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1. iii Timing 500 PPS Speed i i PC ready Y2D ees A1SD71 ready i t BUSY X14 nati aa Inching enable Buffer memory address 47 We Gite L I I Inching input zz lui inching output speed o 50 6 PROGRAMMING MELSEC A IMPORTANT When the manual pulse generator is operated in the manual pulse generator enable state during BUSY in positioning zero return or JOG operation mode an error code 73 occurs Therefore set the manual pulse generator enable area to 0 disable other than in manual pulse generator mode iv Program Example X axis inching Note Start conditions are shown in Table 6 4 Data transfer A1SD71 buffer memory CD 1 for inching function enable Address a 0 for disable Ki Reset A1SD71 error 1 To Hi keo K1 K1 scan after CPU RUN vm Battery error 20 PC ready PLS M21 M21 X axis K47 K1 Sets inching function enable 1 to buffer memory 47 Sets X axis inching output To i K202 K2000 speed 2000PPS Program M9038 Battery error X1A PC RUN Interiock Inching mode X11 X14 X18 X1E Y25 Inching mie Resia inching function en able to 0 6 PROGRAMMING A x 6 3 6 Positioning address teaching program Positioning addresses can be written using devices 1 Using the jog operation Addresses set by using the jog operation are written to the target data number of the A1SD71 buffer memory 2 Using the in
2. Set value Backlash compensation Backlash compensation actual value x A 10 Manual pulser inching travel increment e Defines the distance travelled each time a manual pulser inching command is given e The A1SD71 counts the number of manual pulse inching command inputs and transmits the appropriate number of output pulses The applicable output speed range is 10 to 20000 PLS unit 10 PLS sec See section 3 5 11 Acceleration and deceleration times e Defines the period of time from the start of positioning to when the speed limit value specified in the parameter is reached Refer to Fig 3 5 Parameter speed limit value Speed if starting bias speed has Positioning speed been set Acceleration and deceleration speeds if starting bias speed 0 Starting bias speed E deceleration time Set acceleration time Set deceleration time Fig 3 5 Acceleration and Deceleration Times e The acceleration time is the same as the deceleration time They cannot be set differently e The acceleration and deceleration are controlled at a constant value e When the positioning speed is lower than the parameter speed limit the acceleration and deceleration times are comparatively ahort Therefore the maximum positioning speed must be either equal to the parameter speed limit or an approximate value e The acceleration and deceleration times are valid for zero return positioning and jog operations e For
3. i Position Positioning complete X12 Stop Y25 Forward jog Y27 Write data No and present value to buffer memory Reverse jog Y28 Positioning commenced X18 BUSY X14 For two or more places Complete 6 31 6 PROGRAMMING MELSEC A 4 Program System is positioned in jog mode and resulting address written to buffer memory Exampte X axis jog and address written as data No 1 jog speed 2 000 20 000 mm min l Notes 1 Start onditions are shown in Table 6 5 2 A delay of approx 0 5 seconds occurs after positioning stops to allow the current value of the buffer memory to be updated Data transfer CPU data register A1SD71 buffer memory E Address X axis jog operation speed A X axis present value PO 603 ei 5072 ETE i 5073 positioning address o 6 PROGRAMMING MELSEC A Program To write address to data No 1 M9038 To m reor ki kt H ale GPU nun mm sean Battery error X1A vw A1SD71 battery error PC RUN Reset var PC ready X axis forward jog X11 X14 X18 XIE Y25 SET ws X axis reverse jog ree e Tec Tom er J Mag sone 200 o ut X axis M51 forward jog Y28 var X axis forward jog M51 Reverse jog Y27 F 4 vos X axis reverse jog X axis X axis forward jog reverse jog ast wet ser ms K5 M5 78 0 5 second timer T8 ast ms
4. X axis zero ruturn X14 X18 X1C XIE Y25 Zero return start RST Zero return start reset Pus mse Y axis zero ruturn X15 X19 X1D XIF Y26 6 PROGRAMMING TAM ee MELSEC A 6 3 8 Present value change 1 Flow chart 2 Conditions Table 6 8 Present Value Change Condition Fees Ensure that relevant axis is not busy Relevant axis BUSY Write present value to buffer memory 3 Program Example To change the current value to 500 when the X axis current value change command is switched form OFF to ON Data transfer CPU data register A1SD71 buffer memory Set the lower digits of the current value BEN Address fat X axis current value Set the higher digits De 4 change data of the current value D17 LS ny Dr a o an X axis current value 6 PROGRAMMING Program Current value change Checking the current value change X axis start X axis current value change command E X14 o Di Di7 Current i value ERE ser De ove ves 55 worl mi ow Pe ser De Cere X axis start change flag r command MO 1 I The X axis start program should not be executed when MO is set when changing the current value Data should be written to two words of the upper and lower digits in the current value change area Writing to only one word causes an error and the current value is not MELSEC A M2 goes ON when
5. YES Drive unit ready signal not received Check drive unit and wiring NO After executing zero return start positioning using sequence program 7 CHECK LISTS XC 7 2 2 Positioning operation check After completing the check given in Section 7 2 1 turn the key switch on the front of the A1SD71 to OFF or M PRO Check the operation after setting the parameter speed limit value at slow Speed and preparing for an emergency stop if a dangerous state occurs The positioning operation should be checked after executing zero return The peripheral device SWOGP AD71P has a handy monitor function and is valid when the operation is faulty Take corrective action after reading the error code and finding the cause of the error 8 TROUBLESHOOTING 8 TROUBLESHOOTING Errors may be detected by 1 The A1SD71 CPU or 2 The peripheral device during program development and debugging This section describes errors detected by the A1SD71 CPU for other errors see the SWOGP AD71P Operating Manual 8 1 Errors Detected by A1SD71 The A1SD71 has various error check functions When an error occurs an error code is written to address 45 X axis and 345 Y axis in the buffer memory 1 A new error will overwrite the previous one in the buffer memory The code is displayed on the lower left hand side of the peripheral device s screen 2 Error code 0 indicates no error 3 Error reset Errors are reset by writing a 1 to buffer ad
6. Zero return data Positioning data ES n 8 o Ei EUN Fi Check Range Errors occur outside the following ranges 1 to 12 000 in mm inch or degree If travei per pulse is a unit PLS speed V range is restricted as imi given below Speed limit value MViunit Pi 200 000 a unit PLS x 60 PLS sec 1 to 20 000 in PLS Jog speed limit value 1 to parameter speed limit value Starting bias speed O to parameter speed limit value Acceleration and deceleration times 9416 99 090 3 0 to 255 in PLS Backlash 0 to 65535 in mm inch or degree my Oto 162 000 in mm Upper stroke limit 0 to 16 200 in inch or degree 0 to 16 252 928 in PLS Lower stroke limit O to upper stroke limit pass 0 to 100 000 in mm inch or degree E Travel per manual 1 to 100 000 in mm inch or degree pulse during inching 1 to 100 in PLS Positioning method 00 01 or 10 in bits b4 and b3 Positioning complete signal duration Ona 20 00 0 to 1 620 000 000 Zero address in mm inch or degree 0 to 16 252 928 in PLS Zero return speed Wn Rot o speed to parameter speed Starting bias speed to parameter zero Creep speed point return Not 0 Dwell time 0 to 499 Torque limit 10 to 250 Positioning speed ine coy speed to parameter speed Positioning address Within stroke limits Dwell time 0 to 499 Pattern 11 may be used a max of 9 times consecutively Positioning pattern Travel for consecutive 11 patterns must be
7. gui MELSEC A Positioning Data Number and Buffer Memory Address Conversion Table X Axis Y Axis Dwet Positioning Addrese Poaitioning Positioning Dweit Positioning Addrees Tirne Lower Upper Information Speed Tine U Lower ppor Poaitioni Positioniag information Speed 4447 6447 4448 6448 4449 6449 4450 6450 4451 6451 APP 26 APPENDICES MELSEC A Positioning Data Number and Buffer Memory Address Conversion Table X Axis Y Axis iti oning Dwell itio Add Position itioni Dweti Positioning Address CA information Poe peed Time tg Upper Information Po peed Time t 6077 6477 6078 6478 6079 6479 6080 6480 6081 6481 6482 6483 6484 6485 6486 6487 6488 6489 6490 6491 6492 6493 6494 6495 6496 4497 6497 4498 6498 4499 6499 4500 6500 4501 6501 6502 6503 6504 6505 6517 6518 6519 6520 6521 APP 27 APPENDICES MELSEC A Positioning Data Number and Buffer Memory Address Conversion Table X Axis Y Axis Data Positieaing Positioni Dwel Positioni Add Positio Positioning Dwell Positioning Addres 3 Information Speed Time Lower S Upper Information Speed Time Lower Upper 6127 6527 6128 6528 6129 6529 6130 6530 6131 6531 6537 6538 6539 6540 6541 4157 6557 4158 6558 4159 4559 6559 4160 4560 6560 4161 4561 6561 6562 6563 6564 6565 6566 APP 28 APPENDICES MELSEC A Positioning Data Num
8. Grounding Phase A hase B Ge rap P GND SEL HEN GAB Positioning module A1SD71 HE gg EH E Servo ON Proportional control Forward stroke end Reverse stroke end APP 12 RAO Ju Monitor Fault i Dropped due to fault Wah Positioning complete Max 80 mA en indicates shielded twisted pair cable 2 Use FG terminal 32 when necessary APPENDICES 3 3 Connection with Mitsubishi MELSERVO SA Set the A1SD71 to A type output MELSEC A Regenerative option NFB i mw Power supply o 200 VAC 50 Hz O10O 200 220 VAC 60 Hz O O Servo ON External torque limit Proportional control Reset Forward stroke end Reverse stroke end PC CPU MELSEC A Phase A Phase B GND Failure Upper limit setting ACB ACC APP 13 Servo motor HA SA Grounding Detector pra Max 120mA Belo Limiting torque 5 94 Zero speed D pacs Positioning complete indicates shielded twisted pair cable 2 Use a shielded terminal SD 37 when necessary APPENDICES Ecce MELSEC A 3 4 Connection with Mitsubishi MELSERVO SC Set the A1SD71 to A type output rika om Power supply o aN 200 VAC 50 Hz 200 220 230 VAC 60 Hz o9 S pt P NFB oa 370 370 97o l When an HA SC motor is used G1 and G2 short cir cuited
9. Ko Do Ks X axis start data No to m Kee o5 Kt X axis pointer X axis start HH X axis start reset HE Timing is same as on page 6 16 6 PROGRAMMING MELSEC A Example 2 Start programs Program to start the X and Y axes interpolation starts and zero return are possible Resets A1SD71 error 1 Battery error scan after CPU run X1A ym A1SD71 battery error PC RUN Write Interlock M9039 command vat PC ready Write command X11 set m2 Data write tor M kse7q D20 Kt0 Positioning information TOP _H1 K ezd D40 Kio Dwell time X axis EEA ni top Hi keezd D9o K10 Dwell time Ges e evar o e x s T Parameter write es o Teese PH x ws Interpolation RsT M2 Write reset start X15 X19 XIF X11 X14 X18 XIE X axis start Interlock i wg Write Y axis l zero return data write i X axis start Zero X axis To be continued 6 PROGRAMMING MELSEC A Continued from preceding page To H Ko Do ks Writes X axis start data No to buffer memory to efie os kt X axis pointer write TO Hi K300 Dio K5 Y axis start data No write TO Hi Ks39 015 Ki Y axis pointer write SET Y20 X axis start Interpolation set Y20 tart 4 Interpolation start Zero X axis M3 X axis zero return start X axis start reset Interpolation start M3 X axis start M3 I
10. PLs me oso i Tes 2 8 Write command X14 Stores X axis present value address 602 603 in data register Write to X axis data No address BCD display 6 PROGRAMMING MELSEC A 2 Pulser inching to positioin address writing 1 Flow chart Inching operation Turn OFF the PC ready signal Y2D Write parameter to buffer memory Turn ON the PC ready signal Y2D Set inching output speed Enable inching function Give inching output speed Position OK x YES Write data No and pre sent value to buffer memory For two or more places Disable inching function 2 Conditions Table 6 6 Address Write Conditioin Using Inching Operation Signa o State Romane External Drive unit READY EEE A1SD71 ready 11 ON __________ Relevant axis BUSY X14 e 548 MS Relevant axis positioning signal Relevant axis M code ON X1E X1F E ea Relevant axis stop Y25 Y26 el Inching enable in buffer Inching iinut is ignored in memory X axis 47 axis the case of the zero bit 347 This is not an error Inching output speed in une buffer memory 202 502 ng Neither axis should be busy if a BREAK GPP PHP or STOP AD71TU signal has been received and positioning has stopped In peripheral device test mode the signals may be off 3 Timing 10 Speed PC ready Y2D A1SD71 re
11. The motor begins to rotate and the pulse generator PG gives feedback pulses in proportion to the revolutions of the motor to subtract accumulated pulses The motor rotation continues maintaining the constant deviation counter pulse value When the command pulse output from the A1SD71 ceases the deviation counter pulse value decreases and the speed slows down Then when the deviation counter pulse value becomes 0 the motor stops Thus the motor s rotary speed is proportional to the frequency of the com mand pulse and degree of the angle of the motor s rotation is proportional to the number of command pulse output pulses Therefore transmission can be done to a position that is proportional to the number of pulses of a pulse string by specifying the feedrate per pulse The pulse frequency is equal to the number of revolutions transmission speed of the motor SPECIFICATIONS edhe MELSEC A General design of positioning system Servo motor i Po A Position detection increment mm p Vs Command pulse frequency p s n Number of pulse generator slits slits rev L Feed screw lead mm rev R Reduction ratio V Moving part speed mnvs N Motor speed rpm K Position loop gain sec e Deviation counter pulse value PO Zero point pulse P Address pulse 1 Position detection increment L A Rx MP 2 Command pulse frequency Vs y p78 3 Deviation counter pulse value Ys pul
12. pulse generator output speed st at buffer memory address 202 or 502 When the manual pulse generator output speed is too fast drive unit cannot follow In this case set slower manual pulse generator output speed Pulse output time of A1SD71 A1SD71 internal processing time pulse an time msec 1 2 platani formula 2 1 A1SD71 internal processing time 20 to 99 msec 2 Pulse output time Travel distance per pulse of manual pulse generator Number of pulses counted by A1SD71 A1SD71 pulse output speed msec ssim formula 3 A1SD71 pulse output speed 10 to 20000 PPS 10 PPS unit 6 25 6 PROGRAMMING After outputting pulse from A1SD71 is completed output pulses which correspond to the number of pulses input from a manual pulse generator is output from an A1SD71 taking the time shown in formula 2 1 A1SD71 internal processing Pulse input from manual time 20 to 99 msec pulse generator to ATSD71 2 Pulse output time msec 3 A1SD71 pulse output time msec Pulse output from A1SD71 4 Manual pulse generator input to drive unit j time msec 1 12 1 12 3 3 Therefore smooth operation is impossible even if pulse is input from a manual pulse generaotr sequentially Pulse is output intermittently When the manual pulse generator input time msec is less than the value calculated by formula 2 output pulse is accumulated in A1SD71 Output pulse accumulated
13. to D2 with the A1SD71 assigned to X130 to X13F and Y140 to Y14F Execution condition X131 HT eroe ere Tes T TE A1SD71 ready Fig 6 5 Read Example AMMING I MELSEC A b Write to A1SD71 TO instruction Also TOP DTO and DTOP Format Execution condition I ron ni Tw Ts T Gm a E Upper 2 digits of the 3 digit head I O number to which the A1SD71 has been assigned e g 4 when the head I O number is X Y040 n2 Butter head Buffer head address for written data for written data cal number of devices from which ECL rn will be written T C gt Sh E may also be a constant BC Number of words to be written Fig 6 6 Write Instruction TO Example To write positioning information to buffer memory address 3872 with the A1SD71 assigned to X20 to X2F and Y30 to 3F X axis data No 1 positioning information example Seting Ec E with speed Positioning direction Medo e fe b15 arrang EETTTEEPEREEET arrangement Vacant Positioning pattern Positioning method Hexadecimal Positioning direction YDo7 M code Execution condition x21 HH Ts Tees Ds A1SD71 ready Fig 6 7 Write Example 6 CROURAMMING A maximum of 2 000 words may be read or written using one instruction Note however that in this case the watch dog timer WDT may need to be reset 2 Present value read program example Example Indication of X axis present value Notes 1
14. 3 7 Positioning Data List Sl a Positionin pattern RE Positioning terminated Positioning continued Hi Speed changed and positioning then continued Positioning method 0 Absolute 1 Incremental iA Valid only when incremental absolute combination is Positioning specified in parameter information Positionin direction valid in incremental mode only 0 Forward direction address increase 1 Reverse direction address decrease Unused may be 0 or 1 M code 0 to 255 Set M code 0 when M code is not specified inch PULS ee Eee TIS fea re e ei re Dwellime 0 to 499410 msc 4 Dwellime time 0 to 499 x10 msec No 2 to No 4 can be set from the sequence program 3 SPECIFICATIONS MELSEC A The data to be set as positioning data is explained below 1 Positioning information e Separate the information for the X and Y axes e Positioning information consists of 16 bits and includes the following b15 b8b7 bo L Positioning pattern Positioning method Positioning direction Unused M code a Positioning pattern Specifies positioning completion in accordance with the positioning data that corresponds to the data number or positioning continuation by the next data number by using the positioning pattern The positioning continuation pattern is as follows 1 Positioning is completed in accordance with the specified ad dress and positioning is continued by the nex
15. 70 48 hours 61 weeks 61 weeks x 7 days 427 days Regarding one month as 30 days 427 days 30 days 14 2 months l Hence i it is necessary to change the battery every 14 months i lite coorti ER J The same battery is used for all MELSEC A series modules The battery can be stored for five years The battery is guaranteed to work for 300 days in total The following battery is used When replacing the battery order from a Mitsubishi repre sentative Product Lithium battery Model A6BAT with 3 6 V lead wire Precautions when handling the battery 1 Do not short circuit the battery 2 Do not take the battery apart 3 Keep the battery away from fire 4 Do not heat the battery 5 Do not soider the electric poles 8 Do not measure the voltage using a tester Otherwise the capacity will be greatly lowered 9 MAINTENANCE Ee aE MEISEC A 9 2 2 Battery replacement procedure Fig 9 1 shows how to replace the battery Battery replacement Prepare a new battery Turn OFF the power to the PC CPU Remove the A1SD71 Pull the used battery from the holder Red Positive Insert the new battery into Blue Negative the holder and set the battery s connector Reinstall the A1SD71 Turn ON the power to the PC CPU Is the BAT ERR LED of the A1SD71 lit ON Battery fault Replace the battery within 15 minutes If replacement takes 15 minutes or more the b
16. A1SD71 A type axis pin numbers applicable for five phase stepping 15B 18B motor unit UPD series Power 16B 19B ao Forward AA 10 PULSE F 15A 18A PULSE R 16A 19A O Power 9A 10A 17A 20A Prepared on the machine side pna L NA DOG 6B 8B HH gt OV Excitation timing output Overheat output Bo STOP 6A 8A p zie READY 5B 7B m Blue PGO 9B 10B zm l alts Black TS HO AC100V i 1A 3A Phase A Manual pulse Phase B generator 1B 2B 3B 4B GND Note 1 Use shielded twisted pair cable for wiring to the A1SD71 i APP 16 APPENDICES MELSEC A 3 7 Connection with Oriental s AC servo motor Set the A1SD71 with a motor to A type output 5VDC X axis pin numbers Y axis pin numbers A1SD71 A type AC servo driver AC servo motor 7A 4 15A 18A PULSE F 15B 18B H 9 L 16A 19A m 10 everse pulse inpu PULSE R dash 19B 19B a Counter clear input 12A 14A i 12B 14B Encoder p O O 31 men P_i pom 33 Servo ON input READY 5B 7B i Ready output PGO 9A 10A 23 Zero phase 9B 108 jd 24 signal output 100VAC 9 0 2 1A 2A 18 2B ON at positioning stop 4A 29 4B ON at near point detection Use multi core twisted pair cable for wiring Applicable AC servo unit number EX2050 ALZ EX1080 ADZ EX4100 ALZ EX4200 ALZ EX7750 SLZ Ma
17. ADRESS CONVERSION TABLE APP 23 1 INTRODUCTION 1 INTRODUCTION This manual explains the specifications handling and programming methods of the A1SD71 S7 positioning module hereafter called the A18D71 used with a MELSEC A series A1SCPU In this manual the term Positioning control includes speed positioning con trol and speed control The following are called peripheral devices in this manual The AD71TU teaching unit is referred to as the AD71TU e A6GPP graphic programming panel e A6PHP plasma handy graphic programmer e AD71TU teaching unit Peripheral device AD71TU Refer to the following manuals SWOGP AD71P Operating Manual A6GPP User s Manual AD71TU Operating Manual Manual Relevant drive unit instruction manuals A1SCPU User s Manual The functions and specifications of A1SD71 are the same as those of the AD71 S1 except for the following Modules A1SD71 S7 AD71 S1 Number of I O points 48 points empty 16 points 32 points All Tr n series PC CPUs MM No EC erase eus IM the Applicable PC CPUs jaser IE a Applicable installation positions in the data link Master station local station vanter station local station remote I O system station peal Speed during inching 19 to 20000 PLS sec 20000 PLS sec i i 130 H x 69 5 W x 93 6 D 250 H x 37 5 W x 121 D Sizes mm inch 5 12 x 2 74 x 3 69 9 84 x 1 48 x 4 76 ME Be sure that the following items are included i
18. Example X axis parameter write Assume that the parameters are already in D16 to 31 Note When writing parameters and zero return data the PC ready signal Y2D should be off Data transfer CPU data register Data already written A1SD71 buffer memory Parameter information Travel per pulse Speed limit value Jog speed limit value Acceleration and deceleration times Backlash compensation Upper stroke limit Lower stroke limit Error compensation N N Travel per inching input Starting bias speed g 9 N Positioning complete signal output duration D3t b15 b7 bo 1 or 0 may be set ignored by OS Unit setting Rotating direction setting Positioning method M code used not used M code ON OFF timing Pulse output mode Program Parameter PC RUN write command PC ready Parameter write command 6 11 6 PROGRAMMING l MELSEC A 6 Speed change program example while BUSY To change X axis positioning speed to 2 000 20 000 mm min Speed cannot be changed during interpolation Speed change command Speed 2 000 Data transfer CPU data register A1SD71 buffer memory To write speed change data De Address BEEN i WE Program Speed change Interpolation start command X14 Y22 i Sets speed to be X axis BUSY changed 2 000 or Speed change Interpolation start command X14 A X axis BUSY 1 When the speed is changed to 2000 in a program it is internally processed as
19. ae e MORS IND ERR Sea a T dei 3 10 3 4 2 Zero retum data ice cep ber RR MED EE eR loin Mid 3 20 34 3 POSITIONING dala s tox ire ee Pb WR e ecd 3 25 co Bulfer Meno L oro 0 S esi LONE ab orte 3 32 9 5 1 Positioning start data osuere ia RESI ee Pee 3 34 3 5 2 Error reset Address 201 osse aes a EE ER 3 46 3 5 3 Inching output speed area X axis address 202 Y axis address 502 3 46 3 5 4 OS data area Addresses 512 to 767 00 3 47 3 5 5 Positioning data area X axis address 3872 to 5871 Y axis address 5872 to 7871 3 48 3 5 6 Parameter area X axis address 7872 to 7887 Y axis address 7892 to 7907 3 49 3 5 7 Zero return data area X axis address 7912 to 7918 Y axis address 7922 to 7928 3 50 3 6 I O Signals To and From A18 CPU e nn 3 51 3 7 O Interface with External Equipment nnn 3 57 3 7 1 A1SD71 electrical specifications eres 3 57 3 7 2 Pulse leading trailing edge times of A1SD71 output signals 3 58 3 7 3 Input output interface specifications of the A1SD71 and an external device 2 200 6 218 sag cue More Gad web ee Reg e RR RC RR eR REA Ses 3 59 3 8 Battery Specifications sass nce liana ct oe A ea 3 60 HANDLING radiale a a E 4 1 4 3 4 amp 1 Handling Instr ctions risi t ee m Pam ree x ERR ERA Re ar 4 1 4 2 Nomenclature eser RR ue 4 2 43 Settings auc kve e
20. axis DE X axis specification 306 Start axis 1 0 4th point 6 Start axis 0 1 If the 2nd and 3rd points of the X axis are set to the Y axis 10 as shown above the 2nd and 3rd points are ignored and the positioning of the 4th point is processed The 3rd point is ignored and positioning is switched to the 4th point be cause the 3rd point of the Y axis is set at the X axis 01 Point update Start data No 300 l D Pattern 00 i attern X axis Paterno 01 Z DEN Start data No 105 Dwell Dwell Dwell Start data No 100 Pattern 1 1 a 00 Positioning is switched to 3rd point but immediately switched to 4th point because start axis is set to X axis Fig 3 32 Start Data Example 2 3 SPECIFICATIONS i MELSEC A 3 When the start axis is set to interpolation start 00 or both axes start 11 and the other axis is not set to BUSY the other axis starts positioning automatically using the start data number set at the point that is the same as its own axis refer to Fig 3 33 If the M code ON signal of the other axis goes ON at this time an error occurs X axis Y axis Address 0 E Address 300 EEJ 1st point 2 E so 2nd point EE A 3rd point p Jbl 304 Jofo Sniecpolalisi T gt c Assumes that Y axis has started The X axis starts positioning automatically from the 3rd point because the 3rd point is set to interpolation start when the Y axis completes positioning of the 1st and 2nd
21. change is illustrated in Fig 3 24 below Speed data written to speed change area M bed Speed data written to speed change area Automatic deceleration start point Fig 3 24 Speed Change Example Acceleration and deceleration cycles use the positioning data speed regardless of any forced speed change The speed cannot be force changed under the following circumstances after a deceleration start point in inching mode after a stop command or after the jog signal is turned off or during interpolation positioning 2 Present value change area X axis address 41 42 Y axis address 341 342 To change the present value data in the A1SD71 write the new value to these addresses The present value cannot be changed while the A1SD71 is BUSY Present value data is two words long one word data cannot be written 3 Jog speed area X axis address 44 Y axis address 344 Specify the jog speed by writing speed data to these addresses This data may be written at any time JOG speed data set when the JOG start becomes valid 3 SPECIFICATIONS 4 5 6 Manual pulser inching enable area X axis address 47 Y axis address 347 Enable the manual pulser inching function by writing a 1 to the least significant bit in this address This data may be written at any time Refer to Fig 3 25 b1 to b5 may be 1 or 0 Inching enable 1 ignored by os Inching disable 0 Fig 3 25 Manual Pulser Inchin
22. code 3 SPECIFICATIONS 11 Positioning start Y20 Y21 Y22 Becomes valid at the leading edge of this signal 12 Zero return start Y23 Y24 Becomes valid at the leading edge of this signal 13 Stop Y25 Y26 One of these signals being ON stops zero return and positioning and JOG operations If these signals are turned ON during BUSY the M code ON signal goes OFF After an operation stops operations can be restarted by a positioning start signal Section 6 3 10 gives details about concrete examples 14 JOG operation Y27 to Y2A When these signals go ON a JOG operation is executed Operations are decelerated and stopped automatically by turning OFF this signal 15 M code OFF Y2B Y2C The leading edge of these signals makes the M code ON signal go OFF 16 PC ready signal Y2D Sends the correct PC CPU operation to the A1SD71 At the start of positioning the zero return jog operations other than those carried out in a peripheral device or AD71TU signal must be ON However if one axis is in BUSY in the test mode when using a peripheral device the leading edge of the PC ready signal is ignored Then when both axes are not in BUSY execution takes place 1 Parameter checking and initialization 2 Zero return data check 3 Zero return request ON A1SD71 ready signal ON The following time t the signal of 3 after a PC ready signal goes ON must go ON to process 1 and 2 PC ready signal Y2D Ze
23. completed YES while the near point signal stays ON NO Check for a zero phase signal NO Is a signal input YES The A1SD71 is faulty Contact Mitsubishi representa tive Motor drive unit is faulty Replace it Check if the position where the near point signal is turned OFF is too close to the point where the zero phase point signal is turned ON Refer to Section 3 4 2 Check for near point dog chattering Replace if necessary 7 1 n TH 1 Near point dog sensor contact or wiring is faulty Replace faulty equipment Check the zero phase signal circuit correct if nec essary Note When using the stopper method make sure that the stop signal is input or timer setting is correct If so theA1SD71 or motor drive unit is faulty Replace the faulty A1SD71 or motor drive unit 9 MAINTENANCE 9 9 1 MELSEC A MAINTENANCE Unit Storage This section describes how to maintain the A18D71 unit storage and battery replacement For other modules i e the power module PC CPU module I O module special modules etc refer to the appropriate User s Manual The A1SD71 should be stored in the following environments 1 Ambient temperature 0 to 75 C 2 Ambient humidity 10 to 90 RH 3 No condensation e g due to sudden temperature changes 4 No direct exposure to sunlight 5 Free from excessive amounts of conductive powder such as dust iron filings oi
24. f a peripheral device intervenes a delay of several msec will occur e When no peripheral device is connected no delay will occur 4 The number of speed change points in the positioning pattern in 11 e As the number of speed change points in the positioning pattern in 11 increases the delay is increased Approx 10 msec per point 2 Start processing time to Table 1 1 gives the measurement processing time under the following conditions with no delay resulting from the above items 1 A FROM TO instruction is not executed during the start processing 2 The other axis is not in use 3 No peripheral device intervenes APP 2 APPENDICES MELSEC A Table 1 1 Start Processing Times NN T NN ILE T mmreusa O 528 mata 2 JOG start 33 12 Independent positioning 58 12 Positioning contro N positioning Positioning pattern 11 Number of speed Speed change Spo 61 5 94 12 gm positioning continuation Change points 4 1 to becomes minimum when the X or Y axis starts under any of the following conditions 1 After zero return has been completed 2 After positioning has been completed 3 After a current value has been changed 2 to becomes maximum when X or Y axis starts under any of the following conditions 1 After zero return has been canceled 2 After positioning has been canceled 3 After an operation in the speed control mode 4 After a JOG operation has been stoppe
25. fixed when shipped from the factory All clear set to 0 14 Direction setting 3 11 e MELSEC A The actual parameter speed limit values and JOG speed limit values in Table 3 5 are multiplied by 6 1 PLS sec For example the value that is nearest to 200 PLS sec is multiplied by 6 1 PLS sec even if the speed limit value is set to 200 PLS sec 200 6 1 32 78688 Decimal point values are rounded off The actual speed is 6 1 x 32 195 2 PLS sec 3 SPECIFICATIONS Numbers 2 to 12 show the setting range when setting with a sequence program However parameters whose unit is x10 or x10 are processed automatically as x10 or x10 in the A1SD71 when processed with a value set in the program Example If the speed limit value is set to 200 the value becomes 2000x10 20000 mm min in the A1SD71 Parameter data is explained as follows 1 Unit Selects the units mm inch degree or pulse for positioning control Can be set independently for X and Y axes e g X axis mm Y axis degree 2 Travel per pulse e Specifies the travel distance per pulse as determined by the mechanics of the system Controls the number of pulses contained in the pulse train from the A1SD71 3 Speed limit value e Specifies the maximum speed for positioning or zero return e When the positioning speed called at a given time is greater than the speed limit value the speed is limited to the value set by
26. ft length Composite AC10MD Cable for connecting GPP screen monitor display 1 m 3 28 ft video cable length Cleaning disk PeT FDC Floppy disk for cleaning tloppy disk drive pM S1 IKEPR K K Printer For print out of program ladder diagrams and lists IAZPR recone RB for connecting A GPPE and printer K6PR S1 KGPR K K7PR S1 A7PR A7NPR general purpose printer with RS 232C interface 3 m 9 84 ft length K6PR Y eed K6PR and K6PR K SN 9 inch Available in units of SAI K ink kepR R Replacement ink ribbon for KGPR and K6PR K EE K6PR K SI Replacement ink ribbon for K6PR K SI AD71TU AD71 S1 AD72 A18D71 teach box Programming unit Plasma handy programmer A6PHPE SET Printer nmm 232C cable ww 3 SPECIFICATIONS 3 SPECIFICATIONS 3 1 General Specifications Tabie 3 1 General Specifications tem 0 Specificasion 0 Storage ambient humidity 10 to 90 RH non condensing 0 075 mm 0 003 inch Conforms to JISCO911 Vibration resistance 10 times 2 1 octave minute 9 8 m s 19 Shock resistance Conforms to JIS C 0912 98 m s 10 g x 3 times in 3 directions By noise simulator of 1500 Vpp noise voltage 1 us noise width and 25 Noise durability to 60 Hz noise frequency Dielectric withstand voltage 500 V AC for 1 minute across DC external terminals and ground 1500 V DC for 1
27. inchvmin command unit 1 inch min 1to 12000 degree min command unit 1 degree min Acceleration and a Automatic trapezoidal acceleration and deceleration Acceleration and deceleration times 64 to 4999 msec Backlash 0 to 65535 x position command unit compensation 0 to 255 pulses if unit is PULSE The A1SD71 may be calibrated to allow for mechanical Error compensation errors in the positioning control mode and speed positioning control switching mode With zero address change function Zero return direction and speed depend on setting Jog operation function Jog operation by jog start signal input nching function Operation using manual pulse generator Internal current consumption 5 V DC 0 8 A External supply voltage Size mm inch 130 H x 69 5 W x 93 6 D 5 12 x 2 74 x 3 69 Weight kg Ib 0 38 0 84 O allocation for the 2 slots are as follows First half slot Empty slot 16 points Second half slot Special function module 32 points Section 6 1 1 gives details about the first half slot Positioning units Position Positioning speed ing 3 SPECIFICATIONS 3 2 2 Functions MELSEC A The A1SD71 has functions used for positioning and positioning control during two axis independent operations and two axis linear interpolation operations These functions are utilized as follows By test operation of a peri
28. interpolation positioning the acceleration and deceleration times for a master axis are valid The acceleration ane deceleration times for a slave axis are ignored 12 Positioning complete signal duration Sets the duration of the positioning complete signal from the A1SD71 Positioning is considered to be complete after the A1SD71 terminates pulse output and the predetermined dwell time has elapsed 3 15 i N 3 SPECIFICATIO S MELSEC A A type 13 Pulse output mode Defines the output mode as A type or B type e Forward pulse or reverse pulse two pulse chains Forward feed pulse TESSERE 7 Wagen mer nnn e PLS SIGN Forward and reverse feed pulses Travel direction is controlled by direction sign direction direction travel travel Low in forward direction Direction sign High in reverse direction SIGN Present value increases in forward direction and decreases in reverse Feed pulse PULSE 14 Direction setting Selects the direction for which the present value increases Set 0 when using forward pulse output Set 1 when using reverse pulse output Positioning and zero return follow this direction of rotation 15 Positioning mode e Specifies incremental absolute or incremental absolute combination modes for positioning e In incremental mode positioning positions are reached with reference to the previous position See Fig 3 6 Zero point B p ravel Movement
29. malfunction will occur if a separate power supply is supplied externally Therefore do not use the built in power supply and external power supply together Wraparound circuit E1 gt E2 Even if the pulse output of A1SD71 is OFF the power supply flows in a servo unit pulse input line 5 2 2 External wiring connector specifications Model Name FCN 361J040 AU FCN 360C040 B Consult your nearest Mitsubishi representative about the connector 5 LOADING AND INSTALLATION oo MELSEC A 5 2 3 Connecting external wiring The A1SD71 has the following connectors When connecting an electric wire disassemble as shown in Fig 5 1 The disassembly and assembly procedures are as follows 1 Loosen the four screws and remove them 2 Open the cover from the connector side 3 Connect the electric wire refer to Section 5 2 3 1 to 3 4 Put connectors into the cover 5 Pull open the fixed screws 6 Put the covers together 7 Fasten the four screws Use longer serews for cable clamping Always keep track of small screws and nuts when disassembling Cable clamp iA face SG 0 JEEZ Fixed screw oO Fig 5 1 Connector 5 2 4 Connecting electric wiring Connector pin wiring is shown in Fig 5 2 Connect in accordance with the 1 0 numbers refer to Section 3 7 2 1 Use 0 3 mm or less wires Thicker wires cannot pass through the cable clamps 2 Solder the wires to the pins Remove e
30. n Zero retur Zero return speed Speed graph I PC ready Y2D A1SD71 ready X11 Zero return complete O2 Positiong complete X12 val Stop Y25 I Positiong commenced X18 BUSY X14 Zero return request X16 Zeroing start Y23 Inching Inching speed 3 fixed at 20 kpps Distance depends on parameter setting I I A1SD71 ready X11 I I Stop Y 25 BUSY X14 s s cce E a Inching start Mh ees Fig 3 42 I O Signal ON OFF Timing 3 SPECIFICATIONS A1SD71 electrical specifications VO Interface with External Equipment Table 3 10 A1SD71 Electrical Specifications Supply power Drive unit ready Stop signal Near point signal Inching A phase PULSER A Inching B phase PULSER B Zero phase signal PGO Start signal START Error detector clear CLEAR Forward feed pulse PULSE F Reverse feed pulse PULSE R 5 to 24V DC Prepare a 4 75 to 26 4V stabilized power supply 50mA maximum High Supply power voltage 1V or more Input current 0 8mA or less Low Supply power voltage 3V or less Input current 2 5mA or more 5 VDCt20 14 5 V er more 3 mA or more 1 0 Vor lessk 0 mA 2 ms or longer ms or abaci 1 ms or longer Phase difference aphase LIT 8 phase Pulse width Positiong address present value in creases if A phase 0 5 ms or longer leads B ph
31. new speed is ignored and if the M code has been set in WITH mode the M code ON signal is not given During positioning using pattern 11 dwell time data and M code will be ignored Interpolation positioning cannot be specified when pattern 11 is being used b Positioning methods The positioning method specified in positioning data becomes valid only when a parameter positioning method was specified to use both incremental and absolute mode positioning If the parameter positioning method is not specified to use both incremental and absolute mode positioning the specification of the positioning method in positioning data is ignored and the positioning method follows the setting in the parameter While pattern 11 is continuous positioning methods cannot be changed When use of both incremental and absolute mode positioning is specified positioning methods can be changed after pattern 00 or pattern 01 c Positioning direction e For incremental mode positioning the direction of travel relative to the previous address must be specified 0 specifies forward increasing address numbers and 1 specifies reverse decreasing address numbers In absolute mode the positioning direction is ignored d M code Specifies an M code relevant to that position address range 0 to 255 The code should be set to 0 if it is not required During interpolation positioning M codes are given individually for the X and Y
32. points Point update 2 3 4 Start No 50 Pattern 51 or OO Dwell X axis Y axis start Y axis busy X axis busy The X axis starts automatically at this time and executes switching of start data numbers in accordance with the self pointer value Only positioning of data number 40 is executed in the ex ample given above Fig 3 33 Start Data Example 3 3 SPECIFICATIONS imac MELSEC A 4 Processing will stop if interpolation 00 or independent 11 operations have been called and the other axis is under different control e g zero return jog operation or inching See Fig 3 34 It is assumed that the X axis start signal goes ON and X axis positioning processing is executed The X axis does not start interpolation positioning if the Y axis is perform ing zero return a JOG operation or BUSY using a manual pulse generator when positioning of the X axis is switched to the 3rd point Then an error is registered and positioning processing is stopped Y I 1 X axis busy 1st point 2nd point Y axis busy Y axis zero return start ch A X axis is switched to 3rd point and processing is stopped because Y axis is zero return Fig 3 34 Start Data Example 4 3 SPECIFICATIONS MELSEC A 5 In a situation where interpolation 00 or independent 11 start has been defined at one axis and the other axis is still positioning processing will vary as described below e An axis wil
33. start No interpolation Fig 3 30 Start Axis Area The following occurs if both axes are started and an error is found in one 1 Both axes stop if the error has occurred between consecutive positions 2 Only the axis with the error stops if the error occurred after both axes have started b Data setting precautions 1 When both axes are to be started together i e interpolation setting 00 or independent setting 11 ensure that the start axis data matches for both X and Y axes at that point Processing will stop if the data does not match Refer to Fig 3 31 Address 300 1st point 301 302 303 304 305 306 2nd point 3rd point 4th point In the above example X axis Y axis 2nd point Interpolation start interpolation start gt OK 3rd point Both axes start Both axes start gt OK 4th point X axis start Interpolation start Error When positioning is switched to the 4th point an error occurs with the Y axis and positioning of the Y axis is stopped Fig 3 31 Start Data Example 1 3 SPECIFICATIONS MELSEC A 2 If the start axis in the X axis start data number area is set at the Y axis 10 the point data is ignored positioning is not executed and the n xt point is processed Refer to Fig 3 32 If the start axis in the Y axis start data number area is set at the X axis 01 the next point is processed Address 300 1st point 2nd point 302 Start axis p 3rd point 304 Start
34. starts or after position ing is completed Peripheral devices do not output M codes during positioning 3 Current values in an A18D71 can be changed rewritten by a sequence program or peripheral device before positioning is started 4 Positioning can be done continuously by setting a positioning start data number to 20 points in the buffer memory X axis 0 to 39 Y axis 300 to 339 in an A1SD71 before positioning starts in the postion control mode Inching operation function Changes speed in accordance with the Positioning by linear interpolation can be Positioning 3 SPECIFICATIONS d MELSEC A 3 3 General Description of Positioning System Operations This section gives a general description of the A1SD71 and its use in a positioning system 3 3 4 Positioning system using an A1SD71 Fig 3 1 shows the operation of an A1SD71 in a positioning system Positioning PC CPU module r A1SCPU A1SD71 Forward pulse Drive unit t g D E 5 E ce Periph eral de vice AD71TU Deviation A counter H Servo motor speed pulse value 7 Fig 3 1 Positioning System Operation Block Diagram The A1SD71 s output is a pulse string When pulse strings are output pulses are converted into error counters Deviation counter pulse values are converted into DC analog voltages by a D A converter and changed into speed commands The drive unit gives a speed command
35. stored normally Therefore stop the operation of manual pulse generator after an error occurs and clear tahe pulse input counter by writing 0 to manual pulse generator enable area Max 16777215 pulses can be accumulated in the output counter When the number of output pulses exceeds 16777215 output counter causes size error and the exceeded number of pulses is ignored Output counter can be recovered from size error by restricting generator output speed 6 PROGRAMMING n MELSEC A i Flow chart ii Conditions E External Drive unit READY signal STOP A1SD71 ready X11 Table 6 4 Start Conditions Relevant axis BUSY X14 On during inching pulse 15 ti Turn ON the PC ready Dal Srna signal Y2D Relevant axis positioning OFF Interface commenced X18 X19 signal Turn OFF the PC ready signal Y2D Relevant axis stop Y25 Y26 PC ready Y2D Enable inching function X1E X1F Inching input is ignored in memory X axis 47 Y axis the case of the zero bit 347 This is not an error Give inching output speed Sian Parameters within Inching output speed in inge Se buffer memory 202 502 Neither axis should be busy if a BREAK GPP PHP or STOP t AD71TU signal has been received and positioning has stopped Yes Disable inching function Set inching output speed Inching enable in buffer In peripheral device test mode the signals may be off
36. t t 3 49 3 SPECIFICATIONS MELSEC A 3 5 7 Zero return data area X axis address 7912 to 7918 Y axis address 7922 to 7928 Stores Zero return data described in Section 3 4 2 See Fig 3 41 X axis Y axis address address 7912 7922 Zero address 7913 7923 7915 7925 Zero return creep speed 7916 7926 Zero return dwell time 7919 7929 7921 7981 Unused area should not be used Return method with mechanical stop 0 Mechanical stop 1 1 Mechanical stop 2 Zero return direction 0 Forward direction address increase 1 Reverse direction address decrease Zero return method 0 PG zero point signal 1 Mechanical stop Fig 3 41 Zero Return Data Area 3 SPECIFICATIONS MELSEC A 3 6 1 0 Signals To and From A1S CPU The A1SD71 uses 16 inputs and 14 outputs for non numerical com munica tions with the ATSCPU VO signal assignment and functions are given below Table 3 9 shows O signals with the A1SD71 in slot No 0 and No 1 of the main base unit Device X indicates an input signal from the A1SD71 to the A1SCPU Device Y indicates an output signal from the ATSCPU to the A1SD71 Table 3 9 I O Signal List Signal Direction A1SD71 to A1SCPU Signal Direction ATSCPU to A1SD71 Device Device X0 to XF Yo to YF X10 Watchdog timer error Detected by the A1SD71 A1SD71 ready X Positioning complete 4 en 6 X axi Zero return request Y10 to Y1F Positioning X X axi Zero return co
37. terminal Zero return torque limit valid n_n CAA Torque limit valid range Fig 3 13 2 Zero Return Using a Stopper If a stop signal is input before the speed decelerates to the creep speed excessive power is delivered to the servo motor and machine system causing a fault 3 SPECIFICATIONS 3 Zero return address e This address is set as the present value of the home position upon completion of zero return e Set the zero return address to either the upper or lower stroke limit set in the parameters 4 Zero return speed e Sets the zero return speed Refer to Fig 3 14 5 Creep speed e The creep speed is low speed until stopped after decelerating from the zero return speed by the zero return point dog being ON during zero return Refer to Fig 3 14 e The creep speed varies according to the detected error in the case of zero return by a zero phase signal and to the size of an impact during collision in the case of zero return by stopper Therefore set the creep speed taking the error range and the size of an impact into consideration Zero return speed starts deceleration Actuator signal Creep speed Zero return dog Actuator Drift according to drive unit LLL LD Zero phase signal Adjust the actuator so that its OFF position is near the center of the zero phase signal EA Torque limit valid range Fig 3 14 Zero Return and Creep Speeds 6 Zero return dwell time e The zero ret
38. the parameter e When a new speed is called during positioning by the sequence pro gram and this is greater than the speed limit value the speed is limited to the value set by the parameter 4 Jog speed limit value e Specifies the maximum speed for jog operation e The jog speed limit value must be within the range shown in Table 3 5 and must not exceed the speed limit value When the jog speed set using the peripheral device or sequence program is greater than the jog speed limit value the jog speed is kept to the limit value For jog operation refer to Section 6 3 4 3 12 3 SPECIFICATIONS 5 Starting bias speed e A minimum starting speed is required for the smooth operation of some motors e g stepping motors This may be set as a starting bias speed e The starting bias speed is used for positioning jog operation and zero return See Fig 3 3 Positioning speed i Jog operation speed Speed Zero return speed Speed if starting bias speed has been set Starting bias speed Acceleration and deceleration speeds if starting bias speed 0 Fig 3 3 Speed Change When Starting Bias Speed Is Set For positioning with interpolation between axes the starting bias speed set for the axis with the shorter distance to travel is ignored 6 Backlash compensation e Allows a backlash compensation see Fig 3 4 to be programmed in for accurate positioning Note th
39. ull uf uj sf ri s 2 MESA RREBRERPERPRE ERE amp Unit mm inch APP 21 APPENDICES a HD52A b 2 Manual pulse generator 3xM4 15 Stud tu 3 equally spaced positions on periphery 60 0 5 60 0 5 3xM4 15 Stud Sequally spaced positions on periphery n 0 o o H H o o o o S amp D60 0 5 APP 22 3 M4 X 15 PCD APPENDICES MELSEC A APPENDIX 5 POSITIONING DATA NUMBER AND BUFFER MEMORY ADRESS CONVERSION TABLE Positioning Data Number and Buffer Memory Address Conversion Table PosHioning Positioni omen Positiening Add Positioning mat Information Speed Time Lower Upper Information 1 2 3 4 5 6 7 8 9 10 11 12 19 14 15 16 17 APP 23 APPENDICES aceite MEESEC A Positioning Data Number and Bufier Memory Address Conversion Table X Axis Y Axis Positioning Dwett Positioning Positioning Dwet Positioning Address information Speed Time rpg Information Speed Lower 4327 4328 4329 4330 4331 4362 4363 4364 4365 4366 4367 4368 4369 4370 4371 APP 24 APPENDICES MELSEC A Positioning Data Number and Buffer Memory Address Conversion Table X Axis Y Axis Positioni Positioni drese Positioning Positioning Owell Positioni Address FA information Speed me Upper Information Speed Time Lower Upper 6372 6772 6373 6773 6374 6774 6375 6775 6376 6776 APP 25 APPENDICES
40. 0 5 second timer T11 E RST M23 PLS M24 6 PROGRAMMING 3 Writing positioning address according to the data number from the digital swich program example Program example which is written as a address in the condition at fixed buffer memory after executes positioning according manual pulse generator opera tion or JOG generator operation is as follows Data number assume to be at BCD 3 digit of X50 to X5B Program Write command X14 BIN K3x50 0100 Converts data number from BCD to BIN and stores it to D100 lt K1 D100 gt K400 D100 Checks data number range 9100 0100 i Doubles dag oumb nd stores it to the index resister mov oreo z vro Displays data number range error M100 M100 rite ommand M101 M100 M101 K5 78 Sets 0 5 second timer by the write command Designation 6 of X axis IDFRO H1 Keo2 D20 Writes present value data of X axis to an address which corresponds to a designated data number 5072 data number 1 x 2 DTO H1 ks070 5070 data number x 2 Designation M6 ofY axis DFRO H1 keo D20 Writes present value data of Y axis to an address which corresponds to a designated OTO Hi kzeroz pao Ki data number RST M101 6 3 7 Zero return 1 Flow chart Zero return Switch off PC ready signal Y2D Write parameters and zero ruturn data to buffer memor
41. 18 C As X axis positioning complete X12 7 YES i P Set in parameter M code EIA M code ON X1E A M code OFF Y2B PA 6 15 6 PROGRAMMING MELSEC A 4 Program a Operating data already written from the peripheral device The following program assumes that parameters zero return data and positioning data have already b er written to the A1SD71 buffer memory using the peripheral device Example To start at X axis data number 1 Notes 1 For start conditions see Table 6 1 Provide necessary interlock in accordance with its use 2 Actual positioning operation depends on data No 1 pattern setting 3 For stop during positioning refer to Section 6 3 9 Data transfer CPU data register A1SD71 buffer memory 1 Address To write start data No D Program Resets an A1SD71 error by To Hi kot kr Kt initialization after CPU RUN Battery error 20 PC ready PLS M41 Battery error X1A Interlock X axis start X11 X14 X18 X1B X1Einterlock TEM start data number pL Le Le Teton M X axis start signa Y20 X18 I 4 Reset the X axis start signal by using the X axis start complete b Setting data specified using sequence program 6 PROGRAMMING MELSEC A Assumes data is stored in registers as shown in Table 6 2 Notes 1 For start conditions see Table 6 1 Provide necessary interlock in accordance with its use 2 For stop during p
42. 2 9241 Battery change fregqueh6y aris esu E Tt abe ae SE uU E Race OS 9 2 9 2 2 Battery replacement procedure eee 9 3 APPENDICES APPENDIX 1 APPENDIX 2 APPENDIX 3 APPENDIX 4 APPENDIX 5 SIGNAL TIMING FROM THE A1SD71 APP 1 1 1 Output Signal Timing eee APP 1 1 2 Start Delay Time ioo Rr e ne ex em APP 2 1 3 A1SD71 Processing Times sels APP 4 FORMAT SHEETS ais oru Fac po a s e oue P teat ss APP 5 2 1 Format Shaets ocio oe dee ROC Oe OR APP 6 2 3 M Code Comments sese APP 9 CONNECTION WITH SERVO MOTORS APP 10 3 1 Connection with Mitsubishi MELSERVO A APP 11 3 2 Connection with Mitsubishi MELSERVO SO APP 12 3 3 Connection with Mitsubishi MELSERVO SA APP 13 3 4 Connection with Mitsubishi MELSERVO SC APP 14 3 5 Connection with Mitsubishi MELSERVO J APP 15 3 6 Connection with Oriental s stepping motor APP 16 3 7 Connection with Oriental s AC servo motor APP 17 3 8 Connection with Toei Electric s VELCONI C APP 18 3 9 Connection with Nikki Denso s DIGITAL S PACK APP 19 3 10Connection with Yasukawa Electric s PACK 10A and TOB ian died wie ante aub a ewe eine atu tee a am a eee tee APP 20 OUTSIDE DIMENSIONS APP 21 POSITIONING DATA NUMBER AND BUFFER MEMORY
43. 2000 x 10 Therefore the actual speed becomes 20 000 mm min 6 12 6 PROGRAMMING MELSEC A 7 Error reset program example Example To read a X axis error code and then reset it Notes 1 The error detection X1B signal should be used 2 The buffer memory error reset address 201 is used for both the X and Y axes Writing a 1 to this address clears the error Data transfer CPU data register A1SD71 buffer memory Address Te ne aen Program Error detection signal Reads X axis error code to D65 Error reset Writing 1 to the buffer memory error reset address resets the error code and X1B The error reset address is then automatically changed to O 6 PROGRAMMING MELSEC A 6 3 3 Positioning start program There are two start programs a and b below a When setting data is written by using a peripheral device or AD71TU The program is simple because it is not necessary to communicate setting data between a CPU and A1SD71 This method is recommended when the positioning data is within 400 points and there are few setting data changes When setting data is externally set When there are a great many positioning data changes communications between the CPU and A1SD71 and a program for the writing reading to from the buffer memory are necessary Many data registers and programs must be utilized and the operations takes a long time Therefore simplify operation
44. 271 data No A 4672 data No 1 A 6672 data No 1 or A 4671 data No or A 6671 data No Lower 16 bits Lower 16 bits NE A2 5072 data No 1 x 2 A2 7072 data No 1 x 2 Positioning or A5 5070 data No x 2 or A2 7070 data No x 2 address Upper 16 bits Upper 16 bits Ay A2 1 A12 A2 d A conversion table is given in Appendix 5 3 5 6 Parameter area X axis address 7872 to 7887 Y axis address 7892 to 7907 Stores the parameters described in Section 3 4 1 See Fig 3 40 X axis Y axis address i address 7874 7894 1 or 0 may be set ignored by OS 7876 7877 7878 7879 10 degree Aoceleration and g dint 11 PULSE 7897 Backlash compensation Rotating direction 0 Forward pulse output 7898 z present value increase Upper stroke limit 1 Reverse pulse output 7899 present value decrease 7882 7883 7884 7885 7886 7887 7902 10 Incremental absolute combined Error compensation M code used not used 7903 i M code not used 1 M code used 7904 Unused area bs 7905 should not be used ME timing 3 1 AFTER mode 7906 Starting bias speed Pulse output mode ror OPUS SICU oe signal output time 1 Forward or reverse pulse A type Unused area should not be used Fig 3 40 Parameter Area 1 LI 1 t 7880 7900 vi Positioning method i Lower stroke limit 00 Absolute 7881 7901 01 Incremental 1 I i 1
45. 3 6 Address writing during inching Refer to Section 6 3 7 Current value change Refer to Section 6 3 8 i Error reset 2 axes simultaneous Refer to Section 6 3 2 7 6 6 PROGRAMMING Unless otherwise specified I O numbers used in thes manual assume that the A1SD71 is located at slot 0 and 1 of the main base MELSEC A Used numbers XO to 2F YO to 2F For details refer to Table 3 9 The number of devices M D T etc used in the program example can be changed freely 1 There are 48 A1SD71 input output points and the module occupies two slots Therefore execute I O allocations using the GPP function as follows First half slot Empty slot 16 points Second half slot Special function module 32 points When executing an A1SD71 FROM TO instruction the head I O number of the second half slot of ATSD71 is used IO xd my X YOOO X YO10 I O numbers set by a FROM TO instruction to to X YOOF X YO2F Therefore the number to be set by the FROM TO instruction be comes the head I O number allocated to the A1SD71 010H If the first half A1SD71 slot is set to empty slot 0 in the 1 O allocation by the GPP function 16 first half slot points are saved The I O number to be set in the FROM TO instruction becomes the same number as the first I O number allocated to the A1SD71 t n ta NE Pe ta ms I O numbers set by a FROM TO instruction X Y01F 6
46. 4273 Dwell time Address 4673 Positioning address Address 5074 lower 16 bits 5075 upper 16 bits X axis Y axis address address Positioning information details 3874 5874 Data No 3 Positioning JE IE r information 5 b8 b7 bo Data No 400 Data No 1 Data No 2 Positioning pattern Data No 3 Positioning 00 Positioning terminated speed 01 Positioning continued 11 Pattern change Positioning method Data No 400 Data No 1 Data No 2 Data No 3 Dwell time Data No 400 Data No 1 Data No 2 Data No 3 Positioning address 1 incremental alid only when incremental abso lute combination is specified In pa rameter i Absolute Positioning direction Valid only in incremental mode 0 Forward direction address increase 1 Reverse direction address decrease Unused 0 or 1 M code 0 to 255 Set M code 0 when not used Fig 3 39 Positioning Data Area 3 SPECIFICATIONS a MELSEC A Method of converting from a data number to the buffer memory address When using a sequence program to set positioning data that corresponds to data numbers convert data numbers into a buffer memory address by the following l i Gale Tae Positioning A 3872 data No 1 A 5872 data No 1 information or A 3871 data No or A 5871 data No Positioning A 4272 data No 1 A 6272 data No 1 speed or A 4271 data No or A 6
47. 6 Since the body case is made of plastic protect the A1SD71 from dropping and sudden impacts Keep conductive debris out of the unit Turn the PC CPU power supply OFF before installing or removing the unit to or from the base Turn the PC CPU and drive module power supply OFF before connecting or disconnecting the drive unit connector After confirming the correct insertion direction insert the connector directly from the front Then tighten the two fixing screws When the drive unit is not connected keep the connector area cover closed When the A1SD71 is not BUSY connect a peripheral device or AD71TU to the A1SD71 After confirming the correct insertion direction insert the connector directly from the front Then tighten the two fixing screws When a peripheral device or AD71TU is not connected keep the connec tor area cover closed To install the module to a base unit first put the module mounting hook in the module mounting hole and then tighten the two module mounting screws to secure the module To remove the module loosen and remove the two module mounting screws first and then disengage the module mounting hook from the module mounting hole Module connector Module mounting screws Base unit Module gt Module mounting hook Module mounting hole 4 HANDLING MELSEC A 4 2 Nomenclature Wu pietas IUOS IM In imei imi ime gt ISO SINIS RARI Ido ooo v X ZERO Lights when the X axis zero
48. CA tims 14 14 14 18 18 275 275 177 177 ETC e nec Ipse REE d TERE ZIA NIA mee 7 e qoem ose oue ER EEC Note 1 Indicates the timing in the case of pattern 00 and pointer 0 for positioning in the positioning control mode Note 2 The timing when executing the zero return is given in 8 to 10 above Note 3 The dwell time when executing positioning is measured as 0 APP 1 APPENDICES nd MEESEC A 1 2 Start Delay Time This section explains the time to required after turning ON the start signal until the A1SD71 BUSY signals X14 and X15 go ON The following chart gives the timings for the start signal and BUSY signals ON Start OFF I i to t Sa ein BUSY Starts processing X14 TINO A AA 1 Variations in start processing times Start processing times until a BUSY signal is turned on vary according to the following conditions 1 Execution of the FROM TO instruction during start processing e f the FROM TO instruction is executed a delay up to several seconds could occur because the FROM TO instruction takes pri ority e If a FROM TO instruction is not executed no delay will occur 2 Operating state of the other axis e f start processing is executed during the operation of the other axis a delay of less than 100 msec will occur e If the other axis is not in use no delay will occur 3 Intervention by a peripheral device during start processing e
49. During positioning the present value as stored in the A1SD71 buffer memory lags behind the actual value by about 0 1 seconds 2 The present value is two words long Data transfer CPU data register A1SD71 buffer memory Address X axis present value ow g 9 Written to D11 and 12 32 bits Program Read command Converts the contents of D11 Beck eee to D12 into BCD for display on a seven segment device 6 PROGRAMMING MELSEC A 3 Speed read program example while BUSY Example Y axis speed read Note None Data transfer CPU data register A1SD71 buffer memory Address 600 X axis output speed 601 Y axis output speed Stored into D14 16 bits Program Speed read 6 PROGRAMMING 4 Data number and pointer write program exampte Example X axis data number and pointer write Note The relevant axis must not be BUSY Data transfer CPU data register A1SD71 buffer memory 1st point start data No 1 Address start data No 13 2nd pin start axis X axis D37 Pointer 1 Program Write X axis BUSY command X14 Stores 1st point start data No into D35 Stores 2nd point start data No into D36 Stores 2nd point start axis X axis 01 into D37 Writes D35 to D37 to buffer memory addresses 0 to 2 Writes the constant 1 to buffer memory address 39 6 10 6 PROGRAMMING IZ MESECA 5 Parameter and zero return data write program example
50. EC A Check the operation by skipping the stop com mand Correct the sequence program if there are problems f Stop signal circuit fault A1SD71 or motor drive unit failure Replace the unit A1SD71 error Contact Mitsubishi representative j LESH ING 8 2 7 Zeroreturn fault 1 Partial zero return Monitor zero return process with peripheral device or AD71TU Zero return signal OK NO cheek zero return switch wiring YES Creep speed reached Check the zero return method selected in the parameters Stopper method Check that zero return signal _ switches on then off Time out method System is OK Stops after tops when zero phase i d timer times out signal turns on Check pulse chain from A1SD71 A1SD71 failure 9 Pulse chain OK Contact Mitsubishi representative YES Check motor drive unit 8 15 8 TROUBLESHOOTING H H n MELSEG A 2 Zero point position has shifted using zero phase signal Check the distance the zero point has moved Is the distance YES always the same NO Make sure the zero point is close to the near zero signal s the zero return completed close to the point where near point dog signal is ON position YES If zero return is completed check which near point signal stays ON Is zero return
51. ES Actual speed of longer travel axis is about 5 Interpolating lower than set speed NO gt Check for a PC instructed speed change rt NO Speed changed by PC YES Check sequence program NO Check output pulse frequency us ing pulse counter or oscilloscope NO Frequency OK Contact Mitsubishi representative YES Check motor drive unit 8 12 8 TROUBLESHOOTING 8 2 5 Corrupted positioning data Is there a sequence program to which positioning data and zero return data are written Check if the correct address and values are written to sequence program Correct sequence program Check A1SD71 battery LED and battery voltage Battery OK YES Contact Mitsubishi representative Change battery 8 13 8 TROUBLESHOOTING 8 2 6 Unrequested stop Check for a stop command from the sequence program Stop command given YES NO Disconnect stop signal cable Positioning stops NO YES Check for sources of noise welder power supply etc Potential noise NO interference Eliminate source of noise or screen A1SD71 cables etc Positioning stops YES Take appropriate measures to pre vent noise interference e Run signal cables away from power cables e Use shielded twisted pair cable for the signal cable e Ground the module correctly Install the module away from noise sources 8 14 MELS
52. NO 5 System zeroed OK See Section 8 2 7 Zero return fault Y Y Y Y N ES ES ES ES NO Are all other units OK Refer to relevant instruction manuals YES Contact Mitsubishi representative TIN 8 2 2 Drive inoperative Check LOCK switch E YES In LOCK position Set LOCK switch to OFF NO Check LEDs on A1SD71 front panel READYO OXZERO SERVO X O YZERO ERR Ye HOLD XBUSYO OBAT ERR YBUSYO WODT SERVO ERR YES Turn on servo ready signal HOLD WDT ERR Are any of the LEDs marked 6 on If CPU reset does not remedy error contact NO nearest Mitsub shi representative u YES READY LED on Switch on PC ready signal Y2D Check pulse output NO Reset parameter pulse output mode according to motor drive unit Conforms to drive unit requirement YES 8 TROUBLESHOOTING UC i MELSEC A Operate positioning test procedure from peripheral device or AD7ITU Test positioning OK YES Check sequence program NO Where possible check A1SD71 pulse output using an oscilloscope Check A1SD71 to drive unit wiring A1SD71 error Contact Mitsubishi representative Recheck specifications of interface between motor drive unit and A1SD71 If they are inconsistent take appropriate steps Inspect the motor drive unit and replace if faulty 8 10 8 TROU BLESHOOTING 8 2 3 Incorrect positioning Check whether the positioning
53. Oto Oto Oto Oto 16 252 923 162 000 TM 16 200 LIMI 16 200 999 16 252 028 PLS Lower stroke Oto Oto Oto Oto mum o o seii im ego jh sedo 600 etae PLS O0to 0 to 100 000 1x105 100 000 x10 5 per 100 inch per 100 deg inch deg compensation Oto ix105 100 000 inch Oto x105 100 000 deg Travel per manual pulse during inching 0 to 100 PLS Acceleration and deceleration 64 to 4 999 msec pgs uus PI a Positioning 2 complete signal output time Pulse output O PLS SIGN Rotating Set value 0 present value increase with forward pulse output direction setting 1 present value increase with reverse pulse output Absolute 0 absolute incremental 1 incremental setting 2 absolute incremental combined 0 WITH mode Set value 1 0 to 20 000 msec O not used 1 AFTER mode APP 6 APPENDICES MELSEC A 2 Zero return data mm men ore PULSE U8 Y Axis n Setting Setting range i Unit range Unit BET return 0 forward direction address increase ESSI 1 reverse direction address decrease Zero return method See below Zero return 0 to 110 0 to x105 address 1 620 000 000 um 1 620 000 000 deg Zero return g Creep speed NN 1 to 12000 DN RN NN RN III e T mem b2 bi bO Mechanical stop zero return 0 Mechanical stop 1 timer time
54. PROGRAMMABLE CONTROLLER User s Manual Positioning module type A1SD71 S7 J UM 424 e ia MITSUBISHI ELECTRIC REVISIONS The manual number is given on the bottom left of the back cover INTRODUCTION Thank you for choosing the Mitsubishi MELSEC A Series of General Purpose Programmable Control lers Please read this manual carefully so that the equipment is used to its optimum A copy of this manual should be forwarded to the end User CONTENTS INTRODUCTION iii a ene 1 1 SYSTEM CONFIGURATION 00 r cer rescisso rioze nazione 2 1 2 4 2 1 Overall Configuration eee eee aes REOR RC STI 2 1 22 Applicable Systems sere ao xr Rete Pene EE ES ER ESOS SERA eni d 2 3 23 Programming Equipment sssseee menn 2 4 SPECIFICATIONS gt aa 3 1 3 60 31 General Specifications einer ee etica eames vua agi we 3 1 3 2 Performance Specifications and Functions cece eee ees 3 2 3 2 1 Performance specifications nnn 3 2 32 9 2 FRUNCHONS iniettare Race oh rias xod e Pa d 3 3 3 3 General Description of Positioning System Operations 3 5 3 3 1 Positioning system using an ATSD71 s eese 3 5 3 3 2 Signal communications between an A1SD71 and each unit 3 7 3 3 3 A1SD71 operation description e e 3 8 3 4 Types and Functions of Setting Data eee 3 10 3 44 Parameters i
55. PROGRAMMING MELSEC A 6 1 2 Precautions when creating programs 1 Sequence program conditions Use the A1SD71 to provide the program shown in Fig 6 2 to the system Resets an A1SD71 error by initialization after CPU RUN Battery error PC ready A1SD71 ready A1SD71 Provide start interlock sequence program Error detection Can be used for stop etc If the CPU is reset when A1SD71 is BUSY the A1SD71 may detect an error Therefore reset the error by using this ladder Fig 6 2 Necessary Program 2 PC ready reset When an error is detected in the sequence program create a program so that the PC ready signal Y2D is reset by detecting the error 3 Zero return Be sure to execute zero return when turning the power ON The current values of the positioning module cannot be guaranteed when turning the power ON 4 Limit switch for near point dog Use a limit switch with high contact reliability If the near point dog signal is not input during zero return the movement continues at the zero return speed 5 Overrun processing Overrun is prevented in the upper lower strokes by limit setting However this applies when the A1SD71 is operating normally For safety Mitsub ishi recommends setting a marginal limit switch and external circuit that turns OFF power to the motor power when the limit switch goes ON 6 Emergency stop The STOP input signal is a positioning deceleration stop signal whi
56. Reverse pulse 120mA Limiting torque Zero speed Positioning completed Failure Open collector output FPA FPB 2000P R when an HA SC motor is used 3000P R when an HA SA motor is used Can be set in the range of X1 1 to 1 256 OP IP R Torque limit command 10 V max current Torque limit command 10 V max current Upper limit setting 4 Monitor Max TUA meter s pointer oscillating in both di Ci rections APP 14 APPENDICES MELSEC A 3 5 Connection with Mitsubishi MELSERVO J Set the A18D71 to A type output Regenerative option tits 6 Servo motor w D Power supply o 0 0 amp 200 VAC 50 Hz _ 0 0 0 Servo ON Reset Forward stroke end Reverse stroke end Cable attached to the motor HA SE Servo motor Externally short A circuited between MELSEC A que VDD and OPC Servo amplifier MR J Max 80mA VDD VIN is externally M short circuited ior SPH Zero speed Positioning complete Failure Open collector output FPA FPB 100P R Can be set in the range of 1 1 to 1 32 r Seadsese Monitor Max 1 mA meter s fecere dhieided Iwistad A A pair cable P eat MARGA 2 Use a shielded terminal SD 18 when necessary APPENDICES MELSEG A 3 6 Connection with Oriental s stepping motar Set the A1SD71 with a motor to A type output X axis pin numbers P UPD5913 A driver
57. The A1SD71 pin numbers in parentheses are for the Y axis 4 For other signal wires of the drive unit Refer to the instruction manual for the corresponding drive unit 5 For connections to the A1SD71 use shielded twisted pair cable APP 10 APPENDICES 3 1 Connection with Mitsubishi MELSERVO A A type output ON OFF 1 NFB B Power source 200 50Hz 200 220V O Phase A Phase B GND MR ADP Near point switch H PIC ane Positioning unit APP 11 servo amplifier position control MELSEC A Red terminal Thermal protector TJ Grounding Synchronizer sce Servo ON On during operation External torque limit Proportional control Reset Forward stroke end Reverse stroke end indicates twisted pair shield wire 2 Use control common terminals SG 13 14 26 30 and shield terminal SD 37 as shown APPENDICES 3 2 Connection with Mitsubishi MELSERVO SO Set the A1SD71 to A type output AS Single phase O O Power module power supply 85 to 120 VAC 50 60 H2 Grounding ON Av auf OFF i As short as possi mam dd QLO O O ms ble 1 m or less pol To th P and N shall be NOE s oe twisted gt other axis O 0 0 OS ph NA Servo motor X1 MS SK L A S02 3 ae Electromag AU U Red netic brake AV V White bs Blue 24 VDC v GEA ponen AR i S Positioning servo amplifier jenerator MR SOT3
58. acked up data can be lost Fig 9 1 Battery Replacement Procedure 9 MAINTENANCE na MELSEC A IMPORTANT The components on the printed circuit board may be damaged by static electricity When handling the printed circuit board 1 Ground all tools work bench etc 2 Do not touch the conductive areas or electrical components APRENDICES MELSEC A APPENDICES APPENDIX 1 SIGNAL TIMING FROM THE A1SD71 11 Output Signal Timing This section gives the output signal timing chart for positioning operating in the speed control module and zero return Start processing delay time refer to Appendix 1 2 Start I t 7 1 to 1 BUSY signals X14 X15 I 2 START External start signal ret I ta ft 3 M code ON signals X1E X1F Ed i WITH Pane 1 4 Start processing complete on _ a X18 X19 5 PULSE External field pulse i I I 6 Positioning complete signals X12 X13 lp I I 7 M code ON signals X1E X1F ia i AFTER S 2 P VIEN eer 8 CLEAR External clear signal l I 9 Zero return request signals I ty X16 X17 az 10 Zero return complete signals eee ee TIERE E O X1C X1D Positioning in ine positioning Positioning in the pp the t mse 02 02 03 Emerici iac ic msec os 05 os os os os o5 04 04 t mse 184 184 184 184 184 184 18 4 583 583 CARACAS ES Ce Tenen cce Woo poer og sem E RL R
59. ady X11 I BUSY X14 a pg E Inching enable Buffer memory address 47 Inching input Write command Write M24 Inching output speed IMPORTANT When the manual pulse generator is operated in the manual pulse generator enable state during BUSY in positioning zero return or JOG operation mode an error code 73 occurs Therefore set the manual pulse generator enable area to O disable other than in manual pulse generator mode 6 PROGRAMMING 4 Program System is inched to required position and resulting adress written to buffer memory Example inch X axis and address written as data No 1 Notes 1 Start conditions are shown in Table 6 6 2 A delay of approx 0 5 seconds occurs after positioning stops to allow the urrent value of the buffer memory tobe updated Data transfer A1SD71 buffer memory 1 for inching function enable 1 Address o 0 for disable TO CPU data register C X axis present value ri NEN Z gt X axis data No 1 positioning address PROGRAMMING a SEE MELSEC A M9038 Resets A1SD71 error 1 scan Battery error after CPU RUN X1A Battery error PC RUN Interlock PC ready Inching mode X11 X14 X18 XIE Y25 n PLS M21 M21 X axis TO Ht K47 Kt K Sets inching function enable 1 to buffer memory 47 Inching mode X axi ETOF EHE JT Kot Kis p EAE Le RR Write bad diaas rset was M23 K5 H 111
60. as a battery backed buffer memory for communication of data with the A1SCPU The memory map is shown in Fig 3 28 Data can be read from the buffer memory as follows e Reading data using the sequence program One word 16 bit or two word data can be read by using the buffer read application instructions e Reading data using the peripheral device Data can be read in the various modes of a peripheral device For details refer to the SWOGP A1SD71P Operating Manual Data can be written to the buffer memory as follows The writing of data may be restricted depending on the status of the A1SD71 General write conditions are shown in Fig 3 28 For further details refer to Section 3 5 1 to 3 5 5 e Writing data from the sequence program One word 16 bit or two word data can be written by using the buffer write application instructions Writing data from the peripheral device Data can be written by storing data to a memory area in the peripheral device and transferring data in blocks from the peripheral device to the A1SD71 buffer memory One word 16 bit or two word data can be written to the A1SD71 buffer memory by using the AD71TU An additional function allows individual pieces of positioning data to be written to the buffer memory if the A1SD71 is busy For details refer to the SWOGP AD71P Operating Manual For buffer memory access instructions refer to Chapter 6 Programming D 3 SPECIFICATIONS X axis po
61. ase Input pulse rise fall time 500 us max High Supply power voltage 1 V or more Input current 0 3 mA or less Low Supply power voltage 3 V or less Input current 3 5 mA or more 50 us or more 3 ps or less 3 us or less Pulse width Pulse rise time Pulse fall time Output form Open collector Load voltage 4 75 to 26 4V DC Load current 10mA maximum Max drop voltage when ON 0 6V or less Leakage current when OFF 0 1mA or less Output form Open collector Section 3 7 2 gives details about the pulse leading trading edge time Load voltage 4 75 to 26 4V DC Load current 50mA maximum 3 SPECIFICATIONS t MELSEC A 3 7 2 Pulse leading trailing edge times of A1SD71 output signals The pulse leading trailing edge times of A1SD71 output signals and output ratio duty are shown below Unit tf tr us Duty cat AM is Pe tf Leading tr Trailing oy t ceeding tr Trailing rra tr aa edge edge edge o aM edge EE Unit tf tr us Duty 96 ee n a os s cable ongni Si M PU Kt Li standing tr edd ti Leading tr on iio tr Trailing dge ed a edge edge era os so os so Pulse leading trailing edge ON 3 SPECIFICATIONS MELSEC A 3 7 3 input output interface specifications of the A1SD71 and an external device The input output interface specifications of the A1SD71 and an external device are given in Table 3 11 Table 3 11 A1SD71 I O
62. at there is also an error compensation facility to allow for tolerances within the mechanical drive see note 9 e When backlash compensation is set every time the travel direction changes during positioning a feed pulse occurs which exceeds the backlash compensation amount During manual pulse generator inching the pulse output begins as soon as the number of input pulses exceeds the backlash compensa tion amount each time the direction of movement changes If the inched distance is less than the backlash compensation feed pulses will not be generated However the A1SD71 does calculate the sub sequent positions according to the updated data e The feed pulse for a backlash compensation amount is generated by at least one JOG start signal during the JOG operation Therefore even if the travel distance is smaller than a backlash compensation amount the feed pulse for a backlash compensation amount occurs 3 13 ATIONS 3 SPECIFIC O MELSEC A e Backlash compensation is valid after zero return After redefining the backlash compensation always zero the system 4 zero return direction Lead screw 7 Backlash compensation actual value Fig 3 4 Backlash Compensation e For the backlash compensation amount the range of the number of output pulses differs in accordance with the unit to be set in the parameter Number of Output Pulses The symbol indicates the value when the travel dista
63. ata area enabled when PC enabled when PC described in Section 3 4 2 ready signal is off ready signal is off X axis Zero return data area descirbed in Section 3 4 2 Y axis The above data may be read at any time Address are expresssed in decimal 1 address 2 bytes 16 bits Fig 3 22 Buffer Memory Map 3 SPECIFICATIONS p MELSEC A 3 5 1 Positioning start data The positioning start data area is shown in Fig 3 23 The arrangement of the data is the same for both X and Y axes only addresses are different Both the X axis and Y axis BUSY signals must be off to write this data into the A1SD71 from the peripheral device X axis Y axis address address O 300 Start data No 1st point 2nd point 3rd point I y t AM NE D 1 1 1 Start data No area Start data No Start axis 20th point Speed change data Present value change data 32 bits Jog speed Addresses marked e are written to by the A1SD71 OS only Manual pulser inching enable Executing data No M code comment area 16 bytes x 19 comments Fig 3 23 Positioning Start Data Area 3 SPECIFICATIONS tone cine MELSEC A 1 Speed change area X axis address 40 Y axis address 340 To change the speed of traverse during positioning jog operation or zero return write the new speeds to these addresses To be within the range shown in Table 3 7 This data overrides the speed set in the positioning data Speed
64. axes X axis M code buffer address 46 Y axis M code buffer address 346 3 SPECIFICATIONS MELSEC A 2 Positioning speed Specifies the speed at which the next position is to be approached 1 Before operation the parameter speed limit is checked and if the positioning speed exceeds the speed limit value the parameter speed limit value is used 2 In the case of linear interpolation the setting speed of the axis whose travel distance is smaller is ignored Therefore when the combination of travel distance and speed differs greatly between the X and Y axes the travel speed of either X or Y may be larger than the setting speed The speed limit value is ignored In the same case of linear interpolation Mitsubishi recommends setting the same speed and speed limit value to both the X and Y axes Positioning speed for linear interpolation During linear interpolation positioning the speed set for the axis with the furthest to travel takes precedence and the speed of the other axis is derived as follows Short travel axis speed 5 short travel distance long travel axis speed x long travel distance An example of this is given in Fig 3 20 which uses the following data Parameter set value speed limit value 20 KPLS sec 50 KPLS sec Positioning data set value positioning speed 20 KPLS sec 50 KPLS sec To move from point A address 0 0 to point B 100 kp 200 kp X axis travel is less
65. axis into buffer memory addresses 300 Positioning start signal Y20 Y21 Y22 ON X12 X13 ON es Next position required Yes No 1 Section 6 gives detalls about zero return start and positioning start conditions 2 Table 3 4 shows the data needed for control signals positioning functions from the PC CPU 3 SPECIFICATIONS MELSEC A Table 3 4 Data Needed for Positioning Functions Manual pulse generator dOG Zero Positioning Data operation operation return CE O IT 9 VS N 9 TO CEE I 9 9 _ Memes 9 O LL ewe 9 o 6 e 9 oid CHO wem ELLE DR VANI ARR ENO EN Parameter Error compensation Error compensation Acceleration and deceleration times Positioning complete signal output time M code M code ON OFF timing M code ON OFF timing a generator during inching Zero return direction Zero return direction direction STE ee E Bemwsums 0 e e o memes YO ec reumemee se DT 0 meme __ 9 Wwe T_T Te mewwewma T_T Bem O I CES Benda nmerana E 9 meemmem 9 9 9 Wewemewesue T_T TO nding ere es DT Indicates functions used to change the speed during A1SD71 positioning Zero return data 3 SPECIFICATIONS i MELSEC A 3 4 Types and Functions of Setting Data e Setting data is data that is necessary for an A1SD71 to do positioning control Setting data is the g
66. ay zero return is not completed After reaching the creep speed limit the servo motor torque Section 3 4 2 7 gives details If the servo motor torque is not limited the servo motor may malfunc tion when a stopper is hit Zero return speed Deceleration by Stop by stopper near point dog ON i SSpS After the dwell time times out Creep speed the zero return complete signal Cee goes ON A Range in which the servo Near point dog motor rotation is forcibly Dwell time PYLE count start stopped by the stopper Dwell time Zero return torque limit valid IRR Torque limit valid range Fig 3 13 1 Zero Return by Using Stopper Stop 1 c Mechanical stop 2 caused by an external stop command This is the method of stopping by inputting an external stop com mand when a servo motor interferes with the stopper Refer to Fig 3 13 2 Forcibly input a zero phase signal stop command to the zero phase signal terminal by an external switch after the near point dog goes ON When inputting a zero phase signal stop command the ON OFF state of the near point dog is not a problem After reaching the creep speed limit the servo motor torque Section 3 4 2 7 gives details If the servo motor torque is not limited the servo motor may malfunc tion when a stopper is hit Zero return speed Deceleration by near point dog ON Creep speed Stop by stopper Near point dog LLLLLLLLLLLLLL a Stop command to the zero phase signal
67. ber and Buffer Memory Address Conversion Table X Axis Y Axis Positioning Positioning Dwell Positioning Address Positioning Positioning Dweilt Positioning Addrees Information Speed Time Lower Upper Information Speed Time Lower Upper 4172 4572 6572 4173 4573 6573 4174 4574 6574 4175 4575 6575 4176 4576 6576 4577 6577 4578 6578 4579 6579 4580 6580 4581 6581 4582 4583 4584 4585 4586 4592 4593 4594 4595 4596 4597 6597 4598 6598 4599 6599 4600 6600 4601 6601 6602 6603 6604 6605 6606 APP 29 1 APPENDICES MELSEC A Positioning Data Number and Buffer Memory Address Conversion Table Y Axis Addrese Positioning Positioning Dweil Positioning Address Upper Information Speed Time Lower Upper Positio Positions 3 epatiti Speed 4622 4623 4624 4625 4626 4649 4650 4651 4653 4654 4655 4656 X Axis Dwoll Positioning Time Lower APP 30 6632 6633 6634 6635 6636 6637 6638 6639 6640 6641 IMPORTANT 1 Design the configuration of a system to provide an external protective or safety inter locking circuit for the PCs 2 The components on the printed circuit boards will be damaged by static electricity so avoid handling them directly If it is necessary to handle them take the following precautions a Ground human body and work bench b Do not touch the conductive areas of the printed circuit board and its electrical parts w
68. ce or AD71TU Two axes independent operation Two axea interpolation operation The drive for the given axis is advanced by a predefined number ef pulses each time a manual pulse is received The manual Unavailable pulse is provided by the manual pulse generator JOG operations can be done when a JOG ion command from the PC CPU or i JOG operation function operati Unavailable peripheral device is turned ON Returns by a zero return start command from the PC CPU or peripheral device The current value is corrected to the zero Unavailable address after zero return is completed Positioning s executed at a speed with two One time Positioning is executed at a set speed from axes moving in linear directions from the positioning the current position to the setting position current position to the setting position linear lai e positioning data set by a one time start executed continuously as well as with the po 9 signal and executes positioning two axis independent operation 9 Positioning accompanied Changes speed in accordance with the by a change in speed positioning data set by a one time start Unavailable pattern change signal and executes positioning interpolation 1 Error compensation and backlash compensation functions are valid tor all the functions shown in Table 3 3 2 If positioning is done using a sequence program a PC CPU can output the set M code from an A1SD71 when positioning
69. ch cannot be used for an emergency stop Stop the drive unit by external contact in the case of an emergency stop 7 Upper lower stroke limit values Confirm whether correct upper lower stroke limit values have been set 8 Speed limit value Confirm whether a proper speed limit has been set to a parameter 6 PROGRAMMING Roe AE SECA 9 Do not set the high speed at the JOG speed Execute operations at the low JOG speed 10 Speed during interpolation operations The speed during interpolation operations is decided with the X and Y axes Therefore set the speed of both axes correctly so that either axis operates at the setting speed or lower 11 Refer to section 5 1 for details about unit wiring precautions 6 2 Operations Using a Peripheral Device or AD71TU A1SD71 positioning operations can be executed in the test mode using a peripheral device or AD71TU Operating conditions are as follows 1 install a peripheral device or AD71TU in the A1SD71 2 Operations are enabled independently of the ON OFF state of the PC ready signal Y2D and A1SD71 ready signal X11 3 Data cannot be read and written fronvto the peripheral device or AD71TU during BUSY when operating a peripheral device or AD71TU in the test mode 4 ON OFF of the M code will be ignored Buffer memory M code area X axis 46 Y axis 346 is cleared 6 EROGRAMMENG 6 3 ACPU Programming 6 3 1 Data read and write precautions 1 Data read from and w
70. checked when 3 10 3 SPECIFICATIONS fme MELSEC A 1 The power is turned ON 2 Parameters are sent from a peripheral device to an A19D71 3 A PC CPU ready signal from the PC CPU to the A1SD71 switches from OFF to ON 4 1 zeroreturn 2 positioning 3 jog operation or 4 inching has been selected in the peripheral device or the AD71TU However error code and error detection signals are not given for 1 above power ON parameter check Table 3 5 Parameter Settings m mm e mam Setting Setting Setting Setting ini ak SA OA d pa Units Units NE Speed limit values 11012000 X10 16 12000 1 to 12000 1 to 12000 20000 X10 mm min TES SOR PLS sec Jog speed limit X10 x1 X1 X10 x10 mmm 1 to 12000 mm min 11012000 inchymin 1 to 12000 degree min 1 to 20000 PLS sec PLS sec X10 xi X10 x10 TTI TO EI SCORTE AA Backlash x10 X10 5 mS Oto 0to1 00000 x10 40801 40t01 X105 ITTICA eee eee Trave per manual X105 x10 Acceleration and Positioning complete i Same as the 0 PLS SIGN B type p Pulse output mode 1 Forward PLS or reverse PLS A type ni 0 Current value increase when forward pulse is output Same as the previous 1 Current value increase when reverse pulse is output setting 0 Absolute Positioning method 1 Incremental O absolute 2 Incremental absolute combined 0 M code not used Same as the 16 sig ON OFF 1 M code used 0 WITH mode previous 9 1 AFTER mode setting Not
71. ching operation Move the system to the required position using the manual pulse gener ator and write that address into the A1SD71 buffer memory 3 Jog then inching combined Coarse position using the jog operation then fine position with the manual pulse generator Write the address to the A1SD7 1 buffer memory 6 PROGRAMMING MELSEC A 1 Jogto position and teach 1 Flow chart 2 Conditions Table 6 5 Address Write Conditions Using Jog Operation Drive unit READY Stop signal STOP A1SD71 ready X11 Jon Relevant axis busy X14 X15 Relevant axis positioning Interface commenced X18 X19 signal i OFF Jog operation Switch off PC readysignai 2D Write parameters to buff er memory Relevant axis M code ON X1E X1F Relevant axis stop Y25 Y26 OFF PC ready Y2D Switch on PC ready signal Y2D Starting bias If jog speed specified is higher than the jog speed limit value operation is performed at the jog Jog speed Others speed limit value Neither axis should be BUSY after a BREAK signal has been received from the peripheral device and both axes have stopped Write jog speed to buffer memory 2 Neither axis should be BUSY after a STOP signal has been received from the AD71TU and both axes have stopped 27 Yd 29 Y2N nal In peripheral device or AD71TU test mode X11 and Y2D should not be checked 3 Timing Turn off jog start signal
72. code is set before pattern 11 positioning processing begins Pattern 11 Pattern 11 M code set for pattern A Pattern 00 00 is set at this point vana Dwell 2 MEE M code E IS pu c 7 m gm Pie ttn l M code ON WITH mode M code ON AFTER mode i y M code OFF Fig 3 10 M Code ON Signal Timing for Positioning Pattern 11 Fig 3 10 shows the M code ON signals in the WITH mode and the AFTER mode However this is only to explain the M code ON signal and either WITH mode or AFTER mode can actually be used 3 19 SPECIFICATIONS iui MELSEC A 3 4 2 Zeroreturn data This defines a home position or zero point for the A1SD71 Refer to Table 3 6 Zero return data is checked when 1 Parameters or zero return data is transferred from the peripheral device to the A15D71 2 PC ready signal output from the PC CPU to the A1SD71 changes from OFF to ON or 3 Zero return positioning jog operation or manual pulser inching is se lected in the peripheral device test mode Table 3 6 Zero Return Data sewing ranoo Unit jsecing range Unit eoumo range Unit setting ance Unit i 0 Forward direction address increases 1 zero return direcion 1 Reverse direction address decreases 0 Pulse generator PG zero point signal 1 Stopper stop 1 and dwell timer time out 2 Stopper stop 2 and signal from drive unit 0 to E 0 to 5 0 to 5 0 to B Zero return address 162 x 107 10 u
73. current positioning operation is written to these addresses The M code number can be used to co ordinate external equipment and processes b7 bo PT Set to 0 M cade specified 1 to 255 M code not specified 0 Lower 1 byte M code Fig 3 27 M Code Area e Do not write data to these addresses e For M code data timing details refer to Section 3 4 1 16 3 SPECIFICATIONS ROTTA TIA E RTS N I I IR MELSEC A 9 Current data number area X axis address 48 Y axis address 348 The number of the positioning data block currently being processed is written to these addresses by the A1SD71 OS This number is retained until the next positioning operation begins Refer to Fig 3 28 Pattern 11 Pattern 11 Patern 00 Dwell Positioning complete Executing data No Control switching signal Fig 3 28 Current Data No Update Timing Do not write data to these addresses 3 SPECIFICATIONS AZIZ MEL SEC A 10 Start data number area X axis address 0 Y axis address 300 Positioning is executed sequentially by data number using a one time start signal in the positioning control mode and positioning operations are completed by positioning END of positioning pattern 00 To execute the previously mentioned series of positioning operations continuously the first data number start data number and the start axis of the positioning operation series are registered This area is called a start data numb
74. d Note 1 Feed pulses are output after the BUSY signals X14 and X15 have been turned ON and to msec has passed refer to Appendix 1 1 To not execute FROM TO instructions during start processing use the start signals Y20 and Y21 for providing interlock to FROM TO instruc tions MO Y20 Y21 r i FROM instruction MO Y20 Y21 a TO instruction APP 3 APPENDICES E TRONE MELSEC A 13 A1SD71 Processing Times The processing times for each pattern operation are as follows Point update iod Pattern 11 n Point update to msec to msec 2 msec 2 msec to msec The above times do not include the processing time of the PC CPU repre senting the estimated processing time of the A1SD71 APP 4 APPENDICES MELSEC A APPENDIX 2 FORMAT SHEETS 1 1 MELSEC A positioning unit X AXIS ADDRESS mm inch degree PLS Y AXIS ADDRESS mm inch degree PLS APP 5 MELSEC A 2 1 Format Sheets x APPENDICES 1 Parameters Initial value Y Axis Setting Uda range 1 ani 1x10 Travel per pulse CSS 1to 100 um PLS 1 to x10 mm 12 000 min m oe PULSE LS Setting _ Setting _ Setting n x108 1 to 100 deg PLS Speed limit Jog speed limit value Starting bias 20 000 mi in Oto xo Oto ixo Oto ixo Backlash ee 65 535 um 65 535 iinch 65 535 deg 019255 PLS Upper stroke
75. dress 201 See Section 6 3 2 7 For resetting of errors using the peripheral device refer to the SWOGP AD71P Operating Manual 4 Error detection X1B is the error detection flag Resetting the error also resets X1B Error codes are classified as shown in Table 8 1 Table 8 1 Error Code Classification 11049 Data range error Reter to Section 8 1 1 50t059 AISD71 HOLD error Reter to Section 8 1 2 8 TROUBLESHOOTING 8 1 1 Data range errors Any of the operations shown in Table 8 2 will prompt a data range check by the A1SD71 as shown below Table 8 2 Data Range Check Daa 5 1 Opeaton Cd e At power on e When parameters have been transferred from the peripheral device to the A1SD71 When PC ready signal Y2D changes from OFF to ON e When positioning zero return jog or inching has been selected in periph eral device test mode Parameters e When parameters or zero return data has been transferred from the periph eral device to the A1SD71 When PC ready signal Y2D changes from OFF to ON e When positioning zero return jog or inching has been selected in periph eral device test mode Zero return data Positioning e At the start of positioning data Refer to the figure in Section 6 3 e The power on check will not give an error code or an error detection signal X1B A list of error codes is shown in Table 8 3 8 TROUBLESHOOTING Parameter
76. ds There are three kinds of zero return methods The pulse generator PG zero phase signal method Mechanical stop 1 caused by dwell timer time e Mechanical stop 2 caused by a signal from the drive unit a Method by the pulse generator PG zero phase signal method This method of stopping by a zero phase signal from the PG is shown in Fig 3 11 A PG with a zero phase signal is necessary Refer to Fig 3 12 Zero return speed Deceleration by near point dog ON Creep speed ETC Bg GB Lg gg Bg gn Near point dog Drift in accordance with the drive ON OFF Zero phase signal Adjust the actuator so that the near point dog OFF position is near the center of the zero phase signal HIGH If the near point dog is turned ON when the zero phase signal is LOW the zero return stop position causes an error equal to one rotation of the servo motor Near point dog Zero phase signal One servo motor rotation one PG rotation Fig 3 11 Zero Return Using a PC CPU Zero Phase Signal One PG rotation PG zero phase signal An METTE DR Pulse generated by PG Fig 3 12 Feedback Pulse Pattern 3 21 3 SPECIFICATIONS EI EN I TI NE E N ER RES MELSEC A b Mechanical stop 1 caused by a dwell time time out After a near point dog has operated and the dwell time has passed zero return is completed Refer to Fig 3 13 1 In this case if the dwell time has not passed even if the near point dog goes OFF halfw
77. dy signal Y2D ai A1SD71 ready signal X11 h Li L I 1 t re t 1 5 sec Positioning complete X12 X13 Switches on for a period set in the parameters after each position is reached Ignored if the positioning complete signal output time 0 Switched off at positioning start zero return start inching start jog start and power on If positioning is stopped midway the positioning complete signal does not switch on Positioning complete signals do not go on in the speed control mode BUSY X14 X15 Switches on at positioning start zero return start inching start and jog start Switches off after pulse output and dwell time have elapsed Refer to Fig 3 42 Remains on during positioning Switches on while the test function is being used on the peripheral device or the AD71TU 3 SPECIFICATIONS 5 6 8 9 10 Zero return request signals X16 X17 Switches ON when any of the following conditions occur and OFF when zero retum is complete When the power supply is turned ON to the A18D71 module When the drive unit READY signal R ADY goes OFF during BUSY After the PC ready signal Y2D goes ON it takes about 1 5 seconds When a parameter and a zero return data are written from the peripheral device When zero return starts When the following are selected in test mode of a peripheral device 1 Zero return 2 Positioning 3 JOG operation 4 Manual pulser Positioning c
78. e insufficient If it is necessary to install the A1SD71 in an extension base unit which does not have a power supply module select a power supply module main and extension base units and extension cables taking into consideration a the power supply capacity of the main base unit and b the voltage drop across the main and extension base units and extension cables b See the A1SCPU User s Manual for details 2 SYSTEM CONFIGURATION MELSEC A 23 Programming Equipment The following table indicates the equipment available for programming the A1SD71 Table 2 1 Programming Equipment Unit Division Description Type amp Remake EEEN NN SWOGP AD71P AD71 S1 AD72 A1SD71 S software package e Consists of the following e Programming unit with CRT A6GPPE e Equipped with ROM writer FDD and printer interface functions Consists of the following Programming unit with plasma display A6PHPE Equipped with FDD printer interface and memory cassette functions SW GP GPPA A series system disk SW GP GPPK K series system disk SWO GPPU User disk 3 5 inch formatted Cable for connecting A1SD71 and A6PHPE AC3OR4 3 m 9 84 ft length User disk SWO GPPU 200 Floppy disk ofr storing user programs 3 5 inch formatted SWOS USER RS 422 cable AC30R4 Cable for connecting CPU and A6GPPE 3 m 9 84 ft length AC300R4 Cable for connecting CPU and A6GPPE 30 m 98 4
79. e or to the sequence program accessing too much of the buffer memory too frequently In the later case the sequence program must be changed in accordance with Section 8 2 Table 8 4 A1SD71 Hold Error Codes scs Chook Poimt evoremmion Operation time out error hardware fault so Operation element 8231 P 51 Operation error overflow underflow etc The PC has priority for accessing the buffer A1SD71 bus error memory lf accessing is too frequent the A1SD71 may not be able to access the data In the event of any of the above errors occurring 1 turn off the A1SD71 ready X11 and 2 force BUSY processing to stop The start signal is then not accepted 8 1 3 Buffer memory write errors Writing data from the sequence program to prohibited buffer addresses or writing when the buffer cannot accept the data prompts the error codes shown in Table 8 5 The sequence program must be checked and corrected Table 8 5 Buffer Memory Write Error Codes Shared Memory Address Error Definition Pointer value is not 0 though 20th point has been reached Data has been written to pointer address while BUSY 40 340 Speed change during interpolation 62 41 42 341 342 Present value change while BUSY 63 7872 to 7928 Data written from PC while Y2D is on 64 Monitoring present value area Data written from PC to a write prohibit Speed area address 8 TROUBLESHOOTING MELSEC A 8 1 4 A1SD71 start and op
80. elerates and stops at that speed except in the following cases When zero return is executed only the stop signal during decelera tion is stopped Deceleration Zero return BUSY X14 X15 Fig 6 10 Stop Command Received During Zero Return Deceleration In the case of a stop when the stop signal is turned ON after the near point dog for zero return return to the position prior to the zero point dog by jog operation and retry Otherwise the A1SD71 can malfunction 6 PROGRAMMING seta c Stop signal reset A start signal Y10 Y11 Y12 is only valid at its leading edge therefore if it is already on when the stop signal is reset the process will not restart d M code The conditions shown in Table 6 10 turn off the M code ON signal at the relevant axis When the PC ready signal is turned off the M code is set to 0 e Stop during interpolation operations During interpolation operations both axes can be stopped by either the X or the Y axis stop signal However when interpolation and independent operations are combined in the start data number auto matic switching pointer setting the axis stops as shown below at the point update Therefore after going to independent positioning the stop signal is only valid for the self axis Point update Pattern 01 Pattern 00 H as operation Dual Desin Stop signal ON Stop signal ON m The other axis is not BUSY Or the other axis is executing indepe
81. eneral term for the following three kinds of data Section 3 5 gives details about storing set data in the buffer memory Parameter Setting data Zero return data Positioning data Setting data is written using the following two methods 1 By a peripheral device The Operating Manual and the AD71TU or AD71TU Operating Manual SWOGP AD71P give details 2 By a sequence program Section 6 gives details It is necessary to set data for two X and Y axes 1 All clear data Before writing setting data use a peripheral device to do allclear processing of the memory 2 Data setting when using either the X or Y axis When using either the X or Y axis write parameter and zero return data to the axis not used Writing data must be a value in the setting range given in the User s Manual However even if an initial value default value is set by a parameter there is no problem If zero return is done without writing data an error occurs and the error detection signal X1B goes ON 3 4 1 Parameters Parameters are the basic data which enable the A1SD71 to do positioning control The data in Table 3 5 is contained in parameters e Initialization of parameters If all parameters are not set or an error outside the setting range is detected by parameter checking the A1SD71 will be controlled using the initial values shown in Table 3 5 However parameter area data remains as user set values Parameters are
82. er area A start data number area with a maximum of 20 points can be set as shown in Fig 3 29 X axis Y axis address address 0 300 1st point Start axis for this start data No 301 vaporas on starn signal Y20 to 2nd point 202 3rd point 204 For 2nd to 20th points set start data No and axis For start axis details refer to next page Start dale No Satvaslnt ia SITO e Set the number of switching times of the series in a positioning operation Example When executing only 1st point positioning Pointer 0 When executing positioning to the 4th point Pointer 3 e Every time a point increases the pointer value decreases by 1 When positioning is completed normally the pointer becomes 0 except when positioning was stopped e The set value is cleared to 0 when the power goes ON 0 N Fig 3 29 Start Data Number Area e When positioning of the start data number of the 20th point is completed positioning is completed even if the value of a pointer is not 0 however an error code is set e The BUSY signal remains ON during switching to the next point after positioning of the 1st point has been completed 3 SPECIFICATIONS MELSEC A a Start axis area details Use the two least significant bits of these addresses to define the start axis See Fig 3 30 b2 to b15 may be 1 or 0 ignored by OS 00 Interpolation start 01 X axis start 10 Y axis start 11 Both axes
83. eration errors The following errors are detected when A1SD71 cannot start operations after receiving a PC CPU command due to A1SD71 internal condition errors or A1SD71 operating errors Error codes are shown in Table 8 6 below Table 8 6 A1SD71 Start and Operation Error Codes Error A READY signal is OFF at the start Set the drive unit READY External stop signals 6A and Turn OFF the stop signals 6A and 8A 71 8A are ON at the start The AiSD71 ready signal X11 Turn ON the PC CPU power and set the PC and PC CPU ready signal Y2D CPU to RUN are OFF at the start Check the hardware The relevant axis positioning Restart after turning OFF the start signal complete signal is ON at the start The M code ON signal is ON at Turn OFF the M code ON signal using the M the start code OFF signal The stop signals Y25 Y26 are Turn OFF the stop signals Y25 Y26 ON at the start Release the stop processing from the periph Inputting the BREAK key from a eral device or AD71TU peripheral device stops opera ns Zero return is repeated more Zero return cannot be repeated 77 thantwice consecutively The zero return complete signal Zero return has been already completed _is ON when zero return is Transfer positioning or the jog operation started Outside the range from 0 to Return inside the stroke limit range using jog 16252928 pulses Change the current value Note 1 Start includes Ze
84. error er ror amount and error occurring position is random or regular Is it regular Mi NO Execute the test operation positioning using a peripheral device or AD71TU YES Is it rotating correctly NO Check for sources of noise welder power supply etc Is there potential noise interference Is there potential noise interference Positioning OK YES Take appropriate measures to prevent noise interference e Run signal cables away from power ca bles e Use shielded twisted pair cable for the signal cable e Ground the module correctly e Install the module away from noise sources e Check the set data and machine position correct if necessary Check the backlash compensa tion value and error compensa tion value correct if necessary Check the parameters and positioning data correct if necessary Check the sequence program e Check the data number and ad dresses e Check the current value e Check the stop signal Motor drive unit failure gt Replace the unit A1SD71 error Contact Mitsubishi representa tive 8 TROUBLESHOOTING am es MELSEC A 8 2 4 Positioning speed wrong Check parameters and positioning data NO Data OK Correct the data Check that positioning speeds are within parameters o ositioning speed parameter speed limit YES Set speed within parameters NO Y
85. esses 0 to 39 Y axis addresses 300 to 339 data number automatic switching is used 6 PROGRAMMING Data transfer 1 When data number automatic switching is not used in the absolute method The executing data number is stored to buffer memory addresses 48 X axis and 348 Y axis during positioning and kept until the next start This applies to the restart after stop A1SD71 buffer memory CPU data register PES es Data number during Lm X axis execution 5 X axis start data number Program Stop signal Y25 Resets the X axis stop Restart Restart row D o e Te Te To X axis start 6 PROGRAMMING CIAO en er ra PPS CECA b Zero return method Refer to Section 6 3 7 c Restarting after a stop during zero return When zero return starts cannot be repeated Execute zero return after the following operations 1 Execute positioning from the correct data number 2 Execute positioning using a jog operation when positioning is stopped near the zero point Positioning is stopped by using the BREAK key on the peripheral device BREAK key is valid for the X and Y axes Positioning can be restarted when both axes are not BUSY If one axis is BUSY starting is disabled d 7 CHECK LISTS CHECK LISTS MELSEC A The check lists given in associated equipment manuals should also be re ferred to For the A1SCPU refer to the ATSCPU User s Manual General Check List Before
86. from A to B Fig 3 6 Incremental Method e In absolute mode positioning positions are reached with reference to a Zero point address See Fig 3 7 Zero point A B To move from B to A e _ _ T_ r _r_ _e OO specify address 70 as Address 70 Address 100 the destination address Fig 3 7 Absolute Method 3 16 3 SPECIFICATIONS rc cen nn Wi MELSEC A e To use both incremental and absolute modes in the same axis e g X axis set 2 In this case the mode is controlled by the individual piece of positioning data Refer to Section 3 4 3 16 M code ON OFF timing M codes are code numbers 1 to 255 assigned by the user to control auxiliary functions for example clamp drill rotation stop and tool exchange commands etc at defined points in the positioning cycle These are used by the PC CPU to co ordinate the operation of external equipment and processes e M code use non use must be specified as well as where in the position ing sequence they are to be used When M code non use is specified or peripheral device test mode is in operation M code data in the buffer memory is cleared and the M code ON signal is not output e When the M code used is specified the output timing of the M code ON signal must be specified e M code ON signal output is available in two timing modes WITH and AFTER a WITH mode The M code ON signal is given at approximately the same time as the positioning opera
87. g Enable Area M code comment area X axis address 49 to 200 Y axis 349 to 500 Up to 16 ASCII characters may be entered as M code comment data using the peripheral device or sequence program Comments may be written to M code numbers 1 to 19 for both X and Y axes How to use 1 Monitoring by a peripheral device 2 Reading using a sequence program and displaying it externally Status area X axis address 43 Y axis address 343 Is reserved for the information shown in Fig 3 26 and is set by the A1SD71 OS e Battery alarm Zero return request During dwell time During positioning BUSY All conditions but not zero return jog except bit ON and inching operations conditions Fig 3 26 Status Area Do not write data to this area 3 SPECIFICATIONS Ja ETE 7 Error code area X axis address 45 Y axis address 345 The code number of any error detected by the A1SD71 is written to these addresses by the OS Use in conjunction with the error detection signal X1B l e The error code area is used by the A1SD71 OS and data must not be written here e The most recent error code is written to this area The absence of any error is indicated by a 0 in this address It takes 20 to 30 msec to set an error code after outputting an error detection signal X1B e For error codes refer to Chapter 8 8 M code area X axis address 46 Y axis address 346 The M code specified in the positioning data for the
88. hing output speed 3 SPECIFICATIONS paid iI MELSEC A 3 5 4 OS data area Addresses 512 to 767 Addresses 512 to 767 are used by OS The user cannot write data in this area Data shown in Fig 3 38 can be read and used with a sequence program Section 6 3 2 gives details about the reading method Address When stopped 0 is stored The output speed is stored during Y Y axis output speed When 0 output speed 1 1 FFFFH is stored Lower 16 bits Hiaher 16 bits X axis current value Lower 16 bits Y axis current value Higher 16 bits E The value is stored during the X axis torque limit value torque limit in the zero return mode Y axis torque limit value 250 is stored in other cases The output speed of the X and Y axes and the torque limit value become numerical values set as setting data Fig 3 38 OS Data Area 3 SPECIFICATIONS RISI ee ee en PACI CECA 3 5 5 Positioning data area X axis address 3872 to 5871 Y axis address 5872 to 7871 This area stores the positioning data explained in Section 3 4 3 The position ing data consists of positioning information positioning speed dwell time and positioning address as shown in Fig 3 39 For the conversion of expressions from a data number to a buffer memory address refer to the next page As an example for X axis data number 2 data is stored in the following areas Positioning information Address 3873 Positioning speed Address
89. in A1SD71 is output sequentially after A1SD71 internal processing time 20 to 99 msec 4 During outputting pulse to drive unit BUSY signal of corresponding axis is ON Manual pulse generator A1SD71 Input Output i counter counter Drive unit 6 PROGRAMMING MELSEC A 1 When manual pulse generator operation is completed set manual pulse generator enable to 0 If touching a general pulse generator in the condition that manual pulse generator enable is set to 1 2 Input pulse of manual pulse generator is counted only when the following two conditions are established e Manual pulse generator enable area of buffer memory is set to 1 e Corresponding axis is not during BUSY or during BUSY in manual pulse generator mode 3 When the manual pulse generator enable area is set to 0 pulse input and pulse input counters are cleared after about 0 2 seconds When stop signal Y25 26 is turned ON pulse input and pulse output counters are cleared after about 0 2 seconds When moved to the direction which has backlash operation is not started if the number of output pulses is less than the backlash set value If operation cannot be started due to an error at the time of starting manual pulse generator pulse input counter is not cleared When pulse is continued to be input to A1SD71 from manual pulse generator after a error occurs pulse input counter causes size error and the number of input pulses cannot be
90. in the same direction The addressing method must be the same for consecutive 11 patterns Interpolation start setting for both axes must be the same 00 or 01 00 01 or 11 in bits O and 1 00 only if start data No is 400 8 TROUBLESHOOTING MELSEC A Tabie 8 3 Data Range Error Codes continue Check Rang 6 Errors occur side the following ranges Start number number 1 to 400 e S EUN RN Starting bias speed to parameter Speed change speed limit Not 0 0 to 1 620 000 000 Present value in mm inch or change degree 0 to 16 252 928 in PLS Positioning start data When two axes are to be started at the same time both must be set for interpolation start 00 or for dual axis start 11 The second axis must not be busy or must be behind the start point when an interpolation start 00 or a dual axis start 11 is called 1 If the set speed exceeds the parameter speed limit value positioning is controlled at the parameter speed limit value 2 If the units are mm inch or degree and travel per pulse is a unit PLS the address S range is restricted as given below S unit a unit PLS s 16 252 928 PLS 3 When the travel distance per pulse is set to 1 8 TROUBLESHOOTING MELSEC A 8 1 2 A1SD71 HOLD errors The errors shown in Table 8 4 are indicated by the A1SD71 HOLD LED Errors 50 or 51 indicate a hardware failure An A1SD71 bus error may be due to an A1SD71 failur
91. interfaces Pin Number eee ee Xaxs vaxs S100 5A 7A Common 5 to 24 VDC external supply LOW indicates the servo drive unit is serviceable and the feed pulse is acceptable 2 The A1SD71 checks the drive unit ready signal prior to start if not ready the A1SD71 outputs a Drive unit m ready zero return request 3 Arrange for drive unit errors e g a control power error to set this signal HIGH 5B 7B READY 4 Switching the signal to HIGH during positioning stops the operation Resetting the signal will not restart the operation 1 LOW to stop positioning Signal duration 20 msec Stop signal or more C M 2 A1SD71 stops positioning by using this signal and LT switches the start signal OFF HIGH When STOP switching from HIGH to LOW positioning is not 8A started 1 Used to detect near point during zero return Zero point Switched to LOW by using the near point actuator i The grid point is resolver phase angle O signal 2 When zero return by using the zero phase signal the zero point is away from the dog and becomes 6B 8B DOG the first grid point after detecting the near point dog 1A 3A Inching A phase Refer to table 3 10 Pulser A m H 2A Inching B phase Refer to table 3 10 Pulser B i 3 9A 2 Zero phase 1 Used as the zero signal at zero return The zero o signal phase grid signal of the p
92. ith and non grounded tools etc Under no circumstances will Mitsubishi Electric be liable or responsible for any consequential damage that may arise as a result of the installation or use of this equipment All examples and diagrams shown in this manual are intended only as an aid to understanding the text not to guarantee operation Mitsubishi Electric will accept no responsibility for actual use of the product based on these illustrative examples Owing to the very great variety in possible applications of this equipment you must satisfy yourself as to its suitability for your specific application x a MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 TELEX J24532 CABLE MELCO TOKYO NAGOYA WORKS 1 14 YADA MINAMI 5 HIGASHI KU NAGOYA JAPAN When exported from Japan this manual does not require application to the Ministry of International Trade and Industry for service transaction permission IB NA 66424 A 9305 MEE Printed in Japan uj Specifications subject to change without notice
93. l mist salt or organic solvent A two hour warming up period should be allowed if the A1SD71 has not been powered up for over 12 months This is to allow the electrolyte in electrolytic capacitor to stabilize The battery should be replaced every 10 months if the unit is not powered up to maintain buffer memory data If the A1SD71 has not been used for 10 months or more the data in the A1S8D71 could be lost In this case it is necessary to check the set data gt MIENANCE 9 2 Battery Change 9 2 1 Battery change frequency When the data backup battery voltage drops the LED on the A1SD71 front panel is lit and an input signal battery error to the PC CPU is enabled The battery is live for about one month more and if it is not replaced data will then be lost or corrupted Guide for preventive maintenance 1 The battery should be replaced every 4 to 5 years if it is only used for memory back up for a maximum of 300 days in that period 2 Battery changing frequency for memory backup duty exceeding 300 days can be calculated as follows pope Example 4 Assume that there are five operation days 10 hour operation and 14 hour power off during a day and two power off days in a week Under these conditions power off period during one week is 14 hours x 5 days 70 hours 24 hours x 2 days 48 hours 7200 hours
94. l wait for the other to finish its current process or for its busy signal to turn off This is illustrated in Fig 3 35 below X axis Address 0 s4 1st point 1 i ej ne 2nd point X axis proceeds to 2nd start number but processing waits until Y axis completes 1st sequence Start data Point update Start data ist sequence 12nd sequence preti 22 Pattern 1 1 Start No 19 1st sequence X axis start X axis busy Y axis start Y axis busy The execution start number remains at its previous value while waiting for the other axis When the point of the other axis becomes the same as the point of the one axis and interpolation or both axes start is enabled the execution start number is updated Fig 3 35 Start Data Example 5 3 SPECIFICATIONS 1 MELGEC A e Processing will stop if one axis proceeds ahead of the other and dual axis processing is called See Fig 3 36 L 2nd point 3rd point 0 Panes cas ur 00 EX Start data No ell 59 Dwell Y axis X axis start X axis busy Y axis start Y axis busy Y axis switches to 2nd point but X axis has reached start point 3 Positioning stops 1 Since the 2nd point of the X axis is specified to the both axes start number 140 of Y axis 2nd point data starts 2 Data number 58 is started by a Y axis start command during executing positioning of the X axis 3rd point after completing positio
95. lectric wire insulation carefully Be careful not to cause a short circuit Wires should be threaded through an insulating tube 3 Secure the electric wire in the cable clamp of a cover When there are several connecting electric wires wrap them together with tape Pin arrangement seen from the connection side Connection pins include A1 to A20 and B1 to B20 Fig 5 2 Connection 6 PROGRAMMING 6 PROGRAMMING 6 1 Program Creation 6 1 1 Program composition A1SD71 programs are usually incorporated in an overall program Programs are classified as follows and a program example is shown Zero return Positioning operation 1 axis simultaneous 2 axes Interpolation 1 axis simultaneous 2 axes Refer to the SWOGP AD71P Operating Manual or 1 axis AD71TU Operating Manual Jog operation Operations us inga peripheral device or AD71TU Inching operation Address writing during jog 1 axis Address writing during inching Current value change 1 axis Error reset 2 axes simultaneous Data read and write Refer to Section 6 3 2 Zero return Refer to Section 6 3 7 Positioning operation 1 axis simultaneous 2 axes Refer to Section 6 3 3 Interpolation Refer to Section 6 3 3 Operation Refer to Section 6 3 4 using programs Jog operation Inching operation Refer to Section 6 3 5 Address writing during jog Refer to Section 6
96. m 162x107 x10 inch 162 x107 x10 deg 16252928 x 10 x1 x1 x10 B Zero return speed 1 to12000 mm min 1 to12000 inchimin 1 tot2000 deg min 1 to12000 PLS sec x10 x1 x1 x10 g Creep speed 1 t012000 mm min 11012000 nch min 1012000 deg min 1 t012000 BI 5 eec 6 Zero return dwell time 0 to 499 x10 msec Torque limit 10 to 250 Zero return method 1 No 3 to No 7 can be set by the sequence program 2 Setting numbers 0 and 1 of the zero return direction and setting numbers 0 1 and 2 of the zero return method are numbers set by a peripheral device When setting No 1 and No 2 from the sequence program refer to Section 3 5 7 The zero return speed and creep speed in Table 3 6 are multiplied by 6 1 PLS sec For example the value that is nearest to 200 PLS sec is multiplied by 6 1 PLS sec even if the speed limit value is set to 200 PLS sec Decimal point values are rounded off 200 6 1 32 78688 The actual speed is 6 1 x 32 195 2 PLS sec 3 SPECIFICATIONS MELSEC A Zero return data is explained below 1 Zero return direction Specifies the direction for zero return IMPORTANT Zero return is controlled according to the zero return direction and speed Deceleration is started when an actuator is operated Always ensure that the zero return direction is correct for the drive system used 2 Zero return metho
97. minute across AC external terminals and ground Insulation resistance 5 Mn or larger by 500 V DC insulation resistance tester across AC external terminals and ground Class 3 grounding If appropriate grounding is not available connect the grounding wire to the electric panel Operating ambience Free of corrosive gases Dust should he minimal Cooling method Self cooling JIS Japanese industrial Standard One octave marked indicates a change from the initial frequency to double or half frequency For example any of the changes from 10 Hz to 20 Hz from 20 Hz to 40 Hz from 40 Hz to 20 Hz and 20 Hz to 10 Hz are referred to as one octave 3 SPECIFICATIONS 3 2 Performance Specifications and Functions 3 2 1 Performance specifications Table 3 2 Performance Specifications tem FertormanceeeniSpeotfcamone Positioning 400 points per axis data Setting method Input from peripheral device or sequence program 15 minutes without battery 25 C RAM memory backup Lithium battery guarantees power failure backup for a total of 300 days Battery guaranteed for five years Absolute and or incremental method 1 to 16 252 928 PULSE Max 162 m command unit 0 1 to 10 pm PLS Max 16200 inch command unit 1 x 10 to 0 001 inch PLS Max 16200 degree command unit 1 x 10 to 0 001 degree PLS 10 to 200000 PLS sec command unit 10 PLS sec 10 to 120000 mm min command unit 10 mm min 1to 12000
98. mplete XE _ X AN is on vee enis ove xas Zero return start vas Vaste vas Kas vas Yes a EPE Y27 X axis Forward jog start Y28 X axis Reverse jog start Y29 Y axis Forward jog start Y2A Y axis Reverse jog start X axis YeB Xaxis code OFF 6 Yas Erma Y2E used di system Unavailable to the IMPORTANT Y2E Y2F X20 to X2F and Y10 to Y1F are reserved for use by the OS or for special applications which are detailed later Used by system Unavailable to the user When the above devices are used turned ON OFF using a sequence program normal functioning of the A1SD71 cannot be guaranteed 3 SPECIFICATIONS MELSEC A Detailed explanation of I O signals 1 2 3 4 This section explains ON OFF timing of I O signals and I O signal condi tions The numbers in shows the device number that corresponds to Table 3 9 Fig 3 42 gives details about ON OFF timing of I O signals Watchdog timer error signal X10 Switches ON when a WDT error occurs by using the A1SD71 self diag nostic function A1SD71 ready signal X11 Switches ON according to the ON OFF state of the PC ready signal Y2D However following time t the A1SD71 ready signal X11 must be turned ON after checking parameter and zero return data when the PC ready signal Y2D goes ON Use this signal for the interlock in the sequence program PO rea
99. n a program it is inter nally processed as 2000 x 10 Therefore the actual speed becomes 20 000 mm min 6 PROGRAMMING 6 3 5 Manual pulse generator operation program Manual pulse generator operation executes positioning according to the fol lowing principle 1 Pulse is output to an A18D71 by operating manual pulse generator 2 Input pulse is converted to output pulse inside an A1SD71 A1SD71 takes several tens of mm seconds for the internal processing such as output pulse conversion Conversion formula Number of output pulse of A1SD71 Axe formula 1 P Travel distance per pulse set at parameter Q Travel distance per pulse of manual pulse generator set at parameter R Number of input pulses of manual pulse generator 3 Number of output pulses calculated by formula 1 above is output to a drive unit from an A1SD71 The method of outputting pulse of A1SD71 is as follows a A1SD71 s output pulse per pulse input from a manual pulse generator to an A1SD71 is output to a drive module from the AiSD71 by each input pulse from a manual pulse generator Pulse input from manual pulse generator to A1SD71 Pulse output from A1SD71 to drive unit ia Output pulse per pulse of manual pulse generator A1SD71 pulse output speed can be changed b The time obtained by the following formula is until pulse output per manual pulse generator s pulse is completed Pulse output speed is determined by the manual
100. n the package tem Qum A1SD71 S7 positioning module Po 40 pin connector for external wiring EE ae In this manual A1SD71 I O numbers assigned from the PC CPU assume that the A1SD71 is loaded in slots 0 and 1 of the main base 2 SYSTEM CONFIGURATION SANDEE MELSEC A 2 SYSTEM CONFIGURATION 2 1 Overall Contiauration L A1SCPU p 4 D Battery A6BAT Main base A1S3 B Sw I Extension cable H A1SD71 S7 I i Positioningmodule A1SC Jf B I This manual covers this range rete eee eco cei eee M UUNEN Extension base A1SI 18 Drive unit Cable ACI JE R4 Servo motor Pulse motor Stepping motor Etc 4 Fig 2 1 Overall Configuration 2 1 2 SYSTEM CONFIGURATION i MELSEC A a mn m 30 Sene i purpoge act OMD A a SWOGP AD71P Cable Printer AC30R2 2 SYSTEM CONFIGURATION sa MELSEC A 2 2 Applicable Systems 1 The A1SD71 is only applicable to an ATSCPU module 2 The number of A1SD71 used with an A1SCPU module must be within the range of the number of I O points of the ATSCPU 3 The A1SD71 can be installed in any two slot area of a base unit but the following must always be considered a If possible avoid installing the A1SD71 in an extension base unit A1S52B A1S55B A1S58B not equipped with a power supply module since the power supply capacity may b
101. nce per pulse is set to 1 Upper stroke limit e Defines the upper limit value of machine travel e The stroke limit is checked before each positioning operation and if outside the allowed range positioning is halted During jog operation and manual pulser inching the stroke limit is ignored Lower stroke limit e Defines the lower limit value of machine travel e The stroke limit is checked before each positioning operation and if outside the allowed range positioning is halted During jog operation and manual pulser inching the stroke limit is ignored Error compensatlon When the set value and an actual feedrate differ this is called error compensation When the unit is mm an error compensation per m per 100 inches if the unit is inches and per 100 degrees if the unit is degrees is set to 0 and the feedrate of any set value is transmitted Automatic start Then the actual feedrate A is measured and the error compensation amount and backlash compensation amount are calculated as indicated below e When the unit is mm 1 _ _Setvalue mm 7 Error compensation amount 10 m A mm ipo e When the unit is inches Error compensation amount 1 o5 inch Setyeluednch ji 107 3 14 3 SPECIFICATIONS e When a unit is degrees Error compensation amount 10 degree Fade z ji 10 e Set the numerical value calculated in the following expression as the backlash compensation amount when there is a machine error
102. ndent Both axes are stopped positioning of B The other axis has s ita ae not executed PRES positioning of B The self axis is stopped Fig 6 11 Stop During Interpolation 2 Other stop signals In addition to the four stop signals in Table 6 9 the following in Table 6 10 also stops processing while the A1SD71 is BUSY For all the following positioning is decelerated to a stop and the peripheral device displays an error message Table 6 10 Stop Signals Independent Valid operation Signal ew IE d lcd IE d Inter polation Operation 6 PROGRAMMING 3 Restarting after a stop a Proceed to the next address The table below shows when data number automatic switching is used and not used Absolute method Incremental method t Two axes independent Two axes i operation operation two axes interpolation two axes interpolation operation operation Data number automatic i F switching is used Available Unavailabie Data number automatic i switching is not used Unavailable Unavailable Apply the following processes for the unavailable mode Restart after zero return Restart after resetting the positioning data When setting the data number to the 1st point X axis address 0 Y axis address 300 in the A1SD71 positioning start data area data number automatic switching is not used e When setting several data numbers to the A1SD71 positioning start data area X axis addr
103. ning for the both axes start of the X and Y axes Fig 3 36 Start Data Example 6 TI 3 SPECIFICATIONS FRS 3 5 2 Errorreset Address 201 The error codes for both axes can be reset by writing a to the least significant bit of this address This also resets the error detection signal X1B The OS then acknowledges that error signals have been reset by writing a 0 to this bit ______F _y_ e b1 to b15 may be 1 or 0 pene d OS 1 Error reset request set by sequence program O Error reset processing complete set by OS Fig 3 37 Error Reset Area Details 3 5 3 Inching output speed area X axis address 202 Y axis address 502 Specifies the output speed during inching operation The speed is specified in this area for positioning using the inching operation 1 Theapplicable output speed range is 10 to 20000 PLS unit 10 PLS sec 2 Setsatenth of the operation speed to be executed Ex When the inching operation is to be executed at 2000 PLS sec set to 200 3 Output speed data cannot be written using the peripheral device 4 Output speed data is written via the user s PC program at any time However the data becomes available when the BUSY signal switches from OFF to ON e Output speed setting example V 1800 PLS sec 1000 PLC sec PC ready Y2D A1SD71 ready X10 BUSY signal X axis X 14 Y axis X 15 Inching function enable X axis address 47 Y axis address 347 Inc
104. ningistob gt il ale ail I le 6 42 CHECK LISTS rale ae SUR RC EATUR RA L SU e 7 1 7 3 Til General Check List ius ou Cp era bebe el ES Lea d heed seco waka 7 1 7 8 Tests and Adjustments Procedure een 7 2 7 2 1 Segu nce CHECK lt A adem RU ECCO Ext mae DA FG er pube iuris 7 2 7 2 2 Positioning operation check 0 0 00 esee 7 8 TROUBLESHOOTING ieee s aka ERREUR REIR RO E UEESRENRETECAUULESES 8 1 8 16 8 1 Errors Detected by A1SD71 i isis gud arri TAE 8 1 8 1 1 Data range errors me siii e RITTER REALI PER 8 2 8 1 2 A1SD70 HOLD errors 422 2 dia via alia 8 5 8 1 3 Buffer memory write errors rn 8 5 8 1 4 A1SD71 start and operation errors 2 0 ne 8 6 8 1 5 A1SD71 positioning start errors during BUSY eee eee 8 7 8 2 Troubleshooting 5er ae uses Ries vas 8 8 8 2 1 General troubleshooting nee 8 8 822 DIVE Operative i terr RA E ERRREEXECNLACIES hr EE NERA NOR eR Ra 8 9 8 2 3 Incorrect positioning ustedes RAcRe e a Ee b E e t p RR seus EE 8 11 8 2 4 Positioning speed wrong ehh 8 12 8 2 5 Corrupted positioning data 0 ccc cee eee eens 8 13 8 2 6 Unrequested stop merenie hee esr eee e wld bees 8 14 8 2 7 Zero returncdauli 21e s ER ec s R ees SAE eR oe EE aw a 8 15 MAINTENANCE Lilla ra nri cu E RC a ORC a 9 1 9 4 91 Uni Storage sil a Ice ENDE a ace XR DAR RANA ose ai 9 1 92 Battery Changes ch aie ia ues efe ess eet oe el we abo reed 9
105. nterpolation start reset X axis zero return start reset Y axis start X11 X15 X19 X1F PLS M4 Y axis start Zero Y axis Y axis start M4 Y axis start Y axis zero return start Y axis start reset Y axis zero return start reset Zero Y axis M4 Note Fortime schedule refer to Fig 3 42 6 PROGRAMMING La 6 3 4 Jog operation program 1 Flow chart 2 Conditions Switch off PC ready signal Y2D Write parameters to buff er memory Switch on PC ready signal Y2D Write jog speed to buffer memory Turn on jog start signal Y27 Y28 Y29 Y2A Turn off jog start signal Position OK Table 6 3 Jog Operation Start Conditions Soa et CE extemal Orive unit READY ON v seer stnasstop forr __ A EZIO ea Relevant axis buey x14 Xi OFF Relevant axis positioning OFF commenced X18 X19 Relevant axis M code ON PO ready 20 m Starting If jog speed specified is bias higher than the jog speed Jog speed limit value operation is performed at the jog Oan speed limit value Neither axis should be BUSY after a BREAK signal has been received from the peripheral device and both axes have stopped Neither axis should be BUSY after a STOP signal has been received from the AD71TU and both axes have stopped In peripheral device or AD71TU test mode X11 and Y2D should not be checked Interface signal 3 Timing Reverse For
106. nual pulse generator APP 17 APPENDICES ES resine MELSEC A 3 8 Connection with Toei Electric s VELCONI C The connecting method to Toei Electric s VELCONI C resolver type position ing module LPR ZA is shown below Set the A1SD71 to A type output 5V ov X axis pin numbers A1SD71 A type Y axis pln numbers VLPR 73 CN12 5 al 5V _ onize ZP Zero point ati a Dm D Forward 15A 18A poe command Co nsBgem enna pulse CN11 3 RP 16A 19A HH Command C esae 16B 19B onm 4 pulse Mn dee RESET B 12A 14A Y Xe pulse haeam ann 6 Power PULSE F PULSE R Twisted pair wire CN12 10 luna siii CN12 20 complete CN12 30 FULL CN12 4 s Counter full QALSA H phase A Manual BA 4A Phase B_ pulse 1B 2B generator Note 1 Use shielded twisted GND pair cable for wiring to the A1SD71 1 8B 48 APP 18 APPENDICES od MELSEC A 39 Connection with Nikki Denso s DIGITAL S PACK The connecting method to Nikki Denso s DIGITAL S PACK NDS 300 is shown below Set the A1SD71 to A type output j X axis pin numbers A1SD71 A type Y axis pin numbers 5A 7A Power 3avpo ON BS doi rino stop 24VDC 6B 8B ON a near point detection 5B 7B l Zero point detector 17A 20A at 24 V Power 478 20B at 12 V Connector CN1A pin number NDS 300A PULSEF 15A 18A _
107. ommenced signals X18 X19 When the A1SD71 starts positioning processing by positioning zero return and the JOG operation are contained and the start signal turns ON these signals go ON Then these signals go OFF when the start signal turns OFF Positioning start signal i SENE EL Positioning commenced signal X18 Not turned ON in the test mode by a peripheral device or AD71TU Battery error X1A Switches on when battery voltage drops Error detection X1B Switched on by any of the errors in Chapter 8 Switched off when the error is reset For resetting refer to Section 6 3 2 7 Zero return complete X1C X1D Switches on to indicate the completion of zero return Switched off at the start of the next process M code ON signals X1E X1F These are turned ON when starting in the WITH mode When positioning is completed they are turned ON in the AFTER mode When an M code OFF signal goes ON the M code ON signal goes OFF If the M code is not designated when M code is set to 0 the M code ON signal remains OFF This signal remains OFF in the test mode when using a peripheral device or AD71TU M code consists of the code numbers 1 to 255 allocated by a user to execute auxiliary functions for example clamp drill rotation stop and tool exchange command after positioning control using an A1SD71 The PC CPU can execute specified auxiliary tasks by creating programs to go ON and OFF a relay ladder by using this M
108. on to and from the drive unit and pulse train output from the A1SD71 For the I O interface refer to Section 3 7 A1SD71 A1SCPU Drive unit ready ven PC ready lt Stop sign A1SD71 ready signal i Nn Zero signal Y27 Y29 FPS Y28 Y2A Nu foe I X16 X17 External Y29 Y24 x10 X1D Y20 Y21 Y22 E X12 X13 2 Pe L Manual pulse generator A phase Interface X18 X19 Start I DI enerator Y25 Y26 VETERI Y2B Y2C M code OFF L Parameter write read e Zero return data witeread p x10 st lt n z da lle i ree we eem TO Peripheral Zoro etum operation eria m Kpm vice Positioning operation AD71TU Data write read Operation monitor Fig 3 2 A1SD71 Function Block Diagram 3 SPECIFICATIONS RIZZI E SF a fh 3 3 3 A1SD71 operation description Fig 3 2 PC Initiated Positioning Procedure START No E a Operating data write Yes A1SD71 buffer memory all clear f Clear the A1SD71 buffer memory using the peripheral device Although data may be set by the sequence PRA section 3 4 2 Program it is recommended to set the data ci especially parameters and zero point return data using the peripheral device or AD71TU Set positioning data 0 00 See section 3 4 3 Ze eur result Yes Zero return start signal Y23 Y24 ON ero CR X1C X1D ON Write positioning start data No J Write start data numbers into X axis addresses 0 and Y
109. ositioning refer to Section 6 3 9 3 To write parameters and zero return data turn off PC ready signal Y2D Data transfer X axis 1st point start data No start data No 2nd point start axis Srdipoint start axis X axis pointer Y axis 1st point start data No Ene pont start axis 3rd point po l start axis Y axis pointer X axis Positioning information data X axis Positioning speed data start data No start data No start data No A1SD71 CPU data register buffer Data already written memory X axis Dwell time data X axis Positioning address data Y axis positioning data omitted Refer to Appendix 5 6 PROGRAMMING X axis parameters Parameter information Travel per pulse Speed limit value Jog speed limit value Acceleration and deceleration times Backlash compensation Upper stroke limit Lower stroke limit Error compensation Travel per manual pulse during inching Starting bias speed Positioning complete signal output duration Y axis parameters Parameter information Travel per pulse Speed limit value Jog speed limit value Acceleration and deceleration times Backlash compensation Upper stroke limit Lower stroke limit Error compensation Travel per manual pulse during inching Starting bias speed Positioning complete signal output duration X axis zero return data Zero address Zero return speed Zero retu
110. out 1 Mechanical stop 2 zero signal from drive unit Return direction 0 Forward address increase direction 1 Reverse address decrease direction Return method 0 Zero phase signal from PG 1 Mechanical stop 1 and 2 APP 7 APPENDICES to 2 2 Positioning Data Data No Dwel 0 10255 Direc ion 0 Abs 00 END 0 to255 Direc on For Inc 0 Abs 1 Inc Abs nc 00 END APP 8 0 Without M code 1 to 19 With comment 0 Address increase direction 1 Address decrease direction 01 Continue 1 inc 11 Change 0 Without M code 1 to 19 With comment 0 Address increase direction 1 Address decrease direction 01 Continue 11 Chanqe APPENDICES 2 3 M Code Comments Maximum 16 characters per comment APP 9 DIEDE APPENDIX 3 CONNECTION WITH SERVO MOTORS There are several drive unit models and motors that can be used with the A1SD71 Examples of connections as of July 1986 are given These examples shall be used only for reference because the driver s specifications are subject to change Other drive units than described here can also be used CAUTION 1 The A1SD71 output is a sink output pulse chain The drive unit should be sink input 2 For use with source input drive units use the interface shown below A1S071 Drive unit Signal Reversing Example R1 0 5W 1kQ R2 0 5W 47kQ R3 by each drive units 3
111. pheral A peripheral device or AD71TU is device or teaching unit connected to an A1SD71 and posi tioning is executed using the periph eral device or AD71TU This is used during program checks or test operations By a sequence program Positioning is executed using a pro gram built in the PC CPU For use of the peripheral device refer to the SWOGP AD71P Operating Manual For use of the AD71TU refer to the AD71TU Operating Manual Positioning control functions are shown below Sequence Program or A6GPP Two axis independent Two axis interpolation operation operation An error code is provided by the A1SD71 if a data setting Error detection or positioning control error occurs For details of the error codes refer to Chapter 8 A1SD71 set data parameters zero return data Ser data read and write positioning data can be read and written Present value data and speed data can be read from the Present value and speed A1SD71 read Present value can be read and monitored during positioning After manual positioning present value can be written as Teaching position data positioning data write Data is written to both axes in the case of two axes interpolation operations The positioning functions of the A1SD71 are shown in Table 3 3 3 SPECIFICATIONS MELSEC A Table 3 3 A1SD71 Positioning Functions Method with a sequence program or method teat operation using a peripheral devi
112. ponents 5 LOADING AND INSTALLATION MELSEC A 5 LOADING AND INSTALLATION This section explains the methods for loading and installation and the precau tions to take to increase system reliability and to use the functions most efficiently 5 1 Unit Wiring Precautions 5 22 Wiring When the A1SD71 is connected to the base main base unit and extension base heed the following 1 Do not connect it to the extension base without a power supply module A1S5t1 extension base This is because the 5 VDC current consumption is very high 2 If the board temperature exceeds 55 C consider forcible ventilation of the PC CPU board The following describes a precautions when doing wiring between the A1SD71 and external devices and b how to use the external wiring connec tor 5 2 1 Wiring precautions Precautions when doing wiring between the A1SD71 and external devices including a drive unit are described below A connection examples is given in Appendix 3 1 Length of connection cable between the A18D71 and drive unit The length of the connection cable between the A1SD71 and the drive unit is generally 1 to 3 meters 3 to 10 feet However the distance depends on the drive unit specifications Make sure to confirm the correct specifications 2 VO signal wiring e Do not put the connection cable next to the power or main circuit cable e If the connection cable has to be brought close to them either
113. return request signal X16 goes ON Y ZERO Lights when the Y axis zero return request signal X17 goes ON HOLD Lights when there is an A1SD71 hardware fault BAT ERR Lights when the battery error signal X1A or WDT error signal WDT X10 goes ON Sets memory protect for the setting data and positioning data areas Cancels memory protect for the setting data and positioning data areas 2 Keyswitches 00 Prohibits a pulse chain output from the A1SD71 Refer to Section 7 about how of use EX RS 422 connector reed for connections with a peripheral device such as an A6GPP A6PHP and 4 40 pin connector Used for connections with a drive unit for connections with Used for connections with a drive unit drive unit Ne Battery A6BAT For backup of positioning data ERR Y axis goes OFF 4 HANDLING MELSEC A 43 Settings Internal setting of the A1SD71 is as shown below 4 3 1 Battery connection The battery backs up the IC RAM during power failures The leads are disconnected before shipment to prevent battery drainage Always connect the battery leads before using the A1SD71 Refer to Section 9 for details about batteries Red line side Blue line side A6BAT IMPORTANT The components on the printed circuit board may be damaged by static electricity When handling the printed circuit board 1 Ground all tools the work bench etc 2 Do not touch conductive areas or electrical com
114. ritten to the sequence program shouid be kept to a minimum for optimum program scan time The majority of the A1SD71 data must therefore be written to the buffer memory by the peripheral device or the AD71TU 2 The parameters and zero return data is checked at power on and when the PC ready signal Y2D changes from OFF to ON 3 Positioning data is checked immediately before it is processed Any error will cause the error signal X1B to switch on and in most cases positioning to stop Pattern 00 Pattern 11 Pattern 00 Positioning operation l l I I I I I t tu mi a Data 1 check Data 2 check Data 3 check Fig 6 3 Positioning Data Check An error is flagged if the total distance requested exceeds the upper or lower stroke limit when incremental position addressing is used 6 PROGRAMMING l dhd MELSEC A 6 3 2 Data communication with PC program 1 Read and write instructions a Read from A1SD71 FROM instruction Also FROMP DFRO and DFROP Execution condition i I Fw w s 3 Upper 2 digits of the 3 digit head I O number to which the ni A1SD71 has been assigned e g 4 when the head I O Format number is X YO40 Buffer head address of stored data Rene Head number of devices to which data wilt be written T C D W R ns Number of words to be read Fig 6 4 Read Instruction FROM Example To read one word from buffer memory address 600 X axis out put speed
115. rn creep speed Zero return dwell time Torque limit Zero return information Y axis zero return data Zero address Zero return speed Zero return creep speed Zero return dwell time Torque limit Zero return information M n e pe X 6 18 MELSEC A ove some DS Ve su ta som O pl O10 1 Vote pome DIS Positioning information No 1 to 10 D20 to 29 Positioning speed X No 1 to 10 D30 to 39 axis ES well time No 1 to 10 D40 to 49 Positioning address No 1 to 10 D50 to 69 Positioning information No 1 to 10 D70 to 79 Positioning speed Y No 1 to 10 D80 to 89 axis ali well time No 1 to 10 D90 to 99 Positioning address D100 f No 1 to 10 to119 xis paramos O P ue em 1 Set the data register number to any desired value 2 The buffer memory address is fixed Position ing data 6 PROGRAMMING MELSEC A Example 1 X axis start Resets A1SD71 error 1 scan after CPU run vm A1SD71 battery error PC RUN Write M9039 command vat PC ready Write command X11 Interlock SET M2 Data write TOP Hi ks872 D20 to X axis positioning informa Troe c Jen seo vis epee roe n feri Seo vio piste Fre Tw vara Diao Kis x ase parameters roe Hi H7912 D160 K7 X axis zero return data X axis Inter Ast M2 Write reset start X11 X14 X18 X1B XIE lock I pus ma M3 to Hi
116. ro return request signals X16 and X17 I i i prn t 1 5 sec A1SD71 ready signal X1 n If the PC ready signal goes OFF when A1SD71 is BUSY positioning is stopped Then the M code ON signal goes OFF and the M code is cleared However even if the PC ready signal goes OFF in BUSY when using a peripheral device or AD71TU in the test mode positioning does not stop MELSEC A 3 SPECIFICATIONS Jog operation Speed graph PC ready Y2D A1SD71 ready X11 Zoro ratura complete X1C Stop Y25 Forward jog Y27 Reverse jog Y28 Positioning commenced X18 BUSY X14 Positioning operation Pattern 01 Pattern 11 Pattern 11 Pattern 11 Dwell Pattern 00 Speed graph ws PO ready Y2D HEN A1SD71 feed X10 Zero return complete cio Positioning complete X12 ki Note Stop Y25 i mE Set by parameter 1 LU 4 t t 1 t 1 1 L 4 L Positioning commenced X15 BUSY X4 Start positioning Y20 I t I t t I I I M code o 0 X00 pom 0 M code ON X1E x M code OFF Y2B i Note If positioning operation is shorter than the positioning complete signal output time in the parameter the positioning complete signal may be output continuously When a signal with a symbol is ON before the positioning start signal goes ON the signal with the symbol goes OFF when the positioning start signal goes ON 3 SPECIFICATIONS MELSEC A ror
117. ro return start Jog operation Inching operation 2 For interpolation starts error codes are always given for both axes even if one axis has an error 8 TROUBLESHOOTING MELSEC A 8 1 5 A1SD71 positioning start errors during BUSY The following errors are detected when the drive unit ready signal is turned OFF while A1SD71 is BUSY or when positioning is stopped during zero return Table 8 7 BUSY Error Codes Error The READY signal is OFF during Check the drive unit and turn ON the ready BUSY signal Zero return is stopped Zero return is not allowed more than twice consecutively If necessary return to the position before near point dog using a jog operation or positioning by specifying the data number and restart zero return 8 TROUBLESHOOTING ef 8 2 Troubleshooting 8 2 1 General troubleshooting Error Use the peripheral device to read error code YES Dess cause and remedy according to error code NO NO Does not move Drive unit operates See Section 8 2 2 Drive inoperative YES Incorrect NO positioning Positioning OK See Section 8 2 3 Incorrect positioning Positioning speed wron Positioning speed OK Ne See Section 8 2 4 Positioning speed wrong Corrupted NO positioning data Up Positioning data OK See Section 8 2 5 Corrupted positioning data Unrequested T YES Stop Positioning stops See Section 8 2 6 Unrequested stop
118. s without using unneces sary programs 6 PROGRAMMING y MELSEC A 1 Flow chart 2 Conditions Signal State Remarks Foster Table 6 1 Start Conditions P Sonat State Remarks n m Remarks Y2D A1SD71 ready X11 Write parameters and zero Relevant axis positioning OFF ing data to buffer memory deni commenced X18 X19 Relevant axis M code ON Write positioning data to buffer memory Turn on PC ready signal Y2D Write start No to buffer memory Write pointer to buffer memory Positioning data Start data number Zero address Monitor present value O lt present value lt 16 252 928 After BREAK signal from the peripheral device or STOP signal from the AD71TU neither axis should be busy in peripheral device or AD71TU test mode X11 X18 X19 X1E X1F and Y2D should not be checked If positioning speed is higher than the speed limit value positioning is executed at the speed limit value Turn on positioning start 3 Timing signal Y20 Y21 Y22 Depends on Pattern 01 pattern after start Start complete X18 X19 ON Dwell time Speed YES i Turn off positioning start PC ready Y2D pria cai signal Y20 Y21 Y22 A1SD71 ready X11 Lp al Stop Y25 complete X axis start Y20 X axis BUSY X14 P E d EE X axis positioning commenced X
119. sa Expression 1 indicates the travel per pulse i e the number of output pulses x A Using expression 2 calculate the command pulse frequency from the work speed and position detection increment Expression 3 indicates the relation between the command pulse frequency and deviation counter pulse value Any of the four positioning units mm inch degree and PULSE may be selected individually for the X and Y axes According to the target positioning address a pulse string is output and positioning is executed by the A1SD71 by setting data such as the travel distance and acceleration deceleration time per pulse the positioning speed and the positioning address in a positioning command unit 3 SPECIFICATIONS RI Re Al CECA 3 3 2 Signal communications between an A1SD71 and each unit Fig 3 2 shows a function block diagram for signal communications between each unit connected to an A1SD71 an A1SCPU peripheral device and the drive unit e Communication between PC CPU and A1SD71 Control signals and data communications via base unit they consist of Control signals I O signals given in Section 3 6 Data Written to and read from the buffer memory by the PC CPU Detailed in Section 3 5 e Communication between peripheral device or AD71TU and A1SD71 Data write A1SD71 test A1SD71 monitor etc via the A1SD71 s RS 422 connector e Communications between drive unit and A1SD71 Control signal communicati
120. separate the ducts or use a conduit e If the cables must be bundled together use a batch sealed cable and ground them on the PC CPU side e f the cables are wired with conduit make sure to ground the conduit e Keep A1SD71 wiring and other electric wires at least 10 cm apart e If the connection cable is too long and is too close to a main circuit cable noise may cause a malfunction 5 LOADING AND INSTALLATION Control box AZ LZZZZZZZZ Examples bad example at top good example at bottom NJ AANSASNAN Wiring conduct N N SN AAA AA poema LLLLELELEL ELLA Inverter ZU E EXER A UP LA PAP AP AV SSN S Wiring conduct Bring the AC servo am plifiers closer to the A1SD71 so that their ca bles are minimized in length and separated from the other wiring run outside the wiring conduct When there is a lot of noise between the A1SD71 and servo amplifier provide wiring from the pulse string output terminal from the A1SD71 using shielded twisted pair cable that is different from other shielded cables A1SD71 Servo amplifier X axis Y axis Pulse string 15A 18A 9 output PULSE F 15B 18B Pulse string 16A 19A output PULSE R 16B 19B 9 5 LOADING AND INSTALLATION we MELSEC A 3 24 VDC wiring notes When a servo drive unit has a built in power supply of 24 VDC a wraparound circuit is made by the state of a power supply A
121. sitiong start data X axis inching output speed Y axis position start data Y axis inching output speed Positiong information Positiong speed Owell time X axis positiong data Positiong address Positiong information Y axis positiong data cr E MELSEC A Write enabled when both X axis and Y axis BUSY signals sre off ces Area for output speed during inching operation inate at for X axis y puused Write enabled when both X axis and Y axis BUSY signals are off Area for positiong start data numbers etc For X axis Depends on data Area for positiong start data numbers etc For Y axis Depends on data Area for output speed during inching operation Md pris dn at For Y axis yams a OS RAM Writng here is not o ona til X axis positlong data area descibed In Seciton 3 4 3 Maximum 400 positions Data format as follows Positiong information Write enabled at 2 bytes 16 bits any time Positong Pi t TRY Block tranfer of 2 bytes 16 bits positiong data Dwell time 2 bytes 16 bits from peripheral Position address drvice to A1SD71 4 bytes 43 bits rita dignal is off Y axis positiong data area descirbed in Section 3 4 3 Write enabled at Maximum 400 positlons any time Data format as for X axis Paramter area explained in Sesction 3 4 1 X axis Parameter area explained in Section 3 4 1 Y axis Write only Write only Zero return d
122. t data number positioning address 2 Positioning is continued after changing speed at the specified address Fig 3 16 shows how to specify bits in the buffer memory to specify the positioning pattern This pattern data is specified by the first two bits of the positioning information Bit 1 Bit 0 BENE Positioning pattern 00 Positioning end Positioning continued in any direction Speed changed and positioning then continued in the same direction No setting Fig 3 16 Positioning Pattern FICATIONS MELSEC A 3 SPECI e Positioning end Drives to the specified address positioning is complete after the dwell time has elapsed Start Y20 Positioning commenced X18 BUSY X14 Speed graph EN NEN E NER For pattern 00 Li Fig 3 17 Pattern 00 e Positioning continued The positions are reached consecutively in the order specified by their data numbers by a single start signal The BUSY signal remains on during positioning Start Y20 Positioning commenced X18 BUSY X14 Speed graph peed ti ta S dwell tim Pattern 01 Pattern 00 Fig 3 18 Pattern 01 er address Dwell Dwell ta e Pattern 00 should be set for the last position in a series of continu ous operations Pattern 01 may be set for interpolation positioning In this case the patterns for the X and Y axes should be the same The X and Y axis patterns are checked before operation and an
123. testing the A1SD71 check the following Table 7 1 General Check List Terento perspi eee Batter Check that battery leads are connected to the y printed circuit board P x Check that parameters have been set arameter setting e Check that values are correct Z t dat tti e Check that zero return data has been set ero return data setting Check that values are correct Pod eninc dat e Check that positioning data has been set ositioning cata e Check that values are correct if only one axis X or Y axis is used parameters and zero return data must be written to the unused axis Otherwise zero return will result in error and switch on the X1B error detection signal Data written must be within the range given in the User s Manual Parameters may be default values 7 CHECK LISTS 7 2 Tests and Adjustments Procedure 7 2 1 Sequence check Use the following procedure to check the system Set the key switch on the A1SD71 front panel to LOCK This only changes the present value and allows checking of the positioning functions with the feed pulse output stopped Sequence check WDT ERR or HOLD LED on YES A1SD71 fault Refer to Chapter 8 NO READY LED off YES No PC ready signal Y2D Check sequence program NO Connect the peripheral device to the A1SD71 and start up the system using SWOGP AD71P Conduct the A1SD71 test procedure using the peripheral device SERVO ERR LED lit
124. than Y axis travel so Vy 50 kp s has precedence X axis positioning speed 50 x E 25 KPLS sec This speed exceeds the speed limit value which is ignored in this case Fig 3 20 Linear Interpolation Note In case of interpolation positioning the actual positioning speed is approx 596 slower than the set speed When the set speed is too slow the error range becomes large Example When 100 PPS is set the error range becomes approx 10 large 3 SPECIFICATIONS Positioning speeds are multiplied by 6 1 PLS sec For example when a positioning speed is 200 PLS sec the maximum speed to be output from A1SD71 is as follows 200 6 1 x n n 32 7868 Therefore the maximum speed is 6 1 x 32 195 2 PLS sec MELSEC A 3 Positioning address Set the positioning address in accordance with the positioning method e When using the incremental method set the travel distance When using the absolute method set the address value 4 Dwell time The dwell time is the period of time indicated in Fig 3 21 below Start Y20 Positioning commenced X18 BUSY X14 For pattern 00 VARCARE AES Di NE SR i la Fig 3 21 Pattern 00 Duririg interpolation positioning the longer dwell time value is valid irrespective of the distance travelled e g if X axis 1 sec and Y axis 1 5 sec 1 5 sec is valid 3 SPECIFICATIONS e een ec MIC E ewe Rai oi i fb 3 5 Buffer Memory The A1SD71 h
125. the X axis current value change command is switched ON Sets 500 to the data register X axis current value write Sets start interlock MO Turns M2 OFF Reads the X axis current value from the OS data area Resets MO using the X axis current value change complete Executes the X axis start program by using the X axis start command when the current value change flag MO is reset The current value is modified to a zero address by zero return after changing the current value However parameter and zero return data must be written before zero 6 PROGRAMMING 6 3 9 Positioning stop The positioning process may be stopped while the A1SD71 is busy as follows Table 6 9 Stop Signals Independent Mi lid operation nter Sona polation is ETA Operation is ETA BREAK key input from peripheral device or STOP key input from AD71TU O indicates that the signal is valid In peripheral device or AD71TU test mode positioning is not stopped if Y1D is ON or OFF 1 Note on use of stop signal a Deceleration is valid after stop signal is received On receiving any of the stop commands given in Table 6 9 the system is decelerated to a stop All emergency stops and limits must be hard wired Positioning speed Deceleration BUSY X14 X15 Stop signal Y25 Y26 Start signal Y20 Y21 Y22 Fig 6 9 Stop Signal 6 PROGRAMMING b Stop signal during deceleration The operation dec
126. tion starts Pattern 01 Pattern 00 Operation BUSY M code ON M code OFF Fig 3 8 WITH Mode Signal Timing b AFTER mode The M code ON signal is given after the positioning operation has finished In this mode if the operation is stopped before it is com plete the M code ON signal is not given 3 17 3 SPECIFICATIONS MELSEC A Pattern 01 Operation M code BUSY M code ON M code OFF Fig 3 9 AFTER Mode Signal Timing e The M code ON signal is not given if the M code data in the positioning data is set at O e The M code is ignored if the positioning pattern is 11 and the M code ON signal is not given For details of the positioning pattern refer to Section 3 4 3 The next positioning operation is not started until the M code ON signal is switched off An error condition arises if the M code ON signal is on at the rise of the start signal and positioning is not started The M code ON signal is turned off when 1 M code OFF signal changes from OFF to ON 2 PC ready signal Y2D is OFF or 3 Zero return positioning jog operation or inching mode is selected in the peripheral device or the AD71TU test mode 3 18 3 SPECIFICATIONS When positioning processing beginning with pattern 11 is executed the M code ON signal goes ON when positioning processing of pattern 00 or pattern 01 begins in the WITH mode or when completed in the AFTER mode The M
127. u doro eet rt ean ER ACE T CU de do eta 4 3 4 3 1 Battery cornecliDn qa seee Ters a o PETEA PERA TE EER A E A ER 4 3 LOADING AND INSTALLATION cere ee eh n nnn 5 1 5 4 5 1 Unit Wiring Precautions eh hr m hae 5 1 5 2 Wiring ioni ee ka ep ee 5 1 5 2 1 Wiring precautions cile RR Len n pirla ee dA hows dea 5 1 5 2 2 External wiring connector specifications eese 5 3 5 2 3 Connecting external wiring eee ne 5 4 5 2 4 Connecting electric wiring 5 4 PROGRAMMING iii ee 6 1 6 47 6 4 Program Creation orsoline ee ovp me Ese web amend aa ioni 6 1 6 1 1 Program composition ase pra irreali 2 VR 6 1 6 1 2 Precautions when creating programs ee eee 6 3 6 2 Operations Using a Peripheral Device or ADZ1TU TIER 6 4 6 3 ACPU Programming osi err hi ER Edu ERA re P exer AGO roro beiren aes 6 5 6 3 1 Data read and write precautions eee 6 5 6 3 2 Data communication with PC program esee 6 6 6 3 3 Positioning start program een 6 14 6 3 4 Jog operation program eee ee tte ene eens 6 22 6 3 5 Manual pulse generator operation program 00 6 25 6 3 6 Positioning address teaching program ee esses 6 30 6 3 7 Zero TaluI Tis conc faethe Gee NCPRNWCPEETILIJS Fe fa ene 6 38 6 3 8 Present value change en 6 40 6 3 8 Positio
128. ulse encoder is normally gna E used LOW ai zero c 2 Used when the zero return method uses stopper o 9B 10B PGO stop and zero return complete is externally input a 3 SPECIFICATIONS MELSEC A Table 3 11 A1SD71 I O Interfaces Continued Doe REED em O LOW while positioning Start ON LOW during feed pulse output and dwell Used as a brake release signal for servos with START mechanical brakes Feed pulse is output after this signal goes ON Given before and after zero return Resets deviations in the servo error counter Error counter clear 20 msec 18 ame 20 msec 2nd tme Belore feed pulse output After feed pulse output 5 to 24 VDC external supply gt ti 17B and 208 for 5 to 12 VDC 5 to power 17A and 20A for 24 VDC Forward and reverse feed pulses The operation direction follows the direction sign Forward Feed pulse feed pulse PULSE F PULSE direction travel direction travel Reverse Direction feed pulse sign PULSE R SIGN Select the A or B type by parameter setting For details refer to Section 3 4 1 3 8 Battery Specifications Table 3 12 gives the specifications of a battery used for an A1SD71 Table 3 12 Battery Specifications 4 HANDLING 4 HANDLING MELSEC A This section explains the handling installation preparations and nomencla ture of the A1SD71 4 1 Handling instructions 1 2 3 4 5
129. urn dwell time is the time until zero return is completed after the near point dog goes ON during zero return by stopper stop 1 e Set the time until stopping by the stopper after the zero return speed decelerates to the creep speed e Even if any value in the setting range is input at the time other than stopper stop 1 there is no problem 3 SPECIFICATIONS hi MELSEC A 7 Torque limit This is the set value to limit the torque of a servo motor after reaching the creep speed when doing a zero return A D A converter is necessary for torque limit e Be sure to set it when doing a zero return operation by stopper stop 2 e Even if any value in the setting range is input when torque is not limited there is no problem Torque limit value Pulse Drive unit Read train A1SD71 E D A gt converter unit A1S62DA etc Torque limit Analog amount Output by program Fig 3 15 Torque Limit Block Diagram 3 SPECIFICATIONS MELGEC A 3 4 3 Positioning data Positioning data is used in the A1SD71 to execute positioning control i e control other than zero return inching and jog operation Refer to Table 3 7 Table 3 7 shows one block of positioning data 400 blocks can be set for the X and Y axes respectively The block of data used for positioning is dictated by the number set in the positioning start area of the buffer memory Positioning data is checked when positioning is started Table
130. ward jog Y27 Reverse jog Y28 Positioning commenced X18 BUSY X14 1 During jog operation the upper and lower stroke limits are ignored 2 When backlash compensation has been specified the mini mum movement allowed will be the backlash specified 6 PROGRAMMING SS ZII era AA SEC A 4 Program The drive is enabled for as long as the jog switch is pressed Example X axis jog at speed 2 000 20 000 mm min Notes Start conditions are shown in Table 6 3 The jog speed must be written to the buffer memory Data transfer A1SD71 buffer memory X axis jog operation speed 2 000 5 Address pa Program M9038 Resets A1SD71 error 1 scan after CPU RUN Battery error X1A Battery error PC RUN M9039 Interlock PC ready X axis forward jog X11 X14 X18 XIE Y25 EE X axis reverse jog 1 K2000 Writes jog speed 2000 to buff er memory X axis M51 forward jog Y28 X axis forward jog M51 Reverse jog Y27 L__ vae X axis reverse jog X axis X axis forward jog reverse jog 6 PROGRAMMING MELSEC A 1 The A1SD71 will wait until the output speed is zero before giving a second jog output NN Speed 7 i i LI J Jog start signal i BUSY E EE Fig 6 8 Jog Repetition 2 Interpolation is not enabled during jog operation 3 The A1SD71 defaults to forward jog if both forward and reverse jog commands are given simultaneously 1 When the speed is changed to 2000 i
131. wenem X 4 158 18B PULSER 16A 194 o Queen 16B 19B Twisted pair wire 11B 13B max 1 m in Nikki Denso catalog Phase A Manual pulse Phase B generator Note 1 Use shielded twisted pair ca ble for wiring to the A1SD71 APP 19 APPENDICES MELSEC A 3 10 Connection with Yasukawa Electric s PACK 10A and 168 The connecting method to PACK 10A and 10B is shown below Set the A1SD71 to B type output Set the PULSE and SIGN to 5V inside POSITION PACK X axis pin numbers A1SD71 B type Y axis pin numbers 5A 7A E Y Trece 6B 8B ON at positioning stop ON at near point detection POSITION PACK Connector 1CN 10A 10B pin numbers i 5B 7B 9A 10A Q MI 9B 108 to the servo amplifier is stoppedat this point The power supply bem Dem as Tess DC EC i em 12 14A E Mac 148 11A 13A Twisted pair wire max 3 min Yasukawa Electric cata log 11B 13B Terminal block 1TB 12V 12V 48V Control power source Phase A ov Manual Phase B pulse generator Note 1 Use shielded twisted pair cable for GNO wiring to the A1SD71 1B 2B 3B 4B O APP 20 APEENDICES APPENDIX 4 OUTSIDE DIMENSIONS 1 A1SD71 S7 000000000000 0000000000000 A n 1 iji aji alt aii ill n uil il uit
132. y Switch on PC ready signal Y2D Switch on zero ruturn start Y23 Y24 After zero ruturn switch off zero ruturn start Y23 Y24 X1C X1D ON 6 PROGRAMMING Zero return complete 2 Conditions Table 6 7 Zero Return Conditions FI EC emu Wen o Gens o fissi m emanate su eux or TT dalia 2d 1a x18 Ci commenced X18 X19 Relevant axis zero ruturn OFF complete X1C X10D Relevant axis M code ON Hesmwnam N CC I o Max twice Neither axis should be BUSY after BREAK peripheral device or STOP AD71TU has been received and positioning has stopped In peripheral device or AD71TU test mode Y2D should not be checked 3 Timing Zero return speed Stop Y25 Positioning commenced X18 BUSY X14 Zero return request X16 Zero return start Y23 6 PROGRAMMING 4 Program Example Zero return using a zero ruturn command Data transfer 1 Start conditions are shown in Table 6 7 2 Interpolation operations are disabled during zero ruturn A delay of approx 50 msec occurs at one axis when zero ruturn is started at the X and Y axes simultaneously 3 Zero return cannot be repeated When zero ruturn is stopped restart zero ruturn after a jog operation or positioning operation Program Resets an A1SD71 error one scan afier a CPU RUN Battery error Battery error X1A PC RUN Reset PC ready
133. y error will stop posi tioning 3 SPECIFICATIONS IZ eg IE SECCA e Positioning continues with speed change The positions are reached consecutively in the order specified by their data numbers by a single start signal During positioning the speed may be changed but the direction remains the same Refer to Fig 3 19 Start Y20 Positioning commenced X18 BUSY X14 P address pulse V speed P S t dwell in 0 01 second increments Fig 3 19 Pattern 11 Table 3 8 shows the positioning data for Fig 3 19 The following conditions apply M code ON OFF timing AFTER mode Incremental absolute method Incremental and absolute combined Table 3 8 Positioning Data esse ret er s on Tea uen jap In the method column Abs indicates absolute method and Inc incremental method 3 SPECIFICATIONS MELSEC A 1 For continuous positioning pattern 11 should not be used more than nine times consecutively Where a large number of consecu tive 11 patterns are being used they must be broken down by placing 01 pattern data every nine 11 patterns e g pattern 11 9 times pattern 01 1 time pattern 11 9 times pattern 00 1 time Always set pattern 00 in the final data block While pattern 11 is continuing the direction of movement and the positioning method should remain unchanged only after pattern 01 or 00 may these be changed If the speed is changed after decel eration has started the

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