Mitsubishi MOTION CONTROLLERS Q172DCPU Manual de Instruções

Motion ControllersProgramming ManualSV13/SV22 (REAL MODE)Q173DCPUQ172DCPUMITSUBISHI ELECTRICMITSUBISHI ELECTRIC01 01 2008IB(NA)-0300136Version AINDUST

A - 9 (7) Corrective actions for errors CAUTION If an error occurs in the self diagnosis of the Motion controller or servo amplifier, confirm the

4 - 14 PARAMETERS FOR POSITIONING CONTROL 4 4. PARAMETERS FOR POSITIONING CONTROL 4.1 System Settings In the Multiple CPU

4 - 24 PARAMETERS FOR POSITIONING CONTROL 4.2 Fixed Parameters (1) The fixed parameters are set for each axis and their data is fixed based o

4 - 34 PARAMETERS FOR POSITIONING CONTROL 4.2.1 Number of pulses/travel value per rotation The "Electronic gear function" adjusts the

4 - 44 PARAMETERS FOR POSITIONING CONTROL Therefore, AP/AL is set so that the following expression of relations may be materialized in order to

4 - 54 PARAMETERS FOR POSITIONING CONTROL The travel value per motor rotation in this example is 0.000076[mm]. For example, when ordering the t

4 - 64 PARAMETERS FOR POSITIONING CONTROL (1) Stroke limit range check The stroke limit range is checked at the following start or during ope

4 - 74 PARAMETERS FOR POSITIONING CONTROL 4.2.4 Command in-position range The command in-position is the difference between the positioning add

4 - 84 PARAMETERS FOR POSITIONING CONTROL 4.2.5 Speed control 10 multiplier setting for degree axis The setting range of command speed is 0.001

4 - 94 PARAMETERS FOR POSITIONING CONTROL • An example for positioning control is shown below when the "speed control 10 multiplier sett

4 - 104 PARAMETERS FOR POSITIONING CONTROL (b) Long-axis reference specification <K 50> 1, 2, 360.0000020000.00000180.002 axes li

A - 10 CAUTION When replacing the Motion controller or servo amplifier, always set the new module settings correctly. When the Motion controller

4 - 114 PARAMETERS FOR POSITIONING CONTROL 4.3 Parameter Block (1) The parameter blocks serve to make setting changes easy by allowing data s

4 - 124 PARAMETERS FOR POSITIONING CONTROL POINTS The data set in the parameter block is used in the positioning control, home position return

4 - 134 PARAMETERS FOR POSITIONING CONTROL 4.3.1 Relationships between the speed limit value, acceleration time, deceleration time and rapid st

4 - 144 PARAMETERS FOR POSITIONING CONTROL As shown below, the S-curve ratio setting serves to select the part of the sine curve to be used as

5 - 1 5 SERVO PROGRAMS FOR POSITIONING CONTROL 5. SERVO PROGRAMS FOR POSITIONING CONTROL Servo programs specify the type of the positioning data

5 - 2 5 SERVO PROGRAMS FOR POSITIONING CONTROL (3) Positioning data ... This is the data required to execute servo instructions. The data r

5 - 3 5 SERVO PROGRAMS FOR POSITIONING CONTROL 5.2 Servo Instructions The servo instructions used in the servo programs are shown below. Refer t

5 - 4 5 SERVO PROGRAMS FOR POSITIONING CONTROL (2) Servo instruction list The servo instructions that can be used in servo programs and the p

5 - 5 5 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data OSC *1 Parameter block Others Starting angle Amplitude Frequency Referen

5 - 6 5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.2 Servo Instruction List (continued) Positioning data Common Arc/Helical Instruction sy

A - 11 REVISIONS The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Jan., 2008 IB(NA)-0300

5 - 7 5 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data OSC *1 Parameter block Others Starting angle Amplitude Frequency Reference ax

5 - 8 5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.2 Servo Instruction List (continued) Positioning data Common Arc/Helical Instruction sy

5 - 9 5 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data OSC *1 Parameter block Others Starting angle Amplitude Frequency Reference ax

5 - 10 5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.2 Servo Instruction List (continued) Positioning data Common Arc/Helical Instruction

5 - 11 5 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data OSC *1 Parameter block Others Starting angle Amplitude Frequency Reference ax

5 - 12 5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.2 Servo Instruction List (continued) Positioning data Common Arc/Helical Instruction

5 - 13 5 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data OSC *1 Parameter block Others Starting angle Amplitude Frequency Reference ax

5 - 14 5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.2 Servo Instruction List (continued) Positioning data Common Arc/Helical Instruction

5 - 15 5 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data OSC *1 Parameter block Others Starting angle Amplitude Frequency Reference ax

5 - 16 5 SERVO PROGRAMS FOR POSITIONING CONTROL 5.3 Positioning Data The positioning data set in the servo programs is shown in Table 5.3. Tabl

A - 12 INTRODUCTION Thank you for choosing the Mitsubishi Motion controller Q173DCPU/Q172DCPU. Before using the equipment, please read this manual

5 - 17 5 SERVO PROGRAMS FOR POSITIONING CONTROL Setting value using the Motion SFC program (Indirect setting) Indirect setting Processi

5 - 18 5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.3 Positioning data (Continued) Setting value using MT Developer Setting range Name Ex

5 - 19 5 SERVO PROGRAMS FOR POSITIONING CONTROL Setting value using the Motion SFC program (Indirect setting) Indirect setting Processing

5 - 20 5 SERVO PROGRAMS FOR POSITIONING CONTROL Table 5.3 Positioning data (Continued) Setting value using MT Developer Setting range Name Ex

5 - 21 5 SERVO PROGRAMS FOR POSITIONING CONTROL Setting value using the Motion SFC program (Indirect setting) Indirect setting Processing

5 - 22 5 SERVO PROGRAMS FOR POSITIONING CONTROL 5.4 Setting Method for Positioning Data This section describes how to set the positioning data u

5 - 23 5 SERVO PROGRAMS FOR POSITIONING CONTROL 5.4.2 Indirect setting method by devices In the indirect setting method (Note-1) by devices, th

5 - 24 5 SERVO PROGRAMS FOR POSITIONING CONTROL (1) Word devices for indirect setting data The devices for indirect setting data are the data

5 - 25 5 SERVO PROGRAMS FOR POSITIONING CONTROL ABS-1 Axis 1, Speed CancelPositioningdata<K 12>U3E0\G10400U3E0\G10402U3E0\G101

5 - 26 5 SERVO PROGRAMS FOR POSITIONING CONTROL (4) Program example that uses the Multiple CPU high speed transmission memory Program example

A - 13 4.3.3 Allowable error range for circular interpolation... 4-14

6 - 1 6 POSITIONING CONTROL 6. POSITIONING CONTROL This section describes the positioning control methods. 6.1 Basics of Positioning Control Th

6 - 2 6 POSITIONING CONTROL 6.1.2 Positioning speed at the interpolation control The positioning speed of the Motion CPU sets the travel speed o

6 - 3 6 POSITIONING CONTROL (b) Long-axis speed specification It is controlled based on the positioning speed (Long-axis speed: V) of the larg

6 - 4 6 POSITIONING CONTROL 2) Discrepancy between interpolation control units and control units • Travel value: The travel value of each axis i

6 - 5 6 POSITIONING CONTROL POINTS (1) Speed limit value and positioning speed • The setting speed limit value applies to the long-axis

6 - 6 6 POSITIONING CONTROL 4 axes linear interpolation control is shown below. [Program example] Axis 1 travel value: D1 = 10000 [PLS]

6 - 7 6 POSITIONING CONTROL (3) Circular interpolation control The angular speed is controlled with the setting speed at the circular interpol

6 - 8 6 POSITIONING CONTROL (2) The combinations of each axis control units for interpolation control are shown in the table below. Mm inch

6 - 9 6 POSITIONING CONTROL 6.1.5 Control in the control unit "degree" If the control units are "degree", the following item

6 - 10 6 POSITIONING CONTROL (3) Positioning control Positioning control method in the control unit "degree" is shown below. (a) A

A - 14 6.17.7 FIN signal wait function...

6 - 11 6 POSITIONING CONTROL 6.1.6 Stop processing and restarting after stop This section describes the stop processing after a stop cause is in

6 - 12 6 POSITIONING CONTROL 4) Stop using the manual pulse generator (Process 4) ...Deceleration stop by the "deceleration

6 - 13 6 POSITIONING CONTROL (c) Stop commands and stop causes Some stop commands and stop causes affect individual axis and others affect all

6 - 14 6 POSITIONING CONTROL (2) Re-starting after stop (a) If it stopped by the stop command or stop cause (except change speed to speed &q

6 - 15 6 POSITIONING CONTROL (3) Continuation of positioning control This section describes the processing which performed servo program No. w

6 - 16 6 POSITIONING CONTROL [Processing in the Motion SFC Program] 1. Transfer the start address to word devices of the Motion CPU before star

6 - 17 6 POSITIONING CONTROL 6.1.7 Acceleration/deceleration processing Acceleration/deceleration are processed by the following two methods. (

6 - 18 6 POSITIONING CONTROL S-curve ratio can be set by the servo program is following two methods. (a) Direct specification S-curve ratio is

6 - 19 6 POSITIONING CONTROL 6.2 1 Axis Linear Positioning Control Positioning control from the current stop position to the fixed position for

6 - 20 6 POSITIONING CONTROL Control using INC-1 (Incremental data method) (1) Positioning control of the specified travel value from the cur

A - 15 About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below.

6 - 21 6 POSITIONING CONTROL (3) Operation timing Operation timing for the servo program No.0 is shown below. Servo Program No.010000VPLC re

6 - 22 6 POSITIONING CONTROL 6.3 2 Axes Linear Interpolation Control Linear interpolation control from the current stop position with the specif

6 - 23 6 POSITIONING CONTROL (2) The travel direction is set by the stop address (starting address) and positioning address of each axis. Fo

6 - 24 6 POSITIONING CONTROL Control using INC-2 (Incremental data method) (1) Positioning control from the current stop address to the posit

6 - 25 6 POSITIONING CONTROL (2) Positioning operation details The positioning is used the Axis 3 and Axis 4 servomotors. The positioning oper

6 - 26 6 POSITIONING CONTROL (5) Servo program Servo program No.11 for 2 axes linear interpolation control is shown below. <K 11>ABS

6 - 27 6 POSITIONING CONTROL 6.4 3 Axes Linear Interpolation Control Linear interpolation control from the current stop position with the specif

6 - 28 6 POSITIONING CONTROL [Control details] Control using ABS-3 (Absolute data method) (1) 3 axes linear interpolation from the current s

6 - 29 6 POSITIONING CONTROL Control using INC-3 (Incremental data method) (1) Positioning control from the current stop address to the posit

6 - 30 6 POSITIONING CONTROL [Program] Program for 3 axes linear interpolation control is shown as the following conditions. (1) System config

A - 16 (2) PLC Manual Name Manual Number (Model Code) QCPU User's Manual (Hardware Design, Maintenance and Inspection) This manual explains

6 - 31 6 POSITIONING CONTROL (4) Operation timing Operation timing for 3 axes linear interpolation control is shown below. VServo program No

6 - 32 6 POSITIONING CONTROL (6) Motion SFC program Motion SFC program for which executes the servo program is shown below. SET M2042ABS-3 A

6 - 33 6 POSITIONING CONTROL 6.5 4 Axes Linear Interpolation Control Linear interpolation control from the current stop position with 4 axes spe

6 - 34 6 POSITIONING CONTROL [Program] Program for 4 axes linear interpolation control is shown as the following conditions. (1) System config

6 - 35 6 POSITIONING CONTROL Axis 2 positioningdirection(Forward direction)500050005000(Reverse direction)Positioning using the servo programNo

6 - 36 6 POSITIONING CONTROL (4) Operation timing Operation timing for 4 axes linear interpolation control is shown below. PLC ready flag (M

6 - 37 6 POSITIONING CONTROL (6) Motion SFC program Motion SFC program for which executes the servo program is shown below. 4 axes linear in

6 - 38 6 POSITIONING CONTROL 6.6 Auxiliary Point-Specified Circular Interpolation Control Circular interpolation control by specification of th

6 - 39 6 POSITIONING CONTROL (3) The setting range of the end point address and auxiliary point address is (-231) to (231-1). (4) The maxim

6 - 40 6 POSITIONING CONTROL (4) The maximum arc radius is 231-1. If the end point and auxiliary point are set more than a radius of 231-1, a

1 - 1 1 OVERVIEW 1 1. OVERVIEW 1.1 Overview This programming manual describes the positioning control parameters, positioning dedicated device

6 - 41 6 POSITIONING CONTROL (3) Positioning conditions (a) Positioning conditions are shown below. Servo program No. Item No.31 Positionin

6 - 42 6 POSITIONING CONTROL (6) Motion SFC program Motion SFC program for which executes the servo program is shown below. Auxiliary point-

6 - 43 6 POSITIONING CONTROL 6.7 Radius-Specified Circular Interpolation Control Circular interpolation control by specification of the end poin

6 - 44 6 POSITIONING CONTROL [Control details] Details for the servo instructions are shown in the table below. Instruction Rotation direction

6 - 45 6 POSITIONING CONTROL (4) The setting range for the radius is 1 to (231-1). (5) The maximum arc radius is (232-1). 231-1231-1-231M

6 - 46 6 POSITIONING CONTROL [Program] Program for radius-specified circular interpolation control is shown as the following conditions. (1) S

6 - 47 6 POSITIONING CONTROL (4) Operation timing Operation timing for radius-specified circular interpolation control is shown below. VPLC

6 - 48 6 POSITIONING CONTROL (6) Motion SFC program Motion SFC program for which executes the servo program is shown below. SET M2042PX000*M

6 - 49 6 POSITIONING CONTROL 6.8 Central Point-Specified Circular Interpolation Control Circular interpolation control by specification of the

6 - 50 6 POSITIONING CONTROL Control using ABS , ABS (Absolute data method) (1) Circular interpolation of an arc with a radius equivalent t

1 - 2 1 OVERVIEW Generic term/Abbreviation Description Battery holder unit Battery holder unit (Q170DBATC) External battery General name for

6 - 51 6 POSITIONING CONTROL Control using INC , INC (Incremental method) (1) Circular interpolation from the current stop address (0, 0) w

6 - 52 6 POSITIONING CONTROL [Program] Program for central point-specified circular interpolation control is shown as the following conditions.

6 - 53 6 POSITIONING CONTROL (4) Operation timing Operation timing for central point-specified circular interpolation is shown below. VPLC r

6 - 54 6 POSITIONING CONTROL (6) Motion SFC program Motion SFC program for which executes the servo program is shown below. SET M2042PX000

6 - 55 6 POSITIONING CONTROL 6.9 Helical Interpolation Control The linear interpolation control with linear axis is executed simultaneously whil

6 - 56 6 POSITIONING CONTROL 6.9.1 Circular interpolation specified method by helical interpolation The following method of circular interpolati

6 - 57 6 POSITIONING CONTROL (3) When the travel value of linear axis is "0" is set, it can be controlled. Condition Operation Numb

6 - 58 6 POSITIONING CONTROL ABH , ABH , ABH , ABH Absolute radius-specified helical interpolation control [Control details] The linear in

6 - 59 6 POSITIONING CONTROL (1) The setting range of end point address for the both of circular interpolation axis and linear interpolation a

6 - 60 6 POSITIONING CONTROL (2) Motion SFC program Motion SFC program for which executes the servo program is shown below. SET M2042PX000*M

A - 1 SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) Before using this product, please read this manual and

1 - 3 1 OVERVIEW 1.2 Features 1.2.1 Performance Specifications (1) Motion control specifications Item Q173DCPU Q172DCPU Number of control ax

6 - 61 6 POSITIONING CONTROL INH , INH , INH , INH Incremental radius-specified helical interpolation control [Control details] The linear

6 - 62 6 POSITIONING CONTROL Control details for the servo instructions are shown below. Instruction Rotation direction of servomotor Controll

6 - 63 6 POSITIONING CONTROL (3) Set the command speed with the vector speed for 2 axes circular interpolation axis. (4) The command speed

6 - 64 6 POSITIONING CONTROL (2) Motion SFC program Motion SFC program for which executes the servo program is shown below. SET M2042PX000*M

6 - 65 6 POSITIONING CONTROL ABH , ABH Absolute central point-specified helical interpolation control [Control details] The linear interpola

6 - 66 6 POSITIONING CONTROL (3) The maximum arc radius on the circular interpolation plane is 231-1. For example, the maximum arc radius for

6 - 67 6 POSITIONING CONTROL (2) Motion SFC program Motion SFC program for which executes the servo program is shown below. SET M2042PX000*M

6 - 68 6 POSITIONING CONTROL INH , INH Incremental central point-specified helical interpolation control [Control details] The linear interp

6 - 69 6 POSITIONING CONTROL (3) The maximum arc radius on the circular interpolation plane is (231-1). For example, the maximum arc radius fo

6 - 70 6 POSITIONING CONTROL (2) Motion SFC program Motion SFC program for which executes the servo program is shown below. SET M2042PX000*M

1 - 4 1 OVERVIEW Motion control specifications (continued) Item Q173DCPU Q172DCPU Q172DLX : 4 modules usable Q172DLX

6 - 71 6 POSITIONING CONTROL ABH Absolute auxiliary point-specified helical interpolation control [Control details] The linear interpolation

6 - 72 6 POSITIONING CONTROL Maximum arc231-1-231231-10Radius RArc central point (4) Set the command speed with the vector speed for 2 axes

6 - 73 6 POSITIONING CONTROL (2) Motion SFC program Motion SFC program for which executes the servo program is shown below. SET M2042PX000*M

6 - 74 6 POSITIONING CONTROL INH Incremental auxiliary point-specified helical interpolation control [Control details] The linear interpolat

6 - 75 6 POSITIONING CONTROL Maximum arc231-1-231231-10Radius RArc central point (4) Set the command speed with the vector speed for 2 axes

6 - 76 6 POSITIONING CONTROL (2) Motion SFC program Motion SFC program for which executes the servo program is shown below. SET M2042PX000*M

6 - 77 6 POSITIONING CONTROL 6.10 1 Axis Fixed-Pitch Feed Control Positioning control for specified axis of specified travel value from the cur

6 - 78 6 POSITIONING CONTROL [Program] Program for repetition 1 axis fixed-pitch feed control is shown as the following conditions. (1) System

6 - 79 6 POSITIONING CONTROL (3) Operation timing Operation timing for fixed-pitch feed control is shown below. V10000tPLC ready flag (M2000

6 - 80 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. 1 axis fixed-pit

2 - 1 2 POSITIONING CONTROL BY THE MOTION CPU 2 2. POSITIONING CONTROL BY THE MOTION CPU 2.1 Positioning Control by the Motion CPU The positio

6 - 81 6 POSITIONING CONTROL 6.11 Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation Fixed-pitch feed control using 2 axes linear interp

6 - 82 6 POSITIONING CONTROL POINT Do not set the travel value to "0" for fixed-pitch feed control. The following results if the trav

6 - 83 6 POSITIONING CONTROL (3) Operation timing Operation timing for fixed-pitch feed control using 2 axes linear interpolation is shown bel

6 - 84 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the speed-switching control is shown below. Fixed-

6 - 85 6 POSITIONING CONTROL 6.12 Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation Fixed-pitch feed control using 3 axes linear interp

6 - 86 6 POSITIONING CONTROL POINT Do not set the travel value to "0" for fixed-pitch feed control. The following results if the trav

6 - 87 6 POSITIONING CONTROL (3) Operation timing Operation timing for fixed-pitch feed control using 3 axes linear interpolation is shown bel

6 - 88 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. Fixed-pitch feed

6 - 89 6 POSITIONING CONTROL 6.13 Speed Control ( ) (1) Speed control for the specified axis is executed. (2) Control includes positioning

6 - 90 6 POSITIONING CONTROL (3) Stop commands and stop processing The stop commands and stop processing for speed control are shown in the ta

2 - 2 2 POSITIONING CONTROL BY THE MOTION CPU [Execution of the Motion SFC program start (D(P).SFCS instruction)] Positioning control is execut

6 - 91 6 POSITIONING CONTROL [Program] Program for speed control () is shown as the following conditions. (1) System configuration Speed contr

6 - 92 6 POSITIONING CONTROL (4) Servo program Servo program No.91 for speed control ( ) is shown below. <K 91>3000Axis

6 - 93 6 POSITIONING CONTROL 6.14 Speed Control ( ) (1) Speed control for the specified axis is executed. (2) Speed control not includes po

6 - 94 6 POSITIONING CONTROL (3) Even if the speed command is set as probe data by the digital oscilloscope function, the value on digital osc

6 - 95 6 POSITIONING CONTROL (4) Servo program Servo program No.55 for speed control ( ) is shown below. <K 55>4000Axis

6 - 96 6 POSITIONING CONTROL 6.15 Speed/Position Switching Control 6.15.1 Speed/position switching control start Speed/position switching contro

6 - 97 6 POSITIONING CONTROL REMARK (Note): "The external CHANGE signal input from external source" is inputted to CHANGE of the Q172D

6 - 98 6 POSITIONING CONTROL (4) Change of the travel value during speed control The travel value for position control can be changed during s

6 - 99 6 POSITIONING CONTROL [Cautions] (1) Item check at the CHANGE signal ON from external source When the external CHANGE signal turns on,

6 - 100 6 POSITIONING CONTROL (4) Stroke limit check Stroke limit range is not checked during the speed mode. If the travel value exceeds the

2 - 3 2 POSITIONING CONTROL BY THE MOTION CPU Servo amplifierServomotorMotion CPUMotion SFC program No.15(Program No. specified with th

6 - 101 6 POSITIONING CONTROL Speed/position switching enablecommand (M3265)tPosition controlSpeed controlServo program No.101VSpeed/position s

6 - 102 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. SET M2042VPF Ax

6 - 103 6 POSITIONING CONTROL 6.15.2 Re-starting after stop during control Re-starting (continuing) after stop with stop command during speed/po

6 - 104 6 POSITIONING CONTROL (b) If the stop occurred during position control, re-start with position, and the positioning control of setting

6 - 105 6 POSITIONING CONTROL [Program] Program for restarting after stop during control with the speed/position switching control is shown as t

6 - 106 6 POSITIONING CONTROL (3) Operation timing Operation timing for speed/position switching control and re-starting are shown below. V1

6 - 107 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. SET M2042VPF Ax

6 - 108 6 POSITIONING CONTROL 6.16 Speed-Switching Control (1) Positioning control performs changing the speed on the point beforehand set by

6 - 109 6 POSITIONING CONTROL [Control details] Start and end of the speed-switching control Speed-switching control is started and ended using

6 - 110 6 POSITIONING CONTROL Procedure of the servo program and operation timing Servo programs for speed-switching control and the operation

2 - 4 2 POSITIONING CONTROL BY THE MOTION CPU [Execution of the positioning control (Motion SFC program)] The positioning control is executed

6 - 111 6 POSITIONING CONTROL [Cautions] (1) The number of control axes cannot be changed during control. (2) The speed-switching point can

6 - 112 6 POSITIONING CONTROL (3) Operation timing and speed-switching positions Operation timing and speed-switching points for speed-switchi

6 - 113 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the speed-switching control is shown below. SET M

6 - 114 6 POSITIONING CONTROL 6.16.2 Specification of speed-switching points using repetition instructions Repetition execution between any spee

6 - 115 6 POSITIONING CONTROL (3) FOR-OFF (loop-out trigger condition setting) (a) The repetition range set until the specified bit device t

6 - 116 6 POSITIONING CONTROL (3) Operation in condition 3 ONOFFMinor error [215] occurred010002000100000X010X011200000ONOFF Error occurs be

6 - 117 6 POSITIONING CONTROL (3) Operation timing and speed-switching positions Operation timing and speed-switching points for speed-switchi

6 - 118 6 POSITIONING CONTROL (4) Servo program Servo program No. 501 for speed-switching control by the repetition instruction is shown below

6 - 119 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes speed-switching control using repetition instructio

6 - 120 6 POSITIONING CONTROL 6.17 Constant-Speed Control (1) Positioning to the pass point beforehand set by one starting is executed with th

2 - 5 2 POSITIONING CONTROL BY THE MOTION CPU Servo amplifierServomotorServo instruction(Specification of the positioning control method

6 - 121 6 POSITIONING CONTROL [Operation timing] Operation timing for constant-speed control is shown below. [Example : Operation timing for 2

6 - 122 6 POSITIONING CONTROL (b) The speed switching and change speed by CHGV instruction are executed toward the same program in the servo p

6 - 123 6 POSITIONING CONTROL Example) Main cycle: 20[ms], Command speed: 600[mm/min] If the command speed (600[mm/min]) is divided by 60, the

6 - 124 6 POSITIONING CONTROL 6.17.1 Specification of pass points by repetition instructions This section describes the method of the pass point

6 - 125 6 POSITIONING CONTROL (3) FOR-OFF (loop-out trigger condition setting) (a) The repetition range set until the specified bit device t

6 - 126 6 POSITIONING CONTROL [Program] Program for repetition constant-speed control is shown as the following conditions. (1) System configu

6 - 127 6 POSITIONING CONTROL (3) Operation timing Operation timing for constant-speed control is shown below. Axis 3 positioning direction1

6 - 128 6 POSITIONING CONTROL (4) Servo program Servo program No.510 for constant-speed control is shown below. Axis 2<K 51

6 - 129 6 POSITIONING CONTROL 6.17.2 Speed-switching by instruction execution The speed can be specified for each pass point during the constant

6 - 130 6 POSITIONING CONTROL [Program] Program for which executes the speed-switching control by turning on M2040 during constant-speed instruc

2 - 6 2 POSITIONING CONTROL BY THE MOTION CPU [Execution of the servo program start (D(P).SVST instruction)] Positioning control is executed by

6 - 131 6 POSITIONING CONTROL (3) Operation timing and speed-switching positions Operation timing and positions for speed switching are shown

6 - 132 6 POSITIONING CONTROL (4) Servo program Servo program No.310 for speed-switching is shown below. Axis 1CPENDAxis

6 - 133 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. SET M2042CPSTAR

6 - 134 6 POSITIONING CONTROL 6.17.3 1 axis constant-speed control Items set using MT Developer Common Arc Parameter block Others Servo instruc

6 - 135 6 POSITIONING CONTROL [Program] Program for repetition 1 axis constant-speed control is shown as the following conditions. (1) System

6 - 136 6 POSITIONING CONTROL (4) Operation timing Operation timing for servo program No.500 is shown below. VP1 P2 P310000-10000P4tP2 P3PLC

6 - 137 6 POSITIONING CONTROL (6) Motion SFC program Motion SFC program for which executes the servo program is shown below. SET M2042CPSTAR

6 - 138 6 POSITIONING CONTROL 6.17.4 2 to 4 axes constant-speed control Constant-speed control for 2 to 4 axes. Items set using MT Developer Co

6 - 139 6 POSITIONING CONTROL [Control details] Start and end for 2 to 4 axes constant-speed control 2 to 4 axes constant-speed control is star

6 - 140 6 POSITIONING CONTROL (6) ABS/INC , ABS/INC Sets circular interpolation control using center point specification. Refer to Section

2 - 7 2 POSITIONING CONTROL BY THE MOTION CPU Servo program <K 25>Servo program No.25(Servo program No. specified with the D(P).

6 - 141 6 POSITIONING CONTROL (c) Positioning conditions 1) Constant-speed control conditions are shown below. Item Setting Servo program No.

6 - 142 6 POSITIONING CONTROL (e) Motion SFC program Motion SFC program for which executes the servo program is shown below. SET M2042CPSTAR

6 - 143 6 POSITIONING CONTROL (b) Positioning conditions 1) Constant-speed control conditions are shown below. Item Setting Servo program No.

6 - 144 6 POSITIONING CONTROL (d) Motion SFC program Motion SFC program for which executes the servo program is shown below. SET M2042CPSTAR

6 - 145 6 POSITIONING CONTROL 6.17.5 Constant speed control for helical interpolation The helical interpolation can be specified as the position

6 - 146 6 POSITIONING CONTROL Helical interpolation specified methods for constant-speed control are shown below. Servo instruction Positionin

6 - 147 6 POSITIONING CONTROL [Cautions] (1) The helical interpolation specification at pass point for constant-speed control can be used in t

6 - 148 6 POSITIONING CONTROL 6.17.6 Pass point skip function This function stops positioning to executing point and executes positioning to nex

6 - 149 6 POSITIONING CONTROL CAUTION When a skip is specified during constant-speed control and the axis which has no stroke range [degree] is

6 - 150 6 POSITIONING CONTROL 6.17.7 FIN signal wait function By selecting the FIN signal wait function and setting a M-code at each executing p

2 - 8 2 POSITIONING CONTROL BY THE MOTION CPU [Execution of the JOG operation] JOG operation of specified axis is executed using the Motion SFC

6 - 151 6 POSITIONING CONTROL [Program example] (1) FIN signal wait function by the PLC program (a) System configuration FIN signal wait fun

6 - 152 6 POSITIONING CONTROL (c) Servo program Servo program No.0 for constant-speed control is shown below. <K 0>Start constant-sp

6 - 153 6 POSITIONING CONTROL (e) PLC program PLC program for FIN signal wait function is shown below. Motion SFC program start request01114

6 - 154 6 POSITIONING CONTROL (f) Parameter setting The automatic refresh setting example for FIN signal wait function is shown below. • CPU

6 - 155 6 POSITIONING CONTROL POINT Set the following operation for automatic refresh setting using GX Developer. 1) Select tab "Multipl

6 - 156 6 POSITIONING CONTROL (c) Servo program Servo program No.0 for constant speed control is shown below. <K 0>Start constant-sp

6 - 157 6 POSITIONING CONTROL (d) Motion SFC program 1) Motion SFC program for constant-speed control is shown below. SET M2042PX000*M2415*

6 - 158 6 POSITIONING CONTROL 2) Motion SFC program which outputs M-code of each point for constant-speed control to PY20 to PY2F by BCD code is

6 - 159 6 POSITIONING CONTROL POINTS (1) The fixed acceleration/deceleration time method is acceleration/deceleration processing that the tim

6 - 160 6 POSITIONING CONTROL 6.18 Position Follow-Up Control Positioning to the address set in the word device of the Motion CPU specified with

A - 2 For Safe Operations 1. Prevention of electric shocks DANGER Never open the front case or terminal covers while the power is ON or the unit i

2 - 9 2 POSITIONING CONTROL BY THE MOTION CPU Positioning control parameter Servo amplifierServomotorSystem settingsFixed parameter

6 - 161 6 POSITIONING CONTROL [Cautions] (1) Number of control axes is 1 axis. (2) Only the absolute data method (ABS) is used for positio

6 - 162 6 POSITIONING CONTROL (3) Operation timing Operation timing for position follow-up control is shown below. 0Vt100 0PLC ready flag (M

6 - 163 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program, PLC program and parameter setting for position follow-up control is s

6 - 164 6 POSITIONING CONTROL (b) PLC program PLC program example for position follow-up control is shown below. Substitute 2 for D1 after p

6 - 165 6 POSITIONING CONTROL (c) Parameter setting The automatic refresh setting example for position follow-up control is shown below. [All

6 - 166 6 POSITIONING CONTROL POINT Set the following operation for automatic refresh setting using GX Developer. 1) Select tab "Multipl

6 - 167 6 POSITIONING CONTROL 6.19 Speed control with fixed position stop Speed control with fixed position stop of the specified axis is execut

6 - 168 6 POSITIONING CONTROL (4) Address setting range is 0 to 35999999 (0 to 359.99999[degree]) in the indirect setting of positioning addre

6 - 169 6 POSITIONING CONTROL (10) Deceleration speed by the stop command (M3200+20n)/rapid stop command (M3201+20n) is controlled with fixed

6 - 170 6 POSITIONING CONTROL (2) Positioning conditions (a) Speed control with fixed position stop conditions are shown below. Item Settin

2 - 10 2 POSITIONING CONTROL BY THE MOTION CPU [Executing Manual Pulse Generator Operation] When the positioning control is executed by the man

6 - 171 6 POSITIONING CONTROL (4) Servo program Servo program No.55 for speed control with fixed position stop is shown below. PVF Axis Spe

6 - 172 6 POSITIONING CONTROL 6.20 Simultaneous Start Simultaneous start of the specified servo program at one start is executed. Simultaneous s

6 - 173 6 POSITIONING CONTROL [Program] Program for simultaneous start is shown as the following conditions. (1) System configuration Simultan

6 - 174 6 POSITIONING CONTROL (5) Motion SFC program Motion SFC program for which executes the servo program is shown below. Simultaneous st

6 - 175 6 POSITIONING CONTROL 6.21 JOG Operation The setting JOG operation is executed. Individual start or simultaneous start can be used in th

6 - 176 6 POSITIONING CONTROL 6.21.2 Individual start JOG operation for the specified axes is started. JOG operation is executed by the followin

6 - 177 6 POSITIONING CONTROL (2) The setting range for JOG speed setting registers are shown below. Setting range JOG operation JOG speed s

6 - 178 6 POSITIONING CONTROL [Cautions] (1) If the forward JOG start command (M3202+20n) and reverse JOG start command (M3203+20n) turn on si

6 - 179 6 POSITIONING CONTROL (3) JOG operation by the JOG operation command (M3202+20n/M3203+20n) is not executed during the test mode using

6 - 180 6 POSITIONING CONTROL (3) Motion SFC program Motion SFC program for which executes JOG operation is shown below. Transfer the JOG o

2 - 11 2 POSITIONING CONTROL BY THE MOTION CPU Servo amplifierServomotorPositioning control parameter System settingsFixed parameters

6 - 181 6 POSITIONING CONTROL 6.21.3 Simultaneous start Simultaneous start JOG operation for specified multiple axes. [Control details] (1) JO

6 - 182 6 POSITIONING CONTROL (3) The setting range for JOG speed setting registers are shown below. Setting range JOG operation JOG speed s

6 - 183 6 POSITIONING CONTROL [Program] Program for simultaneous start of JOG operations are shown as the following conditions. (1) System con

6 - 184 6 POSITIONING CONTROL 6.22 Manual Pulse Generator Operation Positioning control based on the number of pulses inputted from the manual p

6 - 185 6 POSITIONING CONTROL (b) Output speed The output speed is the positioning speed corresponding to the number of pulses input from a m

6 - 186 6 POSITIONING CONTROL (5) The setting manual pulse generator 1- pulse input magnification checks the "1- pulse input magnificatio

6 - 187 6 POSITIONING CONTROL (7) Errors details at the data setting for manual pulse generator operation are shown below. Error details Err

6 - 188 6 POSITIONING CONTROL (5) If the manual pulse generator enable flag turns on again for axis during smoothing deceleration after manual

6 - 189 6 POSITIONING CONTROL [Program] Program executes manual pulse generator operation is shown as the following conditions. (1) System con

6 - 190 6 POSITIONING CONTROL MEMO

2 - 12 2 POSITIONING CONTROL BY THE MOTION CPU (1) Positioning control parameters There are following seven types as positioning control param

6 - 191 6 POSITIONING CONTROL 6.23 Home Position Return (1) Use the home position return at the power supply ON and other times where confirma

6 - 192 6 POSITIONING CONTROL 6.23.1 Home position return data This data is used to execute the home position return. Set this data using MT Dev

6 - 193 6 POSITIONING CONTROL Remarks Explanatory section • The home position return direction is set. • The home position return m

6 - 194 6 POSITIONING CONTROL (1) Travel value after proximity dog ON (a) The travel value after proximity dog ON is set to execute the coun

6 - 195 6 POSITIONING CONTROL (2) Home position return retry function/dwell time at the home position return retry (a) Valid/invalid of home

6 - 196 6 POSITIONING CONTROL (3) Home position shift amount/speed set at the home position shift (a) The shift (travel) amount from positio

6 - 197 6 POSITIONING CONTROL (d) Valid/invalid of the setting value for home position shift amount by the home position return method is show

6 - 198 6 POSITIONING CONTROL (5) Operation setting for incompletion of home position return (a) Operation in selecting "0: Execute ser

6 - 199 6 POSITIONING CONTROL (b) Input of home position return In the indirect setting by the word devices, the specified word device data a

6 - 200 6 POSITIONING CONTROL 6.23.2 Home position return by the proximity dog type 1 (1) Proximity dog type 1 Zero point position after proxi

2 - 13 2 POSITIONING CONTROL BY THE MOTION CPU (3) Motion SFC program Motion SFC program is used to execute the operation sequence or transiti

6 - 201 6 POSITIONING CONTROL (4) Cautions (a) Keep the proximity dog ON during deceleration from the home position return speed to the cree

6 - 202 6 POSITIONING CONTROL (c) When it does not pass (zero pass signal: M2406+20n ON) the zero point from home position return start to dec

6 - 203 6 POSITIONING CONTROL 6.23.3 Home position return by the proximity dog type 2 (1) Proximity dog type 2 Zero point position after proxi

6 - 204 6 POSITIONING CONTROL (4) Cautions (a) A system which the servomotor can rotate one time or more is required. (b) When a servomot

6 - 205 6 POSITIONING CONTROL 6.23.4 Home position return by the count type 1 (1) Count type 1 After the proximity dog ON, the zero point afte

6 - 206 6 POSITIONING CONTROL (4) Cautions (a) Home position return and continuously start of home position return are also possible in the

6 - 207 6 POSITIONING CONTROL 6.23.5 Home position return by the count type 2 (1) Count type 2 After the proximity dog ON, the position which

6 - 208 6 POSITIONING CONTROL 6.23.6 Home position return by the count type 3 (1) Count type 3 After the proximity dog ON, the zero point afte

6 - 209 6 POSITIONING CONTROL (3) Home position return execution Home position return by the count type 3 is executed using the servo program

6 - 210 6 POSITIONING CONTROL 6.23.7 Home position return by the data set type 1 (1) Data set type 1 The proximity dog is not used in this met

2 - 14 2 POSITIONING CONTROL BY THE MOTION CPU MEMO

6 - 211 6 POSITIONING CONTROL 6.23.8 Home position return by the data set type 2 (1) Data set type 2 The proximity dog is not used in this met

6 - 212 6 POSITIONING CONTROL 6.23.9 Home position return by the dog cradle type (1) Dog cradle type After deceleration stop by the proximity

6 - 213 6 POSITIONING CONTROL (b) If the home position return is executed in the proximity dog, it travels to reverse direction of home positi

6 - 214 6 POSITIONING CONTROL (c) When the proximity dog is set in the home position return direction, the proximity dog is turned OFF during

6 - 215 6 POSITIONING CONTROL (d) When it starts in the proximity dog, the zero point is not passed at the time of the proximity dog is turned

6 - 216 6 POSITIONING CONTROL (e) If the zero point is passed during deceleration, the nearest zero point from deceleration stop position to h

6 - 217 6 POSITIONING CONTROL 6.23.10 Home position return by the stopper type 1 (1) Stopper type 1 Position of stopper is home position in th

6 - 218 6 POSITIONING CONTROL (4) Cautions (a) A zero point does not must be passed (zero pass signal: M2406+20n ON) between turning on the

6 - 219 6 POSITIONING CONTROL 6.23.11 Home position return by the stopper type 2 (1) Stopper type 2 Position of stopper is home position in th

6 - 220 6 POSITIONING CONTROL (c) Set the torque limit value at the reaching creep speed for system. When the torque limit value is too large,

3 - 1 3 POSITIONING DEDICATED SIGNALS 3. POSITIONING DEDICATED SIGNALS The internal signals of the Motion CPU and the external signals to the Mo

6 - 221 6 POSITIONING CONTROL 6.23.12 Home position return by the limit switch combined type (1) Limit switch combined type The proximity dog

6 - 222 6 POSITIONING CONTROL (4) Cautions (a) For the axis which executes the home position return by the limit switch combined type, if th

6 - 223 6 POSITIONING CONTROL 6.23.13 Home position return retry function When a work has been exceeded home position during positioning control

6 - 224 6 POSITIONING CONTROL (2) Home position return retry operation setting a work outside the range of external limit switch (a) When th

6 - 225 6 POSITIONING CONTROL (3) Dwell time setting at the home position return retry Reverse operation by detection of the external upper/lo

6 - 226 6 POSITIONING CONTROL (2) Make a system for which does not execute the servo amplifier power off or servo OFF by the external upper/lo

6 - 227 6 POSITIONING CONTROL 6.23.14 Home position shift function Normally, when the machine home position return is executed, a position of ho

6 - 228 6 POSITIONING CONTROL [Control details] (1) Home position shift operation Operation for the home position shift function is shown belo

6 - 229 6 POSITIONING CONTROL (2) Setting range of home position shift amount Set the home position shift amount within the range of from the

6 - 230 6 POSITIONING CONTROL (b) Home position shift operation with the "creep speed" VHome positionreturn directionCreep speed

3 - 2 3 POSITIONING DEDICATED SIGNALS The positioning dedicated devices are shown below. It indicates the device refresh cycle of the Motion CPU

6 - 231 6 POSITIONING CONTROL 6.23.15 Condition selection of home position set A home position return must be made after the servomotor has been

6 - 232 6 POSITIONING CONTROL 6.23.16 Servo program for home position return The home position return executed using the ZERO servo instruction.

6 - 233 6 POSITIONING CONTROL (2) Servo program example Servo program No. 0 for home position return is shown below. Axis used . . . Axis 4Z

6 - 234 6 POSITIONING CONTROL 6.24 High-Speed Oscillation Positioning of a specified axis is caused to oscillate on a sine wave. Items set usin

6 - 235 6 POSITIONING CONTROL [Cautions] (1) If the amplitude setting is outside the range, the servo program setting error [25] occurs and op

6 - 236 6 POSITIONING CONTROL MEMO

7 - 1 7 7 AUXILIARY AND APPLIED FUNCTIONS 7. AUXILIARY AND APPLIED FUNCTIONS This section describes the auxiliary and appl

7 - 2 7 AUXILIARY AND APPLIED FUNCTIONS (c) When the M-code is read at positioning completion, use the positioning complete signal (M2401+20n)

7 - 3 7 AUXILIARY AND APPLIED FUNCTIONS (4) Program example (a) The Motion SFC program to read M-codes is shown as the following conditions.

7 - 4 7 AUXILIARY AND APPLIED FUNCTIONS 7.2 Backlash Compensation Function This function compensates for the backlash amount in the machine syst

3 - 3 3 POSITIONING DEDICATED SIGNALS 3.1 Internal Relays (1) Internal relay list SV13 SV22 Device No. Purpose Device No. Purpose M0 M0 to

7 - 5 7 AUXILIARY AND APPLIED FUNCTIONS (2) Backlash compensation processing Details of backlash compensation processing are shown below. Tab

7 - 6 7 AUXILIARY AND APPLIED FUNCTIONS 7.3 Torque Limit Function This function restricts the generating torque of the servomotor within the set

7 - 7 7 AUXILIARY AND APPLIED FUNCTIONS Setting for the torque limit value with the constant-speed control (CPSTART 1) (1) Servo program Pa

7 - 8 7 AUXILIARY AND APPLIED FUNCTIONS 7.4 Skip Function in which Disregards Stop Command When the current positioning is stopped by input from

7 - 9 7 AUXILIARY AND APPLIED FUNCTIONS (2) Operation timing The operation timing for the skip function is shown below. Positioning start of

7 - 10 7 AUXILIARY AND APPLIED FUNCTIONS 7.5 Cancel of the Servo Program This function performs a deceleration stop of executing servo program d

7 - 11 7 AUXILIARY AND APPLIED FUNCTIONS 7.5.1 Cancel/start When a cancel/start has been set in the setting items of the servo program which was

7 - 12 7 AUXILIARY AND APPLIED FUNCTIONS MEMO

APP - 1 APPENDICES APP. APPENDICES APPENDIX 1 Error Codes Stored Using The Motion CPU The servo program setting errors and pos

APP - 2 APPENDICES (b) The error detection signal of the erroneous axis turns on at the error occurrence, and the error codes are stored in the

3 - 4 3 POSITIONING DEDICATED SIGNALS (2) Axis status list Axis No. Device No. Signal name 1 M2400 to M2419 2 M2420

APP - 3 APPENDICES APPENDIX 1.1 Servo program setting errors (Stored in SD517) The error codes, error contents and corrective actions for servo pr

APP - 4 APPENDICES Table 1.2 Servo program setting error list (Continued) Error code stored in SD517 Error name Error contents Error processing

APP - 5 APPENDICES Table 1.2 Servo program setting error list (Continued) Error code stored in SD517 Error name Error contents Error processing

APP - 6 APPENDICES Table 1.2 Servo program setting error list (Continued) Error code stored in D517 Error name Error contents Error processing

APP - 7 APPENDICES Table 1.2 Servo program setting error list (Continued) Error code stored in SD517 Error name Error contents Error processing

APP - 8 APPENDICES APPENDIX 1.2 Minor errors These errors are detected in the PLC program or servo program, and the error codes of 1 to 999 are us

APP - 9 APPENDICES (2) Positioning control start errors (100 to 199) These errors are detected at the positioning control start. The error codes

APP - 10 APPENDICES Table 1.4 Positioning control start error (100 to 199) list (Continued) Control mode Error code Positioning Fixed-pitch feed S

APP - 11 APPENDICES Table 1.4 Positioning control start error (100 to 199) list (Continued) Control mode Error code Positioning Fixed-pitch feed S

APP - 12 APPENDICES Table 1.4 Positioning control start error (100 to 199) list (Continued) Control mode Error code Positioning Fixed-pitch feed S

A - 3 3. For injury prevention CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may l

3 - 5 3 POSITIONING DEDICATED SIGNALS (3) Axis command signal list Axis No. Device No. Signal name 1 M3200 to M3219 2 M3220

APP - 13 APPENDICES (3) Positioning control errors (200 to 299) These are errors detected during the positioning control. The error codes, cause

APP - 14 APPENDICES Table 1.5 Positioning control error (200 to 299) list (Continued) Control mode Error code Positioning Fixed-pitch feed Speed S

APP - 15 APPENDICES Table 1.5 Positioning control error (200 to 299) list (Continued) Control mode Error code Positioning Fixed-pitch feed Speed S

APP - 16 APPENDICES (4) Current value/speed change errors (300 to 399) These are errors detected at current value change or speed change. The er

APP - 17 APPENDICES (5) System errors (900 to 999) Table 1.7 System error (900 to 999) list Control mode Error code Positioning Fixed-pitch fe

APP - 18 APPENDICES APPENDIX 1.3 Major errors These errors occur by control command from the external input signal or Motion SFC program, and the

APP - 19 APPENDICES (2) Positioning control errors (1100 to 1199) These errors are detected at the positioning control. The error codes, causes,

APP - 20 APPENDICES (3) Absolute position system errors (1200 to 1299) These errors are detected at the absolute position system. The error code

APP - 21 APPENDICES (4) System errors (1300 to 1399) These errors are detected at the power-on. The error codes, causes, processing and correcti

APP - 22 APPENDICES APPENDIX 1.4 Servo errors (1) Servo amplifier errors (2000 to 2899) These errors are detected by the servo amplifier, and th

3 - 6 3 POSITIONING DEDICATED SIGNALS (4) Common device list Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark(Note

APP - 23 APPENDICES Table 1.12 Servo error (2000 to 2899) list Error cause Error code Name Description Error check Error processingCorrective acti

APP - 24 APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCor

APP - 25 APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCor

APP - 26 APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCor

APP - 27 APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCor

APP - 28 APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCor

APP - 29 APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCor

APP - 30 APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCor

APP - 31 APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCor

APP - 32 APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processingCor

3 - 7 3 POSITIONING DEDICATED SIGNALS Common device list (Continued) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark

APP - 33 APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Co

APP - 34 APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Co

APP - 35 APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Co

APP - 36 APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Co

APP - 37 APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Co

APP - 38 APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Co

APP - 39 APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Co

APP - 40 APPENDICES Table 1.12 Servo error (2000 to 2899) list (Continued) Error cause Error code Name Description Error check Error processing Co

APP - 41 APPENDICES APPENDIX 2 Example Programs APPENDIX 2.1 Reading M-code The program example for reading M-code at the completion of positionin

APP - 42 APPENDICES APPENDIX 2.2 Reading error code The program example for reading error code at the error occurrence is shown below. The followi

3 - 8 3 POSITIONING DEDICATED SIGNALS Common device list (Continued) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark

APP - 43 APPENDICES [Program Example] (1) A program that outputs each error code to PY000 to PY00F (minor error), PY010 to PY01F (major error) a

APP - 44 APPENDICES APPENDIX 3 Setting Range for Indirect Setting Devices Positioning address, command speed or M-code, etc. (excluding the axis N

APP - 45 APPENDICES POINT (1) Be sure to set even-numbered devices for 2-word setting items. Be sure to set as 32-bit integer type when the data

APP - 46 APPENDICES APPENDIX 4 Processing Times of the Motion CPU The processing time of each signal and each instruction for positioning control

APP - 47 APPENDICES APPENDIX 5 Device List (1) Axis status list Axis No. Device No. Signal name 1 M2400 to M2419 2 M2

APP - 48 APPENDICES (2) Axis command signal list Axis No. Device No. Signal name 1 M3200 to M3219 2 M3220 to M3239 3 M32

APP - 49 APPENDICES (3) Common device list Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark(Note-4) Device No. Signa

APP - 50 APPENDICES Common device list (Continued) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark(Note-4) Device No.

APP - 51 APPENDICES Common device list (Continued) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark(Note-4) Device No.

APP - 52 APPENDICES (4) Common device list (Command signal) Device No. Signal name Refresh cycle Fetch cycle Signal direction Remark (Note-

3 - 9 3 POSITIONING DEDICATED SIGNALS (5) Common device list (Command signal) Device No. Signal name Refresh cycle Fetch cycle Signal dir

APP - 53 APPENDICES (5) Axis monitor device list Axis No. Device No. Signal name 1 D0 to D19 2 D20 to D39 3 D40

APP - 54 APPENDICES (6) Control change register list Axis No. Device No. Signal name 1 D640, D641 2 D642, D643 3 D644

APP - 55 APPENDICES (7) Common device list Device No. Signal name Refresh cycle Fetch cycle Signal direction Device No. Signal name Refresh

APP - 56 APPENDICES (8) Motion register list (#) Axis No. Device No. Signal name 1 #8000 to #8019 2 #8020 to #8039 3 #8040 to #8059

APP - 57 APPENDICES (9) Special relay list Device No. Signal name Refresh cycle Fetch cycle Signal type SM500 PCPU REDAY complete flag SM5

WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any f

IB(NA)-0300136-A(0801)MEEMODELMODELCODEQ173D-P-SV13/22REALE1XB930IB(NA)-0300136-A(0801)MEEWhen exported from Japan, this manual does not require appli

HEADQUARTERSEUROPEMITSUBISHI ELECTRIC EUROPE B.V.German BranchGothaer Straße 8D-40880 RatingenPhone: +49 (0)2102 / 486-0Fax: +49 (0)2102 / 486-1120CZE

3 - 10 3 POSITIONING DEDICATED SIGNALS 3.1.1 Axis statuses (1) Positioning start complete signal (M2400+20n) ... Status signal (a) Th

3 - 11 3 POSITIONING DEDICATED SIGNALS (2) Positioning complete signal (M2401+20n) ...Status signal (a) This signal turns on

3 - 12 3 POSITIONING DEDICATED SIGNALS (3) In-position signal (M2402+20n) ...Status signal (a) This signal t

3 - 13 3 POSITIONING DEDICATED SIGNALS (5) Speed controlling signal (M2404+20n) ...Status signal (a) This signal turns

3 - 14 3 POSITIONING DEDICATED SIGNALS (7) Zero pass signal (M2406+20n) ...Status signal This signal turns on

A - 4 CAUTION The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be u

3 - 15 3 POSITIONING DEDICATED SIGNALS REMARK (Note-1): Refer to APPENDIX 1.4 for the error codes on errors detected at the servo amplifier side

3 - 16 3 POSITIONING DEDICATED SIGNALS (11) Home position return complete signal (M2410+20n) ...Status signal (a) This

3 - 17 3 POSITIONING DEDICATED SIGNALS (13) RLS signal (M2412+20n) (Note-1) ... Status signal (a) This signal

3 - 18 3 POSITIONING DEDICATED SIGNALS (15) DOG/CHANGE signal (M2414+20n) (Note-1) ...Status signal (a) This signal turns on/

3 - 19 3 POSITIONING DEDICATED SIGNALS Q61P Q03UDCPUQ38DBCommunication is normalServo ready signal : ONMQ172DCPU AMPMAMP POINT When the part o

3 - 20 3 POSITIONING DEDICATED SIGNALS 3.1.2 Axis command signals (1) Stop command (M3200+20n) ... Command signal

3 - 21 3 POSITIONING DEDICATED SIGNALS (2) Rapid stop command (M3201+20n) ... Command signal (a) This command stops a star

3 - 22 3 POSITIONING DEDICATED SIGNALS (3) Forward rotation JOG start command (M3202+20n)/Reverse rotation JOG start command (M3203+20n) ...

3 - 23 3 POSITIONING DEDICATED SIGNALS (5) Speed/position switching enable command (M3205+20n) ... Command signal (a) This command is u

3 - 24 3 POSITIONING DEDICATED SIGNALS REMARK Refer to APPENDIX 1 for details on the minor error code, major error code and servo error code sto

A - 5 CAUTION Use the program commands for the program with the conditions specified in the instruction manual. Set the sequence function progra

3 - 25 3 POSITIONING DEDICATED SIGNALS (11) Gain changing command (M3216+20n) ... Command signal This signal is used to change the g

3 - 26 3 POSITIONING DEDICATED SIGNALS (13) FIN signal (M3219+20n) ... Command signal When a M-code is set i

3 - 27 3 POSITIONING DEDICATED SIGNALS 3.1.3 Common devices POINTS (1) Internal relays for positioning control are not latched even within the

3 - 28 3 POSITIONING DEDICATED SIGNALS 3) The processing in above (c) 1) is not executed during the test mode. It is executed when the test mode

3 - 29 3 POSITIONING DEDICATED SIGNALS The condition which M2000 is turned ON to OFF. • Set "0" to the setting register D704 of the PL

3 - 30 3 POSITIONING DEDICATED SIGNALS The start accept flag list is shown below. Axis No. Device No. Axis No. Device No. Axis No. Device No

3 - 31 3 POSITIONING DEDICATED SIGNALS (6) Speed switching point specified flag (M2040) ... Command signal This flag is used when the speed

3 - 32 3 POSITIONING DEDICATED SIGNALS (8) All axes servo ON command (M2042) ... Command signal This command is used to enable

3 - 33 3 POSITIONING DEDICATED SIGNALS (11) All axes servo ON accept flag (M2049) ... Status signal This flag turns on when t

3 - 34 3 POSITIONING DEDICATED SIGNALS (14) Speed change accepting flag (M2061 to M2092) ... Status signal This flag turns on

A - 6 CAUTION The Motion controller, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them. Secu

3 - 35 3 POSITIONING DEDICATED SIGNALS (15) Automatic decelerating flag (M2128 to M2159) ... Status signal This signal turns on while au

3 - 36 3 POSITIONING DEDICATED SIGNALS (d) In any of the following cases, this flag does not turn off. • When deceleration due to JOG signal o

3 - 37 3 POSITIONING DEDICATED SIGNALS (16) Speed change "0" accepting flag (M2240 to M2271) ...………. Status signal This flag turns

3 - 38 3 POSITIONING DEDICATED SIGNALS (a) The flag turns off if a speed change request occurs during deceleration to a stop due to speed chan

3 - 39 3 POSITIONING DEDICATED SIGNALS (d) Even if it is speed change "0" after the automatic deceleration start to the "comman

3 - 40 3 POSITIONING DEDICATED SIGNALS 3.2 Data Registers (1) Data register list SV13 SV22 Device No. Application Device No. Application D

3 - 41 3 POSITIONING DEDICATED SIGNALS (2) Axis monitor device list Axis No. Device No. Signal name 1 D0 to D19 2

3 - 42 3 POSITIONING DEDICATED SIGNALS (3) Control change register list Axis No. Device No. Signal name 1 D640, D641 2

3 - 43 3 POSITIONING DEDICATED SIGNALS (4) Common device list Device No. Signal name Refresh cycle Fetch cycle Signal direction Device No.

3 - 44 3 POSITIONING DEDICATED SIGNALS 3.2.1 Axis monitor devices The monitoring data area is used by the Motion CPU to store data such as the

A - 7 (4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness afte

3 - 45 3 POSITIONING DEDICATED SIGNALS (4) Minor error code storage register (D6+20n) ... Monitor device (a) This register stores

3 - 46 3 POSITIONING DEDICATED SIGNALS (9) Execute program No. storage register (D12+20n) ...…….. Monitor device (a) This register stores

3 - 47 3 POSITIONING DEDICATED SIGNALS (12) Data set pointer for constant-speed control (D15+20n) ...…….. Monitor device This pointer is used

3 - 48 3 POSITIONING DEDICATED SIGNALS [Input situation of positioning data in the Motion CPU] Update of data using the Motion SFC program Pos

3 - 49 3 POSITIONING DEDICATED SIGNALS [Internal processing] (a) The positioning data ((1) to (14)) of points 0 to 6 is input to the Motion CP

3 - 50 3 POSITIONING DEDICATED SIGNALS 3.2.2 Control change registers This area stores the JOG operation speed data. Table 3.1 Data storage are

3 - 51 3 POSITIONING DEDICATED SIGNALS 3.2.3 Common devices (1) Common bit device SET/RST request register (D704 to D708, D755 to D757) ..….

3 - 52 3 POSITIONING DEDICATED SIGNALS b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Ax

3 - 53 3 POSITIONING DEDICATED SIGNALS (5) Manual pulse generator smoothing magnification setting registers (D752 to D754) ...

3 - 54 3 POSITIONING DEDICATED SIGNALS 3.3 Motion Registers (#) There are motion registers (#0 to #8735) in the Motion CPU. #8000 to #8639 are u

A - 8 (6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the Motion controller, servo a

3 - 55 3 POSITIONING DEDICATED SIGNALS (a) Servo amplifier type (#8000+20n) ... Monitor device This reg

3 - 56 3 POSITIONING DEDICATED SIGNALS 3.4 Special Relays (SM) There are 2256 special relay points of SM0 to SM2255 in the Motion CPU. Of these,

3 - 57 3 POSITIONING DEDICATED SIGNALS (2) TEST mode ON flag (SM501) ...…... Status signal (a) This flag is used as

3 - 58 3 POSITIONING DEDICATED SIGNALS (7) Manual pulse generator axis setting error flag (SM513) .………... Status signal (a) This flag is

3 - 59 3 POSITIONING DEDICATED SIGNALS 3.5 Special Registers (SD) There are 2256 special register points of SD0 to SD2255 in the Motion CPU. Of

3 - 60 3 POSITIONING DEDICATED SIGNALS (1) State of switch (SD200) ………………………….. Monitor device The switch state of CPU is stored in the form o

3 - 61 3 POSITIONING DEDICATED SIGNALS (a) Servo amplifier mounting status 1) Mounting status • Mounted ..…... The servo amplifier is normal

3 - 62 3 POSITIONING DEDICATED SIGNALS (6) Motion CPU WDT error cause (SD512) ………... Monitor device This register is used as judgement of

3 - 63 3 POSITIONING DEDICATED SIGNALS (7) Manual pulse generator axis setting error information (SD513 to SD515) ...

3 - 64 3 POSITIONING DEDICATED SIGNALS (11) Operation cycle of the Motion CPU setting (SD523) .... Monitor device The setting operation