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15. ABSOLUTE POSITION DETECTION SYSTEM

1. Note 3 P 1 1 Servo alarm 52 ABS communication Note 2 error 1 12 ABS check sum error Y13 bog 24 13 SG bg bod FX TPG sare SS EN AM DOG E f 24V Las m 2 cM USD 5 7 Note 1 Uu 1 OPC 11 re p PP 3 lt NP 2 22 3 i s SG 10 y 11 Scr 8 Sq Zgnese pu of N L1 phase pulse n On 34 SS aE aaa Y SD Plate SD Note 1 To be connected for the dog type home position setting At this time do not connect the portions marked Note 2 2 To be connected for the data set type home position setting At this time do not connect the portions marked Note 1 3 The electromagnetic brake interlock signal should be controlled by connecting the programmable controller output to a relay 15 35 15 ABSOLUTE POSITION DETECTION SYSTEM b FX2N 32MT FX2N 1PG Servo amplifier FX2n 32MT L I Power supply 24V N 1 ICOM SG 10 S Xo ABS Di 0 Completion of positioning A DoI 4 3 3kQ 1 ABS bit 1 Zero speed A 75 19 1 2 Send data ready Torque limit control
2. Koo H 1PG creep speed 1 kpps 1PG home position return zero point count twice TO 12 K1 DT D24 K1 H TEC home positignagdress Initial setting setting 1PG acceleration deceleration time 200ms TO KO K15 K200 K1 1PG operation speed 100kpps DTO KO a 9 K100000 K1 DMOV D100 Position move account 1 300000 pulses Position move account 2 250000 pulses K 250000 D102 Position move account 3 0 pulses c ipwov K0 H DMov 2 Jf Clearing index registers V Z Setting 4 times for check DMov D4 sum error transmission frequency 1 To be continued 1 15 39 15 ABSOLUTE POSITION DETECTION SYSTEM Continued from preceding page X6 M6 ser Servo on Retry PB M5 Y12 MO Y11 M5 Servo on request Servo on ABS check Error ABS request error flag communication error PLS M1 M6 an RST ABS Retry transmission X6 start RST Servo on PB RST RST RST RST M62 co 15 40 M1 C1 Servo on output ABS data transmission start Clearing retry counter woo H Resetting ready to send ABS M5 Y1 Y2 M6 data Servo on and H Resetting servo on request ng retry control P Resetting ABS transfer mode H Resetting ABS request H Resetting retry
3. a 62 64 RST HH Y11 X6 RST v1 H ABS Servo on communi PB cation error RsT v2 H Y1 K500 1201 4 ABS transfer mode Y Y2 K100 T202 ABS transfer ABS request mode Y1 X2 K100 1203 4 ABS transfer Send data ready mode T201 He M ABS transmission NG T202 ABS request NG T203 Send data ready NG M2 D4 1 Retry command T200 M6 SET M5 J Retry Retry wal timer To be continued 15 43 ABS data DO D1 Adding 1PG home position address ABS data 1PG Setting ABS data ready Clearing check sum judging area Resetting retry flag Detecting ABS communication error Resetting ABS request ABS transfer mode 5s timer ABS request response 1s timer Ready to send response 1s timer ABS communication error Counting retry frequency Setting servo on request Writing absolute position data to 1PG Detecting ABS communication error ABS transfer retry control 15 ABSOLUTE POSITION DETECTION SYSTEM 1PG error reset s 5 Continued from preceding page 5 M8000 Normally OFF M110H M112 M102 1 X7 X12 M99 H aaa M120 H Start command pulse Servo Position ABS data ready start ready X10 _ Aaa 104 1PG JOG command JOG X11 M105 1PG JOG c
4. ist M8 H Resetting servo on request Resetting ABS transfer Servo on control counter at servo OFF RST co Resetting checksum transfer RST c1 counter at servo OFF M8 M9 M11 H Servo on output Servo on Error Retry flag request flag setting PLS Mo ABS I F start To be continued 1 15 26 15 ABSOLUTE POSITION DETECTION SYSTEM 8 PLS M12 H Servo on request M12 Retry flag reset request X34 M9 RST c2 11 Error reset Error flag PB 43 Alarm reset Servo alarm RST M8 H w Mo L 16 H ABS data transfer pe Di D2 H D5 H DMov D9 H DMov A0 H RST RST co MO RST H ym 4 ABS data transfer start Y41 C1 H ABS Checksum transfer counter mode Continued from preceding page 1 Setting retry flag ABS data transmission Resetting retry counter retry control Alarm reset output Error flag output Servo alar detection alarm Resetting ready to send reset control Resetting servo on request Servo alarm counter Initializing check sum transfer counter Initializing check sum register Initializing ABS data register ABS transfer mode Initial setting Initializing ABS data register Initializing ABS data register Res
5. transmission counter at servo OFF M13 M14 M16 ME ME vao H Servo on output Servo on Error Retry flag request flag set PLs M5 ABS interface start M13 LA M17 H Setting retry flag ABS transfer M17 retry control Sq c2 H Resetting retry counter Retry flag reset request X24 M14 vas 4 Alarm reset output Error reset Error flag PB Y33 Alarm reset X25 M14 Error flag output Servo alarm Emergency stop PB detection x23 alarm reset RST M8 H Resetting ready control Servo alarm M13 H Resetting servo on request H Servo alarm 15 ABSOLUTE POSITION DETECTION SYSTEM 2 Continued from preceding page 2 ABS transfer mode initial setting ABS transfer mode control Absolute position polarity A1SD75 rotation direction setting detection M5 po Y Initializing ABS data ABS data transmission counter transfer Start Initializing checksum f mov H T transmission counter Initializing checksum register D5 Initializing ABS data register Dwov D9 H Initializing ABS data register ao H Initializing ABS data register Resetting ABS transmission co H counter ci H Resetling checksum transmission counter M5 1 ABS transfer mode ABS data transfer start Y31 C1 H ABS transfer Check
6. 7 x 2 1 7 e E E 1 Start command r Reading 1 axis home position return FROM H0000 K817 D12 K1 completion signal uw WAND Ko016 D12 Masking home position return completion m22 H Home position return processing instruction M22 H H D12 Kigh lytis H Switching clear signal on Processing Home position return instruction completion judgment 15 56 15 ABSOLUTE POSITION DETECTION SYSTEM f Data set type home position return After jogging the machine to the position where the home position e g 500 is to be set choose the home position return mode and set the home position with the home position return start PBON After switching power on rotate the servo motor more than 1 revolution before starting home position return Do not turn ON the clear signal Y35 for an operation other than home position return Turning it on in other circumstances will cause position shift M9039 Programmable controller ready PC RUN Home position return mode Y31 X20 X27 PLS M20 H Clear signal ON timer request ABS transfer Positioning Home position mode completion return start PB M20 K1 T t10 Clear signal 100ms ON timer Clear signal ON timer request M21 SET M21 H Setting data set type home position return request Data set type home position return request TiO Resetting data set type home position return Clear signal 100
7. DTOP H0001 K41 D9 K1 H0001 K341 D9 K1 Program configuration X axis data set type home position return program Program in Section 15 8 1 3 f ngos rete eg eigene efe erc eed roo A eL SL Me eren I eser cage ed n en MI SRS Re ee eS Se cis GS SA ees he Se cutie pe eden erc ee exec Sh eg Y axis data set type home position return program Refer to the X axis program and write the Y axis program Me eee MENTS ee NETT ENEN Na tae Oe 15 34 15 ABSOLUTE POSITION DETECTION SYSTEM 15 8 2 MELSEC FX 2N 32MT FX 2N 1PG 1 Connection diagram a FX 32MT FX 1PG Servo amplifier FX 32MT Power supply CN1B zv LN PC RUN 64 10 i ABS bit 0 Completion of positioning Doak ABS bit 1 Zero speed IzsP 19 RE Fus data ready Torque limit control 6 ALM 18 Alarm reset Servo ready INT 5 Emergency stop RD 49 1 Servo on JOG JOC X11 X12 Position start X13 Position stop X14 position sta X15 error reset o E olo ema 15 AM iq ervo on SON 5 nW Kt ABS transfer mode PEES 8 ABS request ABSR 9 Alarm reset RES 14 WwW kK TUS 7 cS 7 Electromagnetic brake output XXI8 lt lt lt lt 8 lt lt lt lt Sols NPA ALS SN gt S
8. H0001 K41 D3 K1 Check ABS coordinate error sum OK M3 Y49 X36 RST Y41 ABS commu Servo on PB nication error Y41 K50 ABS transfer mode Y41 Y42 K10 ABS transfer ABS request mode Y41 X32 K10 ABS transfer Send data ready mode TO Y49 ABS transfer NG T1 ABS request NG T3 Send data ready NG Continued from preceding page M1 DFROP H0001 K7912 D9 K1 Check sum OK S P M Note DP D3 D3 oe ee ee eet ei i LAN ge X du ee ee eS poe ee eye S es D P D3 D3 To be continued 1 15071 reading home position address EXC ra ae Ge BS Ste ne oY Sm Inserting constant for conversion Restoring absolute into the unit of feed per pulse position data Adding home position address to absolute position Detecting ABS Setting ABS coordinate error jm Sior 1 X axis Present position change ABS data ready Writing ABS data to 15071 ABS data ready Resetting ABS transfer mode ABS transfer mode timer 5s ABS request response timer 1s ABS communication error detecting Ready to send response timer 1s ABS communication error Note When the unit setting parameter value of the AD71 positioning module is changed from 3 pulse to 0 mm the unit isX0 1um for the input value To change the unit to 1 and this pro
9. e Power supply 24V T m VDD CN1B 3 Ready RD 1 19 o Zero point m t P15R CN1A 4 HE signal OP_ CN1A 14 8 CR CN1A 8 BE T 7 s SG 1 20 Command 5 m PP CN1A 3 pulses A m PG CN1A 13 for open NP CN1A 2 collector type iT NG lCN1A 12 Upper limit settin cuum un P15R CN1B 11 orquelimit 2 10V max t p E ie max torque E 16 Plate Note 1 Always install the emergency stop switch 2 For operation always short the forward reverse rotation stroke end LSN LSP with SG 3 When using the torque limit signal TL set 001014 in parameter No 46 to assign TL to pin CN1B 7 15 4 15 ABSOLUTE POSITION DETECTION SYSTEM 15 5 Signal explanation When the absolute position data is transferred the signals of connector CN1 change as described in this section They return to the previous status on completion of data transfer The other signals are as described in Section 3 3 2 For the I O interfaces symbols in the I O Category column in the table refer to Section 3 6 derum Control Signal name Code Pin No Function Application category mode While ABSM is shorted by connection to SG the servo amplifier is in the ABS transfer mode and the functions of ZSP TLC and 01 are as indicated in this table ABS transfer mode Note ABSR SG are shorted to request the ABS data in the ABS request ABSR DI 1 CN1B 9 ABS t
10. ABS request 1s timer mode Detecting ABS Ma 022 K10 ABS data send ready a communication ABS transfer Ready to send response 15 mer error mode ABS data TO KG vao ABS communication error transfer NG ABS request NG T3 Readying to send ABS data NG M7 PI ris M15 ABS transfer retry start pulse Sum check NG M15 C2 SET M16 H Setting retry flag Retry start Retry counter D7 c2 Retry counter ABS transfer M16 K1 retry control T2 Retry waiting timer 100ms Retry flag set T2 p M RsT M16 Resetting retry flag Retry waiting timer M9039 4 D110 H Saving received shift data PC RUN END 15 55 15 ABSOLUTE POSITION DETECTION SYSTEM d X axis program Do not execute the X axis program while the ABS ready 8 is off Positioning X axis start por SSeS Stee eee sees mode command 8 1 i k k X axis start program 1 1 When M8 ready to send ABS data switches on the X axis start program is executed by the X axis start command Ready to send ABS AMD DA J e Dog type home position return Refer to the home position return program in the A1SD75 User s Manual Note that this program requires a program which outputs the clear signal Y35 after completion of home position return Add the following program Home position retum 7 7 7 E E E
11. Positioning completion To create the status information for servo positioning completion During ABS data transfer for several seconds after the servo on signal is turned on the servo motor must be at a stop Y1 X0 H PAL 9 9 999 999 M H Completion of servo positioning ABS transfer Positioning mode completion Y1 ABS transfer mode g Zero speed To create the status information for servo zero speed During ABS data transfer for several seconds after the servo on signal is turned on the servo motor must be at a stop Y1 x1 Ki y Servo zero speed ABS transfer Zero speed mode 1 ABS transfer mode h Torque limiting To create the status information for the servo torque limiting mode During ABS data transfer for several seconds after the servo on signal is turned on the torque limiting must be off 1 2 Servo torque limiting mode ABS transfer Torque limiting mode mode 15 46 15 ABSOLUTE POSITION DETECTION SYSTEM 15 8 3 MELSEC A1SD75 AD75 1 Connection diagram 2 2 2 Oo 2 z v w 3 38 zJ Qo 28 88 LC ALM A Low AL EN EN EN Naja 2 gt 1 562 600 24 LG P
12. TLcl 6 X3 Alarm an ALM 18 S 1 X4 Alarm reset Oo Servo ready EN ap enna jns X5 Emergency stop A EN 19 X6 Servo on Xf JOG X10 Hoses X ee 9o X12 Fesifon X13 oni start De VWs x14 oo x 1PG error reset X15 com1 alo EMG 15 K a YO Sono on SON 5 wk 1 ABS transfer mode 8 Y2 ABS request 5 9 e Alarm reset RES 14 d 2 m MAND a 1 R27 Electromagnetic Fe oe 1 i2q brake output Y6 Note 3 ZN Y7 ful D 1 Servo alarm d T Eu Y10 ABS communication Note 2 T Y11 enor 4 j mE 12 4 ABS check sum error fit ua LE E i 24 L 4 com 13 4 1 1 bg i MI i 1a a i ASD ra 24V bod VDD 3 I5 Note 1 M CN1A DEF oPc 11 acqua Ry Pulse train for forward rotation 7 5 4 Note 1 be connected for the dog type home position setting At this time do not connect the portions marked Note 2 2 To be connected for the data set type home position setting At this time do not connect the portions marked Note 1 3 The electromagnetic brake interlock signal should be controlled by connecting the programmable controller output to a relay 15 36 15 ABSOLUTE POSITION DETECTION SYSTEM 2 Sequence program example a Conditions 1 Operation
13. edge of the RUN signal after a PC reset operation PC RESET The ABS data is also transmitted when an alarm is reset or when the emergency stop state is reset If check sum discrepancy is detected in the transmitted data the ABS data transmission is retried up to three times If the check sum discrepancy is still detected after retrying the ABS check sum error is generated Y12 ON The following time periods are measured and if the ON OFF state does not change within the specified time the ABS communication error is generated Y11 ON ON period of ABS transfer mode Y1 ON period of ABS request Y2 OFF period of ready to send the ABS data X2 15 37 15 ABSOLUTE POSITION DETECTION SYSTEM oT o b Device list X input contact Y output contact T200 T201 T202 T203 T204 T210 Note 1 Necessary when data set type home position return is executed ABS bit 0 completion of positioning BS bit 1 zero speed end ABS data ready torque limit control ervo alarm larm reset PB ervo emergency stop osition start PB osition stop PB ome position return start PB BS data Lower 16 bits BS data Upper 16 bits heck sum addition counter heck data in case of check sum error ransmission retry count in check sum iscrepancy ome position address Lower 16 bits ome position address Upper 16 bits PG present position address Lower 16 bits PG present position address Upper 16 bits i R
14. method of calculating the check sum is shown Every time the programmable controller receives 2 bits of ABS data it adds the data to obtain the sum of the received data The check sum is 6 bit data Negative data is available for the FX 1PG and unavailable for the A1SD71 Example ABS data 10 FFFFFFF6H 105 015 115 115 lt Appendix gt 11 Hexadecimal FFF6 Decimal 10 115 115 1111 1111 1111 0110 11 When the binary data of each 2bits of the 115 ABS data is added up 10 1101 is obtained 115 prr em Mr c Mt e 115 115 115 115 115 11 1011015 Therefore the check sum of 10 ABS data is 2D gt 15 11 15 ABSOLUTE POSITION DETECTION SYSTEM 2 Transmission error a Time out warning AL E5 In the ABS transfer mode the time out processing shown below is executed at the servo If a time out error occurs an ABS time out warning AL E5 is output The ABS time out warning AL E5 is cleared when the ABS transfer mode ABSM changes from OFF to ON 1 ABS request OFF time time out check applied to 32 bit ABS data in 2 bit units check sum If the ABS request signal is not turned ON by the programmable controller within 5s after the send data ready signal is turned ON this is regarded as a transmission error and the ABS time out warning AL E5 is output ON ABS transfer mode OFF ON ABS request i OFF ON Send data rea
15. of feed per pulse S644 Se SMe eee SSO See SoS Sees elise See sue ew af Adding home position address D P D3 to absolute position 1 1 we Ni 3 M6 Y3B M24 SET M8 ABS data ready Checksum ABS Change 14 OK coordinate flag E m a n E e N B X 251 1 Changing X axis current H0000 K1154 D3 Ki H position r 1 Writing No 9003 data for TO K1150 K1 changing current value 1 ser Positioning start i 1 10 xI in vbt Switching start signal off on 1 f ul Positioning Start com BUSY completion of positioning Start pletion i XA Error detection 5 To be continued 5 Ni 5 ABS request control Restoring absolute position data Writing absolute position data to A1SD75 Note When the unit setting parameter value of the AD75 positioning module is changed from 3 pulse to 0 mm the unit is x 0 1um for the input value To set the unit to x1um add this program to multiple the feed value by 10 15 54 15 ABSOLUTE POSITION DETECTION SYSTEM Continued from preceding page 5 Y39 X26 Y31 H Resetting ABS transfer mode ABS communi Servo on PB cation error Y31 K50 ABS transfer mode 5s timer ABS transfer mode TL ar ABS request response ABS transfer
16. send data ready TLC signal to notify the programmable controller that the servo is ready for data transmission 3 After acknowledging that the ready to send TLC signal has been turned ON the programmable controller turns ABS request ABSR ON 4 In response to ABS request ABSR the servo outputs the lower 2 bits of the ABS data and the ready to send TLC signal in the OFF state 5 After acknowledging that the ready to send TLC signal has been turned OFF which implies that 2 bits of the ABS data have been transmitted the programmable controller reads the lower 2 bits of the ABS data and then turns OFF the ABS request ABSR 6 The servo turns ON the ready to send TLC so that it can respond to the next request Steps 3 to 6 are repeated until 32 bit data and the 6 bit check sum have been transmitted 7 After receiving of the check sum the programmable controller turns the ABS transfer mode signal ABSM OFF If the ABS transfer mode signal ABSM is turned OFF during data transmission the ABS transfer mode is interrupted 15 10 15 ABSOLUTE POSITION DETECTION SYSTEM c Checksum The check sum is the code which is used by the programmable controller to check for errors in the received ABS data The 6 bit check sum is transmitted following the 32 bit ABS data At the programmable controller calculate the sum of the received ABS data using the ladder program and compare it with the check sum code sent from the servo The
17. starting program for positioning data No 9003 19 is added 8 Y axis sequence program Y axis data set type home position return program The slot numbers and buffer addresses are changed as indicated by 20 9 Writing absolute position data to AD75 The A1SD75 AD75 allows the current position to be changed only when the ready signal of the Servo amplifier is on Therefore if the CPU scan is fast the program for 418071 may change the current position before the ready signal switches on 7 is added because the current position must be changed after it has been confirmed that the drive unit ready signal of the A1SD75 D75 has switched on off 10 ABS coordinate error detection As the A1SD75 AD75 can handle the negative polarity coordinate position that the AISD71 could not handle the program for ABS coordinate error detection is deleted 13 11 Dog type home position return program Due to the changes in wiring described in 4 a 4 of this section the program for outputting the clear signal Y35 after completion of a home position return is required 16 15 61 15 ABSOLUTE POSITION DETECTION SYSTEM 15 9 Confirmation of absolute position detection data You can confirm the absolute position data with servo configuration software MRZJW3 SETUP121E Choose Diagnostics and Absolute Encoder Data to open the absolute position data display screen 1 Choosing Diagnostics in the menu opens the sub menu as shown below MITSU
18. to choose the electromagnetic brake interlock signal Y41 X31 Y44 Electromagnetic brake output ABS Brake MBR transfer mode h Positioning completion To create the status information for servo positioning completion During ABS data transfer for several seconds after the servo on signal is turned on the servo motor must be at a stop Y41 X30 T Completion of servo positioning ABS transfer Positioning mode completion Y41 ABS transfer mode i Zero speed To create the status information for servo zero speed During ABS data transfer for several seconds after the servo on signal is turned on the servo motor must be at a stop Y41 X31 Servo zero speed ABS transfer Zero mode speed Y41 ABS transfer mode G Torque limiting To create the status information for the servo torque limiting mode During ABS data transfer for several seconds after the servo on signal is turned on the torque limiting must be off Y41 x32 M Servo torque limiting mode ABS transfer Torque limiting mode mode 15 33 15 ABSOLUTE POSITION DETECTION SYSTEM 4 Sequence program 2 axis control The following program is a reference example for creation of an ABS sequence program for the second axis Y axis using a single AISD71 module Create a program for the third axis in a similar manner a Y axis program Refer to the X axis ABS sequence program and create the Y
19. 15 ABSOLUTE POSITION DETECTION SYSTEM 15 ABSOLUTE POSITION DETECTION SYSTEM 15 1 Outline 15 1 1 Features For normal operation as shown below the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions The absolute position detection system always detects the absolute position of the machine and keeps it battery backed independently of whether the general purpose programming controller power is on or off Therefore once the home position is defined at the time of machine installation home position return is not needed when power is switched on thereafter If a power failure or a fault occurs restoration is easy Also the absolute position data which is battery backed by the super capacitor in the encoder can be retained within the specified period cumulative revolution counter value retaining time if the cable is unplugged or broken General purpose programmable Servo amplifier controller Pulse train command Home position data Current JUUL CPU Positioning module T L ty UPS position EEPROM memory Current P 5 data position LLL data EE 5 module 5 5 case of power failure oo oo awn number of revolutions J 1 pulse rev Accumulative revolution counter High speed serial communication
20. 31 ON period of ABS request Y32 OFF period of reading to send ABS data X22 b Device list X input contact Y output contact ABS bit 0 positioning completion ABS bit 1 zero speed Reading to send ABS data limiting torque Servo alarm Alarm reset 1X34 vote 9 Servo emergency stop Y35 Note 1 Servo on i Y38 Home position return start Operation mode I Operation mode D register ABS data transmission counter Checksum transmission counter Checksum addition register ABS data Lower 16 bits ABS data Upper 16 bits ABS data 2 bit receiving buffer i M10 Check data in case of checksum error 4 11 Number of retries _ M12 Forward rotation direction M13 Home position address Lower 16 bits M14 Home position address Upper 16 bits M15 Drive unit ready data i M16 Home position return completion data M17 Received shift data Lower 16 bits i M18 Received shift data Upper 16 bits M20 ote 1 T timer M21 Note D ABS transmission mode timer M22 ABS request response timer Retry wait timer ABS data send reading response timer T10 Clear signal ON timer T200 Transmitted data read 10ms delay timer Note 1 Required for data set type home position return 2 Required for electromagnetic brake output 15 49 ABS transfer mode ABS request Alarm reset Electromagnetic brake output Clear Servo alarm ABS communication error ABS checksum error data tr
21. BISHI S configuration Software Parameters Test Advanc Digital I O No Motor Rotation Total Power on Time Amplifier Version Info Motor Information Tuning Data Absolute Encoder Data Automatic Voltage Control Axis name setting 2 By choosing Absolute Encoder Data in the sub menu the absolute encoder data display window appears ware 00Station Advanced function System Monitor Alarm Diagnostics Parameters Test Help File coder Data Absolute Position Data Command Pulse Value Value of each motor edge pulse Command Pulse Value 4215741 4215741 Value of each command pulse CDVICMX X Value of each motor edge pulse Encoder data Current Position Position at Power Loss Absolute Encoder Data pulse Absolute Encoder Data CYC 6053 CYCO 0 Number of Motor Rotations rev Number of Motor Rotations ABS 514 ABSO 0 Convert to starting point by the following expressions Value of each motor edge pulse ABS X Encoder one revolution counts CYC CYCD 3 Press the Close button to close the absolute encoder data display window 15 62 15 ABSOLUTE POSITION DETECTION SYSTEM 15 10 Absolute position data transfer errors 15 10 1 Corrective actions 1 Error list The number within parentheses in the table indicates the output coil or input contact number of the A1SD71 AD71 Output coil Name Description Cause Action ADT1 Note Y49 Y11 1 The AB
22. Battery c o a c o ge 23 o x 2 5 5 Oot Position detector 15 1 2 Restrictions The absolute position detection system cannot be configured under the following conditions Test operation cannot be performed in the absolute position detection system either To perform test operation choose incremental in parameter No 1 1 Speed control mode torque control mode 2 Control switch over mode position speed speed torque torque speed 3 Stroke less coordinate system e g rotary shaft infinitely long positioning 4 Changing of electronic gear after home position setting 5 Use of alarm code output 15 1 15 ABSOLUTE POSITION DETECTION SYSTEM 15 2 Specifications 1 Specification list Electronic battery backup system Batt 1 piece of lithium battery primary battery nominal 3 6V atter EE MR BAT or AGBAT Maximum revolution range revolution range Home position 32767 rev Note 1 Maximum speed at power failure 500r min Note 2 Battery backup time Approx 10 000 hours battery life with power off Note 3 Data holding time during battery 2 hours at delivery 1 hour in 5 years after delivery replacement Battery storage period 5 years from date of manufacture Note 1 Maximum speed available when the shaft is rotated by external force at the time of power failure or the like 2 Ti
23. N 12 3 4 ON ABS transfer mode ABSM OFF ABS request ON ABSR OFF Send data ready ON VEM OFF 1 1 1 i Note Note Transmission i i i ABS data i ABS data X X ABS data DO1 bit1 ZSP bit2 ON Base circuit OFF ON 1 Ready Operation Operation RD OFF enabled enabled Note For details refer to 1 b in this section 15 8 15 ABSOLUTE POSITION DETECTION SYSTEM 1 The ready signal RD is turned ON when the ABS transfer mode signal ABSM is turned OFF after transmission of the ABS data While the ready signal RD is ON the ABS transfer mode signal ABSM input is not accepted 2 Even if the servo on SON signal is turned ON before the ABS transfer mode signal ABSM is turned ON the base circuit is not turned ON until the ABS transfer mode signal ABSM is turned ON If a servo alarm has occurred the ABS transfer mode signal ABSM is not received The ABS transfer mode signal ABSM allows data transmission even while a servo warning is occurring 3 If the ABS transfer mode signal ABSM is turned OFF during the ABS transfer mode the ABS transfer mode is interrupted and the time out error AL E5 occurs 4 The functions of output signals such as ZSP TLC D01 and INP change depending on the ON OFF state of the ABS transfer mode signal ABSM Note that if the ABS transfer mode signal ABSM is
24. ND H0001 D8 9 3 Reversing absolute position polarity The rotation direction judging area is changed from D8 K4 to D8 K1 10 4 Reading checksum 6 bits reading ABS data 32 bits The 4 bits reading area is changed from MOV K1 X30D5 to MOV K1X20 D5 11 5 Restoring absolute position data The slot number and buffer address of the A1SD75 home position address reading area are changed from DFROP H0001 K7912 D9 K1 to DFROP H0000 K72 D9 K1 12 15 60 15 ABSOLUTE POSITION DETECTION SYSTEM 6 Writing absolute position data to A1SD75 The slot number and buffer address of the X axis current value changing area are changed from DTOP H0001 K41 D3 K1 to DTOP H0000 K1154 D3 K1 14 When the current value is changed in the A1SD75 the current feed value is changed at the start of positioning data No 9003 Therefore the starting program for positioning data No 9003 15 is added 7 X axis data set type home position return program The slot numbers and buffer addresses of the X axis home position address changing area are changed from DTOP H0001 K7912 D9 K1 to DTOP H0000 K72 D9 K1 and from DFROP H0001 K7912 D9 K1 to DFROP H0000 K72 D9 K1 17 The slot number and buffer address of the X axis current value changing area are changed from DTOP H0001 K41 D3 K1 to DTOP H0000 K1154 D3 K1 18 When the current value is changed in the A1SD75 the current feed value is changed at the start of positioning data No 9003 Therefore the
25. ON Data set type home position return request SS REE ASE SE 2c 0g 9 rane 2 enn i K500 Setting X axis home position address 500 leisi in the data register Note 1 _ H0001 7912 K1 1 Changing X axis home position address Le etervGect ae sone oe Boe aoe erage one homens ee J IT V EEAO RAEE Re OE a a E E A A E E E S RS C E E TE E R EE EE E AEE q DFROP H0001 K7912 D9 K1 Note 2 2 H0001 K41 K1 1 Changing X axis present position data Note 1 If data of the home position address parameter is not written by using an AGGPP programming tol etc before starting a program for data set type home position return the circuits indicated by Note 1 are necessary and the circuit indicated by Note 2 is not necessary 2 Contrary to Note 1 above if the home position address is written in the home position address parameter the circuit indicated by Note 3 is necessary and the circuits indicated by Note 1 are not necerssary 15 32 15 ABSOLUTE POSITION DETECTION SYSTEM g Electromagnetic brake output During ABS data transfer for several seconds after the servo on signal is turned on the servo motor must be at a stop Set 1 O 1 O in parameter No 1 of the servo amplifier
26. S data transfer mode 1 Wiring for ABS transfer mode Correct the wiring ABS signal Y41 is not completed signal ABS data request communication within 5s signal or ready to send signal error The ready to send signal is disconnected or connected to X32 is not turned OFF the SG terminal within 1s after the ABS data ON module module X32 remains OFF forlonger servo amplifier amplifier is OFF amplifier Y12 ABS data sumcheck resulted 1 Wiring for the ABS data Correct the wiring in mismatch four times signal ABS bit 0 PF bit 1 consecutively ZSP is disconnected or connected to the SG terminal 3 Faulty PLC input module Change the input module 4 Faulty printed board in the Change the amplifier servo amplifier Y4B The motor position is in the 1 The servo is turned ON or the 1 Reconsider the position negative coordinate value power supply is turned ON where the servo is turned range when the servo is near the machine home ON turned ON or when power position or in the zone in 2 Set the home position for supply is turned ON which addresses decrease positioning apart from the machine home position 2 The machine falls on a Change the electromagnetic vertical axis when the servo brake operation sequence signal is turned ON OFF Servo alarm Y48 Y10 Alarm occurred in the servo 1 Emergency stop EMG of the After ensuring safety turn amplifier servo amplifier was turned off amplifie
27. To be continued 3 15 28 15 ABSOLUTE POSITION DETECTION SYSTEM Continued from preceding page 3 M4 co K1X30 D5 Read ABS data enabled counter WAND H0003 D5 D5 AO DROR K2 m D5 02 D2 DO A K co PLS M6 C1 RORP K10 Check sum counter WAND H003F D2 40 1 lt gt D2 A0 2 MOV A0 D6 C2 4 MMA Retry counter M6 I RST Y42 ABS 2 bits read completion M5 Check sum 2 bits read completion Y41 X32 PLS M7 ABS transfer Send data mode ready M7 SET Y42 ABS 2 bits request Y42 X32 K1 H T200 ABS Send data ready request Y42 X32 T200 10ms delay timer To be continued 15 29 Reading 4 bits Masking 2 bits Adding 2 bits Reading ABS data 32 bits 2 bits x16 times Right rotation of AO 2 bits Adding check sum Counting frequency of ABS data reception Completion of reading 2 bits of ABS data Right rotation of AO 10 bits Masking check sum Sum check OK Detecting ABS data check sum error Sum check NG Sum check memory ABS check sum error Resetting ABS request ABS 2 bits request ABS request control Setting ABS request 10ms delay timer Transmission data read enabled 15 ABSOLUTE POSITION DETECTION SYSTEM Lp gt D3 dsEr M1 Y4B A
28. address 0 ZA coordinate 60000 ABS coordinate 1 error region 80000 60000 Programmable Machine home position Home position operation home controller position 2 coordinate 130000 60000 0 10000 50000 60000 100000 system ABS coordinate 50000 50000 system 2 0 60000 Direction in which Stroke limit 3 address increases Home position address changed to 50000 Mechanical limit If revolution direction parameter Pr 14 0 15 22 15 ABSOLUTE POSITION DETECTION SYSTEM d Slot arrangement The sequence programs presented in this section show I O numbers X Y assuming the arrangement of modules on the main base unit is as illustrated below A1SD71 is mounted at I O slots 0 and 1 a 16 point input module at slot 2 and 16 point output module at slot 3 If the actual arrangement of the modules differs from this arrangement change the X and Y numbers accordingly The numbers of the devices M D T etc used in the program can be changed as required 16 point output module 16 point input module Numbers used X X0 X Y2F Example arrangement of modules e Points 1 The A1SD71 has 48 I O points and occupies 2 slots For I O allocation using the GPP function follow the instructions given below First slot Vacant slot 16 points Second slot Special function module 32 points 2 To execute the FROM TO instruction for the A1SD71 use the head I O number of th
29. ansmission start Sum check completion Sum check mismatch ABS data ready Transmission data read enabled Checksum 2 bits read completion ABS 2 bits read completion ABS 2 bits request Servo on request Servo alarm ABS data transmission retry start pulse Retry flag set Retry flag reset PLS processing command Clear signal ON timer request Data set type home position return request Home position return processing instruction Current position change processing instruction Current position change flag C counter ABS data receive times counter Checksum receive times counter Retry counter 15 ABSOLUTE POSITION DETECTION SYSTEM l e e LL LLL LLL ABS data transfer program for X axis This sequence program example assumes the following conditions Parameters of the A1SD75 P1 AD75 P1 positioning module 1 Unit setting 3 pulse PLS 2 Travel per pulse 1 1 pulse To select the unit other than the pulse conversion into the unit of the feed value per pulse is required Hence add the following program to the area marked Note in the sequence program lt Additional program gt a ft fpe Unit Unit setting 0 00001 0 0001 0 001 0 01 0 00001 0 0001 0 001 0 01 Travel per pulse 0 1 to 1to 10to 100 S o D PKOOD3D3 Unit of travel of travel um PLS sinch PLS aes PLS Constant K f
30. ative due to the load torque or a fall on a vertical axis when the power is turned ON OFF at a point near the machine home position the system fails to detect the absolute position To prevent this problem it is necessary to set the home position operation home position for positioning in addition to the machine home position a The home position should be set in the direction in which the position address of the programmable controller coordinate system increases on moving away from machine home position as illustrated below Note that the home position for positioning must be more than one revolution of the servo motor shaft from the machine home position If the address of the machine home position is changed to any value other than 0 the home position should be set in the direction in which the position address increases on moving away from the machine home position machine home position after changing the home position address and at a point removed from the machine home position by more than one revolution of the motor shaft Home position Machine home Machine home position operation home position Home position position Programmable 1s Programmable V controller coordinate 0 10000 50000 controller coordinate 50000 10000 0 ee 0m Li Or T ABS 20000 0 4 50000 ABS 50000 0 20000 coordinate Direction in which coordinate Direction in which system address increases system address increases Mor
31. axis DTOP H0000 K72 D9 K1 H0000 K222 D9 K1 H0000 K1154 D9 K1 H0000 K1204 D3 K1 TO H0000 K1150 K9003 K1 TO _ H0000 K1200 K9003 K1 mS Program configuration 20 Pa SS SoH SS See eer SS re S n cue Ses Ree SRS i so Ue cs X axis data set type home position return program Program in Section 15 8 3 2 f PRR SS oP ee ROSS Se SSR Sapa eS Dh puede eer Hee Y axis data set type home position return program Refer to the X axis program and write the Y axis i program gh NIERA cero den E ELNE OE EA A eet setae Be E 15 59 15 ABSOLUTE POSITION DETECTION SYSTEM 4 Differences between A1SD75 AD75 and A1SD71 AD71 The sequence programs shown in 2 of this section differ from those for the A1SD71 AD71 in the following portions 1 to 20 in the following sentences indicate the numbers in the programs given in 2 of this section a Devices used Since the A1SD75 AD75 is a one slot module which occupies 32 I O points the I O devices are different as indicated by 1 and 2 from those of the two slot AISD71 which occupies 48 point The A1SD75 AD75 uses the devices indicated in the following table and its D registers and M contacts are different as indicated by 3 and 4 mE DataatON vi icati E Data register Stored data xe AD75 ready Not ready WDT error Input X6 BUSY BUSY running E GEE CE Er
32. axis program Assign the X inputs Y outputs D registers M contacts T timers and C counters of the Y axis so that they do not overlap those of the X axis The buffer memory addresses of the A1SD71 differ between the X and Y axes The instructions marked 1 in the program of Section 15 8 1 3 c should be changed as indicated below for use with the Y axis FROMP H0001 K7872 D8 K1 FROMP H0001 K7892 D8 K1 DFROP H0001 K7912 D9 K1 DFROP H0001 K7922 D9 K1 H0001 K41 D3 K1 H0001 K341 D3 K1 Program configuration Roe oS e c ep es oaea a ee A ee ee X axis ABS sequence program Program in Section 15 8 1 3 f pec IPM Y axis ABS sequence program Refer to the X axis program and write the Y axis i be ates Se eS SESS Doa BSS ee oe SSS Se A b Data set type home position return Arrange the data set type home position return programs given in Section 15 8 1 3 f in series to control two axes Refer to the X axis data set type home position return program and create the Y axis program Assign the X inputs Y outputs D registers M contacts and T timers of the Y axis so that they do not overlap those of the X axis The buffer memory addresses of the A1SD75 differ between the X and Y axes The instructions marked 1 in the program of Section 15 8 1 3 f should be changed as indicated below for use with the Y axis H0001 K7912 D9 K1 H0001 K7922 D9 K1
33. bsolute position data at detection of stroke end The servo amplifier stops the acceptance of the command pulse when stroke end LSP LSN is detected clears the droop pulses to 0 at the same time and stops the servo motor rapidly At this time the programmable controller keeps outputting the command pulse Since this causes a discrepancy between the absolute position data of the servo amplifier and the programmable controller a difference will occur between the position data of the servo amplifier and that of the programmable controller To prevent this difference in position data from occurring do as described below When the servo amplifier has detected the stroke end perform jog operation or the like to clear the stroke end After that switch the servo on signal off once then on again or switch the power off once then on again This causes the absolute position data of the servo amplifier to be transferred to the programmable controller restoring the normal data 15 20 15 ABSOLUTE POSITION DETECTION SYSTEM 15 8 Examples of use 15 8 1 MELSEC A1S A1SD71 1 Instructions The absolute coordinate system programmable controller coordinate system of the A1SD71 AD71 only covers the range in which the address increases positive coordinate values on moving away from the machine home position the position reached in the home position return operation Therefore if the motor enters the range where the coordinate value is neg
34. ch the conductive areas such as connector pins and electrical parts directly by hand 1 Open the operation window When the model used is the MR J2S 200A MR J2S 350A or more also remove the front cover 2 Install the battery in the battery holder 3 Install the battery connector into CONI until it clicks Battery Battery Battery holder Battery holder For MR J2S 100A or less For MR J2S 200A 25 350 Battery connector Battery holder For MR J28 500A MR J2S 700A 15 3 15 ABSOLUTE POSITION DETECTION SYSTEM 15 4 Standard connection diagram Servo amplifier cn1B 3 COM CN1B 13 Note 2 Stroke end in forward rotation LSP CN1B 16 Stroke end in reverse rotation LSN CN1B 17 8 External torque control Reset TL_ CN1B 7 Note 3 RES CN1B 14 EMG Note 1 SG CN1B 10 ote Output Emergency stop a Electromagnetic i t Servo on EMG CN1B 15 brake output t 00 1 SON CN1B 5 O o LL ransmission on 9 o i mode E mE 5 1 8 iy ABS request Nn tone Qo LL CY TUNE ABSR CN1B 9 Reset input ABS bit 177 DOT CN1B 4 Ae I E Send data ready ZSP 1 19 Tal P e TLC CN1B 6 module Dog gt un Near zero pointsignal O C Sio z sG 1 10 Stopsignal o o
35. dy OFF i Yes AL E5 warning No 2 ABS request ON time time out check applied to 32 bit ABS data in 2 bit units check sum If the ABS request signal is not turned OFF by the programmable controller within 5s after the send data ready signal is turned OFF this is regarded as the transmission error and the ABS time out warning AL E5 is output ON ABS transfer mode OFF ON ABS request OFF ON Send data ready OFF Yes AL E5 warning No 5s Signal is not turned OFF T 1 4 1 15 12 15 ABSOLUTE POSITION DETECTION SYSTEM 3 ABS transfer mode finish time time out check If the ABS transfer mode signal is not turned OFF within 5s after the last ready to send signal 19th signal for ABS data transmission is turned ON it is regarded as the transmission error and the ABS time out warning AL E5 is output 5S ABS transfer mode Ww E Signal is not turned OFF ON Y Send data ready OFF 1 2 3 4 18 19 i 1 2 3 4 18 19 ON ABS request OFF Yes AL E5 warning No b Check sum error If the check sum error occurs the programmable controller should retry transmission of the ABS data Using the ladder check program turn OFF the ABS transfer mode ABSM and servo on SON signals once Turn them ON again after an OFF time of longer than 20
36. e position setting CR Home position ABS data ON OFF ON OFF Manual feed JOG etc more than 1 revolution of the motor shaft 20 ms or more ai 15 18 15 ABSOLUTE POSITION DETECTION SYSTEM 15 7 4 Use of servo motor with electromagnetic brake The timing charts at power on off and servo on SON on off are given below Preset O O 1 O in parameter No 1 to make the electromagnetic brake interlock signal MBR usable When the ABS transfer mode is ON the electromagnetic brake interlock MBR is used as the ABS data bit 1 Hence make up an external sequence which will cause the electromagnetic brake torque to be generated by the ABS mode ABSM and electromagnetic brake interlock signals Power supply OFF Servo on on SON OFF ABS transfer mode During transmission During transmission ABSM OFF of ABS of ABS ABS request ON ABSR ace Send data ready ON TLC OFF Send ABS data ABS data ABS data vem X X X X i 80 ms 80 ms j EI ON Base circuit OFF 20 ms 20 ms r n oh Ready ON i RD OFF L li Tb Tb e i Electromagnetic oN brake MBR OFF Electromagnetic ON brake torque OFF 15 19 15 ABSOLUTE POSITION DETECTION SYSTEM 15 7 5 How to process the a
37. e second slot X30 to X3F E Y40 to Y4F Note The program example given 3d Ee in 3 in this section is for 1 axis i Bl So control Slot allocations are as 15 soale 2122 illustrated to the left use the cPU aese system for 2 axis control e increase the number of I O X Y000 NEED e cite oo J 5 to to 1 0 numbers to be set X YOOF X YO2F with FROM TO instruction Therefore the I O number to be set with the FROM TO instruction is head I O number allocated to the 415071 010H 3 By setting 0 point of vacant slot for the first slot of the A1SD71 in the I O allocation of the GPP function the 16 points in the first slot can be saved In this case the I O number to be set with the FROM TO instruction is the same number as the head I O number allocated to the A1SD71 X Y000 to numbers to be set with FROM TO instruction X YOOF 15 23 15 ABSOLUTE POSITION DETECTION SYSTEM 2 Connection diagram General purpose Servo amplifier programmable controller CN1B SER 3 24 COM 13 246 SG 10 LG FG SG 20 CT dise INPUT AC100 200 A1SCPU A1 _ 5 bit 0 Completion of positioning DO4 4 1 X ABS bit 1 Zero speed ZSP 19 Send data ready Torque limit control TLC 6 Trouble ALM 18 7 A ols EMG 15 Servo o
38. e servo motor provided with the zero point signal is started the AISD75 AD75 will output the deviation counter clear signal Therefore do not connect the clear signal of the MR J2 A to the A1SD75 AD75 but connect it to the output module of the programmable controller This circuit is provided for your reference The electromagnetic brake output should be controlled via a relay connected to the programmable controller output Use the differential line driver system for pulse input Do not use the open collector system To reinforce noise suppression connect LG and pulse output COM 15 48 15 ABSOLUTE POSITION DETECTION SYSTEM 2 Sequence program example a Conditions 1 When the servo on signal and power supply GND are shorted the ABS data is transmitted at power on of the servo amplifier or on the leading edge of the RUN signal after a PC reset operation PC RESET The ABS data is also transmitted when an alarm is reset or when an emergency stop is reset 2 If a checksum mismatch is detected in the transmitted data data transmission is retried up to three times If the checksum mismatch still persists after the retries the ABS checksum error occurs Y3A ON 3 The following time periods are measured If the ON OFF state does not change within the specified time the ABS communication error occurs change within the specified time the ABS communication error occurs Y3A ON ON period of ABS transfer mode Y
39. e than 1 revolution More than 1 revolution of motor shaft of motor shaft p T a If revolution direction parameter Pr 14 0 b If revolution direction parameter Pr 14 1 b In the range where the address decreases on moving away from the machine home position do not turn the power supply to the programmable controller or the servo amplifier the servo on pushbutton switch or the PC RESET switch ON OFF If any of these operations are attempted the ABS coordinate error Y4B is output since the absolute position cannot be detected Machine home position Home position Home position Machine home position Programmable Programmable 4 controller coordinate 0 10000 50000 controller coordinate 50000 10000 0 system system ABS 20000 0 4 50000 ABS 50000 0 20000 coordinate 1 Direction which dinat Direction in which S ABS coordinate coordinate ABS coordinate system address increases t address increases value error occurs System value error occurs if power is turned if power is turned on within this range 4 Absolute position data can be Absolute position data can be on within this range detected detected NS a If revolution direction parameter Pr 14 0 b If revolution direction parameter Pr 14 1 15 21 15 ABSOLUTE POSITION DETECTION SYSTEM E If the address of the machine home position is changed to any coordinate value other than 0
40. emergency stop state is reset while the ABS data is transmitted the base circuit is turned ON 80 ms after resetting If the ABS transfer mode signal ABSM is OFF when the base circuit is turned ON the ready signal RD is turned ON 20 ms after the turning ON of the base circuit If the ABS transfer mode signal ABSM is ON when the base circuit is turned ON it is turned OFF and then the ready signal RD is turned ON The ABS data can be transmitted after the emergency stop state is reset The current position in the servo amplifier is updated even during an emergency stop When servo on SON and ABS transfer mode ABSM are turned ON during an emergency stop as shown below the servo amplifier transmits to the controller the current position latched when the ABS transfer mode ABSM switches from OFF to ON and at the same time the servo amplifier sets this data as a position command value However since the base circuit is OFF during an emergency stop the servo lock status is not encountered Therefore if the servo motor is rotated by external force or the like after the ABS transfer mode ABSM is turned ON this travel is accumulated in the servo amplifier as droop pulses If the emergency stop is cleared in this status the base circuit turns ON and the motor returns to the original position rapidly to compensate for the droop pulses To avoid this status reread the ABS data before clearing the emergency stop Power ON suppl
41. en EPI LEM to the lowest bits and the 3 times register is shifted right until Reading 2 bits 6 bit data is configured Shift and addition Shift end addition Repeated to configure 6 bit data Send data ready ON 1 D Setting the curent A sum check is executed position o for the received 32 bit data After making sure that ABS transfer mode OFF there are no errors in the data the current position is set DIO allocation change TLC send data ready OFF 15 ABSOLUTE POSITION DETECTION SYSTEM 15 7 2 Transfer method The sequence in which the base circuit is turned ON servo on when it is in the OFF state due to the servo on signal SON going OFF an emergency stop or alarm is explained below In the absolute position detection system every time the servo on SON signal is turned on the ABS transfer mode ABSM signal should always be turned on to read the current position in the servo amplifier to the controller The servo amplifier transmits to the controller the current position latched when the ABS transfer mode ABSM signal switches from OFF to ON At the same time this data is set as a position command value inside the servo amplifier Unless the ABS transfer mode signal ABSM is turned ON the base circuit cannot be turned ON 1 At power on a Timing chart Power oN SUPPIY Off If SON is turned ON before ABSM is input ON Servo on SON OFF NI E
42. etry wait timer BS transfer mode timer BS request response timer eady to send response timer BS data waiting timer lear signal ON timer YA Note 2 Y5 Note 1 M99 2 Necessary in the event of electromagnetic brake output 15 38 Servo on ABS transfer mode ABS request Alarm reset Electromagnetic brake output Clear Servo alarm ABS communication error LABS check sum error Error flag ABS data transmission start Retry command ABS data read i Spare Servo on request i Retry flag ABS data 2 bit receiving buffer ABS data 32 bit buffer Check sum 6 bit buffer For checksum comparison Sum check discrepancy greater gt Sum check discrepancy i Sum check discrepancy less gt Note 1 Clear signal ON timer request M71 ote 1 i Data set type home position return request f ABS data ready C counter data reception frequency counter 19 times Check sum reception frequency counter ABS data reception frequency counter 16 times 15 ABSOLUTE POSITION DETECTION SYSTEM c ABS data transfer program for X axis irs DMOV ox U Setting home position address Initial too pulse 7 Setting 1PG pulse command TO KO KO K1 7 unit DTO K4 K100000 K a I 1PG max speed 100 kpps DTO KO K1000 K1 1PG Jog speed 10 kpps 1PG home position return DTO KO K9 K50000 Ki H speed 50 kpps JTO
43. etting error for ABS coordinate Resetting ABS transfer counter Resetting check sum transfer counter ABS transfer mode ABS transfer mode control Initializing ABS data transfer To be continued 2 15 27 15 ABSOLUTE POSITION DETECTION SYSTEM Continued from preceding page 2 co C1 Y41 H SS K ove A0 Saving ABS 32 bit data Counter Check sum ABS counter transfer mode e fvr A0 H Clearing register I FROMP H0001 7872 D8 ki qur Reading Detecting absolute T direction parameter al s position polarity and A1SD71 4 Rotation direction parameter WAND H0004 rotating direction mask WAND H8000 H ABS data sign mask PLS M13 H PLS processing command Rotation direction M13 judgment D8 K4 PLS processing Reversing polarity of upper NEG D command K1 D4 H Subtraction for upper 16 bits Reversing polarity of absolute position NEG ae eal Reversing polarity of lower 16 bits D3 _ K1 D4 ER M4 co K1x30 D5 Reading 4 bits Read ABS data enabled counter wANDHO003 05 H Masking 2 bits DNOR D Bo a ending 2 bits Reading checksum 6 bits gt For H Right rotation of A0 2 bits 2 bitx3 times Counting check sum data reception frequency D1 o a in ud Completion of reading 2 bits of check sum PLS M5 LJ
44. flag mea Resetting check sum judgement 5 Resetting communication counter To be continued 2 15 ABSOLUTE POSITION DETECTION SYSTEM X4 MO Alarm reset PB Y3 Error flag Alarm reset Emergency stop PB Servo alarm M1 transmission start Continued from preceding page zRsT 285 RST RST RST LRST RST ABS data ZRST M10 285 LRST RST Y3 C1 M64 D3 C2 co Y1 Y2 M99 5 6 Y1 M64 D2 C2 co H 2 Alarm reset output Clearing retry counter Clearing ABS data receiving area Clearing ABS receive data buffer Resetting ABS data reception counter Resetting all data reception counter Servo alarm detection alarm reset control Error flag output Servo alarm output Resetting ABS transfer mode Resetting ABS request Resetting ready to send Resetting servo on request Resetting retry flag ABS transfer mode ON Clearing ABS data reception area ABS transfer mode Initial setting Clearing ABS receiver data buffer Resetting ABS data reception counter Resetting all data reception counter To be continued 15 41 15 ABSOLUTE POSITION DETECTION SYSTEM 5 Continued from preceding page Y1 X2 PLS H ABS Send data ready tran
45. gram to multiple the feed value by 10 15 30 15 ABSOLUTE POSITION DETECTION SYSTEM Continued from preceding page 5 M2 PLS M10 ABS transfer retry start pulse Check sum NG M10 C2 ME ser Setting retry flag Retry start Retry pulse counter D7 c2 H Retry counter ABS transfer retry control M11 K1 T2 Retry wait timer 100ms Retry flag set T2 M11 H Resetting retry flag Retry wait timer D100 Saving received shift data END When absolute position data is received at power ON for example if a negative coordinate position which cannot be handled by the A1SD71 is detected the ABS coordinate error Y4B ON is generated If this error is generated move the axis into the positive coordinate zone in JOG operation Then turn OFF the servo on pushbutton switch and turn it ON again 15 31 15 ABSOLUTE POSITION DETECTION SYSTEM a ee eee OM O a O d X axis control program This precludes execution of the X axis start program while M3 ready to send the ABS data is OFF Positioning X axis stat eee mode command M3 E 7 When ready to send the ABS data i X axis start program is turned ON the X axis start command Ready to cet eevee 4 executes the X axis start program send the ABS date e Dog type home position return For an example of a program for the dog t
46. he encoder cable the absolute position erase alarm AL 25 occurs at first power on Leave the alarm as it is for a few minutes then switch power off then on to reset the alarm 4 Confirmation of absolute position data transfer When the servo on signal is turned on the absolute position data is transferred to the programmable controller When the ABS data is transferred properly a The ready output RD turns on b The programmable controller ABS data ready contact M3 for A1SD71 M99 for 1PG turns on The servo configuration software ABS data display window refer to Section 15 9 and programmable controller side ABS data registers D3 D4 for AISD71 D106 D107 for 1PG show the same value at the home position address of 0 If any warning such as ABS time out warning AL E5 or programmable controller side transfer error occurs refer to Section 15 10 or Chapter 10 and take corrective action 5 Home position setting The home position must be set if a System setup is performed b The servo amplifier has been changed c The servo motor has been changed or d The absolute position erase alarm AL 25 occurred In the absolute position system the absolute position coordinates are made up by making home position setting at the time of system setup The motor shaft may misoperate if positioning operation is performed without home position setting Always make home position setting before starting operation For
47. he number of et 7 checksum data PLs Completion of reading checksum 2 bits D5 Read ABS data enabled counter 5 2 WAND 05 H D5 ao Reading ABS data RoR H Right rotation of AO 2 bits 32 bits 2 bits x16 times c 5 Adding checksum Counting the number of ABS data Completion of reading ABS 2 bits data Right rotation of AO 10 bits Masking sum check Sum check OK Detecting ABS checksum error Sum check NG Sum check memory Reading 4 bits Masking 2 bits 11 Adding 2 bits ABS checksum error To be continued 4 15 53 15 ABSOLUTE POSITION DETECTION SYSTEM 4 Continued from preceding page 4 M11 RsT 2 H ABS request reset ABS 2 bits completion M10 Checksum 2 bits completion Y31 X22 PLs M12 ABS 2 bits request ABS transfer Ready to send mode ABS data M12 ser 2 H ABS request set ABS 2 bits request Y32 X22 K1 T200 H 10ms delay timer ABS request Ready to send ABS data Y32 X22 T200 Transmitted data read enabled 10ms delay timer 12 5 1 Reading A1SD75 home DFROPHOO00 K0072 D9 k H ie Checksum position address OK ea er ee rein Sra Se Se eee aes Sie Sos Seg ee ee ee eS i Inserting constant for conversion Not D P D3 D3 Note H into the unit
48. ied up to three times If the check sum discrepancy is still detected after retrying the ABS check sum error is generated Y4A ON 3 The following time periods are measured and if the ON OFF state does not change within the specified time the ABS communication error is generated Y4A ON ON period of ABS transfer mode Y41 ON period of ABS request Y42 OFF period of ready to send ABS data X32 4 If the relationship between the polarity of the received ABS data and the setting value for parameter No 14 rotating direction of A1SD71 AD71 involves negative coordinate values which cannot be handled by the A1SD71 AD71 the ABS coordinate error is generated Y4B ON b Device list X input contact Y output contact ABS bit 0 completion of positioning X31 ABS bit 1 zero speed Y41 ABS transfer mode Send ABS data ready torque limit control X35 Servo emergency stop Y45 Note 1 Clear DO jABSdatatransmissioncounter M0 ABS data transmission start D4 ABS data Upper 16 bits M4 Transmission data read enabled D6 Check data in case of check sum error__ M6 ABS 2 bits read completion ABS 2 bits request 8 Servo on request D8 D9 Home position address Lower 16 bits M10 Received shift data Lower 16 bits D101 Received shift data Upper 16 bits M12 Retry flag reset Retry wait timer Ready to send response timer ABS data receive frequency counter Clear signal ON timer Check su
49. ifier the time required for the ABS request signal to go OFF after it has been turned ON ABS request time is checked If the ABS request remains ON for longer than 1s it is regarded that an fault relating to the ABS request signal or the send data ready signal has occurred and the ABS communication error is generated The ABS communication error occurs if the ABS time out warning AL E5 is generated at the servo amplifier due to an ABS request OFF time time out ABS transfer mode ABS request Send data ready ABS communication TES error ON 15 The signal does not go OFF ON OFF 15 10 2 Error resetting conditions Always remove the cause of the error before resetting the error Output coil e Name Servo status Resetting condition AD71 ABS communication error Ready RD signal off Reset when servo on PB X36 signal turns off ABS checksum error ABS coordinate error Ready RD signal on For AD71 Reset when servo on PB X36 signal turns from off to on For FX 1PG Reset when servo on PB X36 signal turns off Ready RD signal on Reset when servo on PB X36 signal turns from off to on after a motion to coordinate is made by jog operation Servo alarm Y48 Y10 Ready RD signal on Reset when alarm reset PB turns on or power switches from off to on 15 65 15 ABSOLUTE POSITION DETECTION SYSTEM MEMO 15 66
50. ile memory as the home position ABS data The home position setting signal should be turned on after it has been confirmed that the in position 001 or INP is on If this condition is not satisfied the home position setting warning AL 96 will occur but that warning will be reset automatically by making home position return correctly The number of home position setting times is limited to 1 000 000 times Servo Motor Dog signal DOG T EN Da Completion of ON positioning A D01 or INP OFF Home position setting CR Home position ABS data Update 15 17 15 ABSOLUTE POSITION DETECTION SYSTEM 2 Data set type home position return Move the machine to the position where the home position is to be set by performing manual operation such as jog operation to turn the motor shaft more than one revolution When the home position setting signal CR is on for longer than 20ms the stop position is stored into the non volatile memory as the home position ABS data The home position setting signal should be turned on after it has been confirmed that the in position 001 or INP is on If this condition is not satisfied the home position setting warning AL 96 will occur but that warning will be reset automatically by making home position return correctly The number of home position setting times is limited to 1 000 000 times Servo Motor Completion of positioning 001 or INP Hom
51. m receive frequency counter Transmitted data read 10ms delay timer Retry counter Note 1 Necessary when data set type home position return is executed 2 Necessary in the event of electromagnetic brake output 15 25 15 ABSOLUTE POSITION DETECTION SYSTEM c ABS data transfer program for X axis This sequence program example assumes the following conditions Parameters of the A1SD71 S2 AD71 positioning module 1 Unit setting 8 pulse PLS 2 Travel per pulse 1 1 pulse To select the unit other than the pulse conversion into the unit of the feed command value per pulse is required Hence add the following program to the area marked Note in the sequence program Additional program epe SEEN gt a fe mmo pee Unit Unit setting 0 00001 0 0001 0 001 0 00001 0 0001 0 001 oo PSE el lee Unit Unit of travel travel umPIS inch PLS degre PLS PLS Constant K for conversion into 10 to 10 to 10 to None unit of travel Reference For lum PLS set constant K to 10 For 5um PLS set constant K to 50 When the unit setting is pulse the additional program is not required M9038 TOP H0001 K201 K1 K1 H A1SD71 error reset Initial pulse ON MOV Setting retry count 3 times Initial setting M9039 DMov D100 ao Loading received shift data PC RUN X36 SET Servo on request Servo on PB X36 RST H Resetting ready to send J
52. me to hold data by a battery with power off It is recommended to replace the battery in three years independently of whether power is kept on or off 3 Period during which data can be held by the super capacitor in the encoder after power off with the battery voltage low or the battery removed or during which data can be held with the encoder cable disconnected Battery replacement should be finished within this period 2 Configuration Positioning module module AD71 AD7182 AD7187 AISD7182 A1SD7187 AXAO0 41 42 750 AYAO 41 42 AISD75H FX 1PG FX 1GM FX2 32MT FX E 20GM FX 10GM Programmable controller Servo amplifier AD75 etc Servo motor Battery MR BAT 3 Parameter setting Set 1 000 in parameter No 1 to make the absolute position detection system valid Parameter No 1 HEAS je Selection of absolute position detection system 0 Incremental system 1 Absolute position detection system 15 2 15 ABSOLUTE POSITION DETECTION SYSTEM 15 3 Battery installation procedure Before starting battery installation procedure make sure that the charge lamp is off more than 10 minutes after power off Then confirm that the voltage is safe in the tester or the like Otherwise you may get an electric shock The internal circuits of the servo amplifier may be damaged by static electricity Always take the following precautions Ground human body and work bench Do not tou
53. ms If the ABS data transmission fails to end normally even after retry regard this situation as an ABS check sum error and execute error processing The start command should be interlocked with the ABS data ready signal to disable positioning operation when an check sum error occurs 20ms 20ms 20ms or more lt or more le or more lt 1 TE UT d Servo on Retry 1 Retry 2 Retry 3 OFF ON ABS transfer mode i Hu Wie op ie OFF ON ABS request OFF ON Send data ready OFF Yes ABS check sum error No 15 13 15 ABSOLUTE POSITION DETECTION SYSTEM 3 At the time of alarm reset If an alarm occurs turn OFF the servo on SON signal by detecting the alarm output ALM If an alarm has occurred the ABS transfer mode signal ABSM cannot be accepted In the reset state the ABS transfer mode signal ABSM can be input ON Servo on SON OFF Fo Reset ON RES OFF ABS transfer mode ON ABSM OFF ON ABS request ABSR OFF ON Send data ready TLC OFF Transmission ABS data ON Base circuit OFF Alarm output ALM ON Ready Y Operation RD OFF enabled A Occurrence of alarm 15 14 15 ABSOLUTE POSITION DETECTION SYSTEM 4 At the time of emergency stop reset a If the power is switched ON in the emergency stop state The emergency stop state can be reset while the ABS data is being transferred If the
54. ms ON timer request H Switch clear signal on Data set type home position return request Setting X axis home position address 500 DMOVP 500 09 in data register uJ H0000 K72 K1 1 Changing X axis home position address TO K1150 H 1 Writing positioning data No 9003 SET Y10 Starting positioning Y10 n RsT Sud Switching BUSY signal off to switch start f Positioning Start BUSY signal off start completion XA Error detection Note 1 If the data of the home position address parameter is not written from the A7PHP programming tool or the like before starting the data set type home position return program this sequence circuit Note 1 is required and the sequence circuit Note 2 is not required 2 Contrary to above 2 if the home position address is written in the home position address parameter the sequence circuit Note1 is not required but this sequence circuit Note 1 is required 15 57 15 ABSOLUTE POSITION DETECTION SYSTEM g Electromagnetic brake output During ABS data transfer for several seconds after the servo on signal is turned on the servo motor must be at a stop Set 1 O 1 O in parameter No 1 of the servo amplifier to choose the electromagnetic brake interlock signal Y31 X21 vt Electromagnetic brake output ABS transfer Brake MBR mode h Positioning com
55. n 3 Home position returns Operation mode Operation mode II 2 Position start Position stop To Note 3 JOG c JOG dso 40 SON TE eat M ABS transfer mode ABSM 8 L ABS request ABSR 9 M Alarm reset RES 14 MA Electromagnetic brake output Note 4 Note 1 To be connected for dog type home position setting The connection in Note 2 is not required 2 To be connected for data set type home position setting The connection in Note 1 is not required 3 This circuit is for reference only 4 The electromagnetic brake output should be controlled by connecting the programmable controller output to a relay 15 24 15 ABSOLUTE POSITION DETECTION SYSTEM 3 Sequence program example a Conditions This sample program is an ABS sequence program example for a single axis X axis To transmit the ABS data using the OFF to ON change of the servo on signal as the trigger 1 When the servo ON signal and the GND of the power supply are shorted the ABS data is transmitted when the power to the servo amplifier power is turned ON or at the leading edge of the RUN signal after a PC reset operation PC RESET The ABS data is also transmitted when an alarm is reset or when the emergency stop state is reset 2 If a check sum discrepancy is detected in the transmitted data ABS data transmission is retr
56. ommand JOG Note M Na 07 A S T E D ES OE N EE XP X14 1PG home position return M06 Servo ready Home position return PB i EAEE EEDE DAR RAPTI RE ERR PC DAEN A WR ACE ANE eg ENS EN EIE eB M120 DTO D1007 Setting motion distance Position start command pulse ser 108 H 1PG start once z s ine z H Index processing A A ee 2 K6 M121 H M122 z H INDX 6 x12 M101 1PG stop command Position stop PB MO Error flag X16 m00 H 1PG error reset To be continued 6 1PG control command not used Operation command control Position command control Note Program example for the dog type home position return For the data set type home position return refer to the program example in 2 d in this section 15 44 15 ABSOLUTE POSITION DETECTION SYSTEM 6 Continued from preceding page 6 M8000 K235 K1 H FX2 gt 1PG Normally Transmission of control signals ON FROM 200 1PG FX2 Transmission of status DFROMKO K26 D106 K1 H 1PG gt FX2 Transmission of present M200 position D106 D107 f RST H 1PG Resetting start command H d Data set type home position return After jogging the machine to the position where the home position e g 500 is to be set choose the home position return mode set the home posi
57. or conversion into unit of 1to 10 to 1000 10 to 100 to 1000 10 to 1000 None travel Reference For lum PLS set constant K to 10 For 5um PLS set constant K to 50 The additional program is not required for the unit setting is PLS Pai Mion AER LIA ES A ARE ME vov vao H Output signal reset Error reset completion 2 H0000 K1151 K1 K1 H A1SD75 error reset A oer Initial Setting tia numbgr otros 09 etting the number of retries Mov B to 3 times ser M101 H Error reset completion flag M9039 0 D110 A0 Loading received shift data PC RUN To be continued 1 15 50 15 ABSOLUTE POSITION DETECTION SYSTEM L Continued from preceding page 1 15 51 To be continued X26 M13 H Servo on request Servo on T PB ne MT Reading A1SD75 1 axis RDY FROM H0000 K816 D11 K Ha 9 signal WAND H0001 Masking RDY signal J Current position change hi processing instruction M23 c PLS M24 H Current position change flag Processing instruction RDY signal ON judgment X26 S ervo on rst M8 Resetting ready Skoci contro PB M13 H Resetting servo on request rst co Resetting ABS transmission counter at servo OFF Resetting checksum RsT
58. ose of the X axis The buffer memory addresses of the A1SD75 differ between the X and Y axes The instructions marked 1 in the program of Section 15 8 3 2 should be changed as indicated below for use with the Y axis FROMP H0000 K5 D8 Ki FROMP H0000 K155 D8 K1 DFROP H0000 K0072 D9 K1 gt DFROP H0000 K222 D9 H0000 K1154 D3 H0000 K1204 D3 K1 TO H0000 K1150 K9003 K1 5 TO H0000 K1200 K9003 K1 gt is Program configuration 20 pu reru ee N E oe eae ee eee ET X axis ABS sequence program Program in Section 15 8 3 2 c pcc ie Mena Ae te See X tae ae a et Sod at ee PPP ees SSeS ese Sees nue SSeS So eos ees Y axis ABS sequence program Refer to the X axis program and write the Y axis E program a ha e ee aa ee Oe b Data set type home position return Arrange the data set type home position return programs given in Section 15 8 3 2 f in series to control two axes Refer to the X axis data set type home position return program and create the Y axis program Assign the X inputs Y outputs D registers M contacts and T timers of the Y axis so that they do not overlap those of the X axis The buffer memory addresses of the A1SD75 differ between the X and Y axes The instructions marked 1 in the program of Section 15 8 3 2 f should be changed as indicated below for use with the Y
59. ower INPUT supply gt AC100 200 A1SCPU A1 5540 o ABS data bit 0 Positioning completion L i ABS data bit 1 zero speed Readying to send data Torque limiting LT Trouble 1 Alarm reset E 1 Servo on T l 6 Home position return Upper limi tw o d Operation mode l ve Lower limi 1 P i W 8 Operation mode II T i Operation oc moie Operating nas LB T IO NES HE JoG Ts E Home p position return Positioning NC Al sY40 o Servo on Lo D ABS transfer mode ABS request L Alarm reset Le Electromagnetic di brake output Note 4 6 1 Eo 8 Servo alarm f 9 1 ABS communication error ABS checksum error gt 118 come 6 SS 9 SIS peta OE DISPENSE Note 1 A1SD75 P Proximity signal Note 2 STOP M WRT E n Servo ready c ere Positioning completion 5 INPS 8 L7 connor 26 rH CLEAR Note 2 Eea EA TAA PO CC Ee Peo n 4 Q PULSE Q PULSE f e bap 4 ee ea umm D NETUS Note 6 weg M9 15 47 R 55 N 2 be n O d alol gt Oo Ko 15 ABSOLUTE POSITION DETECTION SYSTEM e eee ee MGE ME S n i n y sage LLL Note 1 A WwW For the dog type home position return Need not be connected for the data set type home position return If th
60. pattern ABS data transfer is made as soon as the servo on pushbutton is turned on After that positioning operation is performed as shown below Home position 300000 0 2 After the completion of ABS data transmission JOG operation is possible using the JOG or JOG pushbutton switch After the completion of ABS data transmission dog type home position return is possible using the home position return pushbutton switch 2 Buffer memory assignment For BFM 26 and later refer to the FX2 N 1PG User s Manual BMF No Upper 16 Lower 16 bits bits Name and symbol Set value Remark Pulse rate A Feed rate B Parameter 2000 1000 H0000 100000PPS OPPS 10000PPS 50000PPS Command unit Pulses Vmax Vbia Vjog VRT Max speed Bias speed JOG operation Home position return speed high speed Home position return zero point signal count N Home position address Acceleration deceleration time Not usable Target address I Operation speed I Target address ID Operation speed ID Home position return speed creep 1000PPS 2 pulses 0 200ms Initial value 10 Initial value 100 0 100000 0 10 Initial value 10 Operation command 3 Instructions When the servo on pushbutton switch and the GND of the power supply are shorted the ABS data is transmitted when the servo amplifier power is turned ON or at the leading
61. pletion To create the status information for servo positioning completion During ABS data transfer for several seconds after the servo on signal is turned on the servo motor must be at a stop Y31 X20 H r 999999 M Servo positioning completion ABS transfer Positioning mode completion Y31 ABS transfer mode i Zero speed To create the status information for servo zero speed During ABS data transfer for several seconds after the servo on signal is turned on the servo motor must be at a stop Y31 X21 M Servo zero speed ABS transfer Zero mode speed Y31 ABS transfer mode G Torque limiting To create the status information for the servo torque limiting mode During ABS data transfer for several seconds after the servo on signal is turned on the torque limiting must be off Y31 x22 M Servo torque limiting mode ABS transfer Torque limiting mode mode 15 58 15 ABSOLUTE POSITION DETECTION SYSTEM 3 Sequence program 2 axis control The following program is a reference example for creation of an ABS sequence program for the second axis Y axis using a single AISD75 module Create a program for the third axis in a similar manner a Y axis program Refer to the X axis ABS sequence program and create the Y axis program Assign the X inputs Y outputs D registers M contacts T timers and C counters of the Y axis so that they do not overlap th
62. r was turned on action Note Refer to 2 in this section for details of error occurrence definitions 15 63 15 ABSOLUTE POSITION DETECTION SYSTEM 2 ABS communication error a The OFF period of the send data ready signal output from the servo amplifier is checked If the OFF period is 1s or longer this is regarded as a transfer fault and the ABS communication error is generated The ABS communication error occurs if the ABS time out warning AL E5 is generated at the servo amplifier due to an ABS request ON time time out ON ABS transfer mode OFF The signal does not come ON 1s ON ABS request ee RA I te Send data ready OFF l ABS communication MES error NO b The time required for the ABS transfer mode signal to go OFF after it has been turned ON ABS transfer time is checked If the ABS transfer time is longer than 5s this is communication error occurs if the ABS time out warning AL E5 is generated at the servo amplifier due to an ABS transfer mode completion time time out 55 14 gt ON ABS transfer mode The signal does not go OFF a 1 2 3 4 18 19 ON ABS request OFF ON Send data ready 1 2 3 4 18 19 OFF ABS communication e error NO 15 64 15 ABSOLUTE POSITION DETECTION SYSTEM c To detect the ABS time out warning AL E5 at the servo ampl
63. ransfer mode Indicates the lower bit of the ABS data 2 bits which is sent from the servo to the programmable controller in ABS bit 0 the ABS transfer mode If there is a signal the circuit between D01 and SG is closed P Indicates the upper bit of the ABS data 2 bits which is Position sent from the servo to the programmable controller in control ABS bit 1 CN1B 19 the ABS transfer mode E If there is a signal the circuit between ZSP and SG is closed Indicates that the data to be sent is being prepared in Send data ready CN1B 6 the ABS transfer mode At the completion for the ready state the circuit between TLC and SG is closed When CR SG are shorted the position control counter is Home position e CN1A 8 cleared and the home position data is stored into the setting non volatile memory backup memory Note When Used in absolute position detection system is selected in parameter No 1 pin CN1B 8 acts as the ABS transfer mode ABSM signal and pin CN1B 9 as the ABS request ABSR signal They do not return to the original signals if data transfer ends 15 5 15 ABSOLUTE POSITION DETECTION SYSTEM 15 6 Startup procedure 1 Battery installation Refer to Section 15 3 installation of absolute position backup battery 2 Parameter setting Set 1 OOD in parameter No 1 of the servo amplifier and switch power off then on 3 Resetting of absolute position erase alarm AL 25 After connecting t
64. ror detection Error detection vi Yu v2 Positioning start Start being requested yu vic ass stop __ Stop being requested Y18 1 Forward rotation jog start Forward rotation being started Output 8 Reverse rotation jog start Reverse rotation being started Programmable controller CPU Y1D Programmable controller ready normal Parameter setting completion flag Setting complete Flash ROM registration processing Processing internal relay M100 AD75 normal flag AD75 normal M101 Initial error reset completion flag All BUSY signal OFF flag All BUSY signal OFF M103 AD75 operable flag D100 Flash ROM registration results Data register 1 1 D102 D103 D104 D105 D106 D107 D108 D109 Axis error reset results Axis error reset results b ABS sequence program example 1 Initial setting To reset the error of the A1SD75 the program 5 is added to reset all output signals at start up The axis error reset buffer memory address is changed from 201 to 1154 axis 1 and the slot number from H0001 slot number 1 to H0000 slot number 2 6 2 Absolute position polarity A1SD75 rotation direction setting detection The slot number and buffer memory of the X axis rotation direction parameter reading area are changed from FROMP H0001 K7872 D8 K1 to FROMP H0000 K5 D8 K1 8 The rotation direction parameter masking area is changed from WAND H0004 D8 to WA
65. sfer mode M3 s Y2 H ABS data read Y2 X2 K1 H ABS Send data request ready T204 PO J wan H0003 K1M10 H ABS data waiting timer SFTR M20 gt C2 ADDP KiM10D2 D2 4 K16 c M HH K19 co Y2 P co gt nsr Y1 H All data reception counter WANDP D2 D2 nh r CMPP_K2M52 D2 M62 H C1 Retry counter M62 C1 PLS H counter K10 s 7200 H 52 D3 H SET RST 15 42 5 Resetting ABS data ABS data 32 bits 2 bits X16 times Check sum 6 bits 2 bits x3 times ABS request ON ABS data waiting timer 10ms Masking ABS data 2 bits Right shift 2 bits of ABS data Check sum addition Updating ABS data reception counter Updating all data reception counter Resetting ABS request Resetting ABS transfer mode Masking check sum 6 bits Comparison of check sum Detection of ABS check sum error ABS data check sum error retry control Retry command Setting retry wait timer 100ms Storing check sum value in the case of check sum error Retry flag ON Resetting servo on request To be continued 4 15 ABSOLUTE POSITION DETECTION SYSTEM 4 Continued from preceding page 4 M63 PTF prove K8M20 DO LH Check sum match I DAD PD0 D24 DO H 26 K1 H ser
66. sum counter mode co C1 Y31 M H Saving ABS 32 bit data Counter Sum ABS transfer counter mode ko Clearing register 1 Reading x axis rotation FROMPH0000 K5 K H D direction parameter Masking rotation direction WAND Ho001 KH parameter 9 Hwan H8000 1 Masking ABS data sign PLs mis H PLS processing command Rotation direction d o M18 Reversing polarity of upper NEG PLS 16 bits processing E B command p Ki pi P Decrementing upper 16 bits by 1 Reversing polarity of lower NEG D3 H 46 bits Lower 16 bitsz 0 gt KO D3 K1 D4 z e 1 1 4 Reversing absolute position polarity To be continued 3 15 52 15 ABSOLUTE POSITION DETECTION SYSTEM Retry counter 1 H H A0 M7 D6 SPs C1 l RORP Checksum counter WAND H003F 02 0 M6 lt gt D2 AO ao C2 X v3 amp H H Continued from preceding page 3 d 1 we T 05 H Reading 4 bits Read ABS data enabled counter 7 gt x x 7 Z WAND 05 Masking 2 bits wor 5 Ao Adding 2 bits Reading checksum 6bits ROR Right rotation of AO 2 bits ep SUES D1 Counting t
67. the programmable controller coordinate system will be as illustrated below The power should be turned ON OFF in the range in which the address increases on moving away from the home position Machine home position Home position Programmable controller coordinate system 0 20000 30009 19000 ABS 1 coordinate 20000 0 _ ex 50000 Direction in which system address increases 4 Absolute position data can be detected ABS coordinate value error occurs if power is turned on within this range Home position address changed to 2000 a If revolution direction parameter Pr 14 0 Machine home position Home position Programmable controller coordinate system 10009 70900 20000 0 ABS 1 oe T coordinate 720900 0 20000 Direction in which system f y address increases Absolute position data can be detected 4 3 ABS coordinate value error occurs if power is turned on within this range Home position address changed to 2000 b If revolution direction parameter Pr 14 21 c In a positioning program the address of the positioning point should be determined by adding the home position address to the target position address Example After home position return execute positioning at 1 to 3 1 Positioning at position address 80000 PC coordinate 140000 2 Positioning at position address 130000 PC coordinate 190000 3 Positioning at position
68. the home position setting method and types refer to Section 15 7 3 15 6 15 ABSOLUTE POSITION DETECTION SYSTEM 15 7 Absolute position data transfer protocol After switching on the ABS transfer mode ABSM turn on the servo on signal SON When the ABS transfer mode is off turning on the servo on signal SON does not switch on the base circuit 15 7 1 Data transfer procedure Each time the SON signal is turned ON when the power is switched ON for example the programmable controller reads the position data present position of the servo amplifier Time out monitoring is performed by the programmable controller Servo amplifier Programmable controller SON ON ABS transfer mode ON Every time the SON is turned ON the ABS transfer mode signal is turned ON DIO allocation change Send data ready ON to set the data to be oe transmitted Start processing ABS request ON eas Wy T Send data ready OFF Wa j ch dog timer Current position data The data is read in units of 9 a 2 bits the read data is written 5 Reading 2 bits to the lowest bits and the 16 times register is shifted right until 8 32 bit data is configured 2 Shift and addition 9 ABS request OFF S d E a Send data ready ON ABS request ON le Yc eats lt Sumcheck data gt Pary GPS Mere The data is read in units of Send data ready OFF L Watch dog imer 2 bits the read data is writt
69. tion with the home position return start PBON After switching power on rotate the servo motor more than 1 revolution before starting home position return Do not turn ON the clear signal Y5 for an operation other than home position return Turning it ON in other circumstances will cause position shift Y1 14 KS RPL M70 Clear signal ON timer request ABS transfer Positioning Home position mode completion return start PB M70 K10 1210 Clear signal 100ms ON timer Clear signal ON timer request M71 ser M71 Setting data set type home position return request Date set type home position return request T210 RsT M71 Resetting data set type home position return request Clear signal 100ms ON timer M71 v5 gt Clear signal ON Data set type home position return request Setting X axis home position address 500 JJ move K500 P in the data register DTO D24 1 Changing X axis home position address DTOP KO D24 1 Changing X axis present position data 15 45 15 ABSOLUTE POSITION DETECTION SYSTEM e Electromagnetic brake output During ABS data transfer for several seconds after the servo on signal is turned on the servo motor must be at a stop Set 1 O 1 O in parameter No 1 of the servo amplifier to choose the electromagnetic brake interlock signal _ A v4 Electromagnetic brake output ABS transfer Brake MBR mode f
70. turned ON for a purpose other than ABS data transmission the output signals will be assigned the functions of ABS data transmission Output signal Symbol Pin No ABS transfer mode ABSM OFF ABS transfer mode ABSM ON Not CN1B 19 ABS data bit 1 CN1B 6 Send data ready Note TIN INP CN1A 18 Positioning completion ABS data bit 0 Note CN1B 4 and CN1A 18 output the same signals To enter the positioning completion signal into INPS of the AD75 connect CN1A 18 15 9 15 ABSOLUTE POSITION DETECTION SYSTEM b Detailed description of absolute position data transfer Servo on ON 6 programmable controller OFF Servo on ON SON OFF 1 Note eye ee 7 jee mode During transfer of ABS OFF ON ABS request ABSR Send data ready TE PER Transmission ABS data Check sum N Upper 2 bits Note If the servo on signal SON is not turned ON within 1 second after the ABS transfer mode signal ABSM is turned ON an SON time out warning AL EA occurs This warning however does not interrupt data transmission It is automatically cleared when the servo on SON signal is turned ON 1 The programmable controller turns ON the ABS transfer mode signal ABSM and servo on signals SON at the leading edge of the internal servo on signal 2 In response to the ABS transfer mode signal the servo detects and calculates the absolute position and turns ON the
71. y OFF Servo on Reset Emergency stop EMG OFF ABS Tangier mode During transfer of ABS ABSM OFF ABS request ON ABSR OFF Send data ready ON TLC OFF Send ABS data ABS data A 80 ms ON Base circuit OFF 1 20 ms ON i Ready Operation RD OFF enabled 15 15 15 ABSOLUTE POSITION DETECTION SYSTEM b If emergency stop is activated during servo on The ABS transfer mode signal ABSM is permissible while in the emergency stop state In this case the base circuit and the ready signal RD are turned ON after the emergency stop state is reset Servo on ON Emergency stop ON EMG OFF ABS transfer mode ON During transfer of ABS ABSM OFF ABS request PH ABSR OFF Send data ready SN TLC OFF Send ABS data aps data i 1 80 ms ON n 1 Base circuit OFF PO ON Ready Operation RD OFF enabled 15 16 15 ABSOLUTE POSITION DETECTION SYSTEM 15 7 3 Home position setting 1 Dog type home position return Preset a home position return creep speed at which the machine will not be given impact On detection of a zero pulse the home position setting signal CR is turned from off to on At the same time the servo amplifier clears the droop pulses comes to a sudden stop and stores the stop position into the non volat
72. ype home position return operation refer to the home position return program presented in the User s Manual for A1SD71 f Data set type home position return After jogging the machine to the position where the home position e g 500 is to be set choose the home position return mode set the home position with the home position return start PB ON After switching power on rotate the servo motor more than 1 revolution before starting home position return Do not turn ON the clear signal Y45 for an operation other than home position return Turning it ON in other circumstances will cause position shift m ADAE Geet cree bP Og Nae ee Ee eee Ede Tay ne ET Ee Ty C er ee Se Sc we a EM EL LE LM ONS ge ee Pe CLE d M9039 Home position return mode v2D H PC ready Note 1 dRnlD E Home position return mode Y41 X30 X37 ABS Positioning Home position transfer completion return start PB le 20 med K1 C T10 T Clear signal ON timer request M21 SET M21 Data set type home position return request Clear signal ON timer request Clear signal 100ms ON timer Setting data set type home position return request T10 RST M21 H Resetting data set type home position return request Clear signal 100ms ON timer M21 Y45 H Clear signal

15. ABSOLUTE POSITION DETECTION SYSTEM

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