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Mitsubishi AP20-PAC002AA-ML Packaging Instruction Manual PDF
Summary of Content for Mitsubishi AP20-PAC002AA-ML Packaging Instruction Manual PDF
iQ Monozukuri PACKAGING
Instruction Manual (For MELSEC iQ-R)
- AP20-PAC002AA-MA - AP20-PAC002AA-MB - AP20-PAC002AA-MC - AP20-PAC002AA-MD - AP20-PAC002AA-ME - AP20-PAC002AA-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 user's manual of the CPU module to
use 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) Configure external safety circuits, such as an emergency stop circuit, protection circuit, and
protective interlock circuit for forward/reverse operation or upper/lower limit positioning.
(2) The programmable controller stops its operation upon detection of the following status, and the
output status of the system will be as shown below.
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) Also, 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 the user's manual of the CPU module to use.
(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.
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.
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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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.
(1) Machine home position return is controlled by two kinds of data: a home position return direction
and a home position return speed. Deceleration starts when the near-point dog signal turns on. If
an incorrect home position return direction is set, motion control may continue without
deceleration. To prevent machine damage caused by this, configure an interlock circuit external to
the programmable controller.
(2) When the module detects an error, the motion slows down and stops or the motion suddenly
stops, depending on the stop group setting in parameter. Set the parameter to meet the
specifications of a positioning control system. In addition, set the home position return parameter
and positioning data within the specified setting range.
(3) Outputs may remain on or off, or become undefined due to a failure of a component such as an
insulation element and transistor in an output circuit, where the module cannot detect any error. In
a system that the incorrect output could cause a serious accident, configure an external circuit for
monitoring output signals.
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 Multiple CPU
system 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.)
WARNING
[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.
Reset the CPU module after changing the parameters. Failure to do so may cause malfunction
because the previous parameter settings remain in 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.
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.
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.
Mitsubishi 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
MELSEC iQ-R Ethernet/CC-Link IE User's Manual (Startup). 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 can 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.
[Operating Precautions]
[Disposal Precautions]
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
value 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 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.
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.
CAUTION
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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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
REQUESTING AND REGISTERING A LICENSE KEY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
CHAPTER 1 OVERVIEW 17
1.1 Packaging Application Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.2 Application Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.3 Operations of Pillow Packaging Machines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.4 Functions of Each Packaging Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.5 Product Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Products in the iQ Monozukuri PACKAGING package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
1.6 Files in DVD-ROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
1.7 Applicable Hardware and Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
CHAPTER 2 SETTING AND PROCEDURE BEFORE OPERATION 29
2.1 Registering a License Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.2 Registering the FB Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2.3 Upgrading the Library Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.4 Certifying the License Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
CHAPTER 3 SYSTEM CONSTRUCTION 41
3.1 System Configuration Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
3.2 Control Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Function block configuration example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Configuration example of advanced synchronous control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Operation timing example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
CHAPTER 4 FB LIBRARY 47
4.1 Functions of the FB Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
List of FBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Version history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Restrictions and precautions common to all FBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
I/O signal processing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Combination of FBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Synchronous control parameters [Pr.XX] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Synchronous control data [Cd.XX] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Mark detection setting parameters [Pr.XX] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Mark detection control data [Cd.XX] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Positioning data [Da.XX] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.2 Details of the FB Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
STD_MakeRotaryCutterCam (Cam auto-generation for rotary cutter (front end reference)) . . . . . . . . . . . . . . . 57
STD_MakeRotaryCutterCam (Cam auto-generation for rotary cutter (central reference)) . . . . . . . . . . . . . . . . . 61
PAC_MakeBoxMotionCam (Cam auto-generation for box motion) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
STD_MakeFlyingShearCam (Cam auto-generation for flying shear) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
PAC_MakeLongDwellDCam (Cam auto-generation for D-cam) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
C O
N T
E N
T S
STD_ReadMarkDetectData (Mark detection data reading). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
PAC_CalcMarkCompensation (Automatic compensation calculation using mark detection) . . . . . . . . . . . . . . . 86
STD_CtrlAuxiliaryAxis (Auxiliary axis correction) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
PAC_CalcGap (Work gap adjustment compensation amount calculation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
PAC_CalcPhase (Work loading position adjustment compensation amount calculation) . . . . . . . . . . . . . . . . . . 99
4.3 List of Structures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
AXIS_REF (Axis setting) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
PAC_COMPENSATION_REF (Compensation control setting) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
CHAPTER 5 APPLICATION PROGRAM EXAMPLE 104
5.1 Box Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
System configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Control specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Program configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Program processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
5.2 Long Dwell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
System configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Control specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Program configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Program processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
5.3 Alignment Conveyor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
System configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Control specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Program configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Program processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Troubleshooting of the alignment conveyor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
5.4 Application Program Control FBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
ReadCamData (Cam data reading). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
CtrlOutputAxisSync (Output axis synchronization control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
SaveCompensationBuffer (Compensation amount buffer) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
5.5 Application Program Example: Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
CHAPTER 6 GOT APPLICATION SCREEN EXAMPLES 162
6.1 Screen Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Screen transition (All screens). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Screen transition (Common) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
6.2 Basic Screen Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
6.3 Description of Common Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Descriptions of character colors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Key window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Title bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Main menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Sub menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
GOT system alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Window screens common in all screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
6.4 When the GOT is Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
11
12
Start logo screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Operation to be performed when the GOT is started for the first time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
6.5 Base Screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Home screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Equipment menu Rotary cutter (Front end reference) screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Equipment menu Rotary cutter (Central reference) screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Equipment menu Box motion screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Equipment menu Long dwell screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Equipment menu Cam monitor screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Equipment menu Mark compensation screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Equipment menu Alignment conveyor screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Servo axis setting screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Production screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
6.6 Window Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
GOT system alarm reset window screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
6.7 List of Devices to be Used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
List of GOT devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
APPENDICES 198
Appendix 1 List of Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
FB library: Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
FB library: Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Application program control FB: Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Application program control FB: Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Appendix 2 Functional Restrictions by Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Appendix 3 Temporary License Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
INSTRUCTION INDEX 208
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .210
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .212
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 Simple Motion Module User's Manual
(Startup)
[IB-0300245]
Specifications, procedures before operation, system configuration, wiring,
and operation examples of the Simple Motion module
Print book
e-Manual
MELSEC iQ-R Simple Motion Module User's Manual
(Application)
[IB-0300247]
Functions, input/output signals, buffer memory addresses, parameter
settings, programming, and troubleshooting of the Simple Motion module
Print book
e-Manual
MELSEC iQ-R Simple Motion Module User's Manual
(Advanced Synchronous Control)
[IB-0300249]
Functions and programming for the synchronous control of the Simple
Motion module
Print book
e-Manual
MELSEC iQ-R Simple Motion Module User's Manual
(Network)
[IB-0300307]
Functions, parameter settings, troubleshooting, and buffer memory of CC-
Link IE Field Network
Print book
e-Manual
13
14
TERMS Unless otherwise specified, this manual uses the following terms.
Term Description
Alignment conveyor This function aligns unevenly placed workpieces to be packaged and transfers them to the supply conveyor.
Box motion This mechanism performs sealing and cutting with elliptical movements of two axes, the travel axis and seal axis.
A cutter seals and cuts the sheet or film conveyed by the conveyor into the specified size at the speed synchronized with
the sheet or film while moving downward and forward at the same time.
After completion of cutting, the cutter moves upward and returns to the waiting point.
Center seal To adhere a film or sheet on the back of an item to form a tube in packaging.
This processing is also called back sealing.
Cut pitch This word indicates the cutting interval of a sheet or film.
Cycle stop This function stops a series of operations to be performed by the machine at a specified position after a stop request is
issued.
Discharge conveyor This conveyor carries packaged items to outside the packaging machine.
Emergency stop This function immediately stops the operation of the machine.
End seal This mechanism adheres a sheet or film to seal items to be packaged.
FB The abbreviation for a function block
Film This word indicates a thin film in general.
For the packaging machine, this word indicates a film for packaging workpieces.
Finger This mechanism keeps the intervals of packaging target items or products constant on the conveyor.
Flying shear This mechanism performs traveling cutting synchronized with one axis in synchronization with the sheet.
A cutter travels (forward/backward) at a synchronous speed to cut the sheet or film conveyed by the conveyor into the
specified size.
Gap adjustment conveyor This conveyor aligns unevenly placed workpieces to be packaged.
GOT The abbreviation for Graphic Operation Terminal
Gusset This word indicates a margin.
A gusset bag has margins on both sides. A packaged product is rectangular in shape.
Inching This function operates the machine while the button is pressed.
Loading conveyor This conveyor loads workpieces to be packaged.
Long dwell This mechanism seals and cuts a sheet or film in the circular motion including straight motion (similar to the shape of the
letter "D").
The straight section is used to synchronize the conveyor speed, seal and cut the sheet or film.
The straight section ensures sufficient sealing and cutting time.
Mark compensation This function detects a registration mark and compensates the gap between the mark and reference point.
Meandering adjustment This function compensates the deformation of a sheet detected during sheet feeding.
No Gap No Seal This function stops end seal processing to protect the mechanism when the space between packaging target items is
too narrow to package.
No Product No Bag This function stops end seal processing and film feeding to prevent packaging mistakes when no packaging target items
are conveyed.
Potentiometer This device detects a rotation angle by applying a constant voltage between fixed terminals of a variable resistor and
measuring the voltage of a slide terminal.
Product This word indicates a packaged item.
Product length The size of an item to be packaged
Pulse generator A pulse generator is used for detecting the rotation speed of the feed roll.
This generator is also called rotary encoder.
Reel change This function automatically replaces the film or sheet.
Register mark This mark is used as the index for the interval of a sheet.
This mark is also called register mark or match mark.
Rotary cutter This mechanism seals and cuts a sheet or film with a cutter consisting of a circular blade and a fixed blade.
A rotating cutter seals and cuts the sheet or film conveyed by the conveyor into the specified size while adjusting the
speed.
The cutter rotates at the peripheral speed synchronized with the sheet or film.
Rotary cutter cam (central
reference)
This cam specifies the synchronization section in synchronous position adjustment based on the center of the sheet.
Rotary cutter cam (front end
reference)
This cam specifies the synchronization section in the synchronization starting point based on the front end of the sheet.
Rotary encoder Refer to "Pulse generator".
Seal axis This axis moves vertically to the line in the box motion.
Sealing To adhere a sheet or film by heat, pressure, or ultrasonic wave
Sensor A tension detector, proximity switch, or pulse generator
Supply conveyor This conveyor carries packaging target items to a packaging machine.
Temperature control This control regulates a heat source such as a heater at a set temperature.
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).
Tension control This control performs rewinding/unwinding with a constant tension regardless of winding diameter changes.
Travel axis This axis moves in parallel to the line in the box motion.
Work This word indicates a packaging target item.
Work length The size of an item to be packaged
Term Description
15
16
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 29 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 Packaging Application Package The "packaging application package" provides the FB library of the standard functions used for packaging control and
application examples of the library (programs and GOT screens).
Users can easily create applications by programming with the libraries required for the system used and utilizing screen
examples.
1.2 Application Examples This application package can be used for controlling product packaging machines and cutting machines for film, paper, and
boards as shown below.
Horizontal pillow packaging machine
Vertical pillow packaging machine
1 OVERVIEW 1.1 Packaging Application Package 17
18
Cross-cutting machine
Rotary cutter
Conveyor line
1 OVERVIEW 1.2 Application Examples
1
Horizontal pillow packaging machine This machine feeds a roll of packaging film, wraps workpieces such as food conveyed on conveyor belts with the film, and
adheres both ends of the film on the back of the workpieces lengthways to form a film tube. The workpieces arranged at
regular intervals in the tube are conveyed to the next step and this machine performs sealing and cutting widthways so that
they are packed one by one.
Vertical pillow packaging machine This machine feeds a roll of packaging film, and the conveyance roller axis feeds the film by the size of one bag and adheres
both ends of the film lengthways to form a bag. After a workpiece such as food is put into the bag, this machine performs
sealing and cutting the top of the bag. Packed workpieces are conveyed by the conveyor.
Film
Food
Heater
Center seal part
Cutter
Packaging film
Conveyor
Sweets or sauce
Seal axis
Conveyance roller axis
1 OVERVIEW 1.3 Operations of Pillow Packaging Machines 19
20
1.4 Functions of Each Packaging Machine The following describes functions of each packaging machine.
Rotary cutter This function performs sealing and cutting with a circular movement of one axis.
A cutter seals and cuts the sheet or film conveyed by the conveyor into the specified size while adjusting the speed. The cutter
rotates at the peripheral speed synchronized with the sheet or film.
Mechanism image
Operation outline
Cam pattern
Main axis
Rotary cutter axis
Sheet feeding
Rotary cutter axis
100%
Cam stroke ratio
t
1 OVERVIEW 1.4 Functions of Each Packaging Machine
1
A cuter seals and cuts the sheet or film conveyed by the conveyor into the specified size at the speed synchronized with the
sheet or film while moving downward and forward at the same time. After completion of cutting, the cutter moves upward and
returns to the waiting point.
Mechanism image
Operation outline
Cam pattern
Section Movement Remarks
1) Moving to the travel axis synchronization starting point
2) Moving to the seal axis machining point (close) Master axis - Travel axis synchronization section
3) Sealing and cutting operation
4) Moving to the seal axis waiting point (open)
5) Moving to the travel axis waiting point
1)
2) 3) 4)
5)
1) 2)
3)
4)
5)
Master axis
Travel axis
Seal axis
Seal axis
Travel axis
1) 2) 3) 5)4)
Cam stroke amount
Cam stroke amount
Cam axis length per cycle
Cam axis length per cycle
1 OVERVIEW 1.4 Functions of Each Packaging Machine 21
22
Flying shear This function performs traveling cutting with one axis in synchronization with the sheet.
A cutter travels (forward/backward) to cut the sheet or film conveyed by the conveyor into the specified size.
Mechanism image
Operation outline
Cam pattern
Main axis
Cutter axis
Cutter axis
Cycle endCycle starting point
Synchronization ending point
Synchronization starting point
Cam stroke amount
Cam axis length per cycle
1 OVERVIEW 1.4 Functions of Each Packaging Machine
1
A cutter seals and cuts the sheet or film conveyed by the conveyor into the specified size while adjusting the speed. The cutter
rotates at the peripheral speed synchronized with the sheet or film.
Mechanism image
Operation outline
Cam pattern
Section Movement Remarks
1) Moving to the synchronization starting point
2) Moving to the seal process point Main axis - D-cam axis synchronous section
3) Sealing and cutting operation
4) Sealing complete D-cam axis retraction
5) Moving to the D-cam axis waiting point
Main axis
D-cam axis
Synchronous section
1) 2) 3) 4) 5)
Synchronous section
Cam stroke amount
Cam axis length per cycle
1 OVERVIEW 1.4 Functions of Each Packaging Machine 23
24
Alignment conveyor This function aligns the workpieces randomly fed from the upstream conveyor at equal spaces and discharges them to the
loading conveyor.
Mechanism image
Mark compensation This function detects registration marks printed on a sheet for packaging workpieces and compensates the cutter axis or
sheet feeding axis.
No Gap No Seal This function protects the cutter mechanism by stopping the cutter axis when spaces between products (workpieces) are too
narrow to package them.
Gap adjustment conveyor
Work feeding conveyor
Sensor Work length
Supply conveyor Work loading conveyor
Finger (partition plate)
Work gap (length per cycle) Sensor
Sensor
Randomly fed workpieces
Registration mark
Mark sensor Rotary cutter
No space between workpieces The cutter stops.
Did not cut to protect the cutter.
The cutter resumes in synchronization with the conveyor.
1 OVERVIEW 1.4 Functions of Each Packaging Machine
1
conveyed by the conveyor.
No workpieces is conveyed. The cutter stops.
Film feeding stops.
The conveyor continues its operation (workpiece conveyance).
The cutter and film resume in synchronization with the conveyor.
1 OVERVIEW 1.4 Functions of Each Packaging Machine 25
26
1.5 Product Configuration This product is the PACKAGING package for MELSEC iQ-R series.
Select and prepare MELSEC iQ-R power supply modules, base units, PLC CPUs, I/Os, intelligent modules, servo amplifiers,
driving devices such as inverters, and GOTs appropriate to the system used.
Products in the iQ Monozukuri PACKAGING package
AP20-PAC002AA-M Check that all the products in the following table are included in a package.
*1 There are two iQ Monozukuri seals included for each license (one spare seal).
Name Quantity Remarks
Before Using the Product 1
END-USER SOFTWARE LICENSE AGREEMENT 1
License Certificate 1
PACKAGING package (DVD-ROM) 1 For details, refer to the following.
Page 27 Files in DVD-ROM
License Key Request Instructions 1
iQ Monozukuri seal Number of licenses 2*1
1 OVERVIEW 1.5 Product Configuration
1
*1 "*" indicates their versions.
Folder File name*1 File type (Extension) Description Required application
Package
root/
RD77MS
Manual English bcnb62005762eng* PDF file (.pdf) iQ Monozukuri PACKAGING Instruction
Manual (English)
Adobe Reader
bcnb62005762eng* e-Manual file (.ema) e-Manual Viewer
Japanese bcnb62005761* PDF file (.pdf) iQ Monozukuri PACKAGING Instruction
Manual (Japanese)
Adobe Reader
bcnb62005761* e-Manual file (.ema) e-Manual Viewer
Simplified
Chinese
bcnb62005763chn* PDF file (.pdf) iQ Monozukuri PACKAGING Instruction
Manual (Chinese (Simplified))
Adobe Reader
bcnb62005763chn* e-Manual file (.ema) e-Manual Viewer
Lib PAC_PackagingControl_
R_****
Application library (.mslm) FB library for packaging applications MELSOFT GX
Works3
Project AP20-PAC002AA-R16-
77MS8_LongDwell_****
GX Works3 project file
(.gx3)
Application program examples using
the long dwell
MELSOFT GX
Works3
AP20-PAC002AA-R16-
77MS16_BoxMotion_****
GX Works3 project file
(.gx3)
Program examples using the box
motion
MELSOFT GX
Works3
AP20-PAC002AA-R16-
77MS16_AlignmentConv
eyor_****
GX Works3 project file
(.gx3)
Program examples for work alignment
on the conveyor
MELSOFT GX
Works3
AP20-PAC002AA-
GT27nnV_****
GT Designer3 project file
(.GTX)
Screen examples for packaging
applications
MELSOFT GT
Works3
LicRegSupport LicRegSupport Tool (.xlsm) License key registration support tool Microsoft Excel
AP20-
PAC002AA_R16_LicWrite
GX Works3 project file
(.gx3)
Programs for registering a license key
to the CPU module
MELSOFT GX
Works3
AP20-PAC002AA Text file (.txt) Version information
Package
root/
RD77GF
Manual English bcnb62005762eng* PDF file (.pdf) iQ Monozukuri PACKAGING Instruction
Manual (English)
Adobe Reader
bcnb62005762eng* e-Manual file (.ema) e-Manual Viewer
Japanese bcnb62005761* PDF file (.pdf) iQ Monozukuri PACKAGING Instruction
Manual (Japanese)
Adobe Reader
bcnb62005761* e-Manual file (.ema) e-Manual Viewer
Simplified
Chinese
bcnb62005763chn* PDF file (.pdf) iQ Monozukuri PACKAGING Instruction
Manual (Chinese (Simplified))
Adobe Reader
bcnb62005763chn* e-Manual file (.ema) e-Manual Viewer
Lib PAC_PackagingControl_
R_****
Application library (.mslm) FB library for packaging applications MELSOFT GX
Works3
Project AP20-PAC002AA-R16-
77GF8_LongDwell_****
GX Works3 project file
(.gx3)
Application program examples using
the long dwell
MELSOFT GX
Works3
AP20-PAC002AA-R16-
77GF16_BoxMotion_****
GX Works3 project file
(.gx3)
Program examples using the box
motion
MELSOFT GX
Works3
AP20-PAC002AA-R16-
77GF16_AlignmentConve
yor_****
GX Works3 project file
(.gx3)
Program examples for work alignment
on the conveyor
MELSOFT GX
Works3
AP20-PAC002AA-
GT27nnV_****
GT Designer3 project file
(.GTX)
Screen examples for packaging
applications
MELSOFT GT
Works3
LicRegSupport LicRegSupport Tool (.xlsm) License key registration support tool Microsoft Excel
AP20-
PAC002AA_R16_LicWrite
GX Works3 project file
(.gx3)
Programs for registering a license key
to the CPU module
MELSOFT GX
Works3
AP20-PAC002AA Text file (.txt) Version information
1 OVERVIEW 1.6 Files in DVD-ROM 27
28
1.7 Applicable Hardware and Software The following table lists applicable models and versions of the engineering tool.
*1 The projects included in this product were created in the indicated version.
Item Model
PLC CPU module R**CPU, R**ENCPU
Use the module with a firmware version of "25" or later.
Simple Motion module RD77MS, RD77GF
Engineering environment (controller) MELSOFT GX Works3 Version 1.057K or later*1
Engineering environment (GOT) MELSOFT GT Works3 Version 1.220E or later*1
1 OVERVIEW 1.7 Applicable Hardware and Software
2
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 204 Temporary License Registration
Items to be prepared
Creating and executing the program 1. Opening the license key registration project (AP20-PAC002AA_R16_LicWrite.gx3)
Copy the license key registration project (AP20-PAC002AA_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. 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. Enable the macro if it is disabled.
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-PAC002AA
_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)
PAC_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 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 29
30
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
2
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 31
32
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 (PAC_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 (PAC_LicenseWrite) in the scan program. Normal completion
(o_bOK) or Error completion (o_bError) becomes TRUE. At the error completion, refer to Troubleshooting. (Page 33
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
2
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 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 "PAC_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 "PAC_LicenseWrite".
Using "FormatLicense" deletes other registered license keys. Register them
again.
After "PAC_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 33
34
2.2 Registering the FB Library The following describes the procedure for registering the FB library in the list. For the library file name and details of the
library, refer to "Page 47 FB LIBRARY". 1. Copy the library file (*.mslm) in the supplied
DVD to anywhere in a personal computer.
2. Start GX Works3, select "Project" "New",
and click the [Element Selection] icon.
3. The Element Selection window appears.
Click the Library tag and select the library.
4. Click the [Register to Library List] icon.
5. Click [Register Library].
Click.
Click.
Click.
Click.
Click.
2 SETTING AND PROCEDURE BEFORE OPERATION 2.2 Registering the FB Library
2
6. The dialog box shown on the left appears.
Click the [OK] button.
7. The "Register Library to Library List"
window appears. Select the library file
(*.mslm) copied in the personal computer
and click the [Open] button.
8. Imported FBs are displayed in the Element
Selection window.
9. Select the FB to be used from the Element
Selection window, and drag and drop it into
the work window. The FB is added in the
Navigation window.
10.Open "Property".
Click.
Drag and drop an FB.
The FB is added.
Click.
Right-click.
2 SETTING AND PROCEDURE BEFORE OPERATION 2.2 Registering the FB Library 35
36
When the subroutine type is set as the FB type, the size of programs can be reduced but the processing
speed becomes slow. Fixed cycle execution is recommended for some FBs. Check the fixed cycle interval
setting of the inter-module synchronization.
11. Select an FB type.
2 SETTING AND PROCEDURE BEFORE OPERATION 2.2 Registering the FB Library
2
2.3 Upgrading the Library Version The procedure for updating the library elements differs depending on the type of the programming language.
For details on the procedure for updating the library elements, refer to the following.
GX Works3 Operating Manual
If the elements of a library imported to a project cannot be updated, delete the library elements (FBs and structures) in the
Navigation window, and then drag and drop FBs of a new version into the Navigation window. Unless the old library elements
in the Navigation window are deleted, the update cannot be performed.
Replacement when updating a project of version 1.004E or earlier to 1.005F or later
Library change Replacement method
Change the data type of the variables AxisNo. and StartIO in the AXIS_REF
structure to word [unsigned].
Change the variable data type of I/O No. and axis No. to word [unsigned].
Correct the data type error in the type conversion instruction so that the data
type matches.
2 SETTING AND PROCEDURE BEFORE OPERATION 2.3 Upgrading the Library Version 37
38
2.4 Certifying the License Key To use the FB library supplied with this application package, certify the registered license key.
For the license key certification, arrange the function block in the scan program of the user program.
Placement of the license certification FB (PAC_Activation) in the user program The license certification FB (PAC_Activation) must be executed before the library FBs.
Place it at the front of the user-created GX Works3 project scan program.
If there are multiple scan programs, place it in the program with the earliest execution order.
The license certification FB does not operate correctly in non-scan programs.
The license certification FB is executed by simply placing it in the program.
How to check the program with the earliest execution order
Placement in the license certification FB scan program
Item Description
License certification FB
(PAC_Activation)
This FB certifies the license.
It is supplied with the FB library.
Set "FB type" to "Macro type" before using this function block.
Scan program with the earliest execution order
2 SETTING AND PROCEDURE BEFORE OPERATION 2.4 Certifying the License Key
2
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 this package program example, "access from external devices" is enabled in the global label. After writing the program
example to the CPU module, reset the memory when disabling "access from external devices". If the memory has been
reset, registration information of all registered license keys will be lost. Register the licenses 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 (PAC_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 key certification and corrective actions.
Error details Cause Corrective action
"o_bActivateOK" of "PAC_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 29 Registering a License Key)
The expiration date of the temporary
license (two months) passed.
Get and register the license key. (Page 29 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 38 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 2.4 Certifying the License Key 39
40
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 2.4 Certifying the License Key
3
3 SYSTEM CONSTRUCTION
3.1 System Configuration Example The following figure shows the system configuration example of the horizontal pillow packaging machine with this application.
System configuration example when using RD77MS
PLC CPU Simple Motion module
Power supply module GOT
Application screens FB settings Cam monitor Servo axis setting Production screen
Application program, packaging machine FB group Box motion cam
generation Mark compensation Conveyor control
SSCNET/H
Servo amplifier
Servo amplifier
Servo amplifier
Servo amplifier
Servo amplifier
Servo amplifier
External input signal (DI)
Product loading sensor
Travel axis
Seal axis
Mark sensor
Box motion
Film feeding axis Finger sensor
Loading conveyor axis
Horizontal pillow packaging machine
Adjustment conveyor sensor
Adjustment conveyor axis
Supply conveyor sensor
Supply conveyor axis
Alignment conveyor
3 SYSTEM CONSTRUCTION 3.1 System Configuration Example 41
42
System configuration example when using RD77GF
CC-Link IE Field
Supply conveyor axis
Power supply module
PLC CPU Simple Motion module
GOT
Remote I/O module
Application screens FB settings Cam monitor Servo axis setting Production screen
Application program, packaging machine FB group
Box motion cam generation
Mark compensation Conveyor control
Servo amplifier
Servo amplifier
Servo amplifier
Servo amplifier
Servo amplifier
Servo amplifier
Travel axis
Seal axis
Mark sensor
Product loading sensor
Finger sensor
Film feeding axis Loading conveyor axis
Horizontal pillow packaging machine
Box motion
Adjustment conveyor sensor
Supply conveyor sensor
Adjustment conveyor axis
Alignment conveyor
3 SYSTEM CONSTRUCTION 3.1 System Configuration Example
3
3.2 Control Overview
Function block configuration example The following shows the FB configuration examples for controlling the horizontal pillow packaging machine with this library.
They can be used for rotary cutter and long dwell by replacing the cam generation FB in accordance with the mechanism of
equipment.
Box motion control (travel axis, seal axis) Cam patterns for two axis (one for the travel axis, the other one for the seal axis) are generated by inputting production
settings such as the production speed and product length in the box motion cam generation FB.
Mark compensation control A difference between the command value and the mark pitch calculated from the current value of the film axis at mark
detection is output as a compensation value.
PAC_MakeBoxMotionCam
Production setting (Cam parameter)
CtrlOutputAxisSync
(Clutch and cam output)
CtrlOutputAxisSync
Generates cam data from the production speed and
product length.
Cam data for travel axis
Cam data for seal axis
Synchronous control output processing of travel axis
(Clutch and cam output)
Synchronous control output processing of seal axis
Cam auto-generation for box motion FB
Synchronization command
Synchronization command
Output axis synchronized control FB
Output axis synchronized control FB
Axis settings, waiting point settings
Axis settings, waiting point settings
PAC_CalcMarkCompensationSTD_ReadMarkDetectData STD_CtrlAuxiliaryAxis
(Virtual servo positioning)
Current value data read at film register mark detection
Measures the distance between marks and calculates the
compensation amount of the film axis
Auxiliary axis control of the film axis with compensation amount
Mark detection value
Automatic compensation calculation using mark
detection FBMark sensor
Correction value
Auxiliary axis correction FB
Mark detection data reading FB
3 SYSTEM CONSTRUCTION 3.2 Control Overview 43
44
Alignment conveyor control
Gap adjustment control The work gap is calculated from the workpiece position detected on the gap adjustment conveyor to output the compensation
amount so that the randomly fed workpieces from the upstream conveyor is equally spaced (between fingers) on the
downstream conveyor.
Loading position adjustment control The deviation is calculated between the position of workpiece detected on the supply conveyor and the finger position of the
loading conveyor to output the compensation amount so that each workpiece aligned (between fingers) on the upstream
conveyor is placed between fingers of the loading conveyor.
PAC_CalcGapSTD_ReadMarkDetectData STD_CtrlAuxiliaryAxis
(Virtual servo positioning)
Current value data read at workpiece detection
Calculates the compensation amount to adjust the gap
between workpieces.
Auxiliary axis control of the gap adjustment conveyor with
compensation amount
Mark detection value
Work gap adjustment compensation amount
calculation FBMark sensor
Correction value
Auxiliary axis correction FB
Mark detection data reading FB
PAC_CalcPhaseSTD_ReadMarkDetectData STD_CtrlAuxiliaryAxis
(Virtual servo positioning)
Current value data read at workpiece detection
Calculate the compensation amount to place each
workpiece between fingers
Auxiliary axis control of the supply conveyor with compensation amount
Mark detection value
Work loading position adjustment compensation
amount calculation FBMark sensor
Correction value
Auxiliary axis correction FB
Mark detection data reading FB
3 SYSTEM CONSTRUCTION 3.2 Control Overview
3
Configuration example of advanced synchronous control The following shows a configuration example of advanced synchronous control with the Simple Motion module for controlling
the horizontal pillow packaging machine with the library provided with this application package.
Horizontal pillow packaging Each axis synchronous control setting
Conveyor axis Film feeding axis
Synchronous control operation image
Travel axis Seal axis
Alignment conveyor Each axis synchronous control setting
Supply conveyor axis
Adjustment conveyor axis
Loading conveyor axis
Main axis (Virtual servo)
Mark compensation (Virtual servo)
Film feeding axis
Travel axis Seal axis
Horizontal pillow packaging Synchronous control
Box motion cam
Starts at the speed of "product length production quantity".
Phase adjustment (Virtual servo)
Supply conveyor (Servo input axis)
Supply conveyor axis
Adjustment conveyor axis
Gap adjustment (Virtual servo)
Alignment conveyor Synchronous control
Loading conveyor (Servo input axis)
* The above image is for the combined system.
3 SYSTEM CONSTRUCTION 3.2 Control Overview 45
46
Operation timing example The following figure shows an operation timing example for controlling the horizontal pillow packaging machine with the library
provided with this application package.
[Setting example]
1 cycle (product length): 100 mm
Film feeding axis waiting point: 50 mm
Travel axis waiting point: 50 mm
Seal axis waiting point: 50 mm
*1 When workpieces are not conveyed or spaces between workpieces are too wide, this function stops the travel axis, seal axis, and film feeding axis to prevent packaging mistakes.
*2 When spaces between workpieces are too narrow, this function stops the travel axis and seal axis to prevent sealing and cutting on workpieces.
Main axis
500
100
50 Conveyor axis
Film feeding axis
100
Travel axis (Box motion)
Seal axis (Box motion)
No Product No Bag*1 No Gap No Seal*2
Start of main axis
Mark compensation
1 cycle section
0
0
0
0
0
0
[mm]
[mm]
[mm]
t[s]
t[s]
t[s]
t[s]
t[s]
t[s]
[mm]
[mm]
Film feeding axis synchronization command
Travel axis/seal axis synchronization command
3 SYSTEM CONSTRUCTION 3.2 Control Overview
4
4 FB LIBRARY
This FB library is designed for packaging using the Simple Motion module.
4.1 Functions of the FB Library
List of FBs The following table lists the FBs in the FB library (PAC_PackagingControl_R).
: FB required for control
No. Item FB name Description Cutting and sealing control Mark compen sation
Alignment conveyor Refer enceRotary
cutter Box motion
Flying shear
Long dwell
Gap adjust ment
Loading position adjustment
01 Cam auto-
generation
STD_MakeRotaryCutter
Cam+RD77MS
Cam auto-
generation for
rotary cutter
Page
57
STD_MakeRotaryCutter
Cam+RD77GF
Page
61
PAC_MakeBoxMotionC
am
Cam auto-
generation for
box motion
Page
65
STD_MakeFlyingShear
Cam
Cam auto-
generation for
flying shear
Page
71
PAC_MakeLongDwellD
Cam
Cam auto-
generation for
D-cam
Page
77
02 Mark
compensation
STD_ReadMarkDetectD
ata
Mark detection
data reading
Page
82
PAC_CalcMarkCompen
sation
Auto deviation
compensation
calculation with
mark detection
Page
86
STD_CtrlAuxiliaryAxis Auxiliary axis
correction
Page
90
03 Alignment
conveyor
PAC_CalcGap Work gap
adjustment
compensation
amount
calculation
Page
94
PAC_CalcPhase Work loading
position
adjustment
compensation
amount
calculation
Page
99
99 Activation PAC_Activation License
activation
Page
38
4 FB LIBRARY 4.1 Functions of the FB Library 47
48
Version history The following table shows the version history of the FB library (PAC_PackagingControl_R).
Restrictions and precautions common to all FBs The number of FB steps in a program varies depending on the CPU model to be used and I/O definitions.
These FBs use the index register Z9. When using interrupt programs, do not use this index register in the interrupt
programs.
When combining macro and subroutine types in the program, use the R**CPU or R**ENCPU with a firmware version of
"26" or later.
The restrictions and precautions specific to each FB are separately described. Refer to the following.
Page 57 Details of the FB Library
Version Description
1.000A First edition
1.001B STD_MakeRotaryCutterCam+RD77GF (Cam auto-generation for rotary cutter (central reference)) is added.
PAC_MakeLongDwellDCam (Cam auto-generation for D-cam) is added.
The subroutine type is supported for the compile method of FB library.
PAC_Activation (License activation) is added.
1.002C PAC_CalcGap (Work gap adjustment compensation amount calculation) is added.
PAC_CalcPhase (Work loading position adjustment compensation amount calculation) is added.
The input label specification of STD_CtrlAuxiliaryAxis (Auxiliary axis correction) is changed.
1.003D PAC_Activation (License activation) has supported the temporary license.
1.004E The following FBs are modified.
PAC_CalcMarkCompensation (Automatic compensation calculation using mark detection)
1.005F The data type of AXIS_REF structure in the following FBs have been changed.
STD_MakeRotaryCutterCam+RD77MS
STD_MakeRotaryCutterCam+RD77GF
PAC_MakeBoxMotionCam
STD_MakeFlyingShearCam
PAC_MakeLongDwellDCam
STD_ReadMarkDetectData
PAC_CalcMarkCompensation
STD_CtrlAuxiliaryAxis
PAC_CalcGap
PAC_CalcPhase
4 FB LIBRARY 4.1 Functions of the FB Library
4
I/O signal processing The timing on when each I/O signal turns on/off may differ from the following timing depending on the FB used. For details,
refer to "Page 57 Details of the FB Library".
*1 When a value outside the range is input during normal operation, an error code is output but the previous operation continues. After that, when a normal value is input, the error code is cleared.
Status Pulsed execution (multiple scan execution type) Real-time execution
Normal
completion
Hold i_bEN (Execution command) on until o_bOK (Normal completion)
turns on. When i_bEN (Execution command) is turned off before
o_bOK (Normal completion) or o_bErr (Error completion) turns on, stop
the FB processing and end it with o_bOK (Normal completion) or
o_bErr (Error completion) that remains off.
Error
completion
A value
input to the
FB is
outside the
range.
i_bEN (Execution command)
o_bENO (Execution status)
i_*** (Input value)
o_bOK (Normal completion)
o_*** (Output value)
o_bErr (Error completion)
o_uErrorID (Error code)
0
0 Normal value
0
Output value
i_bEN (Execution command)
o_bENO (Execution status)
o_bOK (Normal completion)
o_*** (Output value)
o_bErr (Error completion)
o_uErrorID (Error code)
0 Output value
0 Normal value
0
0
i_*** (Input value)
i_bEN (Execution command)
o_bENO (Execution status)
i_*** (Input value)
Error cause
o_bOK (Normal completion)
o_*** (Output value)
o_bErr (Error completion)
o_uErrorID (Error code) 0
0
0 Normal value
0
[Md.31] Status: b13, etc.
Error code
i_bEN (Execution command)
o_bENO (Execution status)
i_*** (Input value)
Error cause
o_bOK (Normal completion)
o_*** (Output value)
o_bErr (Error completion)
o_uErrorID (Error code)
0
Error code
0
0
0 Normal value
0
[Md.31] Status: b13, etc.
Output value
i_bEN (Execution command)
o_bENO (Execution status)
i_*** (Input value)
o_bOK (Normal completion)
o_bErr (Error completion)
o_uErrorID (Error code) 0 Error code0
Outside the range
0 *1
Error code
Normal value
Normal value
Outside the range
4 FB LIBRARY 4.1 Functions of the FB Library 49
50
Combination of FBs The following shows combinations of FBs required for each mechanism control of the packaging machine.
For details of each FB and label, refer to "Page 57 Details of the FB Library".
For connection examples and operation timing of FBs, refer to "Page 104 APPLICATION PROGRAM EXAMPLE".
Mechanism Combination of FBs
Rotary cutter The cam auto-generation FB for rotary cutter generates cam data.
The generated cam data is used for starting the synchronous control in the output axis synchronous control FB to drive the cutter axis.*1
Box motion The cam auto-generation for box motion FB for box motion generates cam data of the travel axis and seal axis.
The generated cam data is used for starting the synchronous control in the output axis synchronous control FB to drive the travel axis and
seal axis.*1
Flying shear The cam auto-generation FB for flying shear generates cam data.
The generated cam data is used for starting the synchronous control in the output axis synchronous control FB to drive the flying shear
axis.*1
Output axis synchronized control FB (Cutter axis) Cam auto-generation for rotary cutter FB
B: i_bEN o_bENO :B
E: i_eSheetLength o_bOK :B
E: i_eSheetSyncWidth o_bError :B
E: i_eSyncAxisLength o_uErrorID :UW
E: i_eSyncStartPoint
E: i_eSyncSectionAccRatio
UW: i_uCamResolution
UW: io_uCamNo io_uCamNo :UW
DUT: io_stOutputAxis io_stOutputAxis :DUT
STD_MakeRotaryCutterCam+RD77MS
B: i_bEN
B: i_bSyncCommand
UW: i_uCamNo
E: i_eWaitingPos
E: i_eClutchOffSmoothingAmount
E: i_eClutchOnSmoothingAmount
E: i_eStrokeAmount
E: i_eLengthPerCycle
CtrlOutputAxisSync
DUT: i_stOutputAxis
o_bENO :B
o_bOK :B
o_bError :B
o_uErrorID :UW
o_bInSync :B
Cam auto-generation for box motion FB
B: i_bEN
UW: i_uProductPerMinute
E: i_eProductLength
E: i_eTravelAxisMaxLength
E: i_eSyncStartPoint
E: i_eSyncSectionAccRatio
E: i_eSealAxisClosedLength
UD: i_udSealAxisMoveTime
UD: i_udSealingTime
D: i_dSealStartTimingOffset
D: i_dSealEndTimingOffset
UW: i_uCamResolution
UW: io_uTravelCamNo
UW: io_uSealCamNo
DUT: io_stTravelAxis
DUT: io_stSealAxis
PAC_MakeBoxMotionCam o_bENO :B
o_bOK :B
o_bError :B
o_uErrorID :UW
o_eMainInputAxisSpeed :E
o_eTravelAxisMaxDistance :E
o_eMainInputAxisSyncStartPos :E
o_eMainInputAxisSyncEndPos :E
o_eMainInputAxisSealStartPos :E
o_eMainInputAxisSealEndPos :E
io_uTravelCamNo :UW
io_uSealCamNo :UW
io_stTravelAxis :DUT
io_stSealAxis :DUT
Output axis synchronous control FB (Seal axis)
Output axis synchronous control FB (Travel axis)
o_eMainInputAxisSealDecelEndPos :E
o_eMainInputAxisSealAccStartPos :E
B: i_bEN
B: i_bSyncCommand
UW: i_uCamNo
E: i_eWaitingPos
DUT: i_stOutputAxis
E: i_eClutchOffSmoothingAmount
E: i_eClutchOnSmoothingAmount
E: i_eStrokeAmount
E: i_eLengthPerCycle
o_bENO :B
o_bOK :B
o_bError :B
o_uErrorID :UW
o_bInSync :B
CtrlOutputAxisSync
B: i_bEN
B: i_bSyncCommand
UW: i_uCamNo
E: i_eWaitingPos
DUT: i_stOutputAxis
E: i_eClutchOffSmoothingAmount
E: i_eClutchOnSmoothingAmount
E: i_eStrokeAmount
E: i_eLengthPerCycle
o_bENO :B
o_bOK :B
o_bError :B
o_uErrorID :UW
o_bInSync :B
CtrlOutputAxisSync
Cam auto-generation FB for flying shear
B:i_bEN o_bENO:B
E:i_eMainInputAxisStartPos o_bOK:B
E:i_eMainInputAxisSyncStartPos o_bError:B
E:i_eMainInputAxisCycleEndPos o_uErrorID :UW
E:i_eOutputAxisSyncStartPos o_eMainInputAxisSyncStartPos:E
E:i_eOutputAxisSyncEndPos o_eMainInputAxisSyncEndPos:E
E:i_eOutputAxisMaxLength o_eMainInputAxisCycleDonePos:E
E:i_eSyncSectionAccRatio
UW:i_uCamResolution
UW:io_uCamNo io_uCamNo:UW
DUT:io_stOutputAxis io_stOutputAxis:DUT
STD_MakeFlyingShearCam
B: i_bEN
B: i_bSyncCommand
UW: i_uCamNo
E: i_eWaitingPos
E: i_eClutchOffSmoothingAmount
E: i_eClutchOnSmoothingAmount
E: i_eStrokeAmount
E: i_eLengthPerCycle
CtrlOutputAxisSync
DUT: i_stOutputAxis
o_bENO :B
o_bOK :B
o_bError :B
o_uErrorID :UW
o_bInSync :B
Output axis synchronous control FB (Flying shear axis)
4 FB LIBRARY 4.1 Functions of the FB Library
4
*1 For details of the output axis synchronous control FB, refer to the following. Page 104 APPLICATION PROGRAM EXAMPLE
*2 For details of the compensation amount buffer FB, refer to the following. Page 104 APPLICATION PROGRAM EXAMPLE
Long dwell D-
cam
The cam auto-generation for D-cam FB generates cam data.
The generated cam data is used for starting the synchronous control in the output axis synchronous control FB to drive the D-cam axis.*1
Mark
compensation
The mark detection data read FB reads mark detection data from the Simple Motion module.
The auto deviation compensation calculation FB with mark detection automatically calculates the compensation amount from the read mark
detection data.
The calculated compensation amount is used to drive the auxiliary axis corresponding to the output axis in the auxiliary axis correction FB
and compensate the auxiliary axis.
Alignment
conveyor
The work gap adjustment compensation amount calculation FB is used to align unevenly fed workpieces at equal spaces.
The mark detection data reading FB reads mark detection data from the Simple Motion module.
The work gap adjustment compensation amount calculation FB calculates the compensation amount by using the read mark detection data.
The compensation amount buffer FB performs buffering of the calculated compensation amount and compensation starting position.*2
With the buffered compensation amount, the auxiliary axis correction FB starts the auxiliary axis corresponding to the output axis and
performs compensation.
When a phase adjustment with the loading conveyor is required after the work gap adjustment, the work loading position adjustment
compensation amount calculation FB is used.
The mark detection data reading FB reads mark detection data from the Simple Motion module.
The work loading position adjustment compensation amount calculation FB calculates the compensation amount by using the read mark
detection data.
The compensation amount and compensation starting position calculated by the compensation amount buffer FB are buffered.*2
With the buffered compensation amount, the auxiliary axis correction FB starts the auxiliary axis corresponding to the output axis and
performs compensation.
Mechanism Combination of FBs
Output axis synchronized control FB (D-cam axis)
Cam auto-generation for D-cam FB
B: i_bEN
B: i_bSyncCommand
UW: i_uCamNo
E: i_eWaitingPos
E: i_eClutchOffSmoothingAmount
E: i_eClutchOnSmoothingAmount
E: i_eStrokeAmount
E: i_eLengthPerCycle
CtrlOutputAxisSync
DUT: i_stOutputAxis
o_bENO :B
o_bOK :B
o_bError :B
o_uErrorID :UW
o_bInSync :B
B: i_bEN o_bENO :B
E: i_eProductLength o_bOK :B
E: i_eSyncAngle o_bError :B
E: i_eSealLength o_uErrorID :UW
E: i_eEccentricLength o_eSyncStartPos :E
o_eSyncEndPos :E
E: i_eSealSectionAccRatio o_eSealStartPos :E
E: i_eInOutSectionAccRatio o_eSealEndPos :E
UW: i_uCamResolution
UW: io_uCamNo io_uCamNo :UW
DUT: io_stOutputAxis io_stOutputAxis :DUT
PAC_MakeLongDwellDCam
B: i_bEN
UW: i_uMarkDetectSettingNo
D: i_dMarkDetectData
DUT: io_stCompensationSetting
UW: i_uMarkDetectCount
UW: i_uMissedMarkLimit
DUT: io_stOutputAxis
o_bENO :B
o_bOK :B
o_bError :B
o_uErrorID :UW
o_dCompensationAmount :D
o_uMissedMarkAmount :UW
io_stCompensationSetting :DUT
io_stOutputAxis :DUT
PAC_CalcMarkCompensation
B: i_bEN
E: i_eCompensationStartPos
D: i_dCompensationAmount
DUT: i_stOutputAxis
DUT: i_stCompensationSetting
DUT: i_stAuxiliaryAxis
STD_CtrlAuxiliaryAxis
B: i_bEN
UW: i_uLatchDataRangeChangeRequest
D: i_dLatchDataRangeUpperLimit
D: i_dLatchDataRangeLowerLimit
DUT: io_stOutputAxis
o_bENO :B
o_bOK :B
o_bError :B
o_uErrorID :UW
o_dMarkDetectData :D
UW: io_uMarkDetectSettingNo io_uMarkDetectSettingNo :UW
o_uMarkDetectCount :UW
io_stOutputAxis :DUT
STD_ReadMarkDetectData
o_bENO :B
o_bOK :B
o_bError :B
o_uErrorID :UW
o_bCompensationComplete :B
Mark detection data reading FB
Auxiliary axis correction FB
Automatic compensation calculation using mark detection FB
B: i_bEN
E: i_eCompensationStartPos
D: i_dCompensationAmount
DUT: i_stOutputAxis
DUT: i_stCompensationSetting
DUT: i_stAuxiliaryAxis
STD_CtrlAuxiliaryAxis
B: i_bEN
UW: i_uLatchDataRangeChangeRequest
D: i_dLatchDataRangeUpperLimit
D: i_dLatchDataRangeLowerLimit
DUT: io_stOutputAxis
o_bENO :B
o_bOK :B
o_bError :B
o_uErrorID :UW
o_dMarkDetectData :D
UW: io_uMarkDetectSettingNo io_uMarkDetectSettingNo :UW
o_uMarkDetectCount :UW
io_stOutputAxis :DUT
STD_ReadMarkDetectData
o_bENO :B
o_bOK :B
o_bError :B
o_uErrorID :UW
o_bCompensationComplete :B
Mark detection data reading FB Mark gap adjustment compensation amount calculation FB
Compensation amount buffer FB
Auxiliary axis correction FBB: i_bEN
D: i_dCompensationAmount
D: i_dCompensationStartPosition
UW: i_uMarkDetectCount
DUT: io_stOutputAxis
o_bENO :B
o_bBusy :B
o_bError :B
o_uErrorID :B
o_dCompensationAmount :D
io_stOutputAxis :DUT
PAC_CalcGap
SaveCompensationBuffer
B: i_bEN
E: i_eWorkLength
E: i_eSensorPosition
D: i_dMarkDetectData
UW: i_uMarkDetectCount
UW: io_uMarkDetectSettingNo
DUT: io_stOutputAxis
DUT: io_stCompensationSetting
o_bENO :B
o_bOK :B
o_bError :B
o_uErrorID :UW
o_dCompensationAmount :D
o_dCompensationStartPosition :D
io_uMarkDetectSettingNo :UW
io_stOutputAxis :DUT
io_stCompensationSetting :DUT
B: i_bEN
E: i_eCompensationStartPos
D: i_dCompensationAmount
DUT: i_stOutputAxis
DUT: i_stCompensationSetting
DUT: i_stAuxiliaryAxis
STD_CtrlAuxiliaryAxis
B: i_bEN
UW: i_uLatchDataRangeChangeRequest
D: i_dLatchDataRangeUpperLimit
D: i_dLatchDataRangeLowerLimit
DUT: io_stOutputAxis
o_bENO :B
o_bOK :B
o_bError :B
o_uErrorID :UW
o_dMarkDetectData :D
UW: io_uMarkDetectSettingNo io_uMarkDetectSettingNo :UW
o_uMarkDetectCount :UW
io_stOutputAxis :DUT
STD_ReadMarkDetectData
o_bENO :B
o_bOK :B
o_bError :B
o_uErrorID :UW
o_bCompensationComplete :B
Mark detection data reading FB Work loading position adjustment
compensation amount calculation FB
Compensation amount buffer FB
Auxiliary axis correction FBB: i_bEN
D: i_dCompensationAmount
D: i_dCompensationStartPosition
UW: i_uMarkDetectCount
DUT: io_stOutputAxis
o_bENO :B
o_bBusy :B
o_bError :B
o_uErrorID :B
o_dCompensationAmount :D
io_stOutputAxis :DUT
PAC_CalcPhase
SaveCompensationBuffer
B: i_bEN
E: i_eWorkLength
E: i_eSensorPosition
E: i_eWorkLoadPosition
D: i_dMarkDetectData
UW: i_uMarkDetectCount
UW: io_uMarkDetectSettingNo
DUT: io_stOutputAxis
DUT: io_stCompensationSetting
o_bENO :B
o_bOK :B
o_bError :B
o_uErrorID :UW
o_dCompensationAmount :D
o_dCompensationStartPosition :D
io_uMarkDetectSettingNo :UW
io_stOutputAxis :DUT
io_stCompensationSetting :DUT
4 FB LIBRARY 4.1 Functions of the FB Library 51
52
Synchronous control parameters [Pr.XX] The following table lists the synchronous control parameters required for the operation of the FBs.
Set servo input axis parameters ([Pr.300] to [Pr.304]), synchronous encoder axis parameters ([Pr.320] to [Pr.329]), and
synchronous parameters ([Pr.438] to [Pr.468]) with the Simple Motion setting tool or user programs as needed.
However, do not use user programs to set or change the parameters ([Pr.400] to [Pr.437]) to be set by FBs, input labels, or
structures.
For details of synchronous control parameters, refer to the following.
MELSEC iQ-R Simple Motion Module User's Manual (Advanced Synchronous Control)
: Set with FBs (setting value)
: Set with labels (label name)
: Set by users as needed
Parameter type Parameter No. Name Setting method STD_CtrlAuxiliaryAxis (Auxiliary axis correction)
Servo input axis parameter Pr.300 Servo input axis type
Fetch cycle: At power supply ON
Synchronous encoder axis
parameter
Pr.320 Synchronous encoder axis type
Fetch cycle: At power supply ON
Pr.321 Synchronous encoder axis unit setting
Fetch cycle: At power supply ON
Pr.324 Synchronous encoder axis length per cycle
Fetch cycle: At power supply ON
Synchronous
parameter
Main axis Pr.400 Main input axis No.
Fetch cycle: At start of synchronous control
Pr.402 Composite main shaft gear
Fetch cycle: Operation cycle
Pr.403 Main shaft gear: Numerator
Fetch cycle: At start of synchronous control
Pr.404 Main shaft gear: Denominator
Fetch cycle: At start of synchronous control
Auxiliary axis Pr.418 Auxiliary shaft axis No.
Fetch cycle: At start of synchronous control
(i_stAuxiliaryAxis)
Pr.419 Composite auxiliary shaft gear
Fetch cycle: Operation cycle
(0011H)
Pr.420 Auxiliary shaft gear: Numerator
Fetch cycle: At start of synchronous control
(1)
Pr.421 Auxiliary shaft gear: Denominator
Fetch cycle: At start of synchronous control
(1)
4 FB LIBRARY 4.1 Functions of the FB Library
4
Synchronous control data [Cd.XX] The following table lists the synchronous control data required for the operation of FBs.
Set synchronous encoder axis control data ([Cd.320] to [Cd.325]) and cam operation control data (cam position calculation:
[Cd.612] to [Cd.618]) with user programs as needed.
However, do not use user programs to set or change cam operation control data (cam data operation: ([Cd.600] to [Cd.607])
and cam auto-generation ([Cd.608] to [Cd.611]) to be used in FBs.
For details of control data, refer to the following.
MELSEC iQ-R Simple Motion Module User's Manual (Advanced Synchronous Control)
Memory area Control data No.
Name Setting method 1) STD_MakeRotaryCutterCam (Cam auto-generation for rotary cutter) 2) PAC_MakeBoxMotionCam (Cam auto-generation for box motion) 3) STD_MakeFlyingShearCam (Cam auto-generation for flying shear) 4) PAC_MakeLongDwellDCam (Cam auto-generation for D-cam) 5) STD_CtrlAuxiliaryAxis (Auxiliary axis correction)
1) 2) 3) 4) 5)
Synchronous control
system control data
Cd.380 Synchronous control start
Fetch cycle: Operation
cycle
Cam
operation
control
data
Cam data
operation
Cd.600 Cam data operation
request
Fetch cycle: Main cycle
Cd.601 Operation cam No.
Fetch cycle: At
requesting cam data
operation
Cd.602 Cam data first position
Fetch cycle: At
requesting cam data
operation
Cd.603 Number of cam data
operation points
Fetch cycle: At
requesting cam data
operation
Cd.604 Cam data format
Fetch cycle: At
requesting cam data
operation
Refresh cycle: At
completing cam data
operation
Cd.605 Cam resolution/
coordinate number
Fetch cycle: At
requesting cam data
operation
Refresh cycle: At
completing cam data
operation
Cd.606 Cam data starting point
Fetch cycle: At
requesting cam data
operation
Refresh cycle: At
completing cam data
operation
Cd.607 Cam data value
Fetch cycle: At
requesting cam data
operation
Refresh cycle: At
completing cam data
operation
4 FB LIBRARY 4.1 Functions of the FB Library 53
54
: Set with FBs
: Set by users as needed
Cam
operation
control
data
Cam auto-
generation
Cd.608 Cam auto-generation
request
Fetch cycle: Main cycle
Cd.609 Cam auto-generation
cam No.
Fetch cycle: At
requesting cam auto-
generation
Cd.610 Cam auto-generation
type
Fetch cycle: At
requesting cam auto-
generation
Cd.611 Cam auto-generation
data
Fetch cycle: At
requesting cam auto-
generation
Memory area Control data No.
Name Setting method 1) STD_MakeRotaryCutterCam (Cam auto-generation for rotary cutter) 2) PAC_MakeBoxMotionCam (Cam auto-generation for box motion) 3) STD_MakeFlyingShearCam (Cam auto-generation for flying shear) 4) PAC_MakeLongDwellDCam (Cam auto-generation for D-cam) 5) STD_CtrlAuxiliaryAxis (Auxiliary axis correction)
1) 2) 3) 4) 5)
4 FB LIBRARY 4.1 Functions of the FB Library
4
Mark detection setting parameters [Pr.XX] The following table lists the mark detection setting parameters required for the operation of FBs.
Set detailed parameters 2 ([Pr.42] to [Pr.95]) and mark detection setting parameters ([Pr.800] to [Pr.807]) with the Simple
Motion setting tool or user programs depending on the system configuration.
However, do not use user programs to set or change the mark detection setting parameters to be used in FBs.
For details of control data, refer to the following.
MELSEC iQ-R Simple Motion Module User's Manual (Application)
: Set with labels (label name)
: Set by users as needed
Parameter type
Parameter No.
Name Setting method STD_ReadMarkDetectData (Mark detection data reading)
Detailed
parameters 2
Pr.42 External command function selection [RD77MS]
Fetch cycle: At writing to buffer memory
Pr.95 External command signal selection [RD77MS]
Fetch cycle: At the rising edge of PLC READY signal [Y0]
Mark
detection
setting
Pr.800 Mark detection signal setting [RD77MS]
Fetch cycle: At power supply ON
Pr.801 Mark detection signal compensation time
Fetch cycle: At power supply ON or the rising edge of PLC READY signal [Y0]
Pr.802 Mark detection data type
Fetch cycle: At power supply ON
Pr.803 Mark detection data axis No.
Fetch cycle: At power supply ON
Pr.804 Mark detection data buffer memory No.
Fetch cycle: At power supply ON
Pr.805 Latch data range upper limit value
Fetch cycle: At power supply ON, the rising edge of PLC READY signal [Y0],
or latch data range change request
(i_dLatchDataRangeUpperLimit)
Pr.806 Latch data range lower limit value
Fetch cycle: At power supply ON, the rising edge of PLC READY signal [Y0],
or latch data range change request
(i_dLatchDataRangeLowerLimit)
Pr.807 Mark detection mode setting
Fetch cycle: At power supply ON or the rising edge of PLC READY signal [Y0]
(0: Available, other than 0: Not available)
Pr.808 Mark detection signal link device type [RD77GF]
Fetch cycle: At power supply ON
Pr.809 Mark detection signal link device number [RD77GF]
Fetch cycle: At power supply ON
Pr.810 Mark detection signal link device bit specification [RD77GF]
Fetch cycle: At power supply ON
Pr.811 Mark detection signal detection direction setting [RD77GF]
Fetch cycle: At power supply ON
4 FB LIBRARY 4.1 Functions of the FB Library 55
56
Mark detection control data [Cd.XX] The following table lists the mark detection control data required for the operation of FBs.
Set mark detection control data ([Cd.800] to [Cd.802]) with user programs depending on the system configuration.
However, do not use user programs to set or change the mark detection control data to be used in FBs.
For details of control data, refer to the following.
MELSEC iQ-R Simple Motion Module User's Manual (Application)
: Set with FBs (setting value)
: Set with labels (label name)
: Set by users as needed
Positioning data [Da.XX] The following table lists the positioning data required for the operation of FBs.
Set positioning data ([Da.1] to [Da.29]) with user programs depending on the program used.
However, do not use user programs to set or change the positioning data to be used in FBs.
For details of positioning data, refer to the following.
MELSEC iQ-R Simple Motion Module User's Manual (Application)
: Set with FBs (setting value)
: Set with labels (label name)
: Set by users as needed
Control data type Control data No. Name Setting method STD_ReadMarkDetectData (Mark detection data reading)
Axis control data Cd.8 External command valid
Fetch cycle: At request
Mark detection control data Cd.800 Number of mark detection clear
request
Fetch cycle: Operation cycle
Cd.801 Mark detection invalid flag
Fetch cycle: Operation cycle
Cd.802 Latch data range change request
Fetch cycle: Operation cycle or DI
input
(i_uLatchDataRangeChangeRequest)
Positioning data
Name Setting method STD_CtrlAuxiliaryAxis (Auxiliary axis correction)
Da.1 Operation pattern (0)
Da.2 Control method (02H)
Da.3 Acceleration time No. (i_st ConpensationSetting)
Da.4 Deceleration time No. (i_st ConpensationSetting)
Da.6 Positioning address/movement amount (i_dCompensationAmount)
Da.8 Command speed (i_st ConpensationSetting)
Da.9 Dwell time/JUMP destination positioning data No.
Da.10 M code/Condition data No./Number of LOOP to LEND repetitions/
Number of pitches
Da.27 M code ON signal output timing
Da.28 ABS direction in degrees
4 FB LIBRARY 4.1 Functions of the FB Library
4
4.2 Details of the FB Library This section describes the details of each FB.
STD_MakeRotaryCutterCam (Cam auto-generation for rotary cutter (front end reference))
Name STD_MakeRotaryCutterCam+RD77MS
Function overview
Item Description
Function overview This FB automatically generates cam data for rotary cutter (front end reference).
Symbol
Applicable hardware and
software
Applicable module RD77MS
Applicable CPU MELSEC iQ-R series
Engineering software GX Works3
Number of steps 947 steps
FB dependence
Execution command B: i_bEN o_bENO :B Execution status
Sheet length E: i_eSheetLength o_bOK :B Normal completion
Sheet synchronization width E: i_eSheetSyncWidth o_bError :B Error completion
Synchronous axis length E: i_eSyncAxisLength o_uErrorID :UW Error code
Synchronization starting point E: i_eSyncStartPoint
E: i_eSyncSectionAccRatio
Cam resolution UW: i_uCamResolution
Cam auto-generation cam No. UW: io_uCamNo io_uCamNo :UW Cam auto-generation cam No.
Output axis setting DUT: io_stOutputAxis io_stOutputAxis :DUT Output axis setting
STD_MakeRotaryCutterCam+RD77MS
Synchronous section acceleration ratio
4 FB LIBRARY 4.2 Details of the FB Library 57
58
*1 For details of control data, refer to the following. MELSEC iQ-R Simple Motion Module User's Manual (Advanced Synchronous Control)
Function description This FB automatically generates cam data for driving the rotary cutter (front end reference).
Turning on i_bEN (Execution command) starts generating cam data based on the set data.
When the cam generation is normally completed, o_bOK (Normal completion) turns on.
i_eSyncSectionAccRatio (Synchronous section speed acceleration ratio) changes the speed in the synchronous section.
If a warning related to the cam data operation occurs in the Simple Motion module during cam generation, an error (ErrorID:
2203H) is stored.
If an error has occurred in the FB, Error turns on and the error code is stored in ErrorID.
For details of error codes, refer to "Page 198 List of Error Codes".
Restrictions and
precautions
If a value other than 0 to 3 has been set in "[Pr.1] Unit setting", this FB is executed with the unit [mm].
The cam to be automatically generated is in the stroke ratio data format.
The cam data to be automatically generated will be saved in the cam open area.
If i_bEN (Execution command) turns off during cam generation, the cam may not be normally generated.
When generating multiple cams at the same time, input o_bOK (Normal completion) of the cam auto-generation FB as an
interlock condition so that the generation of the next cam starts after the generation of one cam is successfully completed.
If the cam generation fails, the cam data may be undefined. Try the cam auto-generation again. Check that normal cam is
generated and then perform the operation.
Since cam operation control data ([Cd.608] to [Cd.611]) is set in this FB, do not use user programs to set or change the data.*1
Use the FB CtrlOutputAxisSync or create a user program for the operation of the cutter axis.
Compiling method Macro type, subroutine type
FB operation type Pulsed execution (multiple scan execution type)
Item Description
Sheet synchronization width (i)
Synchronization starting point (i)
Synchronous axis length (i)
Sheet feeding
Sheet length (i)Cam axis current value per cycle
Sheet synchronization width (i) Synchronization starting point (i)
Sheet length (i)
Cam axis (synchronous axis) speed
Synchronous speed (Sheet feeding speed)
Output axis (Cam axis)
Cam stroke ratio (Cam data to be generated)
100%
t
t
t
* (i) Input label
Synchronous section acceleration ratio (i)
4 FB LIBRARY 4.2 Details of the FB Library
4
Labels
Input labels
*1 : Always, : When the FB is started (cannot be changed)
Output labels
*1 : The value will be held after the FB stops. : The value will be cleared after the FB stops.
Name Label name Data type Read timing*1
Setting range Initial value
Description
Execution
command
i_bEN Bit On, off On: The FB is activated.
Off: The FB is not activated.
Sheet length i_eSheetLength Single
precision
real number
Refer to the description. 200.0 Set the sheet length.
Set this value for the cam axis length per
cycle.
0.01 Sheet length 10000.00
[(Optional) Same unit (with two digits after
the decimal point (fixed))]
Sheet
synchronizati
on width
i_eSheetSyncWi
dth
Single
precision
real number
Refer to the description. 50.0 Set the length of the section where the
output axis is synchronized with the sheet.
0.01 Sheet synchronization width <
Sheet length and synchronous axis
length
[(Optional) Same unit (with two digits after
the decimal point (fixed))]
Synchronous
axis length
i_eSyncAxisLen
gth
Single
precision
real number
Refer to the description. 200.0 Set the cycle length of the output axis
(rotary cutter).
0.01 Synchronous axis length
10000.00
[(Optional) Same unit (with two digits after
the decimal point (fixed))]
Synchronizati
on starting
point
i_eSyncStartPoi
nt
Single
precision
real number
Refer to the description. 50.0 Set the synchronization starting point of
the output axis to the sheet.
0.00 Synchronization starting point <
Sheet length
[(Optional) Same unit (with two digits after
the decimal point (fixed))]
Synchronous
section
acceleration
ratio
i_eSyncSection
AccRatio
Single
precision
real number
-50.00 Synchronous section
acceleration ratio 50.00 [%]
0.00 Set this item when the fine adjustment of
the synchronous speed in the
synchronous section is required.
Synchronous section speed =
Synchronous speed (100% +
Synchronous section acceleration ratio)
Cam
resolution
i_uCamResoluti
on
Word
[Unsigned]
256/512/1024/2048/4096/8192/
16384/32768
256 Set the cam resolution of the cam to be
generated.
Name Label name Data type Value to be held*1
Description
Execution status o_bENO Bit On: Execution command is on.
Off: Execution command is off.
Normal completion o_bOK Bit This label indicates that the cam auto-generation has
been completed and the FB has been normally
completed.
Error completion o_bError Bit On: An error has occurred in the FB.
Off: No error has occurred.
Error code o_uErrorID Word [Unsigned] The error code of the error that has occurred in the
FB is stored.
Mark pitch
Sheet length
4 FB LIBRARY 4.2 Details of the FB Library 59
60
I/O labels
Output axis setting (AXIS_REF structure)
*1 : Always, : When the FB is started (cannot be changed)
Name Label name Data type Read timing*1
Setting range
Initial value
Description
Cam auto-generation
cam No.
io_uCamNo Word [Unsigned] 1 Cam
auto-
generation
cam No.
256
1 Set the cam No. to be automatically generated
for the cutter axis.
Output axis setting io_stOutputAxis AXIS_REF Refer to the output axis setting below.
Name Label name Data type Read timing*1
Setting range
Initial value
Description
Axis number AxisNo Word [Unsigned] 1 Axis No.
maximum
number of
axes of the
module used
Set the axis No. of the output axis to be used for
the cutter axis.
This FB uses the unit set in "[Pr.1] Unit setting" of
the axis No.
Start I/O number StartIO Word [Unsigned] 0H Start I/
O number
FEH
0 Installation address of the Simple Motion module
(Upper three digits of four digits (hexadecimal))
4 FB LIBRARY 4.2 Details of the FB Library
4
STD_MakeRotaryCutterCam (Cam auto-generation for rotary cutter (central reference))
Name STD_MakeRotaryCutterCam+RD77GF
Function details
Item Description
Function overview This FB automatically generates cam data (central reference) for rotary cutter.
Symbol
Applicable hardware and
software
Applicable module RD77GF
Applicable CPU MELSEC iQ-R series
Engineering software GX Works3
Number of steps 1135 steps
FB dependence
Execution command B: i_bEN o_bENO :B Execution status
Sheet length E: i_eSheetLength o_bOK :B Normal completion
Sheet synchronization width E: i_eSheetSyncWidth o_bError :B Error completion
Synchronous axis length E: i_eSyncAxisLength o_uErrorID :UW Error code
o_eAsyncSpeedResult :EE: i_eSyncPositionAdjustment
E: i_eSyncSectionAccRatio
Cam resolution UW: i_uCamResolution
Auto-generation option i_uAutoGenerationOption
i_eAccDecWith
Number of cutter i_uNumberOfCutter
UW: io_uCamNo io_uCamNo :UW
Output axis setting DUT: io_stOutputAxis io_stOutputAxis :DUT Output axis setting
STD_MakeRotaryCutterCam+RD77GF
Synchronous section acceleration ratio
Synchronous position adjustment
Acceleration/ deceleration width
Cam auto-generation cam No.
Cam auto-generation cam No.
Asynchronous speed result
4 FB LIBRARY 4.2 Details of the FB Library 61
62
*1 For details of control data, refer to the following. MELSEC iQ-R Simple Motion Module User's Manual (Advanced Synchronous Control)
Function description This FB automatically generates cam data for driving the rotary cutter (central reference).
Turning on i_bEN (Execution command) starts generating cam data based on the set data.
When the cam generation is normally completed, o_bOK (Normal completion) turns on.
i_eSyncSectionAccRatio (Synchronous section speed acceleration ratio) changes the speed in the synchronous section.
If a warning related to the cam data operation occurs in the Simple Motion module during cam generation, an error (ErrorID:
2203H) is stored.
If an error has occurred in the FB, Error turns on and an error code is stored in ErrorID.
For details of error codes, refer to "Page 198 List of Error Codes".
Restrictions and
precautions
If a value other than 0 to 3 has been set in "[Pr.1] Unit setting", this FB is executed with the unit [mm].
The cam to be automatically generated is in the stroke ratio data format.
The cam data to be automatically generated will be saved in the cam open area.
If i_bEN (Execution command) turns off during cam generation, the cam may not be normally generated.
When generating multiple cams at the same time, input o_bOK (Normal completion) of the cam auto-generation FB as an
interlock condition so that the generation of the next cam starts after the generation of one cam is successfully completed.
If the cam generation fails, the cam data may be undefined. Try the cam auto-generation again. Check that normal cam is
generated and then perform the operation.
Since cam operation control data ([Cd.608] to [Cd.611]) is set in this FB, do not use user programs to set or change the data.*1
Use the FB CtrlOutputAxisSync or create a user program for the operation of the cutter axis.
Compiling method Macro type, subroutine type
FB operation type Pulsed execution (multiple scan execution type)
Item Description
Sheet synchronization width (i)
Synchronization starting point (i) Acceleration/deceleration width (i)
Synchronous axis length (i)
Sheet feeding
Cam axis current value per cycle
Sheet synchronization width (i)
Acceleration/deceleration width (i)
Acceleration/deceleration width (i)
Sheet length (i)
Cam axis (synchronous axis) speed
Synchronous speed (Sheet feeding speed)
Cam stroke ratio (Cam data to be generated)
100%
t
t
t
* (i) Input label
Synchronous axis cycle length/diameter Synchronous
axis
Synchronous section acceleration ratio (i) Same speed as 0% synchronous speed
Negative value: Set the synchronous section at the front of the sheet 0: The center of the sheet is the synchronous section. Positive value: Set the synchronous section at the end of the sheet.
Asynchronous speed (Automatically calculated)
Sheet length (i)
4 FB LIBRARY 4.2 Details of the FB Library
4
Labels
Input labels
Name Label name Data type Read timing*1
Setting range Initial value
Description
Execution
command
i_bEN Bit On, off On: The FB is activated.
Off: The FB is not activated.
Sheet length i_eSheetLength Single
precision
real number
Refer to the description. 200.0 Set the sheet length.
Set this value for the cam axis length per
cycle.
0.01 Sheet length 10000.00
[(Optional) Same unit (with two digits after
the decimal point (fixed))]
Sheet
synchronization
width
i_eSheetSyncWi
dth
Single
precision
real number
Refer to the description. 50.0 Set the length of the section where the
output axis is synchronized with the sheet.
0.01 Sheet synchronization width <
Sheet length
0.01 Sheet synchronization width <
Synchronous axis length/Number of
cutter
[(Optional) Same unit (with two digits after
the decimal point (fixed))]
Synchronous
axis length
i_eSyncAxisLen
gth
Single
precision
real number
Refer to the description. 200.0 Set the cycle length of the output axis
(rotary cutter).
If the auto-generation option is set to
diameter, the calculation is "circumference
= set value ".
If the auto-generation option is set to
circumference, the calculation is
"circumference = set value".
0.01 Circumference 10000.00
[(Optional) Same unit (with two digits after
the decimal point (fixed))]
Synchronous
position
adjustment
i_eSyncPosition
Adjustment
Single
precision
real number
Refer to the description. 0.0 Set the position adjustment of the
synchronous section of the sheet and
output axis.
Absolute value of synchronous position
adjustment Half of the sheet length
Negative value: Set the synchronous
section at the front of the sheet.
0: The center of the sheet is the
synchronous section.
Positive value: Set synchronous section to
back end of sheet.
Synchronous
section
acceleration
ratio
i_eSyncSection
AccRatio
Single
precision
real number
-50.00 Synchronous section
acceleration ratio 50.00 [%]
0.00 Set this item when the fine adjustment of
the synchronous speed in the
synchronous section is required.
Synchronous section speed =
Synchronous speed (100% +
Synchronous section acceleration ratio)
Cam resolution i_uCamResoluti
on
Word
[Unsigned]
256/512/1024/2048/4096/8192/
16384/32768
256 Set the cam resolution of the cam to be
generated.
Auto-generation
option
i_uAutoGenerati
onOption
Word
[Unsigned]
0 Auto-generation option 3 3 Bit 0: Acceleration/deceleration method
0: Trapezoidal acceleration/deceleration
1: S-curve acceleration/deceleration
Bit 1: Synchronous axis length setting
0: Diameter
1: Circumference
Mark pitch
Sheet length
4 FB LIBRARY 4.2 Details of the FB Library 63
64
*1 : Always, : When the FB is started (cannot be changed)
Output labels
*1 : The value will be held after the FB stops. : The value will be cleared after the FB stops.
I/O labels
Output axis setting (AXIS_REF structure)
*1 : Always, : When the FB is started (cannot be changed)
Acceleration/
deceleration
width
i_eAccDecWidth Single
precision
real number
Refer to the description. 25 Set the sheet width (one side) of the
acceleration/deceleration area.
2 Acceleration/deceleration width
Sheet length - Sheet synchronization
width
When a negative value is set, the
acceleration/deceleration width is
calculated to become the maximum value.
Number of
cutter
i_uNumberOfCut
ter
Word
[Unsigned]
1 Number of cutter 256 1 Set the number of rotary cutters.
Name Label name Data type Value to be held*1
Description
Execution status o_bENO Bit On: Execution command is on.
Off: Execution command is off.
Normal completion o_bOK Bit This label indicates that the cam auto-generation has
been completed and the FB has been normally
completed.
Error completion o_bError Bit On: An error has occurred in the FB.
Off: No error has occurred.
Error code o_uErrorID Word [Unsigned] The error code of the error that has occurred in the
FB is stored.
Asynchronous
speed result
o_eAsyncSpeedResult Single precision real
number
When cam auto-generation is normal, the
asynchronous speed is stored as a ratio of
synchronous speed. [multiplier]
Name Label name Data type Read timing*1
Setting range Initial value
Description
Cam auto-generation
cam No.
io_uCamNo Word [Unsigned] 1 Cam auto-
generation cam No.
256
1 Set the cam No. to be automatically
generated for the cutter axis.
Output axis setting io_stOutputAxis AXIS_REF Refer to the output axis setting below.
Name Label name Data type Read timing*1
Setting range Initial value
Description
Axis No. AxisNo Word [Unsigned] 1 Axis No.
maximum number of
axes of the module
used
Set the axis No. of the output axis to be
used for the cutter axis.
This FB uses the unit set in "[Pr.1] Unit
setting" of the axis No.
Start I/O number StartIO Word [Unsigned] 0H Start I/O
number FEH
0 Installation address of the Simple Motion
module (Upper three digits of four digits
(hexadecimal))
Name Label name Data type Read timing*1
Setting range Initial value
Description
4 FB LIBRARY 4.2 Details of the FB Library
4
PAC_MakeBoxMotionCam (Cam auto-generation for box motion)
Name PAC_MakeBoxMotionCam
Function overview
Item Description
Function overview This FB automatically generates two cams of the travel axis and seal axis required for the box motion mechanism.
Symbol
Applicable hardware and
software
Applicable module RD77MS, RD77GF
Applicable CPU MELSEC iQ-R series
Engineering software GX Works3
Number of steps 3644 steps
FB dependence
Function description This FB automatically generates two cams (for the travel axis and seal axis) for the box motion mechanism that is driven by two
servo axes.
Turning on i_bEN (Execution command) starts generating cam data based on the set data.
Execution command B: i_bEN Execution status
Production speed UW: i_uProductPerMinute Normal completion
Product length E: i_eProductLength Error completion
Travel axis movement amount limit value E: i_eTravelAxisMaxLength Error code
Travel axis synchronization starting point E: i_eSyncStartPoint Main input axis speed
Travel axis synchronous section acceleration ratio E: i_eSyncSectionAccRatio Travel axis maximum point
Seal axis movement amount E: i_eSealAxisClosedLength Travel axis synchronization starting point
Seal axis acceleration/ deceleration UD: i_udSealAxisMoveTime Travel axis synchronization
ending point
Sealing time UD: i_udSealingTime Seal axis acceleration starting point
Seal starting time offset D: i_dSealStartTimingOffset Seal axis seal starting point
Seal ending time offset D: i_dSealEndTimingOffset Seal axis seal ending point
Cam resolution UW: i_uCamResolution Seal axis deceleration ending point
Travel axis cam auto-generation cam No. UW: io_uTravelCamNo Travel axis cam
auto-generation cam No. Seal axis cam
auto-generation cam No. UW: io_uSealCamNo Seal axis cam auto-generation cam No.
Travel axis setting DUT: io_stTravelAxis Travel axis setting
Seal axis setting DUT: io_stSealAxis Seal axis setting
PAC_MakeBoxMotionCam
o_bENO :B
o_bOK :B
o_bError :B
o_uErrorID :UW
o_eMainInputAxisSpeed :E
o_eTravelAxisMaxDistance :E
o_eMainInputAxisSyncStartPos :E
o_eMainInputAxisSyncEndPos :E
o_eMainInputAxisSealAccStartPos :E
o_eMainInputAxisSealStartPos :E
o_eMainInputAxisSealEndPos :E
o_eMainInputAxisSealDecelEndPos :E
io_uTravelCamNo :UW
io_uSealCamNo :UW
io_stTravelAxis :DUT
io_stSealAxis :DUT
Travel axis movement amount limit value (i)
P13X, P25X: Product length (i)
P11Y: Travel axis synchronization starting point (i)
Seal axis acceleration/ deceleration (i)
Seal axis acceleration/ deceleration (i)
Sealing time (i)
Registration mark
Seal axis reference point
* (i) Input label (o) Output label
Main input axis reference point
Travel axis reference point
P22Y, P23Y: Seal axis movement amount (i)
4 FB LIBRARY 4.2 Details of the FB Library 65
66
Function description Cam pattern to be generated
By setting i_dSealStartTimingOffset (Seal starting time offset), the sealing start position (P21X) and the synchronization starting
point (P11X) can be shifted. A positive (negative) value set for i_dSealStartTimingOffset moves the seal axis cam pattern in
parallel to the left (right) by the set value and increases/decreases the travel axis cam pattern synchronous section (P11X to
P12X) by the set value after the comparison with the patterns before change.
By setting i_dSealEndTimingOffset (Seal ending time offset), the sealing end position (P24X) and the synchronization ending
point (P12X) can be shifted. A positive (negative) value set for i_dSealEndTimingOffset increases/decreases the travel axis cam
pattern synchronous section (P11X to P12X) by the set value. (Set the absolute value of the seal axis start/end offset not to
exceed the value of i_udSealAxisMoveTime (Seal axis acceleration/deceleration).)
Cam pattern to be generated [with seal axis offset]
Item Description
200 400
100
200
300
400
0
50
100 500
100
20
40
60
80 Sealing time (i)
Travel axis movement amount limit value (i)
P11
P10
P12
P13
P20 P21
P22 P23
P24 P25
P13X: Product length (i)
Seal axis acceleration/ deceleration (i) P25X: Product length (i)
0
Travel axis reference point
Main input axis reference point
Seal axis reference point
Main input axis reference point
200 300 400
Travel axis point
Main input axis point
Main input axis point
P22Y, P23Y: Seal axis movement amount (i)Seal axis point
P11Y: Travel axis synchronization starting point (i)
500300100
* (i) Input label
400
400
100
200
300
400
0
50
300100 200 500
100
20
40
60
80
Travel axis movement amount limit value (i)
P11
P10
P12
P13
P20 P25
P13X: Product length (i)
P25X: Product length (i)
Seal starting time offset (i)
P22'
P12'
0
P23'
P21' P24'
(+) (-) (+)
Travel axis reference point
Main input axis reference point
Seal axis reference point
Main input axis reference point
Travel axis point
Main input axis point
Main input axis point
Seal axis point
P11Y: Travel axis synchronization starting point (i)
(-)
200 500300100
* (i) Input label
Seal ending time offset (i)
4 FB LIBRARY 4.2 Details of the FB Library
4
*1 For details of control data, refer to the following. MELSEC iQ-R Simple Motion Module User's Manual (Advanced Synchronous Control)
Function description After the cam generation is normally completed and the following output data is updated, o_bOK (Normal completion) turns on.
"o_eMainInputAxisSpeed (Main input axis speed)"
"o_eTravelAxisMaxDistance (Travel axis maximum point)"
"o_eMainInputAxisSyncStartPos (Travel axis synchronization starting point)"
"o_eMainInputAxisSyncEndPos (Travel axis synchronization ending point)"
"o_eMainInputAxisSealAccStartPos (Seal axis acceleration starting point)"
"o_eMainInputAxisSealStartPos (Seal axis seal starting point)"
"o_eMainInputAxisSealEndPos (Seal axis seal ending point)"
"o_eMainInputAxisSealDecelEndPos (Seal axis deceleration ending point)"
Even though i_bEN (Execution command) turns off, the above output data will be held. The above output data will be cleared when
i_bEN (Execution command) turns on.
i_eSyncSectionAccRatio (Synchronous section speed acceleration ratio) changes the speed in the synchronous section.
If the calculated cam stroke amount of the travel axis exceeds the value of i_eTravelAxisMaxLength (Travel axis movement
amount limit value), an error (ErrorID: 2115H) will be stored and the cam with i_eTravelAxisMaxLength at the top will be
generated again.
If the unit set in "[Pr.1] Unit setting" differs between the travel axis and seal axis, the operation continues but an error (ErrorID:
2135H) is stored.
If a warning related to the cam data operation occurs in the Simple Motion module during cam generation, an error (ErrorID:
2203H) is stored.
If a value other than "0" has been set in "[Cd.600] Cam data operation request" at the cam generation, an error (ErrorID: 2205H)
is stored.
If an error has occurred in the FB, Error turns on and the error code is stored in ErrorID.
For details of error codes, refer to "Page 198 List of Error Codes".
Restrictions and
precautions
If a value other than 0 to 3 has been set in "[Pr.1] Unit setting", this FB is executed with the unit [mm].
The cam to be automatically generated is in the coordinate data format.
The cam data that has been automatically generated is saved in the cam storage area.
If i_bEN (Execution command) turns off during cam generation, the cam may not be normally generated.
When generating multiple cams at the same time, input o_bOK (Normal completion) of the cam auto-generation FB as an
interlock condition so that the generation of the next cam starts after the generation of one cam is successfully completed.
If the cam generation fails, the cam data may be undefined. Try the cam auto-generation again. Check that normal cam is
generated and then perform the operation.
Since cam operation control data ([Cd.600] to [Cd.607]) is set in this FB, do not use user programs to set or change the data.*1
Use the FB CtrlOutputAxisSync or create a user program for the operation of the travel axis and seal axis.
Compiling method Macro type, subroutine type
FB operation type Pulsed execution (multiple scan execution type)
Item Description
200 400
100
200
300
400
5000
50
100 200 300 400 500
100
20
40
60
80
Travel axis movement amount limit value (i)
P11
P10
P12
P13
P21P20
P22 P23
52P42P
0
Seal axis acceleration starting point (o)
Seal axis seal starting point (o)
Seal axis seal ending point (o)
Seal axis deceleration ending point (o)
Travel axis synchronization ending point (o)
Travel axis point
Main input axis point
Main input axis point
Seal axis point
100 300
Travel axis maximum point (o)
* (i) Input label (o) Output label
Travel axis synchronization starting point (o)
4 FB LIBRARY 4.2 Details of the FB Library 67
68
Labels
Input labels
Name Label name Data type Read timing*1
Setting range Initial value
Description
Execution
command
i_bEN Bit On, off On: The FB is activated.
Off: The FB is not activated.
Production
speed
i_uProductPerMi
nute
Word
[Unsigned]
0 < Production speed
10000 [products/min]
60 Set the production speed [products/min].
Product length i_eProductLengt
h
Single
precision
real number
Refer to the description. 500.0 Set the product length.
0.1 Product length 100000.0 [mm]
0.01 Product length 10000.00 [inch]
0.01 Product length 10000.00 [degree]
1 Product length 9999999 [pulse]
[The unit setting depends on the axis No. setting
value in the travel axis setting.]
Travel axis
movement
amount limit
value
i_eTravelAxisMa
xLength
Single
precision
real number
Refer to the description. 350.0 Set the movement amount limit value of the travel
axis.
If the calculated stroke amount exceeds this
setting, the cam with this setting at the top will be
generated again.
0.1 Travel axis movement amount limit value
100000.0 [mm]
0.01 Travel axis movement amount limit value
10000.00 [inch]
0.01 Travel axis movement amount limit value
10000.00 [degree]
1 Travel axis movement amount limit value
9999999 [pulse]
[The unit setting depends on the axis No. setting
value in the travel axis setting.]
Travel axis
synchronization
starting point
i_eSyncStartPoi
nt
Single
precision
real number
Refer to the description. 50.0 Set the synchronization starting point of the travel
axis.
0.1 Travel axis synchronization starting point
100000.0 [mm]
0.01 Travel axis synchronization starting point
10000.00 [inch]
0.01 Travel axis synchronization starting point
10000.00 [degree]
1 Travel axis synchronization starting point
9999999 [pulse]
[The unit setting depends on the axis No. setting
value in the travel axis setting.]
Travel axis
synchronous
section
acceleration
ratio
i_eSyncSection
AccRatio
Single
precision
real number
-50.00 Synchronous
section acceleration ratio
50.00 [%]
0.0 Set this item when the fine adjustment of the
synchronous speed in the synchronous section is
required.
Synchronous section speed = Synchronous speed
(100% + Acceleration ratio)
Seal axis
movement
amount
i_eSealAxisClos
edLength
Single
precision
real number
Refer to the description. 80.0 Set the movement amount (stroke amount) of the
seal axis.
0.1 Seal axis movement amount 100000.0
[mm]
0.01 Seal axis movement amount 10000.00
[inch]
0.01 Seal axis movement amount 10000.00
[degree]
1 Seal axis movement amount 9999999
[pulse]
[The unit setting depends on the axis No. setting
value in the seal axis setting.]
Product length
Work length
4 FB LIBRARY 4.2 Details of the FB Library
4
*1 : Always, : When the FB is started (cannot be changed)
Output labels
*1 : The value will be held after the FB stops. : The value will be cleared after the FB stops.
Seal axis
acceleration/
deceleration
i_udSealAxisMo
veTime
Double word
[Unsigned]
0 < Seal axis
acceleration/deceleration
5000 [ms]
100 Set the acceleration/deceleration at opening/
closing of the seal axis.
Sealing time i_udSealingTime Double word
[Unsigned]
0 < Sealing length
30000 [ms]
200 Set the sealing time.
Seal starting
time offset
i_dSealStartTimi
ngOffset
Double word
[Signed]
|Seal starting time offset|
Seal axis acceleration/
deceleration [ms]
0 Set the offset amount of the timing to start sealing.
Seal ending
time offset
i_dSealEndTimi
ngOffset
Double word
[Signed]
|Seal ending time offset|
Seal axis acceleration/
deceleration [ms]
0 Set the offset amount of the timing to end sealing.
Cam resolution i_uCamResoluti
on
Word
[Unsigned]
6 Cam resolution 2048 256 Set the cam resolution (Number of coordinates) of
the cam to be generated.
(Set the resolution common to the travel axis and
seal axis.)
Name Label name Data type Value to be held*1
Description
Execution status o_bENO Bit On: Execution command is on.
Off: Execution command is off.
Normal completion o_bOK Bit This label indicates that the cam auto-generation has
been completed and the FB has been normally
completed.
Error completion o_bError Bit On: An error has occurred in the FB.
Off: No error has occurred.
Error code o_uErrorID Word [Unsigned] The error code of the error that has occurred in the
FB is stored.
Main input axis
speed
o_eMainInputAxisSpeed Single precision real
number
The calculated main input axis speed is stored.
[The unit setting depends on the axis No. setting
value in the travel axis setting.]
Travel axis
maximum point
o_eTravelAxisMaxDistance Single precision real
number
The calculated maximum point of the travel axis is
stored.
[The unit setting depends on the axis No. setting
value in the travel axis setting.]
Travel axis
synchronization
starting point
o_eMainInputAxisSyncStartPos Single precision real
number
The main input axis point at the start of
synchronization is stored.
[The unit setting depends on the axis No. setting
value in the travel axis setting.]
Travel axis
synchronization
ending point
o_eMainInputAxisSyncEndPos Single precision real
number
The main input axis point at the end of the
synchronization is stored.
[The unit setting depends on the axis No. setting
value in the travel axis setting.]
Seal axis
acceleration starting
point
o_eMainInputAxisSealAccStartPos Single precision real
number
The main input axis point at the start of the seal axis
operation is stored.
[The unit setting depends on the axis No. setting
value in the seal axis setting.]
Seal axis seal
starting point
o_eMainInputAxisSealStartPos Single precision real
number
The main input axis point at the start of the seal axis
sealing is stored.
[The unit setting depends on the axis No. setting
value in the seal axis setting.]
Seal axis seal
ending point
o_eMainInputAxisSealEndPos Single precision real
number
The main input axis point at the end of the seal axis
sealing is stored.
[The unit setting depends on the axis No. setting
value in the seal axis setting.]
Seal axis
deceleration ending
point
o_eMainInputAxisSealDecelEndPos Single precision real
number
The main input axis point at the end of the seal axis
operation is stored.
[The unit setting depends on the axis No. setting
value in the seal axis setting.]
Name Label name Data type Read timing*1
Setting range Initial value
Description
4 FB LIBRARY 4.2 Details of the FB Library 69
70
I/O labels
Travel axis setting (AXIS_REF structure)
Seal axis setting (AXIS_REF structure)
*1 : Always, : When the FB is started (cannot be changed)
Name Label name Data type Read timing*1
Setting range Initial value
Description
Travel axis cam auto-
generation cam No.
io_uTravelCamNo Word [Unsigned] 1 Travel axis cam
auto-generation cam
No. 256
1 Set the cam No. to be automatically
generated for the travel axis.
Seal axis cam auto-
generation cam No.
io_uSealCamNo Word [Unsigned] 1 Seal axis cam
auto-generation cam
No. 256
2 Set the cam No. to be automatically
generated for the seal axis.
Travel axis setting io_stTravelAxis AXIS_REF Refer to the travel axis setting below.
Seal axis setting io_stSealAxis AXIS_REF Refer to the seal axis setting below.
Name Label name Data type Read timing*1
Setting range Initial value
Description
Axis number AxisNo Word [Unsigned] 1 Axis No.
maximum number of
axes of the module
used
Set the axis No. of the output axis used
for the travel axis.
This FB uses the unit set in "[Pr.1] Unit
setting" of the axis No.
Start I/O number StartIO Word [Unsigned] 0H Start I/O
number FEH
0 Installation address of the Simple Motion
module (Upper three digits of four digits
(hexadecimal))
Name Label name Data type Read timing*1
Setting range Initial value
Description
Axis number AxisNo Word [Unsigned] 1 Axis No.
maximum number of
axes of the module
used
Set the axis No. of the output axis used
for the seal axis.
This FB uses the unit set in "[Pr.1] Unit
setting" of the axis No.
4 FB LIBRARY 4.2 Details of the FB Library
4
STD_MakeFlyingShearCam (Cam auto-generation for flying shear)
Name STD_MakeFlyingShearCam
Function overview
Item Description
Function overview This FB automatically generates cam for flying shear.
Symbol
Applicable hardware and
software
Applicable module RD77MS, RD77GF
Applicable CPU MELSEC iQ-R series
Engineering software GX Works3
Number of steps 2449 steps
FB dependence
Execution command B: i_bEN o_bENO :B Execution status
Main input axis cycle starting point E: i_eMainInputAxisStartPos o_bOK :B Normal completion
Main input axis synchronization starting point E: i_eMainInputAxisSyncStartPos o_bError :B Error completion
Main input axis cycle ending point E: i_eMainInputAxisCycleEndPos o_uErrorID :UW Error code
Output axis synchronization starting point E: i_eOutputAxisSyncStartPos o_eMainInputAxisSyncStartPos :E Synchronization
starting point Output axis synchronization
ending point E: i_eOutputAxisSyncEndPos o_eMainInputAxisSyncEndPos :E Synchronization ending point
Output axis movement amount limit value E: i_eOutputAxisMaxLength o_eMainInputAxisCycleDonePos :E Cycle ending point
E: i_eSyncSectionAccRatio
Cam resolution UW: i_uCamResolution
Cam auto-generation cam No. UW: io_uCamNo io_uCamNo :UW Cam auto-generation cam No.
Output axis setting DUT: io_stOutputAxis io_stOutputAxis :DUT Output axis setting
STD_MakeFlyingShearCam
Synchronous section acceleration ratio
4 FB LIBRARY 4.2 Details of the FB Library 71
72
Function description This FB automatically generates cam for driving the flying shear.
Turning on i_bEN (Execution command) starts generating cam data based on the set data.
Calculate the main input axis length per cycle as the product length.
Specify the main input axis cycle starting point, synchronization starting point, cycle ending point of the flying shear (output axis)
to the main input axis, and specify the synchronization starting point and synchronization ending point to the flying shear (output
axis) to generate a cam pattern.*1
Item Description
P10X: Main input axis cycle starting point (i)
1)
2)
3)
4)
5)
P11X: Main input axis synchronization starting point (i)
P13X: Main input axis cycle ending point (i)
P11Y: Output axis synchronization starting point (i)
Output axis movement amount limit value (i)
Main input axis reference point
Output axis reference point
Registration mark
* (i) Input label
P12Y: Output axis synchronization ending point (i)
4 FB LIBRARY 4.2 Details of the FB Library
4
*1 By setting the main input axis cycle starting point to "0" and the cycle ending point to the "product length", a cam pattern is generated at the main input axis per cycle = cam axis per cycle. By setting the main input axis cycle starting point to "a value larger than 0" or the cycle ending point to "a value smaller than product length", a cam pattern is generated at the main input axis per cycle cam axis per cycle.
*2 By setting i_eOutputAxisMaxLength to "0", the movement amount limit is ignored. *3 For details of control data, refer to the following.
MELSEC iQ-R Simple Motion Module User's Manual (Advanced Synchronous Control)
Function description The cam pattern to be generated is a reciprocated cam pattern.
After the cam generation is normally completed and the following output data is updated, o_bOK (Normal completion) turns on.
"o_eMainInputAxisSyncStartPos (Synchronization starting point)"
"o_eMainInputAxisSyncEndPos (Synchronization ending point)"
"o_eMainInputAxisCycleDonePos (Cycle ending point)"
Even though i_bEN (Execution command) turns off, the above output data will be held. The above output data will be cleared when
i_bEN (Execution command) turns on.
When performing the synchronous control with the FB CtrlOutputAxisSync, set the main input axis cycle starting point for
i_eWaitingPos (Waiting point).
If the calculated output axis movement amount exceeds the value of i_eOutputAxisMaxLength (Output axis movement amount
limit value), an error (ErrorID: 2200H) is stored.*2
i_eSyncSectionAccRatio (Synchronous section speed acceleration ratio) changes the speed in the synchronous section.
If a warning related to the cam data operation occurs in the Simple Motion module during cam generation, an error (ErrorID:
2203H) is stored.
If a value other than "0" has been set in "[Cd.600] Cam data operation request" at the cam generation, an error (ErrorID: 2205H)
is stored.
If an error has occurred in the FB, Error turns on and the error code is stored in ErrorID.
For details of error codes, refer to "Page 198 List of Error Codes".
Restrictions and
precautions
If a value other than 0 to 3 has been set in "[Pr.1] Unit setting", this FB is executed with the unit [mm].
The cam to be automatically generated is in the coordinate data format.
The cam data that has been automatically generated is saved in the cam storage area.
If i_bEN (Execution command) turns off during cam generation, the cam may not be normally generated.
When generating multiple cams at the same time, input o_bOK (Normal completion) of the cam auto-generation FB as an
interlock condition so that the generation of the next cam starts after the generation of one cam is successfully completed.
If the cam generation fails, the cam data may be undefined. Try the cam auto-generation again. Check that normal cam is
generated and then perform the operation.
Since cam operation control data ([Cd.600] to [Cd.607]) is set in this FB, do not use user programs to set or change the data.*3
Use the FB CtrlOutputAxisSync or create a user program for the operation of the flying shear axis.
Compiling method Macro type, subroutine type
FB operation type Pulsed execution (multiple scan execution type)
Item Description
4001000
Output axis movement amount limit value (i)
500
100
200
300
400
P11
P12
P10 Synchronization ending point (o)
Cycle ending point (o)
P13
Product length
5001000
500
100
200
300
400
P10
P11
P12
P13
P10X: Main input axis cycle starting point (i)
* (i) Input label (o) Output label
Output axis reference point
200 300
400200 300 600
Output axis point
Output axis stroke
Output axis per cycle
Main input axis point
P11X: Main input axis synchronization starting point (i)
P11Y: Output axis synchronization starting point (i)
Synchronization starting point (o)
P13X: Main input axis cycle ending point (i)
Main input axis reference point
P12Y: Output axis synchronization ending point (i)
4 FB LIBRARY 4.2 Details of the FB Library 73
74
Labels
Input labels
Name Label name Data type Read timing*1
Setting range Initial value
Description
Execution
command
i_bEN Bit On, off On: The FB is activated.
Off: The FB is not activated.
Main input axis
cycle starting
point
i_eMainInputAxi
sStartPos
Single
precision
real number
Refer to the description. 200.0 Set the main input axis point where the one cycle
operation starts.
0.0 Main input axis cycle starting point
100000.0 [mm]
0.00 Main input axis cycle starting point
10000.00 [inch]
0.00 Main input axis cycle starting point
10000.00 [degree]
0 Main input axis cycle starting point
9999999 [pulse]
[The unit setting depends on the axis No. setting
value in the output axis setting.]
Main input axis
synchronization
starting point
i_eMainInputAxi
sSyncStartPos
Single
precision
real number
Refer to the description. 300.0 Set the main input axis point at the start of the
synchronous section.
0.1 Main input axis synchronization starting
point 100000.0 [mm]
0.01 Main input axis synchronization starting
point 10000.00 [inch]
0.01 Main input axis synchronization starting
point 10000.00 [degree]
1 Main input axis synchronization starting point
9999999 [pulse]
[The unit setting depends on the axis No. setting
value in the output axis setting.]
Main input axis
cycle ending
point
i_eMainInputAxi
sCycleEndPos
Single
precision
real number
Refer to the description. 900.0 Set the end point of the main input axis 1 cycle.
0.1 Main input axis cycle ending point
100000.0 [mm]
0.01 Main input axis cycle ending point
10000.00 [inch]
0.01 Main input axis cycle ending point
10000.00 [degree]
1 Main input axis cycle ending point 9999999
[pulse]
[The unit setting depends on the axis No. setting
value in the output axis setting.]
Output axis
synchronization
starting point
i_eOutputAxisSy
ncStartPos
Single
precision
real number
Refer to the description. 50.0 Set the output axis point at the start of the
synchronous section.
0.1 Output axis synchronization starting point
100000.0 [mm]
0.01 Output axis synchronization starting point
10000.00 [inch]
0.01 Output axis synchronization starting point
10000.00 [degree]
1 Output axis synchronization starting point
9999999 [pulse]
[The unit setting depends on the axis No. setting
value in the output axis setting.]
Output axis
synchronization
ending point
i_eOutputAxisSy
ncEndPos
Single
precision
real number
Refer to the description. 350.0 Set the output axis point at the end of the
synchronous section.
0.1 Output axis synchronization ending point
100000.0 [mm]
0.01 Output axis synchronization ending point
10000.00 [inch]
0.01 Output axis synchronization ending point
10000.00 [degree]
1 Output axis synchronization ending point
9999999 [pulse]
[The unit setting depends on the axis No. setting
value in the output axis setting.]
4 FB LIBRARY 4.2 Details of the FB Library
4
*1 : Always, : When the FB is started (cannot be changed)
Output labels
*1 : The value will be held after the FB stops. : The value will be cleared after the FB stops.
Output axis
movement
amount limit
value
i_eOutputAxisM
axLength
Single
precision
real number
Refer to the description. 0.0 Set the movement amount limit value of the output
axis.
"0" = Limit value invalid, other than "0" = Limit
value valid
0.1 Output axis movement amount limit value
100000.0 [mm]
0.01 Output axis movement amount limit value
10000.00 [inch]
0.01 Output axis movement amount limit value
10000.00 [degree]
1 Output axis movement amount limit value
9999999 [pulse]
[The unit setting depends on the axis No. setting
value in the output axis setting.]
Synchronous
section
acceleration
ratio
i_eSyncSection
AccRatio
Single
precision
real number
-50.00 Synchronous
section acceleration ratio
50.00 [%]
0.00 Set this item when the fine adjustment of the
synchronous speed in the synchronous section is
required.
Synchronous section speed = Synchronous speed
(100% + Acceleration ratio)
Cam resolution i_uCamResoluti
on
Word
[Unsigned]
5 Cam resolution 2048 256 Set the cam resolution (Number of coordinates) of
the cam to be generated.
Name Label name Data type Value to be held*1
Description
Execution status o_bENO Bit On: Execution command is on.
Off: Execution command is off.
Normal completion o_bOK Bit This label indicates that the cam auto-generation has
been completed and the FB has been normally
completed.
Error completion o_bError Bit On: An error has occurred in the FB.
Off: No error has occurred.
Error code o_uErrorID Word [Unsigned] The error code of the error that has occurred in the
FB is stored.
Synchronization
starting point
o_eMainInputAxisSyncStartPos Single precision real
number
The main input axis point at the start of the
synchronization is stored.
[The unit setting depends on the axis No. setting
value in the output axis setting.]
Synchronization
ending point
o_eMainInputAxisSyncEndPos Single precision real
number
The main input axis point at the end of the
synchronization is stored.
[The unit setting depends on the axis No. setting
value in the output axis setting.]
Cycle ending point o_eMainInputAxisCycleDonePos Single precision real
number
The main input axis point at the end of the operation
is stored.
[The unit setting depends on the axis No. setting
value in the output axis setting.]
Name Label name Data type Read timing*1
Setting range Initial value
Description
4 FB LIBRARY 4.2 Details of the FB Library 75
76
I/O labels
Output axis setting (AXIS_REF structure)
*1 : Always, : When the FB is started (cannot be changed)
Name Label name Data type Read timing*1
Setting range
Initial value
Description
Cam auto-generation
cam No.
io_uCamNo Word [Unsigned] 1 Cam
auto-
generation
cam No.
256
1 Set the cam No. to be automatically generated for
the flying shear.
Output axis setting io_stOutputAxis AXIS_REF Refer to the output axis setting below.
Name Label name Data type Read timing*1
Setting range
Initial value
Description
Axis number AxisNo Word [Unsigned] 1 Axis No.
maximum
number of
axes of the
module used
Set the axis No. of the output axis to be used for
the flying shear axis.
This FB uses the unit set in "[Pr.1] Unit setting" of
the axis No.
Start I/O number StartIO Word [Unsigned] 0H Start I/
O number
FEH
0 Installation address of the Simple Motion module
(Upper three digits of four digits (hexadecimal))
4 FB LIBRARY 4.2 Details of the FB Library
4
PAC_MakeLongDwellDCam (Cam auto-generation for D-cam)
Name PAC_MakeLongDwellDCam
Function details
Item Description
Function overview This FB automatically generates a cam pattern for the long dwell.
Symbol
Applicable hardware and
software
Applicable module RD77MS, RD77GF
Applicable CPU MELSEC iQ-R series
Engineering software GX Works3
Number of steps 5613 steps
FB dependence
Function description This FB automatically generates a cam pattern for the long dwell mechanism (D-cam axis) increases the sealing time.
Turning on i_bEN (Execution command) starts generating cam data based on the set data.
In calculation, one cycle length of the main input axis is the product length.
The cam pattern is generated so that the D-cam axis rotates once (360 degree) per product length (1 cycle length) [mm].
Execution command B: i_bEN o_bENO :B Execution status
Product length E: i_eProductLength o_bOK :B Normal completion
Synchronous angle E: i_eSyncAngle o_bError :B Error completion
Seal length E: i_eSealLength o_uErrorID :UW Error code
Eccentric length E: i_eEccentricLength o_eSyncStartPos :E
o_eSyncEndPos :E
E: i_eSealSectionAccRatio o_eSealStartPos :E Seal starting point
E: i_eInOutSectionAccRatio o_eSealEndPos :E Seal ending point
Cam resolution UW: i_uCamResolution
UW: io_uCamNo io_uCamNo :UW
Output axis setting DUT: io_stOutputAxis io_stOutputAxis :DUT Output axis setting
PAC_MakeLongDwellDCam
Inlet/outlet section acceleration rate
Seal section acceleration rate
Cam auto-generation cam No.
Synchronization starting point
Synchronization ending point Cam auto-generation cam No.
P2: Seal starting point (o)
P0, P6: Waiting position
P4: Seal ending point (o)
P5: Synchronization ending point (o)
Eccentric length (i)
Product length (i)
Seal length (i)
* (i) Input label (o) Output label
Synchronous angle (i)
P1: Synchronization starting point (o)
4 FB LIBRARY 4.2 Details of the FB Library 77
78
Function description Cam pattern to be generated
i_eSealSectionAccRatio (Seal section acceleration rate) changes the speed in the sealing section.
i_eInOutSectionAccRatio (Inlet/outlet section acceleration rate) changes the speed in the entrance/exit section.
Cam pattern when only i_eSealSectionAccRatio (Seal section acceleration rate) is set
Cam pattern when only i_eInOutSectionAccRatio (Inlet/outlet section acceleration rate) is set
Item Description
400100 200 3000
90
180
270
360
Output axis point [degree]
500
P4
Seal starting point (o)
Synchronous section
Midpoint Synchronous angle (i)
Product length (i)
P6
P5
P3 P2
P1
Main input axis point [mm]
P0
* (i) Input label (o) Output label
Synchronization starting point (o)
Synchronization ending point (o)
Seal ending point (o)
400100 200 3000
90
180
270
360
Output axis point [degree]
P0
500
P1
P2 P3
P4 P5
P6
Synchronous section (-50%)
Synchronous angle (i)
Product length (i)
Main input axis point [mm]
* (i) Input label
Synchronous section (+50%)
: Synchronous section -50% : Synchronous section +50% : Synchronous section 0%Synchronous
section (+0%)
400100 200 3000 500
P1
P2 P3
P4 P5
P6
90
180
270
360
Output axis point [degree]
P0
Synchronous section (-50%)
Synchronous angle (i)
Product length (i)
Main input axis point [mm]
* (i) Input label
Synchronous section (+50%)
: Synchronous section -50% : Synchronous section +50% : Synchronous section 0%Synchronous
section (+0%)
4 FB LIBRARY 4.2 Details of the FB Library
4
*1 For details of control data, refer to the following. MELSEC iQ-R Simple Motion Module User's Manual (Advanced Synchronous Control)
Function description Cam pattern when both i_eSealSectionAccRatio and i_eInOutSectionAccRatio are set
After the cam generation is normally completed and the output label is updated, o_bOK (Normal completion) turns on.
If a warning related to the cam data operation occurs in the Simple Motion module during cam generation, an error (ErrorID:
2203H) is stored.
If a value other than "0" has been set in "[Cd.600] Cam data operation request" at the cam generation, an error (ErrorID: 2205H)
is stored.
If an error has occurred in the FB, Error turns on and an error code is stored in ErrorID.
For details of error codes, refer to "Page 198 List of Error Codes".
Restrictions and
precautions
The cam to be automatically generated is in the coordinate data format.
The cam data that has been automatically generated is saved in the cam storage area.
If i_bEN (Execution command) turns off during cam generation, the cam may not be normally generated.
When generating multiple cams at the same time, input o_bOK (Normal completion) of the cam auto-generation FB as an
interlock condition so that the generation of the next cam starts after the generation of one cam is successfully completed.
If the cam generation fails, the cam data may be undefined. Try the cam auto-generation again. Check that normal cam is
generated and then perform the operation.
Since cam operation control data ([Cd.600] to [Cd.607]) is set in this FB, do not use user programs to set or change the data.*1
Use the FB CtrlOutputAxisSync or create a user program for the operation of the D-cam axis.
The number of FB steps in a program varies depending on the CPU model to be used and I/O definitions.
Compiling method Macro type, subroutine type
FB operation type Pulsed execution (multiple scan execution type)
Item Description
400100 200 3000
90
180
270
360
P0
500
P1 P2
P3
P4 P5
P6
Output axis point [degree]
Synchronous section (-50%)
Synchronous angle (i)
Product length (i)
Main input axis point [mm]
* (i) Input label
Synchronous section (+50%)
: Synchronous section -50% : Synchronous section +50% : Synchronous section 0%Synchronous
section (+0%)
4 FB LIBRARY 4.2 Details of the FB Library 79
80
Labels
Input labels
*1 : Always, : When the FB is started (cannot be changed)
Output labels
*1 : The value will be held after the FB stops. : The value will be cleared after the FB stops.
Name Label name Data type Read timing*1
Setting range Initial value
Description
Execution
command
i_bEN Bit On, off On: The FB is activated.
Off: The FB is not activated.
Product
length
i_eProductLength Single
precision
real number
0.1 Product length
100000.0 [mm]
500.0 Set the product length.
Synchronous
angle
i_eSyncAngle Single
precision
real number
0.1 Synchronous angle
180.0 [degree]
100.0 Set the angle including the seal section and
inlet/outlet section.
Seal length i_eSealLength Single
precision
real number
0.1 Seal length 100000.0
[mm]
100.0 Set the seal section length.
Eccentric
length
i_eEccentricLength Single
precision
real number
0.1 Eccentric length
100000.0 [mm]
100.0 Set the distance from the center of the seal
section to the center of the circle.
Seal section
acceleration
rate
i_eSealSectionAcc
Ratio
Single
precision
real number
-50.0 Seal section
acceleration rate 50.0 [%]
0.0 Set this item when fine adjustment of the
synchronous speed in the sealing section is
required.
Synchronous section speed = Synchronous
speed (100% + Acceleration ratio)
Inlet/outlet
section
acceleration
rate
i_eInOutSectionAc
cRatio
Single
precision
real number
-50.0 Inlet/outlet section
acceleration rate 50.0 [%]
0.0 Set this item when the fine adjustment of the
synchronous speed in the inlet/outlet section is
required.
Synchronous section speed = Synchronous
speed (100% + Acceleration ratio)
Cam
resolution
i_uCamResolution Word
[Unsigned]
9 Cam resolution 1024 256 Set the cam resolution of the cam to be
generated.
Name Label name Data type Value to be held*1
Description
Execution status o_bENO Bit On: Execution command is on.
Off: Execution command is off.
Normal completion o_bOK Bit This label indicates that the cam auto-generation has
been completed and the FB has been normally
completed.
Error completion o_bError Bit On: An error has occurred in the FB.
Off: No error has occurred.
Error code o_uErrorID Word [Unsigned] The error code of the error that has occurred in the FB is
stored.
Synchronization
starting point
o_eSyncStartPos Single precision real
number
The main input axis point at the start of the
synchronization is stored. [mm]
Seal starting point o_eSealStartPos Single precision real
number
The main input axis point at the start of the seal is
stored. [mm]
Seal ending point o_eSealEndPos Single precision real
number
The main input axis point at the end of the seal is stored.
[mm]
Synchronization
ending point
o_eSyncEndPos Single precision real
number
The main input axis point at the end of the
synchronization is stored. [mm]
Product length
Work length
4 FB LIBRARY 4.2 Details of the FB Library
4
I/O labels
Output axis setting (AXIS_REF structure)
*1 : Always, : When the FB is started (cannot be changed)
Name Label name Data type Read timing*1
Setting range Initial value
Description
Cam auto-generation
cam No.
io_uCamNo Word [Unsigned] 1 Cam auto-
generation cam No.
256
1 Set the cam No. to be automatically
generated for the D-cam axis.
Output axis setting io_stOutputAxis AXIS_REF Refer to the output axis setting below.
Name Label name Data type Read timing*1
Setting range Initial value
Description
Axis No. AxisNo Word [Unsigned] 1 Axis No.
maximum number of
axes of the module
used
Set the axis No. of the output axis to be
used for the D-cam axis.
Start I/O number StartIO Word [Unsigned] 0H Start I/O
number FEH
0 Installation address of the Simple Motion
module (Upper three digits of four digits
(hexadecimal))
4 FB LIBRARY 4.2 Details of the FB Library 81
82
STD_ReadMarkDetectData (Mark detection data reading)
Name STD_ReadMarkDetectData
Function overview
Item Description
Function overview This FB reads mark detection data.
Symbol
Applicable hardware and
software
Applicable module RD77MS, RD77GF
Applicable CPU MELSEC iQ-R series
Engineering software GX Works3
Number of steps 671 steps
FB dependence
Function description This FB reads mark detection data.
Turning on i_bEN (Execution command) normally starts the FB and turns on o_bOK (Normal completion). o_dMarkDetectData
(Mark detection data) and o_dMarkDetectCount (Mark detection counts), the data of the set io_uMarkDetectSettingNo (Mark
detection setting No.), is stored.
While i_bEN (Execution command) is on, o_dMarkDetectData (Mark detection data) and o_dMarkDetectCount (Mark detection
counts) are updated at every scan.
Main input axis current point and current feed value
Execution command B: i_bEN
Mark detection setting No.Mark detection setting No. io_uMarkDetectSettingNo :UWUW: io_uMarkDetectSettingNo
Latch data range change request UW: i_uLatchDataRangeChangeRequest
Latch data range
upper limit D: i_dLatchDataRangeUpperLimit
Latch data range lower limit D: i_dLatchDataRangeLowerLimit
Output axis setting DUT: io_stOutputAxis
o_bENO :B Execution status
o_bOK :B Normal completion
o_bError :B Error completion
o_uErrorID :UW Error code
o_dMarkDetectData :D Mark detection data
o_uMarkDetectCount :UW Mark detection counts
io_stOutputAxis :DUT Output axis setting
STD_ReadMarkDetectData
Normal completion (o)
Execution command (i)
Execution status (o)
Mark detection data (o)
Mark detection counts (o)
100 200 300 400
[Cd.800] Number of mark detection clear request
Main input axis current point
[Md.801] Mark detection data storage area
[Md.800] Number of mark detection
Mark detection Mark detection Mark detection Mark detection
1 2
200
0
1 32
200 400300
0
100
0 300
0
0
0 01
***
*
* (i) Input label (o) Output label
4 FB LIBRARY 4.2 Details of the FB Library
4
*1 For details of the mark detection setting, refer to the following. MELSEC iQ-R Simple Motion Module User's Manual (Application)
Function description Current value per cycle
By setting i_dLatchDataRangeUpperLimit (Latch data range upper limit) and i_dLatchDataRangeLowerLimit (Latch data range
lower limit) and turning on i_uLatchDataRangeChangeRequest (Latch data range change request), mark detection is performed
when the data at mark detection is within the range.
When the latch data range upper limit is equal to the latch data range lower limit
When the upper limit value is equal to the lower limit value, the range of mark detection data is not checked. The mark detection
processing is executed within the entire range.
When the latch data range upper limit is larger than the latch data range lower limit
When the upper limit value is larger than the lower limit value, the mark detection processing is executed when mark detection data
is "equal to or larger than the lower limit value and smaller than the upper limit value".
When the latch data range upper limit is smaller than the latch data range lower limit
When the upper limit value is smaller than the lower limit value, the mark detection processing is executed when mark detection
data is "equal to or larger than the lower limit value or smaller than the upper limit value".
If an error has occurred in the FB, Error turns on and the error code is stored in ErrorID.
For details of error codes, refer to "Page 198 List of Error Codes".
Restrictions and
precautions
If a series of processing (from operation processing to compensation completion) is not completed until the next mark detection,
execute this FB in the fixed cycle execution type.
If a value other than 0 to 3 has been set in "[Pr.1] Unit setting", this FB is executed with the unit [mm].
This FB supports only the continuous detection mode. Do not set a value other than "0" in "[Pr.807] Mark detection mode setting".
Configure the mark detection settings with the Simple Motion setting tool or user programs before execution of the FB.
"[Pr.800] to [Pr.804], [Pr.807] (0: Available, other than 0: Not available), [Pr.95], [Pr.42], [Cd.8]"
Since control data ([Cd.800], [Cd.802]) is set in this FB, do not use user programs to set or change the data.*1
This FB reads the mark detection data stored in the Simple Motion module.
Compiling method Macro type, subroutine type
FB operation type Real-time execution
Item Description
Mark detection Mark detection Mark detection Mark detection
Normal completion (o)
Execution command (i)
Execution status (o)
Mark detection data (o)
Mark detection counts (o)
100
[Cd.800] Number of mark detection clear request
[Md.800] Number of mark detection
[Md.801] Mark detection data storage area
Current value per cycle after main shaft gear
1 2
100
0
1 32
100 100100
0
100
0 100
0
0
0 01
***
*
* (i) Input label (o) Output label
Latch data range lower limit (i)
Latch data range upper limit (i) t
Mark detection processing range
* (i) Input label
Latch data range lower limit (i)
Latch data range upper limit (i)
Mark detection processing range
t
* (i) Input label
4 FB LIBRARY 4.2 Details of the FB Library 83
84
Labels
Input labels
*1 : Always, : When the FB is started (cannot be changed)
Output labels
*1 : The value will be held after the FB stops. : The value will be cleared after the FB stops. *2 The value is held when an error has occurred.
Name Label name Data type Read timing*1
Setting range Initial value
Description
Execution
command
i_bEN Bit On, off On: The FB is activated and reading of
mark detection data starts.
Off: The FB is not activated.
Latch data
range change
request
i_uLatchDataRa
ngeChangeReq
uest
Word
[Unsigned]
0 Latch data range change request
2
0 Request the latch data range processing.
Set either of the following values
according to the timing to update a new
value.
1: At the next operation cycle after the
request
2. At the next DI input after the request
This label is used as a fetch trigger of the
latch data range upper/lower limit value.
Latch data
range upper
limit value
i_dLatchDataRa
ngeUpperLimit
Double word
[Signed]
When
requesting
the latch
data range
change
-2147483648 Latch data range
upper limit 2147483647
[The unit setting depends on the axis
No. setting value in the output axis
setting.] (10-4 mm, 10-5 inch, 10-5
degree, pulse)
0 Set a valid upper limit value as latch data
at mark detection.
Latch data
range lower
limit value
i_dLatchDataRa
ngeLowerLimit
Double word
[Signed]
-2147483648 Latch data range
lower limit 2147483647
[The unit setting depends on the axis
No. setting value in the output axis
setting.] (10-4 mm, 10-5 inch, 10-5
degree, pulse)
0 Set a valid lower limit value as latch data
at mark detection.
Name Label name Data type Value to be held*1
Description
Execution status o_bENO Bit On: Execution command is on.
Off: Execution command is off.
Normal completion o_bOK Bit This label indicates that the FB has normally started.
Error completion o_bError Bit On: An error has occurred in the FB.
Off: No error has occurred.
Error code o_uErrorID Word [Unsigned] The error code of the error that has occurred in the
FB is stored.
Mark detection data o_dMarkDetectData Double word [Signed] *2 Latch data at mark detection is stored.
Data range: -2147483648 Mark detection data
2147483647
[The unit setting depends on the axis No. setting
value in the output axis setting.] (10-4 mm, 10-5 inch,
10-5 degree, pulse)
Refresh cycle: At updating mark detection counts
Mark detection
counts
o_uMarkDetectCount Word [Unsigned] *2 The mark detection counts after Execution command
turns on is stored.
Data range: 0 Mark detection counts 65535 (Ring
counter)
Refresh cycle: At updating mark detection counts
4 FB LIBRARY 4.2 Details of the FB Library
4
I/O labels
Output axis setting (AXIS_REF structure)
*1 : Always, : When the FB is started (cannot be changed)
Name Label name Data type Read timing*1
Setting range Initial value
Description
Mark detection setting
No.
io_uMarkDetectS
ettingNo
Word [Unsigned] 1 Mark detection
setting No.
maximum number of
mark detection
settings of the
module used
Set the reference number of mark
detection data.
Output axis setting io_stOutputAxis AXIS_REF Refer to the output axis setting below.
Name Label name Data type Read timing*1
Setting range Initial value
Description
Axis number AxisNo Word [Unsigned] 1 Axis No.
maximum number of
axes of the module
used
Set the axis No. of the output axis used
for mark compensation.
This FB uses the unit setting of the main
input axis corresponding to the output
axis.
Start I/O number StartIO Word [Unsigned] 0H Start I/O
number FEH
0 Installation address of the Simple Motion
module (Upper three digits of four digits
(hexadecimal))
4 FB LIBRARY 4.2 Details of the FB Library 85
86
PAC_CalcMarkCompensation (Automatic compensation calculation using mark detection)
Name PAC_CalcMarkCompensation
Function overview
Item Description
Function overview This FB detects a registration mark on the film using the mark detection function of the Simple Motion module and outputs the
compensation amount for the deviation from the mark reference point.
Symbol
Applicable hardware and
software
Applicable module RD77MS, RD77GF
Applicable CPU MELSEC iQ-R series
Engineering software GX Works3
Number of steps 1683 steps
FB dependence
Mark detection setting No. UW: i_uMarkDetectSettingNo
Execution command B: i_bEN
Mark detection data D: i_dMarkDetectData
Compensation control setting DUT: io_stCompensationSetting
Mark detection counts UW: i_uMarkDetectCount
UW: i_uMissedMarkLimit
Output axis setting DUT: io_stOutputAxis
o_bENO :B Execution status
o_bOK :B Normal completion
o_bError :B Error completion
o_uErrorID :UW Error code
o_dCompensationAmount :D Compensation amount
o_uMissedMarkAmount :UW Mark undetected counts
io_stCompensationSetting :DUT Compensation control setting
io_stOutputAxis :DUT Output axis setting
PAC_CalcMarkCompensation
Mark undetected permissible counts
4 FB LIBRARY 4.2 Details of the FB Library
4
Function description Turning on i_bEN (Execution command) normally starts the FB and turns on o_bOK (Normal completion).
At the timing when i_uMarkDetectCount (Mark detection counts) is refreshed, the interval between register marks is calculated
from the current value and previous value of i_dMarkDetectData (Mark detection data) and the difference from "[Pr.439] Cam
axis length per cycle" of the axis set in the output axis setting is output to o_dCompensationAmount (Compensation amount).
For i_dMarkDetectData (Mark detection data), set the real current value ([Pr.802] = 2).
Since this FB uses the previous value of i_dMarkDetectData (Mark detection data) for the compensation amount calculation, this
FB does not calculate the compensation amount at the first update of i_uMarkDetectCount (Mark detection counts). This FB
calculates the compensation amount at the second update or later.
This FB can set a compensation target range to the calculated compensation amount. By setting the compensation range with
MaxTolerance (Maximum compensation amount) and MinTolerance (Minimum compensation amount), the compensation
amount is output to o_dCompensationAmount (Compensation amount) only when the calculated compensation amount is within
the compensation range. When the calculated compensation amount is outside the compensation range, the FB functions as
follows.
When the absolute value of the calculated compensation amount is smaller than the value in MinTolerance (Minimum
compensation amount), "0" is stored in o_dCompensationAmount (Compensation amount) and the calculated compensation
amount is used as the cumulative compensation amount and added to the compensation amount to be calculated at the next
update. The cumulative compensation amount is held until it is output to o_dCompensationAmount (Compensation amount).
When the absolute value of the calculated compensation amount is larger than the value in MaxTolerance (Maximum
compensation amount), "0" is stored in o_dCompensationAmount (Compensation amount) and an outside mark range error
(ErrorID: 2123H) is stored. The calculated compensation amount is discarded and the cumulative compensation amount is
held.*1
Set MinTolerance (Minimum compensation amount) and MaxTolerance (Maximum compensation amount) to satisfy the following
formula.
Mark detection points: Area a and a'
o_dCompensationAmount (Compensation amount): 0 is output.
The calculated compensation amount is added to the cumulative compensation amount and held.
Mark detection points: Area b and b'
o_dCompensationAmount (Compensation amount): The calculated compensation amount is output.
The cumulative compensation amount is reset.
Mark detection points: Area c and c'
o_dCompensationAmount (Compensation amount): 0 is output.
ErrorID: 2123H is stored in the error code and the operation continues.
The calculated compensation amount is discarded.
The cumulative compensation amount is held.
This FB determines that no mark is detected if i_uMarkDetectCount (Mark detection counts) has not been refreshed even if
"[Md.101] Real current value" moves by a certain amount after i_uMarkDetectCount (Mark detection counts) is refreshed. Once
movement amount of "[Md.101] Real current value" from the detection of a mark to the detection of the next mark exceeds the
sum of "[Pr.439] Cam axis length per cycle" and MaxTolerance (Maximum compensation amount), o_uMissedMarkAmount (Mark
undetected counts) is incremented by one for each "[Pr.439] Cam axis length per cycle". After the movement amount of
"[Md.101] Real current value" exceeds the sum of "[Pr.439] Cam axis length per cycle" and MaxTolerance (Maximum
compensation amount), o_uMissedMarkAmount (Mark undetected counts) is incremented by one for each "[Pr.439] Cam axis
length per cycle". When the value of o_uMissedMarkAmount (Mark undetected counts) exceeds the value of
i_uMarkMissedMarkLimit (Mark undetected permissible counts), an error (ErrorID: 2201H) is stored and the FB stops. The value
of o_uMissedMarkAmount (Mark undetected counts) is cumulative. The value of o_uMissedMarkAmount (Mark undetected
counts) is held even after the update of i_uMarkDetectCount (Mark detection counts), and this FB adds 1 to the counts every
mark undetection.
Use output values of STD_ReadMarkDetectData for i_dMarkDetectData (Mark detection data) and i_uMarkDetectCount (Mark
detection counts).
To compensate the compensation amount calculated by this FB, use STD_CtrlAuxiliaryAxis. The compensation direction
depends on the compensation target. To compensate the film axis, use o_dCompensationAmount (Compensation amount). To
compensate the rotary cutter or box motion axis, use o_dCompensationAmount (Compensation amount) in reverse.
If an error has occurred in the FB, Error turns on and the error code is stored in ErrorID.
For details of error codes, refer to "Page 198 List of Error Codes".
Item Description
MinTolerance (Minimum compensation amount) < MaxTolerance
(Maximum compensation amount) < [Pr.439] Cam axis length per cycle
2
a b ca'b'
Mark reference point
c'
[Pr.439] Cam axis length per cycle
[Pr.439] Cam axis length per cycle / 2
* (i) Input label
Minimum compensation amount (i) Maximum compensation amount (i)
Minimum compensation amount (i) Maximum compensation amount (i)
4 FB LIBRARY 4.2 Details of the FB Library 87
88
*1 The operation of the FB continues. If the mark pitch is normal at the next cycle, "0" is stored in error.
Labels
Input labels
*1 : Always, : When the FB is started (cannot be changed)
Restrictions and
precautions
Execute this FB in a fixed cycle. (Motion calculation cycle event task (I44: Inter-module synchronization) is recommended.)
If a value other than 0 to 3 has been set in "[Pr.1] Unit setting", this FB is executed with the unit [mm].
When using this FB, construct a system in which "[Md.101] Real current value" operates in the increasing direction.
To improve accuracy in calculation of the compensation amount, data to be set to i_dMarkDetectdata (Mark detection data) has
been changed from the cam axis current value per cycle ([Pr.802] = 11 or 12) to the real current value ([Pr.802] = 2). Use this FB
in the following combinations.
This FB [Ver1.001B or earlier] Cam axis current value per cycle ([Pr.802] = 11 or 12)
This FB [Ver1.002C or later] Real current value ([Pr.802] =2)
Compiling method Macro type, subroutine type
FB operation type Real-time execution
Name Label name Data type Read timing*1
Setting range Initial value
Description
Execution
command
i_bEN Bit On, off On: The FB is activated.
Off: The FB is not activated.
Mark
detection
setting No.
i_uMarkDetectS
ettingNo
Word
[Unsigned]
1 Mark detection setting No.
Maximum number of mark detection
settings of the module used
Set the reference number of mark
detection data.
Mark
detection
data
i_dMarkDetectD
ata
Double word
[Signed]
-2147483648 Mark detection data
2147483647
[The unit setting depends on the axis
No. setting value in the output axis
setting.] (10-4 mm, 10-5 inch, 10-5
degree, pulse)
0 Enter o_dMarkDetectData (Mark
detection data) of the FB
STD_ReadMarkDetectData.
Mark
detection
counts
i_uMarkDetectC
ount
Word
[Unsigned]
0 Mark detection counts 65535
[times]
(Ring counter)
0 Enter o_uMarkDetectCount (Mark
detection counts) of the FB
STD_ReadMarkDetectData.
A compensation amount is calculated at
update of this data.
Mark
undetected
permissible
counts
i_uMissedMarkLi
mit
Word
[Unsigned]
0 Mark undetected permissible
counts 100 [times]
0 Set the permissible value of the mark
undetected counts.
If the value of the mark undetected
counts exceeds this setting, an error is
stored.
0: Invalid
1 to 100: Permissible value of the mark
undetected counts
Item Description
4 FB LIBRARY 4.2 Details of the FB Library
4
Output labels
*1 : The value will be held after the FB stops. : The value will be cleared after the FB stops. *2 The value is held when an error has occurred.
I/O labels
Output axis setting (AXIS_REF structure)
Compensation control setting (PAC_COMPENSATION_REF structure)
*1 : Always, : When the FB is started (cannot be changed)
Name Label name Data type Value to be held*1
Description
Execution status o_bENO Bit On: Execution command is on.
Off: Execution command is off.
Normal completion o_bOK Bit This label indicates that the FB has normally started.
Error completion o_bError Bit On: An error has occurred in the FB.
Off: No error has occurred.
Error code o_uErrorID Word [Unsigned] The error code of the error that has occurred in the
FB is stored.
Compensation
amount
o_dCompensationAmount Double word [Signed] The calculated compensation amount is stored.
If the absolute value of the compensation amount is
smaller than the minimum compensation amount or
larger than the maximum compensation amount, "0"
is output.
Data range: -2147483648 Compensation amount
2147483647
[The unit setting depends on the axis No. setting
value in the output axis setting.] (10-4 mm, 10-5 inch,
10-5 degree, pulse)
Mark undetected
counts
o_uMissedMarkAmount Word [Unsigned] *2 The value of the mark undetected counts is stored.
If this data exceeds the mark undetected permissible
counts, an error is stored.
Name Label name Data type Read timing*1
Setting range
Initial value
Description
Output axis setting io_stOutputAxis AXIS_REF Refer to the output axis setting below.
Compensation control
setting
io_stCompensatio
nSetting
PAC_COMPENSATI
ON_REF
Refer to the compensation control setting below.
Name Label name Data type Read timing*1
Setting range
Initial value
Description
Axis number AxisNo Word [Unsigned] 1 Axis No.
maximum
number of
axes of the
module used
Set the axis No. of the output axis used for mark
compensation.
This FB uses the unit setting of the main input
axis corresponding to the output axis.
Start I/O number StartIO Word [Unsigned] 0H Start I/O
number
FEH
0 Installation address of the Simple Motion
module (Upper three digits of four digits
(hexadecimal))
Name Label name Data type Read timing*1
Setting range
Initial value
Description
Minimum
compensation amount
eMinTolerance Single precision real
number
0.0
Minimum
compensation
amount <
Maximum
compensation
amount <
"[Pr.439] Cam
axis length
per cycle / 2"
0.0 Set the lower limit value of the compensation
range with an absolute value.
Maximum
compensation amount
eMaxTolerance Single precision real
number
0.0 Set the upper limit value of the compensation
range with an absolute value.
4 FB LIBRARY 4.2 Details of the FB Library 89
90
STD_CtrlAuxiliaryAxis (Auxiliary axis correction)
Name STD_CtrlAuxiliaryAxis
Function overview
Item Description
Function overview This FB performs positioning by compensation amount.
Symbol
Applicable hardware and
software
Applicable module RD77MS, RD77GF
Applicable CPU MELSEC iQ-R series
Engineering software GX Works3
Number of steps 2267 steps
FB dependence
Function description This FB performs positioning of the auxiliary axis and compensates the output axis.
Turning on i_bEN (Execution command) normally starts the FB and turns on o_bOK (Normal completion).
If a positive value is set in i_eCompensationStartPos (Compensation starting point), the input of i_dCompensationAmount
(Compensation amount) changes and compensating operation starts when "[Md.401] Current value per cycle after main shaft
gear" passes the compensation starting point.
If -1 is set in i_eCompensationStartPos (Compensation starting point), the compensation starting point is disabled and
compensating operation starts when i_dCompensationAmount (Compensation amount) changes. When the compensation
amount changes during auxiliary axis control, the compensation amount is ignored. The compensation amount which is input
after the ongoing positioning completion will be fetched.
o_bCompensationComplete (Compensation completion) turns on at completion of positioning of the auxiliary axis.
If a positive value is set for the compensation starting point
If the unit set in "[Pr.1] Unit setting" differs between the main input axis and auxiliary axis corresponding to the output axis, the
operation continues but an error (ErrorID: 2136H) is stored.
If an error has occurred in the FB, Error turns on and the error code is stored in ErrorID.
For details of error codes, refer to "Page 198 List of Error Codes".
Execution command B: i_bEN
Compensation starting point E: i_eCompensationStartPos
Compensation amount D: i_dCompensationAmount
Output axis setting DUT: i_stOutputAxis
Compensation control setting DUT: i_stCompensationSetting
Auxiliary axis setting DUT: i_stAuxiliaryAxis
o_bENO :B Execution status
o_bOK :B Normal completion
o_bError :B Error completion
o_uErrorID :UW Error code
o_bCompensationComplete :B Compensation completion
STD_CtrlAuxiliaryAxis
X1
X2
00 X10 X2
Execution command (i)
Compensation starting point (i)
Normal completion (o)
Execution status (o)
Current value per cycle after main shaft gear
Compensation amount (i)
Positioning axis current value for compensation
Compensation completion (o)
* (i) Input label (o) Output label
4 FB LIBRARY 4.2 Details of the FB Library
4
*1 For details of synchronous control parameters, refer to the following. MELSEC iQ-R Simple Motion Module User's Manual (Advanced Synchronous Control)
Labels
Input labels
Restrictions and
precautions
If a series of processing (from operation processing to compensation completion) is not completed until the next mark detection,
execute this FB in the fixed cycle execution type.
If parameters have been set as below, this FB is executed with the unit [mm].
"[Pr.1] Unit setting": Other than 0 to 3
"[Pr.300] Servo input axis type": Other than 1 to 4
Control unit of "[Pr.321] Synchronous encoder axis unit setting": Other than 0 to 3
"[Pr.400] Main input axis type": Other than 1 to the maximum number of module axes (servo input axis) and 801 to 800 + maximum
number of module axes (synchronous encoder)
Since synchronous parameters ([Pr.400] to [Pr.437]) such as "auxiliary shaft module" used in the synchronous control are set in
this FB, input label, or structure, do not use user programs to set or change the parameters.*1
Since the positioning signal of the auxiliary axis specified with the axis No. in the auxiliary axis setting is used in this FB, do not
use user programs to set or change them.
If the rotation direction of the main input axis and auxiliary axis are different and the compensation speed of the auxiliary axis
exceeds the main input axis speed, the output axis may reverse.
This FB sets a compensation amount ([Da.6] Positioning address/movement amount), compensation axis speed ([Da.8]
Command speed), compensation acceleration ([Da.3] Acceleration time No.), and compensation deceleration ([Da.4]
Deceleration time No.) for the positioning data No. set with input labels.
Since "[Da.1] Operation pattern" and "[Da.2] Control method" are set in this FB, do not use user programs to set or change them.
For the following settings, use user programs as required.
"[Da.9], [Da.10], [Da.27], [Da.28]"
Set i_eCompensationStartPos (Compensation starting point) not to overlap the synchronous section to avoid the compensation
operation from being performed at sealing.
Set the time equal to or longer than the execution cycle (scan time) of this FB for "[Pr.40] Positioning complete signal output time"
(initial value: 300[ms]) of the auxiliary axis. Otherwise, o_bCompensationComplete (Compensation completion) does not turn on.
Compiling method Macro type, subroutine type
FB operation type Real-time execution
Name Label name Data type Read timing*1
Setting range Initial value
Description
Execution
command
i_bEN Bit On, off On: The FB is activated and the
compensation operation is available.
Off: The FB is not activated.
Compensation
starting point
i_eCompensatio
nStartPos
Single
precision
real number
Refer to the description. 0.0 The compensation starts when the main
input axis point per cycle reaches the set
value.
0.0 Compensation starting point <
Cam axis length per cycle [mm]
0.00 Compensation starting point <
Cam axis length per cycle [inch]
0.00 Compensation starting point <
Cam axis length per cycle [degree]
0 Compensation starting point < Cam
axis length per cycle [pulse]
[The unit setting depends on the setting
value of the main input axis.]
-1: Compensation starts when the
compensation amount changes.
Compensation
amount
i_dCompensatio
nAmount
Double word
[Signed]
-2147483648 Compensation
amount 2147483647
[The unit setting depends on the axis
No. setting value in the auxiliary axis
setting.] (10-4 mm, 10-5 inch, 10-5
degree, pulse)
0 Input the compensation amount.
Output axis
setting
i_stOutputAxis AXIS_REF Refer to the output axis setting below.
Auxiliary axis
setting
i_stAuxiliaryAxis AXIS_REF Refer to the auxiliary axis setting below.
Compensation
control setting
i_stCompensatio
nSetting
PAC_COMP
ENSATION_
REF
Refer to the compensation control setting
below.
Item Description
4 FB LIBRARY 4.2 Details of the FB Library 91
92
Output axis setting (AXIS_REF structure)
Auxiliary axis setting (AXIS_REF structure)
Compensation control setting (PAC_COMPENSATION_REF structure)
*1 : Always, : When the FB is started (cannot be changed)
Name Label name Data type Read timing*1
Setting range
Initial value
Description
Axis number AxisNo Word [Unsigned] 1 Axis No.
maximum
number of
axes of the
module used
Set the axis No. of the output axis used for mark
compensation.
The unit setting of the main input axis that drives
the output axis is also used by the compensation
starting point.
Start I/O number StartIO Word [Unsigned] 0H Start I/O
number FEH
0 Installation address of the Simple Motion module
(Upper three digits of four digits (hexadecimal))
Name Label name Data type Read timing*1
Setting range
Initial value
Description
Axis number AxisNo Word [Unsigned] 1 Axis No.
maximum
number of
axes of the
module used
Set the axis No. of the auxiliary axis used for mark
compensation.
The unit setting of the axis is the unit of labels used
by the auxiliary axis.
Name Label name Data type Read timing*1
Setting range
Initial value
Description
Positioning data No. uPointTableNo Word [Unsigned] 1
Positioning
data No.
100
1 Set the positioning data No. for performing the
compensation operation.
Compensation axis
speed
eCompensationSp
eed
Single precision
real number
Refer to the
description.
1000.0 Set the positioning speed for compensation.
Set the speed added/subtracted to/from the line
speed in this setting.
mm: 0.01 Compensation axis speed
20000000.00 [mm/min]
inch: 0.001 Compensation axis speed
2000000.000 [inch/min]
degree: 0.001 Compensation axis speed
2000000.000 [degree/min]
pulse: 1 Compensation axis speed
1000000000 [pulse/s]
[The unit setting depends on the axis No. setting
value in the auxiliary axis setting.]
If the set speed is 8 digits or more (the number of
significant figures of the single precision real
number is 7 digits), round off the eighth digits of
the value.
Compensation
acceleration
uCompensationAc
c
Word [Unsigned] 0
Compensation
acceleration
3
0 Set the positioning acceleration for compensation.
0: [Pr.9] Acceleration time 0
1: [Pr.25] Acceleration time 1
2: [Pr.26] Acceleration time 2
3: [Pr.27] Acceleration time 3
Compensation
deceleration
uCompensationD
ecel
Word [Unsigned] 0
Compensation
deceleration
3
0 Set the positioning deceleration for compensation.
0: [Pr.10] Deceleration time 0
1: [Pr.28] Deceleration time 1
2: [Pr.29] Deceleration time 2
3: [Pr.30] Deceleration time 3
4 FB LIBRARY 4.2 Details of the FB Library
4
Output labels
*1 : The value will be held after the FB stops. : The value will be cleared after the FB stops.
Name Label name Data type Value to be held*1
Description
Execution status o_bENO Bit On: Execution command is on.
Off: Execution command is off.
Normal completion o_bOK Bit This label indicates that the FB has normally started.
Error completion o_bError Bit On: An error has occurred in the FB.
Off: No error has occurred.
Error code o_uErrorID Word [Unsigned] The error code of the error that has occurred in the
FB is stored.
Compensation
completion
o_bCompensationComplete Bit This device turns on when positioning for
compensation is completed.
4 FB LIBRARY 4.2 Details of the FB Library 93
94
PAC_CalcGap (Work gap adjustment compensation amount calculation)
Name PAC_CalcGap
Function details
Item Description
Function overview This FB detects a workpiece on the conveyor using the mark detection function of the Simple Motion module and outputs the
compensation amount for adjusting the space from the workpiece ahead.
Symbol
Applicable hardware
and software
Applicable module RD77MS, RD77GF
Applicable CPU MELSEC iQ-R series
Engineering software GX Works3
Number of steps 1332 steps
FB dependence
Execution command
Work length
Sensor position
Mark detection data
Mark detection counts
Mark detection setting No.
Output axis setting
Compensation control setting
Execution status
Normal completion
Error completion
Error code
Compensation amount Compensation starting point Mark detection setting No.
Output axis setting Compensation control setting
PAC_CalcGap B: i_bEN
E: i_eWorkLength
E: i_eSensorPosition
D: i_dMarkDetectData
UW: i_uMarkDetectCount
UW: io_uMarkDetectSettingNo
DUT: io_stOutputAxis
DUT: io_stCompensationSetting
o_bENO :B
o_bOK :B
o_bError :B
o_uErrorID :UW
o_dCompensationAmount :D
o_dCompensationStartPosition :D
io_uMarkDetectSettingNo :UW
io_stOutputAxis :DUT
io_stCompensationSetting :DUT
4 FB LIBRARY 4.2 Details of the FB Library
4
Function description As the following shows, this FB outputs compensation amounts to align the workpieces fed from the work feeding conveyor at
irregular intervals into equal intervals (length per cycle) by using the gap adjustment conveyor which is synchronized with the supply
conveyor and the sensor attached above the gap adjustment conveyor.
Outline diagram (gap adjustment)
Turning on i_bEN (Execution command) normally starts the FB and turns on o_bOK (Normal completion).
"[Md.407] Cam axis current value per cycle" of the axis (gap adjustment conveyor) specified with the output axis setting at the first
mark detection is set as a reference point. After that, the compensation amount is calculated from the difference between the
previous and current values of i_dMarkDetectData (Mark detection data) at each update of i_uMarkDetectCount (Mark detection
counts).
The compensation amount is not calculated at the first detection of the work. It is calculated at the second i_uMarkDetection (Mark
detection data) or later.
i_dMarkDetectData (Mark detection data) uses the cam axis current value per cycle (when [Pr.802] is set to 11 or 12).
o_dCompensationStartPosition (Compensation starting point) outputs the previous value of i_dMarkDetectData (Mark detection
data) added by i_eWorkLength (Work length) and i_eSensorPosition (Sensor position).
Compensation starting point concept
Item Description
Gap adjustment conveyorWork feeding conveyor Supply conveyor
* (i)Input label
Work detection sensor Work gap
(length per cycle) Work length (i)
Sensor position (i)
Gap adjustment conveyor Supply conveyor
Sensor position (i) Work length (i)
1)2) 1)2)3)
Work detection sensor
Work detection sensor
Gap adjustment conveyor Supply conveyor
Sensor position (i) Work length (i)
* (i)Input label
If the work 2) is detected and immediately compensated, the work 1) moves as well.
Check that the work 1) is on the next conveyor, and then start compensation of the work 2).
1001001001001001001000
100
1) 40
-20 -10 -40 10
2) 5 4) 20 7) 30
20 -70
7)6)5)4)3)2)1)
7)6)5)4)3)2)1)
1 cycle
1 cycle 100
Mark detection value
40
Compensation amount
10 -20 -10 -40 -70 200
Work position (before compensation) Work position (after compensation)
3) 30 6) 105) 80
Work position before alignment
Work position after alignment
(Supply conveyor)
(Gap adjustment conveyor)
4 FB LIBRARY 4.2 Details of the FB Library 95
96
Labels
Input labels
Function description This FB performs the following compensation using MaxTolerance (maximum compensation amount) and MinTolerance (minimum
compensation amount) according to the calculated compensation amount.
When the absolute value of the calculated compensation amount is smaller than the value in MinTolerance (Minimum
compensation amount)
"0" is stored in o_dCompensationAmount (Compensation amount)
When the calculated compensation amount (positive value) is larger than the value in MaxTolerance (Maximum compensation
amount)
"The value of the MaxTolerance" is stored in o_dCompensationAmount (Compensation amount), and a maximum compensation
amount exceeded error (ErrorID: 2123H) is stored.
For the calculated compensation amount (negative value)
The calculated compensation amount is output as the compensation amount as is.
Depending on the space between workpieces coveyed from the work charging conveyor and the line speed, the workpieces may
not be adjusted to have desired intervals on one conveyor. In that case, connect multiple gap adjustment conveyors.
If an error has occurred in the FB, Error turns on and the error code is stored in ErrorID.
For details of error codes, refer to "Page 198 List of Error Codes".
Restrictions and
precautions
Set 0 (mm) or 1 (inch) in the main input axis. If a value outside the range is set, an error (ErrorID: 214DH) occurs.
To use this FB, configure a system in which "[Md.407] Cam axis current value per cycle" moves in the increment direction.
Set the work gap and the sensor position and the work length to satisfy the following formula. Work gap (length per cycle) + Sensor
position + Work length 214748.3647 [mm] or 21474.83647 [inch]
If the mark detection data is behind the actual detection position, minimize the delay by setting the gain tuning of the servo and
"[Pr.801] Mark detection signal compensation time". If the delay is long, compensation amount may not be calculated correctly.
Compiling method Macro type, subroutine type
FB operation type Real-time execution
Name Label name Data type Read timing*1
Setting range Initial value
Description
Execution
command
i_bEN Bit On, off ON: The FB is activated.
OFF: The FB is not activated.
Work length i_eWorkLength Single
precision
real number
Refer to the description. 40.0 Set the work length.
0.1 Work length 100000.0 [mm]
0.01 Work length 10000.00 [inch]
[The unit setting depends on the setting
value of the main input axis.]
Sensor
position
i_eSensorPosition Single
precision
real number
Refer to the description. 240.0 Set the distance between the sensor of the
gap adjustment conveyor that detects the
workpiece and conveyor end.
0.1 Sensor position 100000.0 [mm]
0.01 Sensor position 10000.00 [inch]
[The unit setting depends on the setting
value of the main input axis.]
Mark
detection
data
i_dMarkDetectData Double word
[Signed]
-2147483648 Mark
detection data
2147483647
[The unit setting depends
on the axis No. setting
value of the output axis
setting.] (10-4 mm, 10-5
inch)
0 Enter STD_ReadMarkDetectDataFB of
o_dMarkDetectData (Mark detection data).
Item Description
Calculated compensation amount
Calculated compensation amount (Current value - Previous value of the mark detection data)
Calculated compensation amount
0
0
Maximum compensation amount
Compensation amount (o_dCompensationAmount)
Maximum compensation
amount
Minimum compensation
amount
- Minimum compensation
amount
Product length
Work length
4 FB LIBRARY 4.2 Details of the FB Library
4
*1 : Always, : When the FB is started (cannot be changed)
Output labels
*1 : The value is held after the FB stops. : The value is cleared after the FB stops.
I/O labels
Output axis setting (AXIS_REF structure)
Mark
detection
counts
i_uMarkDetectCount Word
[Unsigned]
0 Mark detection counts
65535 [times]
(Ring counter)
0 Enter o_uMarkDetectCount (Mark detection
counts) of STD_ReadMarkDetectDataFB.
A compensation amount is calculated at
updating this data.
Name Label name Data type Value to be held*1
Description
Execution status o_bENO Bit ON: Execution command is on.
OFF: Execution command is off.
Normal completion o_bOK Bit Indicates that the FB has normally started.
Error completion o_bError Bit ON: An error has occurred in the FB.
OFF: No error has occurred.
Error code o_uErrorID Word [Unsigned] The error code of the error that has occurred in the
FB is stored.
Compensation
amount
o_dCompensationAmount Double word [Signed] The calculated compensation amount is stored.
If the absolute value of the compensation amount is
smaller than the minimum compensation amount, "0"
is output.
If it exceeds the maximum compensation amount,
"Maximum compensation amount" is output.
Data range: -2147483648 Compensation amount
2147483647
[The unit setting depends on the axis No. setting
value of the output axis setting.]
(10-4 mm, 10-5 inch)
Compensation
starting point
o_dCompensationStartPosition Double word [Signed] The calculated compensation starting point is stored.
Data range: -2147483648 Compensation starting
point 2147483647
[The unit setting depends on the axis No. setting
value of the output axis setting.]
(10-4 mm, 10-5 inch)
Name Label name Data type Read timing*1
Setting range Initial value
Description
Mark detection
setting No.
io_uMarkDetectSettin
gNo
Word [Unsigned] 1 Mark detection
setting No. Maximum
number of mark
detection settings of the
module used
Set the reference No. of mark detection
data.
Output axis
setting
io_stOutputAxis AXIS_REF Refer to the output axis setting below.
Compensation
control setting
io_stCompensationSe
tting
PAC_COMPEN
SATION_REF
Refer to compensation control setting
below.
Name Label name Data type Read timing*1
Setting range Initial value
Description
Axis No. AxisNo Word [Unsigned] 1 Axis No. Maximum
number of axes of the
module used
Set the axis No. of the output axis (gap
adjustment conveyor) used for the mark
compensation processing.
The unit setting of the main input axis
corresponding to the output axis is used in
this FB.
Start I/O
number
StartIO Word [Unsigned] 0H Start I/O number
FEH
Installation address of the Simple Motion
module (Upper three digits of four digits
(hexadecimal))
Name Label name Data type Read timing*1
Setting range Initial value
Description
4 FB LIBRARY 4.2 Details of the FB Library 97
98
Compensation control setting (PAC_COMPENSATION_REF structure)
*1 : Always, : When the FB is started (cannot be changed)
Name Label name Data type Read timing*1
Setting range Initial value
Description
Minimum
compensation
amount
eMinTolerance Single precision
real number
0.0 Minimum
compensation amount <
Maximum
compensation amount
"[Pr.439] Cam axis
length per cycle"
Set the lower limit value of the
compensation range.
If the compensation amount absolute value
is smaller than this setting, "0" is stored in
the compensation amount.
Maximum
compensation
amount
eMaxTolerance Single precision
real number
Set the upper limit value of the
compensation range.
If the compensation amount is larger than
this setting, "this setting value" is stored.
4 FB LIBRARY 4.2 Details of the FB Library
4
PAC_CalcPhase (Work loading position adjustment compensation amount calculation)
Name PAC_CalcPhase
Function details
Item Description
Function overview This FB detects a workpiece on the conveyor by using the mark detection function of the Simple Motion module and outputs the
compensation amount of the phase difference (deviation) with the loading conveyor.
Symbol
Applicable hardware and
software
Applicable module RD77MS, RD77GF
Applicable CPU MELSEC iQ-R series
Engineering software GX Works3
Number of steps 1488 steps
FB dependence
Execution command
Work length
Sensor position
Mark detection data
Work loading position
Mark detection counts Mark detection
setting No. Output axis setting
Compensation control setting
Execution status
Normal completion
Error completion
Error code
Compensation starting point
Compensation amount
Mark detection setting No. Output axis setting Compensation control setting
PAC_CalcPhase B: i_bEN
E: i_eWorkLength
E: i_eSensorPosition
E: i_eWorkLoadPosition
D: i_dMarkDetectData
UW: i_uMarkDetectCount
UW: io_uMarkDetectSettingNo
DUT: io_stOutputAxis
DUT: io_stCompensationSetting
o_bENO :B
o_bOK :B
o_bError :B
o_uErrorID :UW
o_dCompensationAmount :D
o_dCompensationStartPosition :D
io_uMarkDetectSettingNo :UW
io_stOutputAxis :DUT
io_stCompensationSetting :DUT
4 FB LIBRARY 4.2 Details of the FB Library 99
10
Function description As the following shows, this FB outputs the compensation amount to load workpieces fed from the gap adjustment conveyor in a
desired position between fingers (partition plates) by using the supply conveyor which is synchronized with the loading conveyor
and the sensor attached above the supply conveyor.
Outline diagram
Turning on i_bEN (Execution command) normally starts the FB and turns on o_bOK (Normal completion).
During the work detection, the compensation amount is calculated from "[Md.407] Cam axis current value per cycle" of the
loading conveyor and the i_eWorkLoadPosition (Work loading position) and outputted.
o_dCompensationStartPosition (Compensation starting point) outputs the previous value of i_dMarkDetectData (Mark detection
data) added by i_eWorkLength (Work length) and i_eSensorPosition (Sensor position).
i_dMarkDetectData (Mark detection data) uses the cam axis current value per cycle (when [Pr.802] is set to 11 or 12).
i_eWorkLoadPosition (Work loading position) shows the loading position from the edge of the finger.
This FB performs the following compensation using MaxTolerance (maximum compensation amount) and MinTolerance
(minimum compensation amount) according to the calculated compensation amount.
When the absolute value of the calculated compensation amount is smaller than the value in MinTolerance (Minimum
compensation amount)
"0" is stored in o_dCompensationAmount (Compensation amount)
When the calculated compensation amount (positive value) is larger than the value in MaxTolerance (Maximum compensation
amount)
The length per cycle is subtracted from o_dCompensationAmount (Compensation amount) and the workpiece is loaded between
the fingers of the next cycle. A maximum compensation amount exceeded error (ErrorID: 2123H) is stored.
For the calculated compensation amount (negative value)
The calculated compensation amount is output as the compensation amount as is.
The compensation amount at the first work detection is output as a negative value to a deceleration direction. The maximum
compensation amount and minimum compensation amount are ignored.
If an error has occurred in the FB, Error turns on and the error code is stored in ErrorID.
For details of error codes, refer to "Page 198 List of Error Codes".
Restrictions and
precautions
Set 0 (mm) or 1 (inch) in the main input axis. If a value outside the range is set, an error (ErrorID: 214DH) occurs.
To use this FB, configure a system in which "[Md.407] Cam axis current value per cycle" moves in the increment direction.
Set the work gap and the sensor position and the work length to satisfy the following formula. Work gap (length per cycle) +
Sensor position + Work length 214748.3647 [mm] or 21474.83647 [inch]
If the mark detection data is behind the actual detection position, minimize the delay by setting the gain tuning of the servo and
"[Pr.801] Mark detection signal compensation time". If the delay is long, compensation amount may not be calculated correctly.
Adjust the work intervals using PAC_CalcGap (Work gap adjustment compensation amount calculation) FB so that each
workpiece is within the length per cycle on the supply conveyor.
Set "[Pr.439] Cam axis length per cycle" of the supply conveyor and loading conveyor to the same value.
Compiling method Macro type, subroutine type
FB operation type Real-time execution
Item Description
Sensor
Supply conveyor
Finger (partition plate)
Work loading position
Distance between sensor and conveyor end
Work length Finger gap (length per cycle)
Gap adjustment conveyor Work loading conveyor
- Minimum compensation
amount
Minimum compensation
amount
Maximum compensation
amount
Calculated compensation amount
Calculated compensation amount (Mark detection data - Reference point)
Calculated compensation amount
Calculated compensation amount - Length per cycle
0
0
Compensation amount (o_dCompensationAmount)
0 4 FB LIBRARY 4.2 Details of the FB Library
4
Labels
Input labels
*1 : Always, : When the FB is started (cannot be changed)
Output labels
Name Label name Data type Read timing*1
Setting range Initial value
Description
Execution
command
i_bEN Bit On, off ON: The FB is activated.
OFF: The FB is not activated.
Work length i_eWorkLength Single
precision
real number
Refer to the description. 40.0 Set the work length.
0.1 Work length 100000.0 [mm]
0.01 Work length 10000.00 [inch]
[The unit setting depends on the setting value
of the main input axis.]
Sensor
position
i_eSensorPosition Single
precision
real number
Refer to the description. 240.0 Set the distance between the sensor that
detects the workpiece on the supply conveyor
and the conveyor end.
0.1 Sensor position 100000.0 [mm]
0.01 Sensor position 10000.00 [inch]
[The unit setting depends on the setting value
of the main input axis.]
Work
loading
position
i_eWorkLoadPosition Single
precision
real number
0.0 Work loading
position < "[Pr.439] Cam
axis length per cycle"
0.0 Set the distance between the finger edge and
work edge on the loading conveyor.
Mark
detection
data
i_dMarkDetectData Double word
[Signed]
-2147483648 Mark
detection data
2147483647
[The unit setting depends
on the axis No. setting
value of the output axis
setting.] (10-4 mm, 10-5
inch)
0 Enter STD_ReadMarkDetectDataFB of
o_dMarkDetectData (Mark detection data).
Mark
detection
counts
i_uMarkDetectCount Word
[Unsigned]
0 Mark detection counts
65535 [times]
(Ring counter)
0 Enter o_uMarkDetectCount (Mark detection
counts) of STD_ReadMarkDetectDataFB.
A compensation amount is calculated at
updating this data.
Name Label name Data type Value to be held*1
Description
Execution status o_bENO Bit ON: Execution command is on.
OFF: Execution command is off.
Normal completion o_bOK Bit Indicates that the FB has normally started.
Error completion o_bError Bit ON: An error has occurred in the FB.
OFF: No error has occurred.
Error code o_uErrorID Word [Unsigned] The error code of the error that has occurred in the FB is stored.
Compensation
amount
o_dCompensationAmount Double word
[Signed]
The calculated compensation amount is stored.
If the absolute value of the compensation amount is smaller than
the minimum compensation amount, "0" is output.
If it exceeds the maximum compensation amount, "Maximum
compensation amount" is output.
Data range: -2147483648 Compensation amount 2147483647
[The unit setting depends on the axis No. setting value of the output
axis setting.]
(10-4 mm, 10-5 inch)
Product length
Work length
4 FB LIBRARY 4.2 Details of the FB Library 101
10
*1 : The value is held after the FB stops. : The value is cleared after the FB stops.
I/O labels
Output axis setting (AXIS_REF structure)
Compensation control setting (PAC_COMPENSATION_REF structure)
*1 : Always, : When the FB is started (cannot be changed)
Compensation
starting point
o_dCompensationStartPosition Double word
[Signed]
The calculated compensation starting point is stored.
Data range: -2147483648 Compensation starting point
2147483647
[The unit setting depends on the axis No. setting value of the output
axis setting.]
(10-4 mm, 10-5 inch)
Name Label name Data type Read timing*1
Setting range Initial value
Description
Mark detection
setting No.
io_uMarkDetectSettin
gNo
Word [Unsigned] 1 Mark detection
setting No. Maximum
number of mark
detection settings of the
module used
Set the reference No. of mark detection
data.
Output axis
setting
io_stOutputAxis AXIS_REF Refer to the output axis setting below.
Compensation
control setting
io_stCompensationSe
tting
PAC_COMPEN
SATION_REF
Refer to compensation control setting
below.
Name Label name Data type Read timing*1
Setting range Initial value
Description
Axis No. AxisNo Word [Unsigned] 1 Axis No. Maximum
number of axes of the
module used
Set the axis No. of the output axis (supply
conveyor) used for the mark compensation
processing.
The unit setting of the main input axis
corresponding to the output axis is used in
this FB.
Start I/O
number
StartIO Word [Unsigned] 0H Start I/O number
FEH
Installation address of the Simple Motion
module (Upper three digits of four digits
(hexadecimal))
Name Label name Data type Read timing*1
Setting range Initial value
Description
Minimum
compensation
amount
eMinTolerance Single precision
real number
0.0 Minimum
compensation amount <
Maximum
compensation amount
"[Pr.439] Cam axis
length per cycle"
Set the lower limit value of the
compensation range.
If the compensation amount absolute value
is smaller than this setting, "0" is stored in
the compensation amount.
Maximum
compensation
amount
eMaxTolerance Single precision
real number
Set the upper limit value of the
compensation range.
If the compensation amount is larger than
this setting, "Calculated compensation
amount - Length per cycle" is stored.
Name Label name Data type Value to be held*1
Description
2 4 FB LIBRARY 4.2 Details of the FB Library
4
4.3 List of Structures
AXIS_REF (Axis setting)
Name AXIS_REF
Labels
PAC_COMPENSATION_REF (Compensation control setting)
Name PAC_COMPENSATION_REF
Labels
Name Label name Data type Description
Axis number AxisNo Word [Unsigned] Axis number
Start I/O number StartIO Word [Unsigned] Installation address of the Simple Motion module (Upper three digits of four
digits (hexadecimal))
Name Label name Data type Description
Positioning data No. uPointTableNo Word [Unsigned] Set the positioning data No. for performing the compensation operation.
Compensation axis
speed
eCompensationSpeed Single precision real
number
Set the positioning speed for compensation.
Set the speed added/subtracted to/from the line speed in this setting.
If the set speed is 8 digits or more (the number of significant figures of the single
precision real number is 7 digits), round off the eighth digits of the value.
mm: 0.01 Compensation axis speed 20000000.00 [mm/min]
inch: 0.001 Compensation axis speed 2000000.000 [inch/min]
degree: 0.001 Compensation axis speed 2000000.000 [degree/min]
pulse: 1 Compensation axis speed 1000000000 [pulse/s]
[The unit setting depends on the axis No. setting value in the auxiliary axis
setting.]
Compensation
acceleration
uCompensationAcc Word [Unsigned] Set the positioning acceleration for compensation.
0: [Pr.9] Acceleration time 0
1: [Pr.25] Acceleration time 1
2: [Pr.26] Acceleration time 2
3: [Pr.27] Acceleration time 3
Compensation
deceleration
uCompensationDecel Word [Unsigned] Set the positioning deceleration for compensation.
0: [Pr.10] Deceleration time 0
1: [Pr.28] Deceleration time 1
2: [Pr.29] Deceleration time 2
3: [Pr.30] Deceleration time 3
Minimum
compensation amount
eMinTolerance Single precision real
number
Set the minimum compensation amount with an absolute value.
Maximum
compensation amount
eMaxTolerance Single precision real
number
Set the maximum compensation amount with an absolute value.
4 FB LIBRARY 4.3 List of Structures 103
10
5 APPLICATION PROGRAM EXAMPLE
This chapter describes the program examples for the horizontal pillow packaging machine with the packaging library in this
application package.
*1 "****" indicates their versions.
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.
When the Simple Motion module detects an error or warning in this sample program, the operation suspends control.
Program example Network Project name Reference
Box motion SSCNET/H AP20-PAC002AA-R16-
77MS16_BoxMotion_****.gx3*1 Page 105 Box Motion
CC-Link IE Field AP20-PAC002AA-R16-
77GF16_BoxMotion_****.gx3*1
Long dwell SSCNET/H AP20-PAC002AA-R16-
77MS8_LongDwell_****.gx3*1 Page 122 Long Dwell
CC-Link IE Field AP20-PAC002AA-R16-
77GF8_LongDwell_****.gx3*1
Alignment conveyor SSCNET/H AP20-PAC002AA-R16-
77MS16_AlignmentConveyor_****.gx3*1 Page 138 Alignment Conveyor
CC-Link IE Field AP20-PAC002AA-R16-
77GF16_AlignmentConveyor_****.gx3*1
4 5 APPLICATION PROGRAM EXAMPLE
5
5.1 Box Motion This section describes the system configuration and program specifications of the program example of a horizontal pillow
packaging machine when using the box motion mechanism.
System configuration AP20-PAC002AA-R16-77MS16_Box Motion_****.gx3 (SSCNET/H)
*1 The end seal part has been configured with the box motion. This application package also includes programs to generate cam patterns for using the rotary cutter.
Simple Motion module RD77MS16
Power supply module R61P Servo amplifier
MR-J4-B
PLC CPU R16CPU
GOT2000 GT27**-V
Ethernet
Axis 3Axis 2Axis 1 Axis 4
Box motion Film feeding axisLoading conveyor axis
Travel axis
Seal axis HG-KR (3000 r/min) 4194304 pulse/rev
Finger pitch
HG-KR (3000 r/min) 4194304 pulse/rev Movement amount: 100 mm/rev
HG-KR (3000 r/min) 4194304 pulse/rev Movement amount: 100 mm/rev
HG-KR (3000 r/min) 4194304 pulse/rev Film mark pitch
500 mm
Axis 5
HG-KR (3000 r/min) 4194304 pulse/rev
500 mm
*1
Cutter axis
Mark sensor
Finger sensor
Movement amount: 360 degree/rev
Movement amount: 20 mm/rev
Production speed: 60 products/min Product length: 500 mm
Movement amount: 20 mm/rev
SSCNET/H
5 APPLICATION PROGRAM EXAMPLE 5.1 Box Motion 105
10
AP20-PAC002AA-R16-77GF16_BoxMotion_****.gx3 (CC-Link IE Field Network)
*2 The end seal part has been configured with the box motion. This application package also includes programs to generate cam patterns for using the rotary cutter.
Control specifications Item Travel axis
(Box motion) Seal axis (Box motion)
Film axis Conveyor axis Cutter axis (Rotary cutter)
Axis No. 1 2 3 4 5
Unit setting 0: mm 0: mm 0: mm 0: mm 2: degree
Home position return Data setting method Data setting method Data setting method Data setting method Data setting method
Auxiliary axis No. 13 (Virtual) 14 (Virtual)
Cam No. 1 2 0 (Straight line) 0 (Straight line) 3
Clutch Address Address Address Address Address
Item Main axis 1 Main axis 2
Axis No. 7 (Virtual) 8 (Virtual)
Unit setting 2: degree 0: mm
Ethernet
*2
CC-Link IE Field
Remote I/O module NZ2GF2B1-16D
Simple Motion module RD77GF16
Power supply module R61P
Servo amplifier MR-J4-GF
PLC CPU R16CPU
GOT2000 GT27**-V
Axis 3Axis 2Axis 1 Axis 4
Box motionFilm feeding axis Loading conveyor axis
Travel axis
Seal axis HG-KR (3000 r/min) 4194304 pulse/rev
Finger pitch
HG-KR (3000 r/min) 4194304 pulse/rev Movement amount: 100 mm/rev
HG-KR (3000 r/min) 4194304 pulse/rev Movement amount: 100 mm/rev
HG-KR (3000 r/min) 4194304 pulse/rev
Film mark pitch 500 mm
Axis 5
HG-KR (3000 r/min) 4194304 pulse/rev
500 mm
Cutter axis
Mark sensor
Finger sensor
Movement amount: 360 degree/rev
Movement amount: 20 mm/rev
Production speed: 60 products/min Product length: 500 mm
Movement amount: 20 mm/rev
6 5 APPLICATION PROGRAM EXAMPLE 5.1 Box Motion
5
Program configuration
Language The following languages are used in this program.
Program comment: English
Label comment: Japanese, English, Chinese (Simplified)
List of programs
FB The following table lists the FBs used in this program.
PAC_PackagingControl_R AP20-PAC002AA-R16-77MS16_BoxMotion_****.gx3
*1 The FB that repeats calling in the program is set to the subroutine type. For details of the macro type and subroutine type, refer to the following. MELSEC iQ-R Programming Manual (Program Design)
AP20-PAC002AA-R16-77GF16_BoxMotion_****.gx3
*1 The FB that repeats calling in the program is set to the subroutine type. For details of the macro type and subroutine type, refer to the following. MELSEC iQ-R Programming Manual (Program Design)
Program name Description Execution type Describing method
Initial Initial parameter setting Initial ST
PreOperation License activation
Preparing operation (Servo ON/OFF)
Home position return
Scan FBD
Operation Reset error
JOG operation
Cam generation
Cam data reading
Synchronous control start
Operation start/stop
Scan FBD
PackagingControl Mark compensation
Initial phase adjustment
No Product No Bag/No Gap No Seal
Event (I44) FBD
HMI_IF Touch panel I/O processing Scan ST
Item FB name Description Execution type*1 Program
Activation PAC_Activation License activation Macro type PreOperation
Cam auto-generation STD_MakeRotaryCutterCam+RD
77MS
Cam auto-generation for rotary cutter (front end
reference)
Macro type Operation
PAC_MakeBoxMotionCam Cam auto-generation for box motion Macro type Operation
Mark compensation STD_ReadMarkDetectData Mark detection data reading Macro type PackagingControl
PAC_CalcMarkCompensation Automatic compensation calculation using
mark detection
Macro type PackagingControl
STD_CtrlAuxiliaryAxis Auxiliary axis correction Macro type PackagingControl
Item FB name Description Execution type*1 Program
Activation PAC_Activation License activation Macro type PreOperation
Cam auto-generation STD_MakeRotaryCutterCam+RD
77GF
Cam auto-generation for rotary cutter (central
reference)
Macro type Operation
PAC_MakeBoxMotionCam Cam auto-generation for box motion Macro type Operation
Mark compensation STD_ReadMarkDetectData Mark detection data reading Macro type PackagingControl
PAC_CalcMarkCompensation Automatic compensation calculation using
mark detection
Macro type PackagingControl
STD_CtrlAuxiliaryAxis Auxiliary axis correction Macro type PackagingControl
5 APPLICATION PROGRAM EXAMPLE 5.1 Box Motion 107
10
PLCopen Motion Control PLCopen Motion Control FB library can be downloaded from the Mitsubishi Electric FA site.
*1 The FB that repeats calling in the program is set to the subroutine type. For details of the macro type and subroutine type, refer to the following. MELSEC iQ-R Programming Manual (Program Design)
Example Prg Control (Application program control)
*1 The FB that repeats calling in the program is set to the subroutine type. For details of the macro type and subroutine type, refer to the following. MELSEC iQ-R Programming Manual (Program Design)
Devices to be used AP20-PAC002AA-R16-77GF16_BoxMotion_****.gx3
In this program example, a link device is used for the interface between the PLC CPU and remote I/O module (NZ2GF2B1-
16D). The device range is shown below.
Parameter Refer to the project for parameter setting details.
System parameter To perform the control in synchronization with the calculation cycle of the Simple Motion module, use the inter-module
synchronization function.
Set the interval of the fixed cycle depending on the calculation cycle of the system.
For RD77MS
FB name Description Execution type*1 Program
MC_Power+RD77 Operation possible (PLCopen Motion Control FB) Macro type PreOperation
MCv_Home+RD77 Home position return (PLCopen Motion Control FB) Macro type PreOperation
MC_Reset+RD77 Axis error reset (PLCopen Motion Control FB) Macro type PreOperation
MCv_Jog+RD77 JOG operation (PLCopen Motion Control FB) Macro type Operation
FB name Description Execution type*1 Program
CtrlOutputAxisSync Output axis synchronization control Macro type PackagingControl
ReadCamData Cam data reading Macro type PreOperation
Item Symbol Point Range
Link relay B 16 0 to F
8 5 APPLICATION PROGRAM EXAMPLE 5.1 Box Motion
5
For RD77GF
Simple Motion parameter In this application program example, the following parameters are disabled.
Set the parameters for safety measures depending on the intended use.
Servo parameter In this application program example, the servo amplifier input signal is not used.
Set the parameters for safety measures depending on the intended use.
Parameter Settings
[Pr.82] Forced stop valid/invalid selection Disabled
"[Pr.116] FLS signal selection" input type Disabled
"[Pr.117] RLS signal selection" input type Disabled
"[Pr.118] DOG signal selection" input type Disabled
"[Pr.119] STOP signal selection" input type Disabled
Parameter Settings
PA04: Function selection A-1 Servo forced stop invalid selection
1: Invalid
PC17: Function selection C-4 [MR-J4-B] Origin set condition selection
1: Servo motor Z phase passage not required after power on
PD41: Function selection D-4 [MR-J4-GF] Sensor input method selection
1: Input from controller
5 APPLICATION PROGRAM EXAMPLE 5.1 Box Motion 109
11
Synchronous control image The synchronization control image set in the box motion program example is shown below.
Synchronous control (whole image)
Film feeding axis
Travel axis Seal axisLoading conveyor
Main axis
Straight cam
Product length
Box motion cam
Output axis for main axis
Product length
Straight cam
Product length
Advanced synchronous control
500 mm
500 mm
500 mm
500 mm
500 mm 500 mm
Axis 7
Axis 8
Virtual servo for main axis positioning
Axis 8
Axis 4
Axis 14
Axis 13
Axis 3
Axis 1 Axis 2
Auxiliary axis for initial phase focusing
Auxiliary axis for mark compensation, initial phase focusing
Address clutch for No Product No Bag/No Gap No Seal
Straight cam
Product length
360 degree
Set the product length as the cam stroke length and start the virtual servo at the speed of the production quantity 360. ([products/min]) [degree/min])
Use the speed-position switching control (ABS) so that the virtual servo stops at 0 degree.
Mark sensor
Finger sensor
Mark pitch distance Seal stroke
Travel stroke
Product length
0 5 APPLICATION PROGRAM EXAMPLE 5.1 Box Motion
5
Program processing
Initial (Initial parameter setting) Set each variable's initial value and constants.
Production information parameter
Main axis control parameter
Box motion cam generation parameter
Film axis parameter
Mark compensation parameter
Conveyor axis parameter
Rotary cutter cam generation parameter
Cam monitor screen parameter
PreOperation
Each axis servo ON, home position return Perform servo ON and home position return with the switches in the servo axis setting screen displayed on the GOT.
Operation
Error reset processing Perform error reset processing with the switch in the servo axis setting screen displayed on the GOT.
5 APPLICATION PROGRAM EXAMPLE 5.1 Box Motion 111
11
JOG operation processing Specify the JOG speed and start JOG operation (forward/reverse) using the switches in the servo axis setting screen
displayed on the GOT.
Cam data generation Cam data is generated according to the values set in the box motion screen and rotary cutter screen displayed on the GOT.
Box motion
2 5 APPLICATION PROGRAM EXAMPLE 5.1 Box Motion
5
Rotary cutter
AP20-PAC002AA-R16-77MS16_BoxMotion_****.gx3
AP20-PAC002AA-R16-77GF16_BoxMotion_****.gx3
5 APPLICATION PROGRAM EXAMPLE 5.1 Box Motion 113
11
Reading data for displaying cam data Read the cam data of the box motion for the cam monitor screen displayed on the GOT.
4 5 APPLICATION PROGRAM EXAMPLE 5.1 Box Motion
5
Production start preparation Set the command velocity of the virtual servo for main axis positioning and start positioning No. using the [Start] switch in the
production screen displayed on the GOT.
Set the speed-position switching control.
AP20-PAC002AA-R16-77MS16_BoxMotion_****.gx3
AP20-PAC002AA-R16-77GF16_BoxMotion_****.gx3
Synchronous control start Execute CtrlOutputAxisSync (Output axis synchronized control) with the [Synchronization start] switch in the servo axis
setting screen displayed on the GOT.
Start synchronous control of all axes once the output axis is prepared and monitors the process during synchronous control.
5 APPLICATION PROGRAM EXAMPLE 5.1 Box Motion 115
11
Start of main axis Check that each axis has been switched to synchronous control ,and start speed-position switching control of the virtual servo
for main axis positioning.
In operation lamp will be activated.
Stop operation with the [End] switch in the production screen displayed on the GOT.
Operation stops when production ends.
Start mark compensation Check that film phase focusing is complete, and start mark compensation using the [Start compensation] switch in the mark
compensation screen displayed on the GOT.
6 5 APPLICATION PROGRAM EXAMPLE 5.1 Box Motion
5
PackagingControl
Mark compensation The amount of deviation is calculated from mark detection data of the film axis. The movement amount of the auxiliary axis is
compensated by the calculated deviation amount.
The mark detection range can be changed using the [Change request] switch in the mark compensation screen displayed on
the GOT.
The acceleration and deceleration time of the auxiliary axis setting are stored in buffer memory.
5 APPLICATION PROGRAM EXAMPLE 5.1 Box Motion 117
11
Phase focusing processing at startup of the operation Adjust the phases of the film axis, conveyor axis, and main axis according to the current values at detection of each sensor
when the operation is started (Refer to Timing for phase focusing.).
Run the travel axis and seal axis in the same phase as the main axis.
8 5 APPLICATION PROGRAM EXAMPLE 5.1 Box Motion
5
Timing for phase focusing
Adjust the phases of the conveyor and film feeding so that the finger point and film mark point on the conveyor match with the
offset point (sealing starting point) of the main axis per cycle when the main axis is started.
1 cycle length (product length): 500 mm
Offset point per cycle (sealing starting point): 100 mm
Finger point: One cycle detection point at startup (conveyor) 250 mm Compensation amount 250 mm - 100 mm = 150
mm
Mark detection point: One cycle detection point at startup (film feeding) 400 mm Compensation amount 400 mm - 100
mm = 300 mm 300 mm - 500 mm = -200 mm
500
250 Conveyor axis
500
1 cycle
0
0
0
0
[mm]
[mm]
t[s]
t[s]
t[s]
t[s]
[mm]
[mm]
Film feeding axis
Travel axis (Box motion)
Seal axis (Box motion)
Start of main axis
Finger sensor
Mark sensor
500
100
Main axis
0
[mm]
t[s]
250 400
400
150(Auxiliary axis)
0 (Auxiliary axis)
0
-200
Sealing section 1 cycle 1 cycle 1 cycle 1 cycle
Film feeding axis phase focusing completion
Conveyor axis phase focusing completion
5 APPLICATION PROGRAM EXAMPLE 5.1 Box Motion 119
12
No Product No Bag/No Gap No Seal processing This processing turns off the clutches of the travel axis, seal axis, and film feeding axis to temporarily stop them when
workpieces are not conveyed during operation or workpieces cannot be sealed because their positions are incorrect.
0 5 APPLICATION PROGRAM EXAMPLE 5.1 Box Motion
5
Timing for No Product No Bag/No Gap No Seal
HMI_IF (Touch panel I/O processing) The processing for displaying the GOT screen is performed.
Axis status monitor and lamp display
Axis error reset processing
FB error monitor
FB error reset processing
Production information setting and monitor
500
Conveyor axis
500
1 cycle
0
0
0
0
[mm]
[mm]
t[s]
t[s]
t[s]
t[s]
[mm]
[mm]
Film feeding axis
Travel axis (Box motion)
Seal axis (Box motion)
500 Main axis
0
[mm]
t[s]
1 cycle 1 cycle 1 cycle 1 cycle
No Product detection
No gap detection
Smoothing section
No Product No Bag
No Gap No Seal
5 APPLICATION PROGRAM EXAMPLE 5.1 Box Motion 121
12
5.2 Long Dwell This section describes the system configuration and program specifications of a program example for a horizontal pillow
packaging machine using the long dwell mechanism.
System configuration AP20-PAC002AA-R16-77MS8_LongDwell_****.gx3 (SSCNET/H)
*1 The end seal part has been configured with the long dwell. This application package also includes programs to generate cam patterns for using the rotary cutter.
Simple Motion module RD77MS8
Power supply module R61P
Servo amplifier MR-J4-B
PLC CPU R16CPU
GOT2000 GT27**-V
Ethernet
Axis 4Axis 3Axis 1 Axis 5
Long dwell Film feeding axisLoading conveyor axis
D-cam axis
Finger pitch
HG-KR (3000 r/min) 4194304 pulse/rev Movement amount: 100 mm/rev
HG-KR (3000 r/min) 4194304 pulse/rev Movement amount: 100 mm/rev
HG-KR (3000 r/min) 4194304 pulse/rev Movement amount: 360 degree/rev
Film mark pitch 500 mm
Production speed: 60 products/min Product length: 500 mm
HG-KR (3000 r/min) 4194304 pulse/rev
Movement amount: 360 degree/rev
500 mm
*1
Cutter axis
Mark sensor
Finger sensor
SSCNET/H
2 5 APPLICATION PROGRAM EXAMPLE 5.2 Long Dwell
5
AP20-PAC002AA-R16-77GF8_LongDwell_****.gx3 (CC-Link IE Field Network)
*2 The end seal part has been configured with the long dwell. This application package also includes programs to generate cam patterns for using the rotary cutter.
Control specifications Item D-cam axis
(Long dwell) Film axis Conveyor axis Cutter axis
(Rotary cutter)
Axis No. 1 3 4 5
Unit setting 2: degree 0: mm 0: mm 2: degree
Home position return Data setting method Data setting method Data setting method Data setting method
Auxiliary axis No. 7 (Virtual) 8 (Virtual)
Cam No. 1 0 (Straight line) 0 (Straight line) 3
Clutch Address Address Address Address
Item Main axis 1 Main axis 2
Axis No. 2 (Virtual) 6 (Virtual)
Unit setting 2: degree 0: mm
Simple Motion module RD77GF8
Power supply module R61P Servo amplifier
MR-J4-GF
PLC CPU R16CPU
GOT2000 GT27**-V
Ethernet
Axis 4Axis 3Axis 1 Axis 5
Long dwell Film feeding axisLoading conveyor axis
D-cam axis
Finger pitch
HG-KR (3000 r/min) 4194304 pulse/rev Movement amount: 100 mm/rev
HG-KR (3000 r/min) 4194304 pulse/rev Movement amount: 100 mm/rev
HG-KR (3000 r/min) 4194304 pulse/rev Movement amount: 360 degree/rev
Film mark pitch 500 mm
Production speed: 60 products/min Product length: 500 mm
HG-KR (3000 r/min) 4194304 pulse/rev
Movement amount: 360 degree/rev
500 mm
*2
Cutter axis
Mark sensor
Finger sensor
CC-Link IE Field
Remote I/O module NZ2GF2B1-16D
5 APPLICATION PROGRAM EXAMPLE 5.2 Long Dwell 123
12
Program configuration
Language The following languages are used in this program.
Program comment: English
Label comment: Japanese, English, Chinese (Simplified)
List of programs
FB The following table lists the FBs used in this program.
PAC_PackagingControl_R AP20-PAC002AA-R16-77MS8_LongDwell_****.gx3
*1 The FB that repeats calling in the program is set to the subroutine type. For details of the macro type and subroutine type, refer to the following. MELSEC iQ-R Programming Manual (Program Design)
AP20-PAC002AA-R16-77GF8_LongDwell_****.gx3
*1 The FB that repeats calling in the program is set to the subroutine type. For details of the macro type and subroutine type, refer to the following. MELSEC iQ-R Programming Manual (Program Design)
Program name Description Execution type Describing method
Initial Initial parameter setting Initial ST
PreOperation License activation
Preparing operation (Servo ON/OFF)
Home position return
Scan FBD
Operation Reset error
JOG operation
Cam generation
Cam data reading
Synchronous control start
Operation start/stop
Scan FBD
PackagingControl Mark compensation
Initial phase adjustment
No Product No Bag/No Gap No Seal
Event (I44) FBD
HMI_IF Touch panel I/O processing Scan ST
Item FB name Description Execution type*1 Program
Activation PAC_Activation License activation Macro type PreOperation
Cam auto-generation STD_MakeRotaryCutterCam+
RD77MS
Cam auto-generation for rotary cutter (front end
reference)
Macro type Operation
PAC_MakeLongDwellDCam Cam auto-generation for D-cam Macro type Operation
Mark compensation STD_ReadMarkDetectData Mark detection data reading Macro type PackagingControl
PAC_CalcMarkCompensation Automatic compensation calculation using mark
detection
Macro type PackagingControl
STD_CtrlAuxiliaryAxis Auxiliary axis correction Macro type PackagingControl
Item FB name Description Execution type*1 Program
Activation PAC_Activation License activation Macro type PreOperation
Cam auto-generation STD_MakeRotaryCutterCam+
RD77GF
Cam auto-generation for rotary cutter (central
reference)
Macro type Operation
PAC_MakeLongDwellDCam Cam auto-generation for D-cam Macro type Operation
Mark compensation STD_ReadMarkDetectData Mark detection data reading Macro type PackagingControl
PAC_CalcMarkCompensation Automatic compensation calculation using mark
detection
Macro type PackagingControl
STD_CtrlAuxiliaryAxis Auxiliary axis correction Macro type PackagingControl
4 5 APPLICATION PROGRAM EXAMPLE 5.2 Long Dwell
5
PLCopen Motion Control PLCopen Motion Control FB library can be downloaded from the Mitsubishi Electric FA site.
*1 The FB that repeats calling in the program is set to the subroutine type. For details of the macro type and subroutine type, refer to the following. MELSEC iQ-R Programming Manual (Program Design)
Example Prg Control (Application program control)
*1 The FB that repeats calling in the program is set to the subroutine type. For details of the macro type and subroutine type, refer to the following. MELSEC iQ-R Programming Manual (Program Design)
Devices to be used AP20-PAC002AA-R16-77GF8_LongDwell_****.gx3
In this program example, a link device is used for the interface between the PLC CPU and remote I/O module (NZ2GF2B1-
16D). The device range is shown below.
Parameter Refer to the project for parameter setting details.
System parameter For system parameter setting details, refer to the following.
Page 198 List of Error Codes
Simple Motion parameter In this application program example, the following parameters are disabled.
Set the parameters for safety measures depending on the intended use.
FB name Description Execution type*1 Program
MC_Power+RD77 Operation possible (PLCopen Motion Control FB) Macro type PreOperation
MCv_Home+RD77 Home position return (PLCopen Motion Control FB) Macro type PreOperation
MC_Reset+RD77 Axis error reset (PLCopen Motion Control FB) Macro type Operation
MCv_Jog+RD77 JOG operation (PLCopen Motion Control FB) Macro type Operation
FB name Description Execution type*1 Program
CtrlOutputAxisSync Output axis synchronization control Macro type PackagingControl
ReadCamData Cam data reading Macro type Operation
Item Symbol Point Range
Link relay B 16 0 to F
Parameter Settings
[Pr.82] Forced stop valid/invalid selection Disabled
"[Pr.116] FLS signal selection" input type Disabled
"[Pr.117] RLS signal selection" input type Disabled
"[Pr.118] DOG signal selection" input type Disabled
"[Pr.119] STOP signal selection" input type Disabled
5 APPLICATION PROGRAM EXAMPLE 5.2 Long Dwell 125
12
Servo parameter In this application program example, the servo amplifier input signal is not used.
Set the parameters for safety measures depending on the intended use.
Parameter Settings
PA04: Function selection A-1 Servo forced stop invalid selection
1: Invalid
PC17: Function selection C-4 [MR-J4-B] Origin set condition selection
1: Servo motor Z phase passage not required after power on
PD41: Function selection D-4 [MR-J4-GF] Sensor input method selection
1: Input from controller
6 5 APPLICATION PROGRAM EXAMPLE 5.2 Long Dwell
5
Synchronous control image The synchronization control image set in the long dwell program example is shown below.
Synchronous control (whole image)
Film feeding axis
D-cam axisLoading conveyor
Main axis Output axis for main axis
Product length Product length
Advanced synchronous control
500 mm
500 mm
500 mm
500 mm
500 mm
Axis 2
Axis 6
Virtual servo for main axis positioning
Axis 6
Axis 4
Axis 8
Axis 7
Axis 3
Axis 1
Auxiliary axis for initial phase focusing
Auxiliary axis for mark compensation, initial phase focusing
Address clutch for No Product No Bag/No Gap No Seal
Straight cam
Product length
360 degree
Set the product length as the cam stroke length and start the virtual servo at the speed of the production quantity 360. ([products/min] [degree/min])
Use the speed-position switching control (ABS) so that the virtual servo stops at 0 degree.
Mark sensor
Finger sensor
Mark pitch distance
Long dwell cam
Product length
360 degree
500 mm
D-cam stroke
Straight cam Straight cam
Product length
5 APPLICATION PROGRAM EXAMPLE 5.2 Long Dwell 127
12
Program processing
Initial (Initial parameter setting) Set each variable's initial value and constants.
Production information parameter
Main axis control parameter
Long dwell D-cam generation parameter
Film axis parameter
Mark compensation parameter
Conveyor axis parameter
Rotary cutter cam generation parameter
Cam monitor screen parameter
PreOperation
Each axis servo ON, home position return Perform servo ON and home position return with the switches in the servo axis setting screen displayed on the GOT.
Operation
Error reset processing Perform error reset processing with the switch in the servo axis setting screen displayed on the GOT.
8 5 APPLICATION PROGRAM EXAMPLE 5.2 Long Dwell
5
JOG operation processing Specify the JOG speed and start JOG operation (forward/reverse) using the switches in the servo axis setting screen
displayed on the GOT.
Cam data generation Cam data is generated according to the values set in the long dwell and rotary cutter screen displayed on the GOT.
Long dwell
5 APPLICATION PROGRAM EXAMPLE 5.2 Long Dwell 129
13
Rotary cutter
AP20-PAC002AA-R16-77MS8_LongDwell_****.gx3
AP20-PAC002AA-R16-77GF8_LongDwell_****.gx3
Reading data for displaying cam data Read the cam data of the long dwell for the cam monitor screen displayed on the GOT.
0 5 APPLICATION PROGRAM EXAMPLE 5.2 Long Dwell
5
Production start preparation Set the command velocity of the virtual servo for main axis positioning and start positioning No. using the [Start] switch in the
production screen displayed on the GOT.
Set the speed-position switching control.
AP20-PAC002AA-R16-77MS8_LongDwell_****.gx3
AP20-PAC002AA-R16-77GF8_LongDwell_****.gx3
Synchronous control start Execute CtrlOutputAxisSync (Output axis synchronized control) with the [Synchronization start] switch in the servo axis
setting screen displayed on the GOT.
Start synchronous control of all axes once the output axis is prepared and monitors the process during synchronous control.
5 APPLICATION PROGRAM EXAMPLE 5.2 Long Dwell 131
13
Start of main axis Check that each axis has been switched to synchronous control, and start speed-position switching control of the virtual servo
for main axis positioning.
In operation lamp will be activated.
Stop operation with the [End] switch in the production screen displayed on the GOT.
Operation stops when production ends.
Start mark compensation Check that film phase focusing is complete, and start mark compensation using the [Start compensation] switch in the mark
compensation screen displayed on the GOT.
2 5 APPLICATION PROGRAM EXAMPLE 5.2 Long Dwell
5
PackagingControl
Mark compensation The amount of deviation is calculated from mark detection data of the film axis. The movement amount of the auxiliary axis is
compensated by the calculated deviation amount.
The mark detection range can be changed using the [Change request] switch in the mark compensation screen displayed on
the GOT.
The acceleration and deceleration time of the auxiliary axis setting are stored in buffer memory.
5 APPLICATION PROGRAM EXAMPLE 5.2 Long Dwell 133
13
Phase focusing processing at startup of the operation Adjust the phases of the film axis, conveyor axis, and main axis according to the current values at detection of each sensor
when the operation is started. (Refer to Timing for phase focusing.)
Run the D-cam axis in the same phase as the main axis.
4 5 APPLICATION PROGRAM EXAMPLE 5.2 Long Dwell
5
Timing for phase focusing
Adjust the phases of the conveyor and film feeding so that the finger point and film mark point on the conveyor match with the
offset point (synchronization starting point) of the main axis per cycle when the main axis is started.
1 cycle length (product length): 500 mm
Offset point per cycle (synchronization starting point): 149mm
Finger point: One cycle detection point at startup (conveyor) 250 mm Compensation amount 250 mm - 149mm = 101mm
Mark detection point: One cycle detection point at startup (film feeding) 400 mm Compensation amount 400 mm -
149mm = 251mm 251mm - 500 mm = -249mm
500
250 Conveyor axis
500
1 cycle
0
0
0
[mm]
[mm]
t[s]
t[s]
t[s]
[degree]
Film feeding axis
D-cam axis (Long dwell)
Start of main axis
Finger sensor
Mark sensor
500Main axis
0
[mm]
t[s]
250 400
400
101(Auxiliary axis)
0(Auxiliary axis)
0
-249
Sealing section
1 cycle 1 cycle 1 cycle 1 cycle
Film feeding axis phase focusing completion
Conveyor axis phase focusing completion
149
5 APPLICATION PROGRAM EXAMPLE 5.2 Long Dwell 135
13
No Product No Bag/No Gap No Seal processing This processing turns off the clutches of the D-cam axis and film feeding axis to temporarily stop them when workpieces are
not conveyed during operation or workpieces cannot be sealed because their positions are incorrect.
Timing for No Product No Bag/No Gap No Seal
500
Conveyor axis
500
1 cycle
0
0
0
[mm]
[mm]
t[s]
t[s]
t[s]
[degree]
Film feeding axis
D-cam axis (Long dwell)
500 Main axis
0
[mm]
t[s]
1 cycle 1 cycle 1 cycle 1 cycle
No Product detection
No gap detection
No Gap No Seal
Smoothing section
No Product No Bag
6 5 APPLICATION PROGRAM EXAMPLE 5.2 Long Dwell
5
HMI_IF (Touch panel I/O processing) The processing for displaying the GOT screen is performed.
Axis status monitor and lamp display
Axis error reset processing
FB error monitor
FB error reset processing
Production information setting and monitor
5 APPLICATION PROGRAM EXAMPLE 5.2 Long Dwell 137
13
5.3 Alignment Conveyor This section describes the system configuration and program specifications of the program example for the alignment
conveyor.
System configuration AP20-PAC002AA-R16-77MS16_AlignmentConveyor_****.gx3 (SSCNET/H)
Axis 4Axis 9Axis 11Axis 13 GOT2000 GT27**-V
Power supply module R61P
PLC CPU R16CPU Simple Motion module
RD77MS16 Servo amplifier
MR-J4-B
Ethernet SSCNET/H
Production speed: 60 products/min Product length: 500 mm Adjustment
conveyor sensor
Adjustment conveyor sensor
Supply conveyor
sensor Product loading sensor
Adjustment conveyor axis 2
Adjustment conveyor axis 1
Finger sensor
Supply conveyor axis
Loading conveyor axis
8 5 APPLICATION PROGRAM EXAMPLE 5.3 Alignment Conveyor
5
AP20-PAC002AA-R16-77GF16_AlignmentConveyor_****.gx3 (CC-Link IE Field Network)
Axis 4Axis 9Axis 11Axis 13 GOT2000 GT27**-V
Power supply module R61P
PLC CPU R16CPU Simple Motion module
RD77GF16
Servo amplifier MR-J4-GF
Ethernet
CC-Link IE Field
Remote I/O module NZ2GF2B1-16DProduction speed:
60 products/min Product length: 500 mm
Adjustment conveyor sensor
Adjustment conveyor sensor
Supply conveyor
sensor Product loading sensor
Adjustment conveyor axis 2
Adjustment conveyor axis 1
Supply conveyor axis
Finger sensor
Loading conveyor axis
5 APPLICATION PROGRAM EXAMPLE 5.3 Alignment Conveyor 139
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Control specifications
Program configuration
Language The following languages are used in this program.
Program comment: English
Label comment: Japanese, English, Chinese (Simplified)
List of programs
FB The following tables list the FBs used in this program.
PAC_PackagingControl_R AP20-PAC002AA-R16-77MS16_AlignmentConveyor
AP20-PAC002AA-R16-77GF16_AlignmentConveyor
*1 The FB that repeats calling in the program is set to the subroutine type. For details of the macro type and subroutine type, refer to the following. MELSEC iQ-R Programming Manual (Program Design)
Item Work loading conveyor axis Supply conveyor axis Gap adjustment conveyor axis 1
Gap adjustment conveyor axis 2
Axis No. 4 9 11 13
Unit setting 0: mm 0: mm 0: mm 0: mm
Home position return Data setting method Data setting method Data setting method Data setting method
Auxiliary axis No. 10 (Virtual) 12 (Virtual) 14 (Virtual)
Cam No. 0 (Straight line) 0 (Straight line) 0 (Straight line)
Clutch Lock-up clutch Lock-up clutch Lock-up clutch
Item Main axis 1 Main axis 2
Axis No. 7 (Virtual) 8 (Virtual)
Unit setting 2: degree 0: mm
Program name Description Execution type Describing method
Initial Initial parameter setting Initial ST
PreOperation License activation
Preparing operation (Servo ON/OFF)
Home position return
Scan FBD
Operation Error reset
JOG operation
Synchronous control start
Operation start/stop
Scan FBD
ConveyorControl Work gap adjustment
Work loading position adjustment
Scan FBD
HMI_IF Touch panel I/O processing Scan ST
Item FB name Description Execution type*1 Program
Activation PAC_Activation License activation Macro type PreOperation
Mark compensation STD_ReadMarkDetectData Mark detection data reading Subroutine type ConveyorControl
STD_CtrlAuxiliaryAxis Auxiliary axis correction Subroutine type ConveyorControl
Alignment conveyor PAC_CalcGap Work gap adjustment compensation
amount calculation
Subroutine type ConveyorControl
PAC_CalcPhase Work loading position adjustment
compensation amount calculation
Subroutine type ConveyorControl
0 5 APPLICATION PROGRAM EXAMPLE 5.3 Alignment Conveyor
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PLCopen Motion Control PLCopen Motion Control FB library can be downloaded from the Mitsubishi Electric FA site.
*1 The FB that repeats calling in the program is set to the subroutine type. For details of the macro type and subroutine type, refer to the following. MELSEC iQ-R Programming Manual (Program Design)
Example Prg Control (Application program control)
*1 The FB that repeats calling in the program is set to the subroutine type. For details of the macro type and subroutine type, refer to the following. MELSEC iQ-R Programming Manual (Program Design)
Parameter Refer to the project for parameter setting details.
System parameter The system parameter setting is not changed from the initial values.
Simple Motion parameter In this application program example, the following parameters are disabled.
Set the parameters for safety measures depending on the intended use.
Servo parameter In this application program example, the servo amplifier input signal is not used.
Set the parameters for safety measures depending on the intended use.
FB name Description Execution type*1 Program
MC_Power+RD77 Operation possible (PLCopen Motion Control FB) Subroutine type PreOperation
MCv_Home+RD77 Home position return (PLCopen Motion Control FB) Subroutine type PreOperation
MC_Reset+RD77 Axis error reset (PLCopen Motion Control FB) Subroutine type Operation
MCv_Jog+RD77 JOG operation (PLCopen Motion Control FB) Subroutine type Operation
FB name Description Execution type*1 Program
SaveCompensationBuffer Compensation amount buffer Subroutine type ConveyorControl
GapAdjustment Work gap adjustment Subroutine type ConveyorControl
PhaseAdjustment Work loading position adjustment Macro type ConveyorControl
Parameter Settings
[Pr.82] Forced stop valid/invalid selection Disabled
"[Pr.116] FLS signal selection" input type Disabled
"[Pr.117] RLS signal selection" input type Disabled
"[Pr.118] DOG signal selection" input type Disabled
"[Pr.119] STOP signal selection" input type Disabled
Parameter Settings
PA04: Function selection A-1 Servo forced stop invalid selection
1: Invalid
PC17: Function selection C-4 [MR-J4-B] Origin set condition selection
1: Servo motor Z phase passage not required after power on
PD41: Function selection D-4 [MR-J4-GF] Sensor input method selection
1: Input from controller
5 APPLICATION PROGRAM EXAMPLE 5.3 Alignment Conveyor 141
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Synchronous control image The synchronization control image set in the alignment conveyor program example is shown below.
Synchronous control (whole image)
Output axis cam pattern
Axis 8 Axis 4
Axis 4
Axis 9
Axis 9
Axis 10 Axis 12
Axis 11 Axis 14 Axis13
Axis 11
For main axis control (Virtual servo)
Axis 8
Axis 7
Output axis for main axis
Advanced synchronous control
Adjustment conveyor axis 1
Adjustment conveyor axis 2
Supply conveyor axis
Loading conveyor axis
Adjustment conveyor sensor
Adjustment conveyor sensor
Supply conveyor
sensor Product loading sensor
Finger sensor
500 mm
Straight cam
Product length
360 degree
Set the product length as the cam stroke length and start the virtual servo at the speed of the production quantity 360. ([products/min]) [degree/min])
Use the speed-position switching control (ABS) so that the virtual servo stops at 0 degree.
Straight cam
500 mm Product length
500 mm Product length
All output axis cam patterns of conveyors are the same.
2 5 APPLICATION PROGRAM EXAMPLE 5.3 Alignment Conveyor
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Program processing
Initial (Initial parameter setting) Set each variable's initial values and constants.
Production information parameter
Loading conveyor axis parameter
Supply conveyor axis parameter
Adjustment conveyor axis parameter
PreOperation
Each axis servo ON, home position return Perform servo ON and home position return with the switches in the servo axis setting screen displayed on the GOT.
Operation
Error reset processing Perform error reset processing with the switch in the servo axis setting screen displayed on the GOT.
JOG operation processing Specify the JOG speed and start JOG operation (forward/reverse) using the switches in the servo axis setting screen
displayed on the GOT.
5 APPLICATION PROGRAM EXAMPLE 5.3 Alignment Conveyor 143
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Synchronous control start Start the synchronous control of the output axis with the [synchronization start] switch in the servo axis setting screen
displayed on the GOT, and monitor the process during synchronous control.
Production start preparation Set the command velocity of the virtual servo for main axis positioning and start positioning No. using the [Start] switch in the
production screen displayed on the GOT.
AP20-PAC002AA-R16-77MS16_AlignmentConveyor_****.gx3
Validate external command signals and execute the alignment conveyor FBs (GapAdjustment, PhaseAdjustment).
4 5 APPLICATION PROGRAM EXAMPLE 5.3 Alignment Conveyor
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AP20-PAC002AA-R16-77GF16_AlignmentConveyor_****.gx3
5 APPLICATION PROGRAM EXAMPLE 5.3 Alignment Conveyor 145
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Start of main axis Check that the output axis has been switched to synchronous control and that no error occurs in the alignment conveyor FBs,
and start speed control of the virtual servo for main axis positioning.
In operation lamp will be activated.
Stop the operation with the [End] switch in the production screen displayed on the GOT and end the alignment conveyor FBs.
Operation stops when production ends.
6 5 APPLICATION PROGRAM EXAMPLE 5.3 Alignment Conveyor
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ConveyorControl
Work loading position adjustment Calculate the compensation amount so that the aligned workpieces are on the loading position of the loading conveyor. The
movement amount of the auxiliary axis is compensated by the calculated amount.
The mark detection range can be changed by using the change request switch in the mark compensation screen displayed on
the GOT.
The acceleration and deceleration time of the auxiliary axis setting are stored in buffer memory.
Operation outline
Calculate the compensation amount by detecting the workpieces with the sensor, and compensate the supply conveyor with
the auxiliary axis.
For supplying
For supplyingFor loading
Work length
Work loading position
For loading
Compensation amount including the work loading position
Distance between sensor and supply conveyor end
First work detection position
500
500 500 500 500 500 500 500
150
1) 2)
1) 2) 3) 4) 5) 6) 7)
2) 1) 1)3) 2)
Feeding conveyor work position
Feeding to loading conveyor
Current value per cycle of supply conveyor
Current value per cycle of loading conveyor
Cam axis length per cycle
Sensor position
Work loading position
5 APPLICATION PROGRAM EXAMPLE 5.3 Alignment Conveyor 147
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Work gap adjustment Calculate the compensation amount so that the workpieces are equally spaced. The movement amount of the auxiliary axis is
compensated with the calculated amount.
The mark detection range can be changed by using the change request switch in the mark compensation screen displayed on
the GOT.
The acceleration and deceleration time of the auxiliary axis setting are stored in buffer memory.
Operation outline
Calculate the compensation amount by detecting the workpieces with the sensor, and compensate each gap adjustment
conveyor with the auxiliary axis.
Work position (before alignment)
500
Work position (after alignment)
2) Compensation starting point = Sensor position + Work length
3) Compensation starting point
1) 3)
3)2)1)
Current value per cycle of supply conveyor
Current value per cycle of gap adjustment conveyor
2) 4)
8 5 APPLICATION PROGRAM EXAMPLE 5.3 Alignment Conveyor
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Acquire the mark detection data with STD_ReadMarkDetectData, and calculate the compensation amount and
compensation starting position with PAC_CalcGap and PAC_CalcPhase.
The calculated compensation amount and compensation starting position are buffered with SaveCompensationBuffer, and
the compensation amount is output when the compensation starting position is exceeded.
The output compensation amount is input as the movement amount of STD_CtrlAuxiliaryAxis, and the positioning of the
auxiliary axis is performed.
HMI_IF (Touch panel I/O processing) The I/O processing for displaying the GOT screen is performed.
Axis status monitor and lamp display
Error reset processing
FB error monitor
Production amount monitor
Troubleshooting of the alignment conveyor Error details Cause Corrective action
The space between workpieces is narrow after the
adjustment.
Compensation does not complete by the time a
workpiece is loaded on the rear conveyor due to a
large compensation amount.
Adjust the maximum compensation amount so that
the compensation completes by the time a
workpiece is loaded on the rear conveyor.
The difference between the compensation amount
and maximum compensation amount will be
discarded. Align the workpieces on the rear
conveyors.
A workpiece is not loaded to the intended position
on the loading conveyor.
Two or more workpieces are detected in one cycle
of the loading conveyor.
Align the workpieces on the supply conveyor so
that a workpiece is detected in one cycle of the
loading conveyor.
The next workpiece is detected before the
compensation of a workpiece completes.
Adjust the space between workpieces and sensor
position not to detect the next workpiece before a
workpiece is detected and compensation is
completed.
A workpiece touches the front workpiece. The mark detection data is significantly delayed
from the cam axis current value per cycle.
If the mark detection data is delayed from the
actual detection position, minimize the delay by
setting the gain tuning of the servo and "[Pr.801]
Mark detection signal compensation time".
Set "[Pr.801] Mark detection signal compensation
time" so that the mark detection data does not
precede the cam axis current value per cycle.
Two workpieces are loaded between fingers on the
loading conveyor.
5 APPLICATION PROGRAM EXAMPLE 5.3 Alignment Conveyor 149
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5.4 Application Program Control FBs
ReadCamData (Cam data reading)
Name ReadCamData
Function overview
Item Description
Function overview This FB reads cam data so that the cam outline of the cam No. specified from the Simple Motion module can be recognized.
Symbol
Applicable hardware and
software
Applicable module RD77MS, RD77GF
Applicable CPU MELSEC iQ-R series
Engineering software GX Works3
Number of steps 1421 steps
FB dependence
Function description This FB reads the cam data to be displayed on the application screen example of the GOT (cam monitor screen) from the Simple
Motion module.
Turning on i_bEN (Execution command) starts reading of cam data of a specified i_uCamNo (Cam No.).
This FB reads cam data in the cam open area using "[Cd.600] Cam data operation request" of the Simple Motion module and
reads "[Cd.605] Cam resolution" and "[Cd.607] Cam data value" (128 points) in the read cam data.
After reading of cam data is completed and the output label is updated, o_bOK (Normal completion) turns on.
If an error has occurred in the FB, Error turns on and an error code is stored in ErrorID.
For details of error codes, refer to "Page 198 List of Error Codes".
Restrictions and
precautions
This FB uses the index register Z18 to Z19. When using interrupt programs, do not use this index register in the interrupt programs.
Compiling method Macro type, subroutine type
FB operation type Pulsed execution (multiple scan execution type)
Execution command B: i_bEN
o_dMinInVal :D Minimum input value
o_dMaxInVal :D Maximum input value
o_stCamData :DUT Cam data
o_dMinOutVal :D Minimum output value
o_dMaxOutVal :D Maximum output value
o_bENO :B Execution status
Start I/O number UW: i_uStartIO o_bOK :B Normal completion
Cam No. UW: i_uCamNo o_bError :B Error completion
o_uErrorID :UW Error code
o_uCamResolution :UW Cam resolution
ReadCamData
Stroke
100 [%]
360 [degree]
0 1 cycle
100 [%]
360 [degree]
0 1 cycle
Maximum output value (o)
Stroke[Cd.605] Cam resolution 128 points
[Cd.600]
[Cd.607] Cam data value (cam open area) Cam outline data
Maximum input value (o)
Minimum input value (o)
Minimum output value (o)
Cam data operation request
0 5 APPLICATION PROGRAM EXAMPLE 5.4 Application Program Control FBs
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Labels
Input labels
*1 : Always, : When the FB is started (cannot be changed)
Output labels
Cam data (CamData structure)
*1 : The value will be held after the FB stops. : The value will be cleared after the FB stops.
Name Label name Data type Read timing*1
Setting range Initial value
Description
Execution
command
i_bEN Bit On, off On: The FB is activated.
Off: The FB is not activated.
Start I/O
number
i_uStartIO Word
[Unsigned]
0H Start I/O number FEH 0 Installation address of the Simple Motion
module (Upper three digits of four digits
(hexadecimal))
Cam No. i_uCamNo Word
[Unsigned]
1 Cam No. 256 1 Set the cam No. to read data.
1 to 256: Generation cam
Name Label name Data type Value to be held*1
Description
Execution status o_bENO Bit On: Execution command is on.
Off: Execution command is off.
Normal completion o_bOK Bit On: Reading of cam data has been completed and
the output data has been updated normally.
Off: The operation of the FB has not been
completed.
Error completion o_bError Bit On: An error has occurred in the FB.
Off: No error has occurred.
Error code o_uErrorID Word [Unsigned] The error code of the error that has occurred in the
FB is stored.
Cam resolution o_uCamResolution Word [Unsigned] The cam resolution of the read cam is stored.
Minimum input
value
o_dMinInVal Double word [Signed] The minimum value of the cam data input value
(Cam axis length per cycle) is stored.
Maximum input
value
o_dMaxInVal Double word [Signed] The maximum value of the cam data input value
(Cam axis length per cycle) is stored.
Minimum output
value
o_dMinOutVal Double word [Signed] The minimum value of the cam data output value
(Cam stroke amount) is stored.
Maximum output
value
o_dMaxOutVal Double word [Signed] The maximum value of the cam data output value
(Cam stroke amount) is stored.
Cam data o_stCamData CamData Refer to the cam data below.
Name Label name Array No. Data type Value to be held*1
Description
Input value
(Cycle point)
d128InVal_Cycle [0] Double word
[Signed] (0..127)
The first point of the input value (Cam axis length per
cycle) is stored.
[1] The second point of the input value (Cam axis length per
cycle) is stored.
[127] The 128th point of the input value (Cam axis length per
cycle) is stored.
Output value
(Stroke amount)
d128OutVal_Stroke [0] Double word
[Signed] (0..127)
The first point of the output value (Cam stroke amount) is
stored.
[1] The second point of the output value (Cam stroke
amount) is stored.
[127] The 128th point of the output value (Cam stroke amount)
is stored.
5 APPLICATION PROGRAM EXAMPLE 5.4 Application Program Control FBs 151
15
CtrlOutputAxisSync (Output axis synchronization control)
Name CtrlOutputAxisSync
Function overview
Item Description
Function overview This FB controls the output axis synchronized with the master axis.
Symbol
Applicable hardware and
software
Applicable module RD77MS, RD77GF
Applicable CPU MELSEC iQ-R series
Engineering software GX Works3
Number of steps 1581 steps
FB dependence
Execution command B: i_bEN o_bENO :B Execution status
Synchronization command B: i_bSyncCommand o_bOK :B Normal completion
Cam No. UW: i_uCamNo o_bError :B Error completion
Waiting point E: i_eWaitingPos o_uErrorID :UW Error code
1 cycle length E: i_eLengthPerCycle
Cam stroke amount E: i_eStrokeAmount
Clutch ON smoothing amount E: i_eClutchOnSmoothingAmount
Clutch OFF smoothing amount E: i_eClutchOffSmoothingAmount
o_bInSync :B In synchronization
Output axis setting DUT: i_stOutputAxis
CtrlOutputAxisSync
2 5 APPLICATION PROGRAM EXAMPLE 5.4 Application Program Control FBs
5
Function description This FB controls the output axis by synchronizing the cam created by the cam generation FB with the main input axis.
When the current value of the main input axis per cycle is equal to the value of i_eWaitingPos (Waiting point) and
i_bSyncCommand (Synchronization command) is on, the clutch turns on from i_eWaitingPos (Waiting point).
When the current value of the main input axis per cycle is equal to the value of i_eWaitingPos (Waiting point) and
i_bSyncCommand (Synchronization command) is off, the clutch turns off from i_eWaitingPos (Waiting point).
The output axis movement amount delays from the main input axis movement amount by i_eClutchOnSmoothingAmount (Clutch
ON smoothing amount) and moves by i_eClutchOffSmoothingAmount (Clutch OFF smoothing amount). Change the waiting
point as needed.
When the clutch turns on during synchronous control, o_bInSync (In synchronization) turns on.
Sample data
Cam axis current value per cycle: 1000
Cam stroke amount: 200
Cam type: Straight cam
Clutch ON/OFF timing
If an error has occurred in the FB, Error turns on and an error code is stored in ErrorID.
For details of error codes, refer to "Page 198 List of Error Codes".
Item Description
Cycle times (o)
In synchronization (o)
Execution command (i)
Execution status (o)
Normal completion (o)
Synchronization command (i)
During synchronous control
900700 800500 600100 200 300 400
900700 800500 600
600
0
500
100
200
300
400
1000
200
400
600
800
100 200 300 4000 t[ms]
t[ms]
After main shaft gear
Output axis
* 321
[Md.420] Main shaft clutch ON/OFF status
Waiting point (i)
700500 600100 200 300 400
100
0
200
100
200
Main input axis
Synchronous position
Clutch ON smoothing amount Delay by smoothing amount
Clutch OFF smoothing amount Advance by smoothing amount
700600500100 200 4003000
Output axis stop position
Output axis speed
(o) Output label
t[ms]
t[ms]
* (i) Input labelClutch ON point waiting point (i)
Clutch OFF point waiting point (i)
5 APPLICATION PROGRAM EXAMPLE 5.4 Application Program Control FBs 153
15
*1 For details of the synchronous control parameters and control data, refer to the following. MELSEC iQ-R Simple Motion Module User's Manual (Advanced Synchronous Control)
Labels
Input labels
Restrictions and
precautions
Execute this FB in the Simple Motion calculation cycle event task (I44: Inter-module synchronization).
If parameters has been set as below, this FB is executed with the unit [mm].
"[Pr.1] Unit setting": Other than 0 to 3
"[Pr.300] Servo input axis type": Other than 1 to 4
Control unit of "[Pr.321] Synchronous encoder axis unit setting": Other than 0 to 3
"[Pr.400] Main input axis type": 1 to the maximum number of module axes (servo input axis), other than 801 to 800 + maximum
number of module axes (synchronous encoder)
Set the parameters of the "input axis module" used in the synchronous control according to the machine mechanism.
Servo input axis parameters: [Pr.300] to [Pr.304]
Synchronous encoder axis parameters: [Pr.320] to [Pr.329]
Since the following synchronous parameters used in the synchronous control are set in this FB, input labels, or structure, do not
use user programs to set or change them.
"[Pr.405] to [Pr.407], [Pr.409], [Pr.411], [Pr.413], [Pr.414], [Pr.439] to [Pr.441]"
To use synchronous parameters in a machanism, set synchronous encoder axis control data ([Cd.320] to [Cd.325]) by users.
This FB performs the main axis clutch control in the address mode and switches the on/off state of the main clutch by changing
"[Pr.405] Main shaft clutch control setting".
Setting value of [Pr.405] at clutch ON: H0004
Setting value of [Pr.405] at clutch OFF: H0042
This FB use the slippage method (Linear: Input value follow up) as the clutch smoothing method ([Pr.411] = 5).
Create "[Cd.380] Synchronous control start" with user programs.*1
When Execution command turns off while o_bInSync (In synchronization) is on, the FB turns off the output of o_bInSync while
holding the on state of the clutch.
Set i_eWaitingPos (Waiting point) not to overlap the synchronous section of the main input axis and output axis.
Compiling method Macro type, subroutine type
FB operation type Real-time execution
Name Label name Data type Read timing*1
Setting range Initial value
Description
Execution
command
i_bEN Bit On, off On: The FB is activated.
Off: The FB is not activated.
Synchronization
command
i_bSyncComman
d
Bit On, off Enable the main axis clutch control.
On: The clutch turns on from the waiting
point.
Off: The clutch turns off to stop at the
waiting point.
Cam No. i_uCamNo Word
[Unsigned]
0 Cam No. 256 1 Set the cam No. of the cam to be used for
the output axis.
0: Straight cam
1 to 256: Generation cam
Waiting point i_eWaitingPos Single
precision
real number
Refer to the description. 0.0 Set the point where the address clutch
turns on or off to the current value per
cycle after main shaft gear.
0.0 Waiting point 100000.0 [mm]
0.00 Waiting point 10000.00 [inch]
0.00 Waiting point 10000.00
[degree]
0 Waiting point 9999999 [pulse]
[The unit setting depends on the axis No.
setting value in the output axis setting.]
1 cycle length i_eLengthPerCycl
e
Single
precision
real number
Refer to the description. 200.0 Set the 1 cycle length of the cam axis.
0.1 1 cycle length 100000.0 [mm]
0.01 1 cycle length 10000.00 [inch]
0.01 1 cycle length 10000.00
[degree]
1 1 cycle length 9999999 [pulse]
[The unit setting depends on the axis No.
setting value in the output axis setting.]
Item Description
4 5 APPLICATION PROGRAM EXAMPLE 5.4 Application Program Control FBs
5
Output axis setting (AXIS_REF structure)
*1 : Always, : When the FB is started (cannot be changed)
Cam stroke
amount
i_eStrokeAmount Single
precision
real number
Refer to the description. 200.0 Set the cam stroke amount
corresponding to 100% of the stroke ratio
in units of the output axis for the cam
control in the stroke ratio data format.
(For the cam data in the coordinate data
format, an output value of coordinate data
will be a cam stroke position.)
0.1 Cam stroke amount 100000.0
[mm]
0.01 Cam stroke amount 10000.00
[inch]
0.01 Cam stroke amount 10000.00
[degree]
1 Cam stroke amount 9999999
[pulse]
[The unit setting depends on the axis No.
setting value in the output axis setting.]
Clutch ON
smoothing
amount
i_eClutchOnSmo
othingAmount
Single
precision
real number
Refer to the description. 0.0 Set the smoothing amount when the
clutch is on.
0.0 Clutch ON smoothing amount
100000.0 [mm]
0.00 Clutch ON smoothing amount
10000.00 [inch]
0.00 Clutch ON smoothing amount
10000.00 [degree]
0 Clutch ON smoothing amount
9999999 [pulse]
[The unit setting depends on the axis No.
setting value in the output axis setting.]
Clutch OFF
smoothing
amount
i_eClutchOffSmo
othingAmount
Single
precision
real number
Refer to the description. 0.0 Set the smoothing amount when the
clutch is off.
0.0 Clutch OFF smoothing amount
100000.0 [mm]
0.00 Clutch OFF smoothing amount
10000.00 [inch]
0.00 Clutch OFF smoothing amount
10000.00 [degree]
0 Clutch OFF smoothing amount
9999999 [pulse]
[The unit setting depends on the axis No.
setting value in the output axis setting.]
Output axis
setting
i_stOutputAxis AXIS_REF Refer to the output axis setting below.
Name Label name Data type Read timing *1
Setting range
Initial value
Description
Axis number AxisNo Word [Unsigned] 1 Axis No.
maximum
number of
axes of the
module used
Set the axis No. of the output axis.
The unit setting of the main input axis that drives
the output axis is also used for the 1 cycle length
and the clutch ON/OFF smoothing amount.
The unit setting of the set axis No. is also used for
the cam stroke amount.
Start I/O number StartIO Word [Unsigned] 0H Start I/
O number
FEH
0 Installation address of the Simple Motion module
(Upper three digits of four digits (hexadecimal))
Name Label name Data type Read timing*1
Setting range Initial value
Description
5 APPLICATION PROGRAM EXAMPLE 5.4 Application Program Control FBs 155
15
Output labels
*1 : The value will be held after the FB stops. : The value will be cleared after the FB stops.
Name Label name Data type Value to be held*1
Description
Execution status o_bENO Bit On: Execution command is on.
Off: Execution command is off.
Normal completion o_bOK Bit This label indicates that the FB has normally started.
Error completion o_bError Bit On: An error has occurred in the FB.
Off: No error has occurred.
Error code o_uErrorID Word [Unsigned] The error code of the error that has occurred in the
FB is stored.
In synchronization o_bInSync Bit On: The clutch turns on during synchronous control.
Off: The clutch turns off during synchronous control.
6 5 APPLICATION PROGRAM EXAMPLE 5.4 Application Program Control FBs
5
SaveCompensationBuffer (Compensation amount buffer)
Name SaveCompensationBuffer
Function details
Item Description
Function overview This FB stores the input compensation amount and compensation starting point temporarily, and outputs the oldest compensation
amount when the axis specified with the output axis setting exceeds the compensation starting point.
Symbol
Applicable hardware and
software
Applicable module RD77MS, RD77GF
Applicable CPU MELSEC iQ-R series
Engineering software GX Works3
Number of steps 837 steps
FB dependence
Function description This FB stores the input compensation amount and compensation starting point temporarily, and outputs the oldest compensation
amount in the stored ones when the compensation starting point is exceeded by the axis set in the output axis setting.
After i_bEN (Execution command) is turned on, i_dCompensationAmount (Compensation amount) and
i_dCompensationStartPosition (Compensation starting point) when i_uMarkDetectCount (Mark detection counts) is changed is
stored in the position of the buffer pointer for storing.
When "[Md.407] Cam axis current value per cycle" exceeds the compensation starting point, the compensation amount stored in
the position of the buffer pointer for storing is output.
Operation when the maximum storage number is 4
If an error has occurred in the FB, Error turns on and the error code is stored in ErrorID.
Refer to "Page 198 List of Error Codes" for details of error codes.
Restrictions and
precautions
To change the maximum storage number, change the number of arrangements for stnBufferData (buffer data) which is a local
label of this FB and the value of dBufferNum (maximum storage number) in the program.
Adjust the maximum storage number using the maximum number of workpieces to be loaded on a single conveyor as reference.
Compiling method Macro type, subroutine type
FB operation type Real-time execution
Execution command
Compensation amount
Compensation starting point
Mark detection counts
Output axis setting Output axis setting
Execution status
Executing
Error completion
Error code
Compensation amount
B: i_bEN
D: i_dCompensationAmount
D: i_dCompensationStartPosition
UW: i_uMarkDetectCount
DUT: io_stOutputAxis
o_bENO :B
o_bBusy :B
o_bError :B
o_uErrorID :B
o_dCompensationAmount :D
io_stOutputAxis :DUT
SaveCompensationBuffer
Compensation amount
Compensation starting point
Buffer pointer for storage
Buffer pointer for output
Compensation amount output 0 -20 -10 20
Mark detection counts 0 1 3 4 5 62
: Compensation starting point
30
0 1
0 0 -10 20 30 -10-20
0 01305 300 320 350330
0 2 3 0 11
2 3 0 1
0
[Md.407] Cam axis current value per cycle
5 APPLICATION PROGRAM EXAMPLE 5.4 Application Program Control FBs 157
15
Labels
Input labels
*1 : Always, : When the FB is started (cannot be changed)
Output labels
*1 : The value will be held after the FB stops. : The value will be cleared after the FB stops.
I/O labels
Output axis setting (AXIS_REF structure)
Name Label name Data type Read timing*1
Setting range Initial value
Description
Execution
command
i_bEN Bit ON, OFF ON: The FB is activated.
OFF: The FB is not activated.
Compensation
amount
i_dCompensationA
mount
Double word
[Signed]
-2147483648
Compensation amount
2147483647
0 Enter the output value from the
compensation amount calculation FB
(PAC_CalcGap or PAC_CalcPhase).Compensation
starting point
i_dCompensationS
tartPosition
Double word
[Signed]
0
Mark detection
counts
i_uMarkDetectCou
nt
Word
[Unsigned]
0 Mark detection counts
65535 [times]
(Ring counter)
0 Enter o_uMarkDetectCount (Mark detection
counts) of STD_ReadMarkDetectDataFB.
A compensation amount is calculated at
updating this data.
Name Label name Data type Value to be held*1
Description
Execution status o_bENO Bit ON: Execution command is on.
OFF: Execution command is off.
Executing o_bBusy Bit This label indicates that the FB is operating.
Error completion o_bError Bit ON: An error has occurred in the FB.
OFF: No error has occurred.
Error code o_uErrorID Word [Unsigned] The error code of the error that has occurred in the FB
is stored.
Compensation amount o_dCompensationAmount Double word [Signed] The oldest stored compensation amount is stored.
Data range: -2147483648 Compensation amount
2147483647
[The unit setting depends on the axis No. setting value
of the output axis setting.]
(10-4 mm, 10-5 inch, 10-5 degree, pulse)
Name Label name Data type Read timing*1
Setting range Initial value
Description
Output axis
setting
io_stOutputAxis AXIS_REF Refer to the output axis setting below.
Name Label name Data type Read timing*1
Setting range Initial value
Description
Axis No. AxisNo Word [Unsigned] 1 Axis No. Maximum
number of axes of the
module used
Set the axis No. of the output axis.
"[Md.407] Cam axis current value per cycle"
of the output axis is referred.
Start I/O
number
StartIO Word [Unsigned] 0H Start I/O number
FEH
Installation address of the Simple Motion
module (Upper three digits of four digits
(hexadecimal))
8 5 APPLICATION PROGRAM EXAMPLE 5.4 Application Program Control FBs
5
Buffer data (BufferData structure)
*1 : Always, : When the FB is started (cannot be changed) *2 : The value will be held after the FB stops. : The value will be cleared after the FB stops.
Name Label name Data type Value to be held*2
Description
Compensation amount dCompensationAmount Double word [Signed] The value of i_dCompensationAmount is stored.
Compensation starting
point
dCompensationStartPosition Double word [Signed] The value of i_dCompensationStartPosition is
converted into the value per cycle and stored.
The number of cycles
until compensation
uCyclesTillCompensation Word [Unsigned] The number of cycles required until the compensation
starts is calculated from the value of
i_dCompensationStartPosition.
Cycle counter value uCycleCounterValue Word [Unsigned] The cycle counter value (uCycleCounter) when the
mark detection counts is changed is stored.
5 APPLICATION PROGRAM EXAMPLE 5.4 Application Program Control FBs 159
16
5.5 Application Program Example: Operation Procedure
Start the operation with the following procedure.
(For the function details of windows, refer to "Page 162 GOT APPLICATION SCREEN EXAMPLES".) 1. Write project data to the PLC CPU and
GOT and start the system. Touch [Servo
axis setting] to display the servo axis
setting screen.
2. Touch the [All axes servo ON] switch. All
axes are in the servo-on status.
3. When this is the first startup of the system,
touch the [Home position return] switch of
each axis and perform home position
return operations.
0 5 APPLICATION PROGRAM EXAMPLE 5.5 Application Program Example: Operation Procedure
5
4. Touch the [Synchronization start] switch.
Turning on the synchronization start switch
turns each axis to the synchronous control
mode. (Caution: Generate a came in the
equipment menu before turning the
[Synchronization start] switch ON. Cam
generation is not required for the alignment
conveyor project.)
5. Switch the screen to the production screen.
(Precautions: In the project for the
alignment conveyor, the product length is
set to the length per cycle as default. Even
if the product length is changed, the set
value is ignored. The "Production amount
monitor" counts the number of updated
times of the loading conveyor length per
cycle, not the actual production amount.)
6. Touch the [Start] switch and start the
operation at the set speed.
7. The operation stops when the [End] switch
is touched or the target production amount
is reached. (Cycle stop: For the box
motion, the travel axis and seal axis stop at
the waiting position. For the long dwell, the
D-cam axis stops at the waiting position.
For the alignment conveyor, the conveyor
axis stops immediately.)
When the [End] switch is touched, or the target
production amount is reached
5 APPLICATION PROGRAM EXAMPLE 5.5 Application Program Example: Operation Procedure 161
16
6 GOT APPLICATION SCREEN 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.
When the Simple Motion module detects an error or warning in this sample program, the operation suspends control.
To use the program with unnecessary screens erased, change the screen number of the switching destination screen as
necessary.
There are slight differences in color and layout between the actual screens and the screens described in this manual.
2 6 GOT APPLICATION SCREEN EXAMPLES
6
6.1 Screen Layout
Screen transition (All screens) The following shows the screen transition of all screens.
When a GOT is started, the start logo screen appears first. For details, refer to "Page 170 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 170 Operation to be performed when the GOT is started for the first
time".
For the screen transition common in all screens, refer to "Page 164 Screen transition (Common)".
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.
Box motion Cam monitor Mark compensation
Start logo screen
Home screen
Axis setting 1 Axis setting 2
Rotary cutter (Front end reference)
Rotary cutter (Central reference) Long dwell
Axis setting 3
Equipment menu
Servo axis setting
Production screen
Alignment conveyor 1
Alignment conveyor 2
Alignment conveyor 3
Axis setting 4
6 GOT APPLICATION SCREEN EXAMPLES 6.1 Screen Layout 163
16
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 screen.
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.
System alarm message display area
GOT system alarm reset
Language Setting
Clock Setting
4 6 GOT APPLICATION SCREEN EXAMPLES 6.1 Screen Layout
6
6.2 Basic Screen Layout The following shows the basic layout of a main screen.
(1) Title display area
Displays the title bar.
For details, refer to "Page 167 Title bar".
(2) Date and time display area
Displays the current date (upper side) and time (lower side). Touching this display area displays the Clock Setting window
screen.
For details of the Clock Setting window screen, refer to "Page 170 Clock Setting window screen".
(3) Language setting area
Touching the globe mark switch displays the Language Setting window screen.
For details of the Language Setting window screen, refer to "Page 169 Language Setting window screen".
(4) Function area
Displays the screen of each function.
For details, refer to "Page 171 Base Screen".
(5) Main menu display area
Displays the screen transition switches to display each main screen.
For details of the main menu switches, refer to "Page 167 Main menu".
(6) Sub menu display area
Displays the screen transition switches to display each sub screen.
For details of the sub menu switches, refer to "Page 168 Sub menu".
(7) 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 of the GOT system alarms, refer to "Page 168 GOT system alarm".
(4) Function area
(1) Title display area
(7) System alarm message display area
(5) Main menu display area
(6) Sub menu display area
(2) Date and time display area
(3) Language setting area
6 GOT APPLICATION SCREEN EXAMPLES 6.2 Basic Screen Layout 165
16
6.3 Description of Common Items
Descriptions 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 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 Application example
White Black Displays target data values. The values can be changed using the
key windows to be displayed when the display area is touched.
Black Displays target data values. The values cannot be changed.
Display Details
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
6 6 GOT APPLICATION SCREEN EXAMPLES 6.3 Description of Common Items
6
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 170 Clock Setting window screen".
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 169 Language Setting window screen".
Main menu Touching a switch with a main screen name jumps to the corresponding screen. The blue switch indicates the screen being
displayed.
Switch 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.
Touch this switch to return to the previous screen.
Up to 10 previous screens are kept in the screen history.
(1) (3)(2)
6 GOT APPLICATION SCREEN EXAMPLES 6.3 Description of Common Items 167
16
Sub menu After switching to the equipment menu screen, touching a switch with a sub screen name jumps to the corresponding screen.
The blue switch indicates the screen being displayed.
GOT system alarm If a GOT system alarm has occurred, a system alarm message is popped 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. However, 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 system alarm has occurred, touching the system alarm message display area displays the GOT system alarm reset
window screen.
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.
Switch Description
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.
8 6 GOT APPLICATION SCREEN EXAMPLES 6.3 Description of Common Items
6
Window screens common in all screens The following explains window screens common in all screens.
Language Setting window screen Switches the language displayed in the screen.
(1) Touch this switch to switch the language to Japanese.
(2) Touch this switch to switch the language to English.
(3) Touch this switch to switch the language to Chinese (Simplified).
While the Language Setting window screen is being displayed, switches in the main screen cannot be
operated.
(1)
(3)
(2)
6 GOT APPLICATION SCREEN EXAMPLES 6.3 Description of Common Items 169
17
Clock Setting window screen Changes the current date and time.
(1) Date/time data addition switch
Touching an addition switch (year, month, date, hour, minute, second) adds one to each value.
(2) Date and time setting
Sets the date and time (year, month, date, hour, minute, and second).
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
Touching a subtraction switch (year, month, date, hour, minute, and second) subtracts one from each value.
(4) 0 Set switch
Sets 0 for second.
(5) [Set] switch
Touching this switch sets the current date and time and closes the window screen.
(6) [Cancel] switch
Touching this switch closes the window screen without reflecting the set date and time.
If setting the date and time that does not exist in the date and time setting (Ex: 2015/2/30) is attempted,
touching the [Set] switch closes the window screen without reflecting the set date and time. At that time, a
GOT system alarm occurs and "Clock data input out of range" is displayed in the system alarm message
display area.
6.4 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 169 Language Setting window screen".
(3)
(1)
(2)
(4)
(5) (6)
0 6 GOT APPLICATION SCREEN EXAMPLES 6.4 When the GOT is Started
6
6.5 Base Screen The following table lists base screens.
Screen No. Screen title Description Reference
30000 Home Home screen Page 172
30050 Header Title bar Page 167
30051 Footer Main menu Page 167
30061 Sub menu 1 Sub menu Page 168
30100 Rotary cutter(Front end) Rotary cutter (Front end reference) screen Page 173
30101 Rotary cutter(Central) Rotary cutter (Central reference) screen Page 175
30110 Box motion Box motion screen Page 177
30111 Long dwell Long dwell screen Page 180
30120 Cam monitor Cam monitor screen Page 182
30130 Mark compensation Mark compensation screen Page 183
30140 Alignment conveyor 1 Alignment conveyor 1 Page 186
30141 Alignment conveyor 2 Alignment conveyor 2 Page 186
30142 Alignment conveyor 3 Alignment conveyor 3 Page 186
30200 Servo axis setting 1 Servo axis setting 1 screen Page 190
30201 Servo axis setting 2 Servo axis setting 2 screen Page 190
30202 Servo axis setting 3 Servo axis setting 3 screen Page 190
30203 Servo axis setting 4 Servo axis setting 4 screen Page 190
30300 Production screen Production screen Page 194
6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen 171
17
Home screen After the GOT is started, the Home screen appears first. Touch a switch to switch the screen to each screen.
(1) Title bar
In the Home screen, the application package name, "PACKAGING" is displayed at the center of the title bar.
(2) Equipment menu switch
Touch this switch to switch the screen to the "Rotary cutter (Front end reference)" screen.
(3) Servo axis setting switch
Touch this switch to switch the screen to the "Servo axis setting 1" screen.
(4) Production screen switch
Touch this switch to switch the screen to the "Production screen".
(4)
(3)
(2)
(1)
2 6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen
6
Equipment menu Rotary cutter (Front end reference) screen Set parameters to generate cam patterns for the rotary cutter (front end reference).
Only Simple Motion module RD77MS is compatible with the rotary cutter (front end reference).
Rotary cutter (Front end reference) cam setting (1) Cam No.
Sets the number of the cam to be generated for the rotary cutter (front end reference).
(2) Cam resolution
Sets the cam resolution to be generated for the rotary cutter (front end reference).
(3) Synchronous axis cycle length
Set the cycle length of the rotary cutter (front end reference).
(4) Sheet length
Set the sheet length (cutting length).
(5) Sheet synchronization width
Set the synchronization length of the sheet.
(6) Synchronization starting point
Set the length between the start of the sheet and synchronization start section.
(7) Synchronous section acceleration ratio
Set this item when the fine adjustment of the synchronous speed in the synchronous section is required.
"Synchronous section speed = Synchronous speed (100% + Acceleration ratio)"
(4)
(3)
(7) (6)
(5)
(2)
(10)
(1)
(9)
(8)
6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen 173
17
Rotary cutter (Front end reference) cam generation (8) Cam generation switch
Touching this switch generates cam data according to the setting values on the screen.
(9) Function block error display
(10) FB Error Reset
Touching this switch resets function block errors.
When an error occurs in CtrlOutputAxisSync (Output axis synchronized control), synchronization control is released via a
reset operation.
Display Description
"FB ERR" is displayed when an error has occurred in the function block.
4 6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen
6
Equipment menu Rotary cutter (Central reference) screen Set parameters to generate cam patterns for the rotary cutter (central reference).
Only Simple Motion module RD77GF is compatible with the rotary cutter (central reference).
Rotary cutter (Central reference) cam setting (1) Cam No.
Set the number of the cam to be generated for the rotary cutter (central reference).
(2) Cam resolution
Set the cam resolution to be generated for the rotary cutter (central reference).
(3) Acceleration/deceleration system
Set the acceleration/deceleration system.
(4) Synchronous axis length setting
Set whether or not to generate the cam with the synchronous axis length in diameter/circumference.
(5) Number of cutter
Set the number of rotary cutters.
(6) Synchronous axis length
Set the axis length of the rotary cutter.
(7) Sheet length
Set the sheet length (cutting length).
(8) Sheet synchronization width
Set the synchronization length of the sheet.
(9) Synchronous position adjustment
Set the position adjustment of the synchronization start section.
Negative value: Set the synchronous section at the front of the sheet.
0: The center of the sheet is the synchronous section.
Positive value: Set the synchronous section at the end of the sheet.
(10) Synchronous section acceleration ratio
Set this item when the fine adjustment of the synchronous speed in the synchronous section is required.
"Synchronous section speed = Synchronous speed (100% + Acceleration ratio)"
(11) Acceleration/deceleration width
Set the sheet width (one side) of the acceleration/deceleration area.
(7)
(6)
(4)
(10) (9)
(8)
(2)
(1)
(3)
(13)
(11)
(5)
(12)
(14)
6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen 175
17
Rotary cutter (Central reference) cam generation (12) Cam generation switch
Touching this switch generates cam data according to the setting values on the screen.
(13) Function block error display
(14) FB error reset
Touching this switch resets function block errors.
When an error occurs in CtrlOutputAxisSync (Output axis synchronized control), synchronization control is released via a
reset operation.
Display Description
"FB ERR" is displayed when an error has occurred in the function block.
6 6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen
6
Equipment menu Box motion screen Set parameters to generate cam patterns for the box motion.
This screen can be used in the box motion project.
Box motion cam setting
(1) Cam resolution
Set the resolution of the cam to be generated for the box motion.
(2) Production speed
Set the production speed.
(3) Seal axis cam No.
Set the number of the cam to be generated for (opening/closing) the seal axis in the box motion.
(4) Travel axis cam No.
Set the number of the cam to be generated for (traveling) the travel axis in the box motion.
(5) Seal axis stroke amount
Set the stroke amount of the seal axis.
(1) (4) (3)
(2) (5)
6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen 177
17
(6) Product length
Set the product length.
(7) Travel axis movement amount limit value
Set the movement amount limit value of the travel axis.
(8) Synchronization starting point
Set the synchronization starting point of the travel axis.
(9) Sealing time
Set the sealing time.
(10) Seal axis acceleration/deceleration
Set the acceleration/deceleration at opening/closing of the seal axis.
(11) Synchronous section acceleration ratio
Set the acceleration ratio of the synchronous speed of the travel axis.
(12) Seal starting time offset
Set the offset amount of the timing to start sealing (synchronization start).
(13) Seal ending time offset
Set the offset amount of timing to end sealing (synchronization end).
(7)
(6)
(10)(9)
(11)
(8)
(13)
(12)
8 6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen
6
Box motion cam generation
(14) Cam generation switch
Touching this switch generates cam data according to the setting values on the screen.
(15) Function block error display
(16) FB Error Reset
Touching this switch resets function block errors.
When an error occurs in CtrlOutputAxisSync (Output axis synchronized control), synchronization control is released via a
reset operation.
Display Description
"FB ERR" is displayed when an error has occurred in the function block.
(16)
(15)
(14)
6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen 179
18
Equipment menu Long dwell screen Set parameters to generate cam patterns for the long dwell.
This screen can be used in the long dwell project.
Long dwell cam setting (1) Cam No.
Set the number of the cam to be generated for the long dwell.
(2) Cam resolution
Set the resolution of the cam to be generated for the long dwell.
(3) Synchronous angle
Set the angle including the seal section and inlet/outlet section.
(4) Eccentric length
Set the distance from the center of the seal section to the center of the circle.
(5) Product length
Set the product length.
(6) Seal length
Set the seal section length.
(7) Seal section acceleration rate
Set this item when fine adjustment of the synchronous speed in the sealing section is required.
"Synchronous section speed = Synchronous speed (100% + Acceleration ratio)"
(8) Inlet/outlet section acceleration rate
Set this item when the fine adjustment of the synchronous speed in the inlet/outlet section is required.
"Synchronous section speed = Synchronous speed (100% + Acceleration ratio)"
(5)
(4)
(8) (7)
(6)
(2)
(1)
(3)
(10)
(9)
(11)
0 6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen
6
Long dwell cam generation (9) Cam generation switch
Touching this switch generates cam data according to the setting values on the screen.
(10) Function block error display
(11) FB error reset
Touching this switch resets function block errors.
When an error occurs in CtrlOutputAxisSync (Output axis synchronized control), synchronization control is released via a
reset operation.
Display Description
"FB ERR" is displayed when an error has occurred in the function block.
6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen 181
18
Equipment menu Cam monitor screen This screen displays read cam pattern of the specified cam No.
Cam monitor (1) Cam No.
Set the cam No. of the cam pattern to be monitored.
(2) READ switch
Touching this switch reads the cam data of the specified cam No.
(3) Cam No.
Cam No. of the read cam data
(4) Cam resolution
Cam resolution of the read cam data
(5) Cam pattern display
Waveform of the stroke coordinates of the read cam data
(6) Stroke amount display
Maximum stroke amount of the read cam data
(7) 1 cycle length display
1 cycle length of the read cam data
(8) Function block error display
(9) FB Error Reset
Touching this switch resets function block errors.
When an error occurs in CtrlOutputAxisSync (Output axis synchronized control), synchronization control is released via a
reset operation.
Display Description
"FB ERR" is displayed when an error has occurred in the function block.
(6)
(4) (3)
(2)
(9)
(8)
(1)
(5)
(7)
2 6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen
6
Equipment menu Mark compensation screen On this screen, users can set parameters, start/stop the mark compensation control, and monitor detection data.
Latch data range
(1) Upper limit
Set the upper limit value of the mark detection range.
(2) Lower limit
Set the lower limit value of the mark detection range.
(3) Change request switch
Touching this switch changes the latch data range with the new setting values.
(3)
(2)
(1)
6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen 183
18
Compensation axis setting
(4) Compensation starting point
Set the point to start the mark compensation in one cycle.
(5) Speed
Set the positioning speed at compensation.
(6) Acceleration
Set the positioning acceleration time at compensation.
(7) Deceleration
Set the positioning deceleration time at compensation.
Compensation control setting
(8) Minimum compensation amount
Set the lower limit value of the compensation range.
(9) Maximum compensation amount
Set the upper limit value of the compensation range.
(10) Mark undetected permissible counts
Set the permissible value of the mark undetected counts.
Compensation start/Compensation end
(11) Compensation start switch
Touching this switch starts the mark compensation control.
(12) Compensation end switch
Touching this switch stops the mark compensation control.
(5)
(7)
(6)
(4)
(9)
(10)
(8)
(12)(11)
4 6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen
6
Mark detection monitor
(13) Detection data
Latch data at mark detection
(14) Detection counts
Counts of mark detections
(15) Compensation amount
Compensation amount calculated from the mark detection data
(16) Mark pitch
Set the distance between marks.
Error display
(17) Function block error display
Display Description
"FB ERR" is displayed when an error has occurred in the function block.
(16)
(15)
(14)
(13)
(17)
6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen 185
18
Equipment menu Alignment conveyor screen Set parameters of the sensor position and work length of the alignment conveyor, and the compensation control of the
conveyor.
The screen settings are provided on the assumption of the following equipment configuration.
Latch data range (1) Upper limit
Set the upper limit value of the mark detection range.
(2) Lower limit
Set the lower limit value of the mark detection range.
(3) Change request switch
Touching this switch changes the latch data range with the new setting values.
Loading conveyor axisSupply conveyor axisGap adjustment conveyor axis 1
Adjustment sensor 1
Supply sensor
Finger sensor
Gap adjustment conveyor axis 2
Adjustment sensor 2
Alignment conveyor screen 3 Alignment conveyor
screen 2
Alignment conveyor screen 1
(12)
(1)
(2)
(3)
(4)
(5)
(6)
(7) (8)
(9) (10) (11)
6 6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen
6
Equipment setting (4) 1) Supply sensor position
Set the distance between the supply conveyor end and work detection sensor.
(5) 2) Loading position
Set the distance between the finger edge and work edge on the loading conveyor.
(6) 3) Work length
Set the work length.
Compensation axis setting (7) Speed
Set the speed at compensation.
(8) Acceleration
Set the acceleration time at compensation.
(9) Deceleration
Set the deceleration time at compensation.
Compensation control setting (10) Minimum compensation amount
Set the minimum value of the compensation amount at compensation.
(11) Maximum compensation amount
Set the maximum value of the compensation amount at compensation.
Error display (12) Function block error display
Display Description
"FB ERR" is displayed when an error has occurred in the function block.
6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen 187
18
Latch data range (1) Upper limit
Set the upper limit value of the mark detection range.
(2) Lower limit
Set the lower limit value of the mark detection range.
(3) Change request switch
Touching this switch changes the latch data range with the new setting values.
Equipment setting (4) 1) Adjustment sensor position
Set the distance between the gap adjustment conveyor 1 end and work detection sensor.
(5) 2) Work length
Set the work length.
Compensation axis setting (6) Speed
Set the speed at compensation.
(7) Acceleration
Set the acceleration time at compensation.
(8) Deceleration
Set the deceleration time at compensation.
Compensation control setting (9) Minimum compensation amount
Set the minimum value of the compensation amount at compensation.
(10) Maximum compensation amount
Set the maximum value of the compensation amount at compensation.
(1)
(2)
(3)
(4)
(5)
(6) (7)
(8) (9) (10)
8 6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen
6
Latch data range (1) Upper limit
Set the upper limit value of the mark detection range.
(2) Lower limit
Set the lower limit value of the mark detection range.
(3) Change request switch
Touching this switch changes the latch data range with the new setting values.
Equipment setting (4) 1) Adjustment sensor position
Set the distance between the gap adjustment conveyor 2 end and work detection sensor.
(5) 2) Work length
Set the work length.
Compensation axis setting (6) Speed
Set the speed at compensation.
(7) Acceleration
Set the acceleration time at compensation.
(8) Deceleration
Set the deceleration time at compensation.
Compensation control setting (9) Minimum compensation amount
Set the minimum value of the compensation amount at compensation.
(10) Maximum compensation amount
Set the maximum value of the compensation amount at compensation.
(1)
(2)
(3)
(4)
(5)
(6) (7)
(8) (9) (10)
6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen 189
19
Servo axis setting screen On this screen, users can start JOG operation and home position return and reset errors of each servo axis.
When using box motion, select servo axis setting screen 1 and 2, and when using long dwell, select servo axis setting screen
2 and 3.
0 6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen
6
6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen 191
19
Each axis servo setting
Servo state
JOG operation
Home position return
All axes servo setting
Display Description
[Servo ON indicator lamp]
Servo ON: On
Servo OFF: Off
[BUSY indicator lamp]
Positioning control in progress: On
Stopped (standby): Off
[Error indicator lamp]
An error or axis warning occurred: On
No error or axis warning: Off
[Error reset switch]
On: Errors are reset.
Display Description
[JOG speed setting]
Set the JOG operation speed.
[JOG operation switch]
JOG (Forward)
On: JOG operation (forward run) starts.
JOG (Reverse)
On: JOG operation (reverse run) starts.
Display Description
[Home position return in execution lamp]
When the home position return is in execution: On
When the home position return has stopped: Off
[Home position return complete lamp]
When the home position return is completed: On
When the home position return is not completed: Off
[Current feed value monitor]
Current feed value
[Home position return switch]
On: The home position return starts.
Display Description
[PLC Ready indicator lamp]
When PLC Ready is on: On
When PLC Ready is off: Off
[All axes servo ON/OFF switch]
All axes servo ON
On: The all axes servo ON command is on.
All axes servo OFF
On: The all axes servo ON command is off.
[Synchronization start/end switch]
Synchronization start
On: Synchronous control start is on.
Synchronization end
On: Synchronous control start is off.
2 6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen
6
[Servo axis setting screen transition switches]
Switches to the setting screen of the axis assigned in system configuration.
[All Error Reset switch]
On: All errors are reset.
When an error occurs in CtrlOutputAxisSync (Output axis synchronized control),
synchronization control is released via a reset operation.
Display Description
6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen 193
19
Production screen Set the parameters for production and start or stop the packaging machine and alignment conveyor.
Phase compensation is performed by signal input from the mark sensor. After completion of phase compensation, the
production amount monitor count starts.
In the project for the alignment conveyor, the product length is set to the length per cycle as default. Even if the product length
is changed, the set value is ignored.
The production amount and production amount monitor increase every time the length per cycle of the loading conveyor is
updated. (This is for checking the conveyor operation. The number of workpieces differs from that of the actual loaded
workpieces.)
Product operation (1) In operation lamp
This lamp turns on when the production is in progress (while the packaging machine and alignment conveyor are running).
(2) Start switch
Touching this switch starts the packaging machine and alignment conveyor.
The alignment conveyor project starts the alignment conveyor FB by this switch operation.
(3) End switch
Touching this switch stops the packaging machine and alignment conveyor that are running.
The alignment conveyor project stops the alignment conveyor FB by this switch operation.
Setting (4) Production speed
Set the production speed.
(5) Product length
Set the product length (cutting size).
(6) Production amount
Set the production quantity. The operation will stop when the production amount is reached.
(8)
(6)
(5)
(7)
(2)
(3)
(4)
(1)
4 6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen
6
Monitor (7) Production amount monitor
Current production quantity
(8) Reset switch
Touching this switch resets the production amount monitor (clears the count to zero).
6 GOT APPLICATION SCREEN EXAMPLES 6.5 Base Screen 195
19
6.6 Window Screen The following table lists window screens.
GOT system alarm reset window screen Resets 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.
Touching the [OK] switch resets the system alarm and closes the window screen.
Touching the [Cancel] switch closes 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 196
30001 Language Setting Language Setting window screen Page 169
30002 Clock Setting Clock Setting window screen Page 170
30010 Key Window (Dec) Numerical input [Decimal key window] Page 166
(1) (2)
6 6 GOT APPLICATION SCREEN EXAMPLES 6.6 Window Screen
6
6.7 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 the details of [Batch Edit], refer to "GT
Designer3 (GOT2000) Help".
List of GOT devices Type Device number Use
Bit GB40 Always ON
Bit GB30001 Clock Setting window display script
(Initial setting (clock setting)) trigger
Bit GS512.b0 Time change information
Bit GD30031.b13 System signal 1-1 GOT error reset signal
Word GD30000 Base screen switching device
Word GD30001 Overlap window screen 1 switching device
Word GD30004 Overlap window screen 2 switching device
Word GD30016 Superimposed window 1 switching device
Word GD30018 Dialog window screen switching device
Word GD30031 System signal 1-1
Word GD30041 System signal 2-1
Word GD30060 to GD30065 Date and time adjustment switch
Word GS513 to GS516 Time after change
Word GS650 to GS652 Current time
6 GOT APPLICATION SCREEN EXAMPLES 6.7 List of Devices to be Used 197
19
APPENDICES Appendix 1 List of Error Codes
FB library: Warning When an error occurs at the startup of an FB, the FB does not operate. When an error occurs while an FB is operating, the FB
continuously operates with the value before the occurrence of the error.
ErrID Description Corrective action
HEX DEC
2100H 8448 A value outside the range has been set as the axis No. Check the setting and execute the FB again.
2101H 8449 A value outside the range has been set as the positioning data No.
2102H 8450 A value outside the range has been set as the speed.
2103H 8451 A value outside the range has been set as the acceleration/
deceleration.
2104H 8452 A value outside the range has been set as the cam No.
2105H 8453 A value outside the range has been set as the travel axis cam No.
2106H 8454 A value outside the range has been set as the seal axis cam No.
2107H 8455 A single value has been set as both the travel axis cam No. and
seal axis cam No.
2108H 8456 A value outside the range has been set as the cam resolution.
2109H 8457 A value outside the range has been set as the seat length.
210AH 8458 A value outside the range has been set as the sheet
synchronization width.
210BH 8459 A value outside the range has been set as the synchronous axis
length.
210CH 8460 A value outside the range has been set as the synchronization
starting point.
210DH 8461 A value outside the range has been set as the synchronous
section acceleration ratio.
210EH 8462 A value outside the range has been set as the production speed.
210FH 8463 A value outside the range has been set as the product length.
2110H 8464 A value outside the range has been set as the travel axis
movement amount limit value.
2111H 8465 A value outside the range has been set as the seal axis movement
amount.
2112H 8466 A value outside the range has been set as the sealing time.
2113H 8467 A value outside the range has been set as the seal axis
acceleration/deceleration.
2114H 8468 A value outside the range has been set as the seal time offset.
2115H 8469 The calculated cam stroke amount for the travel axis has
exceeded the travel axis movement amount limit value.
Although the cam data at occurrence of this warning can be
used, ensure the safety before operation.
8 APPX Appendix 1 List of Error Codes
A
2116H 8470 A value outside the range has been set as the main input axis
cycle starting point.
Check the setting and execute the FB again.
2117H 8471 A value outside the range has been set as the main input axis
synchronization starting point.
2118H 8472 A value outside the range has been set as the output axis
synchronization starting point.
2119H 8473 A value outside the range has been set as the output axis
synchronization ending point.
211BH 8475 A value outside the range has been set as the main input axis
cycle ending point.
211CH 8476 A value outside the range has been set as the output axis
movement amount limit value.
211DH 8477 A value outside the range has been set as the mark detection
setting No.
2121H 8481 A value outside the range has been set as the minimum
compensation amount or maximum compensation amount.
2122H 8482 A value outside the range has been set as the mark undetected
permissible counts.
2123H 8483 The calculated compensation amount is larger than the maximum
compensation amount.
This error code will turn off when the compensation amount to be
calculated next time is smaller than the maximum compensation
amount in the next cycle or later.
Check if "[Pr.439] Cam axis length per cycle" is proper.
2124H 8484 A value outside the range has been set as the compensation
starting point.
Check the setting and execute the FB again.
212DH 8493 A value outside the range has been set in "[Pr.802] Mark detection
data type".
212EH 8494 A value outside the range has been set in "[Pr.807] Mark detection
mode setting".
212FH 8495 A value outside the range has been set as the travel axis No.
2130H 8496 A value outside the range has been set as the seal axis No.
2131H 8497 A value outside the range or 0 (invalid) has been set in "[Pr.400]
Main input axis No.".
2132H 8498 A value outside the range has been set as the output axis No.
2133H 8499 A value outside the range has been set as the auxiliary axis No.
2134H 8500 A single value has been set as both the travel axis No. and seal
axis No.
2135H 8501 The value set in "[Pr.1] Unit setting" of the travel axis and the value
set in "[Pr.1] Unit setting" of the seal axis are not the same.
Even though this warning has occurred, the operation
continues. However, ensure the safety before operation
because the operation may differ from that of when both the
axes have different values in "[Pr.1] Unit setting".
2136H 8502 The value set in "[Pr.1] Unit setting" of the main input axis and the
value set in "[Pr.1] Unit setting" of the auxiliary axis are not the
same.
Even though this warning has occurred, the operation
continues. However, ensure the safety before operation
because the operation may differ from that of when both the
axes have different values in "[Pr.1] Unit setting".
2140H 8512 A value outside the range has been set as the synchronous angle. Check the setting and execute the FB again.
2141H 8513 A value outside the range has been set as the seal length.
2142H 8514 A value outside the range has been set as the eccentric radius.
2143H 8515 A value outside the range has been set as the seal section
acceleration rate.
2144H 8516 A value outside the range has been set as the inlet/outlet section
acceleration rate.
2145H 8517 A value outside the range has been set as the number of cutters.
2146H 8518 The sealing angle has exceeded the synchronous angle. Set a larger synchronous angle or change the sealing length or
eccentric radius and set a smaller sealing angle to satisfy the
following conditional expression.
i_eSyncAngle 2 * atan(i_eSealLength / (2 *
i_eEccentricRadius))
2147H 8519 The synchronization length exceeded the product length. Increase the product length or review the D-cam parameter.
ErrID Description Corrective action
HEX DEC
APPX Appendix 1 List of Error Codes 199
20
FB library: Error When an error has occurred, an FB stops its operation.
214AH 8522 A value outside the range has been set for the sensor position. Check the setting and execute the FB again.
214BH 8523 A value outside the range is set for the workpiece length.
214CH 8524 A value outside the range has been set for the loading position.
214DH 8525 A value outside the range has been set in "[Pr.1] Unit setting".
2150H 8528 A value outside the range has been set as the synchronous
section position adjustment.
2151H 8529 A value outside the range is set as the auto-generation option.
2152H 8530 A value outside the range has been set as the acceleration/
deceleration width.
2153H 8531 A value outside the range has been set as the number of cutters.
2154H 8532 The FB in use is different. Use an FB that is compatible with the Simple Motion used.
ErrID Description Corrective action
HEX DEC
200H 512 The FB is started while the target axis is operating. Stop the target axis and execute the FB again.
201H 513 The target axis is not in the servo-on status. Set the servo-on status for the target axis and execute the FB
again.
202H 514 A motion error has occurred in the target axis. Check "[Md.23] Axis error No." of the target axis to check the
error details and eliminate the cause of the error. After that,
execute the FB again.
205H 517 A PLC CPU error has occurred during the execution of an FB. Check the error number (SD0) to check the error details and
eliminate the cause of the error. After that, execute the FB
again.
2200H 8704 The calculated cam stroke amount for the output axis has
exceeded the output axis movement amount limit value.
Check the set main input axis cycle ending point in the
direction of the main input axis reference point and execute the
FB again.
If this error still cannot be cleared, check the following input
label setting values.
Output axis synchronization starting point
Output axis synchronization ending point
Output axis movement amount limit value
Main input axis synchronization starting point
2201H 8705 The value of the mark undetected counts has exceeded the mark
undetected permissible counts.
Check the mark status.
Check for a sensor failure or disconnection.
2203H 8707 A cam data operation warning has occurred at cam generation. Check "[Md.24] Axis warning No." of the axis 1 to check the
warning details and eliminate the cause of the warning. After
that, execute the FB again.
2205H 8709 Another FB was activated while cam was being generated by an
FB or a user program.
Before starting the FB, check that "[Cd.600] Cam data
operation request" has been set to "0".
2206H 8710 The seal starting time offset value has exceeded the travel axis
synchronization starting point value.
Set a smaller value as the seal starting time offset value or a
lager value as the travel axis synchronization starting point to
satisfy the following conditional expression.
i_dSealStartTimingOffset {i_uProductPerMinute/(60
1000) i_eProductLength} < i_eSyncStartPoint 2
ErrID Description Corrective action
HEX DEC
0 APPX Appendix 1 List of Error Codes
A
2207H 8711 The value converted into the travel axis from the travel axis
synchronization ending point has exceeded the travel axis
movement amount limit value.
Adjust the following parameters to satisfy the following two
conditional expressions.
1) Set a larger value as the travel axis movement amount limit
value.
2) Set a smaller value as the travel axis synchronization
starting point.
3) Set a smaller value as the synchronous section.
a) Set a smaller value as the travel axis synchronous section
acceleration ratio.
b) Shorten the seal axis acceleration/deceleration.
c) Shorten the sealing time.
d) Set a smaller value as the product length.
e) Set a smaller value as the production speed.
i_eSyncStartPoint < i_eTravelAxisMaxLength
i_eSyncStartPoint + {i_udSealingTime +
i_udSealAxisMoveTime 2} {i_uProductPerMinute/(60
1000) i_eProductLength} (1 + i_eSyncSectionAccRatio/
100) < i_eTravelAxisMaxLength
2208H 8712 The seal axis deceleration ending point has exceeded the product
length.
Adjust the following parameters to satisfy the following
conditional expression.
1) Set a smaller value as the synchronous section.
a) Shorten the seal axis acceleration/deceleration.
b) Shorten the sealing time.
c) Set a smaller value as the production speed.
2) Set a larger value as the product length.
3) Set a smaller negative value or a positive value as the seal
starting time offset.
4) Set a smaller negative value or a positive value as the seal
ending time offset.
i_eSyncStartPoint 2 + {i_udSealingTime +
i_udSealAxisMoveTime 2} {i_uProductPerMinute/(60
1000) i_eProductLength} < i_eProductLength
2209H 8713 A value larger than the number of coordinates of the cam data
generated for the box motion has been set as the cam resolution
(number of coordinates).
Set a smaller value as the cam resolution (number of
coordinates) to satisfy the following conditional expression.
i_uCamResolution {i_eProductLength - (i_udSealingTime
+ i_udSealAxisMoveTime 2) (i_uProductPerMinute/(60
1000) i_eProductLength)} UCC*1
i_uCamResolution {( i_udSealAxisMoveTime 2)
(i_uProductPerMinute/(60 1000) i_eProductLength )}
UCC*1
220AH 8714 The positions of the main input axis cycle starting point, main input
axis synchronization starting point, and main input axis cycle
ending point are not correct.
Check those values to satisfy the following conditional
expression.
i_eMainInputAxisStartPos < i_eMainInputAxisSyncStartPos
< i_eMainInputAxisCycleEndPos
220BH 8715 The positions of the output axis synchronization starting point,
output axis synchronization ending point, and output axis
movement amount limit value are not correct.
Check those values to satisfy the following conditional
expression.
i_eOutputAxisSyncStartPos < i_eOutputAxisSyncEndPos <
i_eOutputAxisMaxLength
220CH 8716 The value converted into the main input axis from the output axis
synchronization ending point has exceeded the main input axis
cycle ending point.
Set smaller values as the main input axis cycle starting point
and the output axis synchronization ending point or a larger
value as the synchronous section acceleration ratio to satisfy
the following conditional expression.
i_eMainInputAxisSyncStartPos - i_eMainInputAxisStartPos +
(i_eOutputAxisSyncEndPos - i_eOutputAxisSyncStartPos)/
(1 + i_eSyncSectionAccRatio/100) <
i_eMainInputAxisCycleEndPos - i_eMainInputAxisStartPos
220DH 8717 A value larger than the number of coordinates of the cam data
generated for the flying shear has been set as the cam resolution
(number of coordinates).
Set a smaller value as the cam resolution (number of
coordinates) to satisfy the following conditional expression.
i_uCamResolution < {i_eMainInputAxisCycleEndPos -
i_eMainInputAxisStartPos - (i_eOutputAxisSyncEndPos -
i_eOutputAxisSyncStartPos)/(1 + i_eSyncSectionAccRatio/
100)} UCC*1
F000H 61440 The module set in the start I/O number setting is not the iQ
Monozukuri-compatible Simple Motion module.
Replace the module with the Simple Motion module for the
packaging machine control FBs.
F001H 61441 The license key of the application to be used in the PLC CPU used
is not authenticated.
Certify the license key of the application to be used.
F002H 61442 A value outside the range is set for the start I/O number. Check the setting and execute the FB again.
ErrID Description Corrective action
HEX DEC
APPX Appendix 1 List of Error Codes 201
20
*1 UCC (Unit conversion coefficient): When the unit of the product length is [mm]: 10^4 (= 10000), [inch] or [degree]: 10^5 (= 100000), [pulse]: 1
Application program control FB: Warning When a warning occurs at the startup of an FB, the FB does not operate. When a warning occurs while an FB is operating, the
FB continuously operates with the value before the occurrence of the warning.
Application program control FB: Error When an error has occurred, an FB stops its operation.
F003H 61443 The module set in the start I/O number setting is not the Simple
Motion module.
Specify a Simple Motion module.
ErrID Description Corrective action
HEX DEC
2D00H 11520 A value outside the range has been set as the axis No. Check the setting and execute the FB again.
2D01H 11521 A value outside the range has been set as the cam No.
2D02H 11522 A value outside the range has been set as the waiting point.
2D03H 11523 A value outside the range has been set as the 1 cycle length.
2D04H 11524 A value outside the range has been set as the cam stroke amount.
2D05H 11525 A value outside the range has been set as the clutch smoothing
amount.
2D06H 11526 A value outside the range has been set as the start I/O number.
2D07H 11527 The number of buffers exceeded the maximum storage number.
ErrID Description Corrective action
HEX DEC
2DE0H 11744 The FB is started during synchronous control of the target axis. Execute the FB again after completing the synchronous control
of the target axis.
2DE1H 11745 The target axis is not in the servo-on status. Set the servo-on status for the target axis and execute the FB
again.
2DE2H 11746 A motion error has occurred in the target axis. Check "[Md.23] Axis error No." of the target axis to check the
error details and eliminate the cause of the error. After that,
execute the FB again.
2DE3H 11747 A PLC CPU error has occurred during the execution of an FB. Check the error number (SD0) to check the error details and
eliminate the cause of the error. After that, execute the FB
again.
2DE4H 11748 A cam data operation warning has occurred while the cam
operation has been requested.
Check "[Md.24] Axis warning No." of the axis 1 to check the
warning details and eliminate the cause of the warning. After
that, execute the FB again.
ErrID Description Corrective action
HEX DEC
2 APPX Appendix 1 List of Error Codes
APPX Appendix 2 Functional Restrictions by Version 203
A
Appendix 2 Functional Restrictions by Version Available functions depend on the version of the application package.
The following table shows combinations of each version and function.
*1 When updating a project of version 1.004E or earlier to 1.005F or later, replace the project. For details, refer to the following. Page 37 Upgrading the Library Version
Function Version Reference
The standard Simple Motion module can be used by registering a license key. Version 1.001B
or later
Page 29 SETTING AND PROCEDURE BEFORE
OPERATION
FB STD_MakeRotaryCutterCam+RD77GF is added. Page 57 Details of the FB Library
Page 104 APPLICATION PROGRAM EXAMPLEPAC_MakeLongDwellDCam is added.
The subroutine type is supported for the compile method of FB library. Page 57 Details of the FB Library
FB PAC_CalcGap is added. Version 1.002C
or later
Page 57 Details of the FB Library
PAC_CalcPhase is added. Page 104 APPLICATION PROGRAM EXAMPLE
FB Invalid (-1) for the input label "Compensation starting point" of
STD_CtrlAuxiliaryAxis has been added.
Page 57 Details of the FB Library
A temporary license is available before a license key is obtained. Version 1.003D
or later
Page 29 SETTING AND PROCEDURE BEFORE
OPERATION
FB For i_dMarkDetectData (Mark detection data), set the real current
value.
PAC_CalcMarkCompensation
Version 1.004E
or later
Page 57 Details of the FB Library
The data type of the AXIS_REF structure member (label) is changed.*1 Version 1.005F
or later
Page 57 Details of the FB Library
20
Appendix 3 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-PAC002AA_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 (PAC_LicenseWrite) for writing the
license key, and the function block (PAC_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-PAC002AA_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)
PAC_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
4 APPX Appendix 3 Temporary License Registration
A
Registering the temporary license
Turn on the execution flag (WriteTempLicense) of the function block (PAC_TempLicenseWrite) in the scan program. Normal
completion (o_bOK) or Error completion (o_bError) becomes TRUE. At the error completion, refer to Troubleshooting.
(Page 206 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.
APPX Appendix 3 Temporary License Registration 205
20
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 "PAC_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 "PAC_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 "PAC_LicenseWrite".
After "PAC_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.
6 APPX Appendix 3 Temporary License Registration
A
MEMO
APPX Appendix 3 Temporary License Registration 207
208
INSTRUCTION INDEX
C
CtrlOutputAxisSync . . . . . . . . . . . . . . . . . . . . . 152
P
PAC_CalcGap . . . . . . . . . . . . . . . . . . . . . . . . . 94 PAC_CalcMarkCompensation . . . . . . . . . . . . . . 86 PAC_CalcPhase . . . . . . . . . . . . . . . . . . . . . . . . 99 PAC_MakeBoxMotionCam. . . . . . . . . . . . . . . . . 65 PAC_MakeLongDwellDCam . . . . . . . . . . . . . . . 77
R
ReadCamData . . . . . . . . . . . . . . . . . . . . . . . . 150
S
SaveCompensationBuffer . . . . . . . . . . . . . . . . 157 STD_CtrlAuxiliaryAxis . . . . . . . . . . . . . . . . . . . . 90 STD_MakeFlyingShearCam. . . . . . . . . . . . . . . . 71 STD_MakeRotaryCutterCam+RD77GF . . . . . . . . 61 STD_MakeRotaryCutterCam+RD77MS. . . . . . . . 57 STD_ReadMarkDetectData . . . . . . . . . . . . . . . . 82
I
209
MEMO
210
REVISIONS * The manual number is given on the bottom left of the back cover.
2016 MITSUBISHI ELECTRIC CORPORATION
Revision date *Manual number Description
July 2016 BCN-B62005-762-A First edition
November 2017 BCN-B62005-762-B Added models
RD77GF
Added functions
Standard Simple Motion modules are available by license key registration, FBs are added (Cam
auto-generation for rotary cutter (central reference), Cam auto-generation for D-cam) and program
examples are added (long dwell).
Added or modified parts
RELEVANT MANUALS, TERMS, REQUESTING AND REGISTERING A LICENSE KEY, Section
1.4, 1.5, 1.6, 1.7, Chapter 2, Section 2.1, 2.2, 2.4, 3.1, 3.2, 4.1, 4.2, Chapter 5, Section 5.1, 5.2, 5.3,
5.4, Chapter 6, Section 6.1, 6.3, 6.4, 6.5, 6.7, Appendix 1, 2, TRADEMARKS
August 2018 BCN-B62005-762-C Added functions
FBs are added (Work gap adjustment compensation amount calculation, Work loading position
adjustment compensation amount calculation), a program example is added (alignment conveyor),
and screen examples are added (alignment conveyor).
Added or modified parts
TERMS, Section 1.2, 1.4, 1.6, 1.7, 3.1, 3.2, 4.1, 4.2, Chapter 5, Section, 5.1, 5.2, 5.3, 5.4, 5.5, 6.1,
6.3, 6.5, Appendix 1, 2
October 2018 BCN-B62005-762-D Added functions
A temporary license is available before a license key is obtained.
Added or modified parts
TERMS, Section 2.1, 2.3, 2.4, 4.1, 6.5, Appendix 2, 3
July 2019 BCN-B62005-762-E Added or modified parts
Section 1.7, 2.1, 4.1, 4.2, 5.1, 5.2, Appendix 2
September 2019 BCN-B62005-762-F Added or modified parts
Section 1.7, 2.3, 4.1, 4.2, 4.3, 5.1, 5.2, 5.4, 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.
211
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.
212
TRADEMARKS Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan.
Microsoft and Windows 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.
BCN-B62005-762-F(1909)
Specifications subject to change without notice.
When exported from Japan, this manual does not require application to the Ministry
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