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MOTION CONTROLLER (SV22) (VIRTUAL MODE)

1. M is Clutch ON n E a CC Major error Clutch OFF gt 2 a AE occurrence S gt S gt i E SCH GE S E HANE d gw d Fe i continuation ClutchON Major error occurrence Clutch OFF Clutch OFF amp 2 Ge S Operation With Clutch OFF Setting 6 DRIVE MODULE 6 2 2 Parameter list The synchronous encoder parameters are shown in Tables 6 4 For details regarding the synchronous encoder parameter setting procedure refer to the SW2SRX GSV22PE SWOIX CAMPE Operating Manual Table 6 4 Synchronous Encoder Parameter List for A171SCPU Settingitem Default Value Setting Range EncoderNo O Operation mode when error occurs Continuation Clutch OFF a Encoder No Designates the number of the synchronous encoder which is connected to the manual pulse generator and synchronous encoder interface Manual Pulse Generator Synchronous Encoder Interface Unit s Encoder No P1 E1 P1 Connected to the manual pulse generator s input interface This is for incremental type synchronous encoders E1 Connected to the serial synchronous encoder interface This is for absolute type synchronous encoders 6 DRIVE MODULE 6 2 3 Synchronous encoder axis device internal relay data register Synchronous encoder axis device 1 Axis SV22C SV22F M1360 M1360 O Valid Signal Refresh Fetch
2. used Motion slot ies ul PC module Slot H S I 1 oO 1 me 8 i GT 191 P A E 1 ERR og E log O9 I Wsisi Be 181 1 ra Lol E 1 1 ig las d io Ei o sa o Battery A171SHCPU A728 Ais 3 I ABBAT z d A1S UO module or E lt 4 special function module a e Emergency Extension cable e stop input KI gt A A1SC B E gt a AC100 200V m Main base unit A178B S1 A17 B PC extension base Manual pulse generator x1 Up to one extension base unit for A1S6 B P MR HDP01 A168B GOT compatible Synchronous encoder cable MR HSCBL M Synchronous encoder x1 MR HENC RS422 External input signals FLS Upper limit LS RLS Lower limit LS Teaching unit STOP Signal x4 A31TU A30TU DOG CHANGE Near zero point dog changeover between speed and position TREN Tracking x1 RS422 gt Break output Communication cable Motion net cable A270CDCBL MI A270BDCBL M IBM PC SSCNET1 d d2 d3 d4 NM 4 Termination resistance SSCNET2 SSCNET interface card board d g g 3 A30CD PCF ASOBD PCF N MR H B MR J2 B MR J B model Servo amplifier max 4 axes 1 Use A168B when the GOT bus connecting type is used 2 When using a teaching unit A31TU with a deadman switch use a dedicated cable A31TUCBLO3M to connect the CPU and A31TU connector When the dedicated cable is not used i e the teaching unit is direc
3. Iw Speed change gear fimm m ratio Output shaft 1 Output module m Speed change gear 2 If the speed change gear ratio changes acceleration and deceleration processing is executed in accordance with the smoothing time constant t set in the speed change gear parameters V A Input shaft Speed change gear ratio 10000 A 2500 A 8000 28 4ms 28 4ms Output shaft t is the time taken to reach the following condition A C E Mv p 100 Fx 100 F x 100 63 7 TRANSMISSION MODULE 7 3 2 Parameter list The speed change gear parameters are presented in Table 7 3 and each item in this table is explained in 1 through 3 below For the method for setting speed change gear parameters refer to the SW2SRX GSV22PE SWOIX CAMPE Operating Manual Table 7 3 Speed Change Gear Parameter List sl Setingltem Default Value Setting Range E Speed change gear ratio upper limit 10000 1 to 10000 Ea Speed change gear ratio lower limit Pa 1 to 10000 Speed change gear ratio setting DO to D799 device 1 word WO to W3FF Smoothing time constant Hab 0 to 65535 ms 1 Speed change gear ratio upper limit value lower limit value a This is the setting for the effective range 0 01 to 100 for the speed change gear ratio set in the speed change gear ratio setting device b If the set value of t
4. o Number of input axis gear Fetched when the teeth present value change of the connection source drive module virtual servo motor Number of output axis axis synchronous gear teeth encoder axis is executed CHGA and the gear ratio change is carried out Speed change ratio Fetched every 3 5 ms setting device calculation cycle 7 TRANSMISSION MODULE 7 1 Gear The operation of the gear and the parameters required to use a gear are explained here 7 1 1 Gear operation 1 The gear transfers a number of pulses which is the travel value number of pulses of the drive module virtual servo motor synchronous encoder multiplied by the gear ratio set in the parameters to the output shaft Number of output _ Number of input shaft pulses shaft pulses 2 BAN rano UNNS pises 2 The direction of rotation of the output shaft is set in the gear parameters Input shaft meme H Se Output shaft See Section 7 1 2 for details on the gear parameters 7 1 2 Parameters The gear parameters are presented in Table 7 1 and the items in this table are ex plained in 1 and 2 below For the method for setting gear parameters refer to the SW2SRX GSV22PE SWOIX CAMPE Operating Manual Table 7 1 Parameter List Setting Range Setting A Indi Default Value Direct ndirect Setting Setting Number of gear DO to D799 teeth at input shaft 1 1 to 65535 WO0 to W3FF
5. Fig 7 1 Output to the Output Shaft Determined by the Smoothing Clutch and Direct Clutch 7 TRANSMISSION MODULE 1 Clutch ON OFF status e Clutch ON status The status in which pulses input to the clutch are output to the output shaft e Clutch OFF status The status in which pulses input to the clutch are not output to the output shaft Fe d J PE Input to the clutch input shaft c _ Clutch E ee EMT I Output shaft 2 Shui t Smoothing time constant t is the time taken to reach the following condition A t x100 68 B 2 Smoothing processing a Method in which a smoothing time constant is designated 1 Since the time constant is fixed the amount of slip of the clutch changes according to the speed of the drive module Va Ve Drive module speed SA Amount of slip at Va PLS SBN Amount of slip at Ve PLS Internal clutch status 7 TRANSMISSION MODULE 2 If the input to the clutch drive module travel value x gear ratio changes after completion of smoothing smoothing processing is executed at that point also Input to the clutch Drive module travel value x gear ratio Internal clutch status Output to the output shaft in accordance with smoothing clutch when a time constant is designated Completion of smoothing Clutch status device
6. The LY at the D9180 to D9183 LY items indicates a limit switch output When A171SHCPU is used b15 bi4 bi3 b12 bii b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 bo LYOF LYOE LYOD LYOC LYOB LYOA LYO9 LY08 LYO7 LYO6 LYO5 LY04 LYOS LYO2 LYO1 ong un For axis 2 hl For axis 1 N LY1F LY1E LY1D LY1C LY1B LY1A LY19 vie wv LY16 LY15 LY14 LY13 LY12 LY11 10 4 For axis 4 3M 4 For axis 3 A setting of 1 or 0 is stored at each D9180 to D9181 bit The LY at the D9180 D9181 LY items indicates a limit switch output 4 SERVO SYSTEM CPU DEVICES 2 PCPU error cause D9184 Data sent from PCPU to SCPU This register is used to identify the nature of errors occurring in the PCPU part of the servo system E Operation When Error iod Error Cause P Action to Take Code Occurs PCPU software error 1 PCPU operation period too long Reset with the reset key PCPU software error 2 Hardware error between PCPU and SCPU Hardware error in module installed in the motion main base unit Reset with the reset key 2 11 If the error reoccurs after T EN Indicates the slot number 0 7 of the resetting the relevant module where the error occurred All axes stop immediately
7. ee EEN 15000 to 15990 RE de Servo error 2100 to 2499 are warnings 2900 to are warnings 11 1 11 ERROR CODES STORED AT THE PCPU b When an error occurs the error detection signal for the axis in question will switch ON and the corresponding error code will be recorded in the minor error code major error code or servo error code register Error Code Error Detection Error Reset Flag Registers Signal Minor error D702 6n When A172SHCPU Virtual servo code He Se D1207 20n D1407 20n is used n 0 to 7 oto es error D703 6n When A171SHCPU x is used n 0 to 3 Minor error D75 l Synchronous code n Axis No 1 code TERR D1607 20n Output module code D1808 20n Servo error D808 20n D1608 20n Reset is also valid code for REAL mode errors c Each time an error occurs the previously stored error code will be replaced deleted by the new error code However a log of errors can be recorded for reference purposes at a peripheral device IBM PC running the SW2SRX GSV22PE software d The error detection flag and error code are saved until the error reset signal or the servo error reset signal is switched ON POINTS 1 When a servo error occurs there are cases where the same servo error code will be stored again even after a servo error reset M1808 20n ON is executed 2 When a servo error occurs eliminate the error cause then execute a servo error reset
8. 11 2 11 ERROR CODES STORED AT THE PCPU 3 REAL VIRTUAL mode switching errors A check for REAL VIRTUAL mode switching errors occurs when the REAL VIRTUAL mode switching request flag M2043 switches from OFF to ON and from ON to OFF See Sections 9 1 and 9 2 for the check content If an error is found the following occur e REAL VIRTUAL mode switching will not occur and the present mode will be maintained e The REAL VIRTUAL mode switching request flag M2045 switches ON e The corresponding error code will be stored in the REAL VIRTUAL mode switching error information register D9195 1 The error codes stored in the D9195 storage registers which apply to axis errors are shown below a When A172SHCPU is used b15 to b8 b7 to b4 to bO Axis Axis Axis Axis Axis Axis Axis Axis D9195 OH to BH FOH 8 716 5 4 3 2 1 e Error content Error axis bit set to 1 b When A171SHCPU is used b15 to b8 b7 to b4 to H 0 JAxis Axis Axis Axis JP AJ A Error content All become 0 Error axis bit set to 1 11 3 11 ERROR CODES STORED AT THE PCPU 11 1 Related Systems amp Error Processing The following 2 types of related systems exist in the VIRTUAL mode 1 System consisting of a drive module and output module 2 Multiple systems using the same drive module The following occurs when an error is detected at an output module 1 If an error is detected at any output module a drive module
9. 9 Fetched every 3 5 ms calculation Clutch Clutch ON address setting device lo o Clutch OFF address setting device ones ee 1 Slippage setting device a ee E ee Number of input axis gearteeth o Fetched when the present value change of the connection source Gear drive module virtual servo motor Number of output axis gear teeth axis synchronous encoder axis is executed CHGA and the gear ratio change is carried out EE E change gear g ge EH every 3 5 ms calculation EE EPI TI MOT REI limit value setting device cycle orane trit value setting devie limit value setting device EE Torque limit value setting device limit value setting device Virtual axis present value within one revolution storage device main shaft side Rotary table Virtual axis present value within one 3 5ms revolution storage device auxiliary input LM axis side ENS every 3 5 ms calculation Cam No setting device EN However the cam No and EN s switching position pass point ES every 3 5 ms calculation Torque limit value setting device ce JE Stroke lower limit storage device o Virtual axis present value within one HES od ed revolution storage device main shaft side 3 5ms Virtual axis present value within one revolution storage device auxiliary input p e axis side APP 18 A MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 T
10. t Smoothing time constant b Method in which the amount of slip is designated 1 Designate the amount of slip indicated by the shaded area in the diagram below You are recommended to designate an amount of slip that is greater than the input to the clutch drive module travel value x gear ratio Input to the clutch Amount of slip PLS ON 7 TRANSMISSION MODULE 2 Since the amount of slip remains constant even if the drive module speed changes the clutch ON OFF position can be controlled without any influ ence from speed changes Drive module speed Smoothing completion time Amount of slip at Va PLS Amount of slip at Vs PLS wee 3 If the input to the clutch drive module travel value x gear ratio changes after completion of smoothing smoothing processing is not executed at that point and direct output continues Input to the clutch value x gear ratio pa module travel Internal clutch EE Output to the output V shaft in accordance with smoothing i i i i clutch when a time constant is designated Completion of smoothing Clutch status device hl oo TUUS 7 TRANSMISSION MODULE 7 2 1 Explanation of clutch operation There are three clutch modes e ON OFF mode e Address mode External input mode Each of these modes is explained below 1 ON OFF
11. 5 unsable si Unusabe e 6 Unusable E EEN es Tora uo H External ENS input star timing star timing valid invalid when starting NAMES me me re Unusable 19 FIN signal D x o 35ms ul 4 SERVO SYSTEM CPU DEVICES 4 1 6 Synchronous encoder axis status A172SHCPU A171SHCPI SHCPU SHCPU Reference Device Device Signal Name Item Number Number M1360 M1360 O Valid to to Signal Name REAL VIRTUAL Signal M1363 M1363 Direction 0 Error deiecton Lo o Immediately 1 ExteralsignalTREN o o Virtual mode intermittent ofo SCPU lt PCPU 10ms actuation disabled warning D E Refresh Cycle Fetch Cycle Unusable 4 1 7 Synchronous encoder axis command signals A172SHCPU A171SHCPU Reference Device Device Signal Name Item Number Number M1560 M1560 1 to to Signal Name REAL VIRTUAL Signal netresh Cycle Fetch Cycle M1563 M1563 Direction lo Emrreset x toms 1 Unusable SCPU PCPU 4 SERVO SYSTEM CPU DEVICES 4 1 8 Common devices Device Number M1960 M1961 M1962 M1963 M1964 M1965 M1966 M1967 M1968 M1969 M1970 M1971 M1972 M1973 M1974 M1975 M1976 M1977 M1978 M1979 M1980 M1981 M1982 M1983 M1984 M1985 M1986 M1987 M1988 M1989 M1990 M1991 M1992 M1993 M1994 M1995 M1996 M1997 M2 008 M2009 M1960 Mi961 M1962 M1963 Mi964 Maes M19
12. Servo amplifier max 8 axes 1 Use A168B when the GOT bus connecting type is used 2 When using a teaching unit A31TU with a deadman switch use a dedicated cable A31TUCBLO3M to connect the CPU and A31TU connector When the dedicated cable is not used i e the teaching unit is directly connected to the CPU RS422 connector it does not work at all Attach a short circuit connector A31SHORTCON for A31TUCBL after detaching the A31TU 3 Use motion slots to mount PC A1S I O modules if necessary 4 When the power supply to the servo system CPU is switched ON and OFF erroneous process outputs may temporarily be made due to the delay between the servo system CPU power supply and the external power supply for processing especially DC and the difference in startup times For example if the power supply to the servo system CPU comes on after the external power supply for processing comes on at a DC output module the DC output module may temporarily give erroneous outputs when the power to the servo system CPU comes on Accordingly a circuit that ensures that the power supply to the servo system CPU comes on first should be constructed 1 GENERAL DESCRIPTION 1 2 2 A171SHCPU System overall configuration The following diagram indicates the system configuration when A171SHCPU is
13. 8 Clutch ON OFF command device a This device is used to execute the clutch ON OFF command b The following devices can be used as the clutch ON OFF command device Device Type A172SHCPU A171SHCPU XO to X7FF Output YO to Y7FF Internal relay M LO to M L1959 latch relay 1 The area used for the synchronous encoder shaft cannot be set Timer Counter 7 18 7 TRANSMISSION MODULE 4 Clutch ON OFF address setting device can only be set when the ON OFF mode and address mode are used in conjunction 2 words for each mode a This device serves to set the address at which the clutch is switched ON and address at which the clutch is switched OFF in the address mode b The following devices can be used as clutch ON OFF address setting devices Device Type A172SHCPU A171SHCPU 1 Data register 2 DO to D799 3 Link register WO to W3FF 1 If a cam is used at the output module the area used for the cam cannot be set 2 If a differential gear is connected to the main shaft the area it uses cannot be set 3 The first device number of the devices must be an even number c The applicable range for clutch ON OFF address settings is as follows 1 When the output module is a ball screw or roller 2147483648 2 to 2147483647 2 1 pulse 2 When the output module is a cam or rotary table 0 to number of pulses in one rotation b Smoothing method a Set the method used for smoothing
14. KS Virtual axis present value in Np 1 one revolution pulse 4 Address mode clutch 0 0 0 0 EE ae 1 The reference position 0 for the virtual axis present Rotary table value in one revolution is set with the address clutch reference position setting signal GER M1813 20n YnD M3213 20n a The virtual axis present value in one revolution for the main shaft side of the rotary table is stored in the set device b The following devices can be set as the virtual axis present value in one revolution storage device Device Type A172SHCPU A171SHCPU Data register 2 DO to D799 Link register WO to W3FF 1 If a cam is used at the output module the area used for the cam cannot be set 2 If a differential gear is connected to the main shaft the area it uses cannot be set 8 The first device number of the devices must be an even number c The applicable range for the virtual axis present value in one revolution is 0 to ND 1 pulses ND number of pulses per rotary table revolution d The address mode clutch is turned ON and OFF at designated addresses in the virtual axis present value in one revolution range 0 to ND 1 pulses Therefore set the value in the clutch ON OFF address setting device within the range 0 to ND 1 pulses e The virtual axis present value in one revolution reference position O is set by turning M1813 20n address clutch reference setting signal ON and s
15. 1 Output module errors at REAL VIRTUAL mode switching 4000 to 5990 Table 11 4 Output Module Error List 4000 to 5990 Output Module Ball ErrorCode Output Drive rae bia ii k 4070 407 5000 500 Error Class The stroke lower limit setting START disabled device value stroke setting at related device value exceeded 2 1 systems set system of units In 2 way cam mode When the drive module is the synchronous encoder connected to the manual pulse generator inputs and the connected clutch is in the external input mode multiple settings existed at the ON OFF command bit device Or the external input mode clutch setting is incorrect The connected clutch is in the external input mode for a A172SENC A171SENC set for high speed reading The feed present value is outside the applicable range For cams the feed present value is outside the stroke lower limit to stroke range When in the 2 way cam mode Present value cannot be calculated within 1 cam revolution e The feed present value is within the stroke range but the 5060 present value cannot be calculated within 1 cam shaft revolution cam table error Minor i o em M GER violation setting of 300 will be adopted Although the limit switch out Operation put is set to the present value continues with within 1 cam axis revolution limit switch output mode there is no limit switch
16. Feed present value stroke x stroke ratio x stroke lower limit value The cam table for the designated cam No is then searched from the beginning of a cycle and the present value in 1 cam shaft revolution which corresponds to the relevant point is calculated Because the search for the present value in 1 cam shaft revolution is always conducted from the beginning of a cycle beware of cases where the same stroke ratio appears more than once in the cycle Make the necessary position adjustment when switching from the REAL to VIRTUAL mode occurs 32767 In the figure at left there are 2 relevant points A and B for the calculated stoke ratio y but only point A is recognized I 1 1 1 1 i Y Y A B Nc 1 1 cycle 1 cam shaft revolution q Servo OFF command M1815 20n The servo OFF command is used to switch the servo OFF free run status e YnF OFF Servo ON e YnF ON Servo OFF free run status This command is inoperative during positioning and should therefore be executed after positioning is completed When the servo OFF command occurs in the VIRTUAL mode the clutch will be disengaged before the servo OFF command is executed If the servo OFF command occurs while a clutch ON status exists a minor error will occur and the servo OFF command will become inoperative 8 OUTPUT MODULES r VIRTUAL mode continuation disabled warning M1618 20n If for
17. 3 External input mode ieee iai ANN KhA RANEE 7 13 7 2 2 E EE 7 17 13 Ore ue rue EE 7 17 2 Mode setting device set only when using ON OFF mode and address mode in conjunction 1 word 7 18 3 Clutch ON OFF command device ceccceceeceeeeeeeeeeceeeeeceaeeeeaaeeneaeeseeeeesaeeesaeeneeeeeeaees 7 18 4 Clutch ON OFF address setting device can only be set when the ON OFF mode and address mode are used in conjuction 2 words tor gach mode EE 7 19 b Smoothing method MEET 7 19 6 Smoothing time Constant 7 19 7 Amount of slip setting device 2 words ssseeene emen 7 19 7 3 Speed Change Gear 7 20 ar Da ele ee TEEN 7 20 le Parameter list ond Ed e d i eui P pte dE engi dee d 7 21 1 Speed change gear ratio upper limit value lower limit value snnsnsnnssnnnenenn renerne nene eaae 7 21 2 Speed change gear ratio setting device sse 7 22 9 Smoothing time constant n ie m Ehre petet enchanted are 7 22 LA Differential Gedis s 3 ocn cedere a io ndi ocio tee uisi na Rear seb a es n tetas EEA 7 23 remiss EET 7 23 1 When the input shaft clutch is engaged eene 7 23 2 When the input shaft clutch is dsengaged en 7 23 3 When the differential gear is used to connect to the virtual main shaft 7 24 7 4 2 Parameters setting not necessary ssssssssssesseseee eene enne 7 24 8 OUTPUT MODU
18. 6 19 6 DRIVE MODULE f External STOP input invalid command at START M1409 20n This command is used to designate a valid invalid setting for the external STOP input ON The external STOP input will be invalid and axes where the STOP input is ON can be started e OFF The external STOP input will be valid and axes where the STOP input is ON cannot be started POINTS After operation has been started by switching external STOP input invalid command at START M1409 20n ON switch the STOP input from OFF to ON to stop the operation by an external STOP input If the STOP input is ON when the START occurs switch the STOP input ON gt OFF ON g FIN signal M1419 20n When an M code is set in a point during positioning travel to the next block does not take place until the FIN signal state changes as follows OFFON OFF Positioning to the next block begins after the FIN signal state changes as above VIRTUAL K1000 Execution point CPSTART2 Axis 1 M code Axis 2 PoS Speed 10000 FIN acceleration deceleration 100 M code output in progress ABS 2 POS Axis 1 200000 Axis 2 200000 FIN signal M code 10 S P ABS 2 Axis b 300000 Timing Chart for Operation Description Axis 250000 M code 11 NOR v k ABS 2 1 Once positioning to point 1 begins M code 10 is output and the Axis 350000 M code output in progress signal goes ON Axis b 300000 2 After the PC takes appr
19. A control mode feed 2 way discrepancy occurred at cam No switching The torque limit setting device value violates the stipulated range After servo amplifier MR B power ON and when a servo OFF command M18154 20n OFF is executed the designated axis is a no clutch axis or a clutch ON status exists The present value in one cam axis revolution was changed to an out of range value The number of gear teeth at input shaft is set by indirect device setting and the device value became zero when the drive module present value was changed The number of gear teeth at output shaft is set by indirect device setting and the device value became zero when the drive module present value was changed 11 24 Operation continues The servo ON status is maintained Operation continues with the current cam No and stroke Operation continues The default value of 300 is adopted Servo ON will be disabled The present value is unchanged The gear ratio is unchanged The servo ON status is maintained Switch the clutch OFF then establish the servo OFF status Correct the drive module s Speed gear ratio and speed change ratio so that the speed remains within the speed limit Stop the drive module then correct the drive module s Speed gear ratio and speed change gear ratio so that the speed remains within the speed limit Stop the drive module then correct the drive module s speed
20. Cam data batch change in progress M2000 M2043 M2044 M2016 PK i 044 4 M d MOV 1 D100 Cam No setting device set Condition REAL mode PK L DMOV 50000 D102 Stroke setting device set SET M1814 1 Cam reference position setting Signal set 4 Request to switch from REAL f SET M2043 H mode to VIRTUAL mode Changing cam No stroke during operation Condition P MOV K1 D100 Cam No setting device set P K E DMOV 60000 D102 H Stroke setting device set 8 OUTPUT MODULES 8 4 2 Settings when creating cam data The settings made when creating cam data at a peripheral device are described below Table 8 4 Table of Settings when Creating Cam Data No Setting Default Value Setting Range 1 camo gt 110 64 256 512 1024 2048 Stroke cam No change point a 0 to resolution 1 eTwo way cam mode 4 Control mode Two way cam mode eFeed cam mode Cam data table 0 to 32767 1 Cam No This is the setting for the number of the created cam data Set this number in the sequence program 2 Resolution a This setting determines the number of index divisions in one cam cycle b The time required to complete one cycle in which data for the maximum number of points possible under the set resolution are reliably output is calculated as follows 3 5 ms x set resolution 3 Stroke cam No change point a This is the setting for
21. e Startup proceeds in the set direction and thus it is also possible to Fixed pitch feed TAS proceed in a direction that exceeds 32 bits Constant speed Linear The set address is controlled by the absolute method so that startup in a direction that exceeds 32 bits is not possible e Stroke is disabled Moves in the direction set A start error 107 108 109 accompanies the ABS or INC command Constant speed Circular and startup is not possible 6 DRIVE MODULE 3 Command in position range The term command in position refers to the difference between the positioning address command position and present feed value The command in position signal switches ON when the difference between the command position and the feed present value enters the setting range command in position feed present value lt command in position range The command in position range is checked constantly during positioning control The command in position range is not checked during speed control and JOG operation Command in position setting y A Position control start x Command in position ON Execution of command in position check Fig 6 1 Command In position Range 4 JOG speed limit and parameter block settings The speed limit and parameter block used for JOG operations are explained below a JOG speed limit Designates the maximum JOG speed for the virtual axis If the JOG speed is set higher tha
22. 0 Normal 1 Setting error Magnification setting outside the 1 to 59 range 1 pulse input magnification setting errors stored for each axis 0 Normal 1 Setting error Input magnification setting outside the 1 to 100 range 4 SERVO SYSTEM CPU DEVICES 5 TEST mode request error D9188 D9188 D9182 to D9183 le Ee Ee E Maegan hits Leet Data sent from PCPU to SCPU When the TEST mode request error flag M9078 switches ON the axis data for axes in motion at that time will be stored a When A172SHCPU is used b15 b14 b13 b12 bii b10 b9 b8 b7 b6 b5 b4 b3 b2 bli b Axis Axis Axis Axis Axis Axis Axis Axis Buen p eB sd i 8 7 6 5 Jas nN NN Ba L p The OPERATING STOPPED status of each axis is stored 0 Stopped 1 Operating p All set to 0 b When A171SHCPU is used b15 b14 b13 b12 bii b10 b8 b7 b6 b5 b4 b3 b2 bli b Axis Axis Axis 0 0 0 0 0 0 4 3 2 1 Me et DI L The OPERATING STOPPED status of each axis is stored 0 Stopped 1 Operating p All set to O 6 Error program No D9189 Data sent from PCPU to SCPU a When the servo program setting error flag M9079 switches ON the No of the servo program 0 to 4095 where the error occurred is stored b Each time another error occurs at other servo programs
23. 12120 These errors occur only when using MR H B and MR J2 B servo amplifiers 8 System errors at all axes servo ON 15000 to 15990 Table 11 4 Output Module Error List 15000 to 15990 Continued ErrorCode Code Output Module 5i deg Mod s Ball Rotary Cam Error Cause Processing Corrective Action as bs i Oee Screw Table 24 VDC is not being supplied All axes ON will Check at the all axes servo when an not occur in ON command and while an A172SENC A171SENC brake response to an all all axes servo ON status is in setting is designated axes servo ON effect command If the error occurs Major while an all axes Errors EEN servo ON status is in effect an emergency stop will occur and the system will return to the REAL mode OS 11 27 11 ERROR CODES STORED AT THE PCPU 11 6 Errors At REAL VIRTUAL Mode Switching Table 11 5 REAL VIRTUAL Mode Switching Error Code List Error Codes Stored at D9195 Decimal Hexadecimal Displa Displa e M2043 OFF ON switching occurred when e Execute M2043 OFF ON switching when 1 to 255 0001 to OOFF all axes were not stopped M2001 to M2008 M2001 to M2004 are all OFF e M2043 ON OFF switching occurred when e Execute M2043 ON OFF switching when 257 to 511 0101 to O1FF all axes were not stopped M2001 to M2008 M2001 to M2004 are all OFF e M2043 OFF ON switching occurred when e Write a mechanical system program to the no mechanical
24. 7 TRANSMISSION MODULE 7 2 Clutch There are two types of clutch the smoothing clutch and the direct clutch These two clutches operate in the same way the difference is that with the smoothing clutch acceleration and deceleration processing by smoothing processing is executed when the clutch is switched ON and OFF but this does not happen with the direct clutch 1 Comparison of smoothing clutch and direct clutch a Smoothing clutch When the clutch is switched ON OFF the output to the output shaft is executed by acceleration and deceleration processing smoothing proces sing in accordance with the smoothing time constant or amount of slip set in the clutch parameters b Direct clutch When the clutch is switched ON OFF output to the output shaft is executed without acceleration and deceleration processing Input to the clutch 7 Clutch OFF When a time constant is designated Output to the output shaft determined by the smoothing clutch EE Clutch ON V Acceleration in accordance with smoothing processing E Deceleration in accordance with smoothing processing t gt e When an amount of slip is V Acceleration in accordance designated Output to the output shaft determined by the smoothing clutch A with smoothing processing eee Amount N of slip P Deceleration in accordance with smoothing processing Output to the output shaft determined by the direct clutch Y
25. Causes of errors when changing the stroke cam No during operation 1 The set cam No and stroke are always input to the PCPU on switching from the REAL mode to the VIRTUAL mode and in the VIRTUAL mode On input to the PCPU a relative check is executed An error occurs the error detection signal M1607 20n comes ON and the error code is stored in the minor error code register in the following cases e When the stroke is outside the range 1 to 2147483647 2 1 When in the two way cam mode the following condition is not met stroke lower limit value stroke lt 2147483647 2 1 e When the control modes of the set cam Nos are not the same Cam No setting device value i 8 OUTPUT MODULES 2 Processing in the event of a cam No stroke error e f the error occurs on attempting to switch from the REAL mode to the VIRTUAL mode the VIRTUAL mode is not established e f the error occurs on reaching the set stroke cam No change point during cam operation operation continues without switching to the set stroke cam No Reset the error detection signal and the minor error code register with the error reset command M1807 20n 3 Processing in the event of an error i If an error occurs on switching from the REAL mode to the VIRTUAL mode correct it by following the procedure below Turn the REAL VIRTUAL mode switching request flag M2043 OFF e Set the cam No and stroke correctly Turn the REAL VIRTUAL m
26. File register R Timer T Counter C ET Decimal constant K Hexadecimal constant H b The encoder No setting method is given below e Encoder No 1 K2 H2 6 DRIVE MODULE c Precautions e When a synchronous encoder present value change is carried out in the REAL mode an error will occur and the present value change will not be carried out e A synchronous encoder present value change can be executed in the VIRTUAL mode even while operation is in progress during pulse input from the synchronous encoder When the present value is changed the synchronous encoder present value will be continued from the changed value e Even if a synchronous encoder present value change is carried out it will have no effect on the output module present value 1 M2044 REAL mode VIRTUAL mode status flag see section 4 1 8 13 7 TRANSMISSION MODULE 7 TRANSMISSION MODULE There are the following four types of transmission module E LEE Section 7 1 e Church Section 7 2 e Speed change gear Section 7 3 e Differential gear Section 7 4 The following describes the device range and procedure for indirect setting of items by devices among transmission module parameters 1 Device range The following shows the number of device words and device range during indirect setting Number Device setting range of device A172SHCPU A171SHCPU Device Range B O000tosFF Tm
27. M1613 20n 1 The STOP signal is controlled according to the ON OFF status of STOP signal inputs to the A172SENC or A171SENC from an external source e STOP signal OFF STOP signal OFF e STOP signal ON STOP signal ON 2 The STOP signal status at STOP signal ON OFF is shown below When STOP signal is ON When STOP signal is OFF A172SENC A171SENC A172SENC A171SENC STOP STOP STOP 0 9 STOP COM B I COM 8 OUTPUT MODULES j DOG CHANGE signal M1614 20n 1 The DOG CHANGE signal is controlled according to the ON OFF status of near zero point dog inputs to the A172SENC A171SENC from an external source 2 Regardless whether N O input or N C input is designated in the system settings the DOG CHANGE signal turns ON when the near zero point dog or CHANGE signal is ON and the near zero point dog or CHANGE signal turns OFF 3 If N O input is designated in the system settings the near zero point dog or CHANGE input turns ON when the near zero point dog or CHANGE signal turns ON If N C input is designated in the system settings the near zero point dog or CHANGE input turns ON when the near zero point dog or CHANGE signal turns OFF k Servo READY signal M1615 20n 1 The servo READY signal switches ON when a READY status exists at the servo amplifiers connected to each axis 2 The servo READY signal switches OFF at the following times e When no servo amplifier is installed e When the servo pa
28. M2034 M2035 M2036 M2037 M2038 M2039 M2040 Speed change in Axis 3 progress flag Aer points Unusable 9 points PC link communication error flag Unusable 5 points CPU completion point setting System setting error flag REAL VIRTUAL mode switching request switching status switching error Synchronization discrepancy warning Motion slot module error detection flag M2041 M2042 M2043 E M2045 M2046 M2047 E N eo The END of the refresh cycle is the longer of 80 ms and the sequence program scan time APP 9 APPENDICES Monitor devices of each axis 9 M72SHCPU A171SHCPU z E Device Device Signal Name A Number Number D800 D800 to Signal Name REAL VIRTUAL Signal Refresh Cycle Fetch Cycle SE 9 D819 Direction D820 D820 0 Feed present value roller 2 to Ee D839 Actual present value D840 D840 3 to Deviation counter value D859 D859 5 Geet Geen 6 Minorerrorcode 4 to Cha pokey a EE SCPUc amp PCPU d D879 8 Servoerrorcode si error code 10ms D880 Travel value when the near zero END 0 point DOG CHANGE is ON 5 Backup T Home position return second D899 travel value D900 Execution i CNEE Number M Monde D919 14 Torque limit value D920 15 7 gel value change register Ges SCPUSPCPU ELS is H Actual present value when et xe D940 STOP is input NEEN Data set pointer for constant At E or 9 speed control E driving D959 13
29. O Emordetection Immediately HE Esse sg IRE 6 PO H VIRTUAL mode ele SCPU gesch 2 continuation disabled PCPU warning 3 Unusable a Error detection signal M1360 1 The error detection signal switches ON when a minor or major error occurs at the drive module or at an output module which is connected to the drive module ON OFF switching of this signal permits error valid invalid identification processing 2 When the error detection signal switches ON the corresponding error code is recorded at the error code storage area Minor error code Stored at minor error code storage area Major error code Stored at major error code storage area The error code or the output module error detection signal s ON OFF status indicates whether the error occurred at the drive module or the output module 3 When a normal status is restored at the drive module and output module and the error reset command M1560 is switched ON the error detection signal will switch OFF b External signal TREN M1361 1 The external signal TREN is used for clutch control in the external input mode This signal switches ON when input occurs at the A172SENC A171SENC TREN input terminal and indicates the TREN terminal s input ON OFF status c VIRTUAL mode continuation disabled warning signal M1362 1 As happens when the absolute type synchronous encoder is moved while power is OFF this signal will sw
30. ON with a PLS instruction since this can disable the error reset function 6 DRIVE MODULE 3 Synchronous encoder axis monitor device SV22C SV22F Axis No Device Device Signal Name mes pues n to M751 ras to M751 Signal Name VIRTUAL Signal Refresh Fetch Direction ren Cycle 2 Set when the controller power is turned on only in the case of an absolute synchronous encoder F SCPU sms dii POPU oa 2 a Present value storage register D748 D749 E E M A E eege Data sent from PCPU to SCPU 1 The virtual drive module and synchronous encoder present values are stored in this register 2 A 2147483648 2 pulse to 2147483647 2 1 ring address is established 3 Data in the present value storage register is stored in a backup memory when a power OFF or servo system CPU reset occurs b Minor error code storage register D750 sss Se ees Gee i ads i ehn Data sent from PCPU to SCPU 1 When a minor error occurs at the synchronous encoder or at the output module the corresponding error code see Section 11 3 is stored in this register Each time a minor error occurs the previous error code stored in this register will be overwritten by the new error code 2 To clear error codes for minor errors which occurred at the virtual servo motor or SE encoder execute the drive module error reset command To clear error codes for minor errors which occurred at the output module execute t
31. REAL mode an error will occur and the present value change will not be carried out e A synchronous encoder present value change can be executed in the VIRTUAL mode even while operation is in progress during pulse input from the synchronous encoder When the present value is changed the synchronous encoder feed present value will be continued from the changed value Even if a synchronous encoder present value change is carried out it will have no effect on the output module present value 1 M2044 REAL mode VIRTUAL mode status flag see section 4 1 8 13 4 Cam axis present value change in one revolution program when cam axis 1 is used Command E a The change in the present value and speed are set using the devices described below e Indirect setting Data register D ouble word Output axis No setting Present value setting Link register W File register R Direct setting Decimal constant K 10 2 10 AUXILIARY APPLIED FUNCTIONS b The cam axis No setting range is described below e When A172SHCPU is used 1t08 e When A171SHCPU is used 1to4 c Precautions e f the present value that has been changed is out of the one revolution range 0 number of pulses per revolution 1 an error will result error code 6120 and the present value change will not be carried out 10 1 2 Present value amp speed changes by DSFLP instruction
32. SWOSRX SWONX CAMP software when creating the cam data cam curve See Section 8 4 2 Cam parameters These are the parameters used to set a cam as the output module when creating the mechanical device program See Section 8 4 3 8 18 8 OUTPUT MODULES 8 4 1 Cam operation The operation of cams is described below 1 Procedure for switching from the REAL mode to the VIRTUAL mode On switching from the REAL mode to the VIRTUAL mode perform device setting in accordance with the following procedure using the sequence program a Set acam number and stroke in the cam No setting device and stroke setting device set for each axis in the cam shaft parameters Switch the cam reference position setting signal M1814 20n ON OFF as required Y See Section 8 5 1 2 to p b Issue a REAL mode VIRTUAL mode switching request M2043 OFF gt ON c Start operation based on the cam pattern stroke cam reference setting signal and address clutch reference setting signal set for each cam shaft 2 Processing on switching from the REAL mode to the VIRTUAL mode When a switch is made from the REAL mode to the VIRTUAL mode the cam shaft present value in one revolution is indexed based on the cam reference position setting signal M18144 20n the feed present value the stroke lower limit value the stroke and cam No cam pattern at that time 3 Operation A value based on the cam shaft present value in one revolution and
33. gear ratio and speed change gear ratio so that the speed remains within the speed limit Correct the cam No setting Correct the stroke setting Stop the drive module and correct the control mode setting Designate a torque limit value within the setting range After designating a clutch OFF command designate a servo OFF command Designate a value within the range 1 to pulses in one cam axis revolution 1 Designate a value within the range 1 to 65535 11 ERROR CODES STORED AT THE PCPU 3 Output module errors when clutch OFF and clutch OFF command issued 6500 to 6990 Table 11 4 Output Module Error List 6500 to 6990 Continued Error Output Drive Class pu Ge Minor Errors Output Drive Modu Modu 9000 900 Minor Errors 9010 901 Output Module Ball Rotary EE Output Module Ball Rotary Poner com Aservo OFF status existed when a clutch ON command occurred The feed present value violated the stroke range when a cam axis servo OFF command M1815 20n OFF was executed In the 2 way cam mode The stroke range was violated during a follow up operation The stroke lower limit stroke lt 27 1 condition was not satisfied when a cam axis servo OFF command M18154 20n OFF was executed In the 2 way cam mode The home position return request signal M1609 20n was ON when a clutch ON command occurred Incremental axis MR B power s
34. input mode Also set clutch ON OFF devices to the same setting 7 15 7 TRANSMISSION MODULE Same synchronous encoder connected to a drive shaft and auxiliary input shaft Set all the connected clutches to the external input mode See examples 1 and 2 Synchronous encoder H 3 Kl L3 br 2 VILIS i c i feet EI Ie S gt I T o Set to external input mode L l EE E C Synchronous encoder iNo i 7 16 7 TRANSMISSION MODULE 7 2 2 Parameters The clutch parameters are presented in Table 7 2 and each item in this table is ex plained in 1 through 6 below For the method for setting clutch parameters refer to the SW2SRX GSV22PE SWOIX CAMPE Operating Manual Table 7 2 Parameter List INo Setting Wem Default Value Setting Range Setting Possible ON OFF mode External input f Smoothing Control Mode ON OFF mode ON OFF mode Address mode Direct clutch mode clutch in conjunction Mode setting device 2 g Word device 1 word ES ON OFF Bit device ES device Clutch ON address setting device 2 words Word device 5 Clutch OFF address setting device 2 Clutch status storage device ES constant am um constant designation 7 Smoothing method designation Amount of slip designation Smoothing time S 0 to 65535ms constant Amount of slip setti
35. position range designated by the virtual servo motor parameter setting see Section 6 1 2 This signal switches OFF when the following occur Positioning control START e Speed control e JOG operation 2 A command in position check occurs constantly during position control but does not occur during speed control Command in position setting value Position control Speed start control start Command in position ON M1203 20n Execution of command in position check d Speed control in progress signal M1204 20n 1 Since the speed control in progress signal is ON while speed control is in progress this signal can be used to determine whether speed control is in progress or positioning is in progress The speed control in progress signal that comes ON during speed control will go OFF when the next positioning control operation starts 2 When the power is turned on or positioning control is in progress this signal will be OFF Speed control Positioning control Positioning start Speed control start ON Speed control in progress OFF A signal M1204 20n eg 6 14 6 DRIVE MODULE e Error detection signal M1207 20n 1 The error detection signal comes ON when a minor error or major error is detected in a virtual servo motor or output module connected to a virtual servo motor The ON OFF status of the error detection signal is used to distinguish whether or not an error exists 2
36. register D760 5n Data sent from PCPU to SCPU 1 The No of the cam currently being controlled is stored in binary code at the effective cam No register Cam No updates occur at the sequence program s END processing 2 The cam No stored at the effective cam No register is saved until operation at another cam is executed A stored cam No is not cleared when control at that cam is ended b Effective stroke register D760 5n Data sent from PCPU to SCPU 1 The current control stroke is stored in binary code at this register Stroke updates occur in the sequence program s END processing c Present value in 1 cam shaft revolution register D760 5n EE Data sent from PCPU to SCPU 1 The present value in 1 cam shaft revolution designated by the parameter setting is stored at this register The present value is a ring address in the range 0 to number of pulses per cam shaft revolution Nc 1 Nc 1 Present value updates occur in the sequence program s END processing 8 OUTPUT MODULES d Feed present value Roller peripheral velocity register D760 5n aac orth Mesias eee ese Data sent from PCPU to SCPU 1 The target address which is output to the servo amplifier is stored at this register The target address is based on the command address calculated from the mechanical system program settings 2 A stroke range check occurs at this feed present value data 3 Roller peripheral veloc
37. response to the leading edge of the external input signal the clutch in this mode gives high speed response and high accuracy 1 The clutch is set to the ON status at the leading edge OFF ON of the external input signal after the clutch ON OFF command bit device has come ON 2 When the clutch ON OFF command bit device goes OFF the clutch is set to the OFF status after a maximum delay of 7 1 ms b Make sure that the clutch ON OFF command device is turned ON and the external input acceptance enabled status is established before the external input TREN signal comes ON In the external input mode a maximum of 7 1 ms is required after the clutch ON OFF command device comes ON before the external input acceptance enabled status is established 1 When the clutch ON OFF command device is OFF the clutch is not set to the ON status even if the external input changes from OFF to ON 2 When the external input is ON the clutch is not set to the ON status even if the clutch ON OFF status comes ON 3 Even if the external input goes OFF after the clutch has been set to the ON status the clutch will remain ON c The clutch ON OFF status can be checked by means of the clutch ON OFF status device The ON OFF status of the clutch status device is refreshed at 3 5 ms intervals Corresponding Device Connected Module A172SHCPU A171SHCPU Drive shaft M1984 M1984 Output module for axis 1 T ORI Auxiliary input shaft M1985 M1985 Drive
38. setting error flag 1 WDT error flag MOO A3 Signal sent from PCPU to SCPU This flag switches ON when a watchdog timer error is detected by the PCPU s self diagnosis function When the PCPU detects a WDT error it executes an immediate stop without deceleration of the driven axes If the WDT error flag switches ON press the servo system CPU s RESET key to execute a reset If M9073 remains ON after a reset occurs there is a PCPU malfunction The error cause is stored in the PCPU error cause D9184 storage area see Section 4 5 2 2 PCPU READY flag MOO 4 Signal sent from PCPU to SCPU This flag is used to determine at the sequence program if the PCPU is normal or abnormal a When the PC READY flag M2000 turns from OFF to ON the fixed parameters servo parameters limit switch output data etc are checked and if no error is detected the PCPU READY completed flag comes ON The servo parameters are written to the servo amplifiers and the M codes are cleared b The PCPU READY flag switches OFF when the PC READY M2000 signal switches OFF PC READY M2000 PCPU READY M9074 1 Servo parameters are written to the servo amplifier and M codes are cleared 3 TEST mode ON flag M9075 Signal sent from PCPU to SCPU a This flag status indicates whether a TEST mode established from a peripheral device is currently in effect It can be used as an interlock function when start
39. the stored servo program No is replaced by the No of the servo program where the most recent error occurred 4 SERVO SYSTEM CPU DEVICES 7 Error item information D9190 Data sent from PCPU to SCPU When the servo program setting error flag M9079 switches ON the error code corresponding to the erroneous setting item will be stored Error Description LN E a exist the axis No designated by the servo program An instruction that cannot be executed in the VIRTUAL mode VPF VPR VVF VVR VPSTART ZERO was designated ow axis designated as unused at the system settings is used in the servo program designated by the DSFRP SVST instruction 905 Error item A setting item error exists in the servo program designated by the data DSFRP SVST instruction 1 1 For details regarding error item data see Section 6 3 of the Motion Controller SV13 22 Programming Manual REAL Mode 4 SERVO SYSTEM CPU DEVICES 8 Servo amplifier installation information D9191 pi Mite tide abet Mele Moncada inland Mee Data sent from PCPU to SCPU When a servo system CPU power ON or reset occurs the servo amplifier installation status is checked and the results are stored An INSTALLED status will be established at axes where the installation status changes from NOT INSTALLED to INSTALLED when power is switched ON If the status changes from INSTALLED to NOT INSTALLED at power ON the INSTALLED status will r
40. 3 Stroke cam No change point 8 23 4 Gontrolimode ws aie eate ed eat eiue 8 24 by Camisdata TEE 8 25 98 4 3 Parameter list aca eo ud n ede ipeo ee 8 26 1 Number of pulses per cam shaft revolution NC 8 26 2 Used cam NO o eta et died b ee a vd up i 8 26 3 Cam No setting device 1 word nennen nnne 8 27 4 Permissible droop pulse value nennen nnne 8 27 5 Umt Settingan PEE 8 27 6 Stroke setting device 2 words 8 27 RSR LIMTE SWE Ir URS 8 28 8 Torque limit setting device 1 word seenenm enn 8 28 HR eu 8 29 10 Stroke lower limit value storage device ssssseeeeeenme 8 29 11 Virtual axis present value in one revolution storage device main shaft side 2 words enne enne ener nennen nnns 8 29 12 Virtual axis present value in one revolution storage device auxiliary input shaft side 2 words 8 32 9 44 Gam curve list sc axes mons cde tSt cc e ax Mt et C eot 8 34 1 Cam curve characteristics ssessssssssssessseseeee iei ntes nnns nnne nenas 8 34 2 Freedom CUNE eet neo pee eei eid endi iem 8 34 8 4 5 Creation of cam data by user 8 34 8 4 6 Limit switch outputs in present value mode amp present value in 1 cam revolution mode 8 35 1 Limit switch outputs in present value mode 8 35 2 Limit switch outputs in 1 cam shaft revolution present value seeeeeseeeeeeeeseerresrennnne 8 36 8 4 7 Limit switch output data in presen
41. 32768PLS SSCNET1 A171SHCPU HA FF W1 32768PLS interface e HC SF 2W2 131072PLS The setting range Allowable travel value during power off changes for high When ABS motor is used set the allowable resolution encoder travel value during servo amplifier power off support by rpm rotations per minute This setting value is used for checking when the servo amplifier is switched ON Setting range Default value 0 to 16383 rpm 10 rpm Manual A172SENC 1 1 External signals The same The external signal pulse 1 Set the axis numbers of external signals axis number setup window has generator FLS RLS STOP and DOG CHANGE for must not be been improved for a synchro A172SENC CTRL connector signals PXO set better nous to PX1F understanding encoder Axes need not be set unless they are used The conventional interface by external signals A171SENC can module also be used for value A172SHCPU A172SHCPU Set axes 1 to 8 Axes 1 to However it must for PXO to i be set as Lie A172SENC during A172SHCPU Set axes 1to4 Axes 1 to system setting for the first half i PXO to PXOF A171SENC 0 Settings cannot be made Man machi A271DVP Not available Settings cannot be made ne control module PC CPU Up to 256 I O 1 Set the number of points and the starting I O The total Though settings I O module A1SY points total number for PC CPU UO modules to be number of can be made motion mounted on the motion e
42. AZ73UHCPU A 1715CPU S3 32 axes 8 axes OFF No PC link communication error link ON PC link communication communication error error detected M2034 M2034 flag Flag changes to OFF if normal communication is restored 00 No error 01 Receiving timing error 02 CRC error 03 Communication response link code error communication error 04 Receiving frame error D9196 D9196 codes 05 Communication task start error Error codes are reset to 00 by normal communication restart 4 11 4 SERVO SYSTEM CPU DEVICES Pass points in constant speed control here a speed change is designated at P3 Speed switching point designator flag DSFRP SVST instruction OFF Start accept flag Table 9 2 PC link communication error code list Error Codes Error Contents Correction Method stored in D9196 ee Se PC link communication receiving packet did not arrive Receiving packet arrival timing was late The receiving packet CRC code is incorrect The receiving packet data ID is incorrect The number of the frame received is incorrect The communication task on the personal computer side has not been started Confirm that the personal computer power is on Check the communication cable connection Check for communication cable burnout Confirm that ASOBD PCF A30CD PCF is properly placed Confirm that there is nothing causing noise in the vicinity Check the communication cable co
43. Clutch ON OFF command device Mode setting device Clutch ON address setting 9 device Clutch OFF address setting device A gear teeth Gear gear teeth Speed change Speed change ratio gear setting device POINTS e For items set using two words always set an even numbered device In addition when setting data in the sequence program for that device always use the DMOV P command e When a two word monitor device leads the sequence program always acquire it in the user device using the DMOV P command Use the fetched device for carrying out such things as upper lower comparison and calculations 7 TRANSMISSION MODULE 2 Device data fetch When the data of a device that has been set indirectly is switched from the REAL to VIRTUAL mode first acquire everything as default values and thereafter carry out fetch control during virtual mode operation for the corresponding module Shown in the table below are the fetch timing of each device and the refresh cycle of the set device The device fetch timing and device refresh cycle are the same for both A172SHCPU and A171SHCPU Device Fetch Timing Device Fetch Refresh A WW f VIRTUAL During VIRTUAL Mode Refresh Device Device Operation Cycle Clutch Speed change gear Clutch ON OFF command device Mode setting device Fetched every 3 5 ms Clutch ON address setting f calculation cycle device Clutch OFF address setting device Slippage setting device
44. Control change registers A172SHCPU A171SHCPU Device Device Signal Name Number Number D960 D960 O Valid b Signal Name REAL VIRTUAL Refresh Cycle Fetch Cycle eun D965 Direction D966 D966 Present value change CHGA to Eesen execution D971 D971 HGV 3 Speed change register change register SCPUSPCPU ER E D972 D972 Ej to JOG ees setting At Adding D977 D977 register D978 D978 qum a backup register to D983 D983 D984 Dos D990 D995 D996 BA D1002 D1007 The END of the refresh cycle is the longer of 80 ms and the sequence program scan time APP 10 APPENDICES 14 Virtual servo motor axis monitor devices A172SHCPU A171SHCPU Device Device Signal Name Number Number D700 D700 O Valid to Ge Signal Name REAL VIRTUAL Signal Refresh Cycle Fetch Cycle D705 D705 Direction D706 D706 0 2 to to D711 D711 D712 D712 to to D717 D717 Feed present value 4 2 L2 m SCPU PCPU Immediately 4 4 xecution program Number au ie 15 Virtual servo motor axis main shaft differential gear present value 9 M72SHCPU A171SHCPU z E Device Device Signal Name Number Number 1 D760 D760 O Valid D671 D671 Signal Signal Name REAL VIRTUAL P Refresh Cycle Fetch Cycle D672 D672 Direction 2 D673 D673 Virtual servo motor axis main 3 D674 D674 shaft differential gear present Backup SCPU lt PCPU 3 5 ms D675 D675 value 4 D676 D676 D677 D677 APP 11 A
45. Gl Gear ratio Number of gear DO to D799 teeth at output shaft 1 to 65535 WO to W3FF Forward Direction of rotation of output shaft Forward Reverse 7 TRANSMISSION MODULE 1 Gear ratio a The gear ratio is the setting which determines the number of output pulses that are transmitted to the output shaft for every pulse from the drive module b The gear ratio is determined by the settings for the number of gear teeth at the input shaft GI and the number of gear teeth at the output shaft GO Gear ratio Number of gear teeth at input shaft Gl Number of gear teeth at output shaft GO 2 Direction of rotation of output shaft a This is the setting for the direction of rotation of the output shaft with respect to the direction of rotation of the input shaft b There are two directions of rotation for the output shaft forward and reverse 1 Forward When the input shaft rotates in the direction in which addresses increase the output shaft also rotates in the direction in which addresses increase Gear 1 i ne Drive module EN Input shaft rotating in direction in SUR MTM von adresses SE increase 2 Reverse When the input shaft rotates in the direction in which addresses increase the output shaft rotates in the direction in which addresses decrease D ud Gear Input shaft rotating in direction in which addresses increase Output shaft rotates in direction in which addresses decrease
46. M1607 20n comes ON 3 Stroke limit upper limit value lower limit value a This is the setting for the stroke range in the virtual mode The settings for the stroke limit upper limit value and lower limit value can determine whether the stroke range is valid or not if the stroke limit upper limit value is equal to the stroke limit lower limit value the stroke limits are invalid b If the stroke range is exceeded during operation the error detection signal M1607 20n comes ON However rotary table shaft stop processing is not executed 8 12 8 OUTPUT MODULES 4 Speed limit value VL a This is the setting for the maximum speed of the rotary table shaft b Set the speed limit value within the range prescribed by the following formula VLx 10 x ND 60 x 360 x 10 c If the speed of the rotary table shaft exceeds the speed limit value the error detection signal M1607 20n comes ON However the rotary table shaft speed is not clamped Even if the speed limit value is exceeded control is K executed at the set speed Setting for speed limit value lt 1000000 pulse s 5 Limit switch output a This setting determines whether or not a limit switch is output for the rotary table shaft e Limit switch output used Limit switch signal is output based on the rotary table s actual present value e Limit switch output not used Limit swit
47. OFF when a servo system CPU STOP status exists When the RUN status is resumed the status which existed prior to the STOP will be re established ON A fe N RUNSTOP switching STOP gt RUN switching 2 Virtual servomotor START accept flags M2001 n EE Signals from PCPU to SCPU a The START accept flag switches ON when the sequence program s positioning START instruction DSFRP SVST 2 is executed and should be used for DSFRP SVST enabled disabled interlock purposes When requesting servo program execution for positioning at axes 1 and 3 the following START accept flags are used DSFRP instruction execution request DSFRP instruction execution enabled D D D D D D D D Ko pg i i M2001 M2003 disabled determination DSFRP D i Axis No 1 START Axis No 3 START l i accept flag accept flag b START accept flag ON OFF processing occurs as shown below 1 When the sequence program s DSFRP SVST instruction is executed the START accept flag for the axis specified by the DSFRP SVST instruction switches ON The START accept flag switches OFF when positioning is completed The START accept flag also switches OFF if positioning is stopped before completion When positioning is completed normally When positioning is stopped before completion V V Dwell time lt gt X gt t a Na Positioning In progress A DSFRP SVST Positioning completed DSFRP SVST START STOP instruc
48. ON e An error check occurs when M2043 is switched from OFF to ON If no error is detected switching to the VIRTUAL mode occurs and the M2044 REAL VIRTUAL Mode Determination flag switches ON e If an error is detected switching to the VIRTUAL mode will not occur In this case the M2045 REAL VIRTUAL Mode Switching Error flag will switch ON and the error code will be stored at the D9195 error code storage error b To switch from the VIRTUAL to the REAL mode turn M2043 OFF e f an all axes stopped status exists at the virtual servomotors switching to the REAL mode will occur and M2044 will go OFF e Switching to the REAL mode will not occur if any of the virtual servomotor axes are in motion In this case M2045 will switch ON and an error code will be stored at the D9195 error code storage error c For details regarding the procedure for switching between the REAL and VIRTUAL modes see Chapter 9 13 REAL VIRTUAL mode status flag M2044 EE Signal sent from PCPU to SCPU This flag verifies that switching between the REAL and VIRTUAL modes is completed and verifies the present mode e OFF when the REAL mode is in effect and switching from the VIRTUAL to REAL mode is completed ON when switching from REAL to VIRTUAL mode is completed This flag should be used as an interlock function when executing a servo program START or a control change speed change present value change 14 REAL VIRTUAL mode switching error
49. PCPU Table 11 3 Servo Amplifier Error List 2000 to 2799 Error Error Cause When Error Checked Error Corrective Action Code Name Description Processing e The power supply voltage is e Measure the input voltage R S T less than 160 VAC with a voltmeter A momentary power e Monitor with an oscilloscope to check interruption of 15ms or longer e whether a momentary power At any time during 2010 Low voltage has occurred operation interruption has occurred The power supply voltage Review the power capacity dropped for example when motion control started due to insufficient power capacity Servo amplifier SRAM is When the servo e Replace the servo amplifier faulty amplifier power is Servo amplifier EPROM check turned ON sum error At the leading edge of Memory error the PC READY flag 2012 M2000 1 When a servo error is reset When the power to the servo system CPU is turned ON 2013 e Servo amplifier clock fault Replace the servo amplifier Servo amplifier hardware fault At any time during Replace the servo amplifier 2014 Watchdog e Servo system CPU hardware operation Replace the servo system CPU fault Servo amplifier EEPROM fault When the servo Replace the servo amplifier amplifier power is turned ON is QUEE ae of Immediate e ag 2015 Memory error M2000 stop 2 F When a servo error is reset When the power to the servo system CPU is turned ON Fault in communication with Whe
50. Program examples are illustrated below 1 Virtual servo motor present value change program e Present value change setting Axis No Present value setting Present value change register Command M2044 M2001 m 2 Virtual servo motor speed change program DMOVP K2000 D962 ened Speed setting Speed change register Speed setting Speed change register Command M2044 M2021 1 M2001 Start accept flag see section 4 1 8 2 2 M2044 REAL mode VIRTUAL mode status flag see section 4 1 8 13 3 M2021 Speed change in progress flag see section 4 1 8 7 10 3 10 AUXILIARY APPLIED FUNCTIONS 3 Synchronous encoder present value change program Present value setting 1 Optional device DMOVP K1234 D200 5 DSFLP D200 ES Encoder No setting 2 in the case of P1 E1 Command M2044 Device set at 1 a The devices that can be used in D and n described in the above program are given below Duns Data register D Link register W File register R Timer T Counter C LONE Decimal constant K Hexadecimal constant H b The encoder No setting method is given below e Encoder No 1 K2 H2 e Encoder No 2 K3 H3 e Encoder No 3 K4 H4 c Precautions e When a synchronous encoder present value change is carried out in the REAL mode an error will occur and the present value change will not be carried out e A synchronous encod
51. START will be impossible and that system will be disabled The auxiliary input shaft operation for that output module will also be disabled 2 Other systems which use the drive module which was disabled by the output module error will also be disabled System 1 ntial Error exists impossible System 2 1 If an error occurs at any of the a b c system 1 output modules a drive module Drive module C A START will become impossible and System 1 will be disabled A drive module A START at system 2 will also become impossible Differential 1 gear If an error occurs at system 1 output ZN module C a drive module B START will become impossible A drive module B START at system 3 will also become impossible thereby disabling system 3 as well The system 2 drive module C can be Start started impossible System 3 11 4 11 ERROR CODES STORED AT THE PCPU 11 2 Servo Program Setting Errors The error codes error descriptions and corrective actions for servo program setting errors are shown in Table 11 1 below The n in the asterisked error codes in Table 11 1 indicates the axis number 1 to 8 1 to 4 Table 11 1 Servo Program Setting Error List Error Codes Corrective Action Stored at Description Error Processing Parameter block No setting error Address travel At incremental method positioning value setting control the travel value setting
52. Signal Name Item Number Number D700 D70 O Valid Signal Direction 0 Feed present value 3 asm ms f Backup SCPU lt PCPU mesa Execution program Number 3 5 ms Signal Name REAL VIRTUAL Refresh Cycle Fetch Cycle 4 2 5 Virtual servo motor axis main shaft differential gear present value ATT2SHCPU ATTISHCPU Reference Device Device Signal Name Item Number Number 1 D760 D760 O Valid D671 D671 Signal Signal Name REAL VIRTUAL Refresh Cycle Fetch Cycle D672 D672 Direction 2 D673 D673 Virtual servo motor axis main 3 D674 D674 shaft differential gear present Backup SCPUPCPU 3 5 ms D675 D675 value D676 D676 D677 D677 4 19 4 SERVO SYSTEM CPU DEVICES 4 2 6 Synchronous encoder axis monitor devices A172SHCPU A171SHCPI SHCPU SHCPU Reference Device Device Signal Name Item Number Number O Valid to to Signal Name REAL VIRTUAL Signal Direction k Gs Ge iani Jenna Refresh Cycle Fetch Cycle al Minor error code D Major error code 2 Set when the controller power is turned on only in the case of an absolute synchronous encoder immediatly 4 2 7 Synchronous encoder axis main shaft differential gear present value A172SHCPU A171SHCPU Reference Device Device Signal Name Item Number Number D686 D686 O Valid D687 D687 i 8 H Signal Name REAL VIRTUAL Refresh Cycle Fetch Cycle s Direction Synchronous encoder axis main shaft differential Backup
53. VIRTUAL mode and start operation After all axes have stopped switch the programmable controller READY M2000 signal ON Deceleration to stop After all axes have stopped switch the PC READY M2000 signal ON PC READY M2000 OFF2ON Switching during a deceleration to stop is ignored Correct the stroke limit range or the travel value setting to ensure that positioning control remains within the stroke limit range Ignored Deceleration to stop 1 Designate a speed which will not cause an overrun 2 Designate a travel value which will not cause an overrun Manual pulse generator in puts are ignored until astop occurs Execute manual pulse generator operation after the axis motion has stopped 11 ERROR CODES STORED AT THE PCPU Minor Errors Major Errors Error Cause The address of the speed Switching point exceeds the END point address An address was designated which causes opposite direction positioning during speed switching control The same servo program operation was designated again During position follow up control with degrees set as the system of units the commanded address violated the 0 to 35999999 range The address designated for position follow up control is outside the stroke limit range During constant speed control the speed at an intermediate point violated the speed limit value A present value change was designa
54. Value Management A 10 5 11 ERROR CODES STORED AT THE POPU eeeeessssseseseneeen nennen ENEE nn nnn nennt 11 1 to 11 29 11 1 Related Systems amp Error Processing eene nennen 11 4 11 2 Servo Program Setting Erors eene a idrata a nnne nes 11 5 14 3 Drive Module EMOS aoier i a ale e e ette ae is 11 8 UR E RE TEE 11 11 RG ei Tue lo Ee 11 22 11 6 Error At REAL lt VIRTUAL Mode Switching sese 11 28 REENEN dak a METELLI APP 1 to APP 18 APPENDIX Cam GUIves interne e pedet e remque Ee dire e Ee p Es APP 1 APPENDIX 2 Processing Time Lst sornes saa eee ennt nnnm ennt nnne nnns APP 5 APPENDIX 3 Setting Range of Indirect Setting Devices APP 15 Appendix 3 1 Servo program ssssssssssssseseseeeenenneneen nennen snnt sn netten nns nannan nenen nmnet APP 15 Appendix 3 2 Mechanical system program APP 17 MI 1 GENERAL DESCRIPTION 1 GENERAL DESCRIPTION The A172SHCPU A171SHCPU hereafter referred to as servo system CPU features two operating modes REAL and VIRTUAL at motion controllers where the operating systems OS shown below have been installed e SWOSRX SV22C e SWONX SV22C e SWOSRX SV22F e SWONX SV22F A172SHCPU collectively abbreviated to SV22 A171SHCPU This manual explains the mechanical device program required to operate the motion controller in the VIRTUAL mode In order to execute positioning control in the VIRTUAL mode positioning parameter settings servo pro
55. a speed change to the normal speed c When positioning is completed set the stop command to ON d If a negative speed change is carried out a second time it is ignored 4 The following are true during reverse return using the speed control mode a If the direction of movement is returned a second time carry out a speed change to the normal speed b To stop set the stop command to ON c If a negative speed change is carried out a second time carry out speed change using the reverse return direction Error contents 1 During startup of reverse return in a valid control mode if the absolute value of the negative changed speed exceeds the speed limit the minor error 305 will occur and reverse return will be carried out using the speed limit value 2 During constant speed control if the absolute value of the negative changed speed exceeds the speed set in the servo program reverse return will be carried out using the speed set in the program Speed clamp control in relation to a speed change during constant speed control An error will not occur at this time 8 Not enabled after the initial automatic deceleration Minor error 303 results 6 DRIVE MODULE Operation example of constant speed control The diagram below shows an example of operation when a reverse return request is carried out in relation to constant speed control Servo program Track Mc CPSTART2 Axis 1 Axis 2 Speed ABS 2 Axis 1
56. and the bottom dead center 0 point is designated as the present value in 1 cam shaft revolution Stroke amount Stroke lower limit 0 1 cycle Nc 1 Feed present value when A M1814 20n is ON bottom dead center Present value within 1 cam shaft revolution 0 After the system is started and cam s bottom dead center alignment is completed YnE must be switched ON the first time REAL to VIRTUAL mode switching occurs Once the bottom dead center setting has been designated it is not necessary to switch M1814 20n ON when subsequent REAL to VIRTUAL mode switching occurs The bottom dead center position is stored in the backup memory 8 OUTPUT MODULES A Stroke amount y Stroke lower limit value 2 When the cam reference position setting signal M1814 20n is OFF e When the following condition exists operation is continued with the stroke lower limit value and present value in 1 cam shaft revolution from the previous VIRTUAL mode operation adopted Final servo command value in previous VIRTUAL mode operation current servo present value x in position When the following condition exists operation is continued with the stroke lower limit value from the previous VIRTUAL mode operation being adopted and the present value in 1 cam shaft revolution calculated based on the current feed present value Present value in 1 cam shaft revolution calculation The stroke ratio y is first calculated as follows
57. but this poses no problem to operation 10 5 10 AUXILIARY APPLIED FUNCTIONS 3 Restrictions due to servo amplifier The following restrictions apply depending on the combination of servo amplifier and positioning software package used when using positioning OS version V or later Servo Positioning Software aoe SH z Restrictions Amplifier Package Version MR H B BCD B13W000 B2 R or later There are no restrictions or later eech Only the function upgrade described in item a BCD B20W200 A1 Qor earlier applies or later MR H B Only the function upgrade described in item c BCD B13W000 B1 GE E applies However with respect to item b or earlier monitoring is possible with the exception of the MR J2 B encoder present value BCD B20W200 A0 or earlier gt MR J B All models None of the function upgrades can be used ADU All models 10 6 11 ERROR CODES STORED AT THE PCPU 11 ERROR CODES STORED AT THE PCPU Errors detected at the PCPU include servo program setting errors positioning errors and control mode switching errors 1 Servo program setting errors Servo program setting errors consist of errors in the positioning data designated at the servo program A check occurs for these errors each time a servo program is started When positioning data is designated indirectly an error will occur if the designated data violates the prescribed range When an error is activated the following occ
58. calculated using the stroke ratio in the cam data table is output Feed present value stroke lower limit value stroke x stroke ratio The cam shaft present value in one revolution is determined by the travel value calculated by multiplying the drive module travel value by the transmission module gear ratio or other applicable value The number of pulses per stroke is controlled based on the travel value per pulse set in the fixed parameters in the REAL mode 8 19 8 OUTPUT MODULES 4 Switching the stroke and cam No during operation a It is possible to change the cam stroke and effective cam number during cam operation by using the sequence program b The stroke and cam No are changed by means of the address set in the stroke cam No change point setting made when creating the cam data When the stroke cam No change point is passed the stroke cam No is changed on the basis of the value in the stroke setting device and cam No setting device set in the cam parameters sii EXAMpIG gt pees eee eee eee eee eRe ESE eee eee ee Eeer The figure below shows the timing for switching between cam No 1 and cam No 2 and switching between stroke I1 and stroke I2 when the stroke cam No change point is set as O Cam shaft present value in one revolution PLS Nc Number of pulses per cam Nc 1 0 Nc 1 0 Nc 1 0 shaft revolution i i w o e Effective cam No 03 X a Effective stroke VE ARTE X 11 12 c
59. d See Appendix 2 for details about the refresh period of the clutch ON OFF status device END processing Sequence program operation END 0 END 0 pe yp yy ON Clutch ON OFF command device Clutch status device MAX 7 1ms Continuation from the present value when the clutch was OFF Continuation from the present value when the clutch Clutch OFF status Clutch ON status Clutch OFF status was OFF gt La gt Present value of input shaft Present value of output shaft Fig 7 2 Operation Timing for the ON OFF Mode 2 Address mode a In this mode the clutch is turned ON and OFF in accordance with the clutch ON OFF command device and the present value of the virtual axis effective when the mode setting device is set to 1 1 When the designated clutch ON address is reached while the clutch ON OFF command is ON the clutch is set to the ON status 2 When the designated OFF address is reached while the clutch ON OFF command is OFF the clutch is set to the OFF status b The clutch ON OFF control differs according to the type of output module connected 1 If the output module is a ball screw or roller ON OFF control is executed in accordance with the present value of the virtual axis If a differential gear is connected to the main shaft ON OFF control is executed in accordance with the present value after the main shaft s differential gear 2 If the output module
60. during emergency stop servo OFF or when the power is shut OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes In systems where perpendicular shaft dropping may be a problem during emergency stop servo OFF or when the power is shut OFF use both dynamic brakes and magnetic brakes The dynamic brakes must be used only during emergency stop and errors where servo OFF occurs These brakes must not be used for normal braking The brakes magnetic brakes assembled into the servomotor are for holding applications and must not be used for normal braking Construct the system so that there is a mechanical allowance allowing stopping even if the stroke end limit switch is passed through at the max speed Use wires and cables that have a wire diameter heat resistance and bending resistance compatible with the system N N AN A AN A A A AN N Use wires and cables within the length of the range described in A172SHCPU user s manual A171SHCPU user s manual or the instruction manual for the product you are using N The ratings and characteristics of the system parts other than control unit servo amplifier servomotor must be compatible with the control unit servo amplifier and servomotor A Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation N There may be some cases where holding by the magnetic brakes is no
61. e After executing a home position return the home position return request signal was servo program zero execute and PESO UF EE ON at an axis whose output module is not a switching M1609 20n OFF execute M2043 roller OFF ON switching M2043 OFF ON switching occurred when e Check the MR B servo motor and the 1025 to 1279 an all axes normal status M1608 20n ON wiring did not exist at the MR B M2043 OFF ON switching occurred when e Correct the fixed parameter or output a system of units setting discrepancy module system of units setting then write 1281 to 1535 0501 to O5FF existed between the fixed parameter and the data to the servo system CPU output module settings for an axis whose output module is not a roller M2043 OFF ON switching occurred when e Write the cam data to the servo system 1537 to 1791 0601 to OGFF a cam is set as the output module but no CPU cam data has been registered M2043 OFF ON switching occurred when e After writing the cam No No used at cam no cam No has been designated at the parameters to the cam No setting device 20490 2309 0801 10 08FF cam No setting device When setting in execute M2043 OFF ON switching cam No setting device is 0 11 28 11 ERROR CODES STORED AT THE PCPU Table 11 5 REAL VIRTUAL Mode Switching Error Code List Continued Error Codes Stored at 99195 Error Description Corrective Action Decimal Hexade
62. instruction does not poe No designated by the Setting error exist START command 2 A START instruction exists in the 2 Delete the servo program designated servo program which contains a START command 3 Duplicate START axes exist in the 3 Designate the START designated servo program axes without duplications Point setting During constant speed control there is START is disabled Designate a point between error no point designation in the instruction the CPSTART and CPEND instructions Reference axis During a reference axis speed START is disabled Designate one of the Speed setting designation in linear interpolation a interpolation axes as the error non interpolation axis was designated reference axis as the reference axis S curve ratio When designating the S curve An S curve ratio of 100 is Designate an S curve ratio setting error acceleration deceleration speed the S adopted within the 0 to 100 range curve ratio violated the 0 to 100 range VSTART No speed switching points were START is disabled Designate a speed switching setting error designated between the VSTART and point between the VSTART VEND instructions or between the and VEND instructions or FOR and NEXT instructions between the FOR and NEXT instructions Cancel function Cancel function start program number START is disabled Set the cancel function start 24 start program is not in the range 0 to 4095 program number in the range number
63. mode a In this mode the clutch is turned ON and OFF in accordance with the ON OFF status of the clutch ON OFF command device 1 When the clutch ON OFF command device comes ON the clutch is set to the ON status 2 When the clutch ON OFF command device goes OFF the clutch is set to the OFF status b In the ON OFF mode there is a maximum time lapse of 7 1 ms between the ON OFF of the clutch ON OFF device and the clutch being set to the ON OFF status If greater accuracy is required use the address mode c The clutch ON OFF status can be checked by means of the clutch ON OFF status device Corresponding Device Connected Module A172SHCPU A171SHCPU Sankt Drive shaft shaft wan O m94 utput module for axis p Auxiliary input shaft M1985 M1985 f Drive shaft M1986 M1986 Output module for axis 2 Auxiliary input shaft M1987 M1987 Drive shaft M1988 M1988 Output module for axis 3 Auxiliary input shaft M1989 M1989 Drive shaft M1990 M1990 Output module for axis 4 mE Auxiliary input shaft M1991 M1991 Drive shaft M1992 SE Output module for axis 5 Auxiliary input shaft M1993 O a 3 Drive shaft M1994 Output module for axis 6 Auxiliary input shaft M1995 mp E Drive shaft m99 Output module for axis 7 ae Auxiliary input shaft M1997 IJ Drive shaft wan Output module for axis 8 TEES Auxiliary input shaft M1999 I xt i 7 TRANSMISSION MODULE
64. module or the relevant slot Base information for the module where the after which operation base unit is probably error occurred cannot be started faulty replace the module 0 Main base unit base unit 200 201 Hardware error in SSCNET interface SST 250 A___ SSCNET number where error occurred A E Replace the CPU unit 251 0 SSCNET 1 Amplifier connection interface 1 SSCNET 2 Personal computer link connection interface PCPU software error 3 Reset with the reset key Check internal SPRM program parameters then ROM data in the FLASH perform operations from ROM is not loaded into the ROM encoding to ROM In defining the ROM operation mode ROM data in the FLASH internal SRAM and the operation mode setting ROM is not correct invalid registration code when the CPU is ROM operation mode is again If the same error switched on not set The CPU is recurs the service life of placed in the stopped state the FLASH ROM is and is never initiated expired Operate the CPU unit in the ROM operation mode or replace it 3 Servo amplifier type D9185 D9186 e E A vases N AE ee Data sent from PCPU to SCPU When a servo system CPU power ON or reset occurs the servo amplifier type designated at the system settings will be stored a When A172SHCPU is used b15tob12 bi1tob8 b7tob4 b3tobi D9185 Axis 4 Axis 3 Axis 2 Axis 1 E Unused axis D9186 Axis8 Axis 7 Axis 6 Axis 5 2 Separated amplifier b When A171SH
65. of an axis that is stopped is changed the feed present value after the change is stored in the register 2 The setting range of the present value change register is 2147483648 2 pulse to 2147483647 2 1 pulse 3 When the positioning control change instruction DSFLP CHGA is executed the value set in the present value change register becomes the feed present value 6 DRIVE MODULE b Speed change register D962 6n Data sent from SCPU to PCPU 1 When a speed change occurs at an axis in motion the new speed is stored in this register 2 The speed change register s setting range is 1 to 1000000 pulse s 3 When a positioning control change instruction DSFLP CHGV is executed the value designated in the speed change register will become the positioning speed value 1 For details regarding the positioning control change instructions see Section 5 4 of the Motion Controller SV13 22 Programming Manual REAL Mode c JOG speed setting register D964 6n Data sent from SCPU to PCPU 1 The JOG speed which is used at JOG operations is stored in this register 2 The JOG speed setting range is 1 to 1000000 pulse s 3 The JOG speed setting stored in this register is adopted at the leading edge OFF ON of the JOG START signal Even if the JOG speed setting is changed while a JOG operation is in progress the JOG speed will remain unchanged 4 For details regarding JOG operation
66. position system 2 5 2 3 Differences Between the REAL and VIRTUAL Modes eee emm een 2 6 2 91 Positioning data ire DUBAI gii 2 6 2 9 2 Positioning device 2 ee LIRE SENA aV EEIN daN SEUES EA o DR nad Rp nad X dn aided 2 6 2 9 9 Servo proga EE 2 7 2 3 4 Control change present value change amp speed change 2 8 3 PERFORMANCE SPECIFICATIONS eeeseeeeeeieee ee eeeeeenn sen nn nn nnn nnn nn ansia sanis nn nn nana 3 1 to 3 2 4 SERVO SYSTEM GPU DEVI CES 5 ennt eite eiue 4 1 to 4 35 4 1 Internal Relays iiti her i ie t de d iet chere 4 1 41 1 Internalirelay E EE 4 1 4 1 2 Each axis status eI pest NEEN ENEE 4 3 4 1 8 Command signals of each ais 4 3 4 1 4 Virtual servo motor axis status sssssssseeeeeeene nennen nnne nennen nnne nnns 4 4 4 1 5 Virtual servo motor axis command aionals enne nnn 4 4 4 1 6 Synchronous encoder axis status 4 5 4 1 7 Synchronous encoder axis command signals sssseseesieesieesiresitsrietrinttinttnnstnnntnnntnnnennnnnnt 4 5 4 1 8 Commo devices ci eerte ete eade ar eet ob E 4 6 4 2 Data Begisters tote Ee eM 4 16 4 24 Data reoteterJet tege ordeo eee doe eee eese ine oe e rae eine 4 16 4 2 2 Monitor devices of each avis 4 18 4 2 3 Control change registers eene en nentes nennen ener nns 4 18 4 2 4 Virtual servo motor axis monitor devices eene eene nennen 4 19 4 2 5 Virtual servo motor axis main shaf
67. positioning START is disabled The travel value setting setting error control the travel value setting is as should be designated within center point follows 2147483648 H80000000 the range 0 to 2147483647 setting for circular interpolation setting error setting range pulse s is adopted within the setting range Acceleration The acceleration time is O The default value of 1000 is Designate an acceleration time setting adopted time within the range 1 to error 65535 Deceleration The deceleration time is 0 Designate a deceleration time time setting within the range 1 to 65535 error Rapid stop The rapid stop deceleration time is O Designate a rapid stop deceleration deceleration time setting time setting within the range 1 to 65535 error Allowable error The allowable error range for circular The default value of 100 Designate the allowable error range for interpolation setting violates the PLS is adopted range for circular circular prescribed setting range interpolation setting within interpolation the prescribed setting range setting error System of Address setting range units The number of repeats setting A number of repeats setting repeats setting violates the prescribed setting range 1 of 1 is adopted repeats setting within the error to 32767 range 1 to 32767 START 1 The servo program designated by START is disabled 1 Create the servo program instruction the START
68. proceeds in the direction that has been set thus also making it possible to move in a direction that exceeds 32 bits e Startup proceeds in the set direction and thus it is possible to proceed Fixed pitch feed B Lu in a direction that exceeds 32 bits Position follow up The set address is controlled by the absolute method so that startup in High speed oscillation a direction that exceeds 32 bits is not possible e Stroke is disabled Moves in the set direction Manual pulse generation Positioning Circular A start error 107 108 109 accompanies the ABS or INC command Constant speed Circular and startup is not possible Constant speed Linear 7 Reverse return during positioning By setting a negative speed and carrying out a speed change request using the CHGV or DSFLP instruction while startup is in progress it is possible to initiate deceleration at that point and return in the reverse direction once deceleration is completed The following operations are possible via use of servo commands Control Mode The direction of movement is reversed when deceleration Linear control is complete the servo returns to the positioning starting point using the absolute value of the set speed and then stops stand by In the case of circular interpolation the Circular interpolation control servo returns along the circular orbit Fixed pitch feed The direction of movement is reversed when deceleration is complete th
69. range ratio setting e Amount of slip setting device Amount of slip 0 e Correct the amount of slip 5330 is out of range controlled as setting direct clutch Torque control limit setting Controlled with Correct the torque control limit device is out of range 300 offset setting Present value in one virtual Monitoring of Correct the present value in axis revolution storage device present value in one virtual axis revolution main shaft side is out of one virtual axis main shaft side setting range revolution main shaft side not possible Present value in one virtual Monitoring of Correct the present value in axis revolution storage device present value in one virtual axis revolution auxiliary input shaft side one virtual axis auxiliary input shaft side storage device is out of range revolution setting auxiliary input shaft side not Minor 5350 535 Errors 5360 536 EE ba ba possible e Stroke lower limit value Monitoring of Correct the stroke lower limit storage device is out of range stroke lower limit value setting value not possible Number of gear teeth at input Related systems Correct the number of gear shaft setting device is out of inoperative teeth at input shaft setting range Number of gear teeth at output Correct the number of gear shaft setting device is out of teeth at output shaft setting range e Number of gear teeth at input Correct the number
70. see Section 7 19 of the Motion Controller SV13 22 Programming Manual REAL Mode 2 Present value change a Present value change by the CHGA instruction A program example is illustrated below Virtual servo motor present value change program when the virtual servo motor axis 1 feed present value is changed to 1000 pulses Virtual servo axis No Setting of the present value change Command M2044 M2021 o H CHGV Jt K1000 1 M2001 Start accept flag see section 4 2 2 2 M2044 REAL mode VIRTUAL mode status flag see section 4 2 20 6 DRIVE MODULE b Present value change by the DSFLP instruction A program example is illustrated below Virtual servo motor present value change program when the virtual servo motor axis 1 feed present value is changed to 12345 pulses Setting of the present value change Virtual servo motor axis present value register to be changed Command M2044 M2001 I ee Present value change setting Virtual servo motor axis to be changed 1 M2001 Start accept flag see section 4 1 8 2 2 M2044 REAL mode VIRTUAL mode status flag see section 4 1 8 13 6 3 2 Synchronous encoder control change 1 Present value change by the CHGA instruction A program example is given below Synchronous encoder present value change program when encoder No 1 is changed to a value of 20000 pulses Encoder No setting Setting of the present value change Command M2044 M203
71. stop e After resetting the servo system CPU re align the output module then switch to the VIRTUAL mode to resume operation Operation cannot be resumed due to a synchronization discrepancy between the virtual axis and output module which occurs at the stop e After resetting the servo system CPU re align the output module then switch to the VIRTUAL mode to resume operation Operation cannot be resumed due to a synchronization discrepancy between the virtual axis and output module which occurs at the stop e After resetting the servo system CPU re align the output module then switch to the VIRTUAL mode to resume operation Eliminate the error cause to enable a START Servo switches OFF after immediate stop immediate stop m Servo switches OFF after Relevant error e Deceleration to stop based on set smoothing time constant Relevant error e Deceleration to stop based on Return to the REAL mode re align the axes then switch to set smoothing time constant x the VIRTUAL mode to resume operation 9 10 10 AUXILIARY APPLIED FUNCTIONS 10 AUXILIARY APPLIED FUNCTIONS 10 1 Present Value Change Speed Change Virtual servo motor present value changes speed changes and synchronous encoder present value changes are explained here Present value changes are carried out using the CHGA instruction while speed changes are performed using the CHGV instruction In addition when A172SHCPU or
72. system program was servo system CPU registered 512 0200 Error Description Corrective Action e M2043 OFF ON switching occurred when e Designate the same axis No at both the a discrepancy existed between the axis No System settings and the mechanical system designated at the system settings and that program then write the data to the servo designated at the mechanical system system CPU program output shaft No e M2043 OFF ON switching occurred when e After switching the PC READY and PCPU 513 0201 the programmable controller READY signal READY signals ON execute M2043 OFF gt M2000 or the PCPU READY signal ON switching M9074 was OFF e M2043 OFF ON switching occurred when e Switch M2042 ON switch the all axes servo 0202 the all axes servo START command flag START accept flag ON then execute M2042 was OFF M2043 OFF ON switching e M2043 OFF ON switching occurred when e Switch the external emergency stop signal 0203 the external emergency stop EMG signal OFF then execute M2043 OFF ON was ON switching e M2043 OFF ON switching occurred When a servo error reset occurred by during servo START processing which was switching the M1808 20n signal ON switch 0204 occurring in response to an ADU axis servo the servo error detection signal 514 515 16 5 error reset command M1808 20n M1608 20n OFF then execute M2043 OFF ON switching M2043 OFF ON switching occurred when
73. the fixed parameters can be any of the following mm inch degree pulse 2 Roller diameter L Number of pulses per roller revolution NL a These are the settings for the roller diameter and number of pulses per roller revolution for the roller connected to the servomotor Number of pulses per roller revolution NL Roller diameter L b The roller peripheral velocity is calculated from the roller diameter and number of pulses per roller revolution in accordance with the formula below 1 When the units are millimeters Roller periheral velocity number of input per minute x mL NL mm min L mm 2 When the units are inches xxL Roller periheral velocity number of input per minute x ND mm min L mm An integral value obtained by raising 10 to power of the result of calculations 1 and 2 is stored in the roller peripheral velocity register 8 5 8 OUTPUT MODULES 3 Permissible droop pulse value a This is the setting for the permissible number of droop pulses at the deviation counter b The deviation counter value is continually monitored and if it becomes larger than the permissible droop pulse value the error detection signal M1607 20n comes ON However since operation of the roller shaft continues the user must execute the appropriate error processing 4 Speed control limit VL a This is the setting for the maximum speed of the roller shaft b Set the speed limit
74. the limit switch output data creation procedure refer to the SW2SRX SW2NX GSV22P SWOSRX SWONX CAMP Operating Manual 1 Limit switch output data storage area The limit switch output data set in the cam axis present value in one revolution mode see section 8 4 3 11 12 is stored in internal memory 8 OUTPUT MODULES 8 5 Common Devices Input Output Internal Relays Data Registers The I Os internal relays and data registers used in the output modules are explained here 8 5 1 Internal relays M 1 Internal relay M list a Status of each axis SV22C SV22F Device Device Signal Name N No o O Valid M1600 M1600 to to MIRTUAL Refresh Fetch efres etc i IN REAL M1619 M1619 Signal Name oer Bo ed Cam Direction Cycle Cycle crew able Positioni tart wee us o rmi om ore orr or to to wieso neos ID Positioning completes o ore ore ore OFF 2 nmpoion o o o o o 3 Command in position O OFF OFF OFF OFF M1640 M1640 Speed control in OFF OFF OFF t to progress M1659 M1659 iti itchi 5 Speed position switching OFF OFF OFF latch FF 6 Zeopss O O M1660 M1660 M1679 M1679 8 Sevoemordetecion o o M1680 to M1699 ES SC nal E request m ep completed 11 External signalFis O o O i2 ExemalsigaeRiS o o O M1700 i mal M1719 EX SC Imme diately 3 5ms 10ms SCPU PCPU 3 91 c w oa o
75. the position at which the stroke cam No is switched during operation b When the set switching position range 0 to resolution 1 is reached a Switch is made to the set stroke and cam No provided the stroke and cam No are normal 8 OUTPUT MODULES 4 Control mode a This is the setting for the two way cam mode or feed cam mode 1 Two way cam mode A two way operation is repeated between the stroke lower limit position lower dead point and the range set for the stroke Stroke Stroke lower limit position lower dead point Cam pattern Operation example Output value 4 address Stroke 0 Stroke lower limit R cycle 1 cam shaft revolution Resolution Stroke TAS ae ae Stroke lower limit t V A 2 Feed cam mode aa With the stroke lower limit value lower dead point as the operation start position positioning is executed by feeding one stroke length per cycle in a fixed direction Stroke Present gt value 1 cycle 1 cycle 1 cycle gt La Stroke lower limit value Operation example Output value address Stroke Resolution 1 sl I I 1 I 1 I 1 1 1 1 4 Stroke lower limit 1 cycle ii 1 cycle H E e 8 OUTPUT MODULES 5 Cam data table a The cam data table is generated by setting the stroke ratio
76. will not be changed Immediate input stop Operation is continued Corrective Action Designate the speed switching point some where between the previous speed switching point address and the END point address Correct the sequence program When the control system of units is degrees designate an address within the 0 to 35999999 range Set the address in the stroke limit range Designate speed within the 1 to speed limit value range Establish an interlock condition for the devices shown below and avoid present value changes during axis motion 1 Relevant axis START accept signal M2001 to M2008 M2001 to M2004 OFF 2 Servo START signal M1615 20n ON Do not make speed changes during circular interpolation Do not make speed changes following the start of positioning deceleration Do not make speed changes during deceleration which is occurring in response to the JOG START signal M1402 20n M1403 20n being switched OFF Designated the post change speed within the 0 to speed limit value range Designated the absolute value of the post change speed within the 0 to speed limit value range Designate a value within the 0 to 35999999 x10 degrees range Check the A172SENC A171SENC or the encoder H W replacement e Check the encoder cable Replace the battery Replace battery or check the hardware at the A172SENC A171SENC 1
77. 0n M1404 20n represents the numerical value EE to the virtual axis No RE ane eae we EE EE eee at7asHopu 1 2 3 4 5 6 7 6 Satake eee mu Virtual axis No A171SHCPU 6 12 6 DRIVE MODULE b Positioning completed signal M1201 20n 1 This signal switches ON when positioning is completed at the axis designated by a DSFLP SVST instruction in the sequence program This signal will not switch ON when JOG or speed control operations are started or when they are stopped while in progress This signal can be used for M code readouts when positioning is completed 2 The positioning completed signal will switch OFF at the leading edge OFF ON of the completed signal OFF command M1404 20n or when a positioning START is completed 1 At leading edge of Yn4 completed signal OFF command OFF ON Dwell time DSFRP SVST instruction ON START accept OFF M2001 n Positioning START completed OFF M1201 20n ON Completed signal OFF OFF command M1404 20n 2 When next positioning control START is completed Positioning completed d Dwell time IN d ES START lt gt t DSFRP SVST instruction START accept M2001 n Positioning START completed M1201 20n 6 13 6 DRIVE MODULE c Command in position command M1203 20n 1 This signal switches ON when the absolute difference between the command position and the present value is less than the command in
78. 1 L 4 a The change in the present value and speed are set using the devices described below e Indirect setting Data register D Link register W Double word File register R Direct setting Decimal constant K b The encoder No setting range is described below e Encoder No 1 E1 6 DRIVE MODULE c Precautions e When a synchronous encoder present value change is carried out in the REAL mode an error will occur and the present value change will not be carried out e A synchronous encoder present value change can be executed in the VIRTUAL mode even while operation is in progress during pulse input from the synchronous encoder When the present value is changed the synchronous encoder present value will be continued from the changed value e Even if a synchronous encoder present value change is carried out it will have no effect on the output module present value 1 M2044 REAL mode VIRTUAL mode status flag see section 4 1 8 13 2 Present value change by the DSFLP instruction Synchronous encoder present value change program when encoder No 1 is changed to a value of 12345 pulses Setting of the present value change 1 Optional device Command M2044 a ers Encoder No setting 2 in the case of E1 Device set in 1 a The devices that can be used in D and n described above are given below E ege Gate Baseng Data register D Link register W
79. 1 ERROR CODES STORED AT THE PCPU 11 4 Servo Errors 1 Servo amplifier errors 2000 to 2799 The servo amplifier errors are errors detected by the servo amplifier and are assigned error codes 2000 to 2799 In the following tables the types of servo amplifier are indicated for MR B The servo error detection signal M1608 20n comes ON when a servo error occurs Eliminate the cause of the error reset the error by turning ON the servo error reset signal M1808 20n and reset operation Note that the servo error detection signal will not come ON in response to error codes in the range 2100 to 2499 because these codes are for warnings Note 1 When an excessive regeneration error code 2030 or overload 1 or 2 error codes 2050 2051 occurs the state that applied when the error occurred is stored in the servo amplifier even after the protection circuit has operated The memory contents are cleared if the external power supply is turned OFF but are not cleared by the RESET signal 2 Repeated resetting by turning OFF the external power supply after occurrence of error code 2030 2050 or 2051 may cause devices to be destroyed by overheating Only restart operation after eliminating the cause of the error Details of servo errors are given in Table 11 3 N If a controller or servo amplifier self diagnosis error occurs check the points stated in this manual and clear the error 11 11 11 ERROR CODES STORED AT THE
80. 1404 20n This command is used to switch the positioning START completed signal M1200 20n and the positioning completed signal M1201 20n OFF in the sequence program Dwell time ON i Positioning START completed opp A M1200 20n Positioning completed q M1201 20n OFF Completed signal OFF OFF command M1404 20n Do not switch the completed signal OFF command ON by a PLS instruction Such an action will make it impossible to switch the positioning START completed signal M1200 20n and the positioning completed signal M1201 20n OFF e Error reset command M1407 20n 1 The error reset command is used to clear the minor or major error code storage area of the virtual servo motor for which an error has been detected and to reset the error detection signal 2 The following processing is carried out when the error reset command comes ON e f the virtual servo motor and output module are normal the minor and major error code storage areas are cleared and the error detection signal is reset e f the virtual servo motor and output module error has not been canceled the error code is again stored in the minor major error code storage area In this case the error detection signal M1207 20n remains ON Do not turn the error reset command M1407 20n ON using the PLS command If itis set to ON using the PLS command it may not be possible to carry out error reset
81. 2 Motion Controller SW2SRX SW2NX GSV22PE SV13 22 SWOSRX SWONX CAMPE Programming Manual Operating Manual REAL Mode Section 12 2 Start up servo by peripheral device Execute home position return test Sections 7 19 Sections 12 4 by JOG manual pulse generator to 7 21 to 12 6 operation REAL Adjust cam setting axis Mode bottom dead center stroke amount adjustments etc VIRTUAL mode operation START position alignment Y Designate data settings at parameter setting device Section 8 5 Chapter 6 to 8 mul Switch from REAL mode to VIRTUAL mode Chapter 9 Y Designate operation START address by present value change procedure Start drive module Chapter 6 operation motion Chapter 10 Section 8 8 VIRTUAL Mode Y Check operation status at servo monitor amp mechanical device Chapter 13 monitor Chapter 14 Execute clutch ON OFF switching Section 7 2 to check operation 2 PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL 2 2 2 2 1 Operation The preparation procedure for VIRTUAL mode operation is shown below Operation with incremental system REAL Mo de The operation procedure when an incremental system is used is shown below START Switch power supply unit ON Y Turn the PC READY signal M2000 ON Y Execute an all axes servo START request switch M
82. 2 monitor devices 2 monitor devices HEN ii 6 points x 8 axes 6 points x 8 axes 3 D724 User devices d SR NN D748 Synchronous encoder Synchronous encoder axis Back axis 2 monitor device 2 monitor device HEN BH 4 points x 1 axis 5 4 points x 1 axis 5 Unusable 8 points D752 _Unusable 8 points D760 Cam axis monitor devices Back 2 5 points x 8 axes 7 Cam axis monitor devices Back 2 up 5 points x 4 axes 7 D800 Axis monitor device 20 points x 8 axes REAL mode Each axis VIRTUAL mode Output modules D780 User devices 20 points D960 Control change registers 6 points x 8 axes Axis monitor device 20 points x 4 axes REAL mode Each axis VIRTUAL mode Output modules 1 D1008 Common devices 16 points D1023 cp o o x up NM E d Deso Unusable gie umm Baa 6 points x 4 axes Doa Unable 24 points D1008 Common devices 16 points D1023 8 4 16 4 SERVO SYSTEM CPU DEVICES 2 The virtual servo motor axis synchronous encoder axis cam axis monitor device occupy only the areas of the axes set in the mechanical system program The area of an axis that is not set in the mechanical system program can be used by the user Total number of points for the user devices A172SHCPU 670 points A171SHCPU 722 points 4 17 4 SERVO SYSTEM CPU DEVICES 4 2 2 Monitor devices of each axis 9 M72SHCPU A171SHCPI S
83. 2 3 4 Control change present value change amp speed change When a control change is executed in the VIRTUAL mode the drive module s feed present value and speed will change Control changes are not possible for the output module The differences between control changes in the REAL and VIRTUAL modes are shown in Table 2 6 below Table 2 6 Control Changes in the REAL amp VIRTUAL Modes eee Mode REAL DriveModue Module Output Module Mode VIRTUAL Synchronous Ball Rotary Servo motor Encoder Screw Table The programming method for a synchronous encoder present value change is different NE a RR Appendix 10 1 1 Speed change 1 The O A x symbols used in Table 2 6 indicate the following e O Setting execution possible e A Execution possible but programming method is different e x Setting execution impossible 2 If the output module is a roller which uses a speed change gear a speed change can be executed by changing the speed change gear ratio 3 For details regarding the drive and output modules refer to the sections shown below Drive module Chapters 5 amp 6 e Output module Chapters 5 amp 8 3 PERFORMANCE SPECIFICATIONS 3 Performance Specifications Table 3 1 gives the performance specifications of the PCPU Table 3 1 PCPU Performance Specifications VIRTUAL Mode Hem O A172SHCPU ATTISHCPU Number of control axes Control modes Synchronous control Virtual serv
84. 2042 ON Y Execute a home position return VIRTUAL mode operation START position alignment Y setting device Y mode VIRTUAL Mode Y Designate operation START address by present value change procedure Execute VIRTUAL mode operation Designate data settings at parameter Switch from REAL mode to VIRTUAL Reference Section Section 4 1 Section 4 1 Section 8 5 Chapter 6 to 8 Chapter 9 Chapter 10 Reference Manual Motion Controller SV13 22 Programming Manual REAL Mode Section 7 21 Section 8 8 2 PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL 2 2 2 Operation with an absolute absolute position system The operation procedure when an absolute system is used is shown below Reference Section Reference Manual Motion Controller SV13 22 START Programming Manual REAL Mode Switch the power supply unit ON Turn the PC READY signal ee eo dese e a et amar s Section 4 1 M2000 ON Execute an al axes servo START uuu Section 4 1 request switch M2042 ON Is the home NO position return request d signal ON Section 3 1 YES Section 7 21 Execute a home position return Section 8 5 1 REAL Is the contunua Mode tion disabled warning signal ON VIRTUAL mode operation START Section 8 5 position alignment Se ee ee ee
85. 2046 Synchronization discrepancy EE PCPU M2046 Synchronization discrepancy o o warning warning M2047 Motion slot module error M2047 Motion slot module error detection flag detection flag The END of the refresh cycle is the longer of 80 ms and the sequence program scan time c When M2000 is switched from OFF to ON the following processing occurs 1 Processing details e The servo parameters are transferred to the servo amplifier e The M code storage area for all axes is cleared e The default value of 300 is set in the torque limit value storage area e The PCPU READY completed flag M9074 is turned ON 2 If there is an axis currently being driven an error occurs and the processing in 3 a above is not executed 3 While the test mode is in effect the processing in 3 a above is not executed When the test mode is cancelled the processing in 3 a will be executed if M2000 is ON Start of positioning Deceleration to stop PC ready flag M2000 PCPU READY com pleted flag i NC M9074 The PCPU READY completed flag M9074 does not come ON because deceleration is in progress Servo parameters set in the servo amplifiers Clearance of M codes 4 SERVO SYSTEM CPU DEVICES d When M2000 turns OFF the following processing is executed 1 Processing details e The PCPU READY flag M9074 is turned OFF Operating axes are decelerated to a stop The PC READY flag M2000 switches
86. 66 M1967 M1968 Maes M1970 Mi971 Mi972 M1973 Mi974 Mi975 Weg M1977 M1978 Mi979 M1980 Mi981 M1982 M1983 M1984 E M1988 Mi990 M1992 ES Mi996 S 018 019 020 021 022 023 024 025 026 027 028 029 030 031 032 033 M2034 Signal Name Unusable 24 points Output axis 1 Output axis 2 Output 3 Output axis 4 Output axis 5 Output axis 6 Output axis 7 Output axis 8 t H H H H H H 000 PC READY flag SCPU PCPU Start accept flag Al axes s Unusable 2 points Manual pulse generator 1 x Unusable 2 points M2015 YOG simultaneous start ofo command Unusable 4 points START buffer full D Axis 8 6 points PC link communication error flag Unusable 5 points Speed change in progress flag A172SHCPU Signal Refresh Fetch Direction Cycle Cycle 10ms 10ms Device i Signal Name M1960 M1961 M1962 M1963 M1964 M1965 M1966 M1967 M1968 M1969 M1970 M1971 M1972 M1973 M1974 M1975 M1976 M1977 M1978 M1979 M1980 M1981 M1982 M1983 M1985 M1986 M1987 M1988 M1989 M1990 M1991 M1992 M1993 M1994 M1995 M1996 M1997 M1998 M1999 Unusable 24 points PC READY flag Start accept flag 4 points Auxiliary input axis side Main shaft side Main shaft side Auxiliary input axis side Output Mansha at axis side Outp
87. 807 20n i Servo error code register D808 20n Data sent from PCPU to SCPU 1 When a servo error occurs the corresponding error code is stored at this register Each time a subsequent error occurs the stored error code is replaced by the new error code 2 When a servo error occurs the system returns to the REAL mode j Torque limit value register D814 20n Data sent from PCPU to SCPU The designated servo torque limit value is stored at this register A torque limit value of 300 is stored here when the servo power is switched ON and at the leading edge of the programmable controller READY M2000 signal 9 REAL amp VIRTUAL MODE SWITCHING AND STOP RESTART 9 REAL amp VIRTUAL MODE SWITCHING AND STOP RESTART This section discusses the procedure for switching between the REAL and VIRTUAL modes and the data items which are checked when such switching occurs 1 Switching between the REAL amp VIRTUAL modes Switching between the REAL amp VIRTUAL modes is executed by switching the M2043 signal REAL VIRTUAL mode switch request flag ON and OFF e For REAL mode A REAL mode switching request occurs when M2043 is switched from ON to OFF e For VIRTUAL mode A VIRTUAL mode switching request occurs when M2043 is switched from OFF to ON 2 REAL amp VIRTUAL mode confirmation The present control mode status REAL or VIRTUAL is confirmed by the ON OFF status of the M2044 signal REA
88. A171SHCPU is used it is also possible to carry out present value change speed change using the DSFLP instruction For details regarding the CHGA CHGV and DSFLP instructions refer to the Motion Controller SV13 22 REAL Mode Programming Manual 10 1 1 Present value change by CHGA instruction and speed change by CHGV instruction Program examples are illustrated below 1 Virtual servo motor present value change program Axis No Present value etting Command M2044 M2001 4 2 Virtual servo motor speed change program Axis No Present value setting Command M2044 M2021 I4 1 M2001 Start accept flag see section 4 1 8 2 2 M2044 REAL mode VIRTUAL mode status flag see section 4 1 8 13 3 M2021 Speed change in progress flag see section 4 1 8 7 10 1 10 AUXILIARY APPLIED FUNCTIONS 3 Synchronous encoder present value change program Command M2044 B a The change in the present value and speed are set using the devices described below Encoder No setting Present value setting e Indirect setting Data register D Link register W double word File register R e Direct setting Decimal constant K b The encoder No setting range is described below e When A172SHCPU is used E1 e When A171SHCPU is used E1 c Precautions e When a synchronous encoder present value change is carried out in the
89. AL MODE SWITCHING AND STOP RESTART Affected Virtual Axis Stop Processing Return to Synchroni REAL Mode zation All Axes Virtual Servo Synchronous a Discrepancy Batch Motor Axis Encoder Axis Warning Axes Stop M2046 set Stop Procedure or Virtual Synchrono Stop Causes during Operation Servo us Encoder Motor Axis Axis Stop command ON O 1 Relevant axis Completed Deceleration to stop Rapid stop command O ON Relevant Rapid stop axis All axes servo OFF command M2042 OFF Command from peripheral device when in TEST mode Deceleration Immediate to stop input stop Deceleration Immediate to stop input stop Deceleration Immediate to stop input stop Immediate A npu SEP Deceleration to stop Immediate Rapid stop input stop Immediate Rapid stop input stop Deceleration Immediate to stop input stop Immediate Immediate stop input stop PC READY M2000 4 OFF Servo system CPU stop All axes rapid stop by key input from peripheral device Stop by key input from peripheral device during TEST mode External emergency stop EMG input emergency stop from teaching module N All axes Servo error at any output module SCPU WDT error 10 PCPU WDT error 1 1 Servo system CPU reset Immediate Immediate stop input stop Servo system CPU power OFF Immediate Immediate stop input stop Deceleration to stop Immediate input sto
90. Axis 2 ABS 2 Axis 1 Axis 2 ABS 2 Negative speed change Axis 1 Axis 2 BEND Start point Start request SVST Start recption M200n Speed change request CHGV Changed speed Composite speed Command in position Return operation to point P1 OFF Speed change 0 receive in progress flag As shown above when a speed change is carried out to a negative speed while execution of positioning at P2 is in progress the system returns to P1 in accordance with the start set in the program and waits in stand by at P1 POINTS 1 If the M code FIN wait function is used in constant speed control and a reverse return request is carried out during FIN wait stoppage the request will be ignored 2 In the above example if the reverse return request return is carried out just prior to P2 Axis 2 and P2 is passed during deceleration the system will return to P2 carried out here A172SHCPU and A171SHCPU have no Reverse return request dedicated positioning device Start point for the speed change 0 receiving in progress flag 6 DRIVE MODULE 6 1 2 Parameter list The virtual servo motor parameters are shown in Table 6 1 Parameters shown in this table are explained in items 1 to 4 below For details regarding the virtual servo motor parameter setting procedure refer to the SW2SRX GSV22PE SWOIX CAMPE Operating Manual Table 6 1 Parameter Li
91. CPU is used b15tob12 b11tob8 b7tob4 b3 to b1 D9185 Axis 4 Axis 3 Axis 2 Axis 1 D9186 4 SERVO SYSTEM CPU DEVICES 4 Manual pulse generator axis setting error D9187 EE Data sent from PCPU to SCPU When an error is detected in checking the setting at the leading edge of the manual pulse generator enable signal the contents of the error are set in D9187 and the manual pulse generator axis setting error flag M9077 comes ON a When A172SHCPU is used b15 b14 b13 b12 bii bin b9 b8 b7 to b4 b3 b2 bi bO Axis Axis Axis Axis Axis Axis Axis Axis D9187 8 7 6 5 4 3 2 1 0 P1 0 P1 V E tes ad Stores axis setting errors for manual pulse generator 0 Normal 1 Setting error Axis setting outside the 1 to 8 range Stores smoothing magnification setting errors for the manual pulse generator 0 Normal 1 Setting error Magnification setting outside the 1 to 59 range 1 pulse input magnification setting errors stored for each axis 0 Normal 1 Setting error Input magnification setting outside the 1 to 100 range b When A171SHCPU is used b15 to b12 b11 b10 b9 b8 b7 Axis Axis Axis Axi D9187 0 Eis x zis xis P1 E Stores axis setting errors for manual pulse generator 0 Normal 1 Setting error Axis setting outside the 1 to 4 range Stores smoothing magnification setting errors for the manual pulse generator
92. D LY3C LY3B LY38 LY37 LY34 LY33 LY32 LY31 LY30 For axis 8 l For axis 7 1 Each bit setting is designated as 1 or 0 1 Disable Limit switch output remains OFF 0 Enable Limit switch output turns ON and OFF in accordance with the set data 2 The LY of LYOO to LY3F indicates the limit switch output b When A171SHCPU is used b15 bi4 bi3 bi2 bii b10 b9 b6 b5 b4 b3 b2 b1 b0 LYOF LYOE LYOD LYOC LYOB LYOA LY09 LYO7 LYO6 LYO5 LY04 LYO3 LYO2 LYO1 LYOO For axis 2 9 For axis 1 9 LY1F LY1E LY1D LY1C LY1B LY1A LY19 LY18 LY17 LY16 LY15 LY14 LY13 LY12 LY11 LY10 For axis 4 ka For axis 3 _ gt 1 Each bit setting is designated as 1 or 0 1 Disable Limit switch output remains OFF 0 Enable Limit switch output turns ON and OFF in accordance with the set data 2 The LY of LYOO to LY1F indicates the limit switch output 4 SERVO SYSTEM CPU DEVICES 2 Register for setting virtual servo motor axis numbers controlled by manual pulse generators D1012 Data from the SCPU to the PCPU a The register stores the virtua
93. E 3 When the differential gear is used to connect to the virtual main shaft This is used for operation in which the main shaft is switched or when the same drive module is used as auxiliary input to control all blocks Virtual servomotor Input shaft DP Differential gear synchronous encoder out shafi Output sha Virtual main shaft pa Auxiliary input shaft Drive module Set different drive modules for the virtual main shaft side and auxiliary input shaft side lt Conventional mechanical system program gt a lt gt The mechanical modules enclosed by the dotted line frames take the place of the following elements and the mechanical module processing time coefficient can be eliminated e Deferential gear nn 1 Drive module at auxiliary shaft side 1 Same drive module 7 4 2 Parameters setting not necessary No parameters need to be set for the differential gear 8 OUTPUT MODULES 8 OUTPUT MODULES Determine which of the following categories the mechanism actually controlled by the output module falls under and set the parameters in accordance with that mechanism e Hollers Section 8 1 e Ball screws Section 8 2 e Rotary tables Section 8 3 e Cams iiinn Section 8 4 1 Output module types a Roller This is set when the final output axis is used to carry out speed con
94. ELEX J 24532 CABLE MELCO TOKYO NAGOYA WORKS 1 14 YADA MINAMI 5 HIGASHI KU NAGOYA JAPAN IB NA 67397 B 9804 MEE Printed in J apan Specifications subject to change without notice
95. EST mode is completed 2 This signal switches OFF when a positioning start JOG start or manual pulse generator start occurs 3 If a home position return is attempted by the servo program while this home position return completed signal is ON the consecutive home position return start error will be activated and the home position return operation will not be started Near zero point dog type home position returns only 8 OUTPUT MODULES g FLS signal M1611 20n 1 The FLS signal is controlled according to the ON OFF status of upper limit switch inputs FLS to the A172SENC or A171SENC from an external source Upper limit switch input OFF FLS signal ON e Upper limit switch input ON FLS signal OFF 2 The upper limit switch FLS status at FLS signal ON OFF is shown below When FLS signal is ON When FLS signal is OFF A1728ENC A171SENC A172SENC A171SENC FLS FLS FLS o FLS B COM B 4 com h RLS Signal M1612 20n 1 The RLS signal is controlled according to the ON OFF status of lower limit switch inputs RLS to the A172SENC or A171SENC from an external source e Lower limit switch input OFF RLS signal ON e Lower limit switch input ON RLS signal OFF 2 The lower limit switch RLS status at RLS signal ON OFF is shown below When RLS signal is ON When RLS signal is OFF A1728ENC A171SENC A172SENC A171SENC RLS RLS RLS o RLS E COM E I COM i STOP signal
96. F is properly placed Confirm that there is nothing causing noise in the in m vicinity Tiesto celilng paexet GEI Codn Te Incentect Check the communication cable connection Check for communication cable burnout Confirm that A30BD PCF A30CD PCF is properly The receiving packet data ID is incorrect placed Replace the A30BD PCF A30CD PCF Check the communication cable connection Check for communication cable burnout The number of the frame received is incorrect i f f pne Confirm that there is nothing causing noise in the vicinity 05 The communication task on the personal computer Start the communication task on the personal side has not been started computer side 5 MECHANICAL SYSTEM PROGRAM 5 MECHANICAL SYSTEM PROGRAM This section discusses the VIRTUAL mode s mechanical system program This program consists of a mechanical module connection diagram and the mechanical module parameters e The mechanical module connection diagram shows the virtual mechanical system consisting of connected virtual mechanical modules e The mechanical module parameters are the parameters used at the mechanical module connection diagram for control of the mechanical modules For details regarding the mechanical module parameters refer to the mechanical module parameter lists shown in Chapters 6 to 8 5 MECHANICAL SYSTEM PROGRAM 5 1 Mechanical Module Connection Diagram The mechanical module connect
97. HCPU SHCPU Reference o Device Device Signal Name Item Number Number Signal Direction 0 Feed present value roller 1 cycle 2 3 Actual present value 3 5ms 4 Sat 5 Deviation counter value 6 Minor errorcode i SCPU lt PCPU Signal Name REAL VIRTUAL Refresh Cycle Fetch Cycle Immediately DN Servo error code 10ms 9 Travel value when the near zero END 10 point DOG CHANGE is ON pm Backup T Home position return second travel value Execution program Number 4 Torque mit vate GE Travel value change register x SCPU SPCPU 3 5ms STOP Vuen s ENEN STOP is input p ull SCPU lt PCPU Data set pointer for constant At driving or speed control during drivin E D g g 4 2 3 Control change registers A172SHCPU ATTISHCPU Reference Device Device Signal Name Item Number Number D960 D960 to Signal Name REAL VIRTUAL Signal Refresh Cycle Fetch Cycle Bs D965 Direction D966 D966 Present value change CHGA to DE execution Bei D971 HGV Speed change register change register SCPUSPCPU E S D972 D972 a to JOG Sg setting At Adding D977 D977 See D978 D978 Wem a backup register to D983 D983 D984 Ges D990 D995 D996 bo D1002 D1007 The END of the refresh cycle is the longer of 80 ms and the sequence program scan time 4 18 4 SERVO SYSTEM CPU DEVICES 4 2 4 Virtual servo motor axis monitor devices 9 M72SHCPU A171SHCPI SHCPU SHCPU Reference o Device Device
98. II lt 0 5 1 2 Default Value 0 25 1 4 Trapecloid Section 0 lt Section lt 0 25 1 4 Default Value 0 125 1 8 Reverse trapecloid Section 0 lt Section lt 0 25 1 4 Default Value 0 125 1 8 APP 4 APPENDICES APPENDIX 2 Processing Time List Shown below are each processing time signal and command when position control is carried out in relation to the servo system CPU 1 Motion operation cycle ms A172SH AI71SH Number of set axes Operation cycle 2 SCPU instruction processing times us ee i s A172SH AT71SH Number of set axes 1 axis started 2 to 3 axes VST vum started 2to4 DSFRP to 4 axes started ICHOV DSFLP Speed change DSFLP Present value 8 CPU processing time ms A172SH Aen Number of set axes ae program start processing time Ate Peer Speed change response Torque limit value change response td start processing time 71017 71017 s from PC ready flag M2000 50 to 600 50 to 350 ON to PCPU ready flag M9074 ON seme mem 1 The FEED instruction varies greatly depending on the condition whether other axes are operating or being stopped 2 This processing time varies depending on the commands to be started simultaneously Use this time merely for reference 4 Virtual servo motor axis synchronous encoder axis calculation cycle A172SH AI71SH Number of output axes set Number of axes used by virtual servo motor Number of axes used by
99. L Mode Internal relays M1600 to M2047 M1200 to M2047 Special relays M9073 to M9079 D800 to D1023 D670 to D1023 Special registers D9180 to D9199 2 PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL 2 3 3 Servo program 1 Servo program area a The same servo program No cannot be used in both the REAL and VIRTUAL modes For VIRTUAL mode operations the servo program s range must be designated in advance The range setting is executed at an IBM PC running the SW2SRX SW2NX GSV22PE software 2 Servo instructions a The home position return speed control Il speed position switching functions and high speed oscillation functions are inoperative in the VIRTUAL mode b The parameter block s control system of units and the torque limit value items positioning data designated by the servo program are not used 3 The servo instructions available in the TEST and VIRTUAL modes are shown in Table 2 5 below Table 2 5 Servo Instruction List for REAL amp VIRTUAL Modes REAL VIRTURL Mode Mode a control I A ds Switch to VIRTUAL instruction mode after home iti ZERO x position return has been executed in the REAL mode High speed M x oscillation Control system Fixed as pulse of units Positioning Parameter Designated at drive data block E Torque limit value module s parameter setting O Used x Unusable Not used 2 PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL
100. L VIRTUAL Direction Limit switch output disabled setting register 2 points D1010 Unusable D1011 2 points Manual pulse Setting Register for a axis number SEN D1012 onan with manual pulse generator SCPU PCPU operation enabled ETA Unusable Dio 2 points Section 4 2 9 D1015 JOG operation simultaneous start axis At Md ITE register Dios Axis 1 14 pulse input modification SCPU gt PCPU Manual pulse D1017 setting register for manual generator D1018 pulse generator operation D1019 4 points enabled D1020 D1021 Unusable D1022 4 points D1023 SCPU SPCPU 4 SERVO SYSTEM CPU DEVICES 1 Limit switch output disabled setting registers D1008 to D1011 D1008 to D1009 EE Data sent from SCPU to PCPU This register is used to disable in 1 point units external output of limit switch outputs Limit switch output is disabled by setting its corresponding bit to 1 external output OFF a When A172SHCPU is used b15 bi4 b13 b12 bii b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 LYOF LYOE LYOD LYOC LYOB LYOA LYO9 LY08 LY07 LY04 LYOS LYO2 LYO1 ioo 4 For axis 2 kl For axis 1 gt LY1F LY1E LY1D LY1C LY1B LY18 LY17 LY14 LY13 LY12 LY11 LY10 eg For axis 4 pja For axis 3 gt j LY2F LY2E LY2D LY2C LY2B LY28 LY27 LY24 LY23 LY22 LY21 LY20 eg For axis 6 gt j4 For axis 5 gt LYSF LY3E LY3
101. L VIRTUAL mode status es M2044 OFF REAL mode status M2044 ON VIRTUAL mode status 9 14 Switching from the REAL to VIRTUAL Mode When a REAL to VIRTUAL mode switching request M2043 OFF ON occurs the following processing occurs e Check to determine if switching to the VIRTUAL mode is possible n ERE See Table 9 1 Output module check See Table 9 2 e Synchronous encoder axis check See Table 9 3 Switching from the REAL to VIRTUAL mode is possible if the check items shown in Tables 9 1 to 9 3 are all normal 1 Check to determine if switching to the VIRTUAL mode is possible a The items shown in Table 9 1 are checked to determine if switching to the VIRTUAL mode is possible All the check items must be normal in order for switching to occur b If an error exists at any of the Table 9 1 check items M2045 will switch ON and the error code will be stored at the D9195 register Refer to section 11 6 for details regarding the error codes which are stored at D9195 9 REAL amp VIRTUAL MODE SWITCHING AND STOP RESTART Table 9 1 Checklist for REAL to VIRTUAL Mode Switching Output Module Checked Check Check Item Ball Rot Normal Abnormal a otar Sequence A Cam Condition Condition Screw Table e Are PC READY M2000 and PCPU READY M9074 flags ON Are all axes stopped M2001 M2004 M2001 M2008 are OFF Does the axis No UNT in the System settings match the o
102. LES e ee ege Ee 8 1 to 8 50 E UC 8 4 8 1 1 Roller operation cootra rs actes te dep eh sed ee eR nag veneer ies 8 4 1 Operations eet ote eat ett eta etn aret 8 4 2 Gontioldetalls e ates er E 8 4 81 2 Parameter Iesse ee eebe SE Ee A EE 8 5 1 Unit une DEE 8 5 2 Roller diameter L Number of pulses per roller revoluponN 8 5 3 Permissible droop pulse value sse eene nnnm nennen 8 6 4 Speed control limit V i eet pte e etie dee ate ted 8 6 5 Torque limit value setting device 1 word 8 6 6 eu EE 8 6 8 2 Ball Screws sist osi DPI eO p ep ite baa eter fice ee Eae L 8 7 8 2 4 Ball screw operatlion 2 iiu e e e e o it b s 8 7 BB e e Q 8 7 2 Control d talls i rp eoe E UE dee T a eet Iu eis 8 7 8 2 2 Parameter list ciae date end dere Ha eode pea de DELE RR d np idee 8 8 T n e Le DE 8 8 2 Ball screw pitch P Number of pulses per ball screw revolution NP 8 8 3 Permissible droop pulse value seen nennen nnne 8 9 4 Stroke limit upper limit value lower limit value 8 9 b Speed limit value NU 8 9 6 Limit switch outp t andes eid 8 9 7 Torque limit value setting device 1 wo 8 10 8 Commenters noci roue rr Gee adres devin ee 8 10 8 3 Rotary Lables dese a teh eel ed te eA ete ben e EA adea eee iius 8 11 8 3 1 Roan table operatiori i D ote epe te e eek 8 11 15 Operation ince dede ee te tee
103. MITSUBISHI MOTION CONTROLLER SV22 VIRTUAL MODE Programming Manual type A172SHCPU A171SHCPU INTORODUCTION Thank you for purchasing the Mitsubishi Motion Controller Personal Machine Controller This instruction manual describes the handing and precautions of this unit Incorrect handling will lead to unforeseen events so we ask that you please read this manual thoroughly and use the unit correctly Please make sure that this manual is delivered to the final user of the unit and that it is stored for future reference Precautions for Safety Please read this instruction manual and enclosed documents before starting installation operation maintenance or inspections to ensure correct usage Thoroughly understand the machine safety information and precautions before starting operation The safety precautions are ranked as Warning and Caution in this instruction manual When a dangerous situation may occur if handling is mistaken lt WARNING d S When a dangerous situation may occur if handling is mistaken AN CAUTION leading to medium or minor injuries or physical damage leading to fatal or major injuries Note that some items described as cautions may lead to major results depending on the situation In any case important information that must be observed is described For Sate Operations 1 Prevention of electric shocks 4 Never open the front case or terminal covers while the power is ON or the unit is ru
104. Manual pulse generator 1 x SCPU5 Unusable 2 points JOG simultaneous start SCHU Lem KS f o o Ro Uc Unusable M2018 START buffer full 029 030 031 032 033 M2034 4 points Speed change in program flag Unusable 6 points PC link communication error flag Unusable 037 5 points 038 039 M2040 CPU completion point setting System setting error flag All axes servo ON command cM Switching request switching status Err switching error Synchronization discrepancy warning Motion slot module error detection flag Start timing S 042 3 5ms 10ms M2044 M2045 M2046 M2047 A171SHCPU Device Signal Name O Valid Signal Refresh Fetch Number 9 REAL VIRTUAL Direction Cycle Cycle M1984 oupa EE axis side MEE wo Se ee axis side M1988 Output lain shaft side axis 3 M1989 Auxiliary input axis side M1990 Output Main shaft side axis 4 M1991 Auxiliary input axis side M1992 M1993 M1994 M1995 M1996 M1997 M1998 M1999 em pemens 5 Se om Ax SCPUe pcpu 10 ms en ataessono onaccottaa Sr tom M2010 Unusable M2011 _ 2 points Manual pulse generator 1 SCPUA M2013 Unusable M2014 points m Eee Ds Ts EE pee command e NE Clutch status Unusable 8 points Start accept flag 4 points M2017 M2018 M2019 M2020 M2021 M2022 M2023 M2024 M2025 M2026 M2027 M2028 M2029 M2030 M2031 M2032 M2033
105. OFF output data registered at the file register area e Stroke lower limit storage de vices start with an odd numbered device Operation is enabled but monitoring is impossible e The clutch ON address setting START disabled devices start with an odd at related numbered device Systems The clutch OFF address setting devices start with an odd numbered device The present value within 1 virtual axis revolution storage devices at main shaft side start with an odd numbered device The present value within 1 virtual axis revolution storage devices at auxiliary input shaft side start with an odd numbered device When amount of slip designation is set as the clutch smoothing method the amount of slip setting device value is outside the applicable range 0 to 2147483647 522 Operation is enabled but monitoring is impossible 523 A smoothing amount of 0 direct clutch is adopted 11 22 Rotary Cam Error Cause Processing Screw Table Corrective Action Because the present value cannot be calculated within 1 cam shaft revolution return to the REAL mode and designate a correct No at the device A one to one setting should be designated for the external input mode clutch and the synchronous encoder Return to the REAL mode Switch the programmable controller READY signal OFF then correct and register the clutch setting Do not used the clutch i
106. ON OFF command device s ON OFF status Operation will continue at axes where no clutch is connected The drive module can be stopped from the sequence pro gram if required To resume operation eliminate the error cause then switch the clutch ON OFF command device ON Operation When Major Error Occurs Major error Clutch OFF ass I occurrence CG SST ek ae l mcam Operation Na continuation Clutch OFF Clutch OFF _ imt Stop Operation With Clutch OFF Setting 6 DRIVE MODULE 6 Virtual servo motor axis continuous operation By setting the virtual servo motor stroke limit upper and lower limit parameters such that the upper stroke limit lower stroke limit the stroke limit can be disabled thereby allowing operation to continue indefinitely When the stroke limit is disabled it is also possible for the startup of the feed present value to take place in a direction that exceeds 32 bits In such a case the feed present value is converted to a 32 bit ring address 2147483648 2147483647 lt The following operations are possible depending on the control mode Control Mode Control Contents Positioning Linear e When the ABS command is used for startup it proceeds in a direction Speed switching within the 32 bit range Startup will not proceed in a direction that exceeds the 32 bit range e When the INC command is used for startup it
107. PPENDICES 16 Synchronous encoder axis monitor devices S A172SHCPU A171SHCPU z r Device Device Signal Name Number Number D748 D748 O Valid to to Signal Name REAL VIRTUAL Signal Refresh Cycle Fetch Cycle D751 D751 Direction D Minor error code al Major error code 2 Set when the controller power is turned on only in the case of an absolute synchronous encoder immediatly A Geen DIM ien mesi 17 Synchronous encoder axis main shaft differential gear present value S A172SHCPU A171SHCPU z g Device Device Signal Name Number Number D686 D686 D687 D687 es D Signal Name REAL VIRTUAL Refresh Cycle Fetch Cycle ea Direction Synchronous encoder axis main shaft differential Backup SCPU lt PCPU 3 5ms gear present value Cam axis monitor devices O Valid Signal Direction 0 Execution cam No 1 Execution stroke value p Ereoutonsrorevate Backup SCPU PCPU Every END 3 Cam axis present value within 4 Jone revolution Signal Name REAL VIRTUAL Refresh Cycle Fetch Cycle Every END of the refresh cycle is referred to as the sequence program scan time APP 12 APPENDICES 19 Common devices e A172SHCPU Device No Signal Name a Signal Refresh Cycle Fetch Cycle evice No Signe s REAL VIRTUAL Direction D1008 D1009 Limit switch output disabled setting register 3 5ms D1010 _ 4 points D1011 SCPUSPCPU e Manual pulse Setting Register for a axis nu
108. QUA dee Kee xm ES 2 For fire prevention Install the control unit servo amplifier servomotor and regenerative resistor on inflammable material Direct installation on flammable material or near flammable material may lead to fires If a fault occurs in the control unit or servo amplifier shut the power OFF at the servo amplifier s power source If a large current continues to flow fires may occur When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fires Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used Failing to do so may lead to fires 3 For injury prevention Do not apply a voltage other than that specified in A1 72SHCPU user s manual A171SHCPU user s manual or the instruction manual for the product you are using on any terminal Doing so may lead to destruction or damage Do not mistake the polarity as this may lead to destruction or damage The servo amplifier s heat radiating fins regenerative resistor and servo amplifier etc will be hot while the power is ON and for a short time after the power is turned OFF Do not touch these parts as doing so may lead to burns Always turn the power OFF before touching the servomotor shaft or coupled ma
109. SCPU lt PCPU 3 5ms gear present value 4 2 8 Cam axis monitor devices A172SHCPU A171SHCPU Reference Device Device Signal Name Item Number Number D760 D760 O Valid to e Signal Nam REAL VIRTUAL Signal Refresh Cycle Fetch Cycle D764 D764 SE Direction y y D765 D765 De S 9 9 1 Execution stoke vale stroke value D769 D769 Backup SCPU lt PCPU Every END D770 ue Cam axis present value within 3 to 4 one revolution D774 GN D775 Ee 4 to D779 an D780 5 to D784 D785 to D789 D790 7 to D794 D795 to D799 Every END of the refresh cycle is referred to as the sequence program scan time 4 SERVO SYSTEM CPU DEVICES 4 2 9 Common devices e A172SHGPU O Valid Signal Device No Signal Name 8 Refresh Cycle Fetch Cycle Reference Item pe seat REAL VIRTUAL Direction D1008 D1009 Limit switch output disabled setting register 3 5ms D1010 Tu points D1011 SCPU PCPU Manual pulse Setting Register for a axis number aad D1012 controlled with manual pulse generator i operation 1 enabled EA Unusable Dios 2 points Section 4 2 9 D1015 JOG operation simultaneous start axis At marva Seung register D1016 D1018 1 pulse input modification Manual pulse SCPU PCPU D1019 setting register for manual generator D1020 pulse generators operation Seen 8 points enabled D1023 e A171SHCPU O Valid Signal Device No Signal Name i G Refresh Cycle Fetch Cycle Reference Item e e REA
110. TART error A START occurred while switching from START is disabled Use the M2034 REAL the REAL to VIRTUAL mode VIRTUAL mode switching re START error A START occurred while switching from START is disabled quest and M2044 REAL 908 the VIRTUAL to REAL mode VIRTUAL mode status signals to create a START interlock condition The settings differ from the actual type Operations are performed Change the settings and size of the connected motor normally at the connected according to the actual type motor and size of the connected motor System setting motor type error These errors occur only when using MR J2 B servo amplifier 11 7 11 ERROR CODES STORED AT THE PCPU 11 3 Drive Module Errors Table 11 2 Drive Module Error List 100 to 1199 Virtual Servo Axis Control Item JOG Pulse Error Error Class Code Minor Errors During interpolation operations this error code is stored at all relevant interpolation axis storage areas 11 8 Error Cause Processing The PC READY M2000 or PCPU READY M9074 signal is OFF The relevant axis START accept signal M2001 to M2008 M2001 to M2004 is ON The relevant axis stop command M1400 20n e The relevant axis rapid stop command M1401 20n is ON On starting the feed present value is outside the stroke limit range At the auxiliary point designation for circular interpolation an address was designated which w
111. Timing REAL VIRTUAL Mode Switching Device Refresh Cycle During VIRTUAL Mode Operation Fetched every 3 5 ms calculation cycle Fetched every 3 5 ms calculation cycle However the cam No and 8 OUTPUT MODULES 8 1 Rollers The operation of rollers and the parameter settings required to use rollers are explained here 8 1 1 Roller operation This section describes the operation of the roller 1 Operation a The roller speed is controlled to a speed which is the speed of the drive module multiplied by the gear ratio speed change gear ratio of the transmission module Drive module speed pulse s Drive module Gear gear ratio ee Lea Clutch c EL speed change gear ratio Units pulses s Roller speed x gear ratio l br Speed change gear e Speed change gear ratio mi ID Roller L b If a clutch is used the roller is controlled from the point when the clutch is turned ON 2 Control details a The roller has no present value However when a switch is made from the virtual mode to the real mode the present value corresponding to the position reached by travel in the virtual mode is established The present value is a ring address in the range 2147483648 2 pulses to 2147483647 2 1 pulses DR 9 5 Present value SCH b Backlash compensation processing is conti
112. U This flag indicates whether the status of modules mounted at the base unit and extension base units is normal or abnormal ON Status of mounted module is abnormal OFF Status of mounted module is normal Module information is checked for errors both when the power is switched ON and after the power has been switched ON a When M2047 switches ON the A172SHCPU A171SHCPU ERROR LED switches ON b Required processing when an error is detected axis STOP servo OFF etc should be conducted at the sequence program POINT Positioning control will continue even if an error is detected at an optional slot 4 15 4 SERVO SYSTEM CPU DEVICES 4 2 Data Registers 4 2 1 Data register list A172SHCPU O Valid A171SHCPU O Valid Classification REAL VIRTUAL Classification REAL VIRTUAL lume 670 points 670 points Virtual servo motor axes Back Virtual servo motor axes Back main shaft 2 differential up main shaft 2 differential up gear present value gear present value 2 points x 8 axes 2 points x 4 axes 4 ae RN 4 8 points D686 Synchronous encoder Back Synchronous encoder axis Back axis main shaft 2 up main shaft 2 differential up differential gear present gear present value value 2 points x 1 axis 6 2 points x 1 axis 6 D688 Unusable 12 points D688 Unusable 12 points D700 Virtual servo motor axes Virtual servo motor axes Back
113. UTPUT MODULES 9 Comment a A comment is created for purposes such as describing the application of the ball screw shaft If a comment is created it can be displayed when monitoring at a peripheral device b Comments up to 16 one byte characters long can be created 10 Stroke lower limit value storage device a This is the setting for the device that stores the cam stroke lower limit value The device stores the present stroke lower limit value b The following devices can be used as the stroke lower limit value storage device Device Type A1728HCPU A171SHCPU 1 Link register WO to W3FF If a cam is used at the output module the area used for the cam cannot be set 2 If a differential gear is connected to the main shaft the area it uses cannot be set 8 The first device number of the devices must be an even number c The setting range for the stroke lower limit value is 2147483648 2 to 2147483647 27 1 1 The stroke lower limit value is determined as follows for each unit setting mm Stroke lower limit value x 107 um inch Stroke lower limit value x 10 inch Pulse Stroke lower limit value x 1 pulse 11 Virtual axis present value in one revolution storage device main shaft side 2 words This parameter is set if an address mode clutch is set at the main shaft side of the cam Drive module Present value in one virtual axis revolution A dri
114. When the error detection signal comes ON the corresponding error code is then stored in the error code storage area e Minor error code EM Stored in the minor error code storage area Major error code 1s Stored in the major error code storage area The distinction as to whether the detected error is a virtual servo motor error or an output module error can be confirmed by the contents of the error code or by the ON OFF status of the output module error detection signal 3 When the virtual servo motor or output module connected to the virtual servo motor is in its normal status the error reset command M1407 20n is ON and the error detection signal is OFF 1 1 Refer to section 11 3 for details regarding virtual servo motor minor major error codes Refer to section 11 5 for details regarding output module minor major error codes 2 2 Refer to section 6 1 3 for details concerning the minor error code storage area and major error code storage area f M code output in progress signal M1219 20n 1 Signal indicating that M code output is in progress 2 This will be OFF when a stop command cancel signal skip signal or FIN signal has been input M code M code output in progress signal M12194 20n OFF FIN signal M1419 20n POINTS 1 The M code output in progress signal is the signal for the FIN signal wait function 2 The M code output in progress signal is only enabled when the FIN acceleratio
115. al axis present value within one revolution storage device auxiliary input axis side Stroke lower limit value storage device Cam 0 to 799 000 to 3FF Virtual axis present value within one revolution storage device main shaft side Virtual axis present value within one revolution storage device auxiliary input axis side POINTS For items set using two words always set an even numbered device In addition when setting data in the sequence program for that device always use the DMOV P command When a two word monitor device leads the sequence program always acquire it in the user device using the DMOV P command Use the fetched device for carrying out such things as upper lower comparison and calculations APP 17 APPENDICES 2 Device data fetch When the data of a device that has been set indirectly is switched from the REAL to VIRTUAL mode first acquire everything as default values and thereafter carry out fetch control during virtual mode operation for the corresponding module Shown in the table below are the fetch timing of each device and the refresh cycle of the set device The device fetch timing and device refresh cycle are the same for both A172SHCPU and A171SHCPU Device Fetch Timing Devi Fetch Refresh BERE ST b 5 VIRTUAL Refresh Device Device During VIRTUAL Mode Operation Mode Cycle Switching Clutch ON OFF command device Lo o Mode setting device LGL
116. alue mode The selection of the present value mode or 1 cam shaft revolution present value mode is made in the limit switch ON OFF point setting window If the F5 key is pressed while the limit switch ON OFF point setting window is displayed the limit switch output mode selection screen is displayed Limit switch output mode The default is 1 present value 1 Present value 2 1 cam shaft revolution present value Using the numeric keys enter the limit switch output mode to be selected 1 or 2 For details on the present value mode and the 1 cam shaft revolution present value mode see Section 8 4 6 8 Torque limit value setting device 1 word a This is the setting for the device which stores the setting for the torque limit value for the cam shaft Once the device has been set torque control is executed in accordance with the setting stored in this device In the virtual mode the torque limit setting is always valid If no device setting is made the torque limit is set at the default of 30096 b The following devices can be set as the torque limit setting device Device Type A1728HCPU A171SHCPU 1 Data register 9 DO to D799 Link register W0 to W3FF 1 If a cam is used at the output module the area used for the cam cannot be set 2 If a differential gear is connected to the main shaft the area it uses cannot be set c The setting range for the torque limit value is 1 to 50096 8 O
117. an ABS axis the difference between the final servo command value in the last operation in the VIRTUAL mode and the servo present value the next time a switch is made to the VIRTUAL mode exceeds the POWER OF ALLOWED TRAVELING POINTS number of X feedback pulses in the System settings a warning that VIRTUAL mode operation cannot be continued is issued and the VIRTUAL mode continuation disabled warning device comes ON This is checked at the following times No Check Time Remarks O At this time the minor error 901 when the power is turned on in the REAL mode or 9010 when the power is turned on in the VIRTUAL mode is also set When the ABS axis servo amplifier power is turned on The device also comes ON in the following cases 1 When a home position return is executed 2 When a present value change is executed 3 When jog operation speed control or Il or speed position switching control is executed Continuously during REAL mode operation To reset the VIRTUAL mode continuation disabled warning device reset it in the sequence program 8 OUTPUT MODULES 8 5 2 Data registers D 1 Data register D list a Monitor devices of each axis SV22C SV22F Signal Name Device No Device No d D800 D800 to to O Valid 7 IN Signal Direction Refresh Cycle Fetch Cycle D819 D819 Signal Name REAL VIRTUAL bad y y Feed present value roller cycle Actual present value H Deviation cou
118. an be started by a forward reverse JOG command Program example for virtual axis 1 individual START Mechanical system program Virtual servo motor I oe Forward JOG Reverse JOG 2 Simultaneous START The simultaneous START axis Nos and rotation directions forward reverse are designated at the JOG Simultaneous START Axis Setting Register D101 SIT and the axes are started when the JOG Simultaneous START Command Flag M2015 switches ON Program example for simultaneous START of virtual axes 1 and 2 Mechanical system program Virtual servo motor move H3 D1015 a ege JOG operation i Virtual axis 1 4 1 For details regarding JOG operations refer to section 7 19 of the Motion Controller SV13 SV22 REAL mode Programming Manual 2 For details regarding the forward reverse JOG commands see Section 6 1 3 3 See Section 6 1 3 for details regarding the JOG Simultaneous START Register and Section 4 1 8 5 for details regarding the JOG Simultaneous START Command Flag 6 DRIVE MODULE 2 Procedure for stopping before completion To stop virtual servo motor operation before positioning is completed switch the stop rapid stop command ON in the sequence program There are no external stop causes STOP FLS RLS for the virtual servo motor 3 Control items a During positioning control the v
119. and clutch operations occur in a corresponding manner 2 Operation END a Operation at the synchronous encoder axis is ended when the REAL mode is established in response to a VIRTUAL to REAL mode switching request M2043 switched from ON to OFF b The procedure for ending operation at the synchronous encoder axis is as follows 1 Stop the output module Stop the external synchronous encoder Switch the connected clutch OFF 2 Switch from the VIRTUAL to REAL mode N Switching to the REAL mode while synchronous encoder axis and output module operation is in progress will cause a sudden stop at the output module resulting in a servo error and the machine will be subjected to a jolt 6 DRIVE MODULE 1 1 For details regarding the REAL VIRTUAL mode switching request flag and the REAL VIRTUAL mode switching status flag see Section 4 2 2 For details regarding switching between the REAL and VIRTUAL modes see Chapter 9 3 2 The synchronous encoder input START signal is input to the A172SENC A171SENC TREN terminal For details regarding the A172SENC A171SENC TREN terminal refer to the Motion Controller A1 72SHCPU A171SHCPU User s Manual 4 3 For details regarding the clutch control mode see Section 7 2 1 8 STOP procedure The synchronous encoder can be stopped by stopping the external synchronous encoder There are no external inputs FLS RLS STOP sequence program stop commands or rapid
120. ange Auxiliary point START is disabled setting error at auxiliary point 1 In incremental method positioning control the travel value setting is as follows 2147483648 1 The travel value setting should be designated within the range 0 to designation at circular interpolation Radius setting error radius setting for circular interpolation H80000000 2 START point auxiliary point or auxiliary point END point 3 The auxiliary point is located on the straight line which connects the START and END points 1 In incremental method positioning START is disabled control the travel value setting is as follows 2147483648 H80000000 2 START point END point 3 The distance between the START and END points is larger than the diameter 11 5 2147483647 2 Set as follows START point auxiliary point END point 3 Designate an auxiliary point value which is not located on the straight line connecting the START and END points 1 The travel value setting should be designated within the range 0 to 2147483647 2 Set as follows START point END point 3 Set so that the relationship between the START point to END point distance L and the radius R is as follows 11 ERROR CODES STORED AT THE PCPU Table 11 1 Servo Program Setting Error List Continued Error Processing Corrective Action Center point At incremental method
121. at the following times e When the servo system power is switched ON e After automatic deceleration is started in positioning control e After automatic deceleration is started due to the JOG start signal going OFF During REAL mode e During manual pulse generator operation operation e After the near zero point dog comes ON during home position return e After deceleration is started by a stop command e Speed change to zero speed Constant check sse During VIRTUAL mode operation b Zero pass signal M1606 20n This signal switches ON when the zero point is passed following a servo amplifier power ON Once the zero point has been passed this signal remains ON until a CPU reset occurs c Error detection signal M1607 20n 1 This signal switches ON when a minor or major error is detected and it is used to determine if an error has occurred When a minor error is detected the corresponding error code is stored at the minor error code storage area When a major error is detected the corresponding error code is stored at the major error code storage area 2 The error detection signal goes OFF when the error reset signal M1807 20n is switched ON Minor major error detection Error detection OFF OFF Error reset 8 OUTPUT MODULES d Servo error detection signal M1608 20n 1 This signal switches ON when an error excluding causes of warning errors and emergency stops is detected at the servo a
122. ay not function if the settings are incorrect Set the servo amplifier capacity and type parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Use the program commands for the program with the conditions specified in the instruction manual Set the sequence function program capacity setting device capacity latch validity range I O assigment setting and validity of continuous operation during error detection to values that are compatible with the system application The protective functions may not function if the settings are incorrect Some devices used in the program have fixed applications so use these with the conditions specified in the instruction manual The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error etc Thus an error correspondence interlock program specified in the instruction manual must be used Use the interlock program specified in the special function unit s instruction manual for the program corresponding to the special function unit NN 3 Transportation and installation Transport the product with the correct method according to the weight Use the servomotor suspension bolts only for the transportation of the servomotor Do not transport the servomotor with machine installed on it Do not stack products past the limit When transporti
123. c Operation Manual pulse generator input EN NER ON Manual pulse generator enabled OFF flag 1 V1 d n nn Output speed V1 Number of input Manual pulse generators 1 pulse input magnification d pulses ms setting M pul Number of pin cos 1 T Lye Travel value oo generator s 1 pulse EE per pulse S p input magnification pulses ms setting 1 The following units are used for the travel value per pulse value Setting units mm 0 1 um inch 0 00001 inch degree 0 00001 degree pulse 1 pulse 2 The smoothing time constant range is 56 8 ms to 3408 ms 10 REAL VIRTUAL mode switching error information D9195 EUER Data sent from PCPU to SCPU When a mode switching error occurs in real to virtual or virtual to real mode switching or a mode continuation error occurs in the virtual mode its error information is stored 4 SERVO SYSTEM CPU DEVICES 11 Personal computer communication error codes D9196 EE angie e Hed ERE eaten Data sent from PCPU to SCPU One of the following error codes are stored when an error occurs during PC link communication Error Code stored in Error Contents Correction Method Confirm that the personal computer power is on PC link communication receiving packet did not Check the communication cable connection arrive Check for communication cable burnout Receiving packet arrival timing was late Confirm that A30BD PCF A30CD PC
124. ce Signal Name Direction Cycle Cycle Number Signal Name Lei Be Direction Cycle Cycle SE Start KS Start von M2041 System setting error flag SE SS von M2041 system setting error flag UE Al axes sevo ONcommand o o seu rs Alkaxes sevo ON command O o sopu EE o o E switching request toms Si Sain 1 PC READY flag M2000 sess Signal sent from SCPU to PCPU a This signal notifies the PCPU that SCPU operation is normal It is switched ON and OFF by the sequence program 1 When M2000 is ON positioning or home position return functions can be executed by the servo program specified by the sequence program and JOG operations can be executed by the sequence program 2 When M2000 is OFF and when a TEST mode has been established M9075 TEST mode in progress flag is ON from a peripheral device the functions described at item a above will be inoperative even if M2000 is switched ON b The fixed parameters servo parameters and limit switch output parameters can only be changed using a peripheral device when M2000 is OFF If an attempt is made to change this data while M2000 is ON an error will occur ET 1 sons M2043 REAL VIRTUAL mode o o switching request M2044 REALVIRTUAL mode M2044 REALVIRTUAL mode o o switching status switching status le REAL VIRTUAL mode REAL VIRTUAL mode weng Marre 9 sue ap wens tme o sony M
125. ce program The PC READY M2000 signal was switched ON again during a deceleration to stop which was occurring in response to the PC READY M2000 signal being switched OFF The feed present value violated the stroke limit range during operation In circular in operations t code will be stroke interpolation erpolation he error stored only at the axis where the imit range was violated In linear operations the error code will be 11 9 stored at all interpolation axes During circular interpolation or manual pulse generator simultaneous operation the feed present value of another axis violated the stroke limit range For other axis error detection When the final positioning address was identified during a positioning operation an overrun occurred due to a deceleration distance which was insufficient for the output speed The manual pulse generator status was Switched to enabled during axis motion and manual pulse generator operation was attempted Processing Corrective Action Do not select an axis where the travel value is 0 as the reference axis START is disabled Designate an even number as the position command device No er correcting the error use in the REAL ode switch back to the RTUAL mode and start eration After correcting the error START is cause in the REAL mode switch back to the disabled
126. ch axis status A172SHCPU A171SHCPU i S i Reference Device Device Signal Name Item Number Number M1600 O Valid e VIRTUAL Signal Refresh Fetch M1619 M1619 i Signal Name REAL Roller Ball Rotary Cam Direction Cycle Cycle l M1620 screw table to Lo Positioning start completed o OFF OFF OFF FF ext M1639 1 Positioning completed o OFF OFF OF FF 640 m1640 2 nposi nm Jo o o o to 3 Command in positon o OFF OFF OFF OFF SCPUK PCPU M1659 M1659 4 Speed control in progress o OFF OFF OFF OFF E ee o ORE Lon o I fo o o o is 6 Zeropass EH MEE SS REN BEE 3 5ms Home position return completed pee fof o o o o ie fers sere E E EE 13 ExternalsignalSTOP of o o o j External signal EN Ipsum ojo pis seviovorcr lo oJ of o E ETE E RISKS Tc EC REN m E E i7 Umsble 1 0 Virtual mode intermittent 18 actuation disabled warnin M1759 9 10ms 3 5ms 10ms 19 M code outputinprogress o OFF OFF OFF OFF 4 1 3 Command signals of each axis A172SHCPU A171SHCPU Device Device Signal Name Number Number Reference Item O Valid 6 Limit switch output enabled External STOP input valid invalid when starting Signal Name REAL Sar Dna Tieireeh Teteh 9 2 Story Cam jDir
127. ch signal is not output 6 Torque limit value setting device 1 word a This is the setting for the device which stores the setting for the torque limit value for the rotary table shaft Once the device has been set torque control is executed in accordance with the setting stored in this device In the virtual mode the torque limit setting is always valid If no device setting is made the torque limit is set at 300 b The following devices can be set as the torque limit setting device Device Type A172SHCPU A171SHCPU 1 Data register D DO to D799 Link register WO to W3FF 1 If a cam is used at the output module the area used for the cam cannot be set 2 If a differential gear is connected to the main shaft the area it uses cannot be set c The setting range for the torque limit value is 1 to 500 7 Comment a A comment is created for purposes such as describing the application of the rotary table shaft If a comment is created it can be displayed when monitoring at a peripheral device b Comments up to 16 one byte characters long can be created 8 13 8 OUTPUT MODULES 8 Virtual axis present value in one revolution storage device main shaft side 2 words This parameter is set if an address mode clutch has been set at the rotary table main shaft side Drive module Virtual axis present value in one revolution nma X drive module travel value x gear ratio Nb 96 remainder operator
128. chines as these parts may lead to injuries Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries 4 Various precautions Strictly observe the following precautions Mistaken handling of the unit may lead to faults injuries or electric shocks 1 System structure N Always install a leakage breaker on the control unit and servo amplifier power source A If installation of a magnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always install the magnetic contactor N Install an external emergency stop circuit so that the operation can be stopped immediately and the power shut off N Use the control unit servo amplifier servomotor and regenerative resistor with the combinations listed in A172SHCPU user s manual A171SHCPU user s manual or the instruction manual for the product you are using Other combinations may lead to fires or faults If safety standards ex robot safety rules etc apply to the system using the control unit servo amplifier and servomotor make sure that the safety standards are satisfied If the operation during a control unit or servo amplifier error and the safety direction operation of the control unit differ construct a countermeasure circuit externally of the control unit and servo amplifier In systems where coasting of the servomotor will be a problem
129. cimal Displa Displa The setting value at the cam stroke setting e After designating a cam stroke setting 2305 to 2559 0901 to O9FF device violates the 1 to 2 1 range device value within the 1 to 2 1 range execute M2043 OFF ON switching 2817 to 3071 0B01 to OBFF An odd number has been designated at the le Designate an even number at the cam cam stroke setting device stroke setting device During VIRTUAL mode operation the Switch M2000 ON programmable controller READY signal Designate the servo system CPU RUN 8 M2000 switched OFF and the system status 4094 SE returned to the REAL mode The servo system CPU stopped during VIRTUAL mode operation e During VIRTUAL mode operation the servo e Check the servo error code register to error signal M1608 20n switched ON and determine the error cause at the axis in the system returned to the REAL mode question then eliminate the error cause see section 11 4 During VIRTUAL mode operation the e Switch the external emergency stop signal external emergency stop EMG signal OFF 4095 F001 switched ON and the system returned to the REAL mode 11 29 APPENDICES APPENDICES APPENDIX 1 Cam Curves The cam acceleration curve formulas used in the VIRTUAL mode are shown below 1 Acceleration curve formula lt Symbols used gt eA Dimensionless acceleration eAm Dimensionless maximum acceleration eT Dimensio
130. ck to the REAL mode e When an external emergency stop EMG input occurs e When the servo error detection signal M1608 20n switches ON at any axis e When the PC READY M2000 signal switches OFF e f an alarm occurs in the 24V DC power supply to the A172SENC A171SENC major error 15010 occurs while the servos are ON at all axes and the A172SENC A171SENC brake has been set for use 2 If any of the above conditions occur the OS will switch back to the REAL mode and the resulting error code will be stored in the D9195 register M2045 will not switch ON at this time 9 REAL amp VIRTUAL MODE SWITCHING AND STOP RESTART 9 3 Precautions When Switching between REAL and VIRTUAL Modes The precautions when switching between the REAL and VIRTUAL modes are described below 1 The DSFRP SVST DSFLP CHGA CHGVN instructions are inoperative during REAL VIRTUAL mode switching processing indicated by asterisks in the timing chart below If one of these instructions is attempted at such a time an error will occur at the START point In order to execute the DSFRP SVST and DSFLP CHGA CHGV instructions M2043 and M2044 should be used as an interlock function Timing Chart REAL to VIRTUAL mode switching request VIRTUAL to REAL mode switching request N 1 M2043 S Y M2044 REAL to VIRTUAL VIRTUAL to REAL mode switching mode switching processing processing Im x el A REAL mode VIRTUAL mode REAL m
131. cur at the JOG execution axis axes 1 to 8 axes 1 to 4 axes designated at the JOG Simultaneous START Axis Area D1015 2 When M2015 switches OFF the JOG axis motion will decelerate and stop 1 For details regarding the A172SENC A171SENC PULSER connector refer to the Motion Controller A172SHCPU A171SHCPU User s Manual 1 GENERAL DESCRIPTION 1 1 General Comparison Between A172SH A171SH A171S S3 em A172SHCPU A171SHCPU EE Number of control axes 3 5ms 1 to 3axes 7 1ms 4axes aa 5ms 1 to 2axes 7 71ms 3to4axes to 4axes Equivalent to reinforced UO E Sequencer CPU memory of A2SHCPU Equivalent to A2SHCPU Equivalent to A1SCPU Computing frequency 3 5ms 1 to 8axes 3 5ms 1 to 4axes ire speed 0 25 to 1 9us step 1 0 to 2 3us step Sequence Refresh instruction method 0 25us step d I ESI Number of I O 2048 I O Number of actual I O 1024 I O 512 W O 256 o Memory capacity built in 192k bytes 64k bytes 32k bytes RAM Equivalent to ASNMCA24 Equivalent to A3NMCA8 y Program capacity Max 30k step Max 14k step Max 8k step e MN Sequence Number of file register R Max 8192 registers Max 4096 registers Panier of Eech ile Max 11 blocks Max 3 blocks None register block MELSECNETU O Supported by special commands O By means of FROM TO commands n qe ere Pulse synchronous encoder A172SENC AIZISENG onn to external signal input interface unit Corresponding to external
132. d The connection between 1A and 1B emergency stop input of CN6 of the servo amplifier encoder has been broken An emergency stop EMG signal has been input from the servo system CPU The servo ON SON signal was turned ON while the contactor was OFF The main circuit bus voltage fell to 215 V or lower at 50 rpm or lower After a home position set command the droop pulses did not come within the in position range At any time during operation Operation continues 11 19 When Error Checked Corrective Action Processing Check for disconnection of the parameter unit cable Replace the parameter unit Replace the battery MR JBAT Replace the battery Check for disconnection of the encoder cable Replace the servomotor Replace the servo amplifier Refer to the details on the excessive regeneration error 2030 Refer to the details on the overload errors 2050 2051 Establish a short circuit between 1A and 1B of CN6 of the servo amplifier encoder Release the emergency stop Turn the main circuit contactor or circuit power supply ON Re attempt home position return 11 ERROR CODES STORED AT THE PCPU Table 11 3 Servo Amplifier Error List 2000 to 2799 Continued Error Error Cause RET When Error Checked E Corrective Action Code Name Description Processing e Out of range parameter setting e Check the servo parameter setting has been designated range Incorrect paramet
133. d manner e f a start accept flag that is OFF is switched ON with the sequence program or a peripheral device no error will occur at that time but the next time an attempt is made to start the axis a start accept flag ON error will occur and the axis will not start 4 SERVO SYSTEM CPU DEVICES 3 All Axes servo START accept flag M2009 Signal sent from PCPU to SCPU The all axes servo START flag indicates that servo operation is possible ON Servo is operative e OFF Servo is inoperative ON All axes servo START Accept flag orr All axes servo START command Servo ON 4 Manual pulse generator enabled flag M2012 MAE EE EE EE e Signal sent from SCPU to PCPU The manual pulse generator flag designates the enabled disabled status for positioning executed by pulse inputs from manual pulse generators connected to the A172SENC A171SENC PULSER ON Positioning control by manual pulse generator inputs is enabled OPF gedoe Positioning control by manual pulse generator inputs is disabled inputs are ignored 5 JOG simultaneous START command M2015 EE Signal sent from SCPU to PCPU a When M2015 switches ON a JOG simultaneous START will occur at the JOG execution axis axes 1 to 8 axes 1 to 4 designated at the JOG Simultaneous START Axis Area D1015 b When M2015 switches OFF the JOG axis motion will decelerate and sto
134. der operation to the output module will or will not occur depending on the ON OFF status of the connected clutch e When clutch is ON Transmission to the output module occurs e When clutch is OFF Transmission to the output module does not occur N If the mode is switched from REAL mode to VIRTUAL mode while the clutch is ON use the smoothing clutch If the direct clutch is used and the mode is switched from REAL mode to VIRTUAL mode while the clutch is ON rapid acceleration will occur at the output module axis causing a servo error and the machine will be subjected to a jolt 6 DRIVE MODULE b Pulse input reception at an external signal input occurs as follows 1 Reception of pulse inputs from the external synchronous encoder begins when the clutch is switched ON ON REAL VIRTUAL mode OFF d switching request flag M2043 jos REAL VIRTUAL DEF mode status flag REAL mode VIRTUAL mode M2044 mi Pulse input from external synchronous encoder ON ON I Clutch ON OFF OFF command device l OFF i ON I l l External signal TREN awo JT 1 owe i 27 1 l Synchronous encoder axis operation STOP pulse of synchronous I I I Feed present value l T H encoder axis Synchronous encoder axis operation START 2 2 The clutch control mode operation will be identical its operation at the external input mode The synchronous encoder
135. detection flag M2045 ES Signal sent from PCPU to SCPU This flag indicates whether or not an error was detected when switching between the REAL and VIRTUAL modes e Remains OFF if no error was detected at mode switching e Switches ON if an error was detected at mode switching In this case the error code will be stored at D9195 4 14 4 SERVO SYSTEM CPU DEVICES 15 Synchronization discrepancy warning flag M2046 E Signal sent from PCPU to SCPU a This signal switches ON in the VIRTUAL mode when a discrepancy occurs between the drive module and output module synchronized positions This signal status determines whether or not drive module operation can be resumed after it has stopped M2046 ON Continued operation disabled e M2046 OFF Continued operation enabled b The synchronization discrepancy warning flag will switch ON when the following conditions occur e When operation is stopped by an external emergency stop EMG command e When a servo error occurs at the output module c When the synchronization discrepancy warning flag switches ON operation can be resumed by the following procedure 1 Return to the REAL mode and eliminate the error cause 2 Synchronize the axes 3 Switch the synchronization discrepancy warning flag M2046 OFF 4 Switch to the VIRTUAL mode 5 Resume operation 16 Motion slot module error detection flag M2047 EE Signal sent from PCPU to SCP
136. e operated by emergency stop signals set Shut off with servo ON signal OFF emergency stop externally alarm magnetic brake signal signal EMG If an error occurs remove the cause secure Servo motor the safety and then resume operation The unit may suddenly resume operation Magnetic after a power failure is restored so do not go a brakes near the machine Design the machine so that personal safety can be ensured even if the machine restarts suddenly RAI EMG 8 Maintenance inspection and part replacement Perform the daily and periodic inspections according to A172SHCPU user s manual A171SHCPU user s manual or the instruction manual for the product you are using Perform maintenance and inspection after backing up the program and parameters for the control unit and servo amplifier Do not place fingers or hands in the clearance when opening or closing any opening Periodically replace consumable parts such as batteries according to A172SHCPU user s manual A171SHCPU user s manual or the instruction manual for the product you are using VII N Do not touch the lead sections such as ICs or the connector contacts N Do not place the control unit or servo amplifier on metal that may cause a power leakage or wood plastic or vinyl that may cause static electricity buildup Do not perform a mugger test insulation resistance measurement during inspection When replacing the control unit or servo amplifier a
137. e 1 Ta 8 2 6Ta nTa 241 2 2Ta43aTa 2 7 Tb Tc Am 1 3 4 Zum 1 2 TaTb T b je 7 Toast 1 TaTb x 2 T Ls T 2 T Section 0 lt T lt Ta nT 2Ta Ten Section Il Ta lt T lt Tb A Am CO Section IIl To lt T lt Tc nx T T6 2Ta Section IV Tc lt T lt 1 x T Tc 2 1 Tc 2 Reverse trapecloid curve A Amsin A Amcos C0 A Amcos C0 Jas a g 2 6Ta nta 2 7 __2 2la 3rla EE 2 7 Tb Tc Am i 3 4 C 2 T 2TaA Va m T Vb Am Tb Ta Va 2T aAm 4T aAm E L am x T 4 d0 2 o 2 13 2 a 14 TaTb T b 5 T 2 m m To AG a Sb An Tb Ta Va Tb Ta Sa 2 Sc Alen 2VbTa Sb Section HO lt T lt 1 Tc m 1 Tc T A Amcos 2 1 To CO Section IH1 Tc lt T lt 1 Tb n 1 Tb T A A A Amcos Ta Co Section III 1 Tb lt T lt 1 Ta A Am CO Section IV 1 Ta lt T lt 1 A Amsin AL CO APP 3 APPENDICES d One side stationary curve 1 Multiple hypotenuse curve ns cosxT cos2xT CO e Non stationary curve 1 Single hypotenuse curve Ex cosnT CO 2 Cam curve coefficient Distorted trapezoid Section O Section 0 25 1 4 Default Value 0 125 1 8 Distorted sine Section 0 lt Section 0 5 1 2 Default Value 0 125 1 8 Distorted constant speed Section 0 lt Section lt 0 125 1 4 Default Value 0 0625 1 16 Section II 0 lt Section
138. e ection 8 Designate data settings at parameter settingdevice Ire Chapter 6 to 8 Switch from REAL mode to VIRTUAL mode e Ee eee Chapter 9 v WER e neos ctia ce Mac EE aro EAE Pao o eod Dee pes 1 Designate operation START 1 address by present value change EE Chapter 10 VIRTUAL procedure Mode EE a pe Execute VIRTUAL mode operation 2 PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL 2 3 Differences Between The REAL and VIRTUAL Modes Portions of the positioning data positioning device and servo programs etc used in REAL mode operations are different when used in VIRTUAL mode operations The Motion Controller SV13 22 Programming Manual REAL Mode should be read after acquainting yourself with these differences 2 3 1 Positioning data Positioning data used in the VIRTUAL mode is shown in Table 2 1 below Table 2 1 Positioning Data List Mem REAL Mode VIRTURL Mode Remarks System settings ates EO System of units varies Fixed parameters according to the output module used Sewoparameters o o Parmetrbok o Useof pulse ony Home positionreturndata 3 Ir JOG operationdata o Z Limit switch outputdata_ o O Used Conditional use Not used 2 3 2 Positioning device The operating ranges of VIRTUAL mode positioning devices are shown in Tables 2 2 below Table 2 2 Operating Range of Positioning Devices REAL Mode VIRTUR
139. e servo returns to the previous point using Constant speed control the absolute value of the set speed and then stops stand by Deceleration is completed and the direction of movement Speed control I is reversed using the absolute value of the set speed It does not stop until the stop command is input Speed switching control This should be viewed as a normal speed change request The minor error 305 results and the speed limit value is used for control JOG operation Remarks Minor error 305 The set speed is out of range the from 0 to the speed limit 6 5 6 DRIVE MODULE Control contents 1 If a speed change is made to a negative speed control is carried out as indicated in the previous table in accordance with the control mode during startup 2 The command speed during return becomes the absolute value of the changed speed If the speed limit value is exceeded the minor error 305 will result and control will use the speed limit value 3 The following hold true when the servo is in the stand by status at the return position a Status of each signal e Start received M2001 n ON No change prior to CHGV execution Positioning start completed M1600 20n ON No change prior to CHGV execution e Positioning completed M1601 20n OFF e In position M1602 20n ON e Command in position M1603 20n OFF e Speed change 0 receiving in progress flag ON b In the case of a restart carry out
140. ea used for the cam cannot be set 2 If a differential gear is connected to the main shaft the area it uses cannot be set c The setting range is from the speed change gear ratio lower limit value to the speed change gear ratio upper limit value 3 Smoothing time constant This is the setting for the time taken to reach 6396 of the output shaft speed 7 TRANSMISSION MODULE 7 4 Differential Gear The differential gear is used for the following purposes e For shifting the output module phase or carrying out alignment of the operation start position e For carrying out independent operation separated from the virtual main shaft 7 4 4 Operation 1 When the input shaft clutch is engaged The differential gear subtracts the auxiliary input shaft travel distance from the input shaft travel distance and transmits this to the output axis Input shaft Auxiliary input shaft 1 travel value n travel value Unt puse travel value Output shaft x Virtual main shaft Input shaft Auxiliary input shaft Differential gear SE Drive Output module module Output shaft 2 When the input shaft clutch is disengaged Independent operation is possible using the auxiliary input shaft since the differential gear transmits only the amount of travel from the auxiliary input shaft to the output shaft 7 TRANSMISSION MODUL
141. ecelerationtime 1 Rapid stop deceleration time 1 Torque limitvaue 1 STOP input deceleration 1 Circular interpolation error allowance range FIN acceleration deceleration time Start program number Cancel amp start Repeat condition number of 1 repetitions Repeat condition ON OFF Device Range M 000 to 9255 O B to SEF aj 2 2 2 2 ml 2ol nm Parameter block 0 to 255 Skip command Device ooo M 000 to 9255 j B Oto SEF CC i APP 15 APPENDICES ror Be sure to designate even numbered devices for 2 word designation items Be sure to use the DMOV P instruction when setting data in these devices by sequence programs 2 Device data fetch Data for indirectly designated devices is fetched by the PCPU at the start of the Servo program For this reason set data in the devices before starting the servo program and never change the devices unless servo program start is complete The following describes the procedures by start method for setting data in devices and the points to note Start Method Setting Method Nos Designate data in devices Start by SVST instruction l Set the cancel command device to ON Don t change the indirectly designated Set data in the indirectly designated device device until the positioning start completion chosen by the start program signal of the start axis goes ON L Turn
142. ection Cycle Cycle screw table 7 Error reset 10 Unusable o Stopcommand 0O x x X X j 1 Rapidstopcommand O x x x x 2 FowardyoGstat o x x x x pese oca E aI 5 Speed position switching enabled Hs 3 8 Servoerrorreset_ o Ge PCPU D ERE 12 Feed present value update request command 13 Address clutch reference x setting 14 Cam reference position x seing hs ts po opp Ci 117 Unusable dT 18 Unusable J Pio FiNsignal PO x x x x pets o e e fe se wem 4 SERVO SYSTEM CPU DEVICES 4 1 4 Virtual servo motor axis status A172SHCPU A171SHCPU Reference o Device Device Signal Name Item Number Number M1200 M1200 O Valid 1 o to M Signal M1 Signal Name REAL VIRTUAL Refresh Cycle Fetch Cycle 219 Direction 0 Positioning start completed _ 2 Unusable s Commandinposton 6 Unusable e Unusable Ci 9 Unusable 12 Unusab M1239 M1240 M1240 3 o to M1259 M1259 M1260 M1260 4 o to M1279 M1279 7 ojojojojojojo ojo M1 ER O Valid Signal al Signal Name REAL VIRTUAL Refresh Cycle Fetch Cycle O Stop command ame Se 1 Rapid stop command 2 Forward JOG start s ReveseJOGsat 10ms 4 EndsignalOFF command
143. elect NO and the existing A171SCPU settings will remain in effect Other than system setup data can be used without change 1 GENERAL DESCRIPTION 1 3 Summary of REAL and VIRTUAL Modes 1 REAL mode a The REAL mode is used to execute direct control by the servo program at systems using servomotors b To utilize the REAL mode positioning parameter settings must be designated and a positioning sequence program must be created c The procedure for REAL mode positioning control is as follows 1 A REAL mode servo program start request is issued with a DSFRP SVST instruction in the positioning sequence program 2 Positioning control occurs in accordance with the specified servo program Output to amplifier and servo amplifier modules 3 Servomotor control is executed Servo System CPU SCPU Control Range PCPU Control Range Sequence program Servo program SS g REAL H EAE sene p1 Ks H RIEN SUNT ARA ABS 1 1 Axis 1 100000 2 Servo amplifier Servo program Speed 1000 start request LO ad ed as on cts ease acute E 1 Sequence program 3 Servomotor Positioning parameters System setting Fixed parameters Servo parameters Parameter block Home position return data JOG operation data Limit switch output data 1 GENERAL DESCRIPTION 2 VIRTUAL mode a The VIRTUAL mode is used to execute sy
144. elow For details on setting ball screw parameters refer to the SW2SRX SW2NX GSV22P SWOSRX SWONX CAMP Operating Manual Table 8 2 Parameter List Tie Setting beaut vate senma rare Output shaft When using an ATZZSHCPU o Ten i y O EE a imeem umen n of pulses per ball screw revolution P BORD droop pulse value 65535 1 to 635535pulse ES Stroke limit upper limit value 214748364 8 to 21474 83648 to Stroke limit lower limit value 214748364 7 um 21474 83647 inch 0 01 to 6000000 00 0 01 to 600000 000 Speed limit value VL mm inch inch min 9 Limit switch output Used Not used Torque control limit setting device 1 word ioc eee 300 word device 1 Unit setting a This is the setting for the units mm inch for the ball screw b Set the same units as used in the real mode unit setting in the fixed parameters for the ball screw units If the ball screw units and units in the real mode are different a mode switching error will occur on switching from the real mode to the virtual mode 2 Ball screw pitch P Number of pulses per ball screw revolution NP a These are the settings for the pitch of the ball screw connected to the servomotor and the number of pulses when the ball screw rotates one revolution A Ball screw Moving part X hee Wr Number of pulses per ball screw Ball screw pitch P revolution b The travel value per pu
145. em Check the servo parameters settings setting error regenerative resistor and motor type settings in the system settings Incorrect wiring of regenerative Connect the regenerative resistor resistor correctly Failure of regenerative resistor Replace the regenerative resistor Power transistor for e Replace the servo amplifier regeneration damaged by short circuit Excessive regeneration The motor rom has exceeded Check the motor rpm in the servo 115 of the rated rpm At any time during Immediate parameters operation stop Check if the number of pulses per revolution and travel value per revolution in the fixed parameters match the machine specifications An overshoot has occurred If an overshoot occurs during because the acceleration time acceleration check the acceleration constant is too small time and deceleration time in the 2031 Overspeed fixed parameters An overshoot has occurred If overshoot occurs increase the because the servo system is speed integral compensation by unstable adjusting the position loop gain position control gain 1 2 speed loop gain speed control gain 1 2 in the servo parameters Position sensor fault Check if the encoder cable is disconnected Replace the servomotor 11 14 11 ERROR CODES STORED AT THE PCPU Error Code Name 2032 Overcurrent 2033 Overvoltage Table 11 3 Servo Amplifier Error List 2000 to 2799 Continued Error Cause De
146. emain in effect a When A172SHCPU is used b15 to b8 b7 b b5 b4 b3 b2 bi D D9191 0 Axis Axis Axis Axis Axis Axis Axis Axis VL L Servo amplifier installation status Installed Not installed 0 b When A171SHCPU is used b4 b3 b2 bi bO Axis Axis Axis Axis 4 2 1 No s L Servo amplifier installation status Installed Not installed 0 Servo amplifier installation status 1 Installed not installed status e Installed MR B status is normal normal communication with servo amplifier e Not installed Servo amplifier is not installed Servo amplifier power is OFF Normal communication with the servo amplifier is impossible due to a connecting cable problem etc 2 The system settings and servo amplifier installation statuses are shown below EE eee Installed Not Installed USED axis No setting NOT USED 4 SERVO SYSTEM CPU DEVICES 9 Manual pulse generator smoothing magnification setting area D9192 KE AE EE Data sent from SCPU to PCPU a This area is used for setting the manual pulse generator s smoothing time constant Manual Pulse Generator Smoothing PE i Setting Range Magnification Setting Register D9192 b When the smoothing magnification setting is designated the smoothing time constant is determined by the following formula Smoothing time constant t Smoothing magnification 1 x 56 8 ms
147. er present value change can be executed in the VIRTUAL mode even while operation is in progress during pulse input from the synchronous encoder When the present value is changed the synchronous encoder feed present value will be continued from the changed value Even if a synchronous encoder present value change is carried out it will have no effect on the output module present value 1 M2044 REAL mode VIRTUAL mode status flag see section 4 1 8 13 10 4 10 AUXILIARY APPLIED FUNCTIONS 10 2 Improved Present Value Management By adding the functions described below present value management when using an absolute encoder has been improved 1 Added functions a An encoder data validity check is now possible during operation e It is checked whether the amount of change at the encoder in 3 5 ms intervals corresponds to rotation within 180 at the motor shaft If abnormal an error is displayed Consistency between the encoder data and the feedback position controlled at the servo amplifier is checked If abnormal an error is displayed b Addition of the present value history monitor has enabled monitoring of the following data at a peripheral device e Encoder present value servo command value monitor present value when the power is switched ON e Encoder present value servo command value monitor present value when the power is switched OFF e Encoder present value servo command value monitor present val
148. er values are ignored and the values before setting are retained Motor rpm E Parameter At any time during Operation to i i error Noten nite operation continues 2336 Feed forward coefficient sequence output 2334 PI PID switching position droop 2335 Torque limit compensation factor Speed integral compensation 2336 actual speed differential compensation 11 20 11 ERROR CODES STORED AT THE PCPU Table 11 3 Servo Amplifier Error List 2000 to 2799 Continued Error Error Cause RET When Error Checked E Corrective Action Code Name Description Processing e The set parameter values are When the servo Check and change the set parameter incorrect amplifier power supply values then switch the power to the The parameter data has been is turned ON servo system CPU OFF then ON destroyed e At the leading edge of again press the reset key or turn the the PC READY flag PC READY flag M2000 OFF then M2000 ON again When a servo error is 2604 Motor capacity When the power to the servo system CPU is turned ON 2601 Initial 2617 Speed integral compensation to parameter 2618 Notch filter Immediate seag loriot stop sequence output 2634 PI PID switching position droop 2635 Torque limit compensation factor Speed integral compensation 2636 actual speed differential compensation 11 21 11 ERROR CODES STORED AT THE PCPU 11 5 Output Module Errors
149. error 0 to 4095 and start again START instruc The servo program designated by the START is disabled Designate the correct servo tion setting SVST DSFRP instruction does not program error exist 1 No Error Codes Stored at D9190 Dv ae oa N A N N N C5 START 1 The axis No designated by the START is disabled Designate the correct axis instruction SVST DSFRP instruction is setting error different from that designated by servo program 2 The DSFRP instruction is being 2 Use the SVST instruction used for 4 axis linear interpolation for 4 axis linear interpolation 11 6 11 ERROR CODES STORED AT THE PCPU Table 11 1 Servo Program Setting Error List Continued Error Codes Description Error Processing Corrective Action Stored at D9190 902 instruction code servo program cannot be decoded due check it and make the error to an instruction code error necessary corrections START error A VIRTUAL mode program was started START is disabled Check the program s mode sm TT keefs oo oas STAT sasabet Jee when in the VIRTUAL mode allocation START error An instruction that cannot be executed START is disabled Correct the servo program 905 in the VIRTUAL mode VPF VPR VPSTART ZERO VVF VVR OSC was designated START error An axis listed as not used was START is disabled Designate the correct axis No designated while in the VIRTUAL at the system settings mode 907 S
150. et an even numbered device In addition when setting data in the sequence program for that device always use the DMOV P command e When a two word monitor device leads the sequence program always acquire it in the user device using the DMOV P command Use the fetched device for carrying out such things as upper lower comparison and calculations 8 OUTPUT MODULES b Device data fetch When the data of a device that has been set indirectly is switched from the REAL to VIRTUAL mode first acquire everything as default values and thereafter carry out fetch control during virtual mode operation for the corresponding module Shown in the table below are the fetch timing of each device and the refresh cycle of the set device The device fetch timing and device refresh cycle are the same for both A172SHCPU and A171SHCPU Fetch Refresh Device Device Torque limit value setting device Torque limit value setting device Virtual axis present value within one revolution storage device Rotary table main shaft side Virtual axis present value within one revolution storage device auxiliary input axis side one revolution storage device auxiliary input axis side Cam No setting device Stroke setting device Torque limit value setting device Cam Stroke lower limit value storage device Virtual axis present value within one revolution storage device main shaft side Virtual axis present value within Device Fetch
151. f the rotary table in the set device the current present value in one revolution of the virtual axis is stored b The following devices can be set as the virtual axis present value in one revolution storage device Device Type A172SHCPU A171SHCPU Data register 2 DO to D799 Link register WO to W3FF 1 If a cam is used at the output module the area used for the cam cannot be set 2 If a differential gear is connected to the main shaft the area it uses cannot be set 3 The first device number of the devices must be an even number c The applicable range for the virtual axis present value in one revolution is 0 to ND 1 pulses ND number of pulses per rotary table revolution d The address mode clutch is turned ON and OFF at designated addresses in the virtual axis present value in one revolution range 0 to ND 1 pulses Therefore set the value in the clutch ON OFF address setting device within the range 0 to ND 1 pulses e The setting for the virtual axis present value in one revolution reference position 0 is made by turning M1813 20n address clutch reference setting signal ON and switching to the virtual mode This sets the virtual axis present values in one revolution for both the main shaft and the auxiliary input shaft to O If the switch to the virtual mode is made with M1813 20n turned OFF control continues from the virtual axis present value in one revolution that was effective last time
152. g Error Flag M9079 Signal sent from PCPU to SCPU This flag status indicates whether the positioning data at the servo program designated by the DSFRP SVST instruction is normal or abnormal e OFF un Normal e ON Abnormal The content of a servo program error is stored at D9189 and D9190 4 SERVO SYSTEM CPU DEVICES 4 3 2 Special registers O Valid Signal Device No Signal Name Refresh Cycle Fetch Cycle porono zen REAL VIRTUAL Direction D9180 D9181 Limit switch output status storage D9182 area D9183 D9184 PCPU WDT error cause ae Servo amplifier type D9186 P da Manual pulse Manual pulse generator axis SCPU lt PCPU generator setting error operation enabled TEST mode D9188 Test mode request error request D9189 program n r er At diving D9190 Error item information Servo amplifier loading D9191 information Manual pulse Area for setting the manual pulse See D9192 generator smoothing SCPU PCPU g mE operation magnification D9194 Unusable REAL VIRTUAL mode switching ertor information Ch PCPU Aoa PC link communication error switching codes Unusable Unusable Unusable The END of the refresh cycle is the longer of 80 ms and the sequence program scan time D919 D9196 D9197 D9198 D9199 D9181 D9182 D9183 D9184 D9185 Dom E D9193 D9194 Dog D9198 D9199 4 SERVO SYSTEM CPU DEVICES 1 Limit switch ou
153. gna OFF commana O x x 5 Speed position switching enabled 8 Servo error reset eres PCPU D ERE O Valid 6 Limit switch output enabled External STOP input valid invalid when starting 12 Feed present value update request command 13 Address clutch reference x setting 14 Cam reference position x siy ets ee Ce 117 Unusable 1 18 Control loop setting O o o o o s FNsgna PO x x x j x pe ES Poe Te e fe we ww APP 6 APPENDICES 7 Virtual servo motor axis status A172SHCPU A171SHCPU PI Device Device Signal Name 4 Number Number O Valid e GE MM 2 unusable rs unusable e Junus e Junus m SCPU lt PCPU 19 M code output in progress oe oj ojoj oj o o o oc 3 5ms 8 Virtual servo motor axis command signals Signal Name O Valid Signal d Signal Name REAL VIRTUAL Refresh Cycle Fetch Cycle A172SHCPU A171SHCPU Device Device Number Number M1400 SR sme 5ms 10ms NE Start Star timing 3 ms 5ms il 7 iS FiNsina XT M1420 o Stopcommand 1 Rapid stop command mi439_ 2 Forward JOG geg M1440 3 Reverse JOG start iiem 00 1 ve 5 Unusable sid M1460 ka 7 M1479 External STOP input valid invalid when Geen EX e Unusabe sd 14 APP 7 APPENDICES 9 Sy
154. grams and a positioning sequence program must be created in addition to the mechanical system program Details for these procedures are given in the following manual Motion Controller SV13 22 Programming Manual REAL Mode IB 67265 Differences between the REAL and VIRTUAL modes are discussed in section 2 3 of this manual Be sure to familiarize yourself with these differences before attempting positioning control in the VIRTUAL mode 1 Abbreviations used in this manual are shown in the following table Names f Abbreviation IBM PC AT in which PC DOS V5 0 or later version is installed IBM PC MR H B MR J2 B type servo amplifier MR4 B IBM PC AT is a register trade mark of the International Business Machines Corporation When designing the system provide external protective and safety circuits for safety in the event of trouble with the motion controller Printed circuit boards have components susceptible to the effects of static electricity mounted on them ground your body or the work bench before handling them Do not directly touch conductive or electric parts of the product Set parameter within the ranges indicated in this manual Use the program instructions in accordance with the conditions stipulated in this manual Some of the devices used in programs have fixed applications use them in accordance with the conditions stipulated in this manual 1 GENERAL DESCRIPTION Conventions Used i
155. h the main shaft and the auxiliary input shaft to O If the switch to the virtual mode is made with M 1813 20n turned OFF control continues from the virtual axis present value in one revolution that was effective last time the virtual mode was in effect 8 OUTPUT MODULES f An example of the operation of an address mode clutch is shown below Operation Example Designate clutch ON OFF at this present value present value in one virtual axis revolution See 1 axis Number of pulses per revolution 10000 PLS X axis loading Virtual servomotor present value synchronous encoder 1 axis Present value in one virtual axis revolution Set the clutch status clutch ON address 0 clutch OFF address 0 X axis loading Present value in one output shaft revolution 8 OUTPUT MODULES 12 Virtual axis present value in one revolution storage device auxiliary input shaft side 2 words This parameter is set if an address mode clutch has been set at the cam auxiliary input shaft side Drive module e Virtual axis present value in one revolution Address mode clutch Drive module a By setting the device to store the virtual axis present value in one revolution for the auxiliary input shaft of the cam the current present value in one revolution of the virtual axis is stored b The following devices can be set as the virtual axis p
156. he output module error reset command a 1 1 For details regarding the drive module error reset command see Section 6 1 3 2 2 For details regarding the output module error reset command see Section 8 5 1 c Major error code storage register D751 EE EAA E T ETE Data sent from PCPU to SCPU 1 When a major error occurs at the synchronous encoder or at the output module the corresponding error code see Section 11 3 is stored in this register Each time a major error occurs the previous error code stored in this register will be overwritten by the new error code 2 To clear error codes for major errors which occurred at the virtual servo motor or synchronous encoder execute the drive module error reset command To clear error codes for major errors which occurred at the output module execute the output module error reset command 6 DRIVE MODULE 4 Synchronous encoder axis main shaft differential gear present value Axis SV22C SV22F D686 D686 O Valid D687 D687 i SE 88 Signal Name REAL vinTuAL Signal Refresh Fetch pn d Direction Cycle Cycle Synchronous encoder 0 axis main shaft differential Backup See 3 5ms 1 PCPU gear present value E a Synchronous encoder axis main shaft differential gear present value storage registers D686 D687 sess PCPU SCPU data 1 When switching the virtual mode the present value will be the same as the main shaft side drive module present
157. he product you are using If the fixing is insufficient these may come off during operation Always install the servomotor with reduction gears in the designated direction Failing to do so may lead to oil leaks Store and use the unit in the following environmental conditions Control unit Servo Amplifier temperature With no freezing With no freezing manual With no dew condensation temperature manual Indoors where not subject to direct sunlight Atmosphere Aen 1 No corrosive gases flammable gases oil mist or dust must exist Altitude 1000 m 305 Feet or less above sea level Vibration According to each instruction manual When coupling with the synchronization encoder or servomotor shaft end do not apply impact such as by hitting with a hammer Doing so may lead to detector damage Do not apply a load larger than the tolerable load onto the servomotor shaft Doing so may lead to shaft breakage When not using the unit for a long time disconnect the power line from the control unit or servo amplifier Place the control unit and servo amplifier in static electricity preventing vinyl bags and store When storing for a long time contact the Service Center or Service Station 4 Wiring N Correctly and securely wire the wires Reconfirm the connections for mistakes and the terminal screws for tightness after wiring Failing to do so may lead to run away of the servomotor After wiring install the protect
158. he speed change gear ratio setting device is greater than the speed change gear ratio upper limit value control is executed with the speed change gear ratio clamped at the upper limit value Conversely if the set value of the speed change gear ratio setting device is smaller than the speed change gear ratio lower limit value control is executed with the speed change gear ratio clamped at the lower limit value Speed change gear ratio 10000 Speed change gear ratio upper limit Clamped at speed change gear ratio upper limit value KML LEM fff Contr trol Paneer at AY Speed change gear ratio lower limit Clamped at speed change gear ratio lower limit value c The speed change gear ratio upper limit value lower limit value is set in the range 1 to 10000 i e 100 times the settings actually made 0 01 to 100 d Set the speed change gear ratio upper limit value lower limit value in accor dance with the formula below a Speed change gear ratio BI Speed change gear ratio lt 10000 lower limit upper limit 7 TRANSMISSION MODULE 2 Speed change gear ratio setting device a This is the setting for the device that sets the speed change gear ratio of the speed change gear b The following devices can be used as speed change gear ratio setting devices Device Type A172SHCPU A171SHCPU 1 Data register o DO to D799 Link register WoO to W3FF 1 If a cam is used at the output module the ar
159. hes the module mounting status of the main base unit and extension base units a The ERROR LED on the front of the CPU will switch ON when an error occurs Moreover a log of errors which have occurred can be referred to at a peripheral device device running SW2SRX SW2NX GSV22P b Positioning cannot be started when M2041 is ON To start the positioning operation eliminate the error cause and either switch the power back ON or execute a servo system CPU reset A slot designated as not used at the system setting data will be regarded as not used even if loaded with a module 11 All axes servo START command M2042 Signal sent from SCPU to PCPU This signal is used to enable servo operation e Servo operation ENABLED When M2042 is switched ON the servo OFF signal is OFF and there are no active servo errors e Servo operation DISABLED When M2042 switches ON the servo OFF signal is ON or a servo error is detected ON All axes servo START command OFE ON All axes servo o NE START accept flag Servo ON POINT Once M2042 is switched ON it will not switch OFF even if the CPU is stopped 4 13 4 SERVO SYSTEM CPU DEVICES 12 REAL VIRTUAL mode switching request flag M2043 E Signal sent from SCPU to PCPU This flag is used for switching between the REAL and VIRTUAL modes a To switch from the REAL to the VIRTUAL mode turn M2043 ON after the M9074 PCPU READY flag comes
160. ich an absolute synchronous encoder is set as the drive module cannot be used f A synchronous encoder external input and external input mode clutch can only be set in a 1 1 ratio The relationship between the synchronous encoder and external input is shown in the table below Synchronous Encoder External Input TREN Signal P1 E1 TREN 1 7 14 7 TRANSMISSION MODULE g If the clutch connected to an encoder is used in the external input mode all other clutches connected to the same encoder number must be set to the external input mode However it is permissible to use a combination of direct clutches and smoothing clutches Synchronous encoder connected to a drive shaft If an external input mode clutch is used set all clutches connected to the synchronous encoder to the external input mode Also set clutch ON OFF devices to the same setting Synchronous encoder fetes ee es 7 lt Set all to external input l l imode Also set clutch peu pamm Gc l l l ON OFF devices to the i same setting i l l Synchronous encoder connected to auxiliary input shafts Set all the clutches connected to the same synchronous encoder set to the external input mode Also set clutch ON OFF devices to the same setting uc d Set both to external Synchronous encoder No 1
161. ignal Refresh Cycle Fetch Cycle evice No Eds S REAL VIRTUAL Direction D9180 Limit switch output status storage D9182 j area D9183 D9186 Manual pulse Manual pulse generator axis SCPU lt PCPU generator setting error operation ig D9188 Test mode request error PU information Lus pulse Area for setting the manual pulse generator D9192 generator smoothing SCPU PCPU ification SE E magm enabled D9193 D9194 REAL VIRTUAL mode switching ee error information SCPU lt PCPU switching 3 5 PC link communication error D9196 codes D9197 D9198 D9199 The END of the refresh cycle is the longer of 80 ms and the sequence program scan time APP 14 APPENDICES APPENDIX 3 Setting Range of Indirect Setting Devices Appendix 3 1 Servo program All settings by servo programs positioning address commanded speed M code etc can be designated indirectly by PC devices excluding the axis numbers 1 Device ranges The number of device words and device range in indirect designation are shown below Number Device Setting Range ot Device A172SHCPU A171SHCPU Words Address travel 5 Command speed Dwell time Device Rane Slyeg t1 CP D 0 to 799 E Torque limit value 000 to 3FF Parameter block number a H Auxiliary point 2 o lt mmi Radius 2 Center d 2 Controlunit_ LJ Speedlimitvalue 2 Accelerationtime 1 D
162. ill not produce a circle Problem with START point auxiliary point and END point addresses At the radius designation for circular interpolation an address was designated which will not produce a circle Problem with START point radius and END int addresses e center point designation for circular interpolation an address designated which will not produces circle Problem with START point center point and point addresses During circular interpolation the difference between the END point address and the ideal END point exceeds the allowable error range for circular interpolation The designated JOG Speed is 0 The designated JOG Speed exceeds the JOG speed limit At a JOG simultaneous START a forward and reverse setting are designated for the same axis Corrective Action Set the servo RETE T RETE T to RUN Switch the PC READY M2000 signal ON Setan interlock condition at the program to prevent a START from being designated at an axis which is in motion Designate the relevant axis and a START accept OFF in the START conditions Switch the stop command M1400 20n OFF then execute a START Switch the stop command M1401 20n OFF then execute a START Return to within the stroke limit range using jog operation Move inside the stroke limit range by performing a present value change Execute positioning back to within the stroke lim
163. ill switch ON and the error code will be stored in the minor major error code register Table 9 3 Synchronous Encoder Axis Checklist Output Module Checked Check External Normal Abnormal Check Item M T Sequence Synchronous Output Module Condition Condition Encoder Not s the synchronous encoder connected to Connected an A172SENC A171SENC unit Cable Bresk able brea 9 REAL amp VIRTUAL MODE SWITCHING AND STOP RESTART 9 2 Switching from the VIRTUAL to REAL Mode VIRTUAL to REAL mode switching can be conducted by the user or by the OS e By user Switch M2043 OFF By OS Switching occurs automatically when a servo error is detected 9 2 1 VIRTUAL to REAL mode switching by user 1 When a VIRTUAL to REAL mode switching request M2043 ON OFF occurs the item shown in Table 9 4 is checked If normal switching to the REAL mode will occur Before switching M2043 OFF make sure that this item s status is normal 2 If an error is detected M2045 will switch ON and the error code will be stored at the D9195 register See section 11 6 Table 9 4 Checklist for VIRTUAL to REAL Mode Switching Check S Check Item Normal Abnormal eck Sequence i Condition Condition e Are all axes stopped M2001 M2008 M2001 M2004 are OFF YES NO 9 22 VIRTUAL to REAL mode switching by OS 1 If any of the following conditions are detected during VIRTUAL mode operation the OS will automatically switch ba
164. ing points 2 TREN input of A172SENC 1 point one motion slot PC input module 8 points of designated data Data latch At leading edge of the TREN input signal timing Within 0 8ms of the signal leading edge for the PC input module Possible with a motor equipped with an absolute position detector Absolute position system Possible to select the absolute method or incremental method for each axis The setting range has been expanded from the previous range as a result of compatibility with the high resolution encoder S When a TREN input signal is used as an External input mode clutch the high speed reading function can not be used Manual pulse generator operation function test mode only 4 SERVO SYSTEM CPU DEVICES 4 SERVO SYSTEM CPU DEVICES The servo system CPU devices for which positioning control is carried out using the VIRTUAL mode and the applications of these devices are explained in this chapter The signals which are sent from the PCPU to the SCPU indicate the PCPU device refresh cycle and the signals sent from the SCPU to the PCPU indicate the PCPU device fetch cycle 4 1 Internal Relays 4 1 1 Internal relay list A172SHCPU O Valid A171SHCPU O Valid Classification REAL VIRTUAL Classification REAL VIRTUAL mo _User devices 1200 points User devices 1200 points IL Virtual servo motor axes 2 Back up Virtual servo motor axes 2 Back up status status 20 points x 8 a
165. ing for the units mm inch pulse for the cam b The units for an axis for which a cam setting has been made are the units in the REAL mode unit setting in the fixed parameters 6 Stroke setting device 2 words a This is the setting for the cam stroke b The following devices can be set as the stroke setting device Device Type A1728HCPU A171SHCPU 1 Data register 2 DO to D799 Link register WO to W3FF 1 lf a cam is used at the output module the area used for the cam cannot be set 2 If a differential gear is connected to the main shaft the area it uses cannot be set 3 The first device number of the devices must be an even number 8 OUTPUT MODULES c Set the stroke within the range indicated below e Setting range in the two way cam mode mm Stroke lower limit value stroke lt 2147483647 x 107 um inch Stroke lower limit value stroke lt 2147483647 x 10 inch Pulse Stroke lower limit value stroke lt 2147483647 pulse e Setting range in the feed cam mode mm O stroke lt 2147483647 x 10 um inch 0 stroke lt 2147483647 x 10 inch Pulse 0 lt stroke x 2147483647 pulse 7 Limit switch output a This setting determines whether or not a limit switch signal is output 1 Limit switch output not used Limit switch signal is not output 2 Limit switch output used A limit switch signal is output in the present value mode 1 cam shaft revolution present v
166. ing the servo program by a sequence program DSFRP SVST instruction S OFF iine TEST mode is not in effect SON i eds TEST mode is in effect b If the TEST mode is not established in response to a TEST mode request from a peripheral device the TEST mode request error flag M9078 will switch ON 4 SERVO SYSTEM CPU DEVICES 4 External emergency stop input flag M9076 eege Signal sent from PCPU to SCPU This flag status indicates whether the external emergency stop input to the power module s EMG terminal is ON or OFF OFF External emergency stop input is ON es ON External emergency stop input is OFF 5 Manual Pulse Generator Axis Setting Error Flag M9077 RU Meta Saeed Signal sent from PCPU to SCPU a This flag indicates whether the setting designated at the manual pulse generator axis setting register D1012 is normal or abnormal e OFE ei All D1012 settings are normal e ON eeees At least one D1012 setting is abnormal b When M9077 switches ON the error content is stored at the manual pulse generator axis setting error register D9187 6 TEST Mode Request Error Flag M9078 Signal sent from PCPU to SCPU a This flag switches ON if the TEST mode is not established in response to a TEST mode request from a peripheral device b When M9078 switches ON the error content is stored at the manual pulse generator axis setting error register D9188 7 Servo Program Settin
167. ion diagram shows a virtual system consisting of mechanical modules The mechanical module connection configuration is shown in Fig 5 1 below Indicates rotation direction 4 Virtual axis Virtual main shaft E Bags E ex Drive modu r Transmission module NL 7 A Pi i j Virtual aes Differential servomotor FT gear a ee Drive module f Synchro i4 Connection shaft nus WM P encoder Virtual servomotor Transmission module Synchro Virtual auxiliary Clutch nous mJ input shaft encoder N Differential gear E Speed change Speed change gear gear Y o Clutch i Virtual E 7 servomotor Synchro 4 L nous encoder Output module 1 system Fig 5 1 Mechanical Module Connection Configuration POINTS 1 Either a virtual servomotor or a virtual synchronous encoder can be connected at the drive module 2 One of the following can be connected at the output module Cam roller ball screw or rotary table 5 MECHANICAL SYSTEM PROGRAM 1 Block The term block refers to a single series of elements between and including a virtual transmission module gear connected to the virtual main shaft and an output module Refe
168. irtual servo motor backlash compensation amount is processed as 0 b As the virtual servo motor has no feedback pulse the deviation counter value and the present value are not stored c The virtual servo motor s feed present value is recorded in a backup memory and is restored after switching from the REAL to VIRTUAL mode occurs following a power ON 1 Operation continuation is possible when the output module is using the absolute position system when position detection module servo amplifier are used However if the servo motor for the output module which is connected to the virtual servo motor is operated while power is OFF continuation will become impossible even if the absolute position system is being used If this occurs a VIRTUAL mode continuation disabled warning signal will switch ON To continue operation the virtual servo motor or the output module s servo motor must be moved to the position where synchronous operation is possible 2 If the output module is not using the absolute position system the feed present value must be corrected using the present value change function after switching from the REAL to the VIRTUAL mode occurs 4 Control change The following virtual servo motor control items can be changed e Present value change e Speed change Present value changes are executed by the CHGA DSFLP instruction and speed changes are executed by the CHGV DSFLP instruction See Section 10 1 For de
169. irtual servomotor present value synchronous encoder 2 axis Present value in one virtual axis revolution Set the clutch status clutch ON address 0 Y axis loading Present value in one output shaft revolution ee Ja 2 axis Designate clutch ON OFF at this present value present value in one virtual axis revolution Number of pulses per revolution 20000 PLS Y axis loading 0 0 0 20000 ii Wi a a ec 0 0 0 20000 l 8 OUTPUT MODULES 8 4 4 Cam curve list Cam curves which can be used in the VIRTUAL mode are discussed below 1 Cam curve characteristics The cam curve characteristics are compared in Table 8 6 below Table 8 6 Cam Curve Characteristics Comparison Table Cam Curve Acceleration Class Vm A V m VeV m SeV m Name Curve Shape Constant speed Discontinuous curves Uniform 4 00 8 00 acceleration Distorted 4 89 8 09 Ta 1 8 Symmetrical trapezoid Both side Distorted curve D Sg 128 38 01 ieas aar Kee constan t8 5 i Ta 1 4 speed Asymmetrical curves i Multiple 5 55 7 75 One side stationary curve 2 04 4 16 1 39 hypotenuse 9 87 9 89 f Single Non stationary curve 1 57 4 93 3 88 2 47 1 02 hypotenuse 2 Free form curve The spline interpolation function can be used to create free form cam curves 8 4 5 Creation of cam data by user 1 Creating cam data at IBM PC star
170. is a rotary table or cam ON OFF control is based on the virtual axis present value in one revolution See Rotary Tables and Cams in Section 8 Output Modules for details 7 10 7 TRANSMISSION MODULE c Make sure that the clutch ON OFF command device is turned ON OFF and the status in which the clutch ON OFF address can be accepted is estab lished before the present value of the virtual axis reaches the clutch ON OFF address In the address mode a delay occurs from the time the clutch ON OFF com mand device is turned ON OFF until the clutch ON OFF address can be ac cepted See Appendix 2 for details about the delay times 1 When the clutch ON OFF device is OFF the clutch will not be set to the ON status even if the clutch ON address is reached 2 When the clutch ON OFF device is ON the clutch will not be set to the OFF status even if the clutch OFF address is reached d The clutch ON OFF status can be checked by means of the clutch ON OFF status device Corresponding Device Connected Module A172SHCPU A171SHCPU GE EE Sai Drive shaft M1984 M1984 utput module for axis P Auxiliary input shaft M1985 M1985 Drive shaft M1986 M1986 Output module for axis 2 Auxiliary input shaft M1987 M1987 Drive shaft M1988 M1988 Output module for axis 3 SS Auxiliary input shaft M1989 M1989 Drive shaft M1990 M1990 Output module for axis 4 Auxiliary input shaft M1991 M1991 c Drive shaft M1992 Output modu
171. is as error excluding follows 2147483648 H80000000 speed control The parameter block No setting is outside the 1 to16 range The default parameter block No of 1 will be adopted for servo program operation 1 START is disabled at all interpolation axes during interpolation control If an error is detected during speed switching control or constant speed control a deceleration to stop will occur When a simultaneous START is in effect an error at any servo program will disable all servo programs START will be disabled if a setting of 0 or less is designated When the setting exceeds the speed limit the speed limit value will be adopted Designate a parameter block No within the 1 to 16 range The travel value setting should be designated with a 0 to 2147483647 range Commanded speed error 1 The commanded speed violated the 1 to speed limit range 2 The commanded speed violated the setting range System or Address setting range units pulse 1 to 1000000 PLS sec 1 Designate the commanded speed with the 1 to speed limit range Dwell time The dwell time setting violated the O to The default value of 0 will be Designate the dwell time 5 setting error 5000 range adopted setting within the 0 to 5000 range M code setting The M code setting violated the 0 to The default value of 0 will be Designate the M code setting error 255 range adopted within the 0 to 255 r
172. it range Correct the address at the servo program START is disabled Designate a speed setting within the The JOG prescribed setting range speed limit value is adopted A forward START will occur at the relevant axis only Designate the setting correctly 11 ERROR CODES STORED AT THE PCPU Table 11 2 Drive Module Error List 100 to 1199 Continued ual Servo Axis Control Item Spe Con Man Sync posi Error Error Posi Fixed Spe E stant ual hron tion Class Code tion pitch P 3 JOG Pulse ous ed Swit Spe Follo ing Feed i Gene Enc ching ed w Up rator oder WEI o 152 o o o o o o o 14 15 Error Cause At the reference axis designation for linear interpolation the reference axis travel value is 0 The position command device No at position follow up control is an odd No In the VIRTUAL mode START was designated at an inoperative axis Error occurred at REAL to VIRTUAL mode Switching and system START was disabled e A START was designated during a deceleration to stop which was occurring in response to an all axes servo OFF M2042 OFF e A START was designated during a deceleration to stop which was occurring in response to a servo error at the output module The PC READY M2000 signal was switched OFF during a START which was occurring in response to a START request from the sequen
173. itch ON when the present value read at power ON differs from that which was stored at power OFF final present value of VIRTUAL mode operation This signal status indicates whether VIRTUAL mode operation can be continued following a power ON or servo system CPU reset 6 DRIVE MODULE 1 1 For details regarding drive module major and minor errors see Section 11 3 For details regarding output module major and minor errors see Section 11 5 2 2 For details regarding the minor and major error code storage areas see Section 6 1 3 2 Synchronous encoder axis command signal i SV22C SV22F Signal Name Device No Device No g rin M1560 to Signal Refresh Fetch n a P ms Unusable f SCPU PCPU a Error reset command M1560 1 The error reset command is used to clear minor and major error code storage areas for the drive module of the axis where the error occurred and to reset the error detection signal 2 When the error reset command switches ON the following processing occurs e When the drive module and output module statuses are normal the minor or major error code storage area is cleared and the error detection signal is reset e f an error status still exists at the drive module and output module the error code will again be recorded at the minor or major error code storage area In this case the error detection signal M1360 will remain ON Do not switch the error reset command M1560
174. itching control PTP Selection of absolute data method or incremental method Fixed pitch feed Selection of incremental method Method Constant speed control speed switching control Positioning The absolute method and incremental method can be used together Position follow up control Absolute data method Position command Position command Address setting range 2147483648 to 2147483648 PULSE Speed command Speed setting range 1 to 10000000 PLS S 1 i Acceleration fixed MEE Time fixed acceleration deceleration trapezoidal acceleration deceleration Acceleration acceleration Acceleration time 1 to 65535 ms Acceleration deceleration time 1 to 5000 ms deceleration deceleration Deceleration time 1 to 65535 ms Only constant speed control is possible control Virtual servo motor S curve acceleration S curve ratio setting 0 to 100 deceleration JOG operation function M code output function provided and M code completion wait function provided Skip function A maximum of one manual pulse generator can be connected A maximum of three manual pulse generators can be operated Setting of magnification 1 to 100 It is possible to set the smoothing magnification Number of output points 8 points axis Number of ON OFF setting points 10 points axis Limit switch output function Present value mode Control mode e 8 Cam axis present value in one revolution mode Number of input Max of 9 points High speed read
175. iter DE oet ve voee ae 8 11 2 Gontrol detalls 1 hin ee o eR pecie rn eb eai ip etatis 8 11 8 3 2 Pararieter list ted ee eio ee vet eo eR 8 12 1 Number of pulses per rotary table revolution N 8 12 2 Permissible droop pulse value nennen 8 12 3 Stroke limit upper limit value lower limit value sssessesseseeessesiessinsssrssrnssnrsennsennnnneen nns 8 12 4 Speed limit value VL teint te ert tt tinc eet aaaea i e bei te p Denies 8 13 5 Limit switchi Outputs 5 2 iet ieu d e eee e ed e i de RR o dae 8 13 6 Torque limit value setting device 1 word 8 13 7 Comment Rm 8 13 8 Virtual axis present value in one revolution storage device main shaft side 2 words de eerte RE ee ads 8 14 9 Virtual axis present value in one revolution storage device auxiliary input shaft side 2 wore 8 16 EE 8 18 9 4 i Cam Ree te EE EEN 8 19 1 Procedure for switching from the REAL mode to the VIRTUAL mode 8 19 2 Processing on switching from the REAL mode to the VIRTUAL mode 8 19 9 le el istos race er Mr te en eed Me ette err eo und 8 19 4 Switching the stroke and cam No during operation sse 8 20 5 Control detalls s iUe UIT p ttbi ia bt 8 21 6 Changing Controls 1 ie EES GE eve et Educ ete ELE e eddie 8 22 7 Example sequence program un 8 22 V 8 4 2 Settings when creating cam data 8 23 RENE M EE gedet Eed de 8 23 2 RESOMITIONS E 8 23
176. ity is stored The storage range for the peripheral velocity at this register is as shown below Setting System of Units Storage Range Actual Roller Peripheral Velocity 0 01 to 6000000 00 mm min 1 to 600000000 0 001 to 600000 000 inch min e Actual Present Value register D802 20n coa geed edd ele deceat vise bee Asien ced Data sent from PCPU to SCPU 1 The present value obtained from actual travel feed present value minus the deviation counter s droop pulse count is stored at this register 2 When a STOP status is in effect the present feed value is equal to the actual present value f Deviation counter value register D804 20n PES Data sent from PCPU to SCPU The difference between the feed present value and the actual present value is stored at this register g Minor error code register D806 20n Data sent from PCPU to SCPU 1 When a minor error occurs the corresponding error code is stored at this register Each time a subsequent error occurs the stored error code is replaced by the new error code 2 Minor error codes are cleared by executing an error reset M1807 20n h Major error code register D807 20n Data sent from PCPU to SCPU 1 When a major error occurs the corresponding error code is stored at this register Each time a subsequent error occurs the stored error code is replaced by the new error code 2 Major error codes are cleared by executing an error reset M1
177. ive covers such as the terminal covers to the original positions Do not install a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo amplifier Correctly connect the output side terminals U V W Incorrect connections will lead the servomotor to operate abnormally Do not connect a commercial power supply to the servomotor as this may lead to trouble Do not mistake the direction of the surge absorbing diode Servo amplifier installed on the DC relay for the control signal output of VIN brake signals etc Incorrect installation may lead to signals 24VDC not being output when trouble occurs or the protective functions not functioning Coritrol output Do not connect or disconnect the connection cables signal between each unit the encoder cable or sequence ex pansion cable while the power is ON N Securely tighten the cable connector fixing screws and fixing mechanisms Insufficient fixing may lead to the cables combing off during operation N Do not bundle the power line or cables 5 Trial operation and adjustment N Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine N Extreme adjustments and changes may lead to unstable operation so never make them N If the absolute positioning system is used home position return is required after initial start up or after replacement of a co
178. ke range is possible Constantspeed d Oo Oo o Position followup o o o LN ESSERE The stroke is disabled The feed present value does not become 0 EZ HERE Startup in the return direction in a stroke from Fe RR D HE EET REN REN outside the stroke range is possible 6 DRIVE MODULE lt Error check at startup gt Command position is outside of the stroke limit range at startup Does not start lt Error check with startup in progress gt 207 Feed present value is outside of the stroke limit range during startup range when circular interpolation starts stop is initiated position follow up control b When the stroke limit is disabled Set such that the stroke limit lower limit 2 stroke limit upper limit When the stroke limit is disabled feed present value startup in a direction that exceeds 32 bits is possible In such a case the feed present value is converted to a 32 bit ring address 2147483648 2147483647 4 The following operations are possible depending on the control mode Control Mode Control Contents Positioning Linear e When the ABS command is used for startup it proceeds in a direction within the 32 bit range Startup will not proceed in a direction that exceeds the 32 bit range e When the INC command is used for startup it proceeds in the direction that has been set thus also making it possible to move in a direction that exceeds 32 bits
179. l block for the terminal block for regenerative resistance Measure between C and P of the terminal block for regenerative resistance with a multimeter if abnormal replace the servo amplifier Measure about 3 minutes after the charge lamp has gone out Measure the input voltage R S T with a voltmeter 11 ERROR CODES STORED AT THE PCPU Error Code Name Communicati ons error Data error Transmission error Table 11 3 Servo Amplifier Error List 2000 to 2799 Continued Error Cause Description Error in data received from the Servo system CPU There is excessive variation in the position commands from the servo system CPU commanded speed is too high Noise has entered the commands from the servo system CPU Immediate stop At any time during operation Fault in communication with the servo system CPU 2042 Feedback Encoder signal fault error 11 16 Error When Error Checked Corrective Action Processing Check the connection of the motion bus cable Check if there is a disconnection in the motion us cable Check if the motion bus cable is clamped correctly Check the commanded speed and the number of pulses per revolution and travel value per revolution in the fixed parameters Check the connection of the motion bus cable connector Check if the motion bus cable is clamped correctly Check if the motion bus cable is clamped correctly Check if any relays or valves are ope
180. l servo motor axis numbers controlled by manual pulse generators b15 e b12 bii w b8 bis b4 bB w b0 P1 D1012 V AS AS Da Y Y 3 digits 2 digits 1 digit With a maximum of 3 decimal digits set the controlled axes 1 to 4 for each digit b For details on manual pulse generator operation refer to section 7 20 of the Motion Controller SV13 SV22 REAL mode Programming Manual 3 JOG operation simultaneous start axes setting register D1015 ueni E iret Y ke o ht Data from the SCPU to the PCPU a This register is used to set the virtual servo motor axis numbers on which JOG operation is to be executed and the direction of motion lt A172SHCPU gt b15 b14 b13 b12 bii b10 b9 b8 b7 b6 b5 b4 b3 b2 bi b D1015 Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Axis Ea 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 Axes started in reverse JOG operation Axes started in forward JOG operation Fa The possible settings for each axis moved in a simultaneous start JOG operation are 1 or 0 1 Simultaneous start executed 0 Simultaneous start not executed A171SHCPU b15 b14 b13 b12 bii b10 b9 b8 b7 b6 b5 b4 b3 b2 bi b D1015 ae Axis Axis Axis BAS Ais Axis ka Axes started in reverse JOG operation Axes started in forward JOG operation Ka The possible setting
181. le for axis 5 Auxiliary input shaft M1993 Drive shaft M1994 Output module for axis 6 NES a Auxiliary input shaft M1995 e Drive shaft M1996 Output module for axis 7 EE Auxiliary input shaft M1997 Drive shaft M1998 Output module for axis 8 T CE Auxiliary input shaft M1999 7 11 7 TRANSMISSION MODULE e See Appendix 2 for details about the refresh period of the clutch ON OFF status device Sequence program operation END processing END 0 END 0 END 0 SY ON OFF mode Address mode K Mode setting device value 0 X 1 Clutch ON OFF command device Minimum of 3 5 ms Minimum of required 3 5 ms required Clutch status device Present value of drive todule Continuation from the present value Present value of output shaft 1 If the mode setting device stores a value other than 0 or 1 this is re garded as an error and control is continued on the basis of the previously set value See Appendix 2 for details about reading periods of the clutch ON OFF address setting device value Control mode changes mode setting device value 01 are valid at any time 7 12 7 TRANSMISSION MODULE 3 External input mode a In this mode the clutch is turned ON and OFF in accordance with the clutch ON OFF command bit device and the external input TREN signal synchro nous encoder start signal Since the input pulses from the synchronous encoder are counted in
182. lse is calculated from the ball screw pitch and number of pulses per ball screw revolution P Travel per pulse ve 8 OUTPUT MODULES 3 Permissible droop pulse value a This is the setting for the permissible number of droop pulses at the deviation counter b The deviation counter value is continually monitored and if it becomes larger than the permissible droop pulse value the error detection signal M1607 20n comes ON 4 Stroke limit upper limit value lower limit value a This is the setting for the stroke range in the virtual mode b If the stroke range is exceeded during operation the error detection signal M1607 20n comes ON However ball screw shaft stop processing is not executed 5 Speed limit value VL a This is the setting for the maximum speed of the ball screw b Set the speed limit value within the following range 1 When the units are millimeters VL x 10 x NP lt 60xP lt 1000000 pulse s 2 When the units are inches VL x 10 x NP 1 lt 60xP 1000000 pulse s c If the speed of the ball screw shaft exceeds the speed limit value the error detection signal M1607 20n comes ON However the ball screw speed is not clamped Even if the speed limit value is exceeded A control is executed at the set speed MT ey ORE c Setting for speed limit value 6 Limit switch output a This setting determines whether or not a limit switch signal is outpu
183. lways set the new unit settings correctly To prevent positional displacements after a controller or absolute positioning compatible motor is replaced use one of the following methods to conduct home position return 1 PC write the servo data with the peripheral device turn the power OFF and back ON then conduct home position return 2 Use the peripheral device back up functions to load the data backed up before replacement After maintenance and inspections are completed confirm that the position detection of the absolute position detector function is correct Do not short circuit charge overheat incinerate or disassemble the batteries The electrolytic capacitor will generate gas during a fault so do not place your face near the control unit or servo amplifier The electrolytic capacitor and fan will deteriorate Periodically change these to prevent secondary damage from faults Replacements can be made by the Service Center or Service Station 9 Disposal N Dispose of this unit as general industrial waste N Do not disassemble the control unit servo amplifier or servomotor parts Dispose of the battery according to local laws and regulations 10 General cautions All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections When operating the product always return the covers and partitions to the designated positions and operate according to
184. mber D1012 controlled with manual pulse generator generator 1 operation enabled D1013 Unusable D1014 2 points D1015 JOG operation simultaneous start axis setting register D1016 Axis 1 D1018 1 pulse input modification o o SCPUPCPU Manual pulse D1019 setting register for manual generator D1020 pulse generators operation i l D1021 8 points enabled At Aem e A171SHCPU O Valid Signal Signal Name Refresh Cycle i REAL VIRTUAL Direction D1008 imit swi ES acr mes EE EE SCPU gt PCPU 3 5ms D1009 register 2 points D1 ea 0 Unusable mon 2 points i i i Manual pulse Setting Register for a axis number din D1012 controlled with manual pulse generator SCPU PCPU operation enabled 1 D1013 Unusable D1014 2points Device No Fetch Cycle 1 pulse input modification Manual pulse setting register for manual generator pulse generator operation 4 points enabled Unusable i i APP 13 APPENDICES 20 Special Relays e A172SHCPU A1712SHCPU O Valid Signal Device No Signal Name i Refresh Cycle Fetch Cycle NEE REAL VIRTUAL Direction M9073 PCPU WDT error flag M9074 PCPU READY flag M9075 TEST mode ON flag GE emergency stop input M9077 Cam ee eee generator axis setting error ee eee M9078 TEST mode request flag M9079 Servo program setting error flag 21 Special Registers e A172SHCPU A1712SHCPU D N Signal Name S V29 S
185. mplifier and it is used to determine if a servo error has occurred When an error is detected at the servo amplifier the corresponding error code is be stored at the servo error code storage area 2 The servo error detection signal switches OFF when the servo error reset signal M1808 20n is switched ON or when the servo power is switched OFF and back ON again Servo error reset is only effective in the REAL mode Servo error detection OFF Servo error detection Servo error reset ORE e Home position return request signal M1609 20n This signal switches ON when a home position address check is required at power ON or during positioning control 1 Other than absolute position system i The home position return request signal switches ON at the following times At power ON and on resetting the servo system CPU e During home position return ii The home position return request signal switches OFF when the home position return is completed 2 Absolute position system i The home position return request signal switches ON at the following times e During home position return e When a sum check error occurs at power ON for the backup data reference values ii The home position return request signal switches OFF when the home position return is completed f Home Position Return Completed Signal M1610 20n 1 This signal switches ON when a home position return designated by the servo program or in the T
186. mplifier and servomotor Check for disconnection of the encoder cable Replace the servomotor If the voltage of the bus in the servo amplifier has dropped charge lamp has gone out replace the servo amplifier Check if there has been a collision at the machine Increase the time constant for acceleration and deceleration Increase the position loop gain position control gain 1 2 in the servo parameters Check for disconnection of the encoder cable Replace the servomotor If the voltage of the bus in the servo amplifier has dropped charge lamp has gone out replace the servo amplifier 11 ERROR CODES STORED AT THE PCPU Error Code Name RS232 communicati on error Battery warning Battery disconnectio n warning Excessive regeneration warning Overload warning Servo emergency stop Emergency stop Main circuit OFF warning Home position setting error warning Table 11 3 Servo Amplifier Error List 2000 to 2799 Continued Error Cause Description Parameter unit communication error The voltage of the battery installed in the servo amplifier has become low The power supply voltage to the absolute position sensor has become low An excessive regeneration error 2030 is likely to occur regeneration of 85 of the maximum load capacity for the regenerative resistor has been detected An overload error 2050 2051 is likely to occur 85 of overload level detecte
187. n P 9 Word device device 2 words 1 Control mode a This is the setting for the mode used to switch the clutch ON OFF The following three modes can be set e ON OFF mode e ON OFF mode and address mode in conjunction e External input mode For details on each of the control modes see Section 7 2 1 b If a synchronous encoder is used as the drive module the control modes that can be set differ depending on the encoder interface connected to the A172SENC A171SENC A172SENC A171SENC Ext I Input xternal Inpu Encoder Interface ON OFF Mode Address Mode ManulpusegeneraoriputINC o Serial encoder input ABS Lo o j x j O Can be set X Cannot be set 7 17 7 TRANSMISSION MODULE 2 Mode setting device set only when using ON OFF mode and address mode in conjunction 1 word a This is the device used to switch between the ON OFF mode and the address mode The settings of the mode setting device are as follows e 0 ON OFF mode e 1 Address mode If a value other than 0 or 1 is set this is regarded as an error and the previously set mode remains in effect b The following devices can be used as the mode setting device Device Type A172SHCPU A171SHCPU 1 Data register DO to D799 Link register WO to W3FF 1 If a cam is used at the output module the area used for the cam cannot be set 2 If a differential gear is connected to the main shaft the area it uses cannot be set
188. n This Manual Where positioning signals appear in this manual they are shown in the A172SHCPU A171SHCPU order If only one positioning signal is shown it applies to all the CPUs Moreover all detailed explanations given in this manual are based on the A172SHCPU operation If another CPU is being used the positioning signals which appear in these explanations should be replaced with the ones which apply to the CPU being used Positioning signals for each CPU are shown in Appendix 4 4 SERVO SYSTEM CPU DEVICES 4 2 3 All Axes servo START accept flag M2009 Signal sent from PCPU to SCPU The all axes servo START flag indicates that servo operation is possible ON e Servo is operative OFF Servo is inoperative ON All axes servo OFF R START accept flag ON C All axes servo OFFE START command d NJ Servo ON s 4 2 4 Manual pulse generator enabled flag M2012 Signal sent from SCPU to PCPU The manual pulse generator flag designates the enabled disabled status for positioning executed by pulse inputs from manual pulse generators connected to the A172SENC A171SENC PULSER ON Positioning control by manual pulse generator inputs is enabled OFF Positioning control by manual pulse generator inputs is disabled inputs are ignored 4 2 5 JOG simultaneous START command M2015 Signal sent from SCPU to PCPU 1 When M2015 switches ON a JOG simultaneous START will oc
189. n deceleration speed has been set in the servo program If it is not set the FIN signal wait function is disabled and the M code output in progress signal does not come ON 6 15 6 DRIVE MODULE 2 Virtual servo motor axis command signals A172SHCPU A171SHCPU Device No Device No M1400 M1400 O Valid to to z Signal Refresh Fetch M1419 M1419 Signal Name REAL VIRTUAL Direction Cycle Cycle Axis No M1420 M1420 0 Stopcommand 2 to to Rapid stop command M1439 M1439 Forward JOG start T M1440 M1440 Reverse JOG start End signal OFF 3 e to i command M1459 M1459 GE o i M1460 M1460 4 to to Errorrest x o PCPU 5 i Signal Name M1479 M1479 External STOP input M1480 valid invalid when starting 6 8 5 to M1493 Unusable M1500 to M1519 M1520 to M1539 Start timing 6 16 6 DRIVE MODULE a Stop command M1400 20n 1 The stop command is used to stop operation at an axis where motion is in progress and it becomes effective at the leading edge OFF ON of the signal Operation cannot be started at axes where the stop command is ON Stop command M1400 20n Stop command at specified axis Control when e stop command Designated is OFF speed N STOP v7 Deceleration stop processing 2 The stop command can also be used during speed control For details regarding speed control see Section 7 12 of the Motion Co
190. n the external input mode for a A172SENC A171SENC set for high speed reading Return to the REAL mode and position within the stroke range Correct the cam table Make sure that stroke ratios of both 0 and 7FFFH are included in the cam data table Designate 0 to 7FFFH points in the cam table Designate the torque limit value within the stipulated setting range Check the limit switch output data e Verify that the installed memory cassette is a model A3NMCA 24 or newer Designate an even number as the first device number Designate a value within the range 0 to 2147483647 11 ERROR CODES STORED AT THE PCPU Table 11 4 Output Module Error List 4000 to 5990 Continued Output Module Error Output Drive A i Class Modu Modu Ben BE Cam Error Cause Processing Corrective Action le le crew Table 5260 526 e Stroke setting device is out of Related systems e Set in the range 1 to 2 1 range inoperative 5270 lent e e Cam number setting device is e Correct the cam number out of range setting Clutch mode setting device is Correct the clutch mode Clutch ON address setting Correct the clutch ON address 5290 529 LA device is out of range setting 5300 Clutch OFF address setting Correct the clutch OFF address device is out of range setting 5310 Clutch ON OFF command Correct the clutch ON OFF device is out of range command Setting device is out of
191. n the JOG speed limit value the JOG speed is restricted to the JOG speed limit value b Parameter block setting Designates the parameter block No which is used for the JOG operation The following parameter block data items are valid during a JOG operation acceleration time deceleration time rapid stop deceleration time and deceleration processing on STOP input JOG speed limit value V JOG speed limit value Designated JOG speed y Designated JOG speed gt t Actual Actual I I I i I i l l acceleration time deceleration time l lt gt 1 I I 1 D I I I I E I gt t E I I Actual rapid stop time Set acceleration Set deceleration Set rapid sto time time p H I 1 1 time Fig 6 2 Relationships between the JOG Speed Limit Acceleration Time Deceleration Time and Rapid Stop Time The parameter block system of units for interpolation control during a JOG operation is fixed as pulses regardless of the system of units setting 6 10 6 DRIVE MODULE 6 1 3 Virtual servo motor axis devices internal relays data registers 1 Virtual servo motor axis status A172SHCPU A171SHCPU Device Device Signal Name Number Number M1200 to M1219 M1220 to M1239 M1240 to M1259 M1200 to M1219 M1220 to M1239 M1240 to M1259 Signal Name Positioning start completed Positioning completed Unusable Command in position Speed c
192. n the servo Check if the connector of the the encoder amplifier power is encoder cable is loose turned ON Replace the servomotor At the leading edge of Replace the encoder cable Position the PC READY flag Check the combination of the cable 2016 sensor error M2000 types 2 wire and 4 wire encoder When servo error is cables and servo parameters reset When the power to the servo system CPU is turned ON Faulty device in the servo When the servo Replace the servo amplifier amplifier PCB amplifier power is turned ON At the leading edge of the PC READY flag 2017 PCB error M2000 When a servo error is reset When the power to the servo system CPU is turned ON 11 12 11 ERROR CODES STORED AT THE PCPU Error Code Name Memory error 3 Position sensor error 2 Output ground fault Battery alarm Table 11 3 Servo Amplifier Error List 2000 to 2799 Continued When Error Checked Corrective Action Processing Error Cause Description Servo amplifier flash ROM check sum error Fault in communication with the encoder U V or W of the servo amplifier output grounded The voltage of the supercapacitor inside the absolute position sensor has dropped Failure of battery cable or battery Home position return must be reexecuted after clearing the error When the servo amplifier power is turned ON At the leading edge of the PC READY flag M2000 When servo error is reset When
193. nchronous encoder axis status A172SHCPU A171SHCPU Device Device Signal Name Number Number M1360 M1360 O Valid 1 to to i Signal Name REAL VIRTUAL Signal netresh Cycle Fetch Cycle M1363 M1363 Direction 0 Error detection Virtual mode intermittent SCPUCPCPU 10ms actuation disabled warning pex 10 Synchronous encoder axis command signals A172SHCPU A171SHCPU Device Device Signal Name Number Number M1560 M1560 O Valid 1 to to i Signal Name REAL VIRTUAL Signa Refresh Cycle Fetch Cycle M1563 M1563 Direction 0 Error detection 2 Unusable SCPU PCPU 11 Common devices A172SHCPU A171SHCPU Number Direction Cycle Cycle Number REAL VIRTUAL Direction Cycle Cycle M1960 M1961 M1962 M1963 M1964 M1965 M1966 M1967 M1968 M1969 M1970 M1971 _ Unusable nusable M1972 24 points 4 points M1973 M1974 M1975 M1976 M1977 M1978 M1979 M1980 M1981 M1982 M1983 APP 8 APPENDICES A172SHCPU Device R Signal Refresh Fetch Number Signal Name Direction Cycle Cycle ans axis sid Output Main aft side Output M1989 axis 3 Me Main aft side axis4 cupa Nein sha Backup popu Sms axis 5 proe daa Output Output Main sl aft side Ewan S rer Output Main sl aft side ime porem 5 gt S om Clutch status Start accept flag 8 points M2008 M2009 All axes servo ON accept flag Unusable 2 points
194. nchronous processing with software using a mechanical system program comprised of a virtual main shaft and mechanical module This mode permits the synchronous control for conventional positioning by main shaft gear and cam etc to be replaced by a servomotor positioning control format b In addition to the positioning parameter settings servo program and positioning sequence program used in the REAL mode the VIRTUAL mode also requires a mechanical system program c The procedure for VIRTUAL mode positioning control is as follows 1 A VIRTUAL mode servo program start request is issued with a DSFRP SVST instruction in the positioning sequence program 2 The mechanical system program s virtual servomotor is started 3 The calculation result from the transmission module is output to the amplifier module servo amplifier designated for the output module 4 Servomotor control is executed Servo System CPU SCPU Control Range PCPU Control Range Sequence program Servo program Mechanical system program VIRTUAL l E I 4F DSFRP o Keos l phe ees Drive module 1 UC RR RR SA Fee E E ABS 1 virtual servomotor 1 Transmission module Axis 1 100000 EE Servo program i 2 g start request Speed 1000 E p Axis 1 or 1 CU Eau UE EM a ow Ee E E E M e a ae ei C gt Sequence program L System setti
195. nding to the virtual axis No 0 A172SHCPU 1 A171SHCPU 1 Virtual axis No 6 DRIVE MODULE 6 2 Synchronous Encoder The synchronous encoder is used to execute virtual axis operation by pulse inputs from an external source Synchronous encoder operation and parameters are discussed below 6 2 1 Synchronous encoder operation 1 Operation START A synchronous encoder axis START occurs when the reception of the pulse inputs from the external synchronous encoder begins Pulse input reception occurs when switching from the REAL to the VIRTUAL mode is executed and when the external signal TREN synchronous encoder input START signal input occurs a Pulse input reception at REAL to VIRTUAL mode switching occurs as follows 1 Reception of pulse inputs from the external synchronous encoder begins from the point when REAL to VIRTUAL mode switching occurs ON REAL VIRTUAL mode Gem OFF switching request flag M2043 ON REAL VIRTUAL mode OFF status flag M2044 REAL mode VIRTUAL mode Pulse input from external St synchronous encoder l 7 1 Feed present value pulse of synchronous encoder axis Synchronous ncoder axis operation START 2 2 The clutch control mode operation will be identical to its operation in the ON OFF mode and the address mode and can be used with incremental or absolute type synchronous encoders 3 Transmission of synchronous enco
196. ng Default Value Setting Range Output shaft WhenusinganATZ2SHCPU 0 to number WhenusnganATTISHCPU rer Number of pulses per rotary table revolution No i a EE dees D Permissible droop pulse value 65535 1 to 65535 pulse 4 Stroke limit upper limit value os 0 to 359 99999 degree 5 Stroke limit lower limit value plc cy 0 to 359 99999 degree 6 Spedlmtvaue V o 0 01 to 2147483 647 degree min 8 Torque control limit setting device word 300 word device Virtual axis present value in one revolution word device storage device main shaft side 2 word Virtual axis present value in one revolution storage device auxiliary input shaft side word device 2 word 1 Number of pulses per rotary table revolution ND a This is the setting for the number of pulses equivalent to one revolution of the rotary table connected to the servomotor CD Py Number of pulses per rotary table revolution No b The travel value per revolution is calculated from the number of pulses per rotary table revolution in accordance with the following formula Travel per pulse 360 degree 2 Permissible droop pulse value a This is the setting for the permissible number of droop pulses at the deviation counter b The deviation counter value is continually monitored and if it becomes larger than the permissible droop pulse value the error detection signal
197. ng Fixed parameters Servo parameters Parameter block Limit switch output data H KBs Ji keo Home position return data is not used in the VIRTUAL mode because a home position return operation is impossible Home position returns occur in the REAL mode Y VIRTUAL mode JOG operations occur in accordance with the JOG operation data designated Servo amplifier Servo amplifier at the drive module parameters 4 Servomotor Servomotor 2 PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL 2 PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL The procedure for VIRTUAL mode positioning control is discussed in this section 2 4 System Start Up The procedure for a VIRTUAL mode system start up is shown below START Register SW2SRX SW2NX GSV22PE SWOSRX SWONX CAMPE Start SW2SRX SW2NX GSV22PE Y Designate system settings v Designate the following positioning parameter settings Fixed parameters Servo parameters Parameter block A Conduct a relative check and correct setting errors 1 Will cam be used Setting by peripheral device Write setting data to hard disk or floppy disk then end SW2SRX SW2NX GSV22PE operation v Start SWOSRX CAMPE v 1 Reference Section Section 2 3 NO 11 Reference Manual Motion Controller SV13 22 Programming Ma
198. ng the control unit or servo amplifier never hold the connected wires or cables When transporting the servomotor never hold the cabled shaft or detector When transporting the control unit or servo amplifier never hold the front case as it may fall off When transporting installing or removing the control unit or servo amplifier never hold the edges Install the unit according to A172SHCPU user s manual A171SHCPU user s manual or the instruction manual for the product you are using in a place where the weight can be withstood Do not get on or place heavy objects on the product Always observe the installation direction Keep the designated clearance between the control unit or servo amplifier and control panel inner surface or the control unit and servo amplifier control unit or servo amplifier and other devices Do not installer operate control units servo amplifiers or servomotors that are damaged or that have missing parts Do not block the intake outtake ports of the servomotor with cooling fan Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the control unit servo amplifier or servomotor The control unit servo amplifier and servomotor are precision machines so do not drop or apply strong impacts on them Securely fix the control unit and servo amplifier to the machine according to A172SHCPU user s manual A171SHCPU user s manual or the instruction manual for t
199. nless time Ta Tb Tc T borderlines when section divisions are used a Discontinuous curve 1 Constant speed curve A CO 2 Uniform acceleration curve Section 0 lt T lt 0 5 A 4 4CO0 Section II 0 5 lt T lt 1 A 4 C0 b Both side stationary symmetrical curve 1 5th curve A 120T 180T 60T CO 2 Cycloid curve Am 2x A 2r sin2tzT CO 3 Distorted trapezoid curve 1 Ta 4 7g Am 1 2 Ta Ta 4 T 1 Section 0 lt T lt Ta x A Amsin Sr T C0 Section II Ta lt T lt 0 5 Ta A Am 4 CO Section III 0 5 Ta lt T lt 0 5 Ta we E Ae 2Ta Section IV 0 5 Ta T 1 Ta A Am CO Section V 1 Ta T x 1 AzcAmogs SSE eg 2Ta APP 1 APPENDICES 4 Distorted sine curve 1 2Ta 2 8Ta r Section 0 lt T lt Ta A Amsin C0 Section Il Ta lt T lt 1 Ta m T Ta 1 2Ta Section Ill 1 Ta lt T lt 1 mT 1 Ta 2Ta 5 Distorted constant speed curve Ta UN A Amcos C0 A Amcos CD 16 1 Ta a Re 3 TaTb 2 am T Section o lt T lt Ta A Amsin t CO 2Ta Section Il Ta lt T lt Tb m T Ta 2 Tb Ta Section III Tb T 1 Tb A 0 A0 Section IV 1 Tb T 1 Ta n T 1 4 Ta oe t Section V 1 Ta lt T lt 1 mT 1 Ta 2Ta A Amcos C0 A Amsin Amcos CD APP 2 APPENDICES c Both side stationary asymmetrical curve 1 Trapecloid curv
200. nnection Check for communication cable burnout Confirm that ASOBD PCF A30CD PCF is properly placed Replace the A30BD PCF A30CD PCF Check the communication cable connection Check for communication cable burnout Confirm that there is nothing causing noise in the vicinity Start the communication task on the personal computer side 9 Speed switching point designation flag M2040 ete Signal sent from SCPU to PCPU The speed switching point designation flag is used when a speed change is designated at the pass point in constant speed control a By turning M2040 ON before the start of constant speed control before the servo program is started using the DSFRP SVST instruction control can be executed with a speed change at the start of the pass point M2040 OFF Pass points in M2040 ON constant speed control here a speed change is designated at P3 Speed switching point designator flag DSFRP SVST instruction Start accept flag b After completion of start accept processing the speed switching point designation flag can be turned OFF at any time 4 12 4 SERVO SYSTEM CPU DEVICES 10 System setting error flag M2041 Signal sent from PCPU to SCPU When the power is switched ON or when the servo system CPU is reset the System setting data set with a peripheral device is input and a check is performed to determine if the set data matc
201. nning as this may lead to electric shocks lt gt Never run the unit with the front case or terminal cover removed The high voltage terminal and charged sections will be exposed and may lead to electric shocks lt gt Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF The insides of the control unit and servo amplifier are charged and may lead to electric shocks When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Always ground the control unit servo amplifier and servomotor with Class 3 grounding Do not ground commonly with other devices The wiring work and inspections must be done by a qualified technician Wire the units after installing the control unit servo amplifier and servomotor Failing to do so may lead to electric shocks or damage Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to electric shocks Do not touch the control unit servo amplifier or servomotor terminal blocks while the power is ON as this may lead to electric shocks Do not touch the internal power supply internal grounding or signal wires of the control unit and servo amplifier as this may lead to electric shocks
202. nter value 6 Minor errorcode ae ees sche SCPU lt PCPU Servo error Servo errorcode 10ms HEX value when the near zero END 0 point DOG CHANGE is ON Backup T Home position return second travel value Execution program Number Torque limit value l o 15 Travel value change register e SCPU PCPU xD 7 Actual present value when STOP is input SCPU lt PCPU Data set pointer for constant EX Mura or Clesse control PE driving b Control change registers AE Signal Name t O Valid f e is Signal Name Signal Direction ees Fetch Cycle D965 REAL VIRTUAL D966 0 ES Present value change register 1 ES PEKA 2 Speed change register SCPU PCPU BS D972 p re a BS JOG speed setting register At drivin D977 BE D978 represents a backup register D983 The END of the refresh cycle is the longer of 80 ms and the sequence program scan time 8 48 8 OUTPUT MODULES Cam shaft monitor device SV22C SV22F Signal Name Device No Device No 9 D760 D760 1 ignal 9 to Signal Name Cali Signa Refresh Cycle Fetch Cycle D764 D764 REAL VIRTUAL Direction ol Effective cam No Effective stroke amount 2 D770 D770 3 Present value in 1 cam shaft 4 revolution D774 D774 D775 D775 D779 D779 SCPU lt PCPU Every END D795 8 to D799 Every END of the refresh cycle is referred to as the sequence program scan time 2 Data register D details a Effective cam No
203. ntroller SV13 22 Programming Manual REAL Mode 3 STOP processing which occurs in response to the stop command is shown in Table 6 2 below Table 6 2 Stop Processing at Stop Command ON i Control in Processing at Stop Command ON Progress When Control is in progress When Deceleration to Stop is in Progress Position control Deceleration to a stop occurs within Stop command is ignored and the Speed control the deceleration time designated in the deceleration stop processing JOG operation servo program or parameter block continues 1 The n in M1400 20n represents the numerical value corresponding to the virtual axis No n 0 A172SHCPU 1 A171SHCPU 1 Virtual axis No 6 17 6 DRIVE MODULE b Rapid stop command M1401 20n 1 This command is used to execute a rapid stop at an axis which is in motion and it becomes effective at its leading edge OFF ON Operation cannot be started at axes where the rapid stop command is ON Rapid stop OFF command M1401 20n Rapid stop command at specified axis Control when rapid stop Designated yas ee is STOP Rapid stop processing 1 2 The rapid stop processing which occurs when the rapid stop command switches ON is shown in Table 6 3 below Table 6 3 Rapid Stop Processing When Rapid Stop Command is Switched ON Processing at Stop command ON Control in EET When Deceleration to Stop is in Rapid stop occurs Deceleration p
204. ntroller or absolute positioning compatible motor VI 6 Usage methods N Immediately turn OFF the power if smoke abnormal sounds or odors are emitted from the control unit servo amplifier or servomotor N Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection N The units must be disassembled and repaired by a qualified technician A A Do not make any modifications to the unit Keep the effect or magnetic obstacles to a minimum by installing a noise filter or by using wire shields etc Magnetic obstacles may affect the electronic devices used near the control unit or servo amplifier N Use the units with the following conditions Wem Conditions According to A172SHCPU A171SHCPU specifications Input frequency According to A172SHCPU A171SHCPU specifications Ee memenay According to A172SHCPU A171SHCPU specifications power failure 7 Remedies for errors N If an error occurs in the self diagnosis of the control unit or servo amplifier confirm the check details according to this manual or the instruction manual and restore the operation A If a dangerous state is predicted in case of a power failure or product failure use a servomotor with magnetic brakes or install a brake mechanism externally N Use a double circuit construction so that the magnetic brake operation circuit can be Shut off with th
205. nual REAL Mode Chapter 4 Chapter 4 SW2SRX SW2NX GSV22PE SWOSRX SWONX CAMPE Operating Manual Chapter 4 Section 6 1 Chapter 7 Chapter 8 Section 8 4 Section 6 2 Section 21 1 2 PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL Designate cam data settings Write setting data to hard disk or floppy disk then end SWOSRX SWONX CAMPE operation Y Start SW2SRX SW2NX GSV22PE Reference Section 11 Section 8 4 Create the mechanical system program D Check mechanical system program and correct setting errors v Create the servo program v Switch the power supply module ON v Write the following data from the peripheral device to the servo system CPU System setting data Positioning data Servo program Mechanical device program Cam data Sequence program D Turn the PC READY signal M2000 ON Y Execute an all axes servo START request switch M2042 ON 2 Section 5 Section 2 3 Section 4 1 Section 4 1 Reference Manual Motion Controller SV13 22 Programming Manual REAL Mode Section 6 Section 7 SW2SRX SW2NX GSV22PE SWOSRX SWONX CAMPE Operating Manual Chapter 22 Section 21 2 Section 6 1 Chapter 10 Section 10 2 5 Chapter 11 2 PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL Reference Section Reference Manual
206. nued in accordance with the settings made in the fixed parameters regardless of switches between the real mode and virtual mode c The peripheral velocity of the roller is monitored by means of a peripheral device and the roller peripheral velocity register For the calculation formula for the roller peripheral velocity see Section 8 1 2 and for details on the roller peripheral velocity register see Section 8 5 2 8 4 8 OUTPUT MODULES 8 1 2 Parameter list The parameters for rollers are presented in Table 8 1 and each of the items in the table is explained in 1 to 6 below For details on setting roller parameters refer to the SW2SRX SW2NX GSV22P SWOSRX SWONX CAMP Operating Manual Table 8 1 Parameter List Default Setting Range DENEN mme Output shaft When using an ATZZSHCPU 0 tt number WhenusinganAIZISHOPU o Leni O 2 Unit setting mm mm Roller diameter L 0 TI 04to214748364 7 um 0 00001 to 21474 83647 inch Number of pulses per roller revolution N za 1 to 2147483647 pulse Permissible droop pulse value 65535 1 to 65535 pulse 6 Speed limit value V 0 0 01 to 6000000 00 mm nch 0 01 to 600000 000 inch min Torque limit value setting device 1 word 300 word device 1 Unit setting a This is the setting for the units mm inch for the roller b When an axis for which a roller setting has been made is in the real mode the units unit setting in
207. o External signal STOP iol o 14 External signal DOG CHANGE 15 Servo ON OFF WER M1720 16 Torque control in to progress M1739 17 External signal DOG CHANGE Virtual mode intermittent 18 actuation disabled M1740 warning bs M code output in progress O E B SCH oO E B 8 OUTPUT MODULES z o b Command signals for each axis Signal Name SS CN Valid VIRTUAL Signal N REAL Ball Rot Refresh Fetch ignal Name a otary Gegen ege i Cvele Screw Table eee las 1 Rapid stopcommand O x x x x 2 FowadJOGsat O x x x x D pee dae UTAH 4 End signal OFF command o x x x meme H enabled ae sme D MN enabled 10ms 8 Servo error est e PCPU 7 Error reset reset External STOP input valid invalid when starting feet request command aterm TT Te setting EEE setting 15 Servo OFF i OFF 17 Unusable 18 Control oop setting O o Oo o 9 19 FN sina ojx x x x 8 40 8 OUTPUT MODULES 2 Internal relay M details a In position signal M1602 20n 1 The in position signal is a signal that comes ON when the number of droop pulses at the deviation counter falls below the in position range set in the servo parameters Number of In position range setting drop pulses t In position 2 An in position check is performed
208. o motor Drive module Synchronous Fixed as PULSE encoder Control unit mmeinch Output module 5 Rotary table Fixed as degree mmeinchePULSE Dedicated instructions sequence ladders servo programs mechanical system programs SFC programming of servo programs is also possible 13k steps 13312 steps Capacity matching the servo program for the REAL mode Approx 400 points axis Approx 800 points axis These values vary depending on the programs Positioning data can be designated indirectly Number of modules that can be set per CPU Programming language Servo program Number of points for positioning VIRTUAL Drive module modules Synchronous encoder Main shaft Virtual axes Auxiliary input Clutch Speed change 8 axes 1 axis o Transmission modules A o o gt Q bd D Differential gear 4 e E for the main shaft Roer 8 Oupa ss 5 tater modules Rotary tabe a can 4 7 and cam rotation mode limit E S g D o 2 a E D g no gt o be S E G x eo o Total of 4 3 PERFORMANCE SPECIFICATIONS Table 3 1 PCPU Performance Specifications VIRTUAL Mode Continued PT Hem A172SHCPU A171SHCPU Interpolation functions Linear interpolation max of 4 axes circular interpolation 2 axes PTP point to point speed control fixed pitch feed constant speed control position follow up Control modes control speed sw
209. ode Fr rt Program Example a Servo program START request at REAL mode START command M2001 M2043 M2044 LEE AZ IL JH b Servo program START request at VIRTUAL mode START command M2001 M2043 M2044 J 7 1 For details regarding the DSFRP SVST and DSFLP CHGA CHGV instructions refer to the Motion Controller SV13 22 Programming Manual REAL Mode IB 67265 2 The M2043 and M2044 names are as follows e M2043 REAL VIRTUAL mode switching request flag e M2044 REAL VIRTUAL mode status flag Jee Section 4 1 9 REAL amp VIRTUAL MODE SWITCHING AND STOP RESTART 2 During TEST mode operation M2043 ON OFF REAL VIRTUAL mode switching request switching from a peripheral device is ignored During TEST mode operation REAL VIRTUAL mode switching can be executed from a peripheral device M2044 will switch ON OFF in accordance with the REAL VIRTUAL mode status When REAL VIRTUAL mode switching is executed from a peripheral device the data which is checked is identical to that checked at M2043 OFF ON and ON OFF See Sections 9 1 and 9 2 9 REAL amp VIRTUAL MODE SWITCHING AND STOP RESTART 9 4 STOP amp RESTART The basic method for stopping the system output module during VIRTUAL mode operation is to stop the main shaft If an auxiliary input shaft is being used that shaft should also be stopped 1 Virtual Axis STOP The procedures for stopping and re
210. ode switching request flag ON and switch to the VIRTUAL mode ii If an error occurs during cam operation set the cam No and stroke correctly 5 Control details a On switching from the REAL mode to the VIRTUAL mode or on switching from the VIRTUAL mode to the REAL mode the currently effective feed present value of the cam remains effective b Backlash compensation processing is not executed in the case of cam shafts only If necessary take this into account when creating the cam pattern c No stroke limit upper limit value lower limit value check or speed limit check is executed 8 OUTPUT MODULES 6 Changing control The cam shaft present value in one revolution can be changed to any required value to change cam control during operation in the VIRTUAL mode The present value change is executed using the CHGA instruction See Section 10 1 Example sequence program CHGA C K1234 A A Change request e Present value in one revolution to be changed Cam No to be changed Operation 0 P E In order to ensure that the motor does not turn even if a present value change is executed the stroke EE ER E Si ___y_ lower limit value is changed by this stroke amount I 1 Ee EE 1234 Change Current present value in one cam revolution Present value in one cam revolution after the change 7 Example sequence program Switching from REAL mode to VIRTUAL mode
211. of gear shaft setting device is set to teeth at input shaft setting zero Number of gear teeth at output Correct the number of gear shaft setting device is set to teeth at output shaft setting Zero 530 531 532 533 537 538 539 540 41 11 23 11 ERROR CODES STORED AT THE PCPU 2 No clutch clutch ON clutch status ON output module errors 6000 to 6990 Table 11 4 Output Module Error List 6000 to 6990 Continued Output Module Error Output Drive Ball Rotar Error Cause Processing Class Modu Modu y Cam le le Screw Table Corrective Action Minor Errors 6000 6010 6020 6030 6040 6050 6060 6080 6090 6120 6130 6140 600 The servo OFF command M1815 20n switched ON during operation The output speed exceeded the speed limit value during operation Speed clamp processing in accordance with the speed limit value is not executed The deviation counter value exceeded the permissible number of droop pulses value during operation The feed present value violated the stroke limit range during operation The cam No setting device value violates the used cam Nos range Operation continues with the current cam No The stroke setting device value violates the 1 to 2 1 range The designated value doesn t conform to the following requirement stroke lower limit stroke lt 2 1 Operation continues with the current stroke
212. of the Motion Controller SV13 22 Programming Manual REAL Mode 6 DRIVE MODULE 6 Operation in Progress Synchronous encoder Operation mode when error occurs The operation method when major errors occur at the output modules of a given system can be designated as shown below Control occurs as shown below based on the parameter settings see Table 6 2 of the synchronous encoder which is connected to the synchronous encoder main shaft a Continuation Output module operation continues even if a major output module error occurs The error detection signal M1607 20n will switch ON at such times and the corresponding error code will be recorded at the major error storage area The system and output module continuation stop setting when a major output module error occurs is designated in the sequence program b Clutch OFF When a major output module error occurs that system s clutch will be switched OFF and all connected output modules will stop At this time the clutch ON OFF command device will not switch OFF but the clutch status storage device will switch OFF regardless of the clutch ON OFF command device s ON OFF status Operation will continue at axes where no clutch is connected The drive module can be stopped from the sequence pro gram if required To resume operation eliminate the error cause then switch the clutch ON OFF command device ON Operation When Major Error Occurs
213. ontrol in progress O Valid Signal Direction Refresh Cycle Fetch Cycle Unusable ER 5 6 Unus be a Unusabe M1280 Cal Unuabe to E M1299 M1300 to M1319 M1320 to M1339 M1340 to M1359 e 2 O 2 2 g ET 2 RER BE se O Em es RE m RE M code output in progress o 3 5ms 3 5ms Immediately SCPU lt PCPU 3 5ms Axis No M1260 M1260 4 to to M1279 M1279 6 11 6 DRIVE MODULE a Positioning START completed signal M1200 20n 1 1 This signal switches ON when a positioning START is completed at the axis designated by a DSFRP SVST instruction in the sequence program This signal is inoperative during JOG and speed control operations This signal can be used for M code readouts etc when positioning is started 2 The positioning START completed signal will switch OFF at the leading edge OFF ON of the completed signal OFF command M1404 20n or when positioning is completed 1 At leading edge of completed signal OFF command OFF ON V Dwell time t DSFRP SVST instruction START accept M2001 n Positioning START completed M1200 20n Completed signal OFF command M1404 20n 2 When positioning is completed Dwell time Positioning completed DSFRP SVST instruction START accept M2001 n Positioning START completed M1200 20n EX 1 The n of M2000 n M1200 2
214. opriate action the FIN signal goes ON SE 12 Travel to the next point does not take place unless the FIN Axis 400000 signal goes ON Axis 400000 3 When the PC s action causes the FIN signal to go ON the M CPEND code output in progress signal goes OFF 4 After the M code output in progress goes OFF the PC takes appropriate action so that the FIN signal goes OFF Positioning to the next point 2 begins through the above steps POINTS 1 The FIN signal and M code output in progress signal are for the FIN signal wait function 2 The FIN signal and M code output in progress signal are only enabled when the FIN acceleration deceleration speed has been set in the servo program If it is not set the FIN signal wait function is disabled and the M code output in progress signal does not come ON 6 DRIVE MODULE 3 Virtual servo motor axis monitor device SV22C SV22F Device No Device No M700 M700 O Valid to to 7 Signal Refresh Fetch M705 M705 Signal Name REAL VIRTUAL M706 M706 0 Feed present value 3 5ms to to 1 M711 M711 mer E Backup SORUS Immediately M712 M712 PCPU to to Execution program Number 35 Mae Mee 2A Axis No M718 M718 4 to to M723 M723 Signal Name M724 to M729 M730 to M735 M736 to M741 M742 to M747 a Feed present value storage register D700 6n ANE Eed ege dee Dee Data sent from PCPU to SCPU 1 The target address which was outpu
215. orrective Action Further operation e Correct the motor type setting is impossible in the system settings The VIRTUAL Check the position mode continuation Check encoder battery disabled warning device comes ON Further operation is impossible 11 ERROR CODES STORED AT THE PCPU Error Code Code Output Drive ir Nee 10000 1000 10010 1001 10020 1002 10030 1003 Error Class Major Errors Output Drive EO Modu le 1102 Error Class 11000 11010 Major Errors 11020 11030 11040 5 Output module errors at VIRTUAL servo mode axis START 10000 to 10990 Table 11 4 Output Module Error List 10000 to 10990 Continued Error Cause The home position return request M1609 20n is ON Output Module Ball Rotary Poner com The servo error detection signal M1608 20n is ON A servo OFF M1615 20n ON status exists at an output module where a clutch ON or no clutch setting is designated at either the main shaft or auxiliary input shaft An external input signal STOP is ON at an output module where a clutch ON or no clutch setting is designated at either the main shaft or auxiliary input shaft Processing START disabled at related systems Corrective Action Return to the REAL mode and execute a home position return f position is not established after executing a home position return at all axe
216. p 6 START buffer full M2020 Signal sent from PCPU to SCPU a This signal switches ON when the PCPU fails to process the specified data within 15 seconds following a positioning START DSFRP SVST instruction or a control change DSFLP CHGA CHGV instruction from the sequence program b An M2020 reset must be executed from the sequence program 4 10 4 SERVO SYSTEM CPU DEVICES 7 8 PC PC Speed change in progress flag M2021 to M2028 M2021 to M2024 EE Signal sent from PCPU to SCPU This flag switches ON when a speed change designated by a control change DSFLP CHGV instruction at the sequence program is in progress This flag should be used for speed change program interlock purposes Speed change command 17 Delay due to sequence program DSFLP CHGV instruction ON Speed change in OFF progress flag i Speed change 13to16ms Se H g L Set speed e Speed after speed change Speed change completed PC link communication error flag M2034 This flag comes ON when an error occurs during personal computer linking communication When M2034 comes ON the error code is stored in the personal computer link communication error code storage register D9196 The devices dedicated to personal computer communication are indicated below Table 9 1 PC link communication device list Deuiee Number sd Number Device N evice Name Contents AZT3UHCPU
217. p A wo Other errors during virtual axis operation Error at absolute 15 synchronous encoder axis K EN F N 9 REAL amp VIRTUAL MODE SWITCHING AND STOP RESTART Operation Continuation ENABLED Output Module Operation Deceleration to stop based on smoothing time constant Deceleration to stop based on smoothing time constant After a deceleration to stop based on the smoothing time constant the servo OFF status is established Minor error Deceleration to stop based on 200 set smoothing time constant virtual axis Minor error Deceleration to stop based on virtual axis Deceleration to stop based on Deceleration to stop based on smoothing time constant Oy Restarting after a Stop DISABLED x Resume operation by switching the stop command OFF not necessary when ON and executing a START Resume operation by switching the stop command OFF not necessary when ON and executing a START e Resume operation by turning all clutches OFF gt all axes servo ONclutch ON However there must be no motor movement during the servo OFF status Moreover clutch OFF ON switching occurs only as required by the user For synchronous encoder axes switch to the REAL mode then back to the VIRTUAL mode to resume inputs After PC READY M2000 switches ON execute a REAL to VIRTUAL mode switching request M2047 ON to enable operation After a servo system CPU RUN
218. processing at the clutch The following two methods can be set e Time constant designation e Amount of slip designation b For details on the operation with each method see Section 7 2 6 Smoothing time constant This is the time taken to reach 6396 of the speed of the output shaft speed 7 Amount of slip setting device 2 words a This is the device used to set the amount of clutch slip b The following devices can be used as amount of slip setting devices Device Type A172SHCPU A171SHCPU 1 Data register 2 DO to D799 3 Link register WO to W3FF 1 If a cam is used at the output module the area used for the cam cannot be set 2 If a differential gear is connected to the main shaft the area it uses cannot be set 3 The first device number of the devices must be an even number c The applicable setting range for amount of slip is 0 to 2147483647 pulse 7 19 7 TRANSMISSION MODULE 7 3 Speed Change Gear This section describes the operation of the speed change gear and the parameters required to use it 7 3 1 Operation This section describes the operation of the speed change gear 1 The speed change gear transmits a speed which is the input shaft speed multiplied by a speed change gear ratio set in the speed change gear ratio setting device to the output shaft speed change gear ratio Output shaft speed input shaft speed x Units pulse s 10000 TL Input shaft
219. r code storage register D703 6n rn REN Data sent from PCPU to SCPU 1 When a major error occurs at the virtual servo motor or at the output module the corresponding error code see Section 11 3 is stored in this register Each time a major error occurs the previous error code stored in this register will be overwritten by the new error code 2 To clear error codes for major errors which occurred at the virtual servo motor or synchronous encoder execute the drive module error reset command To clear error codes for major errors which occurred at the output module execute the output module error reset command d Execution program No storage register Data sent from PCPU to SCPU 1 The No of the program being run is stored in this register when the DSFRP SVST instruction is executed 2 When the DSFRP SVST instruction is not executed the following value are stored in this register JOG ODeratilon oco oce dci ape cre eae ee FFFFH DDT EIN dee ege eege p etat EE FFOOH e When REAL VIRTUAL mode switching occurs FFOOH e M code storage register D705 6n Data sent from PCPU to SCPU 1 The M code settings in the servo program being run are stored in this register when positioning is started If the servo program contains no M codes 0 will be stored 2 The stored data will not be changed if positioning is started by a means other than a servo program 3 The stored data will
220. r to Table 5 1 to determine the number of mechanical modules which can be connected in one block 2 System The term system refers to all the blocks which are connected to a single virtual main shaft One system can consist of up to 8 blocks 3 Transmission module connections There are 3 transmission module connection patterns e Pattern 1 Without a differential gear e Pattern 2 Without a speed change gear at the output side of the differential gear e Pattern 3 With a speed change gear at the output side of the differential gear a Transmission modules which can be connected at A and B above 1 Aclutch speed change gear and clutch amp speed change gear can be connected at A and B 2 If a clutch amp speed change gear are used there are no connection constraints Speed Speed Speed ERE EN b Transmission module which can be connected at C Only a clutch can be connected at C 5 3 5 MECHANICAL SYSTEM PROGRAM 5 2 Mechanical Module List Mechanical Module Classi fication Appearance Virtual servo motor Synch ronous enco der Virtual main shaft Virtual Virtual axis auxili ary input shaft Trans mission module Smoo thing clutch Summaries of mechanical modules used in VIRTUAL mode mechanical module connection diagrams are given in Tables 5 1 For details regarding each mechanical module see Chap
221. racters long can be created 8 6 8 OUTPUT MODULES 8 2 Ball Screws The operation of ball screws and the parameter settings required to use ball screws are explained here 8 2 1 Ball screw operation This section describes the operation of the ball screw 1 Operation A ball screw outputs a travel value which is the product of the drive module travel value and the gear ratio of the transmission module transmission module travel value pulses Units Ball screw travel value pulses x gear ratio Drive module Se Gear gear ratio e Cr P P ae Clutch D Cee Ball screw If a clutch is used the ball screw is controlled from the point at which the clutch is turned ON 2 Control details a The feed present value is maintained on switching from the real mode to the virtual mode or from the virtual mode to the real mode b Backlash compensation processing is continued in accordance with the settings made in the fixed parameters regardless of switches between the real mode and virtual mode c The travel value per pulse is controlled by the ball screw parameters ball Screw pitch number of pulses per ball screw revolution Make it the same value as the travel value per pulse in the fixed parameters 8 OUTPUT MODULES 8 2 2 Parameter list The parameters for ball screws are presented in Table 8 2 and each of the items in the table is explained in 1 to 8 b
222. rameters have not been set e When an emergency stop signal is input to the power supply module from an external source e When the servo OFF status is established by switching ON M18154 20n e When a servo error occurs See Section 11 4 Servo Errors for details I Torque control in progress signal M1616 20n This signal switches ON at axes where torque control is being executed m Limit switch output enabled command M1806 20n The limit switch output enable command is used to enable limit switch output e ON The limit switch output s ON OFF pattern is output from AY42 e OFF The limit switch output is switched OFF from AY42 n Error reset command M1807 20n The error reset command is used to clear the minor error codes and major error codes of axes for which errors have been detected M1607 20n ON and to reset the error detected signal M1607 20n ON Error detection o d d Error reset Minor error code storage area Major error code Storage area Error code 8 OUTPUT MODULES 0 Address clutch reference setting signal M1813 20n This command signal is only operative when the output module is a rotary table or a cam connected to an address mode clutch and it is used to designate the 0 reference position for the present value in 1 virtual axis revolution When a REAL to VIRTUAL mode switching request occurs processing will be as shown below depending on the ON OFF status of
223. rating in the vicinity Check the connection of the motion bus cable connector Check if there is a disconnection in the motion bus cable Check if the motion bus cable is clamped correctly e Replace the servomotor 11 ERROR CODES STORED AT THE PCPU Error Code Name Fin overheating Motor overheating 2050 Overload 1 Table 11 3 Servo Amplifier Error List 2000 to 2799 Continued Error Cause Description The heat sink in the servo amplifier is overheated Amplifier error rated output exceeded Power repeatedly switched ON OFF during overload Cooling fault The servomotor is overloaded At any time during The servomotor and operation regenerative option are overheated The thermal protector incorporated in the encoder is faulty An overload current of about 20096 has been continuously supplied to the servo amplifier and servomotor 11 17 Immediate stop Error When Error Checked Corrective Action Processing If the effective torque of the servomotor is high reduce the load Reduce the frequency of acceleration and deceleration Check if the amplifier s fan has stopped MR H150B or higher Check if the passage of cooling air is obstructed Check if the temperature inside the panel is too high range 0 to 55C Check if the electromagnetic brake was actuated from an external device during operation Replace the servo amplifier If the effective torque of the se
224. re explained here 8 3 1 Rotary table operation This section describes the operation of the rotary table 1 Operation a A rotary table outputs a travel value which is the product of the drive module travel value and the gear ratio of the transmission module transmission module Rotary table travel value E value pulses Jx gear ratio Units pulses Drive module p Gear gear ratio cA Clutch Rotary C wm b If a clutch is used the rotary table is controlled from the point at which the clutch is turned ON 2 Control details a The feed present value is maintained on switching from the real mode to the virtual mode or from the virtual mode to the real mode b Backlash compensation processing is continued in accordance with the settings made in the fixed parameters regardless of switches between the real mode and virtual mode c The travel value per pulse is controlled by the rotary table parameters number of pulses per rotary table revolution Make it the same value as the travel value per pulse in the fixed parameters 8 11 8 OUTPUT MODULES 8 3 2 Parameter list The parameters for rotary tables are presented in Table 8 3 and each of the items in the table is explained in 1 to 9 below For details on setting rotary table parameters refer to the SW2SRX SW2NX GSV22P SWOSRX SWONX CAMP Operating Manual Table 8 3 Parameter List No Setti
225. resent value in one revolution storage device Device Type A172SHCPU A171SHCPU 1 Data register 2 DO to D799 Link register WO to W3FF If a cam is used at the output module the area used for the cam cannot be set 2 If a differential gear is connected to the main shaft the area it uses cannot be set 3 The first device number of the devices must be an even number c The applicable range for the virtual axis present value in one revolution is 0 to Nc 1 pulses d The address mode clutch is turned ON and OFF at designated addresses in the virtual axis present value in one revolution range 0 to Nc 1 pulses Therefore set the value in the clutch ON OFF address setting device within the range 0 to Nc 1 pulses e The setting for the virtual axis present value in one revolution reference position 0 is made by turning M1813 20n address clutch reference setting signal ON and switching to the virtual mode This sets the virtual axis present values in one revolution for both the main shaft and the auxiliary input shaft to O If the switch to the virtual mode is made with M1813 20n turned OFF control continues from the virtual axis present value in one revolution that was effective last time the virtual mode was in effect 8 OUTPUT MODULES f An example of the operation of an address mode clutch is shown below Operation Example m f d N V
226. ress mode or the external input mode can be used depending on the application Used to change the speed of he output module roller The input shaft speed is Section adjusted according to the gear ratio setting value and is then ransmitted to the output shaft Section Section 5 MECHANICAL SYSTEM PROGRAM Table 5 1 Mechanical Module List Continued Max Number Used Max Number Used A172SHCPU A171SHCPU Number Classi See n P ili ili Function Description fication er Connect Auxiliary Connect Auxiliary D Appearance Servo ion Shaft Input ion Shaft Input Shaft Shaft CPU side Side Side Side Mechanical Module Auxiliary input shaft rotation is subtracted from virtual main shaft rotation and the result is transmitted to the output shaft Trans Diffe LM LM POM S Auxiliary input shaft rotation is mission rential j module ear subtracted from virtual main shaft rotation and the result is ransmitted to the output shaft For virtual main shaf connection Used when speed control occurs at the final output Roller 4 Ball S 4 screw E Used when linear positioning occurs at the final output Used when control other than hose shown above occurs at he final output shaft Position control will occur in accordance with the cam pattern setting data There are 2 cam control modes he two way cam mode and the eed cam mode Used when angle control occurs Ro
227. revert to 0 when REAL to VIRTUAL mode switching occurs at the leading edge of the programmable controller READY signal M2000 1 1 For details regarding the drive module error reset command see Section 6 3 1 2 2 For details regarding the output module error reset command see Section 8 5 1 6 DRIVE MODULE 4 Virtual servo motor axis main shaft differential gear present value Axis SV22C SV22F 1 M670 M670 O Valid M671 M671 i Signal Name REAL ViRTUAL Signal Refresh Fetch 2 M672 M672 Direction Cycle Cycle M673 M673 Virtual servo motor axis 0 f SCPU main shaft differential Backup 3 5ms 1 PCPU gear present value M675 M675 M677 M677 M679 DES M681 M683 M684 M685 a Virtual servo motor axis main shaft differential gear present value storage register D670 ON oce credas Data sent from PCPU to SCPU 1 When switching the virtual mode the present value will be the same as the main shaft side drive module present value 2 When a present value change is carried out in relation to the main shaft side drive module the present value of the main shaft differential gear will also be changed to the set present value at the same time 3 If the differential gear is not connected to the main shaft the main shaft drive module present value will always be stored in the main shaft differential gear present value storage register 1 1 The n in D670 2n represents the number correspo
228. revolution Operation example Output value address a gt t 2 Limit switch outputs in 1 cam shaft revolution present value Limit switch outputs occur in accordance with the present value within 1 cam shaft revolution 0 to Nc 1 Cam Number of pulses per cam shaft revolution Nc Limit switch output 8 OUTPUT MODULES a For two way cam Different limit switch output patterns can be used for the feed and return strokes Limit switch output example Cam pattern 32767 gate AN Lower stroke limit 1 cycle L I d l 1 T 1 cam shaft revolution i Limit switch output 1 setting Operation example Output value 4 address Stroke Lower stroke limit b For feed cam Limit switch output example Cam pattern Stroke 1 cam shaft revolution Limit switch output setting Operation examp Output value address Stroke Lower stroke limit 8 37 8 OUTPUT MODULES 8 4 7 Limit switch output data in present value within 1 cam revolution mode Limit switch output data can be created by the user at IBM PC computers which have been started up with the SW2SRX SW2NX GSV22P software For details regarding
229. rocessing is aborted and rapid stop processing begins Speed limit value Speed limit Designated N Speed value speed control Designated Rapid stop speed Rapid stop command processing JOG Rapid stop operation SEH deceleration time deceleration time STOP deceleration 1 Rapid stop processing results in deceleration to a stop within the rapid stop deceleration time designated at the parameter block or servo program c Forward JOG start command M1402 20n Reverse JOG start command M1403 20n 1 When the forward JOG start command M1402 20n is ON in the sequence program JOG operation occurs in the forward direction direction in which the address increases When the forward JOG start command M1402 20n is switched OFF a deceleration and STOP will occur within the deceleration time designated at the parameter block 2 When the reverse JOG start command M1403 20n is ON in the sequence program JOG operation occurs in the reverse direction direction in which the address decreases When the reverse JOG start command M1403 20n is switched OFF a deceleration and STOP will occur within the deceleration time designated at the parameter block 6 18 6 DRIVE MODULE The sequence program features an interlock function which prevents the for ward M1402 20n and reverse M1403 20n JOG start commands from being switched ON simultaneously d Completed signal OFF command M
230. rror occurg nenn nennnsennnen nenn 6 4 6 Virtual servo motor axis continuous operation eseeeenn e 6 5 7 Reverse return during positioning eesseeeneeennn enn eene 6 5 6 1 2 Parameter liSt ciao pte pee pii a gege Eta e ERE EE er eap ede 6 8 Vidua axis No setting ee hte ae ERR EE PUES UR S 6 8 2 Stroke limit UPPER LOWER limit settings sssseeeeneennnmen 6 8 3 Command in position range enne tenens 6 10 4 JOG speed limit and parameter block settings see 6 10 6 1 3 Virtual servo motor axis devices internal relays data registers eseessssss 6 11 1 Virtual servo motor axis status ssssssssseeneenenneneneen eene nnne nnne 6 11 2 Virtual servo motor axis command eonals nen 6 16 3 Virtual servo motor axis monitor device ssssseeeeeneeenneeneen 6 21 4 Virtual servo motor axis main shaft differential gear present value 6 23 6 2 Synchronous Encoder 2 eee veru ede Vane doe reae dee v d eon uade Gels ie 6 24 6 2 1 Synchronous encoder operaiton annn nennen 6 24 1 CODE FATION SLA ME 6 24 2 Operation END ue eret er t rt tte ideale i eei ue ete e Pie ms 6 25 3 STOP procedure xc n ce e ote I En ee ip ta t de Oe 6 26 4 eu EE 6 26 b Control change TT 6 26 6 Operation mode when error occurg eene nnne 6 27 6 2 2 Parameter lis
231. rvomotor is high reduce the load Check the ambient temperature of the servomotor range 0 to 40 C Replace the servomotor Check if there has been a collision at the machine If the load inertia is very large either increase the time constant for acceleration and deceleration or reduce the load If hunting occurs adjust the position loop gain in the servo parameters Check the connection of U V W of the servo amplifier and servomotor Check for disconnection of the encoder cable Replace the servomotor 11 ERROR CODES STORED AT THE PCPU Error Code Name Overload 2 Excessive error Table 11 3 Servo Amplifier Error List 2000 to 2799 Continued Error Cause Description The servo amplifier and servomotor were overloaded at a torque close to the maximum torque 9596 or more of the current control value At any time during Immediate operation stop The difference between the servo amplifier command pulses and feedback pulses has exceeded 80000 pulses 11 18 Error When Error Checked sri Corrective Action Processing Check if there has been a collision at the machine If the load inertia is very large either increase the time constant for acceleration and deceleration or reduce the load If hunting occurs adjust the position loop gain position control gain 1 2 speed loop gain speed control gain 1 2 in the servo parameters Check the connection of U V W of the servo a
232. s VIRTUAL mode operation will be disabled Execute a servo error reset in the REAL mode e Switch the clutch OFF then establish the servo ON status e Switch the stop signal STOP OFF 6 No clutch clutch ON clutch status ON output module errors 11000 to 11990 Table 11 4 Output Module Error List 11000 to 11990 Continued Output Module Ball Rotary Error Cause Processing The servo error detection signal M1608 20n switched ON during operation e A servo OFF status M1615 20n ON occurred during operation e MR LD power supply was interrupted The stop signal STOP Switched ON The upper limit LS signal FLS switched OFF during forward address increase direction travel The lower limit LS signal RLS Switched OFF during reverse address decrease direction travel 11 26 After an immediate stop at the relevant output module the servo will be switched OFF Operation continues at no clutch axes e At axes with clutches control is executed in accordance with the operation mode at the time of the error Operation continues All clutches switch OFF at the relevant systems Corrective Action Eliminate the servo error cause see section 11 4 When an operation continuation setting is designated execute stop processing at the user s sequence program 11 ERROR CODES STORED AT THE PCPU 7 Errors when using an absolute position
233. s for each axis moved in a simultaneous start JOG operation are 1 or 0 1 Simultaneous start executed 0 Simultaneous start not executed b For details on simultaneous starting in JOG operation refer to section 7 19 3 of the Motion Controller SV13 SV22 REAL mode Programming Manual 4 SERVO SYSTEM CPU DEVICES 4 1 pulse input magnification setting registers for manual pulse generators D1016 to D1023 D1016 to D1019 Data from the SCPU to the PCPU a This register is used to set the magnification from 1 to 100 per pulse for the number of input pulses from a manual pulse generator in manual pulse generator operation lt A172SHCPU gt 1 pulse Input e ADS Corresponding Virtual Magnification Setting Setting Range Servo Motor Axis No Register 1 to 100 B 6 7 Doo o aise O lt A171SHCPU gt 1 pulse Input RE Corresponding Virtual Magnification Setting Setting Range Servo Motor Axis No Register D1016 Auen 1 D1017 1 to 100 D1018 D1019 b For details on the manual pulse generator operation refer to section 7 20 of the Motion Controller SV13 SV22 REAL mode Programming Manual 4 SERVO SYSTEM CPU DEVICES 4 3 Special Relays Special Registers List 4 3 1 Special relays O Valid Signal Device No Signal Name Refresh Cycle ennen Cycle peines j REAL VIRTUAL Direction y y External emergency EE input EE SCPU PCPU e
234. s the cancel command device ON Automatic start by cancel amp start Designate initial command data in the indirectly designated device Uu Start by SVST or set the cancel command Designating loop FOR to NEXT point y For details see the positioning signal data device to ON data in the CPSTART instruction indirectly j register Monitoring data Area Read the value of constant speed control data set pointer of the started axis and update the data fetched by PCPU APP 16 APPENDICES Appendix 3 2 Mechanical system program The device range and setting method for items indirectly set by devices in the parameters of each module of the mechanical system program are given here 1 Device ranges The number of device words and device ranges when settings are made indirectly are given in the table below Number of Device Setting Range Da Device A172SHCPU A171SHCPU Words Device Range 0 to 2047 Clutch ON OFF command device i B 00 to SEF Clutch Mode setting device Clutch ON address setting device Clutch OFF address setting device Slippage amount setting device 2 Gear Number of output axis gear teeth Speed change Speed change ratio setting device 1 Torque limit value setting device 1 Torque limit value setting device 1 Torque limit value setting device i Virtual axis present value within one revolution storage device main shaft side Rotary table 9 mm Virtu
235. scription U V W in the servo amplifier outputs have short circuited with each other U V W in the servo amplifier outputs have shorted to Incorrect wiring of U V W phases in the servo amplifier outputs Failure of coupling between servomotor and encoder A servomotor that does not match the setting has been connected Immediate stop At any time during operation Noise entered the overcurrent detection circuit The converter bus voltage has reached 400 V or more The frequency of acceleration and deceleration was too high for the regenerative ability The regenerative resistor has been connected incorrectly The regenerative resistor in the servo amplifier is destroyed The power transistor for regeneration is damaged The power supply voltage is too high 11 15 When Error Checked Corrective Action Processing Check if there is a short circuit between U V W of the servo Check if U V W of the servo amplifier outputs have been grounded to the ground terminal Check if U V W of the servomotor are grounded to the core If grounding is found replace the servo amplifier and or motor Check the connected motor set in the system settings Check and adjust the gain value set in the servo parameters Check if any relays or valves are operating in the vicinity Increase the acceleration time and deceleration time in the fixed parameters Check the connection between C and P of the termina
236. shaft M1986 M1986 Output module for axis 2 Auxiliary input shaft M1987 M1987 Drive shaft M1988 M1988 Output module for axis 3 TIME Auxiliary input shaft M1989 M1989 Drive shaft M1990 M1990 Output module for axis 4 pM Auxiliary input shaft M1991 M1991 Drive shaft M1992 E Output module for axis 5 aaa Auxiliary input shaft M1993 NECI Drive shaft M1994 EET Output module for axis 6 SR Auxiliary input shaft M1995 EC l Drive shaft M1996 a amem Output module for axis 7 Auxiliary input shaft M1997 o Drive shaft M1998 E ae Cdl Output module for axis 8 PSP Auxiliary input shaft M1999 REESE 7 13 7 TRANSMISSION MODULE d The present value of the input shaft virtual axis only changes when the clutch is in the ON status Sequence program operation END m END processing END 0 I M gp E eg V Input pulse from synchronous encoder Clutch ON OFF OFF command device Clutch status device External input TREN signal Minimum of 3 5 ms required Present value of input shaft synchronous ontinuation from the encoder resent value when the clutch was OFF Present value of output shaft Clutch OFF status Clutch ON status Fig 7 4 Operation Timing for the External Input Mode e When using the external input mode only axes for which an incremental synchronous encoder manual pulse generator is set as the drive module can be used Axes for wh
237. signal input 8 axes 4 axes A171S Number of SSCNET UE SSCNET1 For x of servo amplifier SSCNET2 For personal computer link dedicated A171S S3 2CH as given to the left Number of available A271DVP pu _ Teaching unit A30TU OS with teaching function A31TU O With deadman switch Sequence program parameter After starting A172SH A171SH and reading a file Mechanical program SV22 those created by A171SCPU can be used as it is By making sure of system setting screen after being started up by A172SH A171SH and reading a file System setting S changeover below is carried out now the system is ready for operation x e Compatible with a high resolution encoder 32768PLS 131072PLS x System E Compatibility Possibl ossible to REAL change the torque hee mode limit value from the sequence program VIRTUAL CHGT instruction mode newly added Reverse return is possible during positioning Possible to invalidate the virtual servo motor stroke limit SV22 However it is possible in the However it is possible in the mechanical system program mechanical system program Added functions 1 The number of expansion file register blocks will vary depending on such things as program capacity number of file registers and number of comments 1 GENERAL DESCRIPTION 1 2 System Configuration 1 2 1 A172SHCPU System overall configuration The following diagram indicates the sy
238. st No Settingitem DefaultValue Setting Range ome A172SHCPU 11 08 1 Virtual axis No A171SHCPU 11 04 2 Stroke limit upper limit 2147483647 2147483648 to 2147483647 Stroke limit lower limit o PLs 2147483648 to 2147483647 Command in position range 1 to 32767 JOG speed limit 20000 PLS s 1 to 10000000 1 PLS s JOG operation data ice Parameter block faces etu dugder 1 pe Operation mode when error occurs Continuation Continuation Clutch OFF 1 The setting range has been expended from the previous range as a result of compatibility with the high resolution encoder 1 Virtual axis No setting The virtual axis No is designated by the servo program during VIRTUAL mode operation The number of the virtual servo motor which is connected to the virtual main shaft or the virtual auxiliary input shaft is designated 2 Stroke limit UPPER LOWER limit settings Designates the stroke range of the virtual servo motor axis a When the stroke limit lower limit is made effective Designate the stroke range in such a way that the stroke limit lower limit is less than the stroke limit upper limit The stroke limit check during start and its control take place as follows at Ee time Control Mode eek s in progress a oer T Pe es oii a eC EE Fixed pitch teea _ Startup in the return direction in a stroke from Speed switching O O o _ the stro
239. starting the virtual shaft and the stop processing details are discussed below A virtual servo motor axis can be stopped by the 3 types of stop processing shown below This processing is also valid for interpolation axes during interpolation operations 1 Deceleration to stop A deceleration to stop occurs in accordance with the parameter block s stop deceleration time setting 2 Rapid stop A deceleration to stop occurs in accordance with the parameter block s rapid stop deceleration time setting 3 Immediate stop An immediate stop occurs without deceleration Because an immediate input stop occurs for synchronous encoder axes operation should be executed only after the synchronous encoder axis has been stopped by an external input except for abnormal stops such as an emergency stop or a servo error occurrence etc Ex Switch M2000 OFF or execute an all axes servo OFF command etc An immediate stop at output modules connected to the synchronous encoder will result in a servo error and possibly a synchronization discrepancy When the stop cause is such that a synchronization discrepancy occurs a synchronization discrepancy warning M2046 will switch ON In this case re align the axes in the REAL mode switch M2046 OFF then continue with the VIRTUAL mode operation The stop procedure stop causes and restarting procedure are shown in the following Table 9 REAL amp VIRTU
240. status is established execute a REAL to VIRTUAL mode switching request M2047 ON to enable operation e After a stop occurs execute a START to resume operation For synchronous encoder axes switch to the REAL mode then back to the VIRTUAL mode to resume inputs e After a stop occurs execute a START to resume operation Servo switches OFF after immediate stop Operation cannot be resumed due to a synchronization discrepancy between the virtual axis and output module which occurs at the stop e After canceling the emergency stop re align the output module in the REAL mode switch the synchronization discrepancy warning M2046 OFF then switch back to the VIRTUAL mode to resume operation After executing a servo error reset in the REAL mode re align the axes switch the synchronization discrepancy warning M2046 OFF then switch back to the VIRTUAL mode to resume operation Relevant e Servo error at MR B axis output module An immediate stop occurs only at Servo error the axis where the error occurred Servo error and a servo OFF status is code set established All other axes are synchronized with the virtual axis and are then stopped a c smoothing time constant M9073 PCPU e Servo switches OFF after WDT immediate stop error ON mode to resume operation Operation cannot be resumed due to a synchronization discrepancy between the virtual axis and output module which occurs at the
241. stem configuration when A172SHCPU is used Motion slot it 4 PC module Slot 1 E f 1 I 10 I ne Ig I iI ST 16086 LE IE i LO 151 S2 18 l o E loo o I Viz LS 2 0 g Rg IS i KEIER 1262 E 3 BE a A1728HCPU A172S A1S E Battery ENC Y42 3 L AGBAT e A1S UO module or E 4 Special function module E ao LJ Emergency Extension cable 2 stop input Ki gt A A1SC B 2 gt AC100 200V A Main base unit A178B S1 A17 B PC extension base M Up to one extension base unit for A1S6 B anual pulse generator x A168B GOT ibl 9 MR HDP01 compatible IBM PC Synchronous encoder cable MR HSCBL M _ E Synchronous encoder x1 MR HENC RS422 External input signals FLS Upper limit LS RLS Lower limit LS Teaching unit STOP Signal x8 A31TU A30TU DOG CHANGE Near zero point dog changeover between speed and position TREN Tracking x1 RS422 gt Break output Communication cable Motion net cable A270CDCBL Mi A270BDCBL JM IBM PC SSCNET1 d d2 d3 a8 z zu oA 4 4 gt 4 eee gt Termination resistance SSCNET2 M SSCNET interface card board E A30CD PCF ASOBD PCF N MR H B MR J2 B MR J B model
242. stop commands for the synchronous encoder 4 Control items a As the synchronous encoder has no feedback pulse the deviation counter value and actual present value are not stored in memory b The synchronous encoder s feed present value is recorded in a backup memory and is restored after switching from the REAL to VIRTUAL mode occurs following a power ON 1 Operation continuation is possible when the output module is using the absolute position system when position detection module servo amplifier are used However if the servo motor for the output module which is connected to the synchronous encoder is operated while power is OFF or if the synchronous encoder is operated while power is OFF continuation will become impossible even if the absolute position system is being used If this occurs a VIRTUAL mode continuation disabled warning signal will switch ON To continue operation the output module s servo motor must be moved to the position where synchronous operation is possible 2 If the output module is not using the absolute position system the feed present value must be corrected using the present value change function after switching from the REAL to the VIRTUAL mode occurs 5b Control change The following synchronous encoder control item can be changed Present value change Present value changes are executed by the CHGA instruction For details regarding the CHGA and DSFLP instructions see Section 5 3
243. synchronous 1 axes 3 5ms 3 5ms encoder APP 5 APPENDICES 5 Each axis status A172SHCPU A171SHCPU Device Device Signal Name Number Number O Valid VIRTUAL i Refresh Fetch Signal Name PEAY roti Bal Rotary cam Direction Cycle Cycle screw table 0 Positioning start completed_ O OFF OFF OFF OFF Positioning completed o OFF OFF OFF OFF 2 npoton o o o o j o 3 Commandin position o OFF OFF OFF OFF 4 Speed control in progress o OFF OFF OFF OFF e o Du On S On arr O6 o 3 5ms SCPU PCPU le Zeropass o o e ofe fo fo LEM 3 5ms ately 10ms 8 s Servo error detection 9 Home position return request a o oO fear fol fe Le fo completed 11 Extemalsignal FLS_ OO o O Oo Oo 12 External signas ole o o o i3 Edemalsigpa STOP O o O O O Eum eTe eTe DOG CHANGE RE E E EE EE 116 Torque controlinprogress O o o o D Wa DOG CHANGE Virtual mode intermittent fo o o actuation disabled warning 19 M code outputinprogress o OFF OFF OFF OFF L cg Dee Jp sme cp se qnem 10357 6 Command signals of each axis A172SHCPU A171SHCPU Device Device Signal Name Number Number Signal Name REAL mar Dni eee ren g 2 ore Cam Direction Cycle Cycle screw table 7 Error reset 10 Unusable ech lb GE GE n RR aI 4 End si
244. system 12000 to 12990 Table 11 4 Output Module Error List 12000 to 12990 Continued Output Module a ja ias d Ball Rotary Cam Error Cause Processing Corrective Action ee pu A b J Screw Table e When the separate amplifier Home position Return to the REAL mode and power supply was turned ON return requires execute home position return in the VIRTUAL mode a sum turns ON check error occurred in the back up data reference values Home position return not conducted When the servo amplifier Home position Check the motor and encoder power is turned ON a return requires cables and perform home communication error in turns ON position return again communication between the servo amplifier and encoder occurs During operation the amount No processing Check the motor and encoder of change in the encoder cables present value complies with the following expression Amount of change in Major encoder present value 3 5 Errors 12030 ms gt 180 of motor revolution After the servo amplifier power has been turned ON a continual check is performed in both servo ON and OFF states During operation the following expression holds Encoder present value PLS feedback present value PLS number of bits in encoder s feedback 12040 present value counting range After the servo amplifier power has been turned ON a continual check is performed in both servo ON and OFF states 12010 1201
245. t aee iudei doe iuter E a dne dk ea dede da E 6 28 6 2 3 Synchronous encoder axis device internal relay data register ssesssss 6 29 1 Synchronous encoder axis device sse enne 6 29 2 Synchronous encoder axis command signal seen 6 30 3 Synchronous encoder axis monitor device nns 6 31 4 Synchronous encoder axis main shaft differential gear present value 6 32 6 3 Virtual Servo Motor Synchronous Encoder Control Change 6 33 6 3 1 Virtual servo motor control change 6 33 AY Control change e EE 6 33 2 Present value change ecccccecescccceeeeeceeeeeeeceeeeneeceeeeneeeeeeeneeeeeseeeeeesneaeeesteaeesesnneeeeeenaaes 6 34 6 3 2 Synchronous encoder control change emen 6 35 1 Present value change by the CHGA instruction eee 6 35 2 Present value change by the DSFLP instruction seen 6 36 7 TRANSMISSION MODULE eroi noraen rtr racri nere ra near menn evecesseaceentecessteecsonuaveat 7 1 to 7 24 JS BEE 7 3 LEET ee le EE 7 3 Aie Parameters EE EE 7 3 EK EE Herber deeg eebe 7 4 2 Direction of rotation of output shaft 2 2 ee eee eect eene eee eeeeaeeeeeeaaeeeeeeaaeeeeeeaaeeeeeeaeeeeneaas 7 4 helium 7 5 7 2 1 Explanation of clutch operation sse nennen nnne nenne 7 9 Dy ON OFF mode eret e tp ie eet tero rein n ret eta 7 9 2 Address mode ie ie de Entire En Rp eus 7 10
246. t differential gear present value sss 4 19 4 2 6 Synchronous encoder axis monitor devices eene 4 20 4 2 7 Synchronous encoder axis main shaft differential gear present value 4 20 4 2 8 Cam axis monitor devices netr netn netr nsttnstnnsttnsttnnttnntnnsenastnnsnnnnnnn ntennu nenna 4 20 4 2 9 Common devices cii itanna aia an a iaaa bee HD deed Up Eu Ve ee edd aoe 4 21 4 3 Special Relays Special Registers Ust enne nnne 4 25 4 91 SPECIAL Telays i etit erp Unt utei nile deterrere dite tuned 4 25 4 9 2 Special registers ze Me dte ian te tunt dac etie 4 27 5 MECHANICAL SYSTEM PROGRAM cccsscsssessseeesseeeseeeeseeeeeeeeseceseeeseenesenaennansnenseensnnesanes 5 1to5 5 5 1 Mechanical Module Connection Diagram sssssssssssssseeee eene nnns 5 2 Bao EE 5 3 2 Systeme 4i comete ed eai ett n mtl t e ap tft 5 3 3 Transmission module connections sse nennen nennen nnns 5 3 5 2 Mechanical Module List 3 accrescere eee le vo de Lue oe leet eene 5 4 ME dzdiebjjlcee e 6 1 to 6 37 5 1 Virtual Servo Motor geen arde ac diete e dcc ce X ape sce i de Pene eee 6 1 6 1 1 Virtual servo motor operation sesso ia a aA E E AEA nnne nnns 6 1 CD START D OGSGUFe eeh eebe eebe ee ueste ess Lee 6 1 2 Procedure for stopping before completion seeennen 6 3 3 ed tre LCE 6 3 4 Gontrol Change EE 6 3 5 Operation mode when e
247. t for the ball screw shaft e Limit switch output used Limit switch signal is output based on the ball screw s actual present value e Limit switch output not used Limit switch signal is not output 8 OUTPUT MODULES 7 Torque limit value setting device 1 word a This sets the device which stores the setting for the torque limit value for the ball screw shaft Once the device has been set torque control is executed in accordance with the setting stored in this device In the virtual mode the torque limit setting is always valid If no device setting is made the torque limit is set at 300 b The following devices can be set as the torque limit setting device Device Type A172SHCPU A171SHCPU Data register E DO to D799 Link register WO to W3FF 1 If a cam is used at the output module the area used for the cam cannot be set 2 If a differential gear is connected to the main shaft the area it uses cannot be set c The setting range for the torque limit value is 1 to 50096 8 Comment a A comment is created for purposes such as describing the application of the ball screw shaft If a comment is created it can be displayed when monitoring at a peripheral device b Comments up to 16 one byte characters long can be created 8 10 8 OUTPUT MODULES 8 3 Rotary Tables The operation of rotary tables and the parameter settings required to use rotary tables a
248. t possible due to the life or mechanical structure when the ball screw and servomotor are connected with a timing belt etc Install a stopping device to ensure safety on the machine side 2 Parameter settings and programming N Set the parameter values to those that are compatible with the control unit servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect N The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode servo amplifier and servo power unit The protective functions may not function if the settings are incorrect Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the stroke limit input validity parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servomotor encoder type increment absolute position type etc parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servomotor capacity and type standard low inertia flat etc parameter to values that are compatible with the system application The protective functions m
249. t to the virtual servo motor in accordance with the servo program s positioning address and travel value is stored at this register 2 This feed present value data is subjected to a stroke range check 3 A 2 pulse to 2 1 pulse ring address is established 4 Data in the feed present value storage register is stored in a backup memory when a power OFF or servo system CPU reset occurs b Minor error code storage register D702 6n EEN Data sent from PCPU to SCPU 1 When a minor error occurs at the virtual servo motor or at the output module the corresponding error code see Section 11 3 is stored in this register Each time a minor error occurs the previous error code stored in this register will be overwritten by the new error code 2 To clear error codes for minor errors which occurred at the virtual servo motor or synchronous encoder execute the drive module error reset command To clear error codes for minor errors which occurred at the output module execute the output module error reset command S 6 DRIVE MODULE 1 1 The n in D700 6n represents the number corresponding to the virtual axis No eS RECETTE RS ebe E Virtual axis No PAASHCPU 122 4 1 8 6 17 1 8 JUAITISHORUT 1 WC Fa tle cma ENEE 2 2 For details regarding the drive module error reset command see Section 6 1 3 3 3 For details regarding the output module error reset command see Section 8 5 1 c Major erro
250. t value within 1 cam revolution mode ssseseeesceeseeeeseen 8 38 8 5 Common Devices Input Output Internal Relays Data Registers sssessssssss 8 39 8 5 1 Internal CH AE 8 39 1 Internal relay M list EE 8 39 2 Internal relay M details nnnm nennen nnne ens 8 41 98 5 2 Data tegisters D reete et eto t eoe nde aei ntes 8 48 13 Data register D llSt ciini d nro ed Ire deri Ete iti reote te Feri oet ERI ped 8 48 2 Data register D details ossai irriter Waara AEAEE VARANEN AKEKE AEAN EEE 8 49 9 REAL amp VIRTUAL MODE SWITCHING AND STOP RESTART enne 9 1 to 9 10 9 1 Switching from the REAL to VIRTUAL Mode nennen nennen nnne nnns 9 1 9 2 Switching from the VIRTUAL to REAL Mode esssseseessessesssieesissirsinsttntttnttnntttuntnnnnnnnnnnnnnsstnnenn 9 5 9 2 1 VIRTUAL to REAL mode switching by user 9 5 9 2 2 VIRTUAL to REAL mode switching by OS 9 5 9 3 Precautions When Switching between REAL and VIRTUAL Modes eeeseseeeseessreeseeerreeresrreens 9 6 Ora STOP RES WAR EE 9 8 10 AUXILIARY APPLIED FUNCTIONS neret nennt rin r nnn inna 10 1 to 10 6 10 1 Present Value Change Speed Change 10 1 10 1 1 Present value change by CHGA instruction and speed change by CHGV instruction 10 1 10 1 2 Present value amp speed changes by DSFLP instruction ssesseeeseeeseeerresresiessresrinsrinerresrne 10 3 10 2 Improved Present
251. tails regarding the CHGA CHGV and DSFLP instructions see Section 5 3 of the Motion Controller SV13 22 Programming Manual REAL Mode Nass For details regarding the VIRTUAL mode continuation disabled warning signal see Section 6 3 1 6 DRIVE MODULE Virtual servo motor K 5 Operation mode when error occurs The operation method when major errors occur at the output modules of a given system can be designated as shown below Control occurs as shown below based on the parameter settings see Table 6 1 of the virtual servo motor which is connected to the virtual main shaft a Continuation b Clutch OFF Operation in Progress Clutch ON gt Clutch ON gt Clutch ON Major error occurrence Output module operation continues even if a major output module error occurs The error detection signal M1607 20n will switch ON at such times and the corresponding error code will be recorded at the major error storage area The system and output module continuation stop setting when a major output module error occurs is designated in the sequence program When a major output module error occurs that system s clutch will be switched OFF and all connected output modules will stop At this time the clutch ON OFF command device will not switch OFF but the clutch status storage device will switch OFF regardless of the clutch
252. tary at the final output shaft Output table 4 Total 4 Total P module of 4 of 4 Referen ce Section Section Section 8 1 Section 8 2 Section 8 3 Section 6 DRIVE MODULE 6 DRIVE MODULE The drive module drives the virtual axis There are 2 types of drive module e Virtual servo MOtOF sssesssseeeneeen See Section 6 1 e Synchronous encoder See Section 6 2 6 1 Virtual Servo Motor The virtual servo motor is used to control the virtual axis by servo program or by JOG operation Virtual servo motor operation and parameters are discussed below 6 1 1 Virtual servo motor operation 1 START procedure The virtual servo motor is started by the servo program or by JOG operation a START by servo program The servo program is started by a sequence program DSFRP SVST instruction The start accept flag i M2001 to M2008 M2001 to M2004 of the designated axis will then switch ON Sequence program Servo program Mechanical system program Virtual Virtual servo motor lt K100 gt Virtual axis 1 I SVST J1 K100 START request ABS Ic Axist 10000 PO Speed 1000 WR For details regarding the START accept flag see Section 4 1 8 2 6 DRIVE MODULE b START by JOG operation An individual or simultaneous START can be executed at the JOG operation 1 Individual START Each axis c
253. ted up with SWOSRX SWONX CAMP Cam data is created by creating a cam curve for 1 cam rotation using at the free form curve or one of the cam curves shown in section 8 4 4 For details regarding the creation of cam curves at IBM PC computers which have been started up with the SWOSRX SWONX CAMP software refer to the SW2SRX SW2NX GSV22P SW0SRX SWONX CAMP Operation Manual 8 OUTPUT MODULES 8 4 6 Limit switch outputs in present value mode amp present value in 1 cam revolution mode There are 2 types of limit switch outputs e Limit switch outputs in present value mode e Limit switch outputs in present value in 1 cam revolution mode 1 Limit switch outputs in present value mode Limit switch outputs occur in accordance with the cam s actual present value stroke Cam Limit switch output Stroke a For two way cam The limit switch output pattern is identical for both directions Limit switch output example Cam pattern EN o puce Se Ls CIR Se A Stroke E D mts 1 cycle Lower stroke limit Limit switch output Le setting 1 cam shaft revolution Operation example Output value address is Stroke 8 OUTPUT MODULES b For feed cam Limit switch output example Cam pattern pect ee ae HON n DL EE 0 1 cycle Limit switch output d 4 gt setting 1 cam shaft
254. ted while motion was in progress at the relevant axis e A present value change was designated at an axis which hasn t been started A present value change was designated at an axis where the servo is OFF A speed change was designated at an axis where circular interpolation is in progress A speed change was designated following the start of automatic deceleration during positioning A speed change was at tempted during deceleration which was occurring in response to the JOG START signal M1402 20n M1403 20n being switched OFF The speed following a speed change violated the 0 to speed limit value range The absolute value of the speed following a speed change violated the 0 to speed limit value range A present value change which violated the range 0 to 35999999 x10 degrees was designated at a degrees axis A172SENC A171SENC or encoder hardware fault Discontinuity in encoder cable Low voltage at A172SENC A171SENC battery No battery or disconnected battery at A172SENC A171SENC Table 11 2 Drive Module Error List 100 to 1199 Continued Processing Rapid stop occurs Deceleration to stop M200 OFF Operation occurs at the speed limit speed The present value will not be changed The speed will not be changed Operation will occur at the speed limit speed Operation will occur at the speed limit speed The present value
255. ters 5 to 8 Table 5 1 Mechanical Module List Max Number Used Max Number Used A172SHCPU A171SHCPU Number Number Per Block Number Per Block Referen Per Number Gonn amp et Auxiliary Number Gonriect Auxiliary Function Description ce Servo per Vonnec Input Per connec Input Section ion Shaft ion Shaft System System Side Shaft System System Side Shaft CPU Side Side Used to drive the mechanical 4 System program s virtual axis by Section servo program or JOG 6 1 Total Total operation of5 Used to drive the virtual axis by input pulses from an external Section synchronous encoder This is a virtual link shaft Drive module rotation is transferred to the transmission module This is the auxiliary input shaft for input to the transmission module s differential gear This shaft is automatically displayed when a differential gear and gear are connected Transfers the drive module s rotation to the output shaft The travel value pulse input from the drive module is adjusted according to the gear ratio setting value and is then transmitted to the output shaft so that rotation occurs in the set direction Engages disengages the output module with the drive module rotation In response to clutch ON OFF switching there is a direct clutch for direct transfer and a smoo thing clutch for acceleration deceleration processing which occurs in accordance with the smoothing time constant setting The ON OFF mode add
256. the address clutch reference setting signal 1 When the address clutch reference setting signal M1813 20n is ON VIRTUAL mode operation will begin with the present value in 1 virtual axis revolution designated as 0 for the main shaft and auxiliary input shaft 2 When the address clutch reference setting signal M1813 20n is OFF e f the drive module is a virtual servo motor or an incremental type synchronous encoder main shaft and auxiliary input shaft operation will be continued from the present value in 1 virtual axis revolution value from the previous VIRTUAL mode operation e If the drive module is an absolute type synchronous encoder main shaft and auxiliary input shaft operation will be continued from the present value in 1 virtual axis revolution value calculated from the encoder s present value p Cam reference position setting signal M1814 20n This command signal is only operative when the output module is a cam and it is used to designate the cam s reference position When a REAL to VIRTUAL mode switching request occurs processing will be as shown below depending on the ON OFF status of the cam reference position setting signal 1 When the cam reference position setting signal M1814 20n is ON The present value becomes the cam s reference position e The current feed present value becomes the stroke lower limit value bottom dead center Moreover a cam table search is conducted from the beginning of a cycle
257. the power to the servo system CPU is turned ON At any time during operation Immediate stop At any time during operation When the servo amplifier power is turned ON At the leading edge of the PC READY flag M2000 When a servo error is reset When the power to the servo system CPU is turned ON 11 13 Replace the servo amplifier Check if the connector of the encoder cable is loose Replace the servomotor Replace the encoder cable Use a multimeter to check between the U V and W terminals and the case Use a multimeter and megger to check between the U V and W terminals of the motor and the core Turn the power ON for 2 to 3 minutes to charge the supercapacitor switch the power OFF then ON again and execute a home position return Turn the servo amplifier power OFF then measure the battery voltage Replace the servo amplifier battery 11 ERROR CODES STORED AT THE PCPU Table 11 3 Servo Amplifier Error List 2000 to 2799 Continued Error Cause SE gem When Error Checked Error Corrective Action Code Name Description Processing The frequency of ON OFF Reduce the frequency of acceleration switching of the power and deceleration or feed speed while transistor for regeneration is checking the servo monitor too high Caution is required regeneration level 96 since the regenerative resistor Reduce the load could overheat Increase the servomotor capacity Servo parameter syst
258. the virtual mode was in effect 8 16 8 OUTPUT MODULES f An example of the operation of an address mode clutch is shown below Operation Example r Designate clutch ON OFF at this present value present value in one virtual axis revolution 1 axis Number of pulses per revolution 20000 PLS axis Virtual servomotor present value synchronous encoder Present value in one virtual axis pa revolution 0 10000 D 10000 0 Set the clutch status clutch ON address 0 clutch OFF address 10000 lt ud 5o 99099 degres Output shaft present value Present value in one output shaft a 20000 revolution L Kate 8 17 8 OUTPUT MODULES 8 4 Cams 1 For axes at which the output module is set as a cam the same action as a cam is achieved by using a ball screw model as shown in the example below Mechanical Cam Cam Shaft System of output Module Equivalent action Upper dead point Pulse generator Reduction gear Servo 4 ee Ns ZA 5 s motor 4 Moving part Upper dead point La a x Stroke Stroke A1728HCPU A1728 A18 servo ENC X10 system CPU 2 The following two types of data have to be set in order to use a cam e Settings made when the cam data is created These are the settings made at a personal computer running the
259. this manual VIII Revisions The manual number is given on the bottom left of the back cover Print Date ManualNumber Revision Apr 1998 IB NA 67397 B First edition This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 1998 Mitsubishi Electric Corporation CONTENTS 1 GENERAL DESCRIPTION geesde ee 1 1to 1 9 1 1 General Comparison Between A172SH A171SH A1 7102 1 3 1 2 System Configuratio N i tis ten ea des bee OT e de ee ie ge ae 1 4 1 2 1 A172SHCPU System overall configuration 0 0 cece cet ee eeeeeeeeeeeeeeceaeeeeaaeeeeeeteeeeeseaeeeeaeeseneeenaees 1 4 1 2 2 A171SHCPU System overall configuration 0 0 eecececet ee ceeeeeee teense cae eeeaaeeeceeeeeeeesaeeeeaaeeneaeeeeaees 1 5 1 2 3 System configuration precautions esses eene nennen nnne tenens 1 6 1 3 Summary of REAL and VIRTUAL Modes AAA 1 8 2 PROCEDURE FOR VIRTUAL MODE POSITIONING CONTROL eee 2 1to 2 8 2 41 System Starts piss ere dee tte te eu tede testet tA tob theod re cce 2 1 VELOCI ETE 2 4 2 2 1 Operation with incremental system sssssssssssseseeeeeee enne nennen nnne ns 2 4 2 2 2 Operation with an absolute absolute
260. tion UN instruction completed START START accept flag OFF accept flag Positioning Positioning completed 1 completed signal signal Positioning Deemani START Positioning completed 1 START b signal completed signal 4 SERVO SYSTEM CPU DEVICES 2 When executing positioning by switching the JOG instruction ON the START accept flag will switch OFF when positioning is stopped by a JOG instruction OFF 3 The START accept flag is ON when the manual pulse generator is enabled M2012 ON and is OFF when the manual pulse generator is disabled M2012 OFF 4 The START accept flag is ON during a present value change being executed by a Sequence program DSFLP CHGA instruction The START accept flag will switch OFF when the present value change is completed DSFLP CHGA instruction OFF at present value change completion START accept flag OFF Present value L change processing gt l 5 When M2000 is OFF execution of a DSFRP SVST instruction 2 causes the start accept flag to come ON the flag goes OFF when M2000 comes ON PC READY M2000 DSFRP SVST instruction START accept flag N The user must not turn start accept flags ON OFF e If a start accept flag that is ON is switched OFF with the sequence program or a peripheral device no error will occur but the positioning operation will not be reliable Depending on the type of machine it might operate in an unanticipate
261. tly connected to the CPU RS422 connector it does not work at all Attach a short circuit connector A31SHORTCON for A31TUCBL after detaching the A31TU 3 Use motion slots to mount PC A1S I O modules if necessary 4 Though A172SENC has external input signals for 8 axes make settings for the first 4 axes PXO to PXOF 5 When the power supply to the servo system CPU is switched ON and OFF erroneous process outputs may temporarily be made due to the delay between the servo system CPU power supply and the external power supply for processing especially DC and the difference in startup times For example if the power supply to the servo system CPU comes on after the external power supply for processing comes on at a DC output module the DC output module may temporarily give erroneous outputs when the power to the servo system CPU comes on Accordingly a circuit that ensures that the power supply to the servo system CPU comes on first should be constructed 1 GENERAL DESCRIPTION 1 2 3 System configuration precautions The following table summarizes the notes on system configuration system setup items and relative checks that differ from those of the A171SCPU Number of Available System Setup Item Relative Check Modules Separated J2 Max 8 axes for 1 MR J2 B allows the use of the following Connect the servo amplifier H A172SHCPU motors with high resolution encoders amplifier to the Max 4 axes for e HC MF W1
262. tput status storage area D9180 to D9183 D9180 to D9181 EH Data sent from PCPU to SCPU a The status ON OFF of limit switch outputs designated from a peripheral device to A1SY42 and AY42 are stored here as 1 or 0 data b This area can be used to execute external outputs of limit switch output data etc from the sequence program lt When A172SCPU is used gt b15 bi4 b13 b12 bii b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 bo D9180 LYOF LYOE LYOD LYOC LYOB LYOA LYO9 LY08 LYO7 LYOG6 LYO5 LY04 LYO3 LYO2 LYO1 LYOO pe For axis 2 pa For axis 1 LY1F LY1E LY1D LY1C LY1B LY1A LY19 ie Lv17 LY16 LY15 LY14 LY13 LY12 wn oro For axis 4 9 J Fo axis 3 D9182 LY2F LY2E LY2D LY2C LY2B LY2A LY29 LY28 LY27 LY26 LY25 LY24 LY23 LY22 LY21 LY20 4 For axis 6 _ gt ______ For axis 5 D9183 LY3F LY3E LYSD LY3C LY3B LY3A LY39 LY38 LY37 LY36 LY35 LY34 LY33 LY32 LY31 LY30 4 For axis 8 gt Foor axis 7 ing of 1 or 0 is stored at each D9180 to D9183 bit
263. trol BRE b Ball screw This is set when the final output axis is used to carry out linear positioning control Ball screw a K LIA E c Rotary table This is set when the final output axis is used to carry out angle control m Rotary table d Cam The cam settings are made when the last output axis is connected to a software cam and controlled os software cam 8 OUTPUT MODULES 2 Device range and device data fetch of the output module parameters Such things as the device range and setting method are indicated below for the output module parameters and items that are set indirectly using devices a Device range The number of device words and device range utilized when an item is set indirectly are indicated below Number Device Setting Range of Device A172SHCPU A171SHCPU Torque limit value setting device Torque limit value setting Ball screw i device 1 Torque limit value setting device Virtual axis present value within one revolution 2 storage device main shaft Rotary table side Virtual axis present value within one revolution storage device auxiliary input axis side D P 010799 device storage device Cam Virtual axis present value Gel within one revolution 2 storage device main shaft side 2 Virtual axis present value within one revolution storage device auxiliary input axis side POINTS e For items set using two words always s
264. tting for the number of pulses required to rotate the cam through one cycle Number of pulses per cam shaft revolution Nc Z1 ee b The setting for the number of pulses per cam shaft revolution is independent of the travel value per pulse setting in the fixed parameters 2 Used cam No This parameter does not need to be set Operation will be possible as long as a registered cam No is set 8 OUTPUT MODULES 3 Cam No setting device 1 word a This is the setting for the device that sets in the sequence program the cam No that is to be used for control b The following devices can be used as the cam No setting device Device Type A1728HCPU A171SHCPU Link register WO to W3FF 1 If a cam is used at the output module the area used for the cam cannot be set 2 If a differential gear is connected to the main shaft the area it uses cannot be set c If the value stored in the cam No setting device is changed during operation the switch to the changed cam No will occur at the stroke cam No switching position set when the cam data was created 4 Permissible droop pulse value a This is the setting for the permissible number of droop pulses at the deviation counter b The deviation counter value is continually monitored and if it becomes larger than the permissible droop pulse value the error detection signal M1607 20n comes ON b Unit setting a This is the sett
265. ue when a home position return is performed c By setting the allowable travel while the power is OFF a change in the encoder data to a value outside the setting range while the power is OFF can now be checked when the servo amplifier power is turned ON If abnormal an error is displayed 2 Restrictions due to the combination of positioning OS and positioning software package The following restrictions apply depending on whether an allowable travel while the power is OFF is set or not Positioning Positioning Software EE OS Version Package Version There are no restrictions R or later 1 When a new version positioning OS is installed in place of an old version it is essential to execute a home position return e Present value history monitor cannot be used V or later e Since the allowable travel while the power is OFF cannot be set a minor error error code 901 or 9010 occurs Q or earlier 2 when the servo amplifier power is turned on When a new version positioning OS is installed in place of an old version it is essential to execute a home position return 3 pm NK U or earlier None of the function upgrades can be used Qorearier 2 or earlier 2 1 Allowable travel while the power is OFF can be set 2 Allowable travel while the power is OFF cannot be set 8 Since the allowable travel while the power is OFF cannot be set when using an old version positioning software package a minor error is displayed
266. ur e The servo program setting error flag M9079 switches ON e The program No where the error occurred is recorded in the error program No register D9189 e The error code is recorded in the error information storage register D9190 2 Positioning errors a Positioning errors occur at positioning START or during the positioning operation There are three types of positioning error minor errors major errors and servo errors 1 Minor error These errors are caused by the sequence program or servo program The error code range for these errors is 1 to 999 for drive modules and 4000 to 9990 for output modules The cause of these errors can be eliminated by correcting the sequence program or servo program in accordance with the error code 2 Major errors These errors are caused by external input signals or by control commands from the SCPU The error code range for these errors is 1000 to 1999 for drive modules and 10000 to 11990 for output modules Eliminate the cause of these errors in accordance with the error code 3 Servo errors These are errors detected by the servo amplifier or servo power supply module The error code range for these errors is 2000 to 2999 Eliminate the cause of these errors in accordance with the error code F Applicable Modules l E P Error Class rror Occurrence Point Drive Module Output Module Setting data 1 to 99 4000 to 4990 re Atcontrolchange ows
267. ut lain shaft side Auxiliary input is side axis 3 Output Main shaft side axis 4 Auxiliary input axis side Output axis 1 uxiliary input side aft side iliary input side aft side uxiliary input side Main shaft side Auxiliary input axis side Main shaft side Auxiliary input axis side Main shaft side Auxiliary input axis side Clutch status Clutch status Unusable 8 points M2000 M2001 M2002 M2003 M2004 M2005 M2006 M2007 M2008 M2009 M2010 M2011 M2012 M2013 M2014 M2015 M2016 M2017 M2018 M2019 SCPU All axes servo ON accept flag Unusable 2 points Manual pulse generator 1 enabled Unusable 2 points JOG simultaneous start command ervo ON accept flag SCPUS PCPU SCPU gt PCPU Unusable 4 points pe o U c S o m o START buffer full M2021 M2022 M2023 M2024 M2025 M2026 M2027 M2028 M2029 M2030 M2031 M2032 M2033 M2034 M2035 M2036 M2037 M2038 M2039 Speed change in progress flag 4 points m E D Unusable 9 points PC link communication error flag Unusable 5 points The END of the refresh cycle is the longer of 80 ms and the sequence program scan time 4 6 A171SHCPU REAL wee ignal Refresh Fetch Reference rection Cycle Cycle 4 SERVO SYSTEM CPU DEVICES A172SHCPU A171SHCPU Device Lee Eiere Signal Refresh Fetch Device OValid Signal Refresh Fetch Referen
268. utput shaft designated in the mechanical system program s the all axes servo ON command M2042 ON e Is servo START processing in progress Servo START due to a servo error reset at the processing amplifier module axis in progress M1608 20n signal OFF at all the axes e Is the home position return request M1609 20n signal OFF for all the axes excluding roller axis 1 been designated at the stroke setting device cam parameters e Is the cam s stroke setting device No an even number 9 REAL amp VIRTUAL MODE SWITCHING AND STOP RESTART 2 Output module check a The items shown in Table 9 2 below are checked to determine the output module status If an error is found switching to the VIRTUAL mode will not occur and the corresponding system cannot be started When an error exists switch back to the REAL mode and correct the error cause then switch to the VIRTUAL mode again b When an error is found the corresponding output module s error detection signal M1607 20n will switch ON and the error code will be stored in the minor major error code register Table 9 2 Output Module Checklist Output Module Checked Check Ee Ball Rot Normal Abnormal a otar Sequence y Cam Condition Condition Screw Table s the feed present value within the stroke range s the feed present value within the range lower stroke limit value to stroke e When in the two wa
269. value 2 When a present value change is carried out in relation to the main shaft side drive module the present value of the main shaft differential gear will also be changed to the set present value at the same time 3 If the differential gear is not connected to the main shaft the main shaft drive module present value will always be stored in the main shaft differential gear present value storage register 6 DRIVE MODULE 6 3 Virtual Servo Motor Synchronous Encoder Control Change This section provides explanations regarding virtual servo motor present value changes speed change JOG speed changes and synchronous encoder present value changes Present value changes are carried out using the CHGA instruction DSFLP instruction and speed changes are conducted using the CHGV instruction DSFLP instruction Refer to the Motion Controller SV13 SV22 REAL Mode Programming Manual for details regarding the CHGA instruction CHGV instruction DSFLP instruction 6 3 1 Virtual servo motor control change 1 Control change registers Axis SV22C SV22F Signal Name No Device No Device No g Signal Refresh Fetch HITT value change DSFLP Euer execution SCPU Ed Speed change register change register PCPU e j JOG Get setting At name register ii represents a backup register M1007 a Present value change register D960 6n Data sent from SCPU to PCPU 1 When the feed present value
270. value within the following range VL x NL 1 lt goxaqxL lt 1000000 pulse s VL mm min or inch min L mm or inch c If the speed of the roller shaft exceeds the speed limit value the error detection signal M1607 20n comes ON However the roller shaft speed is not clamped Even if the speed limit value is exceeded control is executed at the set speed A H Setting for speed limit value 5 Torque limit value setting device 1 word a This sets the device which stores the setting for the torque limit value for the roller shaft Once the device has been set torque control is executed in accordance with the setting stored in this device In the virtual mode the torque limit setting is always valid If no device setting is made the torque limit is set at 300 b The following devices can be set as the torque limit setting device Device Type A172SHCPU A171SHCPU 1 Data register e DO to D799 Link register WO to W3FF 1 If a cam is used at the output module the area used for the cam cannot be set 2 If a differential gear is connected to the main shaft the area it uses cannot be set c The setting range for the torque limit value is 1 to 50096 6 Comment a A comment is created for purposes such as describing the application of the roller shaft If a comment is created it can be displayed when monitoring at a peripheral device b Comments up to 16 one byte cha
271. ve module travel value gear Nc oo Present value in one remainder operator j virtual axis revolution Nc 1 amp 2 Address mode pulse lt 2 clutch VA AVA EE EE s 0 0 0 0 CTS Cam a The present value in one virtual axis revolution for the main shaft side of the cam is stored in this device 8 OUTPUT MODULES b The following devices can be used as the present value in one virtual axis revolution storage device Device Type A1728HCPU A171SHCPU 1 Data register 2 DO to D799 3 Link register WO0 to W3FF 1 lf a cam is used at the output module the area used for the cam cannot be set 2 If a differential gear is connected to the main shaft the area it uses cannot be set 8 The first device number of the devices must be an even number c The setting range for the present value in one virtual axis revolution is O to Nc 1 pulses Nc number of pulses in one cam shaft revolution d The address mode clutch is turned ON and OFF at designated addresses in the virtual axis present value in one revolution range 0 to Nc 1 pulses Therefore set a value in the range 0 to Nc 1 pulses in the clutch ON OFF address setting device e The virtual axis present value in one revolution reference position O is set by turning M1813 20n address clutch reference setting signal ON and switching to the virtual mode This sets the virtual axis present values in one revolution for bot
272. when the stroke is divided into 32767 divisions at every point in the set resolution 32767 Stroke Cam curve Stroke ratio Lower dead point 0 L 1 cycle b The cam data table is automatically generated at the peripheral device when the cam curve is created The cam curves that can be used with the servo system CPU are indicated in Section 8 4 4 8 OUTPUT MODULES 8 4 3 Parameter list The cam parameters are presented in Table 8 5 and item numbers 2 to 13 in the table are described in 1 through 12 below For details on how to set the cam parameters refer to the Operating Manual for the relevant motion controller Table 8 5 Parameter List No Seting Default Value Setting Range Ou WhenusnganTHSHOPU xl ee shaft Number of pulses per cam shaft revolution EE END 1073741824 pulse Used cam No Cam No soing devos Tvor n Woas 5 Permissible droop pulse value 65535 I 1 to 65535 pulse Unit setting mm pulse Ce ore 8 Limit switch output Notused UsediNotused 9 Torque control limit setting device 1 word 800 word device Present value in one virtual axis revolution 12 R word device storage device main shaft side 2 words Present value in one virtual axis revolution storage device auxiliary input shaft side 2 word device words 1 Number of pulses per cam shaft revolution Nc a This is the se
273. witched from OFF to ON When a servo ON command was executed the feed present value was within the stroke limit range but the present value couldn t be calculated within 1 cam axis revolution Cam table error 4 System error 9000 to 9990 e When the servo amplifier power was turned on the motor type actually installed was different from the motor type set in the system settings Checked only when MR J2 B is used When the servo amplifier power is turned on the amount of motor travel while the power was OFF is found to have exceeded the POWER OF ALLOWED TRAVELING POINTS in the system settings 11 25 Error Cause Processing Corrective Action Clutch remains Return to the clutch OFF OFF command and repeat the clutch ON command after executing a servo ON command Servo remains After returning to within the ON stroke range execute the servo OFF command again Designate a value which satisfies the stroke lower limit stroke lt 2 1 condition Clutch remains Return to the REAL mode OFF execute a home position return then switch back to the VIRTUAL mode Servo remains Return to the REAL mode ON then correct the cam data settings Designate the setting for the stroke from the stroke lower limit as a ratio in the range 0 to 7FFFH Designate 0 to 7FFFH points at the cam table Table 11 4 Output Module Error List 9000 to 9990 Continued Error Cause Processing C
274. witching to the virtual mode This sets the virtual axis present values in one revolution for both the main shaft and the auxiliary input shaft to O If the switch to the virtual mode is made with M1813 20n turned OFF control continues from the virtual axis present value in one revolution that was effective last time the virtual mode was in effect 8 14 8 OUTPUT MODULES f An example of the operation of an address mode clutch is shown below Operation Example FAX A Designate clutch ON OFF at this present value present value in one virtual axis revolution 1 axis Number of pulses per revolution 20000 PLS Virtual servomotor present value S synchronous encoder 1 axis i Present value in one virtual axis II iet revolution D 10000 Kat 20000 Set the clutch status clutch ON address 0 clutch OFF address 10000 Output shaft present value Present value in one output shaft revolution 8 15 8 OUTPUT MODULES 9 Virtual axis present value in one revolution storage device auxiliary input shaft side 2 words This parameter is set if an address mode clutch has been set at the rotary table auxiliary input shaft side Drive module Virtual axis present value in one revolution Address mode clutch I Rotary table i I Drive module a By setting the virtual axis present value in one revolution for the auxiliary input shaft o
275. xes 20 points x 4 axes 3 EU IS TI 1 80 points Synchronous encoder axis Synchronous encoder axis ii status status 4 points x 1 axis 4 points x 1 axis 5 37 points 1 37 points Virtual servo motor axes 2 Virtual servo motor axes 2 x command signal command signal CES 20 points x 8 axes 20 points x 4 axes 4 User devices 80 points E d C1 Synchronous encoder axis Synchronous encoder axis ei command signal command signal 4 points x 1 axis 4 points x 1 axis 6 1 Status of each axis Status of each axis 20 points x 8 axes 20 points x 4 axes REAL mode Each axis REAL mode Each axis VIRTUAL mode VIRTUAL mode Output Output modules modules M1680 Unusable 120 points Unusable 40 points Command signals of each axis Command signals of each axis 20 points x 8 axes 20 points x 4 axes REAL mode Each axis REAL mode Each axis VIRTUAL mode VIRTUAL mode Common devices Common devices 88 points 88 points 4 SERVO SYSTEM CPU DEVICES POINTS 1 When the VIRTUAL mode is used do not set M1200 to M1599 in the latch range 2 The virtual servo motor axis status signals command signals occupy only the areas of the axes set in the mechanical system program The area of an axis that is not set in the mechanical system program can be used by the user e Total number of points for the user devices A172SHCPU 1200 points A171SHCPU 1360 points 4 SERVO SYSTEM CPU DEVICES 4 1 2 Ea
276. xtension base unit points must be within a range of slot The number to be set must not precede the less than or X YO to X Y7FF UO numbers for use by the PC extension equal to 256 they must be base unit The starting made in the range UO number defined in the left Effective Default CPU unit setting range plus number hand column of occupied A1728HCPU X YO to XY3FF points must be A171SHCPU X YOto X Y1FF less than or equal to X Y800 PC A1S68B 1 stage Use this unit for extension A1S65B Id Systems capable base unit of one stage extension A168B 1 stage Use this unit for GOT Notes and Remarks Product Module Name Name 1 GENERAL DESCRIPTION POINTS 1 When using the existing A171SCPU user program and parameters perform the following procedure 1 Start the peripheral S W package by A172SHCPU or A171SHCPU then read the sequence file and servo file created for A171SCPU via the File Read function 2 Display the System Setup screen The existing system status is displayed with the following alert Start by A172SHCPU Replaces A171SCPU with A172SHCPU The character string A171SHCPU is displayed only when A171SHCPU is used for startup Replaces A171SENC with A172SENC This message is displayed only when A171SENC has been set YES NO Y 3 Select YES and the existing settings will be replaced with those for the startup CPU module S
277. y cam mode does lower stroke limit value stroke exceed 27 1 Drive module When the clutch connected to the synchronous encoder is in an external input mode are the clutch s ON OFF bit devices the same device 3 Drive module NO When the clutch connected to the serial synchronous encoder is in an external d input mode is the encoder interface i jl input a manual pulse generator input ABS input Does a servo ON status M1615 20n is ON exist at an output module where either a no clutch or clutch ON command is in effect for the virtual main shaft or the virtual auxiliary input shaft Is the external input STOP signal OFF at an output module where either a no clutch status or clutch ON command is in effect for the virtual main shaft or the virtual auxiliary input axis When in the two way cam mode can the present value be calculated within 1 cam revolution Is the No of the clutch ON OFF address setting device for address mode clutch an even number 9 REAL amp VIRTUAL MODE SWITCHING AND STOP RESTART 3 Synchronous encoder axis check a The items shown in Table 9 3 below are checked to determine the synchronous encoder status If an error is found switching to the VIRTUAL mode will not occur Error causes can only be corrected by switching back to the REAL mode b When an error is found the corresponding output module s error detection signal M1607 20n w

MOTION CONTROLLER (SV22) (VIRTUAL MODE)

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