Supplementary Manual
Contents
1. 8 8 8 48 gt a gt p FB o p 8 gt i p a b n pb a Point 50 Point 50 e e n a a b b 8 b b The special start command code and parameter are set in the positioning special start data area Refer to section 3 4 6 for details on the special start command codes and parameters The special start starting condition command code 00 to 07 is set for the special start command code The condition data No or No of repetitions is set in the parameter Special start Setting parameter Conditional start 01 Wait start 02 Simultaneous start eem P w Net A Condition data No 1 to 10 Remarks 1 Which of the 3 condition data items to be used is set in the condition data No ei Wee d The positioning special start data area is configured as shown below Point 1 Point 2 m ee p e Parameter Condition data No i i p A A A No of repetitions e Special start command code 00 07 3 Condition data area a The condition designated with the positioning special start data area parameter is set in the condition data area The condition data area has ten areas from 1 to 10 Refer to the A1SD75P1 P2 P3 AD75P1 P2 P3 type Positioning Unit User s Manual Details section section 3 6 6 for details on the condition2. X3 4 1 3 3 163 Correction of BUSY signal ON OFF timing in drawing for 5 Manual pulser enable flag i aoe Start signal X1 X2 X3 f Page Mistake Correction 169 Deletion of unit scale limits in table for 1 Unit 1 x1 times 10 x10 times Unit 1 x1 times 10 x10 times magnifi 100 x100 times 1000 x1000 times magnifi 100 x100 times 1000 x1000 times cation Valid when the unit setting is mm cation inches or degrees and invalid when it is pulses A setting error occurs for values other than the above 3 3 169 Change of speed limit value unit in table for 2 Speed limit 1 600000000 Speed limit 1 600000000 value x 107 m min value x 107 mm min 3 187 Correction of setting range for speed position changeover control movement rate change register 3 187 3 188 1178 1228 1278 Positioning Set the start point No start point for executing posi No tioning block start 1 to 50 Start from designated No Other than the above Start from the first point Change of reference section Monitor with the AD75 17 segment LED and LED for axis display Refer to section 4 7 Change of details explained in Procedure 5 3 3 When the mode switch is pressed the 3 When the mode switch is pressed the condition is switched to internal state of the input output information n information monitor 2 which is describ
3. 3 This is the limit switch for the servo for stopping Mitsubishi Electric Corp Nagoya Works 3 5 3 Example of A1SD75 AD75 and MR H connection 1 When using differential driver RA2 EMG OFF ON Regenerative option TESTA Servo amplifier Servomotor MR HOA ne ere NFB MC ale x 3 ome aay Sts a D R E a EN ee ee CNi AISD75 AD75 161 SG DOG 1 Wiese O Q Lo 46 EMG CN2 i 5 42 oppe imi mi o o 12 SON 3 Lower limit limit 2 42 RLS 13 0 15 RES a Tam Bie 13 TL Speed pasition changeover i i CHG 1 15 5 O 38 LSP 3 R P PESA START 16 tart O 3 Within 30m COM 35 am 20 VIN COM 36 VDD x3 CLEAR 37 CR Mor 4 L Monitor 1 arte bes 8 te 10 PP moc 1 5 11 PPR Within 2m e Manual pulser MR HDPO1 Beas CNI Torque limit command eo fs 10V max current g E Torque limit command a a 10V max current TLAN ee 50 Remarks 1 1 The applications of the A1SD75 AD75 connector pin Nos are common for axis 1 to axis 3 2 2 The A1SD75 AD75 upper limit limit FLS and lower limit limit RLS are used by the retry function during zero point return Set these to the inner side with the servo limit switch 3 3 This is the limit switch for the servo for stopping Mitsubishi Electric Corp Nagoya Works 4 5 2 When using open collector RAZ EMG OFF ON Regenerative op
4. command pulse logic There are some products that will not accept the command pulse if the command pulse logic does not match at the servo amplifier or stepping motor driver lf the A1SD75PD AD75P0 and servo amplifier stepping motor driver logic do not match use a differential driver output and cross the wiring as shown in Fig 3 In this case the open collector method cannot be used A1SD75PQ0 AD75PO Drive unit Fig 3 Example of wiring in which command pulse logic does not mach When connecting the AiSD75PQ AD75PQD and a Mitsubishi servo amplifier the logic can be changed with the servo amplifier parameter settings However the normal wiring shown in Figs 1 and 2 must be used Mitsubishi Electric Corp Nagoya Works 3 3 a MITSUBISHI PROGRAMMABLE CONTROLLER Technical News Subject External connection wiring for A1SD75PO AD75P0O Applicable models A1SD75P1 A1SD75P2 A1SD75P3 AD75P1 AD75P2 AD75P3 Thank you for your continued patronage of the Mitsubishi general purpose sequencer MELSEC A Series The method for connecting the A1SD75POD type positioning unit and the AD75PQ type positioning unit with the drive unit will be described in this paper 1 A1SD75P01 AD75PD pulse output specifications e In the A1SD75PD AD75PQ a pulse train is output to the drive unit and the positioning is controlled e The SING pulse output CW CCW pulse output and A phase B phase pulse output types are av
5. data area configuration c The following data is set in each item of the condition data area The condition target command code and condition operator command code are set in the condition identifier Refer to section 3 4 7 1 for details on the condition target command code and condition operator command code bis bl2 bli 8 b7 bO Condition aeter L TT i TT ETT Tt tt et A Condition target command code 014 05 Condition operator command code 01 H OE H Refer to section 3 4 7 2 to 5 for details on the address parameter 1 and parameter 2 15 4 Indirect designation area a b The indirect designation area is used to set different data No 8001 to 8050 in the positioning data No 1 to 600 if 8001 to 8050 is set in the buffer memory 1150 1200 1250 for positioning start No setting the positioning data stored in the buffer memory corresponding to 8001 to 8050 can be started For example if the positioning data No 53 is set in the indirect designation area corresponding to 8001 and 8001 is designated in the buffer memory for positioning start No the positioning data No 53 can be started 8001 8002 i 16 a MITSUBISHI PROGRAMMABLE CONTROLLER Technical News Subject Precautions for replacing A1SD71 AD71 with A1SD75PD0 AD75PQO and connections with MR H MR J Applicable models A1SD75P1 A1SD75P2 A1SD75P3 AD75P1 AD75P2 AD75P3 Thank you
6. for your continued patronage of the Mitsubishi general purpose sequencer MELSEC A Series The precautions for replacing the AiSD71S2 S7 type positioning unit AD71 S1 S2 S7 type positioning unit with the AiSD75PD type positioning unit AD75PD type positioning unit and examples for connecting with the MR H MR J type servomotor are explained in this paper 1 Precautions for replacing A1S071 AD71 with A1SD75 AD75 The precautions for replacing A1SD71 AD71 with A1SD75 AD75 are described in this section Refer to the A18D75PO AD75PO User s Manual Details Section for comparisons of the A1S D71 AD71 and A1SD75 AD75 functions 1 The pulse output logic and connector pin layout differ in the A1SD75 AD75 type Refer to Technical News PLC D 245 for details on the pulse output logic p teme A1SD75 AD75 A1SD71 AD71 Connector used Connector 10136 3000VE Connector FCN 361J040 AU Cover 10336 56F 0 008 Cover FON 360C040 B Sumitomo 3M Fujitsu No of connectors One axis Enclosed with unit for One unit No of axes being used Connector pin layout The pin Nos for each axis have the The X axis or Y axis is same application designated with the pin No Zero point signal Correspond to DC5V DC24V Correspond to DCS5V to DC24V specifications When using MR H MR J use the DC24V power supply Refer to the connection examples Manual pulser model MR HDP0O1 OSM 01 2 C Mitsubishi Electric Nemicon 2 When connecting the A
7. positioning control 01 Correction of 10th line The positioning address and arc data for each axis are used The positioning address and arc data set in the same positioning data No for each axis is used Addition of precaution for interpolation When interpolating with the continuous positioning contro and continuous path control interpolate from the first positioning data No to the run pattern 00 positioning data No lf the positioning data No set in each point for the positioning start data in block start is interpolation all points must be interpolation 3 55 3 55 3 74 Change of 7 e section e Software stroke limit check During execution of speed control checking is not performed as long as the travel value is within the software stroke limit range If the travel value exceeds the software stroke limit range an error will occur at the time of switching to position control and the axis will decelerate to a stop Addition of 8 ee ec ee es eee ee ee ee ee ee ee ee et ee ee ee ee a D a d M Correction of point details qp mp ey qm pp ee am j ee ee ee ee eee ee ee ee ee ee a ee ee ee ee ee The absolute original point is not changed after any of the following control operations is performed e Present feed value O clear at the start of fixed pitch feed e Present feed value O clear during speed control e Present feed value update request command during spee
8. to be simultaneously started is set Refer to 5 4 Parameter 2 a Parameter 2 is used to set the data required for the range operator 6 Only numerical value data can be set in parameter 2 lf the condition operator is simultaneous start the positioning data No of the partner axis to be simultaneously started is set Refer to 5 5 Setting of parameter 1 and parameter 2 for simultaneous start a When the condition operator is simultaneous start parameters 1 and 2 are used to set the positioning data No of the axis to be simultaneously started For example if linear interpolation of axes 1 and 2 and axis 3 are to be simultaneously started the positioning data No for axis 1 and axis 3 is set b The axis 1 to 3 positioning data No is set as shown below The areas used with axis 1 to 3 are fixed Positioning data No for axis 1 parameter 1 low order 16 bit Parameter 1 TEEN Positioning data No for axis 2 parameter 1 high order 16 bit Parameter 2 Steed Positioning data No for axis 3 parameter 2 low order 16 bit aes Not used parameter 2 high order 16 bit 349 2 3 Additional explanation on positioning start information area section 3 6 6 1 Positioning start data area a b c d The positioning start data area is the area used for block positioning Areas for point 1 to point 50 are provided for the positioning start data area Whic
9. 1SD75 with peripheral equipment a convertor cable A1D75 C01H is required Mitsubishi Electric Corp Nagoya Works 1 3 2 Recommended connections e The open collector method or differential driver method is used for the A1SD75PQ AD75PQO pulse train output Generally the differential driver method has a stronger resistance to noise than the open collector method so connection of the A1SD75P0 AD75PO to a drive unit with the differential driver method is recommended However the load current of the A1SD75PQ0 AD75PO0 differential driver is 20mA so the differential driver must be used in the above specifications range 3 Connection with drive unit e Generally the drive unit servo amplifier stepping motor driver command pulse input section is photo coupler insulated with the open collector input The connection with the open collector input drive unit will be described below e Connection of the A1iSD75PQ AD75PQ and drive unit with a differential driver method is recommended to increase the noise margin Refer to Fig 1 A1SD75PQ AD75PD Drive unit 3 Q O amp Fig 1 Example of connection to A1SD75P0 AD75PD differential driver Mitsubishi Electric Corp Nagoya Works 2 3 e When connecting the AiSD75PD AD75PD and drive unit with an open collector method wire as shown in Fig 2 A1SD75P0 AD75PO0 Drive unit Fig 2 Example of connection to A1SD75PQ0 AD75PC open collector 4 A1SD75PO AD75PQO
10. MITSUBISHI PROGRAMMABLE CONTROLLER Type A1SD75P1 P2 P3 AD75P1 P2 P3 Positioning Unit User s Manual lt Supplementary Manual gt a MITSUBISHI ELECTRIC CORPORATION BCN P5133 x 1 Corrigenda Page Mistake Correction 1 16 3 37 3 44 Correction of 2 axis circular interpolation in Table 1 1 2 axis linear interpolation LO oe 2 axis linear interpolation oe a oe 2 axis circular interpolation ae ae 2 axis circular interpolation ioe aa Pasitioning complete i OP i a 3 3 or fi ff a Positioning Positioning complete Positioning b Start of external positioning run 4 When starting with an external start signal the start complete signal will not turn ON 1 In interpolation control only the travel 1 In interpolation control only the trave direction of the applicable axis is checked Therefore automatic deceleration is not performed as long as the travel direction on the reference axis remains unchanged This may result in sudden direction reversal on the other interpolation axis direction of the reference axis is checked Therefore automatic deceleration is not performed as long as the trave direction on the reference axis remains unchanged This may result in sudden direction reversal on the other interpolation axis 3 48 3 48 To avoid sudden reversal of the partner axis do not use the continuous path control 11 for the passing point and instead use continuous
11. Pulser run enable command X4 c TOP D10 External start valid command K1156 D8 K1171 KI K62 KI TOP Correction Deletion of data register D45 AD75 buffer memory 80 D44 Do not run 29 Manual pulser Do not run 29 Manual pulser manual pulser selection manual pulser selection D45 o Positive logic 30 Select pulse output logic to drive unit HO KiS D30 KI6 K15 D30 KIS HO K36 D46 K27 K36 D46 K27 SET M0 SET M0 2 Additional explanation on condition data section 3 4 7 The condition data is used to judge conditions when executing conditional start wait start and simultaneous start The condition data can be created in the buffer memory as condition data No 1 to 10 One condition data item is configured of a condition identifier and three parameters address parameter 1 parameter 2 Configuration of condition data Condition identifier 16 bit a 16 oe oO ee Parameter 2 e Re at ar ee 32 bit a Open ao Site abd EAA 32 bit The range of each parameter in the condition data is checked when the positioning data No is executed If the setting of each parameter in the condition data is not within the range an error will occur and the data will not be executed 1 Condition identifier The condition identifier has a condition target and condition operator for judging the condition a Condition target The target for condition judgment i
12. ailable for the A1S8D75PO AD75PO pulse outputs The type to be used is set with the basic parameter 1 of the A1SD75PQ1 AD75PD The A1SD75PQ AD75PD pulse outputs are shown in Table 1 Table 1 A1SD75P01 AD75PO pulse output a O Forward run Reverse run SING pulse output PULSE SING CW CCW pulse output PULSE F PULSE R A phase B phase pulse A phase output B phase Remarks 1 High and Low for the A18D75POD AD75PO open collector method transistor output are as explained below e High A1S8D75PO AD75PO pulse output transistor is OFF e LowA1SD75PQ AD75PO pulse output transistor is ON Mitsubishi Electric Corp Nagoya Works 1 5 2 Example of A1SD75 AD75 and MR J connection 1 When using differential driver Regenerative option D iia Servomotor Servo amplifier MR J NFB MC FR BAL P o Oo JOU 74 aczoov 230v 6 o T o TO S 50H2 60Hz OST T O o O ao O A1SD75 AD75 Near point dog Upper limit timit Lower limit limit 5 Stop 5 a Speed position changeover O Within 30m 0 5m Star fa O CW 3 a ae CWP 22 ee CCH 4 HE 22 j 7 INPOS PGO COM RAt RA O RB rye os RB 28 O Within 2m Manual pulser MR HOP01 ia CNI Torque limit command om 10V max current eee Moni A meter HO awe AN eai aea T 10k Remarks 1 1 The applications of the A1SD75 AD75
13. connector pin Nos are common for axis 1 to axis 3 2 2 The A1SD75 AD75 upper limit limit FLS and lower limit limit RLS are used by the retry function during zero point return Set these to the inner side with the servo limit switch 3 3 This is the timit switch for the servo for stopping Mitsubishi Electric Corp Nagoya Works 2 5 2 When using open collector __ Regenerative option Gar ee ee Servo amplifier MR J Power supply o AC200V 230 oO 50Hz 60Hz o o o A SD75 AD75 Near point dog ees 2L Upper limit limit i Serve ON pe eee oY a S 2 FLS 12 M 0 28 SON g 2 RLS 13 Lower limit limit 2 i 5 Fese 20 RES FE 3 f Stop ternal torque limit L i Speed position changeover 7 Forward run stroke end 3 TL ra ppa T OO i 30 LSP 3 a o a START 16 Start n A Reverse run stroke en 31 LSN 3 ball som 0 5m Manual pulser MR HDPO1 CN1 PI5R Torque limit command 10V max current E 3 TLA Ma rany Monitor Max 1mA meter 7 4M0 i Single sway CoH 7 LG 4 10kQ Within 2m Within 3m Remarks 1 1 The applications of the A1SD75 AD75 connector pin Nos are common for axis 1 to axis 3 2 2 The A1SD75 AD75 upper limit limit FLS and lower limit limit RLS are used by the retry function during zero point return Set these to the inner side with the servo limit switch 3
14. control forward run e Speed position changeover control reverse run e Current value change 3 157 Correction of X4 X5 X6 section ED h a ee et A GD Sh ee EE ee et eS ee et A ee ee Ge ee ek ee ee ee ee ee ee la a e In manual pulse generator operation it is During revised path pulser run the in ON during positioning in accordance with manual pulser enable flag ON will turn pulse input from the manual pulse ON generator 3 158 Correction of Y10 Y11 Y12 section e When the start signal is turned ON during When the start signal is turned ON during BUSY a multiple start warning is issued BUSY the running start warning is issued cia occa A 250 EULA S Se ee ee Deere ee Oe CCG ne ae emer e Speed control forward run ODH Speed contro reverse run OEH e Speed position changeover control 0 forward run FH Speed position changeover control 10H reverse run e Current value change center point designation ABS CCW center point designation ABS CCW e Circular interpolation control with Circular interpolation contro with OBH center point designation INC CW center point designation INC CW e Circular interpolation control with e Circular interpolation control with OCH center point designation INC CCW center point designation INC CCW e Speed control reverse run afa Busy X4 X5 X6 3 Busy X4 X5 X6 PUL Start signal X1 X2 X3 Start signa X1 X2
15. d control e Software stroke limit check The software stroke limit range will be checked at start up only when the feed current value update during speed control request is ON 8 Designation of positioning data The following positioning data is set in the peripheral device and sequence program Control method Select Forward run speed position Reverse run speed position Acceleration time ewe tO Deceleration time ee eee Positioning address movement rate Circular address fe ee Meos p Remarks 1 1 Refer to section 3 4 5 for details on the positioning data 2 2 The setting necessity is indicated with the following symbols O Setting required A Set as required Setting not required 3 3 The Forward run speed position and Reverse run speed position control methods are selected according to the motor rotation direction The absolute original point is not changed after any of the following control operations is performed e Present feed value O clear at the start of fixed pitcn feed e Present feed value update request command OFF during speed control b Change of speed during zero point return The speed cannot be changed after the creeping speed is entered d For the manual pulse generator 1 pulse d For the manual pulse generator 1 pulse input magnification set the value for the input magnification set t
16. e Set 600 in buffer memory address 1138 Set 600 in buffer memory address 1105 Set 500 in buffer memory address 1138 Set 500 in buffer memory address 1105 3 120 Addition of explanation to 2 e e If it is not possible to secure a sufficient e If it is not possible to secure a sufficient distance for this function to change the distance for this function to change the current speed to the designated override current speed to the designated override speed the current speed is changed to speed the current speed is changed to the highest possible speed within the the highest possible speed within the given distance given distance However if the run pattern is the continuous path control the speed will not be changed a warning warning No 110 occurs while take place at the speed unit 1 the feed is performed at the speed of 1 in the current speed units 3 120 i Addition of i to 2 i lf the set override value is not in the setting range run will take place at the following values e When 0 Run at 100 e When 301 or higher Run at 300 3 120 Correction of 2 h section h If the feed speed of 1 or less results from If an override value of 100 or less is set setting an override value of 100 or less and the feedrate is 1 or less run will 3 122 Change of 1 explanation 1 Feedrate feed mechanical value address Feedrate feed mechanical value address The
17. ecion Invalidating the software limit during JOG operation and manual pulse generator operation a If the electronic gear setting value is too great the commanded speed may exceed the speed control value causing the servomotor to operate at too high a speed Correction of c section Set the speed control limit acceleration time deceleration time and rapid stop deceleration time by specifying their respective parameters Correction Axis Nos o Upper stroke limit 166 167 316 317 Lower stroke limit __ 168 169 318 319 Software limit selection cae Invalidating the software limit during JOG operation and 171 321 manual pulse generator operation a If the electronic gear setting value is too small the real speed may exceed the speed control value causing the servomotor to operate at too high a speed When the M code ON signal is turned ON the M code OFF request must be turned ON with the sequence program and the M code ON signal must be turned OFF lf the M code ON signal is not turned OFF the process will be as shown below according to the run pattern 3 105 3 106 3 107 3 111 Correction of c section c A speed change can be executed at any given point during the following positioning operation by turning ON either the positioning speed change request in the control axis data or the positioning
18. ed monitor shown in Procedure 6 will be in step 5 moved to Change of program example Deletion of MC N1 M100 on oe oe oe ee ee ee ee os me ee oe ee ee ee ee ee om es em gm ee ee ee ee ee es ee oe G Monitor with the AD75 17 segment LED and LED for axis display Refer to section 4 6 15 5 2 XA it rove HO K807 D101 KI x0 YD i N1 M100 XA piee HO K807 D101 KI Page Mistake Correction 7 13 7 14 8 5 10 6 Change of program example High speed zero point return start command X4 7 I FROMP HO K817 DO Kl Y10 xi X4 WANDP DO H8 DI M code OFF command C HO K1193 Data transfer input output signal AD75 buffer memory Positioning start signal Positioning start point No Start point No buffer memory address 1179 ee K1153 K7000 KIH Ki173 KO oH SET YIH TOP H TOP HQ Positioning starn complete X1 Pulser run enable command X4 m ToP HO K1167 External start valid command High speed zero point return start command X4 B HO K817 DO KIH L WANDP DO H8 DIH Y10 M code OFF command han _ _ _ _ _ HO K1153 Data transfer input output signal AD75 buffer memory Positioning start signal Positioning start point No 1150 1178 Start point No buffer memory address 1178 TE TOP HO KII78 KO SET KI Vo Do not turn ON OFF during jogging Positioning start comptete X1
19. ep is while the axis run state is the step wait performed if the step start data is set to state the next positioning step will be 01H when the axis operation status is executed step standby 3 111 Deletion of 2 f f When step operation is performed continuously it is first confirmed that the step start data is set to OOH by the OS then the step start data is set to 01H 3 111 Correction of 2 g section g Once the first point positioning has lf the step start information is set to 01H Started the stopped processing of or 02H while the axis run state is the positioning data restarts if the step start step stop state the stopped positioning data is set to 01H or 02H when the axis data will be restarted Operation status is step stopped 3 112 Correction of 2 j section j When the axis operation status is step j If the positioning start signal is turned standby step stopped or step error with ON again while step waiting for the step the step effective signal ON the first valid signal ON while step stopped or point positioning step will be performed during a step error the step for upon turning ON the positioning start positioning the positioning No signal again designated with the positioning start No will be executed 3 117 Correction of buffer memory address eee Set 500 in buffer memory address 1138 Set 500 in buffer memory address 1105 SB CONECTION DE UOT MOMO OOS aaa oe er ee eee ee ta
20. external speed change signal in the external signals Correction of 2 d Buffer memory address Reference axis Speed change Speed change 1156 1157 1056 1057 1208 Addition of g explanation g Even when the operation pattern is set to continuous locus control 11 an immediate speed change can be executed upon receiving a speed change request Correction of 2 a section a If the step enable signal has been turned ON the BUSY signal is turned ON when the positioning start signal is turned ON performing the first point positioning designated in the positioning start table By turning the axis control data run speed change request ON or by turning the external signal external speed change ON the speed can be changed at a random point Reference axis change 1156 1157 1158 1206 1207 1208 1256 1257 1258 Even when the operation pattern is set to continuous locus contro 11 an immediate speed change can be executed upon receiving a speed change request However if the distance required to change to the designated speed is not secured the speed cannot be changed Set the step valid flag ON beforehand and turn the positioning start signal ON Page Mistake Correction 3 111 Change of 2 e section e Once the first point positioning has e If the step start information is set to 01H started the next positioning st
21. feedrate feed mechanical value The feedrate feed mechanical value address is a ring address between 0 and address is a ring address between 0 and 360 359 99999 Page Mistake Correction 3 148 Addition of command code to control methods in Table 3 8 Saning deta Seting deta Axis 1 linear control ABS Axis 1 linear control ABS e Axis 1 linear control INC e Axis 1 linear control INC Axis 1 inching control e Axis 1 inching contro 03H Axis 2 linear interpolation contro ABS e Axis 2 linear interpolation contro ABS 04H i Axis 2 linear interpolation control INC Axis 2 linear interpolation control INC 05H Inching control of axis 2 with linear Inching control of axis 2 with linear ost interpolation interpolation e Circular interpolation control with Circular interpolation controt with 07H auxiliary point designation ABS auxiliary point designation ABS e Circular interpolation control with 08H auxiliary point designation INC e Circular interpolation contro with auxiliary point designation INC Circular interpolation control with center point designation ABS CW e Circular interpolation control with 09H center point designation ABS CW e Circular interpolation control with Circular interpolation control with OAH e Speed control forward run Speed position changeover
22. h point of the positioning star data area to start is designated with the buffer memory for the positioning start point No setting J Burer memory adress lf the run is started without setting the buffer memory for positioning start point No setting the run will start from point 1 The format and positioning data No are set in the positioning start data Refer to section 3 4 6 for details on the format and positioning data No D Either End 0 or Continue 1 is set for the format A positioning data No from 1 to 600 is set in the positioning data No The positioning data area is configured as shown below b15b14 b0 point gt tit it til pom A ee ee i i 4 4 4 4 1 1 1 1 K L 4 4 a 4 4 a t 4 4 4 1 4 L a 1 a 1 L 4 Li r 4 4 4 s r i 1 t 1 1 Point 49 Point 50 Positioning data No 1 600 e Format End 0 Continue 1 Remarks 1 The data No for which positioning control is to be executed is set in the positioning data No 248 2 Positioning special start data area a The positioning special start data area is where the AD75 special start is set The positioning special start data area corresponds one on one with the positioning start data area Positioning start data Positioning special area start data area 4 e b
23. he value for the relevant axis relevant axis lf the magnification is outside the setting The manual pulser will run with the range an axis error will occur and following values when the value is not in manual pulse generator operation will not the setting range be performed In such a case input If the input scale per pulse of the pulses from the manual pulse will be manual pulser is 101 or higher the ignored pulser will run at 100 lf the input scale per pulse of the manual pulser is O or less the pulser will run at 1 Correction of Remarks 2 Buffer memory address Buffer memory address 1161 1160 1201 1200 Buffer memory address 1161 1160 1211 1210 Correction of 4 a section a When the stop signal is turned ON a When the stop signal is turned ON during JOG start axis motion during JOG start axis motion decelerates to a stop decelerates to a stop The start complete signal is turned OF concurrently Correction of Remarks 1 Buffer memory address Speed change value 1157 1156 1197 1196 Speed change value 1157 1156 1202 1201 Speed change Speed change 3 91 Correction of stop process in example 3 86 Upon detection of an error the axis will decelerate stop immediately and stop w Mo error is detected y Nall No 10 Page 3 92 Addition to Remarks 1 Buffer memory address fist Sid upper sro im iT Lower stroke im _ software imi ssl
24. r condition judgment is the instant value during judgment Thus if is used the conditions usually will not be established On the other hand if 4 is used the conditions will always be established Use the range operator to prevent the above phenomenon b Wait start FOR condition The condition judgment is controlled with the AD75 control cycle Thus even if the conditions are not established with the current control cycle if they are established at the next control cycle wait and FOR will be completed fRemarks 1 1 During range designation 1 an error will occur if parameter 1 gt parameter 2 11 2 Address a The address is used to designate the buffer memory address used when the condition operator is a normal operator or range operator The condition judgment is done with the value of the buffer memory designated with the address and the parameter 1 and 2 values b The address is not used when the condition target is device X device Y or positioning data No 3 Parameter 1 a Parameter 1 is the data set when the condition operator is a normal operator range operator bit operator or positioning data No b The data that is set differs according to the operator being used Decey SN ur memory feb Numercai vawe utter memory e2 __Numercalvae lf the condition operator is simultaneous start the positioning data No of the partner axis
25. s set in the condition target The following five types of condition targets are available Deicey o te meray GOH e Positioning data 05 10 b Condition operator The condition operator sets the method for calculating according to the condition target The following 14 types of condition operators are available Command target that can be designated Buffer memory 16 32 bit Command code Relation of condition target and parameter n parameter o n parameter epee o o s a parameter n parameter 1 o fae ___ cone 1 sns parameter 2 i designation 1 Range gt parameter 1 n parameter 2 designation 2 Condition operator h Normal operator N li I i 0 Buffer memory 16 32 bit Range operator Bit operator ON oo Parameter 1 ON Ta Device X OFF Parameter 1 OFF 8 Device Y CO x Axis designation Simultaneous Start Axis 1 designation is 1 esignaion Positioning data No my O O Y Judgment of condition operator The special start commands for executing condition judgment include conditional star wait start and FOR condition The processes of the condition operators and differ during condition judgment of the above special start commands a Conditional start During conditional start the value used fo
26. tion Er MR HOA Gelso as Power supply O AC200V 230V o 90Hz2 60Hz O x 3 A1SD75 AD75 16 SG Near point dog Emergency stop ae Upper a ss i i A Servo ON RA 12 SON 2 I RLS 3 Lower limit limit Reset 15 RES Speed position ree Dor AEL lus Start ogee rea Reverse run stroke end SAES aa START 16 ml OO Q O 39 LSN 3 Within 30m gt CoM 35 VIN CLEAR 5 37 CR Monitor 1 C ee ee Monitor 2 a a a Manual pulser MR HDPO1 JE CN Torque limit command 10V max current Torque limit command 10V max current Within 3m Remarks 1 1 The applications of the AiSD75 AD75 connector pin Nos are common for axis 1 to axis 3 2 2 The A1SD75 AD75 upper limit limit FLS and lower limit limit RLS are used by the retry function during zero point return Set these to the inner side with the servo limit switch 3 3 3 This is the limit switch for the servo for stopping Mitsubishi Electric Corp Nagoya Works 5 5 a MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE MITSUBISHI DENK BLOG MARUNOUCHI TOKYO 100 TELEX J24532 CABLE MELCO TOKYO NAGOYA WORKS 1 14 YADA MINAMI5 HIGASHI KU NAGOYA JAPAN BCN P5133 9601 MEE Printed in Japan Specifications subject to change without notice
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