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MELSEC iQ-F FX5 User`s Manual (Positioning Control)

1. Acceleration time 10000 pps SM P Deceleration time 7000 pps L 4 dA di r 500 ms 1000 pps Bias speed Tine Positioning address 50000 i i l I Table shift command axis1 SM5580 Instruction execution complete flag M3 I I Dwell time I 100 ms Interrupt input signal 2 X2 positive logic Interrupt input signal 1 X1 positive logic Drive contact l lt gt 1 operation cycle ecto fof d LLL 1 speed positioning Table transition variable Interrupt 1 speed positioning relative address specification Speed Operation Setting data Positioning parameter high speed l O parameter tem Ami p Aiit MBasic Parameter 1 llBasic Parameter 2 Pulse Output Mode 0 Composite Speed Output Device PULSE CW 15000 pps Rotation Direction Setting 0 Current Address Increment with 500 ms Forward Run Pulse Output 500 ms Unit Setting MDetailed Setting Parameter Pulse No of per Rotation 0 Invalid Movement Amount per Rotation Interrupt Input Signal 1 Enabled 1 Valid Position Data Magnification Disabled eres input Sorar 1 Dovceno X 0 Positive Logic 0 Positive Logic BOPR Parameter OPR Enabled Disabled 0 Invalid 118 5 POSITIONING INSTRUCTION 5 9 Multiple table Operation BAxis 1 Positioning Data 1 1 Speed Positioning Relative Address 100000 pulse 10000 pps 0 ms Specification 5 Table Transition Variable Speed Operation EE 7000
2. The following table shows the operand assignment Description Positioning Address Command Speed Dwell Time None Range 2147483648 to 2147483647 1 to 2147483647 0 to 32767 ms User system unit User system unit Details Set the relative address within the Set the speed within the range of Dwell time is time until the None range of 2147483647 to 1 pps to 200 Kpps in pulse complete flag turns on after the positioning address is reached interrupt stop 2147483647 in pulse 1 The positioning address can be changed during positioning operation Page 31 However only the last table accepts the change in the case of continuous operation 2 Command speed can be changed during positioning operation Page 32 3 When the positioning table data is set to use device the value can be changed during positioning operation The change is applied when the table operation instruction is restarted 4 Set the number of output pulses per table execution to 2147483647 or lower Deceleration stop is performed from the point where the interrupt input signal 1 is detected during positioning operation When the interrupt input signal 1 is not detected the operation becomes the same as that of the DRVI DDRVI instruction or control method 1 1 speed positioning relative address specification Page 79 Relative Positioning Page 137 1 Speed Positioning Relative Address Specification If dwell time is set the complete
3. 138 Interpolation speed specified method 59 1 speed positioning relative address specification 137 Interrupt 1 speed positioning 24 93 139 1 speed positioning ssi 21 Interrupt 2 speed positioning 25 2 speed positioning l l 22 Interrupt input signal1 48 Interrupt input signal2 57 142 A Interrupt Stop 6 ee es 24 Interrupt stop absolute address specification 146 Absolute position detection system 130 Interrupt stop relative address specification 144 Absolute positioning 86 Acceleration time eens 45 Axis to be interpolated 005 58 J Jump destination table No 58 B Basic setting 2 0 2 0 0 0 eee ee eee 36 M Bias speed ile n nn 45 M No for jump condition llle 58 Maximum speed llle 44 C Mechanical OPR 0000000 ue 20 71 eo Tr Movement amount per rotation 43 Clear signal output lisse esee 94 Multiple axes simultaneous activation 34 Command speed 0 4 43 Multiple axis table operation 124 Command speed change during positioning operation Multiple table operation 0 116 ah ely SG Seine delectatione Budae topi qiie dus Multi speed operation 23 Complete flag ll
4. 8 0 ee l l l l I Absolute Address Specification Absolute Address Specification Absolute Address Specification Absolute Address Specification I I I Jm l l I I I Command speed 4 Command speed 3 Command speed 2 Command l l l l l l l l l l l l l l l l l l l speed 1 Bias speed Bias speed Current position Positioning Positioning Positioning Positioning address 1 address 2 address 3 address 4 The following table shows applicable control methods of the table operation Positioning instruction Table operation control method Table operation DRVTBL DRVMUL instruction e 1 1 Speed Positioning Relative Address Specification e 2 1 Speed Positioning Absolute Address Specification 3 POSITIONING CONTROL FUNCTION 2 3 3 Positioning Control 3 24 Interrupt stop 1 speed positioning is performed by the table operation instruction Page 21 1 speed positioning When the interruption input signal 1 detected during pulse output operation the operation decelerates and stops Page 48 Interrupt Input Signal 1 Both relative address and absolute address can be used for the interrupt stop Deceleration time K N Maximum speed Command Bias speed Current position Stop position Positioning address Interrupt ft input signal 1 The following table shows applicable control methods of the table operat
5. Do not activate multiple positioning instructions in the same axis Another positioning instruction for the same axis cannot be driven until the pulses for the currently driven positioning operation are stopped and its drive contact is turned off e When the pulse output monitor is on a positioning instruction that uses the corresponding axis cannot be used Page 60 Pulse output monitor While the pulse output monitor is on even if the instruction drive contact is turned off do not execute a positioning instruction that specifies the same axis number Number of programmed positioning instructions There is no limitation on the number of programmed positioning instructions Programming one instruction two or more times does not cause any problems External start signal When the external start signal is enabled and off a positioning instruction that uses the corresponding axis cannot be used L Page 49 External Start Signal To use such a positioning instruction turn on the drive contact of the instruction and then turn on the external start signal Positioning instruction activation timing When the absolute position detection system is used For the axis in which the absolute position detection system is used activate the DABS instruction when the servo amplifier is powered on Page 130 Absolute Position Detection System After the ABS data has been read the servo ON SON is on status is retained and it is disengaged when t
6. llSpecial Device Acceleration time SD5520 SD5560 SD5600 SD5640 R W Read Write pP Setting method High Speed I O Parameter Special Device Set the time required for deceleration from the maximum speed to the bias speed The setting range of deceleration time is 0 to 32767 ms If command speed is slower than the maximum speed the actual deceleration time becomes shorter than the set time llSpecial Device Deceleration time SD5521 SD5561 SD5601 SD5641 R W Read Write Precauions When deceleration time is set to O deceleration is not performed 4 POSITIONING PARAMETER 4 4 2 Details of Parameters D Items related to positioning address The following describes the setting items related to positioning address Positioning address gt Setting method Operand Set the positioning address The user unit is set by unit setting and the value indicated includes positioning data magnification L Page 41 Unit Setting Page 43 Position Data Magnification The setting range differs depending on the positioning instruction and table operation control method Set the positioning address to 2147483647 to 2147483647 in pulse 0 to 2147483647 when PLSV DPLSwV instruction 2147483648 to 2147483647 when positioning operation by absolute address llOperand Positioning Instruction Pulse Y output PLSY n m to 65535 Page 66 had 0 to 2147483647 un Relative positioning s1 m to 32767 Page 79 an
7. 02 M BEN to 2147483647 Absolute positioning eas s1 muet to 32767 Page 86 uM inima to a Ae 2147483647 Page 93 Interrupt 1 speed DVIT s1 32768 to 32767 positioning DDVIT 2147483648 to 2147483647 llOperand Table Operation Control Method Table operation control method Reference 1 1 Speed Positioning Relative Address Specification Operand 1 2147483648 to 2147483647 Page 137 When the positioning Page 138 table data is set to 2 1 Speed Positioning Absolute Address Specification 3 Interrupt 1 Speed Positioning Hee deus Hoad Page 139 6 Interrupt Stop Relative Address Specification device 0 1 Page 144 7 Interrupt Stop Absolute Address Specification Page 146 20 Interpolation Operation Relative Address Specification Page 149 21 Interpolation Operation Relative Address Specification Target Axis Page 152 22 Interpolation Operation Absolute Address Specification Page 153 23 Interpolation Operation Absolute Address Specification Target Axis Page 156 1 Set the number of output pulses per instruction execution or per table to 2147483647 or lower Except for the case when positioning address of DPLSY instruction is O Point The positioning address can be changed during operation Only the last table in table operation accepts the change in the case of continuous operation Page 31 Positioning address change during positioning operation For interpolation operation the chan
8. 22 Interpolation Operation Absolute Address Specification 23 Interpolation Operation Absolute Address Specification Target Axis 3 POSITIONING CONTROL FUNCTION 2 3 3 Positioning Control 7 28 3 4 This section describes auxiliary functions of the positioning Auxiliary Function Dog search function If the forward rotation limit and the reverse rotation limit are used the DOG search function can be used for OPR Page 30 Forward limit and reverse limit The OPR operation depends on the OPR start position OPR direction 1 Near point Reverse rotation limit 1 Rear end DOG Forward end Forward rotation limit 1 Reverse limit Forward limit I I Operation in I Creep speed reverse rotation direction Operation in forward rotation direction OPR speed OPR speed If the start position is before the near point dog a b c d When the DSZR DDSZR instruction is executed OPR will be started Transfer operation will be started in the OPR direction at the OPR speed If the front end of the near point dog is detected the speed will be reduced to the creep speed After detecting the rear end of the near point dog if the zero signal is detected for the specified number of times is detected the operation will be stopped If the start position is in the near point dog area a b c When the DSZR DDSZR instruction is executed OPR will be started Transfer op
9. 2 To ensure safety use the forward rotation limit switch and the reverse rotation limit switch on both sides the CPU module side and the servo amplifier side Note that the limit switches on the CPU module side should be activated slightly earlier than the limit switches on the servo amplifier side APPENDIX Appendix 1 MELSERVO J4 series 1 19 Appendix 2 MELSERVO J3 series PULSE SIGN mode FX5U CPU module 100V to 240V AC MR J3L A series CN4 servo amplifier n 24V DC a poco 6 21 DICOM Class D grounding Zero speed 4 Positioning completed INP Torque being SARRE olala Z Bi j Photocoupler controlled A gt MT T e f v v ALM Servo error ALM CN1 15 Servo ON 9 Reset Servo ready RD Emergency stop Forward rotation limit 2 Reverse rotation limit 2 UO Olric m y o OIJ mio Oj z u O oIiz HE i 4 Connected to the CPU module if the DABS instruction CN1 is used FX5 16EX ES FX5 16EYT ES Immediate stop command OPR command JOG command JOG command Forward rotation positioning command Reverse rotation positioning command Forward rotation limit LSF Reverse rotation limit LSR Stop command 1 90 APPENDIX Appendix 2 MELSERVO J3 series 1 2 3 4 s 6 7 Be sure to use the class D grounding method grounding resistance 100 Q or less Near point signal DOG To ensure
10. 500 ms 500 ms L I s 15000 pps K K 3 Maximum speed 7000 pps 1000 pps Bias speed Tuna Positioning address 50000 I I I I I Instruction execution complete flag M1 E Interrupt input signal 2 X2 positive logic I I I Interrupt input signal 1 X1 positive logic Drive contact D P o 0C tb I I I Table transition variable Interrupt 1 speed positioning Speed Operation Setting data llPositioning parameter high speed l O parameter llBasic Parameter 1 MBasic Parameter 2 Pulse Output Mode 0 Composite Speed Output Device PULSE CW 15000 pps Rotation Direction Setting 0 Current Address Increment with 500 ms Forward Run Pulse Output EOOdE Unit Setting llDetailed Setting Parameter Pulse No of per Rotation 0 Invalid Movement Amount per Rotation Interrupt Input Signal 1 Enabled 1 Valid Position Data Magnification Disabled erupt hut Sigal Device No 0 Positive Logic 0 Positive Logic BOPR Parameter OPR Enabled Disabled 0 Invalid 120 5 POSITIONING INSTRUCTION 5 9 Multiple table Operation BAxis 1 Positioning Data 1 1 Speed Positioning Relative Address 100000 pulse 10000 pps 0 ms Specification 5 Table Transition Variable Speed Operation EE 7000 pps 3 Interrupt 1 Speed Positioning 50000 pulse 15000 pps Drive DRVTBL instruction continuous operation X17 SM5500 M1 M2 T Drive Positioning Normally Abnormal DRVTBL contact
11. Instruction execution Dwell time complete flag SM8029 100 ms i llPositioning parameter high speed I O parameter llBasic Parameter 1 Basic Parameter 2 Pulse Output Mode 0 Composite Speed Output Device PULSE CW LEN 15000 pps Rotation Direction Setting 0 Current Address Increment with 500 ms Forward Run Pulse Output 500 ms Unit Setting llDetailed Setting Parameter Pulse No of per Rotation 0 Invalid Movement Amount per Rotation Interrupt Input Signal 1 Enabled 0 Invalid Position Data Magnification Disabled 0 Positive Logic BOPR Parameter OPR Enabled Disabled 0 Invalid BIAxis 1 Positioning Data the positioning table data is set to use device D300 5 Table Transition Variable Speed Operation 10000 pps 110 5 POSITIONING INSTRUCTION 5 8 Single table Operation Program example X17 SM5500 M1 M2 M10 ii e Drive Positioning Normally Abnormal TBL contact instruction end end instruction activation axis 1 activation SM5500 M10 Drive TBL instruction in axis 1 TBL Initial pulse Positioning TBL SM8029 M1 instruction instruction C activation axis 1 activation Instruction execution complete flag SM8329 M2 Instruction execution abnormal end flag Table 1 command speed D302 change X15 T Command speed 1 change input X16 T Command speed 2 change input DMOVP D900 D302 DMOVP D902 D302 Stop event X10 Pulse stop command input X1
12. Specify the logic of interrupt input signal 1 When 0 Positive Logic is selected interrupt input signal 1 functions on a rising edge When 1 Negative Logic is selected interrupt input signal 1 functions on a falling edge Pulse output stop command gt Setting method Special Device During the execution of a positioning instruction if the pulse output stop command is turned on the pulses being output will immediately stop The instruction of the pulse output which is stopped ends with error llSpecial Device Name FX5 dedicated R W Pulse output stop command SM5628 SM5629 SM5630 SM5631 R W R W Read Write Poin tr During positioning operation a change in the pulse output stop command is applied at the next scan time Precautions Use pulse output stop command only if immediate stop is absolutely needed to avoid danger Because the motor stops immediately the machine may be damaged For normal stop deceleration and stop turn off the positioning instruction and use the pulse decelerate and stop forward limit and reverse limit L Page 49 Pulse decelerate and stop command Page 50 Forward limit Page 50 Reverse limit 48 4 POSITIONING PARAMETER 4 2 Details of Parameters Pulse decelerate and stop command gt Setting method Special Device During the execution of a positioning instruction if the pulse decelerate and stop command is turned on the pulses being output will decelerate and stop The inst
13. lIWhen FX5 operand is specified 1 For s1 specify the relative positioning address Page 46 Positioning address Set to a value 2147483647 to 2147483647 in pulse DRVI 32768 to 32767 User system unit DDRVI 2147483648 to 42147483647 User system unit For s2 specify the command speed Set to a value 1 pps to 200 Kpps in pulse DRVI 1 to 65535 User system unit DDRVI 1to2147483647 User system unit For d1 specify an axis number K1 to K4 for which pulses are output Specify an axis number whose positioning parameters are set in the high speed I O parameters Operation cannot be performed if any other axis number is specified For d2 specify the bit devices of the instruction execution complete flag and abnormal end flag Page 62 Complete flag d2 Instruction execution complete flag d2 1 Instruction execution abnormal end flag 5 POSITIONING INSTRUCTION 5 4 Relative Positioning When the FX3 compatible operand is specified 1 For s1 specify the relative positioning address Set to a value 2147483647 to 2147483647 in pulse DRVI 32768 to 32767 User system unit DDRVI 2147483648 to 2147483647 User system unit 2 For s2 specify the command speed Set to a value 1 pps to 200 Kpps in pulse DRVI 1 to 65535 User system unit DDRVI 1to2147483647 User system unit 3 For d1 specify the pulse output number in the range of YO to Y3 Specify an output de
14. 32768 to 32767 User system unit DDRVA 2147483648 to 2147483647 User system unit For s2 specify the command speed Set to a value 1 pps to 200 Kpps in pulse DRVA 1 to 65535 User system unit DDRVA 1 to 2147483647 User system unit For d1 specify the pulse output number in the range of YO to Y3 Specify an output device Y number equivalent to the axes 1 to 4 set in the high speed I O parameters Operation cannot be performed if any other axis number is specified For d2 specify the rotation direction signal output device number Page 40 Rotation Direction Setting When an output device Y is used only the device that is specified with the positioning parameter or a general purpose output can be specified However if an output device Y to which PWM or CW CCW axis is assigned is specified an error occurs without any operation For the PWM function refer to LAUser s manual Application Interrupt input signal 1 After the interrupt input signal 1 is detected pulses equivalent to the specified positioning address specified in s1 are output starting from the detection point Deceleration stop starts from point that deceleration must be performed Precautions e When the interrupt input signal 1 is disabled the DVIT DDVIT signal cannot be used e f the interrupt input signal 1 is not detected pulse output at the command speed of s2 continues until the signal is detected e If the to
15. 6 TABLE OPERATION 143 6 2 Operations of Control Method f the complete flags The following describes the operation timings of the complete flags If dwell time is specified the flag turns on after the dwell time elapses 144 ON Deceleration stop by pulse From when the following operation or Deceleration stop by drive From when the following operation or condition decelerate and stop function is completed to when the drive contact off or pulse function is completed to when the ON gt command contact is turned off decelerate and stop OFF condition is met The axis is already used command The axis is already used e Shift to the next table is impossible e Shift to the next table is impossible Pulse output stop command Pulse output stop command Limit of the moving direction Limit of the moving direction All outputs disabled SM8034 All outputs disabled SM8034 Write during RUN Write during RUN ON gt OFF When the drive contact is turned off The flag remains on until either of the following is performed condition Turning off the flag by the user Restarting the table instruction e Shift to the next table 1 The flag turns on only for one scan when the drive contact of the instruction turns from OFF to ON Interrupt Stop Relative Address Specification The following explains control method 6 Interrupt Stop Relative Address Specification Setingdala
16. BOPR Parameter OPR Enabled Disabled 0 Invalid BIAxis 1 Positioning Data the positioning table data is set to use device D300 6 Interrupt Stop Relative Address Specification 100000 pulse 10000 pps 112 5 POSITIONING INSTRUCTION 5 8 Single table Operation Program example Drive TBL instruction X17 SM5500 M1 M2 M10 Drive Positioning Normally Abnormal TBL contact instruction end end instruction activation axis1 activation SM5500 M10 Drive TBL instruction in axis 1 Positioning TBL SM8029 M1 instruction instruction C activation axis1 activation Instruction execution complete flag SM8329 M2 Instruction execution abnormal end flag For the stop event refer tol Page 110 Table transition variable speed operation Simple linear interpolation relative address specification The following is a program example of control method 20 Interpolation Operation Relative Address Specification and 21 Interpolation Operation Relative Address Specification Target Axis Address of axis 2 counterpart axis Stop address axis 1 axis 2 50000 20000 Address of axis 1 Start address axis 1 axis 2 0 0 50000 reference axis MAxis 1 reference axis Speed Acceleration time Deceleration time 500 ms 1 1 500 ms 15000 pps 4 T Maximum speed 10000 pps Number of out
17. Operand a Operand De Operand 3 Operand 4 Description Positioning Address Command Speed Dwell Time Axis to be Interpolated Range 2147483648 to 2147483647 1 to 2147483647 0 to 32767 ms Axis 1 Specification to Axis 4 User system unit User system unit Specification Details Set the absolute address within Set the speed within the range of Dwell time is time until the Specify the axis number of the the range of 2147473648 to 1 pps to 200 Kpps in pulse complete flag turns on after the interpolation counterpart 2147483647 in pulse positioning address is reached 1 When the positioning table data is set to use device the value can be changed during positioning operation The change is applied when the table operation instruction is restarted 2 Setthe number of output pulses per table execution to 2147483647 or lower Processing details Using the reference axis control method 22 Interpolation Operation Absolute Address Specification and counterpart axis control method 23 Interpolation Operation Absolute Address Specification Target Axis which is specified in operand 4 linear interpolation positioning is performed Page 156 The transfer distance of the operation is the distance from the current stop position start address to the positioning addresses specified in operand 1 of the reference axis and the counterpart axis For the counterpart axis specified in operand 1 23 Interpolation Operation Absolu
18. Specify an output device Y number equivalent to the axes 1 to 4 set in the high speed I O parameters Operation cannot be performed if any other axis number is specified 4 For d2 specify the rotation direction signal output device number Page 40 Rotation Direction Setting When an output device Y is used only the device that is specified with the positioning parameter or a general purpose output can be specified However if an output device Y to which PWM or CW CCW axis is assigned is specified an error occurs without any operation For the PWM function refer to L_lUser s manual Application Set the number of output pulses per DRVA DDRVA instruction execution to 2147483647 or lower An error occurs if the number of pulses exceeds 2147483648 Operation of the abnormal end flag The following describes the operation timings of the complete flags The user specified complete flags are valid only when specified using FX5 operand ON From when pulse output of From when the following operation or From when pulse output of From when the following operation or condition the specified positioning function is completed to when the drive the specified positioning function is completed to when the ON gt address is completed to contact is turned off address is completed to OFF condition is met when the drive contact is The axis is already used when the ON OFF The axis is already us
19. Transition Variable Speed Operation the following equations are used instead of those above Acceleration time 0 Start speed Command speed Acceleration time 0 Start speed Bias speed Pulse output stop The following table lists methods to stop pulse output other than normal completion Select the stop method according to whether to use deceleration deceleration stop or immediate stop and to use the remaining distance operation lt Page 33 Remaining distance operation Operation Deceleration Abnormal end Remaining Reference flag distance operation Pulse output stop Immediate stop ON None Immediate stop without any conditions Page 48 command N All outputs disable Immediate stop Immediate stop without any conditions Pulse decelerate and Deceleration stop ON OFF Provided With the corresponding instruction the remaining Page 49 stop command distance operation can be used For remaining distance operation compatible instructions when the remaining distance operation is enabled the PLSV DPLSV instruction when unlimited pulses are output and table operation instruction control method 4 Variable Speed Operation or 5 Table Transition Variable Speed Operation the abnormal end flag does not turn on Forward limit Deceleration stop Effective only at forward rotation Page 50 Reverse limit Deceleration stop Effective only at reverse rotation Page 50 5 POSITIONING INSTRUCTION 5 1 Common
20. one of the following error codes is stored 1810 Operation error Positioning of the axis specified is already in operation 1811 Operation error 17 or more DABS instructions were driven simultaneously 2221 Parameter error The parameter set value is out of range or device specified by the parameter is out of range 3405 Operation error The operand of the instruction is out of range 3600 Operation error Positioning is attempted on an axis with no parameters specified A function of the setting not used in parameters such as interrupt input signal 1 or function related to origin return is used 36F0 ABS sum error The ABS data sum from the servo amplifier does not match For detailed error codes other than the above refer to LLJUser s manual Application When an error related to the positioning function occurs the following special device turns on Positioning error occurrence SM5532 SM5533 SM5534 SM5535 Read only After the device above turns on an error code is stored in the corresponding special device below Positioning error error code SD5510 SD5550 SD5590 SD5630 Read only The following error codes are stored in the positioning error error code 1821 1822 1823 1824 Write during RUN error Writing during RUN is performed on an instruction being executed 3621 3622 3623 3624 Limit detection error Both forward limit and reverse limit are detected at OPR After the near point dog signal is detec
21. s1 specify the OPR speed Set to a value 1 pps to 200 Kpps in pulse DSZR 1 to 65535 User system unit DDSZR 1to2147483647 User system unit 2 For s2 specify the creep speed Set to a value 1 pps to 200 Kpps in pulse DSZR 1 to 65535 User system unit DDSZR 1to2147483647 User system unit 3 For d1 specify an axis number K1 to K4 for which OPR is executed Specify an axis number whose positioning parameters are set in the high speed I O parameters Operation cannot be performed if any other axis number is specified 4 For d2 specify the bit devices of the instruction execution complete flag and abnormal end flag Page 62 Complete flag d2 Instruction execution complete flag d2 1 Instruction execution abnormal end flag When the FX3 compatible operand is specified 1 For s1 specify the near point dog signal input device number When an input device X is used only the device that is specified with the high speed I O parameter can be specified The logic set with the high speed I O parameter is applied Bit devices can be specified in addition to input devices X In that case the relay operates on a rising edge 2 For s2 specify the zero signal input device number When an input device X is used only the device that is specified with the high speed I O parameter can be specified Page 39 Pulse Output Mode The logic set with the high speed I O parameter is applied Bit devices ca
22. the near point dog signal functions on a rising edge When 1 Negative Logic is selected the near point dog signal functions on a falling edge Precautions This logic setting is not applied to the near point dog signal for devices other than input device X specified by the DSZR DDSZR instruction Devices other than input device X function on a rising edge Zero Signal Specify the zero signal to be used in OPR llDevice No gt Setting method High Speed I O Parameter Operand Zero signal is assigned forcibly to a specified input To use the near point dog signal for stop set the device to which the near point dog signal is assigned llHigh Speed I O Parameter The available input devices are XO to X17 Set the input response time initial values 10ms in input response time parameters For details refer to L_lUser s manual Application llOperand Positioning Instruction In the case of FX3 compatible operand DSZR DDSZR instruction can set device for zero signal DSZR s2 X Y M L SM F B Page 71 E 2 Instruction Mechanical OPR 4 POSITIONING PARAMETER 4 2 Details of Parameters 55 96 Precauions Input devices X cannot be used when eight channels of the input interrupt function are already occupied However overlap of input numbers is allowed for input interruptions e When specifying an input device X as an operand use the device assigned in high speed I O parameter Whe
23. use device Head device 4 3 Interrupt 1 Speed Positioning Page 139 4 Variable Speed Operation Page 141 5 Table Transition Variable Speed Operation Page 142 6 Interrupt Stop Relative Address Specification Page 144 T Interrupt Stop Absolute Address Specification Page 146 20 Interpolation Operation Relative Address Specification Page 149 22 Interpolation Operation Absolute Address Specification Page 153 Poin tr When the positioning table data is set to use device dwell time can be changed during positioning operation The change is applied when the table operation instruction is next driven again Interrupt Input Signal 2 Device No gt Setting method Operand Set an interrupt input device X for shifting to the next table after table operation control method 5 Table Transition Variable Speed Operation llOperand Table Operation Control Method Table Transition Variable Speed Operation Operand 4 0 to 17 Page 142 When the positioning table data is set to use device Head device 5 Poin tr When the positioning table data is set to use device interrupt input signal 2 device No can be changed during positioning operation Changes are applied when the table operation instruction is next driven again Interrupt Input Signal 2 Logic gt Setting method High Speed I O Parameter Specify the logic of interrupt input signal 2 of the table operation instruction control method 5 Table Transition Variable Sp
24. 3684 Positioning table shift error table Tables which cannot be used together is specified in the continuous specification operation The counterpart axis for the interpolation operation table is specified 3692 3693 3694 Positioning table shift error table Tables are switched so frequently that the table shift processing shift cannot be executed Tables are not executed 4 times consecutively Condition jumps are executed 4 times consecutively 36A2 36A3 36A4 Interpolation operation error no The counterpart axis table for the interpolation operation cannot be counterpart axis found 36B2 36B3 36B4 Interpolation operation error Even though one axis operates normally pulse output is stopped reference counterpart axis error due to limit detection in the other axis or other causes Interpolation operation is duplicated in table of counterpart axis Command speed error 8 3 Servo Motor Stepping Motor If the servo motor or the stepping motor does not operate check the following items 1 2 3 4 5 Check the wiring For the output specifications refer to L gt Page 16 Output Specifications For details on the MELSERVO servo amplifier drive unit refer to LAthe manuals for the unit used Execute the positioning instruction and then check the statuses of the following LED indicator lamps Page 166 LED Status during Pulse Output and Rotation Direction Output LED indicator lamp of th
25. 4 Axis 1 Specification to Axis 4 Page 149 Interpolation Operation Absolute Address Specification When the positioning table data is set to Specification Page 153 use device Head device 5 4 POSITIONING PARAMETER 4 2 Details of Parameters ioi Speed Specified Method m method High Speed I O Parameter Specify the speed specification method for interpolation operation in the table operation When 0 Composite Speed is selected specify the moving speed of the control target and then the CPU module calculates the speed of each axis When 1 Reference Axis Speed is selected specify the speed of the reference axis and then the CPU module calculates the speed of the other axis When the combined speed is specified When the reference axis speed is specified X axis The combined speed X axis is specified The speed of the reference axis is specified Y axis Y axis The CPU module calculates these speeds The CPU module calculates these speeds eed composite speed This indicasse the positioning operation speed composite speed for the interpolation operation When the interpolation speed specified method is 0 Composite Speed the current speed is stored in the corresponding special device of the reference axis The user unit is set by unit setting I Page 41 Unit Setting Current speed composite speed SD5508 SD5509 SD5548 SD5549 SD5588 SD5589 SD5628 SD5629 R Read only command em me
26. CPU module Pulse train signal Servo amplifier Drive unit 5 to 24V DC 1 To ground the unit refer to LAthe servo amplifier drive unit manual If the grounding method is not specified carry out class D grounding 2 SPECIFICATIONS 1 2 3 Output Specifications T Source internal output circuit BFX5U CPU module FX5U CPU module Pulse train signal eee y AAAA L Y me Servo amplifier Grounding Drive unit f I I I I I I I I I I I I I I I I I I I I I I 1 ee 5 to 24V DC 1 To ground the unit refer to LAthe servo amplifier drive unit manual If the grounding method is not specified carry out class D grounding 2 For MELSERVO series amplifiers use a sink output type FX5U CPU module BFX5UC CPU module FX5UC CPU module Pulse train signal Drive unit 5 to 24V DC 1 To ground the unit refer to LAthe servo amplifier drive unit manual If the grounding method is not specified carry out class D grounding 2 ForMELSERVO series amplifiers use a sink output type FX5UC CPU module Assignment of output numbers Output numbers of the FX5 CPU module are assigned as follow For parameter settings in GX Works3 refer to L gt Page 35 POSITIONING PARAMETER Application Output Remarks number Pulse output PULSE YO to Y3 The assignment is determined according to the output mode specified in GX Works3 destination CW Rotatio
27. Dog Latter Part 1 Near point Dog Front Part Parameter list The following table lists the positioning parameters that can be set in Basic Setting Item Basic Parameter 1 Pulse Output Mode Setting value 0 Not Used 1 PULSE SIGN 2 CW CCW 0 Not Used Page 39 Rotation Direction Setting Unit Setting Pulse No of per Rotation Movement Amount per Rotation Position Data Magnification llBasic Parameter 2 Interpolation Speed Specified Method Max Speed Bias Speed Acceleration Time Deceleration Time MDetailed Setting Parameter External Start Enabled Disabled Signal Device No Logic Interrupt Input Enabled Disabled Signal 1 0 Current Address Increment with Forward 0 Current Address Increment with Forward Page 40 Run Pulse Output Run Pulse Output 1 Current Address Increment with Reverse Run Pulse Output Motor System pulse pps 0 Motor System pulse pps Page 41 Machine System um cm min Machine System 0 0001 inch inch min Machine System mdeg 10 deg min Multiple System um pps Multiple System 0 0001 inch pps Multiple System mdeg pps 1 to 2147483647 2000 Page 42 1 to 2147483647 1000 Page 43 1 x Single 10 x 10 Times 100 x 100 Times 1 x Single Page 43 1000 x 1000 Times 0 Positive Logic 1 Negative Logic 0 Positive Logic Interrupt Input Signal 2 Logic MOPR Parameter OPR Enabled Disabled OPR Direction Starting Point Address Clear
28. From when pulse output of From when the following operation or condition the specified positioning function is completed to when the drive the specified positioning function is completed to when the ON gt address is completed or contact is turned off address is completed or OFF condition is met when deceleration stop is The axis is already used when deceleration stop is The axis is already used started by an interrupt Pulse output stop command started by an interrupt The drive contact is turned off during input to when the drive Pulse decelerate and stop command input to when the ON gt positioning operation contact is turned off Limit of the moving direction OFF condition is met Pulse output stop command All outputs disabled SM8034 Pulse decelerate and stop command Write during RUN Limit of the moving direction Positioning address error All outputs disabled SM8034 Deceleration stop after the command Write during RUN speed is changed to 0 Positioning address error Table shift cannot be completed in time Deceleration stop after the command speed is changed to 0 Table shift cannot be completed in time ON OFF When the drive contact is turned off The flag remains on until either of the following is performed condition Turning off the flag by the user Restarting the table instruction Shift to the next table 1 The flag turns on only for one scan when the drive contact of the instruction tur
29. O 2Z U NO idan Forward rotation pulse train Reverse rotation 35 pulse train Clear signal EM LI Plate Forward rotation limit 2 gt Reverse rotation limit 2 4 Connected to the CPU module if the DABS instruction is used ABSB1 OCOM SON ABSM BSR 22 ABSBO f ABST 22 23 6 FX5 C32EX D FX5 C32EYT D gt U O Z Immediate stop command OPR command JOG command JOG command Forward rotation positioning command Reverse rotation positioning command Forward rotation limit LSF Reverse rotation limit LSR Stop command APPENDIX Appendix 1 MELSERVO J4 series 1 T1 2 3 4 s 6 7 Be sure to use the class D grounding method grounding resistance 100 Q or less Near point signal DOG To ensure safety use the forward rotation limit switch and the reverse rotation limit switch on both sides the CPU module side and the servo amplifier side Note that the limit switches on the CPU module side should be activated slightly earlier than the limit switches on the servo amplifier side Reverse Reverse Forward Forward rotation limit 2 rotation limit 1 rotation limit 1 rotation limit 2 Servo amplifier side CPU module side CPU DEN side Servo amplifier side LSR LSF Servo motor 2 F s m Operation in reverse rotation direction lt gt Operation in forward rotation direction To detect absolute positions conne
30. Operation in forward rotation direction To detect absolute positions connect this line to the CPU module I O module are used in the connection example Inputs and outputs built into the CPU module are available in place of I O module Set the command pulse input form of the servo amplifier PA13 MR JALIA to 0211 negative logic signed pulse train command input pulse train filter 500 kpps or less Refer to L gt Page 179 FX5UC CPU module APPENDIX Appendix 1 MELSERVO J4 series CW CCW mode FX5U CPU module MR J4L JA series IgM nD CN4 Serve amplifier n 24V DC poco e CN1 Zero speed 4 Completed INP contoled 9 Servo error ALM Photocoupler SON Servo ON RES i Reset Emergency stop 2 Forward rotation limit 2 Reverse rotation limit 2 Forward rotation pulse train 47 IDOCOM 4 Connected to the CPU module if the DABS instruction is used Reverse rotation CN1 pulse train EE nanan ULL EXE NN gt lt gt m 7 FX5 16EYTIES 15 SON Immediate stop command OPR command JOG command JOG command Forward rotation positioning command Photocoupler Reverse rotation positioning command Forward rotation limit LSF Reverse rotation limit LSR Stop command APPENDIX Appendix 1 MELSERVO J4 series 1 15 2 3 4 s 6 7 176 Be sure to use the class D grounding method ground
31. SD5519 SD5520 SD5521 SD5526 SD5527 SD5528 SD5529 SD5530 SD5531 SD5532 SD5533 R W Page 56 SD5540 SD5580 SD5620 Current address user unit x R W Page 47 SD5541 SD5581 SD5621 SD5542 SD5582 SD5622 SD8340 SD8350 SD8360 SD8370 Current address pulse unit X SD5543 SD5583 SD5623 SD8341 SD8351 SD8361 SD8371 SD5544 SD5584 SD5624 Current speed user unit X SD5545 SD5585 SD5625 SD5550 SD5590 SD5630 e e Positioning error error code x SD5556 SD5596 SD5636 Maximum speed SD5557 SD5597 SD5637 SD5558 SD5598 SD5638 Bias speed SD5559 SD5599 SD5639 SD5560 SD5600 SD5640 o e e eoo Acceleration time SD5561 SD5601 SD5641 e e e Deceleration time SD5566 SD5606 SD5646 OPR speed SD5567 SD5607 SD5647 SD5568 SD5608 SD5648 Creep speed SD5569 SD5609 SD5649 SD5570 SD5610 SD5650 Origin address SD5571 SD5611 SD5651 SD5572 SD5612 SD5652 o e e e OPR zero signal counts SD5573 SD5613 SD5653 OO oOo o oo o o OPR dwell time R Read only R W Read write O Supported X Not supported 1 Writing can be performed only by the HCMOV DHCMOV instruction R W R W R W R W R W R W R W R W R W R W Page 47 Page 44 Page 61 Page 44 Page 45 Page 45 Page 45 Page 53 Page 53 Page 52 Page 56 Page 54 5 POSITIONING INSTRUCTION 5 3 Mechanical OPR 73 Outline of operation For each
32. SM5645 Pulse Pulse decelerate and stop command decelerate and stop command input axis2 X22 SET SM5661 Forward limit Forward limit input axis2 X23 SET SM5677 Reverse limit Reverse limit input axis2 Stop event common X14 SET SM8034 All outputs All outputs disabled input disabled 1 When stop event is detected in either of the reference axis or counterpart axis both the axes are stop 5 POSITIONING INSTRUCTION 11 5 8 Single table Operation 9 5 9 Multiple table Operation This instruction executes the control method of multiple specified tables set in the table data with GX Works3 DRVIBL This instruction executes the table data set in GX Works3 in continuous operation or stepping operation ENO DRVTBL EN n1 n2 n3 d1 d2 E 2 en en e e een Selingdala llDescription range data type aw Bit device number of the instruction execution complete Bit ANYBIT ARRAY flag and abnormal end flag Number of elements 2 1 1to 32 when the positioning table data is not set to use device BlAvailable device o p NENNEN od zho i o a nl 1 T ST C cannot be used With one DRVTBL instruction the table data set in GX Works3 can be executed in the continuous operation or stepping operation For details on the table setting method and others refer to Page 134 TABLE OPERATION Related devices The following lists the related special devices The device
33. Signal 0 Positive Logic 1 Negative Logic 0 Positive Logic Page 57 0 Invalid 1 Valid 0 Invalid Page 52 0 Negative Direction Address Decrement 0 Negative Direction Address Decrement Page 52 Direction Direction 1 Positive Direction Address Increment Direction Enabled Disabled 0 Invalid 1 Valid 1 Valid Page 54 OPR Dwell Time Signal 0 Positive Logic 1 Negative Logic 0 Positive Logic Zero Signal 0 to 32767 0 Positive Logic 1 Negative Logic 0 Positive Logic Moser o OPR Zero Signal Counts Count Start Time 0 Near point Dog Latter Part 1 Near point Dog Front Part 0 Near point Dog Latter Part 1 PULSE CW is fixed to the output device Y of axis number 1 2 CW CCW is fixed to YO CW Y2 CCW Y1 CW Y3 CCW 4 POSITIONING PARAMETER 4 1 Setting Method Initial value Reference 37 Input Check The usage status of the built in input XO to X17 can be checked from input check Inputs do not need to be set in this window because the basic setting is applied Window 4 Navigation window gt Parameter gt FXSUCPU gt Module Parameter gt High Speed I O gt Input Check gt Positioning 39 xt XP 8 o4 D X 0 Xr px Dxir Dua 38 Du Dm Xi XO Item Pros rir EE Axis External Start Signal Positive Logic Axis External Start Signal Negative Logic Asis 1 Interrupt Input Signal 1 High Speed Asis 1 Interrupt Input Signal 1 Standard Posit
34. Start Signal Enabled Disabled 0 Invalid 0 Invalid Interrupt Input Signal 1 Enabled 0 Invalid 0 Invalid Disabled Interrupt Input Signal 2 Logic 0 Positive Logic 0 Positive Logic MOPR Parameter OPR Enabled Disabled 0 Invalid 0 Invalid BAxis 1 Positioning Data 20 Interpolation Operation Relative Address Axis 2 50000 pulse 10000 pps Specification Specification BAxis 2 Positioning Data 21 Interpolation Operation Relative Address Specification Target Axis 20000 pulse 114 5 POSITIONING INSTRUCTION 5 8 Single table Operation Program example Drive TBL instruction X17 SM5500 M1 M2 M10 O Drive Positioning Normally Abnormal TBL contact instruction end end instruction activation axis1 activation SM5500 M10 Drive TBL instruction in axis 1 TBL Positioning TBL SM8029 M1 instruction instruction C activation axis 1 activation Instruction execution complete flag SM8329 M2 Instruction execution abnormal end flag Stop event axis 1 reference axis X10 SET SM5628 Pulse stop Pulse output command input stop command X11 axis SET SM5644 Pulse Pulse decelerate and stop command input decelerate and stop command axis 1 X12 SET SM5660 Forward limit Forward limit input axis X13 SET SM5676 Reverse limit Reverse limit input axis1 Stop event axis 2 counterpart axis X20 SET SM5629 Pulse stop Pulse output command input stop command X21 axis2 SET
35. The following table lists the output assignment in the PULSE SIGN mode axis 4 SIGN Unused device among YO to Y17 Any device can be set BCW CCW mode Operation in Operation in Operation in Operation in forward rotation reverse rotation forward rotation reverse rotation direction direction direction direction e El e El r I e Ie Pulse output CW destination YO Forward pulse train Pulse output v l E OES CW destination Y1 Forward pulse train rI I 1 ot I Rotation direction GERE l CCW specification Y3 I I I Reverse pulse train Rotation direction CCW specification Y2 Reverse pulse train r T3 T aly N 1 H and L respectively represent the HIGH status and the LOW status of the waveform 2 ON and OFF represent the statuses of the FX5 PLC output The following table lists the output assignment in the CW CCW mode The positioning function can be executed for up to two on LEN UNES The PULSE SIGN mode and CW CCW mode can be used together When axis 1 is used in CW CCW mode PULSE SIGN mode can be set in axis 2 and 4 axes 4 POSITIONING PARAMETER 4 2 Details of Parameters 39 When axis 2 is used in CW CCW mode PULSE SIGN mode can be set in axis 1 and 3 Output Device pP Setting method High Speed I O Parameter Set outputs that are used as positioning outputs Outputs that are not used as positioning outputs YO to Y 17
36. Variable Speed Operation Axis 2 Specification 0 pulse 10000 pps 1 1 Speed Positioning Relative Address Specification Axis 2 Specification 100000 pulse 30000 pps 1 1 Speed Positioning Relative Address Specification Axis 2 Specification 10000 pulse 2000 pps Set a control method and operands corresponding to the type When the positioning table data is set to use device the operands of this table are set in the user devices When the operands are set to use devices the command speed and positioning address can be changed from word devices Thus the command speed and positioning address can be changed during positioning operation The control method is not set in user devices and thus cannot be changed For tables in which a positioning type is not set the setting control method 0 No positioning is applied The following table lists setting items for each table of each axis Control Method 0 No Positioning Page 136 1 1 Speed Positioning Relative Address Specification Page 137 2 1 Speed Positioning Absolute Address Specification Page 138 3 Interrupt 1 Speed Positioning Page 139 4 Variable Speed Operation Page 141 5 Table Transition Variable Speed Operation Page 142 6 Interrupt Stop Relative Address Specification Page 144 T Interrupt Stop Absolute Address Specification Page 146 10 Condition Jump Page 148 20 Interpolation Operation Relative Address Specification Page 149 21 Interpolation Operatio
37. When an output device Y is used only the device that is specified with the positioning parameter or a general purpose output can be specified However if an output device Y to which PWM or CW CCW axis is assigned is specified an error occurs without any operation For the PWM function refer to LAUser s manual Application Command speed e f the command speed is changed to 0 during operation the operation does not end with errors but is decelerated to a stop As long as the drive contact is on changing the command speed restarts pulse output When O is set for the command speed at start of the instruction the operation ends with an error Acceleration deceleration Operation When acceleration time is set to 0 the speed is increased to the command speed immediately without acceleration operation When deceleration time is set to O no deceleration operation is performed and operation immediately stops when the drive contact is turned off 104 5 POSITIONING INSTRUCTION 5 7 Variable Speed Operation plete flags The following describes the operation timings of the complete flags The user specified complete flags are valid only when specified using FX5 operand From when the following operation or function is completed to when the ON gt OFF condition is met The axis is already used The drive contact is turned off during positioning operation Pulse outp
38. after the pulse output stops llSpecial Device Positioning execution table number SD5506 SD5546 SD5586 SD5626 R Read only ositioning error error occurrence table No gt Setting method Special Device Use the positioning error to check the table number where a table operation error occurred For the error refer to K Page 167 Error Check llSpecial Device Positioning error error occurrence table No SD5511 SD5551 SD5591 SD5631 After the positioning error occurrence flag turns on an table No is stored in the device above If multiple errors occur the R W Read Write device is overwritten with the table number where the last error occurred The table No of the positioning error error occurrence table No is not cleared by eliminating the error cause Turn on SM50 Error Detection Reset Completion from program or engineering tool or use the continuation error batch clear function in the module diagnosis window of GX Works3 to clear the flag LLLIGX Works3 Operating Manual Items related to monitor The following describes the items related to monitor such as the positioning address and speed monitor Use the pulse output monitor to check whether pulses are being output from the output device Y set as an output device The pulse output monitor shows the pulse output status even when positioning operation is stopped llSpecial Device Positioning output monitor R
39. cannot be combined is specified specified ON gt OFF When the drive contact is turned off The flag remains on until any of the following is performed condition Turning off the flag by the user Restarting the table instruction Shift to the next table 1 The flag turns on only for one scan when the drive contact of the instruction turns from OFF to ON Table Transition Variable Speed Operation The following explains control method 5 Table Transition Variable Speed Operation Setting data The following table shows the operand assignment Description None Command Speed Dwell Time Interrupt Input Signal 2 Device No Range 2147483648 to 2147483647 0 to 32767 ms 0 to 17 User system unit Details None Set the speed within the range of Dwell time is the time until the Specify the input X number 200 Kpps to 200 Kpps in pulse complete flag turns on 1 Command speed can be changed during positioning operation L Page 32 2 When the positioning table data is set to use device the value can be changed during positioning operation The change is applied when the table operation instruction is restarted When the interrupt input signal 2 is detected the table in execution is switched to the next table as interrupt processing Then the table following this table is operated Until the interrupt input signal 2 is turned on operation equivalent to the PLSV DPLSV instruction or control method 4 Variabl
40. change input X15 7000 pps Positioning address change input X16 I 15000 pps Pulse decelerate and stop command axis 1 SM5644 llPositioning parameter high speed I O parameter llBasic Parameter 1 WBasic Parameter 2 Pulse Output Mode 0 Composite Speed Output Device PULSE CW 15000 pps Rotation Direction Setting 0 Current Address Increment with 500 ms Forward Run Pulse Output E055 Unit Setting llDetailed Setting Parameter Pulse No of per Rotation 0 Invalid Movement Amount per Rotation Interrupt Input Signal 1 Enabled 0 Invalid Position Data Magnification Disabled 0 Positive Logic BOPR Parameter OPR Enabled Disabled 0 Invalid 106 5 POSITIONING INSTRUCTION 5 7 Variable Speed Operation Program example Initial pulse DMOV K15000 D304 Drive DPLSV instruction X17 SM5500 M1 M2 M10 T e Drive Positioning Normally Abnormal DPLSV contact instruction end end instruction activation axis 1 activation SM5500 M10 Drive DPLSV instruction in axis 1 L DPLSV D300 Positioning DPLSV instruction instruction activation axis1 activation SM5500 Positioning activation axis1 Command speed change X15 DMOV D302 D300 Command speed 1 change input X16 DMOV D304 D300 Command speed 2 change input Stop event X10 SET SM5628 Pulse stop Pulse output command input stop command X11 axis1 SET SM5644 Pulse Pulse decelerate and decelerate and stop
41. changed during positioning operation L Page 32 Command speed change during positioning operation 5 POSITIONING INSTRUCTION 5 6 Interrupt 1 Speed Positioning 93 94 llDescription range data type DDVIT e FX5 operand s1 Word device number storing the positioning address or 2147483648 to 2147483647 32 bit signed binary ANY32 data User system unit s2 Word device number storing command speed or data 1 to 2147483647 32 bit signed binary ANY32 User system unit d1 Axis number from which pulses are output K1 to 4 16 bit unsigned binary ANY ELEMENTARY WORD d2 Bit device number of the instruction execution complete Bit ANY BOOL flag and abnormal end flag e FX3 compatible operand s1 Word device number storing the positioning address or 2147483648 to 2147483647 32 bit signed binary ANY32 data User system unit s2 Word device number storing command speed or data 1 to 2147483647 32 bit signed binary ANY32 User system unit d1 Output bit device number Y from which pulses are output Bit ANY ELEMENTARY BOOL d2 Bit device number from which rotation direction is output Bit ANY_BOOL 1 The positioning address can be changed during positioning operation 2 Command speed can be changed during positioning operation MAvailable device DVIT DDVIT e FX5 operand 1 Two devices are occupied from the specified device 2 T ST C cannot be used 3 Only YO to Y3 devices can be used 4
42. command stop command input axis X12 SET SM5660 Forward limit Forward limit input axis 1 X13 SET SM5676 Reverse limit Reverse limit input axis1 X14 SET SM8034 All outputs All outputs disabled input disabled e f the speed is changed changing and thus the sign of the command speed during operation pulse output is started in the reversed direction after deceleration stop The waiting time for the pulse output after deceleration stop is 1 ms scan time When the motor cannot be stopped during the waiting time design a program so that sufficient waiting time is secured and then the output is restarted after deceleration stop by setting the command speed to 0 once When O is set for the command speed at start of the instruction the operation ends with an error 5 POSITIONING INSTRUCTION 1 5 7 Variable Speed Operation 07 5 8 Single table Operation This instruction executes the control method of one specified table set in the data table with GX Works3 EN This instruction executes one table specified in the table data set in GX Works3 ENO TBL EN n d llDescription range data type e FX5 operand 16 bit unsigned binary ANY_ELEMENTARY WORD 1 1to 32 when the positioning table data is not set to use device BlAvailable device e FX5 operand e FX3 compatible operand 1 Only YO to Y3 devices can be used This instruction executes one table specified in the table data set in GX Works3 For
43. data llPositioning parameter high speed l O parameter Basic Parameter 1 Basic Parameter 2 Pulse Output Mode 0 Composite Speed Output Device PULSE CW 15000 pps Rotation Direction Setting 0 Current Address Increment with 500 ms Forward Run Pulse Output 500 ms Unit Setting MDetailed Setting Parameter Pulse No of per Rotation 0 Invalid Movement Amount per Rotation Interrupt Input Signal 1 Enabled 0 Invalid Position Data Magnification Disabled 0 Positive Logic BOPR Parameter OPR Enabled Disabled 0 Invalid 5 POSITIONING INSTRUCTION 1 5 5 Absolute Positioning 9 92 Program example Drive DDRVA instruction X17 SM5500 M1 M2 M10 T O Drive Positioning Normally Abnormal DDRVA contact instruction end end instruction activation axis1 activation SM5500 M10 Drive DDRVA instruction in axis 1 DDRVA o Ki Positioning DDRVA instruction instruction activation axis1 activation SM5500 RST Positioning instruction activation axis1 RST Stop event X10 SET SM5628 Pulse stop Pulse output command input stop command X11 axis1 SET SM5644 Pulse Pulse decelerate and decelerate and stop command stop command input axis X12 SET SM5660 Forward limit Forward limit input axis1 X13 SET SM5676 Reverse limit Reverse limit input axis 1 X14 SET SM8034 All outputs All outputs disabled input disabled 5 POSITIONING INSTRUCTION 5 5 Absolute Positioning 5 6 Interrupt 1 S
44. during RUN Deceleration stop at limit detection Deceleration stop after OPR speed after the near point dog is detected and creep speed are changed to 0 Deceleration stop at limit detection after the near point dog is detected ON OFF When the drive contact is turned off The flag remains on until either of the following is executed condition Turning off the flag by the user Restarting the positioning instruction 1 The flag turns on only for one scan when the drive contact of the instruction turns from OFF to ON Program example The following is a program example of OPR operation axis 1 Speed Deceleration time Acceleration time 800 ms 500 ms i I I Maximum speed gt I 3 10000 pps OPR speed 10000 pps Creep speed 1500 pps Bias speed 1000 pps i I Near point dog signal X0 positive logic I I Zero signal X1 positive logic OPR zero signal counts 1 I Count Start Time Near point d ithi ount atant me pl oa i E v namg Zero signal is ignored until the rear end of the near point i dog is detected ON gt OFF I Dwell time 100ms i Instruction execution complete flag dE EL M1 M I Clear signal output time Clear signal Yi k 20 ms 1 operation cycle ms 5 POSITIONING INSTRUCTION 5 3 Mechanical OPR llPositioning parameter high speed I O parameter llBasic Parameter 1 MDetailed Setting Parameter Output
45. eae 66 PULSE SIGN mode lessen 39 I Input check 6 2 0 0 0 ee ee eee 38 R Interpolation operation Relative positioning e 0eee 79 absolute address specification target axis 156 Remaining distance operation 33 50 Interpolation operation Reverse limit lees 30 50 absolute address specification 153 Rotation direction setting less 40 Interpolation operation relative address specification target axis 152 197 Single table operation 08 108 Special device llle 35 Starting point address 02005 52 Stepping operation ls 157 T Table data llle 135 Tableoperation 00 cee ee eee 26 Table shift command lusu 59 Table transition variable speed operation 142 U Unitsetting llle 41 V Variable speed operation 26 101 141 Z Zero signal a uei op Ex EA E LEE eer EE 55 198 Simple linear interpolation 2 axis simultaneous start 27 MEMO 199 REVISIONS October 2014 First Edition January 2015 MAdded functions Chapter 1 2 Section 3 4 4 2 Chapter 5 Section 6 2 6 3 7 2 7 4 8 2 Appendix 1 2 3 This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems in
46. error All outputs disabled SM8034 Deceleration stop after the command Write during RUN speed is changed to 0 Positioning address error Table shift cannot be completed in time Deceleration stop after the command speed is changed to 0 Table shift cannot be completed in time ON OFF When the drive contact is turned off The flag remains on until either of the following is performed condition Turning off the flag by the user Restarting the table instruction e Shift to the next table 1 The flag turns on only for one scan when the drive contact of the instruction turns from OFF to ON 2 When remaining distance operation enabled is turn on abnormal end flag is not turn on Interrupt Stop Absolute Address Specification The following explains control method 7 Interrupt Stop Absolute Address Specification Selingdala The following table shows the operand assignment Description Positioning Address Command Speed Dwell Time None Range 2147483648 to 2147483647 1 to 2147483647 0 to 32767 ms User system unit User system unit Details Set the absolute address within Set the speed within the range of Dwell time is time until the None the range of 2147483648 to 1 pps to 200 kpps in pulse complete flag turns on after the 2147483647 in pulse positioning address is reached interrupt stop 1 The positioning address can be changed during positioning operation Page 31 However on
47. forward rotation pulses or reverse rotation pulses are generated the positioning instruction will increase or decrease the value of the current address When the power of the CPU module is turned off the value stored in the current address will be erased For this reason after turning on the power again be sure to adjust the value of the current address in the CPU module to the current position of the machine The positioning function uses the DSZR DDSZR instruction OPR instruction to adjust the value of the current address in the CPU module to the current mechanical position This instruction executes mechanical OPR ENO DSZR EN s1 s2 d1 02 ENO DDSZR EN s1 s2 d1 d2 llDescription range data type DSZR e FX5 operand s1 Word device number storing OPR speed or data 1 to 65535 16 bit unsigned binary ANY_ELEMENTARY User system unit WORD s2 Word device number storing creep speed or data 1 to 65535 16 bit unsigned binary ANY ELEMENTARY User system unit WORD d1 Axis number from which pulses are output K1 to 4 16 bit unsigned binary ANY ELEMENTARY WORD d2 Bit device number of the instruction execution complete Bit ANY BOOL flag and abnormal end flag e FX3 compatible operand s1 Bit device number to which the near point dog signal is Bit ANY ELEMENTARY input BOOL s2 Bit device number to which the zero signal is input Bit ANY ELEMENTARY BOOL d1 Output bit device number Y from which puls
48. instruction end end instruction activation axis 1 activation SM5500 M10 Drive DRVTBL instruction in axis 1 DRVTBL Positioning DRVTBL instruction instruction activation axis 1 activation SM5500 Positioning instruction activation axis1 For the stop event refer tol Page 118 Stepping operation us operation condition jump This program example illustrates the operation of a 2 speed positioning that is changed by the execution of control method 10 Condition Jump on axis 1 continuous operation MM No for jump condition M100 ON Executes the table 5 Speed p Acceleration Executes the time condition Deceleration time 500 ms jump 500 ms I I i 15000 pps lt gt Maximum speed 10000 pps 7000 pps 1000 pps Bias speed Time Positioning Positioning address 150000 I I address 50000 Instruction execution I complete flag M1 I M No for jump l i od condition M100 ON ra I l I Drive contact l I lt 1 operation cycle sewn oo 3 3 Bl 9 1 Speed Positioning 1 Speed Positioning No Positioning Relative Address Specification Relative Address Specification 5 POSITIONING INSTRUCTION 121 5 9 Multiple table Operation MM No for jump condition M100 OFF Executes the table 3 Speed P Acceleration Non executes time the condition Deceleration time 500 ms jump 500 ms 15000 pps Maximum speed 10000 pps 7000 pp
49. is activated SM8329 Instruction execution abnormal end flag This instruction execution abnormal end complete flag is shared among all positioning instructions In programs use the flag immediately after a positioning instruction When the FX3 compatible operand is specified for the positioning instruction only the instruction execution abnormal end flag SM8329 turns on SM8329 turns off when the drive contact of the positioning instruction is turned off For the conditions under which the instruction execution abnormal end flags above turn on refer to the operation of the complete flag of each positioning instruction and the table operation control method When dwell time is set for the DSZR DDSZR instruction or table operation the flag turns on when pulse output is complete and the dwell time elapses llOperand Positioning Instruction Refer to instruction execution complete flag The device of the operand specified by the positioning instruction is d2 1 d 1 when DRVMUL instruction llSpecial Device Instruction execution abnormal end flag SM8329 R Read only 4 POSITIONING PARAMETER 4 2 Details of Parameters 63 64 5 POSITIONING INSTRUCTION This chapter explains positioning instructions that are used in the positioning function For the expression and execution type of the applied instruction refer to L JProgramming manual Instructions Standard Functions Function Blocks 5 1 Common Item
50. is set to use device the value can be changed during positioning operation The change is applied when the table operation instruction is restarted 2 Setthe number of output pulses per table execution to 2147483647 or lower 21 Interpolation Operation Relative Address Specification Target Axis is assigned to the same table number as that for control method 20 Interpolation Operation Relative Address Specification specified in the interpolation reference axis For the interpolation operation refer to L Page 149 Interpolation Operation Relative Address Specification Interpolation operation cannot be activated from this table Drive interpolation operation with the table control method 20 Interpolation Operation Relative Address Specification of the reference axis Speed is calculated based on the speed of the reference axis 6 TABLE OPERATION 6 2 Operations of Control Method 152 Related devices Refer to K Page 151 Related devices of control method 20 Interpolation Operation Relative Address Specification Operation of the complete flags Refer to L Page 152 Operation of the complete flags of control method 20 Interpolation Operation Relative Address Specification Interpolation Operation Absolute Address Specification The following explains control method 22 Interpolation Operation Absolute Address Specification Setting data The following table shows the operand assignment
51. l l Positioning Positioning Positioning Positioning Positioning address of the address of the address of the address of the address of the table 1 table 2 table 3 table 4 table 5 l l instruction l l Instruction execution Dwell time complete flag SM8029 l l l l l A l User specified i Dwell time l Instruction Caa O O O S A complete flag l l l l I roman OX KKK XC D O execution 1 Only the DRVTBL instruction functions 2 Remains on until the user turns off the flag Operation The following explains the operation of tables and flags in the continuous operation Operation of the table Dwell time of the last table is the time until the complete flag turns on after deceleration stop e When tables are executed successively causing a direction change deceleration stop is performed once and then output is started in the reversed direction The waiting time for the pulse output in the reversed direction after stop is 1 ms scan time e f the operation ends with an error when tables to be executed are left the rest of the tables are not executed e If a table that cannot be combined is executed the operation ends with an error In this case the table before the table that cannot be combined is handled as the last table After deceleration stop is performed for the previous table and dwell time elapses the abnormal end flag tu
52. limit 1 rotation limit 1 rotation limit 2 Servo amplifier side CPU module side CPU ae side Servo amplifier side LSR LSF Servo motor m 72m Operation in reverse rotation direction lt gt Operation in forward rotation direction Forward rotation limit 1 Forward limit axis 1 Reverse rotation limit 1 Reverse limit axis 1 The following table lists the corresponding devices 3 POSITIONING CONTROL FUNCTION 3 4 Auxiliary Function Precautions If the forward rotation limit 1 LSF and the reverse rotation limit 1 LSR cannot be set observe the following items Even if forward rotation limit 2 or reverse rotation limit 2 turns on and the servo motor is automatically stopped the positioning instruction currently being driven cannot recognize the motor being stopped Therefore pulses will be continuously output until the instruction is deactivated The dog search function cannot be used Positioning address change during positioning operation This function changes positioning address during positioning operation For positioning instructions by specifying a word device as an operand and changing the value positioning address can be changed during positioning operation For the table operation by setting the positioning table data in devices and changing the operand value of the control method of a table positioning address can be changed during positioning operation Only the last table can be ch
53. machine or multiple unit system calculation errors may accumulate for each axis 150 6 TABLE OPERATION 6 2 Operations of Control Method llSpecial relays SM8029 Instruction execution x complete flag SM8329 Instruction execution x abnormal end flag SM5500 SM5501 SM5502 SM5503 SM8348 SM8358 SM8368 SM8378 Positioning instruction o activation SM5516 SM5517 SM5518 SM5519 SM8340 SM8350 SM8360 SM8370 Pulse output monitor SM5532 SM5533 SM5534 SM5535 R W Page 61 SM5628 SM5629 SM5630 SM5631 Pulse output stop command oj m o og oj o SM5644 SM5645 SM5646 SM5647 Pulse decelerate and stop X RAW Page 49 mn mq a fem p qe ce See LEN L jc i ol SM5660 SM5661 SM5662 SM5663 Forward limit RW Page 50 SM5676 SM5677 SM5678 SM5679 R W Page 50 SM5772 SM5773 SM5774 SM5775 Rotation direction setting m R W Page 40 R Read only R W Read write O Supported X Not supported llSpecial registers SD5500 SD5540 SD5580 SD5620 Current address user unit X Rw Page 47 SD5501 SD5541 SD5581 SD5621 SD5502 SD5542 SD5582 SD5622 SD8340 SD8350 SD8360 SD8370 Current address pulse unit x R W Page 47 SD5503 SD5543 SD5583 SD5623 SD8341 SD8351 SD8361 SD8371 SD5504 SD5544 SD5584 SD5624 Current speed user unit X Page 44 SD5505 SD5545 SD5585 SD5625 SD5506 SD5546 SD5586 SD5626 Positioning executio
54. number of output pulses per positioning instruction execution to 2147483647 or lower DRVA 32768 to 32767 User system unit DDRVA 2147483648 to 2147483647 User system unit 2 For s2 specify the command speed Set to a value 1 pps to 200 Kpps in pulse DRVA 1 to 65535 User system unit DDRVA 1to2147483647 User system unit 3 For d1 specify an axis number K1 to K4 for which pulses are output Specify an axis number whose positioning parameters are set in the high speed I O parameters Operation cannot be performed if any other axis number is specified 5 POSITIONING INSTRUCTION 89 5 5 Absolute Positioning 90 4 For d2 specify the bit devices of the instruction execution complete flag and abnormal end flag Page 62 Complete flag d2 Instruction execution complete flag d2 1 Instruction execution abnormal end flag When the FX3 compatible operand is specified 1 For s1 specify the absolute positioning address Set to a value 2147483648 to 2147483647 in pulse In addition set the number of output pulses per positioning instruction execution to 2147483647 or lower DRVA 32768 to 32767 User system unit DDRVA 2147483648 to 2147483647 User system unit 2 For s2 specify the command speed Set to a value 1 pps to 200 Kpps in pulse DRVA 1 to 65535 User system unit DDRVA 1to2147483647 User system unit 3 For d1 specify the pulse output number in the range of YO to Y3
55. of 2147483648 to 2147483647 However an overflow or underflow occurs before the current address pulse unit is reached if the axis parameter is set in such a way that the number of pulses per rotation is less than the number of transfer distance units per rotation If that happens overflow underflow to the upper or lower limit value is stored in the device Current address pulse unit The unit is the motor system unit pulse unit and the value indicated includes positioning data magnification 1 gt Page 41 Unit Setting Page 43 Position Data Magnification The address range is 2147483648 to 2147483647 llSpecial Device Current address pulse unit SD5502 SD5542 SD5582 SD5622 SD8340 SD8350 SD8360 SD8370 SD5503 SD5543 SD5583 SD5623 SD8341 SD8351 SD8361 SD8371 R W Read Write When the value in the devices above changes the current address user unit also changes automatically When reading ABS data from the servo amplifier using the DABS instruction read the device above e Writing can be performed to the current address pulse unit only by the HCMOV DHCMOV instruction During positioning operation the value written to the current address is applied when the instruction is completed e Reading can be performed to the current value by the HCMOV DHCMOV instruction The current address pulse unit functions with the range of 2147483648 to 2147483647 pulses However if the upper limit is exceeded current address o
56. operation the flag turns on when pulse output is complete or the clear signal turns off and the dwell time elapses llOperand Positioning Instruction When the following instruction is FX5 operand specified instruction can set complete flag DDSZR Mechanical OPR DSZR d2 X Y M L SM F B Page 71 SB NE ct 62 Relative positioning DRVI d2 Page 79 at 02 DDRVI Absolute positioning DRVA d2 Page 86 DDRVA cat a2 Interrupt 1 speed DVIT d2 Page 93 ositionin ee cat 02 DDVIT Variable speed operation PLSV d2 Page 101 ESA est e DPLSV Multiple table operation DRVTBL d2 Page 116 EZI en en ea eo en Multiple axis table DRVMUL d operation Page 124 llSpecial Device Instruction execution complete flag SM8029 R Read only 4 POSITIONING PARAMETER 4 2 Details of Parameters llinstruction execution abnormal end flag When the positioning operation is completed abnormally the instruction execution abnormal end flag turns on There are the following two types of instruction execution abnormal end flags User specification The device of the operand specified by the positioning instruction when FX5 operand specified This instruction execution abnormal end flag is used only for the positioning instruction specified The user specified instruction execution abnormal end flag is turned off by program or engineering tool or when the next positioning instruction
57. pps 3 Interrupt 1 Speed Positioning 50000 pulse 15000 pps Drive DRVTBL instruction stepping operation X17 SM5500 M1 M2 M10 Drive Positioning Normally Abnormal DRVTBL contact instruction end end instruction activation axis1 activation SM5500 M10 Drive DRVTBL instruction in axis 1 1 DEEL Positioni DRVTBL nenea instruction Confirm the completion of all tables using the compatible complete flag activation axis1 activation SM8029 M1 Instruction execution complete flag SM8329 M2 UO Instruction execution abnormal end flag SM5500 Positioning activation axis1 Table shift command X3 SM5580 Table shift Table shift command input command axis1 Stop event X10 SET SM5628 Pulse stop Pulse output command input stop command X11 axis1 SET SM5644 Pulse Pulse decelerate and decelerate and stop command stop command input axis1 X12 SET SM5660 Forward limit Forward limit input axis1 X13 SET SM5676 Reverse limit Reverse limit input axis1 X14 SET SM8034 All outputs All outputs disabled input disabled 5 POSITIONING INSTRUCTION 11 5 9 Multiple table Operation 9 Continuous operation This program example illustrates a continuous operation interrupt 2 speed positioning that is performed on axis 1 in the order of control methods 5 Table Transition Variable Speed Operation and 3 Interrupt 1 Speed Positioning starting from table No 2 Speed Acceleration time Deceleration time
58. rotation positioning command Reverse rotation positioning command Forward rotation limit LSF Reverse rotation limit LSR Stop command APPENDIX Appendix 3 MELSERVO JN series 1 95 2 3 4 s 196 Be sure to use the class D grounding method grounding resistance 100 Q or less Near point signal DOG To ensure safety use the forward rotation limit switch and the reverse rotation limit switch on both sides the CPU module side and the servo amplifier side Note that the limit switches on the CPU module side should be activated slightly earlier than the limit switches on the servo amplifier side Reverse Reverse Forward Forward rotation limit 2 rotation limit 1 rotation limit 1 rotation limit 2 Servo amplifier side CPU module side CPU DEN side Servo amplifier side LSF Servo motor 2 F aa Operation in reverse rotation direction gt Operation in forward rotation direction I O module are used in the connection example Inputs and outputs built into the CPU module are available in place of I O module Set the command pulse input form of the servo amplifier PA13 MR JNLIA to 210 negative logic forward rotation pulse train reverse rotation pulse train command input pulse train filter 200 kpps or less APPENDIX Appendix 3 MELSERVO JN series INDEX 0 to 9 Interpolation operation relative address specification T 149 1 speed positioning absolute address specification
59. safety use the forward rotation limit switch and the reverse rotation limit switch on both sides the CPU module side and the servo amplifier side Note that the limit switches on the CPU module side should be activated slightly earlier than the limit switches on the servo amplifier side Reverse Reverse Forward Forward rotation limit 2 rotation limit 1 rotation limit 1 rotation limit 2 Servo amplifier side CPU module side CPU DEN side Servo amplifier side LSF Servo motor 2 F aa Operation in reverse rotation direction gt Operation in forward rotation direction To detect absolute positions connect this line to the CPU module I O module are used in the connection example Inputs and outputs built into the CPU module are available in place of I O module Set the command pulse input form of the servo amplifier PA13 MR J3LIA to 0011 negative logic signed pulse train Refer to L Page 187 FX5U CPU module APPENDIX 1 1 Appendix 2 MELSERVO J3 series 8 FX5UC CPU module MR J3LJA series CN1 servo amplifier CN1 lt Positioning ETE auis completed INP 4 Torque being S 4 controlled 8 Servo error ALM oP 39 CN1 ERE nese GENE 42 EMG Emergency stop nm Forward D rotation limit 2 3 LSN i ri NE rotation limit 2 EL 4 Connected to the CPU module if the DABS instruction is used i Servo ready RD Pulse train DOCOM
60. signed binary ANY32 User system unit d1 Axis number from which pulses are output K1 to 4 16 bit unsigned binary ANY ELEMENTARY WORD d2 Bit device number of the instruction execution complete Bit ANY BOOL flag and abnormal end flag e FX3 compatible operand s1 Word device number storing the positioning address or 2147483648 to 2147483647 32 bit signed binary ANY32 data User system unit s2 Word device number storing command speed or data 1 to 2147483647 32 bit signed binary ANY32 User system unit d1 Output bit device number Y from which pulses are output Bit ANY ELEMENTARY BOOL d2 Bit device number from which rotation direction is output Bit ANY_BOOL 1 The positioning address can be changed during positioning operation 2 Command speed can be changed during positioning operation lBlAvailable device DRVA DDRVA e FX5 operand 1 Only available for DDRVA instruction 2 Two devices are occupied from the specified device 3 T ST C cannot be used 4 Only YO to Y3 devices can be used 5 When the output mode is CW CCW specify the CCW axis When the output mode is PULSE SIGN only the SIGN output of the axis or general purpose output can be specified This instruction executes 1 speed positioning by absolute address drive The target positioning address is specified in the absolute method in which positioning is performed with the target position specified based on the origin absolute a
61. system unit d Axis number from which pulses are output K1 to 4 16 bit unsigned binary ANY ELEMENTARY WORD e FX3 compatible operand s Word device number storing command speed or data 0 to 2147483647 32 bit signed binary ANY32 User system unit n Word device number storing the positioning address or 0 to 2147483647 32 bit signed binary ANY32 data User system unit d Output bit device number Y from which pulses are output ANY ELEMENTARY BOOL 66 5 POSITIONING INSTRUCTION 5 2 Pulse Y Output 1 Command speed can be changed during positioning operation 2 The positioning address can be changed during positioning operation lBlAvailable device PLSY DPLSY e FX5 operand 1 Only available for DPLSV instruction 2 Only YO to Y3 devices can be used This instruction outputs pulse trains specified by the command speed s from the output d for the amount of forward rotation pulse specified by the positioning address n Related devices The following lists the related special devices SM8029 Instruction execution x Page 62 complete flag SM8329 Instruction execution x abnormal end flag SM5500 SM5501 SM5502 SM5503 SM8348 SM8358 SM8368 SM8378 Positioning instruction EE Page 61 activation SM5516 SM5517 SM5518 SM5519 SM8340 SM8350 SM8360 SM8370 Pulse output monitor Page 60 SM5628 SM5629 SM5630 SM5631 e AFA e j Pulse output stop command R W Page 48 SM5644
62. the List of Related Devices related device of each instruction Special relays 164 R Read only x Not supported 7 PROGRAMMING 7 4 List of Related Devices FX5 dedicated SM5500 SM5501 SM5502 SM5503 Positioning instruction activation S Page 61 SM5516 SM5517 SM5518 SM5519 Pulse output monitor KR Page 60 SM5580 SM5581 SM5582 SM5583 Table shift command R W Page 59 SM5596 SM5597 SM5598 SM5599 Remaining distance operation enabled R W Page 50 SM5612 SM5613 SM5614 SM5615 Remaining distance operation start R W Page 51 SM5628 SM5629 SM5630 SM5631 Pulse output stop command R W Page 48 SM5644 SM5645 SM5646 SM5647 Pulse decelerate and stop command R W Page 49 SM5660 SM5661 SM5662 SM5663 Forward limit R W Page 50 SM5772 SM5773 SM5774 SM5775 Rotation direction setting ERU R W Page 40 SM5804 SM5805 SM5806 SM5807 OPR direction specification CENE R W Page 52 SM5820 SM5821 SM5822 SM5823 Clear signal output function enable OO R W Page 54 SM5868 SM5869 SM5870 SM5871 Zero signal count start time SO R W Page 56 R Read only R W Read write O Supported X Not supported FX3 compatible SM8029 Instruction execution complete flag PKR Page 62 SM8329 Instruction execution abnormal end flag IX RY SM8348 SM8358 SM8368 SM8378 Pulse output monitor KR Page 60 SM8340 SM8350 SM8360 SM8370 Positioning instruction activation DEBE
63. the moving direction Positioning address error All outputs disabled SM8034 Deceleration stop after the command Write during RUN speed is changed to 0 Positioning address error speed is changed to 0 5 POSITIONING INSTRUCTION 5 6 Interrupt 1 Speed Positioning Deceleration stop after the command 97 98 ON 5 OFF condition When the drive contact is turned off The flag remains on until either of the following is performed Turning off the flag by the user Restarting the positioning instruction 1 The flag turns on only for one scan when the drive contact of the instruction turns from OFF to ON Program example The following is a program example of interrupt 1 speed positioning axis 1 Speed Acceleration time Deceleration time 1 500 ms 1000 ms 1 A sy 15000 pps Maximum speed 10000 pps 1000 pps Bias speed Time Positioning address after the interrupt 30000 pulse Interrupt input signal 1 XO positive logic llPositioning parameter high speed I O parameter MBasic Parameter 1 ll Basic Parameter 2 Pulse Output Mode 0 Composite Speed Output Device PULSE CW 15000 pps Rotation Direction Setting 0 Current Address Increment with 500 ms Forward Run Pulse Output 1000 ms Unit Setting MDetailed Setting Parameter Pulse No of per Rotation 0 Invalid Movement Amount per Rotation Interrupt Input Signal 1 Enabled 1 Valid Position Data Magnification Di
64. the near point dog signal is detected Dwell time Set the time dwell time until the complete flag turns on after positioning operation is completed between 0 to 32767 ms When the positioning operation is completed the complete flag remains off until the dwell time has elapsed Dwell time applies to the DSZR DDSZR instruction and the table operation instruction If the CLEAR signal is output by the DSZR DDSZR instruction the dwell time applies when the CLEAR signal turns off Set the dwell time of DSZR DDSZR instruction with the positioning parameter Page 54 OPR Dwell Time Set the dwell time of the table operation instruction for the control method of each table with the table operation parameter Page 57 Dwell Time WOPR DSZR DDZR instruction li Table operation instruction control method 1 Speed Positioning Deceleration Deceleration i time OPR Command time speed speed l l l l l Origin Positioning address Eie Complete flag Dwell time Zero signal l With dwell time E 3 Complete flag Dwell time Complete flag _ With dwell time Without dwell time Complete flag Without dwell time 3 POSITIONING CONTROL FUNCTION 2 3 4 Auxiliary Function 9 30 OPR zero signal count When the DSZR DDSZR instruction is used the OPR zero signal counts is counted after the zero signal count start timing L Page 55 Zero Signal When the number of the zero signal
65. when the positioning instruction is next driven again 2 A change in the command speed after the interrupt input signal 1 is detected is applied when the positioning instruction is next driven again Precautions e When command speed is lower than bias speed the bias speed is applied The PLSY DPLSY instruction PLSV DPLSV instruction and the table operation instruction control method 4 Variable Speed Operation or 5 Table Transition Variable Speed Operation can be changed to lower than the bias speed Do not change command speed to 200 kpps or more in pulse If the creep speed is changed to a speed equal to or faster than the OPR speed during operation at creep speed by the DSZR DDSZR instruction the speed is changed to the OPR speed For instruction or control method other than the PLSY DPLSY instruction PLSV DPLSV instruction and the table operation instruction control method 4 Variable Speed Operation or 5 Table Transition Variable Speed Operation do not set 0 for the command speed The operation ends with an error If the command speed is changed to 0 during PLSY DPLSY instruction operation the operation does not end with error but it immediate stops As long as the drive contact is on changing the command speed restarts pulse output However if the command speed is changed to negative value during operation the operation ends with an error If the command speed of the PLSV DPLSV instruction or the table operation in
66. 0 0 0 eee eee 32 Pulse decelerate and Stop 2 0 ee eee hire 33 Remaining distance operation 0 0 0 eee eee eee eee eee eens 33 Multiple axes simultaneous activation 1 0 0 eee ee eee 34 Detection of absolute position 0 ee ee eee eee ees 34 CHAPTER 4 POSITIONING PARAMETER 35 4 1 rng m se trader eon een P P 35 siljesoui gem 36 fno s R8 a 7 os ede eo EE ee Be ete eA a ee eee ee eee ee ee 38 4 2 Output CODI OE ioco aiios aca oie we qc 0 2 30 o s ee RC ERE UE DD eo ER DE x On de ORC dd RC Un n I DOR RR da Details of Parameters 24 453 3x2 hese edacins ee ate Ed darse dria ua EE daria eee Ere dosis Rod COMMON NGM acd ua i a a eed d dte ma aed du ene E UE uh Es ED add edid ge ad du ias Items related to SDOGQU 26 52 m xo enc oq one ORE Oeo RU EUR ee Re Ee S Sox EORR oe ee ee dod Items related to positioning address llli Ir Items related to operating command 1 0 2 0 0c ee Items related to pulse Y output instruction llle Items related lo OPR i suusus dod 9 E a ORUUE EORR DUCES RO E E E a a RO XUREURUR Hos RR RR de Items related to table operation 0 0 ers Items related to monitor lille CHAPTER 5 POSITIONING INSTRUCTION 5 1 5 2 5 3 5 4 5 5 5 6 5 7 5 8 COMMON IENS METTTTTTTTPTTr TPTTMMTPTMT Operand specification method 0 0 ee ee eee ee eee eee DUG SDOBUE ogo oad ee te ed Be a
67. 1 Pulse decelerate and stop command input X12 Forward limit input X13 Reverse limit input X14 All outputs disabled input SET SM5628 Pulse output stop command axis1 SET SM5644 Pulse decelerate and stop command axis1 SET SM5660 Forward limit axis1 SET SM5676 Reverse limit axis1 SET SM8034 All outputs disabled 5 POSITIONING INSTRUCTION 111 5 8 Single table Operation nterrupt stop relative address specification The following is a program example of control method 6 Interrupt Stop Relative Address Specification Speed Acceleration time Deceleration time 1 500ms 1 500ms i 15000 pps VIS kl Maximum speed 10000 pps 1000 pps Bias speed Positioning address Current position Current position l 100000 nterrupt input signal 1 X1 positive logic I I Instruction execution Dwell time complete flag SM8029 Men t 0 llPositioning parameter high speed I O parameter Basic Parameter 1 Basic Parameter 2 Pulse Output Mode 0 Composite Speed Output Device PULSE CW 15000 pps Rotation Direction Setting 0 Current Address Increment with 500 ms Forward Run Pulse Output 500 ms Unit Setting llDetailed Setting Parameter Pulse No of per Rotation 0 Invalid Movement Amount per Rotation Interrupt Input Signal 1 Enabled 1 Valid Position Data Magnification Disabled erup input Sigal Deve No X 0 Positive Logic 0 Positive Logic
68. 1 rotation limit 1 rotation limit 2 Servo amplifier side CPU oo side CPU module side Servo amplifier side LSR LSF Servo motor ue T H S E B AA AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA AAA AAA AAA AAA AA AAA Operation in reverse rotation direction lt gt Operation in forward rotation direction The creep speed should be sufficiently slow Deceleration stop is not performed For this reason if the creep speed is not slow enough the operation may not be stopped at the specified position due to inertia If the dog search function cannot detect the near point dog signal the speed will decelerate and the operation will stop The execution of the instruction ends with an error 5 POSITIONING INSTRUCTION 5 3 Mechanical OPR 5 4 Relative Positioning This instruction performs 1 speed positioning in the incremental method positioning operation with a relative address While regarding the current position as the start point specify the transfer direction and the transfer distance relative address to determine the target position Transfer distance 100 dm point l l T f i 1 ransfer distance 100 Endpoint Transfer distance 100 Transfer distance 100 d I Transfer distance 150 Dag Transfer distance 100 Transfer distance 50 0 100 150 300 Origin Point A Point B Point C ENO D
69. 10 Condition Jump When M No for jump condition is on the condition jump is executed llOperand Table Operation Control Method Condition Jump Operand 4 0 to 32767 Page 148 When the positioning table data is set to use device Head device 5 Poin tr When the positioning table data is set to use device M No for jump condition can be changed during positioning operation If the table being executed is located three or more tables before the condition jump the change is applied at the next scan If the table is located two or fewer tables before after the condition is determined the change is applied but the condition jump is executed using the settings from when the condition was determined Axis to be Interpolated gt Setting method Operand Set the number of the counterpart axis for the simple interpolation operation of table operation control method 20 Interpolation Operation Relative Address Specification or 21 Interpolation Operation Absolute Address Specification For the counterpart axis control method 22 Interpolation Operation Relative Address Specification Target Axis or 23 Interpolation Operation Absolute Address Specification Target Axis is assigned to the same table number as that specified in the axis to be interpolated If a different control method is set to the counterpart axis it is overwritten with Interpolation operation Interpolation Operation Relative Address Specification Operand
70. 17 SD5557 SD5597 SD5637 SD5518 SD5558 SD5598 SD5638 Bias speed R W Page 45 SD5519 SD5559 SD5599 SD5639 SD5520 SD5560 SD5600 SD5640 fex eme Tm Acceleration time R W Page 45 SD5521 SD5561 SD5601 SD5641 e e e Deceleration time fo R W Page 45 R Read only R W Read write O Supported X Not supported 1 Writing can be performed only by the HCMOV DHCMOwV instruction 5 POSITIONING INSTRUCTION 1 5 4 Relative Positioning 8 82 Outline of operation For each speed refer to L gt Page 43 Items related to speed Drive contact Speed i Acceleration Deceleration time I time MM lt l a i l Maximum speed Command speed s2 l Drive contact l Instruction execution complete flag SM8029 Instruction execution complete 2 flag d2 1 2 When FX5 operand is specified Remains on until it is turned off by program or engineering tool or the positioning instruction is next driven again Basic operation The following describes the basic operation 1 2 3 4 After the drive contact is turned on pulse output is started and the speed is increased from the bias speed After the speed has reached the specified speed the operation will be performed in the specified speed Deceleration starts from near the target position After movement to the specified positioning address pulse output is stopped Operand specification
71. 2ccareeoseeie NA EROR AUR MAR dci deg ERR o ede ute EROR UA em de iid 19 3 2 OPR COntolic2 342 5440555 bdo eer 5565s sae os oh es eee deus Shee see e ees beseteveeeees 20 Mechanical OPR tact pers yore sda du Soe etn ee eee ee Reed eee tees Ae Se ded ceu RES 20 alone Eu PORTET rem 21 3 3 Positioning Control uua bie awe ar debe bend RH bh adde E o UH AR capa una d Rc e wars 21 1 speed positioning llle hrs 21 2 speed positioning L5 222136 RR RR SHRED ERE EOE SHADES HE RECRG UP E MALPE GO EERO RERE SASS EERE Eds 22 Multi speed operation lilii Rhe 23 Interrupt Stop 6 lille RR Rh hh hh 24 Interrupt 1 speed positioning n on naaa naaa 24 Interrupt 2 speed positioning 5x 5x Rc gn Gece Rocco ed ed xe hee edu ded ae bebe eee RD Rods 25 Variable speed operation 1 00 ee ee eee hrs 26 Tapie ORCI AON M RRRTCPP CT 26 Simple linear interpolation 2 axis simultaneous start 2 0 0 eee 27 3 4 Auxiliary FUNCUOM sarri 3 3 2 w 93 Oe eee eo 202 33 See EE Se eae deen ee Ee ew ce ee eee ac 28 DOG Se are UNC NOG 22 5244 65 bee eee eee pee eee ee eee ee ee eee 28 ES UMS m P P EET 29 OPR zero signal Count 0 0 eee ehh 30 Forward limit and reverse limit 20 0 har 30 Positioning address change during positioning operation n naasa aaaea ee eee 31 Command speed change during positioning operation 0
72. 46 HPeQoe es Direction XXE ts 25 22 23 46 L ABST ABSBO ABSB1 7 FX5 C32EX D FX5 C32bEYT D SON ABSM ABSR gJ O O Z z 18 Immediate stop command OPR command JOG command JOG command Forward rotation positioning command Reverse rotation positioning command Forward rotation limit LSF Reverse rotation limit LSR Stop command 1 89 APPENDIX Appendix 2 MELSERVO J3 series 1 2 3 4 s 6 7 Be sure to use the class D grounding method grounding resistance 100 Q or less Near point signal DOG To ensure safety use the forward rotation limit switch and the reverse rotation limit switch on both sides the CPU module side and the servo amplifier side Note that the limit switches on the CPU module side should be activated slightly earlier than the limit switches on the servo amplifier side Reverse Reverse Forward Forward rotation limit 2 rotation limit 1 rotation limit 1 rotation limit 2 Servo amplifier side CPU module side CPU DEN side Servo amplifier side LSF Servo motor 2 F aa Operation in reverse rotation direction gt Operation in forward rotation direction To detect absolute positions connect this line to the CPU module I O module are used in the connection example Inputs and outputs built into the CPU module are available in place of I O module Set the command pulse input form of the servo amplifier PA13 MR J3LIA
73. 47 32 bit signed binary ANY32 data User system unit s2 Word device number storing command speed or data 1 to 2147483647 32 bit signed binary ANY32 User system unit d1 Axis number from which pulses are output K1 to 4 16 bit unsigned binary ANY ELEMENTARY WORD d2 Bit device number of the instruction execution complete Bit ANY BOOL flag and abnormal end flag e FX3 compatible operand s1 Word device number storing the positioning address or 2147483648 to 2147483647 32 bit signed binary ANY32 data User system unit s2 Word device number storing command speed or data 1 to 2147483647 32 bit signed binary ANY32 User system unit d1 Output bit device number Y from which pulses are output Bit ANY ELEMENTARY BOOL d2 Bit device number from which rotation direction is output Bit ANY_BOOL 1 The positioning address can be changed during positioning operation 2 Command speed can be changed during positioning operation BAvailable device DRVI DDRVI e FX5 operand a SN a L a A fl Sa x je i ELLE E EE Ee iE 1 Only available for DDRVI instruction 2 Two devices are occupied from the specified device 3 T ST C cannot be used 4 Only YO to Y3 devices can be used 5 When the output mode is CW CCW specify the CCW axis When the output mode is PULSE SIGN only the SIGN output of the axis or general purpose output can be specified This instruction executes 1 speed position
74. 534 SM5535 After the positioning error occurrence is turned on an error code is stored in the corresponding positioning error error code Precautions The positioning error occurrence flag is not cleared by eliminating the error cause R W Read Write Turn on SM50 Error Detection Reset Completion from program or engineering tool or use the continuation error batch clear function in the module diagnosis window of GX Works3 to clear the flag LLLIGX Works3 Operating Manual jp d ELE Lp A pum oSitioning error err gt Setting method Special Device Use the following devices to check the error code of an error that has occurred in the positioning operation For the error codes refer to Page 167 Error Check llSpecial Device Positioning error error code R W SD5510 SD5550 SD5590 SD5630 After the positioning error occurrence flag turns on an error code is stored in the device above If multiple errors occur the old R W Read Write error is overwritten by a new error The error code in the positioning error error code is not cleared by eliminating the error cause Turn on SM50 Error Detection Reset Completion from program or engineering tool or the continuation error batch clear function in the module diagnosis window of GX Works3 to clear the flag LLLIGX Works3 Operating Manual 4 POSITIONING PARAMETER 1 4 2 Details of Parameters 6 62 Complete flag gt Setting
75. 99 SD5639 SD5520 SD5560 SD5600 SD5640 Accelerationtime time RIW Page 45 R Read only R W Read write O Supported X Not supported 1 Writing can be performed only by the HCMOV DHCMOwV instruction 5 POSITIONING INSTRUCTION 5 5 Absolute Positioning Outline of operation For each speed refer to k Page 43 Items related to speed Drive contact Speed l l i Acceleration Deceleration time time MM L LZ ZLmm te RR 4 l Maximum speed Command speed s2 l Drive contact l Instruction execution complete flag SM8029 Instruction execution complete 2 flag d2 1 When FX5 operand is specified 2 Remains on until it is turned off by program or engineering tool or the positioning instruction is next driven again Basic operation The following describes the basic operation 1 After the drive contact is turned on pulse output is started and the speed is increased from the bias speed 2 After the speed has reached the specified speed the operation will be performed in the specified speed 3 Deceleration starts from near the target position 4 Atthe specified positioning address pulse output is stopped Operand specification MWhen FX5 operand is specified 1 For s1 specify the absolute positioning address Page 46 Positioning address Set to a value 2147483648 to 2147483647 in pulse In addition set the
76. AC ee v 1 Class D grounding MR J3LIA series CN4 Serve amplifier 5 HN rrr n ABS transfer mode LLL BS request pe aa get i Photocouple ABS bitO ABS bit1 i ABSB1 23 Send data ready ABSB1 23 n EE RENNES 1 Be sure to use the class D grounding method grounding resistance 100 Q or less 2 To ensure safety use the forward rotation limit switch and the reverse rotation limit switch on both sides the CPU module side and the servo amplifier side Note that the limit switches on the CPU module side should be activated slightly earlier than the limit switches on the servo amplifier side APPENDIX Appendix 2 MELSERVO J3 series 1 87 FX5UC CPU module MR J3LIA series servo amplifier DICOM 20 DOCO N NO COIN oO 46 Class D i grounding ABS sent mode ABS ABS request H MEER ABS lt N N NIN O E E E ar LI d 57 QI Hoe cL Q s ABS bit0 ABS bit1 Send data ready er op O o z zZ x lt N 1 Be sure to use the class D grounding method grounding resistance 100 Q or less 2 To ensure safety use the forward rotation limit switch and the reverse rotation limit switch on both sides the CPU module side and the servo amplifier side Note that the limit switches on the CPU module side should be activated slightly earlier than the limit switches on the servo amplifier side 1 88 APPENDIX Appe
77. Also do not change the program if PWM is being executed in RUN mode For details on the PWM instructions refer to L IProgramming manual Instructions Standard Functions Function Blocks Positioning instruction PLC operation when writing executed during Reference RUN while instruction is executed Mechanical OPR instruction Decelerates and stops pulse output Page 71 Relative positioning instruction Page 79 Absolute positioning instruction Page 86 Interrupt 1 speed positioning DVIT DDVIT Page 93 instruction Variable speed operation PLSV DPLSV With acceleration Decelerates and stops pulse output Page 101 instruction deceleration operation Without acceleration Immediately stops pulse output deceleration operation Single table operation instruction Program cannot be changed in the RUN mode Page 108 Multiple table operation DRVTBL Page 116 instruction Multiple axis table operation DRVMUL Page 124 instruction Precautions Note that immediate stop may damage the machine because the motor stops immediately T 3 FX3 compatible SM SD FX3 compatible devices can be used Both the FX5 dedicated devices and FX3 compatible devices can be used if they have the same functionality For details on devices refer to 5 Page 39 Details of Parameters 7 PROGRAMMING 163 7 3 FX3 compatible SM SD 7 4 The following lists the special devices related to the positioning function For compatible positioning instructions refer to
78. CPU module devices labels and parameters Describes specifications of ladders ST FBD LD and other programs and labels Describes specifications of instructions and functions that can be used in programs Describes N N network MELSEC Communication protocol inverter communication non protocol communication and predefined protocol support Describes MODBUS serial communication Describes the functions of the built in Ethernet port communication function Explains methods for the device that is communicating with the CPU module by SLMP to read and write the data of the CPU module Describes the built in positioning function Describes the analog function System configuration parameter settings and online operations of GX Works3 TERMS Unless otherwise specified this manual uses the following terms e O indicates a variable portion used to collectively call multiple models or versions Example FX5U 32MR ES FX5U 32MT ES gt FX5U 32MLI ES e For details of the FX3 devices that can connected with the FX5 refer to LLIFX5 User s Manual Hardware Terms MDevices FX5 FX3 FX5 CPU module FX5U CPU module FX5UC CPU module Extension module e FX5 extension module e FX3 extension module Extension module extension cable type Extension module extension connector type I O module Input module Input module extension cable type Input module extension connector type Output module Output module e
79. Device PULSE CW Interrupt Input Signal 1 Enabled 0 Invalid Output Device SIGN CCW Disabled Rotation Direction Setting 0 Current Address Increment with 0 Positive Logic MOPR Parameter Pulse No of per Rotation OPR Direction 0 Negative Direction Address Movement Amount per Rotation Decrement Direction Position Data Magnification 0 pulse llBasic Parameter 2 1 Valid Interpolation Speed Specified Method Y1 Acceleration Time 0 Positive Logic 0 Positive Logic 0 Near point Dog Latter Part Forward Run Pulse Output Drive DDSZR instruction X17 SM5500 M1 M2 M10 T Q Drive Positioning Normally Abnormal DDSZR contact instruction end end instruction activation axis1 activation SM5500 M10 Drive DDSZR instruction in axis 1 DDSZR K000 K1500 Positioning DDSZR instruction instruction activation axis1 activation SM5500 RST Positioning instruction activation axis1 RST Stop event X10 SET SM5628 Pulse stop Pulse output command input stop command X11 axis1 SET SM5644 Pulse Pulse decelerate and decelerate and stop command stop command input axis 1 X12 SET SM5660 Forward limit Forward limit input axis1 X13 SET SM5676 Reverse limit Reverse limit input axis1 X14 SET SM8034 All outputs All outputs disabled input disabled 5 POSITIONING INSTRUCTION 5 3 Mechanical OPR 7T 78 Caution Detection of the rear end and the front end of the near point dog will be affected by th
80. Items Operation Deceleration Abnormal end Remaining Reference flag distance operation Turning off the Deceleration stop Deceleration stop without any conditions instruction drive contact Setting the command Deceleration stop ON OFF None For the PLSY DPLSY instruction the PLSV DPLSV Page 32 speed to 0 instruction and table operation instruction control method 4 Variable Speed Operation or 5 Table Transition Variable Speed Operation the abnormal end flag does not turn on When the command speed is changed pulse output is restarted 1 The PLSY DPLSY instruction is stopped immediately by all the operations 2 Onlythe FX5 specified abnormal end flag is valid Precautions Note that the immediate stop may damage the machine because the motor stops immediately Pulse output stop takes priority over deceleration stop Pulse outputs are immediately stopped if an immediate stop operation is performed during a deceleration stop operation Operation at an error or abnormal end The following explains operation at an error or abnormal end Operation at an abnormal end When operation of the positioning function ends with an error pulse output is stopped When an error occurs at start of a positioning instruction pulse output is not started Pulse output is also not started when a positioning instruction is executed with pulse output stopped such as the pulse output stop command is on e When an
81. M11 Dwell time 100 ms I 1 speed positioning relative address specification llPositioning parameter high speed I O parameter Basic Parameter 1 Pulse Output Mode 1 PULSE SIGN Output Device PULSE CW Y Y1 Y3 Output Device SIGN CCW Y4 Y7 Y5 Rotation Direction Setting 0 Current Address Increment with Forward Run Pulse Output Forward Run Pulse Output Forward Run Pulse Output Unit Setting 0 Motor System pulse pps Pulse No of per Rotation 2000 pulse Movement Amount per Rotation 1000 pulse Position Data Magnification 1 x Single llBasic Parameter 2 Interpolation Speed Specified Method 0 Composite Speed MDetailed Setting Parameter 1 PULSE SIGN 1 PULSE SIGN External Start Signal Enabled Disabled 0 Invalid Interrupt Input Signal 1 Enabled 1 Valid 0 Invalid Disabled Interrupt Input Signal 1 Device No X1 Interrupt Input Signal 1 Logic 0 Positive Logic Interrupt Input Signal 2 Logic 0 Positive Logic 0 Positive Logic 0 Positive Logic BOPR Parameter OPR Enabled Disabled 0 Invalid 0 Invalid 0 Invalid BAxis 1 Positioning Data 1 1 Speed Positioning Relative Address 100000 pulse 10000 pps 0 ms Specification CE 5 Table Transition Variable Speed Operation COE 7000 pps E 3 Interrupt 1 Speed Positioning 50000 pulse 15000 pps 128 5 POSITIONING INSTRUCTION 5 10 Multiple axis Table Operation BAxis 2 Positioning Data 1 1 1 Speed Positioning Relative Address 50000 pulse 10000 pps 0 ms Sp
82. MITSUBISHI ELECTRIC PROGRAMMABLE CONTROLLERS series MELSEC iQ F FX5 User s Manual Positioning Control SAFETY PRECAUTIONS Read these precautions before using this product Before using this product please read this manual and the relevant manuals carefully and pay full attention to safety in order to handle the product correctly In this manual the safety precautions are classified into two levels N WARNING and N CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in NWARNING death or severe injury Indicates that incorrect handling may cause hazardous conditions resulting in N CAUTION minor or moderate injury or property damage Under some circumstances failure to observe the precautions given under N CAUTION may lead to serious consequences Observe the precautions of both levels because they are important for personal and system safety Make sure that the end users read this manual and then keep the manual in a safe place for future reference DESIGN PRECAUTIONS NWARNING Make sure to set up the following safety circuits outside the PLC to ensure safe system operation even during external power supply problems or PLC failure Otherwise malfunctions may cause serious accidents 1 2 4 Most importantly have the following an emergency stop circuit a protection circuit an interlock circuit for opposite movements such as forward vs revers
83. OSITIONING PARAMETER Stop command All input Connect a line to any input If the line connected input is turned on turn off the positioning instruction signal points OPR command All input Connect a line to any input When the line connected input is turned on drive the DSZR DDSZR instruction points C Page 71 Mechanical OPR Near point X0 to X17 Connect a line to the input specified in the parameter setting of GX Works3 The signal does not occupy the signal input interrupt function and its edge is detected with a 1 ms interrupt For the near point signal refer to DOG KL Page 55 Near point Dog Signal X0 to X17 Connect a line to the input specified in the parameter setting of GX Works3 The input interrupt function is assigned forcibly to a specified input For the zero signal refer to K Page 55 Zero Signal ABS read All input Connect a line if it is necessary to use the absolute position detection system Connect a line to the input points specified by the DABS instruction s Page 130 Absolute Position Detection System 3 consecutive input points are used for this function External start signal XO to X17 Connect a line to the input specified in the parameter setting of GX Works3 The input interrupt function is assigned forcibly a specified input Interrupt input signal 1 XO to X17 Connect a line to the input specified in the parameter setting of GX Works3 The input interrupt function is assigned forcibly a specified in
84. PLSY instruction vum method Special Device The number of pulses output by PLSY DPLSY instruction The total number is increased by forward rotation pulses regardless of the setting of rotation direction because the PLSY DPLSY instruction outputs only forward rotation pulses The pulse range is 2147483647 to 2147483647 llSpecial Device Number of pulses output by PLSY SD8140 SD8141 SD8142 SD8143 instruction R W Read Write Items related to OPR The following lists the items related to the OPR Page 20 Mechanical OPR Page 71 Mechanical OPR For the input interrupt function refer to LAUser s manual Application 3 abled Disabled Seeing method High Speed I O Parameter Specify whether to use the OPR When 0 Invalid is selected ORP related parameters cannot be set When 1 Valid is selected OPR related parameters can be set gt Setting metod High Speed I O Parameter Special Device Specify the direction when OPR is started Reverse Reverse Forward Forward rotation limit 2 rotation limit 1 rotation limit 1 rotation limit 2 Servo amplifier side CPU module side CPU iiu side Servo amplifier side LSR LSF Servo motor x r E EX Operation in reverse rotation direction gt Operation in forward rotation direction llHigh Speed I O Parameter When 0 Negative Direction Address Decrement Direction is selected OPR starts in the direction in which address decreases When 1
85. Positive Direction Address Increment Direction is selected OPR starts in the direction in which address increases llSpecial Device OPR direction specification SM5804 SM5805 SM5806 SM5807 R W Read Write OPR direction specification is turned off OPR starts in the direction in which address decreases OPR direction specification is turned on OPR starts in the direction in which address increases Sta ting y Point Address gt Setting method High Speed I O Parameter Special Device Set the origin address for OPR The user unit is set by unit setting and the value indicated includes positioning data magnification Page 41 Unit Setting Page 43 Position Data Magnification The origin address range is 2147483648 to 42147483647 4 POSITIONING PARAMETER 4 2 Details of Parameters llSpecial Device R W Origin address SD5530 SD5531 SD5570 SD5571 SD5610 SD5611 SD5650 SD5651 R W Read Write When OPR is completed the same value as that in the device above is stored in the current address user unit and the current address pulse unit pP Setting method Operand Special Device Set the speed at OPR of the machine The user unit is set by unit setting L Page 41 Unit Setting The setting range is as follows Motor multiple system unit 1 pps to 200 Kpps Machine system unit 1 to 2147483647 Even within the setting range the following relation must be followed bias speed
86. RVI EN s1 s2 d1 d2 cian euet OMM llDescription range data type DRVI e FX5 operand s1 Word device number storing the positioning address or 32768 to 32767 16 bit signed binary ANY 16 data User system unit s2 Word device number storing command speed or data 1 to 65535 16 bit unsigned binary ANY16 User system unit d1 Axis number from which pulses are output K1 to 4 16 bit unsigned binary ANY ELEMENTARY WORD d2 Bit device number of the instruction execution complete Bit ANY BOOL flag and abnormal end flag e FX3 compatible operand s1 Word device number storing the positioning address or 32768 to 32767 16 bit signed binary ANY 16 data User system unit s2 Word device number storing command speed or data 1 to 65535 16 bit unsigned binary ANY16 User system unit d1 Output bit device number Y from which pulses are output Bit ANY_ELEMENTARY BOOL d2 Bit device number from which rotation direction is output Bit ANY_BOOL 1 The positioning address can be changed during positioning operation Page 31 Positioning address change during positioning operation 2 Command speed can be changed during positioning operation L Page 32 Command speed change during positioning operation 5 POSITIONING INSTRUCTION 5 4 Relative Positioning 79 80 llDescription range data type DDRVI e FX5 operand s1 Word device number storing the positioning address or 2147483648 to 21474836
87. Read only When the pulse output monitor is on do not execute another positioning instruction that uses the corresponding axis Do not write to the pulse output monitor using a transfer instruction This may change the value and cause abnormal monitoring 4 POSITIONING PARAMETER 4 2 Details of Parameters ositioni ruction activation Use positioning instruction activation to check whether or not a positioning instruction is being executed Even if no pulse is output this flag is on while the instruction is being driven Even after the drive contact of the positioning instruction is turned off this flag remains on until the pulse output is stopped Use this flag to prevent simultaneous activation of two or more positioning instructions for the same axis llSpecial Device Positioning instruction activation SM5500 SM5501 SM5502 SM5503 SM8348 SM8358 SM8368 SM8378 R Read only Precauions Do not write to the pulse output monitor using a transfer instruction This may change the value and cause abnormal monitoring g error occurrence XM m o u man A NM er ositioning error gt Setting method Special Device Use the positioning error occurrence to check whether or not an error specific to the positioning instruction occurs This flag turns on when an error specific to the positioning instruction occurs llSpecial Device Positioning error occurrence SM5532 SM5533 SM5
88. S Page 61 Special registers FX5 dedicated SD5500 SD5501 SD5502 SD5503 SD5504 SD5505 SD5506 SD5508 SD5509 SD5510 SD5511 SD5516 SD5517 SD5518 SD5519 SD5520 SD5521 SD5526 SD5527 SD5528 SD5529 SD5530 SD5531 SD5532 SD5533 SD5540 SD5580 SD5620 Current address user unit x R W Page 47 SD5541 SD5581 SD5621 SD5542 SD5582 SD5622 Current address pulse unit x R W Page 47 SD5543 SD5583 SD5623 SD5544 SD5584 SD5624 Current speed user unit X Page 44 SD5545 SD5585 SD5625 SD5546 SD5586 SD5626 Positioning execution table number KR Page 60 SD5548 SD5588 SD5628 Current speed composite speed X Page 59 SD5549 SD5589 SD5629 SD5550 SD5590 SD5630 Positioning error error code RAN Page 61 SD5551 SD5591 SD5631 Positioning error error occurrence table No R W Page 60 SD5556 SD5596 SD5636 Maximum speed R W Page 44 SD5557 SD5597 SD5637 SD5558 SD5598 SD5638 Bias speed R W Page 45 SD5559 SD5599 SD5639 SD5560 SD5600 SD5640 Acceleration time eo R W Page 45 SD5561 SD5601 SD5641 Deceleration time RU R W Page 45 SD5566 SD5606 SD5646 OPR speed x R W Page 53 SD5567 SD5607 SD5647 SD5568 SD5608 SD5648 Creep speed X RAN Page 53 SD5569 SD5609 SD5649 SD5570 SD5610 SD5650 Origin address R W Page 52 SD5571 SD5611 SD5651 SD5572 SD5612 SD5652 OPR zero signal counts LEE R W Page 56 SD5573 SD5613 SD5653 OPR dwell time B R W Page 54 R Read on
89. SD5516 SD5556 SD5596 SD5636 Maximum speed R W Page 44 SD5517 SD5557 SD5597 SD5637 SD5518 SD5558 SD5598 SD5638 Bias speed R W Page 45 SD5519 SD5559 SD5599 SD5639 SD5520 SD5560 SD5600 SD5640 de d od Acceleration time SD5521 SD5561 SD5601 SD5641 Si e es Deceleration time R Read only R W Read write O Supported X Not supported 1 Writing can be performed only by the HCMOV DHCMOwV instruction R W Page 45 R W Page 45 5 POSITIONING INSTRUCTION 5 6 Interrupt 1 Speed Positioning 95 96 Outline of operation For each speed refer to K Page 43 Items related to speed Drive contact DVIT DDVIT d1 d2 Speed Acceleration Deceleration time time l Command speed s2 Bias speed Bias speed Drive contact l Time l Interrupt input signal 1 Instruction execution complete flag SM8029 Instruction execution 9 7 complete flag d2 2 1 When FX5 operand is specified 2 Remains on until it is turned off by program or engineering tool or the positioning instruction is next driven again Basic operation The following describes the basic operation 1 After the drive contact is turned on pulse output is started and the speed is increased from the bias speed 2 After the speed has reached the specified speed the operation will be performed in the specified speed 3 From the point at which the interrupt input signal 1 is detecte
90. SM5645 SM5646 SM5647 Pulse decelerate and stop x R W Page 49 command R Read only R W Read write X Not supported 5 POSITIONING INSTRUCTION 5 2 Pulse Y Output 67 68 E D8136 SD8137 Total number of pulses x R W Page 51 output from axis 1 and axis 2 SD8140 SD8142 The number of pulse by X RAN Page 52 SD8141 SD8143 PLSY instruction SD5500 SD5540 SD5580 SD5620 Current address user unit X R W Page 47 SD5501 SD5541 SD5581 SD5621 SD5502 SD5542 SD5582 SD5622 SD8340 SD8350 SD8360 SD8370 Current address pulse unit Xx R W Page 47 SD5503 SD5543 SD5583 SD5623 SD8341 SD8351 SD8361 SD8371 SD5504 SD5544 SD5584 SD5624 Current speed user unit Page 44 SD5505 SD5545 SD5585 SD5625 SD5510 SD5550 D5590 D5630 sose qe i o o Positioning error error code error error Positioning error error code R Page 61 R Read only R W Read write X Not supported 1 Writing can be performed only by the HCMOV DHCMOV instruction Outline of operation For each speed refer to K Page 43 Items related to speed Drive contact Positioning address n l Drive l contact Instruction execution complete flag SM8029 Lu a ge a TE B id E ux VASE Nw The following describes the basic operation 1 After the drive contact is turned on pulse output is started in command speed 2 After reached the positioning addres
91. Thus dwell time is not measured and tables are not switched When the drive contact of the table operation instruction is on changing the command speed restarts pulse output lated devices Other than the following the related devices are the same as those of the PLSV DPLSV instruction SD5506 SD5511 Page 60 Page 60 SD5546 SD5586 SD5626 Positioning execution table number IX R SD5551 SD5591 SD5631 Positioning error error occurrence table No R Read only R W Read write X Not supported 6 TABLE OPERATION 141 6 2 Operations of Control Method complete flags The following describes the operation timings of the complete flags If dwell time is specified the flag turns on after the dwell time elapses ON Deceleration stop with the From when the following operation or Deceleration stop by drive From when the following operation or condition pulse decelerate and stop function is completed to when the drive contact off or pulse function is completed to when the ON gt command contact is turned off decelerate and stop OFF condition is met The axis is already used command The axis is already used Pulse output stop command Pulse output stop command Limit of the moving direction Limit of the moving direction All outputs disabled SM8034 All outputs disabled SM8034 Write during RUN Write during RUN A table that cannot be combined is A table that
92. Transition Variable Speed Operation the operation decelerates and stops When the drive contact of the table operation instruction is on the operation can be restarted when the command speed is set again 3 POSITIONING CONTROL FUNCTION 2 3 3 Positioning Control 5 26 Variable speed operation Acceleration is started at the bias speed when pulses are output by the positioning instruction After the speed has reached the specified speed the operation will be performed in the specified speed When the command speed is changed the operation can change the speed to the specified speed When the drive contact of the positioning instruction turns off the operation decelerates and stops The pulse output at the command speed is not stopped unless the instruction drive contact is turned off When setting O for the acceleration time and the deceleration time speed change will be performed without the acceleration deceleration operation IBI With acceleration deceleration operation lI Without acceleration deceleration 0 is set to the acceleration time and the deceleration time Acceleration Deceleration time time Maximum speed l Maximum speed Command l Bias speed Bias speed speed l iai Stop Current position Stop position iti position Instruction E position Instruction P drive drive l contact contact The following table shows applicable positioning instructions and
93. VI DDRVI instruction SD5506 SD5511 Page 60 Page 60 SD5546 SD5586 SD5626 Positioning execution table number IX R SD5551 SD5591 SD5631 Positioning error error occurrence table No R Read only R W Read write X Not supported 6 TABLE OPERATION 14 6 2 Operations of Control Method 5 ion of the complete flags The following describes the operation timings of the complete flags If dwell time is specified the flag turns on after the dwell time elapses ON From when pulse output of From when the following operation or From when pulse output of From when the following operation or condition the specified positioning function is completed to when the drive the specified positioning function is completed to when the ON gt address is completed or contact is turned off address is completed or OFF condition is met when deceleration stop is The axis is already used when deceleration stop is The axis is already used started by an interrupt Pulse output stop command started by an interrupt The drive contact is turned off during input to when the drive Pulse decelerate and stop command input to when the ON gt positioning operation contact is turned off Limit of the moving direction OFF condition is met Pulse output stop command All outputs disabled SM8034 Pulse decelerate and stop command Write during RUN Limit of the moving direction Positioning address
94. When the output mode is CW CCW specify the CCW axis When the output mode is PULSE SIGN only the SIGN output of the axis or general purpose output can be specified This instruction executes one speed interrupt constant quantity feed From the point at which an interrupt input is detected operation to the specified positioning address is performed at the specified speed 5 POSITIONING INSTRUCTION 5 6 Interrupt 1 Speed Positioning Related devices The following lists the related special devices SM8029 Instruction execution x Page 62 complete flag SM8329 Instruction execution x abnormal end flag SM5500 SM5501 SM5502 SM5503 SM8348 SM8358 SM8368 SM8378 Positioning instruction I Page 61 activation SM5644 SM5645 SM5646 SM5647 Pulse decelerate and stop X R W Page 49 command SM5660 SM5661 SM5662 SM5663 qe e dq Forward limit RW Page 50 SM5772 SM5773 SM5774 SM5775 dem e J Rotation direction setting R W Page 40 R Read only R W Read write O Supported X Not supported SD5500 SD5540 SD5580 SD5620 Current address user unit X Rw Page 47 SD5501 SD5541 SD5581 SD5621 SD5502 SD5542 SD5582 SD5622 SD8340 SD8350 SD8360 SD8370 Current address pulse unit X R W Page 47 SD5503 SD5543 SD5583 SD5623 SD8341 SD8351 SD8361 SD8371 SD5504 SD5544 SD5584 SD5624 Current speed user unit X Page 44 SD5505 SD5545 SD5585 SD5625
95. addition this table can be specified for continuous operation gt Page 159 Precauions Other than the following the same as cautions for the DVIT DDVIT instruction apply Combinations other than the following cannot be used during continuous operation Control method 3 Interrupt 1 Speed Positioning 5 Table Transition Variable Speed Operation 3 Interrupt 1 Speed Positioning Control method 3 Interrupt 1 Speed Positioning must be specified to the first or second table If control method 3 Interrupt 1 Speed Positioning is specified to the second table only control method 5 Table Transition Variable Speed Operation can be specified to the first table Other than the following the related devices are the same as those of the DVIT DDVIT instruction SD5506 SD5511 R Read only R W Read write X Not supported mplete flags The following describes the operation timings of the complete flags SD5546 SD5586 SD5626 Positioning execution table number IX TR SD5551 SD5591 SD5631 Positioning error error occurrence table No RAN Page 60 If dwell time is specified the flag turns on after the dwell time elapses ON condition From when pulse output of the specified positioning address is completed to when the drive contact is turned off contact is turned off The axis is already used Write during RUN Positioning addres
96. anged in the case of continuous operation The changed value is applied when the positioning instruction is executed at the next scan The following table shows applicable positioning instructions and control methods of the table operation Positioning instruction Table operation control method Pulse Y output PLSY DPLSY instruction 1 1 Speed Positioning Relative Address Specification 2 1 Speed Positioning Absolute Address Specification 3 Interrupt 1 Speed Positioning Absolute positioning DRVA DDRVA instruction 6 Interrupt Stop Relative Address Specification Interrupt 1 speed positioning DVIT DDVIT instruction e 7 Interrupt Stop Absolute Address Specification Table operation TBL DRVTBL DRVMUL instruction Relative positioning DRVI DDRVI instruction 1 Achange in the positioning address after the interrupt input signal 1 is detected is applied when the positioning instruction is next driven again Precautions The current address at start of a positioning instruction is used as the basis thus positioning operation is performed with the current address at startup as the basis even when the positioning address is changed during positioning operation The PLSY DPLSY instruction is stopped immediately when set to a value equal to or less than the number of pulses that have been already output If the positioning address is changed to a value that reverses the current rotation direction the rotation direc
97. arameter Special Device Set the time until the completion flag for the DSZR DDSZR instruction is turned on when OPR is completed The setting range for the OPR dwell time is O to 32767 ms llSpecial Device OPR dwell time SD5533 SD5573 SD5613 SD5653 R W Read Write 4 POSITIONING PARAMETER 4 2 Details of Parameters Near point Dog Signal Specify the near point dog signal to be used in OPR llDevice No pP Setting method High Speed I O Parameter Operand The near point dog signal does not occupy the input interrupt function and its edge is detected with a 1 ms interrupt As long as in the same axis the near point dog signal can be set in the device to which the zero signal has already been set llHigh Speed I O Parameter The available input devices are XO to X17 llOperand Positioning Instruction In the case of FX3 compatible operand DSZR DDSZR instruction can set device for near point dog signal DSZR s1 X Y M L SM F B Page 71 n j e Input devices X cannot be used when eight channels of the input interrupt function are already occupied However Instruction Mechanical OPR Precautions overlap of input numbers is allowed for input interruptions e When specifying an input device X as an operand use the device assigned in high speed I O parameter MiLogic gt Setting method High Speed I O Parameter Specify the logic of the near point dog signal When 0 Positive Logic is selected
98. are Abbreviation of MELSEC iQ F FX5 User s Manual Application Abbreviation of MELSEC iQ F FX5 Programming Manual Program Design Abbreviation of MELSEC iQ F FX5 Programming Manual Instructions Standard Functions Function Blocks Generic term for MELSEC iQ F FX5 User s Manual Serial Communication MELSEC iQ F FX5 User s Manual MODBUS Communication MELSEC iQ F FX5 User s Manual Ethernet Communication and MELSEC iQ F FX5 User s Manual SLMP Abbreviation of MELSEC iQ F FX5 User s Manual Serial Communication Abbreviation of MELSEC iQ F FX5 User s Manual MODBUS Communication Abbreviation of MELSEC iQ F FX5 User s Manual Ethernet Communication Abbreviation of MELSEC iQ F FX5 User s Manual SLMP Abbreviation of MELSEC iQ F FX5 User s Manual Positioning Control Abbreviation of MELSEC iQ F FX5 User s Manual Analog Control Abbreviation for origin point return Generic term for the table operation TBL instruction the multiple table operation DRVTBL instruction and the multiple axis table operation DRVMUL instruction Generic term for user specified complete flags and FX3 compatible device flags that are turned on at normal abnormal completion of the positioning instruction 1 OUTLINE The FX5 PLCs transistor output can perform positioning control by outputting pulse signals to servo motors or stepping motors Increase the pulse frequency to increase the motor speed Increase the number of pulses to increase the numb
99. ation llli 146 Genre in r Err 148 Interpolation Operation Relative Address Specification llli 149 Interpolation Operation Relative Address Specification Target Axis 0 0 00 eee 152 Interpolation Operation Absolute Address Specification 2 n nanana aaa aaa a 153 Interpolation Operation Absolute Address Specification Target Axis 0 0 0 00 eee ee eee 156 6 3 How to Execute Multiple Tables a ud onc oe dee an ERR QEON 6 0 8 ear e OR CD de Ware E CO Ca e c a ae 157 Stepping operation lllllllleee Rana 157 Continuous Op ration 24425584 R E rtt hes oe oe grep Wacker ee dee Sos UA ict Eg B eee tee deeds At 159 CHAPTER7 PROGRAMMING 161 7 1 Table Operation Instruction 2 420 4 2o2460084604422 en 4000 bobs 84 heh eR iR Rios E ndm EUR 161 7 2 Cautions for Program Creation 0 0c ehh rn 161 7 3 EXS compatible SM SD 6223 0ccecncennets nde tecansd bee eee ote 8 i 8 8 eun a db be ReR 3 8 ee aee se ws 163 7 4 List of Related Devices 4 34465 Sx REEF dies eae ee ck oe iR See eee ee re de des eee t 164 Special felaysS s seeun bos wwe be de ha V eq een Ud RS oe ob Gna bee hE ood bed dati dug hd ee ew db dat be 164 Special registers 0 eee 165 CHAPTER 8 TROUBLESHOOTING 166 8 1 LED Status during Pulse Output and Rotation Direction Output 0 nananana nannan 166 8 2 dint dq ceTPPC TP r rr 167 8 3 Servo Motor St
100. ation speed of 6 cm min pulses are output as follows Number of pulses to be generated Transfer distance Transfer distance per rotation x Number of pulses per rotation 100 um 100 um REV x 4000 pulse REV 4000 pulse Pulse frequency Operation speed Transfer distance per rotation x Number of pulses per rotation 6 cm min x 10 60 100 um REV x 4000 pulse REV 40000 pps 1 Adjust the units at calculation 1 cm 10 um 1 min 60 s BI When set in 10 inch In the positioning operation with transfer distance of 100 x 104 inch and operation speed of 6 inch min pulses are output as follows Number of pulses to be generated Transfer distance Transfer distance per rotation x Number of pulses per rotation 100 x 10 inch 100 x 10 inch REV x 4000 pulse REV 4000 pulse Operation speed Transfer distance per rotation x Number of pulses per Pulse frequency rotation 6 inch min x 104 60 100 x 10 inch REV x 4000 pulse REV 40000 pps 2 Adjust the units at calculation 1 min 60 s i When set in mdeg In the positioning operation with transfer distance of 100 mdeg and operation speed of 6 deg min pulses are output as follows Number of pulses to be generated Transfer distance Transfer distance per rotation x Number of pulses per rotation 100 mdeg 100 mdeg REV x 4000 pulse REV 4000 pulse Operation speed Transfer distance per rotation x Number of puls
101. aximum speed When command speed is faster than the maximum speed the maximum speed is applied When positioning instruction start if bias speed is faster than command speed the bias speed is applied llOperand MOperand Positioning Instruction Instruction instruction CONNECTION Pulse Y output i PLSY 0 to 65535 Page 66 DPLSY 0 to 2147483647 Relative positioning DRVI s2 1 to 65535 Page 79 Sen en en en DDRVI 1 to 2147483647 Absolute positioning DRVA s2 1 to 65535 Page 86 DDRVA 1 to 2147483647 Interrupt 1 speed DVIT s2 1 to 65535 Page 93 ositionin en ea en n DDVIT 1 to 2147483647 4 POSITIONING PARAMETER 4 4 2 Details of Parameters 3 44 Variable speed operation PLSV s 327668 to 1 Page 101 1 to 32767 p at 2 DPLSV 2147483648 to 1 1 to 2147483647 llOperand Table operation control method 1 1 Speed Positioning Relative Address Specification Operand 2 1 to 2147483647 Page 137 When the positioning Page 138 table data is set to 2 1 Speed Positioning Absolute Address Specification 3 Interrupt 1 Speed Positioning sddevine v ead Page 139 4 Variable Speed Operation device 2 3 2147483648 to 2147483647 Page 141 5 Table Transition Variable Speed Operation Page 142 6 Interrupt Stop Relative Address Specification 1 to 2147483647 Page 144 7 Interrupt Stop Absolute Address Specification Page 146 20 Interpolation Operation Relativ
102. axis When the output mode is PULSE SIGN only the SIGN output of the axis or general purpose output can be specified Q This instruction outputs variable speed pulses with an assigned rotation direction output Related devices The following lists the related special devices SM8029 Instruction execution Page 62 complete flag SM8329 Instruction execution abnormal end flag SM5500 SM5501 SM5502 SM5503 SM8348 SM8358 SM8368 SM8378 Positioning instruction er Page 61 activation SM5628 M5629 M5630 M5631 Pulse output stop command Pulse output stop command stop command RIW Page 48 SM5644 Ed E _ decelerate and stop Page 49 command SM5660 SM5661 SM5662 SM5663 e e ooo Forward limit CR LM Page 50 SM5772 SM5773 SM5774 SM5775 e J Js Rotation direction setting o Ca Page 40 R Read only R W Read write O Supported X Not supported 102 5 POSITIONING INSTRUCTION 5 7 Variable Speed Operation Special registers SD5500 SD5501 SD5502 SD5503 SD5504 SD5505 SD5510 SD5516 SD5517 SD5518 SD5519 SD5520 SD5521 Positioning error error code error error Positioning error error code Acceleration time time 1 Writing can be performed only by the HCMOV DHCMOV instruction Outline of operation For each speed refer to K Page 43 Items related to speed Drive contact PLSV DPLSV d1 d2 Command
103. can be used as general purpose output or PWM output For PWM output refer to LAUser s manual Application BPULSE CW PULSE output in PULSE SIGN mode or CW output in CW CCW mode is selected For the CW CCW mode this parameter does not need to be set for CW because the axis number and output device Y that executes outputs are fixed BSIGN CCW SIGN output in PULSE SIGN mode or CCW output in CW CCW mode is selected For the CW CCW mode this parameter does not need to be set for CCW because the axis number and output device Y that executes outputs are fixed Rotation Direction Setting pP Setting method High Speed I O Parameter Special Device Set the relationship between motor rotation direction and increase or decrease of the current address llHigh Speed I O Parameter When 0 Current Address Increment with Forward Run Pulse Output is selected the current address increases when forward pulses are output and decreases when reverse pulses are output When 1 Current Address Increment with Reverse Run Pulse Output is selected the current address increases when reverse pulses are output and decreases when forward pulses are output llSpecial Device Name FX5 dedicated R W Rotation direction setting SM5772 SM5773 SM5774 SM5775 R W R W Read Write When rotation direction setting is turned off The current address increases when forward pulses are output and decreases when reverse pulses are output When rotatio
104. cause the setting of rotation direction is disabled due to the absence of direction e When the output mode is CW CCW mode output is always performed from the device set to CW f reverse limit is used it operates as forward limit Items related to speed e f the command speed is set to 0 when the instruction is activated the operation ends with an error e f the command speed is changed to 0 during operation the operation does not end with errors but it immediately stops As long as the drive contact is on changing the command speed restarts pulse output The acceleration time and deceleration time are disabled because acceleration and deceleration are not performed he bias speed is disabled because the speed is changed immediately Positioning address e f the positioning address is O when the instruction is activated unlimited pulses are output e When unlimited pulses are being output the operation ends normally if the pulse decelerate and stop command is turned on The operation ends with an error if the positioning address is changed to a value smaller than the number of pulses that have been output or a value outside the range during positioning operation The positioning address becomes invalid if it is changed from 0 to a value other than O or from a value other than 0 to O during positioning operation Precautions When unlimited pulses are not being output set the number of output pulses per PLSY DPLSY instructio
105. ch is specified in operand 4 linear interpolation positioning is performed gt Page 152 The transfer distance of the operation is the distance from the current stop position start address to the positioning addresses specified in operand 1 of the reference axis and the counterpart axis For the counterpart axis specified in operand 1 21 Interpolation Operation Relative Address Specification Target Axis is assigned as the control method in the same table number as that for the reference axis If dwell time is set the complete flag turns on after the dwell time elapses Page 62 This table cannot be specified for continuous operation Forward direction counterpart axis Stop address Positioning address reference axis positioning address counterpart axis Start address Stop position Transfer distance of the counterpart axis Operand 1 Moves at the interpolation speed Forward direction reference axis Reverse direction reference axis Transfer distance of the reference axis Operand 1 Reverse direction counterpart axis 1 The calculation method differs depending on the specification method for the interpolation speed Page 59 Interpolation Speed Specified Method Precautions This table cannot be specified for continuous operation When a table with this control method is executed in continuous operation the operation is decelerated to a stop e When the spec
106. configure an external safety circuit such as a fuse WIRING PRECAUTIONS NWARNING Make sure to cut off all phases of the power supply externally before attempting installation or wiring work Failure to do so may cause electric shock or damage to the product Make sure to attach the terminal cover provided as an accessory before turning on the power or initiating operation after installation or wiring work Failure to do so may cause electric shock The temperature rating of the cable should be 80 C or more Make sure to wire the screw terminal block in accordance with the following precautions Failure to do so may cause electric shock equipment failures a short circuit wire breakage malfunctions or damage to the product The disposal size of the cable end should follow the dimensions described in the User s Manual Hardware Tightening torque should follow the specifications in the manual Tighten the screws using a Phillips head screwdriver No 2 shaft diameter 6mm 0 24 or less Make sure that the screwdriver does not touch the partition part of the terminal block Make sure to properly wire to the terminal block European type in accordance with the following precautions Failure to do so may cause electric shock equipment failures a short circuit wire breakage malfunctions or damage to the product The disposal size of the cable end should follow the dimensions described in the User s Manual Hardwar
107. control axes Independent 4 axes Pulse can be output from general purpose outputs of the CPU module axis1 YO axis2 Y1 axis3 Y2 and axis4 Y3 Pulse output form Transistor Maximum frequency 2147483647 200 Kpps in pulses Positioning program Created in sequence program Table operation can be set in GX Works3 When the positioning table data set to use device 100 data points axis When the positioning table data is set to do not use device 32 data points axis Position data 1 point set in sequence program Positioning PULSE SIGN mode CW CCW mode Positioning Control unit Motor system machine system multiple system range Number of pulses per rotation 0 to 2147483647 Travel distance per rotation 1 to 2147483647 Positioning data magnification 1 10 100 1000 times Positioning range 2147483648 to 2147483647 motor mechanical multiple unit system Speed Speed command unit Determined by the set unit system command Bias speed 0 to 200 Kpps motor multiple unit system 0 to 2147483647 machine unit system Maximum speed 1 pps to 200 Kpps motor multiple unit system 1 to 2147483647 machine unit system OPR speed 1 pps to 200 Kpps motor multiple unit system 1 to 2147483647 machine unit system Creep speed 1 pps to 200 Kpps motor multiple unit system 1 to 2147483647 machine unit system Acceleration time O to 32767 ms Deceleration time 0 to 32767 ms Acceleration deceleration process Trapezoidal accele
108. control methods of the table operation Positioning instruction Table operation control method Variable speed operation PLSV DPLSV instruction 4 Variable Speed Operation Table operation TBL DRVTBL DRVMUDL instruction Precautions When O is set for the command speed the operation decelerates and stops when 0 is set for the deceleration time the operation stops immediately When the drive contact of the positioning instruction is on the operation can be restarted when the command speed is set again Table operation A positioning control program can be set with the table set in GX Works3 The specified table operation is started by the table operation instruction The TBL instruction performs the operation of a single table the DRVTBL performs the stepping operation and continuous operation of multiple tables and the DRVMUL instruction can handle tables of multiple axes continuous operation possible L Page 157 Stepping operation Page 159 Continuous operation For details of the table operation refer to Page 134 TABLE OPERATION om Interrupt Jump M No NO Device Control Method ER b 5 pores ku Si CLE Input Signal 2 Destination for Jump FI polelte de fees pee ime Device No Table No Condition 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 0 ms E o qi 0 10 D154 3 Interrupt 1 Speed Positioning Axis 2 Specification 2000 pulse 20000 pps 3 POSITIONING CONTROL FUNCTION 3 3 Positioning C
109. ct this line to the CPU module I O module are used in the connection example Inputs and outputs built into the CPU module are available in place of I O module Set the command pulse input form of the servo amplifier PA13 MR J4LIA to 0210 negative logic forward rotation pulse train reverse rotation pulse train command input pulse train filter 500 kpps or less Refer to L gt Page 179 FX5UC CPU module Absolute position detection FX5U CPU module 1 2 178 MR J4LIA series CN1 serve amplifier Tai transfor mode yd IS Tas request OO ABS bit ABSBO a ABS bit1 r EDIT E Photocouple Be sure to use the class D grounding method grounding resistance 100 Q or less To ensure safety use the forward rotation limit switch and the reverse rotation limit switch on both sides the CPU module side and the servo amplifier side Note that the limit switches on the CPU module side should be activated slightly earlier than the limit switches on the servo amplifier side APPENDIX Appendix 1 MELSERVO J4 series FX5UC CPU module MR J4LJA series servo amplifier Lu Class D grounding Son transfer mode S ABS request ABS x NO NO NIN O T3 NE a 2 i d 57 9i Hole cL Q e s ABS bitO ABS bit1 Send data ready XxX X lt Se Nh 1 Be sure to use the class D grounding method grounding resistance 100 Q or less
110. ctions Performance Input Specifications Output Specifications K Page 14 SPECIFICATIONS Control function Auxiliary function For servo amplifier specifications refer to LAthe manual for each servo amplifier K Page 19 POSITIONING CONTROL FUNCTION 2 System configuration and unit selection Refer to LAthe manual for each servo amplifier 3 Wiring Refer to LAthe manual for each servo amplifier 4 Setting of parameters Parameter settings in GX Works3 Setting method Details of parameters K Page 35 POSITIONING PARAMETER Setting method Control method K Page 134 TABLE OPERATION 5 Programming Creating programs in GX Works3 Details of each positioning instruction K Page 64 POSITIONING INSTRUCTION Common items of positioning instruction Cautions for program creation Ks Page 161 PROGRAMMING 1 For details on connecting procedures to a CPU module and operating procedures of GX Works3 refer to LAGX Works3 Operating Manual 1 OUTLINE 1 1 3 Setup Procedure for Positioning Control 3 2 SPECIFICATIONS For general specifications and power supply refer to the following manual LAFX5U User s manual Hardware LLIFX5UC User s manual Hardware 2 1 Performance Specifications The following list shows performance specifications of the positioning function For details on each positioning parameter and setting procedures refer to Page 35 POSITIONING PARAMETER Item Description Number of
111. d operation for the specified positioning address is performed Page 48 Interrupt Input Signal 1 4 Deceleration starts from near the target position 5 Atthe specified positioning address pulse output is stopped Operand specification MWhen FX5 operand is specified 1 For s1 specify the positioning address after the interrupt input signal 1 is detected Page 46 Positioning address Set to a value 2147483647 to 2147483647 in pulse DVIT 32768 to 32767 User system unit DDVIT 2147483648 to 42147483647 User system unit 2 For s2 specify the command speed Set to a value 1 pps to 200 Kpps in pulse DVIT 1 to 65535 User system unit DDVIT 1t02147483647 User system unit 3 For d1 specify an axis number K1 to K4 for which pulses are output Specify an axis number whose positioning parameters are set in the high speed I O parameters Operation cannot be performed if any other axis number is specified 5 POSITIONING INSTRUCTION 5 6 Interrupt 1 Speed Positioning 4 For d2 specify the bit devices of the instruction execution complete flag and abnormal end flag Page 62 Complete flag d2 Instruction execution complete flag d2 1 Instruction execution abnormal end flag When the FX3 compatible operand is specified 1 2 3 For s1 specify the positioning address after the interrupt input signal 1 is detected Set to a value 2147483647 to 2147483647 in pulse DRVA
112. ddress 5 POSITIONING INSTRUCTION 9 9 Absolute Positioning 87 88 Related devices The following lists the related special devices SM8029 Instruction execution x Page 62 complete flag SM8329 Instruction execution x abnormal end flag SM5500 SM5501 SM5502 SM5503 SM8348 SM8358 SM8368 SM8378 Positioning instruction ae Page 61 activation SM5628 SM5629 SM5630 SM5631 Pulse output stop command Pulse output stop command stop command RIW Page 48 SM5644 E E EN e decelerate and stop Page 49 command SM5660 SM5661 SM5662 SM5663 qe qe dq Forward limit NN a Page 50 SM5772 SM5773 SM5774 SM5775 e o e e J Rotation direction setting 5 Cal Page 40 R Read only R W Read write O Supported X Not supported SD5500 SD5540 SD5580 SD5620 Current address user unit X RW Page 47 SD5501 SD5541 SD5581 SD5621 SD5502 SD5542 SD5582 SD5622 SD8340 SD8350 SD8360 SD8370 Current address pulse unit x R W Page 47 SD5503 SD5543 SD5583 SD5623 SD8341 SD8351 SD8361 SD8371 SD5504 SD5544 SD5584 SD5624 Current speed user unit Page 44 SD5505 SD5545 SD5585 SD5625 SD5510 SD5550 SD5590 D5630 Positioning error error code error error code RIW Page 61 SD5516 Ed Ead a BL speed LE 44 SD5517 SD5557 SD5597 SD5637 SD5518 SD5558 SD5598 SD5638 Bias speed Page 45 SD5519 SD5559 SD55
113. ddress Increment with Reverse Run Pulse Output 0 Current Address Increment with Forward Run Pulse Output 0 Current Address Increment with Forward Run Pulse Output Unit Setting 0 Motor System pulse pps 1 Machine System um cm min 0 Motor System pulse pps 2 Machine System 0 000 linch inch min Pulse No of per Rotation 2000 pulse 3000 pulse 2000 pulse 2008 pulse Movement Amount per Rotation 1000 pulse 20000 um MOOD pulse i000 X 00001 inch Position Data Magnification 1 X Single 1 X Single MX Sinse 10 X 10 Times t Basic Parameter 2 Set basic parameter 2 en Interpolation Speed Specified Method 1 Reference Axis Speed 0 Composite Speed 0 Composite Speed GD 0 Composite Speed Max Speed 120000 pps 200000 cm min M0080 pps aaa 80000 inch min e Bias Speed 1500 pps 1800 cm min Opps 00 1000 inch min Acceleration Time 1000 ms 1000 ms W mS oU 1000 ms Deceleration Time 100 ms 100 ms dms 00 0000 100 ms Detailed Setting Parameter Set the detailed setting parameter External Start Signal Enable Disable 1 Valid 0 Invalid valid Valid terrupt put Sienal 1 Device No Olli gt yn x0 xe Positive Losie Positve Logie 9 Peste Loti t Positive Lge Nettie Logic neter orai nad 0 Positive Logic 1 Valid 0 Negative Direction Address Decrement Direction 10000 um 1 Valid 1 Negative Logic x5 1 Negative Logic 1 Zero Signal Count Start Time 0 Near point
114. details on the table setting method and others refer to K Page 134 TABLE OPERATION 108 5 POSITIONING INSTRUCTION 5 8 Single table Operation Related devices The following lists the related special devices The devices other than the following depend on the table control method FX5 dedicated High Speed I O Reference nm anes SD5506 SD5546 SD5586 SD5626 Positioning execution table number IX RO Page 60 SD5511 SD5551 SD5591 SD5631 Positioning error error occurrence table No Page 60 R Read only R W Read write X Not supported Outline of operation Drive contact Operand specification MWhen FX5 operand is specified 1 For d specify an axis number K1 to K4 for which pulses are output Specify an axis number whose positioning parameters are set in the high speed I O parameters Operation cannot be performed if any other axis number is specified 2 For n specify the table number 1 to 100 that is executed in the axis specified in d 1 1 to 32 when the positioning table data is not set to use device When the FX3 compatible operand is specified 1 For d specify the pulse output number in the range of YO to Y3 Specify an output device Y number equivalent to the axes 1 to 4 set in the high speed I O parameters Operation cannot be performed if any other axis number is specified 2 For n specify the table number 1 to 100 that is executed in the axis specified in d 1 1to 32 when
115. direction I O module are used in the connection example Inputs and outputs built into the CPU module are available in place of I O module Set the command pulse input form of the servo amplifier PA13 MR JNLIA to 211 negative logic signed pulse train command input pulse train filter 200 kpps or less APPENDIX Appendix 3 MELSERVO JN series FX5UC CPU module MR JNLIA series CN1 servo amplifier 4 Positioning NE INP Bis completed INP ETA Servo error ALM CN1 wofa a mes Hres Ng 2 Emergency stop Bi iii PIE rotation limit 2 2 PP QO Te ls ur Direction 13 Docom QUA X 3 p H Fo Servo ready RD OM M Immediate stop command OPR command JOG command JOG command Forward rotation positioning command Reverse rotation positioning command Forward rotation limit LSF Reverse rotation limit LSR Stop command APPENDIX 1 1 Appendix 3 MELSERVO JN series 9 2 3 4 Es 192 Be sure to use the class D grounding method grounding resistance 100 Q or less Near point signal DOG To ensure safety use the forward rotation limit switch and the reverse rotation limit switch on both sides the CPU module side and the servo amplifier side Note that the limit switches on the CPU module side should be activated slightly earlier than the limit switches on the servo amplifier side Reverse Reverse Forward Forward rotation limit 2 rotation limi
116. dule is transistor output For pulse output mode refer to L gt Page 39 Pulse Output Mode For DABS instruction refer to L gt Page 130 Absolute Position Detection System For input output of the CPU module assigned refer to the following KL Page 18 Assignment of output numbers KL Page 16 Input assignment For details of the I O module refer to the following manual LAFX5U User s manual Hardware LAFX5UC User s manual Hardware For details of the servo amplifier refer to LAthe manual for each servo amplifier 1 70 APPENDIX Appendix 1 MELSERVO J4 series PULSE SIGN mode FX5U CPU module MR J4L IA series 100V to 240V AC T servo amplifier n 24V DC E poco e 21 DICOM Class D grounding Zero speed 4 Positioning completed INP Torque being SARRE olal Bi j Photocoupler controlled A gt MT T e f v v ALM Servo error ALM CN1 15 Servo ON 9 Reset Servo ready RD C gt Immediate stop command OPR command JOG command JOG command Forward rotation positioning command Reverse rotation positioning command Forward rotation limit LSF Reverse rotation limit LSR Emergency stop 2 Forward rotation limit 2 Reverse rotation limit 2 OQ Slll z als 2 O 2 0 oz HE i 4 Connected to the CPU module if the DABS instruction CN1 is used FX5 16EX ES FX5 16EYT ES P
117. e Tightening torque should follow the specifications in the User s Manual Hardware Twist the ends of stranded wires and make sure that there are no loose wires Do not solder plate the electric wire ends Do not connect more than the specified number of wires or electric wires of unspecified size Affix the electric wires so that neither the terminal block nor the connected parts are directly stressed WIRING PRECAUTIONS NCAUTION Perform class D grounding grounding resistance 1000 or less to the grounding terminal on the CPU module with a wire 2 mm2 or thicker Do not use common grounding with heavy electrical systems refer to the User s Manual Hardware Connect the power supply to the dedicated terminals specified in the User s Manual Hardware Edition If an AC power supply is connected to a DC input output terminal or DC power supply terminal the PLC will burn out Do not wire vacant terminals externally Doing so may damage the product Install module so that excessive force will not be applied to terminal blocks power connectors or I O connectors Failure to do so may result in wire damage breakage or PLC failure Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to malfunction of the PLC caused by abnormal data written to the PLC due to the effects of noise Do not bundle the power line and input output cables together with or lay them clos
118. e Address Specification Page 149 22 Interpolation Operation Absolute Address Specification Page 153 1 When 0 is set for the command speed at start of a positioning instruction instruction ends with an error The command speed can be changed during operation lt Page 32 Command speed change during positioning operation d user unit This indicates the positioning operation speed The user unit is set by unit setting Page 41 Unit Setting The range is 0 to 2147483647 200 Kpps in pulse llSpecial Device Current speed user unit SD5504 SD5505 SD5544 SD5545 SD5584 SD5585 SD5624 SD5625 R Read only When the unit system is machine system unit the current speed can be calculated from the equation below Current speed machine system unit Actual output frequency x 60 x Pulse No of per Rotation Movement Amount per Rotation 104 Before being stored in the current speed the command speed in user unit is converted into pulse unit pps and then converted again into user unit Thus because of an error due to this calculation process a value that is lower than the command speed may be stored Set the upper limit maximum speed for command speed OPR speed and creep speed The user unit is set by unit setting Page 41 Unit Setting The setting range is as follows Motor multiple system unit 1 pps to 200 Kpps Machine system unit 1 to 2147483647 Even within the setting range each of th
119. e Reverse Forward Forward rotation limit 2 rotation limit 1 rotation limit 1 rotation limit 2 Servo amplifier side CPU module side CPU module side Servo amplifier side LSF Servo motor 7 F aa Operation in reverse rotation direction gt Operation in forward rotation direction To detect absolute positions connect this line to the CPU module I O module are used in the connection example Inputs and outputs built into the CPU module are available in place of I O module Set the command pulse input form of the servo amplifier PA13 MR J3LIA to 0010 negative logic forward rotation pulse train reverse rotation pulse train Refer to L Page 187 FX5U CPU module APPENDIX Appendix 2 MELSERVO J3 series 1 85 FX5UC CPU module MR J3LJA series CN4 servo amplifier MES L 24V DC peo EXEC ans Zero speed 4 Positioning EIR completed INP E Torque being EXER ger controlled ama Servo error ALM Servo ON Reset Emergency stop N UO O Ir Ir m O Z U O HE Forward rotation pulse train Reverse rotation 35 pulse train Clear signal mE Ai Plate Immediate stop command Ez OPR command JOG command JOG command X24 Forward rotation positioning command Reverse rotation positioning command X26 Forward rotation limit LSF Reverse rotation limit LSR Stop command Forward rotation limit 2 Reverse rotatio
120. e Speed Operation is performed Page 101 Variable Speed Operation Page 141 Variable Speed Operation If dwell time is set the complete flag turns on after the dwell time elapses Page 62 In addition this table can be specified for continuous operation Page 159 6 TABLE OPERATION 142 6 2 Operations of Control Method The following figure shows an example of an operation equivalent to interrupt 2 speed positioning combining control method 5 Table Transition Variable Speed Operation and control method 3 Interrupt 1 Speed Positioning l Control method of the table 2 3 Interrupt 1 Speed Positioning Control method of the table 1 5 Table Transition Variable Speed Operation l Drive contact of the table D Fr t T1rL operation instruction l Interrupt input signal 2 l l l Interrupt input signal 1 l Instruction execution i complete flag SM8029 C E E O l l User specified instruction 1 execution complete flag b l l l l 1 Remains on until it is turned off by program or engineering tool restarts the table operation instruction or until the next table is activated during the continuous operation Precautions Other than the following the operation is the same as that of the PLSV DPLSV instruction e f control method 0 No Positioning is set to the next table deceleration stop is performed to end the table operation by turning on the interrup
121. e following relations must be followed bias speed lt creep speed x OPR speed maximum speed for the DSZR DDSZR instruction and bias speed lt command speed lt maximum speed for the other instructions 4 POSITIONING PARAMETER 4 2 Details of Parameters llSpecial Device Maximum speed SD5516 SD5517 SD5556 SD5557 SD5596 SD5597 SD5636 SD5637 R W Read Write pP Setting method High Speed I O Parameter Special Device Set the lower limit bias speed for command speed OPR speed and creep speed The user unit is set by unit setting Page 41 Unit Setting The setting range is as follows Motor multiple system unit O to 200 Kpps Machine system unit O to 2147483647 Even within the setting range the following relation must be followed bias speed x command speed OPR speed lt maximum speed To control a stepping motor using each positioning instruction set the bias speed considering the resonance range and the self starting frequency of the stepping motor llSpecial Device Bias speed SD5518 SD5519 SD5558 SD5559 SD5598 SD5599 SD5638 SD5639 R W Read Write on Time p Setting method High Speed I O Parameter Special Device Set the time required for acceleration from the bias speed to the maximum speed The setting range of acceleration time is O to 32767 ms If command speed is slower than the maximum speed the actual acceleration time becomes shorter than the set time
122. e input response time and the scan time of the sequence program Secure 1 scan time or more from the rear end of the near point dog to turning ON of the zero signal Since the zero signal of the servo motor is used adjust the relation between the rear end of the near point dog and the zero signal as shown in the following figure If fine adjustment of the origin position is needed adjust the position of the near point dog lt Operation direction Rear end Forward end Longer than Near point DOG 1 scan time Zero signal qm Le Properly set the near point dog so that the near point dog can be kept at the ON status until the speed is reduced to the creep speed Deceleration to the creep speed starts at the front end of the near point dog the operation stops at the rear end of the near point dog or at detection of the first zero signal after the rear end of the near point dog and the current address is cleared If the speed is not reduced to the creep speed before detecting the rear end of the near point dog the operation may not be stopped at the specified position Use the near point dog between the reverse rotation limit 1 LSR and the forward rotation limit 1 LSF The intended operation may not be performed if the relationship among the near point dog reverse rotation limit 1 LSR and forward rotation limit 1 LSF is not as shown in the figure below Reverse Reverse Forward Forward rotation limit 2 rotation limit
123. e o mmo A Forced deceleration i stop by the pulse decelerate and stop command Command Maximum Remaining transfer amount Bias speed l Current position l l l Positioning l i address Pulse decelerate and stop command o o Si Remaining distance operation enabled Remaining distance operation start Complete flag The external start signal can start the remaining distance operation as well 3 POSITIONING CONTROL FUNCTION 3 4 Auxiliary Function 33 34 The following table shows applicable positioning instructions and control methods of the table operation Positioning instruction Table operation control method Relative positioning DRVI DDRVI instruction 1 1 speed positioning relative address specification 2 1 speed positioning absolute address specification 6 Interrupt stop relative address specification e 7 Interrupt stop absolute address specification Absolute positioning DRVA DDRVA instruction Table operation TBL DRVTBL DRVMUL instruction The following table lists operation of the remaining distance operation when positioning address and the command speed is changed while the operation is decelerated by the pulse decelerate and stop command Instruction control method Positioning address Command speed DRVI DDRVI instruction Applied when the positioning instruction is Applied when the remaining distance operation is 1 speed positioning relative addr
124. e output specified as the pulse output destination device LED indicator lamp of the output specified as the rotation direction output device Verify that the same pulse output method is being applied for both the PLC and the servo amplifier drive unit Page 39 Pulse Output Mode Check that the flag which stops the pulse is off L Page 64 Pulse output stop Check the operation timing of the positioning instruction Page 161 Positioning instruction activation timing 168 8 TROUBLESHOOTING 8 3 Servo Motor Stepping Motor 8 4 Stop Position If operation is stopped at the wrong position check the following items 1 Check whether the electronic gear of the servo amplifier drive unit is set properly Page 41 Unit Setting 2 Check whether the origin is set properly a Properly set the near point dog so that the near point dog signal can be kept in the ON status until the speed is reduced to the creep speed K Page 55 Near point Dog Signal Page 53 Creep speed The DSZR DDSZR instruction starts deceleration to the creep speed at the front end of the near point dog the operation stops at the rear end of the near point dog or at detection of the first zero signal after the rear end of the near point dog and the current address is cleared Page 71 Mechanical OPR b The creep speed should be sufficiently slow The DSZR DDSZR instruction will not reduce the speed before stopping For this reason if the creep speed i
125. e rotation and an interlock circuit to prevent damage to the equipment at the upper and lower positioning limits Note that when the CPU module detects an error such as a watchdog timer error during self diagnosis all outputs are turned off Also when an error that cannot be detected by the CPU module occurs in an input output control block output control may be disabled External circuits and mechanisms should be designed to ensure safe machine operation in such a case Note that the output current of the 24V DC service power supply varies depending on the model and the absence presence of extension modules If an overload occurs the voltage automatically drops inputs in the PLC are disabled and all outputs are turned off External circuits and mechanisms should be designed to ensure safe machinery operation in such a case Note that when an error occurs in a relay triac or transistor of an output circuit the output might stay on or off For output signals that may lead to serious accidents external circuits and mechanisms should be designed to ensure safe machinery operation in such a case At Forward Reverse rotation limits make sure to wire the contacts with NC negative logic Wiring contacts with NO positive logic may cause serious accidents In an output circuit when a load current exceeding the current rating or an overcurrent caused by a load short circuit flows for a long time it may cause smoke and fire To prevent this
126. e signal It generates only forward rotation pulses and increases the value of the current address ENO PLSY EN s n d ENO DPLSY EN s n d llDescription range data type PLSY e FX5 operand s Word device number storing command speed or data 0 to 65535 16 bit unsigned binary ANY16 User system unit n Word device number storing the positioning address or 0 to 65535 16 bit unsigned binary ANY16 data User system unit d Axis number from which pulses are output K1 to 4 16 bit unsigned binary ANY ELEMENTARY WORD e FX3 compatible operand s Word device number storing command speed or data 0 to 65535 16 bit unsigned binary ANY16 User system unit n Word device number storing the positioning address or 0 to 65535 16 bit unsigned binary ANY16 data User system unit d Output bit device number Y from which pulses are output ANY_ELEMENTARY BOOL 1 Command speed can be changed during positioning operation L Page 32 Command speed change during positioning operation 2 The positioning address can be changed during positioning operation Page 31 Positioning address change during positioning operation llDescription range data type DPLSY e FX5 operand s Word device number storing command speed or data 0 to 2147483647 32 bit signed binary ANY32 User system unit n Word device number storing the positioning address or 0 to 2147483647 32 bit signed binary ANY32 data User
127. e to the main circuit high voltage line load line or power line As a guideline lay the power line control line and communication cables at least 100 mm 3 94 away from the main circuit high voltage line load line or power line STARTUP AND MAINTENANCE PRECAUTIONS NWARNING Do not touch any terminal while the PLC s power is on Doing so may cause electric shock or malfunctions Before cleaning or retightening terminals cut off all phases of the power supply externally Failure to do so in the power ON status may cause electric shock Before modifying the program in operation forcing output running or stopping the PLC read through this manual carefully and ensure complete safety An operation error may damage the machinery or cause accidents STARTUP AND MAINTENANCE PRECAUTIONS NCAUTION Do not disassemble or modify the PLC Doing so may cause fire equipment failures or malfunctions For repair contact your local Mitsubishi Electric representative Turn off the power to the PLC before connecting or disconnecting any extension cable Failure to do so may cause equipment failures or malfunctions Turn off the power to the PLC before attaching or detaching the following devices Failure to do so may cause equipment failures or malfunctions Peripheral devices expansion board and expansion adapter Extension modules bus conversion module and connector conversion module Battery INTRODUCTION This man
128. ear point signal DOG To ensure safety use the forward rotation limit switch and the reverse rotation limit switch on both sides the CPU module side and the servo amplifier side Note that the limit switches on the CPU module side should be activated slightly earlier than the limit switches on the servo amplifier side Reverse Reverse Forward Forward rotation limit 2 rotation limit 1 rotation limit 1 rotation limit 2 Servo amplifier side CPU module side CPU DEN side Servo amplifier side LSF Servo motor 2 F aa Operation in reverse rotation direction gt Operation in forward rotation direction I O module are used in the connection example Inputs and outputs built into the CPU module are available in place of I O module Set the command pulse input form of the servo amplifier PA13 MR JNLIA to 210 negative logic forward rotation pulse train reverse rotation pulse train command input pulse train filter 200 kpps or less APPENDIX Appendix 3 MELSERVO JN series FX5UC CPU module MR JNLJA series CN4 servo amplifier ep Positioning aus i completed INP op 2t 9 ALM ia Servo error ALM Pao n ers Hres Emergency stop Forward rotation NN Forward pulse train LSP BUE rotation limit 2 npe rotation rotation limit 2 Reverse ein pulse train Clear signal Immediate stop command OPR command JOG command JOG command Forward
129. ecification 2 2 1 Speed Positioning Absolute Address 60000 pulse 5000 pps 0 ms Specification 3 1 1 Speed Positioning Relative Address 20000 pulse 15000 pps 0 ms Specification 4 1 1 Speed Positioning Relative Address 30000 pulse 7500 pps 0 ms Specification lBIAxis 4 Positioning Data 2 1 Speed Positioning Absolute Address 100000 pulse 30000 pps Specification Initial process SM402 Head table number of axis 1 Mov K2 DO ie Last table number of axis 1 Head table number of axis 2 Last table number of axis 2 Drive DRVMUL instruction The positioning instruction activation flags for each axis are simultaneously updated Thus only the flag for the head axis is used for judgment X17 SM5500 M1 T Drive Positioning Axis 1 2 DRVMUL contact instruction and 4 are instruction activation axis1 C ompl ete activation SM5500 M21 Drive DRVMUL instruction baw o o2 X M Mind ae Confirm end of axes 1 2 and 4 activation axis1 activation No check for normal abnormal end M5 M M11 M1 2 T UO Axis 1 Axis Axis 4 Axis 1 2 Normally end Normally end Normally end and 4 are M6 M8 M12 complete Axis 1 Axis 2 Axis 4 Abnormal end Abnormal end Abnormal end SM5500 Clear the user completion flag MOVP KaMS Positioning instruction activation axis1 5 POSITIONING INSTRUCTION 129 5 10 Multiple axis Table Operation 5 11 Absolute Position Detection System With the use of the servo abso
130. eck bade bee S 6 de Deecdue Mead s oebbd ee oben Ry her Gee pog do ees sean 125 Outline of operation lllllllleelleeee RR Rr 125 Program example si P 127 5 11 Absolute Position Detection System uassasssa ssassn nanana nannan 130 Related deviceS u nan ananena DEED Se ee be See ae beter SS FE 131 Outline OF Opera xeu dn Ato 3c UR beeen ae oe ed oe aa ee ee 131 Program example P r rrrrT 132 CON eree eea a ee ee ee ee ee ee ee ee E E E 133 CHAPTER6 TABLE OPERATION 134 6 1 How to Use the Positioning Table ine rer REA Rr Cee E ERR timer Roe RR RR R we 134 Table seting MCINOd s 30 644 2 eedwe dee eSe heed eee SEER eRe ue heels 24 eae ue eee ee eed aes 134 6 2 Operations of Control Method 0 ccc eee 136 INO FO HONN Sacco xU ae Senco BU eek ee ee Nae eas Edo eim dU E eM erar i Erica e ee ee LATER ee 136 1 Speed Positioning Relative Address Specification llli 137 1 Speed Positioning Absolute Address Specification naa aana aaa aaa 138 Interrupt 1 Speed Positioning llllllllllelleleele rrr 139 Variable Speed Operations 2 med ratt DUE acces ERE oo OV NE HEUS ELEC ede acu RR REOR ee n edd 141 Table Transition Variable Speed Operation l llli 142 Interrupt Stop Relative Address Specification lille 144 Interrupt Stop Absolute Address Specific
131. ed turned off Pulse output stop command condition is met The drive contact is turned off during Pulse decelerate and stop command positioning operation Limit of the moving direction Pulse output stop command All outputs disabled SM8034 Pulse decelerate and stop command Write during RUN Limit of the moving direction Positioning address error All outputs disabled SM8034 Deceleration stop after the command Write during RUN speed is changed to 0 Positioning address error Deceleration stop after the command speed is changed to 0 ON OFF When the drive contact is turned off The flag remains on until either of the following is performed condition Turning off the flag by the user Restarting the positioning instruction 1 The flag turns on only for one scan when the drive contact of the instruction turns from OFF to ON 2 When remaining distance operation enabled is turned on abnormal end flag will not turn on 5 POSITIONING INSTRUCTION 5 4 Relative Positioning 83 Program example This program example illustrates a reversed operation that is performed by changing the positioning address at the current position 70000 during relative positioning operation axis 1 Speed Forward direction Acceleration time 500ms 1 15000 pps ISTE n LL LLLLLLLLLLLL Maximum speed i T x f I I 10000 pps pce I I i l I I i Y Curren
132. ed turned off Pulse output stop command condition is met The drive contact is turned off during Pulse decelerate and stop command positioning operation Limit of the moving direction Pulse output stop command All outputs disabled SM8034 Pulse decelerate and stop command Write during RUN Limit of the moving direction Positioning address error All outputs disabled SM8034 Deceleration stop after the command Write during RUN speed is changed to 0 Positioning address error Deceleration stop after the command speed is changed to 0 ON gt OFF When the drive contact is turned off The flag remains on until either of the following is performed condition Turning off the flag by the user Restarting the positioning instruction 1 The flag turns on only for one scan when the drive contact of the instruction turns from OFF to ON 2 When remaining distance operation enabled is turned on abnormal end flag will not turn on 5 POSITIONING INSTRUCTION 5 5 Absolute Positioning Program example The following is a program example of absolute positioning axis 1 If current address is a positive value positioning operation would output in the reverse direction Speed Forward direction Acceleration time Deceleration time 500 ms 1 1 500ms kecal 15000 pps Maximum speed 10000 pps 1000 pps Bias speed Positioning address Current address Positioning address 0 negative value Setting
133. ed OPR speed Deceleration is started when the near point dog signal is detected and the operation continues at creep speed Page 55 Near point Dog Signal The pulse output is stopped when the zero signal is detected for the specified number of times after the near point dog signal is detected and the mechanical OPR is completed Page 55 Zero Signal When the OPR dwell time is set the mechanical OPR is not completed until the dwell time has elapsed Page 29 Dwell time Deceleration Acceleration time l l time f I amp OPR speed Creep speed l Bias speed l l Origin Start Rear end Near point DOG Forward end Zero signal l CLEAR signal 20 3 POSITIONING CONTROL FUNCTION 3 2 OPR Control High speed OPR The positioning is performed for the zero point address established by the mechanical OPR The OPR can be performed at high speed without using the near point signal and the zero signal 1 command speed OPR speed in the 1 Set operands of instructions so that positioning address zero position address speed positioning absolute address Page 52 Starting Point Address 1 Setthe OPR address can be specified in word device With the table operation the high speed OPR can be performed only when the positioning table data is set to use device Deceleration Acceleration
134. ed for ABS bitO ABSBO X x Amplifier output data transmission f 9 4 Athe completion of ABS data reading the Execution 32 bits of current position data complete flag will turn on 6 bits of check data Point Up to 16 DABS instructions can be driven simultaneously 5 POSITIONING INSTRUCTION 1 31 5 11 Absolute Position Detection System Initial OPR When your system is established even if your servo motor is equipped with an absolute position detection function it is necessary to perform OPR at least once to send the clear signal to the servo motor Use one of the following methods for the initial OPR e Enable the clear signal function using the DSZR DDSZR instruction and perform OPR K Page 71 Mechanical OPR Page 54 Clear Signal Output Carry out OPR for the machine using the position adjustment method in the jogging ESSAI E GUINEA operation mode or manual operation mode and then input the clear signal To input the clear signal to the servo amplifier use the output of the PLC or the external switch Cleared shown in the right figure DOCOM 47 ON condition From when the following error occurs to when the error cause is eliminated and the drive contact is turned off The three specified devices cannot be secured Sum error of the ABS data read from the servo amplifier Upper limit on the number of ABS instructions simultaneously executed Whe
135. eed e Set the timing of counting start of the number of zero signals to the rear end of the near point dog Design the near point dog so that the speed can be decelerated to the creep speed before counting the number of zero signals is started Count Start Time pP Setting method High Speed I O Parameter Special Device Specify the timing of counting start of the number of zero signals When 0 Near point Dog Latter Part is selected start counting at the falling edge of the near point dog When 1 Near point Dog Front Part is selected start counting at the rising edge of the near point dog llSpecial Device Zero signal count start time R W SM5868 SM5869 SM5870 SM5871 Zero signal count start timing is turned off Start counting at the falling edge of the near point dog R W Read Write Zero signal count start timing is turned on Start at the rising edge of the near point dog 4 POSITIONING PARAMETER 4 2 Details of Parameters Items related to table operation The following lists the items specific to table operation Dwell Time gt Setting method Operand Set the time until the completion flag is turned on when table operation is completed Page 29 Dwell time llOperand Table Operation Control Method 1 1 Speed Positioning Relative Address Specification Operand 3 0 to 32767 ms Page 137 2 1 Speed Positioning Absolute Address Specification When the positioning table data is set to Page 138
136. eed Operation When 0 Positive logic is selected interrupt input signal 2 functions on a rising edge When 1 Negative logic is selected interrupt input signal 2 functions on a falling edge The interrupt input signal 2 does not occupy an input interrupt function and its edge is detected with a 1 ms interrupt 4 POSITIONING PARAMETER 4 2 Details of Parameters 57 58 Jump Destination Table No gt Setting method Operand Set the table number of the jump destination when the jump condition of the table operation control method 10 Condition Jump is met M No for jump condition is on llOperand Table Operation Control Method Condition Jump Operand 3 0 to 100 Page 148 When the positioning table data is set to use device Head device 4 1 1to 32 when the positioning table data is not to use the device Poin tr When the positioning table data is set to use device jump destination table No can be changed during positioning operation If the table being executed is located three or more tables before the condition jump the change is applied at the next scan If the table is located two or fewer tables before after the condition is determined the change is applied but the condition jump is executed using the settings from when the condition was determined M No for Jump Condition gt Setting method Operand Set an internal relay M to be used as a jump condition of the table operation control method
137. eed I O parameter of GX Works3 Window TZ Navigation window gt Parameter gt FXSUCPU gt Module Parameter gt High Speed I O gt Output Function gt Positioning gt Detailed Setting gt Axis 1 Positioning Data to Axis 4 Positioning Data Axis 1 to Axis 4 Table Data Use Device Sammon NO Device Control Method Axis to be Interpolated Positioning Address Command Speed Dwell Time Interrupt Input Signal 2 Device No Jump Destination Table No M No for Jump Condition HDi 4 Variable Speed Operation Axis 2 Specification pulse 10000 pps 0 ms X 1 0 2 D106 1 1 Speed Positioning Relative Address Specification Axis 2 Specification 100000 pulse 30000 pps Oms XU 1 0 3 D112 1 1 Speed Positioning Relative Address Specification Axis 2 Specification 10000 pulse 2000 pps 0 ms X0 1 0 4 D118 1 1 Speed Positioning Relative Address Specification Axis 2 Specification 20000 pulse 140000 pps Oms XX 1 0 5 D124 0 No Positioning Axis 2 Specification 0 pulse 1 pps 0 ms X0 1 0 6 D130 0 No Positioning Axis 2 Specification 0 pulse 1 pps Oms X0 1 0 7 D136 0 No Positioning Axis 2 Specification 0 pulse 1 pps Oms XD 1 0 8 D142 0 No Positioning Axis 2 Specification pulse 1 pps ms x0 1 0 9 D148 3 Interrupt 1 Speed Positioning Axis 2 Specification 30000 pulse 100000 pps 10 ms X0 1 0 10 D154 3 Interrupt 1 Speed Positioning Axis 2 Specification 2000 pulse 20000 pps 10 ms X0 1 0 11 D160 0 No Positioning Axis 2 Specification 0 pulse 1 pps O
138. endently thus table shift timing during continuous operation does not need to be considered Detection of absolute position The absolute position ABS data of the servo amplifier can be read with the DABS instruction Write the read results in the pulse unit side of the current address since the data is read in pulse unit For the absolute position detection operation refer to Page 131 Outline of operation 3 POSITIONING CONTROL FUNCTION 3 4 Auxiliary Function 4 POSITIONING PARAMETER This chapter explains the parameters for the positioning function and relevant devices Set the parameters of the CPU module using the high speed I O parameter operand and special devices The positioning parameters are handled as a part of parameters for the high speed I O For the parameters of the table operation refer to Page 134 TABLE OPERATION 4 1 Setting Method The following list shows the setting methods for the positioning parameter High Speed I O Parameter High speed I O parameter settings can be made from GX Works 3 The following describes the details of the positioning setting e Basic Setting Page 36 Basic Setting e Axis 1 Positioning Data to Axis 4 Positioning Data gt Page 134 How to Use the Positioning Table e Input Check K Page 38 Input Check e Output Confirmation Page 38 Output Confirmation Operand The command speed or positioning address can be set by operand for each positioning instructi
139. epping Motor sss wand RE RRRRAEER adi zx EE AERA tetas RARE aci X eres 168 8 4 SOP POSINION 6 24 e522 bERESEU RODA STEPS EM EA RESI es case ma Rau wtdR Ana S EO acuti d 169 APPENDIX 170 Appendix 1 MELSERVO JA series 2 5r m durus Rer RRIGICERIERIGER QR DI Ie NDER RR qtRNEPCETEETESS 171 PULSE SIGN MOUE cu areas s ded Code irt De wx eee od Bee uude eis DEA EU us DIA A eae eon 171 eB NU ranean eae eee eg ee ee ee a eee ee eee ee 175 Absolute position detection acea ose dre unnm Red eh eke shina see best Pe xy Red ix ad eas pce E ea 178 Appendix 2 MEESERVO J3 SerieS lt lt lt s0 026 iio Em Roma hae E319 es dem sen Meee ba Cede RO RU season E Den de 180 PULSERSIGN MOJE o zai 93 8 18 ten riesen R E EE ER ED EASIER ESIEESREESESSS ERST eSESE AE EE 180 CIC OM TOUS au ducite e na d a ee ee eed ee aes sae eee aed dun D ERR I D ee CURAE fidi iie 184 Absolute position detection 0 0 0 ehh 187 Appendix 3 MELSERVO JN series 0 00 c cc ees 189 PULSE SIGN MOUE s ioi bec 6 aoe Re ns oo ee bade Gree ed ended Ok tem eee Ben des bed bem D aca 189 CVC OS a esae eS bese cei ee hs ar eae er en pda ke oy ates E le E a a press lee ens wr eee BAe a ear 2 193 INDEX 197 acd Se aaah ts a ae ae a ea ge ea Be ea Pe a Bw a a a 200 WARRANTY PL rc 201 TRADEMARK S arae ta ET HRECEERORAMCEUE ce ode en A EUR IRSC EUR ESL he POUR TUE eee oe RCRURE La d RU CU Ed o 202 CONTENTS RELEVANT MANUALS User
140. er detecting the rear end of the near point dog if the zero signal is detected for the specified number of times is detected the operation will be stopped 3 POSITIONING CONTROL FUNCTION 3 4 Auxiliary Function 4 Ifthe limit switch in the OPR direction turns on if the start position is at reverse rotation limit 1 a When the DSZR DDSZR instruction is executed OPR will be started b Transfer operation will be started in the opposite direction of the OPR direction at the OPR speed c Ifthe front end of the near point dog is detected the speed will decelerate and the operation will stop The workpiece will detect come out the near point dog area d Transfer operation will be started in the OPR direction at the OPR speed The workpiece will enter the near point dog area again e If the front end of the near point dog is detected the speed will be reduced to the creep speed f After detecting the rear end of the near point dog if the zero signal is detected for the specified number of times is detected the operation will be stopped Poin tr When the same device is specified for the near point dog signal and the zero signal and OPR zero signal counts is 1 OPR is stopped when the OPR is completed by the near point dog signal detection not by the zero signal detection When the timing of counting start of the number of zero signals is set to the front end of near point dog the number of zero signals is counted from when
141. er of motor revolutions In other words set the pulse frequency to determine the workpiece transfer positioning speed Set the number of pulses to determine the workpiece transfer distance 1 1 Features The general outputs YO to Y3 of the CPU module transistor output can control up to four axes for positioning operations Use positioning instructions and positioning parameters of the CPU module for positioning control The general outputs YO to Y3 for the CPU module transistor output can output a pulse train of 200 Kpps e The CPU module transistor output pulse output method can be PULSE SIGN mode or CW CCW mode e The CPU module is compatible with the MELSERVO MR J40A series MR J3LIA series and the MR JNLIA series servo amplifiers Up to four axes Servo amplifier drive unit and others FX5 CPU module transistor output type 1 OUTLINE 1 1 Features 11 1 2 List of Functions When the positioning instructions and the positioning parameters are used together various positioning operations are enabled KL Page 64 POSITIONING INSTRUCTION KL Page 35 POSITIONING PARAMETER The positioning functions of the FX5 PLC are shown below Positioning operation pattern JOG operation substituted by variable speed operation Speed Jogging speed I Start JOS ng S command Mechanical OPR Page 20 Speed OPR speed Origin Zero DOG Start High speed OPR Page 21 Speed OPR speed Origin Start 1 speed
142. eration Changes in the positioning addresses of tables other than the last table are ignored e The positioning address of the last table can be changed both in the address increasing direction and address decreasing direction When the address is changed in the decreasing direction and the new address has already passed or when pulses required for deceleration stop are insufficient for the new address pulses are output in the reverse direction after deceleration stop to reach the new positioning address The operation is the same as that of the DRVI DDRVI and DRVA DDRVA instructions Compatible control method The following table lists control methods that can be used when continuous operation is specified Rear table Duiuonisog ON dojs 1dn ueju dois 1dnujeju duunf uonipuo2 Continuous operation Duiuonisog peeds Duiuonisog peeds uoneJedo peedgs ejqeueA uoneJedo peedg gjqeueA uOnisueJJ e qej uoneJedo uonejodJeju uoneJedo uonejodJeju Duiuonisog peeds 1dnueju EU D c lt D gt Q Q D e o CD O D o EDI O t r O 2 lt uoneoyioeds sseJppy Njosqy uoneoyioeds sseJppy eAnejes gt o o e D 2 Q Q D o o CD O D O t fic O gt uoneoyioeds ssejppy eAnejes uoneoyioeds sseJppy einjosqy 0 No Positioning 1 1 Speed Positioning Relative Address Specification R Z M is x X 2 1 Speed Positioning Absolute Addr
143. eration compatible instructions with remaining distance operation enabled and non table operation control method other than remaining distance operation the operation ends with an error e PLSY DPLSY instruction stops immediately e For the PLSV DPLSV instruction and table operation instruction control method 4 Variable Speed Operation or 5 Table Transition Variable Speed Operation the operation ends normally When operation is performed without acceleration deceleration operation the operation stops immediately e When this function is used during stepping operation and the table operation instruction control method 5 Table Transition Variable Speed Operation the following table is activated after deceleration stop Remaining distance operation When pulse output is stopped by the pulse decelerate and stop command during positioning instruction operation and the remaining distance operation enabled is ON the remaining distance operation ready status is acquired Page 50 Remaining distance operation Page 33 Pulse decelerate and stop When the pulse decelerate and stop command turns off the remaining distance operation starts Or if the external start signal when enabled is detected remaining transfer amount from deceleration stop is output After the remaining distance operation is completed the complete flag turns on L Page 49 External Start Signal Acceleration Deceleration time le time 1 5 e
144. eration will be started in the opposite direction of the OPR direction at the OPR speed If the front end of the near point dog is detected the speed will decelerate and the operation will stop The workpiece will come out of the near point dog area Transfer operation will be started in the OPR direction at the OPR speed The workpiece will enter the near point dog area again If the front end of the near point dog is detected the speed will be reduced to the creep speed After detecting the rear end of the near point dog if the zero signal is detected for the specified number of times is detected the operation will be stopped If the start position is after the near point dog When the DSZR DDSZR instruction is executed OPR will be started Transfer operation will be started in the OPR direction at the OPR speed If the reverse rotation limit 1 reverse rotation limit is detected the speed will decelerate and the operation will stop Transfer operation will be started in the opposite direction of the OPR direction at the OPR speed If the front end of the near point dog is detected the speed will decelerate and the operation will stop The workpiece will detect come out the near point dog area Transfer operation will be started in the OPR direction at the OPR speed The workpiece will enter the near point dog area again If the front end of the near point dog is detected the speed will be reduced to the creep speed Aft
145. error occurs during pulse output deceleration stop is performed To restart the positioning eliminate the cause of the error that has caused the stop and then activate the positioning instruction again e When pulse output is stopped by an error status the positioning instruction for the same axis cannot be activated until the drive contact of the positioning instruction is turned off or until the instruction is eliminated by writing during RUN All axes except the one in which an error occurs keep operating normally This is the same for multiple axes simultaneous activation using DRVMUL instruction However if an error leading to a stop occurs in one axis in interpolation operation operation of both the axes are stopped e f an error occurs in table operation in the stepping operation or continuous operation deceleration stop is performed and the tables that follow are not executed Operation at an error For the errors refer to K gt Page 167 Error Check Caution For the items specific to each positioning instruction refer to the cautions of each instruction For cautions on program creation refer to k Page 161 Cautions for Program Creation For cautions on each table operation refer to the cautions of each control method or the corresponding positioning instruction L Page 136 Operations of Control Method 5 POSITIONING INSTRUCTION 5 1 Common Items 65 5 2 Pulse Y Output This instruction generates a puls
146. es are output Bit ANY_ELEMENTARY BOOL d2 Bit device number from which rotation direction is output Bit ANY_BOOL 1 OPR speed and creep speed can be changed during positioning operation Page 32 Command speed change during positioning operation 5 POSITIONING INSTRUCTION 5 3 Mechanical OPR T1 72 llDescription range data type DDSZR s1 Word device number storing OPR speed or data 2 1 to 2147483647 32 bit signed binary ANY32 User system unit s2 Word device number storing creep speed or data 2 1 to 2147483647 32 bit signed binary ANY32 User system unit d1 Axis number from which pulses are output K1 to 4 16 bit unsigned binary ANY16_U d2 Bit device number of the instruction execution complete Bit ANY_BOOL flag and abnormal end flag 1 The DDSZR instructions have only one operand specification method 2 OPR speed and creep speed can be changed during positioning operation BAvailable device DSZR DDSZR e FX5 operand e N de ee e Oo f 1 The DDSZR instructions have only one operand specification method 2 Only available for DDSZR instruction 3 Two devices are occupied from the specified device 4 T ST C cannot be used 5 For X devices always specify the device set in high speed I O parameter 6 For device other than X device set the device to which the near point dog signal s1 is assigned 7 Only YO to Y3 devices can be used 8 When the output mode is CW CCW spec
147. es per Pulse frequency rotation 6 10 deg min x 10 60 100 mdeg REV x 4000 pulse REV 40000 pps 3 Adjust the units at calculation 1 deg 10 mdeg 1 min 60 s Pulse No of per Rotation p Setting method High Speed I O Parameter Set the number of pulses required to rotate a motor once within 1 to 2147483647 This parameter must be set when the unit setting is set to Machine System or Multiple System When Motor System is set the setting of this parameter is ignored Precautions When the servo amplifier has an electronic gear setting set this parameter considering the multiplication of the electronic gear The relation between the number of pulses per rotation and electronic gear is as follows Number of pulses per rotation Encoder resolution positioning feedback pulse Electronic gear For electronic gear refer to LAthe manual for each servo amplifier 4 POSITIONING PARAMETER 4 2 Details of Parameters Movement Amount per Rotation pP Setting method High Speed I O Parameter Set the transfer distance of the machine per motor rotation within 1 to 2147483647 This parameter must be set when the unit setting is set to Machine system or Multiple system When Motor system is set the setting of this parameter is ignored Position Data Magnification pP Setting method High Speed I O Parameter The values of positioning addresses can be multiplied by the Position Data Magnification The availab
148. ess Specification 3 Interrupt 1 Speed Positioning 4 Variable Speed Operation x z El x X X 5 Table Transition Variable Speed Operation 6 Interrupt Stop Relative Address Specification aia Miei et Z XXIX T Interrupt Stop Absolute Address Specification 10 Condition Jump 20 Interpolation Operation Relative Address Specification e qe pJe Jo J x xJo i ifek eel xp tft elef xp tft elef x x x x 22 Interpolation Operation Absolute Address Specification O Can be used Cannot be used because operation ends after executing forward table X Cannot be used Condition jump can be used depending on the forward table 1 Can be used when control method 3 Interrupt 1 Speed Positioning is specified as the second table 2 Can be used up to three times consecutively Non execution tables Tables with positioning address setting such that no positioning is required are not executed and operation skips to the next table during continuous operation The following table lists table non execution conditions Control method Table non execution conditions 1 1 Speed Positioning Relative Address Specification Positioning address 0 2 1 Speed Positioning Absolute Address Specification Positioning address Current address when corresponding table is started 6 Interrupt Stop Relative Address Specification Positioning address 0 7 Interrupt Stop Absolute Address Specificati
149. ess specification restarted started Interrupt stop relative address specification DRVA DDRVA instruction Applied when the remaining distance operation is 1 speed positioning absolute address specification started j Interrupt stop absolute address specification 2 After the interrupt input signal 1 is detected remaining distance operation cannot be performed When dwell time is set and the remaining distance operation start command is turned on immediately after deceleration stop remaining distance operation is started regardless of the dwell time Precautions For positioning instructions or control methods of the table operation that are not compatible with the remaining distance operation only deceleration stop is performed The operation ends with an error For the PLSV DPLSV instruction and table operation instruction control method 4 Variable Speed Operation or 5 Table Transition Variable Speed Operation after the deceleration stop the operation ends normally When the operation is stopped by other than the pulse decelerate and stop command remaining distance operation enabled is ON the operation ends with an error Page 64 Pulse output stop Multiple axes simultaneous activation Tables for up to four axes can be activated at the same time with the DRVMUL instruction Continuous operation can be performed Page 159 Continuous operation After the operation is started each axis operates indep
150. ethod 0 No Positioning is executed 4 For n3 specify the table operation method KO The stepping operation Page 157 Stepping operation K1 The continuous operation Page 159 Continuous operation b For d2 specify the bit devices of the instruction execution complete flag and abnormal end flag Page 62 Complete flag d2 Instruction execution complete flag d2 1 Instruction execution abnormal end flag 1 1to 32 when the positioning table data is not set to use device Table shift command In the stepping operation KO in n3 when the table shift command is detected after operation of a table is completed the following table is activated lt Page 59 Table shift command Tables can be shifted with the external start signal Page 49 External Start Signal For details refer to k Page 157 Stepping operation Operation of the complete flags The operation timing of the complete flags depends on the table control method 5 POSITIONING INSTRUCTION 11 5 9 Multiple table Operation 7 Program example The following are program examples for executing multiple tables Stepping operation This program example illustrates a stepping operation that is performed on axis 1 in order of control methods 1 1 Speed Positioning Relative Address Specification 5 Table Transition Variable Speed Operation and 3 Interrupt 1 Speed Positioning Speed 15000 pps E OO Maximum speed
151. evices are assigned as follows Device specified in n2 Head table number Device specified in n2 1 Lasttable number For n3 specify the head table number 1 to 100 that is executed in the axis specified in n1 1 When the positioning instruction of the axis n1 1 is not to be executed or positioning parameters of the axis n1 1 are not set specify KO When n3 is indirectly specified using a word device continuous operation is performed The specified word devices are assigned as follows Device specified in n3 Head table number Device specified in n3 1 Lasttable number For n4 specify the head table number 1 to 100 that is executed in the axis specified in n1 2 When the positioning instruction of the axis n1 2 is not to be executed or positioning parameters of the axis n1 2 are not set specify KO When n4 is indirectly specified using a word device continuous operation is performed The specified word devices are assigned as follows Device specified in n4 Head table number Device specified in n4 1 Lasttable number For n5 specify the head table number 1 to 100 that is executed in the axis specified in n1 3 When the positioning instruction of the axis n1 3 is not to be executed or positioning parameters of the axis n1 3 are not set specify KO When n5 is indirectly specified using a word device continuous operation is performed The specified word devices are assig
152. evices even when tables are set to the devices 6 TABLE OPERATION 134 6 1 How to Use the Positioning Table Specification The following table gives two lists of specifications one that applies when table data is set to use device and the other that applies when table data is not set to use device Up to 100 tables can be used per axis No word devices are occupied The command speed and positioning address can be changed while a Up to 32 tables can be used per axis program is being executed The command speed and positioning address cannot be changed while a Six word devices are occupied per table program is being executed Head address Table data is assigned to an operand of the control method of each table When table data is set to a device it is stored in the device corresponding to the data of the operand Assuming that the head device is D100 devices are set as shown in the following table The same operand numbers are also used when table data is not set to devices 1 D100 D100 D101 D102 D103 D104 D105 2 D106 D106 D107 D108 D109 D110 D111 3 D112 D112 D113 D114 D115 D116 D117 100 D694 D694 D695 D696 D697 D698 D699 llTable data Set table parameters that are applied when a table operation instruction is executed E Control Method Axis to be Interpolated Positioning Address Command Speed Dwell Time Interrupt Input Signal 2 Device No Jump Destination Table No M No for Jump Condition Hi D100 4
153. fication of this manual may be changed for improvement without notice The information in this manual has been carefully checked and is believed to be accurate however if you have noticed a doubtful point or a doubtful error please contact your local Mitsubishi Electric representative Please contact the nearest Mitsubishi Electric representative with the manual number on the end of this manual CONTENTS SAFETY PFPRECAUTHON G x a 45 4028 aera etd a Pod 3 3608 ae IE bia MORE E UC UR ROS UC C ee a ee dia dot 1 INTRODUCTION POPE 3 RELEVANT MANUALS 24d tbc td ce Re eae Ow don EORR Rae Face ede ew ean ee EONUR on Bed RC E ews 8 TERM o TP 9 CHAPTER1 OUTLINE 11 1 1 RI rnrrUMRMT 11 ka iLISPOFFUNCUONS cain dioi soe E a deed doe Aon ARR AR de C a a dosi wees Bd rur Rui nee 12 1 3 Setup Procedure for Positioning Control llsseeeeeeeeeeeeee n nnn 13 CHAPTER2 SPECIFICATIONS 14 2 1 Perrormance Specifications x 2422 segenccestouns Gens e dee he agen Res cR EA eae e aa E REA UR Rr ue cee 14 2 2 Input SOCCIICAUIONS a20 cereus sco nesase CEOUNT TERCER Re TEE EN bu ES p dabis ura a dq dE 15 INDE ASSIGNING MEME cT r cepET 16 2 3 OULDUL Specificato e uoa Sopas Erba Ev OS S dd heed eee Sees eee ee hae soe beeen 16 Assignment of output numbers s 2 2 4 2 8 a5 xcd dede HER de de Rotam Hoi Je doy 9 e ied a he aed IER de d de 18 CHAPTER 3 POSITIONING CONTROL FUNCTION 19 3 1 List of Control Functions 42 2 2
154. flag turns on after the dwell time elapses Page 62 In addition this table can be specified for continuous operation Page 159 6 TABLE OPERATION 6 2 Operations of Control Method The following example shows an interrupt stop with dwell time O ms Speed Acceleration Deceleration Command speed Operand 2 Bias speed Positioning address Time Operand 1 Drive contact of the table operation l l Interrupt input signal 1 l l l l l Instruction execution complete flag SM8029 User specified instruction execution complete flag 1 1 Remains on until it is turned off using a program or engineering tool restarts the table operation instruction or until the next table is activated during the continuous operation Precaulons Other than the following the same cautions as for the DRVI DDRVI instruction apply e Specify the table as the last table when performing continuous operation An error occurs if a table is operated after this table during continuous operation During positioning operation the positioning address operand 1 and the command speed operand 2 can be changed before the interrupt input signal 1 is detected If they are changed after the interrupt input signal 1 is detected the change is applied when the table operation instruction is next driven again Related devices Other than the following the related devices are the same as those of the DR
155. g DDRVI instruction instruction activation axis1 activation SM5500 activation axis1 Positioning address change X15 T DMOVP D302 D300 Positioning address change input Stop event Positioning X10 SET SM5628 Pulse stop Pulse output command input stop command X11 axis1 SET SM5644 Pulse Pulse decelerate and decelerate and stop command stop command input axis X12 SET SM5660 Forward limit Forward limit input axis 1 X13 SET SM5676 Reverse limit Reverse limit input axis1 X14 SET SM8034 All outputs All outputs disabled input disabled 5 POSITIONING INSTRUCTION 5 4 Relative Positioning 85 86 5 5 Absolute Positioning This instruction performs 1 speed positioning in the absolute method positioning operation with an absolute address Specify the distance absolute address from the origin to the target position In this case any position can be the start point current position I o Address 100 Start point l l gt Address 100 End point Address 150 Address 300 l Address 100 l l Address 150 l Address 100 ERE l 0 100 150 300 Origin Point A Point B Point C DRVA DDRVA This instruction executes 1 speed positioning by absolute address ENO DRVA EN s1 s2 d1 d2 ENO DDRVA EN s1 s2 d1 d2 llDescription range data type DRVA e FX5 operand s1 Word device numbe
156. ge is applied only when the table operation instruction is next driven again Precautions Set the number of output pulses per instruction execution or per table to 2147483647 or lower An error occurs if the number of pulses exceeds 2147483648 However operation is performed normally if unlimited pulses are being output by PLSY DPLSY instruction 46 4 POSITIONING PARAMETER 4 2 Details of Parameters rent address Store the current address operated by the positioning instruction The current address stores an absolute address and is increased or decreased depending on the rotation direction llCurrent address user unit The unit is the machine multiple system unit and the value indicated includes positioning data magnification Page 41 Unit Setting Page 43 Position Data Magnification The address range is 2147483648 to 2147483647 llSpecial Device Current address user unit RAN SD5500 SD5501 SD5540 SD5541 SD5580 SD5581 SD5620 SD5621 When the value in the devices above is changed the current address pulse unit is also changed R W Read Write e Writing can be performed to the current address user unit only by the HCMOV DHCMONV instruction During positioning operation the value written to the current address is applied when the instruction is completed e Reading can be performed to the current value by the HCMOV DHCMONV instruction The current address user unit functions within the range
157. h rotation direction is output Bit 1 Command speed can be changed during positioning operation L Page 32 Command speed change during positioning operation ANY ELEMENTARY BOOL ANY BOOL llDescription range data type DPLSV e FX5 operand s Word device number storing command speed or data 2147483648 to 2147483647 32 bit signed binary ANY32 User system unit d1 Axis number from which pulses are output K1 to 4 16 bit unsigned binary ANY ELEMENTARY WORD d2 Bit device number of the instruction execution complete Bit ANY_BOOL flag and abnormal end flag Word device number storing command speed or data 2147483648 to 42147483647 32 bit signed binary User system unit Output bit device number Y from which pulses are output Bit Bit device number from which rotation direction is output Bit 1 Command speed can be changed during positioning operation L Page 32 Command speed change during positioning operation e FX3 compatible operand ANY ELEMENTARY BOOL ANY BOOL 5 POSITIONING INSTRUCTION 1 1 5 7 Variable Speed Operation 0 BlAvailable device PLSV DPLSV e FX5 operand c Tg ue eges mde _ Se 9 E e 9 e FX3 compatible operand 1 Only available for DPLSV instruction 2 Two devices are occupied from the specified device 3 T ST C cannot be used 4 Only YO to Y3 devices can be used 5 When the output mode is CW CCW specify the CCW
158. he DABS instruction is turned off Activate the other instructions after the DABS instruction has read the ABS data 7 PROGRAMMING 1 1 7 1 Table Operation Instruction 6 When the pulse output monitor is on If the pulse output monitor is on a positioning instruction excluding the DABS instruction that uses the same axis cannot be executed 1 gt Page 60 Pulse output monitor While a pulse output monitor is on even after the positioning instruction drive contact is set to off a positioning instruction for the same output axis cannot be executed Before re executing a pulse output or positioning instruction wait until the pulse output monitor turns off and one or more operation cycles pass When a user interrupt is used Driving a positioning instruction requires multiple scans and has both rising processing and falling processing Thus positioning does not operate normally if the positioning instruction is skipped by CJ instruction or if it is not executed every scan like inside an interrupt program However pulse output continues Eliminating the instruction by writing during RUN also prevents the positioning from operating normally and pulse output is stopped If the instruction is skipped the complete flag does not turn on after the positioning operation stops The complete flag turns on if the positioning instruction is executed again when CJ instruction is canceled or the user interrupt program is executed again When the instruction is s
159. he reference axis or when the ON OFF Either the reference axis or turned off counterpart axis is already used condition is met counterpart axis is already used Pulse output stop command The drive contact is turned off during Pulse decelerate and stop command positioning operation Limit of the moving direction Pulse output stop command All outputs disabled SM8034 Pulse decelerate and stop command Write during RUN Limit of the moving direction Positioning address error All outputs disabled SM8034 Deceleration stop after the command Write during RUN speed is changed to 0 Positioning address error Deceleration stop after the command speed is changed to 0 ON gt OFF When the drive contact is turned off The flag remains on until either of the following is performed condition Turning off the flag by the user Restarting the table instruction Shift to the next table 1 The flag turns on only for one scan when the drive contact of the instruction turns from OFF to ON Interpolation Operation Relative Address Specification Target Axis The following explains control method 21 Interpolation operation relative address specification target axis The following table shows the operand assignment Range 2147483648 to 42147483647 User system unit Details Set the relative address within the None None range of 2147483647 to 2147483647 in pulse 1 When the positioning table data
160. he speed is increased decreased to the specified speed and operation continues 4 Ifthe drive contact is turned off the speed is decreased and pulse output is stopped Operand specification MWhen FX5 operand is specified 1 For s specify the command speed Set to a value 200 Kpps to 200Kpps in pulse PLSV 32768 to 32767 User system unit DPLSV 2147483648 to 42147483647 User system unit 2 For d1 specify an axis number K1 to K4 for which pulses are output Specify an axis number whose positioning parameters are set in the high speed I O parameters Operation cannot be performed if any other axis number is specified 3 For d2 specify the bit devices of the instruction execution complete flag and abnormal end flag Page 62 Complete flag d2 Instruction execution complete flag d2 1 Instruction execution abnormal end flag When the FX3 compatible operand is specified 1 For s specify the command speed Set to a value 200 Kpps to 200Kpps in pulse PLSV 32768 to 32767 User system unit DPLSV 2147483648 to 42147483647 User system unit 2 For d1 specify the pulse output number in the range of YO to Y3 Specify an output device Y number equivalent to the axes 1 to 4 set in the high speed I O parameters Operation cannot be performed if any other axis number is specified 3 For d2 specify the rotation direction signal output device number gt Page 40 Rotation Direction Setting
161. hod Special Device For the remaining distance operation refer to L Page 33 Remaining distance operation llRemaining distance operation enabled Remaining distance operation enabled enables remaining distance operation with remaining distance operation compatible instructions If remaining distance operation enabled is on when deceleration stop is performed with the pulse decelerate and stop command the remaining distance operation ready status is acquired Page 49 Pulse decelerate and stop command For positioning instructions or a control method of the table operation that is not compatible with the remaining distance operation the remaining distance ready status is not acquired even when remaining distance operation enabled is ON 4 POSITIONING PARAMETER 4 2 Details of Parameters llSpecial Device R W Remaining distance operation enabled SM5596 SM5597 SM5598 SM5599 R W Read Write During positioning operation a change in remaining distance operation enabled is applied at the next scan Precautions If the remaining distance operation enabled remains off until deceleration stop of the pulse decelerate and stop command the remaining distance operation compatible instruction ends with an error llRemaining distance operation start In the remaining distance operation ready status turning on remaining distance operation enabled after turning off the pulse decelerate and stop command sta
162. hotocoupler Stop command X37 APPENDIX 1 1 Appendix 1 MELSERVO J4 series 7 2 3 4 s 6 7 172 Be sure to use the class D grounding method grounding resistance 100 Q or less Near point signal DOG To ensure safety use the forward rotation limit switch and the reverse rotation limit switch on both sides the CPU module side and the servo amplifier side Note that the limit switches on the CPU module side should be activated slightly earlier than the limit switches on the servo amplifier side Reverse Reverse Forward Forward rotation limit 2 rotation limit 1 rotation limit 1 rotation limit 2 Servo amplifier side CPU module side CPU DEN side Servo amplifier side LSF Servo motor 2 F aa Operation in reverse rotation direction gt Operation in forward rotation direction To detect absolute positions connect this line to the CPU module I O module are used in the connection example Inputs and outputs built into the CPU module are available in place of I O module Set the command pulse input form of the servo amplifier PA13 MR JALIA to 0211 negative logic signed pulse train command input pulse train filter 500 kpps or less Refer to L gt Page 178 FX5U CPU module APPENDIX Appendix 1 MELSERVO J4 series FX5UC CPU module MR JALIA series cN4 servo amplifier CN1 EE co ol z Positioning 24 INE eg compietedinP 4 Torque being S 4 con
163. ied in the interpolation reference axis For the interpolation operation refer to K Page 153 Interpolation Operation Absolute Address Specification Precautions Interpolation operation cannot be activated from this table Drive interpolation operation with the table control method 22 Interpolation Operation Absolute Address Specification of the reference axis e Set the number of output pulses per table execution to 2147483647 or lower An error occurs if the number of pulses exceeds 2147483647 Each speed is calculated based on the speed of the reference axis Related devices Refer to K Page 154 Related devices of control method 22 Interpolation Operation Absolute Address Specification Operation of the complete flags Refer to K Page 155 Operation of the complete flags of control method 22 Interpolation Operation Absolute Address Specification 156 6 TABLE OPERATION 6 2 Operations of Control Method 6 3 Howto Execute Multiple Tables The execution method for multiple tables of the DRVTBL and DRVMUL instructions includes stepping operation and continuous operation This section explains how to execute each operation Stepping operation In stepping operation with the DRVTBL instruction specified tables are executed one by one Only the DRVTBL instruction can execute this operation Every time a table ends the complete flag turns on and the next table is not automatically activated After the table shift co
164. ification method for the interpolation speed is Reference axis speed set the axis with the longer positioning address as the reference axis If the axis with the shorter positioning address is set as the reference axis the speed of the longer axis may exceed the maximum speed and interpolation operation cannot be performed properly e When forward limit or reverse limit is detected in either of the reference axis or counterpart axis during interpolation operation both the axes are decelerated to a stop Do not change the value of operand 4 This function is not intended for purposes where high precision path is required because each axis is only started simultaneously Using the following or similar set values in particular may lead to a larger difference in stop time between each axis Even when there is a difference in stop time operation stops at the correct position 1 When there is a large difference in transfer distance between the reference axis and counterpart axis 2 When the speed of the reference axis or counterpart axis is equal to or lower than the bias speed or exceeds the maximum speed 3 When the speeds of the reference axis and counterpart axis are extremely slow 4 When an extremely long acceleration time or deceleration time is set If interpolation operation is aborted the stop position of each axis may be off the straight line e f interpolation operation specified with a relative address is repeatedly used in
165. ify the CCW axis When the output mode is PULSE SIGN only the SIGN output of the axis or general purpose output can be specified This instruction executes mechanical OPR With the forward limit and reverse limit OPR using the dog search function can be executed Page 28 Dog search function 5 POSITIONING INSTRUCTION 5 3 Mechanical OPR Related devices The following lists the related special devices SM5500 SM5516 SM5532 SM5628 SM5644 SM5660 SM5676 SM5772 SM5804 SM5820 SM5868 SM8029 Instruction execution x Page 62 complete flag SM8329 Instruction execution x abnormal end flag SM5501 SM5502 SM5503 SM8348 SM8358 SM8368 SM8378 Positioning instruction activation wes sues sue Pesonna eror occorre x wes sues suem Pulseaupusop command x m R W R W Page 61 Page 60 Page 61 Page 48 SM5645 SM5646 SM5647 Pulse decelerate and stop X R W Page 49 command smor svee su E oe X Sw susers sus E oe x surr sera sur oenar o wee suse sur OPRaecionspeteaion JO R W R W R W R W Page 50 Page 50 Page 40 Page 52 SM5821 SM5822 SM5823 HEB Clear signal output function EU RW Page 54 enable smes wee swwri zeeswswisatime O R Read only R W Read write O Supported X Not supported SD5500 SD5501 SD5502 SD5503 SD5504 SD5505 SD5510 SD5516 SD5517 SD5518
166. ime None 10 us 50 us 0 1 ms 0 2 ms 0 4 ms 0 6 ms 1 ms 5 ms 10 ms Digital filter setting value initial values 20 ms 70 ms Input signal type No voltage contact input Sink input NPN open collector transistor Source input PNP open collector transistor Input circuit insulation Photocoupler insulation Indication of input motion Turning on the input will light the LED indicator lamp FX5UC CPU module Input signal voltage 24 V DC 20 15 Input impedance 4 3 kO Input signal current 5 3 mA 24 V DC Input sensitivity Input ON current 3 5 mA or more iene Input OFF current 1 5 mA or less Input response time XO to X5 ON 2 5 us or less H W filter delay OFF 2 5 us or less X6 to X17 ON 30 us or less OFF 50 us or less Input response time None 10 us 50 us 0 1 ms 0 2 ms 0 4 ms 0 6 ms 1 ms 5 ms 10 ms Digital filter setting value initial values 20 ms 70 ms Input signal type FX5UC 32MT D No voltage contact input NPN open collector transistor FX5UC 32MT DSS No voltage contact input Sink input NPN open collector transistor Source input PNP open collector transistor Input circuit insulation Photocoupler insulation Indication of input motion Turning on the input will light the LED indicator lamp DISP switch IN side 2 SPECIFICATIONS 1 2 2 Input Specifications 9 16 Input assignment Input numbers of the FX5 are assigned as follows For parameter settings in GX Works3 refer to L gt Page 35 P
167. in turned on and off Reverse pulse train is off at high speed One of the following has occurred 1 The operation of the positioning instruction is completed 2 An error occurred during positioning The instruction therefore is not being executed Rotation SIGN YO to Y17 Forward operation is in execution direction direction OFF One of the following has occurred SHIDUE 1 The positioning instruction turns on and operation is being performed in the reverse rotation direction 2 An error occurred during positioning The instruction therefore is not being executed CCW Flashing Reverse operation is being executed for a positioning instruction turned on and off Forward pulse train is off reverse rotation pulse train at high speed OFF One of the following has occurred 1 The operation of the positioning instruction is completed 2 An error occurred during positioning The instruction therefore is not being executed 1 8 TROUBLESHOOTING 66 8 1 LED Status during Pulse Output and Rotation Direction Output 8 2 Error Check Commonemor eee When an error common to the functions other than the positioning function operation error parameter error occurs the following error flag turns on SM8067 After the error flag above turns on an error code is stored in the following device One error code common to all the axes is stored SDO SD8067 When an operation error related to positioning occurs
168. ing by relative address The target positioning address is specified in the incremental method in which transfer direction and transfer distance relative address from current address are specified for positioning operation 5 POSITIONING INSTRUCTION 5 4 Relative Positioning Related devices The following lists the related special devices SM8029 Instruction execution x Page 62 complete flag SM8329 Instruction execution x abnormal end flag SM5500 SM5501 SM5502 SM5503 SM8348 SM8358 SM8368 SM8378 Positioning instruction EN Page 61 activation SM5644 SM5645 SM5646 SM5647 Pulse decelerate and stop X R W Page 49 command SM5660 SM5661 SM5662 SM5663 e es Te Forward limit R W Page 50 SM5772 SM5773 SM5774 SM5775 e Js e Rotation direction setting e R W Page 40 R Read only R W Read write O Supported X Not supported SD5500 SD5540 SD5580 SD5620 Current address user unit x RW Page 47 SD5501 SD5541 SD5581 SD5621 SD5502 SD5542 SD5582 SD5622 SD8340 SD8350 SD8360 SD8370 Current address pulse unit x R W Page 47 SD5503 SD5543 SD5583 SD5623 SD8341 SD8351 SD8361 SD8371 SD5504 SD5544 SD5584 SD5624 Current speed user unit X Page 44 SD5505 SD5545 SD5585 SD5625 SD5510 SD5550 SD5590 SD5630 o e e o o Positioning error error code R W Page 61 SD5516 SD5556 SD5596 SD5636 Maximum speed R W Page 44 SD55
169. ing resistance 100 Q or less Near point signal DOG To ensure safety use the forward rotation limit switch and the reverse rotation limit switch on both sides the CPU module side and the servo amplifier side Note that the limit switches on the CPU module side should be activated slightly earlier than the limit switches on the servo amplifier side Reverse Reverse Forward Forward rotation limit 2 rotation limit 1 rotation limit 1 rotation limit 2 Servo amplifier side CPU module side CPU DEN side Servo amplifier side LSF Servo motor 2 F aa Operation in reverse rotation direction gt Operation in forward rotation direction To detect absolute positions connect this line to the CPU module I O module are used in the connection example Inputs and outputs built into the CPU module are available in place of I O module Set the command pulse input form of the servo amplifier PA13 MR J4LIA to 0210 negative logic forward rotation pulse train reverse rotation pulse train command input pulse train filter 500 kpps or less Refer to L gt Page 178 FX5U CPU module APPENDIX Appendix 1 MELSERVO J4 series FX5UC CPU module MR JALIA series CN4 serve amplifier focou 0 L 24V DC peo EXEC gens Zero speed Positioning EIR Aes Paion Lai Torque being Ea gor controlled ama Servo error ALM Servo ON Reset Emergency stop 2 aN s U OQ nr rx Im OIJ
170. instruction Table operation control method Table operation DRVTBL DRVMUL instruction 1 1 Speed Positioning Relative Address Specification 2 1 Speed Positioning Absolute Address Specification 22 3 POSITIONING CONTROL FUNCTION 3 3 Positioning Control Multi speed operation 1 speed positioning operation excluding the deceleration stop is continued several times by the table operation instruction L Page 21 1 speed positioning At the last table the operation decelerates and stops in the point that the speed can be reduced The multi speed positioning is performed when two or more 1 speed positionings are operated continuously by the continuous operation of the DRVTBL DRVMUL instruction Page 159 Continuous operation Both relative address and absolute address can be used for the 1 speed positionings The figure shows an example of a 4 speed operation Control method of table 1 Control method of table 2 Control method of table 3 Control method of table 4 I1 1 Speed Positioning 11 1 Speed Positioning 1 1 Speed Positioning 1 1 Speed Positioning Relative Address Specification Relative Address Specification Relative Address Specification Relative Address Specification i4 1 Speed Positioning 12 1 Speed Positioning 2 1 Speed Positioning 2 1 Speed Positioning MET Acceleration time _ Deceleration time Maximum speed E _ _ eee s s 0 0
171. ion Setting data The following table shows the operand assignment Description Positioning Address Command Speed Dwell Time None Range 2147483648 to 2147483647 1 to 2147483647 0 to 32767 ms User system unit User system unit Details Set the relative address within the Set the speed within the range of Dwell time is time until the None range of 2147483647 to 1 pps to 200 Kpps in pulse complete flag turns on after the 2147483647 in pulse positioning address is reached 1 The positioning address can be changed during positioning operation Page 31 However only the last table accepts the change in the case of continuous operation 2 Command speed can be changed during positioning operation gt Page 32 3 When the positioning table data is set to use device the value can be changed during positioning operation The change is applied when the table operation instruction is restarted 4 Set the number of output pulses per table execution to 2147483647 or lower Operation with one table and operation of stepping operation are the same as that of the DRVI DDRVI instruction Page 157 Stepping operation Page 79 Relative Positioning However if dwell time is set the complete flag turns on after the dwell time elapses Page 62 In addition this table can be specified for continuous operation Page 159 Precauions The same cautions as for the DRVI DDRVI inst
172. ion Table operation TBL DRVTBL DRVMUL instruction 6 Interrupt Stop Relative Address Specification e 7 Interrupt Stop Absolute Address Specification When the interrupt input signal 1 does not turn on the operation is the same as the 1 speed positioning Interrupt 1 speed positioning Acceleration is started at the bias speed when pulses are output by the positioning instruction After the speed has reached the specified speed the operation will be performed at the specified speed When the interrupt input signal 1 is detected the operation continues at the same speed as the command speed up to the point that deceleration must be performed and decelerates and stops the pulse output at the position specified by the positioning address Page 48 Interrupt Input Signal 1 l Acceleration Deceleration l time _ time X eR REC RH Bias speed Current position Positioning address Interrupt f input signal 1 The following table shows applicable positioning instructions and control methods of the table operation Interrupt 1 speed positioning DVIT DDVIT instruction 3 Interrupt 1 Speed Positioning Table operation TBL DRVTBL DRVMUL instruction 3 POSITIONING CONTROL FUNCTION 3 3 Positioning Control Precautions The pulse output is not stopped unless the interrupt input signal 1 is turned on When using continuous operation of the table operation instruction the interrupt 1 speed positioning can be used o
173. ion complete flag 1 1 Remains on until it is turned off using a program or engineering tool restarts the table operation instruction or until the next table is activated during the continuous operation Precaulons Other than the following the same cautions as for the DRVA DDRVA instruction apply e Specify the table as the last table when performing continuous operation An error occurs if a table is operated after this table during continuous operation During positioning operation the positioning address operand 1 and the command speed operand 2 can be changed before the interrupt input signal 1 is detected If they are changed after the interrupt input signal 1 is detected the change is applied when the table operation instruction is next driven again Related devices Other than the following the related devices are the same as those of the DRVA DDRVA instruction SD5506 SD5511 Page 60 Page 60 SD5546 SD5586 SD5626 Positioning execution table number IX R SD5551 SD5591 SD5631 Positioning error error occurrence table No R Read only R W Read write X Not supported 6 TABLE OPERATION 14 6 2 Operations of Control Method T The following describes the operation timings of the complete flags If dwell time is specified the flag turns on after the dwell time elapses ON From when pulse output of From when the following operation or
174. is a registered trademark of Schneider Electric SA Phillips is a registered trademark of Phillips Screw Company The company name and the product name to be described in this manual are the registered trademarks or trademarks of each company 202 Manual number JY997D56301B Model FX5 U POS E Model code 09R544 When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN HIMEJI WORKS 840 CHIYODA MACHI HIMEJI JAPAN Specifications are subject to change without notice
175. itioning DRVA DDRVA instruction 2 1 Speed Positioning Absolute Address Specification Table operation TBL DRVTBL DRVMUL instruction 3 POSITIONING CONTROL FUNCTION 21 3 3 Positioning Control 2 speed positioning The 1 speed positioning of table 1 excluding the deceleration stop is performed by the table operation instruction L Page 21 1 speed positioning After the target position is reached the 1 speed positioning of table 2 is performed from acceleration deceleration 2 speed positioning is performed when two 1 speed positionings are operated continuously by the continuous operation of the DRVTBL DRVMUL instruction Both relative address and absolute address can be used for the two 1 speed positionings L Page 159 Continuous operation Control method of table 2 1 1 Speed Positioning Relative Address Specification Control method of table 1 l l l 2 1 Speed Positioning l 1 1 Speed Positioning Relative Address Specification 2 1 Speed Positioning Absolute Address Specification Absolute Address Specification Maximum speed N Deceleration time Acceleration time M n L N 4 Command l l l l l l l l l l l l l l speed 1 Command speed 1 Bias speed Bias speed Current position Positioning address 1 Positioning address 2 The following table shows applicable control methods of the table operation Positioning
176. ive Logic Axis 1 Interrupt Input Signal 1 Standard Negative Logic Axis 1 Mear point Diog Signal Axis 1 Zero Signal Positive Logic i xig 1 Zero Signal Negative Logic Axis 1 Interrupt Input Signal 2 Axis 2 External Start Signal Positive Logic Axis 2 External Start Signal Negative Logic Output Confirmation The usage status of the built in output YO to Y17 can be checked from output check Outputs do not need to be set in this window because the basic setting is applied Window TZ Navigation window gt Parameter gt FXSUCPU gt Module Parameter gt High Speed I O gt Output Confirmation gt Positioning em ee we ve vi ve vi Ye vie vie VT Pos rixam Axis 1 Pulse Output PULSE Axis 1 Pulse Output SIGN Axis 1 Pulse Output OW Axis 1 Pulse Output OO n Axis 1 Clear Signal Axis 2 Pulse Output PULSE Axis 2 Pulse Output SIGN Axis 2 Pulse Output OW Axis 2 Pulse Output OO Axis 2 Clear Signal Axis 3 Pulse Output PULSE Axis 3 Pulse Qutput SIGN Axis 3 Pulse Ciutput CW Axis 3 Pulse Output OCW Axis 8 Glear Signal Axis 4 Pulse Output PULSE Axis 4 Pulse Output SIGN Axis 4 Pulse Output OW Axis 4 Pulse Output OCh Axis 4 Clear Signal 38 4 POSITIONING PARAMETER 4 1 Setting Method 4 2 Details of Parameters The following describes the details of the parameters and relevant devices Common item The following lists the setting items
177. kipped if disable all outputs SM8034 pulse stop command pulse decelerate and stop command or limit in the movement direction is detected during a scan in which the positioning instruction is not executed the positioning operation stops The user specified complete flag turns on but the FX3 compatible complete flag SM8029 does not turn on Functions for which inputs and outputs compete Inputs and outputs used for positioning cannot be used with the functions below Input Output High speed counter A phase B phase preset input enable input PWM output Pulse width measurement General purpose output Zero signal Interrupt input signal 1 External start signal 1 When positioning is not used the output devices Y for which the positioning setting is enabled with parameters can be used as PWM outputs or general purpose devices having no parameter However when the positioning setting is disabled with parameters the PWM outputs or general purpose output devices cannot be used in the positioning function When operating PWM with parameters the outputs that are already used for positioning cannot be used For the PWM function refer to LAUser s manual Application Functions that share inputs Some positioning parameters occupy channels of input interrupts For the input interrupt function refer to LLLIUser s manual Application lBlinput interrupt function The following inputs of the positioni
178. l OPR 1 to 65535 DDSZR The creep speed can be changed during operation Page 32 Command speed change during positioning 4 operation llSpecial Device Creep speed SD5528 SD5529 SD5568 SD5569 SD5608 SD5609 SD5648 SD5649 R W Read Write When creep speed is set in the FX5 operand of the DSZR DDSZR instruction creep speed is overwritten at execution of the instruction a pn gt d L D 4 m QOytniit EA d V A u q i J u CU Specify the output device Y to clear droop pulses of the servo amplifier at completion of OPR MEnabled Disabled gt Setting method High Speed I O Parameter Special Device Specify whether to use the clear signal output llHigh Speed I O Parameter When 0 Invalid is selected the clear signal output is not used When 1 Valid is selected the clear signal output is used llSpecial Device Clear signal output function enable R W SM5820 SM5821 SM5822 SM5823 Clear signal output function enable is turned off The clear signal output is not used R W Read Write Clear signal output function enable is turned on The clear signal output is used llDevice No gt Setting method High Speed I O Parameter When the clear signal output is enabled the clear signal is output from the specified device 20 ms 1 scan time after OPR is completed The available output devices Y are YO to Y17 ime i pP Setting method High Speed I O P
179. l stop If forward limit is turned on while positioning operation is being output in the reverse direction it is ignored For details on the operation refer to L Page 30 Forward limit and reverse limit A specific operation pattern is applied when the DSZR DSZR instruction is used lt Page 28 Dog search function Operation ends with an error after deceleration stop when a positioning instruction other than the DSZR DDSZR instruction is used llSpecial Device Forward limit SM5660 SM5661 SM5662 SM5663 R W Read Write gt Setting method Special Device Reverse limit notifies the CPU module of the reverse limit If reverse limit is turned on while positioning operation is being output in the reverse direction the speed will decelerate and the operation will stop If reverse limit is turned on while positioning operation is being output in the forward direction it is ignored For details on the operation refer to L Page 30 Forward limit and reverse limit A specific operation pattern is applied when the DSZR DSZR instruction is used lt Page 28 Dog search function Operation ends with an error after deceleration stop when a positioning instruction other than the DSZR DDSZR instruction is used llSpecial Device Reverse limit SM5676 SM5677 SM5678 SM5679 R W Read Write During positioning operation a change in the reverse limit is applied at the next scan ning distance operation gt Setting met
180. lative Address 150000 MEE MEN pps Specification 8 0 NoPoslioning Z d 122 5 POSITIONING INSTRUCTION 5 9 Multiple table Operation Program example ON OFF switching of M device for jump condition XT M100 Switch for Table 2 jump condition Jump condition Drive DRVTBL instruction continuous operation with control method 10 Condition Jump X17 SM5500 M1 M2 M10 e Drive Positioning Normally Abnormal DRVTBL contact instruction end end instruction activation axis1 activation Drive DRVTBL instruction in axis 1 SM5500 M10 J DRVTBL Positioning DRVTBL instruction instruction SM5500 activation axis1 activation Positioning instruction For the stop event refer tol Page 118 Stepping operation 5 POSITIONING INSTRUCTION 123 5 9 Multiple table Operation 5 10 Multiple axis Table Operation This instruction executes the control method of specified table for multiple axes set in the table data with GX Works3 This instruction executes the table data set in GX Works3 for multiple axes of one module simultaneously ENO DRVMUL EN n1 n2 n3 n4 n5 d Selingdala llDescription range data type Table number of the axis 4 0 to 100 16 bit unsigned binary ANY16 U d Bit device number of the instruction execution complete Bit ANYBIT ARRAY flag and abnormal end flag Number of elements 8 1 1to 32 when the positioning
181. le 62 Condition jump llle 148 Continuous operation 159 N Control method 0000 eee eee 136 Near point dog signal 0 cece eee cece en 55 Creep speed 1 ee eee ee eee eee 93 No positioning 0000 een 136 Current speed 0 0 00 eee ee eee 44 59 CW CCW mode 2 eee ee 39 O D Operand sugar Geis de ort ne swa apse en acd A 35 T ve_ gt T T_ __W_Dh _ _ nn OPR direction llle 52 Deceleration time llle 45 OPR dwell time 22 LLL LLL 54 Detection of absolute position 34 OPR speed ses 53 Dog search function 21 seer eese 28 OPR zero signal count 30 Dwell time 11 6 eee eee ee eee eae 29 57 Output confirmation llle 38 E P External start signal lle 49 Position data magnification 43 Positioning address ls 46 F Positioning address change during positioning operation E E E EE E E E m 31 Forward limit 2 2 6 ee eee eee eee 30 50 Pulse decelerate and stop 33 Pulse decelerate and stop command 49 H Pulse No of per rotation leen 42 Pulse output mode 000 0c eee 39 High speed I O parameter 35 Pulse output stop command 48 lightspeed OPR 354255 iuvet Hong eee ees its 21 Pulse Y output 2 0 00 cee eee eee
182. le multiplying factors include single 10 times 100 times and 1000 times The following shows a setting example Ex For magnification by 1000 times For the positioning address of 123 the following shows the actual address and transfer distance Motor System unit 123 x 10 123000 pulse Machine Multiple System unit 123 x 10 123000 um 104 inch mdeg 123 mm 10 inch deg The following table lists the relation between the positioning data magnification of each unit system Position Data Unit system setting position unit Unit system setting He unit ARES eee cabot a nemin ORIEL Single ple fm x 0 0001 inch cm min LUE x 10 deg min 10 times x10 pulse x 0 001 inch x 10 mdeg 100 times x 100 pulse x 0 01 inch x 100 mdeg oues Tope mm oim eo Items related to speed The following describes the setting items related to speed Command speed gt Setting method Operand Set the speed used in positioning operation The user unit is set by unit setting gt Page 41 Unit Setting The setting range differs depending on the positioning instruction and table operation control method Set the command speed to 200 Kpps or lower in pulse 200 Kpps to 200 Kpps for the PLSV DPLSV instruction or table operation instruction control method Variable Speed Operation or Table Transition Variable Speed Operation Even within the setting range the following relation must be followed bias speed lt command speed x m
183. le one table before of control method 10 Condition Jump is executed and the jump destination table is immediately executed In continuous operation conditions are judged when execution of that table two tables before is started When the jump destination table is set to control method 10 Condition Jump the conditions for that table are simultaneously judged and the next destination table is executed If a table located two or fewer tables before after the condition is determined is changed the change is applied but the condition jump is executed using the settings from when the condition was determined e Jumps to the table set to control method 10 Condition Jump in continuous operation must be three times or less in a row After the fourth jump execution is stopped SD5506 SD5511 SD5546 SD5586 SD5626 Positioning execution table number IX RR SD5551 SD5591 SD5631 Positioning error error occurrence table No RAN R Read only R W Read write X Not supported Page 60 th complete flags The following describes the operation timing of the complete flags From when the condition jump is executed in the last table ON condition From when the condition jump is executed in the last table to when the drive contact is turned off ON 5 OFF When the normal end When the abnormal end condition is not When instruction is driven condition condition is not met met 1 Operate only
184. lute position detection system the positioning uses the current ABS value read out DABS instruction to read out the current value absolute position ABS data from the MR J4LIA or MR J3LIA servo amplifier The data is converted into pulse when being read ESS This instruction reads the absolute position ABS data when the servo amplifier is connected The data is converted into pulse when being read ENO DABS EN s d1 d2 E23 een Selingdala llDescription range data type s First number of the device that inputs the absolute Bit ANYBIT ARRAY position ABS data from the servo amplifier Number of elements 3 d1 First number of the device that outputs the absolute Bit ANYBIT ARRAY position ABS data control signal to the servo amplifier Number of elements 3 d2 Absolute position ABS data 32 bit value storage device EMEN 32 bit signed binary ANY32 number BlAvailable device p jeg q TIm Eee po eq ge 19 v Ie qo eger 1 T ST C cannot be used ENTE This instruction reads the absolute position ABS data when the servo amplifier is connected The data is converted into pulse when being read 130 5 POSITIONING INSTRUCTION 5 11 Absolute Position Detection System Related devices The following lists the related special devices FX3 compatible High Speed I O Reference inm anes SM8029 Instruction execution complete flag x R Page 62 SM8329 Instruction execution ab
185. ly R W Read write O Supported X Not supported 1 Writing can be performed only by the HCMOV DHCMOV instruction SD8136 SD8137 SD8140 SD8141 SD8340 SD8341 FX3 compatible Total number of pulses output from axis 1 and X R W axis 2 SD8360 SD8370 Current address pulse unit x Rw SD8361 SD8371 SD8142 SD8143 SD8350 SD8351 R W Read write x Not supported 1 Writing can be performed only by the HCMOV DHCMOwV instruction 7 PROGRAMMING 7 4 List of Related Devices 165 8 TROUBLESHOOTING This chapter explains the errors and problems related to the positioning function 8 1 LED Status during Pulse Output and Rotation Direction Output Check the on off status of LED indicator lamp on the CPU module that indicates the status of the output device Y to assess the positioning operation status For other LEDs refer to the following manual FX5U User s manual Hardware FX5UC User s manual Hardware The pulse output operation is controlled by the positioning instruction Flashing turned on and off at high speed PULSE pulse train Pulse output destination One of the following has occurred 1 The operation of the positioning instruction is completed 2 An error occurred during positioning The instruction therefore is not being executed CW Flashing Forward operation is being executed for a positioning instruction forward pulse tra
186. ly the last table accepts the change in the case of continuous operation 2 Command speed can be changed during positioning operation Page 32 3 When the positioning table data is set to use device the value can be changed during positioning operation The change is applied when the table operation instruction is restarted 4 Set the number of output pulses per table execution to 2147483647 or lower Processing details Deceleration stop is performed from the point where the interrupt input signal 1 is detected during positioning operation When the flag is not detected the operation becomes the same as that of the DRVA DDRVA instruction or control method 2 1 Speed Positioning Absolute Address Specification Page 86 Absolute Positioning Page 138 1 Speed Positioning Absolute Address Specification If dwell time is set the complete flag turns on after the dwell time elapses Page 62 In addition this table can be specified for continuous operation Page 159 146 6 TABLE OPERATION 6 2 Operations of Control Method The following example shows an interrupt stop in the standard mode with dwell time 0 ms Speed Acceleration Deceleration time Command speed Operand 2 Bias speed Positioning address Time Operand 1 Drive contact of the table operation l l Interrupt input signal 1 l l l l l Instruction execution complete flag SM8029 User specified instruction execut
187. m for Bus conversion module extension cable type and Bus conversion module extension connector type Different name for FX5 CNV BUS Different name for FX5 CNV BUSC Different name for FX3U 32BL Generic term for engineering tools and GOTs Generic term for Mitsubishi Graphic Operation Terminal GOT1000 and GOT2000 series 10 Terms MSoftware packages Engineering tool GX Works3 ilManuals User s manual User s manual Startup e FX5 User s manual Hardware FX5U User s manual Hardware e FX5UC User s manual Hardware User s manual Application Programming manual Program Design Programming manual Instructions Standard Functions Function Blocks Communication manual Serial communication manual MODBUS communication manual Ethernet communication manual SLMP manual Positioning manual Analog manual ll Positioning OPR Table operation instruction Complete flag Description The product name of the software package for the MELSEC programmable controllers The product name of the software package SWnDND GXW3 for the MELSEC programmable controllers The n represents a version Generic term for separate manuals Abbreviation of MELSEC iQ F FX5 User s Manual Startup Generic term for MELSEC iQ F FX5U User s Manual Hardware and MELSEC iQ F FX5UC User s Manual Hardware Abbreviation of MELSEC iQ F FX5U User s Manual Hardware Abbreviation of MELSEC iQ F FX5UC User s Manual Hardw
188. maining distance operation Page 157 Stepping operation MEnabled Disabled Specify whether to use the external start signal When 0 Invalid is selected the external start signal is not used When 1 Valid is selected the external start signal is used With this parameter enabled even when the drive contact of each positioning instruction is turned on the standby status is held In this status turning on the set input signal starts positioning llDevice No The available input devices are XO to X17 The input interrupt function is assigned forcibly to a specified input Set the input response time initial values 10ms in input response time parameters For details refer to LL 1User s manual Application Precautions Input devices cannot be used when eight channels of the input interrupt function are already occupied However overlap of input interrupts is allowed MiLogic Specify the logic of the external start signal When 0 Positive Logic is selected the external start signal functions on a rising edge When 1 Negative Logic is selected the external start signal functions on a falling edge 4 POSITIONING PARAMETER 4 4 2 Details of Parameters 9 90 Forward limit gt Setting method Special Device Forward limit notifies the CPU module of the forward limit If forward limit is turned on while positioning operation is being output in the forward direction the speed will decelerate and the operation wil
189. method Operand Use the complete flag to check whether or not a positioning instruction is completed Note that the operation differs depending on the positioning instruction or the control method of the table operation For details refer to the complete flag of each positioning instruction and table operation control method llinstruction execution complete flag When the positioning operation is completed normally the instruction execution complete flag turns on There are the following two types of instruction execution complete flags User specification The device of the operand specified by the positioning instruction when FX5 operand specified This instruction execution complete flag is used only for the positioning instruction specified The user specified instruction execution flag is turned off by program or engineering tool or when the next positioning instruction is activated SM8029 Instruction execution complete flag This instruction execution complete flag is shared among all positioning instructions In programs use the flag immediately after a positioning instruction When the FX3 compatible operand is specified for the positioning instruction only the instruction execution flag SM8029 turns on SM8029 turns off when the drive contact of the positioning instruction is turned off The instruction execution complete flags above turn on when pulses have been output When dwell time is set for the DSZR DDSZR instruction or table
190. mmand or external start signal is detected the next table is executed Page 59 Table shift command Page 49 External Start Signal The following figure shows an example of stepping operation with the tables 1 to 3 and dwell time Positioning Positioning Positioning address of the address of the address of the table 1 table 2 table 3 l l l Drive contact of the po 4 UU TL DRVTBL instruction j l l l l l l Instruction execution I Dwell time complete flag SM8029 l User specified Dwell time Dwell time Dwell time Instruction execution l gt 2 gt 2 aw 2 l complete flag l r1 Table number in l 1 2 3 execution 1 When the external start signal is enabled the drive contact and external start signal must be turned on to activate the positioning instruction 2 Remains on until the user turns off the flag or starts the next table Operation The following explains the operation of tables and flags in the stepping operation Operation of the table Operation of each table in the stepping operation is the same as that of one table operation When a table with control method 0 No Positioning is executed or when the last table specified by the DRVTBL instruction is executed execution of all the tables is completed When the first table is greater than the last table execution of all the tables is completed either when all the tables are executed or when control method 0 No Positi
191. ms XD 1 D 12 D166 0 No Positioning Axis 2 Specification 0 pulse 1 pps 0 ms X0 1 0 13 D172 Variable Speed Operation Axis 2 Specification 0 pulse 10000 pps 0 ms X0 1 0 14 D178 4 Variable Speed Operation Axis 2 Specification pulse 20000 pps 0 ms X0 1 0 15 D184 Variable Speed Operation Axis 2 Specification 0 pulse 10000 pps 0 ms XX 1 0 16 D190 0 No Positioning Axis 2 Specification 0 pulse 1 pps Oms X0 1 0 17 D196 10 Condition Jump Axis 2 Specification pulse 1 pps ms XD 2 100 18 D202 0 No Positioning Axis 2 Specification 0 pulse 1 pps 0 ms x0 1 0 Items setting llPositioning table data use device setting The table data specified is used as a parameter of the CPU module Specify whether to set the parameter in user specified word devices Available devices are limited to data registers D and file registers R Window taxis to Axis 4 Table Data nen MO Device Control Method Asis to be Interpolated 1 Variable Speed Operation Asis 2 Specification 1 1 Speed Positioning Relative Address Specification Axis 2 Specification Select Use Device to specify a data register or file register in the Device field of the table No 1 With the specified device used as the head device one table occupies six word devices and 100 tables of word devices 600 bit are occupied in total Devices can be set per axis but the device range occupied by each axis must not overlap Unoccupied devices can be used as general purpose d
192. n Relative Address Specification Target Axis Page 152 22 Interpolation Operation Absolute Address Specification Page 153 23 Interpolation Operation Absolute Address Specification Target Axis Page 156 Operand 1 Positioning Address Page 46 Operand 21 Command Speed Page 43 Operand 3 Dwell Time Page 29 Jump Destination Table No Page 58 6 TABLE OPERATION 13 6 1 How to Use the Positioning Table 5 Operand 41 Interrupt Input Signal 2 Device No Page 57 M No for Jump Condition Page 58 Axis to be Interpolated 1 The setting details and whether the setting is available or not differ depending on the control method 6 2 Operations of Control Method The following explains the control method that can be set in a table For details of each table operation instruction refer to Page 64 POSITIONING INSTRUCTION No Positioning The following explains control method 0 No Positioning Setting data The following table shows the operand assignment mee E KNEE This table unconditionally turns on the positioning complete flag and ends the table operation instruction This control method cannot be executed before the other positioning types If a table that is not set with a parameter empty table is specified control method 0 No Positioning is applied e f a table with this positioning type is included between the first table and last table when multiple tables are executed such as continuou
193. n ABS data has been normally read from the servo amplifier ON OFF When the drive contact is turned off condition Program example The following is a program example of reading the current ABS value Drive DABS instruction SM400 Read ABS value to current value register for axis 1 DABS SD5502 Always ON Current address pulse unit axis1 SM8029 SET Instruction execution complete flag SM8329 SET Instruction execution b end a E en us Time out if operation does not end in 5 seconds OUT K50 Normally Abnormal end end TO 1 SET 5 second elapsed 5 POSITIONING INSTRUCTION 132 5 11 Absolute Position Detection System Caution For details on the servo amplifier refer to L1 1the manual for each servo amplifier e Set the timing sequence for powering on your system so that the power of the PLC is turned on after the power of the servo amplifier or that power is turned on at the same time Leave the drive contact ON after reading the ABS value If the instruction drive contact is turned off at the completion of ABS data reading the servo ON SON signal will be turned off and the operation will not be performed e f the drive contact is turned off during data reading data reading will be stopped e f data communication with the servo amplifier fails the failure is not detected as an error Thus monitor the error using the time out error detection timer When using the DABS instruction set the rotati
194. n be specified in addition to input devices X In that case the relay operates on a rising edge 3 For d1 specify the pulse output number in the range of YO to Y3 Specify an output device Y number equivalent to the axes 1 to 4 set in the high speed I O parameters Operation cannot be performed if any other axis number is specified 4 For 22 specify the rotation direction signal output device number Page 40 Rotation Direction Setting When an output device Y is used only the device that is specified with the positioning parameter or a general purpose output can be specified However if an output device Y to which PWM or CW CCW axis is assigned is specified an error occurs without any operation For the PWM function refer to LAUser s manual Application OPR direction The pulse output direction is determined by the OPR direction and rotation direction setting The following table lists operations performed when the origin return direction and rotation direction setting are used in combination I Page 40 Rotation Direction Setting Rotation Direction Setting Current Value Increment with Current Value Increment with Forward Run Pulse Output Reverse Run Pulse Output OPR Positive Direction Address Increment Direction Output direction Forward Output direction Reverse Direction Address Increment Address Increment Negative Direction Address Decrement Direction Output direction Reverse Output direction Fo
195. n direction SIGN YO to Y17 PULSE SIGN PLS SIGN signal Axis1 ewicow cw cow ug PUSESIGN SION PLS SIGN jewicew cw ecw wu PULSEISICN sien PLS SIGN owicow CCW Y2 Y3 PULSE SIGN SIGN PLS SIGN Ax PULSEISIGN CW CCW PLS Pulse train signal SIGN Direction signal CW Forward pulse train CCW Reverse pulse train Clear signal YO to Y17 When using the clear signal in the DSZR DDSZR instruction wire to the output specified in the high speed I O parameter of GX Works3 Page 71 Mechanical OPR 1 Specify an output number for transistor output Any output can be selected 2 SPECIFICATIONS 2 3 Output Specifications 3 POSITIONING CONTROL FUNCTION The positioning control of the FX5 PLC transistor output output pulses with each positioning instruction and operate based on the positioning parameters such as for speed and for operation flag This chapter describes control patterns that are available for combinations of the positioning instructions and the positioning parameters For details on each positioning instruction refer to L Page 64 POSITIONING INSTRUCTION For details on the control method of the table operation refer to K Page 136 Operations of Control Method For details on each positioning parameter refer to L Page 39 Details of Parameters 3 1 List of Control Functions The following list shows the positioning functions List of control patterns The following list shows the positi
196. n direction setting is turned on the current address increases when reverse pulses are output and decreases when forward pulses are output Point For the PLSV DPLSV instruction and table operation instruction control method 4 Variable Speed Operation or 5 Table Transition Variable Speed Operation the direction of increase decrease in the address and pulse output direction are determined by the sign of the command speed and rotation direction setting as shown below Rotation Direction Setting Current Value Increment with Current Value Increment with Forward Run Pulse Output Reverse Run Pulse Output Output direction Forward Output direction Reverse Positive direction Address Increment Address Increment Output direction No pulse output Address No increase or decrease Pe d Output direction Reverse Output direction Forward Negative direction Address Decrement Address Decrement For the DSZR DDSZR instruction the direction of increase decrease in the address and the pulse output Command speed direction are determined by the OPR direction and rotation direction setting 40 4 POSITIONING PARAMETER 4 2 Details of Parameters Unit Setting pP Setting method High Speed I O Parameter Set the unit system user unit to be used for the positioning function The selected unit system is applied to the speed used for positioning instructions and operands of positioning related special devices and positioning instruc
197. n execution to 2147483647 or lower An error occurs if the number of pulses exceeds 2147483648 5 POSITIONING INSTRUCTION 5 2 Pulse Y Output 69 i TUR in of the complete flags The following describes the operation timings of the complete flags Page 62 Complete flag From when the following operation or function is completed to when the drive contact is turned off The axis is already used Pulse output stop command Pulse decelerate and stop command when unlimited pulses are not From when pulse output of the specified positioning address is completed to when the drive contact is turned off ON condition being output Detection of both limits All outputs disabled SM8034 Write during RUN Positioning address error ON OFF When the drive contact is turned off condition 1 When unlimited pulses are being output instruction execution complete flag is not turned on 2 The flag turns on only for one scan when the drive contact of the instruction turns from OFF to ON Program example The following is a program example of pulse output from axis 1 YO llUnlimited pulses output Positioning address operand n 0 Unlimited pulses KO Drive contact mmnmmm m 9L 77 1000 pps MPulse output Positioning address operand n gt 0 ed K500 FHFEFFE m 1000 pps 70 5 POSITIONING INSTRUCTION 5 2 Pulse Y Output 5 3 gt Mechanical OPR If
198. n limit 2 4 Connected to the CPU module if the DABS instruction is used ABSB1 OCOM SON ABSM BSR 22 nssao 7 ABST 22 23 6 FX5 C32EX D FX5 C32bEYT D gt U O Z 1 96 APPENDIX Appendix 2 MELSERVO J3 series 1 Be sure to use the class D grounding method grounding resistance 100 Q or less 2 Near point signal DOG 3 To ensure safety use the forward rotation limit switch and the reverse rotation limit switch on both sides the CPU module side and the servo amplifier side Note that the limit switches on the CPU module side should be activated slightly earlier than the limit switches on the servo amplifier side Reverse Reverse Forward Forward rotation limit 2 rotation limit 1 rotation limit 1 rotation limit 2 Servo amplifier side CPU module side CPU DEN side Servo amplifier side LSF Servo motor 2 F s m Operation in reverse rotation direction gt Operation in forward rotation direction 4 To detect absolute positions connect this line to the CPU module 5 O module are used in the connection example Inputs and outputs built into the CPU module are available in place of I O module 6 Setthe command pulse input form of the servo amplifier PA13 MR J3LIA to 0010 negative logic forward rotation pulse train reverse rotation pulse train 7 Refer to L gt Page 188 FX5UC CPU module Absolute position detection FX5U CPU module 100V to 240V
199. n specifying a device other than input devices X as an operand always use the same device as that for the near point dog signal Winput Logic pP Setting method High Speed I O Parameter Specify the logic of the zero signal llHigh Speed I O Parameter When 0 Positive Logic is selected the zero signal functions on a rising edge When 1 Negative Logic is selected the zero signal functions on a falling edge This logic setting is not applied to the zero signal of the device other than input device X specified by the DSZR DDSZR instruction The device other than input device X functions on a rising edge WOPR Zero Signal Counts pP Setting method High Speed I O Parameter Special Device Set the number of zero signals until OPR stops after detection of the near point dog The timing of counting start of the number of zero signals can be selected using the count start timing between the front end and rear end of the near point dog The setting range is from 0 to 32767 When the near point dog signal and zero signal are set in the same device the number of zero signals is fixed to 1 llSpecial Device R W OPR zero signal counts SD5532 SD5572 SD5612 SD5652 R W Read Write Precaulons When the OPR zero signal counts is set to 0 the motor stops immediately after the near point dog is detected If a sudden stop may damage the devices take the following measures e Set the creep speed to a low sp
200. n table X Page 60 number SD5508 SD5548 SD5588 SD5628 Current speed composite x Page 59 SD5509 SD5549 SD5589 SD5629 speed SD5510 SD5550 SD5590 SD5630 E s e e Positioning error error code Page 61 SD5511 SD5551 SD5591 SD5631 Positioning error error X R W Page 60 occurrence table No SD5516 SD5556 SD5596 SD5636 Maximum speed R W Page 44 SD5517 SD5557 SD5597 SD5637 SD5518 SD5558 SD5598 SD5638 Bias speed R W Page 45 SD5519 SD5559 SD5599 SD5639 SD5520 SD5560 SD5600 SD5640 e e e Acceleration time O RW Page 45 SD5521 SD5561 SD5601 SD5641 a ee Deceleration time Of RW Page 45 R Read only R W Read write O Supported X Not supported 1 Writing can be performed only by the HCMOV DHCMOwV instruction 6 TABLE OPERATION 6 2 Operations of Control Method 151 f the complete flags The following describes the operation timings of the complete flags If dwell time is specified the flag turns on after the dwell time elapses ON From when pulse output of From when the following operation or From when pulse output of From when the following operation or condition the specified positioning function is completed to when the drive the specified positioning function is completed to when the ON gt address is completed to contact is turned off address is completed to OFF condition is met when the drive contact is Either t
201. nal 1 is detected the operation decelerates to a stop the output direction is reversed and the operation continues before ending normally at the positioning address where the input interrupt occurred When transfer time to the positioning address is shorter than the time required for deceleration stop the value set in s1 is small the operation immediately stops at the positioning address Note that the immediate stop may damage the machine because the motor stops immediately Speed Moving time Command speed Positioning address E Bias speed Time Time required for deceleration Interrupt input signal 1 e When the interrupt input signal 1 is detected during acceleration the operation differs depending on the positioning address value s1 as shown below 1 When the positioning address lt the number of pulses required for deceleration from the current speed After the interrupt input signal 1 is turned on deceleration immediately starts and then the operation immediately stops when the positioning address is reached Note that the immediate stop may damage the machine because the motor stops immediately 2 When the number of pulses required for deceleration from the current speed lt positioning address lt the number of pulses required for acceleration deceleration from the current speed The speed is increased until the position at which the remaining number of pulses becomes the same as that re
202. nd usage environment etc which follow the conditions and precautions etc given in the instruction manual user s manual and caution labels on the product 2 Even within the gratis warranty term repairs shall be charged for in the following cases a Failure occurring from inappropriate storage or handling carelessness or negligence by the user Failure caused by the user s hardware or software design b Failure caused by unapproved modifications etc to the product by the user c When the Mitsubishi product is assembled into a user s device Failure that could have been avoided if functions or structures judged as necessary in the legal safety measures the user s device is subject to or as necessary by industry standards had been provided d Failure that could have been avoided if consumable parts battery backlight fuse etc designated in the instruction manual had been correctly serviced or replaced e Relay failure or output contact failure caused by usage beyond the specified life of contact cycles f Failure caused by external irresistible forces such as fires or abnormal voltages and failure caused by force majeure such as earthquakes lightning wind and water damage g Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi h Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user of p
203. ndix 2 MELSERVO J3 series Appendix 3 MELSERVO JN series PULSE SIGN mode FX5U CPU module 100V to 240V AC MR JNLJA series CN1 servo amplifier E 24V DC peo 1 pocouprs zo lt lt gt r BN BS Positioning INP ku completed INP Servo error ALM CN1 Servo ON Reset Emergency stop Forward rotation limit 2 Reverse rotation limit 2 r m Aio e m O ie Z DOCOM Immediate stop command OPR command JOG command JOG command Forward rotation positioning command Reverse rotation positioning command Forward rotation limit LSF Reverse rotation limit LSR Stop command APPENDIX Appendix 3 MELSERVO JN series 1 89 2 3 4 Es 190 Be sure to use the class D grounding method grounding resistance 100 Q or less Near point signal DOG To ensure safety use the forward rotation limit switch and the reverse rotation limit switch on both sides the CPU module side and the servo amplifier side Note that the limit switches on the CPU module side should be activated slightly earlier than the limit switches on the servo amplifier side Reverse Reverse Forward Forward rotation limit 2 rotation limit 1 rotation limit 1 rotation limit 2 Servo amplifier side CPU module side CPU DEN side Servo amplifier side LSF Servo motor 2 F aa Operation in reverse rotation direction gt Operation in forward rotation
204. ned as follows Device specified in n5 Head table number Device specified in n5 1 Lasttable number 5 POSITIONING INSTRUCTION 125 5 10 Multiple axis Table Operation 6 For d specify the bit devices of the instruction execution complete flag and abnormal end flag of each axis The device assignment is as follows L Page 62 Complete flag d Instruction execution complete flag of n1 d 1 Instruction execution abnormal end flag of n1 d 2 Instruction execution complete flag of n1 1 d 3 Instruction execution abnormal end flag of n1 1 4 Instruction execution complete flag of n1 2 d 5 Instruction execution abnormal end flag of n1 2 d 6 Instruction execution complete flag of n1 3 d Instruction execution abnormal end flag of n1 3 d d d d d d d t 1 1to 32 when the positioning table data is not set to use device When the interpolation operation table is specified When interpolation operation is specified by the DRVMUL instruction specify the table number only for the reference axis and set the table number of the counterpart axis to O An error occurs otherwise Operation of the complete flags The operation timing of the complete flags depends on the table control method The FX3 compatible devices SM8029 and SM8329 cannot be used 126 5 POSITIONING INSTRUCTION 5 10 Multiple axis Table Operation Program example This program example illustrates operations
205. ned on from off or system is When items occupying I O are changed the high speed I O assignment parameters are also refreshed together For parameters refer to Page 39 Details of Parameters Window Tj Navigation window gt Parameter gt FXSUCPU gt Module Parameter gt High Speed I O gt Output Function gt Positioning gt Detailed Setting gt Basic Setting Pulse Output Mode 2Cw CCW Output Device PULSE OW Output Device SIGN COW External Start Signal Device No x0 Ee External Start Signal Logic 0 Positive Logic f hterrupt Input Signal 1 Logic Zero Signal OPR Zero Signal Counts 1 4 POSITIONING PARAMETER 4 1 Setting Method Thterrupt Input Signal 2 Logic 0 Positive Logic i OPR Parameter Set the OPR parameter OPR Enable Disable 1 Valid ee OPR Direction 1 Positive Direction Address Increment Direction M Starting Point Address 100 pulse M Glear Signal Output Enable Disable 1 Valid Clear Signal Output Device No Y10 aee OPR Dwell Time ms Near point Doe Signal Device No x ene Near point Dog Signal Logic 0 Positive Logic Zero Signal Device No xt BS Zero Signal Logic 0 Positive Logic Item Axis Axis2 Axis3 Axis4 E Basic Parameter T Set basic parameter 1 1PULSE SIGN ameus TPULSE SIBN v5 TET E Y Rotation Direction Setting 0 Current Address Increment with Forward Run Pulse Output 1 Current A
206. ng function occupy the input interrupt function up to 8 channels of XO to X17 Input interrupt e Zero signal L Page 55 Zero Signal e Interrupt input signal 1 Page 48 Interrupt Input Signal 1 e External start signal I Page 49 External Start Signal 1 Can be used together with other functions However the edge operation of other functions is applied Correction of backlash The positioning function cannot correct mechanical backlash clearance play If it is necessary to correct the backlash set the number of output AN Turntable pulses taking into account the backlash that may be caused when N Feed screw reversing the transfer direction beforehand Backlash clearance play 162 7 PROGRAMMING 7 2 Cautions for Program Creation Complete flag and completion of positioning operation If the complete flag of a positioning instruction is turned on then the execution of the instruction such as pulse outputting operation is complete Page 62 Complete flag However it is not certain whether the servo motor has stopped or not Check the positioning completion signal of the servo amplifier drive unit to determine whether the servo motor has stopped Write during RUN Do not change the program if a positioning instruction is being executed pulses are being output in the RUN mode Operations will be performed as shown in the following table if a program is changed during instruction execution in RUN mode
207. nly when the previous table is set to Table Transition Variable Speed Operation Interrupt 2 speed positioning The variable speed operation of table 1 is performed by the table operation instruction Page 26 Variable speed operation When the interrupt input signal 2 is turned on the interrupt 1 speed positioning of table 2 is performed from acceleration deceleration lt Page 24 Interrupt 1 speed positioning The operation command speed can be changed until the interrupt input signal 2 turns on Interrupt 2 speed positioning is achieved when control method 5 Table Transition Variable Speed Operation is transferred to control method 3 interrupt 1 speed positioning by the table operation instruction Control method of table 2 3 Interrupt 1 Speed Control method of table 1 5 Table Transition Variable Speed Operation Acceleration time Deceleration time M e Command Maximum l speed 1 speed Bias speed Miu z Current position Positioning address 2 input signa Interrupt o input signal 1 The following table shows applicable control methods of the table operation Positioning instruction Table operation control method Table operation TBL DRVTBL DRVMUL instruction 5 Table Transition Variable Speed Operation 3 Interrupt 1 Speed Positioning Precautions he pulse output is not stopped unless the interrupt input signal 1 and 2 are turned on When O is set for the command speed in the Table
208. normal end flag IX TR R Read only X Not supported Outline of operation Drive contact Operand specification 1 For s specify the first number of the device that inputs the output signal for ABS data from the servo amplifier The device assignment is as follows s ABS bit 0 s 1 ABS bit 1 s 2 Send data ready signal 2 For d1 specify the first number of the device that outputs the ABS data control signal to the servo amplifier The device assignment is as follows s Servo ON signal s 1 ABS data transfer mode signal s 2 ABS request signal 3 For d2 specify the number of the device that stores the ABS data 2147483648 to 2147483647 in pulses read from the servo amplifier Always specify the current address pulse unit for the specified device Page 47 Current address Detection of absolute position 1 ifthe DABS instruction turns ON the CPU module will Example of MR J40A activate the servo ON output and the ABS transfer mode Servo ON SON output ABS data transfer ABSM 2 32 6 bit data communication will be performed while mode signal mutually checking the data sending receiving condition inen data ready ABST _ Amplifier output using the send data ready signal and the ABS data iret ile request ABSR PLC output request signal oe i i ABS bit1 ABSB1 X X Amplifier output 3 The 2 bit line line for ABS bit O and bit 1 will be us
209. ns from OFF to ON 2 When remaining distance operation enabled is turn on abnormal end flag is not turn on Condition Jump The following explains control method 10 Condition Jump The following table shows the operand assignment Description Jump Destination Table No M No for Jump Condition Details None None Specify the table number of the Specify the number of the internal jump destination when the jump relay M of the jump condition condition is met 1 When user devices are used the value can be changed during positioning operation When at table three tables or more before the table to be changed in stepping operation or continuous operation the change is applied when the at the next scan The table to be executed next can be selected using conditions When the jump condition internal relay M specified in operand 4 is ON at condition judgment positioning of the table number of the jump destination specified in operand 3 is performed When the jump condition is off the table with the following number is executed Operations after the jump all follow the jump destination tables In addition this table can be specified for continuous operation Page 159 6 TABLE OPERATION 148 6 2 Operations of Control Method Precauions When this table specified for last table jump is not executed and operation ends normally after deceleration stop In stepping operation conditions are judged when the tab
210. ntinuous operation 2 Command speed can be changed during positioning operation Page 32 3 When the positioning table data is set to use device the value can be changed during positioning operation The change is applied when the table operation instruction is restarted 4 Set the number of output pulses per table execution to 2147483647 or lower Operation with one table and operation of stepping operation are the same as that of the DRVA DDRVA instruction lt Page 157 Stepping operation Page 86 Absolute Positioning However if dwell time is set the complete flag turns on after the dwell time elapses Page 62 In addition this table can be specified for continuous operation Page 159 Precauions The same cautions as for the DRVA DDRVA instruction apply 138 6 TABLE OPERATION 6 2 Operations of Control Method Other than the following the related devices are the same as those of the DRVA DDRVA instruction SD5506 SD5511 SD5546 SD5586 SD5626 Positioning execution table number IX R SD5551 SD5591 SD5631 Positioning error error occurrence table No R W R Read only R W Read write X Not supported Page 60 If dwell time is specified the flag turns on after the dwell time elapses ON From when pulse output of From when the following operation or From when pulse output of From when the following operation or condition the s
211. ollowing table shows the operand assignment Description None Command Speed Command Speed DwelTme Time None Range 2147483648 to 42147483647 a to 32767 ms User system unit Details None Set the speed within the range of Dwell time is time until the None 200 Kpps to 200 Kpps in pulse complete flag turns on 1 Command speed can be changed during positioning operation Page 32 2 When the positioning table data is set to use device the value can be changed during positioning operation The change is applied when the table operation instruction is restarted Operation with one table and operation of stepping operation are the same as that of the PLSV DPLSV instruction Page 157 Stepping operation Page 101 Variable Speed Operation When this table is used deceleration stop is performed by turning off the drive contact of the table operation instruction If dwell time is set the complete flag turns on after the dwell time elapses Page 62 _ Precautions Other than the following the operation is the same as that of the PLSV DPLSV instruction e When this table is used for stepping operation the next table can be activated after stop using the pulse decelerate and stop command Page 49 This table cannot be specified for continuous operation e f the command speed is changed to 0 during positioning operation pulses are decelerated to a stop but the table operation does not end
212. on Positioning address Current address when corresponding table is started 1 For example table 2 will be non execution if the starting address is 0 and the following settings are used Table No 1 The positioning address of control method 1 1 Speed Positioning Relative Address Specification is 2000 Table No 2 The positioning address of control method 2 1 Speed Positioning Absolute Address Specification is 2000 Precautions The table execution ends with an error if 4 or more consecutive tables are non execution 160 6 TABLE OPERATION 6 3 How to Execute Multiple Tables PROGRAMMING This chapter explains common items and precautions related to programs T l Table Operation Instruction After setting table data create a program that uses the table L Page 134 TABLE OPERATION Specify the table No in the operand of the table operation instruction The following table shows operands specified for each table operation instruction TBL n Table number to be executed Page 108 DRVTBL n1 First table number to be executed Page 116 n2 Last table number to be executed LC 01 m2 3 22 DRVMUL n2 Table number of the axis 1 Page 124 n3 Table number of the axis 2 n4 Table number of the axis 3 n5 Table number of the axis 4 T 2 Cautions for Program Creation The following describes cautions for program creation Positioning instructions in the same axis
213. on cannot be performed properly e When such as forward limit or reverse limit is detected in either of the reference axis or counterpart axis during interpolation operation both the axes are decelerated to a stop e Set the number of output pulses per table execution to 2147483647 or lower An error occurs if the number of pulses exceeds 2147483647 Do not change the value of operand 4 This function is not intended for purposes where high precision path is required because each axis is only started simultaneously Using the following or similar set values in particular may lead to a larger difference in stop time between each axis Even when there is a difference in stop time operation stops at the correct position 1 When there is a large difference in transfer distance between the reference axis and counterpart axis 2 When the speed of the reference axis or counterpart axis is equal to or lower than the bias speed or exceeds the maximum speed 3 When the speeds of the reference axis and counterpart axis are extremely slow 4 When an extremely long acceleration time or deceleration time is set If interpolation operation is aborted the stop position of each axis may be off the straight line Related devices llSpecial relays SM8029 Instruction execution Page 62 complete flag SM8329 Instruction execution abnormal end flag SM5500 SM5501 SM5502 SM5503 SM8348 SM8358 SM8368 SM8378 Positioning in
214. on direction of the servo motor as follows If the setting is incorrect the current value controlled by the PLC may not match with the sign positive or negative in the servo amplifier after the ABS value is read Rotation direction Setting in servo amplifier Forward rotation CCW when forward rotation pulses are input arentvaluesqneisdsesoy TORSIS TOTAM OH pulses Reverse rotation CW when reverse rotation pulses are input Reverse rotation CW when forward rotation pulses are input purent value Is decroasen by reverse rotatlon pulses Forward rotation CCW when reverse rotation pulses are input 5 POSITIONING INSTRUCTION 133 5 11 Absolute Position Detection System 6 TABLE OPERATION This chapter explains the table operation in the following items How to use the positioning table in GX Works3 Operations of each control method How to execute multiple tables stepping operation and continuous operation 6 1 Howto Use the Positioning Table The following procedure is required to perform positioning in table operation 1 Setthe positioning parameter in the high speed I O parameter of GX Works3 Page 35 Setting Method 2 Setthe table data in the high speed I O parameter of GX Works3 Page 134 How to Use the Positioning Table 3 Program the table operation instruction L Page 161 Table Operation Instruction This section explains procedure 2 above Table setting method Set the table in the high sp
215. on or control method for table operation When specifying a word device if table operation when the positioning table data is set to use device as an operand the value can be changed during operation For the details of operand refer to the following KL Page 64 POSITIONING INSTRUCTION KL Page 134 TABLE OPERATION Special Device Values of special devices for positioning parameters can be read or written from engineering tool or program Changes to the special devices during positioning operation are applied when the positioning instruction is started again However the changed pulse output stop command pulse decelerate and stop command forward limit reverse limit table shift command remaining distance operation enabled and remaining distance operation start are applied in the next scan The values of special registers for positioning parameters can be also read or written to by high speed current value transfer HCMOV DHCMOY instruction and data transfer MOV DMOV instructions For the details of special device that can be read or written to refer to the following KL Page 39 Details of Parameters KL Page 164 List of Related Devices 4 POSITIONING PARAMETER 4 1 Setting Method 35 36 Basic Setting The items set in basic setting correspond to the positioning parameters of each axis In special devices corresponding to reset parameters values set in the basic setting are stored as the initial values when the power is tur
216. oning is executed Even if the table shift command or external start signal is turned on before a table is completed the next table is not activated By turning on the table shift command or external start signal after the previous table is completed the next table is executed If the operation ends with an error when tables to be executed are left the rest of the tables are not executed Regardless whether the operation ends with or without errors operation is started from the first table every time the instruction is turned on The operation is not restarted from the last table of the previous operation e Some control methods can be used with the remaining distance operation Page 33 Remaining distance operation 6 TABLE OPERATION 1 7 6 3 How to Execute Multiple Tables 9 Operations by control method When a table with control method 0 No Positioning is executed all the tables are considered to be normally completed Then the complete flag turns on and tables that follow the table with 0 No Positioning are not executed For control method 10 Condition Jump the conditions are judged at execution of the table and the table with the next number is immediately executed The judgment timing differs from that in continuous operation For control method 4 Variable Speed Operation and control method 5 Table Transition Variable Speed Operation after the pulse decelerate and stop command is detected deceleration s
217. oning function patterns Each control pattern is operated by corresponding positioning instruction Operation pattern Reference OPR control Mechanical OPR Page 20 High speed OPR Page 21 Positioning control 1 speed positioning Page 21 2 speed positioning Page 22 Multi speed operation Page 23 Interrupt stop Page 24 Interrupt 1 speed positioning Page 24 Interrupt 2 speed positioning Page 25 Variable speed operation Page 26 Table operation Page 26 Simple linear interpolation 2 axis simultaneous start Page 27 List of auxiliary functions The following list shows the auxiliary positioning functions that can be added to the control patterns above Auxiliary function Reference Dog search function Page 28 Dwell time Page 29 OPR zero signal counts Page 30 Forward limit and reverse limit Page 30 Positioning address change during positioning operation Page 31 Command speed change during positioning operation Page 32 Pulse deceleration and stop Page 33 Remaining distance operation Page 33 Multiple axes simultaneous activation Page 34 Detection of absolute position Page 34 3 POSITIONING CONTROL FUNCTION 1 3 1 List of Control Functions 9 3 2 OPR Control This section describes details of the OPR control Mechanical OPR The DSZR DDSZR instruction starts the OPR operation in the direction set by the OPR direction setting Page 52 OPR Direction After the speed has reached the OPR speed the operation will be performed at the specifi
218. ontrol Simple linear interpolation 2 axis simultaneous start The work piece will travel to the target position at the specified vector speed interpolation operation by the table operation instruction In this interpolation operation of two axes the CPU module calculates the start timing based on the positioning address and the command speed set in the table The interpolation speed can be specified by combined speed and reference axis speed L Page 59 Interpolation Speed Specified Method For maximum speed bias speed the acceleration time and deceleration time use the reference axis setting Positioning address 2 Y coordinate Positioning address 1 positioning address 2 Control method of table 2 21 Interpolation Operation Relative Address Specification Target Axis 23 Interpolation Operation Absolute Address Specification Target Axis Moves at the interpolation speed X coordinate Sumenta Positioning address 1 i position Control method of table 1 20 Interpolation Operation Relative Address Specification 22 Interpolation Operation Absolute Address Specification The following table shows applicable control methods of the table operation Positioning instruction Table operation control method Table operation TBL DRVTBL DRVMUDL instruction 20 Interpolation Operation Relative Address Specification e 21 Interpolation Operation Relative Address Specification Target Axis
219. p Interrupt 1 Speed Positioning 0 2 00 rrr Related deviG6s uas esc mme ay EUR Rd Rome OI qodoR eru RoRUR qraoR edo g aco Ro acd dad Outliri Of operatii x ez22te RET PRX pERSRPSERIEERICHbSPRSSPARS9rtsqppRSPRAR eR RERESXGG4eRSCRESES Program example sesi 1 2 1 265 d dre d CR ee oe iru E ec ELE E UR D RC bee ee hw E WU CY UON HUE E E d dard CAUNGN 2 22 ge eee E QT TIT rnm Variable Speed Operations iu2024630440054064425040Sbe assets deo E IRR Rogo te bee henge Ro eda dd Related devices 2 ee ee hs hrs Outline of operation 6 RR RR Program exatmible ua oap d Irure derisa bec Eoo D Eton ee oe ened Sleds Rl oe beeen due eo Dd eee d e mMT O O Single table Operation 0 hh hh hh nn Related deVICGS 2 eee esee ehh hh hrs OUN OF ONETAN xus don elem cried Mee IG a A al ee creed anions Ia ar ad pct d ewe IG dx ERR RUN RE aci ee T ard od Program example 2d ua nd RC RO robe a 54 Renee Su EE x RE eo bee beer Eug que cedo ds CONTENTS 5 9 Mu ultiple table OperatlOfi iau se es bee eet eben seed QUSE RORRA Ede Oem RR DATA ewe eee e 116 Relaled COVICBS o ard RS RICE EM ERR RP FEM LAS AOI ee bE oo ad heehee ede ROSIHERS seas 116 Outline Of Operat s ss iue ran eneke E a A a a e a a 117 Program Sxample sess rsrarts d ew crete eee ee ee eR EE E E eee eee 118 5 10 Multiple axis Table Operation 0 0 0 ees 124 Related UGVICES 2 ccc eee pode d
220. pecified positioning function is completed to when the drive the specified positioning function is completed to when the ON gt address is completed to contact is turned off address is completed to OFF condition is met when the drive contact is The axis is already used when the ON OFF The axis is already used turned off Pulse output stop command condition is met The drive contact is turned off during Pulse decelerate and stop command positioning operation Limit of the moving direction Pulse output stop command All outputs disabled SM8034 Pulse decelerate and stop command Write during RUN Limit of the moving direction Positioning address error All outputs disabled SM8034 Deceleration stop after the command Write during RUN speed is changed to 0 Positioning address error Table shift cannot be completed in time Deceleration stop after the command speed is changed to 0 Table shift cannot be completed in time ON OFF When the drive contact is turned off The flag remains on until either of the following is performed condition Turning off the flag by the user Restarting the table instruction Shift to the next table 1 The flag turns on only for one scan when the drive contact of the instruction turns from OFF to ON 2 When remaining distance operation enabled is turn on abnormal end flag is not turn on Interrupt 1 Speed Positioning The following explains the control method 3 Interrup
221. peed Positioning The positioning function uses the DVIT DDVIT instruction to perform one speed interrupt constant quantity feed With this instruction interrupt signals can be controlled through user programs This instruction executes one speed interrupt constant quantity feed ENO DVIT EN s1 s2 d1 d2 ENO DDVIT EN s1 s2 d1 d2 llDescription range data type DVIT e FX5 operand s1 Word device number storing the positioning address or 32768 to 32767 16 bit signed binary ANY 16 data User system unit s2 Word device number storing command speed or data 1 to 65535 16 bit unsigned binary ANY16 User system unit d1 Axis number from which pulses are output K1 to 4 16 bit unsigned binary ANY ELEMENTARY WORD d2 Bit device number of the instruction execution complete Bit ANY BOOL flag and abnormal end flag e FX3 compatible operand s1 Word device number storing the positioning address or 32768 to 32767 16 bit signed binary ANY 16 data User system unit s2 Word device number storing command speed or data 1 to 65535 16 bit unsigned binary ANY16 User system unit d1 Output bit device number Y from which pulses are output Bit ANY_ELEMENTARY BOOL d2 Bit device number from which rotation direction is output Bit ANY_BOOL 1 The positioning address can be changed during positioning operation Page 31 Positioning address change during positioning operation 2 Command speed can be
222. positioning Page 21 Speed Operation speed Start Target position 2 speed positioning Page 22 Speed Operation speed 1 Operation speed 2 tart Transfer Transfer Pa distance 1 distance 2 Multi speed operation Page 23 Speed Operation speed 1 Operation speed 2 Operation speed 3 Start Transfer Transfer Transfer distance 1 distance 2 distance 3 Interrupt stop Page 24 Speed Operation speed Start Interrupt Transfer distance 1 OUTLINE 1 2 1 2 List of Functions a U o 2 sitioning operation pattern Reference Interrupt 1 speed positioning Page 24 Speed Operation speed Interrupt Transfer distance Interrupt 2 speed positioning Page 25 Speed Operation speed 1 Operation speed 2 Start Interrupt 1 Interrupt 2 Transfer distance Variable speed operation Page 26 Speed Operation speed f 8 UN Speed Speed Instruction change change OFF Simple linear interpolation 2 axis simultaneous start Page 27 Y coordinate Target position x y Start point X coordinate Table operation Page 26 bw e varme Speed Oneratn T osos Speed Postonng Relive AaaressSpeccaton 2 _ Speed Postonng Relive Adaress Spectator pne 1 1 Speed Postoning Relive Adaress Spectator ize Sonoro Absolute position detection system Page 130 Reads out the current value 1 3 Setup Procedure for Positioning Control 1 Check specifications of incorporated positioning fun
223. put Interrupt input signal 2 XO to X17 Connect a line to the input specified in the table parameter setting of GX Works3 The signal does not occupy the input interrupt function and its edge is detected with a 1 ms interrupt Forward rotation limit LSF All input Connect a line to any input When the line connected input is turned on the forward limit relay must be points turned on The forward limit depends on the axis number as shown in the following table SM5663 Reverse rotation limit LSR All input Connect a line to any input When the line connected input is turned on the reverse limit relay must be points turned on The reverse limit depends on the axis number as shown in the following table SM5677 SM5678 1 In the case of FX3 compatible operand DSZR DDSZR instruction can use bit device other than X In this case the near point signal DOG and zero signal must be assigned to the same device For details refer to Page 71 Mechanical OPR SM5676 SM5679 2 3 Output Specifications This section describes the transistor output specifications of the FX5 Note that the simultaneous turning on rate is restricted For details on this restriction refer to the following manual FX5U User s manual Hardware FX5UC User s manual Hardware For MELSERVO Series amplifiers use a sink input sink output type CPU module External voltage 5 to 30 V DC Maximum load FXSU LIMTLEI 0 5 A point The total load cur
224. put pulses 50000 1000 pps p B Bias speed Time 5 POSITIONING INSTRUCTION 113 5 8 Single table Operation Axis 2 counterpart axis Acceleration time Deceleration time Speed 7 acceleration time of 7 deceleration time of reference axis reference axis I I Maximum speed maximum speed of eee meme HEEL ume esum reference axis Command speed the CPU module L calculates speed Number of output pulses 20000 Bias speed the CPU modue r Xxc LLL uc calculates speed Setting data llPositioning parameter high speed l O parameter Time llBasic Parameter 1 Pulse Output Mode 1 PULSE SIGN 1 PULSE SIGN Output Device PULSE CW Output Device SIGN CCW x eo lt lt ol Rotation Direction Setting 0 Current Address Increment with Forward Run Pulse 0 Current Address Increment with Forward Run Pulse Output Output Unit Setting 0 Motor System pulse pps 0 Motor System pulse pps Pulse No of per Rotation 2000 pulse 2000 pulse Movement Amount per Rotation 1000 pulse 1000 pulse Position Data Magnification 1 x Single 1 x Single MBasic Parameter 2 Interpolation Speed Specified Method 1 Reference Axis Speed 0 Composite Speed Max Speed 15000 pps 100000 pps Bias Speed 1000 pps 0 pps Acceleration Time 500 ms 100 ms Deceleration Time 500 ms 100 ms MDetailed Setting Parameter External
225. quired for deceleration Then deceleration stop is performed 3 When the number of pulses required for acceleration deceleration from the current speed lt positioning address The speed is increased to the command speed s2 Then deceleration stop is performed Speed Command speed Time 0 D 9 Interrupt input signal 1 1 5 POSITIONING INSTRUCTION 00 5 6 Interrupt 1 Speed Positioning 5 Variable Speed Operation The positioning function uses the variable speed pulse output instruction equipped with the rotation direction designation function to perform variable speed operation This instruction can change the speed using the acceleration deceleration speed This instruction outputs variable speed pulses with an assigned rotation direction output ENO PLSV EN s d1 d2 ENO DPLSV EN s d1 d2 llDescription range data type PLSV e FX5 operand s Word device number storing command speed or data 32768 to 32767 16 bit signed binary ANY 16 User system unit d1 Axis number from which pulses are output K1 to 4 16 bit unsigned binary ANY ELEMENTARY WORD d2 Bit device number of the instruction execution complete Bit ANY_BOOL flag and abnormal end flag e FX3 compatible operand Word device number storing command speed or data 32768 to 32767 16 bit signed binary User system unit Output bit device number Y from which pulses are output Bit Bit device number from whic
226. r in the programmable controller device and that backup and fail safe functions are systematically provided outside of the device for any problem or fault 2 The Mitsubishi programmable controller has been designed and manufactured for applications in general industries etc Thus applications in which the public could be affected such as in nuclear power plants and other power plants operated by respective power companies and applications in which a special quality assurance system is required such as for railway companies or public service purposes shall be excluded from the programmable controller applications In addition applications in which human life or property that could be greatly affected such as in aircraft medical applications incineration and fuel devices manned transportation equipment for recreation and amusement and safety devices shall also be excluded from the programmable controller range of applications However in certain cases some applications may be possible providing the user consults their local Mitsubishi representative outlining the special requirements of the project and providing that all parties concerned agree to the special circumstances solely at the user s discretion 201 TRADEMARKS Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries Ethernet is a trademark of Xerox Corporation MODBUS
227. r storing the positioning address or 32768 to 32767 16 bit signed binary ANY 16 data User system unit s2 Word device number storing command speed or data 1 to 65535 16 bit unsigned binary ANY16 User system unit d1 Axis number from which pulses are output K1 to 4 16 bit unsigned binary ANY ELEMENTARY WORD d2 Bit device number of the instruction execution complete Bit ANY BOOL flag and abnormal end flag e FX3 compatible operand s1 Word device number storing the positioning address or 32768 to 32767 16 bit signed binary ANY 16 data User system unit s2 Word device number storing command speed or data 1 to 65535 16 bit unsigned binary ANY16 User system unit d1 Output bit device number Y from which pulses are output Bit ANY ELEMENTARY BOOL d2 Bit device number from which rotation direction is output M Bit ANY BOOL 1 The positioning address can be changed during positioning operation 17 Page 31 Positioning address change during positioning operation 2 Command speed can be changed during positioning operation L Page 32 Command speed change during positioning operation 5 POSITIONING INSTRUCTION 5 5 Absolute Positioning llDescription range data type DDRVA e FX5 operand s1 Word device number storing the positioning address or 2147483648 to 2147483647 32 bit signed binary ANY32 data User system unit s2 Word device number storing command speed or data 1 to 2147483647 32 bit
228. ration deceleration Absolute position detection ABS current value reading DABS instruction used Interpolation Simple linear interpolation by 2 axis simultaneous start Start time time until pulse output is started after execution of the instruction is When using the external start signal 50 us or less started Interpolation operation 300 us or less 1 The number of control axes is two when the pulse output mode is CW CCW mode 2 Setthe number of output pulses per operation to 2147483647 or lower 3 For the start speed refer to K Page 64 Start speed 14 2 SPECIFICATIONS 2 1 Performance Specifications 2 2 Input Specifications The FX5 input specifications are explained below Note that the simultaneous turning on rate is restricted For details on this restriction refer to the following manual FX5U User s manual Hardware FX5UC User s manual Hardware FX5U CPU module Input signal voltage 24 V DC 20 15 Input impedance XO to X17 4 3 KQ X20 and subsequent 5 6 kQ Input signal current XO to X17 5 3 mA 24 V DC X20 or subsequent 4 mA 24 V DC Input sensitivity Input ON current XO to X17 3 5 mA or more current X20 or subsequent 3 0 mA or more Input OFF current 1 5 mA or less Input response time FX5U 32MTO XO to X5 ON 2 5 us or less FX5U 32TMO X6 to X17 ON 30 us or less FX5U 64MTO FX5U 80MTE X10 to X17 LUE X20 or subsequent ON 50 us or less OFF 150us or less Input response t
229. ration stop after the command Write during RUN speed is changed to 0 Positioning address error Table shift cannot be completed in time Deceleration stop after the command speed is changed to 0 Table shift cannot be completed in time ON OFF When the drive contact is turned off The flag remains on until either of the following is performed condition Turning off the flag by the user Restarting the table instruction e Shift to the next table 1 The flag turns on only for one scan when the drive contact of the instruction turns from OFF to ON 2 When remaining distance operation enabled is turn on abnormal end flag is not turn on 1 Speed Positioning Absolute Address Specification The following explains control method 2 1 Speed Positioning Absolute Address Specification Setting data The following table shows the operand assignment Description Positioning Address Command Speed Dwell Time None Range 2147483648 to 2147483647 1 to 2147483647 0 to 32767 ms User system unit User system unit Details Set the absolute address within Set the speed within the range of Dwell time is time until the None the range of 2147483648 to 1pps to 200 Kpps in pulse complete flag turns on after the 2147483647 in pulse positioning address is reached 1 The positioning address can be changed during positioning operation Page 31 However only the last table accepts the change in the case of co
230. related to common aspects of positioning operation Pulse Output Mode pP Setting method High Speed I O Parameter Specify the pulse output method When 0 Not Used is selected the positioning function is not used When 1 PULSE SIGN is selected the positioning function is executed with the pulse train and direction signal output When 2 CW CCWI is selected the positioning function is executed with the outputs of the forward pulse train and reverse pulse train The following describes the output configuration in the PULSE SIGN mode and CW CCW mode BPULSE SIGN mode Operation in Operation in Operation in Operation in forward rotation reverse rotation forward rotation reverse rotation direction direction direction direction e MEL e EM Pulse output PULSE destination YO Optional output YO SIGN rotation direction specification Pulse output l l I M i I PULSE destination Y2 i i Optional output YO i ON EOE SIGN rotation direction specification rIrTz O Z N O TI T N po gm Pulse output Pulse output PULSE destination Y1 4 l Y l PULSE destination Y3 Optional output YO Optional output YO SIGN rotation direction i ON OFF SIGN rotation direction specification i specification CICI 1 H and L respectively represent the HIGH status and the LOW status of the waveform 2 ON and OFF represent the statuses of the FX5 PLC output
231. rent per common terminal should be the following value or less 4 output point common 0 8 A 8 output point common 1 6 A FX5UC 32MTO YO to Y3 0 3A point Y4 or more 0 1A point The total load current per common terminal 8 output point should be 0 8A or less Open circuit leakage current 0 1 mA or less at 30 V DC Voltage drop when ON YO to Y3 1 0 V or less Y4 or more 1 5 V or less 2 SPECIFICATIONS 2 3 Output Specifications Response time FX5U OMTO YO to Y3 2 5 us or less at 10 mA or more 5 to 24 V DC FX5UC 32MTO FX5U OMTO OMTO Y4 or more 0 2 ms or less at 200 mA 24 V DC Lo OMTO 0 2 ms or less at 100 mA 24 V DC Circuit insulation Photo coupler insulation Indication of output motion LED on panel turns on when output DISP switch OUT side 1 When two COMM or V terminals are connected outside the CPU module the total load current 16 output point is 1 6 A or less Where W indicates O or 1 To use the positioning instruction adjust the load current of the NPN open collector output to 10 to 100 mA 5 to 24 V DC Operation voltage range 5to24 V DC Operation current range 10 to 100 mA Output frequency 200 Kpps or less Pulse train signal INA UV Servo amplifier Grounding Drive unit 5 to 24V DC 1 To ground the unit refer to LAthe servo amplifier drive unit manual If the grounding method is not specified carry out class D grounding BFX5UC CPU module FX5UC
232. rns on The dwell time of the previous table is used e Some control methods can be used with the remaining distance operation Page 33 Remaining distance operation Operations by control method When a table with control method 0 No Positioning is executed all the tables are considered to be normally completed Then the positioning complete flag turns on and tables that follow the table with control method 0 No Positioning are not executed e The jump condition of control method 10 Condition Jump is judged two tables before Example If table 8 has control method 10 Condition Jump the conditions are judged when execution of table 6 is started When the jump destination table of control method 10 Condition Jump has control method 10 Condition Jump the conditions of control method 10 Condition Jump of the jump destination table are judged at the same time lBlOperation with table operand setting e Set the command speeds and positioning addresses of each table so that tables are switched once per 10 ms or less frequently except conditional jumps If tables are switched more frequently than the above table shift processing cannot be completed in time and operation is decelerated to a stop and ends with an error The tables that have been read operate normally 6 TABLE OPERATION 1 6 3 How to Execute Multiple Tables 59 The positioning address of the last table only can be changed in the case of continuous op
233. roduction 1 Mitsubishi shall accept onerous product repairs for seven 7 years after production of the product is discontinued Discontinuation of production shall be notified with Mitsubishi Technical Bulletins etc 2 Product supply including repair parts is not available after production is discontinued Overseas service Overseas repairs shall be accepted by Mitsubishi s local overseas FA Center Note that the repair conditions at each FA Center may differ Exclusion of loss in opportunity and secondary loss from warranty liability Regardless of the gratis warranty term Mitsubishi shall not be liable for compensation of damages caused by any cause found not to be the responsibility of Mitsubishi loss in opportunity lost profits incurred to the user or third person by failure of Mitsubishi products special damages and secondary damages whether foreseeable or not compensation for accidents and compensation for damages to products other than Mitsubishi products replacement by the user maintenance of on site equipment start up test run and other tasks Changes in product specifications The specifications given in the catalogs manuals or technical documents are subject to change without prior notice Product application 1 In using the Mitsubishi MELSEC programmable controller the usage conditions shall be that the application will not lead to a major accident even if any problem or fault should occu
234. rts remaining distance operation Page 49 Pulse decelerate and stop command In addition remaining distance operation can be started with the external start signal as well as the remaining distance operation start Page 49 External Start Signal Remaining distance operation start turns off when the remaining distance operation starts llSpecial Device Remaining distance operation start R W SM5612 SM5613 SM5614 SM5615 R W Read Write During positioning operation a change in the remaining distance operation start is applied at the next scan When the drive contact of a positioning instruction is turned off without remaining distance operation the remaining distance operation is canceled Items related to pulse Y output instruction The following lists the items related to the pulse output PLSY DPLSY instruction tal NUN iber of p ulses output from axis 1 and axis 2 C ME gt Setting method Special Device The total number of the pulses output by PLSY DPLSY instruction in axis 1 and axis 2 The total number is increased by forward rotation pulses regardless of the setting of rotation direction because the PLSY DPLSY instruction outputs only forward rotation pulses The pulse range is 2147483647 to 2147483647 llSpecial Device Total number of pulses output from axis 1 and axis 2 R W Read Write 4 POSITIONING PARAMETER 1 4 2 Details of Parameters D 52 Number of pulses output by
235. ruction apply Other than the following the related devices are the same as those of the DRVI DDRVI instruction SD5506 SD5511 SD5546 SD5586 SD5626 Positioning execution table number IX R SD5551 SD5591 SD5631 Positioning error error occurrence table No R W R Read only R W Read write X Not supported 6 TABLE OPERATION 1 6 2 Operations of Control Method 37 f the complete flags The following describes the operation timings of the complete flags If dwell time is specified the flag turns on after the dwell time elapses ON From when pulse output of From when the following operation or From when pulse output of From when the following operation or condition the specified positioning function is completed to when the drive the specified positioning function is completed to when the ON gt address is completed to contact is turned off address is completed to OFF condition is met when the drive contact is The axis is already used when the ON OFF The axis is already used turned off Pulse output stop command condition is met The drive contact is turned off during Pulse decelerate and stop command positioning operation Limit of the moving direction Pulse output stop command All outputs disabled SM8034 Pulse decelerate and stop command Write during RUN Limit of the moving direction Positioning address error All outputs disabled SM8034 Decele
236. ruction of the pulse output which is stopped ends with error after decelerate and stop However the PLSY DPLSY instruction when unlimited pulses are output the PLSV DPLSV instruction and table operation instruction control method 4 Variable Speed Operation or 5 Table Transition Variable Speed Operation end normally For remaining distance operation compatible positioning instructions and table control methods the remaining distance operation ready status is acquired by turning off the pulse decelerate and stop command when remaining distance operation enabled is on llSpecial Device Name FX5 dedicated R W Pulse decelerate and stop command SM5644 SM5645 SM5646 SM5647 R W R W Read Write Poin tr During positioning operation a change in the pulse decelerate and stop command is applied at the next scan Precautions When the deceleration time is set to 0 the PLSV DPLSV instruction or table operation control method 4 Variable Speed Operation or 5 Table Transition Variable Speed Operation is immediately stopped after the pulse decelerate and stop command turns on Page 45 Deceleration Time External Start Signal gt Setting method High Speed I O Parameter Set this parameter to start positioning at high speed using an external input signal This parameter can be used as a start command of the remaining distance operation or table shift command of stepping operation of the DRVTBL instruction I Page 33 Re
237. rward Address Decrement Address Decrement Operand change in positioning operation During positioning operation for the OPR speed s1 and creep speed s2 the command speed can be changed before the zero signal is detected If it is changed after the zero signal is detected the change is applied when the DSZR DDSZR instruction is next driven again 5 POSITIONING INSTRUCTION 5 3 Mechanical OPR 75 76 the complete flags The following describes the operation timings of the complete flags The user specified complete flags are valid only when specified using FX5 operand If dwell time is specified the user specified complete flag turns on after the dwell time elapses ON From when OPR is From when the following operation or From when OPR is From when the following operation or condition completed to when the function is completed to when the drive completed to when the ON function is completed to when the ON gt drive contact is turned off contact is turned off OFF condition is met OFF condition is met The axis is already used The axis is already used Pulse output stop command The drive contact is turned off during Pulse decelerate and stop command positioning operation All outputs disabled SM8034 Pulse output stop command Write during RUN Pulse decelerate and stop command Deceleration stop after OPR speed All outputs disabled 8M8034 and creep speed are changed to 0 Write
238. s 1000 pps Bias speed Time Instruction execution complete flag M1 M No for jump condition M100 Drive contact 1 operation cycle p uu MM 1 Speed Positioning 1 Speed Positioning Relative Address Relative Address M Specification Specification Setting data llPositioning parameter high speed I O parameter llBasic Parameter 1 MBasic Parameter 2 Pulse Output Mode Interpolation Speed Specified Method 0 Composite Speed Output Device PULSE CW Max Speed 15000 pps Output Device SIGN CCW Bias Speed 1000 pps Rotation Direction Setting 0 Current Address Increment with Acceleration Time 500 ms Forward Run Pulse Output Deceleration Time 500 ms Unit Setting 0 Motor System pulse pps MDetailed Setting Parameter Pulse No of per Rotation 2000 pulse External Start Signal Enabled Disabled 0 Invalid Movement Amount per Rotation 1000 pulse Interrupt Input Signal 1 Enabled 0 Invalid Disabled Position Data Magnification 1 x Single Interrupt Input Signal 2 Logic 0 Positive Logic BOPR Parameter OPR Enabled Disabled 0 Invalid BAxis 1 Positioning Data 1 1 Speed Positioning Relative Address 50000 pulse 10000 pps Specification 2 10 Condition Jump Condition 10 Condition Jump 3 LL 1 Speed Positioning Relative Address 90000 r a pps Specification 4 ONoPostnng No 0 No Positioning 5 S 1 Speed Positioning Re
239. s This section explains the common items in the positioning instruction For auxiliary functions refer to K Page 28 Auxiliary Function Operand specification method The operand specification method includes two types FX5 operand and FX3 compatible operand The operand setting differs depending on the specification method The items that cannot be set through operands positioning instruction follow the setting values of the positioning parameters 4 POSITIONING PARAMETER The DDSZR DRVTBL DRVMUL and DABS instructions have only one operand specification method Start speed The start speed of instructions for specifying positioning addresses and table operation control methods except for the PLSY DPLSY instruction PLSV DPLSV instruction and table operation instruction control method 4 Variable Speed Operation or 5 Table Transition Variable Speed Operation is calculated by the following equation Start speed Maximum speed Bias speed Acceleration time The start speed varies as follows depending on the command speed and bias speed Bias speed Start speed Command speed Start speed Start speed the value from the equation above Bias speed Command speed Start speed Start speed Command speed e Start speed lt Bias speed or Command speed lt Bias speed Start speed Bias speed For the PLSV DPLSV instruction and table operation instruction control method 4 Variable Speed Operation or 5 Table
240. s pulse output is stopped 5 POSITIONING INSTRUCTION 5 2 Pulse Y Output Operand specification lIWhen FX5 operand is specified or the DDSZR instruction is used 1 For s specify the command speed Set to a value 0 to 200 Kpps in pulse PLSV Oto 65535 User system unit DPLSV Oto 2147483647 User system unit 2 For n specify the positioning address Page 46 Positioning address Set to a value 0 to 2147483647 in pulse PLSV Oto 65535 User system unit DPLSV Oto 2147483647 User system unit 3 For d specify an axis number K1 to K4 from which pulses are output Specify an axis number whose positioning parameters are set in the high speed I O parameters Operation cannot be performed if any other axis number is specified When the FX3 compatible operand is specified 1 For s specify the command speed Set to a value 0 to 200 Kpps in pulse PLSV Oto 65535 User system unit DPLSV Oto 2147483647 User system unit 2 For n specify the positioning address Set to a value 0 to 2147483647 in pulse PLSV 0 to 65535 User system unit DPLSV Oto 2147483647 User system unit 3 For d specify the pulse output number in the range of YO to Y3 Specify an output device Y number equivalent to the axes 1 to 4 set in the high speed I O parameters Operation cannot be performed if any other axis number is specified Direction handling The PLSY DPLSY instruction always increases the current address be
241. s error speed is changed to 0 ON OFF When the drive contact is turned off condition From when the following operation or function is completed to when the drive Pulse output stop command Pulse decelerate and stop command Limit of the moving direction All outputs disabled SM8034 Deceleration stop after the command Table shift cannot be completed in time From when pulse output of the specified positioning address is completed to when the ON gt OFF condition is met From when the following operation or function is completed to when the ON gt OFF condition is met The axis is already used The drive contact is turned off during positioning operation Pulse output stop command Pulse decelerate and stop command Limit of the moving direction All outputs disabled SM8034 Write during RUN Positioning address error Deceleration stop after the command speed is changed to 0 Table shift cannot be completed in time The flag remains on until either of the following is performed Turning off the flag by the user Restarting the table instruction e Shift to the next table 1 The flag turns on only for one scan when the drive contact of the instruction turns from OFF to ON 6 TABLE OPERATION 140 6 2 Operations of Control Method Variable Speed Operation The following explains control method 4 Variable Speed Operation Selingdala The f
242. s has reached specified number pulse output is stopped The setting range is from 0 to 32767 When not counting the OPR zero signal counts set 1 The pulse output is stopped when the OPR zero signal counts has reached specified number even during the deceleration operation l Deceleration l time l OPR E speed Creep speed Near point DOG l Zero signal Complete flag OPR zero signal counts 5 Precautions When the OPR zero signal counts is set to 0 the motor stops immediately after the forward end or rear end selected by parameter of near point dog is detected Note that immediate stop may damage the machine because the motor stops immediately Forward limit and reverse limit When using the servo motor the forward rotation limit and the reverse rotation limit can be set for the servo amplifier To use the DOG search function for OPR or to set the forward rotation limit or the reverse rotation limit for operations other than OPR using the CPU module set the forward rotation limit 1 LSF and reverse rotation limit 1 LSR for the CPU module so that these limit switches can be activated before the forward rotation limit 2 or reverse rotation limit 2 of the servo amplifier As shown in the following figure interlock the forward rotation limit 1 LSF with the forward limit and the reverse rotation limit 1 LSR with the reverse limit Reverse Reverse Forward Forward rotation limit 2 rotation
243. s manuals for the applicable modules Manual name manual number MELSEC iQ F FX5 User s Manual Startup lt JY997D58201 gt MELSEC iQ F FX5U User s Manual Hardware lt JY997D55301 gt MELSEC iQ F FX5UC User s Manual Hardware lt JY997D61401 gt MELSEC iQ F FX5 User s Manual Application lt JY997D55401 gt MELSEC iQ F FX5 Programming Manual Program Design lt JY997D55701 gt MELSEC iQ F FX5 Programming Manual Instructions Standard Functions Function Blocks lt JY997D55801 gt MELSEC iQ F FX5 User s Manual Serial Communication lt JY997D55901 gt MELSEC iQ F FX5 User s Manual MODBUS Communication lt JY997D56101 gt MELSEC iQ F FX5 User s Manual Ethernet Communication lt JY997D56201 gt MELSEC iQ F FX5 User s Manual SLMP lt JY997D56001 gt MELSEC iQ F FX5 User s Manual Positioning Control lt JY997D56301 gt This manual MELSEC iQ F FX5 User s Manual Analog Control lt JY997D60501 gt GX Works3 Operating Manual lt SH 081215ENG gt Description Performance specifications procedures before operation and troubleshooting of the CPU module Describes the details of hardware of the FX5U CPU module including input output specifications wiring installation and maintenance Describes the details of hardware of the FX5UC CPU module including input output specifications wiring installation and maintenance Describes basic knowledge required for program design functions of the
244. s not an integer no calculation error occurs as long as the result of C x A B is an integer However if the result of C x A B is not an integer a rounding error within one pulse occurs For positioning operations using absolute address a rounding error within one pulse may occur For positioning operations using relative address errors may accumulate in the current address B The position unit when the machine system unit or multiple system unit is used When the machine system or multiple system is set as the unit system the number of pulses and transfer distance per rotation must be set When the machine system or multiple system is set the position unit is handled as the machine system unit of um 1 0E inch or mdeg The unit can be selected from um 104 inch and mdeg in the unit setting However consider that other positioning address and command speed all have the same unit and then the same pulse output can be acquired as long as the setting value is the same even with different units The following is a setting example Ex Setting example of control unit Condition Pulse No of per Rotation E Movement Amount per Rotation Position Data Magnification The transfer distance is handled in um 10 inch or mdeg Electronic gear of servo amplifier 1 1 Setting of servo amplifier 4 POSITIONING PARAMETER 41 4 2 Details of Parameters 42 E When set in um In the positioning operation with transfer distance of 100 um and oper
245. s not slow enough the operation may not be stopped at the specified position due to inertia c Detection of the rear end and the front end of the near point dog signal will be affected by the response time and the scan time of the sequence program Ensure 1 scan time or more from the rear end of the dog to turning on of the zero point signal d When the DSZR DDSZR instruction is used the zero signal of the servo motor is used Adjust the relation between the rear end of the near point dog and the zero signal as shown in the following figure If fine adjustment of the origin position is needed adjust the position of the near point dog Operation direction Rear end Forward end Longer than Near point DOG 1 scan time Zero signal e So 3 If reciprocating operation operation in the forward rotation direction and then reverse rotation direction is not stopped at the specified position The positioning function cannot correct mechanical backlash clearance play If it is necessary to correct the backlash or reverse the transfer direction set the number of output pulses taking into account the backlash that may be caused beforehand N Turntable Ns Feed screw Backlash clearance play 8 TROUBLESHOOTING 8 4 Stop Position 169 APPENDIX Examples sink input sink output of connecting an FX5 CPU module to a MELSERVO MR J4LIA MR J3LIA or MR JNLIA series servo amplifier are shown Use a CPU module and I O mo
246. s operation tables that follow the table with control method 0 No Positioning do not operate The complete flag turns on after the operation of the previous table is decelerated to a stop and the dwell time elapses e When user devices are used devices assigned to a table of control method 0 No Positioning first device 0 to 5 are not used in table operation Users can use such devices for any purpose SM8029 SM8329 Page 62 Instruction execution complete flag IX RR Instruction execution abnormal end flag IX R R Read only X Not supported Because dwell time cannot be specified the flags turn on immediately after the condition is met ON Does not turn on condition Does not turn on From when the table operation is started to when the ON gt OFF condition is met From when pulse output of the specified positioning address is completed to when the drive contact is turned off 1 36 6 TABLE OPERATION 6 2 Operations of Control Method ON 5 OFF condition When the drive contact is turned off From when the table operation is started to when the drive contact is turned off The flag remains on until either of the following is performed Turning off the flag by the user Restarting the table instruction 1 Speed Positioning Relative Address Specification The following explains control method 1 Speed Positioning Relative Address Specificat
247. s other than the following depend on the table control method SM5580 SM5581 SM5582 SM5583 Table shift command R W Read or Write X Not supported 116 5 POSITIONING INSTRUCTION 5 9 Multiple table Operation Special registers FX5 dedicated High Speed I O Reference Axis 1 Axis 2 Axis3 3 Axis4 4 Parameter SD5506 SD5546 E rm SD5626 Positioning execution Positioning execution table number number Positioning execution table number x R Page 60 SD5511 SD5551 SD5591 SD5631 Positioning error error occurrence table No Xx RW Page 60 R Read only R W Read write X Not supported Outline of operation Operand specification Drive contact 1 For d1 specify an axis number K1 to K4 for which pulses are output Specify an axis number whose positioning parameters are set in the high speed I O parameters Operation cannot be performed if any other axis number is specified For n1 specify the head table number 1 to 100 that is executed in the axis specified in d1 3 For n2 specify the last table number 1 to 100 that is executed in the axis specified in d1 S The table operation continues until the last table specified in n2 or table of control method 0 No Positioning is executed When n1 and n2 are the same only one table is executed When n1 is greater than n2 the table operation continues either until all the tables are executed or until a table for control m
248. sabled eren put Sina T Device No 6 0 Positive Logic 0 Positive Logic BOPR Parameter OPR Enabled Disabled 0 Invalid 5 POSITIONING INSTRUCTION 5 6 Interrupt 1 Speed Positioning Program example Drive DDVIT instruction X17 SM5500 M1 M2 M10 T E Drive Positioning Normally Abnormal DDVIT contact instruction end end instruction activation axis 1 activation SM5500 M10 Drive DDVIT instruction in axis 1 DDVIT K30000 K10000 K M Positioning DDVIT instruction instruction activation axis1 activation SM5500 RST Positioning instruction activation axis1 RST Stop event X10 SM5628 Pulse stop Pulse output ommand input stop command X11 axis1 SET SM5644 Pulse Pulse decelerate and decelerate and stop command stop command input axis1 X12 SET SM5660 Forward limit Forward limit input axis1 X13 SET SM5676 Reverse limit Reverse limit input axis1 X14 SET SM8034 All outputs All outputs disabled input disabled 5 POSITIONING INSTRUCTION 99 5 6 Interrupt 1 Speed Positioning Caution When O is set for the positioning address s1 at start of the instruction the operation ends with an error e f the positioning address s1 is changed to 0 before the interrupt input signal 1 is detected the positioning operation continues and ends normally after the input interrupt occurs and two pulses are output e If the positioning address s1 is changed to O after the interrupt input sig
249. speed s Drive contact Instruction execution complete flag d2 Speed Bias speed Acceleration time E 1 When FX5 operand is specified 2 Remains on until it is turned off using a program or engineering tool or the positioning instruction is reactivated Deceleration time E Bias speed SD5540 SD5580 SD5620 Current address user unit x R W Page 47 SD5541 SD5581 SD5621 SD5542 SD5582 SD5622 SD8340 SD8350 SD8360 SD8370 Current address pulse unit x R W Page 47 SD5543 SD5583 SD5623 SD8341 SD8351 SD8361 SD8371 SD5544 SD5584 SD5624 Current speed user unit Page 44 SD5545 SD5585 SD5625 SD5550 D5590 D5630 Ed E E Maximum speed Page 44 SD5557 SD5597 SD5637 SD5558 SD5598 SD5638 Bias speed Page 45 SD5559 SD5599 SD5639 SD5560 SD5600 SD5640 e SD5561 SD5601 SD5641 een o Deceleration time S ee Page 45 R Read only R W Read write O Supported X Not supported RIW Page 61 RIW Page 45 Time 5 POSITIONING INSTRUCTION 5 7 Variable Speed Operation 103 Basic operation The following describes the basic operation 1 After the drive contact is turned on pulse output is started and the speed is increased from the bias speed 2 After the speed has reached the specified speed the operation will be performed in the specified speed 3 If the command speed is changed during operation t
250. speed refer to K Page 43 Items related to speed For the items related to OPR refer to K Page 52 Items related to OPR Drive contact DSZRIDDSZR s1 52 d1 d2 _ Deceleration _ Acceleration Speed time time Creep speed s2 Time Origin add ind 1 Rear end Forward end l l Zero signal s2 Within i 1ms Clear signal K gt 20 ms 1 operation cycle ms Drive contact l Instruction execution complete flag SM8029 Instruction execution complete 3 flag d2 1 When FX5 operand is specified 2 When the FX3 compatible operand is specified 3 Remains on until it is turned off by program or engineering tool or the positioning instruction is next driven again Basic operation The following describes the basic operation After the drive contact is turned on pulse output is started and the speed is increased from the bias speed After the speed has reached the OPR speed the operation will be performed at the OPR speed After the near point dog is detected the speed is decreased After the speed has reached the creep speed the operation will be performed at the creep speed Oc KR G DH After the near point dog is turned from ON to OFF pulse output is stopped when the zero signal is detected 74 5 POSITIONING INSTRUCTION 5 3 Mechanical OPR Operand specification lIWhen FX5 operand is specified or the DDSZR instruction is used 1 For
251. ss error Deceleration stop after the command speed is changed to 0 ON OFF When the drive contact is turned off The flag remains on until any of the following is performed condition Turning off the flag by the user Restarting the table instruction Shift to the next table 1 The flag turns on only for one scan when the drive contact of the instruction turns from OFF to ON 6 TABLE OPERATION 6 2 Operations of Control Method 155 Interpolation Operation Absolute Address Specification Target Axis The following explains control method 23 Interpolation Operation Absolute Address Specification Target Axis Setting data The following table shows the operand assignment Operand Jt Operand 2 Operand 3 Operand 4 Description Positioning Address None None Range 2147483648 to 2147483647 Po User system unit None None Details Set the relative address within the None range of 2147483648 to 2147483647 in pulse 1 When the positioning table data is set to use device the value can be changed during positioning operation The change is applied when the table operation instruction is restarted 2 Setthe number of output pulses per table execution to 2147483647 or lower Processing details 23 Interpolation Operation Absolute Address Specification Target Axis is assigned to the same table number as that for control method 22 Interpolation Operation Absolute Address Specification specif
252. struction control method 4 Variable Speed Operation or 5 Table Transition Variable Speed Operation is changed to O during operation the operation does not end with error but it decelerates to a stop As long as the drive contact is on changing the command speed restarts pulse output If the speed is changed to reverse the rotation direction pulses are output inversely after deceleration stop The waiting time for the pulse reverse after deceleration stop is 1 ms scan time Set the new command speed after confirming it does not affect the system When operation speed is changed for acceleration with small remaining travel distance the speed is increased to a speed at which deceleration stop is still possible the operation is not performed at the changed speed then decelerates 3 POSITIONING CONTROL FUNCTION 3 4 Auxiliary Function Pulse decelerate and stop When the pulse decelerate and stop command is turned on during positioning operation the positioning operation can be decelerated and stopped Page 49 Pulse decelerate and stop command When positioning operation is stopped by the pulse decelerate and stop command remaining distance operation can be performed with positioning instructions Page 33 Remaining distance operation The following table lists the corresponding devices Pulse decelerate and stop SM5644 SM5645 SM5646 SM5647 command Precautions When this function is used with remaining distance op
253. struction x aan Page 61 activation SM5644 SM5645 SM5646 SM5647 Pulse decelerate and stop X RAW Page 49 command SM5660 SM5661 SM5662 SM5663 e e e e Forward limit RW Page 50 SM5772 SM5773 SM5774 SM5775 s e lS Rotation direction setting R W Page 40 R Read only R W Read write O Supported X Not supported 154 6 TABLE OPERATION 6 2 Operations of Control Method llSpecial registers SD5500 SD5540 SD5580 SD5620 Current address user unit X Rw Page 47 SD5501 SD5541 SD5581 SD5621 SD5502 SD5542 SD5582 SD5622 SD8340 SD8350 SD8360 SD8370 Current address pulse unit X Rw Page 47 SD5503 SD5543 SD5583 SD5623 SD8341 SD8351 SD8361 SD8371 SD5504 SD5544 SD5584 SD5624 Current speed user unit X Page 44 SD5505 SD5545 SD5585 SD5625 SD5506 SD5546 SD5586 SD5626 Positioning execution table X Page 60 number SD5508 SD5548 SD5588 SD5628 Current speed composite Page 59 SD5509 SD5549 SD5589 SD5629 ee SD5510 SD5550 D5590 D5630 Positioning error error code error error Positioning error error code RIW Page 61 SD5511 E Eod E Positioning error error Page 60 occurrence table No SD5516 SD5556 SD5596 SD5636 Maximum speed Page 44 SD5517 SD5557 SD5597 SD5637 SD5518 SD5558 SD5598 SD5638 Bias speed Page 45 SD5519 SD5559 SD5599 SD5639 SD5520 SD5560 D5600 SD5640 Accelera
254. t 1000 pps l position Biasspeed 33 0000 eee errs S Positioning a Current Current Current address P position position position 70000 100000 I I I I I I I I I I 10000 pps fF dim 0 l n A reversed operation is performed after deceleration because the position has already 1 passed through the target address 10000 I 15000 pps 345 a E Maximum speed Deceleration Reverse direction time 500 ms l Positioning address change input X15 llPositioning parameter high speed I O parameter llBasic Parameter 1 Basic Parameter 2 Pulse Output Mode 0 Composite Speed Output Device PULSE CW 15000 pps Rotation Direction Setting 0 Current Address Increment with 500 ms Forward Run Pulse Output S00 TIS Unit Setting MDetailed Setting Parameter Pulse No of per Rotation 0 Invalid Movement Amount per Rotation Interrupt Input Signal 1 Enabled 0 Invalid Position Data Magnification Disabled 0 Positive Logic BOPR Parameter OPR Enabled Disabled 0 Invalid 94 5 POSITIONING INSTRUCTION 5 4 Relative Positioning Program example X17 SM5500 M1 M2 M10 T O Drive Positioning Normally Abnormal DDRVI contact instruction end end instruction activation axis1 activation SM5500 M10 Drive DDRVI instruction in axis 1 I DDRVI D300 K10000 K M Initial pulse Positionin
255. t 1 Speed Positioning Selingdala The following table shows the operand assignment Description Positioning Address Command speed Dwell Time None Range 2147483648 to 2147483647 1 to 2147483647 0 to 32767 ms User system unit User system unit Details Set the transfer distance after Set the speed within the range of Dwell time is time until the None interrupt within the range of 1pps to 200 Kpps in pulse complete flag turns on after the 2147483647 to 2147483647 4 positioning address is reached in pulse 1 The positioning address can be changed during positioning operation Page 31 However only the last table accepts the change in the case of continuous operation 2 Command speed can be changed during positioning operation L Page 32 3 When the positioning table data is set to use device the value can be changed during positioning operation The change is applied when the table operation instruction is restarted 4 Set the number of output pulses per table execution the total number of pulses before and after the interrupt to 2147483647 or lower 6 TABLE OPERATION 139 6 2 Operations of Control Method Operation with one table and operation of stepping operation are the same as that of the DVIT DDVIT instruction 1 Page 157 Stepping operation Page 93 Interrupt 1 Speed Positioning If dwell time is set the complete flag turns on after the dwell time elapses Page 62 In
256. t 1 rotation limit 1 rotation limit 2 Servo amplifier side CPU module side CPU DEN side Servo amplifier side LSF Servo motor 2 F aa Operation in reverse rotation direction gt Operation in forward rotation direction I O module are used in the connection example Inputs and outputs built into the CPU module are available in place of I O module Set the command pulse input form of the servo amplifier PA13 MR JNLIA to 211 negative logic signed pulse train command input pulse train filter 200 kpps or less APPENDIX Appendix 3 MELSERVO JN series CW CCW mode FX5U CPU module 100V to 240V AC MR JNLJA series CN1 servo amplifier n 24V DC bocon 13 CN1 LL Positioning INP completed INP Photocoupler i 9 AM Servo error ALM gt CN1 SON Servo ON RES a Reset Emergency stop Forward rotation limit 2 Reverse rotation limit 2 Forward rotation pulse train 13 DOCOM Reverse rotation pulse train Nl l l Jessa l Immediate stop command OPR command JOG command JOG command Forward rotation positioning command Photocoupler Reverse rotation positioning command Forward rotation limit LSF Reverse rotation limit LSR Stop command APPENDIX Appendix 3 MELSERVO JN series 1 93 2 3 4 s 194 Be sure to use the class D grounding method grounding resistance 100 Q or less N
257. t input signal 2 If control method 0 No Positioning is set to the last table the same operation is performed If the next table is for variable speed operation or interpolation operation deceleration stop is performed to end the table operation causing an error When this table is used for stepping operation the next table can be activated after a stop using the interrupt input signal 2 or pulse decelerate and stop command Table control methods that can be used in combination during continuous operation are 5 Table Transition Variable Speed Operation and 3 Interrupt 1 Speed Positioning An error occurs if Interrupt 1 Speed Positioning is executed after Table Transition Variable Speed Operation two or more times If the command speed is changed to 0 during positioning operation pulses are decelerated to a stop but the table operation does not end Thus dwell time is not measured and tables are not switched When the drive contact of the table operation instruction is on or changing to any value other than 0 the command speed restarts pulse output Related devices Other than the following the related devices are the same as those of the PLSV DPLSV instruction FX5 dedicated High Speed I O Reference a alia SD5506 SD5546 SD5586 SD5626 Positioning execution table number IX R Page 60 SD5511 SD5551 SD5591 SD5631 Positioning error error occurrence table No Page 60 R Read only R W Read write X Not supported
258. table data is not set to use device BlAvailable device 1 T ST C cannot be used saciid This function executes the tables of multiple axes of simultaneously After this function is executed each axis operates independently and continuous operation can be performed For details on the table setting method and others refer to Page 134 TABLE OPERATION 124 5 POSITIONING INSTRUCTION 5 10 Multiple axis Table Operation Related devices The following lists the related special devices The devices other than the following depend on the table control method FX5 dedicated High Speed I O Reference st eee SD5506 SD5546 SD5586 SD5626 Positioning execution table number IX RO Page 60 SD5511 SD5551 SD5591 SD5631 Positioning error error occurrence table No Page 60 R Read only R W Read write X Not supported Outline of operation Drive contact Operand specification 1 2 For n1 specify the head axis number for which pulses are output The axis 1 to 4 are assigned to the positioning function Usually specify K1 For n2 specify the head table number 1 to 100 that is executed in the axis specified in n1 When the positioning instruction of the axis n1 is not to be executed or positioning parameters of the axis n1 are not set specify KO When n2 is indirectly specified using a word device continuous operation is performed L Page 159 Continuous operation The specified word d
259. tal of the pulses that have already been output and pulses to be output after an interrupt exceeds 2147483648 when the interrupt input signal 1 is detected an error occurs From the point at which the interrupt input signal 1 is detected deceleration stop is performed Operation of the complete flags The following describes the operation timings of the complete flags The user specified complete flags are valid only when specified using FX5 operand Instruction execution Instruction execution abnormal Instruction execution Instruction execution abnormal complete flag end flag complete flag end flag SM8029 SM8329 d2 d2 1 ON From when pulse output of From when the following operation or From when pulse output of From when the following operation or condition the specified positioning function is completed to when the drive the specified positioning function is completed to when the ON gt FX3 compatible User specification address is completed to contact is turned off address is completed to OFF condition is met when the drive contact is The axis is already used when the ON OFF The axis is already used turned off Pulse output stop command condition is met The drive contact is turned off during Pulse decelerate and stop command positioning operation Limit of the moving direction Pulse output stop command All outputs disabled SM8034 Pulse decelerate and stop command Write during RUN Limit of
260. te Address Specification Target Axis is assigned as the control method in the same table number as that for the reference axis If dwell time is set the complete flag turns on after the dwell time elapses Page 62 This table cannot be specified for continuous operation Forward direction counterpart axis Stop address Positioning address reference axis positioning address counterpart axis Start address Stop position Transfer distance of the counterpart axis Operand 1 Moves at the interpolation speed Forward direction Reverse direction reference axis reference axis Transfer distance of the reference axis Operand 1 Reverse direction counterpart axis 1 The calculation method differs depending on the specification method for the interpolation speed lt Page 59 Interpolation Speed Specified Method 6 TABLE OPERATION 1 6 2 Operations of Control Method 53 Precaulons This table cannot be specified for continuous operation When a table with this control method is executed in continuous operation the operation is decelerated to a stop e When the specification method for the interpolation speed is Reference axis speed set the axis with the longer positioning address as the reference axis If the axis with the shorter positioning address is set as the reference axis the speed of the longer axis may exceed the maximum speed and interpolation operati
261. ted the limit in the moving direction is detected 3631 3632 3633 3634 Positioning address error When the unit of the positioning address is changed the value of the transfer distance exceeds the 32 bit data range The total transfer distance before and after interrupt exceeds the 32 bit data range in the DVIT DDVIT instruction or table operation control method 3 Interrupt 1 Speed Positioning For the absolute address a value which needs a pulse greater than 32 bits is specified 8 TROUBLESHOOTING 8 2 Error Check 167 3651 3661 3671 3681 3691 36A1 36B1 When the unit of the maximum speed is changed the value of the command speed exceeds the 32 bit data range 3642 3643 3644 Positioning is started with the command speed set at O 3652 3653 3654 Error stop deceleration stop Deceleration stop starts during pulse output or positioning operation due to a detection of the limit in the moving direction Pulse deceleration stop is detected during pulse output or at start of a positioning operation The command speed is set to O during pulse output 3662 3663 3664 Error stop immediately stop Immediately stop starts during pulse output or positioning operation due to detection of the pulse output stop command flag or all outputs disable flag 3672 3673 3674 Positioning table operand error The table operand value other than the positioning address or command speed is abnormal 3682 3683
262. tes normally Page 142 6 Interrupt Stop Relative Address Specification The table operates normally Page 144 T Interrupt Stop Absolute Address Specification The table operates normally Page 146 10 Condition Jump Depends on the jump destination table Page 148 20 Interpolation Operation Relative Address Specification The tables operate normally Page 149 21 Interpolation Operation Relative Address Specification Target Axis When this type is specified no pulses are output The operation Page 152 ends with an error 22 Interpolation Operation Absolute Address Specification The tables operate normally Page 153 23 Interpolation Operation Absolute Address Specification Target Axis When this type is specified no pulses are output The operation Page 156 ends with an error 158 6 TABLE OPERATION 6 3 How to Execute Multiple Tables Continuous operation In continuous operation operation is performed successively without deceleration stop between tables The specified positioning address that has been output is the start address of the next table The positioning complete flag turns on when execution of all the specified tables is completed Unlike stepping operation the table shift command is not required The following figure shows an example of continuous operation with tables 1 to 5 With dwell time Drive contact of the DRVTBL DRVMUL j j
263. that are executed simultaneously on axes 1 2 and 4 BIAxis 1 Interrupt 2 speed positioning Speed Acceleration time Deceleration time 500 ms 500 ms I I 15000 pps Maximum speed 7000 pps 1000 pps Bias speed Time Instruction execution complete flag M5 Interrupt input signal 2 X2 positive logic Interrupt input signal 1 X1 positive logic Execution table Table transition variable Interrupt 1 speed positioning Speed Operation lBIAxis 2 4 speed positioning Speed Acceleration time Deceleration time 500 ms 500 ms 20000 pps Maximum speed 15000 pps 10000 pps 7500 pps 5000 pps Bias speed Time Instruction execution complete flag M7 Execution table Q Control method 1 1 Speed Positioning Relative Address Specification positioning address 50000 GO Control method 2 1 Speed Positioning Absolute Address Specification positioning address 60000 output only 10000 Q Control method 1 1 Speed Positioning Relative Address Specification positioning address 20000 O Control method 1 1 Speed Positioning Relative Address Specification positioning address 10000 5 POSITIONING INSTRUCTION 12 5 10 Multiple axis Table Operation 7 WAxis 4 1 speed positioning Speed Acceleration time Deceleration time 100000 pps Maximum speed 30000 pps 0 pps Bias speed Time Positioning address 100000 I I Instruction execution complete flag
264. the positioning table data is not set to use device Relation with the DRVTBL and DRVMUL instructions With the TBL instruction only the specified table can be activated Only the complete flag common with other instructions operates With one DRVTBL instruction multiple tables can be activated In addition the table execution method can be selected from the stepping operation and continuous operation e With the DRVMUL instruction tables for up to four axes can be activated at the same time In addition by indirectly specifying table numbers continuous operation can be performed e For the DRVTBL and DRVMUL instructions user specified complete flags can be specified Operation of the complete flags The operation timing of the complete flags depends on the table control method Page 62 Complete flag 5 POSITIONING INSTRUCTION 109 5 8 Single table Operation Program example The following are program examples of using each table control method The following isa program example of control method 5 Table Transition Variable Speed Operation Speed Acceleration time Deceleration time 1 500ms 1 500ms ool y 15000 pps i Maximum speed 10000 pps 7000 pps 1000 pps Bias speed Time I Current position Positioning address i l change input X15 7000 pps l Positioning address change input X16 15000 pps i I Interrupt input signal 2 X2 positive logic I I
265. thod Special Device Table shift command is to switch to the following table in stepping operation of the DRVTBL instruction When stepping operation for a table is completed if table shift command is turned on the positioning operation for the following table is started When the positioning operation is still being executed for the previous table or it is not stepping operation of the DRVTBL instruction turning on this flag is ignored Page 157 Stepping operation The table can be switched to the following table with the external start signal too like the table shift command llSpecial Device Table shift command SM5580 SM5581 SM5582 SM5583 R W Read Write During positioning operation a change in the table shift command is applied at the next scan 4 POSITIONING PARAMETER 4 2 Details of Parameters 59 60 ition table number Use the positioning execution table number to check the table number being executed during table operation During activation of a table operation instruction the table number that was executed last is held During interpolation operation or multiple axes simultaneous activation the table number is stored in the positioning execution table number of all the corresponding axes After the table is executed the table number is set to O when the drive contact of the table instruction is turned off If there are pulses being output after the drive contact is turned off the table number is set to O
266. time time Ea Ea Command speed OPR speed Bias speed Positioning address Start Origin address The following table shows applicable positioning instructions and control methods of the table operation Positioning instruction Table operation control method Absolute positioning DRVA DDRVA instruction 2 1 Speed Positioning Absolute Address Specification Table operation TBL DRVTBL DRVMUDL instruction 3 3 Positioning Control This section describes details of the positioning control 1 speed positioning Acceleration is started at the bias speed when pulses are output by the positioning instruction After the speed has reached the specified speed the operation will be performed at the specified speed up to the point that deceleration must be performed The operation decelerates in the vicinity of the target position and stops the pulse output at the position specified by the positioning address Both the relative address and the absolute address can be used for 1 speed positioning Acceleration Deceleration time l l time l lt gt K 3 Command speed Bias speed Bias speed Current position Positioning address The following table shows applicable positioning instructions and control methods of the table operation Positioning instruction Table operation control method Relative positioning DRVI DDRVI instruction 1 1 Speed Positioning Relative Address Specification Absolute pos
267. tion For positioning instructions by specifying a word device as an operand that specifies the command speed for the DSZR DDSZR instruction the OPR speed and the creep speed and changing the value operation speed can be changed during operation For the table operation by setting the positioning table data in devices and changing the operand value of the corresponding control method command speed can be changed during positioning operation The changed value is applied when the positioning instruction is executed at the next scan The following table shows applicable positioning instructions and control methods of the table operation Positioning instruction Table operation control method Pulse Y output PLSY DPLSY instruction Mechanical OPR DSZR DDSZR instruction 1 1 Speed Positioning Relative Address Specification 2 1 Speed Positioning Absolute Address Specification 3 Interrupt 1 Speed Positioning Relative positioning DRVI DDRVI instruction 4 Variable Speed Operation 5 Table Transition Variable Speed Operation 6 7 6 Interrupt Stop Relative Address Specification Absolute positioning DRVA DDRVA instruction Interrupt 1 speed positioning DVIT DDVIT instruction DD e 7 Interrupt Stop Absolute Address Specification Variable speed operation PLSV DPLSV instruction Table operation TBL DRVTBL DRVMUDL instruction 1 A change in the command speed after the zero signal is detected is applied
268. tion is reversed after deceleration stop and the positioning is started for the positioning address When an address that positioning address cannot decelerate in time is set the transfer direction is reversed after deceleration stop and the positioning is started for the positioning address A reversed operation makes it impossible to change the positioning address during positioning operation until positioning operation is reactivated When positioning address is changed to a large remaining transfer distance during the deceleration operation with small remaining transfer distance the positioning operation is performed after re acceleration When the transfer distance from the current address exceeds 2147483647 to 2147483647 in pulse in the positioning operation with relative address specification the operation ends with an error after deceleration stop If a table other than the last one is changed in the case of continuous operation the change may not be reflected on the operation correctly 2 The waiting time for the reverse pulse after deceleration stop is 1 ms scan time Set the new positioning address after confirming that it does not affect the system At this time pulse output in the reversed direction is started regardless of the dwell time 3 POSITIONING CONTROL FUNCTION 1 3 4 Auxiliary Function 3 32 Command speed change during positioning operation This function changes operation speed during positioning opera
269. tion time time RIW Page 45 SD5521 E Ed SD5641 aee e E dme 007 Deceleration time 2 Page 45 R Read only R W Read write O Supported X Not supported 1 Writing can be performed only by the HCMOV DHCMOV instruction complete flags The following describes the operation timings of the complete flags If dwell time is specified the flag turns on after the dwell time elapses ON From when pulse output of From when the following operation or From when pulse output of From when the following operation or condition the specified positioning function is completed to when the drive the specified positioning function is completed to when the ON gt address is completed to contact is turned off address is completed to OFF condition is met when the drive contact is Either the reference axis or when the ON OFF Either the reference axis or turned off counterpart axis is already used condition is met counterpart axis is already used Pulse output stop command The drive contact is turned off during Pulse decelerate and stop command positioning operation Limit of the moving direction Pulse output stop command All outputs disabled SM8034 Pulse decelerate and stop command Write during RUN Limit of the moving direction Positioning address error All outputs disabled SM8034 Deceleration stop after the command Write during RUN speed is changed to 0 Positioning addre
270. tions command speed positioning address as a unit The unit types of the positioning control include the motor system unit machine system unit and multiple system unit Motor System 0 Motor System pulse pps pulse pps Based on the number of pulses for position commands and speed commands Machine System 1 Machine System um cm min Based on position commands and Lm 10 inch and 2 Machine System 0 0001 inch inch min mdeg of speed 3 Machine System mdeg 10 deg min 10 deg min Multiple System 4 Multiple System um pps pps Uses the machine system unit for position commands 5 Multiple system 0 0001 inch pps and motor system unit for speed command 6 Multiple system mdeg pps The following indicates the relation between the motor system unit and machine system unit Transfer distance pulse Transfer distance um 107 inch mdeg x No of pulses per rotation x Positioning data magnification Transfer distance per rotation e Speed command pps Speed command cm min inch min 10 deg min x No of pulses per rotation x 10 Transfer distance per rotation 60 Precautions E Command error when the machine system unit or multiple system unit is used Under the condition of the number of pulses per rotation A transfer distance per rotation B and relative transfer distance 7 C the number of pulses that the CPU module should output is calculated from C x A B Even if the result of A B i
271. to 0011 negative logic signed pulse train Refer to L Page 188 FX5UC CPU module APPENDIX Appendix 2 MELSERVO J3 series 1 83 CW CCW mode FX5U CPU module 100V to 240V AC MR J3LIA series CN1 servo amplifier n Q 24V DC poco e CN1 Zero speed 4 Completed INP contoled o Servo error ALM Photocoupler SON Servo ON RES i Reset Emergency stop Forward rotation limit 2 Reverse rotation limit 2 Forward rotation pulse train 47 IDOCOM 4 Connected to the CPU module if the DABS instruction is used Reverse rotation CN1 pulse train EE nanan ULL EXE NN C 2 EXE N Ar FX5 16EVT ES 15 SON Immediate stop command OPR command JOG command JOG command Forward rotation positioning command Photocoupler Reverse rotation positioning command Forward rotation limit LSF Reverse rotation limit LSR Stop command 184 APPENDIX Appendix 2 MELSERVO J3 series 1 2 3 4 s 6 7 Be sure to use the class D grounding method grounding resistance 100 Q or less Near point signal DOG To ensure safety use the forward rotation limit switch and the reverse rotation limit switch on both sides the CPU module side and the servo amplifier side Note that the limit switches on the CPU module side should be activated slightly earlier than the limit switches on the servo amplifier side Revers
272. top is performed and the complete flag turns on after dwell time Then the next table becomes ready to be executed For control method 5 Table Transition Variable Speed Operation inputting the interrupt input signal 2 starts deceleration stop and enables the next table to be ready in addition to the pulse decelerate and stop command Operation of the flag The user specified positioning complete flag turns on for every table Page 62 Complete flag The complete flag that is on must be turned off by the user or turns off when execution of the next table is started Instruction execution abnormal end flag 8M8029 turns on when execution of all the tables is completed lBlOperation with table operand setting Operands can be changed during operation similar to the one table operation Compatible control method The following table lists operation of control methods of each table when stepping operation is specified Control method Operation Reference 0 No Positioning When this type is specified no pulses are output The operation Page 136 ends normally 1 1 Speed Positioning Relative Address Specification The table operates normally Page 137 2 1 Speed Positioning Absolute Address Specification The table operates normally Page 138 3 Interrupt 1 Speed Positioning The table operates normally Page 139 4 Variable Speed Operation The table operates normally Page 141 5 Table Transition Variable Speed Operation The table opera
273. trolled 8 Servo error ALM oP 39 CN1 aM Servo ON RD 49 Reset zal Emergency stop 2 NU Forward D rotation limit 2 3 LSN i ri NE rotation limit 2 EL 4 Connected to the CPU module if the DABS instruction is used i Servo ready RD Pulse train DOCOM 46 TOOT te Direction UA 25 22 23 46 ABST ABSBO ABSB1 T FX5 C32EX D FX5 C32EYT D SON ABSM ABSR gJ S O O Z z 18 Immediate stop command OPR command JOG command JOG command Forward rotation positioning command Reverse rotation positioning command Forward rotation limit LSF Reverse rotation limit LSR Stop command APPENDIX Appendix 1 MELSERVO J4 series 1 73 2 3 4 s 6 7 174 Be sure to use the class D grounding method grounding resistance 100 Q or less Near point signal DOG To ensure safety use the forward rotation limit switch and the reverse rotation limit switch on both sides the CPU module side and the servo amplifier side Note that the limit switches on the CPU module side should be activated slightly earlier than the limit switches on the servo amplifier side Reverse Reverse Forward Forward rotation limit 2 rotation limit 1 rotation limit 1 rotation limit 2 Servo amplifier side CPU module side CPU DEN side Servo amplifier side LSF Servo motor 2 F aa Operation in reverse rotation direction gt
274. ual explains the Positioning control provided for FX5 Programmable Controllers It should be read and understood before attempting to install or use the unit Store this manual in a safe place so that you can take it out and read it whenever necessary Always forward it to the end user Regarding use of this product This product has been manufactured as a general purpose part for general industries and has not been designed or manufactured to be incorporated in a device or system used in purposes related to human life Before using the product for special purposes such as nuclear power electric power aerospace medicine or passenger movement vehicles consult with Mitsubishi Electric This product has been manufactured under strict quality control However when installing the product where major accidents or losses could occur if the product fails install appropriate backup or failsafe functions into the system Note e f in doubt at any stage during the installation of the product always consult a professional electrical engineer who is qualified and trained to the local and national standards If in doubt about the operation or use please consult your local Mitsubishi Electric representative Mitsubishi Electric will not accept responsibility for actual use of the product based on these illustrative examples Please use the product after confirming the function and safety of the device and machine The content including speci
275. ut stop command Limit of the moving direction All outputs disabled SM8034 Write during RUN When O is set for the command speed at start of a instruction ON From when deceleration From when the following operation or From when the drive condition stop is performed by the function is completed to when the drive contact is turned off or pulse decelerate and stop contact is turned off when deceleration stop is command to when the ON The axis is already used performed by the pulse OFF condition is met Pulse output stop command decelerate and stop Limit of the moving direction command to when the ON All outputs disabled SM8034 OFF condition is met Write during RUN When 0 is set for the command speed at start of the instruction ON OFF When the drive contact is turned off The flag remains on until either of the following is performed condition Turning off the flag by the user Restarting the positioning instruction 1 The flag turns on only for one scan when the drive contact of the instruction turns from OFF to ON 5 POSITIONING INSTRUCTION 5 7 Variable Speed Operation 105 Program example The following is a program example of variable speed operation axis 1 Speed Acceleration time Deceleration time 1 500ms 1 500ms i I sy 15000 pps Maximum speed 10000 pps 7000 pps 1000 pps Bias speed Time Current position I I Positioning address
276. verflows to the lower limit If below the lower limit current address underflows to the upper limit 4 POSITIONING PARAMETER 4 4 2 Details of Parameters T Items related to operating command The following lists the items related to the positioning operation For the input interrupt function refer to L_JUser s manual Application Interrupt Input Signal 1 pP Setting method High Speed I O Parameter When the DVIT DDVIT instruction or table operation instruction control method Interrupt 1 speed positioning or Interrupt stop is used set this parameter If the interrupt input signal 1 is detected an interrupt is performed llEnabled Disabled Specify whether to use the interrupt input signal 1 When 0 Invalid is selected the interrupt input signal cannot be used When 1 Valid is selected use interrupt input signal 1 Precautions When interrupt input signal 1 is disabled the DVIT DDVIT instruction and table operation control method do not operate and error occurs llDevice No The available input devices are XO to X17 The input interrupt function is assigned forcibly to a specified input Set the input response time initial values 10ms in input response time parameters For details refer to LL 1User s manual Application Precautions Input devices cannot be used when eight channels of the input interrupt function are already occupied However overlap of input interrupts is allowed BL ogic
277. vice Y number equivalent to the axes 1 to 4 set in the high speed I O parameters Operation cannot be performed if any other axis number is specified 4 For d2 specify the rotation direction signal output device number Page 40 Rotation Direction Setting When an output device Y is used only the device that is specified with the positioning parameter or a general purpose output can be specified However if an output device Y to which PWM or CW CCW axis is assigned is specified an error occurs without any operation For the PWM function refer to LAUser s manual Application Precauions Set the number of output pulses per DRVI DDRVI instruction execution to 2147483647 or lower An error occurs if the number of pulses exceeds 2147483648 Operation of the complete flags The following describes the operation timings of the complete flags The user specified complete flags are valid only when specified using FX5 operand ON From when pulse output of From when the following operation or From when pulse output of From when the following operation or condition the specified positioning function is completed to when the drive the specified positioning function is completed to when the ON gt address is completed to contact is turned off address is completed to OFF condition is met when the drive contact is The axis is already used when the ON OFF The axis is already us
278. volving industrial property rights which may occur as a result of using the contents noted in this manual O 2014 MITSUBISHI ELECTRIC CORPORATION 200 WARRANT Y Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty 2 Onerous repair term after discontinuation Range If any faults or defects hereinafter Failure found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company However if repairs are required onsite at domestic or overseas location expenses to send an engineer will be solely at the customer s discretion Mitsubishi shall not be held responsible for any re commissioning maintenance or testing on site that involves replacement of the failed module Gratis Warranty Term The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place Note that after manufacture and shipment from Mitsubishi the maximum distribution period shall be six 6 months and the longest gratis warranty term after manufacturing shall be eighteen 18 months The gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs Gratis Warranty Range 1 The range shall be limited to normal use within the usage state usage methods a
279. we Se uod ee ee ee ee eee ee ee Pulse Output stop 2 eee eee ee eee eens Operation at an error or abnormal end 1 6 ne ee ne ee ee eee S UCONTPERTT n r r EDET Pulse VOU i os re 4 ea o i eee GbR ed eA a QE E IO ee E IE C Related devices llllllleeeeeee ee hh hh hrs Ou tline or ODEI ANION nei cn 22 2 eed doe 8426s EIC uA PA 9 ERA ERED EE S PRESSES eae OS ERE xd Program EXamMmpIE sssi ro karetane tN essed ee R E E bd aed oo bee bee kA ews based beta eeesdeus es Mechanical OPR cube 5 2c oe eres ees ie re sn ee ie or ee E ares Related HdeVIGOS o 24 sia hoe Sees mra tee se She teen sees pe Gases eee ees sha Stee ES RE dS i i Outline of operation aa at aonb oho oe een ee oo See oes Ue ee ob bee oe Program example oun aua oa Seen oe Bead 4 n Qa exe Gon Ra Rd E SUC EE ERE RARO SU ee nese ee Seen gees Calon MMPTEMP D pL rrDUULTEE Relative Positioning sued EREGIRESG eens shes cee ae oa tees RaKGQGESddiaxce eue quiu eet dd Related QOVICES ft PR a he So ec ce boo he eee cee ob Se ye See ee Sb sera he eSeee yea gees Outline of operation aaa aa ee ee ee eee ee es IOC an exon 2 25 Ae 5 dare See Shee ca Bue e oe ee ed ioe Be ae on eens ae amp aah a crete Absolute POSION ccncccaeeccnwe cera tow aede RR nde barnes RA ac PE AL ERAN NC exces Related devices 2 elles hah hh hs Outline Of Operati uus donee ec duue bho BR EO gue Due Biete a dud Reg eive ES RC tee gi RE ise cine rc
280. when at last table Interpolation Operation Relative Address Specification The following explains control method 20 Interpolation Operation Relative Address Specification Setting data The following table shows the operand assignment Description Positioning Address Command Speed Dwell Time Axis to be Interpolated Range 2147483648 to 2147483647 1 to 2147483647 0 to 32767 ms Axis 1 Specification to Axis 4 User system unit User system unit Specification Details Set the relative address within the Set the speed within the range of Dwell time is time until the Specify the axis number of the range of 2147473647 to 1 pps to 200 Kpps in pulse complete flag turns on after the interpolation counterpart When jump destination table No error occurs When jump destination table No error occurs 2147483647 in pulse positioning address is reached 1 When the positioning table data is set to use device the value can be changed during positioning operation The change is applied when the table operation instruction is restarted 2 Setthe number of output pulses per table execution to 2147483647 or lower 6 TABLE OPERATION 149 6 2 Operations of Control Method Processing details Using the reference axis control method 20 Interpolation Operation Relative Address Specification and counterpart axis control method 21 Interpolation Operation Relative Address Specification Target Axis whi
281. x creep speed lt OPR speed x maximum speed When OPR speed is faster than the maximum speed the maximum speed is applied llOperand Positioning Instruction In the case of FX5 operand DSZR DDSZR instruction can set OPR speed Mechanical OPR Page 71 DSZR s1 1 to 65535 at 2 DDSZR 1 to 2147483647 The OPR speed can be changed during operation Page 32 Command speed change during positioning operation llSpecial Device OPR speed SD5526 SD5527 SD5566 SD5567 SD5606 SD5607 SD5646 SD5647 R W Read Write Precautions When OPR speed is set in the FX5 operand of the DSZR DDSZR instruction the OPR speed is overwritten at execution of the instruction pP Setting method Operand Special Device Set the creep speed at OPR of the machine The user unit is set by unit setting Page 41 Unit Setting The setting range is as follows Motor multiple system unit 1 pps to 200 Kpps Machine system unit 1 to 2147483647 Even within the setting range the following relation must be followed bias speed x creep speed lt OPR speed x maximum speed When creep speed is faster than OPR speed the OPR speed is applied When bias speed is faster than creep speed the bias speed is applied 4 POSITIONING PARAMETER 4 2 Details of Parameters 53 54 llOperand Positioning Instruction In the case of FX5 operand DSZR DDSZR instruction can set creep speed Mechanica
282. xtension cable type Output module extension connector type Input output modules Powered input output module Extension power supply module FX5 extension power supply module e FX3 extension power supply module Intelligent module Intelligent function module e FX5 intelligent function module e FX3 intelligent function module Simple motion module Expansion board Communication board Expansion adapter Communication adapter Analog adapter Bus conversion module Bus conversion module extension cable type Bus conversion module extension connector type Battery Peripheral device GOT Description Abbreviation of FX5 PLCs Generic term for FX3S FX3G FX3GC FX3U and FX3UC PLCs Generic term for FX5U CPU module and FX5UC CPU module Generic term for FX5U 32MR ES FX5U 32MT ES FX5U 32MT ESS FX5U 64MR ES FX5U 64MT ES FX5U 64MT ESS FX5U 80MR ES FX5U 80MT ES and FX5U 80MT ESS Generic term for FX5UC 32MT D and FX5UC 32MT DSS Generic term for FX5 extension modules and FX3 function modules Generic term for I O modules FX5 extension power supply module and FX5 intelligent function module Generic term for FX3 extension power supply module and FX3 special function blocks Input modules extension cable type Output modules extension cable type Bus conversion module extension cable type and Intelligent function modules Input modules extension connector type Output modules extension connector t
283. ype Input output modules Bus conversion module extension connector type and Connector conversion module extension connector type Generic term for input modules output modules Input output modules and powered input output modules Generic term for Input modules extension cable type and Input modules extension connector type Generic term for FX5 8EX ES and FX5 16EX ES Generic term for FX5 C32EX D and FX5 C32EX DS Generic term for output modules extension cable type and output modules extension connector type Generic term for FX5 8EYR ES FX5 8EYT ES FX5 8EYT ESS FX5 16EYR ES FX5 16EYT ES and FX5 16EYT ESS Generic term for FX5 C32EYT D and FX5 C32EYT DSS Generic term for FX5 C32bET D and FX5 C32ET DSS Generic term for FX5 32ER ES FX5 32ET ES and FX5 32ET ESS Generic term for FX5 extension power supply module and FX3 extension power supply module Different name for FX5 1PSU 5V Different name for FX3U 1PSU 5V The abbreviation for intelligent function modules Generic term for FX5 intelligent function modules and FX3 intelligent function modules Generic term for FX5 intelligent function modules Generic term for FX3 special function blocks Different name for FX5 40SSC S Generic term for board for FX5U CPU module Generic term for FX5 232 BD FX5 485 BD and FX5 422 BD GOT Generic term for adapter for FX5 CPU module Generic term for FX5 232ADP and FX5 485ADP Generic term for FX5 4AD ADP and FX5 4DA ADP Generic ter

MELSEC iQ-F FX5 User`s Manual (Positioning Control)

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