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Mitsubishi A172SHCPU Controller Programming Manual PDF
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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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
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(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
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(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
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(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
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(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
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(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
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(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
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(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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