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Mitsubishi A173UHCPU-S1 Controller Programming Manual PDF
Summary of Content for Mitsubishi A173UHCPU-S1 Controller Programming Manual PDF
MOTION CONTROLLER (SV43)
Programming Manual
type A172SHCPUN, A171SHCPUN A273UHCPU(32 axis feature) A173UHCPU(S1)
MITSUBISHI ELECTRIC
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I
INTORODUCTION
Thank you for purchasing the Mitsubishi Motion Controller/Personal Machine Controller. This instruction manual describes the handling and precautions of this unit. Incorrect handing 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, opera- tion, 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 Safe Operation
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 amplifier's 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 regenera- tive 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 A172SHCPUN/A171SHCPUN user's manual, A273UHCPU users manual, A173UHCPU(S1) users 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 terminal connections, as this 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 combi- nations listed in A172SHCPUN/A171SHCPUN users 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.
IV
CAUTION!
Use wires and cables that have a wire diameter, heat resistance and bending resistance compatible with the system.
Use wires and cables within the length of the range described in A172SHCPUN/ A171SHCPUN users 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 assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.
Some devices used in the program have fixed applications, so use these with the conditions specified in the instruction manual.
The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error, etc. Thus, an error correspondence interlock program specified in the instruction manual must be used.
Use the interlock program specified in the special function 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 cables, 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 A172SHCPUN/A171SHCPUN user's manual, A273UHCPU users manual, A173UHCPU(S1) users 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 install or 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 A172SHCPUN/A171SHCPUN/A273UHCPU/A173UHCPU(S1) users 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 Servomotor
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 1000m 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.
When using the absolute position system function, on starting up, and when the controller or absolute value motor has been replaced, always perform a home position return.
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. When using the CE mark-compatible equipment, refer to "EMC Installation Guidelines" (data number IB(NA)-*****-*) for the motion controller and to the corresponding EMC guideline data for the servo amplifier, inverter and other equipment.
Use the units with the following conditions.
Item Conditions
Input power According to A172SHCPUN/A171SHCPUN/ A273UHCPU/A173UHCPU(S1) users manual.
Input frequency According to A172SHCPUN/A171SHCPUN/ A273UHCPU/A173UHCPU(S1) users manual.
Tolerable momentary power failure
According to A172SHCPUN/A171SHCPUN/ A273UHCPU/A173UHCPU(S1) users manual.
(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 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.)
Servo motor
Magnetic brakes
Shut off servo ON signal OFF, alarm, magnetic brake signal.
Shut off with the emergency stop signal (EMG).
24VDC
RA1 EMG
VIII
(8) Maintenance, inspection and part replacement
CAUTION!
Perform the daily and periodic inspections according to the instruction manual.
Perform maintenance and inspection after backing up the program and parameters for the 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 A172SHCPUN/ A171SHCPUN user's manual, A273UHCPU users manual, A173UHCPU(S1) users manual or the instruction manual for the product you are using.
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 megger test (insulation resistance measurement) during inspection.
When replacing the control unit or servo amplifier, always set the new unit settings correctly.
When the controller or absolute value motor has been replaced, carry out a home position return operation using one of the following methods, otherwise position displacement could occur.
1) After writing the servo data to the PC using peripheral device software, switch on the power again, then perform a home position return operation.
2) Using the backup function of the peripheral device software, load the data backed up before replacement.
After maintenance and inspections are completed, confirm that the position detection of the absolute position detector function is correct.
Do not short circuit, charge, overheat, incinerate or disassemble the batteries.
The electrolytic capacitor will generate gas during a fault, so do not place your face near the 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.
IX
(10) General cautions
CAUTION!
All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections. When operating the product, always return the covers and partitions to the designated positions, and operate according to the instruction manual.
Revisions
*The manual number is given on the bottom left of the back cover.
Print Date *Manual Number Revision
Feb., 2000 IB(NA)-0300014-A 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.
2000 Mitsubishi Electric Corporation
I
CONTENTS
1. GENERAL DESCRIPTION....................................................................................................... 1- 1 to 1-17
1.1 System Configuration....................................................................................................................... 1- 3
1.1.1 A172SHCPUN system overall configuration ............................................................................. 1- 3
1.1.2 A171SHCPUN system overall configuration ............................................................................. 1- 4
1.1.3 A273UHCPU (32 axis feature) system overall configuration..................................................... 1- 5
1.1.4 A173UHCPU (S1) system overall configuration ........................................................................ 1- 6
1.1.5 System configuration precautions ............................................................................................. 1- 7
1.2 Table of Software Package.............................................................................................................. 1- 9
1.3 Positioning Control by the Servo System CPU ................................................................................ 1- 9
2. PERFORMANCE SPECIFICATIONS ...................................................................................... 2- 1 to 2-10
2.1 SCPU Performance Specifications .................................................................................................. 2- 1
2.2 PCPU Performance Specifications .................................................................................................. 2- 5
2.3 The Differences between A172SHCPUN/A171SHCPUN and A171S (S3) and the Differences between
A273UHCPU (32 axis feature) and A173UHCPU (S1) .................................................................. 2- 9
2.3.1 The differences between A172SHCPUN/A171SHCPUN and A171S(S3) ................................ 2- 9
2.3.2 The differences between A273UHCPU and A173UHCPU (S1)................................................ 2-10
3. POSITIONING SIGNALS ......................................................................................................... 3- 1 to 3-79
3.1 Internal Relays ................................................................................................................................. 3- 2
3.1.1 Axis status ................................................................................................................................ 3-13
3.1.2 Axis command signals.............................................................................................................. 3-24
3.1.3 Common devices...................................................................................................................... 3-35
3.2 Data Registers ................................................................................................................................ 3-41
3.2.1 Axis monitor devices................................................................................................................. 3-50
3.2.2 Control change registers .......................................................................................................... 3-55
3.2.3 Tool length offset data.............................................................................................................. 3-56
3.2.4 Common device ....................................................................................................................... 3-57
3.2.4.1 A172SHCPUN/A171SHCPUN .............................................................................................. 3-57
3.2.4.2 A273UHCPU (32 axis feature)/A173UHCPU (S1) ................................................................ 3-60
3.3 Special Relays (SP.M) .................................................................................................................... 3-65
3.4 Special Registers (SP.D) ................................................................................................................ 3-68
3.4.1 A172SHCPUN/A171SHCPUN ................................................................................................. 3-68
3.4.2 A273UHCPU (32 axis feature)/A173UHCPU (S1) ................................................................... 3-76
4. PARAMETERS FOR POSITIONING CONTROL .................................................................... 4- 1 to 4-35
4.1 System Settings ............................................................................................................................... 4- 2
4.2 Fixed Parameters............................................................................................................................. 4- 3
4.2.1 Setting the number of pulses per revolution/travel value per revolution/unit magnification....... 4- 4
4.2.2 Upper stroke limit value/lower stroke limit value ....................................................................... 4- 6
4.2.3 Command in-position range ...................................................................................................... 4- 7
4.2.4 Rapid feedrate setting ............................................................................................................... 4- 8
II
4.3 Servo Parameters ............................................................................................................................ 4- 9
4.3.1 MR- -B servo parameters..................................................................................................... 4-10
4.3.2 Position control gain 1, 2 .......................................................................................................... 4-15
4.3.3 Speed control gain 1, 2............................................................................................................. 4-16
4.3.4 Speed integral compensation ................................................................................................... 4-17
4.3.5 In-position range....................................................................................................................... 4-17
4.3.6 Feed forward gain..................................................................................................................... 4-17
4.3.7 Load inertia ratio....................................................................................................................... 4-18
4.3.8 Automatic tuning....................................................................................................................... 4-18
4.3.9 Servo responsiveness setting................................................................................................... 4-19
4.3.10 Notch filter .............................................................................................................................. 4-20
4.3.11 Electromagnetic brake sequence ........................................................................................... 4-20
4.3.12 Monitor output mode............................................................................................................... 4-20
4.3.13 Optional function 1.................................................................................................................. 4-20
4.3.14 Optional function 2.................................................................................................................. 4-21
4.3.15 Monitor output 1, 2 offset........................................................................................................ 4-22
4.3.16 Pre-alarm data selection......................................................................................................... 4-23
4.3.17 Zero speed ............................................................................................................................. 4-23
4.3.18 Excessive error alarm level .................................................................................................... 4-23
4.3.19 Optional function 5.................................................................................................................. 4-23
4.3.20 PI-PID switching position droop.............................................................................................. 4-24
4.3.21 Torque control compensation factor....................................................................................... 4-24
4.3.22 Speed differential compensation ............................................................................................ 4-24
4.4 Home Position Return Data ............................................................................................................ 4-25
4.5 JOG Operation Data ....................................................................................................................... 4-27
4.6 Parameter Block.............................................................................................................................. 4-28
4.6.1 Relationships among the speed limit value, acceleration time,
deceleration time, and rapid stop deceleration time ............................................................... 4-31
4.6.2 S curve ratio ............................................................................................................................. 4-33
4.6.3 Allowable error range for circular interpolation ......................................................................... 4-34
4.7 Work Coordinate Data .................................................................................................................... 4-35
5. SEQUENCE PROGRAMS AND SFC PROGRAMS ................................................................ 5- 1 to 5-26
5.1 Cautions on Creating a Sequence Program or SFC Program ......................................................... 5- 1
5.2 Motion Program Start Request Instruction (DSFRP/SVST)............................................................. 5- 2
5.2.1 Start request instruction for 1 to 3 axes (DSFRP): when using A172SHCPUN/A171SHCPUN
................................................................................................................................................... 5- 2
5.2.2 Start request instruction for 1 to 8/1 to 4 axes (SVST).............................................................. 5- 5
5.3 Home Position Return Instructions (DSFLP/CHGA) ........................................................................ 5- 8
5.3.1 DSFLP instruction: when using A172SHCPUN/A171SHCPUN ................................................ 5- 8
5.3.2 CHGA instruction...................................................................................................................... 5-10
5.4 Speed Change Instructions (DSFLP/CHGV) .................................................................................. 5-12
5.4.1 DSFLP instruction (When using A172SHCPUN/A171SHCPUN)............................................. 5-12
5.4.2 CHGV instruction...................................................................................................................... 5-15
5.5 Moving Backward during Positioning .............................................................................................. 5-18
5.6 CHGT instruction............................................................................................................................. 5-20
III
5.7 SFC Programs ................................................................................................................................ 5-22
5.7.1 Starting and stopping SFC programs ....................................................................................... 5-22
5.7.2 Motion program start request ................................................................................................... 5-23
6. MOTION PROGRAMS FOR POSITIONING CONTROL....................................................... 6- 1 to 6-133
6.1 Motion Program Makeup.................................................................................................................. 6- 1
6.2 Instructions for Creating Motion Programs ...................................................................................... 6- 4
6.3 G Code List ...................................................................................................................................... 6- 8
6.4 Special M Code List ......................................................................................................................... 6- 9
6.5 Instruction Symbol/Character List ................................................................................................... 6-10
6.6 Method for Setting Positioning Data................................................................................................ 6-12
6.6.1 Direct designation (numerical value) ........................................................................................ 6-12
6.6.2 Indirect designation (variable: #****) ......................................................................................... 6-12
6.6.3 About operational data ............................................................................................................. 6-19
6.6.4 Instruction symbol setting range list ......................................................................................... 6-28
6.6.5 Positioning control unit for 1 axis............................................................................................... 6-30
6.6.6 Control units for interpolation control........................................................................................ 6-30
6.6.7 Control in the control unit of degree ....................................................................................... 6-32
6.7 About Coordinate Systems.............................................................................................................. 6-34
6.8 G Code............................................................................................................................................ 6-35
6.8.1 G00 PTP positioning at rapid feedrate ..................................................................................... 6-38
6.8.2 G01 CP positioning at speed specified in F.............................................................................. 6-40
6.8.3 G02 Circular interpolation CW (Circular arc center coordinate designation) ........................... 6-42
6.8.4 G03 Circular interpolation CCW (Circular arc center coordinate designation)......................... 6-44
6.8.5 G02 Circular interpolation CW (Radius designation)................................................................ 6-46
6.8.6 G03 Circular interpolation CCW (Radius designation) ............................................................. 6-48
6.8.7 G04 Dwell ................................................................................................................................. 6-50
6.8.8 G09 Exact stop check .............................................................................................................. 6-52
6.8.9 G23 Cancel, cancel start invalidity............................................................................................ 6-54
6.8.10 G24 Cancel, cancel start ........................................................................................................ 6-56
6.8.11 G25 High-speed oscillation..................................................................................................... 6-58
6.8.12 G26 High-speed oscillation stop............................................................................................. 6-60
6.8.13 G28 Home position return ...................................................................................................... 6-62
6.8.14 G30 Second home position return........................................................................................... 6-64
6.8.15 G32 Skip................................................................................................................................. 6-66
6.8.16 G43 Tool length offset (+)....................................................................................................... 6-70
6.8.17 G44 Tool length offset (-) ....................................................................................................... 6-72
6.8.18 G49 Tool length offset cancel................................................................................................. 6-74
6.8.19 G53 Mechanical coordinate system selection ........................................................................ 6-76
6.8.20 G54 to G59 Work coordinate system selection....................................................................... 6-78
6.8.21 G61 Exact stop check mode ................................................................................................... 6-80
6.8.22 G64 Cutting mode .................................................................................................................. 6-82
6.8.23 G90 Absolute value command ............................................................................................... 6-84
6.8.24 G91 Incremental value command .......................................................................................... 6-86
6.8.25 G92 Coordinate system setting .............................................................................................. 6-88
6.8.26 G100, G101 Time-fixed acceleration/deceleration, acceleration-fixed acceleration/deceleration
switching instructions ........................................................................................................... 6-90
IV
6.9 M Code............................................................................................................................................ 6-92
6.10 Special M Code............................................................................................................................. 6-92
6.10.1 M00 Program stop.................................................................................................................. 6-93
6.10.2 M01 Optional program stop.................................................................................................... 6-95
6.10.3 M02 Program end................................................................................................................... 6-97
6.10.4 M30 Program end................................................................................................................... 6-99
6.10.5 M98, M99 Subprogram call, subprogram end ...................................................................... 6-101
6.10.6 M100 Preread inhibit ............................................................................................................. 6-103
6.11 Miscellaneous.............................................................................................................................. 6-105
6.11.1 Program control function (IF, GOTO statement) .................................................................. 6-106
6.11.2 Program control function (IF, THEN, ELSE, END statements) ............................................ 6-108
6.11.3 WHILE DO statement........................................................................................................... 6-110
6.11.4 Four fundamental operators, assignment operator (+, -, *, /, MOD, =) ................................ 6-112
6.11.5 Trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN) ......................................... 6-114
6.11.6 Real number to BIN value conversion (INT)......................................................................... 6-116
6.11.7 BIN value to real number conversion (FLT) ......................................................................... 6-118
6.11.8 Functions (SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP) ........................................... 6-120
6.11.9 Logical operators (AND, OR, XOR, NOT, <<, >>)................................................................ 6-122
6.11.10 Move block wait functions (WAITON, WAITOFF).............................................................. 6-124
6.11.11 Parameter block change (PB) ............................................................................................ 6-126
6.11.12 Torque limit value change (TL)............................................................................................ 6-128
6.11.13 Bit device set, reset functions (SET, RST) ......................................................................... 6-130
6.11.14 Conditional branch using bit device (ON, OFF).................................................................. 6-132
7. AUXILIARY AND APPLIED FUNCTIONS................................................................................ 7- 1 to 7-52
7.1 Limit Switch Output Function ........................................................................................................... 7- 2
7.1.1 Limit switch output data ............................................................................................................. 7- 2
7.1.2 Limit switch output function ....................................................................................................... 7- 2
7.2 Backlash Compensation Function.................................................................................................... 7- 4
7.3 Torque Limit Function ...................................................................................................................... 7- 6
7.3.1 Torque limit value changing function......................................................................................... 7- 6
7.4 Electronic Gear Function.................................................................................................................. 7- 8
7.5 Absolute Positioning System........................................................................................................... 7-10
7.6 Home Position Return ..................................................................................................................... 7-13
7.6.1 Near-zero point dog type home position return ........................................................................ 7-13
7.6.2 Count type home position return .............................................................................................. 7-15
7.6.3 Data setting type home position return..................................................................................... 7-16
7.6.4 Execution of home position return............................................................................................ 7-17
7.7 Speed Change ................................................................................................................................ 7-19
7.8 JOG Operation ................................................................................................................................ 7-23
7.8.1 Individual start .......................................................................................................................... 7-23
7.8.2 Simultaneous start.................................................................................................................... 7-27
7.9 Manual Pulse Generator Operation ................................................................................................ 7-31
7.10 Override Ratio Setting Function .................................................................................................... 7-40
7.11 FIN Signal Waiting Function.......................................................................................................... 7-43
7.12 Single Block................................................................................................................................... 7-47
7.13 Enhanced Present Value Control .................................................................................................. 7-51
7.14 High-Speed Reading of Designated Data ..................................................................................... 7-52
V
APPENDICES ......................................................................................................................APP- 1 to APP-79
APPENDIX 1 SCPU ERROR CODE LIST ......................................................................................... APP- 1
Appendix 1.1 SCPU Error Code List .............................................................................................. APP- 1
APPENDIX 2 ERROR CODES STORED BY THE PCPU ................................................................. APP- 5
Appendix 2.1 Motion Program Setting Errors ................................................................................. APP- 7
Appendix 2.2 Minor Errors.............................................................................................................. APP- 8
Appendix 2.3 Major Errors............................................................................................................. APP-16
Appendix 2.4 Servo Errors ............................................................................................................ APP-19
Appendix 2.5 PC Link Communication Errors ............................................................................... APP-33
Appendix 2.6 LED Indications When Errors Occur at the PCPU .................................................. APP-34
APPENDIX 3 SPECIAL RELAYS AND SPECIAL REGISTERS ....................................................... APP-37
Appendix 3.1 Special Relays (SP.M)............................................................................................. APP-37
Appendix 3.2 Special Registers (SP.D)......................................................................................... APP-40
APPENDIX 4 EXAMPLE PROGRAMS ............................................................................................. APP-51
Appendix 4.1 Word Data 1 Word Shift to Left ............................................................................... APP-51
Appendix 4.2 Word Data 1 Word Shift to Right............................................................................. APP-53
Appendix 4.3 Reading M Codes.................................................................................................... APP-55
Appendix 4.4 Error Code Reading................................................................................................. APP-56
Appendix 4.5 Magnitude Comparison and Four Fundamental Operations of 32-Bit Monitor Data
................................................................................................................................ APP-57
APPENDIX 5 SERVO MOTOR TYPE-BASED RATED SPEED AND FEEDBACK PULSE COUNT LIST
.................................................................................................................................... APP-59
APPENDIX 6 PROCESSING TIMES ................................................................................................ APP-60
1. GENERAL DESCRIPTION
1 1
1. GENERAL DESCRIPTION
This manual describes the positioning control parameters, positioning-dedicated devices, positioning methods and other information required to execute positioning control with the motion controller (SV43). The motion controller (SV43) uses the NC language (EIA) (hereafter referred to as the "motion program") as a programming language. The motion controller (SV43) can exercise the following positioning control.
Applicable CPU Number of Axes Controlled in
Positioning Control
A172SHCPUN 8
A171SHCPUN 4
A273UHCPU (32 axis feature) 32
A173UHCPU(S1) 32
In this manual, the above CPUs are collectively referred to as the "servo system CPUs". The following software packages are used to make system settings, and to set, test and monitor the servo parameters and motion programs. SW2SRX-GSV43P software package SW2NX-GSV43P software package
.......................Abbreviated to "GSV43P"
CAUTION!
When designing the system, provide external protective and safety circuits to ensure safety in the event of trouble with the motion controller. There are electronic components which are susceptible to the effects of static electricity mounted on the printed circuit board. When handling printed circuit boards with bare hands you must ground your body or the work bench. Do not touch current-carrying or electric parts of the equipment with bare hands. Make parameter settings within the ranges stated in this manual. Use the program instructions that are used in programs in accordance with the conditions stipulated in this manual. Some devices for use in programs have fixed applications: they must be used in accordance with the conditions stipulated in this manual.
1. GENERAL DESCRIPTION
1 2
Conventions Used in this Manual
Positioning signals are always indicated in the following order: signal for A172SHCPUN signal for A171SHCPUN signal for A273UHCPU (32 axes feature) signal for A173UHCPU(S1). If only one positioning signal is indicated, this means that the signal is used in common by every CPUs. The explanatory text is written with reference to the A172SHCPU: if you are not using an A172SHCPUN, the positioning signals should be read as the positioning signals for the CPU you are using. (For the positioning signals used with each CPU, refer to Appendix 6.)
3. POSITIONING SIGNALS
3.1.24 Error reset command (M1807+20n/M3207+20n)
A172SHCPUN/A171SHCPUN A273UHCPU (32 axis feature) /A173UHCPU(S1)
(1) The error reset command is used to clear the minor error code or major error code storage area of an axis for which the error detection signal has come ON (M1607+20n), and to reset the error detection signal (M1607+20n).
* *
* *
* *: Error code
00
OFF
OFF
ON
Minor error code storage area
Major error code storage area
ON
00
Error reset (M1807+20n)
Error detection (M1607+20n)
(2) The motion program running status is reset if the error is reset during a temporary stop (M1403+10n) made by the stop command (M1800+20n) during an automatic start or if the error is reset during a block stop made by M00/M01.
Block stop made by M00/M01
OFF ON
Temporary stop instruction (M1500+10n)
DSFRP/SVST instruction
Start acceptance (M2001+n)
Temporary stopping (M1403+10n)
Automatically operating (M1402+10n)
Error reset (M1807+20n)
(3) When the error reset command is switched on during automatic operation (M1402+10n ON), the above reset processing is performed after stop processing is executed under the temporary stop command (M1500+10n).
3 - 19
1. GENERAL DESCRIPTION
1 3
1.1 System Configuration
1.1.1 A172SHCPUN system overall configuration
An example system configuration with A172SHCPUN is shown below.
A172SHCPUN A172S
ENC
A1S
Y42 A6BAT
100/200VAC
d8d2d1
M
E
A1S I/O module or
Special function module
Motor slot
Sequencer slot
Main base unit (A178B-S1/A17 B)
PC extension base unit extension cable (A1SC B for A1S6 B and A168B) (A1S NB for A6 B)P Manual pulse generator 1
(MR-HDP01)
d3 Termination resistance
SSCNET1
Motion net cable
M
E
M
E
M
E
PC extension unit Up to one extension base unit for A1S6 B Up to one extension base unit for A168B(GOT compatible) Up to one extension bese unit for A6 B
MR-H-B/MR-J2-B/MR-J-B servo amplifiers Max. 8 axes
PC (DOS/V)
RS422
SSCNET interface card/board (A30CD-PCF/A30BD-PCF)
SSCNET2
Synchronous encoder 1 (MR-HENC)
E
L im
it sw
ith o
ut pu
t
m od
ul e
Battery
Emergency stop input
Communication cable (A270CDCBL M/A270BDCBL M)
PC (DOS/V)
Brake output
External input signals FLS Upper limit LS
RLS Lower limit LS
STOP Stop signal
DOG/CHANGE Near-zero point dog/change
over between speed and position
8
TREN Tracking 1
P o
w er
s u
p p
ly m
o d
ul e
M a
nu al
p u
ls e
g en
er a
to r/
sy n
ch ro
no us
e nc
od er
in te
rf ac
e m
o du
le
Synchronous encoder cable 1 (MR-HSCBL M)
NOTES
(1) When using the PC extension base and bus connection type GOT, choose the A168B as the PC extension base. When not using the PC extension base, the bus connection type GOT can be connected directly to the PC extension base connector of the main base unit.
(2) Use motion slots to mount PC A1S I/O modules if necessary. (3) 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 4
1.1.2 A171SHCPUN system overall configuration
An example system configuration with A171SHCPUN is shown below.
A171SHCPUN A172S
ENC
A1S
Y42 A6BAT
100/200VAC
P
SSCNET1
Motion net cable
PC (DOS/V)
RS422
SSCNET interface card/board (A30CD-PCF/A30BD-PCF)
SSCNET2
d2d1
M
E
d3 Termination resistance
MR-H-B/MR-J2-B/MR-J-B Servo amplifiers MAX.4 axes
M
E
M
E
d4
M
E
E
Motor slot Sequencer slot
M a
nu al
p u
ls e
ge ne
ra to
r/ sy
n ch
ro n
ou s
en co
d er
in te
rf ac
e m
o du
le L
im it
sw ith
o u
tp ut
m o
d u
le
A1S I/O module or
Special function module
Main base unit (A178B-S1/A17 B)
Manual pulse generator 1 (MR-HDP01)
Synchronous encoder 1 (MR-HENC)
PC extension base unit extension cable (A1SC B for A1S6 B and A168B) (A1S NB for A6 B)
PC extension unit Up to one extension base unit for A1S6 B Up to one extension base unit for A168B(GOT compatible) Up to one extension bese unit for A6 B
P o
w e
r su
p pl
y m
o du
le
Emergency stop input
Battery unit
Communication cable (A270CDCBL M/A270BDCBL M)
PC (DOS/V)
Brake output
External input signals FLS Upper limit LS
RLS Lower limit LS
STOP Stop signal
DOG/CHANGE Near-zero point dog/speed/
position switching
4
TREN Tracking 1
Synchronous encoder cable 1 (MR-HSCBL M)
NOTES
(1) When using the PC extension base and bus connection type GOT, choose the A168B as the PC extension base. When not using the PC extension base, the bus connection type GOT can be connected directly to the PC extension base connector of the main base unit.
(2) Use motion slots to mount PC A1S I/O modules if necessary. (3) Though A172SENC has external input signals for 8 axes, make settings
for the first 4 axes (PXO to PXOF). (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
1.1.3 A273UHCPU (32 axis feature) system overall configuration
The system configuration example of the motion controller (SV43) is shown below.
DB COM
A62P A273UHCPU A278
LX
A240
DY
A221
AM-20
A211
AM-20
A222AM-20 A230P
AC motor drive module (ADU)
1 2 3 4
M E
M E
M E
M E
M E
DB OUT
DB IN-
DB IN+ Brake output
Emergency
stop 100/200VAC
MR-JBAT
4,8,8 n
A278B/A275B
MR-RB064
MR-RB10
MR-RB30
MR-RB50
A300RU-50
Regenerative brake resistor
3-phase power supply
EMG
200V
External input signals (5 points)
FLS Upper LS
RLS Lower LS
STOP Stop signal
DOG Near-zero point dog
CHANGE Speed position change
MR-HCBL M
MR-HSCBL M
Up to 16 axes
(Up to 32 axes including those of separated amplifiers)
8
BRAKE
HA-*H series motor (ABS and incremental systems may be mixed)
Separated amplifier (MR-H-B/MR-J-B/MR-J2-B servo amplifier)
M E
M E
M E
0 d1
1 d2
7 d8
Termination
connector
MR-TM/MR-A-TM MR-HCBL M
MR-HSCBL M
MR-JCCBL M
MR-JHSCBL M HA-*H series motor
HC-MF series motor
HA-FF series motor
HA-SF series motor
A62P AY42 A278
LX
A273
EX
A271
DVP
A221
AM
A211
AM
1
A268B/A255B
External input signal
TREN tracking enable
P Manual pulse generator (INC)
Limit output
64 points
3
3
Battery unit
(ADU(ABS))
M E
M E
M E
0 d1
1 d2
7 d8
M E
M E
0 d1
1 d2
M E
7 d8
M E
M E
M E
0 d1
1 d2
7 d8
Motion network cable
(between separated amplifier)
MR-HBUS M
MR-J2HBUS M-A
MR-J2HBUS M
MR-JBAT
Battery unit
Needed when using MR-J-B(ABS)
Needed for each network
MR-JBAT
1
PC extension base
(A68B/A65B/A62B)
MELSECNET(II)
MELSECNET/B
MELSECNET/10
2
4
AX AY
Motion module
PC I/O modules
Servo power supply module line number
1 1 1 1 1
0000 0 0
Servo power supply module (A230P),
AC motor drive module,
A278LX (brake output) and
A240DY
EMG
S S
C N
E T
1 S
S C
N E
T 2
S S
C N
E T
3 S
S C
N E
T 4
A230P
Motion network cable
(between CPU and
separated amplifier)
MR-JBUS M
MR-J2HBUS M-A
C o
n tr
o l p
ow er
s up
p ly
m od
ul e
C P
U m
o du
le
S e
rv o
e xt
e rn
a l
si g
n a
l m o
d ul
e D
yn a
m ic
b ra
ke m
od ul
e
Servo power supply module
Servo power supply module line number
Set the line information (wiring information) of:
in "System settings".
P o
w er
s u
p p
ly m
o d
ul e
Sequencer module
N e
tw o
rk m
od u
le
Up to 8 axes/network, up to a total of 32 axes ( Up to 32 axes including those of ADUs)
M an
-m ac
h in
e co
n tr
o l m
od ul
e P
u ls
e g
en e
ra to
r/ sy
n ch
ro n
ou s
e n
co d
e r
in te
rf a
ce m
o d
ul e
L im
it sw
itc h
o ut
p u
t m
o du
le
Up to four extension bases
The I/O numbers of the "PC I/O modules" loaded into the main and
motion extension bases should be assigned to higher than those
used in the PC extension. (Set in "System settings")
PC special modules must not be loaded.
1. GENERAL DESCRIPTION
1 6
1.1.4 A173UHCPU(S1) system overall configuration
An example system configuration with A173UHCPU(S1) is shown below.
A173UHCPU A172S
ENC
A1S
Y42
100/200VAC
P
SSCNET1
SSCNET interface card/board (A30CD-PCF /A30BD-PCF)
SSCNET
M
E
M
E
M
E
M
E
Motor slot Sequencer slot
e xt
e rn
a l s
ig na
l in
p ut
m od
u le
Li m
it sw
ith o
ut pu
t
m o
d ul
e
AnS I/O module or
Special function module
Main base unit (A178B-S2)
Manual pulse generator 1 (MR-HDP01)
Emergency stop
PC (DOS/V)
Brake output
External input signals FLS Upper limit LS
RLS Lower limit LS
STOP Stop signal
DOG/CHANGE Near-zero point dog/speed/
position switching
8
TREN Tracking 1
A172S
ENC
A1S
Y41
P C
in p
ut m
o d
u le
M a
nu al
p u
ls e
ge ne
ra to
r/ sy
n ch
ro no
us en
co de
r PC I/O module
A1S
6 P
AnS I/O module or
Special function module
PC extension base: A1S6 B/A168B 1 extension base can be increased *1.
A172SENC: Up to 4 modules usable
When 4 modules are used External input signals of 32 axes can be entered. Tracking enable inputs of 4 points 3 manual pulse generators usable Brake output of 1 point (all axes in batch)
M
E
M
E
M
E
M
E
SSCNET2
SSCNET3
SSCNET4
M
E
M
E
M
E
M
E
M
E
M
E
M
E
M
E
*1: Use A168B when using PC extension base and connecting GOT by bus connection.
MR-J2-B/MR-H-B(N) (up to 8 axes per SSCNET line)
NOTES
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 7
1.1.5 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 A172SHCPUN
Max. 4 axes for A171SHCPUN
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 which use
external signals FLS, RLS, STOP, and DOG/CHANGE for A172SENC CTRL connector signals PX0 to PX1F. The axes which do not use external signals may be left unspecified.
CPU unit Setting range Default value
A172SHCPUN Set axes 1 to 8 for
PX0 to PX1F.
Axes 1 to 8
are set.
A171SHCPUN
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
/synchronous
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 A171SHCPUN and A172SHCPUN. However, it must be set as A172SENC during system setting.
Man/machine
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
A172SHCPUN X/Y0X/Y3FF
A171SHCPUN X/Y0X/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 Up to 1 stage
Use this unit for systems capable of one-stage extension.PC
extension
base unit A168B Up to 3 stages
Use this base in a system having two or more extension bases.
1. GENERAL DESCRIPTION
1 8
POINT
1. When using the existing A171SCPU user program and parameters, perform the following procedure: (1) Start the peripheral S/W package by A172SHCPUN or A171SHCPUN,
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 A172SHCPUN)
Replaces A171SCPU with A172SHCPUN.
Replaces A171SENC with A172SENC.
YES NO
The character string "A171SHCPUN" is displayed only when A171SHCPUN is used for startup.
This message is displayed only when A171SENC has been set.
(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.
(4) Utilization of motion program (a) The handling of the variable type changes.
When a variable has no representation of the type, it is handled as a 32-bit integer type in the A171SCPU. A variable is handled as a 16-bit integer type in the A172SHCPUN/ A171SHCPUN. "L" or ":L" is added when a variable is handled as a 32-bit integer type in the A172SHCPUN/A171SHCPUN. Example: 1) For A171SCPU #0 ..... [D1,D0] 32-bit integer type 2) For A172SHCPUN/A171SHCPUN #0 ..... [D0] 16-bit integer type When handled as 32-bit integer type #0:L ..... [D1,D0] For more information, refer to "6.6 Method for Setting the Positioning Data".
(b) Add a return code to the last line of a program. The GSV43P edit screen changes. Before utilizing the program created on SW2SRX-GSV43 Ver. F/SW2NX-GSV43P Ver. B or earlier, add a return code to the last line of the program. After utilization, make an error check for each program number. The program may not be displayed properly in the presence of an error.
* Other than system setup data and motion program data can be used without change.
1. GENERAL DESCRIPTION
1 9
1.2 Table of Software Package
Peripheral software package Unit OS software package model name
Use Peripheral
devices Model name Applicable
Version
For
A172SH
CPUN
For
A171SH
CPUN
For
A273UH
CPU
(32 axis
feature)
For
A173UH
CPU
For machine
tool
peripheral
DOS/V English SW2SRX-GSV43PE From 00A on SW0SRX-
SV43C
SW0SRX-
SV43F
SW2SRX-
SV43U
SW2SRX-
SV43A
1.3 Positioning Control by the Servo System CPU
A servo system CPU can execute positioning control and sequence control for 8 axes (when using A172SHCPUN), 4 axes (when using A171SHCPUN) or 32 axes (when using A273UHCPU (32 axis feature) or A173UHCPU) by means of a multi- axis positioning control CPU (hereafter called the "PCPU") and a sequence control CPU (hereafter called the "SCPU"). Sequence control capabilities are equivalent to those of the A2SHCPU's I/O and memory enhanced version (when using A172SHCPUN), to those of the A2SHCPU (when using A171SHCPUN), or to those of the A3U (when using A273UHCPU or A173UHCPU).
(1) Control handled by the SCPU (a) Sequence control
The SCPU controls I/O modules and special function modules in accordance with the sequence program. (The method for executing a sequence program is the same as in the A2SHCPU's I/O and memory enhanced version, the A2SHCPU and the A3U.)
(b) Start of positioning start in accordance with sequence program, and setting of positioning data 1) The SCPU requests motion programs to be executed by the DSFRP
instruction (up to 3 axes for interpolation) or by the SVST instruction (up to 4 axes for interpolation).
2) The SCPU make a home position return or speed change using the DSFLP instruction or CHGA/CHGV instruction.
3) The SCPU performs JOG operation. 4) The SCPU sets the data required to execute manual pulse generator
operation.
(2) Control handled by the PCPU (a) The PCPU executes motion programs requested to be run by the
DSFRP/SVST instruction from the sequence program to exercise the preset positioning control. Positioning control data are the positioning control parameters and the positioning data set in motion programs.
(b) The PCPU changes the set home position return or positioning speed set in the DSFLP/CHGA/CHGV instruction from the sequence program.
(c) The PCPU performs positioning with a manual pulse generator.
1. GENERAL DESCRIPTION
1 10
[Executing Positioning Control with a Servo System CPU]
The servo system CPU executes positioning control in accordance with the motion programs designated by the sequence program of the SCPU. An overview of the method used for positioning control is presented below.
Servo System CPU System
Request for execution of motion program
Sequence program Created and modified using a peripheral device*1
SCPU Control
Example: DSFRP instruction (A273UHCPU (32 axIs feature) and A173UHCPU: unusable
Example: SVST instruction
1) In the sequence program, the motion program number and controlled axis number are set with the DSFRP/SVST instruction.
2) When the DSFRP/SVST instruction is executed, the PCPU is requested to execute the program with the designated servo program number.
DSFRP D1 K15 M2001
"Execution positioning" command
Interlock condition for axis 1
Motion program No.15
Axis 1 (Controlled axis No.)
Motion program start request
SVST J1 K15 M2001
"Execution positioning" command
Interlock condition for axis 1
Motion program No.15
Axis 1 (Controlled axis No.)
Motion program start request
..............
(1) Motion programs and positioning control parameters are set using a peripheral device.
(2) Positioning is started by the sequence program (DSFRP/SVST instruction). (a) The motion program number and controlled axis number are designated by
the DSFRP/SVST instruction. 1) The motion program number can be set either directly or indirectly. 2) The controlled axis number can only be set directly.
1. GENERAL DESCRIPTION
1 11
(3) The positioning specified by the designated motion program is executed.
Servo
amplifier
Servo motor
Motion program ............... Created and modified using a peripheral device*1
PCPU Control
0015; N10 G91 G00; G28 X0. Y0.; X250.; N20 M20; X-50. Y120.; N30 G01 X25. F500.;
N80 M21; M02; %
Program end instruction which must be set
G-coded motion program (Refer to section 6.1.)
Motion program No. (Program No. allowing program designation with the SVST instrctuin)
System settings
Fixed parameters
Servo parameters
Parameters block
Home position return data
JOG operation data
Work coordinate setting
System data such as axis allocations
Fixed data decided, for example, by the mechanical system
Data required to execute acceleration, deceleration, etc. in positioning control Data required to execute home position retrun
Data required for JOG operation
ON/OFF pattern data required to execute the limit switch output function
Data used to set the work coordinate system
Set and changed using a peripheral device *1
Positioning control parameters
Data decided by the specifications of the connected servo equipment
Limit switch output data
REMARK
*1: Any of the following peripheral devices, running the GSV43P software, can be used. An IBM PC/AT or 100% compatible machine in which PC-DOS 5.0 or a
later version has been installed (hereafter called an IBM PC)
IBM is a registered trade mark of International Business Machines Corporation
1. GENERAL DESCRIPTION
1 12
[Executing JOG Operation with a Servo System CPU]
The servo system CPU can be used to perform JOG operation on a designated axis in accordance with a sequence program. An overview of JOG operation is presented below.
Servo System CPU System
Request for execution of JOG operation
Sequence program ....... Created and modified using a peripheral device*1
SCPU Control
In the sequence program, after setting the JOG speed, turn the JOG operation execution flag (M1802/M1803) ON.
DMOVP K1000 D964
Setting of "JOG speed setting completed flag"
Switches the forward JOG execution command (M1802) ON/OFF
SET M10
M1802
M2001 JOG speed setting
Forward JOG execution command
Reverse JOG execution command (for interlock)
Interlock signal for axis 1
JOG speed setting command
M10 M1803
(1) Set the positioning control parameters using a peripheral device.
(2) Using the sequence program, set the JOG speed in the JOG operation speed setting register for each axis.
(3) JOG operation is executed while the JOG operation execution flag is kept ON by the sequence program.
1. GENERAL DESCRIPTION
1 13
Servo motor
Servo
amplifier
PCPU Control
System settings
Fixed parameters
Servo parameters
Parameters block
Home position return data
JOG operation data
Work coordinate setting
System data such as axis allocations
Fixed data decided, for example, by the mechanical system
Data required to execute acceleration, deceleration, etc. in positioning control Data required to execute home position retrun
Data required for JOG operation
ON/OFF pattern data required to execute the limit switch output function
Data used to set the work coordinate system
Set and changed using a peripheral device *1
Positioning control parameters
Data decided by the specifications of the connected servo equipment
Limit switch output data
REMARK
*1: Any of the following peripheral devices, running the GSV43P software, can be used. IBM PC
1. GENERAL DESCRIPTION
1 14
[Executing Manual Pulse Generator Operation with a Servo System CPU]
When executing positioning control with a manual pulse generator connected to an A172SENC or A171SENC, manual pulse generator operation must be enabled by the sequence program. An overview of positioning control using manual pulse generator operation is presented below.
Servo System CPU System
Manual pulse generator used Operated axis number 1 pulse input magnification Manual pulse generator enable
Sequence program
SCPU Control
Use the sequence program to turn the manual pulse generator
operation enable flag ON after setting the manual pulse generator
used, operation number, and magnification for 1 pulse input.
MOVP K1 D1012
1 pulse input magnification setting is 100
Setting of axis 1 manual pulse generator operation enable flag
Setting for controlling axis 1 with manual pulse generator P1Operated axis
Input manual pulse generator used
MOVP K100 D1016
SET M2012
RST M2012 Manual pulse generator operation completed flag
Resetting of axis 1 manual pulse generator operation enable flag
(1) Set the manual pulse generator used, operated axis number, and magnification for 1 pulse input by using the sequence program.
(2) Turn the manual pulse generator operation enable flag ON by using the sequence program.
...........................................manual pulse generator operation enabled
(3) Perform positioning by operating the manual pulse generator.
(4) Turn the manual pulse generator operation enable flag OFF by using the sequence program.
....................................... manual pulse generator operation completed
1. GENERAL DESCRIPTION
1 15
Servo
amplifier
Servo motor
PCPU
Manual pulse
generator
1. GENERAL DESCRIPTION
1 16
(1) Positioning control parameters The positioning control parameters are classified into the eight types shown below. Parameter data can be set and corrected interactively by using a peripheral device.
Item Description Reference
1 System settings The system settings set the modules used, axis numbers, etc. Section 4.1
2 Fixed parameters
Fixed parameters are set for each axis. Their settings are
predetermined by the mechanical system. They are used for
servo motor control during positioning control.
Section 4.2
3 Servo
parameters
Servo parameters are set for each axis. Their settings are
predetermined by the type of servomotor connected. They are
set to control the servomotors during positioning control.
Section 4.3
4 Home position
return data
Home position return data is set for each axis. The return
direction, return method, return speed, etc. are set for home
position return.
Section 4.4
5 JOG operation JOG operation data is set for each axis. The speed limit value
and parameter block number are set for JOG operation. Section 4.5
6 Parameter block
Up to 16 parameter blocks are set for acceleration,
deceleration, speed control, etc. during positioning control.
They are designated by the servo program, JOG operation
data, and home position return data to easily change
acceleration and deceleration (acceleration time, deceleration
time, and speed limit value) during positioning control.
Section 4.6
7 Limit switch
output data
Limit switch output data (ON/OFF pattern data) is set for each
axis to be used when "USE" is set for the limit switch output
setting in the fixed parameter. When positioning control takes
place on an axis for which limit switch output data has been
set, the set ON/OFF pattern of the axis is output to an external
destination.
Section 7.1
8 Work coordinate
data
Data used to set the work coordinate system. 6 different work
coordinates can be set per axis.
1) G54 Work coordinate system 1
2) G55 Work coordinate system 2
3) G56 Work coordinate system 3
4) G57 Work coordinate system 4
5) G58 Work coordinate system 5
6) G59 Work coordinate system 6
Section 4.7
1. GENERAL DESCRIPTION
1 17
(2) Motion program A motion program is designed to exercise positioning control and is requested to be started by the sequence program. It comprises a motion program number, G code and positioning data. For details, see Chapter 6. Motion program No. ....... This number is designated in the sequence program. G code ........................... Indicates the type of positioning control. Positioning data ............. Needed to execute the G code. Required data is
predetermined for each G code.
(3) Sequence program The sequence program serves to enable the execution of positioning control by motion programs, JOG operation, and manual pulse generator operation. For details, see Chapter 5.
2. PERFORMANCE SPECIFICATIONS
2 1
2. PERFORMANCE SPECIFICATIONS
2.1 SCPU Performance Specifications
Table 2.1.1 and 2.1.2 give the performance specifications of the SCPU.
Table 2.1.1 SCPU Performance Specifications (A172SHCPUN/A171SHCPUN)
Item A172SHCPUN A171SHCPUN
Control method Stored program repeated operation
I/O control method Refresh method/direct method (selectable)
Programming language Sequence control dedicated language
(Relay symbol language, logic symbol language, MELSAP II (SFC))
Sequence instructions 26
Basic instructions 131
Applied instructions 102
Special dedicated instructions 12
Number of instructions
Motion dedicated instructions 6
Direct method 0.25 to 1.9 s/stepProcessing speed (s)
(Sequence instruction) Refresh method 0.25 s/step
Number of I/O points 2048 (X/Y0 to X/Y7FF)
Number of real I/O points 1024 (X/Y0 to X/Y3FF) 512 (X/Y0 to X/Y1FF)
Watchdog timer (WDT) 10 to 2000ms
Memory size (internal RAM) 192 kbytes 64 kbytes
Main sequence program Max. 30 k steps Max. 14 k steps
Sub-sequence program None NoneProgram capacity
Micro computer program Max. 58 kbytes Max. 26 kbytes
No. of internal relays (M) (*1) 1000 (M0 to M999)
No. of latch relays (L) 1048 points (M1000 to M2047)
No. of step relays (S) 0 point (none at initial status)
Total 2048 points common to
M, L, S
(set with parameters)
No. of link relays (B) 1024 points (B0 to B3FF)
Points 256 points
Time setting Device
100 ms timer 0.1 to 3276.7s T0 to T199
10 ms timer 0.01 to 327.67s T200 to T255
100 ms elapsed time indicator 0.1 to 3276.7s none at initial
status
SpecificationsTimers (T)
Set with parameters
Points 256 points
Setting range Device
Normal counter 1 to 32767 C0 to C255
Interrupt program counter 1 to 32767 none at initial
status
SpecificationsCounters (C)
Set with parameters
No. of data registers (D) (*1) 1024 points (D0 to D1023)
No. of link registers (W) 1024 points (W0 to W3FF)
No. of annunciators (F) 256 points (F0 to F255)
No. of file registers (R) Max. 8192 points (R0 to R8191) (set with parameters)
No. of accumulators (A) 2 points (A0, A1)
No. of index registers (V, Z) 2 points (V, Z)
No. of pointers (P) 256 points (P0 to P255)
No. of interrupt pointers (I) 32 points (I0 to I31)
D ev
ic e
No. of special-function relays (M) 256 points (M9000 to M9255)
2. PERFORMANCE SPECIFICATIONS
2 2
Table 2.1.1 SCPU Performance Specifications (Continued)
Item A172SHCPUN A171SHCPUN
No. of special-function registers (D) 256 points (D9000 to D9255)
No. of expansion file register block Max. 10 blocks
(set by memory capacity)
Max. 2 blocks
(set by memory capacity)
No. of comments Max. 4032 (64 kbytes), 1 point = 16 bytes
(Set in 64-point unit)
Number of expansion comments (*2) Max. 3968 points (63 kbytes), 1 point = 16 bytes
(Set in 64-point unit)
Self-diagnostic function Watchdog error monitoring, memory/CPU/input/output/battery, etc. error
detection
Operation mode on error Select stop/continue
Output mode selection when switching from STOP to
RUN
Select re-output operation status before STOP (default) or output after
operation execution.
Clock function Year, month, day, hour, minute, day of the week (leap year automatic
distinction)
Program/parameter storage in ROM Not possible
(*1) Range of positioning dedicated devices differs depending on the OS. For details, see Chapter 3.
(*2) The expansion comments are not stored in the internal memory of the CPU.
2. PERFORMANCE SPECIFICATIONS
2 3
Table 2.1.2 SCPU Performance Specifications (A273UHCPU/A173UHCPU(S1))
Item A273UHCPU A173UHCPU A173UHCPU-S1
Control method Stored program repeated operation
I/O control method Refresh method (partial direct I/O enabled by instruction)
Programming language Sequence control dedicated language
(Relay symbol language, logic symbol language, MELSAP II (SFC))
Sequence instructions 22
Basic instructions 252
Applied instructions 252
Special dedicated instructions 204
Number of instructions
Motion dedicated instructions 4
Processing speed (s) (Sequence instruction) 0.15 s/step
Number of I/O points 8192 (X/Y0 to X/Y1FFF)
Number of real I/O points 2048 (X/Y0 to X/Y7FF) 2048 (X/Y0 to X/Y7FF)
(Within the range of 1 expansion base unit)
Watchdog timer (WDT) 200ms
Memory size (internal RAM) For loaded memory cassette capacity (Max. 1024kbytes)
256 kbytes 1024kbytes
Main sequence program Max. 30 k steps Program capacity
Sub-sequence program Max. 30 k steps
No. of internal relays (M) (*1) 8191
(M0 to M999, M2048 to M8191)
No. of latch relays (L) 1048 points (M1000 to
M2047)
No. of step relays (S) 0 point (none at initial
status)
Total 8191 points common to M, L, S
(set with parameters)
No. of link relays (B) 8192 points (B0 to B1FFF)
Points 2048 points (Initial status: 256 points)
Time setting Device
100 ms timer 0.1 to 3276.7s T0 to T199
10 ms timer 0.01 to 327.67s T200 to T255
100 ms elapsed time indicator 0.1 to 3276.7s none at initial
status
Extended timer Time set by word device (D, W, R)
T256 to T2047
Timers (T) Specifications
Set with parameters
Points 1024 points (Initial status: 256 points)
Setting range Device
Normal counter 1 to 32767 C0 to C255
Interrupt program counter C244 to 255 none at initial
status
Extended counter Count value set by word device
(D, W, R) C256 to C1023
Counters (C) Specifications
Set with parameters
No. of data registers (D) (*1) 8192 points (D0 to D8191)
No. of link registers (W) 8192 points (W0 to W1FFF)
No. of annunciators (F) 2048 points (F0 to F2047)
No. of file registers (R) Max. 8192 points (R0 to R8191) (set with parameters)
No. of accumulators (A) 2 points (A0, A1)
No. of index registers (V, Z) 14 points (V, V1 to V6, Z, Z1 to Z6)
No. of pointers (P) 256 points (P0 to P255)
No. of interrupt pointers (I) 32 points (I0 to I31)
D ev
ic e
No. of special-function relays (M) 256 points (M9000 to M9255)
2. PERFORMANCE SPECIFICATIONS
2 4
Table 2.1.2 SCPU Performance Specifications (Continued)
Item A273UHCPU A173UHCPU A173UHCPU-S1
No. of special-function registers (D) 256 points (D9000 to D9255)
No. of expansion file register block
Max. 46 blocks
(set by memory
cassette or memory
capacity)
Max. 2 blocks
(set by memory
capacity)
Max. 46 blocks
(set by memory
capacity)
No. of comments Max. 4032 (64 kbytes), 1 point = 16 bytes
(Set in 64-point unit)
Number of expansion comments (*2) Max. 3968 points (63 kbytes), 1 point = 16 bytes
(Set in 64-point unit)
Self-diagnostic function
Watchdog error
monitoring,
memory/CPU/input/out
put/battery, etc. error
detection
Watchdog error monitoring
(watchdog timer fixed to 200msec)
Operation mode on error Select stop/continue
Output mode selection when switching from STOP to
RUN
Select re-output operation status before STOP (default) or output after
operation execution.
Clock function (*3) Year, month, day, hour, minute, day of the week (leap year automatic
distinction)
Program/parameter storage in ROM Not possible
RUN-time start method Initial start
Latch (power failure compensation) range L1000 to L2047 (default) (latch ranges can be set for L, B, T, C, D and
W)
Remote RUN and PAUSE contacts From among X0 to X1FFF, one point can each be set as the RUN and
PAUSE contacts.
I/O assignment The number of I/O points occupied and module type can be registered.
Step run Sequence program operation can be executed and stopped.
Interrupt processing Interrupt or cyclic interrupt signal can be used to run interrupt program.
Data link MELSECNET/10, MELSECNET(II)
(*1) Range of positioning dedicated devices differs depending on the OS. For details, see Chapter 3.
(*2) The expansion comments are not stored in the internal memory of the CPU.
(*3) The year data read by the clock element is only the lower two digits of the year.
When used in sequence control, the year data must be compensated for by the sequence program in some applications of using the data.
2. PERFORMANCE SPECIFICATIONS
2 5
2.2 PCPU Performance Specifications
Table 2.2.1 and 2.2.2 give the performance specifications of the PCPU.
Table 2.2.1 PCPU Performance Specifications (A172SHCPUN/A171SHCPUN)
Item A172SHCPUN A171SHCPUN
Number of control axes 8 axes (simultaneous: 2 to 4 axes,
independent: 8 axes)
4 axes (simultaneous: 2 to 4 axes,
independent: 4 axes)
Interpolation functions Linear interpolation (4 axes max.), circular interpolation (2 axes)
Control modes PTP(point to point), constant speed control, high-speed oscillation control
Control units mm ! inch ! degree
Programming language Dedicated instructions (NC language (EIA))
Capacity 59kbytes Motion
program Number of points
for positioning
Approx. 2700 points/axis
(These values vary depending on the programs. Positioning data can be designated indirectly.)
Program setting method Setting with an IBM PC, running the GSV43P software
Number of simultaneously
startable programs 8 programs
PTP : Selection of absolute data method or
incremental method
Constant speed control : The absolute method and incremental method
can be used together
Method
High-speed oscillation control : Absolute data method
Commands can be selected for each axis.
Control Unit Command Unit Address Setting Range Travel Value Setting
Range
mm 104 mm
inch 105 inch 2147483648 to 2147483647
degree 105 degree 0 to 35999999
0 to 2147483647
Position
commands
Control Unit Speed Setting range
mm 0.01 to 6000000.00 (mm/min)
inch 0.001 to 600000.000 (inch/min)
degree 0.001 to 2147483.647 (degree/min)
Positioning
Speed command
(command unit)
(*1)
Acceleration-fixed acceleration/deceleration Time-fixed acceleration/deceleration
Acceleration time: 1 to 65535ms
Deceleration time: 1 to 65535ms
Acceleration/deceleration time: 1 to 5000ms
(Only constant speed control is possible.)
Automatic
trapezoidal
acceleration/
deceleration
Acceleration/
deceleration
control S curve
acceleration/
deceleration
S curve ratio setting: 0 to 100%
Backlash
compensation (0 to 65535) position command unit (units converted to pulses: 0 to 65535 pulses)
Compensation
Electronic gear Compensation function for error in actual travel value with respect to command value
Home position return function
When an absolute position system is not used : Selection of near-zero point dog type or count
type
When an absolute position system is used : Selection of data set type, near-zero point dog
type or count type
JOG operation function Provided
2. PERFORMANCE SPECIFICATIONS
2 6
Table 2.2.1 PCPU Performance Specifications (Continued)
Item A172SHCPUN A171SHCPUN
Manual pulse generator operation
function
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 10000. It is possible to set the smoothing magnification.
M function M code output function provided
M code completion wait function provided
Skip function Provided
Number of output points 8 point/axis Limit switch output function
Number of ON/OFF setting points 10 points/axis
Override ratio setting function Override ratio setting: 0 to 100%
Number of input
points
Max. 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 data method or incremental method for each axis)
(*1) Acceleration-fixed acceleration/deceleration and time-fixed acceleration/deceleration are switched over as indicated below.
Acceleration-fixed
acceleration/deceleration
Time-fixed
acceleration/deceleration
During G100
G00 (without M code
designation)
G28
G30
G53
During G100
G00 (with M code designation)
G01
G02
G03
G32
All move commands during
G101 -
2. PERFORMANCE SPECIFICATIONS
2 7
Table 2.2.2 PCPU Performance Specifications (A273UHCPU/A173UHCPU(S1))
Item A273UHCPU (32 axis feature) A173UHCPU(S1)
Number of control axes 32 axes (simultaneous: 2 to 8 axes, independent: 32 axes)
Interpolation functions Linear interpolation (4 axes max.), circular interpolation (2 axes)
Control modes PTP(point to point), constant speed control, high-speed oscillation control
Control units mm ! inch ! degree
Programming language Dedicated instructions (NC language (EIA))
Capacity 126kbytes Motion
program Number of points
for positioning
Approx. 5400 points/axis
(These values vary depending on the programs. Positioning data can be designated indirectly.)
Program setting method Setting with an IBM PC, running the GSV43P software
Number of simultaneously
startable programs 8 programs
PTP : Selection of absolute data method or
incremental method
Constant speed control : The absolute method and incremental method
can be used together
Method
High-speed oscillation control : Absolute data method
Commands can be selected for each axis.
Control Unit Command Unit Address Setting Range Travel Value Setting
Range
mm 104 mm
inch 105 inch 2147483648 to 2147483647
degree 105 degree 0 to 35999999
0 to 2147483647
Position
commands
Control Unit Speed Setting range
mm 0.01 to 6000000.00 (mm/min)
inch 0.001 to 600000.000 (inch/min)
degree 0.001 to 2147483.647 (degree/min)
Positioning
Speed command
(command unit)
(*1)
Acceleration-fixed acceleration/deceleration Time-fixed acceleration/deceleration
Acceleration time: 1 to 65535ms
Deceleration time: 1 to 65535ms
Acceleration/deceleration time: 1 to 5000ms
(Only constant speed control is possible.)
Automatic
trapezoidal
acceleration/
deceleration
Acceleration/
deceleration
control S curve
acceleration/
deceleration
S curve ratio setting: 0 to 100%
Backlash
compensation (0 to 65535) position command unit (units converted to pulses: 0 to 65535 pulses)
Compensation
Electronic gear Compensation function for error in actual travel value with respect to command value
Home position return function
When an absolute position system is not used : Selection of near-zero point dog type or count
type
When an absolute position system is used : Selection of data set type, near-zero point dog
type or count type
JOG operation function Provided
2. PERFORMANCE SPECIFICATIONS
2 8
Table 2.2.2 PCPU Performance Specifications (Continued)
Item A273UHCPU (32 axis feature) A173UHCPU(S1)
Manual pulse generator operation
function
Up to 3 manual pulse generators are connectable. Up to 3 axes can be operated simultaneously
per manual pulse generator.
Input magnification setting: 1 to 10000, with smoothing magnification setting
M function M code output function provided
M code completion wait function provided
Skip function Provided
Number of output points 8 point/axis Limit switch output function
Number of ON/OFF setting points 10 points/axis
Override ratio setting function Override ratio setting: 0 to 100%
Number of input
points
Max. 11 points
(TREN input of A273EX (3 points) + one motion
slot PC input module (8 points))
Max. 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 data method or incremental method for each axis)
(*1) Acceleration-fixed acceleration/deceleration and time-fixed acceleration/deceleration are switched over as indicated below.
Acceleration-fixed
acceleration/deceleration
Time-fixed
acceleration/deceleration
During G100
G00 (without M code
designation)
G28
G30
G53
During G100
G00 (with M code designation)
G01
G02
G03
G32
All move commands during
G101 -
2. PERFORMANCE SPECIFICATIONS
2 9
2.3 The Differences between A172SHCPUN/A171SHCPUN and A171S(S3) and the Differences between
A273UHCPU (32 axis feature) and A173UHCPU(S1)
2.3.1 The differences between A172SHCPUN/A171SHCPUN and A171S(S3)
Item A172SHCPUN A171SHCPUN A171SCPU(S3)
Number of control axes 8 axes 4 axes 4 axes
3.5 ms/1 to 3 axes
M ot
io n
Computing frequency 3.5ms/1 to 8 axes 3.5ms/1 to 4 axes SV43 7.1 ms/4 axes
Sequencer CPU
Equivalent to reinforced
I/O memory of
A2SHCPU
Equivalent to A2SHCPU Equivalent to A1SCPU
Direct method 0.25 to 1.9 s/step 1.0 to 2.3 s/stepProcessing speed (s)
(Sequence instruction) Refresh method 0.25 s/step 1.0 s/step
No. of I/O 2048 points No. of actual I/O 1024 points 512 points 256 points
Memory capacity (built-in RAM) 192 kbytes (Equivalent to
A3NMCA24)
64 kbytes (Equivalent to
A3NMCA8) 32 kbytes
Program capacity (main sequence) Max. 30 k step Max. 14 k step Max. 8 k step
No. of file register (R) Max. 8192 points Max. 4096 points
No. of expansion file register blocks (*1) Max. 10 blocks Max. 3 blocks None
MELSECNET/J " (Supported by special commands) " (By means of
FROM/TO commands)
P C
Number of PC extension base unit Max. three (*2) Max. one
Pulser synchronous encoder interface unit A172SENC
(Corresponding to external signal input 8-axes)
A171SENC
(Corresponding to exter-
nal signal input 4-axes)
A171S : 1CH.
No. 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)
S ys
te m
c on
fig ur
at io
n
No. of available A271DVP Unavailable Max. two
Sequence program, parameter
Motion program
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.
A171SCPU A172SH/A171SHCPUN
A171SENC A172SENC
Support of high-resolution encoder
(32768PLS/131072PLS) "
A torque limit value can be changed from a
sequence program (CHGT instruction
addition).
"
A dd
iti on
al f
un ct
io ns
Retracing during positioning "
(*1) No. of expansion file register blocks varies depending on the setting of program capacity, No. of file registers, and No. of comments.
(*2) Up to one extension base for the MELSEC PC A2SHCPU-S1/A2SHCPU.
2. PERFORMANCE SPECIFICATIONS
2 10
2.3.2 The differences between A273UHCPU and A173UHCPU(S1)
Item A273UHCPU A173UHCPU(S1)
External input A278LX, A273EX used A172SENC used
(up to 4 inputs usable)
DOG/CHANGE signal Near-zero point DOG signal and
CHANGE signal are independent
Near-zero point DOG signal and
CHANGE signal are shared
Synchronous encoder 12 encoders usable 4 encoders usable
Manual pulse generator 3 manual pulse generators usable:
usable with one A273EX
3 manual pulse generators usable: one
A172SENC needed per one manual
pulse generator
High-speed read (TREN input) 3 points 1 point
External input clutch 12 points 4 points
Usable servo amplifier
MR-J2- B/MR-H B(N)/
MR-J B
ADU (AC motor drive module)
MR-J2- B/MR-H B(N)/
MR-J B
Motion extension base Within 4 extension bases None
M ot
io n
co nt
ro l
Cam data 256 lines of resolution 256 pcs. (set
by memory cassette)
A173UHCPU
...... 256 lines of resolution 64 pcs.
A173UHCPU-S1
...... 256 lines of resolution 256 pcs.
Key switch 2 key switches 1 key switch
(equivalent to A172SHCPUN)
LED indication With segment indication Without segment indication
S eq
ue nc
e co
nt ro
l
PC extension base Within 7 extension bases Within 1 extension base
O th
er s
Peripheral software package Usable from among A173UHCPU-
compatible versions
(Refer to section 1.3)
3. POSITIONING SIGNALS
3 1
3. POSITIONING SIGNALS
The internal signals of the servo system CPU and the external signals sent to the servo system CPU are used as positioning signals.
(1) Internal signals Of the devices available in the servo system CPU, the following four types are used for the internal signals of the servo system CPU. Internal relay (M).............................. M1400 to M2047 (348 points)
M2000 to M3839 (840 points) M4000 to M4719 (720 points)
Special relay (SP.M) ........................ M9073 to M9079 (7 points) M9073 to M9079 (7 points)
Data register (D) .............................. D500 to D1023 (524 points) D0 to D1689 (1690 points)
Special register (SP.D) .................... D9180 to D9199 (20 points) D1980 to D9199 (20 points)
(2) External signals The external signals input to the servo system CPU are the upper and lower stroke end limit switch input signals, stop signals, near-zero point dog signal, speed/position switching signal, and manual pulse generator input signals. Upper and lower stroke end ............
limit switch input signal Signals that control the upper limit and lower limit of the positioning range
Stop signal ....................................... Stop signal for speed control Near-zero point dog signal............... The ON/OFF signal from the near-zero
point dog Speed/position switching signal ....... Signal that switches control from speed to
position control Manual pulse generator input .......... Signal from the manual pulse generator
Servo System CPU System
SCPU PCPU
External interface
SP.D, SP.M, X*1
Y
D
M
*2
*3
*4
Near-zero point dog signal Upper limit/lower stroke end limit switch Stop signal
Manual pulse generator
*1: SP.D, SP.M and X are signals that notify the SCPU of the PCPU control status. *2: Y are signals that notify the PCPU of position control commands from the SCPU. *3: D are registers that notify the PCPU of control commands from the SCPU and the SCPU of control status information from the PCPU. *4: M are flags that notify the PCPU of control commands from the SCPU and the SCPU of control status information from the PCPU.
Fig.3.1 Flow of Positioning Signals
POINT When the monitor data (machine values, actual present values, deviation counter, etc.) stored in the data registers (D) are used for magnitude comparison or four function arithmetic, they must be transferred to another device memory once and then processed. For transfer, refer to "Appendix-4.5".
3. POSITIONING SIGNALS
3 2
The following section describes the positioning devices. It indicates the device refresh cycles for signals with the positioning direction PCPUSCPU and the device fetch cycles for those with the positioning direction SCPUPCPU.
3.1 Internal Relays
(1) List of internal relays
A172SHCPUN A171SHCPUN A273UHCPU (32 axis feature)/
A173UHCPU(S1)
Device No. Purpose Device No. Purpose Device No. Purpose
M0 User device
(1400 points) M0
User device
(1400 points) M0
User device
(2000 points)
M1400
Axis status for
SV43
(10 points 8
axes)
M1400
Axis status for
SV43
(10 points 4
axes)
M2000 Common device
(88 points)
M1480 Unusable
(20 points) M1440
Unusable
(60 points) M2320
Unusable
(80 points)
M1500
Axis command
signal for SV43
(10 points 8
axes)
M1500
Axis command
signal for SV43
(10 points 4
axes)
M2400
Axis status
(20 points 32
axes)
M1580 Unusable
(20 points) M1540
Unusable
(60 points) M3040
Unusable
(160 points)
M1600
Axis status
(20 points 8
axes)
M1600
Axis status
(20 points 4
axes)
M3200
M3839
Axis command
signal
(20 points 32
axes)
M1760 Unusable
(40 points) M1680
Unusable
(120 points) M3840
User device
(160 points)
M1800
Axis command
signal
(20 points 4
axes) M1800
Axis command
signal
(20 points 8
axes) M1880
Unusable
(40 points)
M4000
Axis status for
SV43
(10 points 32
axes)
M1960 M1960 M4320 Unusable
(80 points)
M4400
Axis command
signal for SV43
(10 points 32
axes)
M2000
M2047
Common device
(88 points) M2000
M2047
Common device
(88 points)
M4720
M8191
User device
(3472 points)
3. POSITIONING SIGNALS
3 3
POINTS
Total Number of User Device Points
A172SHCPUN 1400 points A273UHCPU
(32 axis feature)
A171SHCPUN 1400 points A173UHCPU(S1)
5632 points
(1) Internal relays for positioning control are not latched even inside the latch range. In this manual, in order to indicate that internal relays for positioning control are not latched, the expression used in this text is "M1400 to M1999".
(2) Internal relays for positioning control are monitored from peripheral devices as shown below. (a) When peripheral devices are started with GSV43P, positioning
control internal relays within a latch range are indicated by L1400 to L1999.
3. POSITIONING SIGNALS
3 4
(2) Axis status
Axis status for SV43
Axis No.
A172SHCPUN
Device Number
A171SHCPUN
Device Number Signal Name
1 M1400
to M1409
M1400 to
M1409 Signal Name Fetch Cycle
Refresh Cycle Signal
Direction
0 Unusable
1 Unusable
2 M1410
to M1419
M1410 to
M1419 2 Automatically operating
3 Temporarily stopping 10ms
4 Unusable3 M1420
to M1429
M1420 to
M1429 5 Unusable
6 Unusable
7 Unusable4 M1430
to M1439
M1430 to
M1439 8 Unusable
9 Single block mode in progress (*1) 3.5ms
SCPU
PCPU
5 M1440
to M1449
6 M1450
to M1459
7 M1460
to M1469
8 M1470
to M1479
(*1) The single block in progress is not an axis status. It is used with the first axis (M1409) only. The user cannot use it for other than the first axis.
Axis status
Axis No.
A172SHCPUN
Device Number
A171SHCPUN
Device Number Signal Name
1 M1600
to M1619
M1600 to
M1619 Signal Name Fetch Cycle
Refresh Cycle Signal
Direction
0 Positioning start completed
1 Positioning completed2 M1620
to M1639
M1620 to
M1639 2 In-position
3 Command in-position
4 Unusable3 M1640
to M1659
M1640 to
M1659 5 Unusable
6 Zero pass
3.5ms
7 Error detection Immediately4 M1660
to M1679
M1660 to
M1679 8 Servo error detection 3.5ms
9 Home position return request 10ms
10 Home position return completed 3.5ms5 M1680
to M1699 11 External signal FLS
12 External signal RLS
13 External signal STOP6 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) 10ms
18 Unusable 19 M code output in progress 3.5ms
SCPU
PCPU
8 M1740
to M1759
3. POSITIONING SIGNALS
3 5
Axis status
A xi
s N
o.
A273UHCPU
(32 axis feature)
A173UHCPU
(S1)
Device No.
Single name
1 M2400 to M2419
2 M2420 to M2439 Refresh cycle Fetch cycle
3 M2440 to M2459 Signal name
Set number of axis Set number of axis
4 M2460 to M2479 A173
UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
5 M2480 to M2499
SV43 A273
UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal
direction
6 M2500 to M2519 0 Positioning start completed
7 M2520 to M2539 1 Positioning completed
8 M2540 to M2559 2 In-position
9 M2560 to M2579 3 Command in-position
10 M2580 to M2599 4 Unusable
11 M2600 to M2619 5 Unusable
12 M2620 to M2639 6 Zero pass
3.5ms 7.1ms 14.2ms
13 M2640 to M2659 7 Error detection Immediately
14 M2660 to M2679 8 Servo error detection 3.5ms 7.1ms 14.2ms
15 M2680 to M2699 9 Home position return request 10ms 20ms
16 M2700 to M2719 10 Home position return completed 3.5ms 7.1ms 14.2ms
17 M2720 to M2739 11 External signal FLS
18 M2740 to M2759 12 External signal RLS
19 M2760 to M2779 13 External signal STOP
20 M2780 to M2799 14 External signal DOG
10ms 20ms
21 M2800 to M2819 15 Servo ON/OFF
22 M2820 to M2839 16 Torque control in progress 3.5ms 7.1ms 14.2ms
23 M2840 to M2859 17 (External signal CHANGE) 10ms 20ms
24 M2860 to M2879 18 Unusable
25 M2880 to M2899 19 M code output in progress 3.5ms 7.1ms 14.2ms
SCPU
PCPU
26 M2900 to M2919
27 M2920 to M2939
28 M2940 to M2959
29 M2960 to M2979
30 M2980 to M2999
31 M3000 to M3019
32 M3020 to M3039
3. POSITIONING SIGNALS
3 6
Axis status for SV43
A xi
s N
o.
A273UHCPU
(32 axis feature)
A173UHCPU
(S1)
Device No.
Single name
1 M4000 to M4009
2 M4010 to M4019 Refresh cycle Fetch cycle
3 M4020 to M4029 Signal name
Set number of axis Set number of axis
4 M4030 to M4039 A173
UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
5 M4040 to M4049
SV43 A273
UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal
direction
6 M4050 to M4059 0 Unusable
7 M4060 to M4069 1 Unusable
8 M4070 to M4079 2 Automatically operating
9 M4080 to M4089 3 Temporarily stopping 10ms 20ms
10 M4090 to M4099 4 Unusable
11 M4100 to M4109 5 Unusable
12 M4110 to M4119 6 Unusable
13 M4120 to M4129 7 Unusable
14 M4130 to M4139 8 Unusable
15 M4140 to M4149 9 Single block mode in progress (*1) 3.5ms 7.1ms 14.2ms
SCPU
PCPU
16 M4150 to M4159
17 M4160 to M4169
18 M4170 to M4179
(*1) The single block in progress is not an axis status. It is used with the first axis (M4009) only. The
user cannot use it for other than the first axis.
19 M4180 to M4189
20 M4190 to M4199
21 M4200 to M4209
22 M4210 to M4219
23 M4220 to M4229
24 M4230 to M4239
25 M4240 to M4249
26 M4250 to M4259
27 M4260 to M4269
28 M4270 to M4279
29 M4280 to M4289
30 M4290 to M4299
31 M4300 to M4309
32 M4310 to M4319
3. POSITIONING SIGNALS
3 7
(3) Axis command signals
Axis command signals for SV43
Axis No.
A172SHCPUN
Device Number
A171SHCPUN
Device Number Signal Name
1 M1500
to M1509
M1500 to
M1509 Signal Name Fetch Cycle
Refresh Cycle
Signal Direction
0 Temporary stop command 3.5ms
1 Optional program stop2 M1510
to M1519
M1510 to
M1519 2 Optional block skip
3 Single block
At start
4 Restart3 M1520
to M1529
M1520 to
M1529 5 Override valid/invalid 3.5ms
6 Unusable
7 Unusable4 M1530
to M1539
M1530 to
M1539 8 Single block mode (*1)
9 Single block start (*1)
SCPU
PCPU
5 M1540
to M1549
(*1) The single block mode and single block start are not axis statuses. They are used with the first axis (M1508, M1509) only. The user cannot use them for other than the first axis.
6 M1550
to M1559
7 M1560
to M1569
8 M1570
to M1579
Axis command signals
Axis No.
A172SHCPUN
Device Number
A171SHCPUN
Device Number Signal Name
1 M1800
to M1819
M1800 to
M1819 Signal Name Fetch Cycle
Refresh Cycle
Signal Direction
0 Stop command
1 Rapid stop command 3.5ms
2 M1820
to M1839
M1820 to
M1839 2 Forward rotation JOG command
3 Reverse rotation JOG command
4 Completion signal OFF command
10ms
3 M1840
to M1859
M1840 to
M1859 5 Unusable 6 Limit switch output enable 3.5ms
7 Error reset4 M1860
to M1879
M1860 to
M1879 8 Servo error reset 10ms
9 Start-time stop input invalid At start
10 Unusable5 M1880
to M1899 11 Unusable
12 Unusable
13 Unusable6 M1900
to M1919 14 Unusable
15 Servo OFF 3.5ms
16 Unusable7 M1920
to M1939 17 Unusable
18 Unusable
19 FIN signal 3.5ms
SCPU
PCPU
8 M1940
to M1959
3. POSITIONING SIGNALS
3 8
Axis command signals
A xi
s N
o.
A273UHCPU
(32 axis feature)
A173UHCPU
(S1)
Device No.
Single name
1 M3200 to M3219
2 M3220 to M3239 Refresh cycle Fetch cycle
3 M3240 to M3259 Signal name
Set number of axis Set number of axis
4 M3260 to M3279 A173
UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
5 M3280 to M3299
SV43 A273
UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal
direction
6 M3300 to M3319 0 Stop command
7 M3320 to M3339 1 Rapid stop command 3.5ms 7.1ms 14.2ms
8 M3340 to M3359 2 Forward rotation JOG
command
9 M3360 to M3379 3 Reverse rotation JOG
command
10 M3380 to M3399 4 Completion signal OFF
command
10ms 20ms
11 M3400 to M3419 5 Unusable
12 M3420 to M3439 6 Limit switch output enable 3.5ms 7.1ms 14.2ms
13 M3440 to M3459 7 Error reset
14 M3460 to M3479 8 Servo error reset 10ms 20ms
15 M3480 to M3499 9 Start-time stop input invalid At start
16 M3500 to M3519 10 Unusable
17 M3520 to M3539 11 Unusable
18 M3540 to M3559 12 Present feed value update
request command At start
19 M3560 to M3579 13 Unusable
20 M3580 to M3599 14 Unusable
21 M3600 to M3619 15 Servo OFF 3.5ms 7.1ms 14.2ms
22 M3620 to M3639 16 Unusable
23 M3640 to M3659 17 Unusable
24 M3660 to M3679 18 Unusable
25 M3680 to M3699 19 FIN signal 3.5ms 7.1ms 14.2ms
SCPU
PCPU
26 M3700 to M3719
27 M3720 to M3739
28 M3740 to M3759
29 M3760 to M3779
30 M3780 to M3799
31 M3800 to M3819
32 M3820 to M3839
3. POSITIONING SIGNALS
3 9
Axis command signals for SV43
A xi
s N
o.
A273UHCPU
(32 axis feature)
A173UHCPU
(S1)
Device No.
Single name
1 M4400 to M4409
2 M4410 to M4419 Refresh cycle Fetch cycle
3 M4420 to M4429 Signal name
Set number of axis Set number of axis
4 M4430 to M4439 A173
UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
5 M4440 to M4449
SV43 A273
UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal
direction
6 M4450 to M4459 0 Temporary stop command 3.5ms 7.1ms 14.2ms
7 M4460 to M4469 1 Optional program stop
8 M4470 to M4479 2 Optional block skip
9 M4480 to M4489 3 Single block
At start
10 M4490 to M4499 4 Restart
11 M4500 to M4509 5 Override valid/invalid 3.5ms 7.1ms 14.2ms
12 M4510 to M4519 6 Unusable
13 M4520 to M4529 7 Unusable
14 M4530 to M4539 8 Single block mode (*1)
15 M4540 to M4549 9 Single block start (*1)
SCPU
PCPU
16 M4550 to M4559
17 M4560 to M4569
18 M4570 to M4579
(*1) The single block mode and single block start are not axis statuses. They are used with the first axis
(M4408, M4409) only. The user cannot use them for other than the first axis.
19 M4580 to M4589
20 M4590 to M4599
21 M4600 to M4609
22 M4610 to M4619
23 M4620 to M4629
24 M4630 to M4639
25 M4640 to M4649
26 M4650 to M4659
27 M4660 to M4669
28 M4670 to M4679
29 M4680 to M4689
30 M4690 to M4699
31 M4700 to M4709
32 M4710 to M4719
3. POSITIONING SIGNALS
3 10
(4) Common devices
A172SHCPUN A172SHCPUN Device Number
Signal Name Fetch Cycle
Refresh Cycle
Signal Direction Device Number
Signal Name Fetch Cycle
Refresh Cycle
Signal Direction
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 M1983 M1984 M1984 M1985 M1985 M1986 M1986 M1987 M1987 M1988 M1988 M1989 M1989 M1990 M1990 M1991 M1991 M1992 M1992 M1993 M1993 M1994 M1994 M1995 M1995 M1996 M1996 M1997 M1997 M1998 M1998 M1999
Unusable (40 points)
M1999
Unusable (40 points)
M2000 PC READY flag 10ms SCPUPCPU M2000 PC READY flag 10ms SCPUPCPU 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)
10ms SCPUPCPU
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
10ms SCPUPCPU
M2009 All-axes servo ON accept flag 10ms SCPUPCPU M2010 M2010 M2011
Unusable (2 points) M2011
Unusable (2 points)
M2012 Manual pulse generator enable flag 10ms SCPUPCPU M2012 Manual pulse generator enable flag 10ms SCPUPCPU M2013 M2013 M2014
Unusable (2 points) M2014
Unusable (2 points)
M2015 JOG simultaneous start command 10ms SCPUPCPU M2015 JOG simultaneous start command 10ms SCPUPCPU 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 flag (4 points)
END SCPUPCPU
M2025 Axis 5 M2025 M2026 Axis 6 M2026 M2027 Axis 7 M2027 M2028 Axis 8
Speed change flag (8 points)
END SCPUPCPU
M2028 M2029 M2029 M2030 M2030 M2031 M2031 M2032 M2032 M2033
Unusable (5 points)
M2033
Unusable (9 points)
M2034 PC link communication error flag END SCPUPCPU M2034 PC link communication error flag END SCPUPCPU M2035 M2035 M2036 M2036 M2037 M2037 M2038 M2038 M2039 M2039 M2040
Unusable (6 points)
M2040
Unusable (6 points)
M2041 System setting error flag END SCPUPCPU M2041 System setting error flag END SCPUPCPU M2042 All-axes servo ON command 3.5ms SCPUPCPU M2042 All-axes servo ON command 3.5ms SCPUPCPU M2043 M2043 M2044 M2044 M2045 M2045 M2046
Unusable (4 points)
M2046
Unusable (4 points)
M2047 Motion slot module error detection flag END SCPUPCPU M2047 Motion slot module error detection flag END SCPUPCPU
* The entry "END" in the Refresh Cycle column indicates 80ms or a longer sequence program scan time.
3. POSITIONING SIGNALS
3 11
Refresh cycle Fetch cycle Refresh cycle Fetch cycle Signal name
Set No. of axis Set No. of axis Signal name
Set No. of axis Set No. of axis
A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32
Device No.
SV43 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal direction
Device No.
SV43 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal direction
M2000 PLC READY flag 10ms 20ms SCPU PCPU M2080 Axis20
M2001 Axis1 M2081 Axis21
M2002 Axis2 M2082 Axis22
M2003 Axis3 M2083 Axis23
M2004 Axis4 M2084 Axis24
M2005 Axis5 M2085 Axis25
M2006 Axis6 M2086 Axis26
M2007 Axis7 M2087 Axis27
M2008 Axis8 M2088 Axis28
M2009 Axis9 M2089 Axis29
M2010 Axis10 M2090 Axis30
M2011 Axis11 M2091 Axis31
M2012 Axis12 M2092 Axis32
Speed change flag END SCPU PCPU
M2013 Axis13 M2093
M2014 Axis14 M2094
M2015 Axis15 M2095
M2016 Axis16 M2096
M2017 Axis17 M2097
M2018 Axis18 M2098
M2019 Axis19 M2099
M2020 Axis20 M2100
M2021 Axis21 M2101
M2022 Axis22 M2102
M2023 Axis23 M2103
M2024 Axis24 M2104
M2025 Axis25 M2105
M2026 Axis26 M2106
M2027 Axis27 M2107
M2028 Axis28 M2108
M2029 Axis29 M2109
M2030 Axis30 M2110
M2031 Axis31 M2111
M2032 Axis32
Start accept flag 10ms SCPU PCPU
M2112
M2033 Unusable M2113
M2034 PC link communication error flag 10ms SCPU PCPU M2114
M2035 M2115
M2036 M2116
M2037 M2117
M2038 M2118
M2039 M2119
M2040
Unusable (6 points)
M2120
M2041 System setting error flag 10ms SCPU PCPU M2121
M2042 All axes servo ON command 3.5ms 7.1ms 14.2ms SCPU PCPU M2122
M2043 M2123
M2044 M2124
M2045 M2125
M2046
Unusable (4 points)
M2126
M2047 Motion slot module error detection flag 10ms SCPU PCPU M2127
Unusable (35 points)
M2048 JOG simultaneous start command 10ms 20ms SCPU PCPU M2128 Axis1
M2049 All axes servo ON accept flag M2129 Axis2
M2050 Start buffer full END SCPU PCPU
M2130 Axis3
M2051 Manual pulse generator 1 enable flag M2131 Axis4
M2052 Manual pulse generator 2 enable flag M2132 Axis5
M2053 Manual pulse generator 3 enable flag
10ms 20ms SCPU PCPU
M2133 Axis6
M2054 M2134 Axis7
M2055 M2135 Axis8
M2056 M2136 Axis9
M2057 M2137 Axis10
M2058 M2138 Axis11
M2059 M2139 Axis12
M2060
Unusable (7 points)
M2140 Axis13
M2061 Axis1 M2141 Axis14
M2062 Axis2 M2142 Axis15
M2063 Axis3 M2143 Axis16
M2064 Axis4 M2144 Axis17
M2065 Axis5 M2145 Axis18
M2066 Axis6 M2146 Axis19
M2067 Axis7 M2147 Axis20
M2068 Axis8 M2148 Axis21
M2069 Axis9 M2149 Axis22
M2070 Axis10 M2150 Axis23
M2071 Axis11 M2151 Axis24
M2072 Axis12 M2152 Axis25
M2073 Axis13 M2153 Axis26
M2074 Axis14 M2154 Axis27
M2075 Axis15 M2155 Axis28
M2076 Axis16 M2156 Axis29
M2077 Axis17 M2157 Axis30
M2078 Axis18 M2158 Axis31
M2079 Axis19
Speed change flag END SCPU PCPU
M2159 Axis32
Automatically decelerating flag
3.5ms 7.1ms 14.2ms SCPU PCPU
* The entry "END" in the Refresh Cycle column indicates 50ms or a longer sequence program scan time.
3. POSITIONING SIGNALS
3 12
Refresh cycle Fetch cycle Refresh cycle Fetch cycle Signal name
Set No. of axis Set No. of axis Signal name
Set No. of axis Set No. of axis
A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32
Device No.
SV43 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal direction
Device No.
SV43 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal direction
M2160 M2240 Axis1
M2161 M2241 Axis2
M2162 M2242 Axis3
M2163 M2243 Axis4
M2164 M2244 Axis5
M2165 M2245 Axis6
M2166 M2246 Axis7
M2167 M2247 Axis8
M2168 M2248 Axis9
M2169 M2249 Axis10
M2170 M2250 Axis11
M2171 M2251 Axis12
M2172 M2252 Axis13
M2173 M2253 Axis14
M2174 M2254 Axis15
M2175 M2255 Axis16
M2176 M2256 Axis17
M2177 M2257 Axis18
M2178 M2258 Axis19
M2179 M2259 Axis20
M2180 M2260 Axis21
M2181 M2261 Axis22
M2182 M2262 Axis23
M2183 M2263 Axis24
M2184 M2264 Axis25
M2185 M2265 Axis26
M2186 M2266 Axis27
M2187 M2267 Axis28
M2188 M2268 Axis29
M2189 M2269 Axis30
M2190 M2270 Axis31
M2191 M2271 Axis32
Speed change accepting flag "0"
3.5ms 7.1ms 14.2ms SCPU PCPU
M2192 M2272
M2193 M2273
M2194 M2274
M2195 M2275
M2196 M2276
M2197 M2277
M2198 M2278
M2199 M2279
M2200 M2280
M2201 M2281
M2202 M2282
M2203 M2283
M2204 M2284
M2205 M2285
M2206 M2286
M2207 M2287
M2208 M2288
M2209 M2289
M2210 M2290
M2211 M2291
M2212 M2292
M2213 M2293
M2214 M2294
M2215 M2295
M2216 M2296
M2217 M2297
M2218 M2298
M2219 M2299
M2220 M2300
M2221 M2301
M2222 M2302
M2223 M2303
M2224 M2304
M2225 M2305
M2226 M2306
M2227 M2307
M2228 M2308
M2229 M2309
M2230 M2310
M2231 M2311
M2232 M2312
M2233 M2313
M2234 M2314
M2235 M2315
M2236 M2316
M2237 M2317
M2238 M2318
M2239
Unusable (80 points)
M2319
Unusable (48 points)
* The entry "END" in the Refresh Cycle column indicates 50ms or a longer sequence program scan time.
3. POSITIONING SIGNALS
3 13
3.1.1 Axis status
(1) Automatically operating signal (M1402+10n/M4002+10n) When the axis used is specified in the SVST instruction, this signal is ON while the block of the specified motion program is being executed. It turns OFF when: M02/M30 is executed; Temporary stop command turns ON (M1500+10n/M4400+10n); External STOP signal turns ON; Error reset is made; Emergency stop is made; Single block execution is ended by M0, M01 or single block; or Stop or rapid stop command turns ON.
[Motion program example]
0001; G90 G00 X100.; X200.; M02; %
Program No. Absolute value command PTP positioning (X100.) PTP positioning (X200.) Reset
SVST instruction
OFF
OFF
OFF
ON
ON
ON
OFF
ON
ON
200100
Restart (M1504+10n)
Temporary stop command (M1500+10n)
Temporarily stopping (M1403+10n)
Automatically operating (M1402+10n)
Start acceptance (M2001+n)
3. POSITIONING SIGNALS
3 14
(2) Temporarily stopping signal (M1403+10n/M4003+10n) (a) This signal turns ON if the temporary stop command is given when the
automatically operating signal (M1402+10n/M4002+10n) is ON. When the restart signal (M1504+10n/M4404+10n) is turned ON during a temporary stop, automatic operation is resumed from the block where it had stopped. There is the following temporary stop command. Temporary stop command (M1500+10n/M4400+10n)
(b) The temporarily stopping signal turns OFF when: Restart signal (M1504+10n/M4404+10n) is turned ON; Error reset (M1807+20n/M3207+20n) is turned ON; Servo error reset (M1808+20n/M3208+20n) is turned ON; Error occurs; or Emergency stop is made.
[Motion program example]
0001; G90 G00 X100.; X200.; M02; %
Program No. Absolute value command PTP positioning (X100.) PTP positioning (X200.) Reset
Start acceptance (M2001+n)
Restart (M1504+10n)
SVST instruction
Temporarily stopping (M1403+10n)
OFF
OFF
OFF
ON
ON
ON
Automatically operating (M1402+10n)
*1
*2
*2
*2
Temporary stop command (M1500+10n)
OFF *2
ON
ON
200100
OFF
Fig. 3.2 Temporarily Stopping Signal ON/OFF Timing
REMARKS *1: n in M2001+n indicates the value corresponding to the axis number. *2: n indicates the value corresponding to the axis number as listed below.
Axis
No. n
Axis
No. n
Axis
No. n
Axis
No. n
Axis
No. n
Axis
No. n
1 0 1 0 1 0 9 8 17 16 25 24
2 1 2 1 2 1 10 9 18 17 26 25
3 2 3 2 3 2 11 10 19 18 27 26
4 3 4 3 4 3 12 11 20 19 28 27
5 4 5 4 13 12 21 20 29 28
6 5 6 5 14 13 22 21 30 29
7 6 7 6 15 14 23 22 31 30
8 7 8 7 16 15 24 23 32 31
3. POSITIONING SIGNALS
3 15
(3) Single block in progress signal (M1409/M4009) (a) The single block is available in two modes: a mode where a single block is
specified before a program start; and a mode where a single block is executed at any point during program execution. The single block in progress signal indicates that a single block can be executed in the mode where a single block is executed at any point during program execution.
(b) A single block is executed when the single block in progress signal is ON. When the single block in progress signal is OFF, make an SVST start or turn single block start from OFF to ON to perform continuous operation.
(c) The single block in progress signal turns ON when: The single block mode signal (M1508/M4408) is turned ON.
(d) The single block in progress signal turns OFF when: The single block start signal (M1509/M4409) is turned from OFF to ON after the single block mode signal (M1508/M4408) is turned OFF.
[Motion program example]
0001; N1 G90 G01 X100. F1000.; N2 X200.; N3 X300.; N4 X400.; M02; %
Program No. Absolute value command PTP positioning (X100.) CP positioning (X200.) CP positioning (X300.) CP positioning (X400.) Reset
Start acceptance (M2001+n)
Single block mode (M1508)
SVST instruction
Command in-position (M1603+20n)
OFF
OFF
OFF
ON
ON Automatically operating (M1402+10n)
Single block in progress (M1409) OFF
ON
ON
200100
OFF
Sequence No.
Single block start (M1509) OFF ON
ON
ON
400
ON
ON
ON
1 2 3 300
4
Fig. 3.3 Single Block Signal Timings
3. POSITIONING SIGNALS
3 16
(4) Positioning start completed signal (M1600+20n/M2400+20n) (a) This signal comes ON when starting of positioning control of the axis
designated by the DSFRP/SVST instruction in the sequence program is completed. It does not come ON when positioning control starts due to a home position return, JOG operation or manual pulse generator operation.
(b) The positioning start completed signal goes OFF at the leading edge (OFFON) of the end signal OFF command (M1804+20n) or when positioning is completed.
At the leading edge (OFF ON) of the end signal OFF command (M1804 + 20n)
Dwell time
t
ON OFF
ON
ON OFF
OFF
V
Start reception flag (M2001+n) *1
*2
*2
DSFRP/SVST instruction
Positioning start completed signal (M1600+20n)
End signal OFF command (M1804+20n)
When positioning is completed
Dwell time
t
ON OFF
ON
OFF
V
*1
*2
Positioning start completed signal (M1600+20n)
Start reception flag (M2001+n)
DSFRP/SVST instruction
Positioning completed
Fig. 3.4 Positioning Start Completed Signal ON/OFF Timing
REMARKS
*1: n in M2001+n indicates the value corresponding to the axis number. *2: n indicates the value corresponding to the axis number as listed below.
Axis
No. n
Axis
No. n
Axis
No. n
Axis
No. n
Axis
No. n
Axis
No. n
1 0 1 0 1 0 9 8 17 16 25 24
2 1 2 1 2 1 10 9 18 17 26 25
3 2 3 2 3 2 11 10 19 18 27 26
4 3 4 3 4 3 12 11 20 19 28 27
5 4 5 4 13 12 21 20 29 28
6 5 6 5 14 13 22 21 30 29
7 6 7 6 15 14 23 22 31 30
8 7 8 7 16 15 24 23 32 31
3. POSITIONING SIGNALS
3 17
(5) Positioning completed signal (M1601+20n/M2401+20n) (a) This signal comes ON when positioning control of the axis designated by
the DSFRP/SVST instruction in the sequence program is completed. It does not come ON when positioning control is started, or stopped part way through, due to a home position return, JOG operation, manual pulse generator operation, or speed control. It does not come ON when positioning is stopped part way through.
(b) The positioning completed signal goes OFF at the leading edge (OFFON) of the end signal OFF command (M1804+20n), or when a positioning control start is completed.
[Motion program example]
0001; N1 G90 G01 X100. F1000.; X200.; G00 X300. G04 P500; M02; %
Program No. Absolute value command PTP positioning (X100.) PTP positioning (X200.) PTP positioning (X300.), dwell (500ms) Reset
Dwell
SVST instruction
OFF
OFF
OFF
OFF ON
ON
ON ON
ON
Start acceptance (M2001+n)*1
Automatically operating (M1402+10n)
*2
Completion signal OFF instruction (M1804+20n) *2
Positioning completed (M1601+20n)
*2
Fig. 3.5 Positioning Completed Signal ON/OFF Timing
REMARKS
*1: n in M2001+n indicates the value corresponding to the axis number. *2: n indicates the value corresponding to the axis number as listed below.
Axis
No. n
Axis
No. n
Axis
No. n
Axis
No. n
Axis
No. n
Axis
No. n
1 0 1 0 1 0 9 8 17 16 25 24
2 1 2 1 2 1 10 9 18 17 26 25
3 2 3 2 3 2 11 10 19 18 27 26
4 3 4 3 4 3 12 11 20 19 28 27
5 4 5 4 13 12 21 20 29 28
6 5 6 5 14 13 22 21 30 29
7 6 7 6 15 14 23 22 31 30
8 7 8 7 16 15 24 23 32 31
3. POSITIONING SIGNALS
3 18
(6) In-position signal (M1602+20n/M2402+20n) (a) The in-position signal comes ON when the number of droop pulses in the
deviation counter enters the "in-position range" set in the servo parameters. It goes OFF when axis motion starts.
[Motion program example]
0001; G90 G00 X100.; X200.; M02; %
Program No. Absolute value command PTP positioning (X100.) PTP positioning (X200.) Reset
In-position (M1602+20n) OFF
In-position range
ON
Automatically operating (M1402+10n)
Start acceptance (M2001+n)
SVST instruction
(b) An in-position check is performed in the following cases. When the servo power supply is switched on After automatic acceleration/deceleration is started during positioning
control After deceleration is started as a result of the JOG start signal going OFF When manual pulse generator operation is in progress After the near-zero point dog comes ON during a home position return After deceleration is started as a result of a stop command When a speed change to a speed of "0" is executed After deceleration is started under temporary stop command
(7) Command in-position signal (M1603+20n/M2403+20n) (a) The command in-position signal comes ON when the absolute value of the
difference between the command position and the feed present value enters the "command in-position range" set in the fixed parameters. It goes OFF in the following cases. When positioning control starts When a home position return is executed When speed control is executed When JOG operation is performed When manual pulse generator operation is performed
3. POSITIONING SIGNALS
3 19
(b) Command in-position checks are continually performed during positioning control.
[Motion program example]
0001; G90 G00 X100.; X200.; M02; %
Program No. Absolute value command PTP positioning (X100.) PTP positioning (X200.) Reset
Start acceptance (M2001+n)
OFF
Command in-position range
ON Command in-position (M1603+20n)
Automatically operating (M1402+10n)
SVST instruction
(8) Zero pass signal (M1606+20n/M2406+20n) This signal comes ON when the zero point is passed after the power to the servo amplifier has been switched ON. Once the zero point has been passed, the signal remains ON until the CPU has been reset.
(9) Error detection signal (M1607+20n/M2407+20n) (a) The error detection signal comes ON when a minor error or major error is
detected and is used to determine whether or not errors have occurred. When a minor error is detected, the corresponding error code*1 is stored in the minor error code storage area. (Refer to section 3.2.1.) When a major error is detected, the corresponding error code*2 is stored in the major error code storage area. (Refer to section 3.2.1.)
(b) When the error reset signal (M1807+20n/M3207+20n) comes ON, the error detection signal goes OFF.
ON
ON
OFF
OFF
Minor error or major error detected
Error detection signal (M1607+20n)
Error reset signal (M1807+20n)
REMARKS
*1: For details on the error codes when minor errors occur, see Appendix 2.2.
*2: For details on the error codes when major errors occur, see Appendix 2.3.
(10) Servo error detection signal (M1608+20n/M2408+20n) (a) The servo error detection signal comes ON when an error occurs at the
servo amplifier side (excluding errors that cause alarms, and emergency stops)*1, and is used to determine whether or not servo errors have occurred. When an error is detected at the servo amplifier side, the corresponding error code*1 is stored in the servo error code storage area.
3. POSITIONING SIGNALS
3 20
(b) The servo error detection signal goes OFF when the servo error reset signal (M1808+20n/M3208+20n) comes ON, or when the servo power supply is switched back on.
ON
ON
OFF
OFF Servo error reset OFF signal (M1808+20n)
Servo error detected
Servo error detecation signal (M1608+20n)
REMARK
*1: For details on the error codes of errors detected at the servo amplifier side, see Appendix 2.4.
(11) Home position return request signal (M1609+20n/M2409+20n) This signal comes ON when it is necessary to confirm the home position address when the power is switched on or during positioning control. (a) When not using an absolute value system
1) The home position return request signal comes ON in the following cases: When the power is switched on, or the servo system CPU is reset. During a home position return operation.
2) The home position return request signal goes OFF when the home position return operation is completed.
(b) When using an absolute value system 1) The home position return request signal comes ON in the following
cases: During a home position return operation. When a backup data (reference value) sum check error occurs (when
the power is switched on). 2) The home position return request signal goes OFF when the home
position return operation is completed. Operation in G28 of the motion program changes with the ON/OFF of the home position return request signal.
When home
position return
request signal is
OFF
The axis starts from the present position, passes through the
specified mid point, and returns to the home position at rapid
feedrate.
When home
position return
request signal is
ON
Dog, count or data setting type home position return is performed
in accordance with the home position return data.
(12) Home position return completed signal (M1610+20n/M2410+20n) (a) The home position return completed signal turns ON when a home
position return started by the DSFLP/CHGA instruction is completed properly.
(b) This signal turns OFF at positioning start, JOG operation start or manual pulse generator operation start.
(c) If near-zero point dog type home position return is started by the DSFLP/CHGA instruction while the home position return completed signal is ON, "continuous home position return start error" occurs and a home position return start cannot be made.
3. POSITIONING SIGNALS
3 21
(13) FLS signal (M1611+20n/M2410+20n) (a) FLS signal is controlled by the ON/OFF status of the upper stroke end limit
switch input (FLS) to the A172SENC, A171SENC or A278LX from an external source. Upper stroke end limit switch input OFF ...... FLS signal: ON Upper stroke end limit switch input ON ........ FLS signal: OFF
(b) The status of the upper stroke end limit switch input (FLS) when the FLS signal is ON/OFF is indicated in the figure below.
FLS signal: ON A172SENC, A171SENC or A278LX
FLS FLS
COM
FLS signal: OFF A172SENC, A171SENC or A278LX
FLS FLS
COM
(14) RLS signal (M1612+20n/M2412+20n) (a)The RLS signal is controlled by the ON/OFF status of the lower stroke end
limit switch input (FLS) to the A172SENC, A171SENC or A278LX from an external source. Lower stroke end limit switch input OFF ...... RLS signal: ON Lower stroke end limit switch input ON ........ RLS signal: OFF
(b) The status of the lower stroke end limit switch input (RLS) when the RLS signal is ON/OFF is indicated in the figure below.
RLS signal: ON A172SENC, A171SENC or A278LX
RLS RLS
COM
RLS signal: OFF A172SENC, A171SENC or A278LX
RLS RLS
COM
(15) STOP signal (M1613+20n/A2413+20n) (a) The STOP signal is controlled by the ON/OFF status of the stop signal
(STOP) sent to the A172SENC, A171SENC or A278LX from an external source. Stop signal OFF ..... STOP signal: OFF Stop signal ON ....... STOP signal: ON
(b) The status of the external stop switch (STOP) when the STOP signal is ON/OFF is indicated in the figure below.
STOP signal: ON A172SENC, A171SENC or A278LX
STOP STOP
COM
STOP signal: OFF A172SENC, A171SENC or A278LX
STOP STOP
COM
(16) DOG/CHANGE signal (M1614+20n) (for A172SHCPUN/A171SHCPUN) (a) The DOG/CHANGE signal is controlled by the ON/OFF of the external
near-zero point dog input or speed/position control switching input (DOG/CHANGE) provided to the A172SENC or A171SENC.
3. POSITIONING SIGNALS
3 22
(b) Independently of whether the "Leading edge valid" or "Trailing edge valid" setting has been made in the system settings, the DOG/CHANGE signal turns ON and the near-zero point dog or CHANGE signal turns OFF when the near-zero point dog or CHANGE signal turns ON.
(c) When the "Leading edge valid" setting is made in the system settings, a near-zero point dog or CHANGE input is provided when the near-zero point dog or CHANGE signal turns ON. When the "Trailing edge valid" setting is made, a near-zero point dog or CHANGE input is provided when the near-zero point dog or CHANGE signal turns OFF.
(17) DOG signal (M2414+20n) (for A273UHCPU (32 axis feature)/A173UHCPU(S1)) (a) The DOG signal is controlled by the ON/OFF of the external near-zero
point dog (DOG) input provided to the A278LX.
(b) Independently of whether the "A contact input" or "B contact input" setting has been made in the system settings, the near-zero point dog signal turns ON when the near-zero point dog turns ON, and the near-zero point dog signal turns OFF when the near-zero point dog turns OFF.
(c) When the "A contact input" setting is made in the system settings, a near- zero point dog input is provided when the near-zero point dog turns ON, and when the "B contact input" setting is made, a near-zero point dog input is provided when the near-zero point dog turns OFF.
(18) Servo READY signal (M1615+20n/M2415+20n) (a) The servo READY signal comes ON when the servo amplifiers connected
to each axis are in the READY status.
(b) The signal goes OFF in the following cases. When M2042 is OFF When no servo amplifier is installed When the servo parameters have not been set When the power supply module has received an emergency stop
input from an external source When the M1815+20n signal comes ON and establishes the servo
OFF status When a servo error occurs
For details, see Appendix 2.4 "Servo Errors"
POINT
When an axis driven by an MR- -B becomes subject to a servo error, the affected axis only goes into the servo OFF status.
(19) Torque control in progress signal (M1616+20n/M2416+20n) Signals for axes whose torque is being controlled are ON.
(20) CHANGE signal (M2417+20n) (for A273UHCPU (32 axis feature)/A173UHCPU(S1)) (a) The CHANGE signal is controlled by the ON/OFF of the external
speed/position control switching input (CHANGE) provided to the A278LX. Speed/position switching input is OFF ..... CHANGE signal: OFF Speed/position switching input is ON ....... CHANGE signal: ON
3. POSITIONING SIGNALS
3 23
(b) The following diagrams show the positions of the speed select switch (CHANGE) when the CHANGE signal is ON and OFF.
CHANGE signal: ON A172SENC, A171SENC or A278LX
CHANGE CHANGE
COM
CHANGE signal: OFF A172SENC, A171SENC or A278LX
CHANGE CHANGE
COM
(21) M code output signal (M1619+20n/M2419+20n) (a) This signal turns ON when M** in the motion program is executed.
This signal turns OFF when the FIN signal (M1819+20n/M3219+20n) turns ON. Read the M code when the M code outputting signal is ON.
(b) If the G and M codes are described in the same block, the M code output signal turns ON at the start of G code processing.
(c) When you want to execute the miscellaneous function M after completion of position control, describe the M code independently.
(d) For M00, M01, M02, M30, M98, M99 and M100, the M code output signal does not turn ON. (Internal processing only)
[Motion program example]
0001; G90 G00 X100. M10.; X200.; M02; %
Program No. Absolute value command PTP positioning (X100.) M10 PTP positioning (X200.) Reset
SVST instruction
OFF
100 200
ON M10
ON OFF
Command in-position (M1603+20n)
FIN signal (M1819+20n)
M code outputting (M1619+20n)
M code (D***)
Start acceptance (M2001+n)
Command in-position range setting
3. POSITIONING SIGNALS
3 24
3.1.2 Axis command signals
(1) Temporary stop command (M1500+10n/M4400+10n) (a) The motion program which is making a positioning start (G00, G01, etc.)
under the DSFRP/SVST instruction is stopped temporarily by the temporary stop command. (The motion program stops temporarily if any of the temporary stop commands for the axis names specified in the SVST instruction turns ON.)
(b) To restart, turn ON M1504+10n/M4404+10n.
[Motion program example]
01; G90 G00 X100.; M02; %
Program No. Absolute value command PTP positioning (X100.) Reset
Start acceptance (M2001+n)
Restart (M1504+10n)
DSFRP/SVST instruction
Temporarily stopping (M1403+10n)
OFF
ON
Automatically operating (M1402+10n)
Temporary stop command (M1500+10n)
OFF ON
ON
Temporarily stopping
G90 G00 X100.;
OFF
OFFOFF ON
OFF
Temporarily stopping
(c) Among the positioning start instructions, the following instructions must be noted. 1) A dog, count or data setting type home position return under G28 is
stopped and ended by the temporary stop command. After that, restart (M1504+10n) is invalid. When you want to execute G28 again, start the motion program using the SVST instruction.
2) The axis executing G25 (high-speed oscillation) ignores the temporary stop.
POINT
(1) During a home position return made by JOG operation, manual pulse generator, DSFLP/CHGA instruction or the like, the temporary stop command is ignored.
3. POSITIONING SIGNALS
3 25
(2) Optional program stop command (M1501+10n/M4401+10n) This signal is used to select whether a block stop is made in a block where "M01" exists. ON ...... A block stop is made at the end of that block. OFF ..... Execution shifts to the next block.
[Motion program example]
0001; G90 G00 X100.; M01; X200.; M02; %
Program No. Absolute value command PTP positioning (X100.) Optional program stop command PTP positioning (X200.) Reset
200
Start acceptance (M2001+n)
100 DSFRP/SVST instruction
Automatically operating (M1402+10n)
OFF
OFF
ON
ON
When M1501+10n is ON
Restart (M1504+10n)
Start acceptance (M2001+n)
100 DSFRP/SVST instruction
Restart (M1504+10n)
Automatically operating (M1402+10n)
OFF
OFF
ON
When M1501+10n is OFF
200
3. POSITIONING SIGNALS
3 26
(3) Optional block skip command (M1502+10n/M4402+10n) This signal is used to select whether a block headed by "/" is to be executed or not. ON ...... That block is not executed and execution shifts to the next block. OFF .... That block is executed.
[Motion program example]
0001; G90 G00 X100.; /X200.; M02; %
Program No. Absolute value command PTP positioning (X100.) PTP positioning (X200.) Reset
Start acceptance (M2001+n)
100 DSFRP/SVST instruction
Automatically operating (M1402+10n)
OFF ON
When M1502+10n is ON
Start acceptance (M2001+n)
100 DSFRP/SVST instruction
Automatically operating (M1402+10n)
OFF ON
When M1502+10n is OFF
200
3. POSITIONING SIGNALS
3 27
(4) Single block command (M1503+10n/M4403+10n) This single block is the mode where a single block is specified before a program start. For the mode where a single block is executed at any point during program run, refer to the single block mode signal (M1508/M4408). By turning ON the single block command before a program start, commands in program operation can be executed block by block. The single block signal is checked only at a motion program start and is not checked during operation. Therefore, the single block signal is not made valid if it is turned ON during operation. ON ................Program is executed block by block.
The first start is made by turning ON the restart command (M1504+10n) after execution of the DSFRP/SVST instruction. After that, a start is made by turning ON the restart command (M1504+10n/M4404+10n).
OFF ..............All blocks are executed continuously by the DSFRP/SVST instruction.
[Motion program example]
0001; G90 G00 X100.; X200.; M02; %
Program No. Absolute value command PTP positioning (X100.) PTP positioning (X200.) Reset
Start acceptance (M2001+n)
Single block command (M1503+10n)
Temporarily stopping (M1403+10n)
OFF
OFF ONAutomatically operating
(M1402+10n)
Restart (M1504+10n) OFF
G90G00X100. X200.
ON
M02
When M1503+10n is ON
DSFRP/SVST instruction
200100
Start acceptance (M2001+n)
100Single block command (M1503+10n)
Automatically operating (M1402+10n)
OFF ON
When M1503+10n is OFF
200
G90G00X100. X200.
DSFRP/SVST instruction
3. POSITIONING SIGNALS
3 28
(5) Restart command (M1504+10n/M4404+10n) This signal resumes bock execution when it is turned ON during a block stop under the M00, M01 or single block command or during a temporary stop under the temporary stop command. (This signal is valid for the motion program only. It is invalid for a home position return, etc.)
[Motion program example]
0001; G90 G00 X100.; M00; X200.; M02; %
Program No. Absolute value command PTP positioning (X100.) Block stop PTP positioning (X200.) Reset
Block stop Temporarily stopping Start acceptance (M2001+n)
DSFRP/SVST instruction
Temporary stop command (M1500+10n)
ONAutomatically operating (M1402+10n)
Restart (M1504+10n) OFF
G90G00X100. M00
ON
X200. X200.
Temporarily stopping (M1403+10n)
(6) Override ratio valid/invalid (M1505+10n/M4405+10n) This signal is used to set whether the override ratio is valid or invalid. ON ................Valid: Turning ON M1505+10n/M4405+10n during motion
program run starts positioning at the specified speed multiplied by the value (%) stored in the override ratio setting register.*1
OFF .............. Invalid: Positioning is controlled at the override ratio of 100%.
REMARK
*1: Under G25 (high-speed oscillation) or G28 (dog, count, data setting) in the motion program or during a home position return made by JOG operation, manual pulse generator, DSFLP/CHGA instruction or the like, positioning is controlled at the override ratio of 100%. (The override ratio is made invalid.)
(7) Single block mode signal (M1508/M4408) (a) The single block mode signal makes a single block valid in the mode where
a single block is executed at any point during program execution.
(b) Turning ON the single block mode turns ON the single block in progress (M1409).
3. POSITIONING SIGNALS
3 29
(8) Single block start signal (M1509/M4409) (a) The single block start signal restarts a single block in the mode where a
single block is executed at any point during program execution.
(b) The single block start is made valid by turning it from OFF to ON. Note that it is not accepted during axis movement.
(c) When the single block in progress (M1409/M4409) is ON and the single block mode (M1508/M4408) is ON, making a single block start continues single block operation.
(d) When the single block in progress (M1409/M4409) is ON and the single block mode (M1508/M4408) is OFF, making a single block start stops single block operation and starts continuous operation. At this time, the single block in progress (M1409/M4409) turns OFF.
(9) Stop command (M1800+20n/M3200+20n) (a) The stop command is a signal used to stop an axis that is currently being
driven and becomes effective at its leading edge (OFFON). (An axis for which the stop command is ON cannot be started.)
OFF
ON
Set speed
V
Stop command for designated axis
Deceleration processing
Stop
Control when stop command is OFF
t
Stop command (M1800+20n)
(b) During automatic operation started by the DSFRP/SVST instruction, the program is ended by the stop command. (The motion program is stopped if any of the stop commands for the axis names specified in the DSFRP/SVST instruction turns ON.)
(c) M1504+10n/M4404+10n (restart) is valid only after M1500+10n/M4400+10n (temporary stop).
(d) The following stop processing is performed when the stop command is turned ON.
Processing when the Stop Command Comes ON Control Being
Executed If Control is Being Executed If Deceleration Stop Processing is
Being Executed
Position control
during motion
program run
JOG operation
The axis decelerates to a stop in the
deceleration time set in the parameter
block or servo program. (Note 1)
The stop command is ignored and
deceleration stop processing
continues. (Note 1)
Manual pulse
generator operation
An immediate stop is executed, with
no deceleration processing.
Home position return
(1) The axis decelerates to a stop in the deceleration time set in the
parameter block.
(2) A "stop during home position return" error occurs and the error code
(202) is stored in the minor error storage area for each axis.
(Note 1) The deceleration time under G00 including M code, G01, G02, G03 or G32 is equivalent to the
acceleration time set in the parameter block.
3. POSITIONING SIGNALS
3 30
POINT
If a home position return being made is stopped by turning ON the stop command (M1800+20n/M3200+20n), make a home position return again. If the stop command is turned ON after the near-zero point dog has turned ON in the near-zero point dog type home position return, make a home position return after performing JOG operation, positioning or the like to move the axis to a position before the near-zero point dog is turned ON.
(10) Rapid stop command (M1801+20n/M3201+20n) (a) The rapid stop command is a signal used to rapidly stop an axis that is
currently being driven and becomes effective at its leading edge (OFFON). (An axis for which the rapid stop command is ON cannot be started.)
ON
OFF
Set speed
V
Rapid stop command for designated axis
Rapid stop processing
Stop
Control when rapid stop command is OFF
t
Rapid stop command (M1801+20n)
(b) During automatic operation started by the DSFRP/SVST instruction, the program is ended by the rapid stop command. (The motion program is stopped if any of the rapid stop commands for the axis names specified in the DSFRP/SVST instruction turns ON.)
(c) M1504+10n/M4404+10n (restart) is valid only after M1500+10n/M4400+10n (temporary stop).
(d) The following stop processing is performed when the rapid stop command is turned ON.
Processing when the Rapid Stop Command Comes ON Control Being
Executed If Control is Being Executed If Deceleration Stop Processing is
Being Executed
Position control
during motion
program run
JOG operation
The axis decelerates to a stop in the
deceleration time set in the parameter
block or servo program. (Note 1)
Deceleration processing is canceled and
rapid stop processing executed instead.
(Note 1)
Manual pulse
generator operation
An immediate stop is executed, with
no deceleration processing.
Home position return
(1) The axis decelerates to a stop in the rapid stop deceleration time set in
the parameter block.
(2) A "stop during home position return" error occurs and the error code
(203) is stored in the minor error storage area for each axis.
(Note 1) The deceleration-to-rapid-stop time under G00 including M code, G01, G02, G03 or G32 is
equivalent to the acceleration time set in the parameter block.
3. POSITIONING SIGNALS
3 31
POINT
If a home position return being made is stopped by turning ON the rapid stop command (M1801+20n/M3201+20n), make a home position return again. If the rapid stop command is turned ON after the near-zero point dog has turned ON in the near-zero point dog type home position return, make a home position return after performing JOG operation, positioning or the like to move the axis to a position before the near-zero point dog is turned ON.
(11) Forward JOG start command (M1802+20n/M3202+20n)/Reverse JOG start command (M1803+20n/M3203+20n) (a) While the sequence program keeps M1802+20n/M3203+20n ON, JOG
operation is executed in the direction in which address numbers increase. When M1802+20n/M3202+20n is turned OFF, a deceleration stop is executed in the deceleration time set in the parameter block.
(b) While the sequence program keeps M1803+20n/M3203+20n ON, JOG operation is executed in the direction in which address numbers decrease. When M1803+20n/M3203+20n is turned OFF, a deceleration stop is executed in the deceleration time set in the parameter block.
POINT
Establish an interlock in the sequence program to make it impossible for the forward JOG start command (M1802+20n/M3202+20n) and the reverse JOG start command (M1803+20n/M3203+20n) to be ON at the same time.
(12) End signal OFF command (M1804+20n/M3204) (a) The end signal OFF command is used to turn off the positioning start
completed signal (M1600+20n/M2400+20n) and the positioning completed signal (M1601+20n/M2401+20n) by using the sequence program.
OFF
OFF
OFF
ON
ON
ON
t
End signal OFF command (M1804+20n)
Positioning completed signal (M1601+20n)
Positioning start completed signal (M1600+20n)
POINT
Do not turn the end signal OFF command ON with a PLS command. If it is turned ON with a PLS command, it will not be possible to turn OFF the positioning start completed signal (M1600+20n/M2400+20n) or the positioning completed signal (M1601+20n/M2401+20n).
(13) Limit switch output enable command (M1806+20n/M3208+20n) The limit switch output enable command is used to enable limit switch output. ON .........The limit switch output ON/OFF pattern can be output. OFF .......Limit switch output goes OFF.
3. POSITIONING SIGNALS
3 32
(14) Error reset command (M1807+20n/M3207+20n) (a) The error reset command is used to clear the minor error code or major
error code storage area of an axis for which the error detection signal has come ON (M1607+20n/M3207+20n: ON), and reset the error detection signal (M1607+20n/M3207+20n).
* *
* *
* *: Error code
00
OFF
OFF
ON
Minor error code storage area
Major error code storage area
ON
00
Error reset (M1807+20n)
Error detection (M1607+20n)
(b) If an error reset is made during the temporary stop (M1403+10n/M4003+10n) under the stop command (M1800+20n/M3200+20n) during automatic operation or if an error reset is made during a block stop under M00/M01, the motion program running status is reset. When a next start is made, the DSFRP/SVST instruction must be executed. (Restart cannot be made.)
Block stop under M00/M01
OFF ON
Temporary stop command (M1500+10n)
DSFRP/SVST instruction
Start acceptance (M2001+n)
Temporarily stopping (M1403+10n)
Automatically operating (M1402+10n)
Error reset (M1807+20n)
(c) When the error reset command is turned ON during automatic operation (M1402+10n/M4002+10n ON), the above reset processing is performed after the stop processing is carried out under the temporary stop command (M1500+10n/M4400+10n).
3. POSITIONING SIGNALS
3 33
(15) Servo error reset command (M1808+20n/M3208+20n) (a) The servo error reset command is used to clear the servo error code
storage area of an axis for which the servo error detection signal has come ON (M1608+20n/M2408+20n): ON), and reset the servo error detection signal (M1608+20n/M2408+20n).
* *
OFF
OFF
ON
ON
* *: Error code
00 Servo error code storage area
Servo error reset command (M1808+20n)
Servo error detection signal (M1608+20n)
(b) If an error reset is made during the temporary stop (M1403+10n/M4003+10n) under the stop command (M1800+20n/M2400+20n) during automatic operation or if an error reset is made during a block stop under M00/M01, the motion program running status is reset. When a next start is made, the DSFRP/SVST instruction must be executed. (Restart cannot be made.)
Block stop underr M00/M01
OFF ON
Automatically operating (M1402+10n)
Start acceptance (M2001+n)
Servo error reset (M1808+20n)
Temporary stop command (M1500+10n)
DSFRP/SVST instruction
Temporarily stopping (M1403+10n)
(c) When the error reset command is turned ON during automatic operation (M1402+10n/M4002+10n ON), the above reset processing is performed after the stop processing is carried out under the temporary stop command (M1500+10n/M4400+10n).
POINT
*: Do not turn the error reset command (M1807+20n/M3207+20n) or servo error reset command (M1808+20n/M3208+20n) ON with a PLS command. If a PLS command is used, it will not be possible to reset the error or servo error.
REMARK
For details on minor error code, major error code, and servo error code storage areas, see Appendix 2.
3. POSITIONING SIGNALS
3 34
(16) External STOP input/invalid when starting command (M1809+20n/M3209+20n) This signal is used to make external STOP signal input valid or invalid. ON.........External STOP input is set as invalid, and even axes for which STOP
input is currently ON can be started. OFF.......External STOP input is set as valid, and axes for which STOP input is
currently ON cannot be started.
POINTS
(1) To stop an axis by external STOP input after it has been started with the M1809+20n/M3209+20n command ON, switch the STOP input from OFF to ON (if STOP input is ON when the axis is started, switch it from ON to OFF to ON).
(2) External STOP input causes a block stop during automatic operation (M1402+10n/M4002+10n ON).
(17) Servo OFF command (M1815+20n/M3215+20n) The servo OFF command is used to establish the servo OFF status (free run status). M1815+20n/M3215+20n : OFF .........Servo ON M1815+20n/M3215+20n : ON...........Servo OFF (free run status) This command is not effective during positioning and should therefore be executed on completion of positioning.
CAUTION
Turn the power supply at the servo side OFF before turning a servomotor by hand.
(18) FIN signal (M1819+20n/M3219+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.
[Motion program example]
0001; G90 G00 X100. M10; X200.; M02; %
Program No. Absolute value command PTP positioning (X100.) M10 PTP positioning (X200.) Reset
Start acceptance (M2001+n)
FIN signal (M1819+20n)
DSFRP/SVST instruction
M code (D***)
M code outputting (M1619+20n)
OFF
100 200
M10
ON
Command in-positiion (1603+20n)
Command in-position range setting
3. POSITIONING SIGNALS
3 35
3.1.3 Common devices
POINTS
(1) Internal relays for positioning control are not latched even inside the latch range. In this manual, in order to indicate that internal relays for positioning control are not latched, the expression used in this text is "M2000 to M2047".
(2) The range of devices allocated as internal relays for positioning control cannot be used by the user even if their applications have not been set.
(1) PC READY flag (M2000)...........Signal sent from SCPU to PCPU (a) This signal serves to notify the PCPU that the SCPU is normal. It is
switched ON and OFF by the sequence program. 1) While M2000 is ON, the positioning control or home position return
specified by the motion program, or the JOG operation or manual pulse generator operation specified by the sequence program, can be executed.
2) Control in above (1) is not exercised if M2000 is turned ON while M2000 is OFF or in the test mode using peripheral device [while the test mode in progress flag (M9075) is 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.
(See Section 4.6.) 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 (c) 1) above is not executed.
3) While the test mode is in effect, the processing in (c) 1) above is not executed. When the test mode is cancelled, the processing in (c) 1) above is executed if M2000 is ON.
PC READY flag (M2000) OFF
OFF
ON
ON
Positioning start
The PCPU READY-completed flag (M9074) does not come ON because deceleration is in progress.
Deceleration to stop
Servo parameters set in the servo amplifiers, M code cleared.
V
t
PCPU READY completed flag (M9074)
3. POSITIONING SIGNALS
3 36
(d) When M2000 is switched from ON to OFF, the following processing is executed. 1) Processing details
The PCPU READY-completed flag (M9074) is turned OFF. The axis being driven is decelerated to a stop.
POINT
The PC READY flag (M2000) goes OFF when the servo system CPU is in the STOP status. When the RUN status is re-established, the status is the same as before the STOP was executed.
M2000 OFF
ON
Switch from RUN to STOP Switch from STOP to RUN
(2) Start accept flag (M2001+n)...........Signal sent from PCPU to SCPU (a) The start accept flag comes ON when the positioning start (DSFRP/ SVST)
instruction is executed in the sequence program: use it as an interlock to enable or disable execution of the DSFRP/SVST instruction.
When requesting execution of the servo programs for positioning on axis 1 and axis 3, use the start accept flags in the way shown below.
DSFRP/SVST instruction execution request DSFRP/SVST instruction execution enable/disabled specificationM2003M2001
SVST J1J3 K1 Axis 1 start accept flag
Axis 3 start accept flag
(b) The start accept flag ON/OFF processing takes the following form. 1) The start accept flag for the designated axis comes ON in response to a
DSFRP/SVST instruction, and goes OFF on completion of positioning. The start accept flag will also go OFF if positioning is stopped part way through. (However, if positioning is stopped part way through by a speed change to speed 0, the start accept flag will remain ON.)
Dwell time
ON
OFF
ON
OFF
V
t Positioning completionDSFRP/SVST
instruction
Start accept flag (M2001+n)
Positioning completed (M1601+20n)
Positioning start completed (M1600+20n)
Positioning completed normally Positioning stopped part way through
ON
OFF
ON
OFF
V
Positioning start
DSFRP/SVST instruction
Positioning completed (M1601+20n)
OFF
Stopped part way through
t
Positioning start completed (M1600+20n)
Start accept flag (M2001+n)
Example
3. POSITIONING SIGNALS
3 37
2) When positioning control is executed by turning ON the JOG operation command (M1802+20n/M3202+20n or M1803+20n/M3203+20n), the start accept flag goes OFF when positioning is stopped by turning the JOG operation command OFF.
3) The start accept flag is ON while the manual pulse generator enable flag (M2012/M2051: ON) is ON. The start accept flag is OFF while the manual pulse generator enable flag (M2012/M2051: OFF) is OFF.
4) When M2000 is OFF, execution of a DSFRP/SVST instruction causes the start accept flag to come ON; the flag goes OFF when M2000 comes ON.
OFF
OFF
ON
ON
PC READY (M2000)
DSFRP/SVST instruction
Start accept flag
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 an error will occur during a start accept flag being ON and the axis will not start.
REMARK
A numerical value corresponding to an axis number is entered for "n".
Axis
No. n
Axis
No. n
Axis
No. n
Axis
No. n
Axis
No. n
Axis
No. n
1 0 1 0 1 0 9 8 17 16 25 24
2 1 2 1 2 1 10 9 18 17 26 25
3 2 3 2 3 2 11 10 19 18 27 26
4 3 4 3 4 3 12 11 20 19 28 27
5 4 5 4 13 12 21 20 29 28
6 5 6 5 14 13 22 21 30 29
7 6 7 6 15 14 23 22 31 30
8 7 8 7 16 15 24 23 32 31
3. POSITIONING SIGNALS
3 38
(3) All axis servo start accept flag (M2009/M2049) .......................................................Signal sent from PCPU to SCPU The all axis servo start accept flag serves to notify that servo operation is possible. ON ........The servomotor can be driven. OFF ........The servomotor cannot be driven.
OFF
OFF
OFF
ON
ON
ON
All axes servo start accept flag (M2009)
All axes servo start command (M2042)
Servo ON
(4) Manual pulse generator enable flag (M2012/M2051 to M2053) .......................................................Signal sent from SCPU to PCPU The manual pulse generator enable flags set the enabled or disabled status for positioning with the pulse input from the manual pulse generators connected to P1 of the A273EX/A172SENC/A171SENC. ON ........Positioning control is executed in accordance with the input from
the manual pulse generators. OFF ........Positioning with the manual pulse generators is not possible
because the input from the manual pulse generators is ignored.
REMARK
*: For details on the P1 connector of the A273EX/A172SENC/A171SENC, refer to the (A172SHCPUN/A171SHCPUN/A273UHCPU/A173UHCPU(S1)) Motion Controller User's Manual.
(5) JOG simultaneous start command (M2015/M2048) .......................................................Signal sent from SCPU to PCPU (a) When M2015/M2048 is turned ON, JOG operation is simultaneously started
on the axes for which JOG operation is to be executed (of axes 1 to 4) as set in the JOG operation simultaneous start axis setting register (D1015).
(b) When M2015/M2048 is turned OFF, motion on the axis currently executing JOG operation decelerates to a stop.
(6) Start buffer full (M2020/M2050) ............... Signal sent from PCPU to SCPU (a) This signal comes ON when 16 or more requests have been issued
simultaneously to the PCPU by means of position start (DSFRP/SVST) instructions and/or control change (DSFLP) instructions in the sequence program.
(b) Reset M2020/M2050 by using the sequence program.
3. POSITIONING SIGNALS
3 39
(7) Speed change flags (M2021 to M2028/M2061+n) ............................................................Signal from PCPU to SCPU The speed change flags come ON when a speed change is executed in response to a control change (DSFLP/CHGV) instruction in the sequence program: use them for interlocks in speed change programs.
OFF
OFF
ON
Delay due to sequence program
ON
13 to 16ms Speed change
Speed after speed change
t
Speed change completed
Speed change command
Speed change flag
Set speed
DSFLP instruction
(8) 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) When an error occurs, the ERROR LED at the front of the CPU comes ON.
Also, the error log can be known from the peripheral devices started by GSV43P.
(b) When M2041 is ON, positioning cannot be started. You must eliminate the cause of the error and switch the power back ON, or reset the servo system CPU.
REMARK
Even if a module is loaded at a slot set as "NO USE" in the system setting data set with a peripheral device, that slot will be regarded as not used.
3. POSITIONING SIGNALS
3 40
(9) All axes servo start command (M2042) ............. Signal from SCPU to PCPU The all axes servo start command is used to enable servo operation. (a) Servo operation enabled M2042 is turned ON while the servo OFF
signal (M1815+20n) is OFF and there is no servo error.
(b) Servo operation disable M2042 is OFF The servo OFF signal (M1815+20n) is
ON Servo error
OFF
OFF
ON
Servo ON
ON
All axes servo start command (M2042)
All axes servo start accept command (M2009)
POINT
M2042 has been turned ON, it will not go OFF even if the CPU is set in the STOP status.
(10) Motion slot module fault detection flag (M2047) ........................................................... Signal from PCPU to SCPU This flag is used to determine whether the modules loaded in the motion slots of the main base unit are "normal" or "abnormal".
ON ...... Loaded module is abnormal OFF .... Loaded module is normal The module information at power-on and the module information after power- on are always checked to detect abnormality. (a) When M2047 turns ON, the ERROR LED of the
A172SHCPUN/A171SHCPUN/A173UHCPU(S1) is lit. The following message appears on the LED display of the A273UHCPU.
"SL00 UNIT ERROR"
I/O slot No. (0 to 7)
Base unit No. (0: Main base 1: Motion extension base)
(b) Use the sequence program to perform appropriate processing (e.g. stop the operating axis or switch servo OFF) at detection of a fault.
3. POSITIONING SIGNALS
3 41
3.2 Data Registers
(1) Data registers
A172SHCPUN A171SHCPUN A273UHCPU (32 axis feature) /
A173UHCPU (S1)
Device No. Purpose Device No. Purpose Device No. Purpose
D0 User device
(500 points) D0
User device
(500 points) D0
Axis monitor
device
(20 points 32
axes)
D500
Control change
register for SV43
(6 points 8
axes)
D500
Control change
register for SV43
(6 points 4
axes)
D640
Control change
register
(2 points 32
axes)
D560 Tool length offset
data (40 points) D560
Tool length offset
data (40 points)
D704
D799
Common device
(96 points)
D600
Axis monitor
device for SV43
(20 points 8
axes)
D600
Axis monitor
device for SV43
(20 points 4
axes)
D800
Axis monitor
device for SV43
(20 points 32
axes)
D760 Unusable
(40 points) D680
Unusable
(120 points) D1440
Control change
register for SV43
(6 points 32
axes)
D800
Axis monitor
device
(20 points 8
axes)
D800
Axis monitor
device
(20 points 4
axes)
D1632 Unusable
(18 points)
D960
Control change
register
(6 points 8
axes)
D880 Unusable
(80 points) D1650
Tool length offset
data (40 points)
D1008
D1023
Common device
(16 points) D960
Control change
register
(6 points 4
axes)
D1690
D8191
User device
(6502 points)
D984 Unusable
(24 points)
D1008
D1023
Common device
(16 points)
POINT
Total number of user device points
A172SHCPUN 800 points A273UHCPU
(32 axis feature)
A171SHCPUN 800 points A173UHCPU (S1)
6502 points
3. POSITIONING SIGNALS
3 42
(2) Axis monitor devices
Axis monitor devices for SV43 Axis
No.
A172SHCPUN
Device No.
A171SHCPUN
Device No. Signal name
D600 D600
to to1
D619 D619 Signal name
Refresh
cycle
Fetch
cycle Unit
Signal
direction
D620 D620
to to
0
1 Current value
Command
unit2
D639 D639 2 Execution sequence No. (main)
D640 D640 3 Execution block No. (main)
to to 4 Execution program No. (sub) 3
D659 D659 5 Execution sequence No. (sub)
D660 D660 6 Execution block No. (sub)
END
to to 7 Unusable 4
D679 D679 8 G43/44 command
D680 9 Tool length offset data No.
to5
D699
10
11 Tool length offset
END Command
unit
D700 12 Unusable to 13 Unusable 6
D719 14 Unusable
D720 15 Unusable
to 16 Unusable 7
D739 17 Unusable
D740 18 Unusable
to 19 Unusable
SCPU PCPU
8
D759
Axis monitor devices Axis
No.
A172SHCPUN
Device No.
A171SHCPUN
Device No. Signal name
D800 D800
to to1
D819 D819 Signal name
Refresh
cycle
Fetch
cycle Unit
Signal
direction
D820 D820
to to
0
1 Machine value
Command
unit2
D839 D839 2
D840 D840 3 Actual current value
Command
unit
to to 43
D859 D859 5 Deviation counter value
3.5ms
PLS
D860 D860 6 Minor error code
to to 7 Major error code
Immedi-
ately 4
D879 D879 8 Servo error code 10ms
D880
to
9
10 Travel after DOG/CHANGE ON END
Command
unit5
D899 11 Home position return second travel PLS
D900 12 Execution program No. to 13 M code 6
D919 14 Torque limit value
3.5ms
%
D920 15 Unusable
to 16 Unusable
7
D939 17
D940 18 Actual present value at STOP input END
Command
unit
to 19 Unusable
SCPU PCPU
8
D959
* The entry "END" in the Refresh Cycle column indicates 80ms or a longer sequence program scan time.
3. POSITIONING SIGNALS
3 43
(2) Axis monitor device Axis monitor device
Axis
No.
A273UHCPU
(32 axis feature)/
A173UHCPU(S1)
Device No.
Signal name
1 D0 to D19
2 D20 to D39 Refresh cycle Fetch cycle
3 D40 to D59 Signal name
Set No. of axis Set No. of axis
4 D60 to D79 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32
5 D80 to D99 SV43
A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Unit Signal
direction
6 D100 to D119
7 D120 to D139
0
1 Machine value
Command
Unit
8 D140 to D159
9 D160 to D179
2
3 Actual current value
Command
Unit
10 D180 to D199
11 D200 to D219
4
5 Deviation counter value
3.5ms 7.1ms 14.2ms
PLS
12 D220 to D239
13 D240 to D259 6 Minor error code
14 D260 to D279
15 D280 to D299 7 Major error code
Immediately
16 D300 to D319
17 D320 to D339 8 Servo error code 10ms 20ms
18 D340 to D359
19 D360 to D379 9
Home position return second
Travel 3.5ms 7.1ms 14.2ms PLS
20 D380 to D399
21 D400 to D419
10
11
Travel after DOG/CHANGE
ON END
Command
unit
22 D420 to D439
23 D440 to D459 12 Execution program No. At start
24 D460 to D479 13 M code
25 D480 to D499 14 Torque limit value 3.5ms 7.1ms 14.2ms
%
26 D500 to D519
27 D520 to D539
28 D540 to D559
15 Unusable
29 D560 to D579 16 Unusable
30 D580 to D599 17 Unusable
31 D600 to D619
32 D620 to D639
18
19
Actual present value at stop
input END
Command
unit
SCPU
PCPU
*"END" in Refresh Cycle indicates a longer one of "50ms" and "sequence program scan time".
3. POSITIONING SIGNALS
3 44
(2) Axis monitor device Axis monitor device for SV43
Axis
No.
A273UHCPU
(32 axis feature)/
A173UHCPU(S1)
Device No.
Signal name
1 D800 to D819
2 D820 to D839 Refresh cycle Fetch cycle
3 D840 to D859 Signal name
Set No. of axis Set No. of axis
4 D860 to D879 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32
5 D880 to D899 SV43
A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Unit Signal
direction
6 D900 to D919
7 D920 to D939
0
1 Current value
Command
Unit
8 D940 to D959 Execution sequence No. (main)
9 D960 to D979
2
3 Execution block No. (main)
10 D980 to D999 Execution program No. (sub)
11 D1000 to D1019
4
5 Execution sequence No. (sub)
12 D1020 to D1039
13 D1040 to D1059 6 Execution block No. (sub)
END
14 D1060 to D1079
15 D1080 to D1099 7 Unusable
16 D1100 to D1119
17 D1120 to D1139 8 G43/G44 command
18 D1140 to D1159
19 D1160 to D1179 9 Tool length offset data No.
20 D1180 to D1199
21 D1200 to D1219
10
11 Tool length offset
END
Command
unit
22 D1220 to D1239
23 D1240 to D1259 12 Unusable
24 D1260 to D1279 13 Unusable
25 D1280 to D1299 14 Unusable
26 D1300 to D1319
27 D1320 to D1339
28 D1340 to D1359
15 Unusable
29 D1360 to D1379 16 Unusable
30 D1380 to D1399 17 Unusable
31 D1400 to D1419 Unusable
32 D1420 to D1439
18
19 Unusable
SCPU
PCPU
*"END" in Refresh Cycle indicates a longer one of "50ms" and "sequence program scan time".
3. POSITIONING SIGNALS
3 45
(3) Control change register Control change register for SV43 Axis
No.
A172SHCPUN
Device No.
A171SHCPUN
Device No. Signal name
D500 D500
to to1
D505 D505 Signal name
Refresh
cycle
Fetch
cycle Unit
Signal
direction
D506 D506 0 Override ratio setting register 3.5ms %
to to 1 Unusable 2
D511 D511 2 Unusable D512 D512 3 Unusable
to to 4 Unusable 3
D517 D517 5 Unusable
SCPU
PCPU
D518 D518
to to4
D523 D523
D524
to5
D529
D530
to6
D535
D536
to7
D541
D542
to8
D547
D548 D524
to to
D559 D559
Unusable
Control change register Axis
No.
A172SHCPUN
Device No.
A171SHCPUN
Device No. Signal name
D960 D960
to to1
D965 D965 Signal name
Refresh
cycle
Fetch
cycle Unit
Signal
direction
D966 D966 0 Unusable
to to 1 Unusable 2
D971 D971 2
D972 D972 3 Speed change flag
At
DSFLP
execution
Command
unit
To To 43
D977 D977 5 JOG speed setting register *1 At start
Command
unit
SCPU
PCPU
D78 D78
to to
(*1) indicates the backup register.
4
D983 D983
D984
to5
D989
D990
to6
D995
D996
to7
D1001
D1002
to8
D1007
3. POSITIONING SIGNALS
3 46
(3) Control change register Control change register
Axis
No.
A273UHCPU
(32 axis feature)/
A173UHCPU(S1)
Device No.
Signal name
1 D640, D641
2 D642, D643 Refresh cycle Fetch cycle
3 D644, D645 Signal name
Set No. of axis Set No. of axis
4 D646, D647 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32
5 D648, D649 SV43
A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Unit Signal
direction
6 D650, D651
7 D652, D653
0
1 JOG speed setting register At start
Command
unit
SCPU
PCPU
8 D654, D655
9 D656, D657
10 D658, D659
11 D660, D661
12 D662, D663
13 D664, D665
14 D666, D667
15 D668, D669
16 D670, D671
17 D672, D673
18 D674, D675
19 D676, D677
20 D678, D679
21 D680, D681
22 D682, D683
23 D684, D685
24 D686, D687
25 D688, D689
26 D690,D691
27 D692, D693
28 D694, D695
29 D696, D697
30 D698, D699
31 D700, D701
32 D702, D703
3. POSITIONING SIGNALS
3 47
(3) Control change register Control change register for SV43
Axis
No.
A273UHCPU
(32 axis feature)/
A173UHCPU(S1)
Device No.
Signal name
1 D1440 to D1445
2 D1446 to D1451 Refresh cycle Fetch cycle
3 D1452 to D1457 Signal name
Set No. of axis Set No. of axis
4 D1458 to D1463 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32
5 D1464 to D1469 SV43
A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Unit Signal
direction
6 D1470 to D1475 0 Override ratio setting register 3.5ms 7.1ms 14.2ms %
7 D1476 to D1481 1 Unusable 8 D1482 to D1487 2 Unusable 9 D1488 to D1493 3 Unusable 10 D1494 to D1499 4 Unusable 11 D1500 to D1505 5 Unusable
SCPU
PCPU
12 D1506 to D1511
13 D1512 to D1517
14 D1518 to D1523
15 D1524 to D1529
16 D1530 to D1535
17 D1536 to D1541
18 D1542 to D1547
19 D1548 to D1553
20 D1554 to D1559
21 D1560 to D1565
22 D1566 to D1571
23 D1572 to D1577
24 D1578 to D1583
25 D1584 to D1589
26 D1590 to D1595
27 D1596 to D1601
28 D1602 to D1607
29 D1608 to D1613
30 D1614 to D1619
31 D1620 to D1625
32 D1626 to D1631
3. POSITIONING SIGNALS
3 48
(4) Common devices
A172SHCPUN A171SHCPUN
Device
No. Signal Name Fetch Cycle
Refresh
Cycle
Signal
Direction
Device
No. Signal Name Fetch Cycle
Refresh
Cycle
Signal
Direction
D1008 D1008
D1009 D1009
D1010 D1010
D1011
Limit switch output disable
setting register (4 points) 3.5ms
D1011
Limit switch output disable
setting register (4 points) 3.5ms
D1012
Setting Register for a axis
number controlled with
manual pulse generator 1
Manual
pulse
generator
operation
enabled
SCPU
PCPU
D1012
Setting Register for a axis
number controlled with
manual pulse generator 1
Manual
pulse
generator
operation
enabled
SCPU
PCPU
D1013 D1013
D1014 Unusable (2 points)
D1014 Unusable (2 points)
D1015
JOG operation simultane-
ous start axis setting
register
At driving D1015
JOG operation simultane-
ous start axis setting
register
At driving
D1016 Axis 1 D1016 Axis 1
D1017 Axis 2 D1017 Axis 2
D1018 Axis 3 D1018 Axis 3
D1019 Axis 4 D1019 Axis 4
1 pulse input modi-
fication setting reg-
ister for manual
pulse generator (4
points)
Manual
pulse
generator
operation
enabled
SCPU
PCPU
D1020 Axis 5 D1020
D1021 Axis 6 D1021
D1022 Axis 7 D1022
D1023 Axis 8
1 pulse input modi-
fication setting
register for manual
pulse generators
(8 points)
Manual
pulse
generator
operation
enabled
SCPU
PCPU
D1023
Unusable (4 points)
3. POSITIONING SIGNALS
3 49
(4) Common devices A273UHCPU (32 axis feature) / A173UHCPU (S1)
Refresh cycle Fetch cycle Signal name
Set No. of axis Set No. of axis A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
Device No. SV43
A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal direction
D704 D705 D706 D707 D708 D709
Unusable (6 points)
D710 D711 D712 D713
JOG simultaneous start axis setting register At start
D714 D715
Manual pulse generator 1 axis No. setting register
D716 D717
Manual pulse generator 2 axis No. setting register
D718 D719
Manual pulse generator 3 axis No. setting register
D720 Axis 1 D721 Axis 2 D722 Axis 3 D723 Axis 4 D724 Axis 5 D725 Axis 6 D726 Axis 7 D727 Axis 8 D728 Axis 9 D729 Axis 10 D730 Axis 11 D731 Axis 12 D732 Axis 13 D733 Axis 14 D734 Axis 15 D735 Axis 16 D736 Axis 17 D737 Axis 18 D738 Axis 19 D739 Axis 20 D740 Axis 21 D741 Axis 22 D742 Axis 23 D743 Axis 24 D744 Axis 25 D745 Axis 26 D746 Axis 27 D747 Axis 28 D748 Axis 29 D749 Axis 30 D750 Axis 31 D751 Axis 32
Manual pulse generator 1-pulse input magnification setting register
D752 Manual pulse generator 1 smoothing magnification setting regis-
ter
D753 Manual pulse generator 2 smoothing magnification setting regis-
ter
D754 Manual pulse generator 3 smoothing magnification setting regis-
ter
When manual pulse generator enable
SCPU PCPU
D755 D756 D757 D758 D759
Unusable (5 points)
D760 D761 D762 D763 D764 D765 D766 D767 D768 D769 D770 D771 D772 D773 D774 D775
Limit switch output disable setting register
D776 D777 D778 D779 D780 D781 D782 D783 D784 D785 D786 D787 D788 D789 D790 D791
Limit switch output status storage register
3.5ms 7.1ms 14.2ms
D792 D793 D794 D795 D796 D797 D798 D799
Servo amplifier type At power ON
SCPU PCPU
3. POSITIONING SIGNALS
3 50
3.2.1 Axis monitor devices
(1) Monitor data areas (D600 to D759, D800 to D959, D800 to D1439, D0 to D639) .........................................................................................Data from PCPU to SCPU
The monitor data areas are used by the PCPU to store data such as the present value, actual machine value and deviation counter's droop pulse value during positioning control. They can be used to check the positioning control status in the sequence program. The user cannot write data into the monitor data areas. For the delay time from when a positioning device (input, internal relay, special relay) turns ON/OFF until data is stored into the monitor data area, refer to Appendix 6 Processing Time List. (a) Present value..........................................................Data from PCPU to SCPU
1) This register stores the address in the work coordinate system (G54 to G59) specified in the motion program. This value is stored on the assumption that 0.0001mm is equal to 1. (1mm = 10000) The following assumes that the setting from the peripheral device is G54=1000.
Machine value
Present value
10000000
0
Work coordinate system G54 zero position
0
-1000000 Machine value zero position
At the 10000000 position of the machine value, the present value is 0. 2) The present value shifts depending on the work coordinate system
selection (G54 to G59) and G92 (coordinate system setting). When "G90 G00 X0.;" (G54 selected) and "G92 X500." are executed in the above status, the present value is as follows.
Machine value
Present value
10000000
0
Work coordinate system G54 zero position
0
-1000000 Machine value zero position
0 -50000005000000 "G92 X500." executed
The 0 position of the present value is re-set to 500., which results in the present value of 5000000.
3. POSITIONING SIGNALS
3 51
(b) Execution sequence No. (main) storage register ...Data from PCPU to SCPU This register stores the N No. (sequence No.) of the main sequence being executed. This number changes to zero at a motion program start. The following data are the changes of the execution motion program No., execution sequence No. and execution block No.
Program Execution motion program No. Execution sequence No. Execution block No.
0001; 1 0 0
G00 X100.; 1 0 1
X200.; 1 0 2
N100 Y100.; 1 100 0
Z100.; 1 100 1
X300.; 1 100 2
N200 G01 X350. F100.; 1 200 0
Y200. Z200; 1 200 1
M10; 1 200 2
M02; 1 200 3
% 1 200 3
(c) Execution block No. (main) storage register...........Data from PCPU to SCPU This register stores the block No. being executed. This number changes to zero when the motion program is started by the DSFRP/SVST instruction. This number changes to zero when the sequence No. (N****) described in the motion program is executed, and is incremented every time a single block is executed. (Be careful when executing the IF-THEN-ELSE-END or WHILE-DO instruction. For details, refer to Sections 6.11.2 and 6.11.3.)
(d) Execution program No. (sub) storage register .......Data from PCPU to SCPU 1) This register stores the 0 No. of the subprogram started by "M98"
(subprogram call). 2) When a subprogram is called from a subprogram, this number changes
to the 0 No. of the subprogram called. When the subprogram is ended by "M99", this number changes to the 0 No. of the subprogram which called.
3) This number changes to 0 when the motion program is started by the DSFRP/SVST instruction.
(e) Execution sequence No. (sub) storage register .....Data from PCPU to SCPU 1) This register stores the 0 No. of the subprogram started by "M98"
(subprogram call). 2) When a subprogram is called from a subprogram, this number changes
to the 0 No. of the subprogram called. When the subprogram is ended by "M99", this number changes to the 0 No. of the subprogram which called.
3) This number changes to 0 when the motion program is started by the DSFRP/SVST instruction.
(f) Execution block No. (sub) storage register .............Data from PCPU to SCPU 1) This register stores the block No. of the subprogram started by "M98"
(subprogram call). 2) When a subprogram is called from a subprogram, this number changes
to the block No. of the subprogram called. When the subprogram is ended by "M99", this number changes to the block No. of the subprogram which called.
3) This number changes to 0 when the motion program is started by the DSFRP/SVST instruction.
3. POSITIONING SIGNALS
3 52
(g) G43/G44 instruction storage register......................Data from PCPU to SCPU 1) Any of the following values is stored when the tool length offset (G43,
G44) or tool length offset cancel (G49) set in the motion program is executed. For G43 .............................43 For G44 .............................44 For G49 .............................0
2) This value defaults to 0.
(h) Tool length offset data No ......................................Data from PCPU to SCPU 1) When the tool length offset (G43, G44) command is given, this register
stores the preset tool length offset data No.
[Example] When the X axis is assigned to axis 3
"G43 X100. H20;" is executed.
20 is stored into D649.
2) This value defaults to 0.
(i) Tool length offset 1) This register stores the offset value specified in the tool length offset data
No. 2) When the tool length offset (G43, G44) command is given, the contents
of the corresponding data registers (D560 to D599: offset value) are stored into the tool length offset area according to the preset tool length offset data No.
[Example] When the X axis is assigned to axis 3
D560 = 50000 (H1 = 5.0000mm)
"G43 X50. H1;" is executed.
50000 is stored into D610 and D611.
"G49 X50.;" is executed.
0 is stored into D610 and D611.
(j) Machine value storage register................................Data from PCPU to SCPU The machine value represents the address in the mechanical coordinate system determined by a home position return. This value remains unchanged if "G92" and work coordinate system (G54 to G59) are executed. This value is used to process the stroke limit range and limit switch output.
(k) Actual machine value..............................................Data from PCPU to SCPU 1) This register stores the actual motor position (machine value - deviation
counter value). 2) In a stop status, the machine value is equal to the actual machine value.
(At a motor stop, the servo lock force of the motor causes the actual machine value to vary slightly.)
(l) Deviation counter value (droop pulses) ...................Data from PCPU to SCPU This register stores the difference between the machine value and actual machine value.
3. POSITIONING SIGNALS
3 53
(m) Minor error code ....................................................Data from PCPU to SCPU 1) This register stores the corresponding error code at occurrence of a
minor error. If another minor error occurs after the storage of the error code, the old error code is overwritten by a new error code.
2) Use the error reset (M1807+20n) to clear the minor error code.
(n) Major error code .....................................................Data from PCPU to SCPU 1) This register stores the corresponding error code at occurrence of a
major error. If another major error occurs after the storage of the error code, the old error code is overwritten by a new error code.
2) Use the error reset (M1807+20n) to clear the major error code.
(o) Servo error code.....................................................Data from PCPU to SCPU 1) This register stores the corresponding error code at occurrence of a
servo error. If another servo error occurs after the storage of the error code, the old error code is overwritten by a new error code.
2) Use the servo error reset (M1808+20n) to clear the servo error code.
(p) After near-zero point dog ON travel storage register ................................................................................Data from PCPU to SCPU This register stores the distance (unsigned) traveled from when the near- zero point dog turns ON after start of home position return until completion of home position return.
(q) Home position return second travel storage register ................................................................................Data from PCPU to SCPU If the position where the axis has stopped as specified in the travel setting after near-zero point dog ON by the peripheral device is not the zero point, the axis is moved to the zero point in the second travel. At this time, this register stores the distance (signed) traveled by the axis up to the zero point in the second travel. (In the data setting type, the data remains unchanged from the previous value.)
(r) Execution program No. (main) storage register ......Data from PCPU to SCPU 1) When the SVST instruction is executed, this register stores the 0 No.
(motion program No.) of the main program being run. The 0 No. of the subprogram started by "M98" (subprogram call) is stored into another register.
2) When JOG operation, manual pulse generator operation or home position return operation is performed, the corresponding value is stored as follows. JOG operation ....................................... FFFFH Manual pulse generator operation......... FFFEH Home position return operation ............. FFFCH At power-on ........................................... FF00H
3) FFFDH is stored while the following items are executed in the test mode using peripheral device. Home position return is made. Position loop gain or position control gain 1 check is executed in servo
diagnostics.
(s) M code storage register ..........................................Data from PCPU to SCPU 1) The M code set in the motion program is stored at the start of executing
that block. This value is "0" if the M code is not set in the motion program.
2) The preceding value remains until the M code is executed next.
3. POSITIONING SIGNALS
3 54
(t) Torque limit value storage register ..........................Data from PCPU to SCPU This register stores the torque limit value commanded to the servo. 300% is stored at power-on of the servo or on the leading edge of PC ready (M2000).
(u) STOP input-time actual machine value storage register ................................................................................Data from PCPU to SCPU This area stores the actual machine value at input of the external "STOP" signal.
3. POSITIONING SIGNALS
3 55
3.2.2 Control change registers
(1) Control changing data storage areas (D500 to D559, D960 to D1007, D1440 to D1631, D640 to D703) ................................................Data from SCPU to PCPU The control changing data storage areas are used to store the override ratio setting data, speed change data and JOG operation speed data. (a) Override ratio setting register
1) This register is used to set the override ratio of 0 to 100% in 1% increments to the command speed in the motion program.
2) The actual feed rate is the result of multiplying the command speed in the motion program by the override ratio of 0 to 100% in 1% increments.
3) Refer to Section 7.10 for details of override ratio setting.
(b) Speed change register 1) When the speed of the operating axis is changed, this register stores a
new speed. 2) The ranges of setting made to the speed change register are indicated
below.
mm inch degreeUnit
Item Setting range Unit Setting range Unit Setting range Unit
New speed value 0 to 600000000 10-2mm/min 0 to 600000000 10-3inch/min 0 to 2147483647 10-3degree/min
3) Execution of the positioning control change instruction (DSFLP) causes the value set in the speed change register to be used as the positioning speed.
4) Refer to Section 7.7 for details of speed changing.
(c) JOG speed setting register 1) This register stores the JOG speed for JOG operation. 2) The setting ranges of the JOG speed are indicated below.
mm inch degreeUnit
Item Setting range Unit Setting range Unit Setting range Unit
JOG speed 1 to 600000000 10-2mm/min 0 to 600000000 10-3inch/min 0 to 2147483647 10-3degree/min
3) The JOG speed is the value stored in the JOG speed setting register on the leading edge (OFF to ON) of the JOG start signal. The JOG speed cannot be changed if the data is changed during JOG operation.
4) Refer to Section 7.8 for details of JOG operation.
3. POSITIONING SIGNALS
3 56
3.2.3 Tool length offset data
(1) Tool length offset data setting registers (D560 to D599/D1650 to D1689) .....................................................................................Data from SCPU to PCPU (a) These registers are used to set the tool length offset values.
(b) The tool length offset data No. can be set within the range H1 to H20. Tool length offset data setting registers
Corresponding Registers Corresponding Registers
A172SHCPUN/A171SHCPUN A273UHCPU (32 axis feature) / A173UHCPU (S1) Tool Length Offset Data
No. Upper Lower Upper Lower
H1 D561 D560 D1651 D1650
H2 D563 D562 D1653 D1652
H3 D565 D564 D1655 D1654
H4 D567 D566 D1657 D1656
H5 D569 D568 D1659 D1658
H6 D571 D570 D1661 D1660
H7 D573 D572 D1663 D1662
H8 D575 D574 D1665 D1664
H9 D577 D576 D1667 D1666
H10 D579 D578 D1669 D1668
H11 D581 D580 D1671 D1670
H12 D583 D582 D1673 D1672
H13 D585 D584 D1675 D1674
H14 D587 D586 D1677 D1676
H15 D589 D588 D1679 D1678
H16 D591 D590 D1681 D1680
H17 D593 D592 D1683 D1682
H18 D595 D594 D1685 D1684
H19 D597 D596 D1687 D1686
H20 D599 D598 D1689 D1688
(c) The setting ranges of the tool length offset data are indicated below.
mm degreeUnit
Item Setting range Unit Setting range Unit
Tool
compensation
(H1 to H20)
-999.9999
to
999.9999
mm
-359.99999
to
359.99999
degree
(d) Refer to Sections 6.8.16 and 6.8.17 for the tool length offset details.
3. POSITIONING SIGNALS
3 57
3.2.4 Common device
3.2.4.1 A172SHCPUN/A171SHCPUN
(1) Limit switch output disable setting register (D1008 to D1011).......... Data from SCPU to PCPU (a) This is a register for disabling the external output of limit switch output in 1
point units. If a bit is set to "1", the output of the corresponding limit switch is disabled, then the external output goes OFF.
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00
LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10
For axis 2
1) "1" or "0" is stored for each bit. 1: Disable The limit switch output status is OFF. 0: Enable The limit switch output comes ON and goes OFF in accordance with the set data. 2) LY of LY00 to LY3F shows the limit switch output.
LY2F LY2E LY2D LY2C LY2B LY2A LY29 LY28 LY27 LY26 LY25 LY24 LY23 LY22 LY21 LY20
LY3F LY3E LY3D LY3C LY3B LY3A LY39 LY38 LY37 LY36 LY35 LY34 LY33 LY32 LY31 LY30
D1008
D1009
D1010
D1011
For axis 4
For axis 6
For axis 8
For axis 1
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
LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00
LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10
For axis 2
1) "1" or "0" is stored for each bit. 1: Disable The limit switch output status is OFF. 0: Enable The limit switch output comes ON and goes OFF in accordance with the set data. 2) LY of LY00 to LY1F shows the limit switch output.
D1008
D1009
For axis 4
For axis 1
For axis 3
3. POSITIONING SIGNALS
3 58
(2) Registers for setting axis numbers controlled by manual pulse generators (D1012) ......Data from SCPU to PCPU (a) These registers store the axis numbers controlled by manual pulse
generators.
b15 b12 b11 b8 b7 b4 b3 b0
P1 D1012
3 digits 2 digits 1 digit
With a maximum of 3 decimal digits, set the controlled axes for each digit. A172SHCPUN Axis 1 to 8 A171SHCPUN Axis 1 to 4
(b) For details on manual pulse generator operation, see Section 7.9.
(3) JOG operation simultaneous start axis setting register (D1015) .......Data from SCPU to PCPU (a) This register is used to set the axis numbers of axes on which JOG
operation is to be executed, and the direction of motion.
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Axes started in forward JOG operation
D1015
*The possible settings for each axis moved in a simultaneous start JOG operation are "1" to "0". 1: Simultaneous start executed 0: Simultaneous start not executed
Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1
Axes started in reverse JOG operation
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Axes started in forward JOG operation
D1015
*The possible settings for each axis moved in a simultaneous start JOG operation are "1" to "0". 1: Simultaneous start executed 0: Simultaneous start not executed
Axis 4 Axis 3 Axis 2 Axis 1Axis 4 Axis 3 Axis 2 Axis 1
Axes started in reverse JOG operation
(b) For details on simultaneous starting in JOG operation, see Section 7.8.2.
3. POSITIONING SIGNALS
3 59
(4) 1 pulse input magnification setting registers for manual pulse generators (D1016 to D1023).........................................................Data from SCPU to 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 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 Axis
No.
Setting Range
D1016 Axis 1
D1017 Axis 2
D1018 Axis 3
D1019 Axis 4
1 to 100
(b) For details on manual pulse generator operation, see Section 7.9.
3. POSITIONING SIGNALS
3 60
3.2.4.2 A273UHCPU (32 axis feature)/A173UHCPU(S1)
(1) Jog operation simultaneous start axis setting registers (D710 to D713) .....................................................................................Data from SCPU to PCPU (a) These registers are used to set the axis numbers and directions of the axes
which are simultaneously started for JOG operation.
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Forward JOG operation
*The possible settings for each axis moved in a simultaneous start JOG operation are "1" to "0". 1: Simultaneous start executed 0: Simultaneous start not executed
D710 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9
Reverse JOG operation
D711 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17
D712 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9
D713 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17
(b) Refer to Section 7.19.3 for details of simultaneous start of JOG operation.
(2) Manual pulse generator-controlled axis No. setting registers (D714 to D719) .....................................................................................Data from SCPU to PCPU (a) These registers are used to store the axis numbers controlled by the manual
pulse generators.
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
*The possible settings for each axis moved in a simultaneous start JOG operation are "1" to "0". 1: Simultaneous start executed 0: Simultaneous start not executed
D714 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9
D715 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17
D716 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9
D717 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17
D718 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9
D719 Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17
P1
P2
P3
(b) Refer to Section 7.20 for details of manual pulse generator operation.
3. POSITIONING SIGNALS
3 61
(3) 1 pulse input magnification setting registers for manual pulse generators (D720 to D751) .......................................................................Data from SCPU to 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 Axis No.
Setting Range 1-pulse Input
Magnification Setting Register
Corresponding Axis No.
Setting Range
D720 Axis 1 D736 Axis 17 D721 Axis 2 D737 Axis 18 D722 Axis 3 D738 Axis 19 D723 Axis 4 D739 Axis 20 D724 Axis 5 D740 Axis 21 D725 Axis 6 D741 Axis 22 D726 Axis 7 D742 Axis 23 D727 Axis 8 D743 Axis 24 D728 Axis 9 D744 Axis 24 D729 Axis 10 D745 Axis 26 D730 Axis 11 D746 Axis 27 D731 Axis 12 D747 Axis 28 D732 Axis 13 D748 Axis 29 D733 Axis 14 D749 Axis 30 D734 Axis 15 D750 Axis 31 D735 Axis 16
1 to 100
D751 Axis 32
1 to 100
(b) For details on manual pulse generator operation, see Section 7.9.
(4) Manual pulse generator smoothing magnification setting area (D752 to D754) .....................................................................................Data from SCPU to PCPU (a) These devices are used to set the smoothing time constants of the manual
pulse generators.
Manual Pulse Generator Smoothing Magnification Setting Register
Setting Range
Manual pulse generator 1 (P1): D752 Manual pulse generator 2 (P2): D753 Manual pulse generator 3 (P3): D754
0 to 59
(b) By setting the smoothing magnification, the smoothing time constant is as indicated by the following equation.
Smoothing time constant (t) = (smoothing magnification + 1) 56.8 [ms]
(c) Operation
V
t t t t
V1
OFF
ON Manual pulse generator enable flag (M2051)
Manual pulse generator input
Output speed (V1) = (number of input pulses/ms) (manual pulse generator 1-pulse input magnification setting) Travel (L) = (travel per pulse) (number of input pulses) (manual pulse generator 1-pulse input magnification setting)
REMARKS 1) The travel per pulse of the manual pulse generator is as follows.
Setting unit mm inch degree PULSE
:0.1 m :0.00001inch :0.00001degree :1pulse
2) The smoothing time constant is 56.8ms to 3408ms.
3. POSITIONING SIGNALS
3 62
(5) Limit switch output disable setting registers (D760 to D775) .....................................................................................Data from SCPU to PCPU (a) These registers are used to disable the external outputs of the limit switch
outputs on a point by point basis. Set the corresponding bit to 1 to disable the limit switch output and turn OFF the external output.
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00
LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10
LY2F LY2E LY2D LY2C LY2B LY2A LY29 LY28 LY27 LY26 LY25 LY24 LY23 LY22 LY21 LY20
LY3F LY3E LY3D LY3C LY3B LY3A LY39 LY38 LY37 LY36 LY35 LY34 LY33 LY32 LY31 LY30
D760
D761
D762
D763
LY4F LY4E LY4D LY4C LY4B LY4A LY49 LY48 LY47 LY46 LY45 LY44 LY43 LY42 LY41 LY40D764
LY5F LY5E LY5D LY5C LY5B LY5A LY59 LY58 LY57 LY56 LY55 LY54 LY53 LY52 LY51 LY50D765
LY6F LY6E LY6D LY6C LY6B LY6A LY69 LY68 LY67 LY66 LY65 LY64 LY63 LY62 LY61 LY60D766
LY7F LY7E LY7D LY7C LY7B LY7A LY79 LY78 LY77 LY76 LY75 LY74 LY73 LY72 LY71 LY70D767
LY8F LY8E LY8D LY8C LY8B LY8A LY89 LY88 LY87 LY86 LY85 LY84 LY83 LY82 LY81 LY80D768
LY9F LY9E LY9D LY9C LY9B LY9A LY99 LY98 LY97 LY96 LY95 LY94 LY93 LY92 LY91 LY90D769
LYAF LYAE LYAD LYAC LYAB LYAA LYA9 LYA8 LYA7 LYA6 LYA5 LYA4 LYA3 LYA2 LYA1 LYA0D770
LYBF LYBE LYBD LYBC LYBB LYBA LYB9 LYB8 LYB7 LYB6 LYB5 LYB4 LYB3 LYB2 LYB1 LYB0D771
LYCF LYCE LYCD LYCC LYCB LYCA LYC9 LYC8 LYC7 LYC6 LYC5 LYC4 LYC3 LYC2 LYC1 LYC0D772
LYDF LYDE LYDD LYDC LYDB LYDA LYD9 LYD8 LYD7 LYD6 LYD5 LYD4 LYD3 LYD2 LYD1 LYD0D773
LYEF LYEE LYED LYEC LYEB LYEA LYE9 LYE8 LYE7 LYE6 LYE5 LYE4 LYE3 LYE2 LYE1 LYE0D774
LYFF LYFE LYFD LYFC LYFB LYFA LYF9 LYF8 LYF7 LYF6 LYF5 LYF4 LYF3 LYF2 LYF1 LYF0D775
For axis 2 For axis 1
For axis 4 For axis 3
For axis 6 For axis 5
For axis 8 For axis 7
For axis 10 For axis 9
For axis 12 For axis 11
For axis 14 For axis 13
For axis 16 For axis 15
For axis 18 For axis 17
For axis 20 For axis 19
For axis 22 For axis 21
For axis 24 For axis 23
For axis 26 For axis 25
For axis 30 For axis 29
For axis 32 For axis 31
For axis 28 For axis 27
1) Specify 1 or 0 to set each bit. 1: Disable ..... Limit switch output remains OFF. 0: Enable ...... Limit switch output turns ON/OFF based on set data. 2) "LY" in LY00 to LYFF indicates limit switch output.
3. POSITIONING SIGNALS
3 63
(6) Limit switch output status storage registers (D776 to D791) .....................................................................................Data from PCPU to SCPU (a) The output states (ON/OFF) of the limit switch outputs set on the peripheral
device and output to the AY42 are stored in terms of 1 and 0. ON .........................................1 OFF........................................0
(b) These registers can be used to export the limit switch output data in the sequence program, for example.
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00
LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10
LY2F LY2E LY2D LY2C LY2B LY2A LY29 LY28 LY27 LY26 LY25 LY24 LY23 LY22 LY21 LY20
LY3F LY3E LY3D LY3C LY3B LY3A LY39 LY38 LY37 LY36 LY35 LY34 LY33 LY32 LY31 LY30
D776
D777
D778
D779
LY4F LY4E LY4D LY4C LY4B LY4A LY49 LY48 LY47 LY46 LY45 LY44 LY43 LY42 LY41 LY40D780
LY5F LY5E LY5D LY5C LY5B LY5A LY59 LY58 LY57 LY56 LY55 LY54 LY53 LY52 LY51 LY50D781
LY6F LY6E LY6D LY6C LY6B LY6A LY69 LY68 LY67 LY66 LY65 LY64 LY63 LY62 LY61 LY60D782
LY7F LY7E LY7D LY7C LY7B LY7A LY79 LY78 LY77 LY76 LY75 LY74 LY73 LY72 LY71 LY70D783
LY8F LY8E LY8D LY8C LY8B LY8A LY89 LY88 LY87 LY86 LY85 LY84 LY83 LY82 LY81 LY80D784
LY9F LY9E LY9D LY9C LY9B LY9A LY99 LY98 LY97 LY96 LY95 LY94 LY93 LY92 LY91 LY90D785
LYAF LYAE LYAD LYAC LYAB LYAA LYA9 LYA8 LYA7 LYA6 LYA5 LYA4 LYA3 LYA2 LYA1 LYA0D786
LYBF LYBE LYBD LYBC LYBB LYBA LYB9 LYB8 LYB7 LYB6 LYB5 LYB4 LYB3 LYB2 LYB1 LYB0D787
LYCF LYCE LYCD LYCC LYCB LYCA LYC9 LYC8 LYC7 LYC6 LYC5 LYC4 LYC3 LYC2 LYC1 LYC0D788
LYDF LYDE LYDD LYDC LYDB LYDA LYD9 LYD8 LYD7 LYD6 LYD5 LYD4 LYD3 LYD2 LYD1 LYD0D789
LYEF LYEE LYED LYEC LYEB LYEA LYE9 LYE8 LYE7 LYE6 LYE5 LYE4 LYE3 LYE2 LYE1 LYE0D790
"1" or "0" is set at each bit of D776 to D791. ON 1 OFF 0
LYFF LYFE LYFD LYFC LYFB LYFA LYF9 LYF8 LYF7 LYF6 LYF5 LYF4 LYF3 LYF2 LYF1 LYF0D791
Axis 2
Axis 4
Axis 6
Axis 8
Axis 10
Axis 12
Axis 14
Axis 16
Axis 18
Axis 20
Axis 22
Axis 24
Axis 26
Axis 28
Axis 30
Axis 32
Axis 1
Axis 3
Axis 5
Axis 7
Axis 9
Axis 11
Axis 13
Axis 15
Axis 17
Axis 19
Axis 21
Axis 23
Axis 25
Axis 27
Axis 29
Axis 31
REMARK LY in LY of D776 to D791 indicates limit switch output.
3. POSITIONING SIGNALS
3 64
(7) Servo amplifier type (D792 to D799) ........................... Data from PCPU to SCPU The servo amplifier types set in system settings are stored when the servo system CPU control power supply (A6 P) is switched on or reset.
Axis 4
Axis 8
Axis 3
Axis 7
Axis 2
Axis 6
Axis 1
Axis 5
D792
D793
b15 to b12 b11 to b8 b7 to b4 b3 to b0
Servo amplifier type 0 Unused axis 1 ADU (Main base) 2 MR- -B 3 ADU (Motion extension base)
Axis 12 Axis 11 Axis 10 Axis 9D794
Axis 16 Axis 15 Axis 14 Axis 13D795
Axis 20 Axis 19 Axis 18 Axis 17D796
Axis 24 Axis 23 Axis 22 Axis 21D797
Axis 28 Axis 27 Axis 26 Axis 25D798
Axis 32 Axis 31 Axis 30 Axis 29D799
3. POSITIONING SIGNALS
3 65
3.3 Special Relays (SP.M)
The servo system CPU has 256 special relay points from M9000 to M9255. Of there, the 7 points from M9073 to M9079 are used for positioning control, and their applications are indicated in Table 3.1.
Table 3.1 Special Relays
Device No. Signal Name Fetch Cycle Refresh Cycle Signal Direction
M9073 PCPU WDT error flag
M9074 PCPU REDAY-completed flag
M9075 In-test-mode flag
M9076 External emergency stop input flag
M9077 Manual pulse generator axis setting error flag
M9078 Test mode request error flag
M9079 Servo program setting error flag
END PCPU SCPU
*"END" in Refresh Cycle indicates a longer one of "80ms" and "sequence program scan time".
(1) PCPU WDT error flag (M9073).....................Signal sent from PCPU to SCPU This flag comes 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 on the driven axis. When the WDT error flag has come ON, reset the servo system CPU with the key switch. If M9073 remains ON after resetting, there is a fault at the PCPU side. The error cause is stored in the PCPU error cause storage area (D9184) (see Section 3.4 (2)).
(2) PCPU REDAY-completed flag (M9074)...... Signal sent from PCPU to SCPU This flag is used to determine whether the PCPU is normal or abnormal from the sequence program. (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) When the PC READY flag (M2000) goes OFF, the PCPU READY- completed flag also goes OFF
PC READY (M2000)
PCPU READY completed flag (M9074)
Writing of servo parameters to servo amplifiers Clearance of M codes
t
3. POSITIONING SIGNALS
3 66
(3) In-test-mode(M9075) ......Signal from PCPU to SCPU (a) This flag is used to determine whether or not a test mode established from
a peripheral device is currently effective. Use it, for example, for an interlock effective when starting a servo program with a DSFRP/SVST instruction in the sequence program. OFF .......When the test mode is not in effect ON .........When the test mode is in effect
(b) If a test mode request is issued from a peripheral device but the test mode is not established, the test mode request error flag (M9078) comes ON.
(4) External emergency stop input flag (M9076) Signal from PCPU to SCPU This flag is used to check the ON or OFF status of external emergency stop signal input at the EMG terminal. 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 is used to determine whether the setting in the manual pulse
generator axis setting register (D1012/D714 to D719) is normal or abnormal. OFF .......When D1012/D714 to D719 is normal ON .........When D1012/D714 to D719 is abnormal
(b) When M9077 comes ON, the error contents are stored in the manual pulse generator axis setting error register (D9187).
3. POSITIONING SIGNALS
3 67
(6) Test mode request error flag (M9078) ......Signal sent from PCPU to SCPU (a) This flag comes ON if the test mode is not established when a test mode
request is sent from a peripheral device
(b) When M9078 comes ON, the error contents are stored in the test mode request error register (D9188/D9182, D9183).
POINTS
(1) When an emergency stop signal (EMG) is input during positioning, the feed present value is advanced within the rapid stop deceleration time set in the parameter block. At the same time, the servo OFF status is established because the all axes servo start command (M2042) goes OFF. When the rapid stop deceleration time has elapsed after input of the emergency stop signal, the feed present value returns to the value at the point when the emergency stop was initiated.
(2) If the emergency stop is reset before the emergency stop deceleration time has elapsed, a servo error occurs.
(3) If you do not want to establish the servo ON status immediately after an emergency stop has been reset, include the following section in the sequence program.
All axes servo start command execution signal
PLS M0
SET M2042 M0
(7) Motion program setting error flag (M9079) ...Signal from PCPU to SCPU This flag is used to determine whether the positioning data of the motion program designated by a DSFRP/SVST instruction is normal or abnormal. OFF......Normal ON........Abnormal
3. POSITIONING SIGNALS
3 68
3.4 Special Registers (SP.D)
3.4.1 A172SHCPUN/A171SHCPUN
A servo system CPU has 256 special register points from D9000 to D9255. Of these, the 20 points from D9180 to D9199 are used for positioning control. The special registers used for positioning are shown in the table below (for the applications of special registers other than D9180 to D9199, see Appendix 3.2.)
Table 3.2 Special Registers
A172SH
CPUN/
A171SH
CPUN
Device
Number
Signal Name Refresh Cycle Fetch Cycle Signal Direction
D9180
D9181
D9182
D9183
Limit switch output status 3.5ms
D9184 PCPU WDT error cause At PCPU WDT error
occurrence
D9185
D9186 Servo amplifier type Power ON
D9187 Manual pulse generator axis setting
error information
Manual pulse generator
operation enabled
D9188 Test mode request error information Test mode request
D9189 Error program number
D9190 Error item information At driving
D9191 Servo amplifier loading information Power ON, 10 ms
SCPUPCPU
D9192 Manual pulse generator 1 smoothing
magnification setting register
Manual pulse generator
operation enabled SCPUPCPU
D9193
D9194
D9195
Unusable
D9196 PC link communication error code 3.5ms SCPUPCPU
D9197
D9198
D9199
Unusable
3. POSITIONING SIGNALS
3 69
(1) Limit switch output status storage register (D9180 to D9183) ...... Data from PCPU to SCPU (a) This register stores the output status (ON/OFF) for limit switch output to
AY42 with a peripheral device as "1" or "0". ON ........1 OFF ......0
(b) This register can be used for purposes such as outputting limit switch output data to external destinations by using the sequence program.
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00
LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10
*"1" or "0" is set at each bit of D9180 to D9183. ON 1 OFF 0
LY2F LY2E LY2D LY2C LY2B LY2A LY29 LY28 LY27 LY26 LY25 LY24 LY23 LY22 LY21 LY20
LY3F LY3E LY3D LY3C LY3B LY3A LY39 LY38 LY37 LY36 LY35 LY34 LY33 LY32 LY31 LY30
D9180
D9181
D9182
D9183
For axis 2
For axis 4
For axis 6
For axis 8
For axis 1
For axis 3
For axis 5
For axis 7
REMARK
"LY" in LY of D9180 to D9181 indicates a limit switch output.
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00
LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10
*"1" or "0" is set at each bit of D9180 to D9181. ON 1 OFF 0
D9180
D9181
For axis 2
For axis 4
For axis 1
For axis 3
REMARK
"LY" in LY of D9180 to D9181 indicates a limit switch output.
3. POSITIONING SIGNALS
3 70
(2) PCPU error cause(D9184).......Data 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 fault 1
2 PCPU operation synchronization time over
3 PCPU software fault 2
30 PCPU/SCPU hardware fault
Reset with the reset key.
200
201
Hardware fault of module loaded on motion main
base unit or extension base unit.
2 0 0 Indicates the slot number (0,1) where the module with the fault is loaded. Indicates the stage number of the base on which the module with the fault is loaded. 0: Main base
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
SSCNET interface hardware fault
2 5 0 Faulty SSCNET No. 0: SSCNET 1 (Amplifier interface) 1: SSCNET 2 (PC link interface)
Exchange the CPU unit.
300 PCPU software fault 3
All axes stop immediately,
after which operation
cannot be started.
Reset with the reset key.
302
Data stored in flash ROM is not normal when CPU power
is switched on in "ROM operation mode" setting
(registered code is unauthorized).
Data in flash ROM is not
loaded into built-in SRAM
and "ROM operation
mode" is not established.
After that, a STOP status
is set up and a start is not
made.
After checking the
program parameter of
the built-in SRAM,
perform "ROM write ROM operation mode"
operation again.
If the error recurs, the
flash ROM has reached
the end of its life.
Perform operation in
"RAM operation mode"
or change the CPU
module.
3. POSITIONING SIGNALS
3 71
(3) Servo amplifier classification (D9185 to D9186) .......Data from PCPU to SCPU On switching on the power to the servo system CPU or resetting, the servo amplifier type set in the system settings is set in these devices. (a) A172SHCPUN
Axis 4
Axis 8
Axis 3
Axis 7
Axis 2
Axis 6
Axis 1
Axis 5
D9185
D9186
b15 to b12 b11 to b8 b7 to b4 b3 to b0
Servo amplifier type 0 Unused axis 2 MR- -B
(b) A171SHCPUN
Axis 4 Axis 3 Axis 2 Axis 1D9185
D9186
b15 to b12 b11 to b8 b7 to b4 b3 to b0
Servo amplifier type 0 Unused axis 2 MR- -B
0
3. POSITIONING SIGNALS
3 72
(4) Manual pulse generator axis setting error (D9187).......Data from PCPU to SCPU When the manual pulse generator axis setting error flag (M9077) turns ON, the definition of the manual pulse generator axis setting error is stored into this register.
(a) A172SHCPUN
Axis 8 P1 P1
b15 b14 b13 b12 b11 b10 b9 b8 b3 b0
D9187
Manual pulse generator axis setting error 0: Normal 1: Setting error (When the axis setting for each digit is outside the range 1 to 8)
00
1 pulse input magnification setting error 0: Normal 1: Setting error (Outside the range 1 to 10000)
Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1
Manual pulse generator smoothing magnification setting error 0: Normal 1: Setting error (Outside the range 0 to 59)
(b) A171SHCPUN
P1 P1
b15 b11 b10 b9 b8 b3 b0
D9187
Manual pulse generator axis setting error 0: Normal 1: Setting error (When the axis setting for each digit is outside the range 1 to 4)
00
1 pulse input magnification setting error 0: Normal 1: Setting error (Outside the range 1 to 100)
Axis 4 Axis 3 Axis 2 Axis 1
Manual pulse generator smoothing magnification setting error 0: Normal 1: Setting error (Outside the range 0 to 59)
0
3. POSITIONING SIGNALS
3 73
(5) Test mode request error (D9188) ......Data from PCPU to SCPU When the test mode request error flag (M9078) turns ON, the data of the operating axes are stored into this register.
(a) A172SHCPUN
b15 b14 b13 b12 b11 b10 b9 b8 b7 b4 b3 b2 b1 b0
D9188 0
b6
0
b5
Stores the operating/stopped status of each axis. 0: Stopped 1: Operating
000000
All set to "0"
Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1
(b) A171SHCPUN
b15 b14 b13 b12 b11 b10 b9 b8 b7 b4 b3 b2 b1 b0
D9188 0
b6
0
b5
Stores the operating/stopped status of each axis. 0: Stopped 1: Operating
000000
All set to "0"
Axis 4 Axis 3 Axis 2 Axis 10000
(6) Error program No. (D9189) .......Data from PCPU to SCPU (a) When the motion program setting error flag (M9079) turns on, the motion
program No. (1 to 256) in error is stored into this register.
(b) When an error program No. has been stored and an error occurs in another motion program, the new error program No. is stored.
(7) Error item information (D9190) .................................................Data from PCPU to SCPU When the motion program setting error flag (M9079) turns on, the error code corresponding to the setting item in error is stored into this register. The error code No. list is given in Appendix 2.1.
3. POSITIONING SIGNALS
3 74
(8) Servo amplifier installation information (D9191) .......Data from PCPU to SCPU On switching on the control power supply to the servo system CPU or resetting, the servo amplifier installation status is checked and the result is set in this device.
Lower 8 bits ...... Servo amplifier installation status (A172SHCPUN) Lower 4 bits ...... Servo amplifier installation status (A171SHCPUN)
The "installed" status will be stored for axes for which an amplifier is installed after the power is switched on. However, if the amplifier for an axis is removed, the "installed" status will not change to "not installed".
b15 b8 b7 b4 b3 b2 b1 b0
D9191
b6 b5
Servo amplifier installation status Installed 1 Not installed 0
0
to
Axis 1Axis 2Axis 3Axis 4Axis 5Axis 6Axis 7Axis 8
b15 b4 b3 b2 b1 b0
D9191
Servo amplifier installation status Installed 1 Not installed 0
0
to
Axis 1Axis 2Axis 3Axis 4
(a) Servo amplifier installation status 1) Installed/not installed status
"installed" status............... The MR- -B is normal (i.e. communication with the servo amplifier is normal)
"not installed" status......... No servo amplifier is installed. The servo amplifier power is OFF. Normal communication with the servo amplifier is not possible due, for example, to a connecting cable fault.
2) The system settings and servo amplifier installation statuses are indicated below.
MR- -B System Setting
Installed Not Installed
Used (axis number setting) "1" is stored "0" is stored
Unused "0" is stored "0" is stored
3. POSITIONING SIGNALS
3 75
(9) Area for setting the smoothing magnification for the manual pulse generator (D9192) ......Data from SCPU to PCPU (a) This device stores the manual pulse generator smoothing time constant.
Manual Pulse Generator Smoothing
Magnification Setting Register Setting Range
D9192 0 to 59
(b) When the smoothing magnification is set, the smoothing time constant is determined by the formula given below.
Smoothing time constant (t) = (smoothing magnification + 1) 56.8 [ms]
(c) Operation
V
t t t t
V1
OFF
ON Manual pulse generator enable flag (M2012)
Manual pulse generator input
Output speed (V1)
Number of input pulses/ms
1 manual pulse generator pulse input magnification setting
=
Travel value (L)
Travel value per pulse
1 manual pulse generator pulse input magnification setting
= Number of input pulses
REMARKS
1) The travel value per manual pulse generator pulse is set in one of the following units.
Setting unit mm inch degree
:0.0001mm :0.00001inch :0.00001degree
2) The range for the smoothing time constant is 56.8 ms to 3408 ms.
3. POSITIONING SIGNALS
3 76
3.4.2 A273UHCPU (32 axis feature)/A173UHCPU(S1)
A servo system CPU has 256 points of special registers from D9000 to D9255. Among these, the 20 points of D9180 to D9199 are used for positioning control. The special registers used for positioning control are listed below. (Refer to Appendix 3.2 for the applications of special registers other than D9180 to D9199.)
Table 3.3 Special Register List
Refresh cycle Fetch cycle Signal name
Set number of axes Set number of axes
A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 Device No.
SV43 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal
direction
D9180
D9181 Unusable
D9182
D9183 Test mode request error information When test mode is requested
D9184 PCPU WDT error cause When PCPU WDT error occurs
D9185
D9186
D9187
Manual pulse generator axis setting
error information
When manual pulse generator
operation is enabled
SCPU
PCPU
D9188 Unusable D9189 Error program No.
D9190 Error item information At start
D9191 At power-on and
D9192 Servo amplifier loading information
10ms 20ms
SCPU
PCPU
D9193
D9194
D9195
Unusable
D9186 Personal computer link
communication error code 3.5ms 7.1ms 14.2ms
SCPU
PCPU
D9187
D9198
D9199
Unusable
(1) Test mode request error information (D9182 to D9183) ............................................................................................... Data from PCPU to SCPU If there are axes operating at the peripheral device's request for test mode, a test mode request error occurs, the error flag (M9078) turns ON, and the operating/stopping information of each axis is stored.
Axis16D9182
D9183
Axis15 Axis14 Axis13 Axis12 Axis11 Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1
Axis32 Axis31 Axis30 Axis29 Axis28 Axis27 Axis26 Axis25 Axis24 Axis23 Axis22 Axis21 Axis20 Axis19 Axis18 Axis17
b15 b14 b13 b12 b11 b10 b9 b8 b7 b4 b3 b2 b1 b0b6 b5
Stores the operating/stopped status of each axis 0: Stopped 1: Operating
3. POSITIONING SIGNALS
3 77
(2) PCPU error cause (D9184) .........................................Data from PCPU to SCPU This register is used to identify the faults of the PCPU section in the sequence program.
Error Code Error Cause Operation when Error
Occurs Action to Take
1 PCPU software fault 1 2 PCPU operation synchronization time over 3 PCPU software fault 2 30 PCPU/SCPU hardware fault
All axes stop immediately, after which operation cannot be started.
Reset with the reset key.
100 to 107 110 to 117 120 to 127 130 to 137 140 to 147
AC servo motor drive module CPU fault
100
Indicates the slot No.(0 to 7) where the AC motor drive module with the fault is loaded.
Indicates the stage No. of the base on which the AC motor drive module with the fault is loaded. 0: Main base 1: Extension base 1st stage 2: Extension base 2nd stage 3: Extension base 3rd stage 4: Extension base 4th stage
Servo error detection flag (M2408+20n) of the corresponding axis turns on, resulting in servo OFF status. After that, processing follows the "ADU servo error-time processing setting" in system settings.
Reset with the reset key. If the error recurs after reset, change the ADU module as it may be faulty.
200 to 207 210 to 217 220 to 227 230 to 237 240 to 247
Motion main/extension base-loaded module hardware fault
200
Indicates the slot No.(0 to 7) where the module with the fault is loaded.
Indicates the stage No. of the base on which the module with the fault is loaded. 0: Main base 1: Extension base 1st stage 2: Extension base 2nd stage 3: Extension base 3rd stage 4: Extension base 4th stage
250 to 253
Separated servo amplifier (MR- -B) interface hardware fault
250
Faulty SSCNET No. 0: SSCNET 1 1: SSCNET 2 2: SSCNET 3 3: SSCNET 4
Reset with the reset key. If the error recurs after reset, change the corresponding module or slot (base) as it may be faulty.
300 PCPU software fault 3 Reset with the reset key. CPSTART instructions of 8 or more points were given in excess of the number of simultaneously startable programs.
Number of Simultaneously
Startable Programs Conventional function version
20
Added function version
14
301
All axes stop immediately, after which operation cannot be started.
Reset with the reset key. Reduce the CPSTART instructions of 8 or more points to less than the number of simultaneously startable programs.
3. POSITIONING SIGNALS
3 78
(3) Manual pulse generator axis setting error information (D9185 to D9187) .....................................................................................Data from PCPU to SCPU If an error is found after checking of the set data on the leading edge of the manual pulse generator enable signal, the following error information is stored into D9185 to D9187 and the manual pulse generator axis setting error flag (M9077) turns ON.
0 0 0 0 P1 P1
b15 b14 b13 b12 b11 b10 b9 b8 b7 b4 b3 b2 b1 b0
D9185 0
b6
0
b5
P3 P2 P3 P20 0 0 0
Axis16D9186
D9187
Axis15 Axis14 Axis13 Axis12 Axis11 Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1
Axis32 Axis31 Axis30 Axis29 Axis28 Axis27 Axis26 Axis25 Axis24 Axis23 Axis22 Axis21 Axis20 Axis19 Axis18 Axis17
Store the smoothing magnification setting errors of the manual pulse generators connected to P1 to P3 of A273EX. 0: Normal 1: Setting error (Axis setting in each digit is other than 0 to 59)
Store the axis setting errors of the manual pulse generators connected to P1 to P3 of A273EX. 0: Normal 1: Setting error (Axis setting in each digit is other than 1 to 32)
All turn to 0.
Store the 1-pulse input magnification setting errors of the axes. 0: Stopping 1: Operating (Input magnification of each axis is other than 1 to 100)
(4) Error program No. (D9189) Data from .........................Data from PCPU to SCPU (a) When an error occurs in the servo program at a servo program start (SVST
instruction), the servo program setting error flag (M9079) turns ON and the faulty servo program No. (0 to 4095) is stored into this register.
(b) When an error program No. has been stored and an error occurs in another servo program, the new error program No. is stored.
(5) Error item information (D9190).....................................Data from PCPU to SCPU When an error occurs in the servo program at a servo program start (SVST instruction), the servo program setting error flag (M9079) turns on and the error code corresponding to the setting item in error is stored into this register. For details of the servo program setting errors, refer to Appendix 2.1.
3. POSITIONING SIGNALS
3 79
(6) Servo amplifier loading information (D9191 to D9192) .....................................................................................Data from PCPU to SCPU When the servo system CPU control power supply (A6 P) is switched on or reset, the servo amplifier and option slot loading states are checked and its results are stored. The axis which turned from non-loading to loading status after power-on is handled as loaded. However, the axis which turned from loading to non-loading status remains handled as loaded.
Sarvo amplifier loading status Loaded 1 Non-loaded 0
Axis16D9191
D9192
Axis15 Axis14 Axis13 Axis12 Axis11 Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1
Axis32 Axis31 Axis30 Axis29 Axis28 Axis27 Axis26 Axis25 Axis24 Axis23 Axis22 Axis21 Axis20 Axis19 Axis18 Axis17
b15 b14 b13 b12 b11 b10 b9 b8 b7 b4 b3 b2 b1 b0b6 b5
(a) Servo amplifier loading status 1) Loading/non-loading status
Loading status...................................The ADU or MR- -B is normal (communication with the servo amplifier can be made properly).
Non-loading status............................The servo amplifier is not loaded. Servo amplifier power is OFF. Due to connection cable fault or the like, communication with the servo amplifier cannot be made properly.
2) The system setting and servo amplifier loading status are listed below.
ADU MR- -B System Setting
Loaded Non-loaded Loaded Non-loaded
Used (Axis No.
setting) 1 is stored Major error 1 is stored 0 is stored
Not used 0 is stored 0 is stored 0 is stored 0 is stored
(7) PC link communication error code (D9196) When an error occurs during PC link communication, the error code that corresponds to the error is stored in this device.
PC Communication Error Code
Storage Register Contents
D9196
00: No error
01: Receiving timing error
02: CRC error
03: Communication response code error
04: Receiving flame error
05: Communication task start error
(Each error code is reset to 00 when
normal communication is restarted.)
For details of PC link communication errors, see Appendix 2.5.
4. PARAMETERS FOR POSITIONING CONTROL
4 1
4. PARAMETERS FOR POSITIONING CONTROL
There are the following eight different parameters for positioning control.
(1) System settings The system settings are used to set the used modules, axis numbers and others. For details, refer to Section 4.1.
(2) Fixed parameters The fixed parameters are set for each axis and their data are determined in accordance with the mechanical system or other factors. They are used for command position calculation, etc. when exercising positioning control. For details, refer to Section 4.2.
(3) Servo parameters The servo parameters are set for each axis and their data are determined by the servo motor connected, e.g. servo model and motor type. They are used to control the servo motor when exercising positioning control. For details, refer to Section 4.3.
(4) Home position return data The home position return data are set for each axis and they are such data as the home position return direction, method and speed. They are used when making a home position return. For details, refer to Section 4.4.
(5) JOG operation data The JOG operation data are set for each axis and they are JOG speed limit value and parameter block No. data. They are used when exercising positioning control by JOG operation. For details, refer to Section 4.5.
(6) Parameter blocks The parameter blocks are data such as acceleration and declaration times and speed limit value, and you can set 16 blocks. The parameter blocks are specified in the sequence program, JOG operation data or home position return data to facilitate acceleration/deceleration processing (acceleration/declaration time, speed limit value) and other changes. For details, refer to Section 4.6.
(7) Limit switch output data The limit switch output data is set for the axis used and it is the ON/OFF pattern data output when the limit switch output setting is "Used" in the fixed parameter. The axis where the limit switch output data is set outputs the ON/OFF pattern set for positioning control. For details, refer to Section 7.1.
(8) Work coordinate data The work coordinate data are used to set the work coordinates and you can set six different work coordinates (G54 to G59) per axis. For the work coordinate system, specify the position with the offset from the mechanical coordinate system. Set the offset value with the distance from the mechanical coordinate system home position (0). For details, refer to Section 4.7.
4. PARAMETERS FOR POSITIONING CONTROL
4 2
4.1 System Settings
(1) System settings such as base unit selection, unit allocation, axis number setting in programs, servo motor setting (model name), and servo amplifier setting (model name) are made according to the actual system. (No settings are required when the unit is used as a PC extension base.)
(2) Data settings and modifications can be made interactively for some peripheral devices.
4. PARAMETERS FOR POSITIONING CONTROL
4 3
4.2 Fixed Parameters
(1) The fixed parameters are set for each axis and their data is fixed in accordance with the mechanical system or other factors.
(2) The fixed parameters are set with a peripheral device.
(3) The fixed parameters to be set are shown in Table 4.1.
Table 4.1 Fixed Parameters
Setting Range Default
mm inch degree No. Item
Setting
Range Units
Setting
Range Units
Setting
Range Units
Initial Value Units Remarks
Expla-
natory
Section
1 Unit setting 0 1 2 0 Set the command unit for
positioning control per axis.
2
Number of
pulses per
revolution
(AP)
1 to 65535 PLS 20000 PLS
Set the number of feedback
pulses per motor revolution
determined by the
mechanical system.
3
Travel
value per
revolution
(AL)
0.0001
to
6.5535
mm 0.00001 to
0.65535 inch
0.00001
to
0.65535
degree 2.0000 mm
Set the travel per motor
revolution determined by
the mechanical system.
4
T ra
ve l v
a lu
e p
e r
p u
ls e
( A
)
Unit
magnifica-
tion (AM)
1: 1, 10: 10, 100: 100, 1000: 1000 Set to change the
magnification for travel per
pulse.
4.2.1
5
Backlash
compensation
amount
0 to 6.5535 mm 0 to 0.65535 inch 0 to 0.65535 degree 0 mm
Set the amount of backlash
in the machine.
Backlash compensation is
made every time the
positioning direction
changes during positioning.
7.2
6 Upper stroke
limit
214748.3648
to
214748.3647
mm
21474.83648
to
214748.3647
inch
0
to
359.99999
degree 214748.3647 mm Set the upper limit value of
the machine moving range.
7 Lower stroke
limit
214748.3648
to
214748.3647
mm
21474.83648
to
21474.83647
inch
0
to
359.99999
degree 0 mm Set the lower limit value of
the machine moving range.
4.2.2
8
Command
in-position
range
0.0001
to
214748.3647
mm
0.00001
to
21474.83647
inch
0.00001
to
359.99999
degree 0.0100 mm
Set the position where the
command in-position signal
(M1603+20n) is turned ON
[(positioning address)-
(present value)].
4.2.3
9
Limit switch
output
used/not used
0: Not used
1: used 0
Set whether the limit switch
output function is used or
not for each axis.
7.1
10 Rapid feedrate
0.01
to
6000000.00
mm/min
0.001
to
600000.000
inch/min
0.001
to
2147483.647
degree/min 2000.00 mm/
min
Set the positioning speed
under G00.
Set the home position
return speed under G28.
4.2.4
4. PARAMETERS FOR POSITIONING CONTROL
4 4
4.2.1 Setting the number of pulses per revolution / travel value per revolution / unit magnification
This section explains how to set the number of pulses per revolution, the travel value per revolution, and the unit magnification. (1) Setting method 1
(a) Finding the smallest position resolution (1). The smallest position resolution (1) is determined by the travel value per revolution (S) and the number of encoder feedback pulses (Pf).
1= Pf S
(b) Finding the unit magnification (AM) Find the unit magnification on the basis of 1 determined as described in (a) above. However, make sure that the smallest command unit is not smaller than 1.
1 found in (a) [mm] Smallest Command Unit [mm] Unit Magnification (AM)
0.00001 < 1 0.0001 0.0001 1
0.0001 < 1 0.001 0.001 10
0.001 < 1 0.01 0.01 100
0.01 < 1 0.1 0.1 1000
[Example] Assuming that the travel value per revolution (S) is 10 [mm] and the number of encoder feedback pulses (Pf) is 12000 [pulse/rev]:
1= 10[mm] 12000[pulse/rev] =0.00083 0.0001<0.00083<0.001
This means that the smallest command unit is 0.001 [mm] and the unit magnification (AM) is 10. Therefore, 0.001 [mm] units can be specified in commands.
(c) Finding the travel value per revolution (AL). If the unit magnification (AM) is 1, the travel value per revolution is the value of AL as it is. However, if the unit magnification (AM) is not 1, the travel value per revolution is the product of AL and AM.
[Example] Assume that the travel value per revolution is 10[mm] and the unit magnification is 10:
AL= 10.0000[mm]
10 =1.0000[mm]
Accordingly, set the travel value per revolution (AL) to 1000.0[m].
(d) Number of pulses per revolution (AP) Set the number of feedback pulses per revolution of the encoder.
4. PARAMETERS FOR POSITIONING CONTROL
4 5
(e) The number of pulses per revolution, travel value per revolution, and unit magnification for the example configuration shown here are calculated below.
1
25 10[mm]
Gear ratio = Z1 : Z2=1.25 Number of feedback pulses=12000[pulse/rev]
Servo motor
1) Travel value per feedback pulse
S=10 Z1
Z2 =10
25 1
1= = 25 12000
10 Pf S
=0.000033.... 1=0.0001
2) Unit magnification (AM) Since 1 is 0.0001, the unit magnification (AM) is "1".
3) Travel distance per revolution (AL)
AL= 25
10[mm] =0.4[mm]=400.0[ m]
4) Number of pulses per revolution (AP) AP = 12000 [pulse/rev] ... fixed according to the encoder model.
(2) Setting method 2 If AL cannot be set by using setting method 1, calculate the numerator and denominator of the electronic gear, and set AP as the numerator and AL AM
as the denominator.
Command AP
AL AM
Servo system CPU Electronic gear
Amplifier
M
Motor
Example: With the example configuration shown above, and under the following conditions;
Gear ratio=Z1 : Z2=1 : 39 Ball screw pitch=25.4[mm]
AL= 29
25.4[mm] =0.65128205[mm] =651.28205[ m]
and AL cannot be set, calculate as follows.... Elecronic gear
Pf S
25.4[mm] 1000 39 1
12000[pulse] =
25400
468000 =
127
2340 =
AP
AL AM
AP=2340[pulse] AL*=12.7[ m] .... and set the following values AM=1
* : When actually setting AL, calculate it as indicated in the table below.
Unit Set Value for A (when AM is "1")
mm Denominator 101 [m]
inch Denominator 105 [inches]
degree Denominator 105 [degrees]
4. PARAMETERS FOR POSITIONING CONTROL
4 6
4.2.2 Upper stroke limit value/lower stroke limit value
These are the settings for the upper limit value and lower limit value in the travel range of the mechanical system. Use the values in the mechanical coordinate system to set the upper and lower stroke limit values. The mechanical coordinate system is determined by a home position return.
(Travel range of the machine) Lower stroke limit Upper stroke limit
Limit switch for emergency stop
FLSRLS
Fig. 4.1 Travel Range When Setting the Upper Stroke Limit Value and Lower Stroke Limit Value
(1) Stroke limit range check The stroke limit range check is made at start or during progress of any of the following operations after home position return completion (M1610+20n ON).
Operation Started Check Executed/
Not Executed Remarks
Positioning control (PTP, CP) Executed
When positioning is started, whether the positioning address is within
the stroke limit range or not is checked. If it is outside the range, an error
(error code: 580) occurs and positioning is not executed.
If the interpolation path goes out of the stroke limit range during circular
interpolation, an error (error code: 207, 208) occurs and the axis
decelerates to a stop.
JOG operation Executed
The axis stops if the present value goes out of the stroke limit range.
(Error code: 207) The axis can move in the direction of returning to
within the stroke.
Manual pulse generator operation Executed
The axis stops if the present value goes out of the stroke limit range.
(Error code: 207) The axis can move in the direction of returning to
within the stroke.
POINTS
(1) Besides setting the stroke limit upper limit value/lower limit value in the fixed parameters, the stroke limit range can also be set by using the external limit signals (FLS, RLS).
(2) When the external limit signal goes OFF, a deceleration stop is executed. The time taken to decelerate to a stop can be set by setting the "deceleration time" and "rapid stop deceleration time" in the parameter block.
(3) The stroke limit range check for positioning control (PTP, CP) is made after completion of a home position return. If a home position return is not yet completed, an error (error code: 162) occurs and the check cannot be made. Always perform a home position return after power-on.
(4) Positioning cannot be started from outside the stroke limit range. Start positioning control after returning the axis to within the stroke by JOG or manual pulse generator operation.
4. PARAMETERS FOR POSITIONING CONTROL
4 7
4.2.3 Command in-position range
The command in-position is the difference between the positioning address (command position) and feed present value. Once the value for the command in-position has been set, the command in- position signal (M1603 + 20n) will come ON when the difference between the command position and the feed present value enters the set range [(command position feed present value) (command in-position range)]. The command in-position range check is executed continuously during positioning control.
Command in-position (M1603+20n)
ON
OFF
Execution of command in-position check
Command in-position set value Positioning control start
V
4. PARAMETERS FOR POSITIONING CONTROL
4 8
4.2.4 Rapid feedrate setting
The rapid feedrate is the positioning speed used to perform positioning under G00 or to make a home position return under G28, and this data is needed to execute G00 or G28. When exercising interpolation control under G00, change the speed of each axis on the basis of the axis whose time to reach the target position is the longer, and find the composite speed. The following is a rapid feedrate setting example for interpolation control under G00.
[Example] When exercising interpolation control from the present position (X=0, Y=0) to the target position (X=200, Y=100)
High feedrate setting X axis 20(mm/min) Y axis 1(mm/min)
0 (Present position)
200.mm Rapid feedrate
20mm/min
(Target position)100.mm Rapid feedrate
1mm/min
X
YG00 X200. Y100. : (Interpolation control executed) Find the composite travel.
100mm2+200mm2 = 223.6067 (mm)
After the above program is run, the target position reaching time of each axis is as follows. X axis: 200.(mm)/20(mm/min) = 10(min) Y axis: 100.(mm)/1(mm/min) = 100(min) Since the reaching time of the Y axis is longer, use the Y axis as the reference axis for the feed rate and find the composite speed.
(Composite travel)
1mm/min 223.6067mm
100mm = 2.23mm/min
(Reference axis feedrate) (Reference axis travel) (Composite speed)
POINTS
(1) The rapid feedrate of each axis is clamped at the speed limit value of the parameter block. The clamped value is also used to determine the axis whose time to reach the target position is the longest.
(2) In the above calculation, the travels and feed rates used are values without units. Care must be taken when their units differ. (Example) 10000 for the travel of 1mm, 100000 for 1 degree, 100000 for
1 inch 100 for the feed rate of 1mm/min, 1000 for 1 degree/min, 1000 for 1 inch/min
4. PARAMETERS FOR POSITIONING CONTROL
4 9
4.3 Servo Parameters
(1) The servo parameters are parameters set for each axis: their settings are data fixed by the specifications of the controlled motors and data required to execute servo control.
(2) The servo parameters are set with a peripheral device.
CAUTION
After setting the servo parameters at a peripheral device, execute a "RELATIVE CHECK" and execute positioning control in the "NO ERROR" status. If there is an error, check the relevant points indicated in this manual and reset it.
4. PARAMETERS FOR POSITIONING CONTROL
4 10
4.3.1 MR- -B servo parameters
The servo parameters to be set are indicated in Tables 4.2 through 4.4.
(1) Basic parameters
Table 4.2 Servo Parameters (Basic Parameters)
Setting Range Default
mm inch degree No. Item
Setting
Range Units
Setting
Range Units Setting Range Units
Initial
Value Units
Remarks
Expla-
natory
Section
*1 Amplifier
setting
*2 Regenerative
resistor
*3 External
dynamic brake
*4 Motor type
*5 Motor capacity
6 Motor rpm (R)
4.1
7
Number of
feedback
pulses (N)
Set automatically in accordance with the system settings.
APP. 5
8 Direction of
rotation
0: Forward rotation (CCW) when the positioning address increases.
1: Reverse rotation (CW) when the positioning address decreases. 0
Set the direction of rotation
as seen from the load side.
Forward rotation:
reverse rotation:
9 Automatic
tuning
0: Speed only
1: Position/speed
2: Not executed
1*1
Set the gain
(speed/position, speed) for
executing automatic setting.
4.3.8
10
Servo
responsive-
ness
1 to 12 1 Set in order to increase
servo responsiveness. 4.3.9
*1: For MR-J-B, the default is "2".
POINT
After changing any of the items marked "*" in the table above, turn the servo power supply on after resetting the servo system CPU with the key switch or turning the PC READY signal (M2000) ON.
4. PARAMETERS FOR POSITIONING CONTROL
4 11
(2) Adjustment parameters
Table 4.3 Servo Parameter List (Adjustment Parameters)
Setting Range Default
mm inch degree No. Item
Setting
Range Units
Setting
Range Units
Setting
Range Units
Initial Value Units Remarks
Expla-
natory
Section
1 Load inertia
ratio 0.0 to 100.0 3.0*1
Set the ratio of moment of
load inertia for the motor. 4.3.7
2 Position
control gain 1
Valid range 4 to 1000 rad/sec
Setting range 1 to 9999 rad/sec 70
rad/
sec
Set to increase the follow-
up with respect to the
position command.
4.3.2
3 Speed control
gain 1
Valid range 20 to 5000 rad/sec
Setting range 1 to 9999 rad/sec 1200
rad/
sec
Set to increase the follow-
up with respect to the
speed command.
4.3.3
4 Position
control gain 2
Valid range 10 to 500 rad/sec
Setting range 1 to 9999 rad/sec 25
rad/
sec
Set to increase the position
response with respect to
load disturbance.
4.3.2
5 Speed control
gain 2
Valid range 20 to 5000 rad/sec
Setting range 1 to 9999 rad/sec 600*2 rad/
sec
Set when vibration is
generated, for example in
machines with a large
backlash.
4.3.3
6 Speed integral
compensation
Valid range 1 to 1000 rms
Setting range 1 to 9999 rad/sec 20 ms
Set the time constant for
integral compensation. 4.3.4
7 Notch filter
0: Not used
1: 1125
2: 750
3: 562
4: 450
5: 375
6: 321
7: 281
0 Hz Set the frequency for the
notch filter. 4.3.10
8 Feed forward
gain
0 to 100%
0: Feed forward control is not executed. 0 %
Set the feed forward
coefficient used in
positioning control.
4.3.6
9 In-position range*3
0.0001 to
214748.3647 mm
0.00001
to
21474.83647
inch
0.00001
to
359.99999
degree 0.0100 mm
Sets the quantity of droop
pulses in the deviation
counter.
The in-position signal is ON
when the number of droop
pulses is within the set
range. The expression
below shows the setting
range.
1 (in-position range) AP/AL ! AM 32767
4.3.5
10
Electromagnet
ic brake sequence*4
0 to 1000 ms 100 ms
Set the time delay between
actuation of the
electromagnetic brake and
base disconnection.
4.3.11
11
Monitor output
mode
(monitor 1)
0
12
Monitor output
mode (monitor 2)*4
(MR-H-B/MR-J-B)
0: Speed ()
1: Torque ()
2: Speed (+)
3: Torque (+)
4: Current command output
5: Command FT
6: Droop pulse 1/1
7: Droop pulse 1/4
8: Droop pulse 1/16
9: Droop pulse 1/32
(MR-J2-B)
0: Speed ()
1: Torque ()
2: Speed (+)
3: Torque (+)
4: Current command output
5: Command FT
6: Droop pulse 1/1
7: Droop pulse 1/16
8: Droop pulse 1/64
9: Droop pulse 1/256
10: Droop pulse 1/1024
1
Set the monitor items
output as analog outputs in
real time.
4.3.12
*1: For MR-J2-B, the default is "7.0".
*2: For MR-J-B, the default is "500".
*3: The display of the possible setting range differs according to the electronic gear value.
*4: Setting not possible for MR-J-B.
4. PARAMETERS FOR POSITIONING CONTROL
4 12
Table 4.3 Servo Parameter List (Adjustment Parameters) (Continued)
Setting Range Default
mm inch degree No. Item
Setting
Range Units
Setting
Range Units
Setting
Range Units
Initial Value Units Remarks
Expla-
natory
Section
13
Optional
function 1
(carrier
frequency
selection)
0: 2.25 kHz (non low-noise operation)
3: 9 kHz (low-noise operation) 0 kHz
Set "low noise" to improve
the sound of the
frequencies generated from
the motor.
4.3.13
14
Optional
function 1
(Encoder type)*4
0: 2-wire type
1: 4-wire type 0
Set the type of encoder
cable. 4.3.13
15
Optional
function 2
(selection of
no-motor operation)*6
0: Invalid
1: Valid 0
To check the status without
connecting a motor, set
"valid".
4.3.14
16
Optional
function 1
(external
emergency stop signal)*5
0: Used
1: Not used 0
To invalidate the external
emergency stop signal
(EMG) set "not used".
4.3.13
17
Optional
function 2
(electro-
magnetic
brake interlock
output timing)*6
0: Regardless of the rotational speed of the servo motor, output occurs under any of the
following conditions.
Servo OFF
Occurrence of an alarm
Emergency stop input OFF (valid)
1: Output occurs under any of the above conditions provided that the servo motor
rotational speed is zero (expansion parameters).
0 Set the interlock timing for
the electromagnetic brake
interlock signal.
4.3.14
18
Optional
function 2
(selection of
microvibration
suppression function)*5
0: Valid
1: Invalid 0
Set "valid" to suppress
vibration on stopping. 4.3.14
19
Optional
function 2
(motor lock operation)*5
0: Valid
1: Invalid 0
To carry out test operation
without rotating the motor,
set "valid".
4.3.14
*4: Setting not possible for MR-J-B.
*5: Cannot be set with MR-H-B/MR-J-B
*6: Cannot be set with MR-J2-B
4. PARAMETERS FOR POSITIONING CONTROL
4 13
(3) Expansion parameters
Table 4.4 Servo Parameters (Expansion Parameters)
Setting Range Default
mm inch degree No. Item
Setting
Range Units
Setting
Range Units Setting Range Units
Initial
Value Units
Remarks
Expla-
natory
Section
1 Motion output
1 offset
(MR-H-B/MR-J-B)
9999 to 9999 mv
(MR-J2-B)
999 to 999 mv 0 mv
Set the offset value for
motion output 1.
2 Motion output 2 offset*1
(MR-H-B/MR-J-B)
9999 to 9999 mv
(MR-J2-B)
999 to 999 mv 0*3
mv Set the offset value for
motion output 2.
4.3.15
3
Pre-alarm
data selection
(sampling time selection)*1
0: 1.77
1: 3.55
2: 7.11
3: 14.2
4: 28.4
0 ms
4
Pre-alarm
data selection
(data selection 1)*1
0
5
Pre-alarm
data selection
(data selection 2)*1
0: Speed ()
1: Torque ()
2: Speed (+)
3: Torque (+)
4: Current command output
5: Command FT
6: Droop pulse 1/1
7: Droop pulse 1/4
8: Droop pulse 1/16
9: Droop pulse 1/32
0
Set the analog data output
when an alarm occurs. 4.3.16
6 Zero speed 0 to 10000 r/min 10000 r/min
Set the speed at which the
motor speed is judged to be
"0".
4.3.17
7
Excessive
error alarm
level
1 to 1000kPLS 80 kPLS
Set the value at which an
excessive droop pulses
alarm is output.
4.3.18
8
Close encoder
rotation
direction
9
Home position
return
reference
encoder
Unusable
10
Optional
function 5 (PI-
PID control
switching)
0: Invalid
1: Switching in accordance with droop during position control valid
2: Speed amplifier proportional control valid
0 Set the conditions for PI-
PID control switching.
11
Optional
function 5
(Servo
readout characters)*1
0: Japanese
1: English 0
Set the display format for
the parameter unit.
4.3.19
12
PI-PID
switching
position droop*1
0 to 50000 PLS 0 PLS
Set the amount of position
droop at the switch to PI-
PID control when position
control is executed.
4.3.20
13
Torque control
compensation factor*1*2
19 to 9979 0
Set to expand the torque
control range up to the
speed limit value in torque
control.
4.3.21
14
Speed
differential
compensation
0 to 1000 980 Set the differential
compensation value for the
actual speed loop.
4.3.22
*1: Cannot be set when using MR-J-B.
*2: Cannot be set when using MR-J2-B.
*3: For MR-J2-B, the default is "1".
4. PARAMETERS FOR POSITIONING CONTROL
4 14
Table 4.4 Servo Parameters (Expansion Parameters) (Continued)
Setting Range Default
mm inch degree No. Item
Setting
Range Units
Setting
Range Units Setting Range Units
Initial
Value Units
Remarks
Expla-
natory
Section
15
Number of
gear teeth at
motor side
16
Number of
gear teeth at
machine side
17
Number of
closed
encoder
pulses
Unusable
*1: Cannot be set when using MR-J-B.
*2: Cannot be set when using MR-J2-B.
*3: For MR-J2-B, the default is "1".
POINT
(1) The "setting range" for position control gain 1 and 2, speed control gain 1 and 2, and speed integral compensation can be set from a peripheral device, but if a setting outside the "valid range" is set, the following servo errors will occur when the power to the servo system CPU is turned ON, when the CPU is reset, and at the leading edge of the PC ready signal (M2000).
Servo Error Code Error Contents Processing
2613 Initial parameter error
(position control gain 1)
2614 Initial parameter error
(speed control gain 1)
2615 Initial parameter error
(position control gain 2)
2616 Initial parameter error
(speed control gain 2)
2617 Initial parameter error
(speed integral compensation)
Correct the setting for the
relevant parameter so that it is
within the "valid range", turn
M2000 from OFF to ON, or reset
with the reset key.
4. PARAMETERS FOR POSITIONING CONTROL
4 15
4.3.2 Position control gain 1, 2
(1) Position control gain 1 (a) Position control gain 1 is set in order to make the stabilization time shorter.
(b) If the position control gain 1 is too high, it could cause overshoot and the value must therefore be adjusted so that it will not cause overshoot or undershoot.
Motor speed
Time
Undershoot
Overshoot
(2) Position control gain 2 (a) Position control gain 2 is set in order to increase position response with
respect to load disturbance.
(b) Calculate the position control gain 2 value to be set from the load inertia ratio and the speed control gain 2.
Position control gain 2 = Speed control gain 2
1 + load inertia ratio 10
1
POINTS
(1) If the position control gain 1 setting is too low, the number of droop pulses will increase and a servo error (excessive error) will occur at high speed.
(2) The position control gain 1 setting can be checked from a peripheral device. (For the method used to execute this check, refer to the operating manual for the peripheral device used.)
4. PARAMETERS FOR POSITIONING CONTROL
4 16
4.3.3 Speed control gain 1, 2
(1) Speed control gain 1 (a) In the speed control mode
Normally, no change is necessary.
(b) In the position control mode Set to increase the follow-up with respect to commands.
(2) Speed control gain 2 (a) Speed control gain 2 is set when vibration occurs, for example in low-rigidity
machines or machines with a large backlash. When the speed control gain 2 setting is increased, responsiveness is improved but vibration (abnormal motor noise) becomes more likely.
(b) A guide to setting speed gain 2 is presented in Table 4.5 below.
Table 4.5 Guide to Speed Control Gain 2 Setting
Load Inertia Ratio
(GDL 2/GDM
2) 1 3 5 10 20
30 or
Greater Remarks
Set value (ms) 800 1000 1500 2000 2000 2000 Setting possible within the range 1 to 9999
(valid range: 20 to 5000)
POINTS
(1) When the setting for speed control gain 1 is increased, the overshoot becomes greater and vibration (abnormal motor noise) occurs on stopping.
(2) The speed control gain 1 setting can be checked from a peripheral device. (For the method used to execute this check, refer to the operating manual for the peripheral device used.)
4. PARAMETERS FOR POSITIONING CONTROL
4 17
4.3.4 Speed integral compensation
(1) This parameter is used to increase frequency response in speed control and improve transient characteristics.
(2) If the overshoot in acceleration/deceleration cannot be made smaller by adjusting speed loop gain or speed control gain, increasing the setting for the speed integral compensation value will be effective.
(3) A guide to setting the speed integral compensation is presented in Table 4.6 below.
Table 4.6 Guide to Speed Integral Compensation Setting
Load Inertia Ratio
(GDL 2/GDM
2) 1 3 5 10 20
30 or
Greater Remarks
Set value (ms) 20 30 40 60 100 200 Setting possible within the range 1 to 9999
(valid range: 1 to 1000)
4.3.5 In-position range
(1) The "in-position" refers to the quantity of droop pulses in the deviation counter.
(2) If an in-position value is set, the in-position signal (M1602 + 20n) will come ON when the difference between the position command and position feedback from the servomotor enters the set range.
In-position signal (M1602+20n)
ON
OFF
Set value for in-position range
Amount of droop
t
4.3.6 Feed forward gain
This parameter is used to improve the follow-up of the servo system. The setting range is as follows:
When using an MR- -B..................0 to 100 (%)
4. PARAMETERS FOR POSITIONING CONTROL
4 18
4.3.7 Load inertia ratio
(1) This parameter sets the ratio of moment of load inertia for the servomotor. The ratio of moment of load inertia is calculated using the equation below:
Ratio of moment of load inertia = Moment of load inertia
Motor's moment of inertia
(2) If automatic tuning is used, the result of automatic tuning is automatically set.
4.3.8 Automatic tuning
This is a function whereby the moment of inertia of the load is automatically calculated, and the most suitable gain is automatically set, by sensing the current and speed when motion starts.
POINT
When performing automatic tuning with MB-J-B, set the zero speed in the expansion parameters to at least 50rpm.
4. PARAMETERS FOR POSITIONING CONTROL
4 19
4.3.9 Servo responsiveness setting
(1) This parameter setting is used to increase servo responsiveness. Changing the set value to a higher value in the sequence 1, 2..., 5 improves servo responsiveness. For machines with high friction, use the set values in the range 8 through C.
Response settings 1: Low-speed response 2: 3: 4: 5: High-speed response 8: Low-speed response 9: A: B: C: High-speed response
Normal machine (MR- -B usable)
Machines with high friction (only MR-H-B usable)
Standard mode
High frictional load mode
(2) Increase the response setting step by step starting from the low-speed response setting, observing the vibration and stop stabilization of the motor and machine immediately before stopping as you do so. If the machine resonates, decrease the set value. If the load inertia is 5 times the motor inertia, make the set value 1 or greater.
(3) The figure below shows how the motor's response changes according to the servo responsiveness setting.
Motor speed
Time
Command value Response setting 13 245
Change in motor response in accordance with response setting (at the time of position control)
(4) Change the servo responsiveness setting while the motor is stopped.
4. PARAMETERS FOR POSITIONING CONTROL
4 20
4.3.10 Notch filter
This parameter sets the notch frequency for the notch filter.
Set Value Notch Frequency (Hz)
0 Not used
1 1125
2 750
3 562
4 450
5 375
6 321
7 281
4.3.11 Electromagnetic brake sequence
This parameter sets the time delay between actuation of the electromagnetic brake and base disconnection. (applies only when using MR-H-B/MR-J2-B.)
4.3.12 Monitor output mode
This parameter is set to output the operation status of the servo amplifier in real time as analog data. This analog output makes it possible to check the operation status. Note that the number of monitored items that can be set depends on the servo amplifier used, as indicated below:
When using an MR-H-B/MR-J2-B.......... 2 types When using an MR-J-B........................... 1 type
4.3.13 Optional function 1
(1) Selection of carrier frequency When low noise is set, the amount of electromagnetic noise of audible frequencies emitted from the motor can be reduced.
(2) Encoder type (applies only when using MR-H-B/MR-J2-B) Set the type of encoder cable used.
0 0
Carrier frequency selection 0: 2.25kHz (non low-noise) 3: 9kHz (low-noise)
Encoder type 0: Two-wire type 1: Four-wire type
POINT
(1) Optional function 1 (carrier frequency selection) When low-noise is set, the continuous output capacity of the motor is reduced.
4. PARAMETERS FOR POSITIONING CONTROL
4 21
(3) External emergency stop signal (applies only when using MR-J2-B) The external emergency stop signal (EMG) can be made invalid.
0: External emergency stop signal is valid. 1: External emergency stop signal is invalid (automatically turned ON internally).
Since the emergency stop signal at the MR-J2-B cannot be used, do not set "0".
4.3.14 Optional function 2
(1) Selection of no-motor operation (applies when using MR-H-B/MR-J-B only) 0: Invalid 1: Valid
If no-motor operation is selected, the output signals that would be output if the motor were actually running can be output, and statuses indicated, without connecting the motor. This makes it possible to check the sequence program of the servo system CPU without connecting a motor.
(2) Electromagnetic brake interlock output timing (applies only when using MR-H- B/MR-J2-B) Select the output timing for the electromagnetic brake interlock signal from among the following.
0: Regardless of the rotational speed of the servo motor, output occurs under any of the following conditions. Servo OFF Occurrence of an servo alarm Emergency stop input
1: Output occurs under any of the above conditions provided that the servo motor rotational speed is zero (expansion parameters).
(3) Selection of microvibration suppression function (applies to MR-J2-B) Set to suppress vibration specific to the servo system on stopping.
0: Microvibration suppression control is invalid. 1: Microvibration suppression control is valid.
(4) Motor lock operation (applies only when using MR-J2-B) Allows test operation with the motor connected but without rotating the motor. The operation is the same as no-motor operation with MR-H-B/MR-J-B.
0: Motor lock operation is invalid. 1: Motor lock operation is valid.
When motor lock operation is made valid, operation is possible without connecting the motor. However, since when MR-J2-B is used the connected motor is automatically identified before operation is started, if no motor is connected the connected motor type may be regarded as a default, depending on the type of amplifier. If this default motor type differs from the setting made in the system settings, the controller will detect minor error 900 (motor type in system settings differs from actually mounted motor), but this will not interfere with operation.
POINT
(1) Optional function 2 (no-motor operation selection) No-motor operation differs from operation in which an actual motor is run in that, in response to signals input in no-motor operation, motor operation is simulated and output signals and status display data are created under the condition that the load torque zero and moment of load inertia are the same as the motor's moment of inertia. Accordingly, the acceleration/ deceleration time and effective torque, and the peak load display value and the regenerative load ratio is always 0, which is not the case when an actual motor is run.
4. PARAMETERS FOR POSITIONING CONTROL
4 22
4.3.15 Monitor output 1, 2 offset
Set the offset value for the monitored items set when setting monitor outputs 1 and 2.
4. PARAMETERS FOR POSITIONING CONTROL
4 23
4.3.16 Pre-alarm data selection
Used to output from the servo amplifier in analog form the data status when an alarm occurs. (applies only when using MR-H-B/MR-J2-B) (1) Sampling time selection
Set the intervals in which the data status data when an alarm occurs is recorded in the servo amplifier.
(2) Data selection Set the data output in analog form from the servo amplifier. Two types of data can be set.
0
Data selection 2 0: Speed () 1: Torque () 2: Speed (+) 3: Torque (+) 4: Current command output 5: Command F T 6: Droop pulse 1/1 7: Droop pulse 1/4 8: Droop pulse 1/16 9: Droop pulse 1/32
Data selection 1
Sampling time selection 0: 1.77[ms] 1: 3.55[ms] 2: 7.11[ms] 3: 14.2[ms] 4: 28.4[ms]
4.3.17 Zero speed
This parameter sets the speed at which the motor speed is judged to be zero.
4.3.18 Excessive error alarm level
This parameter sets the range in which the alarm for excessive droop pulses is output.
4.3.19 Optional function 5
(1) PI-PID control switching This parameter sets the condition under which switching from PI to PID control, or from PID control to PI control, is valid.
(2) Servo readout characters (applies only when using MR-H-B/MR-J2-B) When the optional parameter unit is connected, set whether the screen display on the parameter unit will be in Japanese or English.
4. PARAMETERS FOR POSITIONING CONTROL
4 24
4.3.20 PI-PID switching position droop
This parameter sets the amount of position droop on switching to PI-PID control during position control. (applies only when using MR-H-B/MR-J2-B.) The setting becomes effective when switching in accordance with the droop during position control is made valid by the setting for PI-PID control switching made using optional function 5.
4.3.21 Torque control compensation factor
This parameter is used to expand the torque control range up to the speed control value during torque control. (applies only when using MR-H-B.) If a large value is set, the speed limit value may be exceeded and the motor may rotate.
4.3.22 Speed differential compensation
This parameter sets the differential compensation value for the actual speed loop. In PI (proportional integration) control, if the value for speed differential compensa- tion is set at 1000, the range for normal P (proportional) control is effective; if it is set to a value less than 1000, the range for P (proportional) control is expanded.
4. PARAMETERS FOR POSITIONING CONTROL
4 25
4.4 Home Position Return Data
The home position return data are data used to make a home position return. Set them on the peripheral device. For details of the setting, refer to Section 7.6.
Table 4.7 Home Position Return Data List
Setting Range Default
mm inch degree No. Item
Setting
Range Units
Setting
Range Units
Setting
Range Units
Initial Value Remarks
Expla-
natory
Section
1
Home position
return
direction
0: Reverse direction (address decreasing direction)
0: Forward direction (address increasing direction) 0
Set the direction in which a
home position return will be
made.
Starting a home position
return moves the axis in the
specified direction.
2 Home position
return method
0: Near-zero point dog type
1: Count type
2: Data setting type
0
Set the home position
return method.
It is recommended to use
the near-zero point dog or
count type for the servo
amplifier which is not
absolute value-compatible,
and the data setting type
for the servo amplifier
which is absolute value-
compatible.
3 Home position
address
-2147483648
to
2147483647
10 -4
mm
-2147483648
to
2147483647
10 -5
inch 0 to
35999999 10
-5 degree 0
Set the present value of the
home position on
completion of home
position return.
It is recommended to define
the home position address
at either of the upper or
lower limit value of the
stroke limit.
4
Second home
position
address
-2147483648
to
2147483647
10 -4
mm
-2147483648
to
2147483647
10 -5
inch 0 to
35999999 10
-5 degree 0
Set the present value of the
second home position on
completion of the second
home position return.
It is recommended to define
the second home position
address at either of the
upper or lower limit value of
the stroke limit.
5 Home position
return speed
0.01
to
6000000.00
mm/min
0.001
to
600000.000
inch/min
0.001
to
2147483.647
degree/min 0.01 Set the speed for home
position return.
6 Creep speed
0.01
to
6000000.00
mm/min
0.001
to
600000.000
inch/min
0.001
to
2147483.647
degree/min 0.01
Set the creep speed after
near-zero point dog ON
(low speed immediately
before a stop which is
made after deceleration
from the home position
return speed).
7
Setting of
travel after
near-zero
point dog
0 to
214748.3647 mm
0 to
21474.83647 inch
0 to
21474.83647 degree
For the count type, set the
travel after near-zero point
dog ON.
Set the value not less than
the distance of deceleration
made from the home
position return speed.
4.4 (1)
8
Parameter
block
designation
1 to 16 1
Set the parameter block
(refer to Section 4.6)
number used for home
position return.
4. PARAMETERS FOR POSITIONING CONTROL
4 26
(1) Setting of travel after near-zero point dog ON (a) This data is the travel after near-zero point dog ON and is set when the
count type home position return is made.
(b) The first zero point after the movement of the preset travel after near-zero point dog ON is the home position.
(c) The setting of the travel after near-zero point dog ON should be not less than the distance of deceleration made from the home position return speed.
The following example gives how to calculate the deceleration distance when the speed limit value, home position return speed, creep speed and deceleration time are set as follows.
[Home position return operation]
Speed limit value: Vp = 200kpps
Home position return speed: VZ = 10kpps
Creep speed: VC = 1kpps
t
TB
Actual deceleration time: t = TB VZ
VP
Deceleration time: TB = 300ms
[Deceleration distance (Shaded area in the chart)]
= 1 2
VZ
1000 t
= VZ
2000 TB VZ
VP
= 10 103
2000 300 10 103
200 10
= 75
Converted into speed per 1ms
Set 75 or more.
Example
4. PARAMETERS FOR POSITIONING CONTROL
4 27
4.5 JOG Operation Data
The JOG operation data is used to perform JOG operation. Set this data on the peripheral device.
Table 4.8 JOG Operation Data List
Setting Range Default
mm inch degree No. Item
Setting
Range Units
Setting
Range Units
Setting
Range Units
Initial Value Units Remarks
Expla-
natory
Section
1 JOG speed
limit value
0.01
to
6000000.00
mm/min
0.001
to
600000.000
inch/min
0.001
to
2147483.647
degree/min 200.00 mm/
min
Set the maximum speed for
JOG operation.
If the JOG speed setting is
higher than the JOG speed
limit value, it is controlled at
the JOG speed limit value.
2
Parameter
block
designation
1 to 16 1 Set the parameter block
number used for JOG
operation.
4.6
(1) Checking the JOG operation data A relative check is made on the preset JOG operation data at any of the following timings: At power-on On leading edge (OFF to ON) of PC ready (M2000) When test mode is selected.
(2) Processing at data error When a relative check is made, only the data where an error has been
detected is controlled at the default value. The error code corresponding to each data of the faulty axis is stored into the
data register.
POINT
(1) During JOG operation, the axis cannot be started toward the outside of the stroke limit range in the fixed parameter. However, when the axis is outside the stroke limit range, JOG operation can be performed in the rotation direction toward the stroke limit range.
Lower stroke limit Upper stroke limit
The start is disable.
The start is able.
The start is disable.
The start is able.
4. PARAMETERS FOR POSITIONING CONTROL
4 28
4.6 Parameter Block
(1) The parameter blocks serve to make setting changes easy by allowing data such as the acceleration/deceleration control to be set for each positioning processing.
(2) A maximum of 16 blocks can be set as parameter blocks.
(3) Parameter blocks can be set at a peripheral device.
(4) The parameter block settings to be made are shown in Table 4.9.
Table 4.9 Parameter Block Settings
Setting Range Default
mm inch degree No. Item
Setting
Range Units
Setting
Range Units
Setting
Range Units
Initial Value Units Remarks
Expla-
natory
Section
1 Interpolation
control unit 0 1 2 0
Set the units for
compensation control.
Can also be used as the
units for the command speed
and allowable error range for
circular interpolation set in
the motion program.
6.6.5
2 Speed limit
value
0.01 to
6000000.00 mm/min
0.001 to
600000.000 inch/min
0.001 to
2147483.647 degree/min 2000.00
mm/
min
Set the maximum speed for
positioning/home position
return.
If the positioning speed or
home position return speed
setting exceeds the speed
limit value, control is
executed at the speed limit
value.
Acceleration-fixed acceleration/deceleration
mode 1 to 65535ms
Set the time from start of
operation until the speed
limit value is reached. 3
Acceleration
time
Time-fixed acceleration/deceleration mode 1 to 5000ms
1000 ms The acceleration/
deceleration time is always
as preset.
Acceleration-fixed acceleration/deceleration
mode 1 to 65535ms
Set the time from the speed
limit value until a stop is
made. 4
Deceleration
time
Time-fixed acceleration/deceleration mode Invalid
1000 ms
The setting is ignored.
Acceleration-fixed acceleration/deceleration
mode 1 to 65535ms
For a rapid stop, set the time
from the speed limit value
until a stop is made.5
Rapid stop
deceleration
time Time-fixed acceleration/deceleration mode Invalid
1000 ms
The setting is ignored.
4.6.1
Acceleration-fixed acceleration/deceleration
mode 0 to 100%
Set the S curve ratio for S-
pattern
acceleration/deceleration
processing.
Trapezoidal
acceleration/deceleration
processing is performed at
the S curve ratio of 0%.
6 S curve ratio
Time-fixed acceleration/deceleration mode Invalid
0 %
Always set 0%.
4.6.2
7 Torque limit
value 1 to 500% 300 %
Set the torque limit value in
the servo program.
8
Deceleration
processing
on STOP
input
0: Deceleration stop executed based on the deceleration time.
1: Deceleration stop executed based on the rapid stop deceleration time. 0
Set the deceleration
processing when external
signals (STOP, FLS, RLS)
are input.
9
Allowable
error range
for circular
interpolation
0 to 10.0000 mm 0 to 1.00000 inch 0 to 1.00000 degree 0.0100 mm
Set the permissible range for
the locus of the arc and the
set end point coordinates.
4.6.3
4. PARAMETERS FOR POSITIONING CONTROL
4 29
POINTS
(1) Parameter blocks are designated in the home position return data, JOG operation data, or sequence program.
(2) The speed limit value is the feed rate setting range of the feed rate (F) set in the motion program.
4. PARAMETERS FOR POSITIONING CONTROL
4 30
POINT
(1) The data set in the parameter block are used for positioning control, home position return and JOG operation. (a) The parameter block No. used in positioning control is set by indirect
designation of the SVST instruction in the sequence program from the peripheral device. For indirect designation, specify the motion program No. (0 No.) and parameter block No. When the parameter block No. setting is 0 (no setting) or 17 or more, control is exercised with the data of parameter block No. 1.
[Sequence program]
SVST J1 D100
Start M2001
Motion program No. setting (D100) Parameter Block No. setting (D101) Sequence Program No. setting (D102)
Axis No. setting
(b) The parameter block No. used for home position return is set when setting the "home position return data" with a peripheral device.
[Home position return data setting screen]
A DIRECTION B METHOD C ADDRESS D 2ND ADDRESS E SPEED F CREEP SPEED G MOVEMENT AFTER DOG H P.B. NO.
X AXIS
0 0
0.0000 0.0000
0.01 0.01
1
SETTING DATA SETTING RANGE
0: REVERSE 1: FORWARD 0: DOG 1: COUNT 2: DATA SET -214748.3648 - 214748.3647 ( mm) -214748.3648 - 214748.3647 ( mm) 0.01 - 6000000.00 ( mm/min) 0.01 - 6000000.00 ( mm/min)
1 - 16
[HOME POSITION RETURN DATA]
End: SET Esc: STOP
1 2 3 4 5 6 7 8 9 0
Parameter block No. setting
(c) The parameter block No. used for JOG operation is set when setting the "JOG operation data" with a peripheral device.
[JOG operation data setting screen]
1 SPEED LIMIT 2 P.B NO.
X AXIS
2000.00 1
SET DATA SETTING RANGE
0.01 - 6000000.00 ( mm/min) 1 - 16
[JOG OPERATION DATA]
End: SET Esc: STOP
1
2
3
4
5 6
7
8
9
0
Parameter block No. setting
4. PARAMETERS FOR POSITIONING CONTROL
4 31
4.6.1 Relationships among the speed limit value, acceleration time, deceleration time, and rapid stop
deceleration time
According to the G code instructions, there are two different acceleration/deceleration modes, acceleration-fixed acceleration/deceleration and time-fixed acceleration/deceleration. (1) Acceleration-fixed acceleration/deceleration
(a) G01, G02, G03 or G32 during G101 execution The acceleration/deceleration mode is acceleration-fixed acceleration/deceleration. The actual acceleration time, deceleration time and rapid stop deceleration time are shorter than their settings as the positioning speed is lower than the speed limit value. The setting ranges of the acceleration time, deceleration time and rapid stop deceleration time used are 1 to 65535ms.
(b) G00 (without M code), G28 (high-speed home position return), G30, G53 or G00 including M code during G101 execution The acceleration/deceleration mode is acceleration-fixed acceleration/deceleration. The calculation of acceleration for acceleration/deceleration is based on the lower speed of the feedrate from the rapid feedrate in the fixed parameter (refer to Section 4.2.4) and the speed limit value in the parameter block. At the override of 100%, the actual acceleration time, actual rapid stop deceleration time and actual deceleration time are equal to their settings. The setting ranges of the acceleration time, deceleration time and rapid stop deceleration time used are 1 to 65535ms.
(2) Time-fixed acceleration/deceleration (a) G00 including M code during G100 execution (default), G01, G02, G03 or
G32 The acceleration/deceleration mode is time-fixed acceleration/deceleration. The preset acceleration time is used to perform acceleration, deceleration or rapid stop deceleration processing. The setting range of the acceleration time used is 1 to 5000ms. If the setting exceeds 5000ms, the acceleration time is clamped at 5000ms. At this time, an error does not occur.
4. PARAMETERS FOR POSITIONING CONTROL
4 32
(1) Acceleration-fixed acceleration/deceleration (a) G01, G02, G03 or G32 during G101 execution
Speed
Time
Setting
acceleration
time
2) Actual rapid
stop deceleration
time Setting rapid
stop deceleration
time
Setting deceleration time
3) Actual
deceleration time
Positioning speed
set in motion
program
Speed limit value
Rapid stop cause occurrence
1) Actual acceleration
time
1) Actual acceleration time
Time until the positioning speed set in the motion
program is reached
2) Actual rapid stop deceleration time
Time from the positioning speed set in the motion
program to a rapid stop
3) Actual deceleration time
Time from the positioning speed set in the motion
program to a stop
(b) G00 (without M code), G28 (high-speed home position return), G30, G53 or G00 including M code during G101 execution
Speed
Time 1) Actual
acceleration
time
Setting acceleration time
2) Actual rapid
stop deceleration
time
Setting rapid
stop deceleration
time
Setting deceleration time
3) Actual
deceleration time
Rapid feedrate
Speed limit value 1) Actual acceleration time
Equal to the preset acceleration time
at the override of 100%.
2) Actual rapid stop deceleration time
Equal to the preset rapid stop deceleration time
at the override of 100%.
3) Actual deceleration time
Equal to the preset deceleration time
at the override of 100%.
(2) Time-fixed acceleration/deceleration (a) G00 including M code during G100 execution (default), G01, G02, G03 or G32
Setting acceleration time
Positioning speed
The acceleration/deceleration time is fixed independently
of the positioning speed (always acceleration time).
The deceleration time and rapid stop time are ignored.
Setting acceleration time
Fig. 4.2 Relationships among the Speed Limit Value, Acceleration Time, Deceleration Time, and Rapid Stop Deceleration Time
4. PARAMETERS FOR POSITIONING CONTROL
4 33
4.6.2 S curve ratio
The S curve ratio used when S pattern processing is used as the acceleration and deceleration processing method can be set. The setting range for the S curve ratio is 0 to 100 (%). If a setting that is outside the applicable range is made, an error occurs on starting, and control is executed with the S curve ratio set at 100%. Errors are set in the servo program setting error area (D9190). Setting an S curve ratio enables acceleration and deceleration processing to be executed gently. The S curve ratio is set by the parameter block. (Refer to section 4.6.) The graph for S pattern processing is a sine curve, as shown below.
V
t 0
Acceleration time
Deceleration time
Sine curve
Positioning speed
Time
As shown below, the S curve ratio setting serves to select the part of the sine curve to be used as the acceleration and deceleration curve.
A
B
B/2 B/2
Sine curve
S curve ratio = B/A 100%
Positioning speed
V
When the S curve ratio is 70% t
B/A=0.7B A
(Example) Positioning speed
V
When the S curve ratio is 100%
B A
t
B/A=1.0
Note: Under G00 including M code, G01, G02, G03 or G32, the S curve ratio is ignored and operation is always performed at the ratio
of 0%.
4. PARAMETERS FOR POSITIONING CONTROL
4 34
4.6.3 Allowable error range for circular interpolation
In control with the center point designated, the locus of the arc calculated from the start point address and center point address may not coincide with the set end point address. The allowable error range for circular interpolation sets the allowable range for the error between the locus of the arc determined by calculation and the end point address. If the error is within the allowable range, circular interpolation to the set end point address is executed while also executing error compensation by means of spiral interpolation. If the setting range is exceeded, an error occurs and positioning does not start. When such an error occurs, the relevant axis is set in the minor error code area.
Start point address Center point address
Set end address
End address determined by calculation Locus determined by spiral interpolation
Error
Fig. 4.3 Spiral Interpolation
4. PARAMETERS FOR POSITIONING CONTROL
4 35
4.7 Work Coordinate Data
(1) The work coordinate data are used to set the work coordinates and you can set six different work coordinates (G54 to G59) per axis. (For details, refer to Section 4.7.)
(2) For the work coordinate system, specify the position with the offset from the mechanical coordinate system home position. The offset setting is the distance from the mechanical coordinate system home position (0).
(3) Set the work coordinate data on the peripheral device.
(4) The work coordinate data to be set are listed in Table 4.10.
Table 4.10 Work Coordinate Data List
Setting range Default mm inch degreeNo. Item
Setting range Unit Setting range Unit Setting range Unit Initial value
Unit Remark
Section For
details
1 G54 -214748.3648
to 214748.3647
mm -21474.83648
to 21474.83647
inch -359.99999
to 359.99999
degree 0 mm
2 G55 -214748.3648
to 214748.3647
mm -21474.83648
to 21474.83647
inch -359.99999
to 359.99999
degree 0 mm
3 G56 -214748.3648
to 214748.3647
mm -21474.83648
to 21474.83647
inch -359.99999
to 359.99999
degree 0 mm
4 G57 -214748.3648
to 214748.3647
mm -21474.83648
to 21474.83647
inch -359.99999
to 359.99999
degree 0 mm
5 G58 -214748.3648
to 214748.3647
mm -21474.83648
to 21474.83647
inch -359.99999
to 359.99999
degree 0 mm
6 G59 -214748.3648
to 214748.3647
mm -21474.83648
to 21474.83647
inch -359.99999
to 359.99999
degree 0 mm
Set the work coordinate systems 1 to 6.
6.7
(5) When a home position return is made on the basis of the home position return setting data, the mechanical coordinate system and work coordinate system are as shown below.
[Example] The X-axis home position address of the home position return data is set to 200.00(mm) and the X axis: G54 of the work coordinate data is set to 300.00(mm) to make a home position return.
200.00 300.000
-100.00 0
- +
G54=300.00(mm)
+
Mechanical coordinate system
Work coordinate system (G54)
Present value
Monitor data machine value
Home position return completion point
-
On completion of a home position return, the machine value is equal to 200.00(mm) and the present value to -100.00(mm). When the work coordinate data is set to 0, the present value is equal to the machine value.
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 1
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
This section explains how to start a motion program using a sequence program or SFC program for positioning control, and gives other information.
5.1 Cautions on Creating a Sequence Program or SFC Program
The following cautions should be observed when creating a sequence program or SFC program.
(1) Positioning control instructions The motion program start request instruction (DSFRP)/(SVST) (see Section 5.2) and the home position return instructions (DSFLP)/(CHGA) (See section 5.3) speed change instructions (see Section 5.4) are used as positioning instructions.
(2) Unusable instructions It is not possible to use the DSFL (word data 1 word shift to left) or DSFR (word data 1 word shift to right) instruction. If a DSFL instruction of DSFR instruction is executed, an operation error occurs and the following happens: (a) Operation error flag (M9010, M9011) is turned ON. (b) 50(OPERATION ERROR) is stored in the self-diagnosis error code register
(D9008) (c) The step in which the DSFR or DSFL instruction was executed is stored in
the error step register (D9010, D9011). In order to shift word data, use the BMOV instruction (see Appendix 4).
(3) Dedicated devices for the PCPU Of the servo system CPU devices, those shown in Table 5.1 are exclusively for use with the PCPU. Check the applications of devices before using them in the sequence program (for details, see Chapter 3).
Table 5.1 Dedicated Devices for the PCPU
Device Name Device No.
Internal relays M1400 to M2047
Data registers D500 to D1023
Special relays M9073 to M9079
Special registers D9180 to D9199
Note that internal relays (M1400 to M2047) and data registers (D500 to D1023) will not be latched even if a latch range setting is made for them. (The device symbols for M1400 to M2047 are displayed as M, L, and S by the GPP device in accordance with the M, L, and S settings in the parameters.)
(4) SFC programs Refer to the manuals below for details on the SFC programming method.
MELSAP II Programming Manual (IB-66361)
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 2
5.2 Motion Program Start Request Instruction (DSFRP/SVST)
There are two motion program start request instructions: the DSFRP instruction and the SVST instruction. When executing positioning control, up to 3 axes can be controlled with the DSFRP instruction and up to 4 axes can be controlled with the SVST instruction. When the A273UHCPU (32 axis feature)/A173UHCPU(S1) is used, the DSFRP instruction cannot be used as a servo program start request instruction. It may be used only as a word data shift instruction.
5.2.1 Start request instruction for 1 to 3 axes (DSFRP): when using A172SHCPUN/A171SHCPUN
Usable Devices
Bit Devices Word (16 Bit) Devices Constants Pointers Level
Carry
Flag Error Flag
X Y M L S B F T C D W R A0 A1 Z V K H P I N
D ig
it D
es ig
n a tio
n
N um
be r
of S
te ps
S ub
se t
In de
x
M9012 M9010 M9011
(D) !
n ! ! 7 ! !
Setting data Setting range
(D) No. of axis to be started
D1 to D8 (A172SHCPUN) D1 to D4 (A171SHCPUN)
Direct designation
1 to 256
Decimal K30000 to
K30497
DSFRP (D) n Execution command
[Execution condition]
SEQUENCE PROGRAM
n No. of servo program to be executed Indirect
designation Hexadecimal
H7530 to
H7721
The following processing is executed at the leading edge (OFFON) of the DSFRP instruction: The start accept flag (M2001+n) designated in (D) is turned ON (see Section
3.1.3 (2)). A start request is issued for the servo program designated by "n".
OFF
OFF
ON
ON
Execution command
DSFRP instruction
Start accept flag
Designated servo program
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 3
[Data Settings] (1) Setting the axes to be started
The axes to be started are set in (D) in the way shown below.
Designate digits from 1 to 3. 1 axis to started 2 axis to interpolation to be started 3 axis to interpolation to be started Designate started axis numbers 1 to 4 for an A171SHCPUN, or 1 to 8 for an A172SHCPUN.
Make the setting for 1 axis (1 digit) Make the setting for 2 axes (2 digits) Make the setting for 3 axes (3 digits)
D
Device symbol (only "D" can be used)
The axes to be started are designated as follows. Axis 1 .......................................D1 Axis 1 and axis 2......................D12 Axis 1, axis 2, and axis3 ..........D123
(2) Motion program No. setting There are two types of motion program number setting: direct and indirect. (a) In direct setting, the motion program number is designated directly as the
number itself (1 to 256).
Motion program No.50 would be set as follows. When designated with a K device........... K50
(b) In indirect setting, the motion program number, the parameter block No. and the sequence program No. are set as a value in a data register. The data registers that can be used are D0 to D497, and they are set as follows.
K 3 0
Designation of the data register number (000 to 497) 3 digits must be set. Example: For 50, set 050.
Date register disignation
1)
Set the data register values as indicated below. Data register of specified number ...............................Motion program No. Data register of specified number + 1 ........................Parameter block No. Data register of specified number + 2 ................... Sequence program No.
2) It is also possible to designate a hexadecimal number (H7530 to H7721) converted from a decimal (K) number.
Example
Example
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 4
Make the following setting when specifying the motion program number, parameter block number and sequence program number to be started as the data register (D50, D51, D52) data.
When designated with a K device K30050 Specifies D50, D51, D52. *1 *2
*1: When the parameter block number setting (D51) is outside the range 1 to 16, control is exercised with the parameter block No. 1.
*2: When the sequence number setting (D52) is outside the range 1 to 9999, a start is made at the beginning of the motion program.
POINTS
(1) (1) In (D), specify all axes described in the motion program. (2) In (D), "D" is used as the device symbol but the present values of the
data register numbers used in the sequence program are ignored.
[Error Details] In the following cases, an operation error occurs and the DSFRP instruction is not executed., When the setting for (D) comprises 4 or more digits. When the axis number given in any digit of (D) is a number other than 1 to 8
(A172SHCPUN). When the axis number given in any digit of (D) is a number other than 1 to 4
(A171SHCPUN). When the same axis number is set twice in (D). When n is a value outside the range 1 to 256. When the settings for (D) or n are made by indirect setting with an index register
(Z, V).
POINT
For indirect designation, do not specify the last data register (D499) and its preceding register (D498).
Example
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 5
5.2.2 Start request instruction for 1 to 8/1 to 4/1 to 32 axes (SVST)
Usable Devices
Bit Devices Word (16 Bit) Devices Constants Pointers Level
Carry
Flag Error Flag
X Y M L S B F T C D W R A0 A1 Z V K H P I N
D ig
it D
es ig
n a tio
n
N um
be r
of S
te ps
S ub
se t
In de
x
M9012 M9010 M9011
(D)
n 13
*1
*1: Possible with indirect setting only
Setting data Setting range
(D) J+No. of axis to be started
J1 to J8 (A172SHCPUN) J1 to J4 (A171SHCPUN) J1 to J32 (A273UHCPU (32 axis feature)/ A173UHCPU (S1))
Direct designation
1 to 256
SVST (D) n
Executiion command
[Execution condition]
SEQUENCE PROGRAM
n No. of servo program to be executed
Indirect designation (Indirect designation device uses 3 words.)
D0 to D497
W0 to W3FE
The following processing is executed at the leading edge (OFF ON) of the SVST instruction. The start accept flag (M2001+n) corresponding to the axis designated in (D) is
turned ON (see Section 3.1.3 (2)). A start request is issued for the motion program designated by "n".
OFF
OFF
ON
ON
Execution command
SVST instruction
Start accept flag
desiagnated motion program
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 6
[Data Settings] (1) Setting the axes to be started
The axes to be started are set in (D) in the way shown below.
The number of digits in the axis number display is fixed at 3 including J (i.e. "J**")
Setting for 1 to 8 axes (A172SHCPUN) Setting for 1 to 4 axes (A171SHCPUN) 1 axis to be started 2 axes interpolation to be started 3 axes interpolation to be started 4 axes interpolation to be started Designate J+started axis number 1 to 8 for an A172SHCPUN Designate J+started axis number 1 to 4 for an A171SHCPUN Designate J+started axis number 1 to 32 for an A273UHCPU (32 axis feature) / A173UHCPU(S1)
Make the setting for 1 axis (J**) Make the setting for 2 axis (J**J**) Make the setting for 3 axis (J**J**J**) Make the setting for 4 axis (J**J**J**J**)
The axes to be started are designated as follows. Axis 1 ...................................................... J1 Axis 1 and axis 2..................................... J1J2 Axis 1, axis 2, and axis3 ......................... J1J2J3 Axis 1, axis 2, axis3, and axis4............... J1J2J3J4
(2) Motion program No. setting There are two types of servo program number setting: direct and indirect. (a) In direct setting, the motion program number is designated directly as the
number itself (1 to 256).
Motion program No.50 would be set as follows. When designated with a K device........... K50
(b) In indirect setting, the motion program number, parameter block number and sequence program number are set as word device values. The word device values are set as follows. Specified word device ......................................................Motion program No. Word device next to specified one .................................Parameter block No. Word device second next to specified one ................ Sequence program No.
POINT
(1) In (D), specify all axes described in the motion program.
1) The word devices that can be used are indicated in the table below.
Usable Devices
Word Device A172SHCPUN/
A171SHCPUN
A273UHCPU (32 axis
feature)/
A173UHCPU (S1)
D 0 to 497 1690 to 8199
W 0 to 3FD 0 to 1FFD
Example
Example
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 7
Make the following setting when specifying the motion program number, parameter block number and sequence program number to be started as the data register (D50, D51, D52) data.
When word device is used to specify SVST J1J2J3 D50
*1: When the parameter block number setting (D51) is outside the range 1 to 16,
control is exercised with the parameter block No. 1.
*2: When the sequence number setting (D52) is outside the range 1 to 9999,
a start is made at the beginning of the motion program.
D50: Motion program No.
D51: Parameter block No.*1
D52: Sequence program No.*2
2) An index register (Z, V) can be used for index designation of the indirectly set word device. For details on index registers (Z, V), see the ACPU Programming
Manual (Fundamentals) (IB-66249).
[Error Details] In the following cases, an operation error occurs and the SVST instruction is not executed. When the setting for (D) is for 9 or more axes (A172SHCPUN/A273UHCPU (32
axis feature)/A173UHCPU (S1)). When the setting for (D) is for 5 or more axes (A171SHCPUN). When the axis number given in any digit of (D) is a number other than J1 to J4
(A171SHCPUN). When the axis number given in any digit of (D) is a number other than J1 to J8
(A172SHCPUN). When the axis number given in any digit of (D) is a number other than J1 to J32
(A273UHCPU (32 axis feature)/A173UHCPU (S1)). When the same axis number is set twice in (D). When the setting for n is outside the applicable range.
[Program example]
0
CIRCUIT END
M2000
SVST
PC READY flag turned ON
When X0 comes ON, the start command flag (M1) for motion program No.50 comes ON.
All axes servo start command turned ON
Execution request for motion program No.50
On completion of the request for execution of motion program No.50, M1 is turned OFF.
Start accept flags
2
4
11
13
M9039
M9074
X0
M0
M1
M9074
M9074
M2009
M2001
M9076
M2002 M2003 M2004 J1J2J3J4
M2042
PLS
SET
RST
M0
M1
M1
50 K
Example
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 8
5.3 Home Position Return Instructions (DSFLP/CHGA)
These instructions are used to make a home position return of the axis at a stop.
5.3.1 DSFLP instruction: when using A172SHCPUN/A171SHCPUN
Usable Devices
Bit Devices Word (16 Bit) Devices Constants Pointers Level
Carry
Flag Error Flag
X Y M L S B F T C D W R A0 A1 Z V K H P I N
D ig
it D
es ig
n a tio
n
N um
be r
of S
te ps
S ub
se t
In de
x
M9012 M9010 M9011
(D)
n 7
Setting data Setting range
(D) Axis No. which will be returned to home position
D1 to D8 (A172SHCPUN) D1 to D4 (A171SHCPUN)
DSFLP (D) n
Execution command
[Execution condition]
SEQUENCE PROGRAM
n Designation of home position return
K2 or H2
(1) The following processing is performed on the leading edge (OFF to ON) of the DSFLP instruction execution command. 1) The start acceptance flag (M2001 to M2008/M2001 to M2004) corresponding
to the axis specified in (D) is turned ON. 2) The axis specified in (D) is returned to the home position in accordance with
the home position return data specified in the parameters. 3) The start acceptance is turned OFF on completion of the home position
return.
[Operation Timing]
OFF
ON Execution command
DSFLP instruction
Start accept flag
Home position return completion
[Data Settings] (1) Setting of the axis which will be returned to home position
In (D), set the axis which will be returned to the home position as follows.
D
Started axis No. The relevant axis No. can be set in the range 1 to 8 or 1 to 4. Set the interpolation control time for one of the axes controlled in interpolation. Devices symbol (only D can be set)
The axes to be started are designated as follows. Axis 1 ...................................................... D1
Example
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 9
(2) Home position return Set a home position return as indicated below. Home position return ...................Set K2 or H2.
POINT
For the DSFLP instruction, indirect setting cannot be made in (D) and n using the index register.
DSFLP DOZ K2
Indirect designation using index register
If indirect setting is made using the index register, an operation error occurs and the DSFLP instruction is not executed.
[Error Details] (1) In the following cases, an operation error occurs and the DSFLP instruction is
not executed. Setting in (D) is other than 1 to 8/1 to 4. Setting in n is other than 1 or 2. Setting in (D) or n has been made by indirect setting using the index register
(Z, V).
(2) In the following case, a minor error (error at control change) occurs and a home position return is not made. At this time, the error detection flag (M1607+20n) is turned ON and the error code is stored into the minor error code area of the corresponding axis. When the axis specified in (D) for home position return is operating
[Program Example] (1) The following program is designed to make a home position return of axis 2.
(a) Conditions 1) Home position return command.......... Leading edge (OFF to ON) of X0 2) Home position return execution flag.... M1 3) Axis 2 start acceptance (axis 2 stopping/operating confirmation) flag ............................................................ M2002 (axis 2 start acceptance
flag)
(b) Program example
0
CIRCUIT END
M2000 Turns ON PC ready.
Turns ON axis 2 home position return start command flag (M1) at OFF to ON of X0.
Turns ON all-axis servo start command.
Axis 2 home position return execution request
In-position signal
2
4
11
13
M9039
M9074
X0
M0
M9074
M9074
M1
M2009
M2002
M9076
M1603
M2042
PLS
SET
RST
M0
M1
M1
DSFL 2 K
D2 P
PCPU ready signal
Start acceptance flag
Turns OFF M1 on completion of axis 2 home position return execution request.
POINT
When making a home position return, provide M9074 and in-position signal as interlock conditions.
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 10
5.3.2 CHGA instruction
Usable Devices
Bit Devices Word (16 Bit) Devices Constants Pointers Level
Carry
Flag Error Flag
X Y M L S B F T C D W R A0 A1 Z V K H P I N
D ig
it D
es ig
n a tio
n
N um
be r
of S
te ps
S ub
se t
In de
x
M9012 M9010 M9011
(D)
n 7
Setting data Setting range
(D) J + axis No. which will be returned to home position
J1 to J8 (A172SHCPUN) J1 to J4 (A171SHCPUN) J1 to J32 (A273UHCPU (32 axis feature)/A173UHCPU (S1))
CHGA (D) n
Execution command
[Execution condition]
SEQUENCE PROGRAM
n Dummy
(1) The following processing is performed on the leading edge (OFF to ON) of the CHGA instruction execution command. 1) The start acceptance flag (M2001 to M2008/M2001 to M2004) corresponding
to the axis specified in (D) is turned ON. 2) The axis specified in (D) is returned to the home position in accordance with
the home position return data specified in the parameters. 3) The start acceptance is turned OFF on completion of the home position
return.
[Operation Timing]
OFF
ON Execution command
CHGA instruction
Start accept flag
Home position return completion
[Data Settings] (1) Setting of the axis which will be returned to home position
In (D), set the axis which will be returned to the home position as follows.
J
Started axis No. The relevant axis No. can be set in the range 1 to 8 or 1 to 4.
Only J can be set.
The axes to be started are designated as follows. Axis 1 ...................................................... J1
Example
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 11
(2) Home position return setting Set a dummy for a home position return.
Set a dummy. CHGA J1 K00
Dummy
[Error Details] (1) In the following case, an operation error occurs and the CHGA instruction is not
executed. Setting in (D) is other than J1 to J8/J1 to J4.
(2) In the following case, a minor error (error at control change) occurs and a home position return is not made. At this time, the error detection flag (M1607+20n) is turned ON and the error code is stored into the minor error code area of the corresponding axis. When the axis specified in (D) for home position return is operating
[Program Example] (1) The following program is designed to make a home position return of axis 2.
(a) Conditions 1) Home position return command.......... Leading edge (OFF to ON) of X0 2) Home position return execution flag.... M1 3) Axis 2 start acceptance (axis 2 stopping/operating confirmation) flag
...................................................... M2002 (axis 2 start acceptance flag)
(b) Program example
0
CIRCUIT END
M2000 Turns ON PC ready.
Turns ON axis 2 home position return start command flag (M1) at OFF to ON of X0.
Turns ON all-axis servo start command.
Axis 2 home position return execution request
In-position signal
2
4
11
13
M9039
M9074
X0
M0
M9074
M9074
M1
M2009
M2002
M9076
M1603
M2042
PLS
SET
RST
M0
M1
M1
CHGA 2 K
J2
PCPU ready signal
Start acceptance flag
Turns OFF M1 on completion of axis 2 home position return execution request.
(2) The following program is designed to change the positioning speed of axis 2. (a) Condition
1) Speed change command .................... Leading edge (OFF to ON) of X000
(b) Program example
CIRCUIT END
Axis 2 speed change execution request
0 X000 M2022
CHGV 10 K
J2
Speed change in progress flag
POINT
When override is valid, the speed change using DSFLP/CHGV is ignored for the axes operating automatically.
Example
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 12
5.4 Speed Change Instructions (DSFLP/CHGV)
This instruction is used to change the speed of an axis during positioning or JOG operation.
5.4.1 DSFLP instruction (When using A172SHCPUN/A171SHCPUN)
Usable Devices
Bit Devices Word (16 Bit) Devices Constants Pointers Level
Carry
Flag Error Flag
X Y M L S B F T C D W R A0 A1 Z V K H P I N
D ig
it D
es ig
n a tio
n
N um
be r
of S
te ps
S ub
se t
In de
x
M9012 M9010 M9011
(D)
n 7
Setting data Setting range
(D) No. of speed change axis
D1 to D8 (A172SHCPUN) D1 to D4 (A171SHCPUN)
n Speed change designation
K1 or H1
DSFLP (D) n
Execution command
[Execution condition]
SEQUENCE PROGRAM
(1) The following processing is executed at the leading edge (OFF ON) of the DSFLP instruction:
(a) Present value change 1) The speed change in progress (M2021 to M2028/M2021 to M2024)
corresponding to the axis designated in (D) is turned ON. 2) A command to change the currently effective positioning speed to the
speed stored in the speed change register for the axis designated in (D) is issued.
3) The speed change in progress flag is turned OFF.
(2) The numbers of registers used for present value change and speed change operations are indicated in the table below. (For details, see Section 3.2.2.)
Speed Change Registers Speed Change Registers Axis No.
Upper Lower Axis No.
Upper Lower
Axis 1 D963 D962 Axis 1 D963 D962
Axis 2 D969 D968 Axis 2 D969 D968
Axis 3 D975 D974 Axis 3 D975 D974
Axis 4 D981 D980 Axis 4 D981 D980
Axis 5 D987 D986
Axis 6 D993 D992
Axis 7 D999 D998
Axis 8 D1005 D1004
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 13
[Operation Timing]
OFF
ON Execution command
DSFLP instruction
Speed chage flag
Speed change completion
[Data Settings] (1) Setting the axis for which the speed change is to be executed
The axis for which the speed change set in (D) is executed is set as follows.
D
Started axis No. The relevant axis No. can be set in the range 1 to 4 or 1 to 8. Set the interpolation control time for one of the axes controlled in interpolation. Devices symbol (only D can be set)
The started axis is designated as follows. Axis 1 ......................................................................D1 Interpolation control with axis 1 and axis 2 .............D1 or D2
(2) Speed change The setting for a present value change/speed change is as follows. Speed change........................Set K1 or H1.
POINT
When using a DSFLP instruction, it is not possible to indirectly designate (D) or n using index registers (Z, V).
DSFLP DOZ K1
Indirect designation using index register
If an indirect designation with an index register is made, an operation error occurs, and the DSFLP instruction is not executed.
Example
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 14
[Error Details] (1) In the following cases an operation error occurs and the DSFLP instruction is
not executed. When the setting for (D) is other than 1 to 8/1 to 4. When the setting for n is a value other than 1 and 2. When the setting for (D) or n has been indirectly designated using an index
register (Z, V). (2) In the following cases, a minor error (error on control change) occurs and the
speed change is not executed. When this happens, the error detection flag (M1607+20n) is turned ON and the error code is stored in the minor error code area for the relevant axis. When the axis designated in (D) is executing a home position return when the
speed change is made. When the axis designated in (D) is decelerating when the speed change is
made. When the absolute value of speed designated in n exceeds the speed limit
value when the speed change is made.
[Program Example] The program shown below changes the positioning speed of axis 2 to the value set with an 8-digit digital switch. (1) Conditions
1) Numbers of inputs for the digital switch......... X010 to X02F 2) Speed Change command.............................. Leading edge (OFFON) of
X000 (2) Program example
CIRCUIT END
The value set with the digital switch is stored in the speed change register for axis 2 (D968, D969).
Axis 2 speed change execution request
0 X000 M2022
DSFL 1 K
D2 P
Speed change in progress flag
DBIN D968 P
X0010 K8
POINT
Points to note when a speed change is performed If a speed change instruction (CHGV) is executed in the period between
execution of the servo program start request instruction (SVST/DSFRP) and the point where the "positioning start completion signal" comes ON, the speed change may be invalid. To perform speed changes in approximately the same timing as a start, be sure to enter the positioning start completion signal ON status as an interlock for execution of the speed change instruction.
Example)
CHGV J2 K10
Execution command
Speed change in progress flag
Positioning start completion signal
Start reception
Positioning start completion signal
Positioning completion signal Speed change designated during this
period may be invalid.
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 15
5.4.2 CHGV instruction
Usable Devices
Bit Devices Word (16 Bit) Devices Constants Pointers Level
Carry
Flag Error Flag
X Y M L S B F T C D W R A0 A1 Z V K H P I N
D ig
it D
es ig
n a tio
n
N um
be r
of S
te ps
S ub
se t
In de
x
M9012 M9010 M9011
(D)
n 7
Setting data Setting range
(D) J + No. of speed change axis
J1 to J8 (A172SHCPUN) J1 to J4 (A171SHCPUN) J1 to J32 (A273UHCPU (32 axis feature)/A173UHCPU (S1))
Direct designation
mm : 600000000 to 600000000 102mm/min
inch : 600000000 to 600000000 103inch/min
deg : 2147483648 to 2147483647 103deg/min
CHGV (D) n
Executiion command
[Execution condition]
SEQUENCE PROGRAM
n
Setting of speed to be changed (Indirect designation device uses 2 words)
Indirect designation
D0 to D498
W0 to W3FE
R0 to R8190
(1) The following processing is executed at the leading edge (OFFON) of the CHGV intruction: 1) The speed change flag (M2021 to M2028/M2021 to M2024/M2061 to
M2092) corresponding to the axis designated in (D) is turned ON. 2) The speed of the axis designated in (D) is changed to the present value
designated in n. 3) The speed change in progress flag is turned OFF.
[Operation Timing]
OFF
ON Execution command
CHGV instruction
Speed change flag Speed chage completion
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 16
[Data Settings] (1) Setting the axis for which a speed change is to be executed
The axis with respect to which the speed change set in (D) is to be executed is set as follows.
J
Started axis No. Set the relevant axis No. in the range 1 to 4 / 1 to 8. Set the interpolation control time for one of the axes involved in the interpolation. Only J can be used.
Axes to be started are designated as shown below. Axis 1 .................. J1
(2) Setting the speed change There are two types of setting for speed changes: direct setting and indirect setting. (a) In direct setting, the speed to be changed to is specified directly as a
numerical value. (For the setting range, refer to Section 3.2.2.).
If the speed to be changed "10", the setting as follows. When designated with a K device................ K10
(b) The word devices that can be used are indicated in the table below. 1) The word devices that can be used are indicated in the table below.
Usable Devices
Word Device A172SHCPUN/
A171SHCPUN
A273UHCPU (32 axis
feature)/
A173UHCPU (S1)
D 0 to 498 1690 to 8190
W 0 to 3FE 0 to 1FFF
R 0 to 8190 0 to 8190
Make the following setting to designate the present value to be changed to with the data stored in data register D50:
Designated with a word device CHGV J11 D50
2) An index register (Z, V) can be used for index designation of the indirectly set word device.
Example
Example
Example
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 17
[Error Details] (1) In the following cases an operation error occurs and the CHGV instruction is not
executed. When the setting for (D) is other than J1 to J8/J1 to J4.
(A172SHCPUN/A171SHCPUN) When the setting for (D) is other than J1 to J32.
(A273UHCPU (32 axis feature)/A173UHCPU (S1))
(2) In the following cases, a minor error (error on control change) occurs and the speed change is not executed. When this happens, the error detection flag (M1607+20n/M2407+20n) is turned ON and the error code is stored in the minor error code area for the relevant axis. When the axis designated in (D) is executing a home position return when the
speed change is made. When the axis designated in (D) is decelerating when the speed change is
made. When the speed designated by n is outside the range of 0 to the speed limit
value when the speed change is made.
[Program Example] The program shown below changes the present value for axis 2. (1) Conditions
1) Speed change command............................... Leading edge (OFFON) of X000
(2) Program example
CIRCUIT END
Axis 2 present value change execution request
0 X000 M2022
CHGV 10 K
J2
Speed change in progress flag
M2420
Positioning start completion signal
POINT
Points to note when a speed change is performed If a speed change instruction (DSFLP) is executed in the period between
execution of the servo program start request instruction (SVST/DSFRP) and the point where the "positioning start completion signal" comes ON, the speed change may be invalid. To perform speed changes in approximately the same timing as a start, be sure to enter the positioning start completion signal ON status as an interlock for execution of the speed change instruction.
Example)
DSFLP D2 K1
Execution command
Speed change in progress flag
Positioning start completion signal
Start reception
Positioning start completion signal
Positioning completion signal Speed change designated during
this period may be invalid.
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 18
5.5 Moving Backward during Positioning
When a speed change is made to a negative speed by the CHGV instruction, the travel direction can be changed to the direction opposite to the intended positioning direction. Operation for each instruction is as follows.
G Code Instruction Operation G00
G28 (high-speed home position return) G30
G53
G02
G03
The axis is reversed in travel direction, returns to the positioning start point at the specified speed, and stops (stands by) there.
G01
G32
The axis is reversed in travel direction, returns to the preceding point at the specified speed, and stops (waits) there.
G25 Minor error 310 occurs. G28 (dog, count type home position return)
Speed change cannot be made. Minor error 301 occurs.
JOG operation Speed change to negative speed is not made. Speed is controlled at speed limit value.
Minor error 305 occurs.
(Reference) Minor error 301: Speed change was made during home position return. Minor error 305: Preset speed is outside the range of 0 to speed limit value. Minor error 310: Speed change was made during high-speed oscillation.
[Control Details] (1) When a speed change is made to negative speed, speed is controlled as listed
above according to the G code in execution.
(2) The backing command speed is the absolute value of the new speed. If it exceeds the speed limit value, minor error 305 occurs and the speed is controlled at the speed limit value.
(3) When the axis is standing by at the return position (a) Signal states
Start acceptance (M2001+20n) ON (Remains unchanged from before execution of CHGV)
Positioning start completion (M1600+20n/M2400+20n) ON (Remains unchanged from before execution of CHGV)
Positioning completion (M1601+20n/M2401+20n) OFF In-position (M1602+20n/M2402+20n) OFF Command in-position (M1603+20n/M2403+20n) OFF
(b) When making a restart, make a speed change to positive speed. (c) When terminating positioning, turn ON the stop command. (d) A speed change made to negative speed again will be ignored.
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 19
[Operation Example under G01]
O10; G90; N1 G01 X10000 Y0 F10000; N2 Y10000; N3 X10000; M02; %
Start request SVST
Start acceptance (M2001+n)
Speed change request CHGV
New speed
Composite speed
Command in-position
Speed chage "0" acceptance flag
-1000 1000
Return operation to point P1 Standing by at point P1
P1Starting point X axis
Y axis
Changed to negative speed
N1
P2 P3
N3
N2
When a speed change is made to negative speed during positioning to P2 in the N2 block as shown above, the axis returns to P1 along the track specified in the program and stands by at P1. (1) While the axis is standing by after returning to P1, a speed change to negative
speed is invalid (ignored) if it is made again.
(2) While the axis is standing by at P1, the start acceptance (M2001+n) remains ON. To terminate positioning at this point, turn ON the stop command.
(3) A speed change to negative speed is ignored if it is made while the axis is waiting for FIN during a stop using the M code FIN waiting function under constant-speed control.
(4) In the above example, the axis returns to P2 if the axis passes through P2 during a speed change made to negative speed immediately before P2.
P1Starting point
P2 P3
X axis
Y axis
Speed change was made here.
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 20
5.6 CHGT Instruction
Usable Devices
Bit Devices Word (16 Bit) Devices Constants Pointers Level
Carry
Flag Error Flag
X Y M L S B F T C D W R A0 A1 Z V K H P I N
D ig
it D
es ig
n a tio
n
N um
be r
of S
te ps
S ub
se t
In de
x
M9012 M9010 M9011
(D)
n 7
Setting data Setting range
(D) J + axis No. which will be changed in torque limit value
J1 to J8 (A172SHCPUN) J1 to J4 (A171SHCPUN) J1 to J32 (A273UHCPU (32 axis feature)/A173UHCPU (S1))
CHGT (D) n
Execution command
[Execution condition]
SEQUENCE PROGRAM
n
New torque limit value (%) (Indirect designation device uses 1 word)
1 to 500 (%)
This instruction changes the torque limit value on the leading edge (OFF to ON) of the CHGT instruction execution command in the sequence program.
[Operation Timing] Any axis that has completed starting may be changed in torque limit value in any of the operating, stopping, servo ON and servo OFF statuses.
OFF
ON Execution command
CHGT instruction
New torque limit value
Torque limit value commanded to servo
100%
300% 100%
[Operation Details] If any torque limit value has been set in the motion program, the torque limit value cannot be changed to the value higher than the new torque limit value specified in the CHGT instruction. (The torque limit value can changed to the value lower than the new torque limit value specified in the CHGT instruction.) (1) If the torque limit value is changed by the CHGT instruction before a motion
program start or JOG operation start, the torque limit value is clamped at the torque limit value specified in the CHGT instruction when the torque limit value set in the motion program to be started is higher than that limit value.
(2) During interpolation operation, the above clamp processing of the torque limit value is performed only for the axis whose torque limit value has been changed by the CHGT instruction.
(3) When the torque limit value is set at a mid point under constant-speed control, the torque limit value cannot be changed to a value higher than the torque limit value specified in the CHGT instruction.
(4) While the motion program is running the CHGT instruction also allows the torque limit value to be changed to a value higher than the torque limit value set in that motion program.
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 21
[Error Details] (1) The setting range is 1 to 500(%).
If the setting is outside this range, the minor error 311 occurs and a torque limit value change is not made.
(2) When the CHGT instruction is executed for any axis that has not yet been started, the minor error 312 occurs and a torque limit value change is
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 22
5.7 SFC Programs
This section explains how to start motion programs using SFC programs.
5.7.1 Starting and stopping SFC programs
SFC programs are started and stopped from the main sequence program. The methods for starting and stopping SFC programs are described below.
(1) Starting SFC programs (a) An SFC program is started by turning M9101 (SFC program start/stop) ON
in the main sequence program.
Start command
M0
PLS M0
SET M9101
(b) There are two types of SFC program start, as indicated below, and the one that is effective is determined by the ON/OFF status of special relay M9102 (SFC program start status selection). 1) SFC program initial start
By turning special relay M9101 ON while special relay M9102 is OFF, the SFC program is started from the initial step of block 0.
2) SFC program resumptive start By turning special relay M9101 ON while special relay M9102 is ON, the SFC program is started from the block and step that was being executed immediately before operation was stopped.
(c) On creation of an SFC program, if no main sequence program has been created (applies only when step 0 is an END instruction), the circuit shown below is automatically created in the main sequence program area by the peripheral device.
M9036 SET M9101
(2) Stopping SFC programs. (a) An SFC program is stopped by turning M9101 (SFC program start/stop)
OFF in the main sequence program.
Stop command
M1
PLS M1
RST M9101
(b) When an SFC program is stopped, all the operation outputs in the step being executed are turned OFF.
POINT
Write during run in the SFC mode is not possible with respect to the motion controller.
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 23
5.7.2 Motion program start request
A motion program can be started in one of two ways: by using the program start-up symbol intended for this purpose ([SV]), or by inputting a motion program start request instruction in the internal circuit of a normal step.( )
(1) When an [SV] step is created.
Start command
M0
PLS M0
SET M9101
Stop command
M1
PLS M1
SET M9101
Initial step
Switching condition 1
Step 1 (creation of motion program start instruction)
Switching condition 2
Step 2
End step
M9101 ON
Switching condition 1
M2001M2002 M2003M2004 Tran
Interlock
Step 1 (motion program start request instruction)
Switching condition 2
M2001 M2002M2003M2004 Tran
Interlock
SVST 10J1J2J3J4 K
M9101 OFF
SVR e
pe tit
io n
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 24
POINT
(1) When an [SV] step is created, the motion program start request ladder block ( SVST *** ) is mandatorily inserted in the sequence
program.
(2) When a DSFRP instruction is used, input it directly into the sequence
program at a normal step ( ).
(3) If an SVST instruction is edited and converted, a start accept bit (M2001
to M2008/M2001 to M2004) is automatically inserted into the switching
conditions before and after the relevant SFC step to act as an interlock.
However, if the order of steps has been changed by addition or insertion,
this interlock may not be automatically added/deleted in the switching
conditions. Therefore, if a step has been added or inserted, always
display the switching conditions using ZOOM display and check the
interlock. (4) Only the sequence ( SVST *** ) can be set at an [SV] step.
If any additional instructions are to be set, either set them in a normal
step ( ) or set another sequence instruction section executed in parallel
as a normal step ( ).
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 25
(2) When a motion program start instruction is input inside a normal step ( )
Start command
M0
PLS M0
SET M9101
Stop command
M1
PLS M1
SET M9101
Initial step
Switching condition 1
Step 1 (creation of motion program start instruction)
Switching condition 2
Step 2
End step
M9101 ON
Switching condition 1
M2001M2002M2003M2004 Tran
Interlock
Step 1 (motion program start request instruction)
Switching condition 2
M2001M2002M2003M2004 Tran
Interlock
SVST 10J1J2J3J4 K
M9101 OFF
(When a normal step is used)
R e
pe tit
io n
5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 26
POINTS
(1) When a DSFRP or DSFLP instruction is used, input it directly into the internal circuit of a normal step ( ).
(2) If an SVST/DSFRP instruction is edited and converted, a start accept bit (M2001+n) is automatically inserted into the switching conditions before and after the relevant SFC step to act as an interlock.
(3) If a DSFLP instruction is edited and converted, a speed change in progress flag (M2021 to M2028/M2021 to M2024) is automatically inserted into the switching conditions before and after the relevant SFC step to act as an interlock.
(4) Set commands such as speed change commands and stop commands, which are executed in an arbitrary timing, in the main sequence program.
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 1
6. MOTION PROGRAMS FOR POSITIONING CONTROL
The motion controller (SV43) uses a motion program in the NC language (EIA) format as a programming language. A motion program is used to specify the positioning control type and positioning data required for the servo system CPU to exercise positioning control. The makeup and specifying method of a motion program will be described.
6.1 Motion Program Makeup
This section provides the format and makeup of a motion program. A motion program is called a word address format, which consists of a single alphabet (address) and numerals.
(1) Word and address A word is a collection of characters arranged in given order and this is used as a unit to process that information to perform a specific operation. In the motion controller (SV43), a word is made up of a single alphabet (address) and a subsequent several-digit number. (The number may be headed by a "+" or "-" sign.)
X
*Alphabet (address) Number
Word
2)1) 3) 9)
* The alphabet at the beginning of a word is called an address and defines the meaning of the subsequent numeric information.
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 2
(2) Block A block is a collection of several words. It includes information necessary to perform a single specific operation of a machine and acts as a complete command on a block basis. A block is ended by the EOB (End Of Block) code to indicate separation.
Word Word Word Word Word E0B
Block
2) 3)1) N100 G01 X250.
4) Y-123.4
5) F1500.
6) ;
1) N100 ........... Sequence number : Used to identify a program block and represented by a number (max. 4 digits) after alphabet N.
2) G01 ............. Preparatory code : Denotes the basic instruction which commands the motion of motion control. (G code)
3) X250. .......... Coordinate position data* : Indicates the command for the coordinate position of the X axis. This word commands 250mm of the X axis.
4) Y-123.4 ....... Coordinate position data* : Indicates the command for the coordinate position of the Y axis. This word commands -123.4mm of the Y axis.
5) F1500.......... Feedrate : Represents the command of feedrate in linear or circular interpolation. (F code) This word indicates the speed of 1500mm per minute.
6) ;................... EOB (End Of Block) : Denotes the end (separation) of a program block.
* The coordinate position data has the following two modes. Incremental value command ............Mode in which a command of the next
target position is given on the basis of the present position (G91)
Absolute value command .................Mode in which the axis moves to the specified coordinate position independently of the present position (G90)
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 3
(3) Motion program A motion program is a collection of several blocks and commands a series of operations.
00001 00002 00003 00004 00005 00006 00007
00020 00021 00022 Indicates a program end.
Motion program number1)
Program block2)
Line number3)
O100; N10 G91 G00;
G28 X0. Y0.; X250.;
N20 M20; X-50. Y120.; N30 G01 X25. F500.;
N80 M21; M02; %
1) Motion program number .........Number specified in a sequence program. You can set alphabet O (oh) and any number of 1 to 256.
2) Program block ........................Consists of multiple program blocks necessary for motion operations in control order.
3) Line number............................Automatically displayed in serial number when a motion program is created on the peripheral device.
POINT
The motion controller (SV43) can store up to 256 motion programs in memory. These motion programs are managed using motion program numbers.
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 4
6.2 Instructions for Creating Motion Programs
(1) A motion program cannot be rewritten during its execution. Write a program after making sure that the PC ready flag (M2000) is OFF.
(2) Calling of a subprogram from another subprogram (nesting) is allowed up to eight levels.
(3) In one block, one G code can be selected from each modal group. Up to two G codes can be commanded. For G code combinations, refer to Table 6.1.
Table 6.1 G Code Combination List
Second G Codes
First G Codes
G00 G92G01 G02 G03 G04 G09 G28 G43 G44 G49 G53 G54 G55 G56 G57 G58 G59 G61 G64 G90 G91
G00
G01
G02
G03
G04
G09
G23
G24
G25
G26
G28
G30
G32
G43
G44
G49
G53
G54
G55
G56
G57
G58
G59
G61
G64
G90
G91
G92
How to use the above table (a) When G09 is specified as the first G code, G01, G02 or G03 may be
specified as the second code.
IMPORTANT
If motion programs are specified for the same axis, they cannot be run concurrently. If they are run, we cannot guarantee their operations.
6. MOTION PROGRAMS FOR POSITIONING CONTROL
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(b) When G90 is specified as the first G code, G00, G01, G02 or G03 may be specified as the second code. G90 G61; and G90 G64; result in a format error.
(4) With the exception of M00, M01, M02, M30, M98, M99 and M100, the M code may be specified with another command in the same block. However, if it is specified together with the move command (G00 to G03), operation is performed as follows. The M function is executed simultaneously with the move command (G00 to G03,
G32).
(5) With the exception of M00, M01, M02, M30, M98, M99 and M100, multiple M codes may be specified in one block but only the last one is valid.
(6) When there is the miscellaneous function (M) at any point in continuous G01 blocks If the M code is set at any point in continuous G01 blocks, operation is performed in either of the following two ways.
O100; 1) G90 G01 X100. F1000.; 2) X200. M10; 3) X300.;
CP positioning of X CP positioning of X, M code CP positioning of X
(a)
FIN signal
M code outputting
M code
100. 200. 300.
10
Command in-position
When the FIN signal is not turned from OFF to ON to OFF during positioning in block 2), the axis decelerates to a stop once in the block of the M code.
(b)
FIN signal
M code outputting
M code
100. 200.
10
Command in-position
When the FIN signal is turned from OFF to ON to OFF during positioning in block 2), the axis performs CP operation without decelerating to a stop in the block of the M code.
6. MOTION PROGRAMS FOR POSITIONING CONTROL
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(7) With the exception of M00, M01, M02, M30, M98, M99 and M100, the M code is output to the data registers (D813, D833, ...) and axis input signals (M code outputting signals: M1619+20n) of all axes specified in the SVST instruction. However, the data register data and axis input signals are not output to the axis in execution of high-speed oscillation. Also, the FIN signal (M1819+20n) entered into the axis in execution of high-speed oscillation is invalid. (Program No. 1 is started with X (axis 1) and Y (axis 2) specified
SVST J1J2 K1 )
01; N1 G25 X START90. STRK10. F30; N2 G00 Y10. M77; N3 G26 X;
M02; %
X-axis high-speed oscillation start PTP positioning of Y axis X-axis high-speed oscillation stop
M1619
Y axis
X axis
M1639
M1819
M1839
D813
D833
M code outputting signal
FIN signal
M code data Unchanged (M code not output to X axis)
77
Invalid for X axis
Not turned ON for X axis
G00 Y10. M77
G25 G26 X;
To next block
(8) Acceleration/deceleration processing of G01
G91 G01 X100. Y100. F100.; Y100.; X100.;
CP positioning of X, Y.........Block 1 CP positioning of Y .............Block 2 CP positioning of X .............Block 3
When the above program is run, the acceleration/deceleration processings of the X and Y axes are as follows.
Y axis
X axis
100. 200.
100. 200.
Both the acceleration and deceleration times are equal to the acceleration time of the parameter block.
When the M code is commanded in G00, the acceleration and deceleration times are also equal to the acceleration time of the parameter block as in G01. (Example: G00 X M ;)
In G02, G03 and G32, the acceleration and deceleration times are also equal to the acceleration time of the parameter block as in G01.
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(9) Operation of G09 (exact stop check) Since a shift cannot be made by the command in-position, execution shifts to the next block after the command is given.
(10) G28 (home position return) operation The axis whose home position return request signal (M1609+20n) is ON makes a dog, count or data setting type home position return. The axis whose home position return request signal (M1609+20n) is OFF makes a high-speed feed home position return.
(11) Checking the used axes at program start (a) If there is an axis used in the already started program and an attempt is
made to start that axis in another program, that program cannot be run because an error (error code: 101) occurs at execution of the SVST instruction.
(b) If the axis not specified in the axis number setting of the SVST instruction in the program waiting to be started is described in the motion program, the corresponding axis in the program stops due to an error (error code: 594) when its positioning processing is started.
(12) Variable prereading Variables in up to eight blocks including the one currently executed are preread. Where possible, set variables before starting the program.
(13) About the motion program including high-speed oscillation Note the following when high-speed oscillation (G25) is to be performed for all axes specified in SVST. (Program No. 1 is started with X (axis 1) and Y (axis 2) specified
SVST J1J2 K1 )
01 ; N1 G25 X START90. STRK10. F30; @@X-axis high-speed oscillation start N2 G25 Y START90. STRK20. F10; @@Y-axis high-speed oscillation start N3 Be careful when programming N3 and later.
(a) The G code instructions other than G26 (high-speed oscillation stop) and G04 (dwell) should not be executed.
(b) The M codes other than M00, M01, M02, M30, M98 and M99 should not be executed.
6. MOTION PROGRAMS FOR POSITIONING CONTROL
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6.3 G Code List
Table 6.2 indicates the G codes used in motion programs.
Table 6.2 G Code List
G Code Group* Function
G00* PTP positioning at rapid feedrate
G01 CP positioning at speed specified in F
G02 Circular interpolation (CW)
G03
01
Circular interpolation (CCW)
G04 00 Dwell (standby)
G09 00 Exact stop check
When G01 blocks continue, a stop is made at each block before execution of the next block.
G23* Cancel, cancel start invalid
G24 02
Cancel, cancel start
G25 00 High-speed oscillation
G26 00 High-speed oscillation stop
G28 00 Home position return (positioning to home position address at rapid feedrate at the second time and
later)
G30 00 Second home position return (positioning to second home position address at rapid feedrate)
G32 00 Skip
G43 Tool length offset (+)
G44 Tool length offset (-)
G49*
08
Tool length offset cancel
G53 00 Machine coordinate system selection
G54* Work coordinate system 1 selection
G55 Work coordinate system 2 selection
G56 Work coordinate system 3 selection
G57 Work coordinate system 4 selection
G58 Work coordinate system 5 selection
G59
12
Work coordinate system 6 selection
G61 Exact stop check mode (stopped when G01 continues)
G64* 13
Cutting mode (not stopped when G01 continues)
G90* Absolute value command
G91 03
Incremental value command
G92 00 Coordinate system setting
Work coordinate system is shifted by setting virtual mechanical coordinate system.
G100 Time-fixed acceleration/deceleration switch-over instruction
G101 Acceleration-fixed acceleration/deceleration switch-over instruction
* indicates the G code selected at power-on.
*The above groups will be described.
Class Description
Modal G codes
(Groups 01, 02, 03, 08, 12, 13)
Once any G code is commanded, it is valid until another G code in the same group is commanded.
Initial status (at power-on) is as follows.
Group 01..........G00 (PTP positioning at rapid feedrate)
Group 02..........G23 (Cancel, cancel start invalid)
Group 03..........G90 (Absolute value command)
Group 08..........G49 (Tool length offset cancel)
Group 12..........G54 (Word coordinate system 1 selection)
Group 13..........G64 (Cutting mode)
Unmodal G codes
(Group 00) Valid only for the block in which any G code has been commanded.
6. MOTION PROGRAMS FOR POSITIONING CONTROL
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6.4 Special M Code List
Table 6.3 indicates the special M codes used in motion programs.
Table 6.3 Special M Code List
M Code Function Remarks
M00 Program stop Executing this code stops the program at the end of that
block.
M01 Optional program stop Has the same function as M00 if M1501+10n is ON.
Invalid if it is OFF.
M02 Program end Specify M02/M30 at program end.
M30 Program end Specify M02/M30 at program end.
M98 Subprogram call
M99 Subprogram end
M100 Preread inhibit
Special M codes are not output to the PC.
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6.5 Instruction Symbol/Character List
Table 6.4 indicates the instruction symbols/characters used in motion programs.
Table 6.4 Instruction Symbol/Character List
Symbol/Character Function Description
A Coordinate position data
B Coordinate position data
C Coordinate position data
U Coordinate position data
V Coordinate position data
W Coordinate position data
X Coordinate position data
Y Coordinate position data
Z Coordinate position data
Symbols used to specify the axes to be moved when
commanding positioning.
Set the axis numbers and axis names in system settings.
I Circular arc center coordinate 1
J Circular arc center coordinate 2 Used in G02 or G03 (arc center coordinate designation).
R Radius of R point-designated circular arc Used in G02 or G03 (R designation).
F Interpolation feed composite speed Used in G01, G02 or G03.
G Preparatory function (G code) Refer to Section 6.3 G Code List.
Subprogram call sequence number Used in M98. H
Tool length offset data number Used in G43 or G44.
L Subprogram repeat count Used in M98.
M Miscellaneous function (M code) Refer to Section 6.4 Special M Code List and Section 6.9.
N Sequence number Indicates a sequence number.
O Program number Indicates a motion program number.
Dwell timer Used in G04.
Start program No. Used in G24.P
Subprogram call number Used in M98.
PB Parameter block No. Changes the parameter block.
TL Torque limit value Changes the torque limit value.
+ Addition
- Subtraction
* Multiplication
Division
Used in arithmetic operation commands.
/ Optional block skip
Optional block skip is specified for a block which is
headed by this symbol. (Refer to Section 3.1.29.)
MOD Remainder Used in arithmetic operation commands.
(,) Comment Gives comment in the inside of parentheses.
[,] Brackets Used in conditional expressions.
Variable #
Device designation Symbols used for indirect designation.
% Program end code Indicates the end of a program.
; Block separation Indicates separation of blocks.
IF
THEN
ELSE
Condition
GOTO Jump
WHILE
DO
END
Repeat
Used in conditional branch instructions.
Multiple operators cannot be used in one block.
For the instruction symbol setting ranges, refer to Section 6.6.4.
6. MOTION PROGRAMS FOR POSITIONING CONTROL
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Table 6.4 Instruction Symbol/Character List (Continued)
Symbol/Character Function Description
EQ Comparison instruction (=)
NE Comparison instruction (!=)
GT Comparison instruction (>)
LT Comparison instruction (<)
GE Comparison instruction (>=)
LE Comparison instruction (<=)
Used in comparison instructions.
OR Logical operation instruction (OR)
XOR Logical operation instruction (exclusive OR)
AND Logical operation instruction (AND)
SIN Trigonometric function (sine)
COS Trigonometric function (cosine)
TAN Trigonometric function (tangent)
ASIN Trigonometric function (arcsine)
ACOS Trigonometric function (arccosine)
ATAIN Trigonometric function (arctangent)
INT Numerical conversion (real number to integer)
FLT Numerical conversion (integer to real number)
Used in arithmetic operation commands.
SET Specified device ON
RST Specified device OFF Used in extended control instructions.
CAN Cancel device designation Used in G24.
START Starting angle designation
STRK Amplitude designation Used in G25.
SKIP Skip device designation Used in G32.
Multiple operators cannot be used in one block.
For the instruction symbol setting ranges, refer to Section 6.6.4.
6. MOTION PROGRAMS FOR POSITIONING CONTROL
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6.6 Method for Setting Positioning Data
This section explains how to set the positioning data (addresses, speeds, operational expressions) used in motion programs. There are the following two ways to set the positioning data. Direct designation (entering numerical values for data setting)
...........................................................................................Refer to Section 6.6.1. Indirect designation (using variable: #**** or device: #W*** for data setting)
........................................................................................... Refer to Section 6.6.2. "Direct designation" and "indirect designation" can be used together in one motion program.
6.6.1 Direct designation (numerical value)
Direct designation is a way to set each positioning data with a numerical value, and these data are fixed data. Data setting and correction may be made on the peripheral device only.
Values specified as positioning data
O200; N99 G90 G00 X100. Y110.; G01 X200. Y202. F204.; G91 G00 Z300.; M02; %
6.6.2 Indirect designation (variable: #****)
Indirect designation is a way to use variables (#****) or devices (#W****) to specify values used in the addresses, speeds and operational expressions in a motion program. By using variables or devices to set values, multiple positioning controls can be exercised in one motion program. (1) About variable representation
The 16-bit integer type, 32-bit integer type and 64-bit double precision real number can be handled as variables. When handled, these variables are described as follows.
Variable (D register) Device (W register)
16-bit integer type #n, #Dn, #DnS, #n: S, #Dn: S #Wn: S
32-bit integer type #nL, #DnL, #n: L, #Dn: L #Wn: L
64-bit double precision real number #nF, #DnF, #n: F, #Dn: F #Wn: F
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(2) About variable conversion When variables of different types are used for operation, the types are matched by internal operation. Type conversion is made by internal operation as follows.
Conversion Format Description
16 bit to 32 bit
The 16-bit integer type is extended to the 32-bit integer type.
The most significant bit is handled as a sign bit. If the sign bit is "1", bits 15 to 31 are "1".
0
015
31 15
16 bit to 64 bit
The 16-bit integer type is converted to the 64-bit double precision real number.
63 0
Bits 0 to 51: Significant digit part
Bit 63: Sign part
51
The most significant bit is handled as a sign bit.
0
Bits 52 to 62: Exponent part
15
32 bit to 16 bit
The 32-bit integer type is converted to the 16-bit integer type.
Note that any value other than -32768 to 32767 results in an error. (Error 531)
031 15
015 The most significant bit is handled as a sign bit.
Bits 0 to 15 are stored. Bits 16 to 31 are discarded.
32 bit to 64 bit
The 32-bit integer type is converted to the 64-bit double precision real number.
63 0
Bits 0 to 51: Significant digit part
Bit 63: Sign part
51
The most significant bit is handled as a sign bit.
31 0
Bits 52 to 62: Exponent part
64 bit to 16 bit
The 64-bit double precision real number is converted to the 16-bit integer type.
Note that any value other than -32768 to 32767 results in an error. (Error 531)
63 0
Bits 0 to 51: Significant digit part
Bit 63: Sign part
51
Bits 52 to 62: Exponent part
The most significant bit is handled as a sign bit.
015
Fractional portion is dropped. Any value other than -32768 to 32767 results in an error. (Error 531)
64 bit to 32 bit
The 64-bit double precision real number is converted to the 32-bit integer type.
Note that any value other than -2147483648 to 2147483647 results in an error. (Error 531)
The most significant bit is handled as a sign bit.
31 0
63 0
Bits 0 to 51: Significant digit part
Bit 63: Sign part
51
Bits 52 to 62: Exponent part
Fractional portion is dropped. Any value other than -2147483648 to 2147483647 results in an error. (Error 531)
6. MOTION PROGRAMS FOR POSITIONING CONTROL
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(3) Variable designation (#n n = integer) (a) How to handle variable as 16-bit integer
When a #n variable is followed by "S" or ": S", it is handled as a 16-bit integer. (-32768 to 32767)
[Example] #0 : [D0] #1S : [D1] #2: S : [D2] Odd numbers may be used as 16-bit designated variables.
(b) How to handle variable as 32-bit integer Variables are handled as 32 bits. (-2147483648 to 2147483647)
[Example] Upper Lower Upper Lower #100: L : [D101, D100] #102: L : [D103, D102] When a variable is specified as 2 words (32 bits), only an even number
may be used. The data size of a variable is 4 bytes.
Indirect designation (address, speed, operational expression)
Direct designation
Motion program No. (0) cannot be set indirectly. O200; N99 G90 G00 X#100 Y#110;
G01 X#200 Y#202 F#204; #300 = #302 - #304; G91 G00 Z300.; IF [#310 EQ 1000] GOTO99;
M02; %
6. MOTION PROGRAMS FOR POSITIONING CONTROL
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(c) How to handle variable as 64-bit double precision real number (#n:F) By handling a variable as a 64-bit double precision real number, arithmetic operation spanning multiple blocks can be performed without reduction in precision. Describe an upper-case ":F" after a #n variable. #nF: Four variables of #n to #n+3 are used and handled as a 64-bit double precision real number.
63 31 Bit 0
#n+3 #n+2 #n+1 #n
The data format of a 64-bit double precision real number conforms to the binary floating-point type double precision (64 bits) of IEEE Standard.
63 31 Bit 0
Bits 0 to 51: Significant digit part
Bit 63: Sign part
Bits 52 to 62: Exponent part
51
[Example]
#10: F=#20: L/#22: L The division result of 32-bit integers, [#21, #20] and [#23, #22], is stored into a 64-bit real number, [#13, #12, #11, #10].
#10: F=#20: L A 32-bit integer, [#21, #20], is expanded in sign to a 64-bit real number, [#13, #12, #11, #10].
#40: L=#30: F A 64-bit real number, [#33, #32, #31, #30], is expanded in sign to a 32-bit integer, [#41, #40]
(4) About assignment of variable When a decimal point is added for assignment of a value to a variable, the value is assigned as indicated below.
#10: L= 1.; 10000 enters #10, #11. #10: F=1.; 10000 (64-bit double precision real number) enters #10, #11,
#12, #13.
"1." is converted into a value of four decimal places. (Converted into a value of four decimal places independently of the unit (mm, inch, degree).)
6. MOTION PROGRAMS FOR POSITIONING CONTROL
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[Example]
G91; #10: L= 1.; G0 X#10: L The travel of the X axis is any of the following values.
mm inch degree
1mm 0.1 inch 0.1 degree
following values if it is "#10F=1.;" (64-bit double precision real number).
mm inch degree
1mm 0.1 inch 0.1 degree
mm inch degree
100mm/min 10 inch/min 10 degree/min
following values if it is "#10F=1.;" (64-bit double precision real number).
mm inch degree
100mm/min 10 inch/min 10 degree/min
(5) Device designation (#Xx, Xx is device) The word device (D, W) or bit device (X, Y, M, TC, TT, CC, CT, B, F) of the sequence control section can be referred to by device designation. The four fundamental operations of bit devices cannot be performed.
[Example]
#X180: X180 #M2000: M2000 #D100: L: [D101, D100] ([upper, lower])
6. MOTION PROGRAMS FOR POSITIONING CONTROL
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(6) About usable device ranges PC devices can be used to indirectly specify all the positioning addresses, command speeds, M codes and others set in a motion program. (a) Word devices
CPU Device Reference Range Writable Range
D 0 to 799 0 to 499A172SHCPUN
A171SHCPUN W 000 to 3FF 000 to 3FF
D 0 to 8191 1690 to 8191A273UHCPU (32-axis feature)
A173UHCPU (S1) W 0000 to 1FFF 0000 to 1FFF
POINT
For two-word designation, always specify an even-numbered device. Also, when setting data to that device in a sequence program, always use the "DMOV(P)" instruction.
(b) Bit devices
CPU Device Reference Range SET/RST Enabled Range (*1)
X 000 to 7FF Y 000 to 7FF 000 to 7FF
M/L 0 to 2047 0 to 1399
M 9000 to 9255 B 0 to 3FF F 0 to 255
TT (timer contact) 0 to 255 TC (timer coil) 0 to 255
CT (counter contact) 0 to 255
A172SHCPUN
A171SHCPUN
CC (counter coil) 0 to 255 X 000 to 1FFF Y 000 to 1FFF 000 to 1FFF
M/L 0 to 8191 0 to 1999
4720 to 8191
M 9000 to 9255 B 000 to 1FFF F 0 to 2047
TT (timer contact) 0 to 2047 TC (timer coil) 0 to 2047
CT (counter contact) 0 to 1023
A273UHCPU
(32-axis feature)
CC (counter coil) 0 to 1023
(*1) Even outside the SET/RST enabled range, an error will not occur if the bit device is within the reference range.
Conditions of SET/RST-enabled bit devices 1) Write (SET/RST) cannot be performed from both programs of sequence
ladder and motion program to the same bit device (in increments of 16 points). (Write operation will not be guaranteed.) Therefore, the user should manage the side where write is performed. The minimum increments are 16 points.
2) When the I/O control system is the "direct mode" (A172SHCPUN/A171SHCPUN), output will not be provided to the output card of the PC slot if write to device Y is performed. To provide PC output, use the "refresh mode".
6. MOTION PROGRAMS FOR POSITIONING CONTROL
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(7) Device data import The data of the indirectly designated devices are imported by the PCPU during motion program run. Therefore, when making indirect designation, inhibit preread of M100.The following table indicates the device data setting procedures and instructions on a starting method basis.
Starting Method Setting procedure Instructors
At start using SVST instruction
(Indirect designation in SVST
instruction)
Set data to the indirectly designated devices
Start is made by SVST.
At automatic start by cancel start
Indirect designation of start program
Set data to the indirectly designated devices set
in the start program.
Turn ON the cancel command device.
Do not change the indirectly designated
devices until the "positioning start
completion signal" of the started axis
turns ON.
After program start
(Indirect designation in program)
Set command data to the indirectly designated
devices.
Execute M100 preread inhibit.
Refer to the values set to the indirectly
designated devices until M100 is executed.
Example
010;
N1 G00 X0 F1000. ;
N2 M100;
N3 G01 X100. F1500. ;
N4 G01 X#D0L F1500;
N2;
% Set "D0, D1" before execution of N2.
They may not be reflected after
execution of N2.
POINTS
(1) The motion program No. (0) cannot be set indirectly. (2) Provide interlocks using the start acceptance signals (M2001 to M2008)
to ensure that the data of the devices specified for indirect setting from being changed until the specified axes accept a start. If the data is changed before the acceptance of a start, positioning control may not be exercised with proper values.
(3) Set a variable latch on the peripheral device. (4) Variable designated #**** is the same in value as device-designated
#D**** which uses data registers. Example) #0=1;
#D0=2; The value of #0 is also 2. (5) In variable designation or device designation using word devices, the
PCPU imports the data of the specified devices (2-word or 4-word) when it runs a motion program. When performing positioning control, therefore, a motion program start request must be made after data have been set to the indirect setting devices.
6. MOTION PROGRAMS FOR POSITIONING CONTROL
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6.6.3 About operational data
(1) Four fundamental operations (+, -, *, /, MOD) The following table indicates the data type combinations and conversion methods for four fundamental operations (+, -, *, /, MOD).
Operation result = [data 1] operator [data 2]
Operator denotes +, -, *, / or MOD.
Internal operation is performed after conversion into the type of the operation result. If there is no operation result such as a conditional expression, internal operation is performed with 32-bit data. For MOD, however, if the operation result type is 64-bit data with floating point, internal operation is performed with 32-bit data, which is then converted into the operation result type and stored.
n: Indicates variable number or device number.
No. Operation Result Data 1 Data 2
1 #n (16 bit)
No conversion
2
#nL, #n: L (32 bit)
32-bit data is converted into 16-bit data.
Error occurs if conversion result exceeds 16
bit range. (Error 531)
3
#n (16 bit)
No conversion #nF, #n: F (64 bit)
64-bit data is converted into 16-bit data.
Fractional portion is dropped during
conversion.
Error occurs if conversion result exceeds 16
bit range. (Error 531)
4 #n (16 bit)
No conversion
5
#nL, #n: L (32 bit)
32-bit data is converted into 16-bit data.
Error occurs if conversion result exceeds 16
bit range. (Error 531)
6
#nL, #n: L (32 bit)
32-bit data is converted into 16-bit data.
Error occurs if conversion result exceeds
16 bit range. (Error 531)
#nF, #n: F (64 bit)
64-bit data is converted into 16-bit data.
Fractional portion is dropped during
conversion.
Error occurs if conversion result exceeds 16
bit range. (Error 531)
7 #n (16 bit)
No conversion
8
#nL, #n: L (32 bit)
32-bit data is converted into 16-bit data.
Error occurs if conversion result exceeds 16
bit range. (Error 531)
9
#n (16 bit)
No conversion
Error occurs if operation
result exceeds 16 bit
range. (Error 531)
#nF, #n: F (64 bit)
64-bit data is converted into 16-bit data.
Fractional portion is dropped during
conversion.
Error occurs if conversion result exceeds
16 bit range. (Error 531)
#nF, #n: F (64 bit)
64-bit data is converted into 16-bit data.
Fractional portion is dropped during
conversion.
Error occurs if conversion result exceeds 16
bit range. (Error 531)
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 20
n: Indicates variable number or device number.
No. Operation Result Data 1 Data 2
10 #n (16 bit)
16-bit data is converted into 32-bit data.
11 #nL, #n: L (32 bit)
No conversion
12
#n (16 bit)
16-bit data is converted into 32-bit data.
#nF, #n: F (64 bit)
64-bit data is converted into 32-bit data.
Fractional portion is dropped during
conversion.
Error occurs if conversion result exceeds 32
bit range. (Error 531)
13 #n (16 bit)
16-bit data is converted into 32-bit data.
14 #nL, #n: L (32 bit)
No conversion
15
#nL, #n: L (32 bit)
No conversion
#nF, #n: F (64 bit)
64-bit data is converted into 32-bit data.
Fractional portion is dropped during
conversion.
Error occurs if conversion result exceeds 32
bit range. (Error 531)
16 #n (16 bit)
16-bit data is converted into 32-bit data.
17 #nL, #n: L (32 bit)
No conversion
18
#nL, #n: L (32 bit)
(32 bit)
No conversion
Error occurs if operation
result exceeds 32 bit
range. (Error 531)
#nF, #n: F (64 bit)
64-bit data is converted into 32-bit data.
Fractional portion is dropped during
conversion.
Error occurs if conversion result exceeds
32 bit range. (Error 531)
#nF, #n: F (64 bit)
64-bit data is converted into 32-bit data.
Fractional portion is dropped during
conversion.
Error occurs if conversion result exceeds 32
bit range. (Error 531)
For +, -, *, / (except MOD) n: Indicates variable number or device number.
No. Operation Result Data 1 Data 2
19 #n (16 bit)
16-bit data is converted into 64-bit data.
20 #nL, #n: L (32 bit)
32-bit data is converted into 64-bit data.
21
#n (16 bit)
16-bit data is converted into 64-bit data.
#nF, #n: F (64 bit)
No conversion
22 #n (16 bit)
16-bit data is converted into 64-bit data.
23 #nL, #n: L (32 bit)
32-bit data is converted into 64-bit data.
24
#nL, #n: L (32 bit)
32-bit data is converted into 64-bit data.
#nF, #n: F (64 bit)
No conversion
25 #n (16 bit)
16-bit data is converted into 64-bit data.
26 #nL, #n: L (32 bit)
32-bit data is converted into 64-bit data.
27
#nF, #n: F (64 bit)
(64 bit)
No conversion
#nF, #n: F (64 bit)
No conversion
#nF, #n: F (64 bit)
No conversion
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 21
For MOD n: Indicates variable number or device number.
No. Operation Result Data 1 Data 2
28 #n (16 bit)
16-bit data is converted into 32-bit data.
29 #nL, #n: L (32 bit)
No conversion
30
#n (16 bit)
16-bit data is converted into 32-bit data.
#nF, #n: F (64 bit)
64-bit data is converted into 32-bit data.
Fractional portion is dropped during
conversion.
Error occurs if conversion result exceeds 32
bit range. (Error 531)
31 #n (16 bit)
16-bit data is converted into 32-bit data.
32 #nL, #n: L (32 bit)
No conversion
33
#nL, #n: L (32 bit)
No conversion
#nF, #n: F (64 bit)
64-bit data is converted into 32-bit data.
Fractional portion is dropped during
conversion.
Error occurs if conversion result exceeds 32
bit range. (Error 531)
34 #n (16 bit)
16-bit data is converted into 32-bit data.
35 #nL, #n: L (32 bit)
No conversion
36
#nF, #n: F (64 bit)
(64 bit)
Internal operation result
(32 bit) is converted into
64-bit data.
#nF, #n: F (64 bit)
64-bit data is converted into 32-bit data.
Fractional portion is dropped during
conversion.
Error occurs if conversion result exceeds
32 bit range. (Error 531)
#nF, #n: F (64 bit)
64-bit data is converted into 32-bit data.
Fractional portion is dropped during
conversion.
Error occurs if conversion result exceeds 32
bit range. (Error 531)
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 22
(2) Logical operations (AND, OR, XOR, NOT), shift operators (<<, >>) For AND, OR, XOR, <<, >>
The following table indicates the data type combinations and conversion methods for logical operations (AND, OR, XOR) and shift operators (<<, >>).
Operation result = [data 1] operator [data 2]
Operator denotes AND, OR, XOR, << or >>.
For logical and shift operations, operation including the 64-bit floating-point type cannot be performed. (Error 560: format error)
n: Indicates variable number or device number.
No. Operation Result Data 1 Data 2 Remarks
1 #n (16 bit)
No conversion
2
#nL, #n: L (32 bit)
32-bit data is converted into 16-bit data.
Error occurs if conversion result exceeds
16 bit range. (Error 531)
3
#n (16 bit)
No conversion
#nF, #n: F (64 bit)
Operation cannot be performed.
Operation
disabled
4 #n (16 bit)
No conversion
5
#nL, #n: L (32 bit)
32-bit data is converted into 16-bit data.
Error occurs if conversion result exceeds
16 bit range. (Error 531)
6
#nL, #n: L (32 bit)
32-bit data is converted into 16-
bit data.
Error occurs if conversion result
exceeds 16 bit range. (Error
531) #nF, #n: F (64 bit)
Operation cannot be performed.
Operation
disabled
7 #n (16 bit)
Operation cannot be performed.
Operation
disabled
8 #nL, #n: L (32 bit)
Operation cannot be performed.
Operation
disabled
9
#n (16 bit)
No conversion
#nF, #n: F (64 bit)
Operation cannot be performed.
#nF, #n: F (64 bit)
Operation cannot be performed.
Operation
disabled
10 #n (16 bit)
16-bit data is converted into 32-bit data.
11 #nL, #n: L (32 bit)
No conversion
12
#n (16 bit)
16-bit data is converted into 32-
bit data. #nF, #n: F (64 bit)
Operation cannot be performed.
Operation
disabled
13 #n (16 bit)
16-bit data is converted into 32-bit data.
14 #nL, #n: L (32 bit)
No conversion
15
#nL, #n: L (32 bit)
No conversion
#nF, #n: F (64 bit)
Operation cannot be performed.
Operation
disabled
16 #n (16 bit)
Operation cannot be performed.
Operation
disabled
17 #nL, #n: L (32 bit)
Operation cannot be performed.
Operation
disabled
18
#nL, #n: L (32 bit)
(32 bit)
No conversion
#nF, #n: F (64 bit)
Operation cannot be performed.
#nF, #n: F (64 bit)
Operation cannot be performed.
Operation
disabled
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 23
For NOT The following table indicates the data type combinations and conversion methods for NOT.
Operation result = operator [data 1]
Operator denotes NOT.
For logical and shift operations, operation including the 64-bit floating-point type cannot be performed. (Error 560: format error)
n: Indicates variable number or device number.
No. Operation Result Data 1 Remarks
1 #n (16 bit)
No conversion
2
#nL, #n: L (32 bit)
32-bit data is converted into 16-bit data.
Error occurs if conversion result exceeds 16 bit
range. (Error 531)
3
#n (16 bit)
No conversion
#nF, #n: F (64 bit)
Operation cannot be performed.
Operation
disabled
4 #n (16 bit)
16-bit data is converted into 32-bit data.
5 #nL, #n: L (32 bit)
No conversion
6
#nL, #n: L (32 bit)
(32 bit)
No conversion #nF, #n: F (64 bit)
Operation cannot be performed.
Operation
disabled
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 24
(3) Trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN) The following table indicates the data type combinations and conversion methods for trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN).
Operation result = trigonometric function [data 1]
Trigonometric function denotes SIN, COS, TAN, ASIN, ACOS or ATAN.
Internal operation is performed with the 64-bit floating-point type. When there is operation in data 1, operation is performed after conversion into 64-bit data.
n: Indicates variable number or device number.
No. Operation Result Data 1 Remarks
1
#n (16 bit)
16-bit data is converted into 64-bit data.
Data is divided by 10000 during conversion.
2
#nL, #n: L (32 bit)
32-bit data is converted into 64-bit data.
Data is divided by 10000 during conversion.
3
#n (16 bit)
Internal operation result (64 bit) is multiplied by
10000 and result of multiplication is converted
into 16-bit data.
Fractional portion is dropped during
conversion.
Error occurs if operation result exceeds 16 bit
range. (Error 531)
#nF, #n: F (64 bit)
Data is divided by 10000 during conversion.
4
#n (16 bit)
16-bit data is converted into 64-bit data.
Data is divided by 10000 during conversion.
5
#nL, #n: L (32 bit)
32-bit data is converted into 64-bit data.
Data is divided by 10000 during conversion.
6
#nL, #n: L (32 bit)
Internal operation result (64 bit) is multiplied by
10000 and result of multiplication is converted
into 32-bit data.
Fractional portion is dropped during
conversion.
Error occurs if operation result exceeds 32 bit
range. (Error 531)
#nF, #n: F (64 bit)
Data is divided by 10000 during conversion.
7 #n (16 bit)
16-bit data is converted into 64-bit data.
Different from
current one in
usage.
8 #nL, #n: L (32 bit)
32-bit data is converted into 64-bit data.
Different from
current one in
usage.
9
#nF, #n: F (64 bit)
Internal operation result (64 bit) is stored as it
is.
#nF, #n: F (64 bit)
No conversion
Different from
current one in
usage.
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 25
(4) Floating-point type real number processing instructions (INT, FLT) The following table indicates the data type combination and conversion method for floating-point type real number processing instructions (INT, FLT).
Operation result = function [data 1]
Function denotes INT or FLT.
The floating-point type real number processing instructions (INT, FLT) can operate the 32-bit type only. The floating-point type real number processing instructions cannot operate data other than the 32-bit type. (Error 560: Format error) INT And FLT cannot be used with other operations.
n: Indicates variable number or device number.
No. Operation Result Data 1
1
#nL, #n: L (32 bit)
32-bit floating-point type is converted into 32-bit type.
Fractional portion is dropped during conversion.
Error occurs if operation result exceeds 32 bit range. (Error 531)
32-bit type is converted into 32-bit floating-point type.
#nL, #n: L (32 bit)
No conversion
6. MOTION PROGRAMS FOR POSITIONING CONTROL
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(5) Functions (SQRT, ABS, LN, EXP) The following table indicates the data type combinations and conversion methods for functions (SQRT, ABS, LN, EXP). Operation result = function [data 1]
Function denotes SQRT, ABS, LN or EXP. Internal operation of SQRT LN or EXP is performed with the 64-bit floating- point type. Internal operation of ABS is performed by making conversion into the operation result type. When there is operation in data 1 for SQRT, operation is performed after conversion into 64-bit data. For SQRT, LN, EXP
n: Indicates variable number or device number.
No. Operation Result Data 1
1 #n (16 bit)
16-bit data is converted into 64-bit data.
2 #nL, #n: L (32 bit)
32-bit data is converted into 64-bit data.
3
#n (16 bit)
Internal operation result (64 bit) is converted into 16-bit data.
Fractional portion is dropped during conversion.
Error occurs if operation result exceeds 16 bit range. (Error 531) #nF, #n: F (64 bit)
No conversion
4 #n (16 bit)
16-bit data is converted into 64-bit data.
5 #nL, #n: L (32 bit)
32-bit data is converted into 64-bit data.
6
#nL, #n: L (32 bit)
Internal operation result (64 bit) is converted into 32-bit data.
Fractional portion is dropped during conversion.
Error occurs if operation result exceeds 32 bit range. (Error 531) #nF, #n: F (64 bit)
No conversion
7 #n (16 bit)
16-bit data is converted into 64-bit data.
8 #nL, #n: L (32 bit)
32-bit data is converted into 64-bit data.
9
#nF, #n: F (64 bit)
No conversion
#nF, #n: F (64 bit)
No conversion
For ABS n: Indicates variable number or device number.
No. Operation Result Data 1
1 #n (16 bit)
No conversion
2 #nL, #n: L (32 bit)
32-bit data is converted into 16-bit data.
3
#n (16 bit)
No conversion
#nF, #n: F (64 bit)
64-bit data is converted into 16-bit data.
4 #n (16 bit)
16-bit data is converted into 32-bit data.
5 #nL, #n: L (32 bit)
No conversion
6
#nL, #n: L (32 bit)
No conversion
#nF, #n: F (64 bit)
64-bit data is converted into 323-bit data.
7 #n (16 bit)
16-bit data is converted into 64-bit data.
8 #nL, #n: L (32 bit)
32-bit data is converted into 64-bit data.
9
#nF, #n: F (64 bit)
No conversion
#nF, #n: F (64 bit)
No conversion
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 27
(6) Functions (BIN, BCD) The following table indicates the data type combinations and conversion methods for functions (BIN, BCD).
Operation result = function [data 1]
Function denotes BIN or BCD.
Internal operation is performed by making conversion into the 32-bit type. Operation including the 64-bit floating-point type cannot be performed. (Error 560: format error) BIN and BCD cannot be used with other operations.
n: Indicates variable number or device number.
No. Operation Result Data 1
1 #n (16 bit)
16-bit data is converted into 32-bit data.
2 #nL, #n: L (32 bit)
No conversion
3
#n (16 bit)
Internal operation result (64 bit) is converted into 16-bit data.
Error occurs if operation result exceeds 16 bit range. (Error 531)
#nF, #n: F (64 bit)
Operation cannot be performed.
4 #n (16 bit)
16-bit data is converted into 32-bit data.
5 #nL, #n: L (32 bit)
No conversion
6
#nL, #n: L (32 bit)
No conversion
#nF, #n: F (64 bit)
Operation cannot be performed.
(7) Functions (round-off (RND), round-down (FIX), round-up (FUP)) The following table indicates the data type combinations and conversion methods for round-off (RND), round-down (FIX) and round-up (FUP).
Operation result = function [data 1]
Function denotes RND, FIX or FUP.
Round-off (RND), round-down (FIX) and round-up (FUP) cannot perform operation of other than the 64-bit floating-point type. (Error 560: format error)
n: Indicates variable number or device number.
No. Operation Result Data 1
1
#nF, #n: F (64 bit)
No type conversion
Rounds off data 1 to one decimal place.
Rounds down data 1 to the units.
Rounds up data 1 to the units.
#nF, #n: F (64 bit)
No type conversion
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 28
6.6.4 Instruction symbol setting range list
Table 6.5 lists the setting ranges of the instruction symbols used in motion programs.
Table 6.5 Instruction Symbol Setting Range List
Setting Range Symbol Function
Motion program description Variable (D register setting)
A Coordinate position data
B Coordinate position data
C Coordinate position data
U Coordinate position data
V Coordinate position data
W Coordinate position data
X Coordinate position data
Y Coordinate position data
Z Coordinate position data
I Circular arc center coordinate 1
J Circular arc center coordinate 2
-214748.3648 to 214748.3647
(mm)
-21474.83648 to 21474.83647
(inch)
0 to 359.99999 (degree)
-2147483648 to 2147483647
0 to 35999999
Address
R Radius of R point specified circular
arc
0 to 214748.3647 (mm)
0 to 21474.83647 (inch)
0 to 359.99999 (degree)
0 to 2147483647
0 to 35999999
0.01 to 6000000.00 (mm/min)
0.001 to 600000.000 (inch/min) 1 to 600000000
Speed F Interpolation feed composite speed
0.001 to 2147483.647 (degree/min) 1 to 2147483647
G G instruction
00, 01, 02, 03, 04, 09, 24, 25, 26,
28, 30, 32, 43, 44, 49, 53, 54, 55,
56, 57, 58, 59, 61, 64, 90, 91, 92
H Subprogram call sequence number
Tool length offset data number
1 to 9999
1 to 20
1 to 9999
1 to 20
L Repeat count 0 to 9999 0 to 9999
M Miscellaneous function (M code) 0 to 9999 0 to 9999
N Sequence number 1 to 9999 O Motion program number 1 to 256
Dwell time 1 to 65535 1 to 65535
Start program No. 1 to 256 1 to 256P
Subprogram call number 1 to 256 1 to 256
PB Parameter block No. 1 to 16 1 to 16
Others
TL Torque limit value 1 to 500 1 to 500
+ Addition
- Subtraction
* Multiplication
/ Division
Operational
expression
MOD Remainder
-2147483648 to 2147483647 -2147483648 to 2147483647
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 29
REMARK
(1) About the command unit
A decimal point can be entered in the motion program input information which define the command address, speed, etc.
[Example] 123456.7890
A decimal point may also be omitted.
When a decimal point is omitted, a command address is represented in 0.0001mm, 0.00001 inch or 0.00001 degree increments, for example.
.
[Example] 10. 10mm 10 0.001mm (unit: mm)
.
[Example] 10. 10mm/min 10 0.1mm/min (unit: mm)
Any value may be specified up to 10 digits. (Decimal point not included) Specifying more than 10 digits will result in an error.
The numbers of significant decimal places are listed below. Digits after the significant decimal places are ignored. Note that specifying 10 or more digits will result in an error.
Unit
Command mm inch degree
Command address 4 5 5
Command speed 2 3 3
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 30
6.6.5 Positioning control unit for 1 axis
For one axis, positioning control is exercised in the control unit specified in the fixed parameter. (The control unit specified in the parameter block is ignored.)
6.6.6 Control units for interpolation control
(1) A check is made on the interpolation control unit specified in the parameter block and the control unit set in the fixed parameter. For interpolation control, if the interpolation control unit in the parameter block differs from the control unit in the fixed parameter of each axis, the result will be as described below.
Interpolation Control Unit in Parameter Block
mm inch degree Starting Method
Condition for normal start
There are axes whose control unit set in fixed parameter is mm.
There are axes whose control unit set in fixed parameter is inch.
There are axes whose control unit set in fixed parameter is degree.
Control starts in the interpolation control unit of the parameter block.
Condition for unit mismatch error (error code 40)
When the control unit of any axis in the fixed parameter does not match the interpolation control unit of the parameter block.
If the control units of the axes to be interpolation-controlled are the same, control starts in the preset control unit.
If the control units of the axes to be interpolation-controlled are different, control starts in the unit of the highest priority as indicated below. Priority degree>inch>mm
(2) In interpolation control, the combinations of axis control units are classified as indicated below.
mm inch degree
mm 1) 2) 2)
Inch 2) 1) 2)
degree 2) 2) 1)
REMARKS
1): Same unit 2): Unit mismatch
(a) Same unit (1)) The position command is calculated for positioning according to the preset address/travel, positioning speed and electronic gear.
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 31
(b) Unit mismatch (2)) On a unit mismatch, the travel and positioning speed are calculated for
each axis. a) The travel is converted into the PLS unit using the electronic gear of its
own axis. b) The positioning speed is converted into the PLS/sec unit using the
electronic gear of the axis whose control unit matches the interpolation control unit. The travel converted into PLS, the speed converted into PLS/sec, and the electronic gear are used to calculate the position command value for positioning.
If there are two or more axes whose control units are the same as the interpolation control unit in the linear interpolation of three or more axes, the electronic gear of the lowest axis number is used to calculate the positioning speed.
POINT
(1) For circular interpolation control When degree is used as the control unit of one axis, degree should also be used with the other axis.
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 32
6.6.7 Control in the control unit of "degree"
When the control unit is degree, the following items are different from those of the other control units.
(1) Present value address The present value address in degree is the ring address of 0 to 360.
0 0 0
359.99999 359.99999
(2) Stroke limit valid/invalid setting The upper and lower limit values of a stroke limit in degree is between 0 and 359.99999. (a) Setting for making stroke limit valid
To make the stroke limit valid, set the lower limit value of the stroke limit first, then the upper limit value in the clockwise direction.
0
315.00000
90.00000
Clockwise Section A
Section B
1) Set the moving range in section A as follows. a) Lower limit value of stroke limit ..... 315.00000 b) Upper limit value of stroke limit ..... 90.00000
2) Set the moving range in section B as follows. a) Lower limit value of stroke limit ...... 90.00000 b) Upper limit value of stroke limit ...... 315.00000
(b) Setting for making stroke limit invalid To make the stroke limit invalid, set to make the "lower stroke limit value" equal to the "upper stroke limit value". Control can be exercised independently of the stroke limit setting.
POINT
You cannot make circular interpolation which includes the axis whose stroke limit has been set to be invalid.
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 33
(3) Positioning control The positioning control methods in the control unit of degree will be explained below. (a) Absolute value command
Under the absolute value command, positioning is carried out relative to the present value in the direction nearer to the specified address.
0
315.00000
From 315.00000 to 0
0
315.00000
From 0 to 315.00000
Example
(1) When the axis is moved from the present value of 315.00000 to 0, clockwise positioning is performed.
(2) When the axis is moved from the present value of 0 to 315.00000, counterclockwise positioning is performed.
POINTS
(1) The positioning direction of the absolute value command is determined by the way of setting the stroke limit range, and positioning may not be made in the direction nearer to the specified address.
0
315.00000
345.00000
Clockwise positioning is performed.
Example
When the axis is moved from the present value of 0 to 315.00000, clockwise positioning is performed if the lower stroke limit value is 0 and the upper stroke limit value is 345.00000.
(2) The positioning address is within the range 0 to 360. When carrying out positioning of more than one revolution, use the incremental value command.
(b) Incremental value command Under the incremental value command, positioning of the specified travel is performed in the specified direction. The moving direction depends on the sign of the travel. 1) Positive moving direction ......... Clockwise 2) Negative moving direction........ Counterclockwise
POINT
Under the incremental value command, positioning of more than 360 can be done.
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 34
6.7 About Coordinate Systems
This section describes coordinate systems. There are two coordinate systems: basic mechanical coordinate system and work coordinate system.
(1) Basic mechanical coordinate system ............................. A coordinate system specific to a machine and indicates the
position determined specifically for the machine.
(2) Work coordinate system ............................. A coordinate system used by a programmer for
programming to set the reference point on a work as a coordinate home position. In the work coordinate system, a position is specified with an offset value from the basic mechanical coordinate system. The offset value is set with a distance from the mechanical coordinate system origin (0). You can specify up to six work coordinate systems (work coordinates 1 to 6). Set them by parameter setting or work coordinate system selection (G54 to G59). (Refer to Section 4.7 or 6.8.19.) By setting multiple work coordinates, you can easily perform multiple positioning operations with a single program.
Work coordinate system 1 X
Y
Y
X
Work coordinate system 2 X
Y
Basic mechanical coordinate system
Reference point
Reference point
Basic mechanical coordinate system
Work coordinate system
[Drilling machine]
Work coordinate system 2
Basic mechanical coordinate system
Motor
Motor
Motor
Work coordinate system 1
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 35
6.8 G Codes
This section explains the instruction codes used in motion programs. Each instruction is described in the following format.
1)
2)
3)
5)
6)
4)
Briefly explains the function outline of the instruction.
Indicates the input or description method.
The " " mark indicates that a space must be placed at the time of program input.
1) Name of the instruction code. 2) Indicates the model name. 3) Gives the detailed explanation or precautions. 4) Indicates the parameters related to this instruction. (Parameters whose values must be set) 5) Shows a program example which uses this instruction. 6) Provides supplementary explanation or instructions related to this instruction.
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 36
Table 6.6 indicates the arguments of the G codes.
Table 6.6 G Code Arguments
A xi
s co
m m
an d
(* 1)
R ad
iu s
co m
m an
d (R
) C
en te
r po
in t
co m
m an
d (I
J
) S
ki p
co m
m an
d (S
K IP
) C
an ce
l c om
m an
d (C
A N
) S
ta rt
in g
an gl
e (S
T A
R T
)
A m
pl itu
de (
S T
R K
)
M c
od e
(* 2)
G c
od e
F e e d (
F )
H L N O P P B
Remarks
G00 Only G codes of G04, G43, G44 and G49 are available.*
G01 Only G codes of G04, G43, G44 and G49 are available.*
G02
Only G code of G04 is available. Center point command and axis command may be specified for up to 2 axes.
G02 Only G code of G04 is available. Radius command and axis command may be specified for up to 2 axes.
G03
Only G code of G04 is available. Center point command and axis command may be specified for up to 2 axes.
G03 Only G code of G04 is available. Radius command and axis command may be specified for up to 2 axes.
G04 Dwell
G09 Only G codes of G01, G02 and G03 are available.*
G23 P: Start program number
G24 PB: Parameter block number
G25 Specify only axis name for axis command and frequency for F.
G26 Specify only axis name for axis command.
G28 Only G code of G53 is available. G30 Only G code of G53 is available.
G32 P must not be specified for axis command and M code simultaneously.
G43 G44 G49 Only G code of G28 is available. G53 Only G code of G28 is available.
G54 Only G codes of G00, G01, G02, G03 and G92 are available.*
G55 Only G codes of G00, G01, G02, G03 and G92 are available.*
G56 Only G codes of G00, G01, G02, G03 and G92 are available.*
G57 Only G codes of G00, G01, G02, G03 and G92 are available.*
G58 Only G codes of G00, G01, G02, G03 and G92 are available.*
G59 Only G codes of G00, G01, G02, G03 and G92 are available.*
G61 Only G codes of G00, G01, G02 and G03 are available.*
G64 Only G codes of G00, G01, G02 and G03 are available.*
G90 Only G codes of G00, G01, G02 and G03 are available.*
G91 Only G codes of G00, G01, G02 and G03 are available.*
G92 G100 G101
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 37
: May be specified. : Must be specified.
Blank: Must not be specified.
For G43, G44, G49, G54 to G59, G90 and G91, use the currently selected modal group 01 to set the specifiable arguments. For *, the G code may be set in the first parameter only.
*1 The axis commands are X, Y, Z, U, V, W, A, B and C. *2 The M codes are other than M00, M01, M02, M30, M98, M99 and M100.
6 38
Code G00
PTP positioning at rapid
feedrate
Positions the specified axes. (PTP)
Function
6.8.1 G00 PTP positioning at rapid feedrate
[Explanation] Linearly positions all the specified axes from the present value to the specified
coordinate axis position at the fixed speed.
Being a modal instruction, this command is valid until another G code in the same group is used. Hence, if the next command is the same G code, it may be enabled by specifying only the axis name. (Group (01) is made up of G00, G01, G02 and G03.)
This command always increases or decreases speed at the starting or end point of a block and proceeds to the next block.
The positioning speed is not more than the rapid feedrate of each axis. [Example] G00 X100. ; X150. ; (When rapid feedrate is 10000mm/min and speed limit value in parameter block is 12000mm/min)
Acceleration time Acceleration timeDeceleration time Deceleration time
V
12000
T
Rapid feedrate
Speed limit value in parameter block
10000
Acceleration-fixed acceleration/deceleration is made. Acceleration is calculated from the lower speed of the rapid feedrate and speed limit value and the acceleration time and deceleration time in the parameter block.
The positioning data can be set by direct designation (numerical value) or indirect designation (variable: #****).
Commanding the M code in G00 also causes acceleration/deceleration to be made in the acceleration time of the parameter block as in G01. (Example G00 X M ;)
[Related Parameters] Rapid feedrate: Set the maximum feedrate of each axis.
(Refer to Section 4.2.4 for the rapid feedrate setting in the fixed parameter.) When G00 is executed, positioning takes place in the shortest path which connects the starting point and end point. The positioning speed is within the rapid feedrate of each axis.
6 39
Format
G00 X x Y y Z z; Axis names Positioning addresses
[Program Example] Program used to position the axes at points A, B, C, D and E. (Under absolute
value command)
100
(Unit: mm)
X
Y
200
300
100 200 300
A
D E
1)
2) B
C
3)
4)
5)
(A point positioning) (B point positioning) (C point positioning) (D point positioning) (E point positioning)
1) G00 X100. Y100. ; 2) X200. ; 3) Y200. ; 4) G01 Y300. F100. ; 5) X300. ;
Travel under G00
Travel under G01
REMARKS
To determine the feedrate of G00, the axis whose time to reach the target position is the longest in the travel/rapid feedrate (fixed parameter) of all axes is used as the reference axis, and interpolation is made in the reference axis speed interpolation mode phase or the like. (Refer to Section 4.2.4.)
The rapid feedrate of each axis is clamped at the speed limit value if it is larger than the speed limit value of the parameter block. The calculation of the reference axis is also made using the clamped value.
6 40
Code G01
CP positioning at speed
specified in F
Linearly interpolates the axes from the present value to the
specified end point at the specified feedrate. (CP)
As the feedrate, specify the linear speed (composite speed) in
the advance direction.
Function
6.8.2 G01 CP positioning at speed specified in F
[Explanation] Being a modal instruction, this command is valid until another G code in the same
group is used. Hence, when the next command is G01, it may be enabled by specifying only the axis name, unless the feedrate is changed.
As the command unit of the feedrate, specify the interpolation control unit of the parameter block.
The maximum command value of the feedrate is the speed limit value set in the parameter block.
If the F command is not set in the first G01 command, a program error (error code: 501) occurs.
When this command is executed continuously, the feedrate is not increased or decreased at the starting or end point of a block since the status is not the exact stop check mode. [Example] G01 X100. F200. ; X150. ;
T
V
X axis
The positioning data can be set by direct designation (numerical value) or indirect designation (variable: #****).
Specify G61 when making acceleration/deceleration at block switching.
The axes do not decelerate to a stop if the G02 or G03 command is given between the G01 commands (CP positioning). [Example] G01 X100. Y100. Z100. ; G02 X0. Y0. I0. J50. F500. ; G03 X0. Y0. I0. J50. F500. ; G01 X100. ;
Constant-speed control is exercised in this area.
6 41
Format
G01 X x Y y Z z F f; Feedrate Feedrate command Positioning addresses Axis names
Acceleration/deceleration processing under G01 command
G91 G01 X100. Y100. F100. ; CP positioning of X, Y ....................Block 1 Y100. ; CP positioning of Y ........................Block 2 X100. ; CP positioning of X ........................Block 3
When the above program is run, the acceleration/deceleration processing of the X and Y axes is performed as shown below.
100 200
200
X axis
Y axis
Note: Both the acceleration and deceleration times are the acceleration time of the parameter block.
As under the M code command, the acceleration/deceleration time under the G0 command is the acceleration time of the parameter block.
[Related Parameters] Speed limit value: Set the maximum feedrate of each axis.
(Refer to the speed limit value of the parameter block in Section 4.6.)
[Program Example] Program which performs positioning to A, B, C, D and E points. (Under absolute
value command)
100
(Unit: mm)
X
Y
200
300
100 200 300
A
D E
1)
2) B
C
3)
4)
5)
(A point positioning) (B point positioning) (C point positioning) (D point positioning) (E point positioning)
1) G01 X100. Y100. F100. ; 2) X200. ; 3) Y200. ; 4) G00 Y300. F100. ; 5) X300. ;
Travel under G01 (Travel at feedrate of 100mm/min)
Travel under G00
6 42
Code G02
Circular interpolation (CW)
Circular arc center
coordinate designation
Moves the axes from the current position (starting point) to
the specified coordinate position (end point) along a circular
arc (CW).
The travel speed is the specified feedrate.
Function
6.8.3 G02 Circular interpolation CW (Circular arc center coordinate designation)
[Explanation] Use the incremental values (always use incremental values) from the current
position (starting point) to command the circular arc center coordinates. For G02 (CW), give the end point coordinates of the circular arc with the address (must be specified for 2 axes) and specify the center coordinates of the circular arc with I and J.
The center coordinates 1, 2 are I and J in order of lower axis numbers. When X=Axis 1, Y=Axis 2, I=1(X), J=2(Y) When X=Axis 2, Y=Axis 1, I=1(Y), J=2(X)
Always specify the end point coordinates for 2 axes as they cannot be omitted. G02 (CW): Clockwise
G02
X
Y
G02
Z
X
G02
Y
Z
If the end point is in the same position as the starting point, the circular arc is 360 degrees (perfect circle).
If they cannot be linked by a circular arc, Within the permissible circular arc error range: The starting and end points are connected by helical interpolation. Beyond the permissible circular arc error range: An error occurs at the circular arc starting point.
When this command is executed continuously, the feedrate is not increased or decreased at the starting or end point of a block since the status is not the exact stop check mode.
When the circular arc center coordinates and radius are specified for G02 (CW) at the same time, the radius-specified circular interpolation has priority.
The positioning data can be set by direct designation (numerical value) or indirect designation (variable: #****).
6 43
Format
G02 X x Y y I i J j F f; Feedrate Feedrate command Circular arc center coordinates 1, 2
End point X, Y coordinates
[Related Parameters] Speed limit value: Set the maximum feedrate of each axis.
(Refer to the speed limit value of the parameter block in Section 4.6.)
Circular arc error: Set the permissible circular arc error range. (Refer to the permissible circular arc error range of the parameter block in Section 4.6.3.)
[Program Example] Program which performs circular interpolation from the current position to draw a
half circle. G91 G02 X0. Y100. I0. J50. F500. ;
50
Starting point (Unit: mm)
X
Feedrate 500mm/min
Y
End point X0,Y100
Program which performs circular interpolation from the current position to draw a perfect circle. G02 X0. Y0. I0. J50. F500. ; (Perfect circular command)
50
Starting/end point (Unit: mm)
X
Feedrate 500mm/min
Y
REMARKS
The end point and circular arc center coordinates cannot be omitted. Always specify them for two axes.
Circular interpolation cannot be made if it includes the degree axis whose stroke limit is set to be invalid.
Circular interpolation cannot be made for the unit combination of mm and degree or inch and degree.
6 44
Code G03
Circular interpolation (CCW)
Circular arc center
coordinate designation
Moves the axes from the current position (starting point) to
the specified coordinate position (end point) along a circular
arc (CCW).
The travel speed is the specified feedrate.
Function
6.8.4 G03 Circular interpolation CCW (Circular arc center coordinate designation)
[Explanation] Use the incremental values (always use incremental values) from the current
position (starting point) to command the circular arc center coordinates. For G03 (CCW), give the end point coordinates of the circular arc with the address (must be specified for 2 axes) and specify the center coordinates of the circular arc with I and J.
The center coordinates 1, 2 are I and J in order of lower axis numbers. When X=Axis 1, Y=Axis 2, I=1(X), J=2(Y) When X=Axis 2, Y=Axis 1, I=1(Y), J=2(X)
Always specify the end point coordinates for 2 axes as they cannot be omitted. G03 (CCW): Counterclockwise
G03
X
Y
G03
Z
X
G03
Y
Z
If the end point is in the same position as the starting point, the circular arc is 360 degrees (perfect circle).
If they cannot be linked by a circular arc, Within the permissible circular arc error range: The starting and end points are connected by helical interpolation. Beyond the permissible circular arc error range: An error occurs at the circular arc starting point.
When this command is executed continuously, the feedrate is not increased or decreased at the starting or end point of a block since the status is not the exact stop check mode.
When the circular arc center coordinates and radius are specified for G03 (CCW) at the same time, the radius-specified circular interpolation has priority.
The positioning data can be set by direct designation (numerical value) or indirect designation (variable: #****).
6 45
Format
G03 X x Y y I i J j F f; Feedrate Feedrate command Circular arc center coordinates 1, 2
End point X, Y coordinates
[Related Parameters] Speed limit value: Set the maximum feedrate of each axis.
(Refer to the speed limit value of the parameter block in Section 4.6.)
Circular arc error: Set the permissible circular arc error range. (Refer to the permissible circular arc error range of the parameter block in Section 4.6.3.)
[Program Example] Program which performs circular interpolation from the current position to draw a
half circle. G91 G03 X0. Y100. I0. J50. F500. ;
50
Starting point (Unit: mm)
X
Feedrate 500mm/min
Y
End point X0,Y100
Program which performs circular interpolation from the current position to draw a perfect circle. G03 X0. Y0. I0. J50. F500. ; (Perfect circular command)
50
Starting/end point (Unit: mm)
X
Feedrate 500mm/min
Y
REMARKS
The end point and circular arc center coordinates cannot be omitted. Always specify them for two axes.
Circular interpolation cannot be made if it includes the degree axis whose stroke limit is set to be invalid.
Circular interpolation cannot be made for the unit combination of mm and degree or inch and degree.
6 46
Code G02
Circular interpolation (CW)
Radius specified circular
interpolation
Moves the axes from the current position (starting point) to
the specified coordinate position (end point) along a circular
arc of the specified radius (CW).
The travel speed is the specified feedrate.
Function
6.8.5 G02 Circular interpolation CW (Radius designation)
[Explanation] A less than half-circle circular arc command is given at a positive R (circular arc
radius) value, or a more than half-circle circular arc command is given at a negative R value. Always use an incremental value to command the R value.
Starting point
End point
Radius value PositiveRadius value Negative
An error occurs if the distance between starting and end points - radius 2 > circular arc error.
If a perfect circuit command (the starting point is the same as the end point) is specified in R-specified circular interpolation, an error (error code: 108) occurs and no operation is performed. Therefore, specify the circular arc center coordinates for the perfect circuit command.
A circular arc of more than 180 is drawn at a negative circular arc radius (R) value, or a circular arc of less than 180 is drawn at a positive R value.
When this command is executed continuously, the feedrate is not increased or decreased at the starting or end point of a block since the status is not the exact stop check mode.
When the circular arc center coordinates and radius are specified for G02 (CW) at the same time, the radius-specified circular interpolation has priority.
The positioning data can be set by direct designation (numerical value) or indirect designation (variable: #****).
[Related Parameters] Speed limit value: Set the maximum feedrate of each axis.
(Refer to the speed limit value of the parameter block in Section 4.6.)
Circular arc error: Set the permissible circular arc error range. (Refer to the permissible circular arc error range of the parameter block in Section 4.6.3.)
6 47
Format
G02 X x Y y R r F f; Feedrate Feedrate command Circular arc radius End point X, Y coordinates
[Program Example] Program which draws a circular arc of more than 180 at a negative circular arc
radius (R) value. G91 G02 X50. Y50. R-50. F500. ;
End point X50,Y5050
Starting point (Unit: mm)
X
Feedrate 500mm/min
Y
50
Program which draws a circular arc of less than 180 at a positive circular arc radius (R) value. G91 G02 X50. Y50. R50. F500. ;
50
Starting point (Unit: mm)
X
Y
End point X50,Y50
50
Feedrate 500mm/min
REMARKS
The end point coordinates and circular arc radius cannot be omitted. Always specify the end point coordinates and circular arc radius.
Circular interpolation cannot be made if it includes the degree axis whose stroke limit is set to be invalid.
Circular interpolation cannot be made for the unit combination of mm and degree or inch and degree.
6 48
Code G03
Circular interpolation (CCW)
Radius specified circular
interpolation
Moves the axes from the current position (starting point) to
the specified coordinate position (end point) along a circular
arc of the specified radius (CCW).
The travel speed is the specified feedrate.
Function
6.8.6 G03 Circular interpolation CCW (Radius designation)
[Explanation] A less than half-circle circular arc command is given at a positive R (circular arc
radius) value, or a more than half-circle circular arc command is given at a negative R value. Always use an incremental value to command the R value.
End point
Starting point
Radius value PositiveRadius value Negative
An error occurs if the distance between starting and end points - radius 2 > circular arc error.
If a perfect circuit command (the starting point is the same as the end point) is specified in R-specified circular interpolation, an error (error code: 108) occurs and no operation is performed. Therefore, specify the circular arc center coordinates for the perfect circuit command.
A circular arc of more than 180 is drawn at a negative circular arc radius (R) value, or a circular arc of less than 180 is drawn at a positive R value.
When this command is executed continuously, the feedrate is not increased or decreased at the starting or end point of a block since the status is not the exact stop check mode.
When the circular arc center coordinates and radius are specified for G03 (CCW) at the same time, the radius-specified circular interpolation has priority.
The positioning data can be set by direct designation (numerical value) or indirect designation (variable: #****).
[Related Parameters] Speed limit value: Set the maximum feedrate of each axis.
(Refer to the speed limit value of the parameter block in Section 4.6.)
Circular arc error: Set the permissible circular arc error range. (Refer to the permissible circular arc error range of the parameter block in Section 4.6.3.)
6 49
Format
G03 X x Y y R r F f; Feedrate Feedrate command Circular arc radius End point X, Y coordinates
[Program Example] Program which draws a circular arc of more than 180 at a negative circular arc
radius (R) value. G91 G03 X-50. Y50. R-50. F500. ;
End point X-50,Y50 50
Starting point (Unit: mm)
X
Feedrate 500mm/min
Y
-50
Program which draws a circular arc of less than 180 at a positive circular arc radius (R) value. G91 G03 X-50. Y50. R50. F500. ;
50
Starting point (Unit: mm)
X
Y
End point X-50,Y50
Feedrate 500mm/min
-50
REMARKS
The end point coordinates and circular arc radius cannot be omitted. Always specify the end point coordinates and circular arc radius.
Circular interpolation cannot be made if it includes the degree axis whose stroke limit is set to be invalid.
Circular interpolation cannot be made for the unit combination of mm and degree or inch and degree.
6 - 50
Code
Function
G04
Dwell
Waits for the next block to be executed for the specified
period of time.
6.8.7 G04 Dwell
[Explanation] For the dwell command, specify the time from a stop after deceleration under the
preceding move command until the next block starts.
The symbol indicating the dwell time is "P".
The dwell time can be specified in the range 1 to 65535 in increments of 0.001 seconds. Therefore, setting of G04 P1000 indicates a wait time of 1 second.
T
V
Dwell time
The dwell time can be set by direct designation (numerical value) or indirect designation (variable: #****).
When specifying dwell in the same block as the move block, describe dwell after the move command. Also, describe the dwell time (P) after G04. [Example]
T
V
Next block
Dwell command
Move command
G00 X100 Y100 G04 P2000;
Dwell command
Move command (G00, G02, G01 or G03 can be specified)
6 - 51
Format
G04 P p; Dwell time (1 to 65535)
[Program Example] Program in which dwell time is placed between positioning operation instructions.
1) G01 X100. F10. ; (Positioning) 2) G04 P2000; (Dwell time set to 2 seconds) 3) G01 X200. ; (Positioning)
T
V
Dwell time 20000.001=2 seconds
1) 2)X axis
The X axis is positioned to 100., stops there for 2 seconds, and starts positioning operation to 200. again.
REMARK
A decimal point cannot be specified for the dwell time.
6 - 52
Code
Function
G09
Exact stop check
Moves the axis in the specified block point-to-point.
6.8.8 G09 Exact stop check
[Explanation] This command is used with the interpolation instruction. Executing this command
moves the axis point-to-point in only the specified block. The interpolation instruction codes usable with this command are G01, G02 and G03 only.
In this system, the next block is executed after deceleration to a stop in the specified coordinate position.
Not being a modal instruction, this command is valid for the specified block only.
T
V
X axis
T
V
X axis
The positioning data can be set by direct designation (numerical value) or indirect designation (variable: #****).
6 - 53
Format
G09 G01 X x F f; May be used only in the G01, G02 or G03 program
[Program Example] Program which uses the exact stop check for positioning.
1) G09 G01 X100. F500. ; (Positioning using exact stop check) 2) X200. ; (Positioning) 3) X300. ; (Positioning) 4) G09 G01 X400. ; (Positioning using exact stop check)
T
V
X axis 4)1) 3)2)
6 - 54
Code
Function
G23
Cancel, cancel start invalidity
Makes invalid G24 (cancel function, cancel start function)
which has already been made valid.
Valid until G24 (cancel function, cancel start function) is
executed.
6.8.9 G23 Cancel, cancel start invalidity
[Explanation] This command makes invalid the cancel or cancel start function which has already
been made valid.
This function is also valid for the high-speed oscillation axis. N1 G24 CAN #X100; N2 G01 X200. F200. ; N3 G25 Y START90. STRK1. F10; N4 G23;
Cancel function is valid for N2 and N3.
Cancel function invalid (Cancel function is also made invalid for the high-speed oscillation axis.)
6 - 55
Format
G23;
[Program Example] Program which makes the cancel start function valid/invalid during execution of a
010 program. 010 G24 CAN #X100 P100 PB1; Execution of cancel start function G90 G01 X200. F1000. ; G23; Cancel start function invalid
6 56
Code G24
Cancel, cancel start
Cancels the running program and automatically starts the
specified start program.
This function is valid until cancel or cancel start function
invalidity (G23) is executed.
Function
6.8.10 G24 Cancel, cancel start
[Explanation] Turning ON the cancel device signal during execution of this command
decelerates the axis to a stop and cancels the running program (cancel function). When the start program number Pn has been set, turning ON the cancel signal decelerates the axis to a stop and automatically starts the specified program (cancel start function).
This command cannot be used with the home position return (G28) instruction.
In a waiting status for a restart (single block, M00, M01) during macro processing, this command is made valid after completion of the processing.
If the cancel device turns ON during move block switching, a cancel start is made valid at the processing of the next move block when there are no operating axes (no high-speed oscillation axes).
The devices that may be used for cancel are X, Y, M, TC, TT, CC, CT, B and F. By assigning the input signal designed for high-speed read function to the cancel device, response is made faster than the input from the PC.
The setting range of the program number Pn for a start is 1 to 256.
The parameter block of the start program can be set with PBn. The setting range of the parameter block number PBn is 1 to 16. If the setting of the parameter block number PBn is omitted, it is fixed to parameter block number 1.
The program number Pn and parameter block number PBn set for a start can be set by indirect designation using a variable, D or W (2-word data).
When G24 exists at any point between continuous CP blocks, the axis decelerates to a stop once. N1 G24 CAN #X100; N2 G01 X200. F2000. ; N3 X300.Y200. ; N4 G24 CAN #X101;
N5 G01 X50.Y50 F1000. ;
Cancel function for N1 is valid until G24 or G23 is specified.
Cancel function for N1 is made invalid and the axis decelerates to a stop. Cancel function for N4 is valid until G24 or G23 is specified.
6 57
Format
G24 CAN #X x P n PBn; Parameter block number (can be specified indirectly) Start program number (can be specified indirectly) Cancel device (X, Y, M, TC, TT, CC, CT, B, F) Cancel designation
When G24 is executed after high-speed oscillation (G25), the high-speed oscillation axis also stops. N1 G25 X START90. STRKI. F10; N2 G24 CAN #X100 P100; N3 G01 Y100. Z100. F1000. ; N4 G26 X; N5 G01 X0. Y0. Z0. F1000. ; N6 G23;
Cancel function for N2 is valid between N3 and N5. Note that the high-speed oscillation axis also stops if cancel is made invalid in this area.
If the start program number Pn is omitted (cancel function), the running program ends when the cancel device turns ON.
When setting the start axes in the SVST instruction, also include the axis number to be executed in the start program. Making a start turns ON the start acceptance flag of the set axis. The start acceptance flag turns OFF once at a cancel time, but it turns ON again when the axis is started in the original program at a start program run.
[Program Example] Program which cancels program operation during a 010 program run and starts
0100. (Command unit is mm) 010; 1) G24 CAN #X100 P100 PB1; Execution of cancel start function 2) G90 G01 X200. F1000. ; Cancel device X100 turns ON midway.
After deceleration to stop, 0100 starts. 0100; 3) G90 G01 X50. F600. ; X axis moves to 50mm position at 600mm/min.
Program 010 Program 0100
Time
Speed (mm/min)
1000.
-600.
X100
Device
M2001
6 - 58
Code
Function
G25
High-speed oscillation
Oscillates the specified axis in a sine curve.
6.8.11 G25 High-speed oscillation
[Explanation] The specified axis oscillates in a sine curve.
Amplitude
Starting angle
0
360[degree]
Amplitude : Specify the oscillating amplitude in the setting unit. It can be specified indirectly by a variable, D or W (2-word data). The setting range is 1 to 2147483647. If the setting is outside the range, a minor error (error code: 585) occurs, disabling a start.
Starting angle: Specify the starting position with the angular position of a sine curve. It can be specified indirectly by a variable, D or W (2-word data). Set it within the range is 0 to 359.9 [degrees] in 0.1 degree increments. If the setting is outside the range, a minor error (error code: 586) occurs, disabling a start.
Frequency : Specify the number of cycles in which the axis will be operated for 1 minute in a sine curve. It can be specified indirectly by a variable, D or W (2-word data). The setting range is 1 to 5000 [CPM]. If the setting is outside the range, a minor error (error code: 587) occurs, disabling a start.
6 - 59
Format
G25 X START s STRK a F f; Frequency (can be specified indirectly) Frequency designation (can be specified indirectly) Amplitude (can be specified indirectly) Amplitude designation Starting angle (can be specified indirectly) Starting angle designation Axis name
This command is valid for the specified block only (group 00).
After a start, operation continues until G26, high-speed oscillation stop, is executed or the stop command is entered.
Acceleration/deceleration processing is not performed. When you want to avoid a sudden start, set the starting angle to 90.0 [degrees] or 270.0 [degrees].
[Program Example] Program in which the X axis oscillates in the sine curve of 10 [mm] amplitude, 90
[degree] starting angle and 30 [CPM] frequency. (Command unit is mm)
G25 X START 90. STRK 10. F30;
Note: The starting angle (START) is valid to the first decimal place. Example (1) START 90. .............. Means 90.0 (degrees).
(2) START 90. .............. Means 9.0 (degrees). (3) In START #10
#10 = 900 ............... Means 90.0 (degrees). #10 = 1 ................... Means 0.1 (degrees).
6 - 60
Code
Function
G26
High-speed oscillation stop
function
Terminates the high-speed oscillation of the axis which is
performing high-speed oscillation.
6.8.12 G26 High-speed oscillation stop
[Explanation] Stops the high-speed oscillation of the axis which is performing high-speed
oscillation.
Use this command in pairs with a high-speed oscillation start. When the corresponding axis is not stopped up to a program END (M02, M30) after a high-speed oscillation start, high-speed oscillation is kept performed at a program END. Also, do not set a stop to the axis which has not made a high-speed oscillation start. In that case, a minor error (error code: 582) is displayed and execution proceeds to the next block.
6 - 61
Format
G26 X; Axis name
[Program Example] N01 G91 G01 X10. Y10. F100. ; N02 G25 X START 0. STRK 1000. F100. ; N03 G01 Y10. ; N04 G26 X; N05 G01 X10. Y10. ; M02;
G01 G01 G01
G01 G25 G01
G26 Time
Y axis speed
X axis speed
If the start command of the X axis (high-speed oscillation start axis) is described in the N03 block, a minor error (error code: 581) is displayed when this block is executed, and this program is suspended.
6 - 62
Code
Function
G28
Home position return
When the home position return request is ON, ignores the mid
point specified and makes a dog, count or data setting type
home position return. When the home position return request
is OFF, returns the axis from the present position to the home
position through the specified mid point at rapid feedrate.
6.8.13 G28 Home position return
[Explanation] When the home position return request is ON, this command ignores a mid point
and returns the specified axis to the home position. When the home position return request is OFF, this command positions the axis from the present position to the home position through the specified mid point at rapid feedrate.
Home positionPresent position
Mid point
When home position return request is ON
When the home position return request is ON, the home position return method is determined by the home position return data. Note: When the home position return request is ON and the data setting type is
specified, the axis must always be made to pass through the zero point. A "zero point non-passage error" will occur if a home position return is made without passing through the zero point once. If this error has occurred, reset the error, perform JOG operation or the like to run the servo motor more than one revolution, then execute a home position return again. Use the zero point passage signal (M1606+20n) to check whether the axis has passed through the zero point.
Always specify the axis which will be returned to the home position. If it is not specified, a home position return will not be made.
Always set the mid point coordinates.
The mid point data setting can be made by direct designation (numerical value) or indirect designation (variable: #****).
The tool length offset and virtual mechanical coordinates (refer to Section 6.8.25) of the axis which was returned to the home position are canceled. Mid point designation depends on the position command system (G90, G91) currently selected.
When the control unit is degrees, operation from the mid point to the home position differs between the absolute value command (G90) and incremental value command (G91). The axis moves in the nearest path under the absolute value command (G90), or in the direction specified in the home position return direction parameter under the incremental value command (G91).
[Related Parameters] Home position address: Set the present value of the home position. (Refer to the
home position return data in Section 4.4.) Rapid feedrate : Set the rapid feedrate of each axis. (Refer to the fixed
parameters in Section 4.2.4.)
6 - 63
Format
G28 X x Y y Z z; Mid point coordinates
[Program Example] Program which returns the axis from the present position to the home position
through the A point (mid point). G90; G28 X200. Y200. ; (Home position return)
Home positionPresent position
A point (mid point coordinates X200, Y200)
When home position return request is ON
REMARK
When the G28 command is given, a home position return is made at rapid feedrate.
6 - 64
Code
Function
G30
Second home position return
Returns the axis from the present position to the second
home position through the specified mid point at rapid
feedrate.
6.8.14 G30 Second home position return
[Explanation] This command positions the specified axis from the present position to the second
home position through the specified mid point at rapid feedrate.
Second home positionPresent position
Mid point
Always specify the axis which will be returned to the second home position. If it is not specified, a second home position return will not be made.
Always set the mid point coordinates.
The mid point data setting can be made by direct designation (numerical value) or indirect designation (variable: #****).
The tool length offset and virtual mechanical coordinates (refer to Section 6.8.25) of the axis which was returned to the second home position are canceled. Mid point designation depends on the position command system (G90, G91) currently selected.
When the control unit is degrees, operation from the mid point to the second home position differs between the absolute value command (G90) and incremental value command (G91). The axis moves in the nearest path under the absolute value command (G90), or in the direction specified in the home position return direction parameter under the incremental value command (G91).
[Related Parameters] Second home position address: Set the present value of the second home position.
(Refer to the home position return data in Section 4.4.)
Rapid feedrate : Set the rapid feedrate of each axis. (Refer to the fixed parameters in Section 4.2.4.)
6 - 65
Format
G30 X x Y y Z z; Mid point coordinates
[Program Example] Program which returns the axis from the present position to the second home
position through the A point (mid point). G90; G30 X200. Y200. ; (Second home position return)
Second home positionPresent position
A point (mid point coordinates X200, Y200)
REMARK
When the G30 command is given, a second home position return is made at rapid feedrate.
6 - 66
Code
Function
G32
Skip
Moves the axis at the specified feedrate, suspends the
remaining command at the input of an external signal, and
executes the next block.
Skips dwell similarly when there is only the dwell command.
6.8.15 G32 Skip
[Explanation] When the skip signal is entered during execution of G32, skip, the remaining
motion of that block is suspended and the next block is executed. Dwell may also be skipped by giving the dwell command (P) in the G32 block without specifying the axis.
A format error occurs if the axis command or M code and the dwell command are described at the same time.
Specify the dwell time in the range 1 to 65535 in increments of 0.001 seconds.
Specify the skip signal in the program.
The skip function makes a skip when the skip signal turns ON.
This command is valid for the specified block only (group 00). The interpolation type of this command is the CP mode.
When the skip signal is not input until the end point of this command block, the block completes at the end point.
For dwell/skip, the block completes on completion of the dwell processing.
The next circular interpolation cannot be made.
The F command is handled like G01.
6 - 67
Format
Skip device (X,Y,M,TC,TT,CC,CT,B,F) Skip command Feedrate (can be specified indirectly) Feedrate command Positioning address (can be specified indirectly) Axis name
G32 X x Y y F f SKIP #Xx;
G32 P p SKIP #Xx; Skip device (X,Y,M,TC,TT,CC,CT,B,F) Skip command Dwell time Dwell command
The coasting value A between skip signal detection and a stop is represented by the following expression.
A(mm)= (t1+ +Tr) 60 F
2 tcl
F : Command speed [mm/min] t1 : Signal import delay time = 0.004 + detection delay time [sec] tcl : Acceleration/deceleration time [sec] Tr : Position loop time constant [sec]
(Reciprocal number of position control gain 1 value set in servo parameter. When position control gain 1 = 25, Tr = 1/25 = 0.04 [sec])
Under the following conditions, G32 makes deceleration to a stop once, then proceeds to the next block. 1) When the PTP mode (G00, G25, G28, G30 or the like) is executed after the
G32 block N10 G32 X100. F1000. SKIP #X10; N20 G00 X200. ; N30 G32 X300. F1000. SKIP #X11;
The axis decelerates to a stop before this block.
2) High-speed oscillation stop (G26) is executed after the G32 block N10 G25 Y START 90. STRK 1. F400. ; N20 G32 X100. F1000. SKIP #X10; N30 G26 Y; G32 X200. F1000. SKIP #X11;
The axis decelerates to a stop before this block.
3) When the absolute value command (G90) or incremental value command (G91) is executed after the G32 block N10 G90; N20 G32 X100. F1000. SKIP #X10; N30 G91; N40 G32 X200. F1000. SKIP #X11;
The axis decelerates to a stop before this block.
6 - 68
4) When the block immediately after G32 is in the CP mode but its command axes do not include the specified axis of the G32 block N10 G32 X100. F1000. SKIP #X10; N20 G32 X100. Z100. F1000. SKIP #X11;
The axis decelerates to a stop before this block.
[Program Example] Program designed to make multiple skips under the control of external skip signals
specified from the program midway through positioning. (Under incremental value command) G91; G32 X100. F2000 SKIP #X180; Turns ON the X180 signal midway. G32 X100. F1000 SKIP #X181; Turns ON the X181 signal midway. G32 X200. F1500 SKIP #X182; Turns ON the X182 signal midway.
0
X180
X181
X182
X axis speed
Time
Under dwell command If cancel device X100 turns ON during dwell in N01, G0 in N02 where dwell was suspended is executed. N01 G32 P1000 SKIP #X1000; N02 G90 G0 X100. ;
6 - 69
CAUTION
The following operation assumes that a skip (G32) is specified during constant-speed control (G01) and the degree axis without a stroke range is included. When, under this condition, an instruction of an absolute value command exists after a skip, the last positioning point and the travel distance in the whole program are the same independently of whether a skip is executed or not. This is indicated by the following example.
(1) When the skip instruction is an incremental value command and subsequent instructions are also incremental value commands
G32 X180. SKIP#X100 F10. ;
G01 X180. ;
G01 X270. ;
0 180 0 270 (degree)
0 100 280 190 (degree)
(2) When the skip instruction is an absolute value command and subsequent instructions are also absolute value commands
G90;
G32 X180. SKIP#X100 F10. ;
G01 X350. ;
G01 X170. ;
0 180 350 170 (degree)
0 100 350 170 (degree)
The last positioning point is the same if a skip is not provided.
(*) It should be noted that the above explanation is valid between a skip (G32) and deceleration to a stop (CP to PTP, etc.) After deceleration to a stop, operation of the ordinary degree axis is performed. The conditions of deceleration to a stop after a skip (G32) are described below. For more information, refer to "6.8.15 G32 Skip". 1) When the PTP mode (G00, G25, G28, G30 or the like) is executed after the G32 block 2) High-speed oscillation stop (G26) is executed after the G32 block 3) When the absolute value command (G90) or incremental value command (G91) is executed
after the G32 block 4) When the block immediately after G32 is in the CP mode but its command axes do not
include the specified axis of the G32 block
6 - 70
Code
Function
G43
Tool length offset (+)
Moves the axis with the preset offset value added to the move
command.
By setting a difference between the tool length value and
actual tool length as the offset value, you can create a
program without being aware of the tool length.
6.8.16 G43 Tool length offset (+)
[Explanation] By executing this command, the axis moves to the position which results from
adding the offset value set in the tool length offset data setting registers to the end position of the move command.
In the following case, the tool length offset command is canceled. G49; G43 H0; G44 H0;
Tool length offset cancel command
Set the offset data number 0 to cancel the tool length offset.
This command may be given to one axis only. If this command is given to two or more axes, it is valid for the last specified axis. G43 X1. Y1. Z1. H1; The Z axis is made valid. If no axis is specified, the last specified axis is made valid. G01 Z1; G43 H1; The Z axis is made valid.
As this command is a modal instruction, the offset value is retained until the offset value is canceled (G49).
Tool length offset may be made to only one axis simultaneously. (Both G43 and G44)
G43 X100. H1; G43 Y100. H2; Cannot be used this way.
[Related Parameters] Tool length offset value: Set in the tool length offset data setting registers. (Refer to Section 3.2.3.)
6 - 71
Format
G43 X x H h; Offset data number Positioning address Axis name
[Program Example] Program designed to position the axis with the offset value added to the command
position. (For absolute value command) (Data of the tool length offset data setting registers are as follows: H1 = 5mm (D560, 561 = 50000), H2 = 10mm (D562, 563 = 100000)) G90; (Absolute value command) G00 G43 X50. H1 (With the addition of the offset value of 5mm, the X axis is
positioned to its 55mm position) G01 X25. F500. ; (The X axis moves to its 30mm position at 500mm/min.) Y100. ; (The Y axis moves to its 100mm position at 500mm/min.) G43 X200. H2; (With the addition of the offset value of 10mm, the X axis
moves to its 210mm position (offset value change))
6 - 72
Code
Function
G44
Tool length offset (-)
Moves the axis with the preset offset value subtracted from
the move command.
By setting a difference between the tool length value and
actual tool length as the offset value, you can create a
program without being aware of the tool length.
6.8.17 G44 Tool length offset (-)
[Explanation] By executing this command, the axis moves to the position which results from
subtracting the offset value set in the tool length offset data setting registers from the end position of the move command.
In the following case, the tool length offset command is canceled. G49; G43 H0; G44 H0;
Tool length offset cancel command
Set the offset data number 0 to cancel the tool length offset.
This command may be given to one axis only. If this command is given to two or more axes, it is valid for the last specified axis. G44 X1. Y1. Z1. H1; The Z axis is made valid. If no axis is specified, the last specified axis is made valid. G01 Z1. ; G44 H1; The Z axis is made valid.
As this command is a modal instruction, the offset value is retained until the offset value is canceled (G49).
Tool length offset may be made to only one axis simultaneously. (Both G43 and G44)
G44 X100. H1; G44 Y100. H2; Cannot be used this way.
[Related Parameters] Tool length offset value: Set in the tool length offset data setting registers. (Refer to Section 3.2.3.)
6 - 73
Format
G44 X x H h;
Axis name
Offset data number Positioning address
[Program Example] Program designed to position the axis with the offset value subtracted from the
command position. (For absolute value command) (Data of the tool length offset data setting registers are as follows: H1 = 5mm (D560, 561 = 50000), H2 = 10mm (D562, 563 = 100000)) G90; (Absolute value command) G00 G44 X50. H1; (With the subtraction of the offset value of 5mm, the X axis is
positioned to its 45mm position) G01 X25. F500. ; (The X axis moves to its 20mm position at 500mm/min.) Y100. ; (The Y axis moves to its 100mm position at 500mm/min.) G44 X200. H2; (With the subtraction of the offset value of 10mm, the X axis
moves to its 190mm position (offset value change))
6 - 74
Code
Function
G49
Tool length offset cancel
Cancels the preset tool length offset value (G43, G44).
6.8.18 G49 Tool length offset cancel
[Explanation] This command cancels the preset tool length offset value (G43, G44) and performs
the specified positioning.
Always specify the positioning address for tool length offset cancel.
[Related Parameters] Power-on mode: At power-on, the tool length offset cancel mode is established.
6 - 75
Format
G49 X x; Positioning address Axis name
[Program Example] Program designed to cancel the offset value and perform the specified positioning
after positioning has been executed by tool length offset. (For absolute value command) (Data of the tool length offset data setting registers are as follows: H1 = 5mm (D560, 561 = 50000), H2 = 10mm (D562, 563 = 100000)) G90; (Absolute value command) G00 G43 X50. H1; (With the addition of the offset value of 5mm, the X axis is
positioned to its 55mm position) G01 X25. F500. ; (The X axis moves to its 30mm position at 500mm/min.) Y100. ; (The Y axis moves to its 100mm position at 500mm/min.) G43 X200. H2; (With the addition of the offset value of 10mm, the X axis
moves to its 210mm position (offset value change)) G49 X100. ; (With the offset value canceled, the X axis moves to its
100mm position at 500mm/min.)
6 - 76
Code
Function
G53
Mechanical coordinate
system selection
Moves the axes to the command position in the basic
mechanical coordinate system at rapid feedrate.
6.8.19 G53 Mechanical coordinate system selection
[Explanation] The basic mechanical coordinate system represents the position determined for a
specific machine (e.g. tool changing position, stroke end position). It is automatically set relative to the predetermined reference point after a home position return is executed by the DSFLP instruction at power-on.
Not being a modal instruction, this command is valid for the specified block only.
When G53 and G28 are specified in the same block, the latter command is valid. G53 G28........; G28 is valid (home position return command) G28 G53........; G53 is valid (mechanical coordinate system selection
command)
When G53 and G30 are specified in the same block, the latter command is valid. G53 G30........; G28 is valid (second home position return command) G30 G53........; G53 is valid (mechanical coordinate system selection
command)
The offset specified in G92 is not valid.
The tool length offset specified in G43 or G44 is not valid.
Under the incremental value command (G91), the axes move at the incremental value in the mechanical coordinate system, and under the absolute value command (G90), the axes move at the absolute value in the mechanical coordinate system.
[Example] G91; (For incremental value command)
G53 X10. Y10.;
G90; (For absolute value command)
G53 X10. Y10. ;
10 20 30
10
20
30
X
Y
Present position (20, 20)
(30,30)
Basic mechanical coordinates 10 20 30
10
20
30
X
Y
Present position (20, 20)
(10,10)
Basic mechanical coordinates
Positioning data can be set by direct designation (numerical value) or indirect designation (variable: #****).
6 - 77
Format
G53 X x Y y Z z; Coordinates in basic mechanical coordinate system
[Program Example] Program designed to position the axes to the specified position in the work
coordinate system after positioning them to the specified position in the basic mechanical coordinate system in the absolute value mode. 0) G90; (Absolute value command) 1) G53 X10. Y10. ; (Axes move to X10. Y10. in the basic mechanical
coordinates) 2) G01 X10. Y10. F20. ; (Axes move to X10. Y10. in the work coordinates)
10
10
X
Y
Present position
Basic mechanical coordinates
10
10
Y
X
Work coordinates 2)
1)
(Unit: mm)
REMARK
Motion under G53 is always processed by G00. (The modal group 01 is not changed.)
6 - 78
Code
Function
G54, G55, G56, G57, G58, G59
Work coordinate system 1 to
6 selection
Selects the work coordinate system and moves the axes to
the specified position in the work coordinate system at the
speed specified in the feedrate.
6.8.20 G54 to G59 Work coordinate system selection
[Explanation] Work coordinate systems 1 to 6 are coordinate systems specified in the
parameters or work coordinate system setting. Set the offset value in the work coordinate system using the distance from the basic mechanical coordinate system origin (0).
The coordinate system of G54 is selected at a motion program start.
Being a modal command, any of work coordinate systems 1 to 6 is valid until the next work coordinate system 1 to 6 selection command is given.
Giving the G92 command in any of the G54 to G59 modes allows a new work coordinate system to be set. Giving the G92 command causes all work coordinates systems (1 to 6) to move in parallel.
Move mode (moving method): G00 to G03 depend on the data of the modal information group 01.
CP mode (constant-speed control): G61 and G64 depend on the the data of the modal information group 13.
Positioning data can be set by direct designation (numerical value) and indirect designation (variable: #****).
[Related Parameters] Work coordinate system offset value: Specify the offset in the work coordinate
system using the distance from the basic mechanical coordinates. (Refer to the work coordinate data in Section 4.7.) Up to six work coordinate systems may be set. (Work coordinate systems 1 to 6)
6 - 79
Format
G54 X x Y y Z z;
G59 Position located in specified work coordinate system
[Program Example]
Program designed to position the axes to the specified position in the work coordinate system 1. (The offset of the work coordinate system 1 is X500, Y500) 0) G90; (Absolute value command) 1) G28 X0. Y0.; (Home position return) 2) G53 X0. Y0.; (Axes move to the basic mechanical coordinate origin) 3) G54 X500. Y500.; (Axes move to the specified position in the work
coordinate system 1) 4) G91 G01 X500. F10. ; (Incremental value command positioning)
500 1000 1500
500 1000 500
1000 500
Basic mechanical coordinates X
(Unit: mm)
Work coordinate system 1 X
Y Y
1)
2)
3)
4)
Y500 in the parameter setting of work coordinate data, then change the work coordinate system to new work coordinate system 1. 1) G54 G92 X-200. Y-200. ; (New work coordinate system 1 setting)
(After execution of 1), the present value is changed to X-200, Y-200.)
500 1000 1500
500
1000
X Basic mechanical coordinates
X Old work coordinate system 1
Y Y
1)
Y
X New work coordinate system 1
Work position
(0,0)
X-200
Y-200
*The offsets of the work coordinate systems 2 to 6 are also shifted.
6 - 80
Code
Function
G61
Exact stop check mode
Moves the axis point-to-point (PTP).
6.8.21 G61 Exact stop check mode
[Explanation] This command is used with the interpolation instruction. Executing this command
moves the axis PTP. The instruction codes usable with this command are G01, G02 and G03 only.
In this system, the next block is executed after deceleration to a stop per specified coordinates.
Being a modal instruction, this command is valid until the cutting mode (G64) is commanded.
T
V
X axis
T
V
X axis
6 - 81
Format
G61;
[Program Example] Program designed to position the axis in the exact stop check mode.
1) G61 G01 X100. F500.; (Positioning in the exact stop check mode) 2) X200. ; (Positioning in the exact stop check mode) 3) X300. ; (Positioning in the exact stop check mode)
T
V
X axis 1) 3)2)
REMARK
Only the rapid feedrate may be the specified speed in G00. To specify the speed every time PTP positioning is executed, you can use G61 and G01.
6 - 82
Code
Function
G64
Cutting mode
Executes the next block continuously without deceleration to
a stop between cutting feed blocks.
6.8.22 G64 Cutting mode
[Explanation] Designed to position the axis to the specified coordinate position approximately,
this command performs continuous operation without deceleration to a stop per specified coordinates unlike the exact stop check mode. Use this command when you want to make a smooth connection with the interpolation instruction (G01, G02, G03).
The cutting mode is established at a motion program start.
Being a modal instruction, this command is valid until the exact stop check mode (G61) is commanded.
T
V
X axis
T
V
X axis
6 - 83
Format
G64;
[Program Example] Program designed to position the axis in the cutting mode.
1) G64 G01 X100. F500. ;(Positioning in the cutting mode) 2) X200. ; (Positioning in the cutting mode) 3) X300. ; (Positioning in the cutting mode)
T
V
X axis 3)2)1)
6 - 84
Code
Function
G90
Absolute value command
Sets the coordinate command as an absolute value
command.
6.8.23 G90 Absolute value command
[Explanation]
In the absolute value command mode, the axes move to the specified coordinate
position independently of the present position. The positioning command set after
execution of this command performs operation with the absolute value from the
origin coordinates.
Being a modal instruction, this command is valid until the incremental value
command mode (G91) is commanded.
The absolute value command mode is established at a motion program start.
[Example]
G90 X100. Y100.;
50 100
50
100
Present value (50, 50)
(100,100)
X
Y
50 100
50
100
Present value (80, 20)
(100,100)
X
Y
At present position coordinates of X50, Y50 At present position coordinates of X80, Y20 (Unit: mm)
Positioning data can be set by direct designation (numerical value) and indirect
designation (variable: #****).
6 - 85
Format
G90 X x Y y Z z; Locating position
[Program Example]
Example of comparison of positioning between the absolute value command and
incremental value command
G91 X70. Y70.;
G90 X70. Y70.;
(100,100)
X
Y
(Unit: mm)
(70,70)
Present value (30, 30)
Under absolute value command
Under incremental value command
6 - 86
Code
Function
G91
Incremental value command
Sets the coordinate command as an incremental value
command.
6.8.24 G91 Incremental value command
[Explanation]
In the incremental value command mode, the axes move the distance of the
specified relative value from the starting point (0) of the present position.
The positioning command set after execution of this command performs operation
with the incremental value from the present position.
Being a modal instruction, this command is valid until the absolute value command
mode (G90) is commanded.
The absolute value command mode is established at a motion program start.
[Example]
G91 X100. Y100.;
50 100
50
100
Present value (50, 50)
(150,150)
X
Y
50 100
Present value (80, 20)
X
At present position coordinates of X50, Y50 At present position coordinates of X80, Y20 (Unit: mm)
150 150 200
150
50
100
Y
150
(180,120)
Positioning data can be set by direct designation (numerical value) and indirect
designation (variable: #****).
6 - 87
Format
G91 X x Y y Z z; Locating position
[Program Example]
Example of comparison of positioning between the incremental value command
and absolute value command
G90 X70. Y70.;
G91 X70. Y70.;
(100,100)
X
Y
(Unit: mm)
(70,70)
Present value (30, 30)
Under absolute value command
Under incremental value command
6 - 88
Code
Function
G92
Coordinate system setting
Sets the mechanical coordinates (virtual mechanical
coordinates) simulatively.
Setting the virtual mechanical coordinate system also
changes the work coordinate systems 1 to 6.
6.8.25 G92 Coordinate system setting
[Explanation]
The present position in the work coordinate system is changed to the specified
coordinate value to set new work coordinates. The work coordinate system is set
in the specified position (offset from the present position).
Making coordinate system setting sets the virtual mechanical coordinates and
moves the work coordinate systems 1 to 6 in parallel.
[Example]
G92 X20. Y30.;
X
Y Y
X
Mechanical coordinates
Work coordinates
Present position
Mechanical coordinates
Old work coordinates
Present position
Y
X Virtual mechanical coordinates
Y
X New work coordinates
Positioning data can be set by direct designation (numerical value) and indirect
designation (variable: #****).
When the software version of the controller operating system SV43C, SV43F,
SV43U or SV43B is Ver. 00F or earlier and G92 is to be executed in the CP mode
(e.g. G01), execute G92 after executing M100 (preread inhibit) to decelerate the
axes to a stop once.
When the software version of the controller operating system SV43C or SV43F is
Ver. 00G or later, executing G92 in the CP mode (e.g. G01) decelerates the axes
to a stop once. When G92 is executed in the single block mode with this software
version or later, making a single block start twice in the same block shifts
execution to the next block.
POINT
If the present value is changed in G92, the present value data restored after a power failure is based on the status prior to execution of G92.
[Program Example]
Program designed to set the work coordinate system in the specified position.
G92 X20. Y30.;
6 - 89
Format
G92 X x Y y Z z; Set coordinate value (Specify the offset from the present position)
X
Y Y
X
Mechanical coordinates
Work coordinates
Present position
Mechanical coordinates
Old work coordinates
Present position
Y
X Virtual mechanical coordinates
Y
X
New work coordinates 20
30
(Unit :mm)
6 90
Code G100, G101
Time-fixed
acceleration/deceleration,
acceleration-fixed
acceleration/deceleration
switching instructions
Changes the acceleration/deceleration system to time-fixed
acceleration/deceleration or acceleration-fixed
acceleration/deceleration.
Function
6.8.26 G100, G101 Time-fixed acceleration/deceleration, acceleration-fixed acceleration/deceleration
switching instructions
[Explanation]
The acceleration/deceleration system of the move command G01, G02, G03, G32
or G00 (with M code) is switched to time-fixed acceleration/deceleration or
acceleration-fixed acceleration/deceleration.
Specify the G code of this command independently.
Use G100 to choose time-fixed acceleration/deceleration.
The G100 status is established at a start.
Use G101 to choose acceleration-fixed acceleration/deceleration.
Under G101, acceleration-fixed acceleration/deceleration, the M code does not
wait for FIN. (The M code is output to the M code storage register but the M code
outputting signal does not turn ON.)
Acceleration/deceleration in the acceleration-fixed mode is valid until:
1) G100, time-fixed acceleration/deceleration instruction, is executed;
2) The program ends under M02;
3) The program is stopped by the rapid stop command, stop command, error reset
or emergency stop; or
4) The program is stopped at error occurrence.
When G100 is changed to G101 or G101 to G100, the axes decelerate to a stop.
6 91
Format
G100;
G101;
[Program Example]
Program designed to make the acceleration-fixed acceleration/deceleration mode
of the acceleration/deceleration system valid, then invalid midway through the
program (command unit: mm) 010; G91; N1 G28 X0. Y0.; N2 G01 X100. F1000.; N3 Y100.; N4 G101; N5 X100.; N6 Y100.; N7 G100; N8 X100.; N9 Y100.; M02; %
Time-fixed acceleration/deceleration (at start, operation is performed under G100) Deceleration to stop after execution
Acceleration-fixed acceleration/deceleration Deceleration to stop after execution
Time-fixed acceleration/deceleration
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 92
6.9 M Codes
This section explains the M codes used in motion programs.
(1) M codes When a motion program is run, the 4-digit code data following M is output to the data register (D) in the M command block. The processing of the next block is not executed until the FIN signal (M1819+20n/M3219+20n) is entered. (Refer to Section 7.11 for relationships between the M codes and FIN signal.)
M****
Numeral Setting range : 0 to 9999
(except M00, M01, M02, M30, M98, M99 and M100)
The M codes usable are 9993 types since M00, M01, M02, M30, M98, M99 and M100 are fixed in functions and they are special M codes. (Refer to Section 6.10 for the special M codes.)
6.10 Special M Codes
Table 6.7 lists the arguments of the special M codes.
Table 6.7 Special M Code Argument List
Axis
Command (*1)
Radius
Command (R)
Center Point
Command (I,J)
M Code
(*2) G code Feed (F) H L N O P Remarks
M00
M01
M02
M30
M98
M99
M100
Other M
codes
: May be set. Blank : Must not be set.
*1 The axis commands are X, Y, Z, U, V, W, A, B, and C. *2 M codes indicate those other than M00, M01, M02, M30, M98, M99 and M100.
6 - 93
Code
Function
M00
Program stop
Stops a program run.
6.10.1 M00 Program stop
[Explanation]
Executing this command stops the program without execution of the next block.
By turning ON the restart signal (M1504+10n/M4404+10n) after a stop, execution
resumes from the next block.
6 - 94
Format
M00;
[Program Example]
Program designed to make a stop during positioning operation and restart
positioning.
1) G01 X100. F10.; (Positioning)
2) M00; (Program stop) Restart signal (M1504+10n/M4404+10n) ON
3) G01 X200.; (Restart signal resumes positioning)
T
V
X axis 3) G01 X200.1) G01 X100.
2)
Restart (M1504+10n/M4404+10n) ON
During stop as M00 is being executed
6 - 95
Code
Function
M01
Optional program stop
When the optional program stop is ON, executing M01 stops
a program run.
6.10.2 M01 Optional program stop
[Explanation]
When the optional program stop (M1501+10n/M4401+10n) is ON, executing this
command stops the program without execution of the next block.
By turning ON the restart signal (M1504+10n/M4404+10n) after a stop, execution
resumes from the next block.
When the optional program stop (M1501+10n/M4401+10n) is OFF, the next block
is executed without a program stop.
6 - 96
Format
M01;
[Program Example]
Program which uses the optional program stop (M01).
1) G01 X100. F10.; (Positioning)
2) M01; (Optional program stop)
3) G01 X200.; (Positioning)
T
V
X axis 3) G01 X200.1) G01 X100.
2)
Restart (M1504+10n/M4401+10n) ON
During stop as M01 is being executed
T
V
X axis 3) G01 X200.1) G01 X100.
2) is not executed.
REMARK
M01 performs the same operation as "M00" when the optional program stop (M1501+10n/M4401+10n) is ON.
6 - 97
Code
Function
M02
Program end
Ends a program.
6.10.3 M02 Program end
[Explanation]
Executing this command ends a program run.
This command is required at the end of a program.
6 - 98
Format
M02;
[Program Example]
Program which is ended after positioning control.
G90; (Absolute value command)
G01 X100. Y200. F100.; (Positioning)
X200. Y300.; (Positioning)
G00 X0. Y0.; (Positioning)
M02; (Program end) ..... Also be enabled by M30.
%
REMARK
M02 and M30 have the same function.
6 - 99
Code
Function
M30
Program end
Ends a program.
6.10.4 M30 Program end
[Explanation]
Executing this command ends a program run.
This command is required at the end of a program.
6 - 100
Format
M30;
[Program Example]
Program which is ended after positioning control.
G90; (Absolute value command)
G01 X100. Y200. F100.; (Positioning)
X200. Y300.; (Positioning)
G00 X0. Y0.; (Positioning)
M30; (Program end) ..... Also be enabled by M02.
%
REMARK
M30 and M02 have the same function.
6 101
Code M98, M99
Subprogram call,
subprogram end
Make subprogram call (M98) and subprogram end (M99).
Function
6.10.5 M98, M99 Subprogram call, subprogram end
[Explanation]
A program of the same pattern can be registered as a single subprogram and
called as required from the main program.
Argument program number, sequence number and repeat number may be omitted.
When omitted, these numbers are as follows.
Program number : Main program
Sequence number : First
Repeat count : Once
[Example]
M98; Executes once from the beginning of the main program.
A subprogram can be called from another subprogram. This is called subprogram
nesting. Subprograms may be called (nested) to the depth of eight levels. Main program
0100;
M98 P110;
M02; %
Subprogram
0110;
M98 P120;
M99; %
Subprogram
0120;
M98 P130;
M99; %
Subprogram
0130;
M98 P140;
M99; %
Subprogram
0180;
M99; %
(First level) (Second level) (Third level) (Eighth level)
May be nested to 8 levels
Returns to the block next to the call block.
6 102
Format
M98 P p H h L l; Subprogram repeat count (0 to 9999)
Subprogram call program number (1 to 256) Subprogram call sequence number (1 to 9999)
M99;
[Program Example] Program designed to run the specified subprogram twice repeatedly, return to the
main program, and complete operation. Main program Subprogram
M98 P120 H20 L2;
M02 %
0110;
N20;
M99; %
0120;
Program designed to call a subprogram from another subprogram.
Main program
0201; N200 G91; N210 G01 X100. Y100. F2000.; X200.; Y200.; N220 G01 Y300. F1500.; X300.; N230 G02 X50. Y50. I0. J50. F800.; N240 G01 X100. Y500. F2000.; N250 M98 P202; M99; %
Subprogram
0202; N300 G91; G61; N310 G02 X50. Y50. I0. J50. F500.; N320 G01 X100. Y100. F1500.; N330 G90; M99; %
Subprogram
3)
6)
2)
1)
4)
5)
8)
7)
0200; N010 M98 P202; N020 G90; G61; N030 G01 X50. Y50. F800.; X60.; N040 G00 X10.; G01 Y100. F600.; N050 M98 P201; N060 G0 X30. Y20.; X20.; N070 M98 P202; N080 G91 G01 X100. F700.; X20.; Y30.; M02; %
1)
3)
7)
4) 6)
2), 5), 8)
6 - 103
Code
Function
M100
Preread inhibit
Does not execute preread on the G code software.
6.10.6 M100 Preread inhibit
[Explanation]
Executing this command does not execute preread on the G code software.
After completion of motion up to the preceding block, the next block is processed.
6 - 104
Format
M100;
[Program Example]
N10 G01 X10. F10.; M100;
IF [#100 EQ150] GOTO20;
N15 G01 Y10.;
N20 G01 X0. Y0.;
Since M100 exists in the next block, a
change in #100 during execution of the
command on this line is reflected on the IF
statement below.
X speed
Time
X speed
When #100 150 When #100=150
Y speed Y speed
N10 N15 N10 N20
*1 *1
*1 When M100 is executed, CP does not continue from N10 to N15 or from N10 to N20 and the axis decelerates to a stop once after execution of N10.
Time
Time
Time
6. MOTION PROGRAMS FOR POSITIONING CONTROL
6 105
6.11 Miscellaneous
Table 6.8 lists the arguments that may be specified in the first character.
Table 6.8 Argument List
( ) [ ] Operator Logical
Operator Assignment (=) GOTO G M Remarks
#
IF
GOTO
/ Depends on the data after "/".
G Refer to Section 6.8.
M Refer to Section 6.10 for M00, M01,
M02, M30, M98, M99 and M100.
Axis
command
Depends on the G code in the
modal 01 group.
Feed Depends on the G code in the
modal 01 group.
O
N Regards the line number and later
as the fist character.
( ) Handles data between "(" and ")" as
a comment.
IF
ELSE
END
WHILE
DO
: May be specified.
: Must be specified.
Blank : Must not be specified.
6 - 106
Code
Function
IF, GOTO
Program control function
Controls the flow of a run program according to the condition.
6.11.1 Program control function (IF, GOTO statement)
[Explanation]
If the specified expression is true (1) (condition is satisfied), execution jumps to the
sequence number specified in GOTO.
If the expression is false (0), the next line is executed.
IF [#100 EQ1] GOTO100;
If #100 is 1, execution jumps to N100.
If it is other than 1, the next line is executed.
IF [#100] GOTO100;
If #100 is 1 (true), execution jumps to N100.
If it is 0 (false), the next line is executed.
The following comparison instructions may be used in the expression.
Code Meaning
EQ Equal to (=)
NE Not equal to (!=)
GT Greater than (>)
LT Less than (<)
GE Greater than or equal to (>=)
LE Less than or equal to (<=)
The expression must be enclosed in "[", "]".
The line number specified in GOTO must exist in the same program. If it does not,
an error (error code: 541) occurs.
If only GOTOn is specified, execution jumps to the specified line number
unconditionally.
6 - 107
Format
IF [expression] GOTOn Sequence number
[Program Example]
Program designed to cause a jump to the specified line if the condition is satisfied. 0201; N200 G91; N210 G01 X100. Y100. F2000.; X200.; Y200.; IF [#100] GOTO230; (If #100 if true, execution jumps to N230) N220 G01 Y300. F1500.; X300.; N230 G02 X50. Y50. I0. J50. F800.; N240 G01 X100. Y500. F2000.; IF [#110 EQ 180] GOTO260; (If #110 if 180, execution jumps to N260) N250 G00 X10.; Y100.; N260 G28 X0. Y0.; M02; %
Jump to N230
Jump to N260
REMARK
Only one comparison instruction may be used in one block.
6 - 108
Code
Function
IF, THEN, ELSE, END
Program control function
Controls the flow of a run program according to the condition.
6.11.2 Program control function (IF, THEN, ELSE, END statements)
[Explanation]
If the specified expression is true (1) (condition is satisfied), the THEN statement
(block group up to ELSE) is executed. If it is false (0) (condition is not satisfied),
the ELSE statement (block group up to END) is executed.
IF [#110 EQ1] THEN 1;
If #100 is 1, the block group described here is executed.
ELSE1;
If #100 is not 1, the block group described here is executed.
END1;
When ELSE is omitted, the block group up to END is executed only if the
conditional expression is true.
IF [#100 EQ1] THEN 1;
If #100 is 1, the block group described here is executed.
END1;
The multiprogramming depth is up to three levels including that of the WHILE
statement. IF [ ] THEN1 ; IF [ ] THEN2 ; IF [ ] THEN3 ;
END3 ; END2 ;
END1 ;
The GOTO statement cannot cause execution to go into or come out of the THEN
and ELSE statements.
6 - 109
Format
IF [expression] THENm;
Block U group ELSEm;
Block U group ENDm;
IF identification number (1 to 32)
[Program Example] 01; N1 G91; N2 G01 X100. Y100. F2000; N3 X200.; N4 Y200.; N5 IF [#100 EQ0] THEN1; N6 G01 Y300. F1500; When #100=0, THEN1 to END1 are executed. N7 X300.; N8 END1; N9 G02 X50. Y50. I0. J50. F800; N10 G01 X100. Y500. F2000; N11 IF [#110] THEN2; N12 G00 X10.; When #110 is true, THEN2 to ELSE2 are executed. N13 Y100.; N14 ELSE2; N15 G28 X0. Y0.; When #110 is false, ELSE2 to ELSE2 are executed. N16 END2; N17 M02; %
Caution: Note that if the sequence number (N**) is omitted in the above program, the block number changes as indicated below.
Program Execution Block No. (A) Execution Block No. (B) Execution Block No. (C) Execution Block No. (D)
01; 0 0 0 0
G91; 1 1 1 1
G01 X100. Y100. F2000; 2 2 2 2
X200.; 3 3 3 3
Y200.; 4 4 4 4
IF [#100 EQ0] THEN1; 5 5 5 5
G01 Y300. F1500; 6 6 X300.; 7 7 END1; 8 8 G02 X50. Y50. I0. J50. F800; 9 6 9 6
G01 X100. Y500. F2000; 10 7 10 7
IF [#110] THEN2; 11 8 11 8
G00 X10.; 12 9 Y100.; 13 10 ELSE2; 14 11 G28 X0. Y0.; 12 9
END2; 13 10
M02; 15 12 14 11
%
(A) indicates that #100=0 and #110 is true. (B) indicates that #1000 and #110 is true.
(C) indicates that #100=0 and #110 is false. (D) indicates that #1000 and #110 is false.
6 - 110
Code
Function
WHILE, DO
Program control function
Controls the flow of a run program according to the condition.
6.11.3 WHILE DO statement
[Explanation]
While the [conditional expression] holds, blocks between the next block and ENDm
block are executed repeatedly, and when it does not hold, execution shifts to the
block next to ENDm.
WHILE [conditional expression] DOm and ENDm are used in pairs.
The identification number m range is 1 to 32.
The multiprogramming depth of the WHILE statement is up to three levels.
[Example 1] The identification number m can be used any number of times as
desired. WHILE [ ] DO1; to
END1; to
WHILE [ ] DO5; to
END5; to
WHILE [ ] DO1; to
END1;
[Example 2] The multiprogramming depth is up to three levels. WHILE [ ] DO1; to WHILE [ ] DO2; to WHILE [ ] DO3; to END3; to END2; to END1;
(Third level) (Second level) (First level)
6 - 111
Format
WHILE [conditional expression] DOm WHILE identification number (1 to 32)
[Program Example]
Program designed to cause a jump to the specified line if the condition is satisfied.
0 25 50 75
25
50
X
Y
0110; N1 #0=0; N2 G91 G00 X25. Y50.; N3 WHILE [#0 LT3] DO1; N4 G03 X0. Y0. I25. J0. F100.; *1 N5 #0=#0+1; ............................. *2 N6 END1; N7 G28 X0. Y0.; N8 M02; %
;
*1: N3 to N6 are repeated while variable #0<3 holds.
*2: Every time this block is executed once, 1 is added to variable #0.
The program on the left ends after drawing a circle three times.
Caution: Note that if the sequence number (N**) is omitted in the above program, the block number changes as indicated below.
Program Execution Block No.
0110; 0
#0=0; 1
G91 G00 X25. Y50.; 2
WHILE [#0 LT3] DO1; 3
G03 X0. Y0. I25. J0. F100.; 4
#0=#0+1; 5
END1; G28 X0. Y0.; 4
M02; 5
%
6 - 112
Code
Function
+, -, *, /, MOD, =
Four fundamental operators,
assignment operator
Perform addition (+), subtraction (-), multiplication (*), division
(/), remainder (MOD) and assignment (=).
6.11.4 Four fundamental operators, assignment operator (+, -, *, /, MOD, =)
[Explanation]
Calculation of the specified operator is performed. The priority of operations is in order of function, multiplication type operation and
addition type operation.
1) Function
2) Multiplication type operation
3) Addition type operation
#100 = #110 + #120 * SIN [#130];
The area of operation where you want to give priority can be enclosed in [ ]. [ ] can be five levels deep including [ ] of a function. An operational expression may be described in up to 72 characters. (Up to the maximum number of characters in one block) #100 = SQRT [ [ [#110 - #120] * SIN [#130] + #140] * #150];
First level Second level Third
level
For +, -, * and /, the operation result type is used for operation. Operation data 1, 2 are converted into the operation result type. The operation result can be the 16-, 32- or 64-bit type.
Operation result = operation data 1 operator operation data 2;
Operation is performed after conversion of operation data 1, 2 into operation result type.
Operation result is stored
For MOD, the 16- or 32-bit type is used for operation. If operation data 1, 2 are the 64-bit type, they are converted into the 32-bit type. The operation result can be the 16-, 32- or 64-bit type, but if the operation result is the 64-bit type, the result of operation performed with the 32-bit type is converted into the 64-bit type and the result of conversion is stored.
Operation result = operation data 1 operator operation data 2;
Operation is performed after conversion of operation data 1, 2 into operation result type. Note that if operation result is 64-bit type, 32-bit type is used to perform operation.
Operation result is stored Note that if operation result is 64-bit type, 32-bit type is converted into 64-bit type.
The following operational expressions will result in an error (560: format error). #10 = ##20;
#10 = #20 +- #30; Possible if #10 = #20 + [- #30];
Possible if #10 = # [#20];
If there is no operation result (if operation exists in the operation result, or for conditional expression such as the IF statement), the 32-bit type is used to perform operation.
6 - 113
Format
n1 Operator n2
Numerical value or variable
Numerical value or variable Operator (+, -, *, /, MOD)
[Program Example] Program designed to carry out positioning according to the result of the specified
operation. 0200;
#40L = 1000000;
#60L = 767;
#80L = 10000;
#30L = [#40L + 50000] * 2;
#50L = #60L MOD 256;
#70L = #80L * 2;
N060 G00 X#30L Y#50L;
X20.;
N080 G91 G01 X100. F#70L;
X20.;
Y30.;
M02;
%
6 - 114
Code
Function
SIN, COS, TAN, ASIN, ACOS, ATAN
Trigonometric functions
Perform operations of SIN (sine), COS (cosine), TAN
(tangent), ASIN (arcsine), ACOS (arccosine) and ATAN
(arctangent).
6.11.5 Trigonometric functions (SIN, COS, TAN, ASIN, ACOS, ATAN)
[Explanation]
The operation of the specified trigonometric function is performed.
The operation result is a 32-bit integer (BIN value) including four decimal places.
When the argument of the trigonometric function has no decimal point, the
operation result is similarly a BIN value including four decimal places.
6 - 115
Format
function [n]; Numerical value (can be specified indirectly) Trigonometric function (SIN, COS, TAN, ASIN, ACOS, ATAN)
[Program Example]
#10:L = SIN [60.]; #10:L = 8660
#16:L = SIN [600000]; #16:L = 8660
#20:L = COS [45.]; #20:L = 7071
#26:L = COS [450000]; #26:L = 7071
#30:L = TAN [30.]; #30:L = 5773
#36:L = TAN [300000]; #36:L = 5773
#40:L = ASIN [0.8660]; #40:L = 599970
#46:L = ASIN [8660]; #46:L = 599970
#50:L = ACOS [0.7071]; #50:L = 450005
#56:L = ACOS [7071]; #56:L = 450005
#60:L = ATAN [1.]; #60:L = 450000
#66:L = ATAN [10000]; #66:L = 450000
6 - 116
Code
Function
INT
Floating-point type real number
processing instruction
Real number to BIN value
Converts a floating-point type real number into a 32-bit integer (BIN value) including four decimal places.
6.11.6 Real number to BIN value conversion (INT)
[Explanation]
A floating-point type real number is converted into a 32-bit integer (BIN value)
including four decimal places.
A floating-point type real number is processed as single precision (32 bit) in the
binary floating-point format of the IEEE Standard.
Sign part ...................... 1 bit
Exponent part .............. 8 bits
Significant digit part......23 bits 31 15 Bit 0
Bits 0 to 22 : Significant digit part
Bit 31: Sign part
Bits 23 to 30: Exponent part
22
The following values can be handled as floating-point type real numbers. -1.02
128
-126 , 0, 1. 02
-126value<1.02 128
6 - 117
Format
INT [n] ; Indirect designation only Real number to 32-bit integer (BIN value) conversion command
[Program Example]
#2:L = 10000;
#4:L = FLT[#2:L]; #4:L = (461C4000)16
(D4,5 = (461C4000)16)
#6:L = INT[#4:L]; #6:L = 10000
6 - 118
Code
Function
FLT
Floating-point type real number
processing instruction
BIN value to real number conversion
Converts a 32-bit integer (BIN value) including four decimal places into a floating-point type real number.
6.11.7 BIN value to real number conversion (FLT)
[Explanation]
A 32-bit integer (BIN value) including four decimal places is converted into a
floating-point type real number.
A floating-point type real number is processed as single precision (32 bit) in the
binary floating-point format of the IEEE Standard.
Sign part ...................... 1 bit
Exponent part ..............8 bits
Significant digit part .....23 bits 31 15 Bit 0
Bits 0 to 22 : Significant digit part
Bit 31: Sign part
Bits 23 to 30: Exponent part
22
The following values can be handled as floating-point type real numbers. -1.02
128
-126 , 0, 1.02
-126value<1.02 128
6 - 119
Format
FLT [n] ; Indirect designation only 32-bit integer (BIN value) to real number conversion command
[Program Example]
#2:L = 10000;
#4:L = FLT[#2]; #4:L = (461C4000)16
(D4,5 = (461C4000) 16)
#6:L = INT[#4]; #6:L = 10000
6 - 120
Code
Function
SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP
Functions
Perform operations of SQRT (square root), ABS (absolute
value), BIN (BCD to BINARY conversion), BCD (BINARY to
BCD conversion), LN (natural logarithm), EXP (base e
exponent), RND (round off), FIX (round down) and FUP
(round up).
6.11.8 Functions (SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP)
[Explanation]
Operation of the specified function is performed.
For the operation result, refer to Items (5), (6), (7) in Section 6.3.3.
6 - 121
Format
function [n]; Numerical value (can be specified indirectly) Trigonometric Function (SQRT, ABS, BIN, BCD, LN, EXP, RND, FIX, FUP)
[Program Example]
#10L = SQRT [100] 10 enters [D11, D10].
#20L = ABS [-25] 25 enters [D21, D20].
#30L = BIN [100] 64 enters [D31, D30].
#40L = BCD [100] 256 enters [D41, D40].
#50L = LN [1000000] 13 enters [D51, D50].
#60L = EXP [20] 485165195 enters [D61, D60].
#70F = RND [14/3] 5 enters [D73, D72, D71, D70] (64-bit floating-point type).
#80F = FIX [14/3] 4 enters [D83, D82, D81, D80] (64-bit floating-point type).
#90F = FUP [14/3] 5 enters [D93, D92, D91, D90] (64-bit floating-point type).
#170F = RND [-14/3] -5 enters [D173, D172, D171, D170] (64-bit floating-point
type).
#180F = FIX [-14/3] -5 enters [D183, D182, D181, D180] (64-bit floating-point
type).
#190F = FUP [-14/3] -4 enters [D193, D192, D191, D190] (64-bit floating-point
type).
6 - 122
Code
Function
AND, OR, XOR, NOT, <<, >>
Logical operators
Perform logical product (AND), logical add (OR), exclusive
logical add (XOR), logical NOT (NOT) and shift operations
(<<, >>).
6.11.9 Logical operators (AND, OR, XOR, NOT, <<, >> )
[Explanation]
Operation of the specified logical operator is performed.
Only the integer types (16-bit type, 32-bit type) may be used to perform logical
operation. Logical operation including the 64-bit floating-point type cannot be
performed. (Error 560: Format error)
The operation result can be 16- or 32-bit type, but it is converted into the operation
result type for operation.
The area of operation where you want to give priority can be enclosed in [ ]. [ ] can
be five levels deep including [ ] of a function. An operational expression may be
described in up to 72 characters. (Up to the maximum number of characters in one
block)
Operation is performed after conversion of operation data 1, 2 into operation result type. Note that operation including 64-bit floating-point type cannot be performed.
Operation result is stored
Each bit of operation data 1 is inverted and result of inversion is stored into operation result.
The logical operators can be used with the conditional expressions of the IF and
WHILE statements.
IF[[ON #M1000] AND [OFF #M1100]] GOTO1;
If M1000 is ON and M1100 is OFF, the N1 line is executed.
IF[[# 100 AND #200] EQ #300] GOTO2;
If the result of ANDing #100 and #200 contents is equal to #300, the N2 line is
executed.
6 - 123
Format
n1 Operator n2;
Numerical value or variable
Numerical value or variable Operator (AND, OR, XOR, <<, >>)
NOT [n1] ; Numerical value or variable
[Program Example]
Operator Program Example Operation
#10L = 01100100
15 = 00001111AND #10L = 100;
#20L = #10L AND 15; #20L = 00000100 = 4
#10L = 01100100
14 = 00001110OR #10L = 100;
#20L = #10L OR 14; #20L = 01100100 = 110
#10L = 01100100
14 = 00001110XOR #10L = 100;
#20L = #10L XOR 14; #20L = 01101010 = 106
#10L = 01011010 NOT
#10L = 90;
#20L = NOT [#10L]; #20L = 10100101 = 165
<< #10L = 20;
#20L = #10L << 2;
#10L = 00010100
#20L = 01010000 = 80
>> #10L = 80;
#20L = #10L >> 2;
#10L = 01010000
#20L = 00010100 = 20
6 - 124
Code
Function
WAITON, WAITOFF
Move block wait functions
Executes the next move block when the ON/OFF condition of
the specified device holds.
6.11.10 Move block wait functions (WAITON, WAITOFF)
[Explanation]
Execution waits the next move block to be executed until the ON/OFF condition of
the specified device holds. Note that the operation block is executed.
The response time of WAITON/WAITOFF is the operation cycle time (approx.
3.5msec for 8 or less axes).
It takes about 7 to 64msec from when a program is started until the program is
actually run. Therefore, WAITON/WAITOFF can be used to start a motion program
fast. By setting a wait for a shift to the next block with WAITON or WAITOFF after a
program start has been made by the SVST instruction in a sequence program,
prereading of the next block has been completed, and therefore, the next block
can be executed at high speed (approx. 3.5msec for 8 or less axes) after the
device condition has held, improving the variation or delay in a program start.
[Example] WAITON #X10; When X10 turns ON, N1 block is executed. N1 G01 X100. Y200. F1000.; WAITOFF #X11; When X11 turns OFF, N2 block is executed. N2 G01 X200. Y300. F500
M02; %
The grammar is indicated below.
[Example] WAITON #X10;
[Example] WAITOFF #X11;
WAITON/WAITOFF cannot be used with the home position return instruction.
6 - 125
Format
WAITON #Xx ; Device (X, Y, M, TC, TT, CC, CT, B, F)
WAITOFF #Xx ; Device (X, Y, M, TC, TT, CC, CT, B, F)
[Program Example]
Program which executes the next block when a condition holds.
00001 WAITON #X10;
00002 N1 G01 X100. Y200. F1000.;
00003 WAITOFF #X11;
00004 N2 #10 = 5
00005 G00 X0. Y-10.;
00006 WAITON #X12;
00007 GOTO 10;
00015 N10 G00 X0. Y0.;
00020 #0 = 5;
00021 WAITOFF #XFF;
00022 IF [#0 EQ 5] GOTO 20;
00023 N15 G01 X200. Y200. F2000.;
00027 N20 G01 X100. Y100. F2000.;
00028 M02;
00029 %
The above program is run as described below.
1. Line 1 When device X10 turns ON, line 2 is executed.
2. Line 3 When device X11 turns OFF, line 5 is executed.
(Line 4 is being executed.)
3. Line 6 When device X12 turns ON, N10 is executed.
4. Line 21 When device XFF turns OFF, #0=5 to line 27 are executed. Because of
preread processing, N15 is not executed and execution jumps to N20 if the
#0(D0) value is changed from sequence program while execution waits for XFF to
turn from ON to OFF in the WAITOFF statement.
6 - 126
Code
Function
PB
Parameter block change
Uses the parameter block of the specified number.
6.11.11 Parameter block change (PB)
[Explanation]
The numerical value following PB is used as a parameter block number.
The parameter block value may also be specified indirectly by a variable, D or W
(2-word data).
Any of 1 to 16 may be specified as the parameter block value.
Specifying any other value than the above will result in a "format error". (Error code
560)
Once given, the parameter block change command is valid until the parameter
block change command is given again.
However, when a torque limit value change (TL) is made, the specified torque limit
value is used.
When a parameter block change (PB) is made during a torque limit value change
(TL), the torque limit value in the new parameter block is used.
When a parameter block change is made during a CP motion, the axis decelerates
to a stop once and the next CP motion is executed. G01 X100. F500. ; PB3 ; G01 X200. ;
After that, parameter block 3 is used.
Deceleration to a stop at X100.
At a home position return (G28), the parameter block at a program start is used.
The parameter block change command cannot be described in the same block as
another command.
If a cancel start is made during a parameter block change, the start program uses
the parameter block for execution of the start program.
A parameter block change (PB) is valid for the next travel.
6 - 127
Format
PB pb; Parameter block number Parameter block change command
[Program Example]
1) When a parameter block change is made during PTP
N01 N02 N04
PB at program start is used. PB3 is used.
N01 G00 X0.; Uses the parameter block at a program start. N02 G00 X100.; N03 PB3; Changes to parameter block 3. N04 G00 X300.;
2) When a parameter block change is made during CP
N01 N02 N04
PB at program start is used. PB5 is used.
N01 G01 X0. F200.; Uses the parameter block at a program start. N02 G01 X100.; N03 PB5; Changes to parameter block 5. N04 G01 X200.;
3) When torque limit value is being changed
N01 N02 N03
PB at program start is used.
N05
PB10 is used.
Torque limit value within PB at program start Torque limit value 300% Torque limit value within PB10
N01 G01 X0. F200. N02 G01 X100. TL300; N03 G01 X200.; N04 PB10; N05 G01 X300.;
6 - 128
Code
Function
TL
Torque limit value change
Changes the torque limit value to the specified value.
6.11.12 Torque limit value change (TL)
[Explanation]
The numerical value following TL is commanded as a torque limit value. The
torque limit value may also be specified indirectly by a variable, D or W (2-word
data).
(After the TL code, the torque limit value in the parameter block is not used.)
Any of 1 to 500(%) may be specified as the torque limit value.
Specifying any other value than the above will result in a "format error". (Error code 560)
Once given, the TL command is valid until the TL command is given again or the
parameter block or CHGT command is given. However, at a program start, the torque
limit value in the specified parameter block or the specified torque limit value is used.
At a home position return (G28), the torque limit value in the parameter block at a
program start is used.
If a cancel start is made during a torque limit value change, the start program uses
the torque limit value in the parameter block for execution of the start program.
If a torque limit value change (TL) is specified in G32 (skip) and the skip device is
already ON before execution of G32, the torque limit value change command (TL)
is also skipped and the torque limit value specified previously remains unchanged.
The torque limit value change (TL) is valid for all axes specified in SVST. However,
if the torque limit value specified in the torque limit value change (TL) for the axis
whose torque limit value is specified in the CHGT command is greater than the
torque limit value in the CHGT command, torque is clamped at the torque limit
value of the CHGT command.
The axis operating under the high-speed oscillation (G25) is not made valid. That
axis is made valid from the move command or M code after the high-speed
oscillation stop (G26) is executed.
If specified in a move block, the torque limit value (TL) is made valid from that motion.
When the torque limit value is independent (no block motion specified), it is made valid
for the next motion.
6 - 129
Format
TL t; Torque limit value Torque limit value change command
[Program Example]
1) When torque limit value change is made
N01 N02 N03 N04
Torque limit value within PB at program start Controlled at torque limit value of 100%
Controlled at torque limit value of 300%
N01 G00 X0.; Controls at the torque limit value in the parameter block at a program start. N02 G00 X100. TL100; N03 G00 X200.; Controls at the torque limit value of 100%. N04 G00 X300. TL300; Controls at the torque limit value of 300%.
2) When parameter block change is made
N01 N02 N03 N05
Torque limit value within PB at program start Controlled at torque limit value of 300%
Controlled at torque limit value in PB5
N01 G01 X0. F200. ; Controls at the torque limit value in the parameter block at a program start. N02 G01 X100. TL200; N03 G01 X200.; Controls at the torque limit value of 200%. N04 PB5; Changes to parameter block 5. N05 G01 X300. ; Controls at the torque limit value in parameter block 5.
6 - 130
Code
Function
SET, RST
Bit device set, reset functions
Turns the specified device ON/OFF.
6.11.13 Bit device set, reset functions (SET, RST)
[Explanation]
The specified device can be turned ON/OFF from the G code program.
Refer to Section 6.6.2 (6) for the usable device ranges.
6 - 131
Format
SET #Yy; ON device (Y, M)
RST #Yy; Device ON command
OFF device (Y, M) Device OFF command
[Program Example]
1) SET #M0; Turns ON device M0.
2) RST #M0; Turns OFF device M0.
3) SET#Y10; Turns ON device Y10.
6 - 132
Code
Function
ON, OFF
Bit device conditional branch
By describing this command in the conditional expression of
IF or WHILE, branches processing according to the ON/OFF
status of the specified bit device.
6.11.14 Conditional branch using bit device (ON, OFF)
[Explanation]
The ON/OFF status of the specified bit device is judged by the ON/OFF command
to see if it is true (1) or false (0).
By using this command in the conditional expression of IF or WHILE, a conditional
branch can be made with a bit device.
When used with a logical operator, this command enables a conditional branch
with multiple bit devices.
[ ] of the conditional expression can be five levels deep including [ ] of a function.
An operational expression may be described in up to 72 characters in all. (Up to
the maximum number of characters in one block)
When M100 is ON, the result is true (1) and a branch to N01 is taken. When M100 is OFF, the result is false (0) and the next block is executed.
When M100 is ON, the result is false (0) and the next block is executed. When M100 is OFF, the result is true (1) and a branch to N01 is taken.
When M100 is ON and M110 is ON, a branch to N01 is taken. If either of them is OFF, the next line is executed.
The device that may be specified after the ON/OFF command is the bit device
only.
If a word device is specified, a "format error" (error code: 560) occurs.
The bit devices usable in the ON/OFF command are X, Y, M, TC, TT, CC, CT, B and F.
The ON/OFF command is available for the conditional expressions of the program
control functions (IF GOTO, IF THEN, WHILE).
6 - 133
Format
IF [ON #M100] GOTO1; ON/OFF device (X, Y, M, TC, TT, CC, CT, B, F) ON/OFF command (describe OFF for OFF)
*Conditional expression of IF THEN or WHILE can also be described similarly.
[Program Example]
1) When M100 is ON, a branch to line N03 is taken. N01 IF [ON #M100] GOTO3; Branches to line N03 if M100 is ON. N02 G01 X100. F200.; Executes the next line (N02) if M100 is OFF. N03 G00 X0.;
2) Execution starts from the next line (THEN1 and later) if M100 is ON, or from
ELSE1 if it is OFF. N01 IF [ON #M200] THEN1; N02 G01 X100. F200.; Executed when M200 is ON. N03 ELSE1; N04 G00 X200.; Executed when M200 is OFF. N05 END1;
3) While M300 is OFF, the blocks within WHILE (N02, N03, N04) are executed
repeatedly. N01 WHILE [OFF #M300] DO2; Executes blocks within WHILE while M300 is OFF. N02 G91 G01 X10. F100.; N03 #10 = #10 + 1; N04 END2; N05 G90 G00 X0.; Executed when M300 turns ON.
7. AUXILIARY AND APPLIED FUNCTIONS
7 1
7. AUXILIARY AND APPLIED FUNCTIONS
This section describes the auxiliary and applied functions available for positioning control by the servo system CPU.
(1) Limit switch output function.....................................................Section 7.1
(2) Backlash compensation function ............................................Section 7.2
(3) Torque limit function................................................................Section 7.3
(4) Electronic gear function...........................................................Section 7.4
(5) Absolute positioning system....................................................Section 7.5
(6) Home position return...............................................................Section 7.6
(7) Speed change .........................................................................Section 7.7
(8) JOG operation.........................................................................Section 7.8
(9) Manual pulse generator operation ..........................................Section 7.9
(10) Override ratio setting function ...............................................Section 7.10
(11) FIN signal waiting function ....................................................Section 7.11
(12) Single block...........................................................................Section 7.12
(13) Enhanced present value control............................................Section 7.13
(14) High-speed reading of designated data ................................Section 7.14
7. AUXILIARY AND APPLIED FUNCTIONS
7 2
7.1 Limit Switch Output Function
The limit switch output function allows the A1SY42 output module or AY42 output module to output ON/OFF signals corresponding to the positioning address set for each axis.
7.1.1 Limit switch output data
Item Settings Initial
Value Remarks
ON/OFF point
setting
2147483648 to 2147483647
( 10 4
mm, 105inch)
0 to 35999999
( 10 5
degree)
Units 10-4mm 10-5inch 10-5degree
0
Up to 10 points can
be set for each
axis.
7.1.2 Limit switch output function
[Control Details] (1) The limit switch function outputs the ON/OFF pattern from the A1SY42/ AY42
at the set addresses. Before running the limit switch output function, the ON/OFF point addresses and the ON/OFF pattern must be set from a peripheral device. (Settings cannot be made by the sequence program.) The number of limit switch outputs per axis and the ON/OFF points are as follows: (a) Number of limit switch output points .............8 points/axis,
total 64 points
(b) ON/OFF points...............................................10 points/axis Set an address in the stroke limit range for each point.
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
ON
ON
1 2 3 4 5 6 7 8 9 10 MIN MAX
Point 1
8 points/axis
ON/OFF switching points 10 points/axis. (Common for Point 1 through Point 8)
Point 2
Point 3
Point 4
Point 5
Point 6
Point 7
Point 8
ON
7. AUXILIARY AND APPLIED FUNCTIONS
7 3
(2) Limit Switch Enable/Disable Setting The following devices can be used to enable or disable the limit switch output from each axis or each point.
Table 7.1 Limit Switch Enable/Disable Settings
Set Data/Device Setting
Unit Processing Set Data Valid Timing
Used
Set ON/OFF pattern can be output for the
appropriate axis.
Not Used
Limit switch output
used/not used setting
in the fixed
parameters.
Axis
All outputs OFF for the appropriate axis.
(1) Leading edge of PC
ready (M2000)
(2) When test mode is
started
ON
ON/OFF pattern is output for the
appropriate axis based on the set
ON/OFF pattern and the limit switch
output disable setting registers (D1008
and D1009).
OFF
Limit switch output
enable signal
(M1806 + 20n/M3206
+ 20n)
Axis
All outputs OFF for the appropriate axis.
Limit switch output
used/not used setting in
the fixed parameters is
set to "used."
Disable bit (1)
Outputs corresponding to disable bits set
to "1" are OFF.
Enable bit (0)
Limit switch output
disable setting
registers
(D1008 and
D1009/D760 to D775)
Point
Outputs corresponding to enable bits set
to "0" output an ON/OFF pattern based on
the set ON/OFF pattern.
While M1806 + 20n/M3206+20n is ON.
REMARK
The data in Table 7.1 is also valid during the test mode set by a peripheral device.
(3) Cautions (a) The limit switch output is based on the "feed present value" for each axis
after PC ready (M2000) turns ON and the PCPU ready flag (M9074) is ON. All points turn OFF when the PCPU ready flag (M9074) turns OFF.
(b) While the PCPU ready flag (M9074) is ON and the feed present value is outside the set stroke limits, the limit switch output is based on M1806 + 20n/M3206+20n. Consequently, the user should apply an interlock to ensure that the sequence program turns M1806 + 20n/M3206+20n ON inside the stroke limit range only.
7. AUXILIARY AND APPLIED FUNCTIONS
7 4
7.2 Backlash Compensation Function
The backlash compensation function compensates for the backlash amount in the mechanical system. When the backlash compensation amount is set, extra pulses equivalent to the backlash compensation amount are output after a change in travel direction resulting from positioning control, JOG operation, or manual pulse generator operation.
Feed screw
Workpiece
Backlash compensation amount
Figure 7.1 Backlash Compensation Amount
(1) Setting the backlash compensation amount The backlash compensation amount is one of the fixed parameters, and is set for each axis using a peripheral device. The setting range differs according to whether mm, inch, or degree, units are used, as shown below. (a) Millimeter units
0 to 6.5535
(Backlash compensation amount)
(Travel value per pulse) 0< <65535(PLS)
(Decimal fraction rounded down.)
(b) Inch or Degree Units
0 to 0.65535
(Backlash compensation amount)
(Travel value per pulse) 0< <65535(PLS)
(Decimal fraction rounded down.)
7. AUXILIARY AND APPLIED FUNCTIONS
7 5
(2) Backlash compensation processing The details of backlash compensation processing are shown in the table 7.2.
Table 7.2 Details of Backlash Compensation Processing
Condition Processing
First motion after power on
No backlash compensation if travel direction = home position
return direction.
Backlash compensation if travel direction home position
return direction.
JOG operation start Minimum backlash amount on first JOG operation after travel
direction change.
Positioning start Backlash compensation if travel direction changed.
Manual pulse generator
operation If travel direction changed.
Home position return start Backlash compensation amount is valid after home position
return is started.
Absolute position system Status stored at power off and applied to absolute position
system.
POINTS
(1) The feed pulses equivalent to the backlash compensation amount are not added to the feed present value.
(2) Home position return is required after the backlash compensation amount is changed. The original backlash compensation amount is retained until home position return is carried out.
7. AUXILIARY AND APPLIED FUNCTIONS
7 6
7.3 Torque Limit Function
The torque limit function controls the torque generated by the servomotor within the set range. The torque is controlled to the set torque limit value if the torque required during positioning control exceeds the set limit value. (1) Torque limit value set range
Set the torque limit value between 1% and 500% of the rated torque.
7.3.1 Torque limit value changing function
At a program start or jog start, the torque limit value can be changed from the motion program or sequence program. (1) At a program start or for jog operation, the torque limit value is changed to the
value in the specified parameter block.
(2) From the motion program, the TL or PB instruction is used to change the torque limit value. When the PB instruction is used, the torque limit value is changed to the one in the specified parameter block.
(3) From the sequence program, the CHGT instruction (refer to Section 5.6) is used to change.
[Control Details] (1) The torque limit value at a motion program start or jog start is changed to the
value specified in the parameter block.
(2) When the TL or PB instruction is used to change the torque limit value, the new value is valid until the next TL or PB instruction is executed. However, it is clamped at the torque limit value of the CHGT instruction.
[Program Example] It is supposed that before a program start, the torque limit value has been set to
300% for each axis in the CHGT instruction. The program is run with the torque limit value of the parameter block set to
200%. After execution of N1, the torque limit value is changed to 100% by the TL
instruction. During execution of N2, the torque limit values of the X and Y axes are changed
to 250% and 50%, respectively, by the CHGT instruction. 010; G90; N1 G00 X100. Y100.; TL100; N2 G00 X200. Y200.; N3 G00 X300. Y300.; M02; %
7. AUXILIARY AND APPLIED FUNCTIONS
7 7
300
200
100
300*2 250
250
200 100
N3N2N1
Time
Speed
Sequence No.
Torque limit value (%) Program command
*1
0
CHGT instruction Servo command
X axis
300
200
100
300 50
500
*2CHGT instruction Servo command
Y axis
*1: Indicates the torque limit value changes from the program and CHGT and the resultant
command to the servo in %.
(1) The program command indicates a change of the torque limit value by the TL or PB
instruction at a SVST start. The torque limit value under the program command is given
to all the operating axes.
(2) Torque limit value changed by the CHGT instruction. Given to the corresponding axes.
(3) The servo command indicates the torque limit value given actually to the servo amplifier.
*2: When the CHGT instruction is not executed after power-on, the torque limit value is 300%.
Explanation
1) The torque limit value given at a program start is the lower value of the torque limit value of
the parameter block specified in the SVST instruction and the value in the preceding CHGT
instruction. In this case, the value is 200% in each axis.
2) The torque limit value of the TL instruction at N2 execution is 100% in each axis.
3) During N1 execution, the torque limit value is changed by the CHGT instruction to 250% in
the X axis and to 50% in the Y axis.
7. AUXILIARY AND APPLIED FUNCTIONS
7 8
7.4 Electronic Gear Function
The electronic gear function changes the travel value per pulse. The electronic gear is set by setting the travel value per pulse (see Section 4.2.1). Using the electronic gear function allows positioning control without the need to select the encoder to match the mechanical system.
[Example]
n: m = electronic gear
Motor n
m
10[mm]
Servo motor Positioning speed
Pulses per motor revolution .................10000 [PLS] Travel value per motor revolution ........10 [mm]
(1) Electronic gear 1:1 (electronic gear setting = 1)
Travel value per pulse = Travel value per motor revolution
Pulses per motor revolution =
10 [mm]
10000 [PLS]
=0.001 [mm/PLS]
Positioning control is executed at the commanded speed.
(2) Electronic gear 2:1 (electronic gear setting = 0.5)
Travel value per pulse = Travel value per motor revolution
Pulses per motor revolution =
5 [mm]
10000 [PLS]
=0.0005 [mm/PLS]
Positioning control is executed faster than the commanded speed.
(3) Electronic gear 1:2 (electronic gear setting = 2)
Travel value per pulse = Travel value per motor revolution
Pulses per motor revolution =
20 [mm]
10000 [PLS]
=0.002 [mm/PLS]
Positioning control is executed slower than the commanded speed.
7. AUXILIARY AND APPLIED FUNCTIONS
7 9
The relationship between the commanded speed (positioning speed set in the servo program) and actual speed (actual positioning speed) is shown below for different electronic gear settings.
if electronic gear setting = 1, commanded speed = actual speed if electronic gear setting < 1, commanded speed < actual speed if electronic gear setting > 1, commanded speed > actual speed
Speed limit value
Commanded speed
V
t
2)
1)
3)
1) electronic gear setting = 1 2) electronic gear setting < 1 3) electronic gear setting > 1
Actual acceleration time
Set acceleration time
Set deceleration time
Actual deceleration time
The speed limit value, acceleration time and deceleration time are data from the designated parameter block.
Figure 7.2 Relationship Between Commanded Speed and Actual Speed
7. AUXILIARY AND APPLIED FUNCTIONS
7 10
7.5 Absolute Positioning System
The absolute positioning system can be used for positioning control when using an absolute-position-compatible servomotor and MR-[ ]-B. Home position return is not necessary using the absolute positioning system because after the machine position is initially established at system startup, the absolute position is sensed each time the power is turned on. The machine position is established using a home position return initiated from the sequence program or a peripheral device. (1) Absolute position system startup procedure
The system startup procedure is shown below.
Absolute position system startup
For MR- -B
Connect CPU to absolute-position- compateible MR- -B Connect FLS, RLS, STOP etc. wiring to A172SENC/A171SENC.
Adjust Machine Position
Adjust machine to home position.
Turn On Power
Turn on the servo amplifier and servo system CPU power.
Set Positioning Parameters
Set the following positioning parameters: System setting* Fixed parameters* Servo parameters* Home position return data* Parameter block Work coordinate data*
Sense Absolute Position
Make a sense absolute position request from the sequence program or a peripheral device.
Adjust the Machine Position
Make any required adjustments to the machine position using the manual pulse generator or JOG operation.
Establish Absolute Position
Establish the absolute position using home position return by data set method.
End
Parametersf marked* must be set. (Do not change them after they are set.) Default values are used if the parameter block is not set.
Turn ON M2000 in a sequence program. Select test mode with a peripheral device.
Enable manual pulse generator operation from the sequence program or a peripheral device. JOG operation is possible from the sequence program or a peripheral device.
The methods of home position return are two types indicated below. DSFLP/CHGA instructions of a sequence program. Test mode in a peripheral device.
7. AUXILIARY AND APPLIED FUNCTIONS
7 11
(2) In the absolute positioning system, the absolute position may be lost under the following conditions: Re-establish the absolute position using home position return or by aligning the machine position and using present value change. (a) After removing or replacing the battery unit.
(b) On occurrence of a servo battery error (detected at servo amplifier power on).
(c) After the mechanical system is disturbed by a shock.
(3) Power OFF Allowed Traveling Points can be monitored in the system setting mode of a peripheral device, and the present value history can be monitored in the monitor mode. (For details on monitoring Power OFF Allowed Traveling Points and the present value history, refer to the operating manual for the peripheral device being used.) (a) Present value history monitor
1) Month/day/hour/minute The time when a home position return is completed or the servo amplifier power is turned ON or OFF is indicated. In order to display the time correctly, it is necessary to first set the clock data at the programmable controller side, then switch ON M9028 (clock data read request) from the sequence program.
2) Encoder present value When using MR-H-B (version BCD-B13W000-B2 or later) or MR-J2-B (version BCD-B20W200-A1 or later), the multiple revolution data and within-one-revolution data read from the encoder is displayed. Note: For the encoder present value in the home position data area, the
encoder present value when the motor is within the in-position range after completion of a home position return is displayed (not the encoder value at the home position).
3) Servo command value The command value issued to the servo amplifier is displayed.
4) Monitor present value The present value controlled within the servo system CPU is displayed. Note: A value close to the feed present value is displayed, but, since the
monitor present value and feed present value are different data, the display of different values does not indicate an error.
5) Alarms When an error involving resetting of the present value occurs while the servo amplifier power is ON, an error code is displayed. For details of the error, refer to the error contents area (related error list) at the bottom of the screen.
CAUTION
After removing or replacing the battery unit, correctly install the new unit and establish the absolute position. After a servo battery error occurs, eliminate the cause of the error and ensure operation is safe before establishing the absolute position. After the mechanical system is disturbed by a shock, make the necessary checks and repairs, and ensure operation is safe before establishing the absolute position.
7. AUXILIARY AND APPLIED FUNCTIONS
7 12
POINTS
(1) The address setting range in the absolute position system is -2147483648 to 2147483647. It is not possible to restore position commands that exceed this limit, or present values after a power failure. When performing an infinite feed operation, solve this problem by setting the units to degrees.
(2) If the present value address is changed by the coordinate system setting instruction (G92), the restored data of the present value after a power failure is the value based on the status prior to execution of the coordinate system setting instruction.
(3) When home position return has not been completed, restoration of the present value after a power failure is not done properly.
7. AUXILIARY AND APPLIED FUNCTIONS
7 13
7.6 Home Position Return
(1) Make a home position return when the machine origin must be checked, e.g. at power-on.
(2) The following three methods are available for a home position return. Near-zero point dog type Count type
Used in other than an absolute position system.
Data setting type.............................. Recommended for use in an absolute position system.
(3) Before starting a home position return, the home position return data (refer to Section 4.4) must be set to each axis.
7.6.1 Near-zero point dog type home position return
[Control Details] (1) Near-zero point dog type
The near-zero point dog type is a method in which the home position is a zero point after the near-zero point dog has turned from ON to OFF.
(2) Near-zero point dog type home position return The operation of the near-zero point dog type home position return is shown in Fig. 7.3.
V Home position return start Home positon return speed
Home position return direction
Creep speed
Near-zero point dog ON OFF
Zero point
t
*When the near-zero point dog turns OFF, the axis is decelerated to a stop and then positioned from there to the zero point.
The distance to the zero point is calculated on the basis of the servo side data.
The travel in this section is stored into the "after-near zero point dog ON travel" monitor registers. The travel in this section is stored into the "home position return second travel" monitor register.
Fig. 7.3 Near-Zero Point Dog Type Home Position Return Operation
(3) Execution of home position return Execute a home position return using the DSFLP/CHGA instruction in Section 7.6.4. When the home position return request is ON, a near-zero point dog/count/data setting type home position return is also made under G28 of a motion program.
7. AUXILIARY AND APPLIED FUNCTIONS
7 14
[Cautions] The following instructions are given for a near-zero point dog type home position return.
(1) Keep the near-zero point dog ON until the axis decelerates from the home position speed to the creep speed. If the near-zero point dog turns OFF before the axis decelerates to the creep speed, the axis decelerates to a stop and the next zero point is defined as a home position.
Home positon return speed
Near-zero point dog ON OFF
Preset creep speed
The zero point in this section is not used as a home position. The next zero point is used as a home position.
Zero point
When the near-zero point dog turns OFF, the axis passes through the zero point during deceleration to a stop.
(2) Adjust the position where the near-zero point dog turns OFF so that the "home position return second travel" becomes half of the travel corresponding to one motor revolution. If the "home position return second travel" is not half of the travel corresponding to one motor revolution, the home position may shift by one motor revolution as shown below.
Near-zero point dog ON OFF
Zero point
If the axis decelerated to a stop by near-zero point dog OFF has stopped just near the zero point, the home position may shift by one motor revolution according to the creep speed/deceleration setting.
IMPORTANT (1) In either of the following cases, make a home position return after
performing JOG operation or the like to return the axis to the position before the near-zero point dog turned ON. A home position return cannot be made without returning the axis to the position before the near-zero point dog. (a) Home position return in the position after the near-zero point dog has
turned from ON to OFF (b) Home position return when power is switched from OFF to ON after
completion of a home position return
7. AUXILIARY AND APPLIED FUNCTIONS
7 15
7.6.2 Count type home position return
[Control Details] (1) Count type
The count type is a method in which the home position is a zero point in the specified distance (travel after near-zero point dog ON) after the near-zero point dog has turned ON. Set the travel after near-zero point dog ON to the home position return data (refer to Section 4.4).
(2) Count type home position return The operation of the count type home position return is shown in Fig. 7.4.
V Home positon return start Home positon return speed
Home positon return direction
Creep speed
Near-zero point dog ON
Zero point
t
The distance to the zero point is calculated on the basis of the servo side data.
After the near-zero point dog has turned ON, the axis is positioned by the "travel after near-zero point dog ON" of the home position return data and then positioned from there to the zero point.
*
The travel in this section is stored into the "after-near zero point dog ON travel" monitor registers. The travel in this section is stored into the "home position return second travel" monitor register.
Fig. 7.4 Count Type Home Position Return Operation
(3) Execution of home position return Execute a home position return using the DSFLP/CHGA instruction in Section 7.6.4.
[Cautions] (1) The near-zero point dog should be turned OFF a sufficient distance away from
the home position.
(2) In the count type, you can execute a home position return on the near-zero point dog or consecutive starts of a home position return. When a home position return on the near-zero point dog or consecutive starts of a home position return have been executed, the axis is returned to the OFF position of the near-zero point dog once and makes a home position return.
7. AUXILIARY AND APPLIED FUNCTIONS
7 16
7.6.3 Data setting type home position return
[Control Details] (1) Data setting type
The data setting type is a method which does not use a near-zero point dog and can be used in an absolute position system.
(2) Data setting type home position return The home position address is the present value during execution of a home position return made by the DSFRP/CHGA instruction.
Address provided by execution of home position return is registered as home position address.
V
t
Home position return made by DSFRP/CHGA instruction
Fig. 7.5 Data Setting Type Home Position Return Operation
(3) Execution of home position return Execute a home position return using the DSFLP/CHGA instruction in Section 7.6.4.
[Cautions] (1) The axis must have passed through the zero point from power-on till the
execution of a home position return. A "zero point non-passage error" occurs if a home position return is executed without the axis passing through the zero point once. If the "zero point non- passage error" has occurred, reset the error, perform JOG operation or the like to run the servo motor one revolution or more, then make a home position return again. Whether the axis has passed through the zero point or not can be checked by the zero pass signal (M1606+20n/M2406+20n).
(2) In a system other than an absolute position system, a data setting type home position return start has the same function as a present value change.
(3) The home position return data used for the data setting type are the home position return method and home position address.
7. AUXILIARY AND APPLIED FUNCTIONS
7 17
7.6.4 Execution of home position return
Use the DSFLP/CHGA instruction to execute a home position return.
[Control Details] (1) A home position return is made in the home position return method specified in
the home position return data (refer to Section 4.4). For details of the home position return method, refer to the following sections. Near-zero point dog type .............Section 7.6.1 Count type ...................................Section 7.6.2 Data setting type..........................Section 7.6.3
[Cautions] (1) After the PC ready flag (M2000) has turned ON, making a near-zero point dog
type home position return in the following ladder before the PCPU ready flag (M9074) turns ON causes a home position return request to be given again after a home position return. When making a home position return, use M9074 and M1602+20n or M2402+20n (in-position signal) as interlock conditions. (Refer to the program example.)
DSFL D1
M9074
Home position return completed signal
M2001 M1602
0
CIRCUIT END In-position signal
Start accept flag
2
M1610 P K
7. AUXILIARY AND APPLIED FUNCTIONS
7 18
[Program Example] A program using the DSFLP/CHGA instruction to make a home position return is explained under the following conditions.
(1) System configuration Axis 4 is returned to the home position.
A172 SHCPUN
A172 SENC
A1SX 10
MR- -B
M M M M Axis 1
Home positon return command (X000)
MR- -B MR- -B MR- -B
Axis 2 Axis 3 Axis 4
A172B
(2) Sequence program example A sequence program used to execute a home position return is shown below.
0
CIRCUIT END
M2000 Turns ON PC ready.
Turns ON the start command flag (M1) of servo program No. 0 when X000 turns from OFF to ON.
Turns ON the all-axis servo start command.
Axis 4 home position return execution request
Turns OFF M1 on completion of axis 4 home position return execution request.
2
4
11
13
M9039
M9074
X0000
M0
M9074
M9074
M1
M2009
M2004
M9076
M1662
M2042
PLS
SET
RST
M0
M1
M1
DSFL D4 P K
2
7. AUXILIARY AND APPLIED FUNCTIONS
7 19
7.7 Speed Change
Used to change speed during positioning control or JOG operation. A speed change is made with the DSFLP or CHGV instruction in a sequence program.
[Control Details] (1) The speed of an operating axis is forcibly changed to the speed specified in the
speed changing registers.
(2) A speed change is made using the DSFLP or CHGV instruction. Refer to Section 5.4 for details of the DSFLP or CHGV instruction.
(3) A speed change should be made in the range - speed limit value to + speed limit value. Error "305" will occur if it is made outside the range.
(4) Make the override invalid when making a speed change during positioning control for program operation. When the override is valid, a speed change is not made.
(5) During a temporary stop, a speed change is not made.
(6) A speed change during CP control (when the axis moves through mid points consecutively during execution of G01, G02, G03 or G32) should be made within the range -F command to +F command. If a speed change is made outside the range, the speed is controlled by the F command.
(7) The F command after a speed change during CP control is made valid within the range of not higher than the new speed.
(8) If a speed change is made during positioning control for program operation, the new speed is used for operation up to the instruction in the next move block. Depending on the type of the mode of the move block to be executed next, whether the speed change value is maintained or the command speed in the program will be used changes as indicated in Table 7.3.
(9) A speed change is invalid for the high-speed oscillation axis.
7. AUXILIARY AND APPLIED FUNCTIONS
7 20
Table 7.3 Command Speed after Execution of Speed Change
Move Mode at Speed
Change *1 Move Mode after Speed Change *1
Command Speed at Execution of Move
Instruction after Speed Change
1 PTP/OSC *2
2 PTP *2
CP *3 Program command speed*6 is used.
3 PTP/OSC *2 Program command speed*6 is used.
4 CP *3 with F command Program command speed*7 is used.
5
CP *3
Without F command and without special M
code*4
New speed is maintained.
6
CP *3
CP *3
Without F command and with special M code*5 Program command speed*6 is used.
*1: A speed change is valid only for execution of move in the PTP or CP move mode.
*2: The PTP mode is a move mode executed under G00, G28, G30 or G53. The OSC mode is a move mode executed under G25.
*3: The CP mode is a move mode executed under G01, G2, G3 or G32. The independent M code is also handled as the CP mode.
*4: CP without special M code indicates that the special M code (M00, M01, M02, M30, M98, M99, M100) is not executed during the
CP mode after a speed change.
*5: CP with special M code indicates that the special M code (M00, M01, M02, M30, M98, M99, M100) is executed during the CP mode
after a speed change.
The axis decelerates to a stop as soon as the special M code is executed.
*6: The program command speed indicates the rapid feedrate in the PTP mode, the F (frequency) command in the OSC mode, or the
F (speed) command in the CP mode.
Example (CHGV executed during N1)
010;
N1 G00 X100. ;
N2 G00 X200. ;
M02;
%
Speed change value
Speed
Program command speed
TimeCHGV
N1 N2
Block switching
*7: The F (speed) command is used. Note that it is clamped at the speed change value.
Example (CHGV executed during N1)
011;
N1 G01 X100. F1000. ;
N2 G01 X200. F1000. ;
M02;
%
Speed change value
Speed
Program command speed
TimeCHGV
N1 N2
Block switching
7. AUXILIARY AND APPLIED FUNCTIONS
7 21
[Data setting] (1) The speed changing registers of each axis are indicated below.
(A172SHCPUN/A171SHCPUN only)
Speed Change Registers Speed Change Registers Axis No.
Upper Lower Axis No.
Upper Lower
1 D963 D962 1 D963 D962
2 D969 D968 2 D969 D968
3 D975 D974 3 D975 D974
4 D981 D980 4 D981 D980
5 D987 D986
6 D993 D992
7 D999 D998
8 D1005 D1004
(2) The setting ranges to the speed change registers are indicated below.
mm inch degreeUnit
Item Setting range Unit Setting range Unit Setting range Unit
Speed change
value 0 to 600000000 10
-2 mm/min 0 to 600000000 10
-3 inch/min 0 to 2147483.647 10
-3 degree/min
POINT When setting the speed in a sequence program, store into the speed change registers a value which is 100 times (unit: mm)/1000 times (unit: inch, degree) the actual speed.
Example To change the speed to 10000.00mm/min, store "1000000" into the speed change registers.
[Cautions] A speed change will not be made if any of the following errors occurs. (A check is made at execution of the DSFLP/CHGV instruction.)
Error Definition Error Processing Error Code
Axis No. setting is other than 1 to 8/1 to
4.
Axis No. setting is indirectly specified by
index qualification.
Error step is stored into D9010 or D9011.
M9010 or M9011 turns ON.
Data setting
error
Preset speed is outside the range 0 to
speed limit value.
Error detection flag (M1607+20n) turns ON.
Error code given on the right is stored into the minor
error code storage register of the corresponding axis.
305
Specified axis was making home position
return. 301
Speed
change error Deceleration was being made due to OFF
of the JOG operation signal.
Error detection flag (M1607+20n) turns ON.
Error code given on the right is stored into the minor
error code storage register of the corresponding axis. 304
(1) If a speed change is made, the preset speed is ignored in any of the following cases. (An error will not occur.) (a) During motion program execution (b) During deceleration under the stop command (c) During a stop (d) During manual pulse generator operation
7. AUXILIARY AND APPLIED FUNCTIONS
7 22
[Operation Timing] The operation timing for making a speed change is shown in Fig. 7.6.
V
V1 Motion for JOG operation at V1
t
Speed change registers
DSFLP
V2
V3
V2 V3
Fig. 7.6 Operation Timing for Speed Change
[Program Example] A program example for making a speed change is described under the following conditions. (1) Speed changing conditions
(a) Axis No. whose speed is changed................ Axis 4 (b) New speed.................................................... 5000 (c) Speed change command.............................. X000
(2) Sequence program
0
CIRCUIT END
Detection of the leading edge (OFF to ON) of X000
Makes an axis 4 speed change request.
Turns OFF M152 on completion of the axis 4 speed change request.
4
6
X000
M151
M152 M9074 M2024
PLS
SET
M151
M152
CHGV J4
DMOV D980 P
5000 K
RST M152
Turns ON M152 (speed change execution command) on the leading edge of X000. Stores 5000 into the speed change registers (D980, D981) of axis 4.
1 K
7. AUXILIARY AND APPLIED FUNCTIONS
7 23
7.8 JOG Operation
Preset JOG operation is performed. Individual start or simultaneous start can be made for JOG operation. JOG operation can be performed from a sequence program or in the test mode of the peripheral device. (For the JOG operation method in the test mode of the peripheral device, refer to the operating manual of the peripheral device used.) To perform JOG operation, the JOG operation data (refer to Section 4.5) must be set to each axis.
7.8.1 Individual start
JOG operation of the specified axis is started. The following JOG operation signals are used for JOG operation. Forward rotation JOG operation........M1802+20n Reverse rotation JOG operation .......M1803+20n
[Control Details] (1) While the JOG operation signal is ON, JOG operation is performed using the
JOG operation speed setting register value. When the JOG operation signal turns OFF, the axis decelerates to a stop. Acceleration/deceleration is controlled in accordance with the data set to the JOG operation data.
t
Acceleration based on "JOG operation data"
JOG speed operation
Deceleration to stop based on "JOG operation data"
V
ON
OFFJOG operation signal (M1802+20n/M1803+20n)
JOG operation of the axis whose JOG operation speed is ON is performed.
(2) The following table lists the JOG operation signal, JOG operation setting registers and setting range of each axis.
A172SHCPUN A171SHCPUN Setting range
JOG operation
JOG operation
speed setting
registers
JOG operation
JOG operation
speed setting
registers
mm inch degree
No.
Forward
rotation
JOG
Reverse
rotation
JOG
Upper Lower
Forward
rotation
JOG
Reverse
rotation
JOG
Upper Lower Setting range Unit Setting range Unit Setting range Unit
1 M1802 M1803 D965 D964 M1802 M1803 D965 D964
2 M1822 M1823 D971 D970 M1822 M1823 D971 D970
3 M1842 M1843 D977 D976 M1842 M1843 D977 D976
4 M1862 M1863 D983 D982 M1862 M1863 D983 D982
5 M1882 M1883 D987 D986 6 M1902 M1903 D993 D992 7 M1922 M1923 D999 D998 8 M1942 M1943 D1005 D1004
1 to
600000000
10-2
mm/min
1 to
600000000
10-3
inch/min
1 to
2147483647
10-3
degree
/min
7. AUXILIARY AND APPLIED FUNCTIONS
7 24
Setting range JOG operation
JOG operation speed setting registers mm inch degree PULSE
No. Forward
rotation JOG Reverse
rotation JOG Upper Lower
Setting
range Unit
Setting
range Unit
Setting
range Unit
Setting
range Unit
1 M3202 M3203 D641 D640
2 M3222 M3223 D643 D642
3 M3242 M3243 D645 D644
4 M3262 M3263 D647 D646
5 M3282 M3283 D649 D648
6 M3302 M3303 D651 D650
7 M3322 M3323 D653 D652
8 M3342 M3343 D655 D654
9 M3362 M3363 D657 D656
10 M3382 M3383 D659 D658
11 M3402 M3403 D661 D660
12 M3422 M3423 D663 D662
13 M3442 M3443 D665 D664
14 M3462 M3463 D667 D666
15 M3482 M3483 D669 D668
16 M3502 M3503 D671 D670
17 M3522 M3523 D673 D672
18 M3542 M3543 D675 D674
19 M3562 M3563 D677 D676
20 M3582 M3583 D679 D678
21 M3602 M3603 D681 D680
22 M3622 M3623 D683 D682
23 M3642 M3643 D685 D684
24 M3662 M3663 D687 D686
25 M3682 M3683 D689 D688
26 M3702 M3703 D691 D690
27 M3722 M3723 D693 D692
28 M3742 M3743 D695 D694
29 M3762 M3763 D697 D696
30 M3782 M3783 D699 D698
31 M3802 M3803 D701 D700
32 M3822 M3823 D703 D702
1 to
600000000
10-2
mm/
min
1 to
600000000
10-2
inch/
min
1 to
2147483647
10-2
degree/
min
1 to
10000000
PLS/
sec
POINT
When setting the JOG operation speed in a sequence program, store into the JOG operation speed setting registers a value which is 100 times (unit: mm)/1000 times (unit: inch, degree) the actual speed. Example
To set the JOG operation speed to 6000.00mm/min, store "600000" into the JOG operation speed setting registers.
7. AUXILIARY AND APPLIED FUNCTIONS
7 25
[Cautions] (1) Forward rotation JOG operation will be performed if the forward rotation JOG
signal (M1802+20n/M3202+20n) and reverse rotation JOG signal (M1803+20n/ M3203+20n) of one axis have turned ON at the same time. When the axis is decelerated to a stop after the forward rotation JOG signal has turned OFF, reverse rotation JOG operation is performed if the reverse rotation JOG signal is ON.
t
Forward rotation JOG operation
Stop
V
ON
OFFForward rotation JOG signal Reverse rotation JOG operation
ON
OFF Reverse rotation JOG operation is ignored.
Reverse rotation JOG signal
(2) If the JOG operation signal turns ON during deceleration due to OFF of the JOG operation signal, the axis decelerates to a stop down to speed 0 and then resumes JOG operation.
t
JOG operationV
ON
OFF
JOG operation signal
(3) In the test mode using the peripheral device, JOG operation under control of the JOG operation signal (M1802+20n/M1803+20n/M3202+20n/M3203+20n) is not performed. After the test mode is canceled, JOG operation is started on the leading edge (OFF to ON) of the JOG operation signal.
t
Because of test mode,
JOG operation cannot
be performed (starting error).
V
ON
OFF Test mode
(M9075)
ON
OFFJOG operation signal
JOG operation executed As this is not leading edge of JOG
operation signal, JOG operation
cannot be performed.
7. AUXILIARY AND APPLIED FUNCTIONS
7 26
[Program Example] A program for JOG operation is described under the following conditions.
(1) System configuration JOG operation of axis 4 is performed.
A172 SHCPUN
A172S ENC
A1S X10
MR- -B
M M M M Axis 1
Forward rotation JOG operation command (X000) Reverse rotation JOG operation command (X001)
A172B
MR- -B MR- -B MR- -B
Axis 2 Axis 3 Axis 4
(2) JOG operation conditions (a) Axis No ............................................... Axis 4
(b) JOG operation speed ......................... 1000
(c) JOG operation commands 1) Forward rotation JOG operation..... During ON of X000 2) Reverse rotation JOG operation .... During ON of X001
(3) Sequence program
0
CIRCUIT END
M2000
2
4
18
M9039
M9074
X000
X001
M140
M9074
X000
M2009
M1863
M9076
M2042
SET M140
M2004
M1863
DMOV D9821000 K
M1862
22 M140 X001 M1862
26 X000 X001
RST M140 Turns OFF M140 when X000 and X001 turn
OFF.
Turns ON PC ready.
Turns ON all-axis servo start command.
Stores JOG operation speed 1000 into D982,
D983 when X000 or X001 turns ON.
Turns ON M140 on completion of JOG operation speed storage.
Performs forward rotation JOG operation.
Performs reverse rotation JOG operation.
7. AUXILIARY AND APPLIED FUNCTIONS
7 27
7.8.2 Simultaneous start
JOG operations of the specified multiple axes are started simultaneously.
[Control Details] A172SHCPUN/A171SHCPUN (1) While the JOG simultaneous start command flag (M2015) is ON, JOG
operation is performed using the JOG operation speed setting register value of each axis. When M2015 turns OFF, the axes decelerate to a stop. Acceleration/deceleration is controlled in accordance with the data set to the JOG operation data.
t
Acceleration based on "JOG operation data"
JOG operation speed
Deceleration to stop based on "JOG operation data"
V
ON
OFF
JOG operation is performed using D1015 data.
D1015
M2015
(2) Set the axes for JOG operation to the JOG operation simultaneous start axis setting area (D1015).
Axis4
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Reverse rotation JOG Forward rotation JOG
D1015
1: JOG operation executed 0: JOG operation not executed
Axis3 Axis2 Axis1 Axis4 Axis3 Axis2 Axis1
MOV H0803 D1015
MOV K2051 D1015
(1) For setting in hexadecimal (H)
(2) For setting in decimal (K)
Make setting as follows when using the MOV instruction to perform forward rotation JOG operation of axes 1 and 2 and reverse rotation JOG operation of axis 4.
Example
(3) The following table lists the JOG operation speed setting registers.
A172SHCPUN A171SHCPUN Setting range
JOG operation
JOG operation
speed setting
registers
JOG operation
JOG operation
speed setting
registers
mm inch degree
No.
Forward
rotation
JOG
Reverse
rotation
JOG
Upper Lower
Forward
rotation
JOG
Reverse
rotation
JOG
Upper Lower Setting range Unit Setting range Unit Setting range Unit
1 M1802 M1803 D965 D964 M1802 M1803 D965 D964
2 M1822 M1823 D971 D970 M1822 M1823 D971 D970
3 M1842 M1843 D977 D976 M1842 M1843 D977 D976
4 M1862 M1863 D983 D982 M1862 M1863 D983 D982
5 M1882 M1883 D987 D986 6 M1902 M1903 D993 D992 7 M1922 M1923 D999 D998 8 M1942 M1943 D1005 D1004
1 to
600000000
10-2
mm/min
1 to
600000000
10-2
inch/min
1 to
2147483647
10-2
degree
/min
7. AUXILIARY AND APPLIED FUNCTIONS
7 28
[Program Example] A program for simultaneous start of JOG operations is described under the following conditions.
(1) System configuration JOG operations of axes 1, 2 and 4 are performed.
A172 SHCPUN
A172S ENC
A1S X10
MR- -B
M M M M Axis 1
JOG operation command (X000)
A172B
MR- -B MR- -B MR- -B
Axis 2
Axis 3
Axis 4
(2) JOG operation conditions (a) JOG operation conditions are listed below.
Item JOG Operation Conditions
Control axis Axis 1 Axis 2 Axis 4
JOG operation speed 1000 500 1000
JOG operation direction Forward Forward Reverse
(b) JOG operation command During ON of X000
(3) Sequence program
0
CIRCUIT END
2
4
M9039
M9074
X000 M9074 M2009 MOV D10150803
SET M141
M2000
M2042
DMOV D9821000 K
DMOV D970500 K
DMOV D9641000 K
X000 M141
RST M141
M2015
M9076 M2001 M2002 M2004
X000
38
41
H
Performs JOG operations.
Turns ON PC ready.
Turns ON all-axis servo
start command.
Stores simultaneously started
axes into D1015 when X000 turns ON.
Stores JOG operation speed into
JOG operation speed registers of
each axis.
Turns ON M141 on completion of
simultaneously started axis and JOG
operation speed setting.
Turns OFF M141 when X000 turns
OFF.
7. AUXILIARY AND APPLIED FUNCTIONS
7 29
A273UHCPU (32-axis feature)/A173UHCPU (S1) (1) While the JOG simultaneous start command flag (M2048) is ON, JOG
operation is performed using the JOG operation speed setting register value of each axis. When M2048 turns OFF, the axes decelerate to a stop. Acceleration/deceleration is controlled in accordance with the data set to the JOG operation data.
t
Acceleration based on "JOG operation data" JOG operation speed
Deceleration to stop based on "JOG operation data"
V
ON
OFF
JOG operation is performed using D710 to D713 data.
D710 to D713
M2048
(2) Set the axes for JOG operation to the JOG operation simultaneous start axis setting areas (D710 to D713).
Axis16
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
D710
D711
D712
D713
Forward rotation JOG
Reverse rotation JOG
DMOV H0003 D710(1) For setting in hexadecimal (H)
(2) For setting in decimal (K)
Make setting as follows when using the MOV instruction to perform forward rotation JOG operation of axes 1 and 2 and reverse rotation JOG operation of axis 4.
DMOV H0008 D712
DMOV K3 D710
DMOV D712K8
Axis15 Axis14 Axis13Axis12 Axis11Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1
Axis32 Axis31 Axis30 Axis29Axis28 Axis27Axis26Axis25 Axis24 Axis23Axis22 Axis21 Axis20Axis19 Axis18Axis17
Axis16 Axis15 Axis14 Axis13Axis12 Axis11Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1
Axis32 Axis31 Axis30 Axis29Axis28 Axis27Axis26Axis25 Axis24 Axis23Axis22 Axis21 Axis20Axis19 Axis18Axis17
*Set 1/0 to specify JOG operation simultaneous start axes. 1: Simultaneous start executed 0: Simultaneous start not executed
7. AUXILIARY AND APPLIED FUNCTIONS
7 30
(3) The following table lists the JOG operation speed setting registers.
Setting range JOG operation
JOG operation speed setting registers mm inch degree PLUSE
No. Forward
rotation JOG Reverse
rotation JOG Upper Lower
Setting
range Unit
Setting
range Unit
Setting
range Unit
Setting
range Unit
1 M3202 M3203 D641 D640
2 M3222 M3223 D643 D642
3 M3242 M3243 D645 D644
4 M3262 M3263 D647 D646
5 M3282 M3283 D649 D648
6 M3302 M3303 D651 D650
7 M3322 M3323 D653 D652
8 M3342 M3343 D655 D654
9 M3362 M3363 D657 D656
10 M3382 M3383 D659 D658
11 M3402 M3403 D661 D660
12 M3422 M3423 D663 D662
13 M3442 M3443 D665 D664
14 M3462 M3463 D667 D666
15 M3482 M3483 D669 D668
16 M3502 M3503 D671 D670
17 M3522 M3523 D673 D672
18 M3542 M3543 D675 D674
19 M3562 M3563 D677 D676
20 M3582 M3583 D679 D678
21 M3602 M3603 D681 D680
22 M3622 M3623 D683 D682
23 M3642 M3643 D685 D684
24 M3662 M3663 D687 D686
25 M3682 M3683 D689 D688
26 M3702 M3703 D691 D690
27 M3722 M3723 D693 D692
28 M3742 M3743 D695 D694
29 M3762 M3763 D697 D696
30 M3782 M3783 D699 D698
31 M3802 M3803 D701 D700
32 M3822 M3823 D703 D702
1 to
600000000
10-2
mm/
min
1 to
600000000
10-3
inch/
min
1 to
2147483647
10-3
degree/
min
1 to
10000000
PLS/
sec
7. AUXILIARY AND APPLIED FUNCTIONS
7 31
7.9 Manual Pulse Generator Operation
Positioning control is exercised according to the number of pulses entered from the manual pulse generator. One manual pulse generator enables simultaneous operation of 1 to 3 axes and the number of manual pulse generators connected is as follows.
Number of Connectable Manual Pulse Generators
A172SHCPUN/A171SHCPUN A273UHCPU (32-axis feature)/A173UHCPU(S1)
1 3
[Control Details] A172SHCPUN/A171SHCPUN (1) The axes set to the manual pulse generator axis setting register are positioned
according to the pulse input from the manual pulse generator. Manual pulse generator operation is made valid only when the manual pulse generator enable flag is ON.
Manual Pulse Generator Axis Setting Register Manual Pulse Generator Enable Flag
D1012 M2012
(2) The travel and output speed of positioning control according to the input from the manual pulse generator are as follows. (a) Travel
The travel according to the pulses input from the manual pulse generator is calculated by the following expression.
[Travel] = [travel per pulse] [number of input pulses] [manual pulse generator 1-pulse input magnification setting]
The travels per pulse in manual pulse generator operation are as indicated below.
Unit Travel
mm 0.0001mm
inch 0.00001inch
degree 0.00001degree
When the unit is mm, the input of one pulse commands the travel of (0.0001mm) (1 pulse) (manual pulse generator 1-pulse input magnification setting).
(b) Output speed In manual pulse generator operation, the axis is positioned at the speed which meets the number of input pulses per unit time.
[Output speed] = [number of input pulses per 1ms] [manual pulse generator 1-pulse input magnification setting]
7. AUXILIARY AND APPLIED FUNCTIONS
7 32
(3) Setting of control axes operated by manual pulse generator (a) Set the axes to be controlled by the manual pulse generator to the manual
pulse generator axis setting register (D1012). Set the axis to be controlled (1 to 8/1 to 4) in each digit of up to 3 decimal digits. (The set number of digits indicates the number of axes to be operated simultaneously.)
MOVP K34 D1012
Axes 3 and 4 specified.
Example
Make the following setting to control axes 3 and 4 by the manual pulse generator.
(4) Manual pulse generator 1-pulse input magnification setting (a) Set to each axis the magnification at input of one pulse from the manual
pulse generator.
1-Pulse Input Magnification Setting Register Corresponding 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 10000
1-Pulse Input Magnification Setting Register Corresponding Axis
No. Setting Range
D1016 Axis 1
D1017 Axis 2
D1018 Axis 3
D1019 Axis 4
1 to 10000
(5) For the manual pulse generator 1-pulse input magnification which has been set, the "manual pulse generator 1-pulse input magnification setting register" of the corresponding axis is checked on the leading edge of the manual pulse generator enable flag. If the value is outside the setting range, the manual pulse generator axis setting error storage register (D9187) and manual pulse generator axis setting error flag (M9077) are set and the magnification is controlled as "1".
7. AUXILIARY AND APPLIED FUNCTIONS
7 33
(6) Manual pulse generator smoothing magnification setting Set the magnification for smoothing the leading and trailing edges of manual pulse generator operation.
Manual Pulse Generator Smoothing Magnification
Setting Register Setting Range
D9192 0 to 59
(a) Operation
V
t t t t
V1
OFF
ONManual pulse generator enable flag (M2012)
Manual pulse generator input
Output speed (V1) = (number of input pulses/ms) (manual pulse generator 1-pulse input magnification setting) Travel (L) = (travel per pulse) number of input pulses (manual pulse generator 1-pulse input magnification setting)
REMARKS 1) The travel per pulse of the manual pulse generator is as indicated below.
Setting unit mm inch degree
:0.0001mm :0.00001inch :0.00001degree
2) The smoothing time constant is 56.8ms to 3408ms.
(7) The definitions of errors at manual pulse generator operation data setting are indicated below.
Error Definition Error Processing
Axis setting specified in any digit is other than 1
to 8/1 to 4.
Only the digit in error is ignored.
The axes of the digits where any of 1 to 8/1 to 4
is set are made valid and perform manual pulse
generator operation.
Axis set to manual pulse generator operation is
specified.
Axis of overlapped designation is ignored.
Manual pulse generator operation specified first
is performed.
Setting is made in 4 or more digits. All axes set are ignored.
7. AUXILIARY AND APPLIED FUNCTIONS
7 34
A273UHCPU (32-axis feature)/A173UHCPU (S1)
POINTS When the A273UHCPU is used and two or more A273EX modules are
loaded, connect the manual pulse generator to the first A273EX (starting from slot 0 of the main base). (The manual pulse generator is valid for the first module only).
When the A173UHCPU is used, one A172SENC is required for one manual pulse generator. Connect manual pulse generators to the first to third A172SENCs.
(1) The axes set to the manual pulse generator axis setting register are positioned according to the pulse input from the manual pulse generator. Manual pulse generator operation is made valid only when the manual pulse generator enable flag is ON.
Manual Pulse Generator Connecting
Position
Manual Pulse Generator Axis Setting
Registers Manual Pulse Generator Enable Flag
P1 D714, D715 M2051
P2 D716, D717 M2052
P3 D718, D719 M2053
(2) The travel and output speed of positioning control according to the input from the manual pulse generator are as follows. (a) Travel
The travel according to the pulses input from the manual pulse generator is calculated by the following expression.
[Travel] = [travel per pulse] [number of input pulses] [manual pulse generator 1-pulse input magnification setting]
The travels per pulse in manual pulse generator operation are as indicated below.
Unit Travel
mm 0.1m
inch 0.00001inch
degree 0.00001degree
PULSE 1PULSE
When the unit is mm, the input of one pulse commands the travel of (0.1m) (1 pulse) (manual pulse generator 1-pulse input magnification setting).
(b) Output speed In manual pulse generator operation, the axis is positioned at the speed which meets the number of input pulses per unit time.
[Output speed] = [number of input pulses per 1ms] [manual pulse generator 1-pulse input magnification setting]
7. AUXILIARY AND APPLIED FUNCTIONS
7 35
(3) Setting of control axes operated by manual pulse generator (a) Set the axes to be controlled by the manual pulse generator to the manual
pulse generator axis setting registers (D714 to D719). Set the bits corresponding to the controlled axes (1 to 32).
DMOV H20200001 D714(1) For setting in hexadecimal (H)
Axis16
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
D714
D715
Axis15 Axis14 Axis13Axis12 Axis11Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1
Axis32 Axis31 Axis30 Axis29Axis28 Axis27Axis26 Axis25 Axis24 Axis23 Axis22 Axis21 Axis20Axis19 Axis18Axis17
(2) For setting in decimal (K) DMOV K538968065 D714
Make the following setting to control axes 1, 22 and 30 by the manual pulse generator 1.
Example
(4) Manual pulse generator 1-pulse input magnification setting (a) Set to each axis the magnification at input of one pulse from the manual
pulse generator.
1-Pulse Input Magnification
Setting Register Corresponding Axis No. Setting range
D720 Axis 1
D721 Axis 2
D722 Axis 3
D723 Axis 4
D724 Axis 5
D725 Axis 6
D726 Axis 7
D727 Axis 8
D728 Axis 9
D729 Axis 10
D730 Axis 11
D731 Axis 12
D732 Axis 13
D733 Axis 14
D734 Axis 15
D735 Axis 16
D736 Axis 17
D737 Axis 18
D738 Axis 19
D739 Axis 20
D740 Axis 21
D741 Axis 22
D742 Axis 23
D743 Axis 24
D744 Axis 25
D745 Axis 26
D746 Axis 27
D747 Axis 28
D748 Axis 29
D749 Axis 30
D750 Axis 31
D751 Axis 32
1 to 100
7. AUXILIARY AND APPLIED FUNCTIONS
7 36
(5) For the manual pulse generator 1-pulse input magnification which has been set, the "manual pulse generator 1-pulse input magnification setting register" of the corresponding axis is checked on the leading edge of the manual pulse generator enable flag. If the value is outside the setting range, the manual pulse generator axis setting error storage registers (D9185 to D9187) and manual pulse generator axis setting error flag (M9077) are set and the magnification is controlled as "1".
(6) Manual pulse generator smoothing magnification setting Set the magnification for smoothing the leading and trailing edges of manual pulse generator operation.
Manual Pulse Generator Smoothing Magnification
Setting Register Setting range
Manual pulse generator 1 (P1): D752
Manual pulse generator 2 (P2): D753
Manual pulse generator 3 (P3): D754
0 to 59
(a) Operation
V
t t t t
V1
OFF
ONManual pulse generator enable flag (M2012)
Manual pulse generator input
Output speed (V1) = (number of input pulses/ms) (manual pulse generator 1-pulse input magnification setting) Travel (L) = (travel per pulse) number of input pulses (manual pulse generator 1-pulse input magnification setting)
REMARKS 1) The travel per pulse of the manual pulse generator is as indicated below.
Setting unit mm inch degree PULSE
:0.1 m :0.00001inch :0.00001degree :1pulse
2) The smoothing time constant is 56.8ms to 3408ms.
(7) The definitions of errors at manual pulse generator operation data setting are indicated below.
Error Definition Error Processing
Axis setting specified in any digit is other than 1
to 32.
Only the digit in error is ignored.
The axes of the digits where any of 1 to 32 is
set are made valid and perform manual pulse
generator operation.
Axis set to manual pulse generator operation is
specified.
Axis of overlapped designation is ignored.
Manual pulse generator operation specified first
is performed.
The axes set are 4 or more axes.
Only three axes starting from the lower number
of the manual pulse generator axis setting
registers are made valid and operated.
7. AUXILIARY AND APPLIED FUNCTIONS
7 37
[Cautions] (1) The start acceptance flag turns ON for the axis set to manual pulse generator
operation. Therefore, positioning control, home position return or the like cannot be started by the servo system CPU or peripheral device. Turn OFF the manual pulse generator enable flag after manual pulse generator operation is finished.
(2) The torque limit value is fixed at 300% during manual pulse generator operation.
(3) When the manual pulse generator enable flag is turned ON for the axis which is being operated by positioning control, JOG operation or the like, error 214 is set to the corresponding axis and manual pulse generator input is not enabled. After the axis has stopped, the rise of the manual pulse generator enable flag is made valid to enable the manual pulse generator input, and the start acceptance flag turns ON to import the input from the manual pulse generator.
(4) If the manual pulse generator enable flag of another manual pulse generator is turned ON for the axis which is performing manual pulse generator operation, error 214 is set to the corresponding axis and input is not enabled for that manual pulse generator. After the manual pulse generator operation enabled for input first has stopped, turn ON the manual pulse generator enable flag again.
(5) If, after the manual pulse generator enable flag has been turned OFF, the manual pulse generator enable flag is turned ON again for the axis which is making smoothing deceleration, error 214 is set and manual pulse generator input is not enabled. After the axis has stopped after smoothing deceleration (the start acceptance flag has turned OFF), turn ON the manual pulse generator enable flag.
(6) If, after the manual pulse generator enable flag has been turned OFF, you set another axis and turn ON the same manual pulse generator enable flag during smoothing deceleration, manual pulse generator input is not enabled. At this time, the manual pulse generator axis setting error bit of the manual pulse generator axis setting error storage register (D9187/D9185 to D9187) turns ON and the manual pulse generator axis setting error flag (M9077) turns ON. As the condition to turn ON the manual pulse generator enable flag, provide OFF of the start acceptance flag of the specified axis as an interlock.
7. AUXILIARY AND APPLIED FUNCTIONS
7 38
[Program Example] A program for manual pulse generator operation is described under the following conditions.
(1) System configuration Manual pulse generator operation of axis 1 is performed.
A172 SHCPUN
A172 SENC
A1S X10
MR- -B
M M M M Axis 1
Manual pulse generator operation enable (X000)
Manual pulse generator operation end (X001)
A172B
Manual pulse generator
MR- -B MR- -B MR- -B
Axis 2
Axis 3
Axis 4
(2) Manual pulse generator operation conditions (a) Manual pulse generator operation axis...................................................Axis 1
(b) Manual pulse generator 1-pulse input magnification ..................................100
(c) Manual pulse generator enable ............... Leading edge (OFF to ON) of X000
(d) Manual pulse generator end.................... Leading edge (OFF to ON) of X001
(3) Sequence program example A sequence program used to perform manual pulse generator operation is shown below.
0
CIRCUIT END
M2000 Turns ON PC ready.
Turns ON the all-axis servo start command.
Manual pulse generator 1-pulse input magnification of axis 1
Turns ON the manual pulse generator enable flag.
2
4
11
M9039
M9074
X000 M9074 M2009 M9076
M2042
PLS
SET
M140
M2012
MOV D1016100
M9074 M140 M2001
25 X001
29 M141
RST M2012
PLS M141
MOV D10121
K
K
Turns OFF the manual pulse generator enable flag when X001 turns ON.
Detection of the leading edge (OFF to ON) of X000
Sets the axis (axis 1) operated by the manual pulse generator.
7. AUXILIARY AND APPLIED FUNCTIONS
7 39
[Manual Pulse Generator Operation Procedure] The manual pulse generator operation procedure is indicated below.
Using a sequence program
START
Set the manual pulse generator 1-pulse input magnification.
Set the manual pulse generator
operation axes.
Turn ON the manual pulse generator enable flag.
Axes are positioned by the manual pulse generator.
Turn OFF the manual pulse
generator enable flag.
END
Using a sequence program
7. AUXILIARY AND APPLIED FUNCTIONS
7 40
7.10 Override Ratio Setting Function
With the override ratio setting function, you can set the ratio of override to the command speed in a motion program to change the speed.
[Control Details] (1) To the command speed in a motion program, set the override ratio in the range
0 to 100% in 1% increments. The value obtained by multiplying the command speed by the override value is the actual feedrate.
(2) Set the override ratio to each axis. The default value is 100% in all axes.
[Data Setting] (1) Use the override ratio setting register to change the speed with the override
ratio setting function. The following table lists the override ratio setting register of each axis.
Axis No. Override Ratio Setting Register
1 D500
2 D506
3 D512
4 D518
5 D524
6 D530
7 D536
8 D542
Axis No. Override Ratio
Setting Register Axis No.
Override Ratio
Setting Register Axis No.
Override Ratio
Setting Register Axis No.
Override Ratio
Setting Register
1 D1440 9 D1488 17 D1536 25 D1584
2 D1446 10 D1494 18 D1542 26 D1590
3 D1452 11 D1500 19 D1548 27 D1596
4 D1458 12 D1506 20 D1554 28 D1602
5 D1464 13 D1512 21 D1560 29 D1608
6 D1470 14 D1518 22 D1566 30 D1614
7 D1476 15 D1524 23 D1572 31 D1620
8 D1482 16 D1530 24 D1578 32 D1626
(2) Set the ratio to the override ratio setting register in the range 0 to 100%.
(3) When the override ratio enable/disable (M1505+10n) is ON, the content of the override ratio setting register is valid. When M1505+10n is OFF, the speed is controlled at the override ratio of 100%.
7. AUXILIARY AND APPLIED FUNCTIONS
7 41
[Cautions] (1) When the DSFRP/SVST instruction is executed, the override ratio setting
register data of the operating axis having the lowest number is made valid. [Example] Axis 2, 3, 4 start instruction
SVST J2J3J4 K100
When the above DSFRP/SVST instruction is executed, the data of axis 2 is made valid. (The data of axes 3, 4 are made invalid.)
(2) When the speed is changed by the override ratio setting function, acceleration/deceleration processing is performed according to the "acceleration time" and "deceleration time" in the parameter block.
(3) The override ratio setting is valid only for motion program operation. (Invalid for JOG operation and so on.)
(4) The definitions of errors at override ratio data setting are indicated below.
Error Definition Error Processing Error Code
At a start, the value set in the override ratio setting
register is other than 0 to 100%. 190
During operation, the value set in the override ratio
setting register is other than 0 to 100%.
Operation is performed at 100%.
(Operation is performed at command speed in
motion program.) 290
[Operation Timing] The speed change timing by the override ratio setting function is shown in Fig. 7.7.
Operation performed at 75% in second block
V
Command speed
100%
50%
t Override ratio setting register 100 25 0 50 75 50
1st block start 2nd block 3rd block
Override ratio changed to 50% before a start of third block.
1st block 1st block completion
Operation performed at 50% in third block
Fig. 7.7 Operation Timing at Override Ratio Setting
7. AUXILIARY AND APPLIED FUNCTIONS
7 42
[Program Example] A program example using the override ratio setting function is described under the following conditions.
(1) Override ratio setting conditions (a) Axis No. ........................................................ Axis 1
(b) Override ratio ................................................ 50%
(c) Override ratio setting command.................... X180
(d) Motion program start command ................... X181
(2) Sequence program
CIRCUIT END
SVST
19
21
28
30
M9074
X1
M0
M1
M9074
M9074
M2009
M2001
M9076
M2002 M2003 J1J2J3
M2042
PLS
SET
RST
M0
M1
M1
100 K
MOV
0
2
6
8
M9039
X0
M151
M152 M9074 M2021 50
M2000
PLS
SET
M151
M152
D500
49 X2
M1505
RST M152
Start acceptance flags
P K
Turns ON X2 to make the override ratio valid before the motion program is started.
Turns ON PC ready.
Detection of the leading edge (OFF to ON) of X000
Turns ON M152 (override ratio execution command flag) on the leading edge of X000.
Stores 50 into the override ratio setting register (D500) of axis 1.
Turns OFF M152 on completion of the axis 1 override ratio setting. Turns ON the all-axis servo start command.
Turns ON the start command flag (M1) of motion program No. 100 when X1 turns from OFF to ON.
Motion program No. 100 execution request
Turns OFF M1 on completion of the motion program No. 100 execution request.
7. AUXILIARY AND APPLIED FUNCTIONS
7 43
7.11 FIN Signal Waiting Function
The FIN signal waiting function is designed to synchronize the processing completion of each mid point with the FIN signal. By setting the M code to each mid point for positioning, the execution of each point can be controlled by the FIN signal.
[Data Setting] (1) The FIN signal and M code outputting signal correspond to the following
devices of each axis.
Axis No. 1 2 3 4 5 6 7 8
A172SHCPUN M1819 M1839 M1859 M1879 M1899 M1919 M1939 M1959 FIN signal
A171SHCPUN M1819 M1839 M1859 M1879 A172SHCPUN M1619 M1639 M1659 M1679 M1699 M1719 M1739 M1759M code
outputting signal A171SHCPUN M1619 M1639 M1659 M1679
Axis No. 1 2 3 4 5 6 7 8
FIN signal M3219 M3239 M3259 M3279 M3299 M3319 M3339 M3359
M code outputting signal M2419 M2439 M2459 M2479 M2499 M2519 M2539 M2559
Axis No. 9 10 11 12 13 14 15 16
FIN signal M3379 M3399 M3419 M3439 M3459 M3479 M3499 M3519
M code outputting signal M2579 M2599 M2619 M2639 M2659 M2679 M2699 M2719
Axis No. 17 18 19 20 21 22 23 24
FIN signal M3539 M3559 M3579 M3599 M3619 M3639 M3659 M3679
M code outputting signal M2739 M2759 M2779 M2799 M2819 M2839 M2859 M2879
Axis No. 25 26 27 28 29 30 31 32
FIN signal M3699 M3719 M3739 M3459 M3779 M3799 M3819 M3839
M code outputting signal M2899 M2919 M2939 M2959 M2979 M2999 M3019 M3039
(2) The acceleration/deceleration system is the fixed acceleration/deceleration time mode. The acceleration/deceleration time used is the acceleration time in the selected parameter block.
[Program Example]
FIN waiting1 2
1110
Point in execution
M code (D**)
M code outputting (M1619+20n) FIN signal (M1819+20n)
Operation explanation chart
01; G01 X20. Y20. F100. M10; (Point 1) X30. Y25. M11; (Point 2) X35. Y30. M12; (Point 3) X40. Y40; (Point 4) M02; %
1. When positioning of the axis to point 1 starts, the M code is output and the M code outputting signal turns ON. 2. In response to this, the PLC performs necessary processing and then turns ON the FIN signal. Until the FIN signal turns ON, the axis does not move to the next point. 3. When the PLC turns ON the FIN signal, the M code outputting signal turns OFF. 4. After the M code outputting signal has turned OFF, the PLC turns OFF the FIN signal. After this, positioning to next point 2 starts.
7. AUXILIARY AND APPLIED FUNCTIONS
7 44
[Cautions] (1) The M code outputting signal turns OFF when the stop command (external,
M1800+20n, M1801+20n), cancel signal or skip signal is entered.
(2) When the M code is set to the last point, positioning is completed after the FIN signal is turned from OFF to ON to OFF.
(3) When the FIN waiting function is used , a shift to a point is made under the command before acceleration or deceleration. (Refer to the chart in (6) 2).)
(4) During interpolation, the M code outputting signal is output to all interpolation axes. When inputting the FIN signal to interpolation axes, turn ON the signal of any of the interpolation axes. Note that the FIN signal for the high-speed oscillation execution axis is ignored.
(5) When the FIN signal for any one of the interpolation axes is ON, the M code outputting signal is not output if the FIN waiting function is executed.
Example: When the FIN waiting function for point 1 is executed with the signal for the second axis kept ON
FIN waiting1 2
1110
Point in execution
M code (D**) M code outputting (M1619+20n) FIN signal (1st axis) (M1819) FIN signal (2nd axis) (M1839)
When FIN signal for second axis turns OFF, M code outputting signal turns ON.
Since FIN signal for second axis is ON, M code output signal does not turn ON.
7. AUXILIARY AND APPLIED FUNCTIONS
7 45
(6) When the FIN waiting function is used, the command in-position signal is output as described below. 1) When automatic deceleration is started by positioning to the executed point
(including the last point) during FIN waiting If the difference between the positioning address (command position) of the executed point and the feed present value falls within the command in- position range during FIN waiting, the command in-position signal (M1603+20n/M2403+20n) turns ON. When the axis moves to the next point, the command in-position signal turns OFF.
Command in-position setting value Automatic deceleration
FIN waiting1 2
1110
Point in execution
M code (D**) M code outputting (M1619+20n) FIN signal (M1819+20n) Command in-position (M1603+20n)
2) When the axis moves to the next point without automatic deceleration being made by positioning to the executed point during FIN waiting If the axis moves to the next point without automatic deceleration, the command in-position signal does not turn ON.
Deceleration component of point 1
1 2
1110
Point in execution
M code (D**) M code outputting (M1619+20n) FIN signal (M1819+20n) Command in-position (M1603+20n)
3
12
Deceleration component of point 2
Deceleration component of point 2 Deceleration component of point 3
7. AUXILIARY AND APPLIED FUNCTIONS
7 46
POINT In the fixed acceleration/deceleration mode, the time required for acceleration/deceleration is fixed at different speeds.
Acceleration/deceleration time is fixed.
t
V
(1) In the fixed acceleration/deceleration mode, the following processing and parameters are invalid. Deceleration time and rapid stop deceleration time in parameter block S-pattern acceleration/deceleration
(2) When positioning operation (constant-speed control) as shown below is to be performed, speed processing of each axis is as shown below.
Y
Ay
Axis 2
Axis 1 Ax X
Positioning operation
V
Axis 1
Ax t
V
Axis 2
Ay t
Address Ax
Address Ay
Constant-Speed Control Processing of Each Axis
7. AUXILIARY AND APPLIED FUNCTIONS
7 47
7.12 Single Block
The single block function is designed to execute program operation block-by-block to check of run of a motion program. The single block function is available in either of the following two modes. One is the mode in which the single block function is specified before a program start and the other is the mode in which the single block function is executed midway through a program run. This section explains the latter mode where the single block function is executed midway through a program run.
[Control Details]
OFF ON
Push button
Single block mode
Single block start
During continuous operation, turn ON the single block mode signal and turn the single block start signal from OFF to ON to start single block operation at any point during operation. (1) Single block signal devices
The following signals are related to the single block function.
Device No.
Signal Name A172SHCPUN/A171SHCPUN
A273UHCPU (32-axis
feature)/A173UHCPU
Signal Direction
Single block in progress M1409 M4009 SCPU PCPU
Single block mode M1508 M4408
Single block start M1509 M4409 SCPU PCPU
Single block in progress
Single block mode
Single block start
These signals are valid for all program operations executed concurrently. 1) Single block in progress (M1409/M4009)
The single block in progress signal indicates that the single block function can be executed. When the single block in progress signal is ON, the single block function is executed. When the single block in progress signal is OFF, turn the SVST start or single block start signal from OFF to ON to start continuous operation. When the single block mode signal is turned ON, the single block in progress signal turns ON. When the single block mode signal is turned OFF and the single block start signal is then turned from OFF to ON, the single block in progress signal turns OFF.
2) Single block mode (M1508/M4408) The single block mode signal is designed to make the single block function valid.
3) Single block start (M1509/M4409) The single block start signal is designed to start a program in a single block waiting status.
7. AUXILIARY AND APPLIED FUNCTIONS
7 48
(2) How to execute single block from a start Turning ON the single block mode signal turns ON the single block in progress signal. In this status, turn ON the SVST start signal. After the first block is executed, execution waits for the single block start signal to turn from OFF to ON.
Single block in progress
Single block mode
Single block start
SVST
Start acceptance
Executed sequence No. N1 N2
(3) How to continue single block With the single block in progress signal ON, turn the single block start signal from OFF to ON. After one block program is run, execution waits for the single block start signal to turn ON.
Single block in progress
Single block mode
Single block start
Executed sequence No. N2 N3N1
(4) How to start operation continuously during execution of single block Turn ON the single block mode signal. In this state, turn the single block start signal from OFF to ON. This turns OFF the single block in progress signal and starts the program running continuously.
Single block in progress
Single block mode
Single block start
Executed sequence No. N2 N3N1 N4
Continuous operation from N3
7. AUXILIARY AND APPLIED FUNCTIONS
7 49
(5) How to perform continuous operation from a start (Ordinary operation) With the single block in progress signal OFF, start a program with SVST to run the program continuously.
Single block in progress
Single block mode
Single block start
SVST
Start acceptance
Executed sequence No. N1 N2
(6) How to execute single block during continuous operation Turn ON the single block mode signal during program operation. During move block execution, the program is stopped after termination of that block and execution waits for the single block start signal to turn from OFF to ON.
Single block in progress
Single block mode
Single block start
Executed sequence No. N2 N3N1
7. AUXILIARY AND APPLIED FUNCTIONS
7 50
A macro instruction block, e.g. arithmetic operation, is preread during execution of the move instruction for PTP (e.g. G00) or CP (e.g. G01). Therefore, if the single block function is executed while the macro instructions are preread during motion, the executed block number and executed sequence number displayed are those in the preread area.
010; N1 G01 X100. F100.; (Single block in progress is ON) N2 #D0 = 0; N3 #D2 = 1; N4 #D3 = 2; N5 #D4 = 3; (Preread completion block) M02; %
During N1 execution, the single block in progress signal is turned ON. If the macro instructions in up to N5 have been preread at this time, making a single block start for one block changes the executed sequence No. from N1 to N5.
Single block in progress
Single block mode
Single block start
Executed sequence No. N5N1
[Cautions] (1) Single block mode (M1508/M4408) and single block command
(M1503+10n/M4403+10n) If the single block mode signal (M1508/M4408) and single block command (M1503+10n/M4403+10n) are used to execute the single block function simultaneously, the operation performed by the single block command (M1503+10n/M4403+10n) is made invalid.
(2) Emergency stop, stop command, rapid stop command and error when single block in progress is ON When the single block in progress signal is ON, it does not turn OFF if an emergency stop is made, the stop command or rapid stop command is given, or an error occurs. The single block in progress signal turns OFF by turning OFF the single block mode signal and then turning the single block start signal from OFF to ON.
(3) Status at termination of one block execution when single block in progress is ON If one block execution ends when the single block in progress signal is ON, the automatically operating signal (M1402+10n/M4002+10n) does not turn OFF. At this time, the command in-position signal (M1603+20n/M2403+20n) turns ON.
(4) Single block start during move instruction execution During axis motion (except high-speed oscillation), the single block start signal is not accepted. Make a block start after the axis has been stopped by the single block function.
7. AUXILIARY AND APPLIED FUNCTIONS
7 51
7.13 Enhanced Present Value Control
The following functions have been added to provide enhanced present value control when the ABS encode is used. (1) Enhanced functions
(a) Function for checking the validity of an encoder during operation Checks whether encoder's variance in a 3.5ms time interval is within 180
degrees at the motor axis. (An error is indicated when the variance is not within 180 degrees.)
Checks whether encoder data matches feed-back positions managed by the servo amplifier. (An error is indicated when the data does not match the feed-back positions.)
(b) Present value log monitor for checking the following values with peripheral devices Encoder present value, servo commanded value, and monitor present
value (mechanical value) at power-on sequence Encoder present value, servo commanded value, and monitor present
value (mechanical value) at power-off sequence Encoder present value, servo commanded value, and monitor present
value (mechanical value) at home position return
(c) If an allowable travel value is set at power-off sequence, whether encoder data has changed exceeding the setting range at power-off sequence can be checked at servo amplifier power-on sequence. (An error is indicated when the encoder data has exceeded the setting range.)
(2) Restrictions on the servo amplifier The following restrictions are imposed according to the servo amplifier combinations:
Servo amplifier Restrictions
MR-H-B : BCD-B13W000-B2 and after
MR-J2-B : BCDB20W200-A1 and after No restrictions
MR-H-B : BCD-B13W000-B1 and after
MR-J2-B : BCD-B20W200-A0 and before
MR-J-B : All types
ADU : All types
All enhanced functions cannot be used.
7. AUXILIARY AND APPLIED FUNCTIONS
7 52
7.14 HighSpeed Reading of Designated Data
This function stores the designated positioning data in the designated device (D, W) with the signal from an input module mounted on the motion base as the trigger. It can be set in the system setting of a peripheral device software package. (1) Positioning data that can be set
1. Positioning command 2. Actual present value 3. Position droop 4. M codes 5. Torque limit value 6. Motor current 7. Motor rpm 8. Servo command value
(2) Modules and signals used
Input Module Signal Reading Timing Number of Points Settable
A172SENC/A171SENC TREN 1
PC input module X device 0.8ms
8
Note: Only one PC input module can be used.
Input Module Signal Reading Timing Number of Points Settable
A273EX 3
A172SENC TREN
1
PC input module X device
0.8ms
8
Note: Only one PC input module can be used.
APPENDICES
APP 1
APPENDICES
APPENDIX 1 SCPU ERROR CODE LIST
If an error occurs when the PC is switched to the RUN status or is in the RUN status, the error indication and error code (including the step number) are stored in a special register by the self-diagnosis function. When an error occurs, refer to Table 1.1 for its cause and the corrective action to take. Eliminate the cause of the error by taking the appropriate corrective action. Error codes can be read at a peripheral device; for details on the relevant operation, see the Operating Manual for the peripheral device.
CAUTION
When an error occurs, check the points stated in this manual and reset the error.
Appendix 1.1 SCPU Error Code List
The list presented below gives the error numbers, and the error contents, causes, and corrective actions for each error message.
Table 1.1 Error Code List
Error Message (When an A273UHCPU is Used)
Contents of Special Register D9008
(BIN Value)
CPU Status
Error Contents and Cause Corrective Action
"INSTRCT.CODE ERR"
(When an instruction is executed.)
10 Stopped
An instruction code that cannot be decoded has been included in the program. (1) A ROM which includes undecodable instruction
codes has been installed. (2) The memory contents have changed for some
reason and now include an undecodable instruction code.
(1) Read the error step with a peripheral device, and correct the program at that step.
(2) If the ROM is the problem, either rewrite its contents or replace it with a ROM into which the correct contents have been written.
"PARAMETER ERROR"
On switching on the power or resetting.
On switching from STOP
PAUSE to
RUN
STEP RUN
11 Stopped
The parameter data in the CPUs memory has been changed due to noise or incorrect installation of the memory.
(1) Check the installation of the memory and install it correctly.
(2) Read the parameter data of the CPU memory at a peripheral device, check the data, correct it, and write the corrected data back into the memory.
"MISSING END INS."
When M9056 or M9057 is ON.
On switching from STOP
PAUSE to
RUN
STEP RUN
12 Stopped
(1) There is no END (FEND) instruction in the program. (2) When a subprogram is set in the parameters, there
is no END instruction in the subprogram.
(1) Write an END instruction at the end of the program.
"CAN'T EXECUTE (P)"
When a CJ/SCJ/JMP/CALL(P)/
FOR-NEXT instruction is executed.
On switching from STOP
PAUSE to
RUN
STEP RUN
13 Stopped
(1) The jump destination designated with a CJ/SCJ/CALL/CALLP/JMP instruction does not exist, or more than one exists.
(2) There is a CHG instruction but no subprogram is set. (3) Although there is no CALL instruction, there is a
RET instruction in the program and is has been executed.
(4) A CJ/SCJ/CALL/CALLP/JMP instruction whose jump destination is at or beyond the END instruction has been executed.
(5) The number of FOR instructions does not match the number of NEXT instructions.
(6) A JMP instruction has been included between a FOR and NEXT command, exiting the FOR - NEXT sequence.
(7) The subroutine has been exited by execution of a JMP instruction before execution of a RET instruction.
(8) Execution of a JMP instruction has caused a jump into a step in a FOR - NEXT range, or into a subroutine.
(1) Read the error step with a peripheral device, and correct the program at that step.(Correct, for example, by inserting a jump destination, or making sure there is only one jump destination.)
APPENDICES
APP 2
Table 1.1 Error Code List (Continued)
Error Message (When an A273UHCPU is Used)
Contents of Special Register D9008
(BIN Value)
CPU Status
Error Contents and Cause Corrective Action
"CHK FORMAT ERR."
On switching from STOP
PAUSE to
RUN
STEP RUN
14 Stopped
(1) An instruction other than an LDX, LDIX, ANDX, or ANIX instruction (including NOP) has been included in the same ladder block as a CHK instruction.
(2) More than one CHK instruction exists. (3) The number of contacts in a CHK instruction ladder
block exceeds 150. (4) The device number of an X device in a CHK
instruction ladder block exceeds X7FE when using an A373CPU or X1FFE when using an A373U/A273U.
(5) The following ladder block
CJ
has not been inserted before the CHK instruction ladder block.
(6) The D1 device (number) of a CHK D1 D2 instruction is not the same as the device (number) of the contact before the CJ[ ] instruction.
(7) The pointer P254 is not appended at the head of a CHK instruction ladder block.
CHK D1 D2P254
(1) Check if any of items (1) to (6) in the column to the left apply to the program with the CHK instruction ladder block, correct any problem in the program with a peripheral device, then restart program operation.
(2) This error code is only valid when the I/O control method used is the direct method.
"CAN'T EXECUTE (I)"
When an interruption occurs.
On switching from STOP
PAUSE to
RUN
STEP RUN
15 Stopped
(1) An interrupt module is used but there is no number for the corresponding interrupt pointer I in the program. Or, more than one exists.
(2) There is no IRET instruction in the interrupt program.
(3) There is an IRET instruction other than in the interrupt program.
(1) Check the whether or not an interrupt program corresponding to the interrupt module exists and either create an interrupt program or eliminate the duplicated I number.
(2) Check if there is an IRET instruction in the interrupt program: if there is not, insert one.
(3) Check if there is an IRET instruction other than in the interrupt program: if there is, delete it.
"CASSETTE ERROR"
(On switching on the power or resetting.) 16 Stopped
No memory cassette is installed. Install a memory cassette and reset.
"RAM ERROR"
On switching on the power or resetting.
When M9084 is turned ON in the
STOP status.
20 Stopped
(1) On checking if data can be read from and written to the CPU data memory area normally, it is determined that one or both are not possible.
"OPE.CIRCUIT ERR."
(On switching on the power or resetting.) 21 Stopped
(1) The operation circuit that executes sequence processing in the CPU does not operate normally.
There is a hardware fault. Contact your nearest Mitsubishi service center, agent, or office, and explain the problem.
"WDT ERROR"
(At any time)
22 Stopped
The scan time has exceeded the watchdog error monitor time. (1) The user program scan time has been exceeded due
to the conditions. (2) A momentary power interruption has occurred during
scanning, extending the scan time.
(1) Calculate and check the scan time for the user program and shorten the scan time, e.g. by using a CJ instruction.
(2) Monitor the contents of special register D9005 with a peripheral device. If the contents are other than "0" the power supply voltage is unstable: in this case check the power supply and reduce voltage fluctuation.
"END NOT EXECUTE"
(When END processing is executed.)
24 Stopped
(1) When the END instruction is executed it is read as another instruction code, e.g. due to noise.
(2) The END instruction has been changed to another instruction code somehow.
(1) Reset and establish the RUN status again.If the same error is displayed again, the cause is a CPU hardware error. Contact your nearest Mitsubishi service center, agent, or office, and explain the problem.
"WDT ERROR"
(At any time) 25 Stopped
A loop has been established for execution of the sequence program, due for example to a CJ instruction, and the END instruction cannot be executed.
Check if any program will be run in an endless loop: if there is such a program, modify the program.
APPENDICES
APP 3
Table 1.1 CPU Error Code List (Continued)
Error Message (When an A273UHCPU is Used)
Contents of Special Register D9008
(BIN Value)
CPU Status
Error Contents and Cause Corrective Action
"UNIT VERIFY ERR."
When an END instruction is executed.
However, no check is performed when
M9084 or M9094 is ON.
31 Stopped (RUN)
The I/O information does not match a loaded module when the power is switched ON. (1) An I/O module (this includes special function
modules) is loose, or has become detached, during operation. Or, a completely different module has been loaded.
(1) The bit in special registers D9116 to D9123 that corresponds to the module for which the verification error occurred will be set to "1": check for the module whose bit is set to "1" by monitoring these registers with a peripheral device and replace that module.
(2) If the current arrangement of loaded modules is acceptable, reset with the reset switch.
"FUSE BREAK OFF"
When an END instruction is executed.
However, no check is performed when
M9084 or M9094 is ON.
32 RUN
(Stopped)
There is an output module with a blown fuse. (1) Check the blown fuse indicator LEDs of the output modules and replace the fuse of the module whose indicator LED is lit.
(2) Modules with blown fuses can also be detected by using a peripheral device. The bit in special registers D9100 to D9107 that corresponds a module whose fuse has blown will be set to "1": monitor these registers to check.
"CONTROL-BUS ERR."
When FROM, TO instruction are
executed. On switching on the power
or resetting. On switching from STOP
PAUSE to
RUN
STEP RUN
40 Stopped
FROM, TO instructions cannot be executed. (1) Fault in the control bus to the special function
module.
(1) There is a hardware fault of the special function module, CPU module, or base unit: replace each module/unit to find the defective one. Contact your nearest Mitsubishi service center, agent, or office, and explain the problem with the defective module/unit.
"SP.UNIT DOWN"
When FROM, TO instruction are
executed. On switching on the power
or resetting. On switching from STOP
PAUSE to
RUN
STEP RUN
41 Stopped
On execution of a FROM, TO instruction, a special function module was accessed but no response was received. (1) The accessed special function module is faulty.
There is a hardware fault in the accessed special function module: contact your nearest Mitsubishi service center, agent, or office, and explain the problem.
"LINK UNIT ERROR"
On switching on the power or resetting.
On switching from STOP
PAUSE to
RUN
STEP RUN
42 Stopped
(1) A data link module for use with MELSECNET has been loaded at the master station.
(1) Remove the data link module for MELSECNET from the master station. After making this correction, reset and start operation from the initial status.
"I/O INT.ERROR"
(When an interruption occurs.)
43 Stopped
An interruption has occurred although there is no interrupt module.
(1) There is a hardware fault in one of the modules: replace each module in turn to determine which one is defective. Contact your nearest Mitsubishi service center, agent, or office, and explain the problem with the defective module.
"SP.UNIT LAY.ERR."
On switching on the power or resetting.
On switching from STOP
PAUSE to
RUN
STEP RUN
44 Stopped
(1) Three or more computer link modules have been installed for one CPU module.
(2) Two or more data link modules for MELSECNET have been installed.
(3) Two or more interrupt modules have been installed. (4) In the parameter settings made at a peripheral
device, an allocation for a special function module has been made where there is in fact an I/O module, or vice versa.
(1) Do not install more than two computer link modules.
(2) Do not install more than one data link module for MELSECNET.
(3) Install only one interrupt module. (4) Re-set the I/O allocations in the
parameter settings made at the peripheral device so that they agree with the loaded modules.
APPENDICES
APP 4
Table 1.1 CPU Error Code List (Continued)
Error Message (When an A273UHCPU is Used)
Contents of Special Register D9008
(BIN Value)
CPU Status
Error Contents and Cause Corrective Action
"SP.UNIT ERROR"
(When a FROM, TO instruction is executed)
46 Stopped (RUN)
(1) A location where there is no special function module has been accessed (when the FROM, TO instruction was executed).
(1) Read the error step using a pe- ripheral device, check the contents of the FROM, TO instruction at that step, and correct it using the peripheral device.
"LINK PARA.ERROR"
On switching on the power or resetting.
On switching from STOP
PAUSE to
RUN
STEP RUN
47 RUN
(1) The data written to the link parameter area when link range settings are made by parameter setting at a peripheral device differ for some reason from the parameter data read by the CPU.
(2) The setting for the total number of slave stations is "0".
(1) Write the parameters again and check.
(2) If the error is displayed again, there is a hardware fault. Contact your nearest Mitsubishi service center, agent, or office, and explain the problem.
"OPERATION ERROR"
(When a command is executed)
50 RUN
(Stopped)
(1) The result of BCD conversion is outside the stipulated range (max. 9999 or 99999999).
(2) A setting exceeding the stipulated device range has been made and operation is therefore impossible.
(3) A file register has been used in the program without having made a file register capacity setting.
(1) Read the error step with a peripheral device, and correct the program at that step. (Check the device setting range, BCD conversion value, etc.)
"BATTERY ERROR"
At any time
However, no check is performed when
M9084 is ON.
70 RUN
(1) The battery voltage has fallen below the stipulated value.
(2) The battery's lead connector has not been installed.
(1) Replace the battery. (2) If the battery is used to back up the
RAM memory or to retain memory contents during momentary power interruptions, install a lead connector.
APPENDICES
APP 5
APPENDIX 2 ERROR CODES STORED BY THE PCPU
The errors that are detected at the PCPU are servo program setting errors and positioning errors. (1) Motion program setting errors
Motion program setting errors are errors as the results of checking a parameter block No. or an axis No. when executing SVST instructions. When an error occurs, the following happens: The motion program setting error flag (M9079) comes ON. The program number of the program in which the error occurred is stored in
the error program No. register (D9189). The error code is stored in the error point block No. register (D9195). The error code is stored in the error item information register (D9190).
(2) Positioning error (a) Positioning errors are errors that occur when positioning starts or during
positioning: they are classified into minor errors, major errors, and servo errors. 1) Minor errors.............These are errors generated by sequence programs
or servo programs; they are assigned error codes 1 to 999. The cause of minor errors can be eliminated by checking the error code and correcting the sequence program or servo program.
2) Major error...............These are errors generated by external input signals or control commands from the SCPU; they are assigned error codes 1000 to 1999. When a major error occurs, check the error code and eliminate the error cause in the external input signal status or sequence program.
3) Servo error ..............These are errors detected by the servo amplifier; they are assigned error codes 2000 to 2999. When a servo error occurs, check the error code and eliminate the error cause at the servo side.
(b) When an error occurs, the error detection signal for the relevant axis comes ON, and the error code is stored in the minor error code, major error code, or servo error code register.
Error Code RegisterDevice Error Class Axis 1 Axis 2 Axis 3 Axis 4 Axis 1 Axis 2 Axis 3 Axis 4
Error Detection
Signal
Minor error D806 D826 D846 D866 D886 D906 D926 D946
Major error D807 D827 D847 D867 D887 D907 D927 D947 M1607+20n
Servo error D808 D828 D848 D868 D888 D908 D928 D948 M1608+20n
Error Code RegisterDevice Error Class Axis 1 Axis 2 Axis 3 Axis 4
Error Detection
Signal
Minor error D806 D826 D846 D866
Major error D807 D827 D847 D867 M1607+20n
Servo error D808 D828 D848 D868 M1608+20n
APPENDICES
APP 6
Table 2.3 Error Code Registers, Error Flags
Error Code RegisterDevice Error Class Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8
Error Detection
Signal
Minor error D6 D26 D46 D66 D86 D101 D126 D146
Major error D7 D27 D47 D67 D87 D107 D127 D147 M2407+20n
Servo error D8 D28 D48 D68 D88 D108 D128 D148 M2408+20n
Error Code RegisterDevice Error Class Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16
Error Detection
Signal
Minor error D166 D186 D206 D226 D246 D266 D286 D306
Major error D167 D187 D207 D227 D247 D267 D287 D307 M2407+20n
Servo error D168 D188 D208 D228 D248 D268 D288 D308 M2408+20n
Error Code RegisterDevice Error Class Axis 17 Axis 18 Axis 19 Axis 20 Axis 21 Axis 22 Axis 23 Axis 24
Error Detection
Signal
Minor error D326 D346 D366 D386 D406 D426 D446 D466
Major error D327 D347 D367 D387 D407 D427 D447 D467 M2407+20n
Servo error D328 D348 D368 D388 D408 D428 D448 D468 M2408+20n
Error Code RegisterDevice Error Class Axis 25 Axis 26 Axis 27 Axis 28 Axis 29 Axis 30 Axis 31 Axis 32
Error Detection
Signal
Minor error D486 D506 D526 D546 D566 D586 D606 D626
Major error D487 D507 D527 D547 D567 D587 D607 D627 M2407+20n
Servo error D488 D508 D528 D548 D568 D588 D608 D628 M2408+20n
(c) If another error occurs after an error code has been stored, the existing error code is overwritten, deleting it. However, it is possible to check the history of error occurrence by using a peripheral device started up with the GSV43P software.
(d) Error detection flags and error codes are latched until the error code reset signal (M1807+20n/M3207+20n) or servo error reset signal (M1808+20n/M3208+20n) comes ON.
POINTS
(1) When some servo errors occur, the same error code will be stored again even if the servo error reset signal (M1808+20n/M3208+20n: ON) is issued.
(2) When a servo error occurs, reset the servo error after first eliminating the error cause at the servo side.
APPENDICES
APP 7
Appendix 2.1 Motion Program Setting Errors
The error codes, error definitions and corrective actions for motion program setting errors are indicated in Table 2.4.
Table 2.4 Motion Program Setting Errors
Error Code Stored in
D9190 Error Name Definition Error Processing Corrective Action
1
Parameter block
number setting error
The specified
parameter block
number is outside the
range 1 to 16.
The motion program is
executed with the
parameter block
number set to the
default value of "1".
Specify the parameter block number in the range 1 to 16.
906
Axis number setting
error
The axis not used in the
system settings has
been specified for the
motion program set in
the DSFRP/SVST
instruction.
Positioning control does
not start.
Set the axis number that was specified in the system settings.
3300
Start program excess
error
An attempt was made
to start and run 9 or
more programs
simultaneously with the
DSFRP/SVST
instruction.
Positioning control does
not start.
Set up to 8 programs as the simultaneously run programs.
APPENDICES
APP 8
Appendix 2.2 Minor Errors
Minor errors are those that occur in the sequence program or servo program. The error codes for these errors are from 1 to 999. Minor errors include set data errors, positioning control start-up errors, positioning control errors, and control change errors. (1) Set data errors (1 to 99)
These errors occur when the data set in the parameters for positioning control is not correct. The error codes, causes, processing, and corrective actions are shown in Table 2.5 below.
Table 2.5 Set Data Error List (1 to 99)
Error
Code
Data Where
Error
Occurred
Check Timing Error Cause Error Processing Corrective Action
21
When count type,
near-zero-point dog
type, or data set type
or home position
return is started.
The home position address of
a degree axis is outside the
range 0 to 35999999
(105degrees).
Set the home position
address within the
permissible range with a
peripheral device.
22
The home position return
speed is set outside the range
of 1 to the speed limit value.
Set the home position return
speed at or below the speed
limit value by using a
peripheral device.
23
When a count type, or
near-zero-point dog
type home position
return is started.
The creep speed is set
outside the range of 1 to the
home position return speed.
Set the creep speed at or
below the home position
return speed by using a
peripheral device.
24
When a count type
home position return
is started.
The travel value after the
near-zero-point dog comes
ON is outside the range of 0
to 2311( unit).
Set the travel value after the
near-zero-point dog to within
the permissible range with a
peripheral device.
25
Home
position return
data
When a count type,
near-zero-point dog
type or home position
return is started.
The parameter block No. is
outside the range of 1 to the
maximum No.
Home position return
is not started.
Set the parameter block No.
within the permissible range
with a peripheral device.
40 Parameter
block
When interpolation
control is started
The unit for interpolation
control designated in the
parameter block is different
from the control unit
designated in the fixed
parameters.
Control is executed
using the control unit
designated in the
fixed parameters.
Designate the same control
unit in the fixed parameters
and servo parameters.
POINT
Sometimes, if the interpolation control unit designated in the parameter block and the control unit designated in the fixed parameters are different, no error code is stored; this depends on the combination of units designated. For details, see Section 6.6.6.
APPENDICES
APP 9
(2) Positioning control start-up errors (100 to 199) The errors shown in this section are those detected when positioning control is started. Error codes, causes, processing, and corrective actions are shown in Table 2.6 below. *: When interpolation control is being executed, the error codes are stored in
the error code storage areas of all the axes involved in the interpolation.
Table 2.6 Positioning Control Start-Up Error List (100 to 199)
Control Mode
Error Code
P o
si tio
n in
g
JO G
M a
n u
a l P
u ls
e G
e n
e ra
to r
H o
m e
P o
si tio
n R
e tu
rn
Error Cause Error Processing Corrective Action
Set the servo system CPU to RUN. 100 ! ! ! !
The PC ready flag (M2000) or PCPU ready flag (M9074) is OFF. Turn the PC ready flag (M2000) ON.
101 ! ! ! !
The start accept flag (M2001 to M2008/M2001 to M2004) of the relevant axis has been turned ON.
Provide an interlock in the program to prevent the axis from being started while in motion (use the turning OFF of the start accept signal for the axis as the interlock condition).
103 ! ! ! ! The stop command (M1800+20n) of the
relevant axis has been turned ON. Turn the stop command (M1800+20n) OFF
and start positioning.
104 ! ! ! ! The rapid stop command (M1801+20n) of the
relevant axis has been turned ON. Turn the rapid stop command (M1801+20n)
OFF and start positioning.
105 !
On starting, the feed present value is outside the stroke limit range.
Move back inside the stroke range using JOG operation.
Enter inside the stroke range by executing a home position return or present value change.
106* ! Positioning outside the stroke limit has been
designated. Positioning end point must be within the
specified stroke limit.
107 !
An address that does not generate an arc was designated in circular interpolation for which an auxiliary point is designated.
Error in relationship between the start
point, auxiliary point, and end point
108* !
An address that does not make an arc was designated in circular interpolation for which a radius is designated.
Error in relationship between the start
point, auxiliary point, and end point
109 !
An address that does not generate an arc was designated in circular interpolation for which a center point is designated.
Error in relationship between the start
point, auxiliary point, and end point
110* !
In circular interpolation, the difference between the end point address and the ideal end point exceeded the allowable error range for circular interpolation.
Designate correct addresses in the servo program.
115 !
The home position return completed signal (M1610+20n) has been turned ON during a near-zero point dog type home position return operation.
Positioning control does not start.
Resumptive starts are not possible for home position return operations. Use JOG operation or positioning operation to return the axis to a point before the near- zero point dog signal was output, then retry the home position return operation.
APPENDICES
APP 10
Table 2.6 Positioning Control Start-Up Error List (100 to 199) (Continued)
Control Mode
Error Code
P o
si tio
n in
g
JO G
M a
n u
a l P
u ls
e G
e n
e ra
to r
H o
m e
P o
si tio
n R
e tu
rn
Error Cause Error
Processing Corrective Action
The set JOG speed is 0. Positioning control does not start.
116 ! The set JOG speed exceeds the JOG speed limit value. Control is
executed at the JOG speed limit value.
Set a correct speed (within the specified range).
117 !
Both forward and reverse motion were designated when simultaneously starting JOG operation programs.
Only the axis set to move in the forward direction starts.
Set correct data.
120 !
ZCT not set During second travel in dog type or count type home position return, or when data set type home position return is started, the zero pass signal (M1606+20n) is OFF.
Home position return is not completed correctly.
Carry out the home position return after the home position has been passed.
140 ! In linear interpolation for which a reference axis is designated the travel value of
the reference axis is set at "0". Do not set an axis whose travel value is 0
as the reference axis.
142 ! An external input signal has come ON although external input signal setting has
not been performed for that signal in the system settings. Perform external input signal setting in
system setting.
160 ! The operating axis is specified in the SVST instruction. Start after the operating signal has turned
OFF. Provide an SVST instruction operating interlock.
161 ! An attempt was made to start the program whose number is outside the range 1 to
256.
Positioning
control does
not start.
Reconsider the SVST instruction.
163 !
The sequence number specified in SVST is outside the range 0 to 9999. Positioning
control starts
from the
beginning of
the program.
Set the sequence number within the range 0 to 9999.
190 !
At a start, the override ratio is outside the range 0 to 100%. Operation is
performed at
100%.
Set the override ratio within the range 0 to 100%.
APPENDICES
APP 11
(3) Positioning control errors (200 to 299) The errors shown in this section are those detected during positioning control. Error codes, causes and corrective actions are shown in Table 2.7.
Table 2.7 Positioning Control Start-Up Error List (200 to 299)
Control Mode
Error Code
P o
s it
io n
in g
J O
G
M a
n u
a l
P u
ls e
G e
n e
ra to
r
H o
m e
P o
s it
io n
R e
tu rn
Error Cause Error Processing Corrective Action
200 ! ! !
The PC ready flag (M2000) was turned OFF while positioning was being started in response to a start request issued by a sequence program.
Turn the PC ready flag (M2000) ON after all axes have stopped.
201 ! The PC ready flag (M2000) was turned OFF
during a home position return operation.
202 ! The stop command (M1800+20n) has been
turned ON during a home position return operation.
Axis motion decelerates to a stop.
203 !
The rapid stop command (M1801+20n) has been turned ON during a home position return operation.
Axis motion stops immediately.,
After turning the PC ready flag (M2000) ON or turning the stop command (M1800+20n) or rapid stop command (M1801+20n) OFF, re- attempt home position return.
In the case of a near-zero-point dog
type home position return, use JOG
operation or positioning operation to
return the axis to the point before the
near-zero-point dog signal was output,
and re-attempt home position return.
204 ! ! ! !
The PC ready flag (M2000) was turned back ON during deceleration initiated by turning OFF the PC ready flag (M2000). No processing
Turn the PC ready flag (M2000) ON after all axes have stopped.
Turning ON the PC ready flag (M2000)
during deceleration is ignored.
206 !
While a home position return operation was in progress, an emergency stop was executed in the test mode at a peripheral device by pressing the [Back Space] key.
Axis motion stops immediately.
In the case of a near-zero point dog type home position return, use JOG operation or positioning operation to return the axis to the point before the near-zero point dog signal was output, and re-attempt home position return.
If the near-zero point dog signal is turned OFF when executing a count type home position return, use JOG operation or positioning operation to return the axis to the point before the near-zero point dog signal was output, and re-attempt home position return.
In the near-zero-point dog signal is
turned ON when executing count type
home position return, re-attempt the
home position return.
207 ! !
The feed present value exceeded the stroke limit during positioning. In the case of circular interpolation, an error code is stored only for axes whose feed present value exceeded the stroke limit. In the case of linear interpolation, error codes are stored for all axes involved in the interpolation.
208 ! !
During circular interpolation or during simultaneous operation of multiple manual pulse generators, the feed present value of another axis exceeded the stroke limit value. (For detection of other axis errors).
Correct the stroke limit or travel value setting so that positioning is executed within the stroke limit.
209 !
An overrun has occurred because the set travel value exceeds the deceleration distance when a speed/position change (CHANGE) signal is input during speed/position switching control, or when the near-zero-point dog signal is input during count type home position return.
Axis motion decelerates to a stop.
Correct the speed setting so that overrun does not occur.
Set a travel value which will not cause an overrun.
APPENDICES
APP 12
Table 2.7 Positioning Control Error List (200 to 299) (Continued)
Control Mode
Error Code
P o
s it
io n
in g
J O
G
M a
n u
a l
P u
ls e
G e
n e
ra to
r
H o
m e
P o
s it
io n
R e
tu rn
Error Cause Error Processing Corrective Action
211 !
During positioning, an overrun occurs because the deceleration distance for the output speed is not attained at the point where the final positioning address is detected.
Axis motion decelerates to a stop.
Set a speed at which overrun does not occur. Set a travel value which will not cause an
overrun.
214 !
An attempt was made to control an axis already being moved by the manual pulse generator by setting the manual pulse generator operation enable flag for that axis.
The manual pulse generator input is ignored until the axis stops.
Perform the manual pulse generator operation after the axis has stopped.
290 ! At a start, the override ratio is outside the
range 0 to 100%. Operation is performed at 100%.
Set the override ratio within the range 0 to 100%.
APPENDICES
APP 13
(4) Errors occurring at speed changes and torque limit value changes (300 to 399) The errors shown in this section are those that occur on execution of speed changes and torque limit value changes. Error codes, causes, processing, and corrective actions are shown in table 2.8.
Table 2.8 List of Errors that Occur at Speed Changes and Torque Limit Value Changes
Control Mode
Error Code
P o
si tio
n in
g
JO G
M a
n u
a l P
u ls
e G
e n
e ra
to r
H o
m e
P o
si tio
n R
e tu
rn
Error Cause Error Processing Corrective Action
301 ! An attempt was made to change the speed of
an axis executing a home position return. The speed of an axis executing a home
position return cannot be changed.
303 ! An attempt was made to change the speed of
an axis after automatic deceleration had started in positioning.
The speed of an axis cannot be changed after automatic deceleration has started.
304 !
An attempt was made to change the speed of an axis during deceleration initiated by turning OFF the JOG operation start signal (M1802+20n, M1803+20n).
The speed is not changed.
Do not attempt a speed change during deceleration initiated by turning OFF the JOG operation start signal (M1802+20n, M1803+20n).
! The speed to be changed to in a speed
change was set outside the range of 0 to the speed limit value.
Set the speed within the range from 0 to the speed limit value.
305
! The absolute value of speed to be changed to
in a speed change was set outside the range of 0 to the speed limit value.
The speed is kept at the speed limit value. Set the absolute value of speed within the
range from 0 to the speed limit value.
A speed change was attempted during high- speed oscillation.
310 A speed change to "0" request was issued
during high-speed oscillation.
The speed is not changed.
Do not perform speed changes during high- speed oscillation.
311 A value outside the range 1 to 500% was set
in the torque limit value change request (CHGT).
Make a change request within the range 1 to 500% .
312 A torque limit change request (CHGT) was
made for an axis not started yet.
The torque limit value is not changed.
Make a change request for a started axis.
APPENDICES
APP 14
(5) Motion program running errors (500 to 599) These errors are detected during motion program execution. Check the executed motion program number, executed sequence number and executed block number, and correct the motion program. Table 2.9 lists the processings and corrective actions for motion program running errors.
Table 2.9 Motion Program Running Error (500 to 599) List
Control Mode
Error Code
P o
si tio
n in
g
JO G
M a
n u
a l P
u ls
e G
e n
e ra
to r
H o
m e
P o
si tio
n R
e tu
rn
Error Cause Error Processing Corrective Action
500 ! 0 is specified as the N number. Set the N number of a sequence program
within the range 1 to 9999.
501 ! There is no F command.
Speed is "0". Specify F before and during execution of
G01, G02, G03. Specify the speed of "1" or higher.
502 ! The command value is greater than the
range.
Deceleration to stop
Set the address, speed, dwell time, etc. within the ranges.
503 ! The speed command specified is greater than
the speed limit value of the parameter block. Speed is clamped at speed limit value for operation.
Set the correct speed (within the range).
504 ! 5 or more axes were specified in 1 block. 5 or more axes cannot be interpolated.
Set the number of interpolation axes up to 4 axes.
510 ! Unauthorized G code was specified. Specify the correct G code.
513 ! The interpolation length is greater than the
range. Specify the axis address within the range.
525 ! Subprogram level excess. Subprogram
calling depth exceeded 8 levels. Set the calling depth within 8 levels.
530 ! Arithmetic expression is not correct. Use a correct arithmetic expression.
531 ! Integer value overflow.
The integer value exceeded the range during arithmetic operation.
Reconsider the variable value and arithmetic expression.
532 ! The numbers of "[" and "]" specified in one
block differ. Set the numbers of "[" and "]" in pairs.
533 ! The denominator of division is 0. Set the denominator to other than 0.
535 ! The IF [condition] GOTO statement is in
error. Reconsider the IF statement.
536 ! The variable number exceeds the range. Set the variable within the range.
537 ! The variable definition statement does not
have "=". Add "=".
541 ! The sequence number specified for
subprogram call, return from subprogram or GOTO is not set.
Set the sequence number.
542 ! In the specified motion program, the
WHILE[]DOm-ENDm statement is in error.
543 ! In the specified motion program, the nesting
of the DOm-ENDm statement is greater than the limit.
544 ! In the specified motion program, DOm-ENDm
are not in pairs.
545 ! In the specified motion program, the
IF[]THENm-ENDm statement is in error.
546 ! In the specified motion program, the nesting
of the IF[]THENm-ENDm statement is greater than the limit.
547 ! In the specified motion program, IF[]THENm,
ELSEm and ENDm are not in pairs.
Reconsider the motion program.
555 ! At a subprogram call, the specified
subprogram is not registered.
Deceleration to stop
Create the specified subprogram. Change the call number.
APPENDICES
APP 15
Table 2.9 Motion Program Running Error (500 to 599) List (Continued)
Control Mode
Error Code
P o
si tio
n in
g
JO G
M a
n u
a l P
u ls
e G
e n
e ra
to r
H o
m e
P o
si tio
n R
e tu
rn
Error Cause Error Processing Corrective Action
560 ! The command format in the motion program
is not correct. Reconsider the motion program. Reconsider
the argument following G**.
562 ! There is no M02/M30 at the end of the motion
program. There is no M99 at the end of the subprogram.
Put M02, M30 or M99 before %.
570 !
For the tool length offset (G43, G44) command, the offset data number is not specified. The offset data number is not correct.
Reconsider the offset data number.
571 !
For the tool length offset (G43, G44) or tool offset cancel (G49) command, the axis corresponding to compensation is not specified.
Specify the axis corresponding to compensation.
580 ! The command beyond the preset stroke
range was executed. Give the command within the preset stroke
range.
581 ! The move command was given to the high-
speed oscillation operation axis.
Deceleration to stop
Do not give the move command to the high- speed oscillation operation axis.
582 ! High-speed oscillation cancel was given to
the axis which was not operating in high- speed oscillation.
No processing High-speed oscillation cancel is invalid.
584 ! Cancel start (G24) program number error Reconsider the motion program number.
585 ! High-speed oscillation (G25) amplitude range
error Reconsider the high-speed oscillation (G25)
amplitude range.
586 ! High-speed oscillation (G25) starting angle
range error Reconsider the high-speed oscillation (G25)
starting angle range.
587 ! High-speed oscillation (G25) frequency range
error Reconsider the high-speed oscillation (G25)
frequency range.
591 ! A fault occurred in the system. Consult your sales representative.
592 ! The axis name is incorrect. Use X, Y, Z, U, V, W, A, B, C.
Match the axis name with the one in the system settings.
593 ! 0 number designated in the specified motion
program is incorrect. Reconsider the 0***; part.
594 ! The axis not specified in SVST is specified in
the motion program.
Deceleration to stop
Reconsider the SVST instruction. Reconsider the motion program.
(6) System errors (900 to 999)
Table 2.10 System Error List (900 to 999)
Control Mode
Error Code
P o
si tio
n in
g
JO G
M a
n u
a l P
u ls
e G
e n
e ra
to r
H o
m e
P o
si tio
n R
e tu
rn
Error Cause Error Processing Corrective Action
900
When the servo amplifier power is switched ON, the motor type set in the "system settings" differs from the motor type actually installed. (Checked only when using MR-J2-B)
Correct the motor type setting in the system settings.
901
When the servo amplifier power is switched ON, the motor travel value while the power was OFF is found to have exceeded the "Power OFF Allowed Traveling Points" setting made in the system settings.
Further operation is impossible. Check the position.
Check the encoder battery.
APPENDICES
APP 16
Appendix 2.3 Major Errors
Major errors are caused by external input signals or by control commands from the SCPU. The error codes for major errors are 1000 to 1999. Major errors consist of control start-up errors, positioning errors, absolute system errors, and system errors. (1) Positioning control start-up errors (1000 to 1099)
The errors shown in this section are those detected when positioning control is started. Error codes, error causes, error processing and corrective actions are shown in Table 2.11.
Table 2.11 Positioning Control Start-Up Error List (1000 to 1099)
Control Mode
Error Code
P o
si tio
n in
g
JO G
M a
n u
a l P
u ls
e G
e n
e ra
to r
H o
m e
P o
si tio
n R
e tu
rn
Error Cause Error Processing Corrective Action
1000 ! ! ! ! The external stop signal of the corresponding
axis was turned ON. Turn OFF the STOP signal.
1001 ! ! ! When positioning was started in the forward
direction (addresses increasing), the external FLS (upper limit LS) signal was turned OFF.
Move the axis in the reverse direction in the JOG mode until it enters the external limit range.
1002 ! ! ! When positioning was started in the reverse
direction (addresses decreasing), the external RLS (lower limit LS) signal was turned OFF.
Move the axis in the forward direction in the JOG mode until it enters the external limit range.
1003 ! When near-zero point type home position
return was started, the external DOG (near- zero point dog) signal was turned ON.
Move the axis to a point before the near-zero point dog in the JOG mode and then execute a home position return.
1004 ! ! ! !
The servo state of the corresponding axis is not servo READY. (M1615+20n: OFF). (1) The power supply to the servo amplifier is
OFF. (2) Initial processing is in progress after
turning on the servo amplifier. (3) The servo amplifier has not been
installed. (4) A servo error has occurred. (5) Cable fault.
Wait until the servo status is READY (M1615+20n: OFF).
1005 ! ! ! !
The servo error detection signal of the corresponding axis (M1608+20n) was turned ON.
Positioning control does not start.
Eliminate the error at the servo side, reset the servo error detection signal (M1608+20n) by using the servo error reset command (M1808+20n), then start operation.
APPENDICES
APP 17
(2) Positioning control errors (1100 to 1199) The errors shown in this section are those detected during positioning. Error codes, error causes, error processing, and corrective actions are shown in Table 2.12.
Table 2.12 Positioning Control Error List (1100 to 1199)
Control Mode
Error Code
P o
si tio
n in
g
JO G
M a
n u
a l P
u ls
e G
e n
e ra
to r
H o
m e
P o
si tio
n R
e tu
rn
Error Cause Error Processing Corrective Action
1101 ! ! ! ! When positioning was started in the forward
direction (addresses increasing), the external FLS (upper limit LS) signal was turned OFF.
Move axis in the reverse direction in the JOG mode until it enters the external limit range.
1102 ! ! ! ! When positioning was started in the reverse
direction (addresses decreasing), the external RLS (lower limit LS) signal was turned OFF.
Move the axis in the forward direction in the JOG mode until it enters the external limit range.
1103 !
The external STOP signal (stop signal) was turned ON while the axis was moving.
Axis motion decelerates to a stop in accordance with the "deceleration processing on STOP input" setting in the parameter block. When executing a near-zero point dog type
home position return, move the axis to a point before the near-zero point dog in the JOG mode and then execute a home position return.
1104 ! ! ! ! The servo error detection signal
(M1608+20n) was turned ON while an axis was in motion.
The axis stops immediately without decelerating.
After taking the appropriate corrective action for the servo error, the axis can be restarted.
1105 ! ! ! !
The power supply to the servo amplifier was turned OFF while an axis was in motion. (Servo not installed status detected, cable fault, etc.)
M1615+20n turned OFF.
Turn ON the power supply to the servo amplifier.
Check the cable to servo amplifier connecting cable.
APPENDICES
APP 18
(3) Absolute System Errors (1200 to 1299) The errors shown in this section are those detected in an absolute system. Error codes, error causes, error processing, and corrective actions are shown in Table 2.13.
Table 2.13 Absolute System Error List (1200 to 1299)
Control Mode
Error Code
P o
si tio
n in
g
F ix
e d
-P itc
h F
e e
d
S p
e e
d
S p
e e
d /P
o si
tio n
S w
itc h
in g
S p
e e
d S
w itc
h in
g
C o
n st
a n
t S
p e
e d
JO G
M a
n u
a l P
u ls
e G
e n
e ra
to r
H o
m e
P o
si tio
n R
e tu
rn
P o
si tio
n F
o llo
w -U
p C
o n
tr o
l
O S
C Error Cause
Error Processing
Corrective Action
1201
When the servo amplifier power was switched ON, a sum check error occurred with the backup data in the controller.
Home position return has not been performed. CPU module battery error. Home position return has been performed, but
not completed.
Home position return request ON
Check the battery of the CPU module and execute a home position return.
1202*
When the servo amplifier power is turned ON, a communication error in communication between the servo amplifier and encoder occurs.
Home position return request ON, servo error 2016 set.
Check the motor and encoder cables and perform home position return again.
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).
1204*
During operation, the following expression holds: "Encoder present value (PLS) feedback present value (PLS) (encoder effective bit number)". 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.
(4) System errors (1300 to 1399/1500 to 1599) These are errors which are detected at power-on. Table 2.14 lists the error codes, error causes, error processings and corrective actions.
Table 2.14 Main Base Side (1300 to 1399/1500 to 1599) List
Control Mode
Error Code
P o
si tio
n in
g
JO G
M a
n u
a l P
u ls
e G
e n
e ra
to r
H o
m e
P o
si tio
n R
e tu
rn
Error Cause Error Processing Corrective Action
1310 Initial communication with the servo system
CPU is not completed normally. Servo system CPU fault
Positioning control does not start. Change the servo system CPU.
APPENDICES
APP 19
Appendix 2.4 Servo Errors
The servo errors include the servo amplifier errors and servo power supply module errors. You can set to each line the processings to be performed on detection of servo errors. (Only the servo errors detected by the ADU (when A273UHCPU is used)) Specify the processings and lines in the system settings of the peripheral device.
Setting Control
1
Line-by-line servo OFF (default) When a servo error has occurred in any of the ADU axes, all axes in that
line are put in servo OFF status. (Control exercised is the same as at all-
axis servo OFF.)
2
Only own axis servo OFF Only the ADU axis where a servo error has occurred is placed in servo
OFF status and no influence is given to the other axes.
However, note that:
1) For the 2 axes/1 module type, both axes are put in servo OFF status if a
servo error has occurred in one axis.
2) The line-by-line servo OFF status is established if any of the following
servo errors occurs.
Overcurrent (2032)
Undervoltage (2810)
Excessive regeneration (2830)
Overvoltage (2833)
Amplifier power supply overheat (2847)
(1) Servo amplifier errors (2000 to 2799) The servo amplifier errors are detected by the servo amplifier and assigned error codes 2000 to 2799. The servo errors include errors in the ADU and errors in the MR- -B. For the servo amplifier types, the ADU is abbreviated to A and the MR- -B to M . When any of the servo amplifier errors occurs, the servo error detection signal (M2408+20n) turns ON. Eliminate the error cause and turn ON the servo error reset (M3208+20n) to reset the servo error, and make a restart. (However, the servo error detection signal will not turn ON for any of the error codes 2100 to 2499 as they are warning.) Note: 1. For regenerative alarm protection (error code 2030) and overload
protection 1, 2 (error code 2050, 2051), the status when the protective circuit was activated is still retained in the servo amplifier after activation. The data stored is cleared when the external power is switched OFF, but is not cleared by the RESET signal.
2. If the external power is switched OFF repeatedly to reset any of the error codes 2030, 2050 and 2051, overheat may lead to damage to the devices. Therefore, resume operation after removing the cause without fail.
The servo error definitions are given in Table 2.15.
CAUTION!
If a controller or servo amplifier self-diagnostic error has occurred, make check in accordance with this manual and restore to normal.
APPENDICES
APP 20
Table 2.15 Servo Amplifier Error (2000 to 2799) List
Error CauseError
code
Amplifier
Type Name Definition Error Check Timing
Process-
ing Corrective Action
A P-N non-wiring P-N of the servo power supply module are
not wired to P-N of the ADU.
Reconsider wiring.
The power supply voltage is less than
160VAC.
Measure the input voltage (R,
S, T) with a voltmeter.
Instantaneous power failure occurred for
longer than 15msec.
On an oscilloscope, check for
an instantaneous power failure.
2010
M Undervoltage
Due to power supply capacity shortage, the
power supply voltage dropped at a start or
the like.
Any time
Reconsider the power supply
capacity.
A Internal memory
alarm
ADU's SRAM fault. At power-on of servo
amplifier
Change the ADU.
2012
M Memory alarm 1
Servo amplifier's SRAM is faulty.
Servo amplifier's EPROM checksum does
not match
At power-on of servo
amplifier
On PC ready
(M2000) leading
edge
At servo error reset
At power-on of servo
system CPU
Change the servo amplifier.
2013 M Clock alarm Servo amplifier's clock is faulty. Change the servo amplifier.
Servo control system fault. Reset and recheck the servo
system CPU.A ADU fault. Change the ADU.2014
M
Watchdog
Servo amplifier hardware is faulty.
Servo system CPU hardware is faulty.
Any time
Change the servo amplifier.
Change the servo system CPU.
A 2-port memory
alarm
ADU's 2-port memory fault. At power-on of servo
amplifier
At servo error reset
Reset and recheck the servo
system CPU.
Change the ADU.
2015
M Memory alarm 2
Servo amplifier's EEPROM is faulty. At power-on of servo
amplifier
On PC ready
(M2000) leading
edge
At servo error reset
At power-on of servo
system CPU
Change the servo amplifier.
A
At initialization, communication with encoder
is not normal.
The encoder type (ABS/INC) set in system
settings differs from the actual encoder type.
At power-on of servo
amplifier
At servo error reset
Reset and recheck the servo
system CPU.
Change the servo motor
(encoder).
Reconsider the system
settings.
2016
M
Detector alarm
1 Communication with encoder is in error. At power-on of servo
amplifier
On PC ready
(M2000) leading
edge
At servo error reset
At power-on of servo
system CPU
Imme-
diate
stop
Check the detector cable
connector for disconnection.
Change the servo motor.
Change the detector cable.
Check the combination of
detector cable type (2-wire/4-
wire type) and servo
parameter.
APPENDICES
APP 21
Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)
Error CauseError
Code
Amplifier
Type Name Definition Error Check Timing
Process-
ing Corrective Action
A ADU's analog-to-digital converter is faulty. At power-on of servo
amplifier
At servo error reset
Reset and recheck the servo
system CPU.
Change the ADU.
2017
M
Board alarm
Device on the servo amplifier board is faulty. At power-on of servo
amplifier
On PC ready
(M2000) leading
edge
At servo error reset
At power-on of servo
system CPU
Change the servo amplifier.
2019 M Memory alarm 3
Servo amplifier's flash ROM checksum does
not match.
At power-on of servo
amplifier
On PC ready
(M2000) leading
edge
At servo error reset
At power-on of servo
system CPU
Change the servo amplifier.
A Detector alarm
2
During operation, communication with the
encoder is not normal.
Check wiring between the
encoder and ADU.
Change the servo motor
(encoder). 2020
M Detector alarm
2
Communication with the encoder is in error. Check the detector cable
connector for disconnection.
Change the servo motor.
Change the detector cable.
2024 M Output side
ground fault
U, V or W of the servo amplifier is in ground
fault.
Any time
Use a multimeter to check
across U, V, W terminals and
earth.
Use a multimeter and megger
to check across U, V, W
terminals and core.
A Absolute
position erase
In the absolute value encoder, the voltage of
the super capacitor in the encoder is less
than 2.50.2V.
In the absolute value encoder, speed was
500rpm or higher during a power failure.
At power-on of servo
amplifier
At servo error reset
Change the battery (MR-JBAT- ).
Check the wiring between
encoder and ADU.
Reduction in the voltage of the super
capacitor in the absolute value encoder
Switch power on for a few
minutes, charge the super
capacitor, then switch power
from OFF to ON, and make
home position setting.
Battery voltage reduction. After powering off the servo
amplifier, measure the battery
voltage.
2025
M Battery alarm
Battery cable or battery fault. (After
deactivating the error, home position return
must be made again.)
At power-on of servo
amplifier
On PC ready
(M2000) leading
edge
At servo error reset
At power-on of servo
system CPU
Change the servo amplifier
battery.
2026 A Module
mismatch
The servo parameter (system settings) does
not match the actual servo amplifier.
At power-on of servo
amplifier
At servo error reset
Imme-
diate
stop
Reconsider the system
settings.
APPENDICES
APP 22
Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)
Error CauseError
Code
Amplifier
Type Name Definition Error Check Timing
Process-
ing Corrective Action
The ON/OFF frequencies of the
regenerative power transistor are too high.
(Be careful as the regenerative brake
resistor may overheat.)
Check the regenerative level
(%) of the servo monitor and
reduce the
acceleration/deceleration
frequencies or feedrate.
Decrease the load.
Increase the servo motor
capacity.
Servo parameter (system settings) setting
mistake.
Check the servo parameters
(regenerative brake resistor
and motor type set in system
settings).
Regenerative brake resistor wiring mistake. Connect the regenerative
brake resistor properly.
Regenerative brake resistor fault. Change the regenerative
brake.
2030 M Excessive
regeneration
The regenerative power transistor was
damaged in short circuit status.
Change the servo amplifier.
The command speed is too high. Reconsider the command
speed.
Overshoot occurred during acceleration. Reconsider the servo
parameter.
Encoder fault. Change the encoder.
A
Encoder cable fault or wiring mistake. Check the wiring between
encoder and ADU.
The motor speed is higher than 115% of the
rated speed.
Check the motor speed in the
servo parameter.
Check whether the number of
pulses per revolution and the
travel per revolution in the fixed
parameters match the machine
specifications.
The acceleration/deceleration time constant
is too small, resulting in overshoot.
If overshoot occurs during
acceleration/deceleration,
check the acceleration and
deceleration times in the fixed
parameters.
The servo system is instable to cause
overshoot.
If overshoot occurs, adjust the
position loop gain/position
control gain 1, 2, speed loop
gain/speed control gain 1, 2 in
the servo parameters or
increase the speed integral
compensation.
2031
M
Overspeed
Detector fault.
Any time
Check the detector cable for
wire breakage.
Change the servo motor.
The servo motor connected is not as set. Reconsider the system
settings.
The U, V, and W phases of the ADU output
resulted in a short circuit or ground fault.
Check the servo motor cable.
Wiring mistake of the U, V, and W phases
of the ADU output.
Correct the servo motor wiring.
Damage to the ADU's transistor module.
ADU fault.
Change the ADU.
Coupling fault of servo motor and encoder. Change the servo motor.
2032 A Overcurrent
The servo motor oscillated.
At power-on of servo
amplifier
At servo error reset
Imme-
diate
stop
Reconsider the servo
parameters.
APPENDICES
APP 23
Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)
Error CauseError
Code
Amplifier
Type Name Definition Error Check Timing
Process-
ing Corrective Action
U, V, and W of the servo amplifier output
resulted in a short circuit.
Check U, V, and W of the
servo amplifier output for a
short circuit.
U, V, and W of the servo amplifier output
resulted in a ground fault.
Check U, V, and W of the
servo amplifier output and the
earth for a ground fault. Check
U, V, and W of the servo
amplifier output and the core
for a ground fault. If a ground
fault is found, change the servo
amplifier and motor.
Wiring mistake of the U, V, and W phases
of the servo amplifier output.
Correct the wiring.
Damage to the servo amplifier transistor. Change the servo amplifier.
Coupling fault of servo motor and encoder. Change the servo motor.
Encoder cable fault. Change the encoder cable.
The servo motor connected differs from the
setting.
Check the connected motor in
the system settings.
The servo motor oscillated. Check and adjust the gain
settings in the servo
parameters.
2032 M Overcurrent
Noise entered the overcurrent detection
circuit.
Check for the actuated relay or
valve in the peripheral.
The converter bus voltage exceeded 400V.
The acceleration frequency was too high
and exceeded the regenerative capability.
Regenerative brake resistor connection
mistake.
Increase the acceleration and
deceleration times in the fixed
parameters.
Check connection across C-P
of the regenerative terminal
block.
The regenerative brake resistor in the servo
amplifier is dead.
Measure the voltage across C-
P of the regenerative terminal
block with a multimeter. If the
voltage is abnormal, change
the servo amplifier. (Make
measurement about 3 minutes
after the charge lamp has gone
off.)
The regenerative power transistor has been
damaged.
Change the servo amplifier.
2033 M Overvoltage
The power supply voltage is high. Measure the input voltage (R,
S, T) with a voltmeter.
2034 M Communication
alarm
Receive data from the servo system CPU is
in error.
Check the motion bus cable.
Check the motion bus cable for
wire breakage.
Check whether the motion bus
cable is clamped properly.
The command speed is too high. Reconsider the command
speed.A Servo system CPU fault. Change the servo system
CPU.
The position command variation from the
servo system CPU is too large or the
command speed is too high.
Check the command speed
and the number of pulses per
revolution and travel per
revolution in the fixed
parameters.2035
M
Data alarm
Noise entered the command from the servo
system CPU.
Any time
Imme-
diate
stop
Check connection of the
motion bus cable connector.
Check the motion bus cable for
wire breakage.
Check whether the motion bus
cable is clamped properly.
Check for the actuated relay or
valve in the peripheral.
APPENDICES
APP 24
Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)
Error CauseError
Code
Amplifier
Type Name Definition Error Check Timing
Process-
ing Corrective Action
A Servo system CPU fault. Change the servo system
CPU.
2036
M Transfer alarm
Communication with the servo system CPU
is in error.
Check connection of the
motion bus cable connector.
Check the motion bus cable for
wire breakage.
Check whether the motion bus
cable is clamped properly.
2042 M Feedback alarm Encoder signal is in error. Change the servo motor.
The ADU fan is at a stop. Change the ADU fan.
The continuous output current of the ADU is
exceeded.
Reduce the load.A Amplifier fin
overheat
ADU's thermal sensor fault. Change the ADU.
2045
M Fin overheat
The heat sin in the servo amplifier is
overheated.
Amplifier fault (rated output excess).
Power ON and OFF are repeated in an
overload status.
Cooling fault.
If the effective torque of the
servo motor is large, reduce
the load.
Reduce the
acceleration/deceleration
frequencies.
Check whether the amplifier
fan is at a stop. (MR-H150B or
more)
Check for ventilation
obstruction.
Check whether the
temperature in the panel is proper (0 to +55 C).
Check whether the
electromagnetic brake is
operated externally during
operation.
Change the servo amplifier.
The thermal protector built in the servo
motor malfunctioned.
Change the servo motor.
A The continuous output of the servo motor is
exceeded.
Reduce the load.
The servo motor is overloaded. If the effective torque of the
servo motor is large, reduce
the load.
The servo motor and regenerative brake
option are overheated.
Check the ambient temperature (0 to +40 C) of
the servo motor.
2046
M
Servo motor
overheat
The thermal protector built in the encoder is
faulty.
Change the servo motor.
The rated current of the servo motor is
exceeded.
Load inertia or friction is too large.
Reduce the load.
A Overload
Hunting due to parameter setting mistake. Reconsider the servo
parameters.
2050
M Overload 1
Overload current of about 200% flew
continuously in the servo amplifier and servo
motor.
Any time
Imme-
diate
stop
Check for machine collision.
If the load inertia is extremely
large, increase the
acceleration/deceleration time
constant or reduce the load.
If hunting has occurred, adjust
the position loop gain in the
servo parameter.
Check the U, V, W connections
of the servo amplifier and servo
motor.
Check the detector cable for
wire breakage.
Change the servo motor.
APPENDICES
APP 25
Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)
Error CauseError
Code
Amplifier
Type Name Definition Error Check Timing
Process-
ing Corrective Action
2051 M Overload 2
The servo amplifier and servo motor are
overloaded near the maximum torque (more
than 95% of the current limit value).
Check for machine collision.
If the load inertia is extremely
large, increase the
acceleration/deceleration time
constant or reduce the load.
If hunting has occurred, adjust
the position loop gain/position
control gain 1, 2, speed loop
gain/speed control gain 1, 2 in
the servo parameters.
Check the U, V, W connections
of the servo amplifier and servo
motor.
Check the detector cable for
wire breakage.
Change the servo motor.
If the bus voltage in the servo
amplifier is low (the charge
lamp is off), change the servo
amplifier.
The deviation counter value exceeded the
specified value.
Inertia is too large to make enough
acceleration.
Reconsider the servo
parameters.
A
Encoder or cable fault. Change the encoder or cable.
2052
M
Error excessive
A difference between servo amplifier
command pulses and feedback pulses
exceeded 80000 pulses.
Check for machine collision.
Increase the
acceleration/deceleration time
constant.
Increase the position loop
gain/position control gain 1, 2
in the servo parameters.
Check the detector cable for
wire breakage.
Change the servo motor.
If the bus voltage in the servo
amplifier is low (the charge
lamp is off), change the servo
amplifier.
2057 A Hardware alarm ADU hardware fault.
Imme-
diate
stop
Change the ADU.
2086 M RS232
communication
alarm
Parameter unit communication error Check the parameter unit cable
for wire breakage.
Change the parameter unit.
A The absolute value encoder battery voltage
dropped.
Change the battery (MR-JBAT- ).
2102
M Battery warning
The voltage of the battery loaded in the
servo amplifier dropped.
Change the battery.
2103 M Open battery
cable warning
The power supply voltage supplied to the
absolute position detector dropped.
Change the battery.
Check the detector cable for
wire breakage.
Change the servo motor.
Change the servo amplifier.
2140 M Excessive
regeneration
warning
An excessive regeneration error (2030) may
occur. (The 85% level of the max. load
capacity was detected in the regenerative
brake resistor)
Refer to details of the
excessive regeneration error
(2030).
A The 80% level of the overload error (2050)
level was detected.
Refer to details of the overload
error (2050). 2141
M
Overload
warning An overload error (2050, 2051) may occur.
(85% level was detected)
Refer to details of the overload
error (2050, 2051).
2143 A Absolute value
counter warning
Encoder fault. Change the encoder.
2146 M Servo
emergency stop
1A-1B (emergency stop input) of the servo
amplifier connector CN6 were disconnected.
Any time
Con-
tinued
Short 1A-1B of the servo
amplifier connector CN6.
APPENDICES
APP 26
Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)
Error CauseError
Code
Amplifier
Type Name Definition Error Check Timing
Process-
ing Corrective Action
A Brought to an emergency stop.
2147 M
Emergency stop The emergency stop (EMG) signal is input
from the servo system CPU.
Imme-
diate
stop
Reset the emergency stop.
2149 M Main circuit OFF
warning
The servo ON (SON) signal was turned ON
when the contactor is OFF.
At not more than 50RPM, the main circuit
bus voltage dropped to or below 215V.
Turn ON the main circuit
contactor or main circuit power.
2196 M Home position
setting error
warning
After the home position setting command is
given, the droop pulse value did not fall
within the in-position range.
Make a home position return
again.
The parameter that was set is unauthorized.
2201 Amplifier setting
2202 Motor type
2203 Motor capacity
2204 Number of feedback pulses
2205 In-position range
2206 Position control gain 2
(actual position gain)
2207 Speed control gain 2
(actual speed gain)
2208 Speed integral compensation
2209 Forward rotation torque limit
value
2210 Reverse rotation torque limit
value
2211 Emergency stop time delay
2212 Position control gain 1
(model position gain)
2213 Speed control gain 1
(model speed gain)
2214 Load inertia ratio
2215 Error excessive alarm level
2216 Special compensation processing
2217 Special servo processing
2218 Td dead zone compensation
2219 Feed forward gain
2220 Unbalance torque compensation
2221 Dither command
2222 Gain operation time
2223 Servo response level setting
2224
2201
to
2224
A Parameter
warning
Any time
Con-
tinued
Reconsider the system settings
and servo parameters.
APPENDICES
APP 27
Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)
Error CauseError
Code
Amplifier
Type Name Definition Error Check Timing
Process-
ing Corrective Action
The servo parameter value is outside the
setting range. (Any unauthorized parameter
is ignored and the value before setting is
retained.)
2301 Amplifier setting
2302 Regenerative brake resistor
2303 Motor type
2304 Motor capacity
2305 Motor speed
2306 Number of feedback pulses
2307 Rotation direction setting
2308 Auto tuning setting
2309 Servo response level setting
2310 Forward rotation torque limit
value
2311 Reverse rotation torque limit
value
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 selection
2319 Feed forward gain
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 Prealarm data selection
2330 Zero speed
2331 Error excessive alarm level
2332 Optional function 5
2333 Optional function 6
2334 PI-PID switching position droop
2335 Torque limit compensation factor
2336
Speed differential compensation
(actual speed differential
compensation)
2301
to
2336
M Parameter
alarm Any time
Con-
tinued
Reconsider the setting ranges
of the servo parameters.
APPENDICES
APP 28
Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)
Error CauseError
Code
Amplifier
Type Name Definition Error Check Timing
Process-
ing Corrective Action
The servo parameter value is outside the
setting range. (Any unauthorized parameter
is ignored and the value before setting is
retained.)
2301 Amplifier setting
2302 Motor type
2303 Motor capacity
2304 Number of feedback pulses
2305 In-position range
2306 Position control gain 2
(actual position gain)
2307 Speed control gain 2
(actual speed gain)
2308 Speed integral compensation
2309 Forward rotation torque limit
value
2310 Reverse rotation torque limit
value
2311 Emergency stop time delay
2312 Position control gain 1
(model position gain)
2313 Speed control gain 1
(model speed gain)
2314 Load inertia ratio
2315 Error excessive alarm level
2316 Special compensation processing
2317 Special servo processing
2318 Td dead zone compensation
2319 Feed forward gain
2320 Unbalance torque compensation
2321 Dither command
2322 Gain operation time
2323 Servo response level setting
2324
2301
to
2324
A Parameter
alarm Any time
Reconsider the setting ranges
of the servo parameters.
2500 A Parameter
alarm
Among the servo parameters, any of the
following items is unauthorized.
Amplifier
External regenerative brake resistor
setting
Motor type
Motor capacity
At power-on of servo
amplifier
At servo error reset
Con-
tinued
Reconsider the system settings
and servo parameters.
APPENDICES
APP 29
Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)
Error CauseError
Code
Amplifier
Type Name Definition Error Check Timing
Process-
ing Corrective Action
The parameter that was set is unauthorized.
2501 Amplifier setting
2502 Motor type
2503 Motor capacity
2504 Number of feedback pulses
2505 In-position range
2506 Position control gain 2
(actual position gain)
2507 Speed control gain 2
(actual speed gain)
2508 Speed integral compensation
2509 Forward rotation torque limit
value
2510 Reverse rotation torque limit
value
2511 Emergency stop time delay
2512 Position control gain 1
(model position gain)
2513 Speed control gain 1
(model speed gain)
2514 Load inertia ratio
2515 Error excessive alarm level
2516 Special compensation processing
2517 Special servo processing
2518 Td dead zone compensation
2519 Feed forward gain
2520 Unbalance torque compensation
2521 Dither command
2522 Gain operation time
2523 Servo response level setting
2524
2501
to
2524
A Parameter
alarm
At power-on of servo
amplifier
On PC ready
(M2000) leading
edge
At servo error reset
Con-
tinued
Reconsider the system settings
and servo parameters.
APPENDICES
APP 30
Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)
Error CauseError
Code
Amplifier
Type Name Definition Error Check Timing
Process-
ing Corrective Action
The parameter setting is wrong.
The parameter data was corrupted.
2601 Amplifier setting
2602 Regenerative brake resistor
2603 Motor type
2604 Motor capacity
2605 Motor speed
2606 Number of feedback pulses
2607 Rotation direction setting
2608 Auto tuning setting
2609 Servo response level setting
2610 Forward rotation torque limit
value
2611 Reverse rotation torque limit
value
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 selection
2619 Feed forward gain
2620 In-position range
2621 Electromagnetic brake sequence
output
2622 Monitor output mode
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 Prealarm data selection
2630 Zero speed
2631 Error excessive alarm level
2632 Optional function 5
2633 Optional function 6
2634 PI-PID switching position droop
2635 Torque limit compensation factor
2636
Speed differential compensation
(actual speed differential
compensation)
2601
to
2636
M Initial parameter
alarm
At power-on of servo
amplifier
On PC ready
(M2000) leading
edge
At servo error reset
At power-on of servo
system CPU
Imme-
diate
stop
After checking and correcting
the parameter setting, turn the
servo system CPU power from
OFF to ON or turn PC ready
(M2000) from OFF to ON.
APPENDICES
APP 31
Table 2.15 Servo Amplifier Error (2000 to 2799) List (Continued)
Error CauseError
Code
Amplifier
Type Name Definition Error Check Timing
Process-
ing Corrective Action
The parameter setting is wrong.
The parameter data was corrupted.
2601 Amplifier setting
2602 Motor type
2603 Motor capacity
2604 Number of feedback pulses
2605 In-position range
2606 Position control gain 2
(actual position gain)
2607 Speed control gain 2
(actual speed gain)
2608 Speed integral compensation
2609 Forward rotation torque limit
value
2610 Reverse rotation torque limit
value
2611 Emergency stop time delay
2612 Position control gain 1
(model position gain)
2613 Speed control gain 1
(model speed gain)
2614 Load inertia ratio
2615 Error excessive alarm level
2616 Special compensation processing
2617 Special servo processing
2618 Td dead zone compensation
2619 Feed forward gain
2620 Unbalance torque compensation
2621 Dither command
2622 Gain operation time
2623 Servo response level setting
2624
2601
to
2624
A Initial parameter
alarm
At power-on of servo
amplifier
On PC ready
(M2000) leading
edge
At servo error reset
At power-on of servo
system CPU
Imme-
diate
stop
After checking and correcting
the parameter setting, turn the
servo system CPU power from
OFF to ON or turn PC ready
(M2000) from OFF to ON.
APPENDICES
APP 32
(2) Servo power supply module errors (2800 to 2999) The servo power supply module errors are detected by the servo amplifier and assigned error codes 2800 to 2999. When any of the servo errors occurs, the servo error detection signal (M2408+20n) turns ON. Eliminate the error cause and turn ON the servo error reset (M3208+20n) to reset the servo error, and make a restart. (However, the servo error detection signal will not turn ON for any of the error codes 2900 to 2999 as they are warning.) Note: 1. For regenerative alarm protection (error code 2830), the status when
the protective circuit was activated is still retained in the servo amplifier after activation. The data stored is cleared when the external power is switched OFF, but is not cleared by the RESET signal.
2. If the external power is switched OFF repeatedly to reset the error code 2830, overheat may lead to damage to the devices. Therefore, resume operation after removing the cause without fail.
The servo power supply module error definitions are given in Table 2.16.
Table 2.16 Servo Power Supply Module Error (2800 to 2999) List
Error Cause Error code
Name Definition
Error Check
Timing Processing Corrective Action
The power supply voltage of the servo
power supply module fell below 170VAC.
Instantaneous power failure occurred.
Reconsider the power supply
equipment.
2810 Undervoltage
Load is too large. Reconsider the power supply
equipment.
High-duty operation or continuous
regenerative operation caused the max.
load capacity of the regenerative brake
resistor to be exceeded.
Reconsider the operation
pattern, e.g. decrease the
acceleration/deceleration
frequencies or reduce the
speed.
Regenerative power transistor was
damaged.
Change the servo power supply
module.
Regenerative brake resistor setting mistake
in system settings
Reconsider the system
settings.
2830 Excessive
regeneration
Regenerative brake resistor wiring mistake. Correct the wiring.
Regenerative brake resistor connection
mistake.
Correct the wiring.
Regenerative power transistor was
damaged.
Change the servo power supply
module.
Regenerative brake resistor is dead. Change the regenerative brake
resistor.
2833 Overvoltage
Power supply voltage is high. Reconsider the power supply
equipment.
The servo power supply module fan is at a
stop.
Change the fan.
The continuous output current of the servo
power supply module is exceeded.
Reduce the load. 2847
Amplifier power
supply overheat
Thermal sensor fault.
Immediate stop
Change the servo power supply
module.
2940
Excessive
regeneration
warning
80% level of the excessive regeneration
error (2830) was detected.
Any time
Continued
Refer to details of the
excessive regeneration error
(2830).
APPENDICES
APP 33
Appendix 2.5 PC Link Communication Errors
Table 2.17 PC Link Communication Error Codes
Error Codes
Stored in D9196 Error Description Action to Take
01
A receiving packet for PC link
communication does not arrive.
The arrival timing of the receiving
packet is too late.
Check whether the PC has been switched
ON.
Check whether the communication cable
has been connected firmly.
Check whether the communication cable
has been broken.
Check whether the A30BD-PCF or A30CD-
PCF has been mounted normally.
02
A receiving packet CRC code is
invalid.
Check whether there is a noise source near
the PC.
Check whether the communication cable
has been connected firmly.
Check whether the communication cable
has been broken.
03
A receiving packet data ID is
invalid.
Check whether the A30BD-PCF or A30CD-
PCF has been mounted normally.
Replace the A30BD-PCF or A30CD-PCF.
04
The number of received frames is
invalid.
Check whether the communication cable
has been connected firmly.
Check whether the communication cable
has been broken.
Check whether there is a noise source near
the PC.
05 A PC communication task is not
active yet.
Start the PC communication task.
APPENDICES
APP 34
Appendix 2.6 LED Indications when Errors Occur at the PCPU
Table 2.18 LED Indications When Errors Occur at PCPU "ERREOR"LED
!:Lit ":Not lit
Error Cause Error Check Timing Operation when
Error Occurs Error Set Device Corrective Action
! The slot set in the "system settings" has nothing mounted
in it, or has a different module mounted in it.
! Axis number settings are duplicated in the "system
settings".
! Not even one axis No. has been set in the "system
settings".
!
No system setting data has been written. The system setting data has been written without
performing a relative check. Or it has been written although an error occurred in the relative check.
There is no battery in the memory cassette.
! An axis No. that exceeds the "number of controlled axes"
setting in the "system settings" has been set.
! The total number of I/O points of the PC I/O modules set in
motion slots in the "system settings" exceeds 256.
When power switched ON On resetting with the RESET key switch
Start is disabled.
!
The amplifier type set in the "system settings" (MR-H- B/MR-J-B/MR-J2-B) disagrees with the amplifier type actually installed (MR-H-B/MR-J-B/MR-J2-B).
When the servo amplifier power is turned ON
Servo operation does not start for the relevant axis only. Starting of this axis is disabled.
System setting error flag (M2041) ON
Set the "system settings" correctly in accordance with the modules actually mounted, then reset with the RESET key switch.
For servo error
!
For warning
"
Occurrence of a servo error or servo warming When using the LED does not light for a warning.
In the case of MR- H-B, MR-J-B and MR-J2-B axes, only the relevant axis enters the servo OFF status.
In the case of ADU axes, according to the setting of "corrective action for ADU servo errors".
Servo error detection flag (M1608+20n) ON
Servo error code device (D808+20n) set
Ellminate the error cause and perform a servo error reset. After servo error reset. If the servo status is normal at all axes, the LED display is cleared.
!
Detection of motion slot module abnormality (module comes out, or is loose, during operation)
Motion slot module error detection flag (M2047) ON
Switch off the power and mount the module correctly.
!
Occurrence of a PCPU WDT error
At all times
immediate stop of all axes
PCPU WDT error flag (M9073) ON
PCPU WDT error cause (D9184) set
See Section 3.5.2.
REMARK
Numerical values corresponding to axis numbers are entered for "n" in Table 2.18 (error set device).
Axis No. n Axis No. n
1 0 1 0
2 1 2 1
3 2 3 2
4 3 4 3
5 4
6 5
7 6
8 7
APPENDICES
APP 35
Table 2.19 LED Indications at Error Occurrence on PCPU
A173UHCPU(S1) "ERREOR"LED
!:Lit ":Not lit
A273UHCPU Front LED Indication
Error Cause Error Check Timing Operation when
Error Occurs Error Set Device Corrective Action
! L A Y E R R OR ( S L )
(*1) Base No.+Slot No.
The slot set in "system settings" contains no or different module.
! A X I N O M L T IS U D E F.
There are overlapping axis number settings in "system settings".
! A M P N O S T T IE N G
Not one axis number is set in "system settings".
P W N O S T T IE N G
When the ADU axis is set in "system settings", the servo power supply module (A230P) is not set.
! S Y S S E A T AD ET R R.
"System settings data" is not written.
"System settings data" was written without relative check, or was written with an error found in relative check.
Memory cassette battery is dead.
! A X I N O R R OS E R.
The axis number set in "system settings" is greater than the number of control axes.
! I / O O I O V EP RN T S
The total I/O points of the PC I/O modules set to the motion slots in "system settings" are greater than 256 points.
At power-on
At reset with reset
key
Start is disabled.
! A M P T Y P E R R O
Axis No. (01 to 32)
E R
The amplifier type (MR-H- B/MR-J-B/MR-J2-B) set in "system settings" differs from the actual amplifier type (MR-H-B/MR-J-B/MR- J2-B).
At power-on of servo
amplifier
Only the corresponding axis is not put in servo ON status and cannot be started.
System setting error flag (M2041) ON
Match "system settings" with the actual module and reset with the reset key.
A D U E R R OR ( S L )
(*1) Base No.+Slot No.
ADU hardware fault.
At power-on
(At reset with reset
key)
The corresponding ADU axis cannot be placed in servo ON status.
Servo error detection flag (M2408+20n) ON
Servo error code device (D08+20n) set
Change the ADU.
APPENDICES
APP 36
Table 2.19 LED Indications at Error Occurrence on PCPU (Continued) A173UHCPU(S1) "ERREOR"LED
!:Lit ":Not lit
A273UHCPU Front LED Indication
Error Cause Error Check Timing Operation when
Error Occurs Error Set Device Corrective Action
At servo error
!
At warning "
S V R R O RE. ( )
(**) indicates that the code is common to all axes.
Servo error code Axis No. (01 to 32)
Servo error or warning occurrence
For the MR-H- B/MR-J-B/MR-J2- B axis, only that axis is put in servo OFF status.
For the ADU axis, processing is performed in accordance with the setting of "ADU servo error processing".
S V R R O RE. ( )
Servo error code
P
Indicates the "n"th servo power supply module.
Servo power supply module (A230P)-detected servo error or warning occurrence
In that line, all axes are put in servo OFF status.
Servo error detection flag (M2408+20n) ON
Servo error code device (D08+20n) set
Remove the error cause and reset the servo error. If the servos of all axes return to normal after servo error reset, the LED indication goes off.
S Y E R R ..S ( )P
Indicates the "n"th servo power supply module.
System error code (major error) detected by servo power supply module
* indicates the system error which is independent of the servo power supply module line.
Servo power supply module (A230P)-detected system error (major error) occurrence
In that line, all axes are put in servo OFF status.
Major error detection flag (M2407+20n) ON
Major error code device (D07+20n) set
Remove the error cause and give all- axis servo ON command. If all axes are put in servo ON status properly, the LED goes off.
! S L U N I T R R O
(*1) Base No.+Slot No.
RE Motion slot module fault
detection (During operation, the module has come off or is coming off)
Motion slot module fault detection flag (M2047) ON
Switch power off and load the module properly.
! P C P WD T R R
PCPU WDT error code
EU . PCPU WDT error
occurrence
Any time
All axes stop immediately.
PCPU WDT error flag (M9073) ON
PCPU WDT error cause (D9184) set
Refer to Sections 3.3, 3.4.
Base number in error
0: Main base
1: Motion extension base 1
2: Motion extension base 2
3: Motion extension base 3
4: Motion extension base 4
(*1) Indicates the base number, slot number and slot information in error.
(SL )
Slot Number in error
0: I/O slot 0
7: I/O slot 7
REMARKS
n in Table 2.19 (Error Set Device) is the value corresponding to the axis number.
Axis No. n Axis No. n Axis No. n Axis No. n
1 0 9 8 17 16 25 24 2 1 10 9 18 17 26 25 3 2 11 10 19 18 27 26 4 3 12 11 20 19 28 27 5 4 13 12 21 20 29 28 6 5 14 13 22 21 30 29 7 6 15 14 23 22 31 30 8 7 16 15 24 23 32 31
*Calculate the device number corresponding to each axis as described below.
M2408+20n (servo error detection flag) = M2408 + 20 31 = M3028
D07+20n (major error code device) = D07 + 20 31 = D627
APPENDICES
APP 37
APPENDIX 3 SPECIAL RELAYS AND SPECIAL REGISTERS
Appendix 3.1 Special Relays (SP, M)
The special relays are internal relays with fixed applications in the programmable controller. Accordingly, they must not be turned ON and OFF in sequence programs (those marked *1 and *2 in the table are exceptions).
Table 3.1 Special Relay List
Number Name Stored Data Explanation
M9000 *1
Fuse blown OFF Normal ON There is a module with a blown
fuse.
! Comes ON even if there is only one output module with a blown fuse, and remains ON even after return to normal.
M9002 *1
I/O unit verify error OFF Normal ON Error
! Comes ON if there is a discrepancy between the actual I/O modules and the registered information when the power is turned on.
M9005 *1
AC DOWN detection OFF AC DOWN detected ON AC DOWN not detected
! Comes ON when there is a momentary power interruption not exceeding 20 ms; reset by turning the power OFF then ON again.
M9006 Battery low OFF Normal ON Low battery voltage
! Comes ON when the battery voltage falls below the stipulated value; goes OFF when normal battery voltage is re-established.
M9007 *1
Battery low latch OFF Normal ON Low battery voltage
! Comes ON when the battery voltage falls below the stipulated value; remains ON even after normal battery voltage is re-established.
M9008 *1
Self-diagnostic error OFF No error ON Error
! Comes ON when an error occurs as a result of self-diagnosis.
M9009 Annunciator detection OFF No F number detected ON F number detected
! Comes ON when OUT F, SET F instructions are executed. Goes OFF when 0 is stored in D9124.
M9010 Operation error flag OFF No error ON Error
! Comes on when an operation error occurs during execution of an application instruction; goes OFF when the error is cleared.
M9011 *1
Operation error flag OFF No error ON Error
! Comes on when an operation error occurs during execution of an application instruction; remains ON even after the error is cleared.
M9012 Carry flag OFF Carry OFF ON Carry ON
! Carry flag used in an application instruction.
M9016 Data memory clear flag OFF No processing ON Output cleared
! When M9016 is ON, all data memory contents, including those in the latch range but with the exception of special relays/registers, are cleared on reception of remote RUN from a computer or other device.
M9017 Data memory clear flag OFF No processing ON Output cleared
! When M9017 is ON, all data memory contents that are not latched, with the exception of special relays/registers, are cleared on reception of remote RUN from a computer or other device.
M9020 User timing clock No.0
M9021 User timing clock No.1
M9022 User timing clock No.2
M9023 User timing clock No.3
M9024 User timing clock No.4
n2
Scan
n2
Scan
n1
Scan
! Relay repeats ON/OFF switching at fixed scan intervals. ! Starts from the OFF status when the power is turned ON or on resetting. ! The ON/OFF intervals are set with the DUTY instruction.
DUTY n1 n2 M9020
APPENDICES
APP 38
Table 3.1 Special Relay List (Continued)
Number Name Stored Data Explanation
M9025 *1
Clock data set request OFF No processing ON Data set request
! Writes the clock data stored in D9025 to D9028 to the clock devices after execution of the END instruction in the scan in which M9025 is switched ON.
M9026 Clock data error OFF No error ON Error
! Comes ON when there is an error in he clock data (D9025 to D9028) values. OFF when there is no error.
M9028 *2
Clock data read request OFF No processing ON Read request
! When M9029 is ON, the clock data is read to D9025 to D9028 as BCD data.
M9030 0.1 second clock 0.05
SEC.
0.05
SEC.
M9031 0.2 second clock 0.1
SEC.
0.1
SEC.
M9032 1 second clock 0.5
SEC.
0.5
SEC.
M9033 2 second clock 1
SEC.
1
SEC.
M9034 1 minute clock 30
SEC.
30
SEC.
! These relays generate the 0.1 second, 0.2 second, 1 second, 2 second, and 1 minute clocks.
! These relays do not go ON/OFF with each scan but when their respective fixed intervals have elapsed, even during a scan.
! These relays start from the OFF status when the power is turned on or resetting.
M9036 Always ON
ON
OFF
M9037 Always OFF
ON
OFF
M9038 ON for 1 scan only after RUN
1 scan
ON
OFF
M9039 RUN flag (OFF for 1 scan only after RUN)
1 scan
ON
OFF
! Relay used for initialization during a sequence program or as a dummy contact for an application instruction.
! M9036 and M9037 retain their ON or OFF status regardless of the settings of the key switch on the front of the CPU, but M9038 and M9039 change in accordance with the key switch status. They go OFF when the key switch is set to the STOP position. When the key switch is at a position other than STOP, M9038 comes ON for one scan only, and M9039 goes OFF for one scan only.
M9040 PAUSE enable coil OFF PAUSE disable ON PAUSE enabled
M9041 PAUSE status contact OFF PAUSE not in effect ON PAUSE in effect
! When the RUN/STOP key switch is set to PAUSE or the remote PAUSE contact is turned on, provided M9040 is ON, the PAUSE status is established and M9041 comes ON.
M9042 STOP status contact OFF STOP not in effect ON STOP in effect
! ON when the RUN/STOP key switch is set to STOP.
M9043 Sampling trace completed
OFF Sampling trace in progress ON Sampling trace completed
! Comes ON on completion of the number of sampling traces set in the parameters are completed after execution of the STRA instruction. After that, it is reset by execution of the STRAR instruction.
M9046 Sampling trace OFF Trace not in progress ON Trace in progress
! ON during execution of a sampling trace
M9047 Sampling trace preparation
OFF Sampling trace stop ON Sampling trace start
! A sampling trace cannot be executed unless M9047 has been turned ON. When M9047 is turned OFF, the sampling trace is stopped.
M9049 Number of output characters selection
OFF Output until NUL code ON 16 characters output
! When M9049 is OFF, output continues until the NUL (00H) code. When M9049 is ON, ASCII code for 16 characters is output.
M9052 *2
SEG instruction switch OFF 7-segment display ON I/O part refresh
! When M9052 is ON it is executed as the I/O partial refresh instruction. When M9052 is ON, it is executed as the 7-segment display instruction.
M9053 *2
EI/DI instruction switch OFF Sequence interrupt control ON Link interrupt control
! Turn ON when a link refresh enable/disable (EI, DI) instruction is executed.
APPENDICES
APP 39
Table 3.1 Special Relay List (Continued)
Number Name Stored Data Explanation
M9054 STEP RUN flag OFF STEP RUN not in effect ON STEP RUN in effect
! ON when the RUN/STOP key switch is set to the RUN position.
M9055 Status latch completion flag
OFF Not completed ON Completed
! Comes ON when status latch is completed. Goes OFF on execution of a reset instruction.
M9084 *2
Error check OFF Error check executed ON No error check
! Set whether or not the error check shown below is executed on END instruction processing. (Used to shorten END instruction processing time.) (1) Blown fuse check (2) I/O module verification check (3) Battery check
POINTS
(1) All special relays, M, are turned OFF by turning the power, OFF, performing latch clear, or resetting with the RESET key switch. When the RUN key switch is set to "STOP", the special relay settings are retained.
(2) The special relays marked "*1" in the table above remain "ON" even after a return to normal. They must therefore be turned OFF by using one of the following methods.
(a) Method using the user program Insert the ladder block at right into the program and turn the reset execution command contact ON to clear the special relay.
(b) Method using a peripheral device Perform a forced reset using the test function of the peripheral device. For details on this operation, refer to the manual for the peripheral device.
(c) Turn the special relay OFF by setting the RESET key switch on the front panel of the CPU module to "RESET".
RST M9000
Reset execution command
Enter the special relay to be reset here.
(3) The ON/OFF status of special relays marked "*2" in the table above is controlled by the sequence program.
(4) The special relays marked *3 are reset only when power is switched from OFF to ON.
APPENDICES
APP 40
Appendix 3.2 Special Registers (SP.D)
The special registers are data registers used for specific purposes in the programmable controller. Therefore, do not write data to the special registers in the program (with the exception of those whose numbers are marked
*2 in the table).
Of the special relays, those from D9180 to D9199 are used for positioning control.
Table 3.2 Special Register List
Number Name Stored Data Explanation
D9000 Fuse blown Number of module with blown fuse
! When modules with a blown fuse are detected, the lowest I/O number of the detected modules is stored in hexadecimal in this special relay. (Example: Blown fuses at the output modules Y50 to 6F... "50" is stored in hexadecimal.) For monitoring at a peripheral device, use hexadecimal display monitor operations. (Cleared when the contents of D9100 are all "0".)
D9002 I/O unit verify error
I/O module verification error module number
! If I/O modules that do not match the registered data are detected when the power is turned on, the first I/O number of the lowest module number among the detected modules is stored in hexadecimal (the storage method is the same as for D9000). When monitoring with a peripheral device, use a hexadecimal display monitoring operation. (Cleared when all contents of D9116 to D9123 are reset to zero.)
D9005 *1 AC DOWN
counter AC DOWN occurrence count
! 1 is added to the stored value each time the input voltage becomes 80% or less of the rating while the CPU module is performing an operation, and the value is stored in BIN code.
D9008 *1 Self-diagnostic
error Self-diagnostic error number
! 1 is added to the stored value when an error is found as a result of self-diagnosis, the error number, and the value is stored in BIN code.
D9009 Annunciator detection
F number at which external failure has occurred
! When one of F0 to 255 is turned on by OUT F or SET F , the F number
detected earliest among the F numbers which have been turned on is stored in BIN code.
! D9009 can be cleared by executing a RST F or LEDR instruction. If another F
number has been detected, the clearing of D9009 causes the next number to be stored in D9009.
D9010 Error step Step number at which operation error has occurred
! When an operation error occurs during execution of an application instruction, the step No. where the error occurred is stored in BIN cod, and thereafter, every time an operation error occurs the contents of D9010 are updated.
D9011 Error step Step number at which operation error has occurred
! When an operation error occurs during execution of an application instruction, the step number at which the error occurs is stored in this register in BIN code. Since storage is executed when M9011 changes from OFF to ON, the contents of D9011 cannot be updated unless it is cleared by the user program.
D9014 I/O control mode I/O control mode number ! The set control mode is represented as follows:
0: I/O in direct mode 3: I/O in refresh mode
APPENDICES
APP 41
Table 3.2 Special Register List (Continued)
Number Name Stored Data Explanation
D015 CPU operating states
Operating states of CPU
! The CPU operation states indicated in the figure below are stored in D9015. B15 B12B11 B8 B7 B4 B3 B0
0
1
CPU key switch
RUN
STOP
0
1
2
Remote RUN/STOP by parameter setting
RUN
STOP
PAUSE*
0
1
Status in program
Other than below
STOP instruction execution
0
1
2
Remote RUN/STOP by computer
RUN
STOP
PAUSE*
Remains unchanged in
remote run/stop mode
*: When the CPU is in the RUN status and M9040 is OFF, the CPU remains in RUN mode even if set to PAUSE.
D9016 ROM/RAM setting
0: ROM 1: RAM 2: E2PROM
! Indicates the setting for the memory selection chip; one of the values 0 to 2 is set in BIN code.
D9017 Scan time Minimum scan time (10 ms units) ! At each END instruction, if the scan time is shorter than the contents of D9017,
the new value is stored in this register. In other words, the minimum value for scan time is stored in D9017, in BIN code.
D9018 Scan time Scan time (10 ms units) ! The scan time is stored in BIN code at each END instruction and is always
rewritten.
D9019 Scan time Maximum scan time (10 ms units) ! At each END instruction, if the scan time is longer than the contents of D9019, the
new value is stored in this register. In other words, the maximum value for scan time is stored in D9019, in BIN code.
D9020*2 Constant scan Constant scan time (user-specified in 10 ms units)
! When user programs are executed at fixed intervals, used to set the execution intervals, in 10 ms units. 0 : Constant scan function not used 1 to 200 : Constant scan function used
program executed at intervals of (set value)10 ms.
APPENDICES
APP 42
Table 3.2 Special Register List (Continued)
Number Name Stored Data Explanation
D9025 *2
Clock data Clock data (year, month)
! The year (last two digits) and month are stored in BCD code in D9025 as shown below. B15 B12B11 B8 B7 B4 B3 B0
MonthYear
Example : July, 1993 H9307
D9026 *2
Clock data Clock data (day, hour)
! The day and hour are stored in BCD code in D9026 as shown below. B15 B12B11 B8 B7 B4 B3 B0
HourDay
Example : 31st, 10th hour H3110
D9027 *2
Clock data Clock data (minute, second)
! The minute and second are stored in BCD code in D9027 as shown below. B15 B12B11 B8 B7 B4 B3 B0
SecondMinute
Example : 35ms, 48s H3548
D9028 *2
Clock data Clock data (0, day of week)
! The day of week is stored in BCD code in D9028 as shown below. B15 B12B11 B8 B7 B4 B3 B0
Example : Friday H0005
"0" must be set here. 0
1
2
3
4
5
6
Day of week
Sunday
Monday
Tuesday
Wednesday
Thursday
Friday
Saturday
! The element numbers for priorities 1 to 4 (D9038) and 5 to 7 (D9039) for the lighting (or flashing) of the ERROR LED when an error occurs, are set and changed.
B15 B12B11 B8 B7 B4 B3 B0
Priority of position
B15 B12 B11 B8 B7 B4 B3 B0
_ 5 4 3 2 1(Position)_ _
Element No,
Content
0. Not displayed
1. I/O verify, fuse blown
2.
Special function module, link parameters, SFC parameters, SFC operation
3. CHK instruction error
4. Annunciator (F)
5. LED instruction related
6. Parity error
M9038 *2
M9039 *2
LED display priority
Priorities 1 to 4 Priorities 5 to 7
Even if "0" is set, errors which cause CPU operation to stop (including parameter settings) are unconditionally displayed on the LED display. Default values: D9038=H4321
D9039=H0006
APPENDICES
APP 43
Table 3.2 Special Register List (Continued)
Number Name Stored Data Explanation
D9100 to
D9101
Fuse blown module
Bit pattern of fuse blown modules in units of 16 points (D9100 to D9101 are used for A172SHCPUN/A171SHCPUN)
! Indicates the output module numbers with blown fuses (in units of 16 points) in a bit pattern. (Parameter assignment is valid)
! Also indicates the blown fuse states of the output modules in remote stations.
D9100
D9101
0
11 10 9 6 5 4 3 0128 7
D9107 0 0 0 0 0 0 0 0 0 0 0 0
0
0
0
0
0 0
0 0
0
0
0 0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
12131415
Indicates a blown fuse.
(Y80)
1 0
0 0
(Y1A)
1
(Y7B0)
1
(YC0)
1
(Y1F0)
1
(Y730)
1
! Turn M9197 and M9198 ON/OFF to change the I/O module number range displayed.
! Clear the blown fuse module data by turning OFF M9000 (blown fuse).
D9116 to
D9123
Input/Output module verification error
Bit pattern of verify error modules in units of 16 points (D9116 to D9117 are used for A172SHCPUN/A171SHCPUN)
! Indicates the I/O module numbers (in units of 16 points) when the I/O modules different from the registered I/O module information are detected at power-on. (Parameter assignment is valid)
! Also indicates the I/O module information in remote stations.
D9116
D9117
0
11 10 9 6 5 4 3 0128 7
D9123 0 0 0 0 0 0 0 0 0 0 0 0 0
0
0
0
0
0 0
0 0
0
0
0 0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
12131415
Indicates an input/output module verification error.
X/Y 0
1 00
0
0 0
X/Y 190
1
X/Y 7F0
1
! Turn M9197 and M9198 ON/OFF to change the I/O module number range displayed.
! Clear the verify error data by turning OFF M9002 (verify error).
D9124 Annunciator detection quantity
Number of detected annunciators
! When one of F0 to 255 is turned on by an OUT F or SET F , 1 is added to the
contents of D9124.
When the RST F or LEDR instruction is executed, 1 is subtracted from the
contents of D9124.
The number of annunciators that has been turned on by OUT F or SET F is
stored in D9124: the maximum stored value is 8.
D9125 to
D9132
Annunciator detection number
Annunciator detection number
! When F numbers in the range F0 to 255 are turned on by OUT F or SET F , they
are entered in D9125 to D9132 in ascending order of register numbers.
An F number which is turned off by RST F is erased from D9125 to D9132, and
the contents of the data registers following the one where the erased F number
was stored are each shifted to the preceding data register. When the LEDR
instruction is executed, the contents of D9125 to D9132 are shifted upward by one. When there are 8 annunciator detections, a 9th one is not stored in D9125 to D9132 even if detected.
D9009
D9124
0
1
50
2
50
3 2
50 50
3
50
5 6
50
7
50
8
50
8
50
8
99
SET F50
5050
0 4
SET F25
SET F99
SET F25
SET F15
SET F70
SET F65
SET F38
SET F110
SET F151
SET F210 LEDR
D9125 0
0 25 25 99 99 150
99 0 15 700
650 70
65 380
38 1100
110 110 110 1510
151 151 2100
D9126
D9127
D9128
D9129
D9130
D9131
D9132
50 50 50 50 50 50 50 50 50 995050
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0
0 0
99 99 99 99 99 99
38 38 38
65 65 65 65
70 70 70 70 70
15 15 15 15 15 15
APPENDICES
APP 44
POINTS
(1) All special register data is cleared by the power-off, latch clear, and reset operations. The data is retained when the RUN/STOP key switch is set to STOP.
(2) The contents of the special relays marked *1 in the table above are not cleared even after the normal status is restored. To clear the contents, use one of the following methods:
(a) Using a user program Insert the ladder block shown at right into the program and turn on the clear execution command contact to clear the contents of the register.
(b) Using a peripheral device Using the test function of a peripheral device, set the register to "0" by using present value change or forced reset. For details on the operation involved, refer to the manual for the relevant peripheral device.
(c) Set the special register to "0" by setting the RESET key switch on the front of the CPU to the RESET position.
RST M9005
Clear execution command
(3) For special registers marked "*2", data is written in the sequence program.
(4) The special registers marked *3 are cleared only when power is switched from OFF to ON.
APPENDICES
APP 45
Table 3.2 Special Register List (Continued)
Number Name Stored Data Explanation
D9180 to
D9183
Limit switch output storage area
Limit switch output storage area 1: ON 0: OFF (A172SHCPUN/A171SHCPUN)
! The status of output (ON/OFF) to limit switch output AY42 set with a peripheral device is stored as "1" or "0". 1: ON 0: OFF
! These registers can be used to output limit switch output data to an external device using the sequence program. (1) A172SHCPUN
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00
LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10
LY2F LY2E LY2D LY2C LY2B LY2A LY29 LY28 LY27 LY26 LY25 LY24 LY23 LY22 LY21 LY20
LY3F LY3E LY3D LY3C LY3B LY3A LY39 LY38 LY37 LY36 LY35 LY34 LY33 LY32 LY31 LY30
D9180
D9181
D9182
D9183
For axis 2
For axis 4
For axis 6
For axis 8
For axis 1
For axis 3
For axis 5
For axis 7
* "1" or "0" is stored for each of the bits in D9180 through D9183. 1) 1..........ON 2) 0..........OFF
(2) A171SHCPUN b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00
LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10
D9180
D9181
For axis 2
For axis 4
For axis 1
For axis 3
* "1" or "0" is stored for each of the bits in D9180 through D9181. 1) 1..........ON 2) 0..........OFF
APPENDICES
APP 46
Table 3.2 Special Register List (Continued)
Number Name Stored Data Explanation
! The PCPU WDT errors tabled below are stored in D9184.
Error Code Error Cause
1 PCPU software fault 1
2 PCPU excessive operation frequency
3 PCPU software fault 2
30 Hardware fault between PCPU and SCPU
100 to 107 110 to 117 120 to 127 130 to 137 140 to 147
AC motor drive unit CPU fault
100
Indicates the slot No.(0 to 7) where the AC motor drive module with the fault is loaded.
Indicates the stage No. of the base on which the AC motor drive module with the fault is loaded. 0: Main base 1: Extension base 1st stage 2: Extension base 2nd stage 3: Extension base 3rd stage 4: Extension base 4th stage
200 to 207 210 to 217 220 to 227 230 to 237 240 to 247
Motion main base/extension base-loaded module hardware fault
200
Indicates the slot No.(0 to 7) where the module with the fault is loaded.
Indicates the stage No. of the base on which the module with the fault is loaded. 0: Main base 1: Extension base 1st stage 2: Extension base 2nd stage 3: Extension base 3rd stage 4: Extension base 4th stage
250 to 253
Separated servo amplifier (MR- -B) interface
hardware fault
250
Faulty SSCNET No. 0: SSCNET 1 1: SSCNET 2 2: SSCNET 3 3: SSCNET 4
300 PCPU software fault 3
301
21 or more programs were started simultaneously by the CPSTART instruction of 8 or more points. Up to 20 programs may be started simultaneously by the CPSTART instruction of 8 or more points.
D9184 Cause of PCPU error
PCPU WDT error number
APPENDICES
APP 47
Table 3.2 Special Register List (Continued)
Number Name Stored Data Explanation
D9185
D9186
Servo amplifier type
Servo amplifier type (A172SHCPUN/A171SHCPUN)
! On switching the power ON or resetting, the servo amplifier type set in the system settings is set in these devices. (1) When an A172SHCPUN is used
Axis 4
Axis 8
Axis 3
Axis 7
Axis 2
Axis 6
Axis 1
Axis 5
D9185
D9186
b15 to b12 b11 to b8 b7 to b4 b3 to b0
Servo amplifier type 0 Unused axis 2 MR- -B
(2) When an A171SHCPUN is used
Axis 4 Axis 3 Axis 2 Axis 1D9185
D9186
b15 to b12 b11 to b8 b7 to b4 b3 to b0
Servo amplifier type 0 Unused axis 2 MR- -B
0
D9187 Manual pulse generator axis setting error
Manual pulse generator axis setting error (A172SHCPUN/A171SHCPUN)
! Stores the contents of the manual pulse generator axis setting error when the manual pulse generator axis setting flag (M9077) comes ON. (1) When an A172SHCPUN is used
Axis8 P1 P1
b15 b8 b3 b0
D9187 0
Manual pulse generator axis setting error 0: Normal 1: Setting error (When the axis setting for each digit is outside the range 1 to 8)
0Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1
Manual pulse generator smoothing magnification setting error 0: Normal 1: Setting error (Outside the range 0 to 59)
1 pulse input magnification setting error 0: Normal 1: Setting error (Outside the range 1 to 100)
(2) When an A171SHCPUN is used
P1 P1
b15 b8 b3 b0
D9187 0
Manual pulse generator axis setting error 0: Normal 1: Setting error (When the axis setting for each digit is outside the range 1 to 4)
0Axis4 Axis3 Axis2 Axis1
Manual pulse generator smoothing magnification setting error 0: Normal 1: Setting error (Outside the range 0 to 59)
1 pulse input magnification setting error 0: Normal 1: Setting error (Outside the range 1 to 100)
b11
0
D9188 Test mode request error
Test mode request error (A172SHCPUN/A171SHCPUN)
! Stores the data of axes being operated when the test mode request error flag (M9078) comes ON. (1) When an A172SHCPUN is used
b15 b14 b13 b12 b11 b10 b9 b8 b7 b4 b3 b2 b1 b0
D9188 0
b6
0
b5
Axis2Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis1
Stores the operating/stopped status of each axis 0: Stopped 1: Operating
000000
All set to "0"
(2) When an A171SHCPUN is used
b15 b14 b13 b12 b11 b10 b9 b8 b7 b4 b3 b2 b1 b0
D9188 0
b6
0
b5
Axis2Axis4 Axis3 Axis1
Stores the operating/stopped status of each axis 0: Stopped 1: Operating
000000
All set to "0"
0000
APPENDICES
APP 48
Table 3.2 Special Register List (Continued)
Number Name Stored Data Explanation
D9189 Error program No.
Error program number (A172SHCPUN/A171SHCPUN)
! Stores the motion program number (range: 1 to 256) affected by the error when the motion program setting error flag (M9079) comes ON.
! If, once an error program number has been stored, an error occurs in another motion program, the program number of the program with the new error is stored.
! Stores the error code corresponding to the setting item in error when the motion program setting error flag (M9079) turns ON.
Error Code Error Definition
1 The parameter block number specified is outside the range 1 to 16.
906 The motion program set in the DSFRP/SVST instruction has the unused axis in system settings.
3300 An attempt was made to start and run 9 or more programs simultaneously with the DSFRP/SVST instruction.
D9190 Error item information
Motion program setting error number (A172SHCPUN/A171SHCPUN)
For the error processings and corrective actions, refer to Appendix 2.1.
D9191 Servo amplifier installation information
Servo amplifier installation information (A172SHCPUN/A171SHCPUN)
! When the power is turned ON, or on resetting, the servo amplifier and option slot installation statuses are checked and the results stored in this device. (1) When an A172SHCPUN is used
b15 b8 b7 b4 b3 b2 b1 b0
D9191
b6 b5
Axis80
Stores the operating/stopped status of each axis Installed 1 Not installed 0
Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1
(2) When an A171SHCPUN is used b15 b4 b3 b2 b1 b0
D9191 0
Stores the operating/stopped status of each axis Installed 1 Not installed 0
Axis4 Axis3 Axis2 Axis1
! Stores the manual pulse generator smoothing time constant. ! The smoothing time constant is calculated using the following formula:
Smoothing time constant (t)
Smoothing magnification+1
56.8[ms]= D9192
Area for setting the smoothing magnification for manual pulse generator 1 (P1)
Areas for setting manual pulse generator smoothing magnifications (A172SHCPUN/A171SHCPUN)
The setting range for smoothing magnification is 0 to 59.
APPENDICES
APP 49
Table 3.2 Special Register List (Continued)
Number Name Stored Data Explanation
D752
Manual pulse generator 1 (P1) smoothing magnification setting area
D753
Manual pulse generator 2 (P2) smoothing magnification setting area
D754
Manual pulse generator 3 (P3) smoothing magnification setting area
Manual pulse generator smoothing magnification setting area (For A273UHCPU (32-axis feature)/A173UHCPU(S1))
! Stores the smoothing time constant of the manual pulse generator. ! The smoothing time constant is calculated by the following expression.
Smoothing time constant (t) = (smoothing magnification + 1) 56.8 [ms] Note that the setting range of the smoothing magnification is 0 to 59.
D776 to
D791
Axis 1 to 32 limit switch output status storing area
Limit switch output status storing area 1: ON 0: OFF (For A273UHCPU (32-axis feature)/A173UHCPU(S1))
! Stores 1 or 0 to indicate the output status (ON/OFF) to the limit switch output AY42 set in the peripheral device. 1: ON 0: OFF
! May be used to export the limit switch output data in a sequence program.
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
LY0F LY0E LY0D LY0C LY0B LY0A LY09 LY08 LY07 LY06 LY05 LY04 LY03 LY02 LY01 LY00
LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10
For axis 2
* "1" or "0" is stored for each bit of D776 to D791. 1) 1: ON 2) 0: OFF
LYEF LYEE LYED LYEC LYEB LYEA LYE9 LYE8 LYE7 LYE6 LYE5 LYE4 LYE3 LYE2 LYE1 LYE0
LYFF LYFE LYFD LYFC LYFB LYFA LYF9 LYF8 LYF7 LYF6 LYF5 LYF4 LYF3 LYF2 LYF1 LYF0
D776
D777
D790
D791
For axis 4
For axis 30
For axis 32
For axis 1
For axis 3
For axis 29
For axis 31
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
D792 to
D799
Servo amplifier type
Servo amplifier type (For A273UHCPU (32-axis feature)/A173UHCPU(S1))
! Stores the servo amplifier type specified in the system settings at power-on or reset.
Axis 4
Axis 8
Axis 3
Axis 7
Axis 2
Axis 6
Axis 1
Axis 5
D792
D793
b15 to b12 b11 to b8 b7 to b4 b3 to b0
Servo amplifier type 0 Unused axis 1 ADU (Main base) 2 MR- -B 3 ADU (Motion extension base)
Axis 12 Axis 11 Axis 10 Axis 9D794
Axis 16 Axis 15 Axis 14 Axis 13D795
Axis 20 Axis 19 Axis 18 Axis 17D796
Axis 24 Axis 23 Axis 22 Axis 21D797
Axis 28 Axis 27 Axis 26 Axis 25D798
Axis 32 Axis 31 Axis 30 Axis 29D799
D9182 to
D9183
Test mode request error
Test mode request error (For A273UHCPU (32-axis feature)/A173UHCPU(S1))
! Stores the operating axis data when the test mode request error flag (M9078) turns ON.
Axis16D9182
D9183
Axis15 Axis14 Axis13 Axis12 Axis11 Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1
Axis32 Axis31 Axis30 Axis29 Axis28 Axis27 Axis26 Axis25 Axis24 Axis23 Axis22 Axis21 Axis20 Axis19 Axis18 Axis17
b15 b14 b13 b12 b11 b10 b9 b8 b7 b4 b3 b2 b1 b0b6 b5
Stores the operating/stopped status of each axis 0: Stopped 1: Operating
APPENDICES
APP 50
Table 3.2 Special Register List (Continued)
Number Name Stored Data Explanation
D9185 to
D9187
Manual pulse generator axis setting error
Manual pulse generator axis setting error (For A273UHCPU (32-axis feature)/A173UHCPU(S1))
! Stores the definitions of manual pulse generator axis setting errors when the manual pulse generator axis setting error flag (M9077) turns ON.
0 0 0 0 P1 P1
b15 b14 b13 b12 b11 b10 b9 b8 b7 b4 b3 b2 b1 b0
D9185 0
b6
0
b5
P3 P2 P3 P20 0 0 0
Stores the axis setting errors of the manual pulse generators connected to P1 to P3 of A273EX. 0: Normal 1: Setting error (Axis setting in any digit is other than 1 to 8)
Stores 1-pulse input magnification setting error of each axis. 0: Normal 1: Setting error (Input magnification of any axis is other than 1 to 100)
Axis16D9186
D9187
Axis15 Axis14 Axis13 Axis12 Axis11 Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1
Axis32 Axis31 Axis30 Axis29 Axis28 Axis27 Axis26 Axis25 Axis24 Axis23 Axis22 Axis21 Axis20 Axis19 Axis18 Axis17
Stores the smoothing magnification setting errors of the manual pulse generators connected to P1 to P3 of A273EX. 0: Normal 1: Setting error (Axis setting in any digit is other than 1 to 59)
All turn to 0.
D9189 Error program number
Error program number (For A273UHCPU (32-axis feature)/A173UHCPU(S1))
! Stores the motion program number (1 to 256) in error when the motion program setting error flag (M9079) turns ON.
! If an error occurs in another motion program when the error program number is stored, the new error program number is stored.
! Stores the error code corresponding to the setting item in error when the motion program setting error flag (M9079) turns ON.
Error Code Error Definition
1 The parameter block number specified is outside the range 1 to 16.
906 The motion program set in the SVST instruction has the unused axis in system settings.
3300 An attempt was made to start and run 9 or more programs simultaneously with the SVST instruction.
D9190 Error item information
Servo program setting error number (For A273UHCPU (32-axis feature)/A173UHCPU(S1))
For the error processings and corrective actions, refer to Appendix 2.1.
D9191 to
D9192
Servo amplifier loading information
Servo amplifier loading information (For A273UHCPU (32-axis feature)/A173UHCPU(S1))
! Stores the result of servo amplifier and optional slot loading status check made at power-on or reset.
Servo amplifier loading status
No loading or ADU fault, MR- -B power off or connection cable fault *1
Servo amplifier loading status
0
1
*1: For the ADU, no loading causes a major error to be displayed if the axis number is set in system settings.
D9191
D9192
b15 b14 b13 b12 b11 b10 b9 b8 b7 b4 b3 b2 b1 b0b6 b5
Axis16 Axis15 Axis14 Axis13 Axis12 Axis11 Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1
Axis32 Axis31 Axis30 Axis29 Axis28 Axis27 Axis26 Axis25 Axis24 Axis23 Axis22 Axis21 Axis20 Axis19 Axis18 Axis17
APPENDICES
APP 51
APPENDIX 4 EXAMPLE PROGRAMS
Appendix 4.1 Word Data 1 Word Shift to Left
(1) A program for shifting to the left a range of devices that comprises n points and starts with a designated word device is shown here.
Before execution
Shift range (n)
0 is entered here.
0 After execution
D +(n-1) D +(n-2) D +(n-3) D +2 D +1 D
(2) Word data can be shifted one word to the left by using the BMOV (P) instruction and RST instruction. The format for a program for shifting data one word to the left by using the BMOV (P) instruction and RST instruction is shown in Figure 4.1.
Execution command
BMOV(P) n
RST
*
S D1
D2
(1) S, D1, D2, and n are explained below. S, D2 : Head number of the devices to be shifted to the left D1 : Number of (word device designated by S+1) device n : Number of shifted devices
(2) *: BMOV(P) indicates the BMOV instruction and the BMOVP instruction.
Fig.4.1 Format for Left shift Using BMOV(P) Instruction and RST Instruction
APPENDICES
APP 52
(1) A program that shifts the contents of D683 to D689 one word to the left at the leading edge (OFF to ON) of XB is shown here.
[Operation]
D689 Before execution
Shift range
After execution
0
0
D688 D687 D685 D684 D683D686
-100 503 600 3802 -32765 5003-336
503 600 3802 -32765 5003-336
[Program Example]
X000B
BMOV P
D683 D684 6 K
RST D683
CIRCUIT END
0
(3) Execution condition The execution condition when the BMOV instruction and BMOVP instruction are used is as follows.
Execution command OFF
ON
BMOV instruction
Executed each scan
BMOVP instruction Executed
once only
Executed each scan
Executed once only
Example
APPENDICES
APP 53
Appendix 4.2 Word Data 1 Word Shift to Right
(1) A program for shifting to the right a range of devices that comprises n points and starts with a designated word device is shown here.
Before execution
Shift range (n)
After execution
D +(n-1) D +(n-2) D +(n-3) D +2 D +1 D
0 is entered here.
0
(2) Word data can be shifted one word to the right by using the BMOV (P) instruction and RST instruction. The format for a program for shifting data one word to the right by using the BMOV (P) instruction and RST instruction is shown in Figure 4.2.
Execution command
BMOV(P) n
RST
*
S D1
D2
(1) S, D1, D2, and n are explained below. S : Head number of the devices to be shifted to the right D1 : Number of (word device designated by S+1) device D2 : Final device number of word devices to be shifted to be shifted to right n : Number of shifted devices
(2) *: BMOV(P) indicates the BMOV instruction and the BMOVP instruction.
Fig.4.2. Format for Right Shift Using BMOV(P) Instruction and RST Instruction
APPENDICES
APP 54
(1) A program that shifts the contents of D683 to D689 one word to the right at the leading edge (OFF to ON) of XB is shown here.
[Operation]
D689 Before execution
Shift range
After execution
-32765
D688 D687 D685 D684 D683D686
-100 503 600 3802 -32765 5003-336
0 -100 600 -336 3802503
0
[Program Example]
X000B
BMOV P
D684 D683 6 K
RST D689
CIRCUIT END
0
(3) Execution condition The execution condition when the BMOV instruction and BMOVP instruction are used is as follows.
Execution command OFF
ON
BMOV instruction
Executed each scan
BMOVP instruction Executed
once only
Executed each scan
Executed once only
Example
APPENDICES
APP 55
Appendix 4.3 Reading M Codes
An example of a program for reading an M code on completion of positioning start or on completion of positioning is shown here. The distinction between positioning start completion and positioning completion is made with the following signals. Positioning start completed .........M1600+20n/M2400+20n
(positioning start completed signal) Positioning completed..................M1601+20n/M2401+20n
(positioning completed signal)
[Program Example] (1) A program that outputs the M code for axis 1 from Y000 to Y00F to an external
destination on completion of positioning start and after conversion to BCD code, is shown here.
System configuration Sequence program
A172SHCPUN A 172 S
ENC
A1S X10
A1S Y40
Y000 to
Y00F
A172B
M1600
BCD P
D813 Y0000
CIRCUIT END
0 K4
Axis 1 positioning start completed signal
Y000 to Y00F designation
M code storage area for axis 1 (Refer to Section 3.2.1.)
BCD conversion instruction
P o
w er
s u
p p
ly
m o
d ul
e
(2) A program that outputs the M code for axis 1 from Y000 to Y00F to an external destination on completion of positioning and after conversion to BCD code, is shown here.
System configuration Sequence program
A172SHCPUN A 172 S
ENC
A1S X10
A1S Y40
Y000 to
Y00F
A172B
M1601
BCD P
D813 Y0000
CIRCUIT END
0 K4
Axis 1 positioning completed signal
Y000 to Y00F designation
M code storage area for axis 1 (Refer to Section 3.2.1.)
BCD conversion instruction
P o
w er
s u
p p
ly
m o
d ul
e
APPENDICES
APP 56
Appendix 4.4 Error Code Reading
A program that reads the error code when an error occurs is shown here. The following signals are used to determine whether or not an error has occurred: Minor errors, major errors............Error detection signal
(M1607+20n/M2407+20n) Servo errors .................................Servo error detection signal
(M1608+20n/M2408+20n)
POINT
(1) The following delay occurs between the leading edge (OFF to ON) of M1607+20n/M1608+20n/M2407+20n/M2408+20n and storage of the error code. (a) If the sequence program scan time is less than 80 ms, there will be a
delay of up to 80 ms. (b) If the sequence program scan time is longer than 80 ms, there will be
a delay of up to one scan time. Program so that error code reading is executed after sufficient time has elapsed for error codes to be written in the various error code storage areas after M1607+20n/M1608+20n/M2407+20n/M2408+20n comes ON.
[Program Example] (1) A program that converts the error code to BCD and outputs it to Y000 to Y00F
when an axis 1 error occurs (minor error, major error) is shown here.
System configuration
A172SHCPUN A 172 S
ENC
A1S X10
A1S Y40
Y000 to
Y00F
A172B
P o
w e
r su
p p
ly
m od
u le
Sequence program
M1607
BCD P
D806 Y0000
CIRCUIT END
0 K4
Error detection signal for axis 1
Y000 to Y00F designation
Error code storage area for axis 1
BCD conversion instruction
BCD P
D807 Y0000 K4
M1608
BCD P
D808 Y0000 K4
<> D806 0
<> D807 0
<> D808 0
Major error code storage area for axis 1
Minor error code storage area for axis 1
For determining whether or not an error code is stored
Minor error output
Servo error output
K
K
K
APPENDICES
APP 57
Appendix 4.5 Magnitude Comparison and Four Fundamental Operations of 32-Bit Monitor Data
When a machine value, actual present value or deviation counter value is used to perform magnitude comparison or four fundamental operations, the value must be transferred to another device memory once and the device memory of the transfer destination be used to perform processing as described below. (1) Magnitude comparison example
(a) To set the device when the machine value has become greater than the set value
Magnitude comparison execution command
D1SDMOV
D3SETD2D1D>
1) S, D1, D2 and D3 indicate the following. S: Machine value D1: Device memory for temporary storage D2: Set value for magnitude comparison D3: Device for setting magnitude comparison result
(b) When one piece of monitor data is referred to many times to perform comparison processing, intended operation may not be performed if the monitor data is transferred every processing as shown in program example 1. In program example 1, neither Y1 nor Y2 may not turn ON. (This also applies to the case of 16-bit monitor data.) This is because the S value varies asynchronously with the PC scan. To perform such processing, transfer the monitor data to another device memory once, and after that, use that value to perform comparison processing as shown in program example 2. [Program example 1]
D1SDMOV
Y1D2D1D>
D2D1D<=
D1SDMOV
S may vary in this section.
Y2
Magnitude comparison execution command
[Program example 2]
D1SDMOV
Y1D2D1D>
D2D1D<= Y2
Magnitude comparison execution command
1) S, D1, D2, Y1 and Y2 indicate the following. S: Machine value D1: Device memory for temporary storage D2: Set value for magnitude comparison Y1: Magnitude comparison result output device (Result: Greater than) Y2: Magnitude comparison result output device (Result: Equal to or less than)
APPENDICES
APP 58
(2) Four fundamental operations example To divide the actual present value by the set value
Execution command
BMOVP S D1
D2 D3D / D1
1) S, D1, D2 and D3 indicate the following. S: Actual present value D1: Device memory for temporary storage D2: Division D3: Operation result storage device
APPENDICES
APP 59
APPENDIX 5 SERVO MOTOR TYPE-BASED RATED SPEED AND FEEDBACK PULSE COUNT LIST
Table 5.1 lists the rated speeds and feedback pulse counts on a servo motor type basis.
Table 5.1 Servo Motor Type-Based Rated Speed and Feedback Pulse Count List
Motor Model Rated Speed [rpm]
Number of
Feedback Pulses
[PLS]
Motor Model Rated Speed [rpm]
Number of
Feedback Pulses
[PLS]
HA-MH053 HA-LH52
HA-MH13 HA-LH102
HA-MH23 HA-LH152
HA-MH43 HA-LH202
HA-MH73 HA-LH302
HA-FH053 HA-LH502
HA-FH13 HA-LH702
HA-FH23 HA-LH11K2
HA-FH33 HA-LH15K2
HA-FH43 HA-LH22K2
HA-FH63
3000 8192
HA-UH32
HA-SH81 HA-UH52
HA-SH121 HA-UH102
HA-SH201 HA-UH152
HA-SH301
1000
HA-UH222
HA-SH52 HA-UH352
HA-SH102 HA-UH452
2000 16384
HA-SH152 HA-FF053
HA-SH202 HA-FF13
HA-SH352 HA-FF23
HA-SH502 HA-FF33
HA-SH702
2000
HA-FF43
HA-SH53 HA-FF63
HA-SH103 HC-MF053
HA-SH153 HC-MF13
HA-SH203 HC-MF23
HA-SH353 HC-MF43
HA-RH103 HC-MF73
3000 8192
HA-RH153 HC-SF52
HA-RH223
3000
16384
HC-SF102 2000 16384
APPENDICES
APP 60
APPENDIX 6 PROCESSING TIMES
The following tables list the processing time of each instruction for positioning control in the servo system CPU.
(1) Motion operation cycle (ms)
CPU A172SHCPUN A171SHCPUN
Number of set axes 1 to 8 1 to 4
Operation cycle 3.5ms 3.5ms
CPU A273UHCPU (32 axis feature)
A173UHCPU(S1)
Number of set axes (SV43) 1 to 8 9 to 18 19 to 32 1 to 12 13 to 24 25 to 32
Operation cycle 3.5ms 7.1ms 14.2ms 3.5ms 7.1ms 14.2ms
(2) SCPU instruction processing time (s)
CPU A172SHCPUN A171SHCPUN A273UHCPU
(32 axis feature) A173UHCPU
(S1)
Number of set axes 1 to 8 1 to 4 1 to 32
1 axis started 48 35
2 or 3 axes started 105 70SVST
Error 50 150
1 axis started 48
2 to 4 axes started 65DSFRP
Error 60
CHGV 27 20
Normal 28DSFLP (speed change) Error 50
CHGA 32 25
Normal 28DSFLP (present value change) Error 50
CHGT 24 20
END 1400 Max.5000
(3) CPU processing time (ms)
CPU A172SHCPUN A171SHCPUN
Number of set axes 1 to 8 1 to 4
Servo program start processing time 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 (*1) 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
CPU A273UHCPU
(32 axis feature) A173UHCPU(S1)
Number of set axes (SV43) 1 to 8 9 to 18 19 to 32 1 to 12 13 to 24 25 to 32
Servo program start processing time 4 to 11 10 to 18 14 to 21 4 to 11 10 to 18 14 to 21
Speed change response 0 to 4 0 to 8 0 to 14 0 to 4 0 to 8 0 to 14
Torque limit value change response 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4 0 to 4
Simultaneous start processing time (*1) 7 to 17 10 to 24 14 to 28 7 to 17 10 to 24 14 to 28
Time from PC ready flag (M2000) ON to PCPU ready flag (M9074) ON
8 to 100 90 to 400 100 to 800
8 to 100 90 to 400 100 to 800
(*1) This processing time varies depending on the commands to be started simultaneously. Use this time merely for reference.
For other sequence program instruction processing times, refer to the ACPU Programming Manual.
APPENDICES
APP 61
(4) Axis status
Axis status for SV43
Axis No.
A172SHCPUN
Device Number
A171SHCPUN
Device Number Signal Name
1 M1400
to M1409
M1400 to
M1409 Signal Name Fetch Cycle
Refresh Cycle Signal
Direction
0 Unusable
1 Unusable
2 M1410
to M1419
M1410 to
M1419 2 Automatically operating
3 Temporarily stopping 10ms
4 Unusable3 M1420
to M1429
M1420 to
M1429 5 Unusable
6 Unusable
7 Unusable4 M1430
to M1439
M1430 to
M1439 8 Unusable
9 Single block mode in progress (*1) 3.5ms
SCPU
PCPU
5 M1440
to M1449
6 M1450
to M1459
7 M1460
to M1469
8 M1470
to M1479
(*1) The single block in progress is not an axis status. It is used with the first axis (M1409) only. The user cannot use it for other than the first axis.
Axis status
Axis No.
A172SHCPUN
Device Number
A171SHCPUN
Device Number Signal Name
1 M1600
to M1619
M1600 to
M1619 Signal Name Fetch Cycle
Refresh Cycle Signal
Direction
0 Positioning start completed
1 Positioning completed2 M1620
to M1639
M1620 to
M1639 2 In-position
3 Command in-position
4 Unusable3 M1640
to M1659
M1640 to
M1659 5 Unusable
6 Zero pass
3.5ms
7 Error detection Immediately4 M1660
to M1679
M1660 to
M1679 8 Servo error detection 3.5ms
9 Home position return request 10ms
10 Home position return completed 3.5ms5 M1680
to M1699 11 External signal FLS
12 External signal RLS
13 External signal STOP6 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) 10ms
18 Unusable 19 M code output in progress 3.5ms
SCPU
PCPU
8 M1740
to M1759
APPENDICES
APP 62
(4) Axis status
Axis status
A xi
s N
o.
A273UHCPU
(32 axis feature)
A173UHCPU
(S1)
Device No.
Single name
1 M2400 to M2419
2 M2420 to M2439 Refresh cycle Fetch cycle
3 M2440 to M2459 Signal name
Set number of axis Set number of axis
4 M2460 to M2479 A173
UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
5 M2480 to M2499
SV43 A273
UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal
direction
6 M2500 to M2519 0 Positioning start completed
7 M2520 to M2539 1 Positioning completed
8 M2540 to M2559 2 In-position
9 M2560 to M2579 3 Command in-position
10 M2580 to M2599 4 Unusable
11 M2600 to M2619 5 Unusable
12 M2620 to M2639 6 Zero pass
3.5ms 7.1ms 14.2ms
13 M2640 to M2659 7 Error detection Immediately
14 M2660 to M2679 8 Servo error detection 3.5ms 7.1ms 14.2ms
15 M2680 to M2699 9 Home position return request 10ms 20ms
16 M2700 to M2719 10 Home position return completed 3.5ms 7.1ms 14.2ms
17 M2720 to M2739 11 External signal FLS
18 M2740 to M2759 12 External signal RLS
19 M2760 to M2779 13 External signal STOP
20 M2780 to M2799 14 External signal DOG
10ms 20ms
21 M2800 to M2819 15 Servo ON/OFF
22 M2820 to M2839 16 Torque control in progress 3.5ms 7.1ms 14.2ms
23 M2840 to M2859 17 (External signal CHANGE) 10ms 20ms
24 M2860 to M2879 18 Unusable
25 M2880 to M2899 19 M code output in progress 3.5ms 7.1ms 14.2ms
SCPU
PCPU
26 M2900 to M2919
27 M2920 to M2939
28 M2940 to M2959
29 M2960 to M2979
30 M2980 to M2999
31 M3000 to M3019
32 M3020 to M3039
APPENDICES
APP 63
(4) Axis status
Axis status for SV43
A xi
s N
o.
A273UHCPU
(32 axis feature)
A173UHCPU
(S1)
Device No.
Single name
1 M4000 to M4009
2 M4010 to M4019 Refresh cycle Fetch cycle
3 M4020 to M4029 Signal name
Set number of axis Set number of axis
4 M4030 to M4039 A173
UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
5 M4040 to M4049
SV43 A273
UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal
direction
6 M4050 to M4059 0 Unusable
7 M4060 to M4069 1 Unusable
8 M4070 to M4079 2 Automatically operating
9 M4080 to M4089 3 Temporarily stopping 10ms 20ms
10 M4090 to M4099 4 Unusable
11 M4100 to M4109 5 Unusable
12 M4110 to M4119 6 Unusable
13 M4120 to M4129 7 Unusable
14 M4130 to M4139 8 Unusable
15 M4140 to M4149 9 Single block mode in progress (*1) 3.5ms 7.1ms 14.2ms
SCPU
PCPU
16 M4150 to M4159
17 M4160 to M4169
18 M4170 to M4179
(*1) The single block in progress is not an axis status. It is used with the first axis (M4009) only. The
user cannot use it for other than the first axis.
19 M4180 to M4189
20 M4190 to M4199
21 M4200 to M4209
22 M4210 to M4219
23 M4220 to M4229
24 M4230 to M4239
25 M4240 to M4249
26 M4250 to M4259
27 M4260 to M4269
28 M4270 to M4279
29 M4280 to M4289
30 M4290 to M4299
31 M4300 to M4309
32 M4310 to M4319
APPENDICES
APP 64
(5) Axis command signals
Axis command signals for SV43
Axis No.
A172SHCPUN
Device Number
A171SHCPUN
Device Number Signal Name
1 M1500
to M1509
M1500 to
M1509 Signal Name Fetch Cycle
Refresh Cycle
Signal Direction
0 Temporary stop command 3.5ms
1 Optional program stop2 M1510
to M1519
M1510 to
M1519 2 Optional block skip
3 Single block
At start
4 Restart3 M1520
to M1529
M1520 to
M1529 5 Override valid/invalid 3.5ms
6 Unusable
7 Unusable4 M1530
to M1539
M1530 to
M1539 8 Single block mode (*1)
9 Single block start (*1)
SCPU
PCPU
5 M1540
to M1549
(*1) The single block mode and single block start are not axis statuses. They are used with the first axis (M1508, M1509) only. The user cannot use them for other than the first axis.
6 M1550
to M1559
7 M1560
to M1569
8 M1570
to M1579
Axis command signals
Axis No.
A172SHCPUN
Device Number
A171SHCPUN
Device Number Signal Name
1 M1800
to M1819
M1800 to
M1819 Signal Name Fetch Cycle
Refresh Cycle
Signal Direction
0 Stop command
1 Rapid stop command 3.5ms
2 M1820
to M1839
M1820 to
M1839 2 Forward rotation JOG command
3 Reverse rotation JOG command
4 Completion signal OFF command
10ms
3 M1840
to M1859
M1840 to
M1859 5 Unusable 6 Limit switch output enable 3.5ms
7 Error reset4 M1860
to M1879
M1860 to
M1879 8 Servo error reset 10ms
9 Start-time stop input invalid At start
10 Unusable5 M1880
to M1899 11 Unusable
12 Unusable
13 Unusable6 M1900
to M1919 14 Unusable
15 Servo OFF 3.5ms
16 Unusable7 M1920
to M1939 17 Unusable
18 Unusable
19 FIN signal 3.5ms
SCPU
PCPU
8 M1940
to M1959
APPENDICES
APP 65
(5) Axis command signals
Axis command signals
A xi
s N
o.
A273UHCPU
(32 axis feature)
A173UHCPU
(S1)
Device No.
Single name
1 M3200 to M3219
2 M3220 to M3239 Refresh cycle Fetch cycle
3 M3240 to M3259 Signal name
Set number of axis Set number of axis
4 M3260 to M3279 A173
UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
5 M3280 to M3299
SV43 A273
UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal
direction
6 M3300 to M3319 0 Stop command
7 M3320 to M3339 1 Rapid stop command 3.5ms 7.1ms 14.2ms
8 M3340 to M3359 2 Forward rotation JOG
command
9 M3360 to M3379 3 Reverse rotation JOG
command
10 M3380 to M3399 4 Completion signal OFF
command
10ms 20ms
11 M3400 to M3419 5 Unusable
12 M3420 to M3439 6 Limit switch output enable 3.5ms 7.1ms 14.2ms
13 M3440 to M3459 7 Error reset
14 M3460 to M3479 8 Servo error reset 10ms 20ms
15 M3480 to M3499 9 Start-time stop input invalid At start
16 M3500 to M3519 10 Unusable
17 M3520 to M3539 11 Unusable
18 M3540 to M3559 12 Present feed value update
request command At start
19 M3560 to M3579 13 Unusable
20 M3580 to M3599 14 Unusable
21 M3600 to M3619 15 Servo OFF 3.5ms 7.1ms 14.2ms
22 M3620 to M3639 16 Unusable
23 M3640 to M3659 17 Unusable
24 M3660 to M3679 18 Unusable
25 M3680 to M3699 19 FIN signal 3.5ms 7.1ms 14.2ms
SCPU
PCPU
26 M3700 to M3719
27 M3720 to M3739
28 M3740 to M3759
29 M3760 to M3779
30 M3780 to M3799
31 M3800 to M3819
32 M3820 to M3839
APPENDICES
APP 66
(5) Axis command signals
Axis command signals for SV43
A xi
s N
o.
A273UHCPU
(32 axis feature)
A173UHCPU
(S1)
Device No.
Single name
1 M4400 to M4409
2 M4410 to M4419 Refresh cycle Fetch cycle
3 M4420 to M4429 Signal name
Set number of axis Set number of axis
4 M4430 to M4439 A173
UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
5 M4440 to M4449
SV43 A273
UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal
direction
6 M4450 to M4459 0 Temporary stop command 3.5ms 7.1ms 14.2ms
7 M4460 to M4469 1 Optional program stop
8 M4470 to M4479 2 Optional block skip
9 M4480 to M4489 3 Single block
At start
10 M4490 to M4499 4 Restart
11 M4500 to M4509 5 Override valid/invalid 3.5ms 7.1ms 14.2ms
12 M4510 to M4519 6 Unusable
13 M4520 to M4529 7 Unusable
14 M4530 to M4539 8 Single block mode (*1)
15 M4540 to M4549 9 Single block start (*1)
SCPU
PCPU
16 M4550 to M4559
17 M4560 to M4569
18 M4570 to M4579
(*1) The single block mode and single block start are not axis statuses. They are used with the first axis
(M4408, M4409) only. The user cannot use them for other than the first axis.
19 M4580 to M4589
20 M4590 to M4599
21 M4600 to M4609
22 M4610 to M4619
23 M4620 to M4629
24 M4630 to M4639
25 M4640 to M4649
26 M4650 to M4659
27 M4660 to M4669
28 M4670 to M4679
29 M4680 to M4689
30 M4690 to M4699
31 M4700 to M4709
32 M4710 to M4719
APPENDICES
APP 67
(6) Axis monitor devices
Axis
No.
A172SHCPUN
Device No.
A171SHCPUN
Device No. Signal name
D600 D600
to to1
D619 D619 Signal name
Refresh
cycle
Fetch
cycle Unit
Signal
direction
D620 D620
to to
0
1 Current value
Command
unit2
D639 D639 2 Execution sequence No. (main)
D640 D640 3 Execution block No. (main)
to to 4 Execution program No. (sub) 3
D659 D659 5 Execution sequence No. (sub)
D660 D660 6 Execution block No. (sub)
END
to to 7 Unusable 4
D679 D679 8 G43/44 command
D680 9 Tool length offset data No.
to5
D699
10
11 Tool length offset
END Command
unit
D700 12 Unusable to 13 Unusable 6
D719 14 Unusable
D720 15 Unusable
to 16 Unusable 7
D739 17 Unusable
D740 18 Unusable
to 19 Unusable
SCPU PCPU
8
D759
Axis
No.
A172SHCPUN
Device No.
A171SHCPUN
Device No. Signal name
D800 D800
to to1
D819 D819 Signal name
Refresh
cycle
Fetch
cycle Unit
Signal
direction
D820 D820
to to
0
1 Machine value
Command
unit2
D839 D839 2
D840 D840 3 Actual current value
Command
unit
to to 43
D859 D859 5 Deviation counter value
3.5ms
PLS
D860 D860 6 Minor error code
to to 7 Major error code
Immedi-
ately 4
D879 D879 8 Servo error code 10ms
D880
to
9
10 Travel after DOG/CHANGE ON END
Command
unit5
D899 11 Home position return second travel PLS
D900 12 Execution program No. to 13 M code 6
D919 14 Torque limit value
3.5ms
%
D920 15 Unusable
to 16 Unusable
7
D939 17
D940 18 Actual present value at STOP input END
Command
unit
to 19 Unusable
SCPU PCPU
8
D959
* The entry "END" in the Refresh Cycle column indicates 80ms or a longer sequence program scan time.
APPENDICES
APP 68
(6) Axis monitor device Axis monitor device
Axis
No.
A273UHCPU
(32 axis feature)/
A173UHCPU(S1)
Device No.
Signal name
1 D0 to D19
2 D20 to D39 Refresh cycle Fetch cycle
3 D40 to D59 Signal name
Set No. of axis Set No. of axis
4 D60 to D79 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32
5 D80 to D99 SV43
A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Unit Signal
direction
6 D100 to D119
7 D120 to D139
0
1 Machine value
Command
Unit
8 D140 to D159
9 D160 to D179
2
3 Actual current value
Command
Unit
10 D180 to D199
11 D200 to D219
4
5 Deviation counter value
3.5ms 7.1ms 14.2ms
PLS
12 D220 to D239
13 D240 to D259 6 Minor error code
14 D260 to D279
15 D280 to D299 7 Major error code
Immediately
16 D300 to D319
17 D320 to D339 8 Servo error code 10ms 20ms
18 D340 to D359
19 D360 to D379 9
Home position return second
Travel 3.5ms 7.1ms 14.2ms PLS
20 D380 to D399
21 D400 to D419
10
11
Travel after DOG/CHANGE
ON END
Command
unit
22 D420 to D439
23 D440 to D459 12 Execution program No. At start
24 D460 to D479 13 M code
25 D480 to D499 14 Torque limit value 3.5ms 7.1ms 14.2ms
%
26 D500 to D519 15 Unusable
27 D520 to D539 16 Unusable
28 D540 to D559 17 Unusable
29 D560 to D579
30 D580 to D599
18
19
Actual present value at stop
input END
Command
unit
SCPU
PCPU
31 D600 to D619
32 D620 to D639
*"END" in Refresh Cycle indicates a longer one of "50ms" and "sequence program scan time".
APPENDICES
APP 69
(6) Axis monitor device Axis monitor device for SV43
Axis
No.
A273UHCPU
(32 axis feature)/
A173UHCPU(S1)
Device No.
Signal name
1 D800 to D819
2 D820 to D839 Refresh cycle Fetch cycle
3 D840 to D859 Signal name
Set No. of axis Set No. of axis
4 D860 to D879 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32
5 D880 to D899 SV43
A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Unit Signal
direction
6 D900 to D919
7 D920 to D939
0
1 Current value
Command
Unit
8 D940 to D959 2 Execution sequence No. (main) 9 D960 to D979 3 Execution block No. (main) 10 D980 to D999 4 Execution program No. (sub) 11 D1000 to D1019 5 Execution sequence No. (sub) 12 D1020 to D1039 6 Execution block No. (sub)
END
13 D1040 to D1059 7 Unusable 14 D1060 to D1079 8 G43/G44 command 15 D1080 to D1099 9 Tool length offset data No. 16 D1100 to D1119
17 D1120 to D1139
10
11 Tool length offset
END Command
unit
18 D1140 to D1159 12 Unusable 19 D1160 to D1179 13 Unusable 20 D1180 to D1199 14 Unusable 21 D1200 to D1219 15 Unusable 22 D1220 to D1239 16 Unusable 23 D1240 to D1259 17 Unusable 24 D1260 to D1279 18 Unusable 25 D1280 to D1299 19 Unusable
SCPU
PCPU
26 D1300 to D1319
27 D1320 to D1339
28 D1340 to D1359
29 D1360 to D1379
30 D1380 to D1399
31 D1400 to D1419
32 D1420 to D1439
*"END" in Refresh Cycle indicates a longer one of "50ms" and "sequence program scan time".
APPENDICES
APP 70
(7) Control change register
Axis
No.
A172SHCPUN
Device No.
A171SHCPUN
Device No. Signal name
D500 D500
to to1
D505 D505 Signal name
Refresh
cycle
Fetch
cycle Unit
Signal
direction
D506 D506 0 Override ratio setting register 3.5ms %
to to 1 Unusable 2
D511 D511 2 Unusable D512 D512 3 Unusable
to to 4 Unusable 3
D517 D517 5 Unusable
SCPU
PCPU
D518 D518
to to4
D523 D523
D524
to5
D529
D530
to6
D535
D536
to7
D541
D542
to8
D547
D548 D524
to to
D559 D559
Unusable
Axis
No.
A172SHCPUN
Device No.
A171SHCPUN
Device No. Signal name
D960 D960
to to1
D965 D965 Signal name
Refresh
cycle
Fetch
cycle Unit
Signal
direction
D966 D966 0 Unusable
to to 1 Unusable 2
D971 D971 2
D972 D972 3 Speed change flag
At
DSFLP
execution
Command
unit
To To 43
D977 D977 5 JOG speed setting register *1 At start
Command
unit
SCPU
PCPU
D78 D78
to to
(*1) indicates the backup register.
4
D983 D983
D984
to5
D989
D990
to6
D995
D996
to7
D1001
D1002
to8
D1007
APPENDICES
APP 71
(7) Control change register Control change register
Axis
No.
A273UHCPU
(32 axis feature)/
A173UHCPU(S1)
Device No.
Signal name
1 D640, D641
2 D642, D643 Refresh cycle Fetch cycle
3 D644, D645 Signal name
Set No. of axis Set No. of axis
4 D646, D647 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32
5 D648, D649 SV43
A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Unit Signal
direction
6 D650, D651
7 D652, D653
0
1 JOG speed setting register At start
Command
unit
SCPU
PCPU
8 D654, D655
9 D656, D657
10 D658, D659
11 D660, D661
12 D662, D663
13 D664, D665
14 D666, D667
15 D668, D669
16 D670, D671
17 D672, D673
18 D674, D675
19 D676, D677
20 D678, D679
21 D680, D681
22 D682, D683
23 D684, D685
24 D686, D687
25 D688, D689
26 D690,D691
27 D692, D693
28 D694, D695
29 D696, D697
30 D698, D699
31 D700, D701
32 D702, D703
APPENDICES
APP 72
(7) Control change register Control change register for SV43
Axis
No.
A273UHCPU
(32 axis feature)/
A173UHCPU(S1)
Device No.
Signal name
1 D1440 to D1445
2 D1446 to D1451 Refresh cycle Fetch cycle
3 D1452 to D1457 Signal name
Set No. of axis Set No. of axis
4 D1458 to D1463 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32
5 D1464 to D1469 SV43
A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Unit Signal
direction
6 D1470 to D1475 0 Override ratio setting register 3.5ms 7.1ms 14.2ms %
7 D1476 to D1481 1 Unusable 8 D1482 to D1487 2 Unusable 9 D1488 to D1493 3 Unusable 10 D1494 to D1499 4 Unusable 11 D1500 to D1505 5 Unusable
SCPU
PCPU
12 D1506 to D1511
13 D1512 to D1517
14 D1518 to D1523
15 D1524 to D1529
16 D1530 to D1535
17 D1536 to D1541
18 D1542 to D1547
19 D1548 to D1553
20 D1554 to D1559
21 D1560 to D1565
22 D1566 to D1571
23 D1572 to D1577
24 D1578 to D1583
25 D1584 to D1589
26 D1590 to D1595
27 D1596 to D1601
28 D1602 to D1607
29 D1608 to D1613
30 D1614 to D1619
31 D1620 to D1625
32 D1626 to D1631
APPENDICES
APP 73
(8) Common devices
A172SHCPUN A172SHCPUN Device
Number Signal Name
Fetch Cycle
Refresh Cycle
Signal Direction Device
Number Signal Name
Fetch Cycle
Refresh Cycle
Signal Direction
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 M1983 M1984 M1984 M1985 M1985 M1986 M1986 M1987 M1987 M1988 M1988 M1989 M1989 M1990 M1990 M1991 M1991 M1992 M1992 M1993 M1993 M1994 M1994 M1995 M1995 M1996 M1996 M1997 M1997 M1998 M1998 M1999
Unusable (40 points)
M1999
Unusable (40 points)
M2000 PC READY flag 10ms SCPUPCPU M2000 PC READY flag 10ms SCPUPCPU 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)
10ms SCPUPCPU
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
10ms SCPUPCPU
M2009 All-axes servo ON accept flag 10ms SCPUPCPU M2010 M2010 M2011
Unusable (2 points) M2011
Unusable (2 points)
M2012 Manual pulse generator enable flag 10ms SCPUPCPU M2012 Manual pulse generator enable flag 10ms SCPUPCPU M2013 M2013 M2014
Unusable (2 points) M2014
Unusable (2 points)
M2015 JOG simultaneous start command 10ms SCPUPCPU M2015 JOG simultaneous start command 10ms SCPUPCPU 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 flag (4 points)
END SCPUPCPU
M2025 Axis 5 M2025 M2026 Axis 6 M2026 M2027 Axis 7 M2027 M2028 Axis 8
Speed change flag (8 points)
END SCPUPCPU
M2028 M2029 M2029 M2030 M2030 M2031 M2031 M2032 M2032 M2033
Unusable (5 points)
M2033
Unusable (9 points)
M2034 PC link communication error flag END SCPUPCPU M2034 PC link communication error flag END SCPUPCPU M2035 M2035 M2036 M2036 M2037 M2037 M2038 M2038 M2039 M2039 M2040
Unusable (6 points)
M2040
Unusable (6 points)
M2041 System setting error flag END SCPUPCPU M2041 System setting error flag END SCPUPCPU M2042 All-axes servo ON command 3.5ms SCPUPCPU M2042 All-axes servo ON command 3.5ms SCPUPCPU M2043 M2043 M2044 M2044 M2045 M2045 M2046
Unusable (4 points)
M2046
Unusable (4 points)
M2047 Motion slot module error detection flag END SCPUPCPU M2047 Motion slot module error detection flag END SCPUPCPU
* The entry "END" in the Refresh Cycle column indicates 80ms or a longer sequence program scan time.
APPENDICES
APP 74
(8) Common devices (A273UHCPU(32 axis feature)/A173UHCPU(S1)) Refresh cycle Fetch cycle Refresh cycle Fetch cycle
Signal name Set No. of axis Set No. of axis
Signal name Set No. of axis Set No. of axis
A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32
Device No.
SV43 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal direction
Device No.
SV43 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal direction
M2000 PLC READY flag 10ms 20ms SCPU PCPU M2080 Axis20
M2001 Axis1 M2081 Axis21
M2002 Axis2 M2082 Axis22
M2003 Axis3 M2083 Axis23
M2004 Axis4 M2084 Axis24
M2005 Axis5 M2085 Axis25
M2006 Axis6 M2086 Axis26
M2007 Axis7 M2087 Axis27
M2008 Axis8 M2088 Axis28
M2009 Axis9 M2089 Axis29
M2010 Axis10 M2090 Axis30
M2011 Axis11 M2091 Axis31
M2012 Axis12 M2092 Axis32
Speed change flag END SCPU PCPU
M2013 Axis13 M2093 M2014 Axis14 M2094 M2015 Axis15 M2095 M2016 Axis16 M2096 M2017 Axis17 M2097 M2018 Axis18 M2098 M2019 Axis19 M2099 M2020 Axis20 M2100 M2021 Axis21 M2101 M2022 Axis22 M2102 M2023 Axis23 M2103 M2024 Axis24 M2104 M2025 Axis25 M2105 M2026 Axis26 M2106 M2027 Axis27 M2107 M2028 Axis28 M2108 M2029 Axis29 M2109 M2030 Axis30 M2110 M2031 Axis31 M2111 M2032 Axis32
Start accept flag 10ms SCPU PCPU
M2112 M2033 Unusable M2113 M2034 PC link communication error flag 10ms SCPU PCPU M2114 M2035 M2115 M2036 M2116 M2037 M2117 M2038 M2118 M2039 M2119 M2040
Unusable (6 points)
M2120 M2041 System setting error flag 10ms SCPU PCPU M2121 M2042 All axes servo ON command 3.5ms 7.1ms 14.2ms SCPU PCPU M2122 M2043 M2123 M2044 M2124 M2045 M2125 M2046
Unusable (4 points)
M2126 M2047 Motion slot module error detection flag 10ms SCPU PCPU M2127
Unusable (35 points)
M2048 JOG simultaneous start command 10ms 20ms SCPU PCPU M2128 Axis1
M2049 All axes servo ON accept flag M2129 Axis2
M2050 Start buffer full END SCPU PCPU
M2130 Axis3
M2051 Manual pulse generator 1 enable flag M2131 Axis4
M2052 Manual pulse generator 2 enable flag M2132 Axis5
M2053 Manual pulse generator 3 enable flag
10ms 20ms SCPU PCPU
M2133 Axis6
M2054 M2134 Axis7
M2055 M2135 Axis8
M2056 M2136 Axis9
M2057 M2137 Axis10
M2058 M2138 Axis11
M2059 M2139 Axis12
M2060
Unusable (7 points)
M2140 Axis13
M2061 Axis1 M2141 Axis14
M2062 Axis2 M2142 Axis15
M2063 Axis3 M2143 Axis16
M2064 Axis4 M2144 Axis17
M2065 Axis5 M2145 Axis18
M2066 Axis6 M2146 Axis19
M2067 Axis7 M2147 Axis20
M2068 Axis8 M2148 Axis21
M2069 Axis9 M2149 Axis22
M2070 Axis10 M2150 Axis23
M2071 Axis11 M2151 Axis24
M2072 Axis12 M2152 Axis25
M2073 Axis13 M2153 Axis26
M2074 Axis14 M2154 Axis27
M2075 Axis15 M2155 Axis28
M2076 Axis16 M2156 Axis29
M2077 Axis17 M2157 Axis30
M2078 Axis18 M2158 Axis31
M2079 Axis19
Speed change flag END SCPU PCPU
M2159 Axis32
Automatically decelerating flag
3.5ms 7.1ms 14.2ms SCPU PCPU
* The entry "END" in the Refresh Cycle column indicates 50ms or a longer sequence program scan time.
APPENDICES
APP 75
(8) Common devices (A273UHCPU(32 axis feature)/A173UHCPU(S1)) Refresh cycle Fetch cycle Refresh cycle Fetch cycle
Signal name Set No. of axis Set No. of axis
Signal name Set No. of axis Set No. of axis
A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32 A173UHCPU 1 to 12 13 to 24 25 to32 1 to 12 13 to 24 25 to32
Device No.
SV43 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal direction
Device No.
SV43 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal direction
M2160 M2240 Axis1
M2161 M2241 Axis2
M2162 M2242 Axis3
M2163 M2243 Axis4
M2164 M2244 Axis5
M2165 M2245 Axis6
M2166 M2246 Axis7
M2167 M2247 Axis8
M2168 M2248 Axis9
M2169 M2249 Axis10
M2170 M2250 Axis11
M2171 M2251 Axis12
M2172 M2252 Axis13
M2173 M2253 Axis14
M2174 M2254 Axis15
M2175 M2255 Axis16
M2176 M2256 Axis17
M2177 M2257 Axis18
M2178 M2258 Axis19
M2179 M2259 Axis20
M2180 M2260 Axis21
M2181 M2261 Axis22
M2182 M2262 Axis23
M2183 M2263 Axis24
M2184 M2264 Axis25
M2185 M2265 Axis26
M2186 M2266 Axis27
M2187 M2267 Axis28
M2188 M2268 Axis29
M2189 M2269 Axis30
M2190 M2270 Axis31
M2191 M2271 Axis32
Speed change accepting flag "0"
3.5ms 7.1ms 14.2ms SCPU PCPU
M2192 M2272
M2193 M2273
M2194 M2274
M2195 M2275
M2196 M2276
M2197 M2277
M2198 M2278
M2199 M2279
M2200 M2280
M2201 M2281
M2202 M2282
M2203 M2283
M2204 M2284
M2205 M2285
M2206 M2286
M2207 M2287
M2208 M2288
M2209 M2289
M2210 M2290
M2211 M2291
M2212 M2292
M2213 M2293
M2214 M2294
M2215 M2295
M2216 M2296
M2217 M2297
M2218 M2298
M2219 M2299
M2220 M2300
M2221 M2301
M2222 M2302
M2223 M2303
M2224 M2304
M2225 M2305
M2226 M2306
M2227 M2307
M2228 M2308
M2229 M2309
M2230 M2310
M2231 M2311
M2232 M2312
M2233 M2313
M2234 M2314
M2235 M2315
M2236 M2316
M2237 M2317
M2238 M2318
M2239
Unusable (80 points)
M2319
Unusable (48 points)
* The entry "END" in the Refresh Cycle column indicates 50ms or a longer sequence program scan time.
APPENDICES
APP 76
(8) Common devices A273UHCPU(32 axis feature)/A173UHCPU(S1)
Refresh cycle Fetch cycle Signal name
Set number of axes Set number of axes
A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 Device No.
SV43 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal
direction
D9180
D9181 Unusable
D9182
D9183 Test mode request error information When test mode is requested
D9184 PCPU WDT error cause When PCPU WDT error occurs
D9185
D9186
D9187
Manual pulse generator axis setting
error information
When manual pulse generator
operation is enabled
SCPU
PCPU
D9188 Unusable D9189 Error program No.
D9190 Error item information At start
D9191 At power-on and
D9192 Servo amplifier loading information
10ms 20ms
SCPU
PCPU
D9193
D9194
D9195
Unusable
D9186 Personal computer link
communication error code 3.5ms 7.1ms 14.2ms
SCPU
PCPU
D9187
D9198
D9199
Unusable
APPENDICES
APP 77
(8) Common devices A172SHCPUN A171SHCPUN
Device
No. Signal Name Fetch Cycle
Refresh
Cycle
Signal
Direction
Device
No. Signal Name Fetch Cycle
Refresh
Cycle
Signal
Direction
D1008 D1008
D1009 D1009
D1010 D1010
D1011
Limit switch output disable
setting register (4 points) 3.5ms
D1011
Limit switch output disable
setting register (4 points) 3.5ms
D1012
Setting Register for a axis
number controlled with
manual pulse generator 1
Manual
pulse
generator
operation
enabled
SCPU
PCPU
D1012
Setting Register for a axis
number controlled with
manual pulse generator 1
Manual
pulse
generator
operation
enabled
SCPU
PCPU
D1013 D1013
D1014 Unusable (2 points)
D1014 Unusable (2 points)
D1015
JOG operation
simultaneous start axis
setting
register
At driving D1015
JOG operation
simultaneous start axis
setting
register
At driving
D1016 Axis 1 D1016 Axis 1
D1017 Axis 2 D1017 Axis 2
D1018 Axis 3 D1018 Axis 3
D1019 Axis 4 D1019 Axis 4
1 pulse input
modification setting
register for manual
pulse generator (4
points)
Manual
pulse
generator
operation
enabled
SCPU
PCPU
D1020 Axis 5 D1020
D1021 Axis 6 D1021
D1022 Axis 7 D1022
D1023 Axis 8
1 pulse input
modification setting
register for manual
pulse generators
(8 points)
Manual
pulse
generator
operation
enabled
SCPU
PCPU
D1023
Unusable (4 points)
APPENDICES
APP 78
(8) Common devices A273UHCPU (32 axis feature) / A173UHCPU (S1)
Refresh cycle Fetch cycle Signal name
Set No. of axis Set No. of axis A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
Device No. SV43
A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal direction
D704 D705 D706 D707 D708 D709
Unusable (6 points)
D710 D711 D712 D713
JOG simultaneous start axis setting register At start
D714 D715
Manual pulse generator 1 axis No. setting register
D716 D717
Manual pulse generator 2 axis No. setting register
D718 D719
Manual pulse generator 3 axis No. setting register
D720 Axis 1 D721 Axis 2 D722 Axis 3 D723 Axis 4 D724 Axis 5 D725 Axis 6 D726 Axis 7 D727 Axis 8 D728 Axis 9 D729 Axis 10 D730 Axis 11 D731 Axis 12 D732 Axis 13 D733 Axis 14 D734 Axis 15 D735 Axis 16 D736 Axis 17 D737 Axis 18 D738 Axis 19 D739 Axis 20 D740 Axis 21 D741 Axis 22 D742 Axis 23 D743 Axis 24 D744 Axis 25 D745 Axis 26 D746 Axis 27 D747 Axis 28 D748 Axis 29 D749 Axis 30 D750 Axis 31 D751 Axis 32
Manual pulse generator 1-pulse input magnification setting register
D752 Manual pulse generator 1 smoothing magnification setting register D753 Manual pulse generator 2 smoothing magnification setting register D754 Manual pulse generator 3 smoothing magnification setting register
When manual pulse generator enable
SCPU PCPU
D755 D756 D757 D758 D759
Unusable (5 points)
D760 D761 D762 D763 D764 D765 D766 D767 D768 D769 D770 D771 D772 D773 D774 D775
Limit switch output disable setting register
D776 D777 D778 D779 D780 D781 D782 D783 D784 D785 D786 D787 D788 D789 D790 D791
Limit switch output status storage register
3.5ms 7.1ms 14.2ms
D792 D793 D794 D795 D796 D797 D798 D799
Servo amplifier type At power ON
SCPU PCPU
APPENDICES
APP 79
(9) Special Relays
Device No. Signal Name Fetch Cycle Refresh Cycle Signal Direction
M9073 PCPU WDT error flag
M9074 PCPU REDAY-completed flag
M9075 In-test-mode flag
M9076 External emergency stop input flag
M9077 Manual pulse generator axis setting error flag
M9078 Test mode request error flag
M9079 Servo program setting error flag
END PCPU SCPU
* The entry END in the Refresh Cycle column indicates 80ms (A172SHCPUN/A171SHCPUN) or 50ms (A273UHCPU (32 axis
feature) / A173UHCPU (S1)), or a longer sequence program scan time.
(10) Table 3.2 Special Registers (A172SHCPUN / A171SHCPUN)
A172SH
CPUN/
A171SH
CPUN
Device
Number
Signal Name Refresh Cycle Fetch Cycle Signal Direction
D9180
D9181
D9182
D9183
Limit switch output status 3.5ms
D9184 PCPU WDT error cause At PCPU WDT error
occurrence
D9185
D9186 Servo amplifier type Power ON
D9187 Manual pulse generator axis setting
error information
Manual pulse generator
operation enabled
D9188 Test mode request error information Test mode request
D9189 Error program number
D9190 Error item information At driving
D9191 Servo amplifier loading information Power ON, 10 ms
SCPUPCPU
D9192 Manual pulse generator 1 smoothing
magnification setting register
Manual pulse generator
operation enabled SCPUPCPU
D9193
D9194
D9195
Unusable
D9196 PC link communication error code 3.5ms SCPUPCPU
D9197
D9198
D9199
Unusable
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