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Quick Start Guide Simple Motion Module LD77MH

1. a MITSUBISHI ELECTRIC Creating parameter and positioning data by using Simple Motion Module Setting Tool Simple Motion Module start up 2 8 2 8 1 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 Mo tion Module LD77MH Adding a Simple Motion Module Right click on Intelligent Function Module in GX Works2 and select New Module The New Module screen is displayed Fig 2 20 Select New Module Para mag Intelligent eee ee ee G lohal Cle New Module Module 1 feet Program 5 Intelligent Function Module Parameter List E 1G Sh Read Gx Gonfieurator QiP Data Mt Gg opeth B a L Ki Device Memory FS Device hitial Value 2 Select a module The following shows a setting example of when the Simple Motion Module LD77MH is connect ed next to the CPU module screen_O15E New Module PLC type Module Selection LO2ZCPU L26CPU BT Module Type analog Module Y Lozcpu Analog Module Module Type Simple Motion Module Module Name Counter Module LD75 Type Positioning Module Serial Communication Module Mod u le Name LD77MH4 Mount Position Simple Motion Module M ounte d SI ot No o ee Base ly Mounted Slot No 0 Acknowledge I O Assignment Specify start xy 0010 0030 address MI Click the checkbox ms Options Title MV Specify sta
2. Cancel Use Label PLO Series LPU PLE Type L26 BT Language Ladder screen_007E Fig 2 11 Creating a new project The project tree and circuit screen is displayed on the main screen F MELSOFT Series GX Works2 Unset Project PRG MAIN AR Project Edit Find Replace Compile View Online Debug Diagnostics Tool Window Help 8X Tela A E nee cot OR E ee ET E A PE S ig T ite ses Fe ee 7 Fel Fo sro oo dhol dhh Seb abh Sto ds ak sore se ars cars ano Fo AFSL ETL Oe SS Ge aaa lA i Navigation ax P a Pacate Parameter htelligent Function Module 4 Global Device Comment Program Setting POU B Program a MAIN 5 Local Device Comment E Device Memory Device hitial Value User Library Connection Destination w Japanese Unlabeled Host Station screen_008 Fig 2 12 Project tree and circuit screen New project creation is completed MELSEC L Series LD77MH Simple Motion Module Quick start guide 2 11 Simple Motion Module start up Creating sequence programs by using GX Works2 2 7 2 Creating sequence programs For the next step create a sequence program For the details refer to the related manuals for the MELSEC L series programmable logic controller In addition if you wish to use sample data please contact your nearest Mitsubishi sales representa tive Sample data of LD77MH LO2 LD77MH4_SEQ for LO2CPU and LD77MH4 Ax
3. Error reset program lt Error reset command pulse X6E 103 PLS M28 Error reset Error reset command M28 X38 oe MOVP KI ae Error Axis 1 Axis 1 reset Error Axis detection Error reset 110 X39 US _ sy MOVP KI Gi602 Axis 2 Axis 2 Error Axis detection Error reset US MOVP KO GI502 Axis 1 Axis 1 Error Axis detection Error reset X39 123 MOVP KO U3 G1602 Axis 2 Axis Error reset 128 x Stop program lt Stop command pulse X6F 133 PLS M29 Stop Stop commnad command pulse lt Stop execution M29 X3C 140 A SET Y34 Stop Axis 1 Axis 1 command BUSY Axis pulse Stop X3D S SET Y35 Axis 2 Axis 2 BUSY Axis Stop lt 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 app4_003 Fig A 9 Sequence program example 3 MELSEC L Series LD77MH Simple Motion Module Quick start guide A 17 Appendix Sample program Synchronous contlrol axis setting x lt Positioning start command pulse ce US 156 J Mm MOVP H1 G36320 Synchronous Synchronous control axis daiiro setting start X7D us 165 MOVP HO G36320 Synchronous Synchronous control axis control setting start 7 Positioning start program Axis 2 lt Positioning start command pulse gt X72 PAA fps Mes ee Positioning command a me lt Positioning start command hold M65 Y41 X4
4. Setting details as in following table Start point degree End point degree Stroke Cam curve 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 Fig 3 11 Cam data Saving a project 8 00000 113 59160 50 0000000 Constant speed screen _040E Refer to the previous section 2 8 8 Saving the Simple Motion Module as a project Writing to the Simple Motion Module Refer to the previous section 2 8 9 Writing to the Simple Motion Module Synchronous control parameter setting is completed Aa MITSUBISHI ELECTRIC Operation check of synchronous control Synchronous control start up 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 cur rent feed value of the axis 2 fem o f oe Desciption SSCS ois postioningstar X72 twnONthexis2postoning start Yat and sat OPR ofthe aris tare andreonce oe control axis set Set the synchronous control axis and G36320 to 1 si a positioning No Set positioning No for the synchronous control Axis 2 positioning start ae the positioning start of the axis 2 and start the synchronous Tab 3 5 Devic
5. Axis select rotary switch Cover is opened tary switch tary switch Servo amplifier MR J3 B visti dete LENG EAS O KAER E T a ae a a M A T a E C E 1 a E e ffo j e fe eae LO7 MH External 1 0 Connector Setting Buff ar Memory ame Setting Value Ext CMD Sy itch Signal Logic Selection ve Logic Trailin MAN PLS S nc Encoder INC Input MAN PLS Ir put Selection Forced Stc p Input MAN PLS Input Logic Selection J3 Ww B a dil Refer to section 2 8 for details of system setting rotary_switch screen_001 Fig 2 6 Setting of servo amplifier axis select rotary switch NOTE LD77MH4 can set up to axis 4 and LD77MH16 can set up to axis 16 MELSEC L Series LD77MH Simple Motion Module Quick start guide 2 7 Simple Motion Module start up Wiring and connecting cables Connecting various cables Connect the SSCNET Ill cable and the encoder cable Connect the USB cable between personal com puter and PLC CPU Refer to section 2 2 Checking if the power is properly turned on Make sure that the power supply of PLC and servo amplifier is properly turned on GQ Check the wiring of the PLC CPU module 2 Turn on the power supply of the PLC L26CPU BT A MITSUBISHI VELE mones err FUN MST SD ERR as TE d VOERR LARUN SMST RD LERR B RATE STATION HO 156K 1 INPUT 75K feat 100 240 ACPA aN ou SO G0He 130 UT SVD 54 Power supply module CPU module LED Green is lit MODE LED Green i
6. LD77MH4 Digital Oscilloscope x ee ee ee ee p iii De e y ia Ge j j 2 4h a EEE Hargs forty 1 a ri Intelligent Function Module m i 0030 LD77MH4 rii System Setting 3 Parameter 2 Servo_Parameter Positioning Data 3 Block Start Data screen_045E Fig 3 16 Digital Oscilloscope screen 3 16 Aa MITSUBISHI ELECTRIC Operation check of synchronous control Synchronous control start up 2 Click the Assistant Screen button to start the Assistant screen The section Communicate with the simple motion module and sample the data provides operation items for setting of the digital oscilloscope see the following steps 3 to 3 Select 1 Connect the personal computer with the simple motion module and switch to Online The Online Setting screen is displayed where you can set the following items e Sampling method Module Buffering Method e Operation mode Online Click OK to return to the Assistant screen 4 Select 2 Select the probe item to be sampled The Assistant Probe Selection screen is displayed Select the Cam operation from the list and Axis No 1 Click OK to return to the Assistant screen Select 3 Set the sampling condition The Assistant Sampling Condition screen is displayed Set the items e Sampling rate ms 0 888 x 1 e Sampling size point 8192 e Trigger balance 90 00 e After trigger Sampling size poin
7. Application software cece cece eee 2 9 DAG GS sesepi E en be ae det 2 5 DOIN ANS gt su sian indus hey lator 2s fa oleae aan he Sat love 2 5 MOdUlES errereen pa EA NA 2 5 M MELSOFT GX Works2 A e a cles states ees 2 10 Monit r TUNCHONS lt iherwiedesnt ieena ia Eaa A 6 O Operation check Cam operation synchronous control 3 16 JOG Operation ccc ccc cece cc eee 2 31 OPR Original Point Return 2 36 OPR synchronous control 06 3 13 Positioning control cece eeees 2 38 Start up of drive axis synchronous control 3 14 Synchronous axis synchronous control 3 15 p Parameter Axis parameter ccc cc cece cee eeees A 3 Positioning data Settings overview cece cece cece et eens A 3 Preparation DEVICES wien tet Guawere eine eee eeet ete cages 2 4 Project INOW ona Meta ade cena desu teneaaheeeee 2 19 DOVE E tantric es aa tana 2 13 S Sample data Creation of sequence programs 2 12 Program example cece eee eee ees A 14 Setting procedures 0c cece eee eee ees 2 30 Setting Axis select rotary switch c cece eeee 2 7 Basic parameters ccc cece cc eect neces 2 21 POSITIONING data i ence teaws dcueewsaeawneies 2 26 Servo parameters ccc cee ee cee eee eeee 2 25 Simple Motion Module Add with Setting Tool 0 0 ee 2 17 EKFOMDISCONY surrar tresu danir o a
8. Beijer Electronics UAB Savanoriu Pr 187 LT 02300 Vilnius Phone 370 0 5 232 3101 Fax 370 0 5 232 2980 AUSTRIA BELARUS BELGIUM BELGIUM BULGARIA CROATIA CZECH REPUBLIC DENMARK ESTONIA FINLAND GREECE HUNGARY LATVIA LITHUANIA a MITSUBISHI ELECTRIC ALFATRADE Ltd 99 Paola Hill Malta Paola PLA 1702 Phone 356 0 21 697 816 Fax 356 0 21 697 817 INTEHSIS srl bld Traian 23 1 MD 2060 Kishinev Phone 373 0 22 66 4242 Fax 373 0 22 66 4280 HIFLEX AUTOM TECHNIEK B V Wolweverstraat 22 NL 2984 CD Ridderkerk Phone 31 0 180 46 60 04 Fax 31 0 180 44 23 55 Koning amp Hartman b v Haarlerbergweg 21 23 NL 1101 CH Amsterdam Phone 31 0 20 587 76 00 Fax 31 0 20 587 76 05 Beijer Electronics AS Postboks 487 NO 3002 Drammen Phone 47 0 32 24 30 00 Fax 47 0 32 84 85 77 Fonseca S A R Jo o Francisco do Casal 87 89 PT 3801 997 Aveiro Esgueira Phone 351 0 234 303 900 Fax 351 0 234 303 910 Sirius Trading amp Services srl Aleea Lacul Morii Nr 3 RO 060841 Bucuresti Sector 6 Phone 40 0 21 430 40 06 Fax 40 0 21 430 40 02 INEA RBT d o 0 Izletnicka 10 SER 113000 Smederevo Phone 381 0 26 615 401 Fax 381 0 26 615 401 SIMAP s r o Jana Derku 1671 SK 911 01 Trencin Phone 421 0 32 743 04 72 Fax 421 0 32 743 75 20 PROCONT spol s r o Pre ov K peln 1 A SK 080 01 Pre
9. Ee System Setting Boa Parameter E Servo_Parameter fF Positioning Data ress Block Start Data FP Synchronous Control Par corti or ETa TS La Eme deberi imha i Foal eos aig hat ef Fg rac Wein Ain emery iei m Bans Apel Ti ee ieee k MING EENI a ee pee ate ete aG Pai if ees 16 Pie BOP ae i Ea Error History i Fr Warning History i Servo Monitor ial Digital Oscilloscope Select Monitor Axis Set the monitor axis and the display order 3 Selectable Axis No Monitor Axis and the Display Order lt lt Delete app3_001 Fig A 3 Steps 1 to of selecting axis monitor procedure a MITSUBISHI ELECTRIC Various monitor functions Appendix 5 Click Select Monitor Item to display the Select Monitor Item screen Select the monitoring item in the selectable item list 7 Click Add to add the selected item to the monitor item list After selection of all desired monitor items click the OK button to return to the initial Axis Monitor screen The statuses and values of the selected items are now shown for the selected axes Sai bha maido bea aad OP aplay dir he opetiste rahe of the aie depereh on ft pbir of jabe Beer Piris Piet are the Danii ede hbe of iba jD O E eaten hang eon ae ee ah patter a bang eee Conrad prije bang toenied Apher pion tee Fan bfo dohiti ipini a a Pa i barg dikni i fhi bo ba aberpebabeed A borg rebel ce i H athe aht
10. ccc ccc cece eee eees 2 10 2 7 Creating sequence programs by using GX Works2 ccc cece eee eee eeenees 2 11 27A Creating anew DrOjeCt c2 o 50 tides eet names aint beara ee haem E ERST 2 11 2 72 Creating SEQUENCE programS cece ccc cece eee cece eee e eee eteeeeeeeees 2 12 2 7 3 Saving a SEQUENCE program AS a PFOJeCt eee eee e eect eee eeeee 2 13 2 74 Connecting CPU module and personal computer cece eee eee eee 2 14 2 7 5 Formatting of the CPU module sinister asec sveavale lt aied ie naeawaet Sane 2 15 2 7 6 Writing the sequence program to the PLC CPU ccc cece eee eens 2 16 2 8 Creating parameter and positioning data by using Simple Motion Module Setting Tool 2 17 2 8 1 Adding a Simple Motion Module ccc cece eee e cece cece eee eeeeeaees 2 17 2 8 2 Starting the Simple Motion Module Setting Tool ccc cece eee ees 2 18 2 8 3 Creating a NEW DEO SCC idcc oc ate ead ea atc o oo i Sead ea a nee oe 2 19 DOM SVEM SCUNMO sca cota eeeaades enue anda Damedeuadas AA adam cate cewees 2 20 2 8 5 Parameter Semin Succes cio dvs eels weave seins EAA eiodvee sodas eaves 2 21 2 8 6 Servo parameter setting scici6 oes eark GO Taw a4 NOTENE EREET EERS ERTEN 2 25 2 8 7 POSITIONING data SCUING ernir adie oehdveusatneuhddasaleeu adie enees 2 26 2 8 8 Saving the Simple Motion Module as a project ccc cece cece eee eee 2 28 2 8 9 Writing to the Simple Motion Modul
11. A J fax 1 Cam ax feed current v 2 o x0 WB fax 1 motor spees fe o 0 x0 1r min E fax 1 Motor current vatuetass pi f op 0 og a a i ae ee en Se eee Back Complete Cancel screen_O47E Fig 3 18 Setting the trigger condition D Starting sampling Display the Assistant screen again see step 2 and select 4 Start the sampling The following screen appears Click Yes to start sampling Fig 3 19 Digital Oscilloscope Confirmation screen to start the sampling To stop sampling use the menu toolbar icon or e Close the assistant screen and start sampling STOP gt assistant screen Do you wank to start sampling screen_048E sa MITSUBISHI ELECTRIC Operation check of synchronous control Synchronous control start up 2 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 Select View Cursor to display the explanation and value of each probe Wy Digital Oscilloscope L26CPU File Edit SE Action Online Tools il UFSOF lax 1 Cam l am Ox 1 cyc x0 0001mm 1 Cam Ax feed x0 1pm _1 Motor speeda x0 irimin 1 Motor current x0 15 L _ 1 5 status la Grid mode gt Ax 1 Error detectio ep a a a a ap ap ec a a a a Display Assistant Screen A
12. Creating parameter for synchronous control System setting Parameter and servo parameter settings Positioning data setting Refer to section 3 3 Synchronous control parameter setting Cam data setting Saving a project Writing to the Simple Motion Module Operation check OPR for establishing a home position Start up of drive axis Refer to section 3 4 Operation check of a synchronous axis Operation check with digital oscilloscope End MELSEC L Series LD77MH Simple Motion Module Quick start guide 3 3 Synchronous control start up 2 axes system where synchronous control is available 3 2 2 axes system where synchronous control is available The following shows the configuration example of a system which combines LD77MH4 MR J3 B MR J4 W B and a servomotor Personal computer USB cable I No fuse breaker nii LD77MH4 Circuit Protector SSCNET III cable L26CPU BT F No fuse breaker MR J3 B ee MR J3 B MR J4 W B MR J4 W B Magnetic a Ai SEPPIEN contactor Motor power eS supply cable TAND i supply cable E Encoder Motor power config_example_chap3E Fig 3 3 System configuration for synchronous control with 2 axes 3 4 Aa MITSUBISHI ELECTRIC Creating parameter for synchronous control 3 3 3 3 1 Synchronous control start up Creating parameter for synchronous control System setting Set the system configuration for 2 axes Fig 3 4 LOF7MH Ex
13. Ctri O Save Location Close D usrE LD77MH LD77MH test eq Save Ctri S Workspace Project List a PLC Type Compress Unpack E It returns to the workspac roe LD 7MH sample1 1 L26 BT Ex LD 7MH Startup Guida Delete Ver ify Workspace Name Project Name 3 Title V Revision is inherited v Cancel MELSOFT Series Simple Motion Module Setting Tool The specified project does not exist Do you want to create a new project screen _024E Fig 2 32 Procedure of saving a project Saving the project of the Simple Motion Module completed Aa MITSUBISHI ELECTRIC Creating parameter and positioning data by using Simple Motion Module Setting Tool Simple Motion Module start up 2 8 9 Writing to the Simple Motion Module Write parameters and positioning data to the Simple Motion Module C Move the RESET RUN STOP switch on the front side of the PLC CPU module to STOP position 2 Writing to LD77MH Select Online Write to Module from the menu The Online Data Operation screen is displayed 3 Click the Select All button All items are selected 4 Click the Execute button A warning message is displayed 5 Click the Yes button to confirm overwriting of the flash ROM contents The Write to Module screen is displayed showing the progress of writing process After the writing procedure is completed click Close to finish Pimple Holin Module Selling bool MH UUE Online Tonk
14. Data aA Block Geart Dorta ia Seco Control Parame g Fit Asit Firarmai r G Avie 1 Syrcas Para Cet Asia B Synchronous Pare g Fog D Senchroncus Pare i fue H Sercsroncun Pang GE Sen Data Ciam iria liii Return te Base Seng 2 a j Seley Helhif Ey Sroka Mwin a afk diil i nae inlefgent Furehon Mode Recan se pz Siika Bes i Loo Tee Digital Onc Boece Curve Application Purge i pa 0 00 te pe 100 n a screen_039E Fig 3 10 Setting of cam data MELSEC L Series LD77MH Simple Motion Module Quick start guide Synchronous control start up 4 Creating cam data Creating parameter for synchronous control When the stroke and cam curve is set as b the cam graph appears as a Cam Graph a Display Graph 00 0000000 0 0000000 100 0000000 0 000 Stroke Setting Section Start degree a 0 00000 2 00000 4 00000 6 00000 8 00000 113 59160 222 00000 ams mammam 90 00000 End degree 4 00000 6 00000 8 00000 113 59160 222 00000 224 00000 AME MAAA Display Magnification Point Data Width 100 Height 100 o WIH 100 Screen View Stroke Cam Curve 0 0500000 Constant Speed 0 5000000 Constant Speed 1 1000000 Constant Speed 1 9000000 Constant Speed 50 0000000 Constant Speed 98 1000000 Constant Speed 98 9000000 Constant Speed AA Frenne 360 00200 Curve Application Range Pi 10 00 to P2 1 00 Setting Range
15. Montor B Error an E Warning History r Servo Monitor B Digital Oscilloscope aceno LOr etor srera fog O Bees ore er Serve satus RLADY Oti kom Wo w gt 3 Serve ats Serve ON Am to E 3 Forced top row eur wsio M s Ero deton Ado 23 4 ae Aes mg deter heave 23 4 D Dy test ode fiogu 3041200 D Aen ooe ter ode ANIA Nee of venn te Pid ROMDJIDG 4M Data OC nanna NaIT L Stopped Set the monitor ad ond the dipha order o The odata sate of he wres deperi om the umber of seected temm Mordo Deve ad ihe Coplay Geter ber of sianed iem 10 tams Posterag Gite berg cuteted Accs en time feo Posturng date beng executed Cecelerator ime No Postiorng Gate beng executed Arm te be niterpolated Postar Gets berg erected M code Dewater counter Pit or onan Deed Piotr cree ve Servo tats Servo dam Servo tats Servo waning screen_O29E Fig 2 38 Checking JOG operation 2 32 Aa MITSUBISHI ELECTRIC Operation check 9 Select Monitor Items 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 Axis Monitor Current feed value 109300 2 um Axis 1 Current feed value Machine feed Akis error No Avis feedrate executed pattern Moa Ho interpolated executed M value 10900 2 urm Axis 1 Machine feed value Axis warning Mo Akis o
16. as a programming tool and MR Configurator2 as a servo parameter setting tool Installing MELSOFT GX Works2 Install the software by following the instruction manual which comes with MELSOFT GX Works2 Supported tem Modetname Funetionoverview eit MELSOFT GX Works2 MITSLESea Mitsubishi IQ Platform compatible Program oh ee mable Controller Engineering Software Q SW1DNC GXW2 E Integrated software of programming simu 1 48A wt si lation module settings and monitoring tool Ex ual Tab 2 4 Software MELSOFT GX Works2 Installing MR Configurator2 Please contact your nearest Mitsubishi sales representative for the MR Configurator2 Supported tem Modetname Funetionoverview feo MR Configurator2 AAT SRT ener Parameter settings and adjustment of servo om SW1DNC MRC2 E amplifier 1 01B or later bn otk Parameter settings monitoring and graphs umm b Tab 2 5 Software MR Configurator2 MELSEC L Series LD77MH Simple Motion Module Quick start guide 2 9 Simple Motion Module start up Installing application software 2 6 3 Checking the start up of MELSOFT GX Works2 Creating an icon of MELSOFT GX Works2 Select Start All Programs MELSOFT Application GX Works2 GX Works2 fg MELSOFT Application J E MR Configurator Fig 2 8 Startup p MT works2 Selecting the program GX Works2 fin MT Developer Gx Works screen_002 003 2 Create the icon by right clicking to selec
17. axis returns to the original position The belt conveyor operates at constant speed Speed mm min 2000 00 Speed mm min 2000 00 Belt conveyor axis Fig 3 2 Operation pattern operation_2 3 2 Aa MITSUBISHI ELECTRIC Start up procedure in synchronous control Synchronous control start up 3 1 Start up procedure in synchronous control Following chart gives an overview of the operations and steps needed for starting up the synchro nous control 2 axes system where synchronous control is available gt Refer to section 3 2 Preparing devices gt Refer to section 2 3 Installing modules e Installing modules e Installing batteries e Installing DIN rails Wiring and connecting cables e Wiring the power supply module e Wiring the power supply and the motor power to the a RRA Refer to section 2 5 e Setting the servo amplifier axis select rotary switch e Connecting various cables e Checking if the power is properly turned on Installing application software e Installing MELSOFT GX Works2 Refer to section 2 6 Refer to section 2 4 e Installing MR Configurator2 e Checking the start up of MELSOFT GX Works2 Creating sequence programs for synchronous control Creating a new project Creating sequence programs Refer to section 2 7 Saving a sequence program as a project Connecting CPU module and personal computer Formatting of the CPU module Writing the sequence program to the PLC CPU
18. in superscript oO Text Text Text Writing conventions and guidance notes Keys or key combinations are indicated in square brackets such as Enter Shift or Ctrl Menu names of the menu bar of the drop down menus options of a dialogue screen and buttons are in dicated in italic bold letters such as the drop down menu New in the Project menu or the option Se rial USB in the Transfer Setup Connection screen MELSEC L Series LD77MH Simple Motion Module Quick start guide V VI Aa MITSUBISHI ELECTRIC Contents Contents 1 Overview 1 1 Features of Simple Motion Module LD77MH ccc cece cece eee eee e ee eenenes 1 1 2 Simple Motion Module start up 2 1 StartUp Procede saw adacme wel w sav aedarmee tins E E Me ncanrd en EOE ENa a 2 2 2 2 System which combines LD77MH and MR J3 B MR J4 W B 0 cece e eee e eee e eens 2 3 23 PREDALINGIUEVICES 65 oia 5 5 8 04 a ahs eeen Baia a EE Gabe WO Be Nreree ae eae eae 2 4 ZA NAStAMIMOIMOGUICS och 4a ait hata a aa E aaa auld waa EE a aaa 2 5 2 5 Wiring and connecting Cables ccc ccc cece eect e eee eeeeeeeees 2 6 2 6 Installing application software ccc cece eee e ene e eee eee eenneeennees 2 9 2 6 1 Installing MELSOFT GX Works2 ccc ccc ccc ccc cece eee eee eeeeeeeeees 2 9 2 6 2 Installing MR CONnMGUTALON2 0356547 ienedarudevetensdewbaunwedeswhwidwasdoouws 2 9 2 6 3 Checking the start up of MELSOFT GX Works2 00
19. 0030 LD77MH4 age es fil System Setting eria key ey le Soren Structure z i coe De wn nen parameters 1 meter ri ri Led per o Po Positioning Data hie faenar rerl Ea ie Block Start Data 2 Bevo Paa A SE i Synchronous Control Parame plete i rf fas Qed a ae EA Input Axis Parameter ti Semen Logon tremors i apm thla Axis 1 Synchronous Par A Ta Accin Para Ioan aE i Axis 2 Synchronous Par peeredlal a bs eae acala ation bos Axis 3 Synchronous Par ny El Dorie P Enaisi paramen i Axis 4 Synchronous Par G Ca am Data ro a Lii Heepin ER FARA Rikon Len the far eter ete rer eaa cer nol peters the ete ec r tihe pe E eared Fodor ay 4 ite PP Digital Oscilloscope GUSGd c Deion gas Mo of pubes par obatan Moment amount per oibo oli mapio c F ait ripe oy aaa Bartle elamaa ae persim deckaren shane hurt saiti Ho oF puid par non Maai per tolii andl re y a Maching Companarit Ur Sete Lasi of Bal Sena Pa Fieckection Gaw Fintan HLM fe a remit of caiculsbon no sena poian in tha mosemant sammi Appling the calculstion result abows the amor bor iha movament anart tum youmwant to perform it about urn Clk kto velec to the baa paranatane 1 o Cancel Fs MELSOFT Series Simple Motion Module Setting Tool Unset Project 0030 fe e x lt i Project Edit View Online Tools Window aa Riep 325 5 2 Navigation _ ae fff 0030 LD77MH40 System Stru
20. 1 mS 44 tf ser oi Ax2 E Axis 2 Axis 2 Positioning Positioning Positioning start Per start cmd start complete pis command M56 lt Setting of Positioning start No 182 MOVP D32 to 2 Axis 2 ositioning Positioning tart cmd start No torag a 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 192 l RST Y4 Axis2 Axis2 Axis2 Axis 2 Positionind Start BUSY Positioning start complete start X39 Axis 2 Error detection Positioning start No setting for synchronous control lt Positioning start No setting X56 200 Ss MOVP KI D32 Synchroous Start No positioning setting app4_004 Fig A 10 Sequence program example 4 A 18 Aa MITSUBISHI ELECTRIC Sample program Appendix Parameter initialization program lt Parameter initialization cmd pls X6C 207 PLS M24 Parameter Parameter initialization initialization command cmd pls lt Parameter init cmd hold M24 X3C 214 S24 I SET M25 Parameter Axis 1 Parameter initialization BUSY initilization cmd pls command M25 Y30 lt PLC READY output to LD77 standby gt 218 TO K2 Parameter PLC PLC READY initilization READY signal OFF command conf 1 TO lt Parameter init execution 225 ZP PINIT U3 D37 M36 instruction instruction control dat complete dv M36 M37 lt Pa
21. 2 3 t Installing modules e Installing modules e Installing batteries e Installing DIN rails Refer to section 2 4 Wiring and connecting cables e Wiring the power supply module e Wiring the power supply and the motor power to the servo amplifier Refer to section 2 5 e Setting the servo amplifier axis select rotary switch e Connecting various cables e Checking if the power is properly turned on Installing application software e Installing MELSOFT GX Works2 Refer to section 2 6 e Installing MR Configurator2 e Checking the start up of MELSOFT GX Works2 Creating sequence programs by using GX Works2 Creating a new project Creating sequence programs Saving a sequence program as a project Connecting CPU module and personal computer Refer to section 2 7 Formatting of the CPU module Writing the sequence program to the PLC CPU Creating parameter and positioning data by using Simple Motion Module Setting Tool Adding a Simple Motion Module Starting the Simple Motion Module Setting Tool Creating a new project System setting Refer to section 2 8 Parameter setting Servo parameter setting Positioning data setting Saving a Simple Motion Module as a project Writing to the Simple Motion Module Operation check e JOG operation for checking the rotation direction the electronic gear setting etc Refer to section 2 9 OPR for checking a home position e Positioning control End Aa MITSUBI
22. 220030 Minsk Phone 375 0 17 210 46 26 Fax 375 0 17 210 46 26 ESCO DRIVES amp AUTOMATION Culliganlaan 3 BE 1831 Diegem Phone 32 0 2 717 6430 Fax 32 0 2 717 6431 Koning amp Hartman b v Woluwelaan 31 BE 1800 Vilvoorde Phone 32 0 2 257 02 40 Fax 32 0 2 257 02 49 INEA RBT d 0 0 BOSNIA AND HERZEGOVINA Aleja Lipa 56 BA 71000 Sarajevo Phone 387 0 33 921 164 Fax 387 0 33 524 539 AKHNATON 4 Andrei Ljapchev Blvd PO Box 21 BG 1756 Sofia Phone 359 0 2 817 6000 Fax 359 0 2 97 4406 1 INEA RBT d 0 0 Losinjska 4a HR 10000 Zagreb Phone 385 0 1 36 940 01 02 03 Fax 385 0 1 36 940 03 AutoCont C S s r o Technologick 374 6 CZ 708 00 Ostrava Pustkovec Phone 420 595 691 150 Fax 420 595 691 199 Beijer Electronics A S Lykkeg rdsvej 17 DK 4000 Roskilde Phone 45 0 46 75 76 66 Fax 45 0 46 75 56 26 Beijer Electronics Eesti OU P rnu mnt 160i EE 11317 Tallinn Phone 372 0 6 51 81 40 Fax 372 0 6 518149 Beijer Electronics OY Peltoie 37 FIN 28400 Ulvila Phone 358 0 207 463 540 Fax 358 0 207 463 541 UTECO 5 Mavrogenous Str GR 18542 Piraeus Phone 30 211 1206 900 Fax 30 211 1206 999 MELTRADE Kft Fert utca 14 HU 1107 Budapest Phone 36 0 1 431 9726 Fax 36 0 1 431 9727 Beijer Electronics SIA Ritausmas iela 23 LV 1058 Riga Phone 371 0 784 2280 Fax 371 0 784 2281
23. 29 Creating parameter and positioning data by using Simple Motion Module start up Simple Motion Module Setting Tool 2 8 10 Sample data for setting procedures 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 The projects provided on the website www mitsubishi automation com contain sample data for sec tion 2 8 4 System setting to section 2 8 7 Positioning data setting Sample data of LD77MH LO2_LD77MH4_POS for LO2CPU and LD77MH4 Sample data of the simple motion L26_LD77MH4_POS for L26CPU and LD77MH4 4 axis type LO2_LD77MH4_SYNC for LO2CPU and LD77MH4 sample data for synchronous control of the L26_LD77MH4 _ SYNC for L26CPU and LD77MH4 Simple motion LO2 LD77MH16_ POS for LO2CPU and LD77MH16 Sample data of the simple motion L26 LD77MH16_ POS for L26CPU and LD77MH16 16 axis type LO2 LD77MH16_SYNC for LO2CPU and LD77MH16 Sample data for synchronous control of the L26 LD77MH16_SYNC for L26CPU and LD77MH16 _ simple motion Tab 2 10 LD77MH sample project data Unpacking the download module Unpack the download module into any folder Reading a project Projects are read from the unpacked sample data Select Project Open from the menu 2 Click the Browse button to select the folder in which the project is saved 3 Select a pro
24. 2a MITSUBISHI ELECTRIC MELSEC L Series Programmable Controllers Quick Start Guide Simple Motion Module LD77MH Art No 260584 oe a MITSUBISHI ELECTRIC NDUSTRIAL AUTOMATION rsion About this manual The texts illustrations diagrams and examples in this manual are provided for information purposes only They are intended as aids to help explain the installation operation programming and use of the programmable controllers of MELSEC L series If you have any questions about the installation and operation of any of the products described in this manual please contact your local sales office or distributor see back cover You can find the latest information and answers to frequently asked questions on our website at www mitsubishi automation com MITSUBISHI ELECTRIC EUROPE B V reserves the right to make changes to this manual or the technical specifications of its products at any time without notice 2011 Quick Start Guide Simple Motion Module LD77MH Art no 260584 Revisions Additions Corrections Related manuals For detailed information on various devices also refer to the following manuals These can be obtained free of charge from our website at www mitsubishi automation com tanguage Device ManualName Bescon MELSEC L LD77MH Simple Motion Module This manual explains the functions of User s Manual Positioning Control Simple Motion Module type LD77MH Simple In addition it a
25. 40 438 AFRICAN REPRESENTATIVE CBI Ltd SOUTH AFRICA Private Bag 2016 ZA 1600 Isando Phone 27 0 11 977 0770 Fax 27 0 11 977 0761 ISRAEL ISRAEL LEBANON Mitsubishi Electric Europe B V FA European Business Group Gothaer Stra e 8 D 40880 Ratingen Germany FACTORY AUTOMATION _ Tel 49 0 2102 4860 Fax 49 0 2102 4861 120 info mitsubishi automation com www mitsubishi automation com
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27. A 3 3 PLC diagnostics of GX Works2 Error codes and warning codes at debugging a sequence program can be referred Select Diagnostics PLC Diagnostics The PLC Diagnostics screen with error information is displayed Diagnostics Tool Window PLO Diagnostics Ethernet Diagnostics CC IE Control Diagnostics CCIE Field Diagnostics MELSECNET Diagnostics C Link Diagnostics System Monitor The Function fromm the PLC irrg PLC Status namatia P Ghange the mrd gine ore polion alter error ump a Cente Jug app3_004 Fig A 6 PLC diagnostics MELSEC L Series LD77MH Simple Motion Module Quick start guide A 13 Appendix Sample program A 4 Sample program CAUTION This sequence program is an example using LD77MH4 and L26CPU BT When other modules are used the assignment of the signals is different Please refer to the user s manual chapter of the positioning control for details of each signal The sequence program of this appendix is used in this start up guidance Be sure to add and verify the conformance with the desired system before diverting the programs of this appen dix to the actual system This sequence program is an excerpt from the User s Manual Positioning Control for the MELSEC L LD77MH Simple Motion Module For details refer to the chapter Positioning program examples in the User s Manual A 4 1 Used device list l l Tab
28. A 6 List of used devices Output X X X X X X X X X X X X X X X X Y Y Y Y Y Y Y A 14 Aa MITSUBISHI ELECTRIC Sample program Appendix A 4 2 Sequence program example for synchronous control with 2 axes PLC READY signal Y30 ON program SM403 M25 M27 X7B lt PLC READY signal ON 0 k Y30 OFF for Paramete Flash RO PLC READ PLC Iscan on r initia M write Y signal READ ly after lization command ON run command storage Servo Y31 ON program X30 Y30 X31 lt All axis servo ON jy py py Pa LD77 REA PLC READ Synchron All axis DY ization servo flag ON Positioning start No setting program 1 Machine OPR X53 lt Machine OPR 9001 write 17 J _A aaaa Fh MOP Ko D2 Machine OPR comm Start No and Hi 2 Positioning with positioning data No 1 X55 lt Positioning data No 1 setting 25 a MOVvP Ki D32 Positioning Start No start command Positioning start program z When positioning start signal X71 Positioning start command AX 1 M5 Y40 AX1 Posi Axis 1 tioning Position start cmd ing start pls S PLS M5 x40 M7 Axis Ax1 In start JOG complete operation flag Fig A 7 Sequence program example 1 MELSEC L Series LD77MH Simple Motion Module Quick start guide lt Positioning start command pulse gt AX1 Position ing start cmd pls lt Positioning start command hold SET M6 Ax Posi tioning start cmd storag lt Positioning start
29. Acceleration time at soeed control mode Deceleration time at speed control mode Command torque at torque control mode Various monitor functions Buffer memory address LD77MH4 LD77MH16 1551 100n 4351 100n 1552 100n 4352 100n 1559 100n 4359 100n 1563 100n 4363 100n 1578 100n 4378 100n 1579 100n 4379 100n 1580 100n 4380 100n Torque time constant at torque control mode Forward direction 1581 100n 4381 100n Torque time constant at torque control mode Reverse direction 1582 100n 4382 100n Speed limit value at torque control mode 1584 100n 4384 100n ee value at continuous operation to torque 1586 100n erorery n Acceleration time at continuous operation to torque control Deceleration time at continuous operation to torque control Target torque at continuous operation to torque control Torque time constant at continuous operation to torque control Forward direction Torque time constant at continuous operation to torque control Reverse direction Control mode switching conditions Control mode switching conditions parameter Axis stop Forward run JOG start Reverse run JOG start Execution prohibition flag Tab A 4 List of selectable monitor items 4 1588 100n 4388 100n 1589 100n 4389 100n 1590 100n 4390 100n 1591 100n 4391 100n 1592 100n 4392 100n 4393 100n 4394 100n p 30100410 P 30101410 P 30102 10n p 30103 10n Mcode On Error detection Start complete and Positioning
30. Any operations or modifications to the hardware and or software of our products not specifically described in this manual may only be performed by authorised Mitsubishi Electric Staff Proper use of the products The programmable controllers of the MELSEC L series are only intended for the specific applications explicitly described in this manual All parameters and settings specified in this manual must be ob served The products described have all been designed manufactured tested and documented in strict compliance with the relevant safety standards Unqualified modification of the hardware or software or failure to observe the warnings on the products and in this manual may result in serious personal injury and or damage to property Only peripherals and expansion equipment specifically recommended and approved by Mitsubishi Electric may be used with the programmable controllers of the MELSEC L series All and any other uses or application of the products shall be deemed to be improper Relevant safety regulations All safety and accident prevention regulations relevant to your specific application must be observed in the system design installation configuration maintenance servicing and testing of these prod ucts The regulations listed below are particularly important in this regard This list does not claim to be complete however you are responsible for being familiar with and con forming to the regulations applicable to you in yo
31. Block No being executed 2436 100n Last executed positioning data No Positioning data being executed M code Positioning data being executed Dwell time Positioning data being executed Axis to be interpolated P 2mo Positioning data being executed Command speed Positioning data being executed Positioning address Positioning data being executed Arc address OPR re movement amount Real current value Deviation counter value Motor rotation speed Motor current value 856 100n 2456 100n Parameter error No 870 100n 2470 100n Servo status 1 Zero passage Zero speed Speed limit PID control S104 00K ZAT ON OUR Servo status 2 Control mode Servo alarm In position Torque limit 877 100n 2477 100n Absolute position lost Servo warning Regenerative load ratio Optional data monitor output 1 878 100n 2478 100n Effective load ratio Optional data monitor output 2 879 100n 2479 100n Peak load torque ratio Optional data monitor output 3 880 100n 2480 100n Tab A 4 List of selectable monitor items 2 A 8 Aa MITSUBISHI ELECTRIC Various monitor functions Appendix Buffer memory address Selectable Item LD77MH4 LD77MH16 Optional datamontoroutpute zamon Positioning starting point No M code OFF request 1504 100n 4304 100n External command valid 1505 100n 4305 100n New current value 1506 100n 4306 100n New acceleration time value 1508 100n 4308 100n e an aa Positioning operation speed override Speed chan
32. DNC MRC2 E Version 1 48A or later Version 1 01B or later MITSLIESH GX Works Software No fuse circuit breaker NFB G O B Q p wo O w z O Q Tab 2 1 Devices to be prepared 2 4 Aa MITSUBISHI ELECTRIC Installing modules Simple Motion Module start up 2 4 Installing modules This section shows how to install the prepared modules Installing modules C1 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 top and bottom of the LD77MH module Slide the hook backward 4 Follow the same procedures of steps 1 to to install the END cover system_view_2 Fig 2 4 Installing modules Installation of modules completed Installing batteries Connect a battery connector when using the CPU module for the first time Installing DIN rails Install the module to DIN rails Installation is completed MELSEC L Series LD77MH Simple Motion Module Quick start guide 2 5 Simple Motion Module start up Wiring and connecting cables 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 MR J4 series Use cables with the same wire size as when the servo amplifier MR J3 10B i
33. E ee A i Barvinalion RM a T x Cae A i Parei p FPLC Pirarii r if Hiiri Foamy Hit Fereohe Pirieand A intelligent Funchon Module ip Global Devis Conran 1 Si Pregrare Serg Po Reading of sequence program completed 2 7 3 Saving a sequence program as a project Select Project Save As from the menu 2 Click the Browse button to specify the save destination path 3 Enter any names for workspace project and title Make sure not to overwrite the original project 4 Click the Save button A confirmation message appears 5 To save the project click the Yes button fa MELSOFT Series GX Works Unse Project Edit Find Replace Compile Save Location Gtr Gtr Workspace Project List Workspace Ctrl Workspace Name Startup gauidance Project Name LD 7MH sample1 Title Ex LD 7MH Startup Guidance Axis 16 L26CPU BT V Revision is inherited 7 Cancel MELSOFT Series GX Works The specified project does not exist Do you want to create a new project Fig 2 15 Procedure of saving a program as a project Saving project is completed MELSEC L Series LD77MH Simple Motion Module Quick start guide screen_O11 screen_OO9E Simple Motion Module start up Creating sequence programs by using GX Works2 2 7 4 Connecting CPU module and personal computer Connect the CPU module and personal computer via USB cable connection_PC_system F
34. Features of Simple Motion Module LD77MH 1 2 Aa MITSUBISHI ELECTRIC Simple Motion Module start up 2 Simple Motion Module start up This chapter explains the 1 axis system which applies a ball screw Device 1001001 Fig 2 1 1 axis system Specifications Ball screw lead PB 10000 0 um 10 mm Reduction gear ratio Load side NL Motor side NM 1 2 The ball screw on load side makes one rotation for each 2 revolutions of the motor Encoder resolution 262144 pls rev Servomotor HF KP series Servo amplifier MR J3 B or MR J4 W B series NOTE The servo amplifier series MR J4 W B has an encoder resolution of 4194304 pls rev 22 bit Operation pattern 1 Reciprocate between the home position 0 mm and P1 a Move from the home position 0 mm to P1 at the speed of 2000 00 mm min b Move from P1 to the home position at the speed of 30000 00 mm min 2 Execute the continuous positioning control to a and b Position mm P1 100 0 Speed mm min 2000 00 30000 00 operation_1 Fig 2 2 Operation pattern MELSEC L Series LD77MH Simple Motion Module Quick start guide 2 1 Simple Motion Module start up 2 1 Start up procedure Start up procedure Following chart gives an overview of the operations and steps needed for starting up the system Start System which combines LD77MH and MR J3 B MR J4 W B Refer to section 2 2 Preparing devices Refer to section
35. Motion Module start up Simple Motion Module Setting Tool Example Y Setting the speed limit value in maximum motor speed Ball screw lead 10 0 mm Servomotor HF KP13 262144 pls rev Gear ratio 1 2 Speed limit value Maximum motor speed x Gear ratio x Ball screw lead 6000 r min x 1 2 x 10 mm 30000 00 mm min 2 24 Aa MITSUBISHI ELECTRIC Creating parameter and positioning data by using Simple Motion Module Setting Tool Simple Motion Module start up 2 8 6 Servo parameter setting Select Intelligent Function Module Servo Parameter in GX Works2 to start MR Configurator2 2 Select Invalid Not use forced stop input EM1 of the Servo forced stop selection NOTE Forced stop input selection specifies whether to use the forced stop input signal from the servo amplifier or not For safety reasons the default setting is Valid Use forced stop input EM1 For not using the forced input signal change the setting to Invalid Not use forced stop input EM1 3 Click Component parts in the Parameter Setting screen to display the Component parts screen 4 Select Z phase must not be passed in the settings of Home position set condition selection NOTE If selecting Z phase must not be passed it is possible to carry out the home position return OPR even though a motor has not turned 1 or more revolutions for home position return 5 Close MR Configurator2 Click the x button to display the save confirmation
36. No setting MOVP D32 ani Start No Axis 1 Position ing start No lt Positioning start execution SET Y40 Axis 1 Posi tioning start lt Positioning start storage OFF RST M Ax1 Posi tioning start cmd storag app4_001 Appendix Sample program Y40 x40 DX3C lt Positioning start signal OFF 55 RST Y40 Axis 1 Axis 1 BUSY Axis 1 Position start Position ing start complete ing start X38 Axis 1 Error detection JOG operation setting X5D lt JOG speed 100 00 mm min 63 DMOVP K10000 D6 JOG speed JOG stteing operation cmd speed lt Setting of 0 for inching MOVP KO D5 Inching movement amount lt JOG operation request write TOP H3 K1517 D5 K3 Inching movement amount JOG operation operation execution X5E X30 X3C lt JOG operating flag ON 80 bf ps S SET M7 Forward LD77 ian i run JOG READY x oa BUSY In JOG operation XSF flag Reverse run JOG cmd X5E X5F lt JOG operation completed RST M7 Forward Reverse Ax run JOG run JOG In JOG cmd cmd operation flag XSE M Y39 lt Forward JOG 93 n i r A F_ 8 Forward Ax Axis 1 Axis 1 run JOG In JOG Reverse Forward cmd operation JOG start run JOG flag start X5F M Y38 lt Reverse JOG get Pf gp rrr Forward Ax Axis 1 Axis 1 run JOG In JOG Forward Houts cmd operation run JOG JOG sta flag start app4_002 Fig A 8 Sequence program example 2 A 16 Aa MITSUBISHI ELECTRIC Sample program Appendix
37. SHI ELECTRIC System which combines LD77MH and MR J3 B MR J4 W B Simple Motion Module start up 2 2 System which combines LD77MH and MR J3 B MR J4 W B The following shows the configuration example of a system which combines LD77MH4 MR J3 B MR J4 W B and a servomotor Personal computer USB cable ng te Par 7 No fuse breaker aE NFB A GX Works2 MR Configurator2 Circuit Ho d L26CPU BT LD77MH4 I PEAY Magnetic contactor ee MR J4 W B SSCNET III cable Motor power supply cable Servo motor config_example_chap2 Fig 2 3 Configuration example MELSEC L Series LD77MH Simple Motion Module Quick start guide 2 3 Simple Motion Module start up Preparing devices 2 3 Preparing devices Please prepare the following devices cables and software Simple Motion Module LD77MH4 LD77MH16 Main unit a gt ge O G 2 O v Q N Servo amplifier Servo amplifier Servomotor MR J3 B MR J4 W B Servo amplifier Servomotor Power supply module CPU module END cover L6EC Included Display unit L6DSP L61P with CPU module Optional 2a MITSUBISHI MASH LenS PLCs DIN rail JIS C 2812 e TH35 7 5Fe e TH35 7 5Al e TH35 15Fe USB cable Encoder cable Motor power supply cable SSCNET III Cable MR J3USBCBL3M USB A MR J3BUSLIM type USB mini B type Cables MELSOFT programming Servo amplifier setup soft tool GX Works2 ware MR Configurator2 SW1DNC GXW2 E SW1
38. UBISHI ELECTRIC Synchronous control start up 3 Synchronous control start up This chapter explains the synchronous control In particular the operation check of the synchronous control parameter positioning data for syn chronous control and synchronous control are explained For existing parameters and servo parameters refer to chapter 2 Cut on the fly This is an example that makes the cutter axis Axis 1 follow the operating conveyor axis Axis 2 with out stopping and cuts the center of a work piece After cutting the cutter axis moves to the standby position Synchronous control where an electronic cam is used in the cutter axis is executed Belt conveyor axis Fig 3 1 Running cutoff device Specifications As the roller of the belt conveyer rotates once a work piece on the belt conveyor moves for one work step Specifications of cutter axis cam control axis Ball screw lead PB 10mm Gear ratio of external reduction gear s 1 2 Cam stroke 100 0000 mm Specifications of belt conveyor Roller diameter 50000 um Circumference of roller diameter x 7 157079 6 um Gear ratio of external reduction gear 1 1 roller directly connected to a servomotor MELSEC L Series LD77MH Simple Motion Module Quick start guide 3 1 Synchronous control start up Operation pattern of device The cutter axis axis 1 moves constant distance in synchronization with the belt conveyor After syn chronization the
39. Ve AXIS case cite tadusieurieuscuaddaueussie diaktesctaataeubuuaien 3 14 3 4 3 Operation check of a synchronous axis ccc ccc cece eee e eee eeees 3 15 3 4 4 Operation check with digital oscilloscope check of cam operation 3 16 A Appendix Auli Startadress SCtinGi usise sss aaah eau ERETO RA Acine Oxi me haals a NERI A 1 A 1 1 Start address of Simple Motion Module 0c ccc cece cece eee eeeeeees A 1 Ad Stall dddress setuinGas nees ta oeseiwide da hetcadais ta heteaudee OEE A 2 A 2 Parameter and positioning data ccc ccc ccc cece cece cence eee eeeeeeeees A 3 A 2 1 PAIMETS ena arane eE E arene arabe eineen wee AERE E EARE SAN A 3 A22 POSMIONING Gata esros oa a ae E E T E O La A 5 AS Vanous Monitor NC ON 2 0cu2nccsaveecneresuavee E EEEN Eaa A 6 A 3 1 PRIS MONITO sels dis Gute seed atta san eis Sutae ewe aa taeae eds A A 6 A 3 2 Error history of Simple Motion Module Setting Tool c cece eee A 12 A333 PLO diagnostics of GX WOrksS2sciccda cednevcsadacaiareidaveseiaeeidaeieciannds A 13 AA Salle poga canara ou 0s Sete es Gate he earns tea een ew e Seana eae A 14 A 4 1 ISCO device NS Gas asters cree acted a hes steer iein ame cette eae ae para attests A 14 A 4 2 Sequence program example for synchronous control with 2 axes A 15 Vill Aa MITSUBISHI ELECTRIC Features of Simple Motion Module LD77MH Overview 1 1 1 Overview This english document is the original instr
40. a mE of tips ph cone Birna gel apa i Lar lew Ebina mel aya Ur beut app3_002 Fig A 4 Steps 5 to 8 of selecting axis monitor procedure Selectable Items Input signal Output signal Axis monitor data Axis control data Buffer memory address Selectable Item LD77MH4 LD77MH16 mosen SN C TO Postioningcomplte SY mss SCS FowadioGtat SYD Beanonponononta vw Tab A 4 List of selectable monitor items 1 MELSEC L Series LD77MH Simple Motion Module Quick start guide A 7 Appendix Various monitor functions Buffer memory address Selectable Item LD77MH4 LD77MH16 Current feed value 2400 100n Machine feed value 2402 100n Feedrate 2404 100n Axis error No 2406 100n Axis operation status Status In speed control Spoeed position switching latch Command in position OPR request OPR complete Position speed switching latch Axis warning detection SIZ PLOUN ZAVE IOON Speed change 0 M code On O error detection start complete positioning complete Target speed 820 100n 2420 100n Movement amount after near point dog ON 824 100n 2424 100n ue limit stored value Forward torque limit stored 826 100n ein Start positioning data No setting value In speed change processing flag Special start repetition counter 832 100n 2432 100n Axis monitor data Control system repetition counter 2433 100n Start data pointer being executed 2434 100n Positioning data No being executed 2435 100n
41. able communication method selection Z phase must not be passed 2 wires i screen_O20E Fig 2 27 Steps 4 to of servo parameter setting Servo parameter setting completed MELSEC L Series LD77MH Simple Motion Module Quick start guide 2 25 Creating parameter and positioning data by using Simple Motion Module start up Simple Motion Module Setting Tool 2 8 7 ExampleV 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 P1 100 0 Speed mm min 2000 00 30000 00 operation_1 Fig 2 28 Operation pattern of the example Selecting the positioning data Select Intelligent Function Module LD77MH4 Positioning Data Axis 1 Positioning Data to display the positioning data screen 2 Click the Data Setting Assistant button MAR R Display Filter Display All vif e Intelligent Function Module fh 0030 LD77MH4 Axis to be Acceleration Deceleration i System Setting Ms eee peisan Control system interpolated time No time No Positioning address Arc address Parameter F e E Servo_Parameter lt Positioning Comment gt 33 Positioning Data 2 Positioning Comment gt r Axis 2 Positioning Data 3 ist Axis 3 Positioning Data lt Pos
42. ata No is to be ended with just that data or whether the positioning For the next data succession screen_023E Fig 2 31 Positioning data screen with set data 5 Create the command which returns from P1 to the home position in the positioning data No 2 by using the same method A Arc Command pee address speed Decelera tion time No No Axis to be Accelera Control E system sl St tion time Operation pattern 1 T _ABS T 0 z ja 2000 00 en ULLAL LL i 30000 00 Tab 2 8 Axis 1 positioning data Positioning data completed MELSEC L Series LD77MH Simple Motion Module Quick start guide Creating parameter and positioning data by using Simple Motion Module start up Simple Motion Module Setting Tool 2 8 8 Saving the Simple Motion Module as a project Save data System Structure Existence of axes amplifiers and virtual servo to be used Parameter Overall parameter of each axis Always necessary Servo parameter Parameter of servo amplifier Synchronous control parameter If needed Tab 2 9 Save data overview Select Project Save As from the menu 2 Click Browse button to specify the save destination path 3 Enter any names for workspace project and title Click the Save button When the new project is saved the save confirmation screen appears Click the Yes button to confirm Project Edit Find Replace Compile Wi O New Ctrl N E gt Open
43. complete are defined in input signal X of LD77MH Aa MITSUBISHI ELECTRIC Various monitor functions Appendix Selectable Items Synchronous control monitor Synchronous control data Selectable Item LD77MH4 Current value after main shaft composite gear Current value per cycle after main shaft gear Current value per cycle after auxiliary shaft gear Cam axis phase correction amount Cam axis current value per cycle Cam reference position Cam axis current feed value Synchronous Execute camNo Execute cam stroke amount Main shaft clutch ON OFF status Main shaft clutch smoothing status Main shaft clutch slippage cumulative Auxiliary shaft clutch ON OFF status Auxiliary shaft clutch smoothing status Auxiliary shaft clutch slippage cumulative Main shaft clutch command Main shaft clutch control invalid command Main shaft clutch force OFF command Auxiliary shaft clutch command Synchronous Auxiliary shaft clutch control invalid command control data Auxiliary shaft clutch force OFF command Synchronous control change request Synchronous control change command Synchronous control change value Synchronous control change reflection time Tab A 5 List of selectable monitor items for synchronous control MELSEC L Series LD77MH Simple Motion Module Quick start guide A 11 Appendix Various monitor functions A 3 2 Error history of Simple Motion Module Setting Tool Error codes and warning codes at debugging a Simple Motion Module can be
44. cture 0030 LD77M Project Display Filter Display All i 24 Intelligent Function Module g Iten Axis 1 fh 9030 LD77MH4 Set according to the System Setting Basic parameters 1 machine and applicable motor System Structure f Mark Detecti Unit setting O mm SE eT No of pulses per rotation 16384 PLS Parameter E Sarno Parama Movement amount per rotation 312 5 um is a Positicninx Dat Unit magnification l r 3 BELAREA a z Bias speed at start 0 00 mm min ae Bine TRR i Basic parameters 2 Set according to t 3a 8 Synchronous Control Parame Speed limit value 2000 00 mm min et xis Parameter Axis 1 Synchronous Par 4 Axis 2 Synchronous Par Acceleration time 0 1000 ms Deceleration time O 1000 ms a Set according to the Axis 3 Synchronous Par Detailed parameters 1 system Axis 4 Synchronous Par Unit magnification a3 ie r Used this parameter when Movement amount per rotation exceeds the s E Digital Oscilloscope Set the electronic gear within the Following range 0 001 lt Electronic gear No of pulses per rotation Movement amount i gt Host Station N screen_019E Fig 2 26 Steps to of parameter setting MELSEC L Series LD77MH Simple Motion Module Quick start guide 2 21 Simple Motion Module start up NOTES Creating parameter and positioning data by using Simple Motion Module Setting Tool Set other parameters C
45. d please select MR J3 B 4 Click the OK button The previous screen with selected servo amplifier is displayed Pa MELSOFT Series Simple Motion Module Setting Tool Unset Project 0030 LD77MH4 l System Structure MBX ai Edit View Online Tools Window Help E htelligent Function Module E 0030 LD77MH4 H System Setting Gi System Structure Mark Detection i i Parameter g Servo_Parameter 4 Positioning Data Block Start Data Sl Tee I 2 Intelligent Function Module E 0030 LD77MH4 E m System Setting System Structure Mark Detection Parameter Servo_Parameter Positioning Data Block Start Data Synchronous Control Parame SP Input Axis Parameter Axis 1 Synchronous Par G Axis 2 Synchronous Par Axis 3 Synchronous Par a Axis 4 Synchronous Par OR Cam Data Monitor BB Digital Oscilloscope Synchronous Control Parame i y Syne Encoder INC Input EEEE E Digital Oscilloscope T eS SY lis k F Ek u l E IT Use As Virtual Servo apis When using as a wirt hot required Servo Parameter R Configurator starts and servo parameters can be set If MR Configurator is not installed display the servo parameter setting screen F MELSOFT Series Simple Motion Module Setting Tool Unset Project 0030 LD77MH4 System Structure SEA i Project Edit View Online Tools Window Help Mep r i l a4 Intelligent Function Module h 0030 LD77MH4 Lome LC 1 Connector Set
46. ddress speed calo _INC 157079 6 0 0 2000 00 Tab 3 1 Axis 2 Positioning data MELSEC L Series LD77MH Simple Motion Module Quick start guide 3 7 Synchronous control start up Creating parameter for synchronous control 3 3 4 Synchronous control parameter setting Set a parameter of the axis 1 that executes cam operation in synchronization with the current feed val ue of the axis 2 servo input axis C 6 ne Set the servo input axis type for the main axis nputaxis parameter 1 Current feed value for the axis 2 Synchronous parameter axis 1 Set the synchronous control parameter of the axis 1 Tab 3 2 Parameter setting G Synchronous control parameter screen start up Select Intelligent Function Module LD77MH4 Synchronous Control Parameter Axis 1 Synchronous Parameter 2 Click the setting area of Main Input Axis to display the contents that can be set Select the Type 7 Servo input axis Z Item Setting value A htelligent Function Module Main input 9030 LD77MH4 axis za i System Setting Type 1 Servo Input Axis g System Structure gt Axis No 2 Mark Detection Main Shaft Main Sub input axis G Parameter j Type O Invalid i Servo_Parameter a Axis No 15 Positioning Data Mam Salt Ss Block Start Data composite gear 5 Synchronous Control Parame Main 1 Input 2 Input Axis Parameter Sub 0 No Input Main shaft gear Q AXIS Ae oynchronous Fat Num
47. dule of the controller always touch grounded metal etc to discharge static electricity from human body Wear isolating gloves when touching the powered controller e g at maintenance during visual check You shouldn t wear clothing made of synthetic fibre at low humidity This clothing gets a very high rate of electrostatic charge IV Aa MITSUBISHI ELECTRIC Symbols used in the manual Use of notes Notes concerning important information are marked separately and are displayed as follows NOTE Note text Use of examples Examples containing important information are clearly identified as follows ExampleY Example text A Use of numbering in the figures Numbering within the figures is displayed by white numbers within black circles and is explained in a table following it using the same number e g 0000 Use of handling instructions Handling instructions are steps that must be carried out in their exact sequence during startup op eration maintenance and similar operations They are numbered consecutively black numbers in white circles Text Text G Text Use of footnotes in tables Instructions in tables are explained in footnotes underneath the tables in superscript There is a foot note character at the appropriate position in the table in superscript If there are several footnotes for one table then these are numbered consecutively underneath the ta ble black numbers in white circle
48. e ccc ccc ccc cece eee eee eens 2 29 2 8 10 Sample data for setting procedures ccc ccc cece eet e eee e een eeeees 2 30 ZO OBE On Nec waits acts sucsctes mate a ae a ae a a ate eae ea tesa 2 31 2 9 1 JOG operation for checking the rotation direction the electronic gear setting etc 2 31 2 9 2 OPR for checking a home position ccc ccc cece eee eee e eee eens 2 36 2 9 3 POSITIONING CONTO cacdcusatasvaienmadusva wet a a a a S 2 38 MELSEC L Series LD77MH Simple Motion Module Quick start guide VII Contents 3 Synchronous control start up 3 1 Start up procedure in synchronous CONTIOL ccc eee eee eee eee eee e nee eens 3 3 3 2 2 axes system where synchronous control is available cece e eee eens 3 4 3 3 Creating parameter for synchronous control cece cece eee eee eee eee en eeeee 3 5 3 3 1 SYS tems eting anioiaren 8 nates a Ra ae anne hee Ramah aba oe aac 3 5 3 3 2 Parameter and servo parameter settings ccc ccc ccc e eee eeeeees 3 6 3 3 3 Positioning data SCttiNg ccc ccc cece E ATAA EY 3 7 3 3 4 Synchronous control parameter Setting cece ccc cece eee eee eeees 3 8 3 3 5 Calm Gataisettind 4 cnisawessta na IEE aE nies LE eset ERa 3 11 3 4 Operation check of synchronous Control 00 ccc ccc ee ene eee e eee eeeneeees 3 13 3 4 1 OPR for establishing a home position ccc ccc cece eee cette eens 3 13 342 Staltuip Of GH
49. e axis 1 and 2 operate 73647 2 um 117925 9 um 73647 2 um 117925 9 um Axis error No Axis warning No Synchronous Control Position Control Synch ronous Control Positioning Control 4463 88 mm min 2000 00 mm min 2000 00 mm min executed Operation Positioning Complete Positioning Complete pattem Positioning data being 1 ands linear control executed Control system INC Positioning data being executed Acceleration time 0 1000 0 1000 No Positioning data being executed Deceleration time 0 1000 0 1000 No Positioning data being executed Axis to be interpolated Deviation counter 86801 PLS 2375 PLS Motor rotation speed 895 5 r min 13 3 r min Motor current value 2 0 1 1 OFF OFF Servo status Servo warning OFF OFF Status OPR request flag OFF OFF Status OPR complete flag OFF OFF OFF ON External input signal Lower ON limit Extemal input signal Upper ON Tab 3 7 Monitoring axes 1 and 2 Operation check with the intelligent function module is completed MELSEC L Series LD77MH Simple Motion Module Quick start guide 3 15 Synchronous control start up Operation check of synchronous control 3 4 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 Starting the digital oscilloscope Select Intelligent Function Module
50. ed parameters 2 P axic fe 2 0 Invalid ae allowable range when servo OFF to 0 pls rev Manual pulse generator Incremental syn 6 Differential outauringe chronous encoder input type selection i PERSP Operation setting for speed torque control l mode Speed initial value selection 0 Command speed Operation setting for speed torque control mode Condition selection at mode switch cs Conditions Valid at Switching ing OPR method 6 Data set method 0 Positive direction address increment OPR direction direction Basic parameters OPR speed 0 01 mm min Creep speed 0 01 mm min OPR retry 0 Do not retry OPR with limit switch Setting for the movement amount after near 0 0 um point dog ON F OPR acceleration time selection 0 1000 OPR deceleration time selection 0 1000 _ OPR torque limit value 300 OPR Original Point Return Detailed parameters Operation setting of incompletion of OPR 0 Positioning control is not executed Speed designation during OP shift 0 OPR speed o conversion module OPR request set 0 Turn OPR Request ON at Servo OFF Pulse conversion module Waiting time after 100 ms clear signal output Tab 2 7 Other parameters setting 2 The Operation cycle setting and External command signal selection are used only in a parameter of LD77MH16 Parameter setting completed MELSEC L Series LD77MH Simple Motion Module Quick start guide 2 23 Creating parameter and positioning data by using Simple
51. een is displayed 2 Select Program memory Device memory from Target memory 3 Click the Execute button to start the memory formatting process Click the Yes button to confirm memory formatting 5 Click the OK button to confirm the completion message Format PLC Memory p Guidance L26_ LD MH4 L26 LD 7MH4 SEO Online Debug Diagnostics Tool Window Help z lt gt PLC Modde Read trom PLC ip ian or ie B Station No Host PLC Ty 6T HM Write to PLO ice Verify with PLC Remote Operation Password Keyword b PLC Memory Operation gt Delete PLC Data Clear PLC Memory PLC User Data Arrange PLO Memory Memory will be Formatted Do vou wank to continues screen_O12E Fig 2 18 Procedure of formatting the CPU module Memory formatting is completed MELSEC L Series LD77MH Simple Motion Module Quick start guide Simple Motion Module start up Creating sequence programs by using GX Works2 2 7 6 Writing the sequence program to the PLC CPU Open the front side cover of CPU module and move the RESET RUN STOP switch to the STOP posi tion Then write data to CPU Select Online Write to PLC from the menu The Online Data Operation screen is displayed 2 Click the Parameter Program button The corresponding targets in the list are selected 3 Click the Execute button to write to the PLC CPU The Write to PLC screen is displayed 4 C
52. eons danlons t A 12 SENG 100 visweanereccs suse eaa 2 18 Slat address crrr Sewn aana EE AN A 1 WINO TO irs pennaa E dee 2 29 Software tools MELSOFT GX Works2 0c cece eee eens 2 9 MR Configurator2 1 0 0 0 cece eee eee ee eee 2 9 Synchronous control Cam data Setting ccc cece eee cece eee 3 11 Control parameter setting 0085 3 8 Operation CHECK s is tente se semicon era rotai 3 13 Parameter Setting cece cece seen eee 3 6 Positioning data setting cece eee 3 7 Servo parameter Setting cece wees 3 6 System configuration 0 cece eens 3 5 System configuration SOMN crc tsa Sa Moana ws seen anes se tek euns 2 20 MELSEC L Series Simple Motion Modules LD77MH i Index Wiring W EXAM Pl urira tE aE E ALEE ARA 2 6 Power supply module 0cce cece eee 2 6 Tightening torques ccc cece cece eee ees 2 6 WITCSIZOS 240 cce ead ciate eudaaree toe dae 2 6 Aa MITSUBISHI ELECTRIC MITSUBISHI ELECTRIC EUROPE B V German Branch Gothaer Stra e 8 D 40880 Ratingen Phone 49 0 2102 486 0 Fax 49 0 2102 486 1120 MITSUBISHI ELECTRIC EUROPE B V org sl CZECH REP Czech Branch Avenir Business Park Radlicka 714 113a CZ 158 00 Praha 5 Phone 420 251551470 Fax 420 251 551 471 MITSUBISHI ELECTRIC EUROPE B V French Branch 25 Boulevard des Bouvets F 92741 Nanterre Cedex Phone 33 0 1 55 68 55 68 Fax 33 0 1
53. erator 1 2 Axis 3 Synchronous Par Denominator 1 3 Axis 4 Synchronous Pat Main shaft oe Cam Data clutch z oy Monitor Main shaft i Digital Oscill clutch control igital Oscilloscope setting ON control 0 No Clutch Direct mode Coupled Operation OFF control mode High speed input request 0 signal Main shaft O Current Yalue after clutch reference Main Shaft Composite 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 before main 0 0000 mm O OFF Control Invalid Item Setting value c Main input ans Type 1 Servo Input Axis bd 1 Asis Mo O Invalid Sub input axis eee lene ee 2 Type 601 Synchronous Encoder Axis Axis Mo gP ap an aD D D D D screen _037E Fig 3 8 Setting of synchronous parameters Aa MITSUBISHI ELECTRIC Creating parameter for synchronous control Synchronous control start up 3 In the same way change the underlined part of synchronous parameter axis 1 as shown in following table niente Wee 1 Servo input axis Main input axis No Axis No ay Main shaft on l l Type 0 Invalid Sub input axis No Main shaft com eee Main shaft gear ON control mode 0 No Clutch Direct Coupled Operation Main shaft clutch control OFF control mode 0 OFF Control Invalid eerng High speed input request signal Main shaft clu
54. es for checking synchronous control 3 4 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 Turn Machine OPR command X53 ON Turn Positioning start command axis 2 X72 ON Double click with pressing the SHIFT key Double click with pressing the SHIFT key screen_O41E Fig 3 12 OPR operation check of axis 2 OPR completed MELSEC L Series LD77MH Simple Motion Module Quick start guide 3 13 Synchronous control start up 3 4 2 Start up of drive axis Operation check of synchronous control 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 Double click with pressing the SHIFT key Fig 3 13 Setting axis 1 as synchronous control axis 2 Checking the axis 1 BUSY signal Check if the axis 1 BUSY signal is turned ON when setting H1 to the buffer memory U3 G36320 of the synchronous control start Axis 1 _ 0 0 um 0 0 um o Positioning data being executed Operation pattern Positioning data being a executed Control system Positioning data being executed Acceleration time 0 1000 Positioning data being executed Deceleration time 0 1000 No Positioning data being executed Axis to be interpolated Positioning data being executed M code Dev
55. ge request Inching movement amount Interrupt request during continuous operation OPR request flag OFF request Manual pulse generator 1 pulse input magnification Manual pulse generator enable flag Speed position switching control movement amount change register 1526 100n 4326 100n Speed position switching enable flag 1528 100n 4328 100n Position speed switching control speed change register Position speed switching enable flag Target position change value New address Target position change value New speed Target position change request flag poe Starting axis start data No axis 1 start data yee starting axis start data No axis 2 start data oe starting axis start data No axis 4 start data Step start information Teaching data selection Teaching positioning data No ABS direction in degrees Tab A 4 List of selectable monitor items 3 Axis control data MELSEC L Series LD77MH Simple Motion Module Quick start guide A 9 Appendix Axis control data Selectable Item Servo OFF command Torque output setting value Gain changing command Torque change function switching request New reverse torque value Parameter write request Parameter No Change data Semi Fully closed loop switching request PI PID switching request Device selection for speed lt gt position switching Speed lt gt position switching command Control mode switching request Control mode setting Command speed at speed control mode
56. gs for axis 1 2 4 Input axis parameter setting of synchronous control parameter Select Intelligent Function Module LD77MH4 Synchronous Control Parameter Input Axis Parameter k oten i Alis O f is HE nig Fifa Servo pot axis 4 intelligent Function Mocule i i pA r A dma leiehcuieedded dain dead dih OCS0 LOT THA H Servo input axis type 0 Invalid B Sete Satting H Detail setting H bark Detection Input smoothing time constant 0 ms Y Parameter Phase correction advance time 0 ps ge Servo Parameter i F Potilienine Daia Phase correction time constant 10 ms ty Block Start Data 4 i e Synchronous ontrot Parame fe csc Poke omare onrein O wWithout Rotation Direction O Without Rotation Direction al ae eee Restriction Restriction ee Hinge reer OP Page feos Synchronous Pa D Arg 3 Svectrongus Pat 3 5 A Acis 2 Synchronous Pan Setting example of operating axis 1 in synchronization with the current feed value it Cam Data of the axis 2 Monitor BB Digital Gecillozeape screen_038E Fig 3 9 Input axis parameter setting of synchronous control parameter Input axis parameter Axis 2 Description 1 Current feed value Input smoothing time constant Oms Servo input axis Phase correction advance time O us Detail setting Phase correction time constant 10 ms 0 Without Rotation Direction Rotation direction restriction Restriction Tab 3 4 Para
57. hange the underlined part There is no need to change the basic 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 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 Forced stop input signal is enabled considering the safety If users do not use this signal switch it to be disabled before using Hem Beseription S Basic parameters 1 Basic parameters 2 Detailed parameters 1 Detailed parameters 2 Uniesewing SSCs 16384 pls rev 262144 pls rev eae logic selection Near point dog E eee selection Manual pulse External Input signal selection 1 Use Input of Servo Amplifier Manual pulse generator Incremental syn chronous encoder input selection 0 A phase B phase mode 4 multiply Speed position function selection ee Switening Controlle Forced stop valid invalid selection a zinvalid 0 Trapezoidal acceleration deceleration Acceleration deceleration process selection eae Tab 2 7 Other parameters setting 1 Aa MITSUBISHI ELECTRIC Creating parameter and positioning data by using Simple Motion Module Setting Tool Simple Motion Module start up mmo o ooo o septs SSS S S Speed control 10 x multiplier setting for f Detail
58. he sequence program NOTE 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 is ON with pressing the SHIFT key 3 JOG speed setting Double click JOG operation speed setting X5D with pressing the SHIFT key screen_O27E Fig 2 36 JOG speed setting MELSEC L Series LD77MH Simple Motion Module Quick start guide 2 31 Simple Motion Module start up Operation check 4 JOG starting Double click Forward run JOG X5E with pressing the SHIFT key to turn X5E ON and the axis 1 rotates forward Furthermore double click Forward run JOG X5E with pressing the SHIFT key to turn X5E OFF and the axis 1 stops Forward 206 Reverse JOG lloi fla screen_028E Fig 2 37 JOG starting Checking JOG operation Select Intelligent Function Module Monitor Module Monitor Axis Monitor to display the axis monitor initial window Click Select Monitor Axis to display the Select Monitor Axis screen 7 Select Monitor Axis Axis 1 After selection click OK to return to the axis monitor initial window Click Select Monitor Item to display the Select Monitor Item screen Select Monitor Axis SRE pintelligent Function Module E 0030 LD77MH4 i System Setting Parameter Servo_Parameter H a Positioning Data F3 Block Start Data H Synchronous Control Par H Cam Data I Mo
59. iation counter 0 PLS Motor rotation speed 0 5 r min Motor current value _ 1 0 Servo status Servo alarm OFF Positioning Complete Servo status Serva warning OFF Status OPR request flag OFF Status OPR complete flag OFF Start complete _ OFF External input signal Lower ON limit External input signal Upper m limit Module Information List PLC READY 30 LD77 READY X30 Synchronization Flag 31 All axes servo ON 31 Servo status READY ON AxisNo NZ 3 4 Servo status Servo ON AxisNo GUNZ 3 l4 Forced stop input Ui3 G1431 BUSY AxisNo fi 2 3 4 Error detection Axis No 1 2 3 4 Status Axis warning detection 4xisNo 1 2 3 4 Tab 3 6 Axis 2 0 0 um 0 0 um 0 Synchronous Control Positioning Complete 0 PLS 0 0 r min 0 0 OFF OFF OFF ON Checking operation status of axis 1 screen_042E Aa MITSUBISHI ELECTRIC Operation check of synchronous control Synchronous control start up 3 Setting the axis 2 program No Double click with pressing the SHIFT key screen_043E Fig 3 14 Set positioning No for the synchronous control 4 Starting the axis 2 program Turn Positioning start command X72 ON Double click with pressing the SHIFT key screen_O044E Fig 3 15 Starting of synchronous control 3 4 3 Operation check of a synchronous axis Check if the servomotors of th
60. ig 2 16 Connection of PC and CPU module via USB PLC power supply ON Turn on the power of the power supply module Connection settings of GX Works2 and PLC Click Connection Destination in the GX Works2 main screen and double click Connection1 2 Double click Serial USB on PC side I F section to display the PC side I F Serial Setting screen 3 Select USB Confirm with OK 4 Double click CPU Module on PLC side I F section to display the PLC side I F Detailed Setting of PLC Module screen 5 Select LCPU Confirm with OK Click No Specification in Other Stations Setting section of Transfer Setup Connection1 screen D Click the Connection Test button When the procedure is completed without error the connection completion screen will appear Navigation ax PESA Koo R Connection Destination z ilice Shack CER Se END T m CP eaaa Current Connection ada We 5 j EJ LE Ean a i i J eet batai A CEI Piet eg Connectiont Hostal EFi l HacterLocal Communication ue Module lee Bocuse aa o PLE Misie LEPJ All Connections fag Connectioni screen_O11E Fig 2 17 Connection settings Connecting CPU module and personal computer completed sa MITSUBISHI ELECTRIC Creating sequence programs by using GX Works2 Simple Motion Module start up 2 7 5 Formatting of the CPU module G Select Online PLC Memory Operation Format PLC Memory from the menu The Format PLC Memory scr
61. imple Motion Module Setting Tool a MITSUBISHI ELECTRIC Creating parameter and positioning data by using Simple Motion Module Setting Tool Simple Motion Module start up 2 8 3 Creating a new project 1 Select the icon for creating a new project in the MELSOFT Series Simple Motion Module Setting Tool screen The New Module screen is displayed 2 Make settings as follows e Module Type Simple Motion Module e Module Name LD77MH4 e Specify start XY address 0030 differs according to the PLC type used see table below 3 Click the OK button to add LD77MH to the intelligent function module of the project PLC type e E _ ea Specify start XY address 0010 0030 2 Project Edit View Online Tools Window i ec Pade Iitellligent Function Module hh OOSULD7iMHt screen_O17E Fig 2 24 Procedure of creating a new project via setting tool Continue with the next section to set the system configuration MELSEC L Series LD77MH Simple Motion Module Quick start guide 2 19 Creating parameter and positioning data by using Simple Motion Module start up Simple Motion Module Setting Tool 2 8 4 System setting Set the necessary parameters for the Simple Motion Module LD77MH 1 Select Intelligent Function Module System Structure in GX Works2 2 Double click the image of the first axis of the servo amplifier The Amplifier Setting Axis 1 screen is displayed 3 Select MR J3 W B If MR J4 is use
62. ion axisNo 1 2 3 4 Status Axis warning detection Axis No 1 2 53 4 In test mode flagi U3 61200 AMP less operation mode statusi U3 G1432 No of writing to Flash ROM US G1424 O times Digital OSC running Flag Li3 G1211 Stopped Tab 2 11 Axis monitor 2 Rem Operation Sm Check servo amplifier LED All axes servo ON Turn X7B ON Check the signal state of LD77 READY X30 Synchronization flag PLC READY and All axis servo Axis 1 JOG speed setting Turn X5D ON Check the JOG speed at the axis 1 current feed speed Axis 1 forward rotation com Turn X5E ON Check if the servomotor rotates forward Check if the axis 1 current mand turns ON feed value increases Axis 1 forward rotation com mandian OFF Turn X5E OFF Check if the servomotor stops Axis 1 reverse rotation com Turn X5F ON Check if the servomotor rotates reversely Check if the axis 1 current mand turns ON l feed value decreases Axis 1 reverse rotation com DERT Turn X5F OFF Check if the servomotor stops Tab 2 12 Operation check procedure Aa MITSUBISHI ELECTRIC Operation check Simple Motion Module start up Change the motor rotation direction to forward reverse ae b ielien Furti Wirda Eg p eter open Fijsave As ffi Srotem Setting e ce Syston Diructre E Ei Function display E Common ioio Basic if Binck Start Dist i i Extension PF Park Detection 4 Synth Goninal Paras Ae Cary Daka Compone
63. ions must always be observed in the design installation and op eration of all control systems DANGER Observe all safety and accident prevention regulations applicable to your specific applica tion Always disconnect all power supplies before performing installation and wiring work or opening any of the assemblies components and devices Assemblies components and devices must always be installed in a shockproof housing fitted with a proper cover and fuses or circuit breakers Devices with a permanent connection to the mains power supply must be integrated in the building installations with an all pole disconnection switch and a suitable fuse Check power cables and lines connected to the equipment regularly for breaks and insulation damage If cable damage is found immediately disconnect the equipment and the cables from the power supply and replace the defective cabling Before using the equipment for the first time check that the power supply rating matches that of the local mains power Take appropriate steps to ensure that cable damage or core breaks in the signal lines cannot cause undefined states in the equipment You are responsible for taking the necessary precautions to ensure that programs interrupt ed by brownouts and power failures can be restarted properly and safely In particular you must ensure that dangerous conditions cannot occur under any circumstances even for brief periods EMERGENCY OFF must be switched f
64. is Axis to be Interpolated 1 Axis to be Interpolated 2 Axis to be Interpolated 3 Command Speed Reference Axis Interpolation Axis Simple Motion Module start up Setting Value 1 Axis 1 100000 0 pm Circular interpolation control with center point designation INC CW Circular interpolation control with center point designation INC CCW v Axis to be Interpolated 1 e command speed for positioning Setting Range 0 01 to 2000 00 mmmjmin If 1 is set for the command speed the current speed speed set for previous positioning data No will be used for positioning control 4 cancel Setting value mem o ege Moe o p o oC screen_022E Fig 2 30 Selecting positioning data steps 3 and Click the Set button to close the data setting assistant screen The positioning data screen with data is displayed 0030 LD77MH4 Axis 1 x Display All v i Operation pattern Display Filter Offline Simulation Automatic Command Speed Calc At Axis to be Acceleration Deceleration interpolated time No time No O1h ABS Linear 1 0 1000 0 1000 lt Positioning Comment gt O END O1h AB5 Linear 1 z 0 1000 0 1000 0 0 um lt Positioning Comment gt Control system Positioning address Arc address 100000 0 um 0 0 um lt Positioning Comment gt lt Positioning Comment gt Operation pattern The operation pattern designates whether positioning of a certain d
65. is 4 type L26_LD77MH4_SEQ for L26CPU and LD77MH4 Axis 4 type LO2_LD77MH16_SEQ for LO2CPU and LD77MH16 Axis 16 type L26_LD77MH16_SEQ for L26CPU and LD77MH16 Axis 16 type Tab 2 6 LD77MH sample data for creating sequence programs Unpacking the LD77MH sample data Unpack the LD77MH sample data Id77mhe_00c into any folder Reading sequence programs Projects of the sequence program are read from the unpacked sample data Select Project Open from the menu 2 Click the Browse button to select the folder in which the project is saved 3 Select the project 4 Click the Open button to display the main screen ME MELSOFT Series GX Works2 Unse Open Project Project Edit Find Replace Compile Workspace Location s A New Ctrl N L usrE id77mhe_O0c Startup Guidance L26_LD77MH4 Ctrl O Workspace Project List Display all Folders PLC Type it It returns to the workspac x Close i fe Save L26_LD77MH4_SEQ L26 BT Ex LD77MH Startup Guida Save As screen_O8E Fig 2 13 Procedure of reading a sequence program Aa MITSUBISHI ELECTRIC Creating sequence programs by using GX Works2 Simple Motion Module start up The main screen is displayed BELSOFT Series GX Warka O0CWL OS HOGCY Startup Guidance Wt L26CPUecemplel E PAG MANM ae ees Mee ees a Bm be Main screen for selected project Cr E Sy he L EET a i Oy A a A MI dt eee ee eee E ee ee A ee eee cee E
66. ish Servo amplifier MR J3 B RJOO4U Servo Amplifier identification parameters and start up Instruction Manual procedures SSCNET Ill interface 2 axis AC Servo This manual explains I O signals parts Amplifier MR J3W B Servo Amplifier identification parameters and start up Instruction Manual procedures SSCNET III H interface AC Servo Amplifier This manual explains I O signals parts MR J4 B Servo Amplifier Instruction Man identification parameters and start up ual procedures SSCNET III H interface Multi Axis AC Servo This manual explains I O signals parts English Servo amplifier Amplifier MR J4W2 B MR J4W3 B Servo identification parameters and start up Amplifier Instruction Manual procedures General Purpose AC Servo MELSERVO J4 This manual gives an overview of all alarms Servo Amplifier Instruction Manual and warnings and explains remedies Trouble Shooting Safety guidelines For use by qualified staff only This manual is only intended for use by properly trained and qualified electrical technicians who are fully acquainted with the relevant automation technology safety standards All work with the hard ware described including system design installation configuration maintenance service and test ing of the equipment may only be performed by trained electrical technicians with approved qual ifications who are fully acquainted with all the applicable automation technology safety standards and regulations
67. itioning Comment gt _ Axis 4 Positioning Data 4 Block Start Data Positioning Comment gt 33 Synchronous Control Parame 5 Cam Data lt Positioning Comment gt my Monitor 6 z I Digital Oscilloscope z a te Operation pattern screen_021E Fig 2 29 Selecting positioning data steps 4 and 2 Aa MITSUBISHI ELECTRIC Creating parameter and positioning data by using Simple Motion Module Setting Tool 3 In the following screen input data for each item and the positioning control system Data Setting Assistant et the Positioning Data Position Control System 1 axis linear control ABS 1 axis linear control INC 1 axis fixed feed Control 1 axis speed control FWD 1 axis speed control RYS Speed position switching control FWD Speed position switching control RYS Position speed switching control FWD Position speed switching control RY5 2 axes linear interpolation 465 2 axes linear interpolation INC 2 axes fixed feed control Circular interpolation control with sub point designation 4B5 Circular interpolation control with sub point designation INC Circular interpolation control with center point designation ABS CW Circular interpolation control with center point designation ABS CCW Item Positioning Data No Axis Selection Reference Axis Interpolation Axis 1 Interpolation Axis 2 Interpolation Axis 3 Positioning Address Reference Axis Interpolation Ax
68. ject 4 Click the Open button to open the project is MELSOFT Series GX Works2 Unse Open Project Project Edit Find Replace Compile Save Folder Path 9 New Otrl N Li usrE ld77mhe_OOc Startup Guidance 126_LD77MH4 Workspace Project List Display all folders Close It returns to the workspace list 4 Save Ctri S Simple Motion sample data for synchronou Simple Motion sample data L26CPU Save As screen_O0O6E Fig 2 34 Procedure of reading sample project data Reading sample project data completed Aa MITSUBISHI ELECTRIC Operation check Simple Motion Module start up 2 9 Operation check 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 User s Manual positioning control for de tails of each signal 2 9 1 JOG operation for checking the rotation direction the electronic gear setting etc CQ Move the RESET RUN STOP switch on the front side of the PLC CPU module to RUN position 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 SHIFT key to turn X7B ON Double click with pressing the SHIFT key screen_O26E Fig 2 35 Turn the Servo ON device from t
69. legia Cop a ne T Lancia 4 fe fot vee action a Tool net ala mus em 51 I ie screen_049E Fig 3 20 Campatternon the digital oscilloscope Operation check completed MELSEC L Series LD77MH Simple Motion Module Quick start guide 3 19 Synchronous control start up Operation check of synchronous control 3 20 Aa MITSUBISHI ELECTRIC Start address setting Appendix A Appendix A 1 Start address setting A 1 1 Start address of Simple Motion Module CPU modules of L series are equipped with built in I O and built in CC Link CC Link only with L26CPU BT If connecting a Simple Motion Module to the right side of a CPU module the start XY address be comes the number that is added to the No of I O points corresponding to the CPU module equip ment 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 L26CPU BT LD77MH4 L26CPU BT LD77MH16 CPU module LD77MH4 LD77MH16 LO o o w oOo o O 10H 30H system_view_1 Id77mh4 Id77mh16 Fig A 1 Start address setting depending on CPU module MELSEC L Series LD77MH Simple Motion Module Quick start guide A 1 Appendix Start address setting A 1 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 New Module Module Selection Module T
70. lick the Close button to close the window after writing is completed The Online Data Operation screen is displayed 5 Click the Close button to close the window Online Debug Diagnostics Tool Window rH Read from PLC formextion ch fie m Write to PLG iera tort But Meahuke Cirer System image Verify with PLC Chntine theta ipo raion if Write ery M Delt Execution Tga Biola tm Remote Operation Password Keyword PLC Memory Operation Delete PLC Data PLC User Data m Tele Cost Last iS brayi Memory 2 fa BOIQPOLS NG bie hee i SOME pi Mami na Daca dil Loiri dili Dist yi SOLO L ESH Bevery Selle He Seting Adesi Set Set needed Me fete Arpad Pt Wiig Soe FreeWare Ube Viae ctes I nosis GAHE Raketi Filated Functions lt s een J e ER TEES PLE Leer Date Wrba The eet Der PLC Memen ae Write to PLC ENTNANOKQENTNEUTNEI a E a Parameter Write Completed p rE ae at Boot File Write Completed Remote Password Write Completed BOREAL O ME Bete Program MAIN Write Completed Write to PLC Completed uet RAII ASH diena impa Ae Bej Abrade Sat j Sabi bi reada boo When processing ends close this window automatically eating ioe Joss amp Paco ALC Ler Data mete tite Gear PLC Meer oe screen_O14E Fig 2 19 Procedure of writing the sequence program to the PLC CPU Writing to CPU module is completed
71. lso describes the operations English Motion of devices and parameters what is a basic Module knowledge necessary for programming MELSEC L LD77MH Simple Motion Module This manual explains the functions of User s Manual Synchronous Control Simple Motion Module type LD77MH MELSEC L Series Quick Start Guide This quick start guide introduces the basic installation procedures of programmable controllers MELSEC L CPU Module User s Manual Specifications of the CPU modules power Hardware Design Maintenance and supply modules display unit SD memory Inspection cards and batteries information on how to establish a system maintenance and MELSEC L inspection and troubleshooting English series MELSEC L CPU Module User s Manual This manual explains the functions of CPU programmable Function Explanation Program modules In addition it also describes logic controller Fundamentals devices and parameters basic knowledge necessary for programming as well as the operation of display units MELSEC System Q L Series Programming This manual describes the programming Manual and processing of the sequence and application instructions that are provided by the CPUs of the MELSEC System Q and L series SSCNET III Compatible MR J3 B Servo This manual explains I O signals parts Amplifier Instruction Manual identification parameters and start up procedures SSCNET III Compatible Linear Servo This manual explains I O signals parts Engl
72. lue Position Control Axis operation status 2000 00 mm min Axis feed rate Continuous Positioning Control Positioning data being executed Deceleration time 0 1000 Ho Positioning data being executed Axis to be interpolated fe Positioning data being executed M code Deviation counter 65046 PLS Motor rotation speed 401 6 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 OFF int Input signal Lower g External input signal Lower limit limit Position Control Module Information List PLC READY LD77 READY Synchronization flag PLC READY 30 LD77 READY X30 Synchronization flagi 31 All axes servo OMEY3L Servo status READY ON Axis No iz 34 Servo status Servo OM AxisNo 2 3 4 Forced stop input l3 o14314 BUSY BUSY fxisNo 2 3 4 Axis 1 Error detection Error detection Axis Mo 1 All axes servo ON Servo status READY ON Axis 1 Servo status Servo ON Axis 1 2 3 4 Status Axis warning detection Axis warning detection axisho 1 1 2 1314 Tab 2 16 Monitoring of axis 1 Operation check completed MELSEC L Series LD77MH Simple Motion Module Quick start guide Simple Motion Module start up Operation check 2 40 Aa MITS
73. ly set the basic parameters 1 unit setting No of p station and unit magnification Machine Components Eonar Unit Setting Diameter of Roll DR 50000 0 ym Reduction Gear Ratio NL NM Load Side NL Motor Side NM r 1 Encoder Resolution 262144 PLS rev Setting Range Calculation Restlt Basic Parameters 1 Unit Setting O men No of Pulses per Rotation 4625519 PLS Movement Amount per Rotation 2771663 0 um Unit Magnification 1 x1 Times Movement Amount per Rotation s a result of calculation some error occurs in the travel value Calculation result 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 screen_082J Fig 3 5 Parameter settings of axis 1 a6 Aa MITSUBISHI ELECTRIC Creating parameter for synchronous control Synchronous control start up 3 3 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 Example of positioning data moving to P1 from home position Position of belt conveyor axis 2 mm P1 157 0796 If the roller with a diameter of 50 mm rotates one time the belt conveyor moves for 157 0796 mm PO 0 0 Time Speed mm min 2000 00 Position of cu
74. meter settings for axis 2 Setting of synchronous control parameter and input axis parameter completed 3 10 Aa MITSUBISHI ELECTRIC Creating parameter for synchronous control Synchronous control start up 3 3 5 Cam data setting Q Cam data screen start up Right click Cam data and select Add new data The New Data screen is displayed 2 Set the Cam No 3 Click the OK button The initial screen to create cam data is displayed Project Ad Tntelligent Sutin Module Flic 0030 L O07 MH4 El System Setting 7a Parameter Servo_Farameter 4 Positioning Data at ae Input Axis Parameter ie Axis 1 Synchronous Pare e E Axis 2 Synchronous Pare E Set by Stroke Ratio 4 uF Axis 3 Synchronous Pare T Setting Method Set by Coordinate Ej Aubo Generate Import other file Import E MELSOFT Serine Simple Motman Modula Setir i Brewect Edt View Onlie io Liston ee ThA AL EGN ans F ne Teol MA OTS I hiap Ouniment LADOPI 077M tampik E DOTACE OTM U CGam Date He FL are Het or Com Date Sortie Price o ch OLDE Spola Sathing Farge Pos per Cycle Lo degree ji ees Jonima iaoi MwA Cycles QOO00 degree Stroke Arsuri i E Sevi Fiar Cmamh A Postioning Daia Deeply Geach Display Magnification Ce Asia WF ostining Duta a fel gire a un e Fostering Data Sa T Spoed I Accetation T der waits 100 mja He 100 _ WIM 10 Hoa fone 23 Postoni Daia L ie fana E Pca
75. nc acounacy of meas Error dehachon Trigger Dalama 86 eno ODi eLo z i TE E Sync Oo wath the servo mut E g i Fig 3 17 Functions of the assistant screen MELSEC L Series LD77MH Simple Motion Module Quick start guide Deh ol peggy par aft es riiai i eee Paepae the 00 buman reflects the ao heee eR TE L Ml EE oT screen_046E Synchronous control start up Operation check of synchronous control 7 Setting the trigger condition After closing the Assistant screen select Edit Trigger to display the TRIGGER screen Select the Trigger Setting register card to display the screen for setting the trigger conditions 9 Press the Pattern button repeatedly to display F Set the following items e Axis 1 Cam Axis 1 Cycle Current Value 42812 fm 100 x0 0001 mm e Axis 1 Cam Axis Current Feed Value 42816 F 10 x0 1 um W Digital Oscillog TRIGGER Initial Setting Trigger Setting Sampling Rate ms 0 88 1 1 5000 Operation Cycle ms Total Time 7281 8 Sampling Size point 8192 10to8192 ms Trigger Balance Trigger Type One shot Continual Cor ee iode NONE 819 7373 STOP Condition trigger Counts 1 100 OR oi z TA me i Days 1 7 l Filing Trigger TRIGGER Initial Setting Trigger Setting EE T Next Prey Trigger Mode C BtOR BitAND WordOR NONE v PROBE Device Word pee Filter Trigger value x Rate aree
76. nt parts ie Monitor fe Position control Deg fal Cae ilincope BE E Servo adjustment he Basic Extension Gain change Forced stopit A0P1 Basic Servo forced stop selection Gain Filter Invalid Not use forced stop input EM1 Extension el Screen_ Fig 2 39 Choosing the motor rotation direction NOTE 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 eee In view of the motor shaft end CW direction JOG operation check is completed MELSEC L Series LD77MH Simple Motion Module Quick start guide 2 35 Simple Motion Module start up Operation check 2 9 2 OPR for checking a home position OPR Original Point Return control includes machine OPR that establishes a machine OP without us ing address data and fast OPR that carries out positioning to the coordinates established by the ma chine OPR This section explains the method to operate the data setting type of machine OPR C1 To operate machine OPR After setting the positioning start number turn ON the positioning start to start OPR Buffer memory aa Description LD77MH4 LD77MH16 Set the positioning start No 1399 oe Set 9001 for machine OPR Execute the positioning start and OPR Tab 2 13 Start OPR 2 Setting the a
77. orcibly if necessary Residual current protective devices pursuant to DIN VDE Standard 0641 Parts 1 3 are not adequate on their own as protection against indirect contact for installations with PLC systems Additional and or other protection facilities are essential for such installations EMERGENCY OFF facilities conforming to EN 60204 IEC 204 and VDE 0113 must remain fully operative at alltimes and inall control system operating modes The EMERGENCY OFF facility reset function must be designed so that it cannot ever cause an uncontrolled or undefined restart You must implement both hardware and software safety precautions to prevent the possibil ity of undefined control system states caused by signal line cable or core breaks When using modules always ensure that all electrical and mechanical specifications and requirements are observed exactly Do not install remove the module or terminal block more than 50 times after the first use of the product conforming to IEC 61131 2 Failure to do so may cause the module to malfunc tion due to poor contact of connector MELSEC L Series LD77MH Simple Motion Module Quick start guide III Precautions to prevent damages by electrostatic discharge Electronic devices and modules can be damaged by electrostatic charge which is conducted from the human body to components of the controller Always take the following precautions when handling the controller CAUTION Before touching a mo
78. ov Phone 421 0 51 7580 611 Fax 421 0 51 7580 650 INEA RBT d 0 0 Stegne 11 SI 1000 Ljubljana Phone 386 0 1 513 8116 Fax 386 0 1 513 8170 Beijer Electronics AB Box 426 SE 20124 Malmo Phone 46 0 40 35 86 00 Fax 46 0 40 93 23 01 Omni Ray AG Im Schorli 5 CH 8600 D bendorf Phone 41 0 44 802 28 80 Fax 41 0 44 802 28 28 GTS TURKEY Bayraktar Bulvari Nutuk Sok No 5 TR 34775 Yukar Dudullu Umraniye ISTANBUL Phone 90 0 216 526 39 90 Fax 90 0 216 526 3995 CSC Automation Ltd 4 B M Raskovoyi St UA 02660 Kiev Phone 380 0 44 494 33 55 Fax 380 0 44 494 33 66 MALTA MOLDOVA NETHERLANDS NETHERLANDS NORWAY PORTUGAL ROMANIA SERBIA SLOVAKIA SLOVAKIA SLOVENIA SWEDEN SWITZERLAND UKRAINE T00 Kazpromavtomatika KAZAKHSTAN Ul Zhambyla 28 KAZ 100017 Karaganda Phone 7 7212 50 10 00 Fax 7 7212 50 1150 MIDDLE EAST REPRESENTATIVES 1 C SYSTEMS LTD EGYPT 23 Al Saad Al Alee St EG Sarayat Maadi Cairo Phone 20 0 2 235 98 548 Fax 20 0 2 235 96 625 ILAN amp GAVISH Ltd 24 Shenkar St Kiryat Arie IL 49001 Petah Tiqva Phone 972 0 3 922 18 24 Fax 972 0 3 924 0761 GIRIT CELADON LTD 12 H aomanut Street IL 42505 Netanya Phone 972 0 9 863 39 80 Fax 972 0 9 885 24 30 CEG INTERNATIONAL Cebaco Center Block A Autostrade DORA Lebanon Beirut Phone 961 0 1 240 430 Fax 961 0 1 2
79. peration status JOG Operation Axis operation status 100 00 rimytnin Axis feed rate Positioning data Mo being Positioning data being executed Operation Positioning Complete Positioning data being executed Control system Positioning data being executed Acceleration time 0 1000 Positioning data being executed Deceleration time 0 1000 Positioning data being executed Axis to be Positioning data being code Deviation counter _ 3715 PLS Motor rotation speed 21 1 r min Motor current value i4 Yo Servo status Servo status Servo alarm OFF Servo warning OFF Forward JOG start Forward JOG start Reverse JOG start Reverse JOG start limit imit External input signal Upper Status OPR request fag ON Status OPR complete fag OFF Start complete GFF External input signal Lower On OM Tab 2 11 Axis monitor 1 MELSEC L Series LD77MH Simple Motion Module Quick start guide Simple Motion Module start up JOG Operation 100 00 Simple Motion Module start up Operation check Module Information List PLC READY 30 PLC READY LOF READY 30 LD77 READY Synchronization flag x31 Synchronization flag all axes servo ONCY31 All axes servo ON Servo status READY ON Servo status READY ON axisNo 2 3 4 Axis 1 Servo status Servo ON Servo status Servo ON AxisNo 2 3 4 Axis 1 Forced stop input U3 G1431 EBUSY BUSY Axis No M 2 3 4 Axis 1 Error detect
80. processing processing Allowable circular interpolation error External command function selection 0 External positioning start 0 External positioning start Speed control 10 x multiplier setting for Restart allowable range when servo OFF 0 pls rev 0 pls rev to ON Manual pulse INC synchronous encoder n pn l input type selection 0 Differential output type Operation setting for speed torque control mode Speed default value 0 Command speed 0 Command speed selection Acceleration deceleration process selection Operation setting for speed torque eee cee at EE TEET 2 ontto mode Condition celectionar 0 Switching Conditions 0 Switching Conditions mode switching Valid at Switching Mode Valid at Switching Mode OPR method 6 Data set method 6 Data set method 0 Positive direction 0 Positive direction OPR direction address increment address increment direction direction OPR speed 0 01 mm min 0 01 mm min Creep Creep speed Creep speed o oo 0 01 mm min o 0 01 0 01 mm min o 0 Do not retry OPR i 0 Do not retry OPR 2 Setting for the movement amount after OPR acceleration time selection 0 1000 0 1000 OPR deceleration time selection 0 1000 0 1000 OPR torque limit value 300 300 Operation setting for incompletion of 0 Positioning control is not 0 Positioning control is not OPR executed executed Speed designation during OP shift 0 OPR speed 0 OPR speed Dwell time Pug OPR retry Oms Om
81. rameter init cmd storage OFF RST M25 ZP INIT ZP PINIT Parameter instruction instruction initilization complete dv err comple command Flash ROM write program X6D lt Flash ROM write cmd pls 240 ee PLS M26 Flash ROM Flash ROM write write command command pulse M26 x30 lt Flash ROM write cmd hold 247 t _4 SET So Flash ROM Axis 1 Flash ROM write BUSY write command command pulse strage M27 Y30 lt PLC READY output to LD77 standby gt K2 251 i a T1 Flash ROM PLC PLC READY write READY signal OFF command conf 2 strage lt Flash ROM write execution TI 258 ZP PFWRT U3 D39 M38 ZP PFWRT ZPPFWRT instruction instruction control dat complete dv M38 M39 lt Flash ROM write cmd storage OFF gt cepe _f RST M27 ZP PFWRT ZP PFWRT Flash ROM instruction instruction write complete dv error command comp strage 273 END app4_005 Fig A 11 Sequence program example 5 MELSEC L Series LD77MH Simple Motion Module Quick start guide A 19 Appendix Sample program A 20 Aa MITSUBISHI ELECTRIC Index Index A Axis select rotary switch 0 cece eee eee ees 2 7 C Connections CPU module and PC cece eee ees 2 14 SUNOS EN 2 14 CPU module FOrMatUN O eee pa o aa aA 2 15 Write sequence programs sssssesesssss 2 16 Create NEW DFOJCCl sorunord nnna E N EAE 2 11 New project with Setting Tool 2 19 SEQUENCE programS cece eee eens 2 12 l Installation
82. referred Select Intelligent Function Module Monitor Module Monitor Error History to display the Error History screen 2 Click the Create CSV File button to save the error history as a CSV file The Save to CSV file screen is displayed 3 Specify a file name 4 Click the Save button to preserve the error history eee inteligent Function Module Des En eem n Gf 0030 Lb77MH4 4S AS Re EE System Setting ay chk __ J l Modiiaie Tinrmatinn List z j bet SUVS ur Por READYSO Parameter ee iors neac s Servo Parameter i panes 4 Positioning Data 5 Serva sa AA h mi ot hi EG a a 24 Block Start Data Ea Seve een ares Om a Synchronous Control Par 4 or Poremd slop ET AEE SAE ETN cam Data H ust Monitor in Module Monitor ashe M2 3 4 f Axis Monitor Aiako 112 3 l Aiii hii I Z 3d i i intest mode AagiuowGI zon Q i OPE bess cess ation mede Som TGA Abo ol vaig bo Flags reine eat B times Dia OSC pare test ULE L Stopped i Servo Monitor WF Digital Oscilloscope Save to CSV file Save in E tmp 4 ex EJ My Recent Documents 3 Desktop My Documents My Computer a My Network Fie name Er20110305154707 __ Save aces Save as type CSV File csv Cancel app3_003 Fig A 5 Procedure of saving the error history as a CSV file A 12 a MITSUBISHI ELECTRIC Various monitor functions Appendix
83. rent value 0 3 Serva status Serva alarm OFF __ OFF Status OPR request flag Status OPR complete flag ON Start complete Status OPR complete flag Module Information List B PLC READY YSO PLC READY LDF READY X30 LD77 READY Synchronization flag 313 Synchronization flag All axes servo ON YS1 All axes servo ON Servo status READY OM Servo status READY ON AxisNo fH 2 3 4 Axis 1 Servo status Servo ON servo status Servo ON xis No 2 3 4 Axis 1 Forced stop input ls o1431 BUSY axisha 1 12 3 14 Error detection Axis Mo 1 2 3 1 4 Status Axis warning detection Axis Mo 1 2 34 Tab 2 14 Monitoring of axis 1 Completion of axis 1 OPR MELSEC L Series LD77MH Simple Motion Module Quick start guide 2 37 Simple Motion Module start up Operation check 2 9 3 ExampleV Positioning control This section explains the operation check method of positioning control which uses the address in formation Operation example of returning the original position after moving to P1 Position mm P1 100 0 Speed mm min 2000 00 30000 00 operation_1 Fig 2 42 Operation pattern of the example A To execute positioning After setting the positioning start number turn ON the positioning start signal Y40 to start positioning Buffer memory Sn Description LD77MH4 LD77MH16 Axis 1 positioning star
84. rt XY address 0030 H 1 Module Occupy 16 points screen_O29E Fig 2 21 Setting example 3 Click the OK button to return to the main screen E MELSOFT Serien GX Warko ngei Project IP AG MADH i x Fig 2 22 Boel rin md Replies Compile Yew hine i Diewe peol Erie Be M 236 EL CELI A EEE CA Ee E E ea sia Main screen SHEE HES 42 60 ro ate S AG AE uiabe Bi 2 2 SSE Ej Local Denice Goement joe Derice Meany Deere ico Bedi Vials screen_030J MELSEC L Series LD77MH Simple Motion Module Quick start guide 2 17 Creating parameter and positioning data by using Simple Motion Module start up Simple Motion Module Setting Tool NOTE 2 8 2 The start address of the Simple Motion Module LD77MH differs depending on the combination with CPU module For details refer to section A 1 Start address setting Setting is completed The following explains the setting method with the Simple Motion Module Setting Tool Starting the Simple Motion Module Setting Tool Select Intelligent Function Module LD77MH4 Simple Motion Module in GX Works2 to start the Simple Motion Module Setting Tool The MELSOFT Series Simple Motion Module Setting Tool screen is displayed Project a MELSOFT Series Simple Motion Module Setting Tool ee E Parameter cs g htelligent Function Module ALZ MHA E 9 Local Device Comment E Device Memory Device Initial Value screen_O16E Fig 2 23 Start the S
85. s Operation cycle setting 1 1 77 ms Parameter data 2 The Operation cycle setting and External command signal selection are used only in a parameter of LD77MH16 Aa MITSUBISHI ELECTRIC Parameter and positioning data A 2 2 Positioning data Axis 1 Positioning data Operation pattern 1 Continua tion Tab A 2 Axis 1 Positioning data Axis 2 Positioning data Opera tion pat tern interpo lated Axis 2 Positioning data Tab A 3 Axis to be Accelera tion time No No 1000 1 1000 Position ing ad dress Decelera tion time No 1 1000 um 1 1000 1 1000 Position ing ad dress Decelera tion time MELSEC L Series LD77MH Simple Motion Module Quick start guide 100000 0 Arc address 0 0 um 0 0 um Arc address 157079 6 0 0 pm ym Appendix mand 2000 00 mm min 30000 00 mm min 2000 00 mm min Appendix A 3 A 3 1 Various monitor functions Various monitor functions Axis monitor Select Axis Monitor Select Intelligent Function Module Monitor Module Monitor Axis Monitor to display the initial Axis Monitor screen 2 Click Select Monitor Axis to display the Select Monitor Axis screen 3 Select the displayed axis and click Add LD77MH4 Axis 1 to 4 LD77MH16 Axis 1 to 16 Click OK to return to the initial Axis Monitor screen Ea Intelligent Function Module h o0s0 LOF7MH4
86. s Wini Help E Bead irom Module Connection Channel List Saria Communication Connection USB System Image 6 es Cam Data Password 2 Write Badugu Patle of ABSa Data Moertinr Potitionin Test Request of Paramnter Initislinntion Elesh POM Write Modde Neme Deted setting Rem Name Inteligent Function Mode Write to the buffer memory volat e memery Please check Write to the Mash ROM whan write to the Pash ROM d i ii ra _ i a i af i a iia A l i PTT TTT Ty wi TTT TTT TTT TTT a p MELSOF Scrics Senple Molion Module Selling lool i erenvente contents of Hash BOM Are yod suret Loe J When processing ends ekas Lis rirdow automatically screen_O25E Fig 2 33 Steps 2 to of writing procedure NOTE If the data is not written to the flash ROM the data is erased by turning the power supply OFF to ON 7 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 NOTE Please write the sequence program the parameters and the other data of the simple motion con troller at first And switch power off once and then switch it on again When ERR LED lights up or blinks please confirm the error and take measures according to the manual Please refer to Appen dix A 2 and A 3 for a way of the error confirmation Writing completed MELSEC L Series LD77MH Simple Motion Module Quick start guide 2
87. s lit system_view_3 Fig 2 7 Status of LEDs after turning on the power supply When 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 according to the table below Servo amplifier LED eee oe The power supply of the LD77MH is Initializing standby ued oft The power supply of the servo Normal a amplifier is turned on while the Ab Initializing power supply of the LD77MH is turned off During servo forced During servo forced stop of the stop servo amplifier During controller Tab 2 3 Check of communication status PLC ready signals of LD77MH are Servo OFF Servo off command is received All axes servo on signal of LD77MH E6 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 Check the wiring of the control power supply when LED is turned off The wiring is completed Aa MITSUBISHI ELECTRIC Installing application software Simple Motion Module start up 2 6 2 6 1 2 6 2 Installing application software The following shows how to install MELSOFT GX Works2
88. s used In case that the capacity of the servo amplifier is different refer to the servo amplifier instruction manuals Wiring the power supply module part of the figure below The following shows an example of wiring the power supply wires and grounding wire tor power sup ply module Connect an isolation transformer when much noise is generated in the power supply sys tem Wiring the power supply and the motor power to the servo amplifier part of the figure below Wire the control circuit power L11 L21 main circuit power L1 L2 and L3 and motor power line U V and W to the servo amplifier Circuit Protector Grounding block_diagram_3_interim Fig 2 5 Wiring example Wire sizes and tightening torques Applicable wire size Tightening torque 0 75 to 2 mm AWG18 to AWG14 0 59 to 0 88 Nm 0 75 to 2 mm AWG18 to AWG14 0 59 to 0 88 Nm Main circuit power L1 L2 L3 2 mm AWG14 a _____ Motor power line U V W 1 25 mm AWG16 Grounding wire 1 25 mm AWG16 Tab 2 2 Wire sizes and tightening torques Aa MITSUBISHI ELECTRIC Wiring and connecting cables Simple Motion Module start up 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 be low Set the switches to the corresponding axis No
89. screen of the changed contents Click the Yes button on the save confirmation screen to close MR Configurator2 Dumt er Ge Peete Seer y fete apes lett Agee et crt tb ai Sitka BAe 23 Intelligent Function Module O erroe a 0030 LD77MH4 mm System Setting NM System Structure H Mark Detection er gt m En ote pase rept rele Awe bree EP ey OON neve ay gt dave ford pa Oya NG tovarn ie Ded i irde e a Henin od ter A Block Start Data ra X f e me a ee lt n pae iium ood oe 35 Synchronous Control Parame SE os 5 Cam Data TH Monitor WH Digital Oscilloscope Aa 6 ua LO Pee Se Se a a eee lam ee ee ee we we m we we oo od Forced stop amp OP1 I Servo forced stop selection 3 1 invalid Not use forced stop input EM1 ix j Valid Use forced stop input E 11 a invalid Not use forced stop input EM1 M ica 3 icm Function display Component parts Update Project Common e Basic tension Regenerative option REG Brake output MBR Medena Senin Sena Servo amplifier C Uses magnetic brake interlock MBR Pasition contro Pegen opion HS FE UBER I Electromagnetic brake sequence output Servo adjustment ms 0 1000 Basic Extension _ Gain change List display Battery ABS COP4 Absolute position detection system Servo motor Used in incremental system ml 3 ENC cable COP1 Home position set condition selection Encoder c
90. t 7373 Sampling time ms 6553 8 Click OK to return to the Assistant screen MW Digital Oscilloscope L26CF File Edit View Action Online la wea co al Ax 2 Cam 4x 1 cycle curre Ax 2 5 Se n 3elect the work item Assistant Screen R P Communicate with the umeda mestinn madada al ame the data mm Online Setting Sampling method Module Buffering Method Display patterns in real time Operation mode Online Offline Cancel Select the probe ibem to be samped Expla Set the sampling condition feeder tiny Che purane bree thee be are ia ha aire ey w Sakka frora panid urpodi probs Bitt tha priha Esi hat the gait bati ated poeni Bhs Caradon baei gi Do Als thee trigger balene aed hhe trigger noredition hat me Taiata the comping mondo and paripa che pathir mamati sy Sees Tra a A bine appropriate for the purpose are set mutomaticaly P heder change the net mra ties hie fr Ser brome thee agli rae i Samping Rate ma i u tits LE by Soeecifandl pune Probe Gerri 3 P gat hon thatotal tepin tia Pasion porral operation dunng Gar op Can Ax 1 cyca auront vais y Bha boba saphi Lee fn Posbon contol operabon dunng the sp Cam foe fesd ouent vae i Total Samping Tire C uomaa ces Speed dorig operation drg the pok Moto epee J Speeq control operation dunng the pos Motor ourent value G Ee te ee Speed contra operation duing he pa SY MSIL ering F Sy
91. t No a 4300 a Set the positioning start No Axis 1 positioning start a ee eee Execute the positioning start Tab 2 15 Execution of positioning 2 Setting the axis 1 positioning start number 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 screen_034 Fig 2 43 Setting the axis 1 positioning Start No to 1 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 Aa MITSUBISHI ELECTRIC Operation check i Simple Motion Module start up 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 Axis Monitor Monitor Type Axis Output Axis Axis 1 68770 3 um 68770 3 Hm Current feed value Axis 1 Current feed value Machine feed value Axis error Mo Axis warning Mo Axis operation status Axis feedrate Positioning data Mo being executed Positioning data being executed Operation pattern Positioning data being f axis linear control executed Control system ABS Positioning data being executed Acceleration time 0 1000 Axis 1 Machine feed va
92. t Send To Desktop create shortcut Open Fig 2 9 Run as Creating an icon Pin to Start menu Compressed zipped Folder Copy _ Mail Recipient Create Shortcut eB My Documents Delete i J 3 5 Floppy tA screen _004 Starting MELSOFT GX Works2 When there is an icon Double click m fae to start MELSOFT GX Works2 When there is no icon Select Start All Programs MELSOFT Application GX Works2 GX Works2 to start the software The main screen of GX Works2 will appear Fig 2 10 GX Works2 main screen screen_005 a MITSUBISHI ELECTRIC Creating sequence programs by using GX Works2 2 7 2 7 1 Simple Motion Module start up Creating sequence programs by using GX Works2 This section explains the methods from creating to saving a new project of the sequence program Creating a new project A project consists of programs device comments and parameters This section explains the method with an example of using L26CPU BT G Select the icon for creating a new project in the GX Works2 main screen The New Project screen is displayed 2 Select the following settings Project Type Simple Project Use Label Not used do not click the checkbox PLC Series LCPU PLC Type L26 BT for using the L26CPU BT in this example Language Ladder 3 Click the OK button Te MELSOFT Series GX Works Ne Project Project Edit Find Replace Gol Simple Project
93. tch reference address setting ori Value after Main Shaft Composite Auxiliary shaft C Auxiliary shaft clutch con OFF control mode 0 OFF Control Invalid trol setting signal Auxiliary shaft clutch reference address setting Auxiliary shaft clutch ON address Auxiliary shaft clutch Travel value before auxiliary shaft clutch ON Auxiliary shaft clutch OFF address Travel value before auxiliary shaft clutch OFF Auxiliary shaft clutch smoothing system Auxiliary shaft clutch smoothing time constant Slippage at auxiliary shaft clutch ON Slippage at auxiliary shaft clutch OFF Speed change gear arrangement Speed change gear smoothing time constant Speed change gear Tab 3 3 Synchronous parameter settings for axis 1 1 MELSEC L Series LD77MH Simple Motion Module Quick start guide ON control mode 0 No Clutch Direct Coupled Operation High speed input request 0 Current Value after Main Shaft Composite Gear Speed change ratio Synchronous control start up Creating parameter for synchronous control mmo o fnumberofdecimelplces o SSCS C aat after auxiliary shaft gear E control initial y g Cam axis position recovery 0 Cam Axis Current Value per Cycle Recov position parame target ery Setting method 2 Current Feed Value Cam reference position Cam axis current value per Setting method 0 Previous Value cycle Initial setting value 0 pls rev Tab 3 3 Synchronous parameter settin
94. ternal 1 0 Connector Setting Butter Memory Device Name Ext CMD Switch Signal Logic Selection MIAM PLS Sync Encoder INC Input MAN PLS Input Selection Forced Stop Input MAN PLS Input Logic Selection Ti uw E EF lil H i Axis 1 doi System configuration for 2 axes MELSEC L Series LD77MH Simple Motion Module Quick start guide Setting Value Negative Logic Trailing Edge Diferential 4 phase B phase 4 Multiply j pas ooo o IM Hegative Logic screen_080 Synchronous control start up Creating parameter for synchronous control 3 3 2 Parameter and servo parameter settings Set parameters and servo parameters of axis 1 and 2 Please refer to section 2 8 5 Parameter setting and section 2 8 6 Servo parameter setting for details of the setting procedure The setting list is given in section A 2 Parameter and positioning data The electronic gear settings of the belt conveyor are described as follows Input Machine Components Conveyor Unit Setting 0 mm Diameter of Roll DR um 50000 0 Reduction Gear Ratio Load side NL Motor side NM 1 1 Encoder Resolution pls rev 262144 Calculation result for basic parameters 1 Unit Setting 0 mm No of Pulses per Revolution 4625519 PLS Movement Amount per Rotation 2771663 0 um Unit Magnification 1 x 1 Times Compute Basic Parameters 1 Axis 1 Entry Select the machine eahaaebace and ret the mocho jaaa to automatical
95. ting 5 m System Setting ea g System Structure Setting Value i Mark Detection xt CMD Switch Signal Logic Selection Negative Logic Trailing Edge ed Parameter Servo_Parameter Positioning Data ea Block Start Data 35 Synchronous Control Parame ee EA Input Axis Parameter Fot E Axis 4 Synchronous Par ij Cam Data E Monitor Digital Oscilloscope Host Station screen_018E Fig 2 25 Setting the system configuration System setting completed 2 20 a MITSUBISHI ELECTRIC Creating parameter and positioning data by using Simple Motion Module Setting Tool Simple Motion Module start up 2 8 5 Parameter setting Select Intelligent Function Module Parameter in GX Works2 2 Click the Compute Basic Parameter 1 button for basic parameter settings The Compute Basic Parameters 1 screen for Axis No 1 is displayed 3 Select machine components and enter the machine data according to the specification of the device Machine Components Ball Screw Horizontal Unit Setting 0 mm Lead of Ball Screw PB um 10000 0 Reduction Gear Ratio Load side NL Motor side NM 1 2 Encoder Resolution pls rev 262144 4 Click the Compute Basic Parameters 1 button 5 Click the OK button to reflect the calculation result to the parameter F siika biniien Modal mig Eren BAN Apa ee ee ares ie pemanan a Ey we ome ale oP aP Intelligent Fonction Module 3H E iL DTM Syam 5 1
96. tive logic 0 Negative logic Input signal logic selection Manual pulse generator input Input signal logic selection 1 Input of servo amplifier 1 Input of servo amplifier 0 A phase B phase mode 0 A phase B phase mode Manual pulse generator input selection multiplied by 4 multiplied by 4 0 Speed position switch 0 Speed position switch ing control INC mode ing control INC mode ahii 0 Apply software stroke 0 Apply software stroke Software stroke limit selection limit on current feed value limit on current feed value Software stroke limit valid invalid setting 0 Valid 0 Valid Command in position width 10 0 um 10 0 um 0 Negative logic 0 Negative logic Speed position function selection Forced stop valid invalid selection Acceleration time 1 1000 ms Acceleration time 2 1000 ms Detailed Acceleration time 3 1000 ms parameter 2 Deceleration time 1 1000 ms Deceleration time 2 1000 ms Tab A 1 Parameter data 1 MELSEC L Series LD77MH Simple Motion Module Quick start guide A 3 Appendix Parameter and positioning data Detailed parameter 2 OPR basic parameters OPR detailed parameters Expansion parameters Tab A 1 JOG speed limit value 15000 00 mm min 15000 00 mm min JOG operation acceleration time JOG operation deceleration time dejection 0 1000 0 1000 0 Automatic trapezoidal 0 Automatic trapezoidal acceleration deceleration acceleration deceleration
97. tter axis axis 1 mm P1 100 0 Execute the cam control for following the movement of the belt conveyor Time operation_3E Fig 3 6 Operation pattern of the example Selecting the positioning data Select Intelligent Function Module LD77MH4 Positioning Data Axis 2 Positioning Data to display the Positioning Data screen J ff 0030 LD77MH40 System Structure gt 0030 LD77MH4 Parameter gt a Lis gt 2 Display Filter Display All i i Offline Simulation Automatic Command a Intelligent Function Module 0030 LD77MH4 Axis to be Acceleration Deceleration Horie add fj System Setting Operation pattern Control system interpolated time No barge his Positioning address G Parameter O END OZh INC Linear 1 z 0 1000 0 1000 157079 6 um y Servo_Parameter lt Pasitioning Comment gt 33 Positioning Data Axis 1 Positioning Data Ss ne 2 fool Data Axis 4 Positioning Data amp Block Start Data on 7 amp Synchronous Control Parame lt Positioning Comment gt Cam Data Monitor lt Pasitioning Comment gt I Digital Oscilloscope lt Positioning Comment gt lt Positioning Comment gt lt Pasitioning Comment gt screen_036E Fig 3 7 Selecting the positioning data Axis 2 Positioning data Axis to be Accelera Decelera Position Operation Control Arc Command pattern system epee sat E on oo ngan a
98. uction This quick start guide describes the items and the operations which are needed to wire the Simple Mo tion Module as well as to perform the JOG operation the program operation and the simultaneous control by 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 mod ules 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 Features of Simple Motion Module LD77MH Wide range of controls is realised by high performance and multiple functions This module realises positioning control synchronous control cam control and speed and torque control Adoption of the built in synchronous encoder interface realises cost reduction Highly flexible baseless structure realises space saving control board This module supports SSCNET Ill and it can be connected with the high performance servo amplifier Simple control setting without programs Assistant function realises 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 MELSEC L Series LD77MH Simple Motion Module Quick start guide 1 1 Overview
99. ur location VDE Standards VDE0100 Regulations for the erection of power installations with rated voltages below 1000 V VDE0105 Operation of power installations VDE0113 Electrical installations with electronic equipment VDE0160 Electronic equipment for use in power installations VDE 0550 0551 Regulations for transformers VDE 0700 Safety of electrical appliances for household use and similar applications VDE 0860 Safety regulations for mains powered electronic appliances and their accessories for house hold use and similar applications Fire safety regulations Accident prevention regulation VBGNo 4 Electrical systems and equipment MELSEC L Series LD77MH Simple Motion Module Quick start guide Safety warnings in this manual In this manual special warnings that are important for the proper and safe use of the products are clearly identified as follows DANGER Personnel health and injury warnings Failure to observe the safety warnings identified with this symbol can result in health and injury hazards for the user CAUTION Equipment and property damage warnings Failure to observe the safety warnings identified with this symbol can result in damage to the equipment or other property Il Aa MITSUBISHI ELECTRIC General safety information and precautions The following safety precautions are intended as a general guideline for using PLC systems together with other equipment These precaut
100. xis 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 SHIFT key screen_032E Fig 2 40 Setting the axis 1 positioning start No to 9001 3 Axis 1 OPR start Double click Positioning start command X71 with pressing the SHIFT 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 Double click with pressing the SHIFT key screen_033E Fig 2 41 Starting OPR of axis 1 Aa MITSUBISHI ELECTRIC Operation check Simple Motion Module start up 4 Checking of axis 1 OPR Saree Jere tem Value Axis Monitor Monitor Type axistOutput Axis E AANE Axis 1 Current feed value 0 0 i Axis 1 Machine feed value 0 0 Axis error No Axis warning Mo Axis operation status Waiting 0 00 mm min Axis feed rate 0 00 Axis operation status Waiting Positioning data No being executed Positioning data being executed Operation Positioning Complete pattern Positioning data being executed Control system Positioning data being executed Acceleration time 0 1000 No eee Positioning data being executed Deceleration time 0 1000 No Positioning data being executed Axis to be interpolated Positioning data being it executed M code Deviation counter 1 PLS 1 0 r min Motor cur
101. ype Simple Motion Module v Module Name LD77MH4 v Mount Position Base Ni X Mounted Slot No ii Acknowledge I O Assignment V Specify start X address 0030 iH 2 Module Occupy 32 points Title Setting Title GX Works2 Set the same address New Module r Module Selection Module Type Module Name LD77MH4 v U eenea Simple Motion Module Setting Tool Specify start X address 0030 H 2 Slot Occupy 32 points m Title Setting Title app1_001 Fig A 2 Start address setting A 2 Aa MITSUBISHI ELECTRIC Parameter and positioning data Appendix A 2 Parameter and positioning data This section shows the parameter and the positioning data that are used in this document A 2 1 Parameters mesem Oem Oem No of pulses per revolution 16384 pls rev oe ey Etme tt ime Torque limit setting value 300 M code ON signal output timing 0 WITH mode 0 WITH mode 0 Standard speed switch 0 Standard speed switch Speed switching mode ing mode ing mode Interpolation speed designation method 0 Composite speed 0 Composite speed 0 Do not update current 0 Do not update current parameter 1 Input signal logic selection lower limit 1 Positive logic 1 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 dog signal 0 Nega

Quick Start Guide Simple Motion Module LD77MH

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