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Mitsubishi AP20-HDL001AA-ML Handling Instruction Manual PDF
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Summary of Content for Mitsubishi AP20-HDL001AA-ML Handling Instruction Manual PDF
iQ Monozukuri HANDLING
Instruction Manual
- AP20-HDL001AA-MA - AP20-HDL001AA-MB - AP20-HDL001AA-MC - AP20-HDL001AA-MD - AP20-HDL001AA-ME - AP20-HDL001AA-ML
SAFETY PRECAUTIONS (Read these precautions before using this product.)
Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle
the product correctly.
The precautions given in this manual are concerned with this product only. Refer to the MELSEC iQ-R Module Configuration
Manual for a description of the PLC system safety precautions.
In this manual, the safety precautions are classified into two levels: " WARNING" and " CAUTION".
Under some circumstances, failure to observe the precautions given under " CAUTION" may lead to serious
consequences.
Observe the precautions of both levels because they are important for personal and system safety.
Make sure that the end users read this manual and then keep the manual in a safe place for future reference.
[Design Precautions]
WARNING Configure safety circuits external to the programmable controller to ensure that the entire system
operates safely even when a fault occurs in the external power supply or the programmable controller.
Failure to do so may result in an accident due to an incorrect output or malfunction.
(1) Emergency stop circuits, protection circuits, and protective interlock circuits for conflicting
operations (such as forward/reverse rotations or upper/lower limit positioning) must be configured
external to the programmable controller.
(2) When the programmable controller detects an abnormal condition, it stops the operation and all
outputs are:
Turned off if the overcurrent or overvoltage protection of the power supply module is activated.
Held or turned off according to the parameter setting if the self-diagnostic function of the CPU
module detects an error such as a watchdog timer error.
(3) All outputs may be turned on if an error occurs in a part, such as an I/O control part, where the
CPU module cannot detect any error. To ensure safety operation in such a case, provide a safety
mechanism or a fail-safe circuit external to the programmable controller. For a fail-safe circuit
example, refer to "General Safety Requirements" in the MELSEC iQ-R Module Configuration
Manual.
(4) Outputs may remain on or off due to a failure of a component such as a relay and transistor in an
output circuit. Configure an external circuit for monitoring output signals that could cause a
serious accident.
In an output circuit, when a load current exceeding the rated current or an overcurrent caused by a
load short-circuit flows for a long time, it may cause smoke and fire. To prevent this, configure an
external safety circuit, such as a fuse.
Configure a circuit so that the programmable controller is turned on first and then the external power
supply. If the external power supply is turned on first, an accident may occur due to an incorrect output
or malfunction.
WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.
CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in minor or moderate injury or property damage.
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[Design Precautions]
WARNING For the operating status of each station after a communication failure, refer to manuals relevant to the
network. Incorrect output or malfunction due to a communication failure may result in an accident.
When connecting an external device with a CPU module or intelligent function module to modify data
of a running programmable controller, configure an interlock circuit in the program to ensure that the
entire system will always operate safely. For other forms of control (such as program modification,
parameter change, forced output, or operating status change) of a running programmable controller,
read the relevant manuals carefully and ensure that the operation is safe before proceeding. Improper
operation may damage machines or cause accidents.
Especially, when a remote programmable controller is controlled by an external device, immediate
action cannot be taken if a problem occurs in the programmable controller due to a communication
failure. To prevent this, configure an interlock circuit in the program, and determine corrective actions
to be taken between the external device and CPU module in case of a communication failure.
Do not write any data to the "system area" and "write-protect area" of the buffer memory in the
module. Also, do not use any "use prohibited" signals as an output signal from the CPU module to
each module. Doing so may cause malfunction of the programmable controller system. For the
"system area", "write-protect area", and the "use prohibited" signals, refer to the user's manual for the
module used.
If a communication cable is disconnected, the network may be unstable, resulting in a communication
failure of multiple stations. Configure an interlock circuit in the program to ensure that the entire
system will always operate safely even if communications fail. Failure to do so may result in an
accident due to an incorrect output or malfunction.
To maintain the safety of the programmable controller system against unauthorized access from
external devices via the network, take appropriate measures. To maintain the safety against
unauthorized access via the Internet, take measures such as installing a firewall.
Configure safety circuits external to the programmable controller to ensure that the entire system
operates safely even when a fault occurs in the external power supply or the programmable controller.
Failure to do so may result in an accident due to an incorrect output or malfunction.
If safety standards (ex., robot safety rules, etc.,) apply to the system using the module, servo amplifier
and servomotor, make sure that the safety standards are satisfied.
Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of the
module or servo amplifier differs from the safety directive operation in the system.
Do not remove the SSCNET cable while turning on the control circuit power supply of modules and
servo amplifier. Do not see directly the light generated from SSCNET connector of the module or
servo amplifier and the end of SSCNET cable. When the light gets into eyes, you may feel
something wrong with eyes. (The light source of SSCNET complies with class1 defined in JISC6802
or IEC60825-1.)
[Design Precautions]
[Installation Precautions]
CAUTION Do not install the control lines or communication cables together with the main circuit lines or power
cables. Keep a distance of 100 mm or more between them. Failure to do so may result in malfunction
due to noise.
During control of an inductive load such as a lamp, heater, or solenoid valve, a large current
(approximately ten times greater than normal) may flow when the output is turned from off to on.
Therefore, use a module that has a sufficient current rating.
After the CPU module is powered on or is reset, the time taken to enter the RUN status varies
depending on the system configuration, parameter settings, and/or program size. Design circuits so
that the entire system will always operate safely, regardless of the time.
Do not power off the programmable controller or do not reset the CPU module during the setting
registration. Doing so will make the data in the flash ROM undefined. The data need to be set in the
buffer memory and to be written to the flash ROM again. Doing so may cause malfunction or failure of
the module.
When changing the operating status of the CPU module from external devices (such as remote RUN/
STOP), select "Do Not Open by Program" for "Opening Method" in the module parameters. If "Open
by Program" is selected, an execution of remote STOP causes the communication line to close.
Consequently, the CPU module cannot reopen the communication line, and external devices cannot
execute the remote RUN.
WARNING Shut off the external power supply (all phases) used in the system before mounting or removing the
module. Failure to do so may result in electric shock or cause the module to fail or malfunction.
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[Installation Precautions]
[Wiring Precautions]
CAUTION Use the programmable controller in an environment that meets the general specifications in the
manual "Safety Guidelines" included in the base unit. Failure to do so may result in electric shock, fire,
malfunction, or damage to or deterioration of the product.
To mount a module, place the concave part(s) located at the bottom onto the guide(s) of the base unit,
and push in the module until the hook(s) located at the top snaps into place. Incorrect mounting may
cause malfunction, failure, or drop of the module.
To mount a module with no module fixing hook, place the concave part(s) located at the bottom onto
the guide(s) of the base unit, push in the module, and fix it with screw(s).
When using the programmable controller in an environment of frequent vibrations, fix the module with
a screw.
Tighten the screws within the specified torque range. Undertightening can cause drop of the screw,
short circuit, or malfunction. Overtightening can damage the screw and/or module, resulting in drop,
short circuit, or malfunction.
When using an extension cable, connect it to the extension cable connector of the base unit securely.
Check the connection for looseness. Poor contact may cause incorrect input or output.
When using an SD memory card, fully insert it into the memory card slot. Check that it is inserted
completely. Poor contact may cause malfunction.
Securely insert an extended SRAM cassette into the cassette connector of a CPU module. After
insertion, close the cassette cover and check that the cassette is inserted completely. Poor contact
may cause malfunction.
Do not directly touch any conductive parts and electronic components of the module, SD memory
card, extended SRAM cassette, or connector. Doing so may cause malfunction or failure of the
module.
WARNING Shut off the external power supply (all phases) used in the system before installation and wiring.
Failure to do so may result in electric shock or damage to the product.
After installation and wiring, attach the included terminal cover to the module before turning it on for
operation. Failure to do so may result in electric shock.
[Wiring Precautions]
CAUTION Individually ground the FG and LG terminals of the programmable controller with a ground resistance
of 100 ohm or less. Failure to do so may result in electric shock or malfunction.
Use applicable solderless terminals and tighten them within the specified torque range. If any spade
solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in
failure.
Check the rated voltage and signal layout before wiring to the module, and connect the cables
correctly. Connecting a power supply with a different voltage rating or incorrect wiring may cause fire
or failure.
Connectors for external devices or coaxial cables must be crimped or pressed with the tool specified
by the manufacturer, or must be correctly soldered. Incomplete connections may cause short circuit,
fire, or malfunction.
Securely connect the connector to the module. Poor contact may cause malfunction.
Do not install the control lines or communication cables together with the main circuit lines or power
cables. Keep a distance of 100 mm or more between them. Failure to do so may result in malfunction
due to noise.
Place the cables in a duct or clamp them. If not, dangling cable may swing or inadvertently be pulled,
resulting in damage to the module or cables or malfunction due to poor contact. Do not clamp the
extension cables with the jacket stripped. Doing so may change the characteristics of the cables,
resulting in malfunction.
Check the interface type and correctly connect the cable. Incorrect wiring (connecting the cable to an
incorrect interface) may cause failure of the module and external device.
Tighten the terminal screws or connector screws within the specified torque range. Undertightening
can cause drop of the screw, short circuit, fire, or malfunction. Overtightening can damage the screw
and/or module, resulting in drop, short circuit, fire, or malfunction.
When disconnecting the cable from the module, do not pull the cable by the cable part. For the cable
with connector, hold the connector part of the cable. For the cable connected to the terminal block,
loosen the terminal screw. Pulling the cable connected to the module may result in malfunction or
damage to the module or cable.
Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter can
cause a fire, failure, or malfunction.
A protective film is attached to the top of the module to prevent foreign matter, such as wire chips,
from entering the module during wiring. Do not remove the film during wiring. Remove it for heat
dissipation before system operation.
Programmable controllers must be installed in control panels. Connect the main power supply to the
power supply module in the control panel through a relay terminal block. Wiring and replacement of a
power supply module must be performed by qualified maintenance personnel with knowledge of
protection against electric shock. For wiring, refer to the MELSEC iQ-R Module Configuration Manual.
For Ethernet cables to be used in the system, select the ones that meet the specifications in the user's
manual for the module used. If not, normal data transmission is not guaranteed.
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[Startup and Maintenance Precautions]
[Startup and Maintenance Precautions]
WARNING Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction.
Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or
throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so may cause the
battery to generate heat, explode, ignite, or leak, resulting in injury or fire.
Shut off the external power supply (all phases) used in the system before cleaning the module or
retightening the terminal screws, connector screws, or module fixing screws. Failure to do so may
result in electric shock or cause the module to fail or malfunction.
CAUTION When connecting an external device with a CPU module or intelligent function module to modify data
of a running programmable controller, configure an interlock circuit in the program to ensure that the
entire system will always operate safely. For other forms of control (such as program modification,
parameter change, forced output, or operating status change) of a running programmable controller,
read the relevant manuals carefully and ensure that the operation is safe before proceeding. Improper
operation may damage machines or cause accidents.
Especially, when a remote programmable controller is controlled by an external device, immediate
action cannot be taken if a problem occurs in the programmable controller due to a communication
failure. To prevent this, configure an interlock circuit in the program, and determine corrective actions
to be taken between the external device and CPU module in case of a communication failure.
Do not disassemble or modify the modules. Doing so may cause failure, malfunction, injury, or a fire.
Use any radio communication device such as a cellular phone or PHS (Personal Handyphone
System) more than 25 cm away in all directions from the programmable controller. Failure to do so
may cause malfunction.
Shut off the external power supply (all phases) used in the system before mounting or removing the
module. Failure to do so may cause the module to fail or malfunction.
Tighten the screws within the specified torque range. Undertightening can cause drop of the
component or wire, short circuit, or malfunction. Overtightening can damage the screw and/or module,
resulting in drop, short circuit, or malfunction.
After the first use of the product, do not mount/remove the module to/from the base unit, and the
terminal block to/from the module, and do not insert/remove the extended SRAM cassette to/from the
CPU module more than 50 times (IEC 61131-2 compliant) respectively. Exceeding the limit of 50 times
may cause malfunction.
After the first use of the product, do not insert/remove the SD memory card to/from the CPU module
more than 500 times. Exceeding the limit may cause malfunction.
Do not touch the metal terminals on the back side of the SD memory card. Doing so may cause
malfunction or failure.
Do not touch the integrated circuits on the circuit board of an extended SRAM cassette. Doing so may
cause malfunction or failure.
Do not drop or apply shock to the battery to be installed in the module. Doing so may damage the
battery, causing the battery fluid to leak inside the battery. If the battery is dropped or any shock is
applied to it, dispose of it without using.
[Startup and Maintenance Precautions]
[Operating Precautions]
[Disposal Precautions]
CAUTION Startup and maintenance of a control panel must be performed by qualified maintenance personnel
with knowledge of protection against electric shock. Lock the control panel so that only qualified
maintenance personnel can operate it.
Before handling the module, touch a conducting object such as a grounded metal to discharge the
static electricity from the human body. Failure to do so may cause the module to fail or malfunction.
Before testing the operation, set a low speed value for the speed limit parameter so that the operation
can be stopped immediately upon occurrence of a hazardous condition.
Confirm and adjust the program and each parameter before operation. Unpredictable movements
may occur depending on the machine.
When using the absolute position system function, on starting up, and when the module or absolute
position motor has been replaced, always perform a home position return.
Before starting the operation, confirm the brake function.
Do not perform a megger test (insulation resistance measurement) during inspection.
After maintenance and inspections are completed, confirm that the position detection of the absolute
position detection function is correct.
Lock the control panel and prevent access to those who are not certified to handle or install electric
equipment.
CAUTION When changing data and operating status, and modifying program of the running programmable
controller from an external device such as a personal computer connected to an intelligent function
module, read relevant manuals carefully and ensure the safety before operation. Incorrect change or
modification may cause system malfunction, damage to the machines, or accidents.
Do not power off the programmable controller or reset the CPU module while the setting values in the
buffer memory are being written to the flash ROM in the module. Doing so will make the data in the
flash ROM and SD memory card undefined. The values need to be set in the buffer memory and
written to the flash ROM and SD memory card again. Doing so also can cause malfunction or failure
of the module.
Note that when the reference axis speed is specified for interpolation operation, the speed of the
partner axis (2nd, 3rd, or 4th axis) may exceed the speed limit value.
Do not go near the machine during test operations or during operations such as teaching. Doing so
may lead to injuries.
CAUTION When disposing of this product, treat it as industrial waste.
When disposing of batteries, separate them from other wastes according to the local regulations. For
details on battery regulations in EU member states, refer to the MELSEC iQ-R Module Configuration
Manual.
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[Transportation Precautions]
[Precautions on Introduction of User Programs]
CAUTION When transporting lithium batteries, follow the transportation regulations. For details on the regulated
models, refer to the MELSEC iQ-R Module Configuration Manual.
The halogens (such as fluorine, chlorine, bromine, and iodine), which are contained in a fumigant
used for disinfection and pest control of wood packaging materials, may cause failure of the product.
Prevent the entry of fumigant residues into the product or consider other methods (such as heat
treatment) instead of fumigation. The disinfection and pest control measures must be applied to
unprocessed raw wood.
CAUTION To utilize the application program (example) and the screens (example) for an actual system,
sufficiently confirm that the program and the screens will not cause system control problems on user's
own responsibility. Examine the positions where interlock conditions are required in a target system
and add them.
Mitsubishi Electric Corporation cannot be held responsible for any damages or problems which may
occur as a result of using the application program and the screens.
The application program and screens provided by Mitsubishi Electric Corporation may be changed
without any notice.
CONDITIONS OF USE FOR THE PRODUCT
INTRODUCTION Thank you for purchasing the "iQ Monozukuri" product.
This manual describes the design, procedures before operation, functions, and programming required for constructing a
system using this application. Before using this product, please read this manual and the relevant manuals carefully and
develop familiarity with the functions and performance of this application to design the product correctly.
To utilize the program introduced in this manual for an actual system, sufficiently confirm that the program will not cause
system control problems.
(1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions; i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident; and ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT.
(2) The PRODUCT has been designed and manufactured for the purpose of being used in general industries. MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT, WARRANTY, TORT, PRODUCT LIABILITY) FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS, PRECAUTIONS, OR WARNING CONTAINED IN MITSUBISHI'S USER, INSTRUCTION AND/OR SAFETY MANUALS, TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT. ("Prohibited Application") Prohibited Applications include, but not limited to, the use of the PRODUCT in; Nuclear Power Plants and any other power plants operated by Power companies, and/or any other cases in which the
public could be affected if any problem or fault occurs in the PRODUCT. Railway companies or Public service purposes, and/or any other cases in which establishment of a special quality
assurance system is required by the Purchaser or End User. Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator and Escalator,
Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and Amusement, and Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and Drilling, and/or other applications where there is a significant risk of injury to the public or property.
Notwithstanding the above, restrictions Mitsubishi may in its sole discretion, authorize use of the PRODUCT in one or more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific applications agreed to by Mitsubishi and provided further that no special quality assurance or fail-safe, redundant or other safety features which exceed the general specifications of the PRODUCTs are required. For details, please contact the Mitsubishi representative in your region.
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CONTENTS SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
INTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
REQUESTING AND REGISTERING A LICENSE KEY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
CHAPTER 1 OVERVIEW 15
1.1 Handling Application Package. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.2 Machine Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.3 Product Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Products in the iQ Monozukuri HANDLING package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Files in DVD-ROM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
1.4 Applicable Hardware and Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
CHAPTER 2 SETTING AND PROCEDURE BEFORE OPERATION 24
2.1 Registering a License Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.2 Certifying the License Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.3 Registering and Installing a Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.4 Machine Control Simulator and Machine Attitude Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
CHAPTER 3 SYSTEM CONSTRUCTION 33
3.1 System Configuration Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
CHAPTER 4 PROGRAM EXAMPLES FOR MACHINE CONTROL 35
4.1 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.2 Project Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.3 Common Parameters of R Series in GX Works3 Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.4 Common Parameters of R Series in MT Works2 Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.5 Program Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.6 List of Devices and Labels to be Used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
4.7 Operation Procedure of Application Program Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Servo axis setting screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Machine adjustment screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Machine operation screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
4.8 Operation Procedure of Vision Tracking Program Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Home screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Vision Tracking screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
CHAPTER 5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 84
5.1 Screen Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Screen transition (All screens). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Screen transition (Common) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Screen transition (Mobile screen) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5.2 Basic Screen Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
5.3 Description of Common Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Definitions of character colors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
C O
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E N
T S
Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Key window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Numerical value input (Decimal key window) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Title bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Main menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
GOT system alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Window screens common to all screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
5.4 When the GOT is Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Start logo screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Operation to be performed when the GOT is started for the first time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
5.5 Base Screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Home screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Machine operation screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Machine adjustment screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Servo axis setting screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Vision Tracking screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
5.6 Window Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
GOT system alarm reset window screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Machine program operation setting window screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Point setting window screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Machine JOG operation window screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
1 Point machine program operation window screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Teaching window screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Control method symbol description window screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Actual coordinate value monitor window screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Operation setting window screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
5.7 Mobile Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Setting for using the GOT Mobile function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Home screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Mobile operation screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
5.8 List of Scripts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
5.9 List of Devices to be Used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
CHAPTER 6 MACHINE PROGRAM SUPPORT TOOL 117
6.1 Positioning Point Setting Support Tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
6.2 Machine Program Generation Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
6.3 Points of Data Setting in the Machine Program Support Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
APPENDIX 132
Appendix 1 Functional Restrictions by Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Appendix 2 Temporary License Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .136
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .137
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .138
11
12
RELEVANT MANUALS
This manual does not include information on restrictions of use such as combination with modules or PLC CPUs.
Please make sure to read the user's manual of the corresponding products before using this application package.
e-Manual refers to the Mitsubishi FA electronic book manuals that can be browsed using a dedicated tool.
e-Manual has the following features:
Required information can be cross-searched in multiple manuals.
Other manuals can be accessed from the links in the manual.
The hardware specifications of each part can be found from the product figures.
Pages that users often browse can be bookmarked.
Manual name [manual number] Description Available form
MELSEC iQ-R Motion Controller User's Manual
[IB-0300235]
Motion CPU modules, SSCNET cables and serial ABS synchronous
encoder cable, troubleshooting, etc.
Print book
e-Manual
MELSEC iQ-R Motion Controller Programming Manual
(Common)
[IB-0300237]
Multi-CPU system configuration, performance specifications, common
parameters, auxiliary/application functions, and error lists, etc.
Print book
e-Manual
MELSEC iQ-R Motion Controller Programming Manual
(Program Design)
[IB-0300239]
Functions of motion SFC, programming, and debugging, etc. Print book
e-Manual
MELSEC iQ-R Motion Controller Programming Manual
(Positioning Control)
[IB-0300241]
Servo parameters, positioning instructions, and device lists, etc. Print book
e-Manual
MELSEC iQ-R Motion Controller Programming Manual
(Advanced Synchronous Control)
[IB-0300243]
Synchronous control parameters for performing synchronous control,
and device lists, etc.
Print book
e-Manual
MELSEC iQ-R Motion Controller Programming Manual
(Machine Control)
[IB-0300309]
Machine control parameters for performing machine control, machine
positioning data, and device lists, etc.
Print book
e-Manual
TERMS Unless otherwise specified, this manual uses the following terms.
Term Description
Add-on library A library file for adding on a function that is not included in the standard operating system for motion CPU modules.
Install it in a motion CPU module in the same way as the operating system.
Simplified robot A robot that operates with machine control
Joint coordinate system A coordinate system that each machine configuration axis has
Joint axis An axis assigned to the joint part of a simplified robot
Stroke limit for each joint axis The stroke limit for each machine configuration axis
Cycle Stop A function that stops a series of operations of the device at a fixed position after a stop request is issued
Coordinate transformation Processing in the machine library that transforms data specified with an XYZ coordinate system to the coordinates of
machine configuration axes when a control point of the simplified robot in the XYZ coordinate space is positioned
Temporary license A license for using the application before getting an official license.
The temporary license is available for two months (from the registration date of the temporary license to the same day in
the month after next).
Rotating axis An axis that drives the rotating arm
Linear axis An axis that drives the linear arm (slider)
XYZ stroke limit The movable range of the control point on the base coordinate system
Tool coordinate system A coordinate system where the control point is set as the home position
Tool transformation A function that shifts the control point position in accordance with the tip tool
Handling Motion of carrying an object
Emergency Stop A function that immediately stops operation of the device
Vision system A system that calculates the size, deviation, color, and other information of a target object by processing images
captured with a camera, to output data and results
Vision Tracking Motion of checking the position of a workpiece on the conveyor and acquiring it at the speed synchronized with the
conveyor.
Base coordinate system A coordinate system set to the bottom of the base of the robot
Base transformation A function that offsets the base coordinate of the robot
Machine control A function that controls a simplified robot (link configuration) with a motion CPU module
Machine types Types of simplified robot configuration
Machine library An add-on library for performing coordinate transformation in accordance with the configuration of the simplified robot, or
performing other functions
Link configuration A machine configuration where multiple links (joints) are combined
World coordinate system A coordinate system set to the ground or work floor
GOT The abbreviation for the Graphic Operation Terminal
13
14
REQUESTING AND REGISTERING A LICENSE KEY To use the application, register a license key to the CPU module.
Before starting up the system, follow the "License Key Request Instructions" supplied with this product to get a license key.
1. The following information is required to request a license key.
Application information (product name, model, and product ID)
This information is described in the "License Certificate" supplied with this product.
Hardware information (model and serial number)
The model and serial number (manufacturing information for MELSEC iQ-R series) of the CPU module to be used. For how to
check the manufacturing information and firmware version, refer to the following.
MELSEC iQ-R Module Configuration Manual
2. Register the license key to the CPU module before creating an application program.
For the registration procedure, refer to the following.
Page 24 SETTING AND PROCEDURE BEFORE OPERATION
3. Attach the supplied "iQ Monozukuri seal" on the CPU module for which a license key has been registered.
For the position to attach the seal, refer to the following.
Position where the seal is attached: Above the PULL on the LED cover
Position where the seal is attached: Below the Ethernet port P2
1
1.1 Handling Application Package The "Handling Application Package" provides machine libraries for controlling the simplified robot (link configuration),
application examples (programs and GOT screens), machine program support tool, machine control simulator, and machine
attitude monitor. The simplified robot can be developed by installing a machine library in the motion CPU module and used to
create applications for transportation purposes in addition to motion control such as positioning and synchronous control.
Z
YX
Control point
Joint axis 1
Joint axis 2Joint axis 3
Control point Joint axis 1
Joint axis 2
World coordinate
Xw
Yw
Zw
Machine library application
FA application package
iQ Monozukuri HANDLING
MELSEC iQ-R series
GOT
Control point Joint axis 1
Joint axis 2
Joint axis 3
PLC CPU
Servo amplifier
Servo motor
Motion CPU
1 OVERVIEW 1.1 Handling Application Package 15
16
GOT screen example The following provides screen examples related to the startup of each axis, machine operation, and machine adjustment.
Machine program support tool This tool supports the creation of a motion SFC program for performing machine program operation.
No.P
Reflect the actual minor- adjustment result in point data. Point
block
Adjust the control point position and attitude from the GOT and program.
Output code by clicking button
Can be set intuitively without considering device offset and
enabled/disabled bits
Complete creation by pasting the program
1 OVERVIEW 1.1 Handling Application Package
1
be simulated without a Motion CPU module.
Machine attitude monitor This function enables displaying an image of the simplified robot controlled by machine libraries in the monitor function of
MELSOFT MT Works2.
1 OVERVIEW 1.1 Handling Application Package 17
18
1.2 Machine Library The following shows the machine libraries provided with the handling application package. A simplified robot can be
developed by installing a machine library depending on the machine.
For details on the specifications, refer to the user's manual of each machine library.
Machine type Use Mechanism
R1 1-axis Cartesian
R2 2-axis Cartesian
R3 3-axis Cartesian
Control point
Linear axis 1
Control point
Linear axis 1
Linear axis 2
Control point
Linear axis 1
Linear axis 2
Linear axis 3
1 OVERVIEW 1.2 Machine Library
1
R5 3-axis vertical articulated
R6 2-axis vertical articulated (parallel linkage)
R7 3-axis configuration parallel link
Machine type Use Mechanism
Control point
Joint axis 1
Joint axis 2
Control point Joint axis 1
Joint axis 2
Joint axis 3
Control point
Joint axis 1 Joint axis 2
Arm 1
Arm 2
Control point
Joint axis 1
Joint axis 2Joint axis 3
1 OVERVIEW 1.2 Machine Library 19
20
R8 3-axis configuration parallel link (with rotating axis)
Machine type Use Mechanism
Control point
Joint axis 1
Joint axis 2Joint axis 3
Joint axis 4
1 OVERVIEW 1.2 Machine Library
1
module. Select and prepare MELSEC iQ-R power supply modules, base units, PLC CPUs, motion CPU modules, I/Os,
intelligent modules, driving devices such as servo amplifiers, and GOTs appropriate to the system used.
Products in the iQ Monozukuri HANDLING package
AP20-HDL001AA-M Check that all the products in the following table are included in a package.
*1 Two (one spare) iQ Monozukuri seals are supplied with one license.
Name Quantity Remarks
Before Using the Product 1
END-USER SOFTWARE LICENSE AGREEMENT 1
License Certificate 1
License Key Request Instructions 1 Refer to the following.
REQUESTING AND REGISTERING A LICENSE KEY
iQ Monozukuri seal*1 1 license 2 Refer to the following.
REQUESTING AND REGISTERING A LICENSE KEY
HANDLING package (DVD-ROM) 1 For details, refer to the following.
Page 22 Files in DVD-ROM
1 OVERVIEW 1.3 Product Configuration 21
22
Files in DVD-ROM The following table describes the composition of the files in the DVD-ROM (HANDLING package) included in this package.
*1 "*" indicates their versions. *2 "" indicates the three-digit machine library number.
Folder File name*1 File type (Extension)
Description Required application
Package
root
Manual English bcnb62005851eng* PDF file (.pdf) iQ Monozukuri HANDLING
Instruction Manual (English)
Adobe Reader
e-Manual file
(.ema)
e-Manual Viewer
Japanese bcnb62005850* PDF file (.pdf) iQ Monozukuri HANDLING
Instruction Manual (Japanese)
Adobe Reader
e-Manual file
(.ema)
e-Manual Viewer
Simplified Chinese bcnb62005852chn* PDF file (.pdf) iQ Monozukuri HANDLING
Instruction Manual (Chinese
(Simplified))
Adobe Reader
e-Manual file
(.ema)
e-Manual Viewer
Lib_mtw mcntype*2 Library McnType*2 Add-on library
(.adm)
Add-on library and instruction
manual of each machine library
MELSOFT MT
Works2
Manual Storage of Japanese,
English, Simplified Chinese,
and Traditional Chinese
PDF file (.pdf) Adobe Reader
Lib_gx3 HDL_Control_R_**** Application library
(.mslm)
FB library used in the
HANDLING application
MELSOFT GX
Works3
Project AP20-HDL001AA-R16_**** GX Works3
project file (.gx3)
Projects for combined operation
with program examples of
MELSOFT MT Works2
MELSOFT GX
Works3
AP20-HDL001AA-
R32MTR_*****2 MT Works2
project file (.mtw)
Programs (example) for
operating the simplified robot in
accordance with each machine
library
MELSOFT MT
Works2
AP20-HDL001AA-
GT27nnS_****
GT Designer3
project file (.GTX)
Screens (example) for
performing machine operation
and adjustment in combination
with programs (example)
MELSOFT GT
Designer3
Tools MachineControlSupport HDLPointSetTool Tool (.xlsm) Positioning point setting support
tool
Microsoft Excel
HDLMachineProgGeneration
Tool
Tool (.xlsm) Machine program generation
tool
Microsoft Excel
LicRegSupport LicRegSupport Tool (.xlsm) License key registration support
tool
Microsoft Excel
AP20-
HDL001AA_R16_LicWrite
GX Works3
project file (.gx3)
Programs for registering a
license key to the CPU module
MELSOFT GX
Works3
MTW2_ext Setup Setup file (.exe) Setup file of MT Works2
machine control simulator and
machine attitude monitor
MELSOFT MT
Works2
AP20-HDL001AA Text file (.txt) Version information
1 OVERVIEW 1.3 Product Configuration
1
*1 The projects included in this product are created with the specified version.
Item Model
PLC CPU module R**CPU, R**ENCPU
Use the module with a firmware version of "25" or later.
Motion CPU module R16MTCPU, R32MTCPU, R64MTCPU
Use the module with a software version of "11" or later for the main unit OS.
Use the module with a software version of "12" or later for the main unit OS
when using Vision Tracking.
Use the module with a software version of "15" or later for the main unit OS
when using WAIT-ON/OFF and point arrival notification.
Sequencer engineering software MELSOFT GX Works3 Version 1.045X or later*1
Motion controller engineering software MELSOFT MT Works2 Version 1.146C or later*1
Use MELSOFT MT Works2 of version 1.150G or later when using WAIT-ON/
OFF or point arrival notification with the machine control simulator function.
Display machine creation software MELSOFT GT Works3 Version 1.190Y or later*1
1 OVERVIEW 1.4 Applicable Hardware and Software 23
24
2 SETTING AND PROCEDURE BEFORE OPERATION
2.1 Registering a License Key To use this application package, register a license key to the PLC CPU module that executes applications. Follow the steps
below to register a license key.
To execute the application before getting a license key, use a temporary license.
The temporary license is valid for two months (from the registration date of the temporary license to the same
day in the month after next).
For how to register a temporary license, refer to the following.
Page 133 Temporary License Registration
Items to be prepared
Creating and executing the program 1. Opening the license key registration project (AP20-HDL001AA_R16_LicWrite.gx3).
Copy the license key registration project (AP20-HDL001AA_R16_LicWrite.gx3) in the supplied DVD to a folder in the personal
computer, and open the file.
The project is created for the R16CPU. When using a model other than R16CPU, change the model.
* Make sure that no module is mounted on other than the CPU slot. When registering a license key to multiple PLC CPU
modules, register it one by one.
2. Preparing the program using the license key registration support tool
When this tool is not used, follow the procedure described in "3. Editing the initial program".
Copy the license key registration support tool (LicRegSupport.xlsm) in the supplied DVD to a folder in the personal
computer, and open the file. When the file is read-only, clear the read-only status. When the macro is disabled, enable it.
Input the product ID and license key, and press the [Program Generation] button.
Item Description
Product ID Numbers that are described in the "License Certificate"
License key Follow the "License Key Request Instructions" to get a license key.
License key registration project
(AP20-HDL001AA_R16_LicWrite.gx3)
A project for registering a license key to the PLC CPU module.
It is included in the supplied DVD.
FormatLicense (Macro type)
HDL_LicenseWrite (Macro type)
License key registration support tool
(LicRegSupport.xlsm)
A tool that generates a license key registration program (ST instructions). It is included in the supplied DVD.
When the operating environment for Microsoft Office is not installed, register the license key manually without
this tool.
[Operating environment] Microsoft Office 2010, Microsoft Office 2013, Microsoft Office 2016
123-123456789
11AA12AB13AC14AD21BA22BB23BC24BD31CA32CB33CC34CD41DA42DB43DC44DD
Click.
2 SETTING AND PROCEDURE BEFORE OPERATION 2.1 Registering a License Key
2
The program in ST language is output. Press the [Copy] button. The output program is copied to the clipboard.
Follow the steps described in "3. Editing the initial program" to edit the program. After editing the program, press the [Close]
button to end the tool.
Precautions
Any operation in Excel is disabled while the license key registration support tool is being used. End the tool after using it.
Click.
Click.
2 SETTING AND PROCEDURE BEFORE OPERATION 2.1 Registering a License Key 25
26
3. Editing the initial program
Select "Program" "Initial" in the Navigation window and open the registered program. (Program name: Initial)
Set the license key to the license key label (wLicenseKey) of the initial program.
Setting with the license key registration support tool
When the license key registration support tool is not used, refer to "Manual setting".
Press the [Copy] button to copy the program in ST language which is output to the license key registration support tool to the
clipboard.
Select all of the existing ST program and paste the copied program in the initial program.
After pasting the program, follow the procedure described in "4. Writing and executing the program".
Manual setting
Refer to the following example to set the license key and product ID to the initial program.
Open.
Attach.
11AA12AB13AC14AD21BA22BB23BC24BD31CA32CB33CC34CD41DA42DB43DC44DD
Snip
License key (example) Product ID (example)
123-123456879
2 SETTING AND PROCEDURE BEFORE OPERATION 2.1 Registering a License Key
2
4. Writing and executing the program
Write the created program to the PLC CPU module and execute it.
Select "Convert" "Rebuild All" from the menu and convert all the program created in step 3. When an error occurs, check
the details and correct the program.
Select "Online" "Write to PLC" from the menu and write all the program to the PLC CPU module.
Set the PLC CPU module to the RUN state and execute the scan program. Select "Program" "Scan" in the Navigation
window and open the registered program. (Program name: LicenseWrite) The scan program includes the function block
(FormatLicense) for formatting the license key registration area and the function block (HDL_LicenseWrite) for writing the
license key.
When registering the license key to the PLC CPU module for the first time, format the license key
registration area. Format it before registering the license key.
When another license of iQ Monozukuri has been registered, register the license without formatting it.
When the temporary license has already been registered, the expiration date is cleared by registering the
obtained license key.
Formatting the license key registration area
Turn on the execution flag (ExecuteFormat) of the function block (FormatLicense) in the scan program. Normal completion
(o_bComp) or Error completion (o_bError) becomes TRUE. At the error completion, check the PLC CPU error details.
Turn off the execution flag (ExecuteFormat) after checking the output of the function block.
Registering the license key
Turn on the execution flag (WriteLicense) of the function block (HDL_LicenseWrite) in the scan program. Normal completion
(o_bOK) or Error completion (o_bError) becomes TRUE. At the error completion, refer to Troubleshooting. (Page 28
Troubleshooting)
When Normal operation (o_bOK) turns on, the license key registration is completed. Turn off the execution flag
(WriteLicense).
2 SETTING AND PROCEDURE BEFORE OPERATION 2.1 Registering a License Key 27
28
5. Deleting the license key registration program
After the license key registration has been completed, delete the program in the PLC CPU module.
Select "Online" "Delete PLC Data" from the menu and select the [Select All] button in the "Online Data Operation" window
to delete the program.
The license key registration project is not used after the registration. Save it as necessary and end it.
Troubleshooting The following table lists errors that occur during the license key registration and corrective actions.
Precautions
The license key is held after the power-off since it is written to the device data storage file.
If the data memory has been reset by operating the CPU memory of GX Works3, registration information of all registered
license keys will be lost.
If the license key registration area of the device data storage file has been operated with the SLMP or FTP server function,
the license information may be lost.
For the license key registration FB, set "FB type" to "Macro type".
Error details Cause Corrective action
After "HDL_LicenseWrite" has been executed,
Error completion (o_bError) turns on and
Normal completion (o_bOK) remains off.
The license key registration area has
never been formatted.
The license key outside the range of
the memory was trying to be written.
Format the license key registration area using "FormatLicense"
and register the license key using "HDL_LicenseWrite".
Using "FormatLicense" deletes other registered license keys.
Register them again.
After "HDL_LicenseWrite" is executed, neither
of Normal completion (o_bOK) and Error
completion (o_bError) turns on.
The PLC CPU module is not in the
RUN state.
"Macro type" is not specified for "FB
type" of the license key registration
FB.
Set the PLC CPU module to the RUN state.
Specify "Macro type" for "FB type" of the license key registration
FB.
Click.
Click.
2 SETTING AND PROCEDURE BEFORE OPERATION 2.1 Registering a License Key
2
2.2 Certifying the License Key To use the add-on library supplied with this application package, certify the registered license key.
For the license certification, arrange the function block in the scan program of the user program.
Arrangement of the license certification FB (HDL_Activation) in the user program Before moving the machine configuration axes in the user program, execute the license certification FB (HDL_Activation). The
license certification FB cannot be executed normally in programs other than the scan program. The license certification FB
(HDL_Activation) is executed by arranging it only.
For details on the method of registering the library with the license certification FB, refer to the following.
Page 32 Registering and Installing a Library
Precautions
When a machine library is used in a motion CPU module without license has not been certified, a minor error 1FE1H (details
code: 0D01H) occurs in the motion CPU module when the machine is operated.
Item Description
License certification FB
(HDL_Activation)
This FB certifies the license.
It is provided with the application library HDL_Control_R_****.mslm.
Set "FB type" to "Macro type" before using this function block.
2 SETTING AND PROCEDURE BEFORE OPERATION 2.2 Certifying the License Key 29
30
CPU parameter setting of the user program Select "Parameter" CPU module "CPU Parameter" in the Navigation window to open the setting item window.
Select "File Setting" "File Setting for Device Data Storage" in the CPU parameter window.
Set "Use Or Not Setting" to "Use".
Precautions
This package uses addresses 0 to 1023 (1K word) of the data storage file (DEVSTORE.QST). When using the device data
storage file, set the file to 2K words or more and use the address 1024 or later.
If data is accidentally written to the addresses 0 to 1023 of the data storage file, license information may be lost. In this
case, register the license again.
In the program examples included in this package, "Access from External Device" is enabled for the global label. To disable
"Access from External Device" after writing a program example to the CPU module, reset the memory. When the memory is
reset, registration information of all registered license keys will be lost. Register the license keys again.
Operation check of user program certification Write the user program to the PLC CPU module and check the operation of the license certification FB (HDL_Activation).
When the license key is normally certified, Normal completion (o_bActivateOK) becomes TRUE.
When Error completion (o_bError) turns on, check "Troubleshooting".
After checking the normal operation, attach the "iQ Monozukuri seal" on the CPU module. (REQUESTING AND
REGISTERING A LICENSE KEY)
Troubleshooting The following table lists errors that occur during the license certification and corrective actions.
Error details Cause Corrective action
"o_bActivateOK" of "HDL_Activation"
is not TRUE but "o_bError" is TRUE.
The license key of the corresponding
application package is not registered.
Register the license key. (Page 24 Registering a License Key)
The expiration date of the temporary
license (two months) passed.
Get and register the license key. (Page 24 Registering a License Key)
The CPU module outputs the error
code (2840H) and stops.
"Not Use" is set to "File Setting for
Device Data Storage".
Set "File Setting for Device Data Storage" to "Use" in the CPU parameter and
write the CPU parameter. (Page 29 Certifying the License Key)
The CPU module outputs the error
code (3100H) and stops.
The firmware version of the PLC CPU
module is not "25" or later.
Update the firmware version of the PLC CPU module to "25" or later.
The PLC CPU module outputs the
error code (32FFH) and stops.
An incorrect license key is registered.
1) The product ID, PLC CPU module
model, or manufacturing
information at the request is
incorrect.
2) The license key is trying to be
certified with a PLC CPU module
that is not requested.
1) Delete the registered license key using "FormatLicense" and register the
correct license key.
2) Delete the registered license key from the PLC CPU module where data is
accidentally written by using "FormatLicense" and register the license key
in the requested PLC CPU module.
Using "FormatLicense" deletes other registered license keys. Register them
again.
2 SETTING AND PROCEDURE BEFORE OPERATION 2.2 Certifying the License Key
2
Replacing method of the module When replacing the PLC CPU module
To replace the CPU module, a new license key is required.
For the new license key, please contact your local Mitsubishi Electric representative.
When replacing a module other than the PLC CPU module (such as a Simple Motion module)
No specific operation is required. Refer to the manual of the module to replace the module.
2 SETTING AND PROCEDURE BEFORE OPERATION 2.2 Certifying the License Key 31
32
2.3 Registering and Installing a Library
Registering an application library The license certification FB is provided in the application library of HDL_Control_R_****.mslm.
For details on the method of registering an application library with the extension "mslm" in GX Works3, refer to the following.
GX Works3 Operating Manual
Installing an add-on library A machine library is provided in the format of an add-on library with the extension "adm".
For details on installing an add-on library, refer to the following.
MELSEC iQ-R Motion Controller Programming Manual (Common)
2.4 Machine Control Simulator and Machine Attitude Monitor
How to install the machine control simulator and machine attitude monitor
Check the following items before installation. Log on to the personal computer as a user with the Administrator authority (manager authority).
For installation, use a computer where MELSOFT MT Works2 with the version 1.140W or later is installed. (Install
MELSOFT MT Works2 of version 1.150G or later when using WAIT-ON/OFF or point arrival notification.)
Before installation, close all the applications operated on Microsoft Windows Operating System. When the machine
control simulator and machine attitude monitor are installed while other applications are operated, the product may not
operate normally.
1. Execute "Package root\MTW2_ext\Setup.exe" of the supplied DVD.
2. Select the required items by following the instructions on the window.
How to uninstall the machine control simulator and machine attitude monitor Uninstall "MT Developer2 MT Developer2 Extension Function (iQ Monozukuri HANDLING)" from the Control Panel of
Windows. When "MT Developer2" is uninstalled, "MT Developer2 Extension Function (iQ Monozukuri HANDLING)" is
uninstalled as well.
How to use the machine control simulator and machine attitude monitor The machine control simulator enables simulation based on machine libraries by starting simulation using MT Developer2 on
the personal computer where "MT Developer2 Extension Function (iQ Monozukuri HANDLING)" is installed. If it is not
installed, a moderate error 30FAH (machine configuration error) with details code 0102H (machine type setting error) occurs
when simulation is started. License key certification is not required for the simulation only.
The machine attitude monitor can be started from the machine monitor in MT Developer2 on the personal computer where
"MT Developer2 Extension Function (iQ Monozukuri HANDLING)" is installed. For details, refer to the help of MT Developer2.
2 SETTING AND PROCEDURE BEFORE OPERATION 2.3 Registering and Installing a Library
3
3 SYSTEM CONSTRUCTION
3.1 System Configuration Example The following figure shows the system configuration example of this application.
GOT
Power supply module
Ethernet
PLC CPU Motion CPU
Servo amplifier (Up to 4 axes per machine)
USB
GX Works3 project MT Works2 project
SSCNET/H
Screen examples Machine operation Machine JOG Teaching
Application program Machine library 1 to 3-axis Cartesian 3-axis vertical articulated 3-axis configuration parallel link 3-axis configuration parallel link (with rotating axis)
Machine control simulator Machine attitude monitor
Reference and operation
Machine program support tools Positioning point setting support tool Machine program generation tool * Reflect the output of the support tool to the project.
Tablet
3 SYSTEM CONSTRUCTION 3.1 System Configuration Example 33
34
MEMO
3 SYSTEM CONSTRUCTION 3.1 System Configuration Example
4
4 PROGRAM EXAMPLES FOR MACHINE CONTROL
Program examples are provided as one of the components of this package with the purpose of simple startup of machine
control.
These program examples can be used with the screen examples in the package.
Since they are used to operate the simplified robot in accordance with the machine library, customize them (by utilizing the
program) according to the customer's usage environment.
The following describes a program example for performing operations from the startup of use axis to machine positioning
control in each machine library.
The project for the machine type R8 supports the program example for Vision Tracking. The following describes the overview
of Vision Tracking and differences from projects for other machine types (R1 to R7) including individual setting and processing
of the program example for Vision Tracking.
Precautions
To utilize this program for an actual system, sufficiently confirm that the program will not cause system control problems on
user's own responsibility. Examine the positions where interlock conditions are required in a target system and add them.
4.1 System Configuration
Basic configuration The following shows the system configuration required for machine control startup of this program example.
GOT (GT27**-S)
Power supply module
Ethernet
PLC CPU R16CPU
Motion CPU R32MTCPU
Servo amplifier (Up to 4 axes per machine)
USB
GX Works3 project MT Works2 project
SSCNET/H
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.1 System Configuration 35
36
Configuration for Vision Tracking
System overview Vision Tracking is the motion consists of the robot mechanism and vision sensor to check the position of a workpiece on the
conveyor and acquire it at the speed synchronized with the conveyor. Since the robot moves to the acquisition position in
consideration of the correction amount acquired from the vision sensor, it can transport workpieces in array without stopping
the conveyor.
Detection position information 1 Detection position information 2 Detection position information 3
Coordinate Z
Coordinate C
Correction amount buffer
Vision system
Parallel link robot
Coordinate Y Coordinate X (Parallel to the conveyor axis)
Synchronous encoder
Detection sensor
Pick up the workpiece while synchronizing with the conveyor
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.1 System Configuration
4
System configuration The project for R8 supports the Vision Tracking program example. The system configuration of the project for R8 is as follows.
A synchronous encoder, virtual axis, and command generation axis are added to the basic configuration.
The synchronous encoder is set to be connected to axis 1 via the amplifier. Since the virtual axis and command generation
axis are virtual servo amplifier/motor operated in the Motion CPU, actual machine and wiring are unnecessary.
*1 This module has not been set in the project. Set the module depending on the user system. *2 Although the actual servo amplifier and servo motor are unnecessary, axis assignment is required.
As described in the system overview, this program is based on the assumption that the transfer direction of the workpiece
transfer conveyor is parallel to the X-coordinate system. Therefore, set the X-coordinate command axis used for sequential
coordinate command control as the virtual axis, and perform the control by adding the moved amount of the conveyor to the
moved amount of the command generation axis.
If the conveyor transfer direction is parallel to another coordinate system, perform the base transformation in the machine
parameter or change the synchronous control setting of the corresponding coordinate system command axis with reference to
the figure above. For details of this control, refer to the following.
Page 48 Program Processing
GOT2000 (GT27**-S)
Power supply module
Ethernet
Ethernet Machine type: R8 3-axis parallel link type
(with rotating axis)COGNEX Vision system
PLC CPU R16CPU
Motion CPU R32MTCPU
Input module, etc
Servo amplifier 4 axes (+ 1 virtual axis)
USB
GX Works3 project
MT Works2 project
Axis 1 Axis 2 Axis 3 Axis 4
SSCNET/H
Sequential coordinate command control: for coordinate instruction (in MT Works2)
Axis 2
Y
C
Z
Axis 3
Axis 4
Advanced synchronous control
Clutch
Synchronous encoder
Axis 1
X
Axis 16
C om
m and
generation axis
C om
m and
generation axis
C om
m and
generation axis
C om
m and
generation axis
V irtual axis
Detection sensor (1 point)
*2
*1
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.1 System Configuration 37
38
4.2 Project Configuration
Language The following languages are used in this program.
Program comment: English (Only the outline is described in Japanese as well.)
Label comment: Japanese, English, Chinese (Simplified)
List of projects
GX Works3 project The following project can be used in common in the machine libraries. The language is "Ladder".
*1 "*" indicates their versions.
MT Works2 project Select a project depending on the machine library to be used.
All devices are arranged in the "R standard arrangement method".
*1 "*" indicates their versions.
GT Works3 project
*1 "*" indicates their versions.
For details on the GT Works3 project, refer to the following.
Page 84 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES
Operation overview
Project name*1 Description
AP20-HDL001AA-R16_****.gx3 Common to all machine libraries
Project name*1 Description
AP20-HDL001AA-R32MTR001_****.mtw For R1
AP20-HDL001AA-R32MTR002_****.mtw For R2
AP20-HDL001AA-R32MTR003_****.mtw For R3
AP20-HDL001AA-R32MTR004_****.mtw For R4
AP20-HDL001AA-R32MTR005_****.mtw For R5
AP20-HDL001AA-R32MTR006_****.mtw For R6
AP20-HDL001AA-R32MTR007_****.mtw For R7
AP20-HDL001AA-R32MTR008_****.mtw For R8
Project name*1 Description
AP20-HDL001AA-GT27nnS_****.GTX Common to all machine libraries
PLC project
PLC CPU program
License certification FB
Language selection status
Motion CPU project
Motion SFC program
Initial value setting
Machine program operation
Home position return
Data update
Drive control
etc.
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.2 Project Configuration
4
4.3 Common Parameters of R Series in GX Works3 Project
System parameter
I/O assignment setting
PLC CPU parameter
CPU parameter To retain the language selection setting in this system, set D100 (label name: wHMI_Language) in the latch setting.
When changing the label assignment in the user system, change the latch setting.
How to change the latch setting
1. CPU Parameter Device/Label Memory Area Setting Device/Label Memory Area Detailed Setting Device Setting
2. Set D100 in the latch (1) setting window of data register D.
Program The FB for license certification is arranged. For the details, refer to the following.
REQUESTING AND REGISTERING A LICENSE KEY
Item Setting
Base R35B
Power supply module R61P
CPU slot PLC CPU: R16CPU
Slot 0 Motion CPU: R32MTCPU
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.3 Common Parameters of R Series in GX Works3 Project 39
40
4.4 Common Parameters of R Series in MT Works2 Project
CPU parameter
Device-related settings To retain the taught point block data and machine program operation settings in this system, set the following devices in the
latch settings.
When changing the label assignment in the user system, change the latch setting.
Device No. of points Use
#6000 to #6279 280 Point block data (20 points of coordinate values and postures)
#1100 to #1339 240 Point data
(Control method, command speed, torque limit value, proximity pass valid setting, proximity range, M-code,
dwell time, point block No., auxiliary point/central point block No.)
# 517 1 Number of positioning points
# 518 1 Selected point data No.
M100 to M112 13 Previous point speed inheritance valid flag
M120 to M132 13 Torque limit value during operation valid flag
# 12095 1 bit0: Vision Tracking initial startup processing flag
#12060 to #12065 6 Vision Tracking screen Position information setting
#12070 to #12079 10 Vision Tracking screen Operation setting
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.4 Common Parameters of R Series in MT Works2 Project
4
Motion CPU common parameter
Basic setting The operation cycle setting is set to "default setting". In the project for the machine type R8, the operation cycle is set to
"0.888ms" in consideration of the number of axes used in the program example of Vision Tracking.
To perform the machine control, "Used" is set in the machine control setting.
Servo network setting The number of axes used in each machine type is set in the left-justified format from axis 1 (station No. d01).
The example shown in the figure below is for the machine type R8. The virtual axis used in Vision Tracking is set to axis No.
16 (station No. d16) in the right-justified format.
*1 The external synchronous encoder for conveyor used in Vision Tracking is set as follows via the amplifier. Review the settings depending on the usage environment.
File name Machine type Axis No. (station No.)
Axis 1 (d01)
Axis 2 (d02)
Axis 3 (d03)
Axis 4 (d04)
Axis 16 (d16)
AP20-HDL001AA-R32MTR001_****.mtw R1 Implemented
AP20-HDL001AA-R32MTR002_****.mtw R2 Implemented Implemented
AP20-HDL001AA-R32MTR003_****.mtw R3 Implemented Implemented Implemented
AP20-HDL001AA-R32MTR004_****.mtw R4 Implemented Implemented
AP20-HDL001AA-R32MTR005_****.mtw R5 Implemented Implemented Implemented
AP20-HDL001AA-R32MTR006_****.mtw R6 Implemented Implemented
AP20-HDL001AA-R32MTR007_****.mtw R7 Implemented Implemented Implemented
AP20-HDL001AA-R32MTR008_****.mtw R8 Implemented*1 Implemented Implemented Implemented Virtual axis
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.4 Common Parameters of R Series in MT Works2 Project 41
42
High-speed input request signal The sensor for mark detection is set.
* This setting is used for the program example of Vision Tracking.
Mark detection The mark detection is set to latch the data when a workpiece is detected.
* This setting is used for the program example of Vision Tracking.
Item Setting 1
Signal type 1: Bit device
Device X50
Input module
Axis No.
Input signal
High-speed input request signal detection direction 0: Leading edge
High-speed input request signal accuracy 0: General
High-speed input request signal compensation time 0 [s]
High-speed input request signal valid flag M6
High-speed input request signal status (Omitted)
High-speed input request signal control cycle setting 0: Operation cycle
Item Setting 1
High-speed input request signal 1
Mark detection process compensation time K0 [s]
Mark detection data 1: Motion control data
Axis No. Axis 1
Set data 18: Synchronous encoder axis current value
Device
Data type
Estimate calculation
Ring counter value
Mark detection data storage device #12004L
Mark detection data range (upper value) K0.0000 [mm]
Mark detection data range (lower value) K0.0000 [mm]
Mark detection mode setting 3: Ring buffer mode
Number of detections K8
Device
Mark detection counter #12000
Mark detection current value monitor device #12002L
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.4 Common Parameters of R Series in MT Works2 Project
4
Vision system parameter The vision system parameter is set to acquire the compensation amount of the workpiece.
* This setting is used for the program example of Vision Tracking.
The setting is necessary for connecting the In-Sight vision system manufactured by Cognex Corporation via the Motion
CPU. Review the setting according to the vision system and connected CPU.
[Ethernet communication line setting]
[Vision program operation setting]
Item Setting 1
Vision system No. 1
IP address 10.0.50.100
For Telnet communication 23
For TCP/IP communication 3000
User name admin
Password (Omitted)
Status storage device dVS_StatusStorage_Setting
Error flag bVS_ErrorDetection
Item Setting 1
Program No. 1
Vision system No. 1
Vision program name Worksearch1
Status storage device wVS_ProgramStatusStorage
Read value cell (Not necessary to set)
Read value storage device (Not necessary to set)
Image data storage device stVS_ImageDataStrage.leCoordinateX
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.4 Common Parameters of R Series in MT Works2 Project 43
44
Motion control parameter
Axis setting parameter The parameters shown within the red box are changed from the default setting in accordance with the machine type and the
actual machine to be connected.
The example shown in the figure below is for machine type R8. Change the upper/lower stroke limit in accordance with the
actual machine.
AP20-HDL001AA-R32MTR001_****.mtw
AP20-HDL001AA-R32MTR002_****.mtw
AP20-HDL001AA-R32MTR003_****.mtw
AP20-HDL001AA-R32MTR004_****.mtw
AP20-HDL001AA-R32MTR005_****.mtw
AP20-HDL001AA-R32MTR006_****.mtw
Item Axis 1 Axis 2 Axis 3 Axis 4
Unit setting 0: mm
Upper stroke limit 100000000.0[m]
Lower stroke limit -100000000.0[m]
Item Axis 1 Axis 2 Axis 3 Axis 4
Unit setting 0: mm 0: mm
Upper stroke limit 100000000.0[m] 100000000.0[m]
Lower stroke limit -100000000.0[m] -100000000.0[m]
Item Axis 1 Axis 2 Axis 3 Axis 4
Unit setting 0: mm 0: mm 0: mm
Upper stroke limit 100000000.0[m] 100000000.0[m] 100000000.0[m]
Lower stroke limit -100000000.0[m] -100000000.0[m] -100000000.0[m]
Item Axis 1 Axis 2 Axis 3 Axis 4
Unit setting 2: degree 2: degree
Upper stroke limit 90.00000[degree] 90.00000[degree]
Lower stroke limit 270.00000[degree] 270.00000[degree]
Item Axis 1 Axis 2 Axis 3 Axis 4
Unit setting 2: degree 2: degree 2: degree
Upper stroke limit 90.00000[degree] 90.00000[degree] 90.00000[degree]
Lower stroke limit 270.00000[degree] 270.00000[degree] 270.00000[degree]
Item Axis 1 Axis 2 Axis 3 Axis 4
Unit setting 2: degree 2: degree
Upper stroke limit 90.00000[degree] 90.00000[degree]
Lower stroke limit 270.00000[degree] 300.00000[degree]
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.4 Common Parameters of R Series in MT Works2 Project
4
AP20-HDL001AA-R32MTR007_****.mtw
AP20-HDL001AA-R32MTR008_****.mtw
Precautions
Axis 4 used in the project for machine type R8 is set as shown below.
Stroke limit range: 10.00000 to 350.00000 [degree]
Home position return address: 0.00000 [degree]
The operation range of axis 4 during machine operation is as shown below (-350 to 350 [degree]).
*Note that the operation range is extended for one revolution in the reverse direction by the machine parameter.
Except in the machine operation, the operation range is according to the axis setting parameter (10 to 350 [degree]).
Except in the machine operation, control the axis after moving it within the software stroke limit range by JOG operation or
other operations.
Item Axis 1 Axis 2 Axis 3 Axis 4
Unit setting 2: degree 2: degree 2: degree
Upper stroke limit 90.00000[degree] 90.00000[degree] 90.00000[degree]
Lower stroke limit 270.00000[degree] 270.00000[degree] 270.00000[degree]
Item Axis 1 Axis 2 Axis 3 Axis 4
Unit setting 2: degree 2: degree 2: degree 2: degree
Upper stroke limit 90.00000[degree] 90.00000[degree] 90.00000[degree] 350.00000[degree]
Lower stroke limit 270.00000[degree] 270.00000[degree] 270.00000[degree] 10.00000[degree]
Item Axis 16 (virtual)
Unit setting 0: mm
Upper stroke limit 0.0[m]
Lower stroke limit 0.0[m]
Home position address
10[degree]
350[degree]-350[degree]
Software stroke limit range
Extended for one revolution in the reverse direction by C axis stroke extension setting *Refer to the option setting A4 described later.
Operation range during the machine control
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.4 Common Parameters of R Series in MT Works2 Project 45
46
Parameter block In this program example, the machine uses the parameter block No. 64.
In the machine types R1 to R8, the interpolation control unit is "0: mm". The values other than those within the red box are the
default setting.
Synchronous control parameter * This setting is used for the program example of Vision Tracking.
[Input axis parameter]
Command generation axis
The setting of the command generation axis is used for the coordinate instruction in the sequential coordinate command
control. Settings other than below are changed from the initial values.
Synchronous encoder axis
The synchronous encoder setting is used for synchronization with the conveyor. Settings other than below are changed from
the initial values.
[Output axis parameter]
The output axis setting is used for the coordinate instruction of the sequential coordinate command control (addition of the
correction amount and conveyor moved amount). Settings other than below are changed from the initial values.
Synchronous control module setting
Item Axis 1 Axis 2 Axis 3 Axis 4
Valid setting 1: Valid
Unit setting 0: mm 2: degree
JOG operation parameter block setting 64
Item Axis 1
Type 101: Via servo amplifier
Connected axis No. 1
Position unit 0: mm
Number of decimal places for position 4
Speed unit 1: min
Number of decimal places for speed 2
Item Axis 16
Main input axis type 201: Command generation axis
Main input axis No. 1
Auxiliary axis type 801: Synchronous encoder axis
Auxiliary axis No. 1
Composite auxiliary axis gear 1: Input+
Auxiliary axis clutch control setting ON control mode 4: Address mode
Auxiliary axis clutch control setting OFF control mode 2: Clutch command leading edge
Output axis synchronous control parameter block No. 64
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.4 Common Parameters of R Series in MT Works2 Project
4
Synchronous control initial position parameter
Precautions
This program is based on the assumption that the conveyor is moving in the X-coordinate increasing direction. Change the
"Composite auxiliary axis gear" to match the conveyor moving direction (increasing direction of the synchronous encoder) and
X-coordinate increasing direction during the machine control.
Machine control parameter [Machine common parameter]
The machine common parameters used for machine positioning control are set as follows.
Setting No. 1 is the point block data (12 points) used in continuous operation during the machine operation.
Setting No. 2 is a point block for 1-point positioning and temporarily storing the teaching data.
Setting No. 3 is the point block used in the Vision Tracking.
Change the point block setting and device setting as necessary.
When the setting No. 1 or 3 is changed, change the latch setting. (Otherwise the teaching data can no longer be retained after
reset.)
[Machine parameter]
In this program example (.mtw), one program is provided for each machine type.
Change the machine axes and add machines as necessary. The setting values in each project are shown below.
Machine parameters not described in this section are 0 (default value). Change the machine parameters in accordance with
the actual machine.
Precautions
For the tool transformation coordinate Z of machine type R4, the setting range is 0.1 to 99999999.9 [m]. Since the default
value is outside the range, it is set as 10000.0 [m] in this program example.
Option settings A3 and A4 for the machine type R8 are C axis stroke extension setting. For details of the setting, refer to the
following.
Machine Library (Machine Type R8) User's Manual
Item Axis 16
Cam axis position restoration object 1: Cam reference position restoration
Setting method of cam axis current value per cycle 1: Initial setting value of cam axis current value per cycle
Cam axis current value per cycle (Initial setting) 0.0 m
Setting No. Point block setting Device setting
Start End Number of point blocks
Required device point number (word number)
Start End
1 P1 P20 20 280 #6000 #6279
2 P8192 P8192 1 14 #8000 #8013
3 P8191 P8191 1 14 #8014 #8027
Machine type
Joint axis Arm length [mm] Option setting Machine speed setting
JNT1 JNT2 JNT3 JNT4 L1 L2 L3 L4 A1 A2 A3 A4 Parameter block specification
R1 Axis 1 64
R2 Axis 1 Axis 2 64
R3 Axis 1 Axis 2 Axis 3 64
R4 Axis 1 Axis 2 300 64
R5 Axis 1 Axis 2 Axis 3 300 300 64
R6 Axis 1 Axis 2 300 300 64
R7 Axis 1 Axis 2 Axis 3 150 400 100 40 64
R8 Axis 1 Axis 2 Axis 3 Axis 4 150 400 100 40 H1 64
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.4 Common Parameters of R Series in MT Works2 Project 47
48
4.5 Program Processing The following table lists the motion SFC programs.
*1 It is recommended to set the operation cycle for the fixed cycle setting of the event task. Review the settings depending on the user system.
Precautions
Vision Tracking is a program example supported by the machine type R8. Therefore, Motion SFC programs from No. 20 to
23 exist only in the project for R8.
Vision Tracking uses command generation axes. The servo program No. used in the command generation axis program is
assigned as follows. (Only in the project for R8.)
[Command generation axis program assignment]: Used
[Command generation axis program]: 2250 to 2299
Initialize (Initial parameter setting) Initial values of each device are set.
No. Program name Description Task Automatic start
1 Initialize Initial parameter setting Normal Yes
2 MachineSTRT1P 1 Point machine program operation Normal Yes
3 MachineSTRTnP Continuous operation Normal Yes
4 Teaching Teaching Normal Yes
5 MachineHPR Machine home position return Normal Yes
6 AxisHPR Single axis home position return Normal Yes
7 DeviceOffset Offset device amount calculation Normal Yes
8 AmplifierLess Amplifier-less operation Normal No
20 VT_Main Vision Tracking: Main processing Normal Yes
21 VT_VisionSensor Vision Tracking: Sensor processing Normal No
22 VT_Machine Vision Tracking: Machine control Normal No
23 VT_DataUpdate Vision Tracking: Command coordinate update
processing
Event
(Fixed cycle: 0.888 ms)*1 No
Classification Item Label name Setting value
Remarks
Machine Machine No. wMachineNo 0 Displayed in increments of 1 on GOT
1 Point positioning speed dPointData_CommandSpeed 1 Unit: 0.01 mm/min
1 Point positioning control method wPointData_ControlMethod 4096 4096: ABS joint interpolated motion
JOG speed (mm) of each machine st8MachineControlDevice[].dMachine
JOG_SpeedSetting_mm
1 Unit: 0.01 mm/min
Initialization of implementation machine only
JOG speed (degree) of each machine st8MachineControlDevice[].dMachine
JOG_SpeedSetting_degree
1 Unit: 0.01 degree/min
Initialization of implementation machine only
Single axis Axis No. wAxisNo 0 Displayed in increments of 1 on GOT
JOG speed of each axis d64JOG_SpeedSettingRegister[] 1 Unit: Depends on the setting of the axis unit
Initialization of implementation axis only
* Not initialized if communication with the
servo amplifier is not established during
shifting of motion CPU from STOP RUN.
Positioning Final positioning point wNumOfPositioningPoint 1 Initialized only if the value is less than 1. In
other cases, latch storage is performed.
Point block specification during teaching wTeachingDataNo 0 Displayed in increments of 1 on GOT
Stop continuous operation command bMachineStop_Continuous ON
Each point torque limit value dTorqueLimitValue[] -1 -1: Torque limit is not used
* Initialized only when torque limit usage bit
is OFF
Operation state wOperationStatus 0 K0: Initialized while the operation is stopped
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing
4
MachineSTRT1P When the [Start] switch is touched on the 1 Point machine program operation window, the 1 Point machine positioning starts.
The coordinate system setting of the point block is fixed as world coordinate.
The positioning data item setting is fixed as parameter block No. 64 of the machine parameter. Set the
contents of the parameter block with MT Develper2.
MachineSTRT1P
WAIT transition
If the machine cannot be started, forcibly turn OFF the start command.
One-time execution type Calculation control step
Data for positioning (set header)
Use point block P8192 to set point data 1.
One-time execution type Calculation control step
Data conversion of point data
Machine program start
WAIT transition
If the stop command turns ON, turn OFF the start command.
Wait until start accept is OFF (machine positioning is complete).
One-time execution type Calculation control step
Turn OFF the start command.
P0
P0
Wait until the start command turns ON, [Machine servo ready]
turns ON, and [Start accept] turns OFF.
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing 49
50
MachineSTRTnP When the [Start continuous operation] switch is touched on the Machine Operation screen, continuous operation starts.
The coordinate system setting of the point block is fixed as world coordinate.
The positioning data item setting is fixed as parameter block No. 64 of the machine parameter. Set the
contents of the parameter block with MT Develper2.
MachineSTRTnP
P0
One-time execution type Calculation control step
WAIT transition
One-time execution type Calculation control step
Turn OFF [Stop continuous operation] before start.
Data for positioning (set header)
Set point data 1 to 12
Data conversion of point data
Machine program start
One-time execution type Calculation control step
WAIT transition
Cycle Stop processing
Stop processing
Wait until machine positioning is complete.
One-time execution type Calculation control step
Set operation state.
One-time execution type Calculation control step
Set operation state.
Stop processing
One-time execution type Calculation control step
P0
Yes
No The start accept flag turns ON
within 100 msec.
If operation is in progress, automatically turn ON
[Start continuous operation], and start the next cycle.
Wait until [Start continuous operation] turns ON, [Machine
servo ready] turns ON, and [Start accept] turns OFF.
If the machine cannot be started, forcibly turn OFF
[Start continuous operation].
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing
4
Teaching When the [Read from point table] switch is touched on the Teaching window, the point block data is read and displayed on the
setting screen. When the [Reflect to point table] switch is touched, the setting value is written to the specified point block.
Teaching
P0
P0
Turn OFF [Read from point table]
WAIT transition
One-time execution type Calculation control step One-time execution type Calculation control step
WAIT transition
Turn OFF [Reflect to point table]
Wait until [Read from point table] turns ON
and [Reflect to point table] turns OFF.
Wait until [Reflect to point table] turns ON
and [Read from point table] turns OFF.
Read the saved point block data to
the displayed device.
Write the data of displayed device to
the specified point block data.
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing 51
52
MachineHPR When the [Machine home position return] switch is touched on the Servo axis setting screen, batch home position return
(complete data set 1) is performed for the machine configuration axes.
P0
P0
MachineHPR
WAIT transition
WAIT transition
Scan execution type Calculation control step
One-time execution type Calculation control step
Wait until the machine home position return command turns ON.
Wait until home position return is complete (machine start accept flag turns OFF).
WAIT transition
Selection branch according to the machine axis number.
Motion control step
Execute the home position return for the machine control axis.
Check if the selected machine is the implementation machine.
Count the machine axis number.
Turn OFF the machine home position return command.
Check the machine configuration data, and set the machine configuration
axis number. (Set a number such that the axis number is counted according
to the K1 standard.)
If the machine cannot be started, forcibly turn OFF the home position return
command.
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing
4
AxisHPR When the [Home position return] switch is touched on the Servo axis setting screen, home position return (complete data set
1) is performed for the selected axis.
AxisHPR
P0
P0
One-time execution type Calculation control step
Motion control step
Perform home position return of selected axis (complete data set 1).
WAIT transition
If the axis cannot be started, forcibly turn OFF the home position return command.
Wait until the home position return command turns ON.
One-time execution type Calculation control step
Turn OFF the single-axis home position return command.
Save the axis No. in device. (The count on the label is based on K0.
Therefore, it must be incremented by K1 and stored.)
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing 53
54
DeviceOffset The offset device amount is calculated according to the selected machine No. and axis No.
The machine control device is calculated as shown below.
Ex.
"[Rq.2240] Machine error reset command (M43616+32m)"
* m: Machine No. -1
Perform a 32 integer multiple offset according to the machine No. with M43616 as the reference device. This offset amount is
always calculated in the motion SFC program because it needs to be changed according to the type of device and selected
axis/machine No.
AmplifierLess The amplifier-less operation mode is set in this system. Since it is not automatically started in the default setting, change the
automatic start setting to "Yes" in the motion SFC parameter before writing the program to set the amplifier-less operation
mode.
This program is the same as the program described in the "Amplifier-less operation function" in the following manual.
MELSEC iQ-R Motion Controller Programming Manual (Common)
Differences in access to axis/machine No. device
MT Works2 project GT Works3 project
Access to each axis/machine No. Structure, array type Offset function
Offset specification Specify axis/machine No. as subscript Specify offset device value
DeviceOffset
P0
P0
One-time execution type Calculation control step
wMachineDevOffset128 = K128*wMachineNo
wMachineDevOffset32 = K32*wMachineNo
wAxisDevOffset2 = K2*wAxisNo
wAxisDevOffset32 = K32*wAxisNo
wAxisDevOffset48 = K48*wAxisNo
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing
4
VT_Main The main processing of Vision Tracking is performed. Data initialization and start/interruption of each subroutine by input from
the GOT are performed.
VT_Main
One-time execution type Calculation control step
Data initialization (1)
One-time execution type Calculation control step
Data initialization (2)
Operation state = 0: Standby Data initialization (3)
WAIT transition Wait for Vision Tracking start request ON
Clear step
Stop execution of VT_VisionSensor Stop execution of VT_Machine
Subroutine call/startup step
Start VT_VisionSensor
Start VT_Machine
Stop execution of VT_DataUpdate
One-time execution type Calculation control step
P0
Repeat the set of machine No. until Vision Tracking start request turns ON.
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing 55
56
*1 The branch condition is as follows: [Input from the GOT] Machine stop command is ON. [Motion CPU internal data] Vision system error flag is ON. Machine error detection flag is ON. Error detection flag of the virtual flag and command generation flag to be used is ON. Machine servo ready OFF
Operation state = 2: Standby
Operation state = 1: Stop
Stop is touched or error is detected.*1
Stop continuous operation is touched.
Stop is touched or error is detected.*1
All the detected workpieces are acquired.
One-time execution type Calculation control step
Data initialization (2)
One-time execution type Calculation control step
Update the Vision Tracking operation state.
One-time execution type Calculation control step
Data initialization (2)
WAIT transition
Wait until all workpieces are acquired
One-time execution type Calculation control step
Update the Vision Tracking operation state.
Initialize the number of delivered workpieces (for GOT display).
P0
P0
P0
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing
4
Data initialization (1) Initialize the data that needs to be initialized only once after the system is started, including the user setting data and latch
data. The following table lists the data to be initialized. The event task allow instruction (EI) is also executed in this operation
step.
*1 Since this is latch data, initialization is performed only at the first startup.
Data initialization (2) Initialize the data that needs to be initialized whenever the system is started or operation is stopped. The following table lists
the data to be initialized.
Item Label name Value Remarks
Vision system No. wVisionSystemNo 1
Vision program No. wVisionProgramNo 1
X-axis instruction virtual axis No. -1 - (For indirect specification of the array) 15 The right side of the calculation is
specified as axis No. -1 in the
program. X-axis instruction command generation axis No. -1 - (For indirect specification of the array) 0
Y-axis instruction command generation axis No. -1 - (For indirect specification of the array) 1
Z-axis instruction command generation axis No. -1 - (For indirect specification of the array) 2
C-axis instruction command generation axis No. -1 - (For indirect specification of the array) 3
Vision Tracking distance setting*1 stDistanceSetting For each member of the structure,
refer to the following.
Distance between detection sensor and vision
sensor
dBetweenSensorAndVS 1000 [ 0.1m]
Distance between the detection sensor and
standby position
.dBetweenSensorAndMcnStandbyPos 1000 [ 0.1m]
Correction amount for acquisition position dAcquisitionPositionCorrectionAmount 0 [ 0.1m]
Vision Tracking operation setting*1 stDistanceSetting For each member of the structure,
refer to the following.
Movement amount of acquisition .dMovementAmount 1000 [ 0.1m]
Operation speed .dOperationSpeed 1 [ 0.01mm/min]
Adsorption time .wAdsorbTime 0 [ms]
Desorption time .wDesorptionTime 0 [ms]
Standby position point block No. .wPtBlkNo_Standby 1
Above the desorption position point block No. .wPtBlkNo_DesorptionUpper 1
Desorption position point block No. .wPtBlkNo_DesorptionLower 1
Vision Tracking adsorption signal bVT_AdsorbSignal OFF
Vision Tracking initial startup processing flag bVT_InitialFuncComplete ON For the latch data initialization check
Vision system error flag bVS_ErrorDetection OFF Vision system related data
Ethernet communication line
setting
Vision program operation setting
Vision system_status storage device w2VS_StatusStorage[0] 0
Vision system_error code w2VS_StatusStorage[1] 0
Vision system_program status storage device wVS_ProgramStatusStorage 0
Item Label name Value Remarks
High-speed input request signal valid flag bHighSpdInputReqSignalValid OFF
Vision Tracking start request bVT_StartCommand OFF
Vision Tracking end request bVT_EndCommand ON
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing 57
58
Data initialization (3) Initialize the data that needs to be initialized whenever the system is started or operation is stopped. The following table lists
the data to be initialized.
*1 To reset the whole mark detection data storage device (d8MarkDetectionDataStorage), the same data block transfer command (FMOV) is used with the above label for initialization.
*2 To reset the whole vision correction amount (st8VT_CorrectionAmount), the same data block transfer command (FMOV) is used with the above label for initialization.
*3 As a subscript of the array label, virtual axis No. -1 is stored in #11960L before the initialization.
Operation state The operation state of Vision Tracking is represented as the numerical value of 0 to 2. The relationship with operation start/
end request bit is as follows.
Item Label name Value Remarks
Vision system ready flag for Vision Tracking bVT_VisionsystemReady OFF
Machine ready flag for Vision Tracking bVT_MachineReady OFF
Vision Tracking operation state wVT_OperationStatus 0
Mark detection counter wNumberOfMarkDetectionsCounter 0 [time(s)]
Mark detection data storage device wMarkDetectionDataStorage_Init 0 *1
Vision system ready flag for Vision Tracking bVT_VisionsystemReady OFF
Vision trigger counter wNumberOfVisionTriggerCounter 0 [time(s)]
Vision system_trigger position dVS_TriggerIssuePosition 0 [ 0.1m]
Vision correction amount wVT_CorrectionAmount_Init 0 *2
Machine ready flag for Vision Tracking bVT_MachineReady OFF
Machine control process counter wNumberOfMachineProcessCounter 0 [time(s)]
Machine control process counter (for GOT display) wNumberOfMachineProcessCounterGOT 0 [time(s)]
Machine acquisition start position dMachineStartPosition 0 [ 0.1m]
Synchronous control start command (for virtual axis) b64SynchronousControlStartSignal [#11960L*3] OFF
Status Operation state Start request End request Remarks
Standby 0 OFF ON Waiting for the start request
Stopped 1 OFF ON Operation is stopped after all the detected workpieces are acquired.
Operating 2 ON OFF Vision Tracking is in progress.
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing
4
Overview of Vision Tracking processing The following describes the processing overview of the program example using illustrations.
1. When the sensor detects a workpiece, the data is latched and counter is incremented by the mark detection function.
Since the counters of the sensor and vision system do not match, the vision trigger position is calculated from the data (+0) of
sensor and sensor distance.
2. The vision system captures an image when the workpiece reaches the vision trigger position. The data is stored and
counter is incremented.
In the same way as the step 1, the sensor detects the workpiece again, and the data is latched and counter is incremented.
Since the counters of the sensor and vision system do not match, the vision trigger position is calculated from the data (+1) of
sensor and sensor distance.
Since the counters of vision system and machine do not match, the acquisition start position of the machine is calculated.
Synchronous encoder
Data
Counter
Sensor
1
+0
+1
+2
+3 +4
+5
+6
+7
Conveyor position
950
0
0
0 0
0
0
0
Vision system
X compensation amount
Y compensation amount
compensation amount
0 0
Machine
0
0
0 0
0
0
0
0
0
0 0
0
0
0
0
0 0 0
0
0 0
0
0
0
Latch data
Parallel link robot
Vision system
Detection sensor
Synchronous encoder
Data
Counter
Sensor
2
+0
+1
+2
+3
+4
+5 +6
+7
Conveyor position
950
1950
0
0
0
0 0
0
Vision system
X compensation amount
Y compensation amount
compensation amount
1 0
Machine
0
0
0
0
0 0
0
0
0
0
0
0 0
0
0
-50 1 0
0
0
0
0 0
0
Latch data
Parallel link robot
Vision system
Detection sensor
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing 59
60
3. The processing of the step 2 is repeated.
4. When a workpiece reaches the acquisition start position of the machine, the machine acquires the workpiece in
synchronization with the conveyor, transports it to the commanded position, and increments the counter.
5. If the adjacent counters do not match, the vision system determines that the workpiece is left and continues the
processing. If the adjacent counters match, the vision system determines that no workpiece is left and shifts to the
standby state.
Synchronous encoder
Data
Counter
Sensor
3
+0
+1
+2
+3
+4
+5 +6
+7
Conveyor position
950
1950
2030
0
0
0 0
0
Vision system
X compensation amount
Y compensation amount
compensation amount
2 0
Machine
0
0
0
0
0 0
0
10
0
0
0
0 0
0
3
-50 1 0
0
0
0
0 0
0
Latch data
Parallel link robot
Vision system
Detection sensor
Synchronous encoder
Data
Counter
Sensor
4
+0
+1
+2
+3
+4 +5
+6
+7
Conveyor position
950
1950
3030
4000
0 0
0
0
Vision system
X compensation amount
Y compensation amount
compensation amount
3 0
Machine
0
30
0
0 0
0
0
10
-15
0
0 0
0
0
3
-50 1 0
-1
0
0 0
0
0
Latch data
Parallel link robot
Vision system
Detection sensor
Synchronous encoder
Data
Counter
Sensor
5
+0
+1
+2
+3
+4 +5
+6
+7
Conveyor position
950
1950
3030
4000
4980 0
0
0
Vision system
X compensation amount
Y compensation amount
compensation amount
4 1
Machine
0
30
0
0 0
0
0
10
-15
5
0 0
0
0
3
-50 1 0
-1
-5
0 0
0
0
Latch data
Parallel link robot
Vision system
Detection sensor
Synchronous encoder
Data
Counter
Sensor
5
+0
+1
+2
+3
+4
+5
+6
+7
Conveyor position
950
1950
3030
4000
4980
0
0
0
Vision system
X compensation amount
Y compensation amount
compensation amount
5 2
Machine
0
30
0
-20
0
0
0
10
-15
5
0
0
0
0
3
-50 1 0
-1
-5
2
0
0
0
Latch data
Parallel link robot
Vision system
Detection sensor
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing
4
Precautions
After the operation start request of Vision Tracking is issued, the line open processing of the vision system is performed.
The target machine starts moving to the standby position. The vision tracking operation starts from the workpiece detected
after these two initial motion processes are completed. The workpieces that have passed through the sensor before the
start request (initial motion completion) are not acquired.
The detection data can be stored for up to eight workpieces between the detected sensor and vision system and between
the vision system and machine acquisition position. If nine or more workpieces are accumulated within the above intervals,
the oldest detection data is overwritten and some workpieces may not be acquired. In such a case, review the used device
and the followings.
1) Upper limit change of sensor detection times: Number of setting times of the mark detection setting
2) Upper limit change of vision sensor detection times: Vision trigger counter (wNumberOfVisionTriggerCounter) rounding
processing*1
3) Upper limit change of machine control processing times: Machine control processing counter
(wNumberOfMachineProcessCounter) rounding processing*2
*1 Check and change the processing in the operation control step at the end of Motion SFC program (VT_VisionSensor). *2 Check and change the processing in the operation control step at the end of Motion SFC program (VT_Machine).
VT_VisionSensor Perform the connection and processing of the vision sensor used in Vision Tracking.
Configure the workpiece positioning setting and other settings of the necessary data on the vision sensor with the dedicated
software (In-Sight Explorer). For details, refer to the following.
MELSEC iQ-R Motion Controller Programming Manual (Common)
In this program example, the image data storage device is set in the vision program operation setting. Configure the settings
to acquire the correction amount of X, Y, and with the above vision sensor dedicated software.
This program is based on the assumption that In-Sight vision system manufactured by Cognex Corporation
is connected to the Motion CPU PERIPHERAL I/F, and the vision system dedicated functions are used in the
Motion SFC program.
The vision sensor can be used via other PLC CPUs. In such a case, review the program to perform the
correction using the data (correction amount) acquired from the example of the process overview.
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing 61
62
VT_ VisionSensor
One-time execution type Calculation control step
Login to the specified vision system
Connected
Job not loaded
Job loaded
Not connected
WAIT transition
Wait for login completion
One-time execution type Calculation control step
Load the specified job.
WAIT transition
Wait for job load completion
One-time execution type Calculation control step
Trigger issue
WAIT transition
Wait for image data receiving completion
One-time execution type Calculation control step
Save received data and increment trigger count.
Turn ON the vision system ready flag.
WAIT transition
Wait for machine processing ready
One-time execution type Calculation control step
Turn ON the high-speed input request signal valid flag.
WAIT transition
Wait for workpiece detection
WAIT transition
Wait for reaching to the trigger issue position
Trigger issue position < Synchronous encoder current value
Trigger issue position Synchronous encoder current value
One-time execution type Calculation control step
Reset the status storage device.
Calculate the trigger issue position.
One-time execution type Calculation control step
P0
P0
WAIT transition
Wait until the synchronous encoder current value becomes less than 0*1
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing
4
*1 The "trigger issue position" is the sum of "synchronous encoder current value (at mark detection)" and "distance between detection sensor and vision sensor". As a result, "trigger issue position" is more than "synchronous encoder current value". At the transition of waiting for trigger issue position, the vision trigger is issued when "synchronous encoder current value" is more than "trigger issue position". If the above condition is not satisfied, the calculated "trigger issue position" exceeds the maximum value of 32-bit data. (If it exceeds 214748364.7 [m] which is the maximum value of 32-bit data, it becomes -214748364.8 [m].) In such a case, "synchronous encoder current value" is compared with the trigger issue position after it exceeds the maximum value of 32-bit data.
214748364.7[m]
-214748364.8[m]
0.0[m]
Calculated trigger issue position
Synchronous encoder current value at mark detection
Distance between detection sensor and vision sensor
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing 63
64
VT_Machine The machine control of the machine type R8 used for Vision Tracking is performed.
VT_Machine
One-time execution type Calculation control step
Input data set for moving to standby position
WAIT transition
Wait for machine start accept OFF
Start machine program operation to standby position.
WAIT transition
Wait for machine start accept OFF
WAIT transition
Change current values of virtual axis and command generation axis*1
WAIT transition
Wait for virtual axis 16 start accept OFF
Wait for command generation axes 1 to 4 start accept OFF
WAIT transition
Wait for virtual axis 16 start accept OFF
Wait for command generation axes 1 to 4 start accept OFF
One-time execution type Calculation control step
One-time execution type Calculation control step
One-time execution type Calculation control step
Turn ON the machine ready flag.
Wait for vision process ready
WAIT transition
Set standby position point block No. -1 for array. One-time execution type Calculation control step
Turn OFF the auxiliary axis clutch command and execute point switching command. Acquire the coordinate data of standby position.
P0
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing
4
WAIT transition
Wait for acquiring the vision sensor data
Subroutine call/startup step
Start VT_DataUpdate
Wait during virtual axis synchronous control
WAIT transition
Wait for machine start accept OFF
One-time execution type Calculation control step
Acquisition start position calculation
Set the acquisition start position to ON address of auxiliary axis clutch. Virtual axis synchronous control start
Shift transition
One-time execution type Calculation control step
Machine program operation start between standby position and desorption position.
Set moved amount (correction amount) of command generation axis.
Wait for auxiliary axis clutch status ON
Positioning control start of correction amount and dropping amount of command generation axis.
Wait for command generation axes 1 to 4 start accept OFF
Motion control step
One-time execution type Calculation control step
WAIT transition
WAIT transition
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing 65
66
*1 The current values are changed as follows: Virtual axis 16: Standby position coordinate X Command generation axis 1: 0.0m Command generation axis 2: Standby position coordinate Y Command generation axis 3: Standby position coordinate Z Command generation axis 4: Standby position coordinate C
WAIT transition
Wait for command generation axes 1 to 4 start accept OFF
WAIT transition
Wait for machine start accept OFF
Motion control step
Positioning control start of lifting amount of command generation axis.
Adsorption signal OFF
Increment the number of delivered workpieces.
One-time execution type Calculation control step
Machine program operation start between desorption position and standby position
One-time execution type Calculation control step
Adsorption signal ON
Increment machine control counter for GOT.
WAIT transition
Wait for adsorption time
One-time execution type Calculation control step
WAIT transition
Wait for machine start accept OFF
WAIT transition
Wait for desorption time
End VT_DataUpdate
Wait for auxiliary axis clutch status OFF
Virtual axis synchronous control end
One-time execution type Calculation control step
Clear step
One-time execution type Calculation control step
WAIT transition
One-time execution type Calculation control step
Increment machine control counter.
Turn ON the execute point switching command.
Turn ON the auxiliary axis clutch command.
P0
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing
4
VT_DataUpdate The point data used for sequential coordinate command control is updated.
The data of each coordinate system is updated as follows. Since the feed current value is updated in operation cycle, it is
recommended to operate this program as an event task in operation cycle.
Update coordinate system (structure flag) Reference axis Reference data
X Virtual axis 16 Feed current value
Y Command generation axis 2 Feed current value
Z Command generation axis 3 Feed current value
A 0 (fixed)
B 0 (fixed)
C Command generation axis 4 Feed current value
FL1 0 (fixed)
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.5 Program Processing 67
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4.6 List of Devices and Labels to be Used The labels used in this program example are shown below.
The following labels are referred from the GOT. When the following label groups are changed, import the exported CSV file
with the GOT project.
HDL_MTW_PositioningSignalLabel (Positioning dedicated signal) The positioning dedicated signals assigned in the motion controller is assigned to the labels. For the devices whose data type
is assigned to the label of structure, refer to the following.
MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.6 List of Devices and Labels to be Used
4
HDL_MTW_UserDeviceLabel (User device) The devices used in this program example are assigned. Since the assigned devices use the user device area, review the
assignment depending on the usage condition. For the devices whose data type is assigned to the label of structure, refer to
the following.
Page 71 Other devices to be used
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.6 List of Devices and Labels to be Used 69
70
HDL_MTW_VisionTracking (User device for Vision Tracking) The devices used in this Vision Tracking program example are assigned to the labels.
Since the assigned devices until No. 35 use the user device area, review the assignment depending on the usage condition.
For the devices whose data type is assigned to the label of structure, refer to the following.
Page 71 Other devices to be used
The devices after No. 35 include positioning dedicated signals assigned for the advanced synchronous control. For the
devices whose data type is assigned to the label of structure, refer to the following.
MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)
* This label group is set only in the project for R8. When using this label group in other projects, import and export the labels.
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.6 List of Devices and Labels to be Used
4
Other devices to be used The following table lists devices other than above used in this program and device areas assigned for the structures in
HDL_MTW_UserDeviceLabel (User device) and HDL_MTW_VisionTracking (User device for Vision Tracking).
Device SFC program for use Use
#52L Initialize FOR statement counter
#51 Initialize Storage of the servo amplifier implementation information
#54L MachineSTRT1P Selected machine number (array type label subscript)
#56L MachineSTRTnP Selected machine number (array type label subscript)
#0 to #49 MachineSTRT1P
MachineSTRTnP
Machine program work device area
#100 to #337 Machine program user setting device area
D10000 to D10539 MCNST device area
#58L Teaching Selected point block data No.
#70L MachineHPR Selected machine number (array type label subscript)
#72L to 76L MachineHPR FOR statement counter for machine axis search
#78 MachineHPR Temporary storage of the machine axes configuration data
#80L AxisHPR Selected axis number (array type label subscript)
#82 AxisHPR Selected axis No. (for K program)
X50 VT_VisionSensor High-speed input request signal setting No. 1 device
#11000 to #11049 VT_Machine Machine program work device area
#11050 to #11125 VT_Machine Machine program user setting device area
#11200 to #11361 VT_Machine MCNST device area
#11950L VT_Machine Selected machine number (array type label subscript)
#11952L VT_VisionSensor Vision trigger counter (array type label subscript)
#11954L VT_Machine Point block No. (array type label subscript)
#11956L VT_Machine Machine processing counter (array type label subscript)
#11960L VT_Machine Coordinate X: virtual axis No. -1
#11962L VT_Machine Coordinate X: command generation axis No. -1
#11964L VT_Machine Coordinate Y: command generation axis No. -1
#11966L VT_Machine Coordinate Z: command generation axis No. -1
#11968L VT_Machine Coordinate C: command generation axis No. -1
#11970L VT_Machine Coordinate X: target position/moved amount
#11972L VT_Machine Coordinate Y: target position/moved amount
#11974L VT_Machine Coordinate Z: target position/moved amount
#11976L VT_Machine Coordinate C: target position/moved amount
Label group Label name Data type (structure) Device Description
HDL_MTW_UserDeviceLabel st20PointBlockCoordinate stPointBlockCoordinate(0..19) #6000 to #6279 Point block coordinate data
(Point block setting No. 1 in the
machine common parameter)
HDL_MTW_VisionTracking stDistanceSetting stVT_DistanceSetting #12060 to #12064 Vision Tracking distance setting
stOperationSetting stVT_OperationSetting #12070 to #12079 Vision Tracking operation setting
stVS_ImageDataStrage stVT_CorrectionAmount #12034 to #12045 Vision system_image data storage
device
st8VT_CorrectionAmount stVT_CorrectionAmount(0..7) #12110 to #12205 Vision correction amount
stSequentialCoordinateCmd
CtrlPtBlk
stPointBlockCoordinate #8014 to #8027 Sequential coordinate command for
Vision Tracking
(Point block setting No. 3 in the
machine common parameter)
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.6 List of Devices and Labels to be Used 71
72
4.7 Operation Procedure of Application Program Example
Follow the steps below to start operation.
For the function details of each screen, refer to the following.
Page 84 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES
When starting the machine for the first time, the startup process is as shown below.
When starting up the machine for the second time and thereafter, the above procedure can be skipped as necessary.
Ex.
If the home position and teaching data have been retained, the machine operation starts instantaneously.
END
Machine startup
Refer to Servo axis setting screen.
Refer to Machine adjustment screen.
Refer to Machine operation screen.
(1) JOG operation on single axis, home position return, and
home position return for all machine configuration axes
(2) Machine JOG operation, 1 Point machine program
operation, and teaching
(3) Setting for machine program operation,
Operation start/stop
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.7 Operation Procedure of Application Program Example
4
Servo axis setting screen
(1) To set all axes in the servo-on status, touch [All axes servo ON].
(2) To set all axes in the servo-off status, touch [All axes servo OFF].
(3) To check the servo on status of all axes, check the [All axes servo ON accept flag].
(4) To change the axis No. for which single-axis operation is to be performed, touch the numerical display of [Axis No.].
(5) To change the JOG speed, touch the numerical display of [JOG speed].
(6) To perform single-axis JOG operation, touch Forward rotation or Reverse rotation while checking the feed current value.
(7) To perform home position return for a single axis, touch [Home position return].
(8) To perform home position return simultaneously for all machine configuration axes, touch [Machine home position return].
(1)(3) (2)
(5)
(4)
(6)
(6)
(7)
(8)
Points to be touched
Points to be viewed
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.7 Operation Procedure of Application Program Example 73
74
Machine adjustment screen
(1) To change the machine No. for which adjustment is to be performed, touch the numerical display of [Machine No.].
(2) To adjust the machine, perform machine JOG operation, 1 Point machine program operation, and teaching while checking
the feed coordinate position. (Page 75 Machine JOG operation window screen)
(3) When checking the machine error, check the machine error detection lamp, error code, and warning code.
(4) After removing the cause of the error, touch Machine error reset to clear the machine error.
When a switch in (2) is touched, the pop-up window of the GOT mobile is displayed over the screen whether
the GOT mobile function is enabled or disabled. The operation authority can be acquired and display position
can be switched. For the details, refer to the following.
GT Designer3 (GOT2000) Screen Design Manual
Precautions
Even if the error is cleared by touching Error reset, the error display of the dot matrix LED on the motion controller is not
cleared. Clear the error separately from [Motion CPU error batch monitor] of MT Developer2.
(3)
(1)
(2)
(4)
(2)
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.7 Operation Procedure of Application Program Example
4
Machine JOG operation window screen
(1) Settings and operations related to the machine JOG operation are performed on the machine JOG operation window
screen.
(2) To change the machine No. for which adjustment is to be performed, touch the numerical display of [Machine No.].
(3) To set the machine JOG speed, touch the speed numerical display of the axis in mm unit (coordinates X to Z) and the axis
in degree unit (coordinates A to C).
(4) To move each coordinate at the specified JOG speed, touch the machine JOG start command of each coordinate while
checking the feed coordinate position.
Precautions
When the machine No. is changed, the JOG speed setting switches to the setting of each machine.
(2)
(4)
(3) (4)
(1)
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.7 Operation Procedure of Application Program Example 75
76
1 Point machine program operation window screen
(1) Settings and operations of the 1 Point machine program operation are performed on the 1 Point machine program
operation window screen.
(2) To change the machine No. for which adjustment is to be performed, touch the numerical display of [Machine No.].
(3) To change the 1 Point machine positioning data, touch the positioning speed, target coordinate/movement amount,
attitude flag, and C axis ABS direction specification.
(4) To start the 1 Point machine program operation, touch [Start].
(5) To stop the operation, touch [Stop].
Precautions
The 1 Point machine positioning data is common in all machines.
The machine No. cannot be changed during startup.
The joint interpolated motion control is applicable to the 1 Point machine positioning. Although the axes are moved to the
end coordinates, the route may not be a straight line.
(2)
(1)
(4)(3) (5)
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.7 Operation Procedure of Application Program Example
4
Teaching window screen
(1) Referral and editing of point block data are performed on the Teaching window screen.
(2) To change the machine No., touch the numerical display of [Machine No.].
(3) To clear the displayed teaching data, touch [Clear].
(4) To teach the feed coordinates position of the selected machine, touch [Get the feed current value].
(5) Change the coordinate values, attitude flag, and C axis ABS direction specification as necessary.
(6) To specify the storage destination of the teaching data, touch the numerical display of [Point block No.].
(7) To save the teaching data, touch [Reflect to point table].
(8) To read the teaching data, touch [Read from point table].
(2)
(3)
(6)
(1)
(8)
(7)
(4)
(5)
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.7 Operation Procedure of Application Program Example 77
78
Machine operation screen
(1) To change the machine No. to be operated, touch the numerical display of [Machine No.].
(2) To set the operation contents, touch [Setting for machine operation]. (Page 79 Machine program operation setting
window screen)
(3) To perform repeated operation of the set operation contents, touch [Start continuous operation].
(4) To move up to the final positioning point and then stop, touch [Stop continuous operation].
(5) To stop immediately, touch [Stop].
(6) To check the points being executed, check [Positioning monitor].
(7) To monitor the actual coordinates including the effect of the residual pulse of the servo amplifier, touch [Actual coordinate
value monitor]. The actual coordinate value monitor window screen is overlapped and displayed.
Precautions
The machine No. can be changed only when the machine is stopped.
(1)
(4)
(2)
(5)
(6)
(7)(3)
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.7 Operation Procedure of Application Program Example
4
Machine program operation setting window screen
(1) When [Setting for machine operation] is touched on the Machine operation screen, the machine program operation setting
window is overlapped and displayed.
(2) Touch each number of the final positioning point selection, and set the number of positioning points in the range of 1 to 12.
(3) Touch [Setting] of each positioning point, and then set the positioning point data. (Page 80 Point setting window
screen)
(4) Check the positioning point setting contents of each point.
(5) Touch the Move page switch to move to the setting screen of the positioning points that are not displayed.
Precautions
The setting for machine operation can be changed only when the machine is stopped.
Some of the settings are not displayed on this screen.
(3)
(1)
(5)(4)
(2)
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.7 Operation Procedure of Application Program Example 79
80
Point setting window screen
(1) When [Setting] for each point is touched on the Machine program operation setting window, the point setting screen is
overlapped and displayed.
(2) The point number being edited is displayed at the top left of the overlapping window.
(3) Set the various types of operation data.
(1)
(3)
(2)
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.7 Operation Procedure of Application Program Example
4
4.8 Operation Procedure of Vision Tracking Program Example
Follow the steps below to start operation.
For the function details of each screen, refer to the following.
Page 84 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES
* The Vision Tracking function is supported in the project for R8. In other projects, some of the screens and switches
described below are not displayed.
Precautions
For the operation such as the startup of the axis to be used and teaching for the point block data, refer to the following.
Page 72 Operation Procedure of Application Program Example
This section describes the procedure for starting up the Vision Tracking with the home position return and point blocks set.
Home screen
(1) Write the project data to the PLC CPU, Motion CPU, and GOT. After starting up the system, touch the [Vision Tracking]
switch to open the Vision Tracking screen.
(1)
Points to be touched
Points to be viewed
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.8 Operation Procedure of Vision Tracking Program Example 81
82
Vision Tracking screen
(1) Set the machine No. to be controlled by the Vision Tracking. If the machine No. has been set in the machine adjustment,
the setting will be inherited.
(2) Set the distance between the detection sensor and machine standby position on the conveyor.
(3) Set the distance between the detection sensor and vision sensor on the conveyor.
(4) Touch the [Operation setting] switch to open the Operation setting window screen and configure the operation setting. For
the operation of the Operation setting window screen, refer to the following.
Page 83 Operation setting window screen
(5) After the setting is completed, touch the [Start continuous operation] switch. Note that the machine mechanism starts
moving to the standby position when the operation is started.*1
(6) During the operation, the workpiece images are turned on and off in conjunction with the operations such as detection of
the workpiece, vision sensor processing, and machine control.
(7) The number of delivered workpieces is displayed. This value is retained even after the operation ends, and reset when the
operation is started.
(8) The [Adsorption state] lamp turns on according to the adsorption signal.
(9) Correct the deviation of the coordinate X (horizontal to the conveyor) at the workpiece acquisition position. Since this data
is reflected instantly, use it for minor adjustment. (When the amount of deviation is large, review the setting value of (2) and
the Vision sensor settings.)
(10) To end the operation, touch the [Stop continuous operation] switch. The operation stops after the machine acquires the
workpieces detected by the detection sensor before this switch is touched.
(11) To stop the operation while it is running or ending, touch the [Stop] switch. The operation stops immediately. (When the
machine control axis is running, the operation decelerates and stops.)
(12) When the operation is stopped during the adsorption, the adsorption signal remains ON (adsorption state). By touching
the [Desorption] switch after the workpiece is moved to a safe position on the Machine adjustment screen, the desorption
signal turns OFF (desorption state).
*1 Start the conveyor separately. This program example does not control the conveyor.
(7)
(12)
(4)
(6)
(11)
(1) (8)
(3) (9)(2)
(5) (10)
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.8 Operation Procedure of Vision Tracking Program Example
4
Operation setting window screen
(1) This area shows the contents of the setting items. Set the following items (2) to (8) referring to this area.
(2) Set the machine initial position and standby position to wait for the workpiece. The positions are specified with the point
block No. Set the coordinate position on the teaching window screen of the Machine adjustment screen.
(3) Set the position above where the workpiece is desorbed.
(4) Set the position where the workpiece is desorbed.
(5) Set the movement amount of workpiece acquisition. When the machine moves to acquire the workpiece from the standby
position, the machine descends according to the setting value while synchronizing with the conveyor, and ascends by the
equivalent amount after acquiring the workpiece.
(6) Set the operation speed of machine control. While the machine is synchronizing with the conveyor, it operates at the
conveyor speed.*1
(7) Set the time for acquiring (adsorbing) the workpiece. After descending for acquisition, the machine stays for the adsorption
time. (At this time, the machine moves in the conveyor direction synchronizing with the conveyor.)
(8) Set the time for releasing the workpiece at the desorption position. After the machine reaches the desorption position, the
desorption signal turns OFF and the machine waits for the setting time.
*1 This program example does not control the conveyor. Set the conveyor speed separately.
(2) (3) (4)
(5) (6) (7)(8)
(1)
4 PROGRAM EXAMPLES FOR MACHINE CONTROL 4.8 Operation Procedure of Vision Tracking Program Example 83
84
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES
The following screen examples correspond to the program examples for machine control.
Customize them (by utilizing the program) in accordance with the customer's usage environment just as the program
examples.
Precautions
To utilize these screen examples for an actual system, sufficiently confirm that the screens will not cause system control
problems on user's own responsibility. Examine the positions where interlock conditions are required in a target system and
add them.
There are slight differences in color and layout between the actual screens and the screens described in this chapter.
In the mobile screen, displayed color and layout may differ depending on the browser used. Adjust the color and layout
depending on the usage environment.
5.1 Screen Layout
Screen transition (All screens) The following shows the screen transition of all screens.
When the GOT is started, the start logo screen appears first. For details, refer to "Page 90 Start logo screen".
After the start logo screen has appeared, the Home screen appears. However, when the GOT is started for the first time,
the Language Setting window screen appears after the start logo screen has appeared. For details of the operation of when
the GOT is started for the first time, refer to "Page 90 Operation to be performed when the GOT is started for the first time".
For the screen transition common in all screens, refer to "Page 85 Screen transition (Common)".
The Vision Tracking screen is displayed only when the Vision Tracking program example (project for R8) is used.
When a window screen has been displayed and the screen is switched to another main screen, the window
screen will be closed and switched to the touched main screen.
Start logo screen
Home screen
Servo axis setting Vision TrackingMachine adjustmentMachine operation
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.1 Screen Layout
5
Screen transition (Common) The following shows the screen transition common in all screens.
Touching the globe mark switch displays the Language Setting window screen for language switching.
Touching the date and time display area displays the Clock Setting window.
When a GOT system alarm has occurred, touching the system alarm message display area that is to be displayed at the
bottom of the screen displays the GOT system alarm reset window screen.
Screen transition (Mobile screen) The following shows the screen transition of the mobile screen.
When the GOT is started, the logo screen appears first. Touching the screen switches the screen to the Home screen.
Switch the screen to each operation screen from the Home screen.
Each operation screen can also be switched to another operation screen.
When the operational authority is not acquired, the machine JOG operation screen, 1 Point machine program operation
screen, and teaching screen cannot be operated. For acquiring the operational authority, refer to GOT Mobile function
enable/disable area on "Page 91 Home screen" and Setting for using the GOT Mobile function on "Page 112 Mobile
Screen".
System alarm message display area
GOT system alarm reset
Language Setting
Clock Setting
Startup screen
Home screen
Teaching1 Point machine program operationMachine JOG operation
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.1 Screen Layout 85
86
5.2 Basic Screen Layout The following shows the basic layout of a main screen.
(1) Title display area
The title bar is displayed. For details, refer to "Page 88 Title bar".
(2) Date and time display area
The current date (upper side) and time (lower side) are displayed. Touch this display area to display the Clock Setting window
screen.
For details of the Clock Setting window screen, refer to "Page 90 Window screens common to all screens".
(3) Language setting area
Touch the globe mark switch to display the Language Setting window screen.
For details of the Language Setting window screen, refer to "Page 89 Window screens common to all screens".
(4) Function area
The screen of each function is displayed.
For details, refer to "Page 91 Base Screen".
(5) Main menu display area
The screen transition switches to display each main screen are displayed.
For details of the main menu switches, refer to "Page 88 Main menu".
(6) System alarm message display area
When a GOT system alarm occurs, a system alarm is displayed overlapping the bottom of the screen that is being displayed.
For details on the GOT system alarms, refer to "Page 89 GOT system alarm".
(4) Function area
(1) Title display area (2) Date and time
display area (3) Language
setting area
(6) System alarm message display area
(5) Main menu display area
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.2 Basic Screen Layout
5
5.3 Description of Common Items
Definitions of character colors The following table lists colors used for numerical values and characters displayed as setting values or current values.
Switch The following table lists switches used in common.
Key window Use the following user creation key windows for inputting numerical values.
Numerical value input (Decimal key window) Numerical values (decimal numbers) can be input using the numeric keypad. The input range is displayed at the bottom of the
input value area.
Character colors
Background colors
Description Example
White Black The value of the target data which can be changed using the key windows to be
displayed when the display area is touched
Black Value of the target data which cannot be changed by operating the GOT
Display Description
Touch this switch to display the Language Setting window screen.
Touch this switch to display the Clock Setting window screen.
Object Type of key window Window screen
Numerical value input Decimal key window W-30010
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.3 Description of Common Items 87
88
Title bar The title bar is displayed as follows in all screens.
The title of the currently-displayed screen is displayed in (1).
The date and time are displayed in (2). When the date and time display area is touched, the Clock Setting window screen
appears. On the window screen, year, month, date, hour, minute, and second can be changed. For details of the Clock
Setting window screen, refer to "Page 90 Window screens common to all screens".
Touching the globe mark switch in (3) displays the Language Setting window screen. The display language can be
switched. For details of the Language Setting window screen, refer to "Page 89 Window screens common to all screens".
Main menu Touching a switch with a main screen name jumps to the corresponding screen.
The blue switch indicates the screen being displayed.
Display Description
Touch this switch to return to the Home screen.
Touch this switch to jump to each screen.
When a switch other than the one of the screen being displayed is touched, the switch color changes to blue and the
screen of the touched switch is displayed.
The switches on the Vision Tracking screen are displayed only when the Vision Tracking program example (project for
R8) is used.
Touch this switch to return to the previous screen.
Up to 10 previous screens are kept in the screen history.
No operation is performed if an attempt is made to return to a previous screen that is older than the maximum 10
screens in the screen history.
(1) (3)(2)
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.3 Description of Common Items
5
GOT system alarm If a GOT system alarm has occurred, a system alarm message pops up at the bottom of the screen as follows. The system
alarm message is displayed running from right to left of the screen at a low speed in the order of the occurrence date and
time, comment, and detailed information.
The GOT system alarm message is displayed in the language set in the Language Setting window screen. If no PLC CPU has
been connected or the PLC CPU is off when the GOT is started, a GOT system alarm message is displayed in English.
When a GOT system alarm has occurred, touching the system alarm message display area displays the GOT system alarm
reset window.
Touch the [OK] switch when you reset the system alarm. The system alarm that cannot be reset is not cleared even though
the [OK] switch is touched.
Touch the [Cancel] switch when you do not reset the system alarm.
Even though the main screen is switched while the GOT system alarm reset window screen is being displayed, the GOT
system alarm reset window screen is not closed but still displayed.
Window screens common to all screens The following explains window screens common to all screens.
Language Setting window screen The language displayed on the screen can be switched.
(1) Switch for switching to Japanese
The language switches to Japanese when this switch is touched.
(2) Switch for switching to English
The language switches to English when this switch is touched.
(3) Switch for switching to Chinese (Simplified)
The language switches to Chinese (Simplified) when this switch is touched.
(1)
(3)
(2)
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.3 Description of Common Items 89
90
Clock Setting window screen This screen is used to change the current date and time.
(1) Date/time data addition switch
Touch an addition switch (year, month, date, hour, minute, second) to add one to each value.
(2) Date and time setting
The date and time (year, month, date, hour, minute, and second) can be set.
The following shows the input range of each item.
Year: 2000 to 2099, Month: 01 to 12, Date: 01 to 31
Hour: 00 to 23, Minute: 00 to 59, Second: 00 to 59
(3) Date/time data subtraction switch
Touch a subtraction switch (year, month, date, hour, minute, and second) to subtract one from each value.
(4) 0 Set switch
Touch the [Reset seconds] switch to set the second to 00.
(5) [Set] switch
Touch this switch to set the current date and time and close the window screen.
(6) [Cancel] switch
Touch this switch to close the window screen without reflecting the set date and time.
If the date and time that does not exist (example: 2016/2/30) is set, the setting is not reflected and window
screen is closed. At that time, a GOT system alarm occurs and "The value input as clock data is out of range."
is displayed in the system alarm message display area.
5.4 When the GOT is Started
Start logo screen In the start logo screen that is to be displayed when the GOT is started, the iQ Monozukuri logo appears at the center of the
screen.
Operation to be performed when the GOT is started for the first time When the GOT is started for the first time, the Language Setting window screen appears after the start logo screen has
appeared. Select a language.
For details of the Language Setting window screen, refer to "Page 89 Language Setting window screen".
(3)
(1)
(2)
(4)
(5) (6)
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.4 When the GOT is Started
5
5.5 Base Screen The following table lists base screens.
Display when the control unit is mm
In MT Works2, the feed coordinate value is displayed in [0.1 m].
On the GOT screen, the feed coordinate value is displayed in [0.0001 mm].
(This setting can be changed based on the setting of decimal digits automatic adjustment in GT Designer3.)
Home screen After the GOT is started, the Home screen appears first. Touch a switch to switch to each screen.
Title bar area In the Home screen, the application package name, "HANDLING", is displayed at the center of the title bar.
Screen No. Screen title Description Reference
30000 Home Home screen Page 91
30050 Header Title bar Page 88
30100 Machine operation Machine operation screen Page 93
30200 Machine adjustment Machine adjustment screen Page 96
30300 Servo axis setting Servo axis setting screen Page 98
30600 Vision Tracking Vision Tracking screen Page 102
Title bar area
GOT Mobile function enable/disable area
Screen transition switch area
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.5 Base Screen 91
92
GOT Mobile function enable/disable area
(1) GOT Mobile function disable switch
Touch this switch to prohibit acquisition of the operational authority from devices other than the master GOT and disable the
guaranteed time of operational authority.
(2) GOT Mobile function enable switch
Touch this switch to allow acquisition of the operational authority from the devices other than the master GOT. When
acquisition of the operational authority from devices other than the master GOT is allowed, the screen cannot be switched to
another screen.
For the details of the screen, refer to "Page 112 Mobile Screen".
Check that the mobile device is not in operation before disabling the GOT Mobile function. Even if the GOT
Mobile function is disabled, the switch being operated in the mobile screen continues operation until the
operation ends.
Screen transition switch area Touch a switch while the GOT Mobile function is disabled to switch the corresponding screen. For disabling the GOT Mobile
function, refer to the "Page 92 GOT Mobile function enable/disable area".
(3) Machine operation switch
Touch this switch to switch to the "Machine operation" screen.
(4) Machine adjustment switch
Touch this switch to switch to the "Machine adjustment" screen.
(5) Servo axis setting switch
Touch this switch to switch to the "Servo axis setting" screen.
(6) Vision Tracking
Touch this switch to switch to the "Vision Tracking" screen.
This switch is displayed only when the Vision Tracking program example (project for R8) is used.
(1) (2)
(5)
(4)
(3)
(6)
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.5 Base Screen
5
Machine operation screen This screen is used to set, start, or stop the machine program operation of the simplified robot. The coordinate positions and
machine program operation status during operation can be monitored.
Machine status area
(1) Machine No.
Enter the machine No. to be controlled. The machine No. entered here is set and monitored on this screen. The machine No.
cannot be changed while the GOT Mobile function is enabled.
(2) Machine type
The machine type is displayed. If a machine No. that has not been set is entered, "NONE" is displayed.
(3) Machine servo ready
The machine servo ready status is monitored.
(4) Machine start accept flag
The machine start accept flag status is monitored.
(5) Machine error detection
The machine error detection status is monitored.
(6) Machine error code
A machine error code is displayed.
(7) Machine warning code
A machine warning code is displayed.
(8) Machine error reset switch
The machine error and machine warning are reset.
The machine status area is common to the Machine operation screen and the Machine adjustment screen.
Machine status area
Coordinate value display area
Machine program operation area
(4)
(3)
(1) (2) (6) (8)
(7)(5)
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.5 Base Screen 93
94
Coordinate value display area
(9) Feed coordinate position: X
The feed coordinate value: X of world coordinate is displayed.
(10) Feed coordinate position: Y
The feed coordinate value: Y of world coordinate is displayed.
(11) Feed coordinate position: Z
The feed coordinate value: Z of world coordinate is displayed.
(12) Feed coordinate position: A
The feed coordinate value: A of world coordinate is displayed.
(13) Feed coordinate position: B
The feed coordinate value: B of world coordinate is displayed.
(14) Feed coordinate position: C
The feed coordinate value: C of world coordinate is displayed.
The coordinate value display area is common to the Machine operation screen and the Machine adjustment
screen.
(9)
(10)
(11)
(12)
(13)
(14)
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.5 Base Screen
5
Machine program operation area
(15) Setting for machine operation switch
Touch this switch to display the Machine program operation setting window screen. For details on the Machine program
operation setting window screen, refer to "Page 105 Machine program operation setting window screen".
(16) Continuous operation switches (Start/Stop)
Touch the [Start continuous operation] switch to start the machine program operation.
Touch the [Stop continuous operation] switch to perform Cycle Stop of the machine program operation (up to the end point).
Depending on the operation state, the lamp at the bottom of the switch lights up in red. The lighting pattern is shown below.
(17) Stop switch
Touch this switch to gradually stop the running machine.
(18) Machine execute point No.
The machine execute point No. is displayed.
(19) Machine M-code
The machine M-code is displayed.
(20) Actual coordinate value monitor switch
Touch this switch to display the actual coordinate value monitor window screen. For details on the actual coordinate value
monitor window screen, refer to "Page 110 Actual coordinate value monitor window screen".
Status Start continuous operation switch Stop continuous operation switch
Operating ON OFF
During Cycle Stop Flashing ON
Stopped OFF ON
(15)
(16)
(18)
(19)
(20)
(17)
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.5 Base Screen 95
96
Machine adjustment screen
GOT Mobile function enable/disable area This is common with the Home screen. For details, refer to the GOT Mobile function enable/disable area in "Page 91 Home
screen".
Machine status area This is common with the Machine operation screen. For details, refer to the machine status area in "Page 93 Machine
operation screen".
Coordinate value display area This is common with the Machine operation screen. For details, refer to the coordinate value display area in "Page 93
Machine operation screen".
Screen transition switch area
(1) Machine JOG operation switch
Touch this switch to display the Machine JOG operation window screen. For details on the Machine JOG operation window
screen, refer to "Page 107 Machine JOG operation window screen".
(2) 1 Point machine program operation switch
Touch this switch to display the 1 Point machine program operation window screen. For details on the 1 Point machine
program operation window screen, refer to "Page 108 1 Point machine program operation window screen".
GOT Mobile function enable/disable area
Machine status area
Coordinate value display area Screen transition
switch area
(1)
(2)
(3)
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.5 Base Screen
5
(3) Teaching (point data editing) switch
Touch this switch to display the Teaching window screen. For details on the Teaching window screen, refer to "Page 109
Teaching window screen".
The system alarm message display is disabled while the pop-up window of the GOT network interaction
function is displayed.
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.5 Base Screen 97
98
Servo axis setting screen
Common information area
(1) PLC ready
The PLC ready status is displayed.
(2) All axes servo ON accept flag
The all axes servo ON accept flag status is displayed.
(3) All axes servo ON switch
Touch this switch to set the all axes servo ON command.
(4) All axes servo OFF switch
Touch this switch to reset the all axes servo ON command.
Machine home position return area
Axis home position return area
JOG operation area
Common information area
(1) (3) (4)(2)
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.5 Base Screen
5
Machine home position return area
(5) Machine No.
Enter the machine No. to be controlled. The machine No. entered here is set and monitored within this area.
(6) Machine type
The machine type is displayed. If a machine No. that has not been set is entered, "NONE" is displayed.
(7) Machine servo ready
The machine servo ready status is monitored.
(8) Machine start accept flag
The machine start accept flag is monitored.
(9) Machine home position return switch
Touching this switch starts the batch home position return of the machine configuration axes.
Note that multiple axes may start operating depending on the home position return method of the machine configuration axes.
In the program example for machine control, all home position return methods are data set 1. Thus, the axis
does not operate and the current position is the home position.
(5) (6)
(9)
(7)
(8)
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.5 Base Screen 99
10
Axis home position return area
(10) Axis No.
Enter the axis No. to be controlled. The axis No. entered here is set and monitored within this area.
(11) Home position return switch
Touching this switch starts the home position return. Note that the axis may start moving depending on the home position
return method.
In the program example for machine control, all home position return methods are data set 1. Thus, the axis
does not operate and the current position is the home position.
(12) Servo ready
The servo ready status is monitored.
(13) Start accept flag
The start accept flag status is monitored.
(14) Zero pass
The zero pass status is monitored.
(15) Home position return request
The home position return request status is monitored.
(16) Home position return complete
The home position return complete status is monitored.
(17) Error detection
The error detection status is monitored.
(18) Error reset switch
The error and warning are reset.
(19) Motor speed
The motor speed is monitored.
(20) Feed current value
The feed current value is displayed. Data without decimal point are displayed. Read the data according to the control unit of
the target axis.
(10)
(11)
(12)
(13)
(14)
(15)
(16)
(17) (18)
(20)
(19)
0 5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.5 Base Screen
5
JOG operation area
(21) JOG speed
Enter the JOG speed without decimal point. Enter the data according to the control unit of the target axis.
(22) Forward rotation JOG switch
JOG operation is performed in the forward-rotation direction while this switch is touched.
(23) Reverse rotation JOG switch
JOG operation is performed in the reverse-rotation direction while this switch is touched.
(21) (22)
(23)
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.5 Base Screen 101
10
Vision Tracking screen
Vision Tracking operation area
(1) Machine No.
Enter the machine No. to be controlled. The machine No. entered here is set and monitored on this screen.
(2) Machine type
The machine type is displayed. If a machine No. that has not been set is entered, "NONE" is displayed.
(3) Machine error detection
The machine error detection status is monitored.
(4) Machine error reset switch
The machine error and machine warning are reset.
Vision Tracking operation area
Position setting area
(8)
(2)(1)
(3)
(7)(4)
(5) (6)
2 5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.5 Base Screen
5
(5) Operation switches (Start/Stop)
Touch the [Start continuous operation] switch to start the Vision Tracking operation.
Touch the [Stop continuous operation] switch to perform Cycle Stop of the Vision Tracking operation. (All the detected
workpieces are tracked.)
Depending on the operation state, the lamp at the bottom of the switch turns on in red. The lighting patterns are shown below.
(6) Stop switch
Touch this switch to gradually stop the running machine.
(7) Adsorption state
The adsorption state of the workpiece is monitored.
(8) Desorption switch
The workpiece is desorbed.
Position setting area
(9) Distance between detection sensor and vision sensor
Set the distance between the detection sensor and vision sensor.
(10) Distance between detection sensor and machine standby position
Set the distance between detection sensor and machine standby position.
(11) Correction amount for acquisition position
Set the X-coordinate correction amount at workpiece acquisition.
(12) Operation setting switch
Touch this switch to display the operation setting window screen. For details of the Operation setting window screen, refer to
"Page 111 Operation setting window screen".
(13) Delivered number
The number of delivered workpieces is displayed. It is reset to 0 when the operation is started.
Status [Start continuous operation] switch [Stop continuous operation] switch
Operating ON OFF
During Cycle Stop Flashing ON
Stopped OFF ON
(13)
(12)
(9) (10) (11)
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.5 Base Screen 103
10
5.6 Window Screen The following table lists window screens.
Display when the control unit is mm
In MT Works2, the feed coordinate value is displayed in [0.1 m].
On the GOT screen, the feed coordinate value is displayed in [0.0001 mm].
(This setting can be changed based on the setting of decimal digits automatic adjustment in GT Designer3.)
GOT system alarm reset window screen This screen is used to reset a GOT system alarm.
When a GOT system alarm has occurred, touching the system alarm message display area (bottom of the screen) displays
this screen.
(1) OK switch
Touch this switch to reset the system alarm and closes the window screen.
(2) Cancel switch
Touch this switch to close the window screen without resetting the system alarm.
Screen No. Screen title Description Reference
30000 GOT system alarm reset GOT system alarm reset window screen Page 104
30001 Language setting Language Setting window screen Page 89
30002 Clock setting Clock Setting window screen Page 90
30007 Footer 1 Main menu Page 88
30010 Key window (Dec) Numerical input [Decimal key window] Page 87
30201 Machine program drivesetting 1/3 Machine program operation setting window screen Positioning points 1 to 4 Page 105
30202 Machine program drivesetting 2/3 Positioning points 5 to 8
30203 Machine program drivesetting 3/3 Positioning points 9 to 12
30204 Point setting Point setting window screen Page 106
30205 Machine JOG drive Machine JOG operation window screen Page 107
30206 1point machine program drive 1 Point machine program operation window screen Page 108
30207 Teaching Teaching window screen Page 109
30208 Control method Control method symbol description window screen Page 110
30209 Actual coordinate value Actual coordinate value monitor window screen Page 110
30601 Vision Tracking Setting Operation setting window screen Page 111
(1) (2)
4 5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.6 Window Screen
5
Machine program operation setting window screen This window screen is used to set the operation pattern of continuous operation. Touch the [Setting for machine operation]
switch on the Machine operation screen to display this screen.
Page 1/3 displays positioning point Nos. 1 to 4, page 2/3 displays positioning point Nos. 5 to 8, and page 3/3 displays
positioning point Nos. 9 to 12.
(1) Final positioning point selection
Set the number of positioning points of the machine program operation in the range of 1 to 12.
Setting items can be set and changed for the positioning points (positioning point numbers for which the lamp is lit up) that are
set here.
(2) Positioning point setting switch
This switch is enabled only for the positioning point numbers equal to or lower than the positioning point number set in (1)
Final positioning point selection, and setting items can be set and changed. The switch for the other positioning point numbers
is disabled, and setting items cannot be set and changed.
Touching an enabled switch displays the point setting window screen. For details on the point setting window screen, refer to
"Page 106 Point setting window screen".
(3) Positioning point setting contents
The following six items are displayed from among the contents set in the corresponding point No.
M-code
Dwell time
Control method
Command speed
Point block No.
Auxiliary point/central point block No.
(4) Move page switches
Touch these switches to move a page. Use the [] switch to move to the previous page, and the [] switch to move to the
next page.
(5) Close switch
Touch this switch to close the window.
(5)
(1)
(2)
(3)
(4)
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.6 Window Screen 105
10
Point setting window screen This window screen is used to set the contents of each positioning point in continuous operation. Touching the [Setting] switch
on the Machine program operation setting window displays this screen.
(1) Setting point No.
The positioning point No. that has been set is displayed.
(2) Control method
Select the control method. Check the details of each symbol by touching the [Symbol description] switch described in (3).
When this switch is touched, only the corresponding item is set to the selected status.
(3) Control method symbol description
Touch this switch to display the Control method symbol description window screen. For details on the Control method symbol
description window screen, refer to "Page 110 Control method symbol description window screen".
(4) Command speed
Set the command speed.
If [Setting speed] has been selected, set the speed.
If [Take speed from previous point] has been selected, speed setting is not required. ("-" (hyphen) is entered in the field.)
In the Point 1 setting, [Take speed from previous point] cannot be selected because there is no previous point.
(5) Torque limit value during operation
Set the torque limit value during operation.
If [Valid] has been selected, set the torque limit value.
If [Invalid] has been selected, the setting of the torque limit value is not required. ("-" (hyphen) is entered in the input field.)
(6) Proximity pass
Set the proximity pass (JOINT remaining distance method).
If [Valid] has been selected, set the proximity range.
If [Invalid] has been selected, it is not necessary to set the proximity range. ("-" (hyphen) is entered in the field).
If [Take setting from previous point] has been selected, the proximity range setting is not required. ("-" (hyphen) is entered in
the field.)
If the proximity pass has never set from the beginning of the program, the proximity pass method is set to "0: Invalid", and
proximity pass is not performed.
(7) M-code
Set the M-code. If you do not want to output the M-code, set "-1".
(8) Dwell time
Set the dwell time. If you do not want to use the dwell time, set "-1".
(9) Point block No.
Set the point block No. that is the positioning target point.
(6)
(5)
(1)
(2)
(4) (7)
(8)
(9)
(10)
(11)
(3)
6 5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.6 Window Screen
5
(10) Auxiliary point/central point block No.
Set the point block No. to be specified as the auxiliary point or central point during circular interpolation.
If other than circular interpolation is selected in (2) Control method, this setting is not required. ("-" (hyphen) is entered in the
field.)
(11) Close switch
Touch this switch to close the window.
Machine JOG operation window screen This window screen is used to set and perform operations related to the machine JOG operation. Touch the [Machine JOG
operation] switch on the Machine adjustment screen to display this screen.
(1) Machine JOG start command (coordinates X, Y, and Z)
Start JOG operation in the coordinates X, Y, and Z.
The operation direction is decided by the coordinate system and symbol described on each switch (+: Forward rotation JOG
-: Reverse rotation JOG).
JOG operation is performed while the switch is touched, and gradually stops when the switch is released.
(2) Machine JOG start command (coordinates A, B, and C)
Start JOG operation in the coordinates A, B, and C.
The operation direction is decided by the coordinate system and symbol described on each switch (+: Forward rotation JOG
-: Reverse rotation JOG).
JOG operation is performed while the switch is touched, and gradually stops when the switch is released.
(3) Machine JOG speed (the axis in mm unit)
Set the machine JOG speed for the coordinates X, Y, and Z.
(4) Machine JOG speed (the axis in degree unit)
Set the machine JOG speed for the coordinates A, B, and C.
(5) Close switch
Touch this switch to close the window.
When the operational authority is not acquired, the machine JOG operation window screen cannot be
operated. For acquiring the operational authority, refer to GOT Mobile function enable/disable area on "Page
91 Home screen" and Setting for using the GOT Mobile function on "Page 112 Mobile Screen".
(1)
(2)
(5)
(4)
(3)
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.6 Window Screen 107
10
1 Point machine program operation window screen This window screen is used to perform machine program operation for 1 Point only. Touch the [1 Point machine program
operation] switch on the Machine adjustment screen to display this screen.
(1) Machine positioning speed
Enter the machine positioning speed.
(2) Control method
Set the control method. In the above setting, the machine program operation is fixed to world coordinate-specified joint
interpolation control.
Set either of the target coordinate or moved amount for the use of data to be entered in (3) by selecting ABS (positioning) or
INC (positioning).
(3) Target coordinates/moved amount
Set the target coordinates/moved amount of each coordinate system.
(4) Attitude flag
Set the attitude flag.
* This setting is valid only for machine types R4, R5, and R6. The setting is ignored for other machine types.
(5) C axis ABS direction specification
Set the C axis ABS direction specification.
* This setting is valid only for machine type R8. The setting is ignored for other machine types.
(6) Start/Stop switch
Touch the [Start] switch to start the machine program operation for the set coordinates/moved amount.
Touch the [Stop] switch to gradually stop the machine program operation.
(7) Close switch
Touch this switch to close the window.
When the operational authority is not acquired, the 1 Point machine program operation window screen cannot
be operated. For acquiring the operational authority, refer to GOT Mobile function enable/disable area on
"Page 91 Home screen" and Setting for using the GOT Mobile function on "Page 112 Mobile Screen".
(4)
(5)
(6)
(7)
(1)
(2)
(3)
8 5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.6 Window Screen
5
Teaching window screen This window screen is used to reference and edit the point block data. Teaching is also possible by acquiring the machine
position information and reflecting it to the point block data. Touching the [Teaching (point data editing)] switch on the Machine
adjustment screen displays this screen.
(1) Teaching data area
The point block data such as the data of each coordinate system and structure flag can be edited.
Touch the switches on the right side to cite the specific data. The cited data can be edited.
(2) Clear set value switch
Touch this switch to clear the data in the teaching area in (1).
(3) Get the feed current value switch
Touch this switch to reflect the current feed coordinate value in the teaching area in (1). Since the attitude flag and C axis ABS
direction specification are not updated at this time, set them as necessary.
(4) Point block No.
Set the point block No. that is the target of (5) Point block reading and (6) Point block writing.
(5) Read point block switch
Touch this switch to reflect the point block data specified in (4) Point block No. in the teaching area in (1).
(6) Write point block switch
Touch this switch to reflect the data of the teaching area in (1) to the point block data specified in (4) Point block No.
(7) Close switch
Touch this switch to close the window.
When the operational authority is not acquired, the teaching window screen cannot be operated. For acquiring
the operational authority, refer to GOT Mobile function enable/disable area on "Page 91 Home screen" and
Setting for using the GOT Mobile function on "Page 112 Mobile Screen".
(1)
(2)
(3)
(5)
(4)
(6)
(7)
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.6 Window Screen 109
11
Control method symbol description window screen This window screen displays the details of the symbols displayed in the control method. Touching the [Symbol description]
switch on the Point setting window screen displays this screen.
(1) Close switch
Touch this switch to close the window.
Actual coordinate value monitor window screen This window screen is used to monitor the coordinate values calculated from the feedback position (pulse unit) of the motor
encoder.
(1) Actual coordinate value display area
The actual coordinate values of world coordinate is displayed.
(2) Close switch
Touch this switch to close the window.
(1)
(2)
(1)
0 5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.6 Window Screen
5
Operation setting window screen
(1) Standby position Point block No.
Set the point block No. for the standby position.
(2) Above the desorption position Point block No.
Set the point block No. for the desorption position.
(3) Desorption position Point block No.
Set the point block No. for the desorption position.
(4) Movement amount of acquisition
Set the lifting amount at workpiece acquisition.
(5) Operation speed
Set the operation speed of the machine.
(6) Adsorption time
Set the workpiece adsorption time (standby time after acquisition lifting).
The conveyor moved amount within the standby time after movement amount of acquisition is the adsorption section.
(7) Desorption time
Set the workpiece desorption time (standby time at desorption position).
(8) Close switch
Touch this switch to close the window.
(1) (2) (3)
(4) (5) (6)(7)
(8)
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.6 Window Screen 111
11
5.7 Mobile Screen The following table lists mobile screens.
Setting for using the GOT Mobile function CoreOS with the version L or later is required for using the GOT Mobile function.
For the details of the function, refer to sections related to the GOT Mobile function in the following manual.
GT Designer3 (GOT2000) Screen Design Manual
IP address setting
For a wireless LAN access point The IP address of the GOT standard Ethernet is 192.168.3.18 in this project. Set the IP address of the wireless LAN access
point as follows.
If the IP address duplicates with other Ethernet devices, change the fourth octet only. (Example: 192.168.3.1
192.168.3.10)
When accessing to the GOT, enter 192.168.3.18/index.html?autofit=true in the address bar on the browser. The mobile
screen is displayed in the width of the browser. When the IP address of the GOT standard Ethernet is changed, change the
IP address to be entered in the address bar as well.
For the wireless LAN function (GT25-WLAN) In this project, the network name is HANDLING and IP address is 192.168.4.20 for the wireless LAN function. Set the IP
address of the information devices such as a tablet as follows.
If the IP address duplicates with other wireless LAN devices, change the fourth octet only. (Example: 192.168.4.1
192.168.4.10)
When accessing to the GOT, enter 192.168.4.20/index.html?autofit=true in the address bar on the browser. The mobile
screen is displayed in the width of the browser. When the IP address of the wireless LAN function is changed, change the
IP address to be entered in the address bar as well.
License registration for the GOT Mobile function Register the license number to the GOT to use the GOT Mobile function. For how to register the license number, refer to the
following.
GOT2000 Series User's Manual (Utility)
Administrator Administrator name: Admin
The password is not set. Set the password as necessary.
Screen No. Screen title Description Reference
30000 Machine JOG drive(Mobile) Machine JOG operation mobile screen Page 114
30010 1P machine program drive(Mobile) 1 Point machine program operation mobile screen
30020 Teaching(Mobile) Teaching mobile screen
30200 Home(Mobile) Home mobile screen Page 113
32767 Splash Screen displayed at client connection
LAN side IP address: 192.168.3.1
IP address for assignment: 192.168.3.2
Default gateway: 192.168.4.1
IPv4 address: 192.168.4.2
2 5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.7 Mobile Screen
5
Exclusive control of operational authority The exclusive control of operational authority is performed to prevent unexpected operations by operators in remote
locations. When acquiring the operational authority, check that no operator is performing operation.
In this project, the guaranteed time of the operational authority after the last operation is 3600 seconds. To allow other
operators to acquire the operational authority, release the operational authority. Change the guaranteed time of the
operational authority depending on the situation.
The guaranteed time of the operational authority can be disabled by prohibiting the GOT Mobile function with the switch in
the GOT Mobile function enable/disable area on the Home screen and Machine adjustment screen of the GOT.
The IP address of the GOT used to manage the operational authority is set to 192.168.3.18 by the GOT network interaction
function. When the IP address of the GOT standard Ethernet is changed, change the IP address of the GOT used to
manage the operational authority as well.
Screen size The resolution of the mobile screen is 720 1280. The lower part of the screen may cut off or a margin may appear
depending on the screen size of the tablet.
Home screen Touching the switch on the Home screen switches the screen to the corresponding operation screen.
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.7 Mobile Screen 113
11
Mobile operation screen
Coordinate value display / screen transition switch area The operation method is the same as the Machine adjustment screen. For details, refer to the coordinate value display area
and screen transition switch area of "Page 96 Machine adjustment screen".
Machine adjustment area Touching the screen transition switch switches the screen to the corresponding operation screen. The operation method is the
same as the GOT. For the details, refer to the following.
Page 107 Machine JOG operation window screen
Page 108 1 Point machine program operation window screen
Page 109 Teaching window screen
The stop operation may not be performed due to communication delay or interruption depending on the
network environment. Fully grasp the circumstances of the field site and ensure safety when performing
remote control. Prepare an emergency stop switch as necessary.
When changing the language in the pop-up window of the GOT network interaction function displayed on
the lower part of the mobile screen, change the language setting of the mobile device.
Coordinate value display / screen transition switch area
Machine adjustment area
4 5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.7 Mobile Screen
5
5.8 List of Scripts Script type Reference method Script number Overview Trigger type
Project [Common] [Script] [Script]
[Project] tab
30000 Initial setting Startup (GB40)
30003 Clock Setting While ON (GB30001)
30017 Machine type display control Always
30018 GOT Mobile function setting Startup (GB40)
30019 Get the feed current value Always
30020 Vision Tracking information setting Always
Screen Immediately below W-30204 30012 Auxiliary point/central point display control Always
30014 Command speed display control Always
30015 Torque limit display control Always
30016 Proximity pass display control Always
30021 Vision Tracking state setting Always
Object GD30060 inside W-30002 Date and time setting Startup (GB40)
5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.8 List of Scripts 115
11
5.9 List of Devices to be Used Some devices set as switches and lamps in screens may also be set in the common settings including scripts. When these
devices need to be changed in a batch, using [Batch Edit] is recommended. For details of [Batch Edit], refer to "GT Designer3
(GOT2000) Help".
Type Device number Use
Bit GB40 Always ON
Bit GB30000 Language holding script
Bit GB30001 Clock Setting window screen display script
(Initial setting (clock setting)) trigger
Bit GS512.b0 Time change information
Bit GB30100 to GB30112 Auxiliary point/central point block No. display flag
Bit GB30200 Machine type "NONE" display flag
Bit GB40000 "Get the feed current value" switch ON/OFF flag
Bit GB46000 Point setting "Command speed" input status flag
Bit GB46001 Point setting "Torque limit value during operation" input status flag
Bit GB46002 Point setting "Proximity pass" input status flag
Bit GB46003 Vision Tracking valid flag
Bit GB46004 Vision Tracking operation state
Bit GB46005 Vision Tracking workpiece position 1 to Vision Tracking workpiece position 4
Bit GB47000 Point 1 "Setting" touch flag
Bit GB50000 Device (VGB) assignment start
Word GD30000 Base screen switching device
Word GD30001 Overlap window screen 1 switching device
Word GD30004 Overlap window screen 2 switching device
Word GD30007 Overlap window screen 3 switching device
Word GD30010 Overlap window screen 4 switching device
Word GD30013 Overlap window screen 5 switching device
Word GD30016 Superimposed window 1 switching device
Word GD30018 Superimposed window 2 switching device
Word GD30021 Language switching device
Word GD30031 System signal 1-1
Word GD30041 System signal 2-1
Word GD30060 to GD30065 Date and time adjustment switch
Word GD50000 Device (VDG) assignment start
Word GS513 to GS516 Time after change
Word GS650 to GS652 Current time
Word GS1899 GOT Mobile function Momentary switch forcibly OFF time
Word GS1796 GOT Mobile function Operational authority management control
Word VGD0 GOT Mobile setting Screen switching device
Word VGD21 GOT Mobile setting Language switching device
Word VGD22 GOT Mobile setting Client No. notification device
Word VGD23 GOT Mobile setting Client IP address notification device
Word VGD25 GOT Mobile setting Operational authority state control device
Word VGD26 GOT Mobile setting Operational authority notification device
6 5 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES 5.9 List of Devices to be Used
6
6 MACHINE PROGRAM SUPPORT TOOL
To control the simplified robot by using the machine control function of a MELSEC iQ-R-compatible motion controller, the
following machine control program is required in addition to the servo motor startup program including home position return.
This application package provides support tools to create a program.
Each tool supports Japanese, English, and Simplified Chinese. Select the language in the tool.
Compatible versions Operation environment (personal computer): Conforms to the MT Works2 operation environment.
Microsoft Office: Supports Excel 2010 or later compatible with the macro function-enabled book (.xlsm).
Machine control startup process
Machine_Control
Applicable tool
Install a machine library.
Set the machine common parameters.
Set the machine parameters.
Enter point data.
Create machine control program.
Execute machine program start request.
END
6.1 Positioning Point Setting Support Tool
Reflect output in MT Developer2.
6.2 Machine Program Generation Tool
Reflect output in MT Developer2.
Implement with MT Developer2
(engineering tool)
6 MACHINE PROGRAM SUPPORT TOOL 117
11
6.1 Positioning Point Setting Support Tool This tool is used to generate a program for setting the point block data.
By embedding the output codes in the motion SFC program, a program can be easily created for the initial setting (during
initial startup) and initialization (during startup at initialization request) of the point block data.
A point table can be created from the settings of the machine common parameters, and each point data can be set without
calculating the offset of the device.
Setting and procedure The following describes the procedure of displaying the point table and creating the point data storage program by using this
tool.
The flowchart shows the procedure with this tool.
User Engineering software
Setting the machine common parameters
1. Preparing the tool
4. Setting the point data
5. Generating the data setting code
6. Reflecting the output code in project
3. Displaying the point table sheet
Point table (setting 1)
Point table (setting 32)
Project
Positioning point setting
support tool
Positioning point setting support tool
Point data storage code Point data
storage code
Machine common parameters
Machine common parameters
2. Pasting the machine common parameters
8 6 MACHINE PROGRAM SUPPORT TOOL 6.1 Positioning Point Setting Support Tool
6
1. Preparing the tool
This tool consists of the following file.
* Enable the macros when using this tool.
2. Pasting the machine common parameters
From the MT Developer2 project tree, open [Motion Control Parameter] - [Machine Control Parameter] - [Machine Common
Parameter].
Click the [Setting No.] block at the top left of the table under the opened tab (on the right screen) to select the entire table.
Copy the table being selected either from the right-click menu on the selected area or by using the shortcut key [Ctrl + C].
Open the tool, and paste the machine common parameters on the same setting screen in the [PARAM] sheet.
When pasting the machine common parameters, either press the [Paste parameter] button on the sheet, or use the [Ctrl + V]
shortcut key when the sheet has been displayed.
Do not copy or cut other than the machine common parameters before pasting.
The machine common parameters cannot be changed with this tool. When editing the parameters, use MT
Developer2 and paste the edited data by following the procedure described above.
When using this tool, set the number of point blocks per one setting between 1 and 256. To set more than
256 points, divide the setting No. (When all 32 settings are used, up to 8192 points can be set (256 points
32 settings).)
3. Displaying the point table sheet
In the [Jump] column, press the [Setting ] (: 1 to 32) button to view the point table sheet generated on the basis of the
parameters pasted in step 2.
The point table is displayed in the format of (Vertical) point No. (Horizontal) Coordinate/Joint axis No.
4. Setting the point data
Set the point data in a 32-bit integer type (with sign).
Set the structure flag in a 16-bit integer type. It is recommended to enter a hexadecimal number as the structure flag.
For details on the points during data setting, refer to the following.
Page 130 Points of Data Setting in the Machine Program Support Tool
Precautions
Data can be copied and pasted from another file or another sheet.
However, data including combined cells cannot be pasted.
File name File type
HDLPointSetTool.xlsm Excel file (macro function-enabled book)
1) Click
2) Click
3) Click
6 MACHINE PROGRAM SUPPORT TOOL 6.1 Positioning Point Setting Support Tool 119
12
5. Generating the data setting code
Output the program to substitute data set in the point table into the device which has been assigned.
When the [Program Output] button is pressed, the code for data setting is generated.
At this time, the selected range of data is output. Therefore, select the data to be output by following the methods described
below.
The following two items are available as optional functions during output. Set the following items as necessary.
The generated codes are copied to the clipboard without being displayed in the tool.
(When the [Program Output] button is pressed, processing is performed from code generation copying.)
Precautions
If another data is copied or cut after program output, the clipboard is overwritten, and the output code is erased. When the
output code is ready to be pasted, press the [Program Output] button again and acquire the code.
6. Reflecting the output code in project
When a code is generated in step 5, it is already copied.
Paste it as is to the motion SFC program of MT Developer2.
In cases such as when the number of characters of the data to be substituted is large, the codes output in step
5 (total of column A) may have a size larger than the program size (32761 byte) that can be described in a
single calculation step.
In such a case, paste the output codes by dividing into several calculation steps.
Maintenance
Changing the setting values directly inside the program When changing the generated program, correct the substitute program with reference to the comments in the program, or the
device No. specified in the point table of the tool.
Precautions
A discrepancy may occur between the data set in this tool and the data set in the program.
To eliminate the discrepancy, reflect the changes of the program in the tool side as necessary.
Changing with the tool Set the data and reflect them in the project again. (Page 118 Setting and procedure)
To output the entire range
The entire range can be selected either by pressing the [Select All] button, or with the [Ctrl + A] shortcut key.
To output in the range of a column or row
The specified range can be selected by selecting the first cell, and then clicking the last cell while keeping the [Shift] key pressed.
To output a plurality of specific cells
Several ranges can be set by selecting with the mouse while keeping the [Ctrl] key pressed.
Coordinate comment output setting
If a check box of the coordinate comment is selected, the coordinates of the storage data are added as a comment after each substitution expression of the
output code. This function is useful to revise a program directly.
When the check mark is removed, the comment after the substitution expression is not output.
Title of point block data
A title for each setting No. can be set in the [Comment] column. The entered contents are added to the comment of the code output results (after the setting No.
of the first row).
0 6 MACHINE PROGRAM SUPPORT TOOL 6.1 Positioning Point Setting Support Tool
6
6.2 Machine Program Generation Tool This tool is used to automatically generate the program for the machine program operation start request (MCNST).
By embedding the output codes in the motion SFC program, a system using a machine library can be easily started up.
Setting and procedure The following describes the procedure of creating a motion SFC program for the machine program operation start request
(MCNST) by using this tool.
The flowchart shows the procedure with this tool.
User Engineering software
1. Preparing the tool
Creating a startup program for each axis
2. Setting the prior information
3. Generating the setting sheet
4. Setting the positioning information
5. Generating the data setting code
6. Generating the data conversion code
7. Reflecting the output code in project
Area of device used
Number of positioning points
Setting sheet (nth point)
Setting sheet (1st point)
Setting sheet (header)
Project
Data setting code Data setting code
Startup program for each axis
Machine program
generation tool
Machine program generation tool
Data conversion code
Data conversion code
6 MACHINE PROGRAM SUPPORT TOOL 6.2 Machine Program Generation Tool 121
12
1. Preparing the tool
This tool consists of the following file.
* Enable the macros when using this tool.
2. Setting the prior information
As a preliminary preparation for data setting, set the following four items.
Only the data register (D) or motion register (#) can be set in No. 2 to 4.
Set an even-numbered device in No. 2 to No. 4.
Precautions
The device range is checked based on the maximum upper/lower limit value that can be set in the parameters.
Note that the device range may differ from that is set in the parameters.
3. Generating the setting sheet
The following sheets are displayed by pressing the [View setting sheet] button in the tool.
Input_Header
This sheet is used to set the common items of the positioning data.
One such sheet is displayed in one file.
Input_PointData (: Positioning point No.)
This sheet is used to set the data of each point of the positioning data.
The sheets for the number of positioning points set in item No. 1 of step 2 are displayed.
File name File type
HDLMachineProgGenerationTool.xlsm Excel file (macro function-enabled book)
No. Setting item Setting range Initial value
Details
1 Number of positioning points 1 to 256 1 Specify the number of positioning points operating in the machine
program operation start command (MCNST).
2 User setting device area
First device
Word device (1 word): Data
register (D) or motion register (#)
#100 Specify a start device of a device area where the value set in the tool
is stored.
3 Work device area
First device
#0 Specify the start of a work device area for converting the user setting
device area to the machine positioning data area.
4 Machine positioning data area
First device
D10000 Specify the start device of the machine positioning data area
specified in the machine program operation start request (MCNST).
P = Number of positioning points
22word
28word
28word
36word
42word
42word 50word
Header area
Work area
Positioning point 1
Positioning point p
Setting data for header
Positioning point 1
setting data
Positioning point p
setting data
Machine positioning data area
User setting device area
Work device area
2 6 MACHINE PROGRAM SUPPORT TOOL 6.2 Machine Program Generation Tool
6
4. Setting the positioning information
In the sheets generated in step 3, set the information required for positioning control.
In this tool, data displayed on Excel is used as the setting value.
Therefore, calculations based on functions of Excel and data setting based on cell reference are available.
For details on the points during data setting, refer to the following.
Page 130 Points of Data Setting in the Machine Program Support Tool
Input_Header
Set the positioning information (header part) common to all sheets.
[Required setting items]
[Optional setting items]
Input_PointData (: Positioning point No.)
Set the information (point data part) used in the corresponding positioning points.
[Required setting items]
[Optional setting items]
No. Item
1 Number of positioning points
2 Machine No.
No. Item
3 Parameter block No.
4 Interpolation control unit
5 Speed limit value
6 Acceleration time
7 Deceleration time
8 Rapid stop deceleration time
9 Torque limit value at start
10 Deceleration processing on STOP input
11 Allowable error range for circular interpolation
13 S-curve ratio
No. Item
1 Control method
2 Coordinate system setting
3 Command speed
4 Point block No.
5 Auxiliary point/central point block No.
No. Item
6 M-code
7 Dwell time
8 Torque limit value during operation
9 Proximity pass - Proximity pass method
10 Proximity pass - Proximity range
12 Sequential coordinate command control smoothing time constant
14 WAIT-ON/OFF (WAIT-ON/OFF setting)
15 WAIT-ON/OFF (Device number)
17 Point arrival notification (Point arrival notification setting)
18 Point arrival notification (Device number)
19 Point arrival notification (Notification setting value)
6 MACHINE PROGRAM SUPPORT TOOL 6.2 Machine Program Generation Tool 123
12
5. Generating the data setting code
The following sheet is generated by pressing the [Code generation for data setting] button in the tool.
If the generated sheet name exists in the same file, delete the sheet once and then generate the code again.
Code_DataInput
The codes for storing the user setting data in the user setting device area is output to this sheet.
One such sheet is generated in one file.
6. Generating the data conversion code
The following sheet is generated by pressing the [Code generation for data conversion] button in the tool.
If the generated sheet name exists in the same file, delete the sheet once and then generate the code again.
Code_DataConvert
The program for substituting the data of the user setting device area with the data for machine program operation is output to
this sheet.
The codes of the machine program operation start command (MCNST) are included in this sheet and commented out as
default. ("//" is added at the beginning of the sentence.) To enable the codes, delete the "//" from the beginning of the
sentence.
One such sheet is generated in one file.
7. Reflecting the output code in project
The program codes that can be used in the control step [F] of the motion SFC program are specified in column A of the
sheets generated in steps 5 and 6.
Select and copy column A of each sheet, and paste it to the control step [F] with reference to the example shown below.
Perform programming so that the codes generated in step 6 are processed after processing of the codes generated in step 5.
Precautions
If the number of positioning points is large, the program output in step 5 may exceed the maximum data length (65531 bytes)
of the calculation step. In such a case, split the output program and then paste it into several calculation steps to proceed with
programming.
Paste the code generated in step 5.
Paste the code generated in step 6.
Set the data required for machine control.
[G] (Transition) Set the interlock conditions as necessary.
[F] (Control steps)
[F] (Control steps)
END
Convert the set data to the data format used in the machine positioning start command (MCNST), and execute the machine positioning start command (MCNST).
Example) Machine positioning control process
4 6 MACHINE PROGRAM SUPPORT TOOL 6.2 Machine Program Generation Tool
6
Maintenance
Changing the "Setting value" To change the settings after generating and reflecting the program, follow the two methods described below.
When using this tool
Generate the codes and reflect them in the project again. (Page 121 Setting and procedure)
When correcting the program directly (without using this tool)
Change the setting value (right side) substituted into a predetermined device with reference to the comments (settings) in the
data setting codes output in step 5 of "Setting and procedure".
Since the data conversion codes output in step 6 of "Setting and procedure" do not depend on the setting values, correction is
not needed.
Precautions
If the program is directly changed, a discrepancy may occur between the data set in this tool and the data set in the program.
To eliminate the discrepancy, reflect the changes of the program in the tool side.
Changing the "Device area" Generate the codes and reflect them in the project again. (Page 121 Setting and procedure)
When using the search and substitution functions of MT Developer2, be sure to thoroughly understand and confirm the
program contents (such as device indirect specification and internal processing), and then implement the operation under the
responsibility of the customer.
6 MACHINE PROGRAM SUPPORT TOOL 6.2 Machine Program Generation Tool 125
12
Generated codes The following describes the codes generated with this tool.
Although corrections and maintenance are primarily unnecessary, if the generated codes are to be directly edited, refer to the
following.
Code_DataInput The substitution processing of data to be set in the user setting device area is generated with this tool.
Refer to the program (including the comments) that is actually generated.
Code_DataConvert The processing of the output codes is as shown below. The data of the header part is converted in the first half, while the data
of the point data part is converted in the second half.
The data setting examples are described for each part. Check them along with the explanations.
Overview of data setting in the header part
1. Perform 0 clear for the work area.
2. The required setting items are stored as shown below.
[Reference source] User setting device area
[Storage destination] Work area
Number of positioning points (Device offset: Reference source + 0, Storage destination + 0)
Machine No. (Device offset: Reference source + 1, Storage destination + 1)
3. In the loop processing, sequentially check the optional setting items within the loop processing starting from the item at
the bit 0 side among the positioning data items. (Refer to the following figure.)
If the setting is not invalid (-1), turn ON the corresponding bit of the positioning data item setting, and save it as a positioning
data item. Thereafter, perform two-word offset for the reference-source device and storage-destination device.
When the setting is invalid (-1), or for an item that cannot be used by the user, the data is not stored and two-word offset is
performed only for the reference-source device. (Since the data to be set needs to be closely stored, offset is not performed
for the storage-destination device.)
[Reference source] User setting device area
[Storage destination] Work area
Positioning data item setting (Device offset: Reference source +2 to 21, Storage destination +2 to 35)
[Positioning data item setting] b31 b16 b15 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0... ...
Parameter block No. Interpolation control unit Speed limit value Acceleration time Deceleration time Rapid stop deceleration time Torque limit value at start Deceleration processing on STOP input Allowable error range for circular interpolation Cannot be used by user (Fixed as 0)
Cannot be used by user (Fixed as 0) S-curve ratio
* Set the positioning data items to 0 or 1. 0: Invalid 1: Valid
Data reference order
6 6 MACHINE PROGRAM SUPPORT TOOL 6.2 Machine Program Generation Tool
6
Ex.
The work area storage status when the meshed items are set in the user setting device area
4. Transfer the data (36 words) of the prepared header part in a batch as shown below.
[Reference source] Work area (Device offset: +0 to 35)
[Storage destination] Machine positioning data area (Device offset: +0 to 35)
Work area Offset OffsetName Name
Number of positioning points+0 +1 +2 +3
+5
+9 +10 +11 +12 +13 +14 +15 +16 +17 +18 +19 +20 +21
+8 +7 +6
+4
+0 +1 +2 +3
+5
+9 +10 +11 +12 +13 +14 +15 +16 +17 +18 +19 +20 +21
+8 +7 +6
+4
Machine No. Number of positioning points
Loop counter for point data Number of positioning points - 1
Loop counter for data item
Offset for storage-destination device Offset for reference-source device
Machine No.
Parameter block No.
Interpolation control unit
Speed limit value
Acceleration time
Deceleration time
Torque limit value at start
S-curve ratio
User setting device area
+22
+24
+28 +29 +30 +31 +32 +33 +34 +35 +36 +37 +38 +39 +40
+27 +26 +25
+23
+41
+43
+47 +48 +49
+46 +45 +44
+42
Positioning data item setting H00000484
Positioning data item 1
Positioning data item 2
Positioning data item 3
Positioning data item 9
Positioning data item 8
Positioning data item 7
Positioning data item 6
Positioning data item 5
Positioning data item 4
Positioning data item 15
Positioning data item 14
Positioning data item 16
Positioning data item 13
Positioning data item 12
Positioning data item 11
Positioning data item 10
bit2
bit7
bit10
O pt
io na
l s et
tin g
ite m
P os
iti on
in g
da ta
it em
Allowable error for circular interpolation
Deceleration processing on STOP input
Rapid stop deceleration time
N ec
- es
sa ry
6 MACHINE PROGRAM SUPPORT TOOL 6.2 Machine Program Generation Tool 127
12
Overview of data setting in the point data part
1. Acquire the number of positioning points - 1 for the loop counter, and repeat the subsequent steps (2 to 4) as many times
as the number of positioning points.
2. Perform 0 clear for the work area.
3. The required setting items are stored as shown below.
[Reference source] User setting device area
[Storage destination] Work area
Control method (Device offset: Reference source + 22 (+28 p), Storage destination + 0)
Coordinate system setting (Device offset: Reference source + 23 (+28 p), Storage destination + 1)
Command speed (Device offset: Reference source + 24, 25 (+28 p), Storage destination + 2, 3)
Point block No. (Device offset: Reference source + 26 (+28 p), Storage destination + 4)
Auxiliary point/central point block No. (Device offset: Reference source + 27 (+28 p), Storage destination + 5)
*p: Point data No. -1
4. In the loop processing, sequentially check the optional setting items within the loop processing starting from the item at
the bit 0 side among the extension point setting items. (Refer to the following figure.)
If the setting is not invalid (-1), turn ON the corresponding bit of the positioning data item setting, and save it as a positioning
data item. Thereafter, perform two-word offset for the reference-source device and storage-destination device.
When the setting is invalid (-1), or for an item that cannot be used by the user, the data is not stored and two-word offset is
performed only for the reference-source device. (Since the data to be set needs to be closely stored, offset is not performed
for the storage-destination device.)
* Turn ON the proximity pass bit when the proximity pass method is other than "Take setting from previous point (-1)". The
data of the proximity range is not stored when the proximity pass method is "Take setting from previous point (-1)", but the
data is stored when the proximity pass method is other than "Take setting from previous point (-1)".
[Reference source] User setting device area
[Storage destination] Work area
Extension point setting item setting (Device offset: Reference source + 28 (+28 p) to 49 (+28 p), Storage destination + 8
to 41)
[Extension point setting item setting] b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
* Set the expansion point data items to 0 or 1. 0: Invalid 1: Valid
M-code
Proximity pass
Dwell time Torque limit value during operation
Proximity pass method Proximity range
Cannot be used by user (Fixed as 0)
Sequential coordinate command control smoothing time constant Cannot be used by user (Fixed as 0)
Data reference order
WAIT-ON/OFF WAIT-ON/OFF setting Device number
Cannot be used by user (Fixed as 0)
Point arrival notification Point arrival notification setting Device number Notification setting value
8 6 MACHINE PROGRAM SUPPORT TOOL 6.2 Machine Program Generation Tool
6
Ex.
The work area storage status when the meshed items are set in the user setting device area
5. Transfer the data (42 words) of the prepared point data part in a batch as shown below.
[Reference source] Work area (Device offset: +0 to 41)
[Storage destination] Machine positioning data area (Device offset: +36 (+28 p) to 77 (+28 p))
+9
+22 +0 +23 +1 +24 +2 +25 +3 +26 +4 +27 +5 +28 +6 +29 +7 +30 +8 +31 +32 +10 +33 +11 +34 +12 +35 +13 +36 +14 +37 +15 +38 +16 +39 +17 +40 +18 +41 +19 +42 +20 +43 +21 +44 +22 +45 +23 +46 +24 +47 +25 +48 +26 +49 +27 +50 +28 +51 +29 +52 +30 +53 +31 +54 +32 +55 +33 +56 +34 +57 +35 +58 +36 +59 +37 +60 +38 +61 +39 +62 +40 +63 +41 +64 +42 +65 +43 +66 +44 +67 +45 +68 +46 +69 +47 +70 +48 +71 +49 +72 +73 +74 +75 +76 +77
bit0
bit3
bit6
User setting device area
Offset Name P
oi nt
d at
a 1
O pt
io na
l s et
tin g
ite m
N ec
es sa
ry Control method Coordinate system setting
Point block No. Auxiliary point/central point block No.
Command speed
M-code
Dwell time
Torque limit value during operation
Proximity pass method
Proximity range
Sequential coordinate command control smoothing time constant
WAIT-ON/OFF (WAIT-ON/OFF setting)
WAIT-ON/OFF (Device number) Point arrival notification (Point arrival notification setting)
Point arrival notification (Device number)
Point arrival notification (Notification setting value)
N ec
es sa
ry O
pt io
na l s
et tin
g ite
m P
oi nt
d at
a 2
Control method Coordinate system setting
Point block No. Auxiliary point/central point block No.
Command speed
M-code
Dwell time
Torque limit value during operation
Proximity pass method
Proximity range
Sequential coordinate command control smoothing time constant
WAIT-ON/OFF (WAIT-ON/OFF setting)
WAIT-ON/OFF (Device number)
Point arrival notification (Point arrival notification setting) Point arrival notification (Device number)
Point arrival notification (Notification setting value)
Work area Offset Name
Control method Machine No.
Cannot be used by user Cannot be used by user
Command speed
Point block No. Auxiliary point/central point block No.
Extension point setting item 1
Cannot be used by user
Extension point setting item 2
Extension point setting item 3
Extension point setting item 9
Extension point setting item 8
Extension point setting item 7
Extension point setting item 6
Extension point setting item 5
Extension point setting item 4
Extension point setting item 14
Extension point setting item 13
Extension point setting item 12
Extension point setting item 11
Extension point setting item 10
Extension point setting items H0009
E xt
en si
on p
oi nt
s et
tin g
ite m
Extension point setting item 15
Extension point setting item 16
Loop counter for point data Number of positioning points - 1
Loop counter for data item
Offset for storage-destination device Offset for reference-source device
6 MACHINE PROGRAM SUPPORT TOOL 6.2 Machine Program Generation Tool 129
13
6.3 Points of Data Setting in the Machine Program Support Tool
Descriptions based on data type For 16-bit data: Set the numerical value (integer) and device as is.
For 32-bit data: Clarify the data type by specifying an "L" at the end of the numerical value (integer) and device. If the data
type is omitted, the processing is performed by assuming the smallest type that the data can have. Specify an even-numbered
device when specifying the device.
Numerical value input It is recommended to specify a "K" before a decimal number. (It can be omitted.)
Always specify an "H" before a hexadecimal number. (It cannot be omitted.) If an "H" is omitted and only a numerical value is
specified, the processing will be performed by assuming a decimal number, and if an alphabet is included, an error will occur
during program conversion on MT Developer2.
Device (including indirect specification) input Devices can be specified. When setting devices, check the data size described in "Descriptions based on data type".
Indirect specification of the device No. is also possible.
Excel calculation The functions of Excel can be used to set the calculation results as the input value.
In such a case, the processing is performed such that the data displayed in the cell is the substitution value during code
output.
Calculation expression The substitution calculation expression to be used in the motion SFC program can be specified.
The following table shows entry examples based on the above points.
The data used as program output (displayed in the tool) are underlined.
Precautions
Range checking is not performed for the entered data. If data that is outside the range or incorrect data is set, an error will
occur either during program conversion in MT Developer2, or during the machine program operation start request in the
motion CPU module.
If the setting data is blank (not entered), the following operations are performed.
Positioning point setting support tool: "0" is added on the right side of the substitution expression.
Machine program generation tool: The right side of the substitution expression becomes blank, and an error will occur during
program conversion in MT Developer2.
If the combination status of the cells within the tool is changed (such as when data is pasted from one Excel file to another),
the output results may become erroneous (blank). When pasting data, paste only the values not to change the combination
status.
Data type 16-Bit integer type 32-Bit integer type
Numerical value K1234,K-1,5678,H1FE0, etc. 1234L,K-1L,5678,H10001FE0, etc.
Device (including device articulation
specification)
D1234,D(D200+K10), etc. D1234L,D(D200+K10)L, etc.
Excel calculation ="K"&SUM(100,20,3) [Display result]K123
="K"&MIN(A1:A100) [Display result]K-10, etc.
="K"&SUM(100,20,3)&"L" [Display result]K123L
="K"&MAX(A1:A100)&"L" [Display result]K5678L, etc.
Calculation expression SHORT(D100L),K100+(D10*K20), etc. LONG(D100),K100L+(D10L*K20), etc.
0 6 MACHINE PROGRAM SUPPORT TOOL 6.3 Points of Data Setting in the Machine Program Support Tool
6
MEMO
6 MACHINE PROGRAM SUPPORT TOOL 6.3 Points of Data Setting in the Machine Program Support Tool 131
132 APPX Appendix 1 Functional Restrictions by Version
APPENDIX Appendix 1 Functional Restrictions by Version Available functions depend on the version of the application package.
The following table shows combinations of each version and function.
Function Version Reference
Machine control simulator and machine attitude
monitor
1.002C Page 32 Machine Control Simulator and Machine Attitude Monitor
Machine adjustment from the GOT Mobile Page 84 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES
Program Example for Vision Tracking 1.003D Page 35 PROGRAM EXAMPLES FOR MACHINE CONTROL
Page 84 SCREENS FOR MACHINE CONTROL PROGRAM EXAMPLES
WAIT-ON/OFF and point arrival notification setting
with the machine program generation tool
1.004E Page 117 MACHINE PROGRAM SUPPORT TOOL
Availability of a temporary license before a license
key is obtained
Page 24 SETTING AND PROCEDURE BEFORE OPERATION
A
Appendix 2 Temporary License Registration When using this application package before getting a license key, register a temporary license by following the steps below.
The temporary license is valid for two months (from the registration date of the temporary license to the same day in the
month after next).
*1 If the same day does not exist in the month after next, it is valid until the last day of the month.
Items to be prepared
Clock setting of the PLC CPU module Set the clock data (the current date and time) on "Clock Setting" of GX Works3.
For the clock setting, refer to the following.
GX Works3 Operating Manual
Executing the program 1. Executing the temporary license registration program
Copy the license key registration project (AP20-HDL001AA_R16_LicWrite.gx3) in the supplied DVD to a folder on the
personal computer, then open the file.
The project is created for the R16CPU. When using a model other than R16CPU, change the model.
* When registering a license key to multiple PLC CPU modules, register it one by one.
2. Writing and executing the program
Write the program to the PLC CPU module and execute it.
Select "Online" "Write to PLC" from the menu and write all the program to the PLC CPU module.
Set the PLC CPU module to the RUN state and execute the scan program. Select "Program" "Scan" in the Navigation
window and open the registered program. (Program name: LicenseWrite) The scan program includes the function block
(FormatLicense) for formatting the license key registration area, the function block (HDL_LicenseWrite) for writing the
license key, and the function block (HDL_TempLicenseWrite) for writing the temporary license.
When registering the temporary license to the PLC CPU module for the first time, format the license key
registration area. Format it before registering the license key.
When another license of iQ Monozukuri has been registered, register the license without formatting it.
Item Description
License key registration project
(AP20-HDL001AA_R16_LicWrite.gx3)
A project for registering a license key to the PLC CPU module.
It is included in the supplied DVD.
FormatLicense (Macro type)
HDL_TempLicenseWrite (Macro type)
Registration date 1/1/2018 20/6/2018 31/7/2018 31/12/2018 31/12/2019
Invalid Valid Invalid
Day before the expiration date 1/3/2018
20/8/2018 30/9/2018
29/2/2020 (Leap year) 28/2/2019
*1
*1
*1
0:00 0:00 0:00
APPX Appendix 2 Temporary License Registration 133
13
Registering the temporary license
Turn on the execution flag (WriteTempLicense) of the function block (HDL_TempLicenseWrite) in the scan program. Normal
completion (o_bOK) or Error completion (o_bError) becomes TRUE. At the error completion, refer to Troubleshooting.
(Page 135 Troubleshooting)
When Normal operation (o_bOK) turns on, the license key registration is completed. Turn off the execution flag
(WriteTempLicense).
3. Deleting the program
After the temporary license registration has been completed, delete the program in the PLC CPU module.
Select "Online" "Delete PLC Data" from the menu and select the [Select All] button in the "Online Data Operation" window
to delete the program.
Click.
Click.
4 APPX Appendix 2 Temporary License Registration
A
Troubleshooting The following table lists errors that occur during the temporary license registration and corrective actions.
Precautions
The temporary license is written to the device data storage file, and thus retained after power off.
If the license key registration area of the device data storage file is operated with SLMP or the FTP server function, license
information may be lost.
For the license key registration FB, set "FB type" to "Macro type".
Error details Cause Corrective action
After "HDL_TempLicenseWrite" is
executed, Error completion
(o_bError) turns on and Normal
completion (o_bOK) remains off.
The license key registration area
has never been formatted.
The license key outside the range
of the memory was about to be
written.
Format the license key registration area by using "FormatLicense" and
register the temporary license by using "HDL_TempLicenseWrite".
Using "FormatLicense" deletes other registered license keys. Register them
again.
The temporary license of the same
product has already been registered.
Continue to use the temporary license.
Get a license and register the license key by using "HDL_LicenseWrite".
After "HDL_TempLicenseWrite" is
executed, neither Normal completion
(o_bOK) nor Error completion
(o_bError) turns on.
The PLC CPU module is not in the
RUN state.
"Macro type" is not specified for
"FB type" of the license key
registration FB.
Set the PLC CPU module to the RUN state.
Specify "Macro type" for "FB type" of the license key registration FB.
APPX Appendix 2 Temporary License Registration 135
136
REVISIONS * The manual number is given on the bottom left of the back cover.
2017 MITSUBISHI ELECTRIC CORPORATION
Revision date *Manual number Revision
August 2017 BCN-B62005-851-A First edition
November 2017 BCN-B62005-851-B Added functions
Machine control simulator, machine attitude monitor, and GOT screen examples (Machine
adjustment from the GOT Mobile)
Added or modified parts
TERMS, REQUESTING AND REGISTERING A LICENSE KEY, Section 1.1, 1.3, 1.4, 2.2, 2.4, 3.1,
4.2, 4.4, 4.6, 4.7, Chapter 5, Section 5.1, 5.5, 5.6, 5.7, 5.8, Chapter 6, Appendix 1
March 2018 BCN-B62005-851-C Added functions
Program Example for Vision Tracking
Added or modified parts
TERMS, Section 1.3, 1.4, Chapter 4, Section 4.1, 4.3, 4.4, 4.5, 4.6, 4.7, 4.8, 5.1, 5.2. 5.3, 5.5, 5.6,
5.8, 5.9, Appendix 1
October 2018 BCN-B62005-851-D Added functions
Availability of a temporary license before a license key is obtained
Changed functions
WAIT-ON/OFF and point arrival notification setting with the machine program generation tool
Added or modified parts
TERMS, 1.4, 2.1, 2.2. 6.2, Appendix 1, Appendix 2
This manual confers no industrial property 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.
137
WARRANTY Please check the following product warranty details before using this product.
(1) Software included in this product
Check "END-USER SOFTWARE LICENSE AGREEMENT" (BCN-EP2005-0001) included in this product.
(2) Hardware included as a system component of this system
Check the product warranty details of each hardware.
138
TRADEMARKS Ethernet is a registered trademark of Fuji Xerox Corporation in Japan.
Microsoft, Microsoft Access, Excel, SQL Server, Visual Basic, Visual C++, Visual Studio, Windows, Windows NT, Windows
Server, Windows Vista, and Windows XP are either registered trademarks or trademarks of Microsoft Corporation in the
United States and/or other countries.
Adobe, Acrobat, and Reader are either a registered trademark or a trademark of Adobe Systems Incorporated in the United
States and other countries.
The company names, system names and product names mentioned in this manual are either registered trademarks or
trademarks of their respective companies.
In some cases, trademark symbols such as '' or '' are not specified in this manual.
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