution

storage device (auxiliary input shaft side)

(2 word)

/ word device

(1) Number of pulses per rotary table revolution (ND) (a) This is the setting for the number of pulses equivalent to one revolution of

the rotary table connected to the servomotor.

Number of pulses per rotary table revolution (ND)

(b) The travel value per revolution is calculated from the number of pulses per rotary table revolution in accordance with the following formula:

[Travel per pulse] = (degree)

(2) Permissible droop pulse value (a) This is the setting for the permissible number of droop pulses at the

deviation counter.

(b) The deviation counter value is continually monitored, and if it becomes larger than the permissible droop pulse value, the error detection signal (M1607+20n) comes ON.

(3) Stroke limit upper limit value/lower limit value (a) This is the setting for the stroke range in the virtual mode.

The settings for the stroke limit upper limit value and lower limit value can determine whether the stroke range is valid or not: if the stroke limit upper limit value is equal to the stroke limit lower limit value, the stroke limits are invalid.

(b) If the stroke range is exceeded during operation, the error detection signal (M1607+20n) comes ON. However, rotary table shaft stop processing is not executed.

360 ND

8. OUTPUT MODULES

8 13

(4) Speed limit value (VL) (a) This is the setting for the maximum speed of the rotary table shaft.

(b) Set the speed limit value within the range prescribed by the following formula:

1 1000000 [pulse/s]

(c) If the speed of the rotary table shaft exceeds the speed limit value, the error detection signal (M1607+20n) comes ON. However, the rotary table shaft speed is not clamped.

Even if the speed limit value is exceeded, control is executed at the set speed.

Setting for speed limit value V

(5) Limit switch output (a) This setting determines whether or not a limit switch is output for the rotary

table shaft. Limit switch output used .............Limit switch signal is output based on the rotary table's actual present value. Limit switch output not used .......Limit switch signal is not output.

(6) Torque limit value setting device (1 word) (a) This is the setting for the device which stores the setting for the torque limit

value for the rotary table shaft. Once the device has been set, torque control is executed in accordance with the setting stored in this device. In the virtual mode, the torque limit setting is always valid. If no device setting is made, the torque limit is set at 300%.

(b) The following devices can be set as the torque limit setting device.

Device Type A172SHCPU/A171SHCPU

Data register *1

*2

Link register W0 to W3FF

*1: If a cam is used at the output module, the area used for the cam cannot be set.

*2: If a differential gear is connected to the main shaft, the area it uses cannot be

set. (c) The setting range for the torque limit value is 1 to 500%.

(7) Comment (a) A comment is created for purposes such as describing the application of the

rotary table shaft. If a comment is created, it can be displayed when monitoring at a peripheral device.

(b) Comments up to 16 one-byte characters long can be created.

VL 105 ND

60 360 105

D0 to D799

8. OUTPUT MODULES

8 14

(8) Virtual axis present value in one revolution storage device (main shaft side) (2 words) This parameter is set if an address mode clutch has been set at the rotary table main shaft side.

Drive module

Virtual axis present value in one revolution

Address mode clutch

Virtual axis present value in one revolution (drive module travel value gear ratio)%ND

(%: remainder operator) (ND-1) pulse

The reference position (0) for the virtual axis present value in one revolution is set with the address clutch reference position setting signal (M1813+20n/YnD/M3213+20n).

0 0 0 0

Rotary table

=

(a) The virtual axis present value in one revolution for the main shaft side of the rotary table is stored in the set device.

(b) The following devices can be set as the virtual axis present value in one revolution storage device.

Device Type A172SHCPU/A171SHCPU

Data register

*1

*2 D0 to D799

*3

Link register W0 to W3FF

*1 : If a cam is used at the output module, the area used for the cam cannot be set.

*2 : If a differential gear is connected to the main shaft, the area it uses cannot be

set.

*3 : The first device number of the devices must be an even number.

(c) The applicable range for the virtual axis present value in one revolution is 0 to (ND-1) pulses. (ND: number of pulses per rotary table revolution)

(d) The address mode clutch is turned ON and OFF at designated addresses in the virtual axis present value in one revolution range: 0 to (ND-1) pulses. Therefore, set the value in the clutch ON/OFF address setting device within the range 0 to (ND-1) pulses.

(e) The virtual axis present value in one revolution reference position "0" is set by turning M1813+20n (address clutch reference setting signal) ON and switching to the virtual mode. This sets the virtual axis present values in one revolution for both the main shaft and the auxiliary input shaft to "0". If the switch to the virtual mode is made with M1813+20n turned OFF, control continues from the virtual axis present value in one revolution that was effective last time the virtual mode was in effect.

8. OUTPUT MODULES

8 15

(f) An example of the operation of an address mode clutch is shown below.

Operation Example Designate clutch ON/OFF at this present value (present value in one virtual axis revolution)

1 axis Number of pulses per revolution: 20000 PLS

Virtual servomotor present value (synchronous encoder)

Present value in one virtual axis revolution

Set the clutch status clutch ON address=0 clutch OFF address=10000

Output shaft present value

Present value in one output shaft revolution

0

0 10000 0 10000 0

20000

359.99999 degree

20000 10000

1 axis

8. OUTPUT MODULES

8 16

(9) Virtual axis present value in one revolution storage device (auxiliary input shaft side) (2 words) This parameter is set if an address mode clutch has been set at the rotary table auxiliary input shaft side.

Drive module

Virtual axis present value in one revolution

Address mode clutch

Drive module

Rotary table

(a) By setting the virtual axis present value in one revolution for the auxiliary input shaft of the rotary table in the set device, the current present value in one revolution of the virtual axis is stored.

(b) The following devices can be set as the virtual axis present value in one revolution storage device.

Device Type A172SHCPU/A171SHCPU

Data register

*1

*2 D0 to D799

*3

Link register W0 to W3FF

*1 : If a cam is used at the output module, the area used for the cam cannot be set.

*2 : If a differential gear is connected to the main shaft, the area it uses cannot be

set.

*3 : The first device number of the devices must be an even number.

(c) The applicable range for the virtual axis present value in one revolution is 0 to (ND-1) pulses. (ND: number of pulses per rotary table revolution)

(d) The address mode clutch is turned ON and OFF at designated addresses in the virtual axis present value in one revolution range: 0 to (ND-1) pulses. Therefore, set the value in the clutch ON/OFF address setting device within the range 0 to (ND-1) pulses.

(e) The setting for the virtual axis present value in one revolution reference position "0" is made by turning M1813+20n (address clutch reference setting signal) ON and switching to the virtual mode. This sets the virtual axis present values in one revolution for both the main shaft and the auxiliary input shaft to "0". If the switch to the virtual mode is made with M1813+20n turned OFF, control continues from the virtual axis present value in one revolution that was effective last time the virtual mode was in effect.

8. OUTPUT MODULES

8 17

(f) An example of the operation of an address mode clutch is shown below.

Designate clutch ON/OFF at this present value (present value in one virtual axis revolution)

1 axis Number of pulses per revolution: 20000 PLS

0

0 10000 0 10000 0

20000

359.99999 degree

20000 10000

Operation Example

1 axis

Virtual servomotor present value (synchronous encoder)

Present value in one virtual axis revolution

Set the clutch status clutch ON address=0 clutch OFF address=10000

Output shaft present value

Present value in one output shaft revolution

8. OUTPUT MODULES

8 18

8.4 Cams

(1) For axes at which the output module is set as a cam, the same action as a cam is achieved by using a ball screw model as shown in the example below.

Mechanical Cam Cam Shaft System of output Module

Cam

Upper dead point

Stroke

Lower dead point

Upper dead point

Equivalent action

Pulse generator

Servo motor

Reduction gear Moving part

MR-[ ]-B Stroke

A172SHCPU servo system CPU

A172S ENC

A1S X10

(2) The following two types of data have to be set in order to use a cam. Settings made when the cam data is created

These are the settings made at a personal computer running the SW0SRX/SW0NX-CAMP software when creating the cam data (cam curve). (See Section 8.4.2)

Cam parameters These are the parameters used to set a cam as the output module when creating the mechanical device program. (See Section 8.4.3)

8. OUTPUT MODULES

8 19

8.4.1 Cam operation

The operation of cams is described below.

(1) Procedure for switching from the REAL mode to the VIRTUAL mode On switching from the REAL mode to the VIRTUAL mode, perform device setting in accordance with the following procedure using the sequence program. (a) Set a cam number and stroke in the "cam No. setting device" and "stroke

setting device" set for each axis in the cam shaft parameters. Switch the cam reference position setting signal (M1814+20n) ON/OFF as required. (See Section 8.5.1(2) to (p))

(b) Issue a REAL modeVIRTUAL mode switching request (M2043: OFFON)

(c) Start operation based on the cam pattern, stroke, cam reference setting signal, and address clutch reference setting signal set for each cam shaft.

(2) Processing on switching from the REAL mode to the VIRTUAL mode When a switch is made from the REAL mode to the VIRTUAL mode, the cam shaft present value in one revolution is indexed based on the cam reference position setting signal (M1814+20n), the feed present value, the stroke lower limit value, the stroke and cam No. (cam pattern), at that time.

(3) Operation A value based on the cam shaft present value in one revolution and calculated using the stroke ratio in the cam data table is output. [(Feed present value) = (stroke lower limit value) + (stroke) (stroke ratio)] The cam shaft present value in one revolution is determined by the travel value calculated by multiplying the drive module travel value by the transmission module gear ratio or other applicable value. The number of pulses per stroke is controlled based on the travel value per pulse set in the fixed parameters in the REAL mode.

8. OUTPUT MODULES

8 20

(4) Switching the stroke and cam No. during operation (a) It is possible to change the cam stroke and effective cam number during

cam operation by using the sequence program.

(b) The stroke and cam No. are changed by means of the address set in the "stroke, cam No. change point" setting made when creating the cam data. When the "stroke, cam No. change point" is passed, the stroke/cam No. is changed on the basis of the value in the stroke setting device and cam No. setting device set in the cam parameters.

The figure below shows the timing for switching between cam No.1 and cam No.2, and switching between stroke I1 and stroke I2 when the stroke/cam No. change point is set as "0".

Cam shaft present value in one revolution (PLS)

(Nc: Number of pulses per cam shaft revolution)

Cam No. setting device value

Stroke setting device

Effective cam No.

Effective stroke

1 cycle

NC-1,0 NC-1,0 NC-1,0

1 2

11 12

1 2

11 12

(c) Causes of errors when changing the stroke/cam No. during operation 1) The set cam No. and stroke are always input to the PCPU on switching

from the REAL mode to the VIRTUAL mode, and in the VIRTUAL mode. On input to the PCPU, a relative check is executed. An error occurs, the error detection signal (M1607+20n) comes ON, and the error code is stored in the minor error code register in the following cases: When the stroke is outside the range 1 to 2147483647 (2311). When, in the two-way cam mode, the following condition is not met: stroke lower limit value + stroke 2147483647 (2311) When the control modes of the set cam Nos. are not the same.

Example

8. OUTPUT MODULES

8 21

2) Processing in the event of a cam No./stroke error If the error occurs on attempting to switch from the REAL mode to the VIRTUAL mode, the VIRTUAL mode is not established. If the error occurs on reaching the set "stroke, cam No. change point"

(during cam operation), operation continues without switching to the set stroke/cam No.

Reset the error detection signal and the minor error code register with the error reset command (M1807+20n).

3) Processing in the event of an error

i) If an error occurs on switching from the REAL mode to the VIRTUAL mode, correct it by following the procedure below. Turn the REAL/VIRTUAL mode switching request flag (M2043) OFF. Set the cam No. and stroke correctly. Turn the REAL/VIRTUAL mode switching request flag ON and

switch to the VIRTUAL mode. ii) If an error occurs during cam operation, set the cam No. and stroke

correctly.

(5) Control details (a) On switching from the REAL mode to the VIRTUAL mode, or on switching

from the VIRTUAL mode to the REAL mode, the currently effective feed present value of the cam remains effective.

(b) Backlash compensation processing is not executed in the case of cam shafts only. (If necessary, take this into account when creating the cam pattern.)

(c) No stroke limit upper limit value/lower limit value check or speed limit check is executed.

8. OUTPUT MODULES

8 22

(6) Changing control The cam shaft present value in one revolution can be changed to any required value to change cam control during operation in the VIRTUAL mode. The present value change is executed using the CHGA instruction. See Section 10.1.

[Example sequence program]

Change request

CHGA C K1234

Present value in one revolution to be changed

Cam No. to be changed

[Operation]

1234 Change Current present value in one cam revolution

Present value in one cam revolution after the change

In order to ensure that the motor does not turn even if a present value change is executed, the stroke lower limit value is changed by this stroke amount.

S tr

ok e

(7) Example sequence program

[Switching from REAL mode to VIRTUAL mode]

0

(Cam data batch change in progress)

(REAL mode)

MOV 1 D100 P K

DMOV 50000 D102 P K

SET M1814

SET M2043

Cam No.setting device set

Stroke setting device set

Cam reference position setting signal set

Request to switch from REAL mode to VIRTUAL mode

Condition

M2000 M2043 M2044 M2016

[Changing cam No./stroke during operation]

Condition

MOV K1 D100 P

DMOV 60000 D102 P K

Cam No. setting device set

Stroke setting device set

8. OUTPUT MODULES

8 23

8.4.2 Settings when creating cam data

The settings made when creating cam data at a peripheral device are described below.

Table 8.4 Table of Settings when Creating Cam Data

No. Setting Default Value Setting Range

1 Cam No. 1 to 64

2 Resolution 256 256,512,1024,2048

3 Stroke, cam No. change point 0 0 to (resolution 1)

4 Control mode Two-way cam mode Two-way cam mode

Feed cam mode

5 Cam data table 0 0 to 32767

(1) Cam No. This is the setting for the number of the created cam data. Set this number in the sequence program.

(2) Resolution (a) This setting determines the number of index divisions in one cam cycle.

(b) The time required to complete one cycle in which data for the maximum number of points possible under the set resolution are reliably output is calculated as follows:

3.5 ms (set resolution)

(3) Stroke/cam No. change point (a) This is the setting for the position at which the stroke/cam No. is switched

during operation.

(b) When the set switching position [range: 0 to (resolution 1)] is reached, a switch is made to the set stroke and cam No., provided the stroke and cam No. are normal.

8. OUTPUT MODULES

8 24

(4) Control mode (a) This is the setting for the two-way cam mode or feed cam mode.

1) Two-way cam mode ........A two-way operation is repeated between the stroke lower limit position (lower dead point) and the range set for the stroke.

Stroke

Stroke lower limit position (lower dead point)

Cam pattern Operation example

32767

1 cycle (1 cam shaft revolution) Resolution1

Stroke

0 Stroke lower limit

Output value (address)

Stroke

Stroke lower limit

V t

0

t

2) Feed cam mode ..............With the stroke lower limit value (lower dead point) as the operation start position, positioning is executed by feeding one stroke length per cycle in a fixed direction.

Stroke

Stroke lower limit value

1 cycle 1 cycle 1 cycle

Present value

Cam pattern Operation example

Resolution1

Output value (address)

V

t

t

Stroke lower limit 1 cycle

1 cycle 0

0

1 cycle 1 cycle

Stroke

Stroke

8. OUTPUT MODULES

8 25

(5) Cam data table (a) The cam data table is generated by setting the stroke ratio (when the stroke

is divided into 32767 divisions) at every point in the set resolution.

Lower dead point (0)

32767

1 cycle

Cam curve Stroke

0

Stroke ratio

(b) The cam data table is automatically generated at the peripheral device when the cam curve is created.

The cam curves that can be used with the servo system CPU are indicated in Section 8.4.4.

8. OUTPUT MODULES

8 26

8.4.3 Parameter list

The cam parameters are presented in Table 8.5 and item numbers 2 to 13 in the table are described in (1) through (12) below. For details on how to set the cam parameters refer to the Operating Manual for the relevant motion controller.

Table 8.5 Parameter List

No. Setting Default Value Setting Range

When using an A171SHCPU 0 1 to 4 1

Output

shaft

number When using an A172SHCPU 0 1 to 8

2 Number of pulses per cam shaft revolution 0 1073741824(pulse)

3 Used cam No.

4 Cam No. setting device (1 word) (Nc) Word device

5 Permissible droop pulse value 65535(pulse) 1to65535 (pulse)

6 Unit setting mm mm inch pulse

7 Stroke setting device (2 words) Word device

8 Limit switch output Not used Used/Not used

9 Torque control limit setting device (1 word) (300%)/word device

10 Comment None 16 one-byte characters

11 Stroke lower limit value storage device / word device

12 Present value in one virtual axis revolution

storage device (main shaft side, 2 words) / word device

13

Present value in one virtual axis revolution

storage device (auxiliary input shaft side, 2

words)

/ word device

(1) Number of pulses per cam shaft revolution (Nc) (a) This is the setting for the number of pulses required to rotate the cam

through one cycle.

(b) The setting for the number of pulses per cam shaft revolution is independent of the travel value per pulse (setting in the fixed parameters).

(2) Used cam No. This parameter does not need to be set. Operation will be possible as long as a registered cam No. is set.

Number of pulses per cam shaft revolution (Nc)

8. OUTPUT MODULES

8 27

(3) Cam No. setting device (1 word) (a) This is the setting for the device that sets, in the sequence program, the

cam No. that is to be used for control.

(b) The following devices can be used as the cam No. setting device.

Device Type A172SHCPU/A171SHCPU

Data register *1

*2

Link register W0 to W3FF

*1 : If a cam is used at the output module, the area used for the cam cannot be set.

*2 : If a differential gear is connected to the main shaft, the area it uses cannot be set.

(c) If the value stored in the cam No. setting device is changed during operation, the switch to the changed cam No. will occur at the "stroke/cam No. switching position" set when the cam data was created.

(4) Permissible droop pulse value (a) This is the setting for the permissible number of droop pulses at the

deviation counter.

(b) The deviation counter value is continually monitored, and if it becomes larger than the permissible droop pulse value, the error detection signal (M1607+20n) comes ON.

(5) Unit setting (a) This is the setting for the units (mm/inch/pulse) for the cam.

(b) The units for an axis for which a cam setting has been made are the units in the REAL mode (unit setting in the fixed parameters).

(6) Stroke setting device (2 words) (a) This is the setting for the cam stroke.

(b) The following devices can be set as the stroke setting device.

Device Type A172SHCPU/A171SHCPU

Data register

*1

*2 D0 to D799

*3

Link register W0 to W3FF

*1 : If a cam is used at the output module, the area used for the cam cannot be set.

*2 : If a differential gear is connected to the main shaft, the area it uses cannot be set.

*3 : The first device number of the devices must be an even number.

D0 to D799

8. OUTPUT MODULES

8 28

(c) Set the stroke within the range indicated below. Setting range in the two-way cam mode mm : Stroke lower limit value + stroke 2147483647 101 m inch : Stroke lower limit value + stroke 2147483647 105 inch Pulse : Stroke lower limit value + stroke 2147483647 pulse Setting range in the feed cam mode mm : 0 < stroke 2147483647 101 m inch : 0 < stroke 2147483647 105 inch Pulse : 0 < stroke 2147483647 pulse

(7) Limit switch output (a) This setting determines whether or not a limit switch signal is output.

1) Limit switch output not used ..........Limit switch signal is not output. 2) Limit switch output used

A limit switch signal is output in the present value mode/1 cam shaft revolution present value mode. The selection of the present value mode or 1 cam shaft revolution present value mode is made in the limit switch ON/OFF point setting window. If the [F5] key is pressed while the limit switch ON/OFF point setting window is displayed, the limit switch output mode selection screen is displayed.

Limit switch output mode

1 : Present value

2 : 1 cam shaft revolution present

value

Using the numeric keys, enter the limit switch output mode to be selected (1 or 2). For details on the present value mode and the 1 cam shaft revolution present value mode, see Section 8.4.6.

(8) Torque limit value setting device (1 word) (a) This is the setting for the device which stores the setting for the torque limit

value for the cam shaft. Once the device has been set, torque control is executed in accordance with the setting stored in this device. In the virtual mode, the torque limit setting is always valid. If no device setting is made, the torque limit is set at the default of 300%.

(b) The following devices can be set as the torque limit setting device.

Device Type A172SHCPU/A171SHCPU

*1 Data register

*2 D0 to D799

Link register W0 to W3FF

*1 : If a cam is used at the output module, the area used for the cam cannot be

set.

*2 : If a differential gear is connected to the main shaft, the area it uses cannot be

set.

(c) The setting range for the torque limit value is 1 to 500%.

The default is 1: present value

8. OUTPUT MODULES

8 29

(9) Comment (a) A comment is created for purposes such as describing the application of the

ball screw shaft. If a comment is created, it can be displayed when monitoring at a peripheral device.

(b) Comments up to 16 one-byte characters long can be created.

(10) Stroke lower limit value storage device (a) This is the setting for the device that stores the cam stroke lower limit value.

The device stores the present stroke lower limit value.

(b) The following devices can be used as the stroke lower limit value storage device.

Device Type A172SHCPU/A171SHCPU

Data register *1

*2

Link register W0 to W3FF

*1 : If a cam is used at the output module, the area used for the cam cannot be

set.

*2 : If a differential gear is connected to the main shaft, the area it uses cannot be

set.

*3 : The first device number of the devices must be an even number.

(c) The setting range for the stroke lower limit value is 2147483648 (231) to 2147483647 (2311). 1) The stroke lower limit value is determined as follows for each unit

setting: mm : Stroke lower limit value 101 m inch : Stroke lower limit value 10 5 inch Pulse : Stroke lower limit value 1 pulse

(11) Virtual axis present value in one revolution storage device (main shaft side)(2 words) This parameter is set if an address mode clutch is set at the main shaft side of the cam.

Drive module

Present value in one virtual axis revolution

Address mode clutch

(Nc1) pulse

Present value in one virtual axis revolution (drive module travel value gear) % Nc

(%: remainder operator)

Cam

=

0 0 0 0

(a) The present value in one virtual axis revolution for the main shaft side of the cam is stored in this device.

D0 to D799

8. OUTPUT MODULES

8 30

(b) The following devices can be used as the present value in one virtual axis revolution storage device.

Device Type A172SHCPU/A171SHCPU

Data register

*1

*2 D0 to D799

*3

Link register W0 to W3FF

*1 : If a cam is used at the output module, the area used for the cam cannot be

set.

*2 : If a differential gear is connected to the main shaft, the area it uses cannot be

set.

*3 : The first device number of the devices must be an even number.

(c) The setting range for the present value in one virtual axis revolution is 0 to (Nc 1) pulses. (Nc: number of pulses in one cam shaft revolution)

(d) The address mode clutch is turned ON and OFF at designated addresses in the virtual axis present value in one revolution range: 0 to (Nc1) pulses. Therefore, set a value in the range 0 to (Nc1) pulses in the clutch ON/OFF address setting device.

(e) The virtual axis present value in one revolution reference position "0" is set by turning M1813+20n (address clutch reference setting signal) ON and switching to the virtual mode. This sets the virtual axis present values in one revolution for both the main shaft and the auxiliary input shaft to "0". If the switch to the virtual mode is made with M 1813+20n turned OFF, control continues from the virtual axis present value in one revolution that was effective last time the virtual mode was in effect.

8. OUTPUT MODULES

8 31

(f) An example of the operation of an address mode clutch is shown below.

Operation Example

Designate clutch ON/OFF at this present value (present value in one virtual axis revolution)

1 axis Number of pulses per revolution: 10000 PLS X axis loading

1 axis Present value in one virtual axis revolution

Virtual servomotor present value (synchronous encoder)

Set the clutch status clutch ON address = 0 clutch OFF address =0

X axis loading

Present value in one output shaft revolution

0

0 0 0 0 0 0 0

0 0 0

10000

10000

8. OUTPUT MODULES

8 32

(12) Virtual axis present value in one revolution storage device (auxiliary input shaft side) (2 words) This parameter is set if an address mode clutch has been set at the cam auxiliary input shaft side.

Drive module

Virtual axis present value in one revolution

Address mode clutch

Cam

Drive module

(a) By setting the device to store the virtual axis present value in one revolution for the auxiliary input shaft of the cam, the current present value in one revolution of the virtual axis is stored.

(b) The following devices can be set as the virtual axis present value in one revolution storage device.

Device Type A172SHCPU/A171SHCPU

Data register

*1

*2 D0 to D799

*3

Link register W0 to W3FF

*1 : If a cam is used at the output module, the area used for the cam cannot be set.

*2 : If a differential gear is connected to the main shaft, the area it uses cannot be

set.

*3 : The first device number of the devices must be an even number.

(c) The applicable range for the virtual axis present value in one revolution is 0 to (Nc1) pulses.

(d) The address mode clutch is turned ON and OFF at designated addresses in the virtual axis present value in one revolution range: 0 to (Nc1) pulses. Therefore, set the value in the clutch ON/OFF address setting device within the range 0 to (Nc1) pulses.

(e) The setting for the virtual axis present value in one revolution reference position "0" is made by turning M1813+20n (address clutch reference setting signal) ON and switching to the virtual mode. This sets the virtual axis present values in one revolution for both the main shaft and the auxiliary input shaft to "0". If the switch to the virtual mode is made with M1813+20n turned OFF, control continues from the virtual axis present value in one revolution that was effective last time the virtual mode was in effect.

8. OUTPUT MODULES

8 33

(f) An example of the operation of an address mode clutch is shown below.

Operation Example

Designate clutch ON/OFF at this present value (present value in one virtual axis revolution)

2 axis Number of pulses per revolution: 20000 PLS Y axis loading

000

0 0 0

20000

20000

0

Virtual servomotor present value (synchronous encoder)

Present value in one virtual axis revolution

Y axis loading

Present value in one output shaft revolution

2 axis

Set the clutch status clutch ON address = 0

8. OUTPUT MODULES

8 34

8.4.4 Cam curve list

Cam curves which can be used in the VIRTUAL mode are discussed below.

(1) Cam curve characteristics The cam curve characteristics are compared in Table 8.6 below.

Table 8.6 Cam Curve Characteristics Comparison Table

Class Cam Curve

Name

Acceleration

Curve Shape Vm Am (AV)m (VV)m (SV)m Remarks

Constant

speed 1.00 1.00 1.00

Discontinuous curves Uniform

acceleration 2.00 4.00 8.00 4.00 1.09

5th 1.88 5.77 6.69 3.52 1.19

Cycloid 2.00 6.28 8.16 4.00 1.26

Distorted

trapezoid 2.00 4.89 8.09 4.00 1.20 Ta=1/8

Distorted

sine 1.76 5.53 5.46 3.10 1.13 Ta=1/8

Symmetrical

curves

Distorted

constant

speed

1.28 8.01 5.73 1.63 1.07 Ta=1/16

Ta=1/4

Both-side

stationary

curve

Asymmetrical

curves Trapecloid 2.18 6.17 10.84 4.76 1.28 m=1

Oneside stationary curve Multiple

hypotenuse 2.04

+5.55

9.87

+7.75

9.89 4.16 1.39

Nonstationary curve Single

hypotenuse 1.57 4.93 3.88 2.47 1.02

(2) Free-form curve The spline interpolation function can be used to create free-form cam curves.

8.4.5 Creation of cam data by user

(1) Creating cam data at IBM PC started up with SW0SRX/SW0NX-CAMP. Cam data is created by creating a cam curve for 1 cam rotation using at the free- form curve or one of the cam curves shown in section 8.4.4. For details regarding the creation of cam curves at IBM PC computers which have been started up with the SW0SRX/SW0NX-CAMP software, refer to the SW2SRX/SW2NX-GSV22P/SW0SRX/SW0NX-CAMP Operation Manual.

8. OUTPUT MODULES

8 35

8.4.6 Limit switch outputs in present value mode & present value in 1 cam revolution mode

There are 2 types of limit switch outputs: Limit switch outputs in present value mode. Limit switch outputs in present value in 1 cam revolution mode.

(1) Limit switch outputs in present value mode. Limit switch outputs occur in accordance with the cam's actual present value (stroke).

[Cam]

Limit switch output

Stroke

(a) For two-way cam The limit switch output pattern is identical for both directions.

Limit switch output example

Limit switch output setting (1 cam shaft revolution)

1 cycle

Stroke

Lower stroke limit0

0

32767

Cam pattern

Operation example

Stroke

Output value (address)

t

8. OUTPUT MODULES

8 36

(b) For feed cam

Limit switch output setting

1 cycle

Operation example

Output value (address)

0 0

t

Limit switch output example

Cam pattern

(1 cam shaft revolution)

(2) Limit switch outputs in 1 cam shaft revolution present value Limit switch outputs occur in accordance with the present value within 1 cam shaft revolution (0 to Nc1).

[Cam]

Number of pulses per cam shaft revolution (Nc)

Limit switch output

8. OUTPUT MODULES

8 37

(a) For two-way cam Different limit switch output patterns can be used for the feed and return strokes.

Limit switch output setting

(1 cam shaft revolution)

1 cycle

Stroke

Lower stroke limit 0

0

32767

Lower stroke limit

Stroke

Output value (address)

Operation example

Limit switch output example

Cam pattern

t

(b) For feed cam

Limit switch output setting

(1 cam shaft revolution)

1 cycle

Stroke

Lower stroke limit

0 0

t

Output value (address)

Stroke

Operation example

Limit switch output example

Cam pattern

8. OUTPUT MODULES

8 38

8.4.7 Limit switch output data in present value within 1 cam revolution mode

Limit switch output data can be created by the user at IBM PC computers which have been started up with the SW2SRX/SW2NX-GSV22P software. For details regarding the limit switch output data creation procedure, refer to the SW2SRX/SW2NX-GSV22P/SW0SRX/SW0NX-CAMP Operating Manual.

(1) Limit switch output data storage area The limit switch output data set in the cam axis present value in one revolution mode {see section 8.4.3 (11), (12)} is stored in internal memory.

8. OUTPUT MODULES

8 39

8.5 Common Devices (Input/Output, Internal Relays, Data Registers)

The I/Os, internal relays and data registers used in the output modules are explained here.

8.5.1 Internal relays (M)

(1) Internal relay (M) list (a) Status of each axis

Axis

No.

SV22C

Device

No.

SV22F

Device

No.

Signal Name

(! Valid)

VIRTUAL 1

M1600

to

M1619

M1600

to

M1619 Signal Name REAL

Roller Ball

Screw

Rotary

Table Cam

Signal

Direction

Refresh

Cycle

Fetch

Cycle

0 Positioning start

completed ! OFF OFF OFF OFF

1 Positioning completed ! OFF OFF OFF OFF

2

M1620

to

M1639

M1620

to

M1639 2 In-position ! ! ! ! ! 3.5ms

3 Command in-position ! OFF OFF OFF OFF

4 Speed control in

progress ! OFF OFF OFF OFF

3

M1640

to

M1659

M1640

to

M1659 5

Speed/position switching

latch ! OFF OFF OFF OFF

6 Zero pass ! ! ! ! ! 3.5ms

7 Error detection ! ! ! ! ! Imme-

diately 4

M1660

to

M1679

M1660

to

M1679 8 Servo error detection ! ! ! ! ! 3.5ms

9 Home position return

request ! ! ! ! ! 10ms

10 Home position return

completed ! ! ! ! ! 3.5ms

5

M1680

to

M1699

11 External signal FLS ! ! ! ! !

12 External signal RLS ! ! ! ! !

13 External signal STOP ! ! ! ! ! 6

M1700

to

M1719 14 External signal

DOG/CHANGE ! ! ! ! !

10ms

15 Servo ON/OFF ! ! ! ! !

16 Torque control in

progress ! ! ! ! !

3.5ms

7

M1720

to

M1739 17

(External signal

DOG/CHANGE) ! ! ! ! !

18

Virtual mode intermittent

actuation disabled

warning

! ! ! ! !

10ms

19 M code output in

progress ! OFF OFF OFF OFF

SCPU PCPU

8

M1740

to

M1759

8. OUTPUT MODULES

8 40

(b) Command signals for each axis

Axis

No.

SV22C

Device

No.

SV22F

Device

No.

Signal Name

(! Valid)

VIRTUAL 1

M1800

to

M1819

M1800

to

M1819 Signal Name REAL

Roller Ball

Screw

Rotary

Table Cam

Signal

Direction

Refresh

Cycle

Fetch

Cycle

M1820 M1820 0 Stop command ! to to 1 Rapid stop command ! 2

M1839 M1839 2 Forward JOG start ! 3 Reverse JOG start ! 4 End signal OFF command !

3

M1840

to

M1859

M1840

to

M1859 5 Speed/position switching

enabled !

M1860 M1860 6 Limit switch output

enabled ! ! ! ! 3.5ms

to to 7 Error reset ! ! ! ! ! 10ms 4

M1879 M1879 8 Servo error reset !

9 External STOP input

valid/invalid when starting !

10 Unusable 5

M1880

to

M1899 11 Unusable

M1900 12 Feed present value update

request command !

to 13 Address clutch reference

setting ! !6

M1919 14 Cam reference position

setting !

REAL VIRTUAL

switching

M1920 15 Servo OFF ! ! ! ! ! 3.5ms

to 16 Unusable 7

M1939 17 Unusable

M1940 18 Control loop setting ! ! ! ! ! 10ms

to 19 FIN signal !

SCPU PCPU

8

M1959

8. OUTPUT MODULES

8 41

(2) Internal relay (M) details (a) In-position signal (M1602+20n)

1) The in-position signal is a signal that comes ON when the number of droop pulses at the deviation counter falls below the in-position range set in the servo parameters.

In-position ON

OFF

Number of drop pulses

In-position range setting

t

2) An in-position check is performed at the following times. When the servo system power is switched ON After automatic deceleration is started in

positioning control After automatic deceleration is started due to

the JOG start signal going OFF During manual pulse generator operation After the near zero point dog comes ON during

home position return After deceleration is started by a stop command Speed change to zero speed Constant check ......................................................... During VIRTUAL

mode operation (b) Zero pass signal (M1606+20n)

This signal switches ON when the zero point is passed following a servo amplifier power ON. Once the zero point has been passed, this signal remains ON until a CPU reset occurs.

(c) Error detection signal (M1607+20n) 1) This signal switches ON when a minor or major error is detected, and it is

used to determine if an error has occurred. When a minor error is detected, the corresponding error code is stored at the minor error code storage area. When a major error is detected, the corresponding error code is stored at the major error code storage area.

2) The error detection signal goes OFF when the error reset signal (M1807+20n) is switched ON.

OFF

OFF

ON

ON

Error detection

Error reset

Minor/major error detection

During REAL mode operation

8. OUTPUT MODULES

8 42

(d) Servo error detection signal (M1608+20n) 1) This signal switches ON when an error (excluding causes of warning

errors and emergency stops) is detected at the servo amplifier, and it is used to determine if a servo error has occurred. When an error is detected at the servo amplifier, the corresponding error code is be stored at the servo error code storage area.

2) The servo error detection signal switches OFF when the servo error reset signal (M1808+20n) is switched ON, or when the servo power is switched OFF and back ON again. (Servo error reset is only effective in the REAL mode.)

OFF

OFF

ON

ON

Servo error detection

Servo error reset

Servo error detection

(e) Home position return request signal (M1609+20n) This signal switches ON when a home position address check is required at power ON or during positioning control. 1) Other than absolute position system

i) The home position return request signal switches ON at the following times. At power ON, and on resetting the servo system CPU During home position return

ii) The home position return request signal switches OFF when the home position return is completed.

2) Absolute position system i) The home position return request signal switches ON at the following

times. During home position return When a sum check error occurs (at power ON) for the backup data

(reference values). ii) The home position return request signal switches OFF when the

home position return is completed.

(f) Home Position Return Completed Signal (M1610+20n) 1) This signal switches ON when a home position return designated by the

servo program or in the TEST mode is completed. 2) This signal switches OFF when a positioning start, JOG start, or manual

pulse generator start occurs. 3) If a home position return is attempted (by the servo program) while this

home position return completed signal is ON, the "consecutive home position return start" error will be activated, and the home position return operation will not be started. (Near-zero point dog type home position returns only.)

8. OUTPUT MODULES

8 43

(g) FLS signal (M1611+20n) 1) The FLS signal is controlled according to the ON/OFF status of upper

limit switch inputs (FLS) to the A172SENC or A171SENC from an external source.

Upper limit switch input OFF ......... FLS signal ON Upper limit switch input ON........... FLS signal OFF

2) The upper limit switch (FLS) status at FLS signal ON/OFF is shown below.

When FLS signal is ON When FLS signal is OFF

A172SENC,A171SENC A172SENC,A171SENC

FLS FLS

COM

FLS FLS

COM

(h) RLS Signal (M1612+20n) 1) The RLS signal is controlled according to the ON/OFF status of lower

limit switch inputs (RLS) to the A172SENC or A171SENC from an external source.

Lower limit switch input OFF ........ RLS signal ON Lower limit switch input ON.......... RLS signal OFF

2) The lower limit switch (RLS) status at RLS signal ON/OFF is shown below.

When RLS signal is ON When RLS signal is OFF

A172SENC,A171SENC A172SENC,A171SENC

RLS RLS

COM

RLS RLS

COM

(i) STOP signal (M1613+20n) 1) The STOP signal is controlled according to the ON/OFF status of STOP

signal inputs to the A172SENC or A171SENC from an external source. STOP signal OFF.........STOP signal OFF STOP signal ON...........STOP signal ON

2) The STOP signal status at STOP signal ON/OFF is shown below.

When STOP signal is ON When STOP signal is OFF

STOP

COM

A172SENC,A171SENC A172SENC,A171SENC

STOP

STOP

COM

STOP

8. OUTPUT MODULES

8 44

(j) DOG/CHANGE signal (M1614+20n) 1) The DOG/CHANGE signal is controlled according to the ON/OFF status

of near-zero point dog inputs to the A172SENC, A171SENC from an external source.

2) Regardless whether "N/O input" or "N/C input" is designated in the system settings, the DOG/CHANGE signal turns ON when the near-zero point dog or CHANGE signal is ON, and the near-zero point dog or CHANGE signal turns OFF.

3) If "N/O input" is designated in the system settings, the near-zero point dog or CHANGE input turns ON when the near-zero point dog or CHANGE signal turns ON. If "N/C input" is designated in the system settings, the near-zero point dog or CHANGE input turns ON when the near-zero point dog or CHANGE signal turns OFF.

(k) Servo READY signal (M1615+20n) 1) The servo READY signal switches ON when a READY status exists at

the servo amplifiers connected to each axis. 2) The servo READY signal switches OFF at the following times:

When no servo amplifier is installed When the servo parameters have not been set When an emergency stop signal is input to the power supply module

from an external source When the servo OFF status is established by switching ON

M1815+20n When a servo error occurs See Section 11.4 "Servo Errors" for details.

(l) Torque control in progress signal (M1616+20n) This signal switches ON at axes where torque control is being executed.

(m) Limit switch output enabled command (M1806+20n) The limit switch output enable command is used to enable limit switch output. ON...... The limit switch output's ON/OFF pattern is output from AY42. OFF .... The limit switch output is switched OFF from AY42.

(n) Error reset command (M1807+20n) The error reset command is used to clear the minor error codes and major error codes of axes for which errors have been detected (M1607+20n: ON) and to reset the error detected signal (M1607+20n).

ON

ON

OFF

OFF

00

00

Error detection

Error reset

Minor error code storage area

Major error code storage area

: Error code

8. OUTPUT MODULES

8 45

(o) Address clutch reference setting signal (M1813+20n) This command signal is only operative when the output module is a rotary table or a cam connected to an address mode clutch, and it is used to designate the "0" reference position for the present value in 1 virtual axis revolution. When a REAL to VIRTUAL mode switching request occurs, processing will be as shown below, depending on the ON/OFF status of the address clutch reference setting signal. 1) When the address clutch reference setting signal (M1813+20n) is ON

VIRTUAL mode operation will begin with the present value in 1 virtual axis revolution designated as "0" for the main shaft and auxiliary input shaft.

2) When the address clutch reference setting signal (M1813+20n) is OFF If the drive module is a virtual servo motor or an incremental type

synchronous encoder, main shaft and auxiliary input shaft operation will be continued from the present value in 1 virtual axis revolution value from the previous VIRTUAL mode operation.

If the drive module is an absolute type synchronous encoder, main shaft and auxiliary input shaft operation will be continued from the present value in 1 virtual axis revolution value calculated from the encoder's present value.

(p) Cam reference position setting signal (M1814+20n) This command signal is only operative when the output module is a cam, and it is used to designate the cam's reference position. When a REAL to VIRTUAL mode switching request occurs, processing will be as shown below, depending on the ON/OFF status of the cam reference position setting signal. 1) When the cam reference position setting signal (M1814+20n) is ON

The present value becomes the cam's reference position. The current feed present value becomes the stroke lower limit value

(bottom dead center). Moreover, a cam table search is conducted from the beginning of a cycle, and the bottom dead center (0) point is designated as the present value in 1 cam shaft revolution.

Stroke amount

Stroke lower limit

Present value within 1 cam shaft revolution = 0

Feed present value when M1814+20n is ON (bottom dead center)

0 Nc11 cycle

After the system is started and cam's bottom dead center alignment is completed, YnE must be switched ON the first time REAL to VIRTUAL mode switching occurs. Once the bottom dead center setting has been designated, it is not necessary to switch M1814+20n ON when subsequent REAL to VIRTUAL mode switching occurs. (The bottom dead center position is stored in the backup memory.)

8. OUTPUT MODULES

8 46

2) When the cam reference position setting signal (M1814+20n) is OFF When the following condition exists, operation is continued with the

stroke lower limit value and present value in 1 cam shaft revolution from the previous VIRTUAL mode operation adopted.

(Final servo command value in previous VIRTUAL mode operation) (current servo present value) (in-position)

When the following condition exists, operation is continued with the stroke lower limit value from the previous VIRTUAL mode operation being adopted, and the present value in 1 cam shaft revolution calculated based on the current feed present value.

[Present value in 1 cam shaft revolution calculation] The stroke ratio (y) is first calculated as follows: (Feed present value) = (stroke) (stroke ratio) (stroke lower limit value) The cam table for the designated cam No. is then searched (from the beginning of a cycle), and the present value in 1 cam shaft revolution which corresponds to the relevant point is calculated. Because the search for the present value in 1 cam shaft revolution is always conducted from the beginning of a cycle, beware of cases where the same stroke ratio appears more than once in the cycle. (Make the necessary position adjustment when switching from the REAL to VIRTUAL mode occurs.)

Nc1

Stroke amount

Stroke lower limit value

1 cycle (1 cam shaft revolution)

32767

y

A B

In the figure at left, there are 2 relevant points (A and B) for the calculated stoke ratio "y", but only point "A" is recognized.

Stoke ratio

(q) Servo OFF command (M1815+20n) The servo OFF command is used to switch the servo OFF (free run status). YnF OFF ........ Servo ON YnF ON .......... Servo OFF (free run status) This command is inoperative during positioning, and should therefore be executed after positioning is completed. When the servo OFF command occurs in the VIRTUAL mode, the clutch will be disengaged before the servo OFF command is executed. If the servo OFF command occurs while a "clutch ON" status exists, a minor error will occur, and the servo OFF command will become inoperative.

8. OUTPUT MODULES

8 47

(r) VIRTUAL mode continuation disabled warning(M1618+20n) If, for an ABS axis, the difference between the final servo command value in the last operation in the VIRTUAL mode and the servo present value the next time a switch is made to the VIRTUAL mode exceeds the "POWER OF ALLOWED TRAVELING POINTS (number of X feedback pulses)" in the system settings, a warning that VIRTUAL mode operation cannot be continued is issued, and the "VIRTUAL mode continuation disabled warning device" comes ON. This is checked at the following times:

No. Check Time Remarks

1 When the ABS axis servo

amplifier power is turned on

At this time, the minor error 901 (when the power is

turned on in the REAL mode) or 9010 (when the

power is turned on in the VIRTUAL mode) is also set.

2 Continuously during REAL

mode operation

The device also comes ON in the following cases.

(1) When a home position return is executed.

(2) When a present value change is executed.

(3) When jog operation, speed control I or II, or

speed/position switching control is executed.

To reset the "VIRTUAL mode continuation disabled warning device", reset it in the sequence program.

8. OUTPUT MODULES

8 48

8.5.2 Data registers (D)

(1) Data register (D) list (a) Monitor devices of each axis

Axis

No.

SV22C

Device No.

SV22F

Device No. Signal Name

D800 D800

to to (! Valid)1

D819 D819 Signal Name

REAL VIRTUAL Signal Direction Refresh Cycle Fetch Cycle

D820 D820 0

to to 1 Feed present value/roller cycle

2

D839 D839 2

D840 D840 3 Actual present value

to to 43

D859 D859 5 Deviation counter value

3.5ms

D860 D860 6 Minor error code

to to 7 Major error code Immediately

4

D879 D879 8 Servo error code

! !

10ms

9

10

Travel value when the near-zero

point DOG/CHANGE is ON END

5

D880

to

D899 11 Home position return second

travel value

! Backup

D900 12 Execution program Number

to 13 M code ! !

6

D919 14 Torque limit value ! !

SCPUPCPU

3.5ms

D920 15

to 16 Travel value change register ! SCPUPCPU 3.5ms

7

D939 17

D940 18

Actual present value when

STOP is input ! END

to 19 Data set pointer for constant

speed control ! !

SCPUPCPU At driving or

during driving 8

D959

(b) Control change registers

Axis

No.

SV22C

Device No.

SV22F

Device No. Signal Name

D960 D960

to to (! Valid)1

D965 D965 Signal Name

REAL VIRTUAL Signal Direction

Refresh

Cycle Fetch Cycle

D966 D966 0

to to 1 Present value change register

CHGA

execution2

D971 D971 2

D972 D972 3 Speed change register

CHGV

execution

to to 43

D977 D977 5 JOG speed setting register (*1)

! ! SCPUPCPU

At driving

D978 D978

to to4

D983 D983

D984

to5

D989

D990

to6

D995

D996

to7

D1001

D1002

to

(*1) represents a backup register.

8

D1007

*The "END" of the refresh cycle is the longer of 80 ms and the sequence program scan time.

8. OUTPUT MODULES

8 49

(c) Cam shaft monitor device

Axis

No.

SV22C

Device No.

SV22F

Device No. Signal Name

D760 D760

to to (! Valid)1

D764 D764 Signal Name

REAL VIRTUAL

Signal

Direction Refresh Cycle Fetch Cycle

D765 D765 0 Effective cam No.

to to 12

D769 D769 2 Effective stroke amount

D770 D770 3

to to 4

Present value in 1 cam shaft

revolution

Backup ! SCPUPCPU Every END

3

D774 D774

D775 D775

to to4

D779 D779

D780

to5

D784

D785

to6

D789

D790

to7

D794

D795

to8

D799

* "Every END" of the refresh cycle is referred to as the sequence program scan time.

(2) Data register (D) details (a) Effective cam No. register (D760 + 5n) ......... Data sent from PCPU to SCPU

1) The No. of the cam currently being controlled is stored in binary code at the effective cam No. register. Cam No. updates occur at the sequence program's END processing.

2) The cam No. stored at the effective cam No. register is saved until operation at another cam is executed. (A stored cam No. is not cleared when control at that cam is ended.)

(b) Effective stroke register (D760 + 5n)............. Data sent from PCPU to SCPU 1) The current control stroke is stored in binary code at this register.

Stroke updates occur in the sequence program's END processing.

(c) Present value in 1 cam shaft revolution register (D760 + 5n) ....................................................................... Data sent from PCPU to SCPU 1) The present value in 1 cam shaft revolution designated by the parameter

setting is stored at this register. The present value is a ring address in the range "0 to [number of pulses per cam shaft revolution (Nc)1]".

(Nc1)

0

Present value updates occur in the sequence program's END processing.

8. OUTPUT MODULES

8 50

(d) Feed present value/Roller peripheral velocity register (D760+5n) ....................................................................... Data sent from PCPU to SCPU 1) The target address which is output to the servo amplifier is stored at this

register. The target address is based on the command address calculated from the mechanical system program settings.

2) A stroke range check occurs at this feed present value data. 3) Roller peripheral velocity is stored.

The storage range for the peripheral velocity at this register is as shown below.

Setting System-of-Units Storage Range Actual Roller Peripheral Velocity

mm 0.01 to 6000000.00 mm/min

inch 1 to 600000000

0.001 to 600000.000 inch/min

(e) Actual Present Value register (D802 + 20n) ....................................................................... Data sent from PCPU to SCPU 1) The present value obtained from actual travel (feed present value minus

the deviation counter's droop pulse count) is stored at this register. 2) When a STOP status is in effect, the present feed value is equal to the

actual present value.

(f) Deviation counter value register(D804 + 20n) ....................................................................... Data sent from PCPU to SCPU The difference between the feed present value and the actual present value is stored at this register.

(g) Minor error code register(D806 + 20n) .......... Data sent from PCPU to SCPU 1) When a minor error occurs, the corresponding error code is stored at this

register. Each time a subsequent error occurs, the stored error code is replaced by the new error code.

2) Minor error codes are cleared by executing an error reset (M1807+20n).

(h) Major error code register(D807 + 20n) .......... Data sent from PCPU to SCPU 1) When a major error occurs, the corresponding error code is stored at this

register. Each time a subsequent error occurs, the stored error code is replaced by the new error code.

2) Major error codes are cleared by executing an error reset (M1807+20n).

(i) Servo error code register(D808 + 20n).......... Data sent from PCPU to SCPU 1) When a servo error occurs, the corresponding error code is stored at this

register. Each time a subsequent error occurs, the stored error code is replaced by the new error code.

2) When a servo error occurs, the system returns to the REAL mode.

(j) Torque limit value register(D814 + 20n) ........ Data sent from PCPU to SCPU The designated servo torque limit value is stored at this register. A torque limit value of "300%" is stored here when the servo power is switched ON, and at the leading edge of the programmable controller READY (M2000) signal.

9. REAL & VIRTUAL MODE SWITCHING AND STOP/RESTART

9 1

9. REAL & VIRTUAL MODE SWITCHING AND STOP/RESTART

This section discusses the procedure for switching between the REAL and VIRTUAL modes, and the data items which are checked when such switching occurs.

(1) Switching between the REAL & VIRTUAL modes Switching between the REAL & VIRTUAL modes is executed by switching the M2043 signal (REAL/VIRTUAL mode switch request flag) ON and OFF. For REAL mode .......... A REAL mode switching request occurs when M2043

is switched from ON to OFF. For VIRTUAL mode .... A VIRTUAL mode switching request occurs when

M2043 is switched from OFF to ON.

(2) REAL & VIRTUAL mode confirmation The present control mode status (REAL or VIRTUAL) is confirmed by the ON/OFF status of the M2044 signal (REAL/VIRTUAL mode status). M2044 OFF................. REAL mode status. M2044 ON................... VIRTUAL mode status.

9.1 Switching from the REAL to VIRTUAL Mode

When a REAL to VIRTUAL mode switching request (M2043 OFF ON) occurs, the following processing occurs. Check to determine if switching to the VIRTUAL mode is possible

.................................................................... See Table 9.1 Output module check.................................. See Table 9.2 Synchronous encoder axis check............... See Table 9.3 Switching from the REAL to VIRTUAL mode is possible if the check items shown in Tables 9.1 to 9.3 are all normal.

(1) Check to determine if switching to the VIRTUAL mode is possible (a) The items shown in Table 9.1 are checked to determine if switching to the

VIRTUAL mode is possible. All the check items must be normal in order for switching to occur.

(b) If an error exists at any of the Table 9.1 check items, M2045 will switch ON, and the error code will be stored at the D9195 register. Refer to section 11.6 for details regarding the error codes which are stored at D9195.

9. REAL & VIRTUAL MODE SWITCHING AND STOP/RESTART

9 2

Table 9.1 Checklist for REAL to VIRTUAL Mode Switching

Output Module Checked Check

Sequence Check Item

Roller Ball

Screw

Rotary

Table Cam

Normal

Condition

Abnormal

Condition

1 Are PC READY (M2000) and PCPU

READY (M9074) flags ON? ! ! ! ! ON OFF

2

Are all axes stopped?

(M2001M2004/

M2001M2008 are OFF)

! ! ! ! YES NO

3 Has cam data been changed by the

sequence program? ! ! ! ! NO YES

Has the mechanical system program

been registered? ! ! ! ! YES NO

4 Does the axis No. designated in the

system settings match the output shaft

designated in the mechanical system

program?

! ! ! ! YES NO

5 Is the allaxes servo ON command

(M2042) ON? ! ! ! ! ON OFF

6

Is servo START processing in progress

due to a servo error reset at the

amplifier module axis?

! ! ! !

Servo

START

completed

Servo START

processing

in progress

7 Is external encoder normal? ! ! ! ! YES NO

8 Is an external emergency stop (EMG)

input in effect? ! ! ! ! NO YES

9

Is the servo error detection

(M1608+20n) signal OFF at all the

axes?

! ! ! ! YES NO

10

Is the home position return request

(M1609+20n) signal OFF for all the

axes? (excluding roller axis)

! ! ! YES NO

11

Does the system-of-units designated in

the fixed parameters match that

designated at the output module?

! ! ! YES NO

12 Has the cam data been registered? ! YES NO

13

Has the cam No. been designated at

the "cam No. setting device"

(cam parameters)?

! YES NO

14

Has the stroke (1 to 2311) been

designated at the "stroke setting

device" (cam parameters)?

! YES NO

15 Is the cam's "stroke setting device" No.

an even number? ! YES NO

9. REAL & VIRTUAL MODE SWITCHING AND STOP/RESTART

9 3

(2) Output module check (a) The items shown in Table 9.2 below are checked to determine the output

module status. If an error is found, switching to the VIRTUAL mode will not occur, and the corresponding system cannot be started. When an error exists, switch back to the REAL mode and correct the error cause, then switch to the VIRTUAL mode again.

(b) When an error is found, the corresponding output module's error detection signal (M1607+20n) will switch ON, and the error code will be stored in the minor/major error code register.

Table 9.2 Output Module Checklist

Output Module Checked Check

Sequence Check Item

Roller Ball

Screw

Rotary

Table Cam

Normal

Condition

Abnormal

Condition

Is the feed present value within the

stroke range? ! !

1 Is the feed present value within the

range "[lower stroke limit value] to

[stroke]"?

!

YES NO

2

When in the two-way cam mode, does

"[lower stroke limit value] + [stroke]"

exceed 2311?

! NO YES

[Drive module]

When the clutch connected to the

synchronous encoder is in an "external

input mode", are the clutch's ON/OFF

bit devices the same device?

! ! ! ! YES NO

3 [Drive module]

When the clutch connected to the

synchronous encoder is in an "external

input mode", is the encoder interface

input a manual pulse generator input?

! ! ! ! YES

NO

(serial

encoder

(ABS) input)

Does a servo ON status (M1615+20n

is ON) exist at an output module where

either a "no clutch" or "clutch ON

command" is in effect for the virtual

main shaft or the virtual auxiliary input

shaft?

! ! ! ! YES NO

4

Is the external input "STOP" signal OFF

at an output module where either a "no

clutch" status or "clutch ON command"

is in effect for the virtual main shaft or

the virtual auxiliary input axis?

! ! ! ! YES NO

5

When in the two-way cam mode, can

the present value be calculated within

1 cam revolution?

! YES NO

6

Is the No. of the clutch ON/ OFF

address setting device (for address

mode clutch) an even number?

! ! ! ! YES NO

9. REAL & VIRTUAL MODE SWITCHING AND STOP/RESTART

9 4

(3) Synchronous encoder axis check (a) The items shown in Table 9.3 below are checked to determine the

synchronous encoder status. If an error is found, switching to the VIRTUAL mode will not occur. Error causes can only be corrected by switching back to the REAL mode.

(b) When an error is found, the corresponding output module's error detection signal (M1607+20n) will switch ON, and the error code will be stored in the minor/major error code register.

Table 9.3 Synchronous Encoder Axis Checklist

Output Module Checked

Check

Sequence Check Item

External

Synchronous

Encoder

Output Module

Normal

Condition

Abnormal

Condition

Not

connected1 Is the synchronous encoder connected to

an A172SENC/A171SENC unit? ! Connected

Cable break

9. REAL & VIRTUAL MODE SWITCHING AND STOP/RESTART

9 5

9.2 Switching from the VIRTUAL to REAL Mode

VIRTUAL to REAL mode switching can be conducted by the user or by the OS. By user .........Switch M2043 OFF By OS...........Switching occurs automatically when a servo error is detected.

9.2.1 VIRTUAL to REAL mode switching by user

(1) When a VIRTUAL to REAL mode switching request (M2043 ONOFF) occurs, the item shown in Table 9.4 is checked. If normal, switching to the REAL mode will occur. Before switching M2043 OFF, make sure that this item's status is normal.

(2) If an error is detected, M2045 will switch ON, and the error code will be stored at the D9195 register. (See section 11.6)

Table 9.4 Checklist for VIRTUAL to REAL Mode Switching

Check Sequence Check Item Normal

Condition

Abnormal

Condition

1 Are all axes stopped?(M2001M2008/M2001M2004 are OFF) YES NO

9.2.2 VIRTUAL to REAL mode switching by OS

(1) If any of the following conditions are detected during VIRTUAL mode operation, the OS will automatically switch back to the REAL mode. When an external emergency stop (EMG) input occurs. When the servo error detection signal (M1608+20n) switches ON at any axis. When the PC READY (M2000) signal switches OFF. If an alarm occurs in the 24V DC power supply to the A172SENC/A171SENC

(major error 15010 occurs) while the servos are ON at all axes and the A172SENC/A171SENC brake has been set for use.

(2) If any of the above conditions occur, the OS will switch back to the REAL mode, and the resulting error code will be stored in the D9195 register. M2045 will not switch ON at this time.

9. REAL & VIRTUAL MODE SWITCHING AND STOP/RESTART

9 6

9.3 Precautions When Switching between REAL and VIRTUAL Modes

The precautions when switching between the REAL and VIRTUAL modes are described below.

(1) The DSFRP/SVST, DSFLP/CHGA/CHGV instructions are inoperative during REAL/VIRTUAL mode switching processing (indicated by asterisks * in the timing chart below). If one of these instructions is attempted at such a time, an error will occur at the START point. In order to execute the DSFRP/SVST and DSFLP/CHGA/CHGV instructions, M2043 and M2044 should be used as an interlock function.

[Timing Chart]

REAL to VIRTUAL mode switching request

M2043

M2044

* REAL to VIRTUAL mode switching processing

VIRTUAL to REAL mode switching request

* VIRTUAL to REAL mode switching processing

REAL mode VIRTUAL mode REAL mode

[Program Example] (a) Servo program START request at REAL mode

DSFRP D1 K0

START command

M2001 M2043 M2044

(b) Servo program START request at VIRTUAL mode

DSFRP D1 K2000

START command

M2001 M2043 M2044

REMARKS

1) For details regarding the DSFRP/SVST and DSFLP/CHGA/CHGV instructions, refer to the Motion Controller (SV13/22) Programming Manual (REAL Mode) IB-67265.

2) The M2043 and M2044 names are as follows. M2043........ REAL/VIRTUAL mode switching request flag

M2044........ REAL/VIRTUAL mode status flag (See Section 4.1)

9. REAL & VIRTUAL MODE SWITCHING AND STOP/RESTART

9 7

(2) During TEST mode operation, M2043 ON/OFF (REAL/VIRTUAL mode switching request) switching from a peripheral device is ignored.

During TEST mode operation, REAL/VIRTUAL mode switching can be executed from a peripheral device. M2044 will switch ON/OFF in accordance with the REAL/VIRTUAL mode status.

REMARK

When REAL/VIRTUAL mode switching is executed from a peripheral device, the data which is checked is identical to that checked at M2043 OFFON and ONOFF. (See Sections 9.1 and 9.2)

9. REAL & VIRTUAL MODE SWITCHING AND STOP/RESTART

9 8

9.4 STOP & RESTART

The basic method for stopping the system (output module) during VIRTUAL mode operation is to stop the main shaft. If an auxiliary input shaft is being used, that shaft should also be stopped.

(1) Virtual Axis STOP The procedures for stopping and restarting the virtual shaft, and the stop processing details are discussed below. A virtual servo motor axis can be stopped by the 3 types of stop processing shown below. This processing is also valid for interpolation axes during interpolation operations.

1. Deceleration to stop.......A deceleration to stop occurs in accordance with the parameter block's "stop deceleration time" setting.

2. Rapid stop .....................A deceleration to stop occurs in accordance with the parameter block's "rapid stop deceleration time" setting.

3. Immediate stop..............An immediate stop occurs without deceleration.

Because an immediate input stop occurs for synchronous encoder axes, operation should be executed only after the synchronous encoder axis has been stopped by an external input, except for abnormal stops such as an emergency stop or a servo error occurrence, etc. ([Ex]: Switch M2000 OFF, or execute an all-axes servo OFF command, etc.) (An immediate stop at output modules connected to the synchronous encoder will result in a servo error, and possibly, a synchronization discrepancy.) When the stop cause is such that a synchronization discrepancy occurs, a synchronization discrepancy warning (M2046) will switch ON. In this case, re- align the axes in the REAL mode, switch M2046 OFF, then continue with the VIRTUAL mode operation. The stop procedure/stop causes, and restarting procedure are shown in the following Table.

9. REAL & VIRTUAL MODE SWITCHING AND STOP/RESTART

9 9

Affected Virtual Axis Stop Processing

No. Stop Procedure or

Stop Causes during Operation

Virtual Servo

Motor Axis

Synchrono us Encoder

Axis

All Axes Batch

Virtual Servo Motor Axis

Synchronous Encoder Axis

Return to REAL Mode by OS after All Virtual Axes Stop Completed

Synchroni- zation

Discrepancy Warning

(M2046) set

1 Stop command ON !

(Relevant axis)

Deceleration to stop

2 Rapid stop command ON

! (Relevant

axis) Rapid stop

3

All-axes servo OFF command (M2042 OFF Command from peripheral device when in TEST mode)

! Deceleration

to stop Immediate input stop

4 PC READY (M2000) OFF !

Deceleration to stop

Immediate input stop !

5 Servo system CPU stop

! Deceleration

to stop Immediate input stop !

6 All-axes rapid stop by key input from peripheral device

! Rapid stop Immediate input stop

7 Stop by key input from peripheral device during TEST mode

! (All axes) Deceleration

to stop

8

External emergency stop (EMG) input (emergency stop from teaching module) ! Rapid stop

Immediate input stop ! !

9

Servo error at any output module

! Rapid stop Immediate input stop

! !

10 SCPU WDT error ! Deceleration to stop

Immediate input stop

11

PCPU WDT error

! Immediate stop

Immediate input stop

12

Servo system CPU reset

! Immediate stop

Immediate input stop

13

Servo system CPU power OFF

! Immediate stop

Immediate input stop

14 Other errors during virtual axis operation

! Deceleration to stop

15 Error at absolute synchronous encoder axis

! Immediate input stop

9. REAL & VIRTUAL MODE SWITCHING AND STOP/RESTART

9 10

Error Set Output Module Operation

Operation Continuation

ENABLED (!)/

DISABLED ()

Restarting after a Stop

Deceleration to stop based on

smoothing time constant. ! Resume operation by switching the stop command OFF (not

necessary when ON) and executing a START.

Deceleration to stop based on

smoothing time constant. ! Resume operation by switching the stop command OFF (not

necessary when ON) and executing a START.

After a deceleration to stop based on the smoothing time constant, the servo OFF status is established.

!

Resume operation by turning all clutches OFFall axes servo ONclutch ON. (However, there must be no motor movement during the servo OFF status. Moreover, clutch OFF/ON switching occurs only as required by the user.)

For synchronous encoder axes, switch to the REAL mode, then back to the VIRTUAL mode to resume inputs.

Minor error (200) set (virtual axis)

Deceleration to stop based on smoothing time constant. !

After PC READY (M2000) switches ON, execute a REAL to VIRTUAL mode switching request (M2047 ON) to enable operation.

Minor error (200) set (virtual axis)

Deceleration to stop based on smoothing time constant. !

After a servo system CPU "RUN" status is established, execute a REAL to VIRTUAL mode switching request (M2047 ON) to enable operation.

Deceleration to stop based on

smoothing time constant. ! After a stop occurs, execute a START to resume operation. For synchronous encoder axes, switch to the REAL mode,

then back to the VIRTUAL mode to resume inputs.

Deceleration to stop based on

smoothing time constant. ! After a stop occurs, execute a START to resume operation.

Servo switches OFF after immediate stop.

Operation cannot be resumed due to a synchronization discrepancy between the virtual axis and output module which occurs at the stop.

After canceling the emergency stop, re-align the output module in the REAL mode, switch the synchronization discrepancy warning (M2046) OFF, then switch back to the VIRTUAL mode to resume operation.

Relevant output module (Servo error, Servo error code set)

Servo error at MR-[ ]-B axis. An immediate stop occurs only at the axis where the error occurred, and a servo OFF status is established. All other axes are synchronized with the virtual axis and are then stopped.

After executing a servo error reset in the REAL mode, re- align the axes, switch the synchronization discrepancy warning (M2046) OFF, then switch back to the VIRTUAL mode to resume operation.

Deceleration to stop based on smoothing time constant.

After the stop, reset the servo system CPU in the REAL mode to resume operation.

M9073(PCPU WDT error)ON

Servo switches OFF after immediate stop.

Operation cannot be resumed due to a synchronization discrepancy between the virtual axis and output module which occurs at the stop.

After resetting the servo system CPU, re-align the output module,then switch to the VIRTUAL mode to resume operation.

Servo switches OFF after immediate stop.

Operation cannot be resumed due to a synchronization discrepancy between the virtual axis and output module which occurs at the stop.

After resetting the servo system CPU, re-align the output module,then switch to the VIRTUAL mode to resume operation.

Servo switches OFF after immediate stop.

Operation cannot be resumed due to a synchronization discrepancy between the virtual axis and output module which occurs at the stop.

After resetting the servo system CPU, re-align the output module,then switch to the VIRTUAL mode to resume operation.

Relevant error set

Deceleration to stop based on smoothing time constant.

! Eliminate the error cause to enable a START.

Relevant error set

Deceleration to stop based on smoothing time constant.

Return to the REAL mode, re-align the axes, then switch to the VIRTUAL mode to resume operation.

10. AUXILIARY/APPLIED FUNCTIONS

10 1

10. AUXILIARY / APPLIED FUNCTIONS

10.1 Present Value Change / Speed Change

Virtual servo motor present value changes, speed changes, and synchronous encoder present value changes are explained here. Present value changes are carried out using the CHGA instruction while speed changes are performed using the CHGV instruction. In addition, when A172SHCPU or A171SHCPU is used it is also possible to carry out present value change/speed change using the DSFLP instruction. For details regarding the CHGA, CHGV, and DSFLP instructions, refer to the Motion Controller (SV13/22 REAL Mode) Programming Manual.

10.1.1 Present value change by CHGA instruction and speed change by CHGV instruction

Program examples are illustrated below. (1) Virtual servo motor present value change program

CHGA

Command M2044 M2001

Present value setting

Axis No.

J1 K0

(2) Virtual servo motor speed change program

CHGV

Command M2044 M2021

Present value setting

Axis No.

J1 K1

REMARKS

(1) M2001: Start accept flag {see section 4.1.8 (2)}

(2) M2044: REAL mode/VIRTUAL mode status flag {see section 4.1.8 (13)}

(3) M2021: Speed change in progress flag {see section 4.1.8 (7)}

10. AUXILIARY / APPLIED FUNCTIONS

10 2

(3) Synchronous encoder present value change program

CHGA

Command M2044 Present value setting

Encoder No. setting

E1 K2

(a) The change in the present value and speed are set using the devices described below. Indirect setting.............Data register (D)

Link register (W) Double word File register (R)

Direct setting...............Decimal constant (K)

(b) The encoder No. setting range is described below. When A172SHCPU is used....................E1 When A171SHCPU is used....................E1

(c) Precautions When a synchronous encoder present value change is carried out in the

REAL mode, an error will occur and the present value change will not be carried out.

A synchronous encoder present value change can be executed in the VIRTUAL mode even while operation is in progress (during pulse input from the synchronous encoder). When the present value is changed the synchronous encoder feed present value will be continued from the changed value.

Even if a synchronous encoder present value change is carried out, it will have no effect on the output module present value.

REMARK

(1) M2044: REAL mode/VIRTUAL mode status flag {see section 4.1.8 (13)}

(4) Cam axis present value change in one revolution program (when cam axis 1 is used)

CHGA C1 K0

Command

Present value setting

Output axis No. setting

(a) The change in the present value and speed are set using the devices described below. Indirect setting.............Data register (D)

Link register (W) Double word File register (R)

Direct setting...............Decimal constant (K)

10. AUXILIARY / APPLIED FUNCTIONS

10 3

(b) The cam axis No. setting range is described below. When A172SHCPU is used............ 1 to 8 When A171SHCPU is used............ 1 to 4

(c) Precautions If the present value that has been changed is out of the one revolution

range {0 (number of pulses per revolution 1)}, an error will result (error code: 6120) and the present value change will not be carried out.

10.1.2 Present value & speed changes by DSFLP instruction

Program examples are illustrated below. (1) Virtual servo motor present value change program

DMOVP K1234 D960

Command M2044 M2001

Present value change register

Present value setting

DSFLP D1 K0

Present value change setting Axis No.

(2) Virtual servo motor speed change program

DMOVP K2000 D962

Command M2044 M2021

Speed change register

Speed setting

DSFLP D1 K1

Speed change register

Speed setting

REMARKS

(1) M2001: Start accept flag {see section 4.1.8 (2)}

(2) M2044: REAL mode/VIRTUAL mode status flag {see section 4.1.8 (13)}

(3) M2021: Speed change in progress flag {see section 4.1.8 (7)}

10. AUXILIARY / APPLIED FUNCTIONS

10 4

(3) Synchronous encoder present value change program

DMOVP K1234 D200

Command M2044

1)Optional device

Present value setting

DSFLP D200 K2

Encoder No. setting ("2" in the case of P1/E1)

D n

Device set at 1)

(a) The devices that can be used in "D" and "n" described in the above program are given below. D ............Data register (D)

Link register (W) File register (R) Timer (T) Counter (C)

n .............Decimal constant (K) Hexadecimal constant (H)

(b) The encoder No. setting method is given below. Encoder No.1...........K2/H2 Encoder No.2...........K3/H3 Encoder No.3...........K4/H4

(c) Precautions When a synchronous encoder present value change is carried out in the

REAL mode an error will occur and the present value change will not be carried out.

A synchronous encoder present value change can be executed in the VIRTUAL mode even while operation is in progress (during pulse input from the synchronous encoder). When the present value is changed the synchronous encoder feed present value will be continued from the changed value.

Even if a synchronous encoder present value change is carried out, it will have no effect on the output module present value.

REMARK

(1) M2044: REAL mode/VIRTUAL mode status flag {see section 4.1.8 (13)}

10. AUXILIARY / APPLIED FUNCTIONS

10 5

10.2 Improved Present Value Management

By adding the functions described below, present value management when using an absolute encoder has been improved. (1) Added functions

(a) An encoder data validity check is now possible during operation. It is checked whether the amount of change at the encoder in 3.5 ms

intervals corresponds to rotation within 180 at the motor shaft. (If abnormal, an error is displayed.)

Consistency between the encoder data and the feedback position controlled at the servo amplifier is checked. (If abnormal, an error is displayed.)

(b) Addition of the present value history monitor has enabled monitoring of the following data at a peripheral device. Encoder present value/servo command value/monitor present value when

the power is switched ON. Encoder present value/servo command value/monitor present value when

the power is switched OFF. Encoder present value/servo command value/monitor present value when

a home position return is performed.

(c) By setting the allowable travel while the power is OFF, a change in the encoder data to a value outside the setting range while the power is OFF can now be checked when the servo amplifier power is turned ON. (If abnormal, an error is displayed.)

(2) Restrictions due to the combination of positioning OS and positioning software package The following restrictions apply, depending on whether an allowable travel while the power is OFF is set or not.

Positioning

OS Version

Positioning Software

Package Version Restrictions

R or later *1

There are no restrictions.

(When a new version positioning OS is installed in place of

an old version, it is essential to execute a home position

return.)

V or later

Q or earlier *2

Present value history monitor cannot be used.

Since the allowable travel while the power is OFF cannot

be set, a minor error (error code: 901 or 9010) occurs

when the servo amplifier power is turned on. (When a new

version positioning OS is installed in place of an old

version, it is essential to execute a home position

return.)*3

R or later *1 U or earlier

Q or earlier *2 None of the function upgrades can be used

*1: Allowable travel while the power is OFF can be set.

*2: Allowable travel while the power is OFF cannot be set.

*3: Since the allowable travel while the power is OFF cannot be set when using an old version

positioning software package a minor error is displayed, but this poses no problem to operation.

10. AUXILIARY / APPLIED FUNCTIONS

10 6

(3) Restrictions due to servo amplifier The following restrictions apply depending on the combination of servo amplifier and positioning software package used when using positioning OS version V or later.

Servo

Amplifier

Positioning Software

Package Version Restrictions

R or later There are no restrictions. MR-H-B:

BCD-B13W000-B2

or later

MR-J2-B:

BCD-B20W200-A1

or later

Q or earlier Only the function upgrade described in item (a)

applies.

R or later

Only the function upgrade described in item (c)

applies. (However, with respect to item (b),

monitoring is possible with the exception of the

encoder present value.)

MR-H-B:

BCD-B13W000-B1

or earlier

MR-J2-B:

BCD-B20W200-A0

or earlier

MR-J-B: All models

ADU: All models

Q or earlier None of the function upgrades can be used.

11. ERROR CODES STORED AT THE PCPU

11 1

11. ERROR CODES STORED AT THE PCPU

Errors detected at the PCPU include servo program setting errors, positioning errors, and control mode switching errors.

(1) Servo program setting errors Servo program setting errors consist of errors in the positioning data designated at the servo program. A check occurs for these errors each time a servo program is started. When positioning data is designated indirectly, an error will occur if the designated data violates the prescribed range. When an error is activated, the following occur: The servo program setting error flag (M9079) switches ON. The program No. where the error occurred is recorded in the error program

No. register (D9189). The error code is recorded in the error information storage register (D9190).

(2) Positioning errors (a) Positioning errors occur at positioning START, or during the positioning

operation. There are three types of positioning error: minor errors, major errors, and servo errors. 1) Minor error......... These errors are caused by the sequence program or

servo program. The error code range for these errors is 1 to 999 for drive modules, and 4000 to 9990 for output modules. The cause of these errors can be eliminated by correcting the sequence program or servo program in accordance with the error code.

2) Major errors ...... These errors are caused by external input signals or by control commands from the SCPU. The error code range for these errors is 1000 to 1999 for drive modules, and 10000 to 11990 for output modules. Eliminate the cause of these errors in accordance with the error code.

3) Servo errors...... These are errors detected by the servo amplifier or servo power supply module. The error code range for these errors is 2000 to 2999. Eliminate the cause of these errors in accordance with the error code.

Applicable Modules Error Class Error Occurrence Point

Drive Module Output Module

Setting data 1 to 99 4000 to 4990

At START 100 to 199 5000 to 5990

During operation 200 to 299 6000 to 6990 Minor error

At control change 300 to 399 At START 1000 to 1099 10000 to 10990

During operation 1100 to 1199 11000 to 11990

Major error

System 15000 to 15990

Servo amplifier 2000 to 2799

(2100 to 2499 are warnings) Servo error

Servo power supply module

2800 to 2999 (2900 to are warnings)

11. ERROR CODES STORED AT THE PCPU

11 2

(b) When an error occurs, the error detection signal for the axis in question will switch ON, and the corresponding error code will be recorded in the minor error code, major error code, or servo error code register.

Error Code Registers

Error Detection Signal

Error Reset Flag Note

Minor error code

D702 + 6n Virtual servo motor Major error

code D703 + 6n

D1207 + 20n D1407 + 20n

Minor error code

D750 Synchronous encoder Major error

code D751

M1360 M1560

Minor error code

D806 + 20n

Major error code

D807 + 20n D1607 + 20n D1807 + 20n

Output module

Servo error code

D808 + 20n D1608 + 20n

D1808 + 20n (Reset is also valid for REAL mode errors)

When A172SHCPU

is used n = 0 to 7

When A171SHCPU

is used n = 0 to 3

(n = Axis No.1)

(c) Each time an error occurs, the previously stored error code will be replaced (deleted) by the new error code. However, a log of errors can be recorded for reference purposes at a peripheral device (IBM PC running the SW2SRX-GSV22PE software).

(d) The error detection flag and error code are saved until the error reset signal or the servo error reset signal is switched ON.

POINTS

(1) When a servo error occurs, there are cases where the same servo error code will be stored again even after a servo error reset (M1808+20n: ON) is executed.

(2) When a servo error occurs, eliminate the error cause, then execute a servo error reset.

11. ERROR CODES STORED AT THE PCPU

11 3

(3) REAL/VIRTUAL mode switching errors A check for REAL/VIRTUAL mode switching errors occurs when the REAL/VIRTUAL mode switching request flag (M2043) switches from OFF to ON, and from ON to OFF. (See Sections 9.1 and 9.2 for the check content.) If an error is found, the following occur:

REAL/VIRTUAL mode switching will not occur, and the present mode will be maintained.

The REAL/VIRTUAL mode switching request flag (M2045) switches ON. The corresponding error code will be stored in the REAL/VIRTUAL mode

switching error information register (D9195).

POINT

(1) The error codes stored in the D9195 storage registers which apply to axis errors are shown below. (a) When A172SHCPU is used

b0b4b7b8b15 to

0H to BH, F0H

Error content Error axis bit set to "1"

D9195 Axis 1

Axis 2

Axis 3

Axis 4

Axis 5

Axis 6

Axis 7

Axis 8

toto

(b) When A171SHCPU is used

b0b4b7b8b15

Error content All become "0"

D9195 Axis 1

Axis 2

Axis 3

Axis 4

Error axis bit set to "1"

to

0H to BH, F0H

toto

11. ERROR CODES STORED AT THE PCPU

11 4

11.1 Related Systems & Error Processing

The following 2 types of related systems exist in the VIRTUAL mode. (1) System consisting of a drive module and output module. (2) Multiple systems using the same drive module.

The following occurs when an error is detected at an output module. (1) If an error is detected at any output module, a drive module START will be

impossible, and that system will be disabled. The auxiliary input shaft operation for that output module will also be disabled.

(2) Other systems which use the drive module which was disabled by the output module error will also be disabled.

[ System 1 ]

Drive module A

START impossible

Output

module

a

Differential

gear

Start

impossible

Error exists

Output

module

b

Drive

module

B

Output

module

c

[ System 2 ]

Drive module C

Differential

gear Output

module

e

Drive

module

A

Output

module

d

Start

impossible

[ System 3 ]

Drive module B

Output

module

f

Output

module

g

(1) If an error occurs at any of the "a", "b", "c" system 1 output modules, a drive module "A" START will become impossible, and system 1 will be disabled. A drive module "A" START at system 2 will also become impossible.

(2) If an error occurs at system 1 output module "C", a drive module "B" START will become impossible. A drive module "B" START at system 3 will also become impossible, thereby disabling system 3 as well.

(3) The system 2 drive module "C" can be started.

11. ERROR CODES STORED AT THE PCPU

11 5

11.2 Servo Program Setting Errors

The error codes, error descriptions, and corrective actions for servo program setting errors are shown in Table 11.1 below. The "n" in the asterisked error codes in Table 11.1 indicates the axis number (1 to 8/1 to 4).

Table 11.1 Servo Program Setting Error List

Error Codes

Stored at D9190

Error Name Description Error Processing Corrective Action

1 Parameter block No. setting error

The parameter block No. setting is outside the 1 to16 range.

The default parameter block No. of "1" will be adopted for servo program operation.

Designate a parameter block No. within the 1 to 16 range.

N03*

Address/travel value setting error (excluding speed control)

At incremental method positioning control, the travel value setting is as follows: -2147483648 (H80000000)

(1) START is disabled. (at all interpolation axes during interpolation control.)

(2) If an error is detected during speed switching control or constant speed control, a deceleration to stop will occur.

(3) When a simultaneous START is in effect, an error at any servo program will disable all servo programs.

The travel value setting should be designated with a 0 to 2147483647 range.

(1) The commanded speed violated the "1 to speed limit" range.

(2) The commanded speed violated the setting range.

System-of- units

Address setting range

pulse 1 to 1000000 PLS/sec

4

Commanded speed error

(1) START will be disabled if a setting of 0 or less is designated.

(2) When the setting exceeds the speed limit, the speed limit value will be adopted.

(1) Designate the commanded speed with the "1 to speed limit" range.

5 Dwell time setting error

The dwell time setting violated the 0 to 5000 range.

The default value of "0" will be adopted.

Designate the dwell time setting within the 0 to 5000 range.

6 M code setting error

The M code setting violated the 0 to 255 range.

The default value of "0" will be adopted.

Designate the M code setting within the 0 to 255 range.

(1) In incremental method positioning control, the travel value setting is as follows: -2147483648 (H80000000)

(1) The travel value setting should be designated within the range 0 to 2147483647.

(2) [START point] = [auxiliary point], or [auxiliary point] = [END point]

(2) Set as follows: [START point] [auxiliary point] [END point].

n08*

Auxiliary point setting error (at auxiliary point designation at circular interpolation)

(3) The auxiliary point is located on the straight line which connects the START and END points.

START is disabled.

(3) Designate an auxiliary point value which is not located on the straight line connecting the START and END points.

(1) In incremental method positioning control, the travel value setting is as follows: -2147483648 (H80000000)

(1) The travel value setting should be designated within the range 0 to 2147483647.

(2) [START point] = [END point] (2) Set as follows: [START point] [END point].

(3) Set so that the relationship between the START point to END point distance ( L ) and the radius ( R ) is as follows:

L

n09*

Radius setting error (radius setting for circular interpolation)

(3) The distance between the START and END points is larger than the diameter.

START is disabled.

2R 1

11. ERROR CODES STORED AT THE PCPU

11 6

Table 11.1 Servo Program Setting Error List (Continued)

Error Codes

Stored at D9190

Error Name Description Error Processing Corrective Action

n10*

Center point setting error (center point setting for circular interpolation)

At incremental method positioning control, the travel value setting is as follows: 2147483648 (H80000000)

START is disabled. The travel value setting should be designated within the range 0 to 2147483647.

12 Speed limit setting error

The speed limit setting violates the setting range.

The default value of "200000 pulse/s" is adopted.

Designate a speed limit value within the setting range.

13 Acceleration time setting error

The acceleration time is "0". Designate an acceleration time within the range 1 to 65535.

14 Deceleration time setting error

The deceleration time is "0". Designate a deceleration time within the range 1 to 65535.

15

Rapid stop deceleration time setting error

The rapid stop deceleration time is "0".

The default value of "1000" is adopted.

Designate a rapid stop deceleration time setting within the range 1 to 65535.

The "allowable error range for circular interpolation" setting violates the prescribed setting range.

System-of-

units Address setting range

pulse 0 to 10000000 PLS

17

"Allowable error range for circular interpolation" setting error

The default value of "100 PLS" is adopted.

Designate the "allowable error range for circular interpolation" setting within the prescribed setting range.

18 "Number of repeats" setting error

The "number of repeats" setting violates the prescribed setting range 1 to 32767.

A "number of repeats" setting of "1" is adopted.

Designate the "number of repeats" setting within the range 1 to 32767.

(1) The servo program designated by the START instruction does not exist.

START is disabled. (1) Create the servo program No. designated by the START command.

(2) A START instruction exists in the designated servo program.

(2) Delete the servo program which contains a START command.

19

START instruction setting error

(3) Duplicate START axes exist in the designated servo program.

(3) Designate the START axes without duplications.

20 Point setting error

During constant speed control, there is no point designation in the instruction.

START is disabled. Designate a point between the CPSTART and CPEND instructions.

21

Reference axis speed setting error

During a reference axis speed designation in linear interpolation, a non-interpolation axis was designated as the reference axis.

START is disabled. Designate one of the interpolation axes as the reference axis.

22

S-curve ratio setting error

When designating the S-curve acceleration/deceleration speed, the S- curve ratio violated the 0 to 100% range.

An S-curve ratio of "100%" is adopted.

Designate an S-curve ratio within the 0 to 100% range.

23

VSTART setting error

No speed switching points were designated between the VSTART and VEND instructions, or between the FOR and NEXT instructions.

START is disabled. Designate a speed switching point between the VSTART and VEND instructions, or between the FOR and NEXT instructions.

24 Cancel function start program number error

Cancel function start program number is not in the range 0 to 4095.

START is disabled. Set the cancel function start program number in the range 0 to 4095, and start again.

900 START instruc- tion setting error

The servo program designated by the SVST/DSFRP instruction does not exist.

START is disabled. Designate the correct servo program.

(1) The axis No. designated by the SVST/ DSFRP instruction is different from that designated by servo program.

START is disabled. (1) Designate the correct axis No.

901

START instruction setting error

(2) The DSFRP instruction is being used for 4-axis linear interpolation.

(2) Use the SVST instruction for 4-axis linear interpolation.

11. ERROR CODES STORED AT THE PCPU

11 7

Table 11.1 Servo Program Setting Error List (Continued)

Error Codes

Stored at D9190

Error Name Description Error Processing Corrective Action

902 Servo program instruction code error

The instruction code at the designated servo program cannot be decoded due to an instruction code error.

START is disabled. Read out the servo program, check it, and make the necessary corrections.

903 START error A VIRTUAL mode program was started

when in the REAL mode. START is disabled. Check the program's mode

allocation.

904 START error A REAL mode program was started

when in the VIRTUAL mode. START is disabled. Check the program's mode

allocation.

905

START error An instruction that cannot be executed in the VIRTUAL mode (VPF, VPR, VPSTART, ZERO, VVF, VVR, OSC) was designated.

START is disabled. Correct the servo program.

906 START error An axis listed as "not used" was

designated while in the VIRTUAL mode.

START is disabled. Designate the correct axis No. at the system settings.

907 START error A START occurred while switching from

the REAL to VIRTUAL mode. START is disabled.

908

START error A START occurred while switching from the VIRTUAL to REAL mode.

START is disabled.

Use the M2034 (REAL/ VIRTUAL mode switching re- quest) and M2044 (REAL/ VIRTUAL mode status) signals to create a START interlock condition.

9000*1 System setting

motor type error

The settings differ from the actual type and size of the connected motor.

Operations are performed normally at the connected motor.

Change the settings according to the actual type and size of the connected motor.

*: These errors occur only when using MR-J2-B servo amplifier.

11. ERROR CODES STORED AT THE PCPU

11 8

11.3 Drive Module Errors

Table 11.2 Drive Module Error List (100 to 1199) Virtual Servo Axis Control Item

Error Class

Error Code

Posi- tion- ing

Fixed pitch Feed

Spe- ed

Spe- ed

Swit- ching

Con- stant Spe- ed

JOG

Man- ual

Pulse Gene -rator

Sync- hron- ous Enc- oder

Posi- tion

Follo- w-Up

Error Cause Processing Corrective Action

Set the servo system CPU to RUN.

100 ! ! ! ! ! ! ! !

The PC READY (M2000) or PCPU READY (M9074) signal is OFF. Switch the PC READY

(M2000) signal ON.

101 ! ! ! ! ! ! ! !

The relevant axis' "START accept" signal (M2001 to M2008/M2001 to M2004) is ON.

Set an interlock condition at the program to prevent a START from being designated at an axis which is in motion (Designate the relevant axis and a "START accept OFF" in the START conditions.)

103 ! ! ! ! ! ! ! !

The relevant axis' stop command (M1400+20n) is ON.

Switch the stop command (M1400+20n) OFF, then execute a START.

104 ! ! ! ! ! ! ! !

The relevant axis' rapid stop command (M1401+20n) is ON.

Switch the stop command (M1401+20n) OFF, then execute a START.

105 ! ! !

On starting, the feed present value is outside the stroke limit range.

Return to within the stroke limit range using jog operation.

Move inside the stroke limit range by performing a present value change.

106* ! ! ! ! Positioning violates the

stroke limit range. Execute positioning back

to within the stroke limit range

107 ! !

At the auxiliary point designation for circular interpolation, an address was designated which will not produce a circle. (Problem with START point, auxiliary point, and END point addresses)

108* ! !

At the radius designation for circular interpolation, an address was designated which will not produce a circle. (Problem with START point, radius, and END point addresses.)

109 ! !

At the center point designation for circular interpolation, an address was designated which will not produces circle. (Problem with START point, center point, and END point addresses)

110* ! !

During circular interpolation, the difference between the END point address and the ideal END point exceeds the "allowable error range for circular interpolation"

Correct the address at the servo program.

The designated JOG speed is "0".

START is disabled.

116 ! The designated JOG

speed exceeds the JOG speed limit

The JOG speed limit value is adopted.

Designate a speed setting within the prescribed setting range.

Minor Errors

117 !

At a JOG simultaneous START, a forward and reverse setting are designated for the same axis.

A forward START will occur at the relevant axis only.

Designate the setting correctly.

* : During interpolation operations, this error code is stored at all relevant interpolation axis storage areas.

11. ERROR CODES STORED AT THE PCPU

11 9

Table 11.2 Drive Module Error List (100 to 1199) (Continued) Virtual Servo Axis Control Item

Error Class

Error Code

Posi- tion- ing

Fixed pitch Feed

Spe- ed

Spe- ed

Swit- ching

Con- stant Spe- ed

JOG

Man- ual

Pulse Gene -rator

Sync- hron- ous Enc- oder

Posi- tion

Follo- w-Up

Error Cause Processing Corrective Action

140 !

At the reference axis designation for linear interpolation, the reference axis travel value is "0".

Do not select an axis where the travel value is "0" as the reference axis.

141 !

The position command device No. at position follow-up control is an odd No.

START is disabled.

Designate an even number as the position command device No.

151 ! ! ! ! ! ! !

In the VIRTUAL mode, START was designated at an inoperative axis. (Error occurred at REAL to VIRTUAL mode switching, and system START was disabled.)

After correcting the error cause in the REAL mode, switch back to the VIRTUAL mode and start operation.

152 ! ! ! ! ! ! !

A START was designated during a deceleration to stop which was occurring in response to an all-axes servo OFF (M2042: OFF)

153 ! ! ! ! ! ! !

A START was designated during a deceleration to stop which was occurring in response to a servo error at the output module.

START is disabled.

After correcting the error cause in the REAL mode, switch back to the VIRTUAL mode and start operation.

200 ! ! ! ! ! ! ! ! !

The PC READY (M2000) signal was switched OFF during a START which was occurring in response to a START request from the sequence program.

Deceleration to stop

After all axes have stopped, switch the programmable controller READY (M2000) signal ON.

204 ! ! ! ! ! ! ! ! !

The PC READY (M2000) signal was switched ON again during a deceleration to stop which was occurring in response to the PC READY (M2000) signal being switched OFF.

Ignored

After all axes have stopped, switch the PC READY (M2000) signal ON. (PC READY (M2000) OFFON switching during a deceleration to stop is ignored.)

207 ! ! !

The feed present value violated the stroke limit range during operation. In circular interpolation operations, the error code will be stored only at the axis where the stroke limit range was violated. In linear interpolation operations, the error code will be stored at all interpolation axes.

208 ! ! !

During circular interpolation or manual pulse generator simultaneous operation, the feed present value of another axis violated the stroke limit range. (For other axis error detection.)

Correct the stroke limit range or the travel value setting to ensure that positioning control remains within the stroke limit range.

211 !

When the final positioning address was identified during a positioning operation, an overrun occurred due to a deceleration distance which was insufficient for the output speed.

Deceleration to stop

(1) Designate a speed which will not cause an overrun.

(2) Designate a travel value which will not cause an overrun.

Minor Errors

214 !

The manual pulse generator status was switched to "enabled" during axis motion, and manual pulse generator operation was attempted.

Manual pulse generator in puts are ignored until a stop occurs.

Execute manual pulse generator operation after the axis motion has stopped.

11. ERROR CODES STORED AT THE PCPU

11 10

Table 11.2 Drive Module Error List (100 to 1199) (Continued) Virtual Servo Axis Control Item

Error Class

Error Code

Posi- tion- ing

Fixed pitch Feed

Spe- ed

Spe- ed

Swit- ching

Con- stant Spe- ed

JOG

Man- ual

Pulse Gene -rator

Sync- hron- ous Enc- oder

Posi- tion

Follo- w-Up

Error Cause Processing Corrective Action

The address of the speed switching point exceeds the END point address.

An address was designated which causes opposite direction positioning during speed switching control.

Designate the speed switching point some- where between the previous speed switching point address and the END point address.215 !

The same servo program operation was designated again

Rapid stop occurs.

Correct the sequence program.

During position follow-up control with "degrees" set as the system-of-units, the commanded address violated the 0 to 35999999 range.

When the control system- of-units is "degrees", designate an address within the 0 to 35999999 range.

220 !

The address designated for position follow-up control is outside the stroke limit range.

Deceleration to stop. (M200[ ] OFF)

Set the address in the stroke limit range.

225 !

During constant speed control, the speed at an intermediate point violated the speed limit value.

Operation occurs at the speed limit speed.

Designate speed within the "1 to speed limit value" range.

A present value change was designated while motion was in progress at the relevant axis.

A present value change was designated at an axis which hasn't been started.

300 ! ! ! ! ! ! ! !

A present value change was designated at an axis where the servo is OFF.

The present value will not be changed.

Establish an interlock condition for the devices shown below, and avoid present value changes during axis motion.

(1) Relevant axis' START accept signal (M2001 to M2008/M2001 to M2004) OFF.

(2) Servo START signal (M1615+20n) ON.

302 ! !

A speed change was designated at an axis where circular interpolation is in progress.

Do not make speed changes during circular interpolation.

303 ! ! ! ! !

A speed change was designated following the start of automatic deceleration during positioning.

Do not make speed changes following the start of positioning deceleration.

304 ! !

A speed change was at- tempted during deceleration which was occurring in response to the JOG START signal (M1402+20n, M1403+20n) being switched OFF.

The speed will not be changed.

Do not make speed changes during deceleration which is occurring in response to the JOG START signal(M1402+20n, M1403+20n) being switched OFF.

! ! !

The speed following a speed change violated the "0 to speed limit value" range.

Operation will occur at the speed limit speed

Designated the post- change speed within the "0 to speed limit value" range.

305

! ! ! !

The absolute value of the speed following a speed change violated the "0 to speed limit value" range.

Operation will occur at the speed limit speed.

Designated the absolute value of the post-change speed within the "0 to speed limit value" range.

Minor Errors

309

A present value change which violated the range 0 to 35999999 (105

degrees) was designated at a "degrees" axis.

The present value will not be changed.

Designate a value within the 0 to 35999999 (105

degrees) range.

A172SENC/A171SENC or encoder hardware fault

Check the A172SENC/A171SENC, or the encoder (H/W replacement).

1151 !

Discontinuity in encoder cable

Immediate input stop

Check the encoder cable.

1152 ! Low voltage at

A172SENC/A171SENC battery.

Replace the battery. Major Errors

1153 ! No battery or

disconnected battery at A172SENC/A171SENC.

Operation is continued. Replace battery, or check

the hardware at the A172SENC/A171SENC.

11. ERROR CODES STORED AT THE PCPU

11 11

11.4 Servo Errors

(1) Servo amplifier errors (2000 to 2799) The servo amplifier errors are errors detected by the servo amplifier and are assigned error codes 2000 to 2799. In the following tables, the types of servo amplifier are indicated for MR-[ ]-B. The servo error detection signal (M1608+20n) comes ON when a servo error occurs. Eliminate the cause of the error, reset the error by turning ON the servo error reset signal (M1808+20n), and reset operation. (Note that the servo error detection signal will not come ON in response to error codes in the range 2100 to 2499 because these codes are for warnings.) Note: 1. When an excessive regeneration error (code 2030), or overload 1 or 2

error (codes 2050, 2051) occurs, the state that applied when the error occurred is stored in the servo amplifier even after the protection circuit has operated. The memory contents are cleared if the external power supply is turned OFF, but are not cleared by the RESET signal.

2. Repeated resetting by turning OFF the external power supply after occurrence of error code 2030, 2050, or 2051, may cause devices to be destroyed by overheating. Only restart operation after eliminating the cause of the error.

Details of servo errors are given in Table 11.3.

CAUTION

If a controller or servo amplifier self-diagnosis error occurs, check the points stated in this manual and clear the error.

11. ERROR CODES STORED AT THE PCPU

11 12

Table 11.3 Servo Amplifier Error List (2000 to 2799)

Error CauseError Code Name Description

When Error Checked Error

Processing Corrective Action

The power supply voltage is less than 160 VAC.

Measure the input voltage (R, S, T) with a voltmeter.

A momentary power, interruption of 15ms or longer has occurred.

Monitor with an oscilloscope to check whether a momentary power interruption has occurred.2010 Low voltage

The power supply voltage dropped, for example when motion control started, due to insufficient power capacity.

At any time during operation.

Review the power capacity.

2012 Memory error 1

Servo amplifier SRAM is faulty.

Servo amplifier EPROM check sum error.

When the servo amplifier power is turned ON

At the leading edge of the PC READY flag (M2000)

When a servo error is reset

When the power to the servo system CPU is turned ON

Replace the servo amplifier.

2013 Clock error Servo amplifier clock fault. Replace the servo amplifier.

2014 Watchdog Servo amplifier hardware fault Servo system CPU hardware

fault

At any time during operation

Replace the servo amplifier. Replace the servo system CPU.

2015 Memory error 2

Servo amplifier EEPROM fault When the servo amplifier power is turned ON

At the leading edge of the PC READY flag (M2000)

When a servo error is reset

When the power to the servo system CPU is turned ON

Replace the servo amplifier.

2016 Position sensor error 1

Fault in communication with the encoder

When the servo amplifier power is turned ON

At the leading edge of the PC READY flag (M2000)

When a servo error is reset

When the power to the servo system CPU is turned ON

Check if the connector of the encoder cable is loose.

Replace the servomotor. Replace the encoder cable. Check the combination of the cable

types (2-wire and 4-wire encoder cables) and servo parameters.

2017 PCB error

Faulty device in the servo amplifier PCB.

When the servo amplifier power is turned ON

At the leading edge of the PC READY flag (M2000)

When a servo error is reset

When the power to the servo system CPU is turned ON

Immediate stop

Replace the servo amplifier.

11. ERROR CODES STORED AT THE PCPU

11 13

Table 11.3 Servo Amplifier Error List (2000 to 2799) (Continued)

Error CauseError Code Name Description

When Error Checked Error

Processing Corrective Action

2019 Memory error 3

Servo amplifier flash ROM check sum error

When the servo amplifier power is turned ON

At the leading edge of the PC READY flag (M2000)

When a servo error is reset

When the power to the servo system CPU is turned ON

Replace the servo amplifier.

2020 Position sensor error 2

Fault in communication with the encoder At any time during

operation

Check if the connector of the encoder cable is loose.

Replace the servomotor. Replace the encoder cable.

2024 Output ground fault

U, V, or W of the servo amplifier output grounded

At any time during operation

Use a multimeter to check between the U, V, and W terminals and the case.

Use a multimeter and megger to check between the U, V, and W terminals of the motor and the core.

The voltage of the supercapacitor inside the absolute position sensor has dropped.

Turn the power ON for 2 to 3 minutes to charge the supercapacitor, switch the power OFF then ON again, and execute a home position return.

The battery voltage is low. Turn the servo amplifier power OFF, then measure the battery voltage.2025 Battery alarm

Failure of battery cable or battery. (Home position return must be reexecuted after clearing the error.)

When the servo amplifier power is turned ON

At the leading edge of the PC READY flag (M2000)

When a servo error is reset

When the power to the servo system CPU is turned ON

Immediate stop

Replace the servo amplifier battery.

11. ERROR CODES STORED AT THE PCPU

11 14

Table 11.3 Servo Amplifier Error List (2000 to 2799) (Continued)

Error CauseError Code Name Description

When Error Checked Error

Processing Corrective Action

The frequency of ON/OFF switching of the power transistor for regeneration is too high. (Caution is required since the regenerative resistor could overheat.)

Reduce the frequency of acceleration and deceleration or feed speed while checking the servo monitor regeneration level (%).

Reduce the load. Increase the servomotor capacity.

Servo parameter (system settings) setting error

Check the servo parameters (regenerative resistor and motor type settings in the system settings).

Incorrect wiring of regenerative resistor

Connect the regenerative resistor correctly.

Failure of regenerative resistor Replace the regenerative resistor.

2030 Excessive regeneration

Power transistor for regeneration damaged by short circuit

Replace the servo amplifier.

The motor rpm has exceeded 115% of the rated rpm.

Check the motor rpm in the servo parameters.

Check if the number of pulses per revolution and travel value per revolution in the fixed parameters match the machine specifications.

An overshoot has occurred because the acceleration time constant is too small.

If an overshoot occurs during acceleration, check the acceleration time and deceleration time in the fixed parameters.

An overshoot has occurred because the servo system is unstable.

If overshoot occurs, increase the speed integral compensation by adjusting the position loop gain / position control gain 1, 2, speed loop gain / speed control gain 1, 2 in the servo parameters.

2031 Overspeed

Position sensor fault.

At any time during operation

Immediate stop

Check if the encoder cable is disconnected.

Replace the servomotor.

11. ERROR CODES STORED AT THE PCPU

11 15

Table 11.3 Servo Amplifier Error List (2000 to 2799) (Continued)

Error CauseError Code Name Description

When Error Checked Error

Processing Corrective Action

U, V, W in the servo amplifier outputs have short circuited with each other.

Check if there is a short circuit between U, V, W of the servo amplifier outputs.

U, V, W in the servo amplifier outputs have shorted to ground.

Check if U, V, W of the servo amplifier outputs have been grounded to the ground terminal. Check if U, V, W of the servomotor are grounded to the core. If grounding is found, replace the servo amplifier and/or motor.

Incorrect wiring of U, V, W phases in the servo amplifier outputs.

Correct the wiring.

The servo amplifier transistor is damaged.

Replace the servo amplifier.

Failure of coupling between servomotor and encoder

Replace the servomotor.

Encoder cable failure Replace the encoder cable.

A servomotor that does not match the setting has been connected.

Check the connected motor set in the system settings.

The servomotor oscillated. Check and adjust the gain value set in the servo parameters.

2032 Overcurrent

Noise entered the overcurrent detection circuit.

Check if any relays or valves are operating in the vicinity.

The converter bus voltage has reached 400 V or more.

The frequency of acceleration and deceleration was too high for the regenerative ability.

The regenerative resistor has been connected incorrectly.

Increase the acceleration time and deceleration time in the fixed parameters.

Check the connection between C and P of the terminal block for the terminal block for regenerative resistance.

The regenerative resistor in the servo amplifier is destroyed.

Measure between C and P of the terminal block for regenerative resistance with a multimeter; if abnormal, replace the servo amplifier. (Measure about 3 minutes after the charge lamp has gone out.)

The power transistor for regeneration is damaged.

Replace the servo amplifier.

2033 Overvoltage

The power supply voltage is too high.

At any time during operation

Immediate stop

Measure the input voltage (R, S, T) with a voltmeter.

11. ERROR CODES STORED AT THE PCPU

11 16

Table 11.3 Servo Amplifier Error List (2000 to 2799) (Continued)

Error CauseError

Code Name Description When Error Checked

Error

Processing Corrective Action

2034 Communicati ons error

Error in data received from the servo system CPU

Check the connection of the motion bus cable.

Check if there is a disconnection in the motion us cable.

Check if the motion bus cable is clamped correctly.

There is excessive variation in the position commands from the servo system CPU; commanded speed is too high.

Check the commanded speed, and the number of pulses per revolution and travel value per revolution in the fixed parameters.

2035 Data error

Noise has entered the commands from the servo system CPU.

Check the connection of the motion bus cable connector.

Check if the motion bus cable is clamped correctly.

Check if the motion bus cable is clamped correctly.

Check if any relays or valves are operating in the vicinity.

2036 Transmission error

Fault in communication with the servo system CPU

Check the connection of the motion bus cable connector.

Check if there is a disconnection in the motion bus cable.

Check if the motion bus cable is clamped correctly.

2042 Feedback error

Encoder signal fault

At any time during operation

Immediate stop

Replace the servomotor.

11. ERROR CODES STORED AT THE PCPU

11 17

Table 11.3 Servo Amplifier Error List (2000 to 2799) (Continued)

Error CauseError

Code Name Description When Error Checked

Error

Processing Corrective Action

2045 Fin overheating

The heat sink in the servo amplifier is overheated.

Amplifier error (rated output exceeded)

Power repeatedly switched ON/OFF during overload.

Cooling fault

If the effective torque of the servomotor is high, reduce the load.

Reduce the frequency of acceleration and deceleration.

Check if the amplifier's fan has stopped. (MR-H150B or higher)

Check if the passage of cooling air is obstructed.

Check if the temperature inside the panel is too high (range: 0 to +55C).

Check if the electromagnetic brake was actuated from an external device during operation.

Replace the servo amplifier.

The servomotor is overloaded. If the effective torque of the servomotor is high, reduce the load.

The servomotor and regenerative option are overheated.

Check the ambient temperature of the servomotor (range: 0 to +40C).

2046 Motor overheating

The thermal protector incorporated in the encoder is faulty.

Replace the servomotor.

2050 Overload 1

An overload current of about 200% has been continuously supplied to the servo amplifier and servomotor.

At any time during operation

Immediate stop

Check if there has been a collision at the machine.

If the load inertia is very large, either increase the time constant for acceleration and deceleration or reduce the load.

If hunting occurs, adjust the position loop gain in the servo parameters.

Check the connection of U, V, W of the servo amplifier and servomotor.

Check for disconnection of the encoder cable.

Replace the servomotor.

11. ERROR CODES STORED AT THE PCPU

11 18

Table 11.3 Servo Amplifier Error List (2000 to 2799) (Continued)

Error CauseError

Code Name Description When Error Checked

Error

Processing Corrective Action

2051 Overload 2

The servo amplifier and servomotor were overloaded at a torque close to the maximum torque (95% or more of the current control value).

Check if there has been a collision at the machine.

If the load inertia is very large, either increase the time constant for acceleration and deceleration or reduce the load.

If hunting occurs, adjust the position loop gain / position control gain 1, 2, speed loop gain/ speed control gain 1, 2 in the servo parameters.

Check the connection of U, V, W of the servo amplifier and servomotor.

Check for disconnection of the encoder cable.

Replace the servomotor. If the voltage of the bus in the servo

amplifier has dropped (charge lamp has gone out), replace the servo amplifier.

2052 Excessive error

The difference between the servo amplifier command pulses and feedback pulses has exceeded 80000 pulses.

At any time during operation

Immediate stop

Check if there has been a collision at the machine.

Increase the time constant for acceleration and deceleration.

Increase the position loop gain / position control gain 1, 2, in the servo parameters.

Check for disconnection of the encoder cable.

Replace the servomotor. If the voltage of the bus in the servo

amplifier has dropped (charge lamp has gone out), replace the servo amplifier.

11. ERROR CODES STORED AT THE PCPU

11 19

Table 11.3 Servo Amplifier Error List (2000 to 2799) (Continued)

Error CauseError Code Name Description

When Error Checked Error

Processing Corrective Action

2086 RS232 communicati on error

Parameter unit communication error

Check for disconnection of the parameter unit cable.

Replace the parameter unit.

2102 Battery warning

The voltage of the battery installed in the servo amplifier has become low.

Replace the battery. (MR-JBAT-[ ])

2103 Battery disconnectio n warning

The power supply voltage to the absolute position sensor has become low.

Replace the battery. Check for disconnection of the

encoder cable. Replace the servomotor. Replace the servo amplifier.

2140 Excessive regeneration warning

An excessive regeneration error (2030) is likely to occur (regeneration of 85% of the maximum load capacity for the regenerative resistor has been detected).

Refer to the details on the excessive regeneration error (2030).

2141 Overload warning

An overload error (2050, 2051) is likely to occur (85% of overload level detected).

Refer to the details on the overload errors (2050, 2051).

2146 Servo emergency stop

The connection between 1A and 1B (emergency stop input) of CN6 of the servo amplifier encoder has been broken.

Establish a short circuit between 1A and 1B of CN6 of the servo amplifier encoder.

2147 Emergency stop

An emergency stop (EMG) signal has been input from the servo system CPU.

Release the emergency stop.

2149 Main circuit OFF warning

The servo ON (SON) signal was turned ON while the contactor was OFF.

The main circuit bus voltage fell to 215 V or lower at 50 rpm or lower.

Turn the main circuit contactor or circuit power supply ON.

2196

Home position setting error warning

After a home position set command, the droop pulses did not come within the in- position range.

At any time during operation

Operation continues

Re-attempt home position return.

11. ERROR CODES STORED AT THE PCPU

11 20

Table 11.3 Servo Amplifier Error List (2000 to 2799) (Continued)

Error CauseError Code Name Description

When Error Checked Error

Processing Corrective Action

2301 to

2336

Parameter error

Out-of-range parameter setting has been designated. Incorrect parameter values are ignored and the values before setting are retained.

2301 Amplifier setting

2302 Regenerative resistance

2303 Motor type

2304 Motor capacity

2305 Motor rpm

2306 Number of feedback pulses

2307 Rotating direction setting

2308 Automatic tuning setting

2309 Servo responsibility

2310 Torque limit (forward)

2311 Torque limit (reverse)

2312 Load inertia ratio

2313 Position control gain 1

2314 Speed control gain 1

2315 Position control gain 2

2316 Speed control gain 2

2317 Speed integral compensation

2318 Notch filter

2319 Feed forward coefficient

2320 In-position range

2321 Electromagnetic brake sequence output

2322 Monitor output mode selection

2323 Optional function 1

2324 Optional function 2

2325 Optional function 3

2326 Optional function 4

2327 Monitor output 1 offset

2328 Monitor output 2 offset

2329 Pre-alarm data selection

2330 Zero speed

2331 Excessive error alarm level

2332 Optional function 5

2333 Optional function 6

2334 PI-PID switching position droop

2335 Torque limit compensation factor

2336 Speed integral compensation (actual speed differential compensation)

At any time during operation

Operation continues

Check the servo parameter setting range.

11. ERROR CODES STORED AT THE PCPU

11 21

Table 11.3 Servo Amplifier Error List (2000 to 2799) (Continued)

Error CauseError Code Name Description

When Error Checked Error

Processing Corrective Action

2601 to

2636

Initial parameter error

The set parameter values are incorrect.

The parameter data has been destroyed.

2601 Amplifier setting

2602 Regenerative resistance

2603 Motor type

2604 Motor capacity

2605 Motor rpm

2606 Number of feedback pulses

2607 Rotating direction setting

2608 Automatic tuning setting

2609 Servo responsibility

2610 Torque limit (forward)

2611 Torque limit (reverse)

2612 Load inertia ratio

2613 Position control gain 1

2614 Speed control gain 1

2615 Position control gain 2

2616 Speed control gain 2

2617 Speed integral compensation

2618 Notch filter

2619 Feed forward coefficient

2620 In-position range

2621 Electromagnetic brake sequence output

2622 Monitor output mode selection

2623 Optional function 1

2624 Optional function 2

2625 Optional function 3

2626 Optional function 4

2627 Monitor output 1 offset

2628 Monitor output 2 offset

2629 Pre-alarm data selection

2630 Zero speed

2631 Excessive error alarm level

2632 Optional function 5

2633 Optional function 6

2634 PI-PID switching position droop

2635 Torque limit compensation factor

2636 Speed integral compensation (actual speed differential compensation)

When the servo amplifier power supply is turned ON

At the leading edge of the PC READY flag (M2000)

When a servo error is reset

When the power to the servo system CPU is turned ON

Immediate stop

Check and change the set parameter values, then switch the power to the servo system CPU OFF then ON again, press the reset key, or turn the PC READY flag (M2000) OFF then ON again.

11. ERROR CODES STORED AT THE PCPU

11 22

11.5 Output Module Errors

(1) Output module errors at REALVIRTUAL mode switching (4000 to 5990)

Table 11.4 Output Module Error List (4000 to 5990) Error Code Output Module

Error Class

Output Modu-

le

Drive Modu-

le Roller

Ball Screw

Rotary Table

Cam Error Cause Processing Corrective Action

4050 405[ ] !

The [stroke lower limit setting device value] + [stroke setting device value] exceeded 231-1 (set system-of-units). (In 2-way cam mode.)

Because the present value cannot be calculated within 1 cam shaft revolution, return to the REAL mode and designate a correct No. at the device.

4060 406[ ] ! ! ! !

When the drive module is the synchronous encoder connected to the manual pulse generator inputs, and the connected clutch is in the "external input mode", multiple settings existed at the ON/OFF command bit device. Or, the external input mode clutch setting is incorrect.

A one-to-one setting should be designated for the external input mode clutch and the synchronous encoder.

Return to the REAL mode, switch the programmable controller READY signal OFF, then correct and register the clutch setting.

4070 407[ ] ! ! ! !

The connected clutch is in the external input mode for a A172SENC/A171SENC set for high-speed reading.

Do not used the clutch in the external input mode for a A172SENC/A171SENC set for high-speed reading.

5000 500[ ] ! ! !

The "feed present value" is outside the applicable range.

For cams, the feed present value is outside the "stroke lower limit to stroke" range. (When in the 2-way cam mode.) (Present value cannot be calculated within 1 cam revolution.)

Return to the REAL mode and position within the stroke range.

5060 506[ ] !

The "feed present value" is within the stroke range, but the present value cannot be calculated within 1 cam shaft revolution. (cam table error)

START disabled at related systems.

Correct the cam table. Make sure that stroke ratios of

both "0" and "7FFFH" are included in the cam data table. Designate 0 to 7FFFH points in the cam table.

5080 508[ ] ! ! ! ! Torque limit setting range

violation. The default setting of 300% will be adopted.

Designate the torque limit value within the stipulated setting range.

5100 510[ ] !

Although the limit switch out- put is set to the "present value within 1 cam axis revolution" mode, there is no limit switch output data registered at the file register area.

Operation continues with limit switch output OFF.

Check the limit switch output data.

Verify that the installed memory cassette is a model A3NMCA-24 or newer.

5200 520[ ] !

Stroke lower limit storage de- vices start with an odd- numbered device.

Operation is enabled, but monitoring is impossible.

5210 521[ ] ! ! ! ! The clutch ON address setting

devices start with an odd- numbered device.

5220 522[ ] ! ! ! ! The clutch OFF address

setting devices start with an odd-numbered device.

START disabled at related systems.

5230 523[ ] ! !

The "present value within 1 virtual axis revolution" storage devices (at main shaft side) start with an odd-numbered device.

5240 524[ ] ! !

The "present value within 1 virtual axis revolution" storage devices (at auxiliary input shaft side) start with an odd- numbered device.

Operation is enabled, but monitoring is impossible.

Designate an even number as the first device number.

Minor Errors

5250 525[ ] ! ! ! !

When "amount of slip designation" is set as the clutch smoothing method, the "amount of slip setting device" value is outside the applicable range (0 to 2147483647).

A smoothing amount of "0" (direct clutch) is adopted.

Designate a value within the range 0 to 2147483647.

11. ERROR CODES STORED AT THE PCPU

11 23

Table 11.4 Output Module Error List (4000 to 5990) (Continued) Error Code Output Module

Error Class

Output Modu-

le

Drive Modu-

le Roller

Ball Screw

Rotary Table

Cam Error Cause Processing Corrective Action

5260 526[ ] ! Stroke setting device is out of

range. Set in the range 1 to (2311)

5270 527[ ] ! Cam number setting device is

out of range. Correct the cam number

setting.

5280 528[ ] ! ! ! ! Clutch mode setting device is

out of range. Correct the clutch mode

setting.

5290 529[ ] ! ! ! ! Clutch ON address setting

device is out of range. Correct the clutch ON address

setting.

5300 530[ ] ! ! ! ! Clutch OFF address setting

device is out of range. Correct the clutch OFF address

setting.

5310 531[ ] ! ! ! ! Clutch ON/OFF command

device is out of range. Correct the clutch ON/OFF

command.

5320 532[ ] ! ! ! ! Speed change gear ratio

setting device is out of range.

Related systems inoperative

Correct the speed change gear ratio setting.

5330 533[ ] ! ! ! ! Amount of slip setting device

is out of range. Amount of slip = 0 (controlled as direct clutch)

Correct the amount of slip setting.

5340 534[ ] ! ! ! ! Torque control limit setting

device is out of range. Controlled with 300% offset

Correct the torque control limit setting.

5350 535[ ] ! !

Present value in one virtual axis revolution storage device (main shaft side) is out of range.

Monitoring of present value in one virtual axis revolution (main shaft side) not possible

Correct the present value in one virtual axis revolution (main shaft side) setting.

5360 536[ ] ! !

Present value in one virtual axis revolution storage device (auxiliary input shaft side) storage device is out of range.

Monitoring of present value in one virtual axis revolution (auxiliary input shaft side) not possible

Correct the present value in one virtual axis revolution (auxiliary input shaft side) setting.

5370 537[ ] ! Stroke lower-limit value

storage device is out of range. Monitoring of stroke lower-limit value not possible

Correct the stroke lower-limit value setting.

5380 538[ ] ! ! ! ! Number of gear teeth at input

shaft setting device is out of range.

Correct the number of gear teeth at input shaft setting.

5390 539[ ] ! ! ! ! Number of gear teeth at output

shaft setting device is out of range.

Correct the number of gear teeth at output shaft setting.

5400 540[ ] ! ! ! ! Number of gear teeth at input

shaft setting device is set to zero.

Correct the number of gear teeth at input shaft setting.

Minor Errors

5410 541[ ] ! ! ! ! Number of gear teeth at output

shaft setting device is set to zero.

Related systems inoperative

Correct the number of gear teeth at output shaft setting.

11. ERROR CODES STORED AT THE PCPU

11 24

(2) "No-clutch/clutch ON/clutch status ON" output module errors (6000 to 6990)

Table 11.4 Output Module Error List (6000 to 6990) (Continued)

Error Code Output Module Error Class

Output Modu-

le

Drive Modu-

le Roller

Ball Screw

Rotary Table

Cam Error Cause Processing Corrective Action

6000 600[ ] ! ! ! !

The servo OFF command (M1815+20n) switched ON during operation.

The servo ON status is maintained.

Switch the clutch OFF, then establish the servo OFF status.

6010 601[ ] ! ! !

The output speed exceeded the speed limit value during operation. (Speed clamp processing in accordance with the speed limit value is not executed.)

Correct the drive module's speed, gear ratio, and speed change ratio so that the speed remains within the speed limit.

6020 602[ ] ! ! ! !

The deviation counter value exceeded the "permissible number of droop pulses" value during operation.

Stop the drive module, then correct the drive module's speed, gear ratio, and speed change gear ratio so that the speed remains within the speed limit.

6030 603[ ] ! !

The feed present value violated the stroke limit range during operation.

Stop the drive module, then correct the drive module's speed, gear ratio, and speed change gear ratio so that the speed remains within the speed limit.

6040 604[ ] !

The cam No. setting device value violates the "used cam Nos" range. (Operation continues with the current cam No.)

Operation continues. The servo ON status is maintained.

Correct the cam No. setting.

6050 605[ ] !

The stroke setting device value violates the "1 to 2311" range.

The designated value doesn't conform to the following requirement: [stroke lower limit] + [stroke] [2311]. (Operation continues with the current stroke)

Operation continues with the current cam No. and stroke.

Correct the stroke setting.

6060 606[ ] ! A control mode (feed/2-way)

discrepancy occurred at cam No. switching.

Operation continues

Stop the drive module and correct the control mode setting.

6080 608[ ] ! ! ! ! The torque limit setting device

value violates the stipulated range.

The default value of 300% is adopted.

Designate a torque limit value within the setting range.

6090 609[ ] ! ! ! !

After servo amplifier (MR- [ ]- B) power ON, and when a servo OFF command (M1815+20n OFF) is executed, the designated axis is a no-clutch axis, or a clutch ON status exists.

Servo ON will be disabled.

After designating a clutch OFF command, designate a servo OFF command.

6120 612[ ] ! The present value in one cam

axis revolution was changed to an out-of-range value.

The present value is unchanged.

Designate a value within the range 1 to (pulses in one cam axis revolution - 1).

6130 613[ ] ! ! ! !

The number of gear teeth at input shaft is set by indirect device setting, and the device value became zero when the drive module present value was changed.

Minor Errors

6140 614[ ] ! ! ! !

The number of gear teeth at output shaft is set by indirect device setting, and the device value became zero when the drive module present value was changed.

The gear ratio is unchanged.

Designate a value within the range 1 to 65535.

11. ERROR CODES STORED AT THE PCPU

11 25

(3) Output module errors when clutch OFF and clutch OFF command issued (6500 to 6990)

Table 11.4 Output Module Error List (6500 to 6990) (Continued)

Error Code Output Module Error Class

Output Modu-

le

Drive Modu-

le Roller

Ball Screw

Rotary Table

Cam Error Cause Processing Corrective Action

6500 650[ ] ! ! ! !

A servo OFF status existed when a clutch ON command occurred.

Clutch remains OFF.

Return to the clutch OFF command, and repeat the clutch ON command after executing a servo ON command.

6510 651[ ] !

The feed present value violated the stroke range when a cam axis servo OFF command(M1815+20n OFF) was executed. (In the 2-way cam mode)

The stroke range was violated during a follow-up operation.

After returning to within the stroke range, execute the servo OFF command again.

6520 652[ ] !

The [stroke lower limit] + [stroke] [2311] condition was not satisfied when a cam axis servo OFF command (M1815+20n OFF) was executed. (In the 2-way cam mode)

Servo remains ON.

Designate a value which satisfies the [stroke lower limit] + [stroke] [2311] condition.

6530 653[ ] ! ! !

The home position return request signal (M1609+20n ) was ON when a clutch ON command occurred. (Incremental axis MR-[ ]-B power switched from OFF to ON.)

Clutch remains OFF.

Return to the REAL mode, execute a home position return, then switch back to the VIRTUAL mode.

Minor Errors

6540 654[ ] !

When a servo ON command was executed, the feed present value was within the stroke limit range, but the present value couldn't be calculated within 1 cam axis revolution. (Cam table error)

Servo remains ON.

Return to the REAL mode, then correct the cam data settings.

Designate the setting for the stroke from the stroke lower limit as a ratio in the range 0 to 7FFFH. Designate 0 to 7FFFH points at the cam table.

(4) System error (9000 to 9990)

Table 11.4 Output Module Error List (9000 to 9990) (Continued)

Error Code Output Module Error Class

Output Modu-

le

Drive Modu-

le Roller

Ball Screw

Rotary Table

Cam Error Cause Processing Corrective Action

9000 900[ ] ! ! ! !

When the servo amplifier power was turned on, the motor type actually installed was different from the motor type set in the system settings. (Checked only when MR-J2-B is used)

Further operation is impossible.

Correct the motor type setting in the system settings.

Minor Errors

9010 901[ ] ! ! ! !

When the servo amplifier power is turned on, the amount of motor travel while the power was OFF is found to have exceeded the "POWER OF ALLOWED TRAVELING POINTS" in the system settings.

The "VIRTUAL mode continuation disabled warning device" comes ON. Further operation is impossible.

Check the position. Check encoder battery.

11. ERROR CODES STORED AT THE PCPU

11 26

(5) Output module errors at VIRTUAL servo mode axis START (10000 to 10990)

Table 11.4 Output Module Error List (10000 to 10990) (Continued)

Error Code Output Module Error Class

Output Modu-

le

Drive Modu-

le Roller

Ball Screw

Rotary Table

Cam Error Cause Processing Corrective Action

10000 1000[ ] ! ! !

The home position return request (M1609 + 20n) is ON.

Return to the REAL mode and execute a home position return.

If position is not established after executing a home position return at all axes, VIRTUAL mode operation will be disabled.

10010 1001[ ] ! ! ! ! The servo error detection

signal (M1608 + 20n) is ON. Execute a servo error reset in

the REAL mode.

10020 1002[ ] ! ! ! !

A servo OFF (M1615 + 20n ON) status exists at an output module where a "clutch ON" or "no clutch" setting is designated at either the main shaft or auxiliary input shaft.

Switch the clutch OFF, then establish the servo ON status.

Major Errors

10030 1003[ ] ! ! ! !

An external input signal (STOP) is ON at an output module where a "clutch ON" or "no clutch" setting is designated at either the main shaft or auxiliary input shaft.

START disabled at related systems.

Switch the stop signal (STOP) OFF.

(6) "No-clutch/clutch ON/clutch status ON" output module errors (11000 to 11990)

Table 11.4 Output Module Error List (11000 to 11990) (Continued) Error Code Output Module

Error Class

Output Modu-

le

Drive Modu-

le Roller

Ball Screw

Rotary Table

Cam Error Cause Processing Corrective Action

11000 1100[ ] ! ! ! !

The servo error detection signal (M1608+20n) switched ON during operation.

After an immediate stop at the relevant output module, the servo will be switched OFF.

Eliminate the servo error cause (see section 11.4).

11010 1101[ ] ! ! ! !

A servo OFF status (M1615+20n ON) occurred during operation.

MR-[ ]-B power supply was interrupted.

11020 1102[ ] ! ! ! ! The stop signal (STOP)

switched ON.

11030 1103[ ] ! ! ! !

The upper limit LS signal (FLS) switched OFF during forward (address increase direction) travel.

Major Errors

11040 1104[ ] ! ! ! !

The lower limit LS signal (RLS) switched OFF during reverse (address decrease direction) travel.

Operation continues at "no-clutch" axes.

At axes with clutches, control is executed in accordance with the operation mode at the time of the error.

Operation continues.

All clutches switch OFF at the relevant systems.

When an "operation continuation" setting is designated, execute stop processing at the user's sequence program.

11. ERROR CODES STORED AT THE PCPU

11 27

(7) Errors when using an absolute position system (12000 to 12990)

Table 11.4 Output Module Error List (12000 to 12990) (Continued) Error Code Output Module

Error Class

Output Modu-

le

Drive Modu-

le Roller

Ball Screw

Rotary Table

Cam Error Cause Processing Corrective Action

12010* 1201[ ] ! ! ! !

When the separate amplifier power supply was turned ON in the VIRTUAL mode, a sum- check error occurred in the back-up data (reference values).

Home position return not conducted.

Home position return requires turns ON.

Return to the REAL mode and execute home position return.

12120* 1202[ ] ! ! ! !

When the servo amplifier power is turned ON, a communication error in communication between the servo amplifier and encoder occurs.

Home position return requires turns ON.

Check the motor and encoder cables and perform home position return again.

12030* 1203[ ] ! ! ! !

During operation, the amount of change in the encoder present value complies with the following expression:

"Amount of change in encoder present value/3.5 ms >180 of motor revolution"

After the servo amplifier power has been turned ON, a continual check is performed (in both servo ON and OFF states).

Major Errors

12040* 1204[ ] ! ! ! !

During operation, the following expression holds:

"Encoder present value (PLS) feedback present value (PLS) (number of bits in encoder's feedback present value counting range)".

After the servo amplifier power has been turned ON, a continual check is performed (in both servo ON and OFF states).

No processing Check the motor and encoder cables.

*: These errors occur only when using MR-H-B and MR-J2-B servo amplifiers.

(8) System errors at all-axes servo ON (15000 to 15990)

Table 11.4 Output Module Error List (15000 to 15990) (Continued)

Error Code Output Module Error Class

Output Modu-

le

Drive Modu-

le Roller

Ball Screw

Rotary Table

Cam Error Cause Processing Corrective Action

All-axes ON will not occur in response to an all- axes servo ON command.

Major Errors

15010 1501[ ] ! ! ! !

24 VDC is not being supplied when an A172SENC/A171SENC brake setting is designated.

If the error occurs while an all-axes servo ON status is in effect, an emergency stop will occur, and the system will return to the REAL mode OS.

Check at the all-axes servo ON command, and while an all-axes servo ON status is in effect.

11. ERROR CODES STORED AT THE PCPU

11 28

11.6 Errors At REAL VIRTUAL Mode Switching

Table 11.5 REALVIRTUAL Mode Switching Error Code List

Error Codes Stored at D9195

Decimal Display

Hexadecimal Display

Error Description Corrective Action

1 to 255 0001 to 00FF M2043 OFF ON switching occurred when

all axes were not stopped. Execute M2043 OFF ON switching when

M2001 to M2008/M2001 to M2004 are all OFF.

257 to 511 0101 to 01FF M2043 ON OFF switching occurred when

all axes were not stopped. Execute M2043 ON OFF switching when

M2001 to M2008/M2001 to M2004 are all OFF.

M2043 OFF ON switching occurred when no mechanical system program was registered.

Write a mechanical system program to the servo system CPU.

512 0200 M2043 OFF ON switching occurred when

a discrepancy existed between the axis No. designated at the system settings, and that designated at the mechanical system program (output shaft No.).

Designate the same axis No. at both the system settings and the mechanical system program, then write the data to the servo system CPU.

513 0201

M2043 OFF ON switching occurred when the programmable controller READY signal (M2000) or the PCPU READY signal (M9074) was OFF.

After switching the PC READY and PCPU READY signals ON, execute M2043 OFF ON switching.

514 0202 M2043 OFF ON switching occurred when

the all-axes servo START command flag (M2042) was OFF.

Switch M2042 ON, switch the all-axes servo START accept flag ON, then execute M2043 OFF ON switching.

515 0203 M2043 OFF ON switching occurred when

the external emergency stop (EMG) signal was ON.

Switch the external emergency stop signal OFF, then execute M2043 OFF ON switching.

516 0204

M2043 OFF ON switching occurred during servo START processing which was occurring in response to an ADU axis servo error reset command (M1808+20n).

When a servo error reset occurred by switching the M1808+20n signal ON, switch the servo error detection signal (M1608+20n) OFF, then execute M2043 OFF ON switching.

769 to 1023 0301 to 03FF

M2043 OFF ON switching occurred when the home position return request signal was ON at an axis whose output module is not a roller.

After executing a home position return (servo program "zero execute"), and switching M1609+20n OFF, execute M2043 OFF ON switching.

1025 to 1279 0401 to 04FF M2043 OFF ON switching occurred when

an all-axes normal status (M1608+20n: ON) did not exist at the MR-[ ]-B.

Check the MR-[ ]-B, servo motor, and the wiring.

1281 to 1535 0501 to 05FF

M2043 OFF ON switching occurred when a system-of-units setting discrepancy existed between the fixed parameter and output module settings for an axis whose output module is not a roller.

Correct the fixed parameter or output module system-of-units setting, then write the data to the servo system CPU.

1537 to 1791 0601 to 06FF M2043 OFF ON switching occurred when

a cam is set as the output module, but no cam data has been registered.

Write the cam data to the servo system CPU.

2049 to 2303 0801 to 08FF

M2043 OFF ON switching occurred when no cam No. has been designated at the cam No. setting device. (When setting in cam No. setting device is "0".)

After writing the cam No. (No. used at cam parameters) to the cam No. setting device, execute M2043 OFFON switching.

11. ERROR CODES STORED AT THE PCPU

11 29

Table 11.5 REALVIRTUAL Mode Switching Error Code List (Continued)

Error Codes Stored at D9195

Decimal Display

Hexadecimal Display

Error Description Corrective Action

2305 to 2559 0901 to 09FF The setting value at the cam stroke setting

device violates the "1 to (2311)" range. After designating a cam stroke setting

device value within the "1 to (2311)" range, execute M2043 OFFON switching.

2817 to 3071 0B01 to 0BFF An odd number has been designated at the

cam stroke setting device. Designate an even number at the cam

stroke setting device.

4094 F002

During VIRTUAL mode operation, the programmable controller READY signal (M2000) switched OFF, and the system returned to the REAL mode.

The servo system CPU stopped during VIRTUAL mode operation.

Switch M2000 ON. Designate the servo system CPU "RUN"

status.

4095 F001

During VIRTUAL mode operation, the servo error signal (M1608+20n) switched ON, and the system returned to the REAL mode.

Check the servo error code register to determine the error cause at the axis in question, then eliminate the error cause (see section 11.4).

4096 F000

During VIRTUAL mode operation, the external emergency stop (EMG) signal switched ON, and the system returned to the REAL mode.

Switch the external emergency stop signal OFF.

APPENDICES

APP 1

APPENDICES

APPENDIX 1 Cam Curves

The cam acceleration curve formulas used in the VIRTUAL mode are shown below.

(1) Acceleration curve formula

A : Dimensionless acceleration Am : Dimensionless maximum acceleration T : Dimensionless time Ta, Tb, Tc : T borderlines when section divisions are used

(a) Discontinuous curve 1) Constant speed curve

A = C0 2) Uniform acceleration curve

Section I (0 T 0.5) A = 4 + C0 Section II (0.5 < T 1) A = 4 + C0

(b) Both-side stationary symmetrical curve 1) 5th curve

A = 120T3 180T2 + 60T + C0 2) Cycloid curve

Am = 2 A = 2 sin2tT + C0

3) Distorted trapezoid curve 1

Ta = 8

1 Am =

1 2

4 Ta +

Ta

Section I (0 T Ta)

A = Amsin 2Ta

T + C0

Section II (Ta < T 0.5 Ta) A = Am + C0 Section III (0.5 Ta < T 0.5 + Ta)

(T 0.5 + Ta) A = Amcos

2Ta + C0

Section IV (0.5 Ta < T 1 Ta) A = Am + C0 Section V (1 Ta < T 1)

(T 1 + Ta) A = Amcos

2Ta + C0

APPENDICES

APP 2

4) Distorted sine curve 1

Ta = 8

1 Am =

2Ta 2 8Ta

+

2

Section I (0TTa) T

A = Amsin 2Ta

+ C0

Section II (Ta

A = Amcos 1 2Ta

+ C0

Section III (1Ta

A = Amcos 2Ta

+ C0

5) Distorted constant speed curve 1

Ta = 16 1

Ta = 4

1 Am =

2 8 4

(2

)TaTb+(

2) Tb2+Tb

Section I (0TTa) T

A = Amsin 2Ta

+ C0

Section II (Ta

A = Amcos 2(Tb Ta)

+ C0

Section III (Tb

(T 1 + Ta) A=Amsin

2(Tb Ta) + C0

Section V (1Ta

A=Amcos 2Ta

+ C0

APPENDICES

APP 3

(c) Both-side stationary asymmetrical curve 1 )Trapecloid curve

1 Ta =

8 2 6Ta +Ta

Tb = 2+

2 2Ta +3Ta Tc =

2+ 1

Am = 3 4 4 2 1 2 4

( 2

+

+ 2 ) T2a + (1 +

) TaTb +

2 T2b + (

2 ) (1 Tc)2

Section I (0TTa) T

A = Amsin 2Ta

+ C0

Section II (Ta

(TT6) A = Amcos

2Ta + C0

Section IV (Tc

A = Amcos 2(1Tc)

+ C0

2) Reverse trapecloid curve 1

Ta = 8 2 6Ta +Ta

Tb = 2+

2 2Ta +3Ta Tc =

2+ 1

Am = 3 4 4 2 1 2 4

( 2

+

+ 2 ) T2a + (1 +

) TaTb +

2 T2b + (

2 ) (1 Tc)2

2TaA mVa =

Vb=Am(TbTa)+Va 2T2aAm 4T2aAm

Sa =

2

Am Sb =

2 (Tb Ta)2 + Va (Tb Ta) + Sa

8T2aAm Sc =

2 + 2VbTa + Sb

Section I (0T1Tc) (1Tc T)

A = Amcos 2 (1 Tc)

+ C0

Section II (1Tc

A = Amcos 2Ta

+ C0

Section III (1Tb

(1 T) A = Amsin

2Ta + C0

APPENDICES

APP 4

(d) One-side stationary curve 1 )Multiple hypotenuse curve

2

A = 2

(cosT cos2T) + C0

(e) Non-stationary curve 1) Single hypotenuse curve

2

A = 2

cosT + C0

(2) Cam curve coefficient Distorted trapezoid

Section I 0

0

0

APPENDICES

APP 5

APPENDIX 2 Processing Time List Shown below are each processing time signal and command when position control is carried out in relation to the servo system CPU.

(1) Motion operation cycle (ms)

CPU A172SH A171SH

Number of set axes 1 to 8 1 to 4

Operation cycle 3.5ms 3.5ms

(2) SCPU instruction processing times (s)

CPU A172SH A171SH

Number of set axes 1 to 8 1 to 4

1 axis started 48

2 to 3 axes

started 105SVST

Error 50

1 axis started 48

2 to 4 axes

started 65DSFRP

Error 60

CHGV 27

Normal 28DSFLP

(Speed change) Error 50

CHGA 32

Normal 28DSFLP

(Present value

change) Error 50

CHGT 24

END 1400

(3) CPU processing time (ms)

CPU A172SH A171SH

Number of set axes 1 to 8 1 to 4

Servo program start processing time

(*1) 4 to 11 4 to 11

Speed change response 0 to 4 0 to 4

Torque limit value change response 0 to 4 0 to 4

Simultaneous start processing time

(*2) 7 to 17 7 to 17

Time from PC ready flag (M2000)

ON to PCPU ready flag (M9074) ON 50 to 600 50 to 350

(*1) The FEED instruction varies greatly depending on the condition (whether other axes are operating or being stopped).

(*2) This processing time varies depending on the commands to be started simultaneously. Use this time merely for reference.

(4) Virtual servo motor axis / synchronous encoder axis calculation cycle

CPU A172SH A171SH

Number of output axes set 1 to 8 1 to 4

1 to 4 axes 3.5ms 3.5msNumber of axes used

by virtual servo motor 5 to 8 axes 3.5ms

Number of axes used

by synchronous

encoder

1 axes 3.5ms 3.5ms

APPENDICES

APP 6

(5) Each axis status

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name

M1600 M1600 (! Valid)

to to VIRTUAL1

M1619 M1619 M1620 M1620

Signal Name REAL Roller

Ball screw

Rotary table

Cam

Signal Direction

Refresh Cycle

Fetch Cycle

to to 0 Positioning start completed ! OFF OFF OFF OFF2

M1639 M1639 1 Positioning completed ! OFF OFF OFF OFF

M1640 M1640 2 In-position ! ! ! ! ! 3.5ms to to 3 Command in-position ! OFF OFF OFF OFF3

M1659 M1659 4 Speed control in progress ! OFF OFF OFF OFF 5 Speed/position switching latch ! OFF OFF OFF OFF

6 Zero pass ! ! ! ! ! 3.5ms 4

M1660

to

M1679

M1660

to

M1679 7 Error detection ! ! ! ! ! Immedi-

ately 8 Servo error detection ! ! ! ! ! 3.5ms 9 Home position return request ! ! ! ! ! 10ms

5

M1680

to

M1699 10 Home position return completed

! ! ! ! ! 3.5ms

M1700 11 External signal FLS ! ! ! ! ! to 12 External signal RLS ! ! ! ! !6

M1719 13 External signal STOP ! ! ! ! !

14 External signal DOG/CHANGE

! ! ! ! !

10ms

15 Servo ON/OFF ! ! ! ! ! 7

M1720

to

M1739 16 Torque control in progress ! ! ! ! ! 3.5ms

17 (External signal DOG/CHANGE)

! ! ! ! !

18 Virtual mode intermittent actuation disabled warning

! ! ! ! ! 10ms

8

M1740

to

M1759 19 M code output in progress ! OFF OFF OFF OFF

SCPU PCPU

(6) Command signals of each axis

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name

M1800 M1800 (! Valid)

to to VIRTUAL1

M1819 M1819

M1820 M1820

Signal Name REAL Roller

Ball screw

Rotary table

Cam Signal

Direction Refresh Cycle

Fetch Cycle

to to 0 Stop command ! 2

M1839 M1839 1 Rapid stop command ! M1840 M1840 2 Forward JOG start !

to to 3 Reverse JOG start ! 3

M1859 M1859 4 End signal OFF command ! 5

Speed/position switching enabled

!

6 Limit switch output enabled ! ! ! ! 3.5ms 4

M1860

to

M1879

M1860

to

M1879 7 Error reset ! ! ! ! ! 10ms

M1880 8 Servo error reset ! to 9

External STOP input valid/invalid when starting

! 5

M1899 10 Unusable 11 Unusable

12 Feed present value update request command

!

6

M1900

to

M1919 13 Address clutch reference setting

! !

M1920

to 14

Cam reference position setting

!

REAL to VIR-

TUAL switch7

M1939 15 Servo OFF ! ! ! ! ! 3.5ms

M1940 16 Unusable to 17 Unusable

8

M1959 18 Control loop setting ! ! ! ! ! 10ms

19 FIN signal !

SCPU PCPU

APPENDICES

APP 7

(7) Virtual servo motor axis status

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name

M1200 M1200 (! Valid)

to to1

M1219 M1219 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

M1220 M1220 0 Positioning start completed

to to 1 Positioning completed ! 3.5ms

2

M1239 M1239 2 Unusable M1240 M1240 3 Command in-position

to to 4 Speed control in progress ! 3.5ms

3

M1259 M1259 5 Unusable

M1260 M1260 6 Unusable

to to 7 Error detection ! Immediately4

M1279 M1279 8 Unusable

M1280 9 Unusable

to 10 Unusable5

M1299 11 Unusable

M1300 12 Unusable

to 13 Unusable6

M1319 14 Unusable

M1320 15 Unusable

to 16 Unusable7

M1339 17 Unusable

M1340 18 Unusable

to 19 M code output in progress

Backup SCPUPCPU

3.5ms8

M1390

(8) Virtual servo motor axis command signals

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name

M1400 M1400 (! Valid)

to to1

M1419 M1419 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

M1420 M1420 0 Stop command

to to 1 Rapid stop command 3.5ms

2

M1439 M1439 2 Forward JOG start

M1440 M1440 3 Reverse JOG start

to to 4 End signal OFF command

!

10ms

3

M1459 M1459 5 Unusable

M1460 M1460 6 Unusable

to to 7 Error reset ! 10ms4

M1479 M1479 8 Unusable

9 External STOP input valid/invalid when starting

! Start timing

10 Unusable 5

M1480

to

M1499 11 Unusable

M1500 12 Unusable

to 13 Unusable6

M1519 14 Unusable

M1520 15 Unusable

to 16 Unusable7

M1539 17 Unusable

M1540 18 Unusable

to 19 FIN signal !

SCPUPCPU

3.5ms8

M1590

APPENDICES

APP 8

(9) Synchronous encoder axis status

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name

M1360 M1360 (! Valid)

to to1

M1363 M1363 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

0 Error detection Immediately

1 External signal TREN

2 Virtual mode intermittent

actuation disabled warning

! ! 10ms

3 Unusable

SCPUPCPU

(10) Synchronous encoder axis command signals

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name

M1560 M1560 (! Valid)

to to1

M1563 M1563 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

0 Error detection ! 10ms

1 Unusable

2 Unusable

3 Unusable

SCPUPCPU

(11) Common devices

A172SHCPU A171SHCPU (! Valid) (! Valid)Device

Number Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle

Fetch Cycle

Device Number Signal Name

REAL VIRTUAL Signal

Direction Refresh Cycle

Fetch Cycle

M1960 M1960 M1961 M1961 M1962 M1962 M1963 M1963 M1964 M1964 M1965 M1965 M1966 M1966 M1967 M1967 M1968 M1968 M1969 M1969 M1970 M1970 M1971 M1971 M1972 M1972 M1973 M1973 M1974 M1974 M1975 M1975 M1976 M1976 M1977 M1977 M1978 M1978 M1979 M1979 M1980 M1980 M1981 M1981 M1982 M1982 M1983

Unusable (24 points)

M1983

Unusable (24 points)

APPENDICES

APP 9

A172SHCPU A171SHCPU (! Valid) (! Valid)Device

Number Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle

Fetch Cycle

Device Number Signal Name

REAL VIRTUAL Signal

Direction Refresh Cycle

Fetch Cycle

M1984 Main shaft side M1984 Main shaft side

M1985 Output axis 1 Auxiliary input

axis side M1985

Output axis 1 Auxiliary input

axis side M1986 Main shaft side M1986 Main shaft side

M1987 Output axis 2 Auxiliary input

axis side M1987

Output axis 2 Auxiliary input

axis side M1988 Main shaft side M1988 Main shaft side

M1989 Output axis 3 Auxiliary input

axis side M1989

Output axis 3 Auxiliary input

axis side M1990 Main shaft side M1990 Main shaft side

M1991 Output axis 4 Auxiliary input

axis side M1991

Output axis 4 Auxiliary input

axis side

C lu

tc h

st at

us

Backup ! SCPU PCPU 3.5ms

M1992 Main shaft side M1992

M1993 Output axis 5 Auxiliary input

axis side M1993

M1994 Main shaft side M1994

M1995 Output axis 6 Auxiliary input

axis side M1995

M1996 Main shaft side M1996

M1997 Output axis 7 Auxiliary input

axis side M1997

M1998 Main shaft side M1998

M1999 Output axis 8 Auxiliary input

axis side

C lu

tc h

st at

us

Backup ! SCPU PCPU 3.5ms

M1999

Unusable (8 points)

M2000 PC READY flag ! ! SCPU PCPU 10ms M2000 PC READY flag ! !

SCPU PCPU 10ms

M2001 Axis 1 M2001 Axis 1 M2002 Axis 2 M2002 Axis 2 M2003 Axis 3 M2003 Axis 3 M2004 Axis 4 M2004 Axis 4

Start accept flag (4 points)

! ! SCPU PCPU 10ms

M2005 Axis 5 M2005 M2006 Axis 6 M2006 M2007 Axis 7 M2007 M2008 Axis 8

Start accept flag (8 points)

M2008

Unusable (4 points)

M2009 All-axes servo ON accept flag

! ! SCPU PCPU 10ms

M2009 All-axes servo ON accept flag SCPU PCPU 10ms

M2010 M2010 M2011

Unusable (2 points)

M2011 Unusable (2 points)

M2012 Manual pulse generator 1 enabled

! SCPU PCPU 10ms M2012 Manual pulse generator 1

enabled ! SCPU

PCPU 10ms

M2013 M2013 M2014

Unusable (2 points)

M2014 Unusable (2 points)

M2015 JOG simultaneous start command ! !

SCPU PCPU 10ms M2015 JOG simultaneous start

command ! ! SCPU PCPU 10ms

M2016 M2016 M2017 M2017 M2018 M2018 M2019

Unusable (4 points)

M2019

Unusable (4 points)

M2020 START buffer full M2020 START buffer full M2021 Axis 1 M2021 Axis 1 M2022 Axis 2 M2022 Axis 2 M2023 Axis 3 M2023 Axis 3 M2024 Axis 4 M2024 Axis 4

Speed change in progress flag (4 points)

! ! SCPU PCPU END

M2025 Axis 5 M2025 M2026 Axis 6 M2026 M2027 Axis 7 M2027 M2028 Axis 8

Speed change in program flag (8 points)

! ! SCPU PCPU END

M2028 M2029 M2029 M2030 M2030 M2031 M2031 M2032 M2032 M2033

Unusable (6 points)

M2033

Unusable (9 points)

M2034 PC link communication error flag

! ! SCPU PCPU END M2034 PC link communication error

flag ! !

SCPU PCPU END

M2035 M2035 M2036 M2036 M2037 M2037 M2038 M2038 M2039

Unusable (5 points)

M2039

Unusable (5 points)

M2040 CPU completion point setting ! ! SCPU PCPU

Start timing

M2040 CPU completion point setting ! ! SCPU PCPU

Start timing

M2041 System setting error flag ! ! SCPU PCPU END M2041 System setting error flag ! !

SCPU PCPU END

M2042 All-axes servo ON command ! ! 3.5ms M2042 All-axes servo ON command ! ! 3.5ms

M2043 REAL/VIRTUAL mode switching request

! ! SCPU PCPU 10ms M2043 REAL/VIRTUAL mode

switching request ! !

SCPU PCPU 10ms

M2044 REAL/VIRTUAL mode switching status

! ! M2044 REAL/VIRTUAL mode switching status

! !

M2045 REAL/VIRTUAL mode switching error

! ! M2045 REAL/VIRTUAL mode switching error

! !

M2046 Synchronization discrepancy warning

! ! M2046 Synchronization discrepancy warning

! !

M2047 Motion slot module error detection flag ! !

SCPU PCPU END

M2047 Motion slot module error detection flag

! !

SCPU PCPU END

* The "END" of the refresh cycle is the longer of 80 ms and the sequence program scan time.

APPENDICES

APP 10

(12) Monitor devices of each axis

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name

D800 D800 (! Valid)

to to1

D819 D819 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

D820 D820 0

to to 1

Feed present value/roller

cycle2

D839 D839 2

D840 D840 3 Actual present value

to to 43

D859 D859 5 Deviation counter value

3.5ms

D860 D860 6 Minor error code

to to 7 Major error code Immediately

4

D879 D879 8 Servo error code

! !

10ms

9

10

Travel value when the near-zero

point DOG/CHANGE is ON END

5

D880

to

D899 11 Home position return second

travel value

! Backup

D900 12 Execution program Number

to 13 M code ! !

6

D919 14 Torque limit value ! !

SCPUPCPU

3.5ms

D920 15

to 16 Travel value change register ! SCPUPCPU 3.5ms

7

D939 17

18

Actual present value when

STOP is input ! END

19 Data set pointer for constant

speed control ! !

SCPUPCPU At driving or

during driving 8

D940

to

D959

(13) Control change registers

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name

D960 D960 (! Valid)

to to1

D965 D965 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

D966 D966 0

to to 1

Present value change register

CHGA execution2

D971 D971 2

D972 D972 3 Speed change register

CHGV execution

to to 43

D977 D977 5

JOG speed setting register (*1)

! ! SCPUPCPU

At driving

D978 D978

to to (*1) Represents a backup register.

4

D983 D983

D984

to5

D989

D990

to6

D995

D996

to7

D1001

D1002

to8

D1007

* The "END" of the refresh cycle is the longer of 80 ms and the sequence program scan time.

APPENDICES

APP 11

(14) Virtual servo motor axis monitor devices

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name

D700 D700 (! Valid)

to to1

D705 D705 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

D706 D706 0

to to 1 Feed present value 3.5 ms

2

D711 D711 2 Minor error code

D712 D712 3 Major error code Immediately

to to 4 Execution program Number3

D717 D717 5 M code

Backup ! SCPUPCPU

3.5 ms

D718 D718

to to4

D723 D723

D724

to5

D729

D730

to6

D735

D736

to7

D741

D742

to8

D747

(15) Virtual servo motor axis main shaft differential gear present value

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name

(! Valid) 1

D760

D671

D760

D671 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

2 D672

D673

D672

D673

3 D674

D675

D674

D675

0

1

Virtual servo motor axis main

shaft differential gear present

value

Backup ! SCPUPCPU 3.5 ms

4 D676

D677

D676

D677

5 D678

D679

6 D680

D681

7 D682

D683

8 D684

D685

APPENDICES

APP 12

(16) Synchronous encoder axis monitor devices

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name

D748 D748 (! Valid)

to to1

D751 D751 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

0

1 Feed present value Backup 3.5ms

2 Minor error code

3 Major error code

!

(*2)

! SCPUPCPU

Immediately

(*2) Set when the controller power is turned on only in the case of an absolute synchronous encoder.

(17) Synchronous encoder axis main shaft differential gear present value

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name

D686 D686 (! Valid) 1

D687 D687 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

0

1

Synchronous encoder axis main shaft differential gear present value

Backup ! SCPUPCPU 3.5ms

(18) Cam axis monitor devices

A xi

s N

o .

A172SHCPU

Device

Number

A171SHCPU

Device

Number

Signal Name

D760 D760 (! Valid)

to to1

D764 D764 Signal Name REAL VIRTUAL

Signal Direction

Refresh Cycle Fetch Cycle

D765 D765 0 Execution cam No.

to to 12

D769 D769 2 Execution stroke value

D770 D770 3

to to 4

Cam axis present value within

one revolution

Backup ! SCPUPCPU Every END

3

D774 D774

D775 D775

to to4

D779 D779

D780

to5

D784

D785

to6

D789

D790

to7

D794

D795

to8

D799

* "Every END" of the refresh cycle is referred to as the sequence program scan time.

APPENDICES

APP 13

(19) Common devices A172SHCPU

(! Valid) Device No. Signal Name

REAL VIRTUAL

Signal

Direction Refresh Cycle Fetch Cycle

D1008

D1009

D1010

D1011

Limit switch output disabled setting

register

(4 points)

3.5ms

D1012

Setting Register for a axis number

controlled with manual pulse generator

1

! ! SCPUPCPU

Manual pulse

generator

operation

enabled

D1013

D1014

Unusable

(2 points)

D1015 JOG operation simultaneous start axis

setting register At driving

D1016 Axis 1

D1017 Axis 2

D1018 Axis 3

D1019 Axis 4

D1020 Axis 5

D1021 Axis 6

D1022 Axis 7

D1023 Axis 8

1 pulse input modification

setting register for manual

pulse generators

(8 points)

! ! SCPUPCPU Manual pulse

generator

operation

enabled

A171SHCPU

(! Valid) Device No. Signal Name

REAL VIRTUAL

Signal

Direction Refresh Cycle Fetch Cycle

D1008

D1009

Limit switch output disabled setting

register (2 points) ! ! SCPUPCPU 3.5ms

D1010

D1011

Unusable

(2 points)

D1012

Setting Register for a axis number

controlled with manual pulse generator

1

! ! SCPUPCPU

Manual pulse

generator

operation

enabled

D1013

D1014

Unusable

(2 points)

D1015 JOG operation simultaneous start axis

setting register SCPUPCPU At driving

D1016 Axis 1

D1017 Axis 2

D1018 Axis 3

D1019 Axis 4

1 pulse input modification

setting register for manual

pulse generator

(4 points)

! ! Manual pulse

generator

operation

enabled

D1020

D1021

D1022

D1023

Unusable

(4 points)

APPENDICES

APP 14

(20) Special Relays A172SHCPU/A1712SHCPU

(! Valid) Device No. Signal Name

REAL VIRTUAL

Signal

Direction Refresh Cycle Fetch Cycle

M9073 PCPU WDT error flag

M9074 PCPU READY flag

M9075 TEST mode ON flag

M9076 External emergency stop input

flag

M9077 Manual pulse generator axis

setting error flag

M9078 TEST mode request flag

M9079 Servo program setting error flag

! ! SCPUPCPU END

(21) Special Registers A172SHCPU/A1712SHCPU

(! Valid) Device No. Signal Name

REAL VIRTUAL

Signal

Direction Refresh Cycle Fetch Cycle

D9180

D9181

D9182

D9183

Limit switch output status storage

area 3.5ms

D9184 PCPU WDT error cause

D9185

D9186 Servo amplifier type

10ms

D9187 Manual pulse generator axis

setting error

Manual pulse

generator

operation

enabled

D9188 Test mode request error TEST mode

request

D9189 Error program number

D9190 Error item information At driving

D9191 Servo amplifier loading

information

! ! SCPUPCPU

10 ms

D9192

Area for setting the manual pulse

generator smoothing

magnification

! ! SCPUPCPU

Manual pulse

generator

operation

enabled

D9193 Unusable

D9194 Unusable

D9195 REAL/VIRTUAL mode switching

error information

D9196 PC link communication error

codes

! ! SCPUPCPU

Mode

switching 3.5

ms

D9197 Unusable

D9198 Unusable

D9199 Unusable

* The "END" of the refresh cycle is the longer of 80 ms and the sequence program scan time.

APPENDICES

APP 15

APPENDIX 3 Setting Range of Indirect Setting Devices

Appendix 3.1 Servo program

All settings by servo programs (positioning address, commanded speed, M code, etc.) can be designated indirectly by PC devices, excluding the axis numbers.

(1) Device ranges The number of device words and device range in indirect designation are shown below.

Device Setting Range Item

Number of Device

Words A172SHCPU A171SHCPU

Remarks

Address/travel 2

Command speed 2

Dwell time 1 Device Range

M code 1 D 0 to 799

Torque limit value 1 W 000 to 3FFC o m

m o n

Parameter block number 1

Auxiliary point 2

Radius 2A rc

Center 2

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 1

Circular interpolation error allowance range

2

P a ra

m e te

r b lo

ck

S curve comparison 1

Program number 1 Simultaneous start

FIN acceleration/deceleration time

1

Start program number 1 Cancel & start

Repeat condition (number of repetitions)

1

Repeat condition (ON/OFF) Bit

Device Range

X 000 to 7FF

Y 000 to 7FF

M/L 0 to 2047

M 9000 to 9255

B 000 to 3FF

F 0 to 255

Skip command Bit

Cancel command Bit Device Range

X 000 to 7FF

Y 000 to 7FF

M/L 0 to 2047

M 9000 to 9255

B 000 to 3FF

F 0 to 255

TT (Timer contact) 0 to 255

TC (Timer coil) 0 to 255

CT (Counter contact) 0 to 255

CC (Counter coil) 0 to 255

O th

e r

APPENDICES

APP 16

POINT

Be sure to designate even-numbered devices for 2-word designation items. Be sure to use the DMOV(P) instruction when setting data in these devices by sequence programs.

(2) Device data fetch Data for indirectly designated devices is fetched by the PCPU at the start of the servo program. For this reason, set data in the devices before starting the servo program, and never change the devices unless servo program start is complete. The following describes the procedures by start method for setting data in devices and the points to note.

Start Method Setting Method Notes

Start by SVST instruction

Designate data in devices.

Set the cancel command device to ON.

Automatic start by cancel & start

Set data in the indirectly designated device

chosen by the start program.

Turns the cancel command device ON.

Don't change the indirectly designated

device until the positioning start completion

signal of the start axis goes ON.

Designating loop (FOR to NEXT) point

data in the CPSTART instruction indirectly

Designate initial command data in the

indirectly designated device

Start by SVST (or set the cancel command

device to ON).

Read the value of constant speed control

data set pointer of the started axis, and

update the data fetched by PCPU.

For details, see the positioning signal data

register "Monitoring data Area".

APPENDICES

APP 17

Appendix 3.2 Mechanical system program

The device range and setting method for items indirectly set by devices in the parameters of each module of the mechanical system program are given here.

(1) Device ranges The number of device words and device ranges when settings are made indirectly are given in the table below.

Device Setting Range

Module Item

Number of

Device

Words A172SHCPU A171SHCPU

Remarks

Device Range

X 000 to 7FF

Y 000 to 7FF

M/L 0 to 2047

M 9000 to 9255

B 000 to 3FF

F 0 to 255

TT (Timer contact) 0 to 255

TC (Timer coil) 0 to 255

CT (Counter contact) 0 to 255

CC (Counter coil) 0 to 255

Clutch ON/OFF command device Bit

Mode setting device 1

Clutch ON address setting device 2

Clutch OFF address setting device 2

Clutch

Slippage amount setting device 2

Number of input axis gear teeth 1 Gear

Number of output axis gear teeth 1

Device RangeSpeed change

gear Speed change ratio setting device 1

D 0 to 799

Roller Torque limit value setting device 1 W 000 to 3FF

Ball screw Torque limit value setting device 1

Torque limit value setting device 1

Virtual axis present value within one

revolution storage device (main shaft side) 2

Rotary table Virtual axis present value within one

revolution storage device (auxiliary input

axis side)

2

Cam No. setting device 1

Stroke setting device 2

Torque limit value setting device 1

Stroke lower limit value storage device 2

Virtual axis present value within one

revolution storage device (main shaft side) 2

Cam

Virtual axis present value within one

revolution storage device (auxiliary input

axis side)

2

POINTS

For items set using two words, always set an even numbered device. In addition, when setting data in the sequence program for that device, always use the DMOV (P) command.

When a two word monitor device leads the sequence program, always acquire it in the user device using the DMOV (P) command. Use the fetched device for carrying out such things as upper/lower comparison and calculations.

APPENDICES

APP 18

(2) Device data fetch When the data of a device that has been set indirectly is switched from the REAL to VIRTUAL mode, first acquire everything as default values and thereafter carry out fetch control during virtual mode operation for the corresponding module. Shown in the table below are the fetch timing of each device and the refresh cycle of the set device. The device fetch timing and device refresh cycle are the same for both A172SHCPU and A171SHCPU.

Device Fetch Timing

Module Item Fetch

Device

Refresh

Device

REAL VIRTUAL

Mode

Switching

During VIRTUAL Mode Operation

Device

Refresh

Cycle

Clutch ON/OFF command device ! !

Mode setting device ! !

Clutch ON address setting device ! !

Clutch OFF address setting device ! !

Fetched every 3.5 ms (calculation

cycle)Clutch

Slippage setting device ! ! Number of input axis gear teeth ! !

Gear Number of output axis gear teeth ! !

Fetched when the present value

change of the connection source

drive module (virtual servo motor

axis/synchronous encoder axis) is

executed (CHGA) and the gear ratio

change is carried out

Speed

change gear Speed ratio setting device ! !

Roller Torque limit value setting device ! !

Ball screw Torque limit value setting device ! !

Torque limit value setting device ! !

Fetched every 3.5 ms (calculation

cycle)

Virtual axis present value within one

revolution storage device (main shaft side) !

Rotary table Virtual axis present value within one

revolution storage device (auxiliary input

axis side)

! 3.5ms

Cam No. setting device ! !

Stroke setting device ! !

Fetched every 3.5 ms (calculation

cycle). However, the cam No. and

stroke switching position pass point

are enabled.

Torque limit value setting device ! ! Fetched every 3.5 ms (calculation

cycle).

Stroke lower limit storage device ! Virtual axis present value within one

revolution storage device (main shaft side) !

Cam

Virtual axis present value within one

revolution storage device (auxiliary input

axis side)

!

3.5ms

MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 TELEX: J24532 CABLE MELCO TOKYO

NAGOYA WORKS : 1-14 , YADA-MINAMI 5 , HIGASHI-KU , NAGOYA , JAPAN

IB (NA) 67397-B (9804) MEE Printed in Japan

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