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MELSEC-L LD77MH Simple Motion Module

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1. oo Execution prohibition flag Ve 30103 10n 66 Start up Guidance e Selectable Item oynchronous Control Monitor buffer memory address Selectable Item LD77MH4 LD77MH16 Current value per cycle after auxiliary shaft gear 42804 40n Control Monitor f Selectable Item oynchronous Control Data Selectable Item LD77MH16 Main shaft clutch force OFF command 44082 20n Auxiliary shaft clutch command 44083 20n Synchronous Control Data 44085207 67 Start up Guidance Appendix 3 2 Error history of Simple Motion Module Setting Tool Error codes and warning codes at debugging a Simple Motion Module can be referred 1 Double click the Intelligent Function Module Monitor Module Monitor Axis Monitor button to display the axis monitor initial window E Inteligent Function Module E d Ond Ep 7mH4 E System Setting oS Parameter 2 Servo Parameter 5 Positioning Data a Block Start Data a Synchronous Control Par Cam Data e BUSY Aa Han lU 23 4 E SE Monitor EL gy Module Monitor usto li 3 4 Saus Bsp wating detection Ed sq Axis Monitor asmo 12 134 Module Information List ccurence time Error detals Puc READY YO Sa 201 LOS PAAS Gutside start No range Sb wor RLADYOGRO S Synchronizetion Flagoo Al Al ares seno ONCE Servo dau READY ON Axis No nd 3 rvo SES Seno ON f a ha Um AL S ee a ES
2. Axis 1 t tart No 1500 4 E fej Set 9001 for machine OPR e h 2 Setting the axis 1 positioning start No Double click Machine OPR command X53 with pressing the SHIFT key to turn X53 ON and to set 9001 to the start No register Double click with pressing the key Y 3 Axis 1 OPR start Double click Positioning start command X71 with pressing the key to turn X71 ON OPR starts by setting 9001 of the start No register to the buffer memory and turning the axis 1 positioning start signal ON Kee Double click with pressing the SHIFT key Y Next page 36 Quick Start Guide 3 Checking of axis 1 OPR Axis Monitor Monitor Type AxistOutput Axis Axis 1 Current feed value Machine teed value Axis error No D Axis warning No D Axis operation status Waiting axis feedrate 0 00 mm min Positioning data Mo being executed Positioning data being executed Operation Positioning Complete Positioning data being executed Control system Positioning data being executed Acceleration time 0 1000 Ho 0 0 Positioning data being executed Deceleration time 0 1000 No Positioning data being executed Axis ta be interpolated el Positioning data being executed M cade Deviation counter 1 PLS Motor rotation speed 1 0r min Motor current valu
3. a L Positioning Data Hew Data E z Block Start Data HHS Synchronous Control Paramet Setting Method 0 cq Input Axis Parameter 2i Die 1 Synchronous Pare 5 EN Bxig Synchronous Pare 2 Gis 3 Synchronous Pare mca De uh ngon arc Set by Stroke Ratio C Set by Coordinate Comments Import other file Y Import 2 Cam data screen start up The initial screen is displayed to create cam data ie MELSOFT Series Simple Motion Module Setting Tool MH 0CXStartup GuidanceXL26CP U LD77MH sample2 E 0030 LD77MH4 Cam Data No 002 11 TBR Project Edit View Online Tools Window Help 8X DEBE aemwBIOB IAmuis B b js Return to Basic Setting y 5 PG i Bet Stroke Ratio lt es NE NEN a fee ae Length per SA Settin Stroke Amount Setting 1 i i d 3 Intelligent Function Module Resolution 256 v EE g 9 Cam Data Starting Point 0 Unit degree D Unit D d 0030 LD77MH4 Stroke Setting Range Pos per Cycle 0 00000 degree D PN UM 100 0000000 to 100 0000000 Length per Cycle 360 00000 degree Stroke Amount 100 0000000 Stroke Pos 0 0000000 95 ig Parameter l 33 Servo Parameter Cam Graph 349 Positioning Data m Display Graph Display Magnification Point Data de ae Ge Iv roke Speed Acceleration Jerk width 100 w Height 100 el WH 100 Screen
4. Servo status 1 876 100n 2416 100n Zero passage Zero speed Speed limit PID control Servo status 2 Control mode Servo alarm In position Torque limit 877 100n 2477 100n Absolute position lost Servo warning Optional data monitor output4 28 Servo status 3 858 100n 2458 100n Continuous ae lt lt to torque control Control mode Control mode switching status status 895 100n 2495 100n 64 Start up Guidance c Selectable Item Axis Control Data buffer memory address Selectable Item y LD77MH4 LD77MH16 Positioning start No 1500 100n 4300 100n New deceleration time value 000000000000 deceleration time value Acceleration deceleration time change during speed change 1512 100n 4312 100n enable disable selection Axis Control Data 4364 100n WM pM pM MH MH NH sum Ge 65 Start up Guidance d Selectable Item Axis Control Data continued Parameter write Parameter write request Torque time constant at torque control mode Forward direction 1581 100n 4381 100n Axis Control Torque time constant at torque control mode Reverse direction 1582 100n 4382 100n Data Torque time constant at continuous operation to torque control 1591 100n 4391 100n Forward direction Torque time constant at continuous operation to torque control 1592 100n 4392 100n Reverse direction Cisse 9 777 FowadmmJOGstt o o o o 30 ReesemnnJOGstt
5. Wire the units after installing the module servo amplifier and servomotor Failing to do so may lead to electric shocks or damage Q Never operate the switches with wet hands as this may lead to electric shocks Q Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to electric shocks Do not touch the module servo amplifier servomotor connector or terminal blocks while the power is ON as this may lead to electric shocks Do not touch the built in power supply built in grounding or signal wires of the module and servo amplifier as this may lead to electric shocks 2 For fire prevention NCAUTION Q Install the module servo amplifier servomotor and regenerative resistor on incombustible Installing them directly or close to combustibles will lead to fire Q if a fault occurs in the module or servo amplifier shut the power OFF at the servo amplifier s power source If a large current continues to flow fire may occur When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fire Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used Failing to do so may lead to fire Q Do not damage apply excessive stress place hea
6. 40 Start up Guidance 3 1 2 axes System where Synchronous Control is Available The following shows the configuration example of a system which combines LD77MH4 MR J3 B and a servomotor Personal computer breaker d n NFB L61P NE OM Kass D 6 SSCNET III Cable L26CPU BT ZS i No fuse breaker Se NFB i MR J3 B T Magnetic j contactor Si Mo 8 P acc CHT E Motor power EATER 5 supply cable Encoder FD cable Servo motor 41 Start up Guidance 3 2 Start up Procedure in Synchronous Control 3 1 2 axes system where synchronous control is available Creating sequence programs for synchronous control 3 3 Creating parameter for synchronous control 3 4 Operation check 1 Creating a new project 2 Creating sequence programs 3 Saving a sequence programs as a project 4 Connecting CPU module and personal computer 5 Format the CPU module 6 Writing the sequence program to the PLC CPU 1 Setting the system setting 2 Parameter and servo parameter settings 3 Positioning data setting 5 Cam data setting 6 Saving a project 4 Synchronous control parameter setting 7 Writing to the Simple Motion Module 1 OPR for establishing a home position 2 Start up of drive axis 3 Operation check of a synchronous axis 4 Op
7. Stroke 9 5 Cam Curve P1 om to P2 1 00 1 0 00000 2 1 0 0500000 Constant Speed 2 2 00000 4 00000 0 5000000 Constant Speed 3 4 00000 6 00000 1 1000000 Constant Speed 4 6 00000 8 00000 1 9000000 Constant Speed 5 8 00000 113 59160 50 0000000 Constant Speed 0 0000 6 113 59160 222 00000 98 1000000 Constant Speed Setting Range 222 00000 224 00000 98 LLL E ae z Cam EE Cam curve degree degree 96 0 00000 2 00000 0 0500000 Constant speed 2 00000 4 00000 0 5000000 Constant speed 4 00000 6 00000 1 1000000 Constant speed 6 00000 8 00000 1 9000000 Constant speed 9 22600000 228 00000 99 9000000 Constantspeed 3 Y 6 Saving a project Refer to the previous section Saving a Simple Motion Module as a project 7 Writing to the Simple Motion Module Refer to the previous section Writing to the Simple Motion Module 8 Completion of Synchronous control parameter setting 50 Start up Guidance 3 4 Operation check of synchronous control For details of the operation check for JOG operation OPR and positioning control refer to Chapter 2 This section explains the operation check of the synchronous control Following the procedure below the axis 1 executes the cam control in synchronization with the current feed value of the axis 2 Axs postonng siat XI Tum ON tne aris poston siet Yat and sart OPR fe ae 2 Ls ee Turn OFF X71 and X72 once Synchronous control EE Synchronous mE Axis 2 positioning st
8. This document explains for the 1 axis system which applies a ball screw Device Specifications Ball screw lead PB 10000 0um 210mm Reduction ratio NL NM 1 2 Load side NL Motor side NM The ball screw on load side makes one rotation for each 2 revolutions of the motor Encoder resolution 262144PLS Servomotor HF KP series Servo amplifier MR J3 B series lt Operation pattern gt 1 Reciprocate between the home position Omm and P1 1 Move from the home position Omm to P1 at the speed of 2000 00mm min 2 Move from P1 to the home position at the speed of 30000 00mm min 2 Execute the continuous positioning control to 1 and 2 Position mm P1 100 0mm PO 0 0mm Time lt Speed mm min 2000 00 Time 30000 00 Quick Start Guide 2 1 System which Combines LD77MH and MR J3 B The following shows the configuration example of a system which combines LD77MH4 MR J3 B and a servomotor Personal computer USB cable Eo a E LI No fuse ai 1 breaker GX Works2 NFB MR Configurator2 MC MR J3 B MITSUBISHI 3 Magnetic contactor SSCNET III cable Motor power supply cable Encoder oervomotor Quick Start Guide 2 2 Preparing devices Please prepare the following devices cables and software 1 Simple Motion Module Main unit Simple Motion Module LD77MH4 LD77MH16 ds De t MAL E B 2 Servo ampli
9. oynchronous parameter axis 1 Set the synchronous control parameter of the axis 1 1 Synchronous control parameter screen start up Double click Intelligent Function Module LD77MH4 Synchronous Control Parameter Synchronous Control Parameter Axis 1 Ps _ 2 0030 LD77MHAD Axis 1 el i x Item Setting value i je Ei Main input l Erag axis 23 Intelligent Function Module fos rend fly OD30 LD 7MH4 Misho 2 i r Sub input axis i T rin System Setting Type O Invalid I 1 System Structure Axis No 0 i _ Main shaft SS Mark Detection aere Parameter Main 1 Input Sec Sub D No Input L servo Parameter Main shaft gear ee Positioning Data Numerator 1 5 Black Start Data Ge ee a Synchronous Control Parame clutch pE Main shaft i a Input xis Parameter clutch control Kaz setting i Axis 1 synchronous Pa ON control 0 No Clutch Direct wt Axis Synchronous Dat mode Coupled Operation E Axis EI Synchronous Fat SE D OFF Control Invalid i EH Axis 4 Synchronous Par High speed i input request O Loan Gam Data signal i T E Manit Main shaft O Current Value after um Ontor clutch reference Main Shaft Composite v RI Digital Oscilloscope address setting Gear Main shaft clutch ON 0 0000 mm address Travel value before main 0 0000 mm shaft clutch ON Main shaft clutch OFF 0 0000 mm address Travel value v before main 0 0000 mm 2 Synchro
10. when installing the products where major accidents or losses could occur if the products fail install appropriate backup or fail safe functions in the system 5 MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 HIGASHI KU NAGOYA JAPAN When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission SH NA 030102 A 1106 MEE Printed in Japan New publication effective Jun 2011 Specifications subject to change without notice
11. E EE EN Sampling time ms 6553 8 4 Setting the trigger condition After closing the assistant screen select Edit Trigger to display the Initial Setting screen M Digital Oscillos Select the Trigger Setting button Sampling Rate ms 0 08 1 1 5000 Operation Cycle ms Total Time vee Sampling Size point 8192 10to8192 ms Trigger Balance Trigger Type One shot Continual Filing Trigger Clicking the Trigger Setting button displays the screen to set the trigger conditions Press the Pattern button repeatedly to Initial Setting Trigger Setting display 3 3 BIT _Next Prev Trigger Mode BitOR Bit AND WordOR NONE 1 ur KA PROBE Device Word Pattern Filter Trigger Value Set the fol lowi ng items x Rate hx icamaxieydecurem 2 o PLS E a yon Axis 1 Cam Axis 1 Cycle Current on Value 42812 Ln 9 I T Ee 100x0 0001 mm B l 3 Axis 1 Cam Axis Current Feed Value Complete Cancel 428 1 6 ES 10x0 1um n En EE Next page 56 Start up Guidance 5 Starting sampling Display the assistant screen again and select 4 Start sampling R Digital Oscilloscope Close the assistant screen and start sampling Start sampling To stop sampling use the menu toolbar icon or STOP gt assistant screen Select the Yes button to sta
12. JOG operation speed x lt Setting of 0 for inching MOVP KO D5 Inching movement amount 4 JOG operation request write TOP H3 K1517 D5 K3 Inching movement amount JOG operation operation execution X5E X30 OC lt JOG operating flag ON 80 E T SET Ww Forward LD77 Axe nm run JOG READY i Sen BUSY In JOG operation X5F flag Reverse run JOG cmd ABE XSF C JOG operation completed RST M7 Forward Reverse Axi run JOG run JOG In JOG cmd cmd operation flag AE MI Y39 Forward JOG 931 I A4 X vaa Forward Ax Axis 1 Axis 1 run JOG In JOG Reverse Forward cmd operation JOG start run JOG flag start ZDF M Y38 amp Reverse JOG sH J _ gp Arr Forward Ax Axis 1 Axis 1 run JOG EE PET Devero cmd operation run JOG JOG start flag start 72 Start up Guidance x Error reset program lt Error reset command pulse X6E 103 oe PLS M28 Error Error reset reset command M28 X38 Lax 110 MOVP KI Gl 502 Error Axis 1 Axis 1 reset Error Axis detection Error reset X30 T l MOVP K1 G602 Axis 2 Axis 2 Error Axis detection Error reset LU3x 123 MOVP KO G1502 Axis 1 Axis 1 Error Axis detection Error reset X39 12 MOVP KO UB 128 Gl 602 Axis 2 Axis 2 Error Axis detection Error reset x Stop program 4 x lt Stop command pulse X6F 133 Pp Aaa PLS M29 Stop Stop co
13. L21 1 25mm weie Main circuit power L1 L2 L3 2mm AWG14 Motor power line U V W 1 25mm2 AWG16 125mm AWG16 Grounding Y Grounding Next page Quick Start Guide 3 Setting the servo amplifier axis select rotary switch The switches 0 to F of servo amplifier axis select rotary switch correspond to d01 to d16 The relationship between SSCNET Structure and axis select rotary switch is shown in the figure below oet the switches to the corresponding axis No Axis sel MR J3 B iade Description rotary switch Cover is zale penae ee f P switch rotary switch D ed ap Axis 1 1 Axis9 9 a M AE 3 px Servo 3 B di2 Axis 12_ amplifier ow pem s Jam Axse LU 144 Lee 8 Lue jJ M1 43 10B8 SALA ATT 4 Connecting various cables Connect the SSCNETIII cable and the encoder cable Connect the USB cable between personal computer and PLC CPU Refer to Section 2 1 Y Next page Quick Start Guide 5 Checking if the power is properly turned on 3 Make sure that the power supply of PLC and servo amplifier is properly turned on 1 Check the wiring of the PLC CPU module 2 Turn on the power supply of the PLC R RUN MST SD ERR B iorgs LRUN SMST RD LERR BA USER B RATE STATION NO 1 ower MITSUBISH MELET DSPU INPUT 100 240VAC mem A a b a Power supply module LED Green is lit b CPU module MODE LED Green is lit W
14. O Compile Save Location Di usrE LD77MH Workspace Project List Glose ic Save trs Workspace startup gauidance Workspace Mame 1 LDz7MH sample1 Project Mame Title Ex LD 77MH Startup Guidance 4xis 16 L26CPLI BT W Revision is inherited MELSOFT Series GX Works I l l I I l l l I i i l I i I l i l i I l i l i l I v 6 Saving projects completed 14 The specified project does not exist Do vnu wank to create a new project Quick Start Guide 4 Connecting CPU module and personal computer Write sequence programs to PLC CPU 1 Connecting CPU module and personal computer 2 PLC power supply ON v Turn on the power of the power supply module 3 Connection settings of GX Works2 and PLC Mavigation ox a D L PC vide LE Serial Setting x m Ma Specification Connection Test Y Click the Connection Destination and double click the Connection 1 button frangter Set ond em bus board got COMP Go mt Pld Mutass Communication Modde HesiModde lr PLC Mode cpu Ges hetyoak Cover Channel List Cuher Zeta deter orcs Nel ver PLC Direct Coupled Setting Retry Tees 0 m m Le Ethernet Double click Serial USB on PC side I F to display the screen shown left Select USB Double click CPU Module on PLC side I F t
15. OPR request setting 0 Turn OPR Request ON at Servo OFF Pulse conversion module Waiting time after clear 100 ms signal output Optional data monitor Data type setting 1 0 No Setting Optional data monitor Data type setting 2 0 No Setting Expansion S TENE Optional data monitor Data type setting 3 0 No Setting parameters Optional data monitor Data type setting 4 0 No Setting Operation cycle setting 1 1 77 ms Note 1 The Operation cycle setting and External command signal selection are used only in a parameter of LD77MH16 Example of setting the speed limit value in maximum motor speed Ball screw lead 10 0 mm Servomotor HF KP13 262144 pulse rev Gear 1 2 Speed limit value Maximum motor selection r min x Gear ratio n x Ball screw lead mm 6000 r min x 1 2 x 10 mm v 30000 00 mm min 7 Parameter setting completed 24 Quick Start Guide 6 Servo parameter setting 1 Start MR Configurator2 Click the Servo Parameter Setting button to start MR Ege Ld 2 L Le Pret gess fb Bete eee Spee one eee CgH Fee Ae Icom Sechs per Configurator2 DET LI 2 sch Intelligent Function Module E d O030 LO 7 MH4 np System Setting S System Structure Mark Detection 7 zioni ek te ee aet A emm Coy EEF Baza Servo Parameter ES s Positioning Data ES Ka Black Start Data H Ka synchronous Control Parame E
16. START UP 2 to 39 2 1 System which Combines LD77MH and MP J3 OD sess enne nennen nnn nnns nnns nnns 3 2 2 Ee lee le Belle 4 2 9 idrtupproce EE 5 2A IMStaliilnG ane Le Uc EET T LT 6 SEET HEI ee ER P 7 2 5 nstaliad applicatio ga EE 10 2 Creating sequence programs by USING GX Works2 nennen nnne 12 2 8 Creating Parameter and Positioning Data by using Simple Motion Module Setting Tool 19 ZO Operallon CNE CK MER RR NR A E E E E E tceateniiate 32 3 SYNCHRONOUS CONTROL START UP 40 to 57 3 1 2 axes System where Synchronous Control is Available cccccccccccsssseeeeeeeessssseeeeeeeeessseseeaeeeeeeessssaaes 41 3 2 Start up Procedure in Synchronous Control 42 3 3 Creating Parameter for Synchronous Control 43 3 4 Operation check of synchronous Control 51 APPENDICES 58 to 75 APPENDIX T Start ele TL e EE 58 APPENDIX 2 Parameter and positioning data 59 AT PENDIXS Vargus monitor TUNCIONS cc iacu teta e Eo ee EUR ex EVERY ER TES NE mien itinerant 62 APPENDIX GA AXIS MONIO EU m m araa eN aaaea aaa aA ria EE AA ENEA 62 APPENDIX 3 2 Error history of Simple Motion Module Setting Tool 68 APPENDIX 3 3 PG diagno sis OF GX WOIKS2 geesde EE 69 APPENDIX 4 Sample eeler EE 70 Quick Start Guide 1 OVERVIEW This quick start guide describes the items and the operations which are needed to wire the Simple Motion Module as well as to perform the JOG operation the program operation and the simultaneous control b
17. Upper Synchronous Control 4463 88 mmjmin Positioning Complete Font Size Spt 117925 9 um 117925 9 um Position Control Synchronous Control 2000 00 mm min Pasitioning Complete 1 axis linear control INC 0 1000 D 1000 23 5 PLS 13 3 r min l l 5 2 Completion of the operation check with the intelligent function module 54 Positioning Control 2000 00mm min Start up Guidance 4 Operation check with digital oscilloscope check of cam operation This section explains the method for checking the cam operation with the assistant function of the digital oscilloscope 1 Starting the digital oscilloscope Double click Digital Oscilloscope ENT T zu Rea MN oO E um ERT LL Dis ia i EL zi iad Intelligent Function Module a i 2 ig 0020 LO7 I MBA i 1 je i System setting e E Parameter m Sf Servo Parameter a A g pS Positioning Data a 17 Block Start Data Ka Synchronous Control Parame Cam Data 8 Monitor gl Digital Oscilloscope i Al 1 EIS i s SET 2 Starting the assistant screen u Digital Oscilloscope L26CF File Edit View Action Online WO wells miei rr mem As 2 Cam Ax 1 cycle curre Ax 2 5 es Assistant Screen moRp mm err 3 Selecting operation items from the assistant screen The digital oscilloscope can be easily set by using the assistant functio
18. be stopped immediately and the power shut off Use the module servo amplifier servomotor and regenerative resistor with the correct combinations listed in the instruction manual Other combinations may lead to fire or faults Q Use the CPU module and Simple Motion module with the correct combinations listed in the instruction manual Other combinations may lead to faults Q f safety standards ex robot safety rules etc apply to the system using the module servo amplifier and servomotor make sure that the safety standards are satisfied Q Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of the module or servo amplifier differ from the safety directive operation in the system In systems where coasting of the servomotor will be a problem during the forced stop emergency stop servo OFF or power supply OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes In systems where perpendicular shaft dropping may be a problem during the forced stop emergency stop servo OFF or power supply OFF use both dynamic brakes and electromagnetic brakes Q The dynamic brakes must be used only on errors that cause the forced stop emergency stop or servo OFF These brakes must not be used for normal braking Q The brakes electromagnetic brakes assembled into the servomotor are for holding applications and must not be used for normal brakin
19. switch of the PLC CPU module to STOP Y 2 Writing to LD77MH Select Online Write to Module to display the screen to write to LD77MH After setting Select All press the Execute button to display the write to module screen Online Tools Window Help i m Read from Module gt Write to Module Online Data Uparation P Cam Data Password Backup Restore of ABS Cam Data Monitor MAL Positioning Test l Request of Parameter Initialization Flash ROM Write Win bother Je fire memory vidas Please check Write to the Flash ROM when erie bo Eh fled ROM Y 3 Writing flash ROM Press the Yes button to write data to the flash ROM of the Simple Motion Module MELSOFT Series Simple Motion Module Setting Tool Write to Module i Overwrite contents of Flash ROM Are vou sure EFEFEEEEEEEEEEEENI FFEEEEEEEEEEENEEED o O030 LD77MH4 Write Complete write En Module Completed When processing ends close this window automatically If the data is not written to the flash ROM the data is erased by turning the power supply OFF to ON Y Next page 29 Quick Start Guide 4 Power OFF to ON Reset the PLC CPU or power OFF to ON If the servo parameter is overwritten power the servo amplifier OFF to ON Please write the sequence program the parameters and the other data of the simple motion controller at first And switch power off once and then switch it on agai
20. user 2 Onerous repair term after discontinuation of production 1 Mitsubishi shall accept onerous product repairs for seven 7 years after production of the product is discontinued Discontinuation of production shall be notified with Mitsubishi Technical Bulletins etc 2 Product supply including repair parts is not available after production is discontinued 3 Overseas service Overseas repairs shall be accepted by Mitsubishi s local overseas FA Center Note that the repair conditions at each FA Center may differ 4 Exclusion of loss in opportunity and secondary loss from warranty liability Regardless of the gratis warranty term Mitsubishi shall not be liable for compensation to damages caused by any cause found not to be the responsibility of Mitsubishi loss in opportunity lost profits incurred to the user by Failures of Mitsubishi products special damages and secondary damages whether foreseeable or not compensation for damages to products other than Mitsubishi products replacement by the user maintenance of on site equipment start up test run and other tasks 5 Changes in product specifications The specifications given in the catalogs manuals or technical documents are subject to change without prior notice Microsoft Windows Windows NT and Windows Vista are registered trademarks of Microsoft Corporation in the United States and other countries Pentium is a trademark of Intel Corporation in the United States and othe
21. 1 16 51 00 3128 Bytes Detail 2011 02 02 20 39 22 ID esit BECH LEER 2010 01 11 16 51 04 Set if itis needed Mo Setting Already Set Use Volume Free Volume 1 058 516 6 444Bytes Refresh Execute Write Title Format DLC Clear PLC Memory Arrange PLC Memory Memory 4 Writing to CPU module completed 18 Click Close to close the window Quick Start Guide 2 8 Creating Parameter and Positioning Data by using Simple Motion Module Setting Tool This section explains the setting methods of parameters and positioning data used in the Simple Motion Module LD77MH 1 Adding a Simple Motion Module 1 Right click on Intelligent Function in GX Works2 to select New Module D o ia H E ct eo oe CNN rt g Parameter 8 r Tntelligen Global D d Cem Ess Intelligent Function Module Parameter List da Proera Read Ge Gonfigurator GP Data amp sg Be top js E Device Memory i fy Device Initial Value v 2 Select a module The following shows a setting example of when the Simple Motion Module LD77MH is connected next to the CPU module New Module odule Selection Ite m P LC type Module Type Analog Module D LO2CPU L26CPU BT Analog Module Madule Name Counter Module LD75 Type Positioning Module Module Type Simple Motion Module Serial Communication Module ount Position Simple Motion Module Mounted Slot No 0 E Acknowledge I O Assignment M od u e N am
22. 4 Displaying the main screen Click the Open button to display the main screen MELSOFT Series GM Works DCYLDT7MH D GXStartup GuidanceXL26GPLI zamplelE MRG MAIN E m i Drop Edit Erxi Replace Compile Ven lee Denn Duaamctez Joo Winder Help 5 DU E iae B ae e RR ER m E ass nho s Le B irs eel Gi en La TEE 5250 ica EE YET T TU T ETE ETOETISEY SETS Bay sg alten a IPHGI MAIN OP CERE NC Ai An Parameior p PLG Parameter B Mebenkh Parameter un Femme Pacemord Futelluperit Function Module A Global Device Comment E s Program Setting POL CH Proeram sg MAH CH Local eege Comment E Device Memory Deva bilal Value mem p pel WW J altl4ainr dada Ba HEA lg Connection Destination Ku EE I LI LI I I I I I LI i I I i LI LI I I I I LI LI i I I I I LI LI I t i LI I i I I I LI LI I I I I LI LI i I I I LI LI I I I Links exl LI I 5 Sequence program completed 3 Saving a sequence program as a project 1 Select Project Save As from the menu 2 Select Browse to specify the save destination path 3 Enter any names for workspace project and title Make sure not to overwrite to the original project 4 Click the Save button 5 To save the project click the Yes button ME MELSOFT Series GX Works Unse Project Edit Find Replace CT Mew CrN P Open Ctrl
23. 4s a result of calculation some error occurs in the travel value Applying the calculation result above the error For the movement amount 0 0 um you want to perform is about 0 0 um Error Calculation Click OK to reflect to the basic parameters 1 OK Cancel 43 Input Machine components Unit Setting O mm Diameter of Roll 50000 0 um Reduction Gear Ratio NL NM Load Side NL dh Motor Side NM 1 Encoder resolution 262144 Conveyor Calculation result Unit Setting 0 mm Number of Pulses per Revolution 4625519PLS Moving Amount per Rotation 2 711663 0um Unit Magnification 1 x 1 time Start up Guidance 3 Positioning data setting Create a program where the belt conveyor axis 2 moves to P1 from the home position Create a cam data in synchronization with the belt conveyor for the axis 1 which executes the cam control Example of positioning data moving to P1 from home position Position of belt conveyor axis 2 457 07060mm Teen ees If the roller whose diameter is 50 mm rotates one time the belt conveyor moves for 157 0796 mm 0 0mm Tim Speed mm min gt 2000 00 Time Position of cutter axis axis 1 Execute the cam control for following 100 0mm the movement of the belt conveyor 0 0mm Time 1 Selecting the positioning data Double click Intelligent Function Module LD77MH4 Positioning Data Positioning Data Axis 2 to display t
24. CHRONOUS CONTROL START UP This section explains the synchronous control In particular the operation check of the synchronous control parameter positioning data for synchronous control and synchronous control are explained For existing parameters and servo parameters refer to Chapter 2 Running cutoff device This is a device that makes the cutter axis axis 1 follow the operating conveyor axis axis 2 without stopping and cuts the center of a work After cutting the cutter axis moves to the standby position Synchronous control where an electronic cam is used in the cutter axis is executed control axis Belt conveyor axis Specifications As the roller of the belt conveyer rotates once a work on the belt conveyor moves for one work size 1 Specifications of cutter axis cam control axis Ball screw lead PB 10mm Gear ratio of external reduction gear 1 2 Cam stroke 100 0000mm 2 Specifications of belt conveyor Roller diameter 50mm Circumference of roller 50mm x n 157079 6um Gear ratio of external reduction gear 1 1 roller directly connected to a servomotor Operation pattern of device gt The cutter axis axis 1 moves constant distance in synchronization with the belt conveyor After synchronization the axis returns to the original position The belt conveyor operates at constant speed Speed mm min gt 2000 00 Time Speed mm min gt 2000 00 Belt conveyor axis Time
25. DW 2 23 Intelligent Function Module feed value of the axis 2 2d DOO LD 77 MH4 rii System Setting th povstem Structure Mark Detection Axis 2 Axis 1 Item ISSIR AP E A stees test uec aec aie cr RE PER 7 Parameter Servo input axis type 0 Invalid 1 Current Feed Value EN Servo Parameter Detail setting vie Positioning Data Va Block Start Data Synchronous Control Parame i22 Input Axis Parameter jes AXIS YACHFOMOUS Far O ms 0 us 10 ms Input smoothing time constant Oms Phase correction advance time Ops Phase correction time constant 10 ms O Without Rotation Direction Restriction D Witbout Rotation Directio Restriction n Es Axis 2 Synchronous Par Axis 43 Synchronous Par Axis 4 Synchronous Par Rotation direction restriction Input axis parameter Axis 2 gt NN ERa E bia Qus Y axis Phase correction time constant 10ms Rotation directi tricti 0 Without Rotation otation direction restriction Deeg 4 Setting completion of synchronous control parameter and input axis parameter 48 Start up Guidance 5 Cam data setting 1 Cam data screen start up Right click the Cam data button and select Create new data to display the creating new data screen Set the cam No and click the OK button cf Os LD 77 MBA EE oavstem Setting x9 Parameter aS Servo Parameter
26. FT GX Works2 2 Installing MR Configurator2 3 Checking the startup of MELSOFT GX Works2 Creating a new project Creating sequence programs Saving a sequence program as a project 2 7 Creating sequence programs t 3 4 Connecting CPU module and personal computer 5 6 by using GX Works2 Format of the CPU module Writing the sequence program to the PLC CPU Adding a Simple Motion Module Starting the Simple Motion Module Setting Tool Creating a new project Setting the system setting 2 8 Creating parameter and positioning P 3 4 5 Parameter setting 6 7 8 9 data by using Simple Motion Module Setting Tool Servo parameter setting Positioning data setting Saving a Simple Motion Module as a project Writing to the Simple Motion Module 2 9 Operation check 1 JOG operation for checking the rotation direction the electronic gear setting etc 2 OPR for checking a home position 3 Positioning control Quick Start Guide 2 4 Installing modules Install the prepared modules L26CPU BT REI RECE ER xS T 1l WISS MODE EAR RUN MST SD ERR enmt TUEETTTT NETTES SET de USER ERAE STATUA NG L BAT 1 Installing modules 1 Release the module joint levers located on the top and bottom of the LD77MH module Slide the hook forward 2 Engage the LD77MH module and the connector of the CPU module by plugging them properly 3 Lock the module joint levers located on the to
27. I System Structure E 0 Display Filter Display Al Axis 1 Set according to the machine and applicable motor i Basic parameters 1 Compute Basic Parameters E yawri to perform i about fin Next page Dr Ane of cala nia emo ccu in Le inverse ri ni ga System Structure p Mark Detection G Parameter 2 Servo Parameter 9 Positioning Data 3 Block Start Data Synchronous Control Parame EA Input Axis Parameter a Axis 1 Synchronous Par m Axis 2 Synchronous Par om Axis 3 Synchronous Par G Axis 4 Synchronous Par L Cam Data E Monitor Wl Digital Oscilloscope Aphia Ube pakub result above De error lor Use faasa amount Ckk OK ko pel lect to Use base porsrebers 1 22 Unit setting No of pulses per rotation Movement amount per rotation Unit magnification Bias speed at start Basic parameters 2 Speed limit value Acceleration time 0 Deceleration time 0 Detailed parameters 1 Unit magnification Dimm 16384 PLS 312 5 um 0 00 mmymin Set according to t 2000 00 mm min 1000 ms 1000 ms Set according to the system Used this parameter when Movement amount per rotation exceeds the s Set the electronic gear within the Following range 0 001 lt Electronic gear No of pulses per rotation Movement amount gt Host Station Quick Start Guide 6 Set other parameters Change the underlined part There is no need to change the b
28. Intelligent Function Module Monitor Module Monitor Axis Monitor button to display the axis monitor initial window Select Monitor Axis A elt GF ES RP fe Monitor Harker Wype facotoco aon Fert et E sees crc J Mex mtormation tit Pic Raten 1077 READ OCGO syechecneaten Bag Al aces servo ven Servo stabus READY ON Ac o E 3 4 Servo Rous Servo ON oso BEE gt Forced top eputiuoi o1431 359430 8 um 37 7 um Aus eror No 0 0 Axis waming No H 0 Asp Operator status JOG Operator waro 0 00 mm mn In best mode f15900394361200 AMP less oper ation mode stabus U3a1 432 No of writing to Foch ROME 1424 1 times wing ficu 61211 opped Catal OSC rur St Click Select Monitor Axis to display a Axis Monitor screen JX LD77MH4 Axis 1 to 4 LD77MH16 Axis 1 to 16 62 Start up Guidance 3 Select Monitor Item Click Select Monitor Item to display a Axis Monitor screen Select the displayed item Select the monitoring item in the Selectable Item Set Um montor tem and Um deplay order Groupng ena Al The update rate of the monitor depends on the number of selected items Zeie Loge Rem Monitor Rem amd Ue D r Order Number of selected Rem 18 Rems Positioning data being executed Cer Ste pattern Siren data baing executed Control system Positioning data being executed Acceleration tear No Positioning date bei
29. ME RH SEET GON dir during Pod pls input CVY dir during rev pls input hal i uu Monitor pamit i Wl Digital Oscilloscope Extension Gain change Eist display Forced stop A OP1 Basic Servo forced stop selection Gain Filter Invalid Mot use forced stop input EMT La i Extension sl m u MR2 Help ROTATION DIRECTION Select the rotation direction of the command input pulse e Select either CCW direction when the forward pulse is input CW direction when the reverse pulse is input or CW direction when the forward pulse is input CCW direction when the reverse pulse is input CCW direction when the forward pulse is input CW direction when the reverse pulse is input CW direction when the forward pulse is input CCW direction when the reverse pulse is input Y 7 Completion of the JOG operation check 35 Quick Start Guide 2 OPR for checking a home position OPR Original Point Return control includes machine OPR that establishes a machine OP without using address data and fast OPR that carries out positioning to the coordinates established by the machine OPR This document explains the method to operate the data setting type of machine OPR 1 To operate machine OPR After setting the positioning start number turn ON the a start to start OPR Buffer memory memo Item y Signal Description LD77MH4 LD77MH16 Set the positioning start No
30. MITSUBISHI Mitsubishi Programmable Controller MeELsec AME MELSEC L LD MH Simple Motion Module Quick Start Guide 1 OVERVIEW 2 SIMPLE MOTION MODULE START UP 3 SYNCHRONOUS CONTROL START UP APPENDICES Appendix 1 Start address setting Appendix 2 Parameter and positioning data Appendix 3 Various monitor functions Appendix 4 Sample program Quick Start Guide SAFETY PRECAUTIONS 6 Please read these instructions before using this equipment Before using this product please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly Refer to the Users manual of the CPU module to use for a description of the PLC system safety precautions In this manual the safety instructions are ranked as DANGER and CAUTION An RU CrMESS apu RTT MET M NP RNC OUT TACTO QM M rM iu eA UEM MIU v Tq N l Indicates that incorrect handling may cause hazardous N DAN 3 E R conditions resulting in death or severe injury Indicates that incorrect handling may cause hazardous N CAU T O N conditions resulting in medium or slight personal injury or physical damage A men mmm mmm mmm mmm mmm mmm RR A mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mmm mg Depending on circumstances procedur
31. Monitor Axis s Eck Lise virdir ers arl Hoe dopar order Set the monitor axis and the display order Wen eim s Ta ptus dbi d thn se sear Oi en Pu AUS Uf dicio Rae Selectable Axis No i i i or Meriter Then andthe Daniy der Number at selecied ten 18 ewe A Bir Current feed waive Machine Teed wale Axis 3 edie uz cond n besi easet sx bo be inter isdabd reiege data ber executed M cede Ptaa rengt of speed pesi pua chin control V counter External input signal Lou br Meter minin speed Enternal neut signal upper im bron current value kend reg signal Do au pereo status servo aam ie khera eat signal baril command cxgnallcsik china signal Seren stabi Sarvo t ter pur u gnud Her spolst ok unu Non fh ape g flag OK Cancel Select Monitor Axis Axis 1 Select Monitor Item Forward JOG start Reverse JOG start Status OPR request flag Status OPR complete flag Start complete External input signal Lower limit External input signal upper limit 33 Quick Start Guide e Bereet Axis Monitor Check Item Axis Monitor Monitor Type Axis Output Axis l Axis 1 Jee feed value ig8n u 2 um Machine feed value 10900 2 um Axis error HO O Axis warning Mo t Axis operation status JOG Operation Axis feedrate 100 00 mm min Positioning data Mo being executed Positioning data being executed Operation Positioning Complete pattern Positi
32. S La Cam Data EN Ke Monitor ll Digital Oscilloscope tlastona Invalidity of forced stop signal Select Invalid Not use forced stop input EMI in the servo forced stop selection Forced stop AoP1 servo forced stop selection Invalid Mat use forced stop input EMT Ei Valid Use forced stop input EMTY Invalid Mot use forced stop input EMT Forced stop input selection specifies whether to load or not the forced stop input signal from the servo amplifier For safety reasons the default setting is Select Forced Stop Input Selection EM1 For not loading the forced input signal change to setting to Not Select Forced Stop Input Selection EMI Y 2 3 Home position set condition selection Click Component parts to display the component parts screen Select Z phase must not be passed in the home position set condition selection jes Function display Component parts Update Project Common Basic Regenerative option REG Brake output MBR Regenerative option setting Extension Regen option is not used vi d Position control EE Servo adjustment Servo amplifier Uses magnetic brake interlock MBR Electromagnetic brake sequence output ms 0 1000 Basic Battery ABS COP4 Extension Absolute position detection system Servo motor Used in incremental system iv i ENC cable COP1 Katz Gain change Home position set condition selection Encoder cab
33. SOFT GX Works2 Install the software by following the instruction manual which comes with MELSOFT GX Works2 Version 1 Mitsubishi IQ Platform compatible Programmable Controller Engineering MELSOFT Software SW1DNC GXW2 E GX Works2 Integrated software of programming simulation module settings and monitoring tool function MELSOFT GX Works2 d Installing MR Configurator2 Please contact your nearest Mitsubishi sales representative for the MR Configurator2 supported 1 01B or later Parameter settings and adjustment of servo MR Configurator2 SW1DNC MRC2 E bien Y Parameter settings monitoring and graphs Next page 10 Quick Start Guide 3 Checking the startup of MELSOFT GX Works2 1 Creating an icon of MELSOFT GX Works2 Select Start All Programs MELSOFT Application GX Works2 GX Works2 lad MELSOFT Application kee MR Configurator m Startup d an MT wWorks2 e MT Developer b m 58 Wor k DA GX Works And then the icon can be created on desktop by right clicking to select Send To Desktop Create Shortcut Open Run as Pin Fo Stark menu Send To Compressed zipped Folder Mail Recipient Create Shortcut My Documents Delete J 3 5 Floppy 43 2 Starting MELSOFT GX Works2 e When there is an icon Double click to start MELSOFT GX Works2 When there is no icon Click Start All Programs MELSOFT Applicat
34. Una best rode flag rii ax AME less operation mode statustUMi 1432 3 be Error History No ed veiting o Fisch ROM UTIGIA24 D tees LLL EE Warning History Digkal OSC running FlagiUw1211 pm Serva Monitor SE Bl Digital Oscilloscope 2 Save to CSV file The save screen of the CSV file is displayed when clicking on a Create CSV File button When the file name is specified the error history is preserved Save to CSV file Save in E tmp Mu Recent Documents My Documents E Mu Computer Mu Network File name En207 10305154707 Y Places Save as type csv File csv e Cancel 68 Start up Guidance Appendix 3 3 PC diagnosis of GX Works2 Error codes and warning codes at debugging a sequence program can be referred 1 Select Diagnostics PC Diagnostics to display the PC diagnostics screen Diagnostics Tool Window PLC Diagnostics Ethernet Ipiagnastics CC IE Cortrol Diagnostics CC IE Fiel Diagnostics MELSECRHHT Diagnostics CC Link Diagnostics System Panibar Montor Status Connection Channel List Hor oie Port PLC Module Connection USB System Image C PLC Status information Change the window sze and position after error Age Error jump Lrroc Message Abbreviation Error Messaqe Detel Year Momh Day Ve ACIOC DOWN ACIDS DOWN 2011 3 3 21 18 24 ACC DOWN ACC DOWN 2011 3 3 20 5 3 ACEN DOWN ACJIOC DO
35. View 32 Axis 3 Positioning Data 95 3 Axis 4 Positioning Data 100 0000000 Block Start Data 4 55 Synchronous Control Paramet m Input Axis Parameter T Axis 1 Synchronous Para T Axis 2 Synchronous Para E Axis 3 Synchronous Para m Axis 4 Synchronous Para a Cam Data Cam Data List 0 0000000 B No 002 m Monitor Wl Digital Oscilloscope 1 I I I I I 1 1 1 1 1 I 1 I I I 1 I I I 1 I 1 1 I I 1 I I I 1 1 1 100 0000000 0 00000 90 00000 180 00000 270 00000 360 00000 1 I I I 1 1 I 1 1 1 I I I I degree Stroke Setting Cam Curve Detail Setting Curve Application Range i Section Start degree End degree Stroke Cam Curve P1 0 00 to P2 1 00 1 0 00000 0 00000 D 0000000 Constant Speed i dor e Je D OO m Setting Range Host Station Next page 49 Start up Guidance 3 Creating cam data When the stroke and cam curve is set as the cam graph appears as a Cam Graph a Display Graph Display Magnification Point Data 7 Stroke v Speed Acceleration Jerk width 100 i Height 100 a WIH 100 Screen View K 100 0000000 b 100 0000000 0 00000 90 00000 Curve Application Range Section Start degree End degree
36. WN 2011 33 20 4354 ACIOC DOWN Dc DO 2011 9 3 20 25 40 AC OC DCIWN X DO 2011 3 3 20 23 5 ACIOC DCWN LEY Do 2011 3 3 2 21 51 ACIOC DOWN LE DO 2011 2 3 20 15 2 ACIOC DOWN Cx 2011 3 3 19 35 49 ACIOC DOWN CD 2011 3 2 14 15 23 ACIOC DOWN Jc 2011 3 2 14 9 30 ACIOC DOWN Cx 2011 3 2 14 5 29 2011 3 2 69 Start up Guidance Appendix 4 Sample program A CAUTION a This sequence program is an example using LD77MH4 and L26CPU BT When other modules are used the assignment of the signal is different Please refer to the users manual chapter of the positioning control for details of each signal b The sequence program of this appendix is used in this startup guidance Be sure to add and verify the conformance with the desired system before diverting the programs of this appendix to the actual system These sequence programs were excerpted from the necessary part of MELSEC L Type LD77MH Simple Motion Module User s Manual For details refer to the user s manual 1 Used device list synchronization flag SEHR PLC CPU X53 Machine OPR No setting Input Positioning No setting Input unit X6E PLC CPU X6F Stop command PLC CPU Output l SESER 70 Start up Guidance 2 Sequence program example PLC READY signal Y30 ON program SM403 Mas M27 7B lt PLC READY signal ON 0 po vs0 OFF for Paramete Flash RO PLC READ PLC Iscan on r initia M write Y signal READ ly after li
37. art Turn ON the positioning start of the axis 2 and start the synchronous control 1 OPR for establishing a home position Execute the OPR of the axis 2 For details of the operation check for the OPR of the axis 1 refer to Chapter 2 1 Turn Machine OPR command X53 ON 2 Turn Positioning start command axis 2 X72 ON Positioning start Mo setting program D 1 Machine OPR D Double click with pressing the SHIFT key 1 MOVP K3001 D32 Machine OPR 9001 write Positioning start progzram Axis 2 Positioning start command pulse hx Posi Double click with hcl Aa pressing the SHIFT key amp Po i vat x41 e y Hes Ax2 Posi tioning sitioning start command hold gt start cm d storag lt Setting of Positioning start No gt U3x D I 0 Start No tioning start cm d storag i Positioning start execution SET Y41 Positioning start storage OFF gt RST MBB 3 Completion of OPR 51 Start up Guidance 2 Start up of drive axis 1 Turn ON Synchronous control axis setting X7D and set H1 to the buffer memory U3 G36320 and the axis 1 as the synchronous control axis Synchronous contlrol axis setting Dou ble click With E pressing the SHIFT key lt Synchronous control axis setting US Hi G36320 synchron ous cont rol axis setting Y 2 Checking the axis 1 BUSY signal Check if the axis 1 BUSY signal is turned ON when se
38. asic parameter 1 since the parameter is already set in the previous section The value can be changed by double clicking each item of the parameter setting screen a The default values of the input signal logic selection upper limit and lower limit are set to negative logic considering the safety If you do not use these signals change the values to positive logic before use b Forced stop input signal is enabled considering the safety If users do not use this signal switch it to be disabled before using UWseing 8mm Basic Numberofpulses per revolution 16384 PLS 262144 PLS parameters 1 Movementamountperrevoluion 312 5 um 5000 0 um Unitmagnification heime Software stroke limit selection 0 ind Software Limit to Current Feed 3 Detailed Input signal logic selection lower imit 1 Positive Logie parameters 1 input signal logic selection upper imit 1 Positive Logie Input signal logic selection External command 0 Negative Logic switching signal Input signal logic selection Near point dog signal 0 Negative Logic Input signal logic selection Manual pulse generator Qr Negative Logie input External Input signal selection 1 Use Input of Servo Amplifier Manual pulse generator Incremental synchronous encoder input selection l 0 Speed Position Switching Control Speed position
39. before auxiliary shaft clutch OFF 0 PLS Auxiliary shaft clutch smoothing system 0 Direct Auxiliary shaft clutch smoothing time constant 0 ms Slippage at auxiliary shaft clutch ON 0 PLS Slippage at auxiliary shaft clutch OFF 0 PLS Next page 46 Start up Guidance Speed change gear arrangement opeed change opeed change gear smoothing time constant ear N t 1 J Speed change ratio dns or Unit setting selection 0 Use units of Main Input axis Unit 0mm number of decimal places Cam axis length per cycle 157 0796mm Cam stroke amount 100000 0um Cam No ES Current value per cycle ops after main shaft gear Initial setting value 0 PLS Current value per cycle Setting method 0 Previous Value after auxiliary shaft Synchronous gear Initial setting value 0 PLS PRS initial 8 0 Cam Axis Current Value per position am axis position recovery targe Cycle Recovery parameter 8 Setting method 2 Current Feed Value 0pm Initial setting value 0 0um Cam axis current value Setting method O Previous Value per cycle Initial setting value 0 PLS Cam axis cycle unit Output axis 47 Start up Guidance 3 Input axis parameter setting of synchronous control parameter Double click Intelligent Function Module LD77MH4 Synchronous Control Parameter Input Axis Parameter DN LL Setting example operating axis 1 in synchronization with the current ERMEE EE
40. being executed Operation pattem ER Positioning control Positioning data being axis linear Control executed Control system amp B5 Positioning data being executed Acceleration time 0 1000 No Positioning data being executed Deceleration time p 1000 Na Positioning data being executed Axis to be interpolated a Positioning data being executed M code Deviation counter 63046 PLS Motor rotation speed 4016 rimin Motor current value 1 1 Serva status Servo alarm OFF Servo status Servo warning OFF Status OPR request flag OFF Status OPR complete flag OFF Start complete Jop i ignal d a d External input signal Lower limit External input signal Upper mm External input signal upper limit Module Information List PLC READY 30 LD77 READ Y X3U PLC READY LD77 READY Synchronization Flag x 313 Synchronization flag All axes servo ON Servo status READY ON Axis 1 All axes servo ON CT31 servo status READY ON Axis No E 3 4 Servo status Servo ON AxisNo ZE 2 3 4 Forced stop input Us 01431 BUSY Axis Mo E 34 Error detection Servo status Servo ON Axis 1 BUSY Axis 1 Error detection Axis Mo 1 z 3 4 Status Axis warning detection Axis warning detection v Axis Mo 1 2 3 4 4 Completion of operation check 39 Quick Start Guide 3 SYN
41. c Parameter 1 B button E PAL ii mula E ritum Sirti Hing Tool lnzset PFropect UUSU LDZ 7MHA Pa Tools mm Hel DER AN s 9 eenegen melt A nteger Function Module Lead thi parameber when Heenment baian per rotabon exoaeds the setting rangs Set the electronic gear ukhen khe f wing range DIER cw Electronic gear Ne of pulses par rotation renger amount per robsion x Unk magnificabion x 20000 3 Enter a numerical value according to the specification of the device Device specifications Machine Components Unit setting Lead of Ball Screw Reduction ratio NL NM Omm 10000 0 um Y Encoder Resolution 262144 PL S rev 4 Click the Compute Basic Parameters 1 button Ball Screw Horizontal 3 Hast Stution 1 2 Load side NL Motor side NM Motor side makes two rotations while the load side makes one 5 The calculation result is reflected to the parameter by clicking the OK button m Zen Porironcal DI Jee 1000 0 um D Mahre Components Lr Selling Lead of Ball Screw PE 3 Feeduction Ge Fatio DA D I Load Side NL Motor Sie MH T Fa MELSOFT Series Simple Motion Module Setting Tool Unset Project 0030 Project Edit View Online Tools DSDS ag Navigation Project ao 4 ail d 3 Intelligent Function Module 0030 LD77MH4 fi System Setting DER Window Help 8x oB im musu Wf 0030 LD 7 MH4
42. c address Mo Operation pattern Control system NENNEN Positioning Comment gt Positioning Comment gt Positioning Comment 7 Positioning Comment gt EN Axis 3 Positioning Data n f dE Positioning Comment gt DEM Axis 4 Positioning Data w Cam Data Operation pattern i E Motor The operation pattern designates whether positioning of a certain data No is to be ended with just that data or whether the positioning For the next d w lt Bl Digital Oscilloscope Y 2 Selecting the data setting assistant Click the Data Setting Assistant button to display the screen as follows 3 Input data for each item and the positioning control system Data Setting Assistant x y 1 Positioning control selection Position Control System Item Setting Value 1 AXIS l near control ABS 1 axis linear control ABS ositioning Data No 1 1 axis linear control INC xis Selection iti H ege ve Positioning Data No 1 1 axis speed control FWD Interpolation Axis 1 Las seien RY 3 Interpolation Axis 2 Positioning Address Reference axis Speed position switching control FWD di gm Pkt control Lu Side Position speed switching control FWD oin ead cita control iis Reference Axis 100000 0 um 1 00000 0 U m 2 axes linear interpolation ABS Interpolation Axis 2 axes linear interpolation INC Axis to be Interpolated 1 Command Speed 2000 00 mm min 2 axes fixed feed con
43. can be stopped immediately by the forced stop etc if a hazardous state occurs 6 Usage methods NCAUTION Immediately turn OFF the power if smoke abnormal sounds or odors are emitted from the module servo amplifier or servomotor Q Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection Q Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized Q Do not make any modifications to the unit Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields etc Electromagnetic obstacles may affect the electronic devices used near the module or servo amplifier When using the CE Mark compliant equipment design refer to the EMC Installation Guidelines data number IB NA 67339 and refer to the corresponding EMC guideline information for the servo amplifiers and other equipment Q Note that when the reference axis speed is designated for interpolation operation the speed of the partner axis 2nd axis 3rd axis and 4th axis may be larger than the set speed larger than the speed limit value Q Use the units with the following conditions Item L61P L63P 100 to 240VAC yee 24VDC 504 85 to 264VAC 15 6 to 31 2VDC Input frequency 50 60Hz 5 Tolerable momentary power failure Input power 10ms or less 7 Corr
44. detection Axis Mo 1 2 3 4 Next page 52 Start up Guidance Positioning start No setting for synchronous control D Positioning start No setting K1 D32 synchron Double click with ous pos oath ing pressing the SHIFT key 4 Starting the axis 2 program Turn Positioning start command X72 ON Positioning start program Axis 2 Positioning start command pulse gt M65 Ax2 Posi Double click with tione start cm pressing the SHIFT key d els Y 53 Start up Guidance 3 Operation check of a synchronous axis 1 Check if the servomotors of the axis 1 and 2 operate Screen Axis Monitor Monitor Type Axistoutput Ax 73647 2 um SE um Axis operation status Axis feedrate Positioning data Na being executed Positioning data being executed Operation pattern Positioning data being i executed Control system Positioning data being executed Acceleration time 0 1000 No Positioning data being executed Deceleration time 0 1000 Ho Date data being executed Axis to be interpolated Positioning data being executed M code Deviation counter Motor rotation speed 895 5 r min Motor current value 207 Servo status Serva dam Cer Servo status Servo warning OFF Status OPR request flag OFF Status OPR complete fag OFF External input signal Lower limit WS SITO Ne No B6BD1 PLS External input signal
45. e 0 3 96 Servo status Servo alarm OFF D a SUE EEE Ee Status OPR request flag OFF Status OPR complete flag ON Module Information List PLC READY Y30 LD77 READ Y X30 Synchronization Flagr 31 All axes servo ON Y31 Servo status READY ON AxisNo 2 3 4 servo status Servo ON AxisNo D I 3 3 4 Forced stop input 331431 BUSY AxsMo 1 2 3 4 Error detection AxisMo 1 7 3 4 Status Axis warning detection Axis Mo 1 2 3 4 E 4 Completion of axis 1 OPR Axis 1 Current feed value Axis 1 Machine feed value Axis operation status Axis feedrate Status OPR request flag otatus OPR complete flag PLC READY LD77 READY Synchronization flag All axes servo ON Servo status READY ON Axis 1 Servo status Servo ON Axis 1 37 Check item 0 0 0 0 Waiting 0 00 ON ON ON ON ON ON Quick Start Guide 3 Positioning control This section explains the operation check method of positioning control which uses the address information Operation example of returning the original position after moving to P1 Position mm min P1 100 0mm PO 0 0mm Time lt Speed mm min gt 2000 00 T 30000 00 E Tun 1 To execute positioning Aft
46. e L D T T M H 4 V Specify start XY address 0030 H 1 Module Occupy 16 points Mou nted Slot No Title Setting Specify start XY o Title address SC Specify start XY address M Click the checkbox Optional Ets Eee Pepi Qeesde Ve kee Deha Dueseeieg Deo Weise e ET Ame mmm Pis ICTR T AMIS de SAS C Tg dT bit DS LE Lia E m d boa jm i The start address of the Simple Motion Module LD77MH differs depending on the combination with CPU module For details refer to Appendix 1 v 4 Setting completed 19 Quick Start Guide The following explains the setting method with the Simple Motion Module Setting Tool 2 Starting the Simple Motion Module Setting Tool Double click the Simple Motion iar button to start the Simple Motion Module Setting Tool E MELSOFT Series Simple Motion Module Setting Tool Sele Window ree Project Edit EM SR Tools Parameter Intelligent Function Modulet Wb DOSE EDI 7 MBA zr E D Program E ad MAIN ER a Local Device Comment 3 Creating a new project 0 Click the New button Item Specify start XY address 0000 IL mm New Module BS Module type Module Selecti i I ERE een Simple Motion Module Module Type Module Name iym s Module name LD77MH4 Specify start XY address 0030 Mount Position Specify start XY address 0030 H 2 Slot Occupy 32 points Title Set
47. ead to trouble NCAUTION Q Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake signals etc Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning Servo amplifier 24VDC Control output Control output Q Q signal signal Q Do not connect or disconnect the connection cables between each unit the encoder cable or PLC expansion cable while the power is ON Q Securely tighten the cable connector fixing screws and fixing mechanisms Insufficient fixing may lead to the cables combing off during operation Do not bundle the power line or cables Q Use applicable solderless terminals and tighten them with the specified torque If any solderless spade terminal is used it may be disconnected when the terminal screw comes loose resulting in failure 5 Trial operation and adjustment NCAUTION Q Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Q Extreme adjustments and changes may lead to unstable operation so never make them When using the absolute position system function on starting up and when the module or absolute value motor has been replaced always perform a home position return Q Before starting test operation set the parameter speed limit value to the slowest value and make sure that operation
48. ective actions for errors NCAUTION Q f an error occurs in the self diagnosis of the module or servo amplifier confirm the check details according to the instruction manual and restore the operation Q if a dangerous state is predicted in case of a power failure or product failure use a servomotor with electromagnetic brakes or install a brake mechanism externally Q Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally Shut off with the Shut off with servo ON signal OFF emergency stop alarm electromagnetic brake signal signal EMG Servo motor b RA1 EMG o o Y o Electromagnetic brakes Q If an error occurs remove the cause secure the safety and then resume operation after alarm release Q The unit may suddenly resume operation after a power failure is restored so do not go near the machine Design the machine so that personal safety can be ensured even if the machine restarts suddenly 8 Maintenance inspection and part replacement NCAUTION Perform the daily and periodic inspections according to the instruction manual Q Perform maintenance and inspection after backing up the program and parameters for the module and servo amplifier Q Do not place fingers or hands in the clearance when opening or closing any opening Q Periodically replace consumable parts such as batteries according to the instructio
49. er setting the positioning start number turn ON the NE C77 ECAN start to start positioning Buffermemory __ memo Item b Signal Description LD77MH4 LD77MH16 Axis 1 positioning start No 1500 4300 oet the positioning start No Axis 1 positioning start Ivan Execute the positioning start 2 Setting the axis 1 positioning start No Double click Positioning start command X55 with pressing the SHIFT key to turn X55 ON and to set 1 to the start No register Double click with pressing the SHIFT key Y 3 Axis 1 positioning start Double click Positioning start command X71 with pressing the SHIFT key to turn X71 ON Positioning starts by setting 1 of the start No register to the buffer memory and turning the axis 1 positioning start signal ON Y Next page 38 Quick Start Guide 4 Checking of axis 1 positioning control Check if the axis 1 current feed value moves to 100 00 mm and returns to 0 0 mm Check if the axis 1 feedrate is the command speed Check item Axis Monitor Monitor Type AxistOutput Axis 7 Axis 1 Current feed value 568770 3 um Axis 1 Current feed value Machine feed value 68770 3 um Axis 1 Machine feed value AWIS error Mo O ES n at Ne de Position Control 2000 00 mm min Axis operation status Axis feedrate Axis operation status Position Control Positioning data Ho being 1 Axis federate 2 executed Positioning data
50. eration check with digital oscilloscope 42 Start up Guidance 3 3 Creating Parameter for Synchronous Control 1 Setting the system setting Set the system configuration of 2 axes system LD77MMH External I O Connector Setting Buffer Memory Device Name Setting Value Ext CMD Switch Signal Logic Selection Negative Logic Trailing Edge MAN PLS Sync Encoder INC Input S S A phase B phase 4 Multiply bat o o ooo Negative Logic eessen SIT ow e E mow yg E H in d 1 E N Axis 2 do2 2 Parameter and servo parameter settings Set parameters and servo parameters of the axis 1 and 2 The setting list is given in Appendix 2 The electronic gear settings of the belt conveyor are described as follows Compute Basic Parameters 1 Axis 1 Entry Select the machine components and enter the machine data to automatically set the basic parameters 1 unit setting No of pulses per rotation movement amount per rotation and unit magnification Machine Components Conveyor D Unit Setting O mm Y 50000 0 pm Diameter of Roll DR Reduction Gear Ratio NL NM Load Side NL 1 Motor dent Fy 262144 PLS rev Encoder Resolution Setting Range Calculation Result Basic Parameters 1 Unit Setting Dimm No of Pulses per Rotation 4625519 PLS Movement Amount per Rotation 2771663 0 um Unit Magnification 1 x1 Times Movement Amount per Rotation
51. ervo status Servo ON Axis 1 BUSY Axis 1 34 Quick Start Guide Operation check procedure Check servo amplifier LED Check the signal state of LD77 READY X30 oynchronization flag PLC READY and All axis Servo Axis 1 JOG speed Turn X5D ON Check the JOG speed at the axis 1 current feed setting speed Axis 1 forward rotation Turn XBE ON Check if the servomotor rotates forward command turns ON Check if the axis 1 current feed value increases Axis 1 forward rotation Turn X5E OFF Check if the servomotor stops command turns OFF Axis 1 reverse rotation Turn NEE ON Check if the servomotor rotates reversely command turns ON l Check if the axis 1 current feed value decreases Duo Io ong on Turn X5F OFF Check if the servomotor stops v command turns OFF 6 Change of motor rotation direction Change the motor rotation direction to forward reverse 3 All axis servo ON Turn X7B ON m Axisl ka Read Set To Default Sksverity DR Parameter Copy mj Parameter Blo i 23 Intelligent Function Module X Open save As f 0030 LD77MH4 Pa i System Setting E EN A ee a de System Structure Common Common Basic l Mark Detection Basic l Extension Rotation direction PoL Co Positioning Data SEET parts m GE 1 e Le Block Start Data Position control Rotation direction selection be h trol P n egest pcs aseamana e Sos Teen s oe Din Eo
52. es 1 058 516 6 444Bytes Refresh i EL L Related Functions Execute i cu 1 n D Ab j e RH 2 I p i F I I Remote Set Clock PLC User Data Write Title Format PLC Clear PLC Memory Arrange PLC i Operation Memory Memory i I i I 2 Transference to CPU module Click Close to close the window after writing is completed Write to PLC RHEESRHENSEEEREESES zb DRRRRRRRRRRRRRRDRN 0 Parameter Write Completed Boot File Write Completed Remote Password Write Completed Program MAIN Write Completed Write to PLC Completed When processing ends clase thic window automatically v Next page 17 Quick Start Guide 3 Termination of writing to CPU Online Data Operation m Connection Channel List Serial Port PLC Module Connection LUSB System Image z m PLC Module a Intelligent Function Module Edit Data Module Name Data Mame Li 5s MAIN 1 8 Parameter Y COMMENT Bi 3 Mam Necessary Setting No Setting Already Set Writing Size 6 444Bytes Related Functions Remote Set Clock Operation PLC User Data 4L 2222 2 2 Write C Verify C Delete Execution Target Data No Yes EE Select All Cancel All Selections Title Target Detail Last Change Target Memory wi UH KE E EC wi EN E WU REC 2010 01 16 16 14 08 3316 Bytes 2010 01 1
53. es indicated by AN CAUTION may also be linked to serious results In any case it is important to follow the directions for usage Please save this manual to make it accessible when required and always forward it to the end user mmm mmm mmm mmm 8 A For Safe Operations 1 Prevention of electric shocks NDANGER Q Never open the front case or terminal covers while the power is ON or the unit is running as this may lead to electric shocks Q Never run the unit with the front case or terminal cover removed The high voltage terminal and charged sections will be exposed and may lead to electric shocks Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF The insides of the module and servo amplifier are charged and may lead to electric shocks Completely turn off the externally supplied power used in the system before mounting or removing the module performing wiring work or inspections Failing to do so may lead to electric shocks When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Be sure to ground the module servo amplifier and servomotor Ground resistance 100 Q or less Do not ground commonly with other devices The wiring work and inspections must be done by a qualified technician
54. ese with the conditions specified in the instruction manual Q The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error etc Thus an error correspondence interlock program specified in the instruction manual must be used Q Use the interlock program specified in the intelligent function module s instruction manual for the program corresponding to the intelligent function module 3 Transportation and installation NCAUTION Q Transport the product with the correct method according to the mass Q Use the servomotor suspension bolts only for the transportation of the servomotor Do not transport the servomotor with machine installed on it Q Do not stack products past the limit When transporting the module or servo amplifier never hold the connected wires or cables When transporting the servomotor never hold the cables shaft or detector When transporting the module or servo amplifier never hold the front case as it may fall off When transporting installing or removing the module or servo amplifier never hold the edges Q Install the unit according to the instruction manual in a place where the mass can be withstood Q Do not get on or place heavy objects on the product Always observe the installation direction Keep the designated clearance between the module or servo amplifier and control panel inner surface or the module and servo am
55. fier servomotor Servo amplifier Servomotor MR J3 B 3 PLCs Power supply LL END cover Display unit module module ES LXUM LEC L6DSP L61P L26CPU BT i Included with CPtional or EST CPU module s LO2CPU j DIN rail DIN rail stopper JIS C 2812 e TH35 7 5Fe TH35 7 5Al e TH35 15Fe 4 Cables USB cable Encoder cable Motor power supply SSCNET III Cable MR J3USBCBL3M cable MR J3BUSoM USB A type USB mini B type ll li p E 5 Software MELSOFT programming tool Servo amplifier setup software GX Works2 E MR Configurator2 SW1DNC GXW2 E Gs SW1DNC MRC2 E Version 1 48A or later Version 1 01B or later 6 Power distribution devices No fuse circuit breaker fef f Magnetic EE Circuit protector NFB Jaf contactor E CP Es i MC ee Quick Start Guide 2 3 Startup procedures This section describes the operations and steps of items needed for starting up the system 2 1 System which combines LD77MH and MR J3 B 2 2 Preparing devices 2 3 Startup procedures 2 4 Installing modules 1 Installing modules 2 Installing batteries 3 Installing DIN rails 2 5 Wiring and connecting cables 1 Wiring the power supply module 2 Wiring the power supply and the motor power to the servo amplifier 3 Setting the servo amplifier axis select rotary switch 4 Connecting various cables 5 Checking if the power is properly turned on 2 6 Installing application software 1 Installing MELSO
56. for synchronous control lt Positioning start Mo setting X56 200 PAS MOVP Ki D32 Synchroous Start No positioning setting 74 Start up Guidance Parameter initialization program lt Parameter initialization cmd pls ABC 207 Jt PLS M24 Parameter Parameter initialization initialization command cmd pls lt Parameter init cmd hold M24 X3C AC i a a SET mes Parameter Axis 1 Parameter initialization BUS initilization cmd pls command M25 30 lt PLC READY output to LD77 standby gt 218 s M a TO K2 Parameter PLC PLC READY initilization READY signal OFF command conf 1 TO lt Parameter init execution 225 ZP PINIT U3 D37 M36 PLO READY ZP PINIT ZP INIT signal OFF instruction instruction conf 1 control dat complete dv M36 M37 lt Parameter init cmd storage OFF PJ rig RST M25 ZP INIT ZP PINIT Parameter instruction instruction initilization complete dv err comple command Flash ROM write program 6D x lt Flash ROM write cmd pls 240 PLS M26 Flash ROM Flash ROM write write command command pulse M26 X3C lt Flash ROM write cmd hold 247 MV a SET M27 Flash ROM Axis 1 Flash ROM write BUSY write command command pulse strage M27 Y 30 x PLC READY output to LD77 standby gt 251 M 5 99 M M fn di Flash ROM PLC PLC READY write READY signal OFF command conf 2 strage lt F
57. function selection INC Mode leste Le Next page 0 A phase B phase mode 4 multiply 23 Quick Start Guide JOG speed limit value 15000 00 mm min JOG operation acceleration time selection 0 1000 JOG operation deceleration time selection 0 1000 Acceleration deceleration process selection l deceleration processing Detailed parameters 2 Manual pulse generator Incremental synchronous 0 Differential output type encoder input type selection Operation setting for speed torque control mode 0 Command speed Speed initial value selection Operation setting for speed torque control mode 0 Switching Conditions Valid at Condition selection at mode switching Switching Mode External command signal selection OPR method 6 Data set method OPR OPR direction 0 Positive direction address Orena Pant increment direction l OP address 0 0 um Return basic Topp speed 0 01 mm min parameters Creep speed 0 01 mm min OPR retry 0 Do not retry OPR with limit switch 0 0 m OPR acceleration time selection 0 1000 OPR deceleration time selection 0 1000 OPR OP shift amount 0 0 um OPR torque limit value 300 96 Original Point l a Operation setting of incompletion of OPR 0 Positioning control is not executed Return detailed Speed designation during OP shift 0 OPR speed parameters Dwell time during OPR retry Pulse conversion module
58. g NCAUTION Q The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max speed Q Use wires and cables that have a wire diameter heat resistance and bending resistance compatible with the system Q Use wires and cables within the length of the range described in the instruction manual Q The ratings and characteristics of the parts other than module servo amplifier and servomotor used in a system must be compatible with the module servo amplifier and servomotor Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation Q There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure when the ball screw and servomotor are connected with a timing belt etc Install a stopping device to ensure safety on the machine side 2 Parameter settings and programming NCAUTION Q Set the parameter values to those that are compatible with the module servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect Q The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode and servo amplifier The protective functions may not function if the settings are incorrect Q Set the mechanical brake out
59. he positioning data screen ee We 0030 LD77MH40 System Structure 20030 LD77MHA Axis 2 Offline Simulation Automatic Command 0030 LDT MHA I Parameter Jr ect Ha Jin Display Filter Display All d Sm Intelligent Function Module ib O030 L OFF M H Mo Operation pattern Control system De eeh een Positioning address 1 E System Setting LB O2h INC Linear 1 i 0 1000 0 1000 157079 6 um E E Parameter ma E serva Parameter F5 Positioning Data Positioning Comment gt Positioning Comment gt Axis 2 Positioning Data Positioning Comment gt L L Axis 3 Positioning Data 4 evo z VAY Positioning Comment gt E Axis 4 Positioning Data Li TT GA 1 38 Block Start Data Positioning Comment gt Ka Synchronous Control Parame Le 6 ak La Cam Data Positioning Comment gt xi AB Monitor Operation Control Axis to be Acceleration Deceleration Positioning Arc Command Dwell pattern system interpolated time No time No address address speed time INC 157079 6 0 0 2000 00 1 1000 1 1000 Oms Liner 1 um pum mm min 44 Start up Guidance 4 Synchronous control parameter setting Set a parameter of the axis 1 that executes cam operation in synchronization with the current feed value of the axis 2 servo input axis Set the servo input axis type for the main axis Input axis parameter put axis p 1 Current feed value for the axis 2
60. hen parameters and programs are not written to the CPU module there is no problem with flashing of ERR LED in red ERR LED is turned off when the power supply is turned off and then on after writing parameters and programs 3 Check the wiring of the servo amplifier 4 Turn on the power supply of the servo amplifier The communication status with LD77MH can be checked in the servo amplifier display Pun Initializing The power supply of the LD77MH is standby turned off The power supply of the servo amplifier Initializing is turned on while the power supply of the LD77MH is turned off m Ready OFF PLC ready signals of LD77MH are EE Normal r3 Servo OFF Servo off command is received off command is received Servo ON All axes servo on signal of LD77MH received During servo During servo forced stop of the servo forced stop D Il d E During force stop ofLD77MH force stop of LD77MH force stop Ls The control power supply is turned off lt Countermeasures gt 1 The LED display of the servo amplifier is AA or Ab when parameters are not written to LD77MH but there is no problem Write parameters to LD77MH e 2 Check the wiring of the control power supply when LED is turned off 6 Completed Quick Start Guide 2 6 Installing application software The following shows how to install MELSOFT GX Works2 as a programming tool and MR Configurator2 as a servo parameter setting tool 1 Installing MEL
61. hort circuit charge overheat incinerate or disassemble the batteries Q The electrolytic capacitor will generate gas during a fault so do not place your face near the module or servo amplifier The electrolytic capacitor and fan will deteriorate Periodically replace these to prevent secondary damage from faults Replacements can be made by our sales representative Lock the control panel and prevent access to those who are not certified to handle or install electric equipment Q Do not mount remove the module or terminal block more than 50 times IEC61131 2 compliant after the first use of the product Failure to do so may cause malfunction Do not burn or break a module and servo amplifier Doing so may cause a toxic gas 9 About processing of waste When you discard module servo amplifier a battery primary battery and other option articles please follow the law of each country area NCAUTION Q This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life When considering this product for operation in special applications such as machinery or systems used in passenger transportation medical aerospace atomic power electric power or submarine repeating applications please contact your nearest Mitsubishi sales representative Although this product was manufactured under conditions of strict quality control you are strongly advised to insta
62. ime No time No address a speed time bet 1 ABS 2000 00 Continuation linear 1 100000 0um mm min 0 0 30000 00 Completion eh Kees 1 1000 1 1000 mm min 6 Positioning data completed 2 Quick Start Guide 8 Saving a Simple Motion Module as a project Save a project of the Simple Motion Module Save data Data for block start Parameter for synchronous control If needed Cam pattern 1 Select Project Save As from the menu 2 Select Browse to specify the save destination path 3 Enter any names for workspace project and title Project Edit Find Replace Compile Vi E Hew Gtri H EK Open Girls Save Location a ov D usrE LD77MH LD77MH test EA Save Gr eL CC E Delete 1 I IE returns bo Ehe workspac verit LO 7MH samplet 1 Ex LD 77MH Startup Guida Workspace Name Project Name LD77MH sample1 1 Title Ex LD77MH Startup Guidance Axis 4 L26CPLU BT w Revision is inherited Iv 4 oa Click the Save button When the new project is saved the save confirmation screen appears MELSOFT Series Simple Motion Module Setting Tool The specified project does not exist Do you want to create a new project Y 4 Y 5 Saving the project of the Simple Motion Module completed 28 Quick Start Guide 9 Writing to the Simple Motion Module Write parameters and positioning data to the Simple Motion Module 1 Change the RESET RUN STOP
63. ion GX Works2 GX Works2 to start the software The main screen of GX Works2 will appear BELSOFT Daawa UH LIT bees de Ee Pepi Geel ee Driee Seton Dozenten pe ic Ek 1 TE aq E eo ee 6 3 HLSDSESVTM e Y 4 Completed 11 Quick Start Guide 2 Creating sequence programs by using GX Works2 This section explains the methods from creating to saving a new project of the sequence program 1 Creating a new project 1 Starting MELSOFT GX Works2 Double click to start MELSOFT GX Works2 v 2 Creating a new project A project contains programs device comments and parameters Y D MELSOFT Series GX Works l em Project Edit Find Replace Gor Proiect Type O O O OO Em ee GREE we RENE Pree POTE heer her i SCENE NEEN Cancel Us 2 PLC Series LEFU iss PLC Type L26 BT Language Ladder Project Project Type Simple Project PLC Series LCPU PLC Type L26 BT This section explains the method with an example of using L26CPU BT Programming Language Ladder Use Label Not Use 3 Displaying the main screen Y Click the button to display a project tree and circuit screen on the main screen OFT Serms GX Worke Dnret Project Hopet Ede Emd Replace Compile View r ee Deue Dages Tool Wicker Heb 8x Om RD ono mW TAE R isnAT NA EE WX d f nos 8 D MZ Sie tile sey te abs ots ce te Wf AS SB SS GALA 9x
64. lash ROM write execution ZP PFWRT u3 D39 M38 ZP PFWRT 7PPFWRT instruction instruction control dat complete dv lt Flash ROM write cmd storage OFF gt M38 M39 pf cl RST M27 ZP PFWRT ZP PFWRT Flash ROM instruction instruction write complete dv error command comp strage 213 END 19 Start up Guidance MEMO 76 WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range If any faults or defects hereinafter Failure found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company However if repairs are required onsite at domestic or overseas location expenses to send an engineer will be solely at the customer s discretion Mitsubishi shall not be held responsible for any re commissioning maintenance or testing on site that involves replacement of the failed module Gratis Warranty Term The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place Note that after manufacture and shipment from Mitsubishi the maximum distribution period shall be six 6 months and the longest gratis warranty term after manufacturing shall be eighteen 18 months The gratis warranty term of repair parts shall not exceed the gratis wa
65. le communication method selection EB List display Z phase must not be passed M 2 wires xi Z phase must be passed l Z phase must not be passed If selecting Z phase must not be passed it is possible to carried out the home position Y return OPR even though a motor has not turned 1 or more revolutions for home position return 4 Close MR Configurator2 Click the x button to display the save confirmation screen of the changed contents e Click the Yes button to close MR Configurator2 5 Servo parameter setting completed 25 Quick Start Guide 7 Positioning data setting This section explains the setting method of the positioning data with using program examples which reciprocate between the home position and P1 Operation example of returning the original position after moving to P1 Position mm min gt P1 100 0mm PO 0 0mm Time lt Speed mm min gt Time 30000 00 1 Selecting the positioning data Double click Positioning Data Axis 1 to display the positioning data screen gt 0010 LD77MH4 Axis 1 4b Display Filter Display All vill 1 Offline Simulation Automatic Command Speed Calc At Axis to De Acceler tig interpolated time No Sr chat on 4 ei At Intelligent Function Module f OOSO LDF MBA Wi System Setting Fa Parameter St Servo Parameter 1 Deceleration time No Positioning address Ar
66. ll safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident 10 General cautions NCAUTION All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections When operating the product always return the covers and partitions to the designated positions and operate according to the instruction manual REVISIONS x The manual number is given on the bottom left of the back cover Print Date Manual Number Jun 2011 SH NA 030102 A Fret edition This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2011 MITSUBISHI ELECTRIC CORPORATION A 11 INTRODUCTION Thank you for choosing the Simple Motion Module LD77MH Before using the equipment please read this manual carefully to develop full familiarity with the functions and performance of the Simple Motion Module you have purchased so as to ensure correct use CONTENTS ENEE cm EET UT A 1 Ree TEE A 11 Sen TC RT HP TES A 12 1 OVERVIEW 1 1 1 Features of Simple Motion Module CD Z7MH enne nnne nnns nnns usce IRIS NEN EO ELDER 2 SIMPLE MOTION MODULE
67. memory format confirmation screen MELSOFT Application Memory will be Formatted Do vou want bo continue 3 Memory format completed 16 Quick Start Guide 6 Writing the sequence program to the PLC CPU Open the front side cover of CPU module and place the switch to the position of STOP Then write data to CPU 1 Writing to CPU module Click Parameter Program and also click Execute to write to the PLC CPU Online Debug Diagnostics Tool Window Online Data Operation EHE Read from PLC JH Write to PLC Verify with PLC Connection Channel List Serial Port PLC Module Connection LISB System Image I i l i I L L I I L I i I i P gf M Read Write Merify Delete Remote Operation a LLL ei i PLC Module Intelligent Function Module Execution Target Data No Yes l Password Keyword gt im iu s Title i PLC Memory Operation gt i p 1 Edit Data i i Select All Cancel All Selections Delete PLC Data EB Tile et Detail Last Change Target Memor i PLC User Data gt tee z i l i 1 2010 01 16 16 14 08 3316 Bytes i I 2010 01 11 16 51 00 3128 Bytes t Detail 2011 02 02 20 39 22 NDA Del LLL 1 2010 01 11 16 51 04 i I LI l i Necessary Setting Mo Setting Already Set Setif itis needed Mo Setting Already Set I i Writing Size Free Volume Use Volume i 6 444Byt
68. mhe c starkup GuidancesLz6 LD77IMH4 Close E SEW Ctr l 5 Workspace Project List Display all Folders cave DS vem Ej It returns En Ehe workspace list Simple Motion sample data For swpchronou Compress Unpack Il 26 LDrTMH4 SY EE Simple Motion sample data L26CPL c Y 4 Reading the project completed The projects provided on MELFANSweb contains the explained contents in this section 4 Setting the system setting to 7 Positioning data setting 31 Quick Start Guide 2 9 Operation Check his sequence program is an example using LD77MH4 and L26CPU BT When other modules are used the assignment of the signal is different Please refer to the user s manual positioning control for details of each signal 1 JOG operation for checking the rotation direction the electronic gear setting etc 1 Change the RESET RUN STOP switch of the PLC CPU module to RUN 2 Turn the Servo ON device from the sequence program Select Online Monitor Start Monitoring in GX Works2 to display a monitor screen Move the cursor to the PLC READY ON signal X7B Double click the PLC READY ON signal X7B with pressing the key to turn X7B ON PLC READY signal 130 ON program PLC READY signal ON Double click with pressing the SHIFT key Y31 To turn the device ON double click the specified device that is OFF with pressing the SHIFT key To turn the device OFF Double click the device that i
69. mmnad command pulse amp Stop execution M29 3C 140 Pf SET Y34 Stop Axis 1 Axis 1 command BUSY Axis pulse Stop OD c E SET Y35 Axis 2 Axis 2 BUSY Axis Stop amp Stop execution X6F X3C 148 RST Y34 Stop Axis 1 Axis 1 commnad BUSY Axis stop X3D RST Y35 Axis 2 Axis 2 BUSY Axis Stop 13 Start up Guidance 7 Synchronous contlrol axis setting lt Positioning start command pulse AE Lax 156 E I MOVP H1 36320 Synchronous Synchronous control axis oneri setting atart XD Lax 165 MOVP HU 36320 Synchronous Synchronous control axis control setting start Positioning start program Axis 2 lt Positioning start command pulse gt X12 170 d PLS M65 Ax2 SCH Positioning command di cmd lt Positioning start command hold Mob Y41 x41 ix 177 T S SET Lex ee uni Age d Axis 2 Pau Positioning Positioning start dee start omd start complete pls command N66 lt Setting of Positioning start No 182 MOVP D32 nn 2 Axis 2 ositioning Positioning tart cmd start No torag EE lt Positioning start execution SET Y41 Axis 2 Positioning start lt Positioning start command hold RST M66 Ax2 Positioning start cmd storag Y41 X41 DX3D lt Positioning start signal OFF RST Y41 Axis 2 Positioning start Axis 2 Error detection Positioning start No setting
70. n Online Setting CO Select Online Offline e Module buffering method Online Select the above Sampling method Ce Module Buffering Method Display patterns in real time Operation mode e Online C Offline Cancel eer Rei Rs to be sampled share Select probe items E Deier rim species purpose probi as tha pret n d dos ed D s ivo dris e EE os we To check the cam operation Check or hus tha ost probas m wan Axis No 1 on cone operaton during the sp Cam A 10 POR P4 am As made current vole r D ater crm opetaten deig the sp Cam Ax feed ament vale Specify the above Speed coia operaton dunng the pos Motor speed v aperadon dumg the pos Mig by spechied purpose Y Next page 59 Start up Guidance Setting of sampling condition Set the sampling condition Se thre to rd rsh cin ton Same Condon Sampling rate ms 0 888 x 1 Calcutakes the samplne condition and performs tha petting aubemakicaly samomo Rate wei Tus derf Ee Sampling size 8192 Set from Ehe sampling rate Sampling Skew point Sampling Rate ms Sg 1 15000 Tase ITT SEET 0 1 3999 9 c gt ietan P Trigger Balance o EUM een LC After trigger Be of bampa Tite after Troes Sampling Se point Sampling Tue rns aids Sampling size 7373 Check a n Stee Ehe Calcula Trigger Balance epe mo am 0 01 100 00 UA eri til erate sr Ehe i XN
71. n When ERR LED lights up or blinks please confirm the error and take measures according to the manual Y Please refer to Appendix 3 2 and 3 3 for a way of the error confirmation 5 Writing completed 30 Quick Start Guide REMARK Refer to the project of parameters and positioning data to be used in the Simple Motion Module LD77MH In addition if you wish to use sample data please contact your nearest Mitsubishi sales representative 1 Sample data LO2 LD77MH4 POS for LO2CPU and LD77MHA Sample data of the simple motion pave Sample data for Met synchronous control of the simple motion sample dat Si LO2 LD77MH16 POS for LO2CPU and LD77MH16 Sample data of the L26 LD77MH16 POS for L26CPU and LD77MH16 simple motion EE type LD77MH L26 LD77MH4 SYNC for L26CPU and LD77MH4 L02 LD77MH16 SYNC for LO2CPU and LD77MH16 Sample data for synchronous control of L26 LD77MH16 SYNC for L26CPU and LD77MH16 l the simple motion 2 Unpacking the download module Unpack the download module into any folder v 3 Reading a project Read the project from the unpacked sample data a Select Project Open Project from the menu b Click the Browse button to select the folder in which the project is saved c Select a project d Click the Open button to open the project Project Edit View Online Tools Y TN New Gtr Ctrl O Open Project Save Folder Path L XusrE Id77
72. n manual Q Do not touch the lead sections such as ICs or the connector contacts Q Before touching the module always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the module to fail or malfunction Q Do not directly touch the module s conductive parts and electronic components Touching them could cause an operation failure or give damage to the module Q Do not place the module or servo amplifier on metal that may cause a power leakage or wood plastic or vinyl that may cause static electricity buildup Q Do not perform a megger test insulation resistance measurement during inspection When replacing the module or servo amplifier always set the new module settings correctly NCAUTION When the module or absolute value motor has been replaced carry out a home position return operation using one of the following methods otherwise position displacement could occur 1 After writing the servo data to the Simple Motion module using programming software switch on the power again then perform a home position return operation Q After maintenance and inspections are completed confirm that the position detection of the absolute position detector function is correct Q Do not drop or impact the battery installed to the module Doing so may damage the battery causing battery liquid to leak in the battery Do not use the dropped or impacted battery but dispose of it Q Do not s
73. ng data that are used in this document 1 Parameters Unit Setting Omm j 6 mm 4625519 PLS No of pulses per revolution 16384 PLS 262144 PLS 2771663 0 um Movement amount per revolution 312 5 um 157079 6 um Unit magnification Speed limit value S30000 00 mm min 30000 00 mm min 0 Apply software stroke 0 Apply software stroke Software stroke limit selection limit on current feed limit on current feed value value Software stroke limit valid invalid setting 0 Valid Valid Command in position width 10 0 um 0 0 um M code ON signal output timing 0 WITH mode 0 WITH mode i 0 Standard speed 0 Standard speed Speed switching mode ER switching mode switching mode Torque limit setting value 300 OO 96 Interpolation speed designation method 0 Composite speed 0 Composite speed 0 Do not update current 0 Do not update current Current feed value during speed control feed value feed value Input signal logic selection lower limit 1 Positive logic Positive logic Input signal logic selection upper limit 1 Positive logic 1 Positive logic Input signal logic selection External command switching signal Input signal logic selection Near point 0 Negative logic 0 Negative logic 0 Negative logic Input signal logic selection Manual 0 Negative logic pulse generator input Input signal logic selection 1 Input of servo amplifier 1 Input of servo amplifier Wania ules cencratennou
74. ng executed Deceleration tine No tren data being executed Axis to be rterpolated Pastioning data being executed M code iaton counte External input saga Lower imi rotation speed External input signal Upper bg inter current volue Dxternal input Sonal Stop signal rvo Ratus Servo alarm External input sayra External command salise uhia signal Servo stus Serv f External input signal Near poin dug signal Status in speed control flag a Selectable Item Input signal output signal Axis Monitor Data el Seelen we irme Item Selectable Item McdeON ml Input Signal EMordetection 0 Xm 0 0 A Startcomplete OoOo um oo Positioning complete Adsstp o ooo a ooo y y A sun Faass ea o Reverse JOG stat MP a Execution prohibition fag Lime Data Status Note 1 In speed control Speed position switching latch Command in position OPR request OPR complete Position speed switching latch 817 100n 2417 100n Axis warning detection Speed change 0 M code On error detection start complete positioning complete Note 1 M code On error detection start complete and positioning complete are defined in input signal X of LD77MH 63 Start up Guidance b Selectable Item Axis Monitor Data continued ERE HE Item Selectable Item positioning data being executed Axis to be interpolated 244 100 Axis Monitor Data ParameteremorNo O error No
75. nous control parameter setting Click the setting area of Main Input Axis No to display the contents that can be set Select 1 Servo input axis Item Setting value gt Main input gt axis Type 1 5ervo Input Axis Axis No D Invalid H Sub input axis 15 559 f T ERES L Type z Axis Ma 4 45 Start up Guidance In the same way change the underlined part Synchronous parameter axis 1 gt ME AxsNo No Main shaft Invalid Sub input axis No Main shaft t Input composition Sub 0 Not input gear Numerator li Main shaft gear i Denominator li 0 No Clutch Direct Coupled Operation Klee ER OFF control mode O OFF Control Invalid control settin High speed input request ON control mode Val Main Shaft Main shaft clutch reference address setting Cen MS Gerald ee Gear Main shaft clutch Main Main shaft clutch ON address ss sid clutch ON address 0 lOPIS Travel value before main shaft clutch ON 0 PLS Axis No SOIT Ger 0 No Input gear Auxiliary shaft DEE ETA 0 No een Direct Coupled clutch Auxiliary shaft Operation clutch control setting High speed input request signal 0 C t Val fter Main Shaft Auxiliary shaft clutch reference address setting en O Composite Gear Auxiliary shaft clutch ON address 0 PLS Travel value before auxiliary shaft clutch ON 0 PLS Auxiliary shaft clutch OFF address 0 PLS Travel value
76. nstruction manual When coupling with the servomotor shaft end do not apply impact such as by hitting with a hammer Doing so may lead to detector damage Do not apply a load larger than the tolerable load onto the servomotor shaft Doing so may lead to shaft breakage When not using the module for a long time disconnect the power line from the module or servo amplifier Place the module and servo amplifier in static electricity preventing vinyl bags and store When storing for a long time please contact with our sales representative Also execute a trial operation Make sure that the connectors for the servo amplifier and peripheral devices have been securely installed until a click is heard Not doing so could lead to a poor connection resulting in erroneous input and output 4 Wiring NCAUTION Q Correctly and securely wire the wires Reconfirm the connections for mistakes and the terminal screws for tightness after wiring Failing to do so may lead to run away of the servomotor Q After wiring install the protective covers such as the terminal covers to the original positions Do not install a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo amplifier Q Correctly connect the output side terminal U V W Incorrect connections will lead the servomotor to operate abnormally Do not connect a commercial power supply to the servomotor as this may l
77. o Parameter MR MT 1200 m MR Configurator starts and serva Servo Parameter parameters can be set Setting IF MR Configurator is not installed display the serva parameter setting screen 3 Select MR J3 W B and click the OK button to display the servo amplifier pee ee i E ntelhpera Function Moule i oL D77M H4 Wi Ste Satira ki Servo Faramster Passion Data Ka Eck us Data 2 Ke Syrchroncas Contral Para GP eu Poss Parameter EP Axis FI Synehronous Par a gt Axia 2 Synchronous Pur 99 Bug EI Synehronout Par S9 Betz M Synechroneut Pa di Cam Data Monitor Bl Deis Oocillescore U i I L l I i I I I I U l I I LI I I I JP Parameter I L I I i I I I I U i l I I LI I I I I 4 System configuration setting completed 21 Quick Start Guide 5 Parameter setting 1 Double click the Intelligent Function d Bla Ecc buttons Project Edit Ven Online A elicn VENT El A 030 LD77MH4 m System Setting id DESLpz2M Bl System Sex Mark Detention servo Parameter zi 2 Positioning Data t ue Block Start Data r e Bl Cit Osctlkacope Synchronous Control Parame E Input Axis Parameter ra Asie 1 Synchronous Par E Asie 32 Synchronous Par Asie 33 Synchronous Par E Asis 3 Synchronous Par E T Cam Data DEL Monitor B Digital Oscilloscope 2 Basic parameter setting Click the Compute Basi
78. o display the screen shown left Select LCPU Select No Specification in specification of Other Stations Setting Press the button of the connection test When the procedure is completed without error the connection completion screen will appear 4 Connecting CPU module and personal computer completed 15 Quick Start Guide b Format of the CPU module 1 Format of the CPU module Select Online PLC Memory Operation PLC Memory Format from the menu p Guidance XL26 ED7 7MHAXL26 LD77MHA SEQ Online Debue Diagnostics Tool Window Help eu Read fram DLC DU Write to PLO Verify with PLO Remote Operation PLO Memory Operation k Format PLG Memory Delete PLO Data Glear PLO Memory PLC User Data Arrange DLC Memory Format PLC Memory Connection Channel List Connection Interface USB lt gt PLC Module Station Mo Host PLC Type 126 8T Target Memory Program Memory Y Program Memory Format Type Memory Card SD Standard RAM Standard ROM S Do not cred aired system area only l L I I I L I I I L I I I I I I I I I L l I I I I I I I I I L I I I I I L I I I I l Target PLC Mi I I L l I I I Create a user setting system area qoe Select Program memory Device memory from the target memory 2 Click the Execute button to display the
79. oning data being executed Control system Positioning data being executed Acceleration time D 1000 Na Positioning data being executed Deceleration time D 1000 Ho Positioning data being executed Axis to be interpolated Positioning data being executed M code Deviation counter a213 PLS Motor rotation speed 21 1 r min Motor current value 1 8 o Servo status Servo alarm OFF arvo status Se c warming iC Forward Joa start a Status OPR request fag ON Status CDR complete fag CEF Start complete OFF External input signal Lower limit S Ie External input signal Upper limit Module Information List ON PLC READY 30 LDF READY X30 Synchronization Flagts31 All axes servo ON Y31 Servo status READY ON Axis Na E 3 4 Servo status Servo ON Axis Na Paz 3 4 Forced stop input ls 61431 BUSY AxsNo Ml 2 3 4 Error detection i xis Mo 1 2 3 4 Status i Axis warning detection Axis Mo 1 234 In test mode Flag u3x1200 AMP less operation mode statusiLl381432 Mn oF writing ta Flash ROM US G1424 0 times Digital OSC running Flag LI3 G121 1 Stopped Axis 1 Current feed value Axis 1 Machine feed value Axis operation status JOG Operation Axis feed rate 100 00 Forward JOG start Reverse JOG start PLC READY LD77 READY Synchronization flag All axes servo ON Servo status READY ON Axis 1 S
80. p and bottom of the LD77MH module Slide the hook backward 4 Follow the same procedures of 1 to 3 to install the END cover 5 Completed Y 2 Installing batteries Connect a battery connector when using the CPU module for the first time Y 3 Installing DIN rails Install the module to DIN rails Y 4 Installation completed Quick Start Guide 2 5 Wiring and connecting cables The following shows the connection examples of wiring and connecting cables of the Simple Motion Module LD77MH and the servo amplifier MR J3 series Use cables with the same wire size as when the servo amplifier MR J3 10B is used In case that the capacity of the servo amplifier is different refer to the servo amplifier instruction manuals 1 Wiring the power supply module The following shows an example of wiring the power supply wires and grounding wire tor power supply module Connect an isolation transformer when much noise is generated in the power supply system Applicable wire size Tightening torque Power supply wires 0 75 to 2mm AWG18 to AWG14 0 59 to 0 88N m 0 75 to 2mm AWG18 to AWG14 0 59 to 0 88Nem CP Abbreviation for Circuit Protector 2 Wiring the power supply and the motor power to the servo amplifier Wire the control circuit power L11 L21 main circuit power L1 L2 and L3 and motor power line U V ane W to ine Sena Applicable wire Tightening amplifier Item size torque Control circuit power L11
81. plifier module or servo amplifier and other devices Q Do not install or operate modules servo amplifiers or servomotors that are damaged or that have missing parts Q Do not block the intake outtake ports of the servo amplifier and servomotor with cooling fan Q Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the module servo amplifier or servomotor Q The module servo amplifier and servomotor are precision machines so do not drop or apply strong impacts on them Q Securely fix the module servo amplifier and servomotor to the machine according to the instruction manual If the fixing is insufficient these may come off during operation Always install the servomotor with reduction gears in the designated direction Failing to do so may lead to oil leaks NCAUTION Q Store and use the unit in the following environmental conditions Environment Module Servo amplifier Ambient 0 C to 40 C With no freezing According to each instruction manual temperature 32 F to 104 F 80 RH or less With no dew condensation Storage 20 C to 65 C According to each instruction manual temperature 4 F to 149 F Indoors where not subject to direct sunlight Ambient humidity According to each instruction manual Atmosphere No corrosive gases flammable gases oil mist or dust must exist Altitude 1000m 3280 84 ft or less above sea level According to each i
82. put and dynamic brake output validity parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Q Set the stroke limit input validity parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Q Set the servomotor encoder type increment absolute position type etc parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Q Set the servomotor capacity and type standard low inertia flat etc parameter to values that are compatible with the system application The protective functions may not function if the settings are incorrect Q Set the servo amplifier capacity and type parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Q Use the program commands for the program with the conditions specified in the instruction manual Q Set the sequence function program capacity setting device capacity latch validity range I O assignment setting and validity of continuous operation during error detection to values that are compatible with the system application The protective functions may not function if the settings are incorrect NCAUTION Q Some devices used in the program have fixed applications so use th
83. r countries Ethernet is a trademark of Xerox Corporation All other company names and product names used in this manual are trademarks or registered trademarks of their respective companies MELSEC L LD MH Simple Motion Module Quick Start Guide This publication explains the typical features and functions of the products herein and does not provide restrictions and other information related to usage and module combinations Before using the products always read the product user manuals Mitsubishi Electric will not be held liable for damage caused by factors found not to be the cause of Mitsubishi Electric opportunity loss or lost profits caused by faults in Mitsubishi Electric products damage secondary damage or accident compensation whether foreseeable or not caused by special factors damage to products other than Mitsubishi Electric products and to other duties A For safe use To use the products given in this publication properly always read the relevant manuals before use e The products have been manufactured as general purpose parts for general industries and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life Before using the products for special purposes such as nuclear power electric power aerospace medicine or passenger movement vehicles consult with Mitsubishi e The products have been manufactured under strict quality control However
84. r ep DRLOZE MEET TUO FEE LUCRO ra b Completion of operation checks 57 Start up Guidance APPENDICES Appendix 1 Start address setting 1 Start address of Simple Motion Module CPU modules of L series are equipped with built in UO and built in CC Link If connecting a Simple Motion Module to the right side of a CPU module the start XY address becomes the number that is added the No of UO points corresponding to the CPU module equipment Since the number depends on CPU modules refer to the following table Start address of Simple Motion Module The start addresses are the default values n A 6 s neue L02CPU LO2CPU 40H L26CPU BT a Ge L26CPU BT 2 Start address setting When newly adding a Simple Motion Module specify the start XY addresses to both of GX Works2 and the Simple Motion Module Setting Tool 1 GX Works2 New Module Module Selection Module Type simple Motion Module Y Module Name LD77MH4 e Mount Position Mounted Slot No 1 Acknowledge I O Assignment Title Setting Title Set the same address 2 Simple Motion Module Setting Tool New Module Module Selection Module Type Module Name LD77MH4 M Specify start XY address 0030 H 2 Slot Occupy 32 points Title Setting Title 58 Start up Guidance Appendix 2 Parameter and positioning data This section shows the parameter and the positioni
85. rranty term before repairs Gratis Warranty Range 1 The range shall be limited to normal use within the usage state usage methods and usage environment etc which follow the conditions and precautions etc given in the instruction manual user s manual and caution labels on the product 2 Even within the gratis warranty term repairs shall be charged for in the following cases 1 Failure occurring from inappropriate storage or handling carelessness or negligence by the user Failure caused by the user s hardware or software design 2 Failure caused by unapproved modifications etc to the product by the user 3 When the Mitsubishi product is assembled into a user s device Failure that could have been avoided if functions or structures judged as necessary in the legal safety measures the user s device is subject to or as necessary by industry standards had been provided 4 Failure that could have been avoided if consumable parts battery backlight fuse etc designated in the instruction manual have been correctly serviced or replaced 5 Failure caused by external irresistible forces such as fires or abnormal voltages and Failure caused by force majeure such as earthquakes lightning wind and water damage 6 Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi 7 Any other failure found to not be the responsibility of Mitsubishi or that admitted not to be so by the
86. rt sampling Dn you want to start sampling q 6 Check the cam pattern with the digital oscilloscope Check if the pattern which created the cam data and the axis 1 current feed value of the digital oscilloscope are the same NR OT RE IO Select View Cursor to display the explanation and File Edit PZ Action Online Toole yalue of each prove CHE Cursor JOG Ax icai Zoom EZ Grid mode 7 Display Assistant Screen bie Zoom HM ax l am Ax 1 cvc xD 0001 mm in Ax 1 Cam Ax feed xD lum Si ax 1 Motor speed a xL irimin ax 1 Motor current x0 1 m 1 5V status Ala v 7 Ax 1 Error detectio Mi Digi ad Cru rem LZ CHULLDZ AAH irie OS LEA Ja x Pie Cot Wem Give cine Took ep 18 sel lcci elem CMS ec en SES Celtes 4 Let Dni H A i L z hv Dam Ar rye CL DURO T nnnm ZO Panaun S PAROI cu uu SS x Cam Ax fed xD dpm m0000 1200000 400000 BOU 300047 570172 x l Flobor paaki x0 Lier 2000 4000 X 8000 3135 vital x Bch nkee orrec x US zu au ka 9 II ZL 13 Ar 1 54 stems Ala D H x B Emer detectio D AE E zu EE Eg 7 set irienn jo e d D r r D 1 D 1 m poo c 1500 0 LEO Kess ZO 3 0 moo 0 xoi D ao D boo EPOD O gt Statue TRIGGER STOP ch Comba Mode Jrieeer Connie Finish Time M D rir ie Meet Stator WO DS r Pile Pille
87. s 4 eet 4 New project creation completed 12 Quick Start Guide 2 Creating sequence programs For the next step create a sequence program For the details refer to the related manuals written in 1 2 Related manuals 2 MELSEC L series programmable logic controller In addition if you wish to use sample data please contact your nearest Mitsubishi sales representative 1 Sample data Sample data of LD77MH L02 LD77MH4 SEQ for LO2CPU and LD77MH4 Axis 4 type L26 LD77MH4 SEQ for L26CPU and LD77MH4 Axis 4 type LD77MH sample data l LO2 LD77MH16 SEQ for LO2CPU and LD77MH16 Axis 16 type L26 LD77MH16 SEQ for L26CPU and LD77MH16 Axis 16 type 2 Unpacking the LD77MH sample data Unpack the LD77MH sample data into any folder 3 Packed data v LD77MH sample data Id77mhe 00c 3 Reading sequence programs Projects of the sequence program are read from the unpacked sample data a Select Project Open Project from the menu b Click the Browse button to select the folder in which the project is saved c Select the project Project Edit Find Replace Gompile Workspace Location 3 Hem Ctrl h L usrE ld 7 mhe_O0c Startup Guidance L26_LD77MH4 AE Open Ctr Close i cave Save De Workspace Project List Display all Folders It returns to the workspac Gtr s Ex LD77MH Startup Guida Cancel Next page 13 Quick Start Guide
88. s ON the SHIFT key turns 3 JOG speed setting Double click JOG operation speed setting X5D with pressing the SHIFT key Y 4 JOG starting Double click Forward rotation JOG X5E with pressing the SHIFT key to turn X5E ON and the axis 1 rotates forward Furthermore double click Forward rotation JOG X5E with pressing the SHIFT key to turn X5E OFF and the axis 1 stops Next page 32 Quick Start Guide 5 Checking JOG operation Y Double click the Intelligent Function Module Monitor Module Monitor Axis Monitor button to display the axis monitor initial window EM pintelligent Function Module ER 0030 LD77MH4 EN System Setting b Parameter Lor READY a Servo Parameter e i ee Tania tb SAY DIN A bo Hz 34 RE Reape dos tio EJER Ford shoo ingle Lea 1411 Bue ssh NES jaja Error detection Xm Ma 0 L 34 4 Adho 1 2 34 data being pum Decker atven fire 0 TECC OD Steam Haat 0 D B ss operation iode stabust DG 2 32 hia o verior o Flash POPS LESS LP D Hires Le m Error History he e Warning History qm Servo Monitor See 2 Digital Oscilloscope Dima OS geet Flan P9661211 Sappe Click Select Monitor Axis to display a Axis Monitor screen Select the displayed axis Click Select Monitor Item to display a Axis Monitor screen Select the displayed item Select
89. sic knowledge ES necessary for programming Type LD77MH Simple Motion Module User s Manual Synchronous control This manual explains the functions of Simple Motion Module type LD77MH IB 0300174 2 MELSEC L series programmable logic controller Programmable Controllers MELSEC L Series Quick Start Guide MELSEC L CPU Module User s Manual Hardware Design Maintenance and Inspection This manual explains the specifications and the methods for installation maintenance and SH 080890 inspection of the CPU modules and power supply modules MELSEC L CPU Module User s Manual Function Explanation Programmable Fundamentals This manual explains the functions of CPU modules In addition it also describes devices and parameters basic knowledge necessary for programming as well as the operation of display units SH 080889 3 Servo amplifier Manual Number SSCNETIII Compatible MR J3 B SERVO AMPLIFIER INSTRUCTION MANUAL This manual explains I O signals parts identification parameters and startup procedures SH 030051 SSCNETIII Compatible Linear Servo MR J3 B RJ004U INSTRUCTION MANUAL This manual explains I O signals parts identification parameters and startup procedures SH 030054 SSCNETIII interface 2 axis AC Servo Amplifier MR J3W B SERVO AMPLIFIER INSTRUCTION MANUAL SH 030073 This manual explains I O signals parts identification parameters and startup procedures Quick Start Guide 2 SIMPLE MOTION MODULE START UP
90. teclecion 0 A phase B phase mode 0 A phase B phase mode dads multiplied by 4 multiplied by 4 0 Speed position 0 Speed position opeed position function selection switching control INC switching control INC mode mode Forced stop valid invalid selection Invalid Acceleration time 1 000 ms Acceleration time 2 1000 ms Q e te D a v C1 cO Start up Guidance Acceleration deceleration process selection 0 Automatic trapezoidal 0 Automatic trapezoidal acceleration acceleration deceleration processing deceleration processing Detailed parameter 2 Speed control 10 x multiplier setting for 0 Invalid 0 Invalid Por NR LN ON type selection Operation setting for speed torque control 0 Command speed 0 Command speed Zeene s mmm Operation setting for speed torque control 0 Switching Conditions Valid O Switching Conditions Valid External command signal selection 6 Data set method 6 Data set method OPR direction 0 Positive direction address _ 0 Positive direction address 3 increment direction increment direction OPR basic Ee OPR retry 0 Do not retry OPR with limit 0 Do not retry OPR with HELP RE UN Setting for the movement amount after 0 0 um 0 0 um SE SE parameters Operation setting for incompletion of OPR 0 Positioning control is not 0 Positioning control is not FT TT aed o E Ger t1 7ms o Operation cycle setting 1 1 77ms Note 1 The Opera
91. ting Title DARANIN 3 Cancel 2 Click the TOKI button to add LD77MH to the intelligent function module of the project E MELSOFT Series Simple Motion Module Setting Tool MH00C Startup E Toi Project Edit View Online Tools Window 24 Intelligent Function Module e Bh 0030 LD77MH4 Y 3 Continue to 4 Setting the system setting 20 Quick Start Guide 4 Setting the system setting Set the necessary parameters for the Simple Motion Module LD77MH in series 1 Double click the Intelligent Function Module System Structure buttons 2 Double click the image of the first axis of the servo amplifier zm A n 2 623 Intelligent Function Module Ch DOSOELDT7 MBA 1 E TUDIN Es E a stem Setting Mor NE uk Jg CHENG SUE E E irk Lezec em 9 Mark Detection f Pamata d Servo Faramster m Parameter St Servo Parameter dfs Positioning Data dpe Block Start Data Jp Synchronous Control Parame E Input Axis Parameter o om Gis Synchronous Par zm E Gis 2 Synchronous Par x IH ento Bl Gens cscillescoos PO de 33 Axis 3 Synchronous Par NE E Axis 4 Synchronous Par nam Cam Data ER Monitor a Digital Oscilloscope Amplifier SettinelAxis 1 Servo Amplifier Series CEO Use As Virtual Servo ATUS RTR se hs MESURE SET Iw 15 pre Fully Closed Der When using as a wirt MR I3 W B Linear ameter setting is not required MR 13 4 B DD Motor Serv
92. tion cycle setting and External command signal selection are used only in a parameter of LD77MH16 60 Start up Guidance 2 Positioning data Axis 1 Positioning data Operation Control ii nies Acceleration Deceleration Positioning Command Dwell interpo pattern system ated time No time No address Soe Speed time Ru 0 0 2000 00 ernie FA 1 1000 1 1000 100000 0um mm min 0 0 0 0 0 30000 00 2 Completion ES 1 1000 1 1000 um um mm min Oms lt Axis 2 Positioning data gt Operation Control M ere Acceleration Deceleration Positioning Arc Command Dwell M interpo pattern system lated time No time No address address speed time code 0 INC 157079 6 0 0 2000 00 1 Completion liner 1 1 1000 1 1000 um um mm min Oms 61 Start up Guidance Appendix 3 Various monitor functions Appendix 3 1 Axis monitor 1 Select Axis Monitor EHE Intelligent Function Madule ERR 0030 LD77MH4 H ni System Setting e Parameter bon S Servo Parameter HFS Positioning Data HFS Black Start Data H 2 Synchronous Control Par e Cam Data a Re s rz Axis Monitor P re Starting History Re BS Error History Sen EPH warning History ias p Servo Monitor SR Digital Oscilloscope Select Monitor Axis Select the displayed axis Select Monitor Axis Set the monitor axis and the disg Selectable Axis No Delete OK See Cancel l1 1 Double click the
93. trol A Im A Axis to be Interpolated 2 Circular interpolation control with sub point designation 4B5 Axis to be Interpolated 3 fommand Speed Operation Pattern 1 Continuation Reference Axis cular interpol int designat Interpolation Axis a Acceleration Time No 0 1000 Circular interpolation control with center point designation I Axis to be Interpolated 1 See SEPA seer TC OPN Deceleration Time No 0 1000 Setting Range 0 01 to 2000 00 mm min If 1 is set For the command speed the current speed spied set For previous positioning data No 1 will be used For positioning control 4 Dwel T Im e Y Next page 26 Quick Start Guide 4 Click the Set button to close the data setting assistant screen and display the positioning data screen 090301D77MH4 l Axis 1 X org A Display Filter Display All v D END D1h ABS Linear 1 0 1000 0 1000 0 0 um 0 0 um Positioning Comment Positioning Comment Positioning Comment E Operation pattern The operation pattern designates whether positioning of a certain data No is to be ended with just that data or whether the positioning For the next data succession 5 Create the command which returns from P1 to the home position in the positioning data No 2 by using the same method Operation Control Fs Ee Acceleration Deceleration Positioning Command Dwell interpo pattern system lated t
94. tting H1 to the buffer memory U3XG36320 of the synchronous control start Axis Monitor Monitor Type AxistOutput Axis Font Size opt Current feed value Machine feed value Axis error No NE Axis 1 Synchronous Control e D Positioning data No being executed Pasitioning data being executed Operation Positioning Complete Positioning Complete pattern Positioning data being executed Control system Positioning data being executed AC ation time 0 1000 No Positioning data being executed Deceleration time o 1000 No Positioning data being executed Axis to be interpolated Pasitioning data being executed M code Deviation counter 0 PLS 0 PLS Motor rotation speed 0 5 r min 0 0 r min Motor current value 1 0 0 0 9fo Servo status Servo alarm OFF OFF Servo status Servo warning OFF OFF Status OPR request flag OFF OFF Status OPR complete flag OFF ON Start complete OFF OFF E input signal Lower OH CH External input signal Upper Le ON limit Module Information List PLC READY Y30 LD77 READY X30 gi Synchronization Flag 31 Al axes servo ONCY31 Servo status READY ON Y AxisNo NEN 3 4 Servo status Servo On AxisNo DE 3 4 Forced stop input UG G1431 BUSY AxsNo ME 23 4 Axis 1 BUSY Error detection lAxisNo 1 2 3 4 Status Axis warning
95. vy things on or sandwich the cables as this may lead to fire 3 For injury prevention NCAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal Doing so may lead to destruction or damage Q Do not mistake the terminal connections as this may lead to destruction or damage Do not mistake the polarity as this may lead to destruction or damage Q Do not touch the heat radiating fins of module or servo amplifier regenerative resistor and servomotor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Always turn the power OFF before touching the servomotor shaft or coupled machines as these parts may lead to injuries Q Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries 4 Various precautions Strictly observe the following precautions Mistaken handling of the unit may lead to faults injuries or electric shocks 1 System structure NCAUTION Always install a leakage breaker on the module and servo amplifier power source If installation of an electromagnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always install the electromagnetic contactor Install the emergency stop circuit externally so that the operation can
96. y using the FA engineering software MELSOFT GX Works2 and MR Configurator2 for users who use the Simple Motion Module for the first time To fully utilize each module such as CPU modules of MELSEC L series please refer to the relevant manuals depending on the purpose For users who use the MELSEC L series CPU module hereafter CPU module for the first time please read MELSEC L Series Quick Start Guide once 1 1 Features of Simple Motion Module LD77MH 1 Wide range of controls is realized by high performance and multiple functions This module realizes positioning control synchronous control cam control and speed and torque control 2 Adoption of the built in synchronous encoder interface realizes cost reduction 3 Highly flexible baseless structure realizes space saving control board 4 This module supports SSCNETIII and it can be connected with the high performance servo amplifier 5 Simple control setting without programs 6 Assistant function realizes easy setup Parameters can be setup from settings to adjustment by using Simple Motion Module Setting Tool which is installed in GX Works2 as standard equipment or MR Configurator2 1 2 Related Manuals 1 Simple Motion Module Manual Number Type LD77MH Simple Motion Module User s Manual Positioning control This manual explains the functions of Simple Motion Module type LD77MH In addition it also describes the operations of devices and parameters what is a ba
97. zation command QN run command Storage x Servo Y31 ON program X30 Y30 X31 lt All axis servo ON d Kl kal kat vi LD77 REA PLC READ Synchron All axis DY Y ization servo flag ON Positioning start No setting program 1 Machine OPR X53 lt Machine OPR 9001 write pf MOVP K9001 D32 Machine oe Start N OPR comm i and 2 Positioning with positioning data No 1 X55 lt Positioning data No 1 setting S MOVP Ki D32 Positioning Start Mo start command Positioning start program When positioning start signal X71 oe Positioning start command AX M5 Y40 39 AX Posi Axis 1 tioning Position start cmd ing start pls Mi 45 Ax Posi tioning lt Positioning start command pulse Jp 4 PLS M5 X40 M7 SET Axis start complete Ax1 In JOG operation flag Positioning start No setting MOVP D32 Start Mo x 4 Positioning start execution lt Positioning start storage OFF RST 71 lt Positioning start command hold AX1 Position ing start cmd pls MG Ax1 Posi tioning start cmd storag LDS GI BOU Axis Position ing start No KEN Axis 1 Posi tioning start WE Ax1 Posi tioning start cmd storag Start up Guidance Y40 x40 DX3C lt Positioning start signal OFF RST Y40 Axis Position ing start Axis 1 Error detection JOG operation setting 5D x 4 JOG speed 100 00 mm min DMOVP K10000 D6

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