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Synchronous Control - Allied Automation, Inc.

1. and Section 5 2 Pr 400 to Pr 468 STEP 2 Create a sequence program that executes to start change control stop synchronous Refer to A control Appendices Set Cd 290 Synchronous control start start and stop the input axis operation and change the reduction ratio STEP 3 Write the sequence program which is created in STEP1 and STEP2 to the PLC CPU S Turn ON the target axis bit in Turn ON the synchronous control start bit for Cd 380 Synchronous control start and start the axis that starts synchronous control synchronous control by the sequence program in STEP 2 Start synchronous control STEP 4 Verify that it s during synchronous control in Md 26 Axis operation status Verify that it s during synchronous control Operate the input axis by the sequence program in STEP 2 Operate the input axis Monitor using GX Works2 Monitor the synchronous control operation Changing the control by the sequence program in STEP 2 status synchronous control change Execute the control change for the speed change ratio cam No etc STEP 6 Stop the input axis by the sequence program in STEP 2 Stop the input axis 7 S m Turn OFF the target axis bit in Verify the input axis is stopped and turn OFF Cd 380 Synchronous control start to stop synchronous the synchronous control start bit for the axis control by the sequence program in STEP 2
2. Before Using the Product Before Using the Product Chapter1 Outline of Synchronous Control Chapter 1 Outline of Synchronous Control The outline specifications and the operation method of synchronous control using the Simple Motion module are explained in this chapter This chapter helps to understand what can be done using the positioning system and which procedure to use for a specific purpose 1 1 Outline of Synchronous Contohe aE E 1 2 1 2 Performance Specifications cccccceecceeseceeeeceeeceeeeeeeeeaeeseaeeecaeeseeesteneeteaeetsieeteneeens 1 6 1 3 Restrictions by the SERIAL No and version 1 9 1 4 General configuration of buffer memory Synchronous control area eee 1 11 1 5 Operation method of synchronous Control 1 12 1 5 1 Synchronous control execution procedure sssssssesersersersrrsrrsrrsrrsrrsnsrnsnens 1 12 1 5 2 Setting items for positioning parameters seeeesseseieereersersrrerrererrsrsnsrrsrnens 1 13 1 5 3 Starting ending for synchronous Control 1 15 1 5 4 Stop operation of output AXIS cieee ae aaa aaaea a 1 17 Chapter1 Outline of Synchronous Control 1 1 Outline of synchronous control Synchronous control can be achieved using software instead of controlling mechanically with gear shaft speed change gear or cam etc Synchronous control synchronizes movement with the input axis Servo input axis or synch
3. The input travel value accumulates as a rotation direction restricted amount and will be reflected when the input travel value moves in the enable direction Pr 329 Resolution of synchronous encoder via CPU Set the resolution of connected synchronous encoder when 201 Synchronous encoder via CPU is set in Pr 320 Synchronous encoder axis type If 1 or more is set Cd 325 Input value for synchronous encoder via CPU is processed as the cycle counter within the range from 0 to resolution of synchronous encoder via CPU 1 If O or less is set Cd 325 Input value for synchronous encoder via CPU is processed as 32 bit counter within the range from 2147483648 to 2147483647 Chapter 2 Input Axis Module 2 2 4 Synchronous encoder axis control data RR 2 Default Buffer memory Setting item Setting details Setting value value address If set to 1 the synchronous encoder axis control is started If set to 101 to 116 the synchronous encoder axis control starts based on the high Cd 320 encoder axis control speed input request external command Synchronous encoder signal 101 to 116 High speed input start for synchronous encoder 0 automatically after completion of the AXIS ee 1 to axis 16 H Set in decimal 1 Start for synchronous axis control start e The Simple Motion module resets the value to synchronous encoder axis control Fetch cycle Operation cycle 35040 10
4. input axis Servo motor position f Current feed value Pr 300 Servo input Real current value axis type Servo command value Feedback vald Pr 301 Servo input axis Input smoothing time gt smoothing constant processing Pr 302 Servo input axis phase compensation Phase advance time g y compensation gt Md 302 Servo input axis Pr 303 Servo input axis processing phase compensation phase compensation amount time constant Pr 304 Servo input axis R t tion directi rotation direction p PHG GIECUON L Md 303 Servo input axis restriction restriction rotation direction restriction amount Md 300 Servo input axis Current value of A current value servo input axis Md 301 Servo input axis E Control method for servo input axis All controls including synchronous control can be executed for a servo input axis Refer to the User s Manual Positioning Control of each Simple Motion module for the controls other than synchronous control speed If the virtual servo amplifier function is set in the servo input axis synchronous control can be executed by the input value as virtual Refer to the User s Manual Positioning Control of each Simple Motion module for details on virtual servo amplifier function Chapter 2 Input Axis Module E Restrictions If 1 Current feed value or 2 Real current value is set in Pr 300 Servo input axis type
5. Outside input axis smoothing time constant range 604 25Ch Outside input axis 605 SE rotation direction 25Dh Sa e restriction setting range Input axis unit conversion overflow Speed position switching control start in servo input axis not possible Synchronous encoder via servo amplifier communication error Synchronous encoder via servo amplifier battery error Setting values of input axis parameters Pr 300 Servo input axis type and Pr 320 Synchronous encoder axis type are outside the setting range Setting value of the input axis parameter Pr 321 Synchronous encoder axis unit setting is outside the setting range The input axis parameter Pr 323 Synchronous encoder axis unit conversion Denominator is set to 0 or lower The input axis parameter Pr 324 Synchronous encoder axis length per cycle is set to 0 or lower The input axis parameters Pr 301 Servo input axis smoothing time constant and Pr 325 Synchronous encoder axis smoothing time constant are set other than 0 to 5000 The input axis parameters Pr 304 Servo input axis rotation direction restriction and Pr 328 Synchronous encoder axis rotation direction restriction are set other than 0 to 2 Internal operation overflow occurred because the unit conversion ratio unit conversion Numerator unit conversion Denominator of the input axis is too large When the input axis parameter Pr 300 Servo input
6. PACKING LIST The following items are included in the package of each product Before use check that all the items are included E QD77MS 1 QD77MS2 i QD77MS2 Before Using the Product 2 QD77MS4 i QD77MS4 Before Using the Product 3 QD77MS16 QD77MS16 Before Using the Product E QD77GF 1 QD77GF16 QD77GF16 Before Using the Product E LD77MS 1 LD77MS2 LD77MS2 Before Using the Product 2 LD77MS4 LD77MS4 Before Using the Product 3 LD77MS16 LD77MS16 RUN JAX1 2345678 LD77MS16 m LD77MH 1 LD77MH4 LD77MH4 2 LD77MH16 LD77MH16 RUN JAX12345678 ERR 9 10111213141516 LD77MH16 Before Using the Product
7. 7200 3600 Synchronous encoder axis lt 0 1degree Synchronous encoder axis current value per cycle length per cycle 3600 j Md 322 Synchronous encoder axis x0 001degree min speed Speed after unit A conversion Chapter 2 Input Axis Module Pr 325 Synchronous encoder axis smoothing time constant Set the averaging time to execute a smoothing process for the input travel value from synchronous encoder The smoothing process can moderate speed fluctuation of the synchronous encoder input The input response is delayed depending on the time corresponding to the setting by smoothing process setting Input value speed 4 before smoothing l 1 t gt t Averaging by smoothing time constant Input value speed 4 after smoothing i i 7 gt t I i beem be gt Pr 325 Synchronous encoder axis Pr 325 Synchronous encoder axis smoothing time constant smoothing time constant Pr 326 Synchronous encoder axis phase compensation advance time Set the time to advance or delay the phase input response of the synchronous encoder axis Refer to Section 4 8 Phase compensation function for the peculiar time delay of the system using the synchronous encoder axis 1 to 2147483647 us Advance the phase input response according to the setting time 0 S ei eee eee Do not execute phase compensation 2147483648
8. Main shaft input Speed change gear Composite auxiliary shaft Auxiliary shaft Auxiliary shaft Auxiliary shaft gear gear clutch No gear Numerator Pr 419 Composite eee Ha gear Be auxiliary shaft enominator gear Note Refer to Section 4 3 Md 402 Current value per cycle after auxiliary shaft gear Auxiliary shaft Auxiliary shaft axis No Speed change gear Output axis Chapter 4 Synchronous Control 4 2 2 Auxiliary shaft parameters Default Buffer memo Setting item Setting details Setting value y value address e Set the input axis No for the auxiliary WW Set in decimal 0 Invalid 1 to 16 Servo input axis control 801 to 804 Synchronous encoder axis Note 1 36430 200n I Set in hexadecimal HOOOO Select the composite method for input aN meted values from the main shaft and the 1 Input auxiliary shaft 2 Input S gt Auxiliary shaft input method Fetch cycle Operation cycle 0 No input 1 Input 2 Input Composite auxiliary shaft gear 36431 200n Set the numerator for the auxiliary shaft gear H Set in decimal 36432 200n Fetch cycle At start of synchronous _ 2147483648 to 2147483647 36433 200n control Auxiliary shaft gear Numerator Set the denominator for the auxiliary shaft gear H Set in decimal 36434 200n Fetch cycle At start of synchronous 1 to 2147483647 36435 200
9. Servo input axis Use the servo amplifier as the drive module input axis It is possible to use without connecting the servo amplifier by setting to the virtual servo amplifier Command units mm inch degree PLS Synchronous Incremental Absolute synchronous Incremental Via servo amplifier Via CPU encoder axis encoder 8 axes synchronous encoder 4 axes Input speed Q173DPX 200kKPLS s 1 Incremental synchronous encoder Command unit PLS 1 connectable axis with a built in module Input speed 4MPLS s 2 Synchronous encoder via servo amplifier Up to 4 connectable axes via the servo amplifier 3 Synchronous encoder via CPU Up to 4 connectable axes via the PLC CPU Command units mm inch degree PLS The current value per cycle Provided Smoothing Provided Phase compensation Provided Rotation direction restriction Provided Appendix 2 Appendices Q172DCPU QD77MS QD77GF LD77MS LD77MH Transmission Number of input side teeth Numerator of gear module 1 to 65535 2147483648 to 2147483647 Number of output side teeth Denominator of gear 1 to 65535 1 to 2147483647 Rotation direction Rotation direction Forward Reverse Set by a sign of the numerator of Clutch N Clutch mode Clutch mode ON OFF Address 1 Address 2 Clutch command ON OFF Clutch One shot External input command leading edge Clutch Smoothing command trailing edge One shot Time constant Exponential system OFF Address mode H
10. calculation Set the cam axis current value per cycle for the cam position calculation Fetch cycle At requesting cam position calculation Set the cam axis current feed value for the cam position calculation Set when calculating the cam axis current value per cycle Fetch cycle At requesting cam position calculation E Set in decimal 1 Cam axis current feed value calculation request 2 Cam axis current value per cycle calculation request I Set in decimal 0 to 256 E Set in decimal 2147483648 to 2147483647 Output axis position units Note 2 BB Set in decimal 1 to 2147483647 Cam axis cycle units Noe RW Set in decimal 2147483648 to 2147483647 Output axis position units Note E Set in decimal 0 to Cam axis length per cycle e Note 3 Cam axis cycle units E Set in decimal 2147483648 to 2147483647 Output axis position units Note Note 1 With the exception of positioning control main cycle processing is executed during the next available time Note 2 Output axis position units Refer to Section 4 5 1 Note 3 Cam axis cycle units Refer to Section 4 5 1 Chapter 5 Synchronous Control Initial Position Cd 612 Cam position calculation request Set the following commands to calculate the cam position 1 Cam axis current feed value calculation request 2 Cam axis current value per cycle calculation request The result is stored in
11. 2147483647 range 0 or lower during synchronous control change ratio Denominator The synchronous parameter Pr 440 s A p Set a value within the range from 0 to Outside cam No range Cam No is set to other than 0 to 256 2EEh 256 during synchronous control Synchronous control When changing the synchronous asia Dee continues by the arameter Pr 440 the cam 751 P AS previous cam No Specify the cam No for cam data that 2EFh Synchronous control Outside speed change The synchronous parameter Pr 437 continues by the 741 i j S 4 i Ea r Z Set a value within the range from 1 to 2E5h ratio denominator Speed change ratio Denominator is set to previous speed 750 Cam not registered data of the changed cam No does not acta i exist on the Cam open area during 9 synchronous control value 2147483648 or exceeding the controlled with the over r oe e Decrease speed of input axis maximum value 2147483647 minimum or maximum value Synchronous control irae ate Phase compensation amount of cam continues Seta smalle camas bhae xi xi 754 3 axis is equal or lower than the minimum The operation is P 2F2h compensation amount compensation advance time Chapter 6 Troubleshooting Synchronous Control 6 4 Warning of cam operation A warning is detected for an axis 1 when in the cam operation cam data operation cam auto generation cam position calculation is incorrect
12. that stops synchronous control Complete synchronous control Monitor the l STEP 5 End of control e Mechanical elements such as limit switches are considered as already installed e Parameter settings for positioning control apply for all axes with the Simple Motion module e Be sure to execute the OPR when the OPR request flag is ON 1 12 Chapter1 Outline of Synchronous Control 1 5 2 Setting items for positioning parameters The setting items for the positioning parameters for synchronous control are shown below Positioning parameter setting applies for each axis of control with the Simple Motion module Refer to the User s Manual Positioning control of each Simple Motion module for details on the setting items Synchronous Positioning parameter control i Unit setting Number of pulses per rotation AP Unit PLS j Basic r 3 Movement amount per rotation AL parameters 1 rs S Unit magnification AM Bias speed at start Speed limit value Pr 9 Acceleration time 0 Deceleration time 0 as Backlash compensation amount e A Software stroke limit upper limit value DER Software stroke limit lower limit value SES Basic parameters 2 Software stroke limit selection Software stroke limit valid invalid setting encoder input selection F280 External input signal selection O Prt Speed position function selection DS Forced stop va
13. 5 High speed input request 00100 The clutch is turned OFF when the high speed input request DI turns ON 3 High speed input request signal Set the high speed input request signal No for the ON control mode 1 and the OFF control mode 2 when using the setting 5 High speed input request Setting value i Setting value Setting value i Setting value Hexadecimal Hexadecimal Hexadecimal Hexadecimal Chapter 4 Synchronous Control Pr 406 Main shaft clutch reference address setting Select the address type to be used as the reference address for clutch control Note that the processing order of the main shaft gear and the main shaft clutch will change depending on the reference address setting 0 Current value after composite main shaft gear aiaiga The clutch is controlled by using the current value after composite main shaft gear as a reference Output after the clutch is a converted travel value through the main shaft gear 1 Current value per cycle after main shaft gear Seen The clutch is controlled by using the current value per cycle after main shaft gear Output after the clutch is a travel value without conversion The setting values for the following parameters are in units based on the reference address setting e Pr 407 Main shaft clutch ON address e Pr 409 Main shaft clutch OFF address e Pr 408 Travel value before main shaft clutch ON Pr 410 Travel value befor
14. BUSY signal 1 17 Chapter1 Outline of Synchronous Control 2 Deceleration stop The output axis stops with deceleration according to the setting in Pr 37 Stop group 1 sudden stop selection to Pr 39 Stop group 3 sudden stop selection The deceleration time is set in Pr 446 Synchronous control deceleration time for deceleration stop and in Pr 36 Sudden stop deceleration time for sudden stop The slope of deceleration is as follows Deceleration time Slope of deceleration Pr8 Sped limit value ole Sudden stop deceleration time The cam axis current value per cycle is not updated and only the current feed value is updated since the deceleration stop begins Therefore the path of the current feed value is drawn regardless the cam operation with deceleration stop The input axis must be stopped when the output axis is stop synchronizing with the input axis Cam axis current value per cycle Current feed value Cam operation Md 22 Feedrate Cd 380 Synchronous control start Target axis bit Axis stop signal BUSY signal Chapter 2 Input Axis Module Chapter 2 Input Axis Module The settings for the parameter and monitor data for the input axis module that used with synchronous control are explained in this chapter Refer to the User s Manual Positioning Control of each Simple Motion module for details on the connection and control for
15. E Warning of cam operation 1 Warning detection b9 Axis warning detection of Md 31 Status for axis 1 turns ON and the cam data operation warning number cam auto generation warning number cam position calculation warning number is stored in Md 24 Axis warning No 2 Resetting warnings Remove the cause of warning following the actions described in Section 6 4 1 6 4 2 and 6 4 3 before canceling a warning state through resetting the error of axis 1 A warning state is canceled after the following processing has been carried out by setting 1 in Cd 5 Axis error reset for axis 1 e Axis error detection signal is turned OFF e Md 23 Axis error No is cleared e Md 24 Axis warning No is cleared e Changing of Md 26 Axis operation status from Error to Standby e Axis warning detection IMd 31 Status b9 is turned OFF A warning of cam operation occurs for an axis 1 without any condition Judge whether it was completed normally by confirming a warning state of axis after the completion of cam operation 6 4 1 List of cam data operation warnings Warning Operation status at Warning name Warning Corrective action No warning occurrence 810 Outside operation cam cd 601 Operation cam No is other than Set a value within the range from 1 to 32Ah No range 1 to 256 256 e Specify the cam No for cam data that 5 exists Cam data of the specified cam No does de 811 Read the non register f
16. Outside auxiliary Setting value of the synchronous 727 shaft clutch parameter Pr 429 Auxiliary shaft clutch 2D7h smoothing time smoothing time constant is outside the constant range setting range Setting value of the synchronous Outside speed arameter Pr 434 Speed change gear is change gear range e ile outside the setting range N m A Outside speed The synchronous parameter Pr 437 change ratio Speed change ratio Denominator is set denominator range_ to 0 or lower Set a value within the range from 1 to 2147483647 Error No 742 2E6h 2E7h 75 751 2EFh 752 2F0h 753 2F1h 760 2F8h 761 2F9h 762 2FAh 763 2FBh 766 2FEh Chapter 6 Troubleshootin Synchronous Control Operation status at S R Error name Error Corrective action error occurrence Outside speed change gear smoothing time constant range Speed change gear overflow Cam not registered Outside cam axis length per cycle range Outside output axis smoothing time constant range Outside setting method of current value per cycle after main shaft gear range Outside current value per cycle after main shaft gear Initial setting range Outside setting method of current value per cycle after auxiliary shaft gear range Outside current value per cycle after auxiliary shaft gear Initial setting range Outside cam axis position restoration object range Outsi
17. Set the operating cam No i Set in decimal Fetch cycle At requesting cam data operation 1 to 256 W Set in decimal Set the first position for the operating cam data Stroke ratio data format Fetch cycle At requesting cam data operation 1 to cam resolution e Coordinate data format 0 to Coordinate number 1 I Set in decimal Stroke ratio data format 1 to 4096 e Coordinate data format 1 to 2048 Number of cam Set the number of operating cam data points Fetch cycle At requesting cam data operation e Write operation Set cam data format Fetch cycle At requesting cam data operation E Set in decimal 1 Stroke ratio data format e Read operation The cam data format is stored 2 Coordinate data format Refresh cycle At completing cam data operation e Write operation Set the cam resolution the E Set in decimal coordinate number Stroke ratio data format Cam resolution Fetch cycle At requesting cam data operation 256 512 1024 2048 4096 8192 16384 e Read operation The cam resolution the 32768 coordinate number is stored Coordinate data format Refresh cycle At completing cam data operation 2 to 16384 Note 1 With the exception of positioning control main cycle processing is executed during the next available time Chapter 3 Cam Function aera Setting value Default Buffer memory Setting item Setting details Read operation Stored value value address e Wr
18. e When writing the cam data from a not exist on the cam open area during 32Bh cam data programming tool turn the PLC ready the cam data reading operation h signal from OFF to ON and open the Cam data cam data on the cam open area writing reading is not executed e Cd 602 Cam data first position is outside the range from 1 to Cam e Set a value within the range from 1 to resolution for cam using the stroke Cam resolution for cam using the 812 Outside cam data first ratio data format stroke ratio data format 32Ch position range e Cd 602 Cam data first position is e Set a value within the range from 0 to outside the range from 0 to Coordinate number 1 for cam Coordinate number 1 for the using the coordinate data format coordinate data format cam Chapter 6 Troubleshootin Synchronous Control Warning S Operation status at Warning name Warning Corrective action No warning occurrence 813 Outside number of cam data operation points 32Dh range 814 Outside cam data 32Eh format range 815 Outside cam 32Fh resolution coordinate number range 816 Outside cam data 330h starting position range 817 331h 818 Cam open area 332h capacity over 819 333h Cam storage area capacity over Coordinate data error Cd 603 Number of cam data operation points is outside the range from 1 to 4096 for cam using the stroke ratio data format Cd
19. 1 Note 1 The range from 1 to 2 is valid in the 2 axis module and the range from 1 to 4 is valid in the 4 axis module Pr 400 Main input axis No Pr 401 Sub input axis No Set the main input axis No and the sub input axis No for the main shaft OP laValid jetta eae The input value is always 0 1 to 16 Servo input axis Set the servo input axis axis 1 to axis 16 When the servo input axis is not set in the system setting the input value is always 0 If the number is set to the same value as the output axis the following errors occur and synchronous control cannot be started e Outside main input axis No range error code 700 e Outside sub input axis No range error code 701 801 to 804 Synchronous encoder axis t Set the synchronous encoder axis axis 1 to axis 4 When synchronous encoder axis is invalid the input value is always 0 Chapter 4 Synchronous Control Pr 402 Composite main shaft gear Set the composite method for input values from the main and sub input axes The setting values for each axis are shown as follows O Nomput eeeeeeeeeeeseeeesneeeenees The input value from the input axis is calculated as 0 Nie Te dt use eG adsl The input value from the input axis is calculated as it is 2 Input ep The input value from the input axis is calculated with its opposite sign Operation assumes 0 No input if the value is set out of the range from 0 to 2 The composite method for the composit
20. 4 Cam axis current value per cycle current value per cycle movement It moves within the range from 2147483648 to 2147483647 Chapter 4 Synchronous Control Cd 409 Synchronous control reflection time Set the reflection time for synchronous control change processing as follows Setting details for Cd 409 Synchronous control reflection time The time to reflect the travel value to the cam 0 Cam reference position movement reference position 1 1 Change cam axis current value percycle cam axis current value per cycle 2 Change current value per cycle after main shaft gear 3 Change current value per cycle after auxiliary shaft gear The time to reflect the travel value to the cam axis 4 Cam axis current value per cycle movement current value per cycle Cd 407 Synchronous control change command Setting not required Chapter 4 Synchronous Control 4 7 Synchronous control monitor data Synchronous control monitor data is updated only during synchronous control The monitor values Md 400 Md 401 Md 402 Md 407 Md 408 and Md 409 from the last synchronous control session are restored the next time the system s power supply turns ON Restarting operation status from the last synchronous control session is possible through returning to the last position via positioning control Refer to Chapter 5 The last synchronous control session indicates status just before the la
21. 42820 40n Ma 411 Execute cam stroke amount ETA 40n maz 420 e420 Main shaft clutch ON OFF status shaft clutch ON OFF status 42828 40n Main shaft clutch smoothing status 42829 40n 42830 40n Main shaft clutch slippage accumulative 42831 40n n Axis No 1 Appendix 15 Appendices iem Buffer memory Reference address section Ma2 Auxiiary shaft clutch ON OFF status 42832 40n i424 auxiliary shaft clutch smoothing status 42833 40n Section 4 7 42834 40n Auxiliary shaft clutch slippage accumulative 42835 40n 10 Cam operation control data address section caon ca Gs Section 3 2 2 Gs 45008 Cd 607 Cam data value to 53199 n Axis No 1 Cd 604 Cd 605 Cam data operation Appendix 16 Appendices address section Section 3 2 3 53204 Cam auto generation data N to 53779 Cd 612 Cam position calculation request 53780 Cd 608 Cd 609 Cd 610 Cd 611 Cam auto generation Cd 613 Cam position calculation Cam No 53781 SR 1 53782 Cam position calculation Stroke amount 53783 Cam position calculation Cam axis length per 53784 cycle 53785 Section 5 5 1 Cam position calculation Cam reference 53786 position 53787 value per cycle 53789 value 53791 Note 1 The item details on the cam auto generation are shown below Cd 614 Cd 615 Cd 616 Cam position calculation Cd 617 1 Parameters for generating rotary cutter Buffer me
22. Refer to Section 4 3 Speed change gear Composite auxiliary shaft gear Pr 401 Sub input axis No Chapter 4 Synchronous Control 4 1 2 Main shaft parameters Default Buffer memo Setting item Setting details Setting value 4 y value address E Setin decimal Set the input axis No on the main input side o Invalid Pr 400 F z i for the main shaft 1t016 Servo input axis Die 36400 200n Main input axis No Fetch cycle At start of synchronous control 801 to 804 Synchronous encoder axis E Set in decimal Set the input axis No on the sub input side 0 Invalid __ Note 1 for the main shaft 1to16 Servo input axis 36401 200n Sub input axis No Fetch cycle At start of synchronous control 801 to 804 Synchronous encoder axis WM Set in hexadecimal HOOOO Select the composite method for input es a a f values from the main input axis and sub 1 Input Composite main shaft input axis 2 Input 36402 200n gear gt Sub input method Fetch cycle Operation cycle 0 No input 1 Input 2 Input e Set the numerator for the main shaft gear J Set in decimal 36404 200n Main shaft gear Fetch cycle At start of synchronous control 2147483648 to 2147483647 36405 200n Numerator e Set the denominator for the main shaft gear WW Set in decimal 36406 200n Main shaft gear Fetch cycle At start of synchronous control 1 to 2147483647 36407 200n Denominator n Axis No
23. Stroke amount Cd 616 Cam position calculation Cam reference position and Cd 618 Cam position calculation Cam axis feed current value within the range from reciprocated cam pattern stroke Appendices Appendices Appendix 1 Comparisons with the Motion controller GV Appendix 2 Appendix 2 Sample program of synchronous Control Appendix 6 Appendix 3 Lists of buffer memory address for synchronous control Appendix 10 Appendix 1 Appendices Appendix 1 Comparisons with the Motion controller SV22 The following shows the differences in synchronous control functions between the Motion controller Q172DCPU SV22 and Simple Motion module QD77MS QD77GF LD77MS LD77MH Q172DCPU QD77MS QD77GF LD77MS LD77MH General Starting method The whole system is switched to the The control is started for each axis by virtual mode by turning ON the turning ON the synchronous control start real virtual mode switching request bit bit for each axis Stopping method The whole system is switched to the real The control is stopped for each axis by mode by turning OFF the real virtual turning OFF the synchronous control mode switching request bit start bit of each axis Drive module Total 3 axes of main shaft 2 axes and per output axis auxiliary input 1 axis auxiliary input 1 axis Virtual servo motor 8 axes None Command unit PLS It can be substituted by the servo input axis setting to the virtual servo amplifier
24. b15 b12 b8 b4 Not used Md 325 e The status for a synchronous encoder S is 4 Stored items Synchronous encoder amp P monitored Setting valid flag 35210 20 Refresh cycle Operation cycle Connecting valid flag Counter enable flag axis status Current value setting request flag Error detection flag Warning detection flag Md 326 e The error code for the synchronous encoder axis is stored W Monitoring is carried out in decimal Synchronous encoder wc f x 35211 20j Refresh cycle Operation cycle Refer to Section 6 2 1 List of input axis errors axis error No The warning code for the synchronous ncoderaxisis stored W Monitoring is carried out in decimal Synchronous encoder d e 8 op 35212420 Refresh cycle Operation cycle Refer to Section 6 2 2 List of input axis warnings axis warning No j Synchronous encoder axis No 1 Note 1 Synchronous encoder axis position units Refer to Section 2 2 1 Note 2 Synchronous encoder axis speed units Refer to Section 2 2 1 Chapter 2 Input Axis Module Md 320 Synchronous encoder axis current value The current value for the synchronous encoder axis is stored in synchronous encoder axis position units Refer to Section 2 2 1 The synchronous encoder position for an incremental synchronous encoder is 0 immediately after the power supply ON Md 321 Synchronous encoder axis current val
25. set 1 Update current feed value in Pr 21 Current feed value during speed control to start the speed position change control If 0 Do not update current feed value or 2 Clear current feed value to zero is set in Pr 21 the error Speed position switching control start in servo input axis not possible error code 609 will occur and the control will not start E Units for the servo input axis The position units and speed units for the servo input axis are shown below for the setting Pr 300 Servo input axis type and Pr 1 Unit setting Table 2 1 Servo input axis position units Setting value of Pr 300 Setting value of Servo input axis R Servo input axis type Pr 1 Unit setting position unit a x10 mm 214748 3648 to 214748 3647 mm 10 m e ere to 214748364 7 um 1 Current feed val IEN ERC AAE inh O o xonh O 21474 83648 to 21474 83647 inch 2 Real current value x10 degree 21474 83648 to 21474 83647 degree 3 PLS 2147483648 to 2147483647 PLS 3 Servo command value 2147483648 to 2147483647 PLS 4 Feedback value Table 2 2 Servo input axis speed units Setting value of Pr 300 Setting value of Servo input axis R Servo input axis type Pr 1 Unit setting speed unit cael 2 b 21474836 48 to 21474836 47 mm min 4 Current feed value x10 inch min 2147483 648 to 2147483 647 inch min 2 Real current value x10 ae seein Noe 2147483 648 to 2147483 647 Ee oe I3 PLS O PLS P
26. shaft gear or Md 401 Current value per axis Current value synchronous encoder cycle after main shaft gear axis current value or Md 402 Current value per cycle after auxiliary shaft gear Clutch OFF address Main shaft clutch OFF address Pr 426 Auxiliary shaft clutch OFF address Clutch ON OFF status Main shaft clutch ON OFF status M4423 Auxiliary shaft clutch ON OFF status Chapter 4 Synchronous Control 6 High speed input request The clutch is turned OFF when the high speed input request DI turns ON The following actions are required when using the high speed input request e Set the signal No for the High speed input request signal clutch control setting e Set 4 High speed input request in Pr 42 External command function selection and 1 Validates an external commana in Cd 8 External command valid for the applicable axis e For the 16 axis module set the external command signal in Pr 95 External command signal selection for the applicable axis Cd 8 External command valid oi High speed input request DI Clutch ON OFF status Current value before clutch Travel value after clutch 4 32 Chapter 4 Synchronous Control 4 3 3 Smoothing method for clutch Set the clutch smoothing method in Pr 411 Main shaft clutch smoothing method and Pr 428 Auxiliary shaft clutch smoothing method The 2 types of clutch smoothing include the following e Time
27. shaft gear at the last synchronous control session is restored when 0 Invalid is set in Pr 400 Main input axis No Pr 418 Auxiliary shaft axis No or when a servo input axis or a synchronous encoder axis as the main input axis auxiliary shaft is not connected Chapter 5 Synchronous Control Initial Position E Cam axis position at synchronous control start The cam axis position is composed of the relationship of 3 positions Cam axis current value per cycle Cam reference position and Cam axis current feed value One of positions can be restored by defining 2 positions when starting synchronous control Cam axis current value per cycle Cam axis current feed value Cam reference position Select from 3 objects as follows in Pr 462 Cam axis position restoration object which position is to be restored Refer to Section 5 3 for details on the restoration method 1 Cam axis current value per cycle restoration 2 Cam reference position restoration 3 Cam axis current feed value restoration Various parameters need to be set for the cam axis position restoration as shown in Table 5 1 Refer to Section 5 2 for the setting details Table 5 1 Setting list for cam axis position restoration parameters Pr 462 i 5 N3 Setting method of Cam reference Setting method of Cam axis current f S 2 Cam axis position 8 Restoration processing details i i cam reference position cam axi
28. 1 Synchronous control initial POSION sesiis enak aiiiar api ae Eiin 5 2 5 2 Synchronous control initial position parameters cccceeeesecceceeeeeseeeeteeeeeeeeees 5 7 5 3 Cam axis position restoration method 5 11 5 3 1 Cam axis current value per cycle restoration 5 11 5 3 2 Cam reference position restoration nnn 5 15 5 3 3 Cam axis current feed value restoration cccceceeeeeeeeceeceeeeeeeteeteeeeeeeees 5 16 5 4 Synchronous control analysis mode ccccceeceeeeeeeeeeeeeeeeeneeeeeteeeeetneeeeetnieeeereea 5 17 5 5 Cam position calculation function cceecccceceeeeeeeeaeceeeeeeeseccecaeeeeeeeeetseesnaeeeeees 5 19 5 5 1 Cam position calculation Control data 5 20 5 5 2 Cam position calculation monitor data 5 22 5 6 Method to restart synchronous Control 5 23 Chapter 5 Synchronous Control Initial Position 5 1 Synchronous control initial position The following synchronous control monitor data can be aligned to a set position when starting synchronous control as the initial position for synchronous control The alignment to a synchronous control initial position is useful for restoring a system based on the last control status along with restarting synchronous control after canceling midway Synchronous control monitor data The position when starting synchronous control Restored to a position based on the main input axis of the Current value after composite main shaft gear Bae p p main s
29. 4 Speed change gear module ccceccceceeecceeceneceteceeeceeeneneneneaeneceesnenenaneaeneadeseensceneaeteaeesaateaateaeteaeteatenetes 4 38 4 4 1 Overview of speed change gear module 4 38 4 4 2 Speed change gear parameters 00 eeecseceeeneeeneeeeeeeeeeeeeeeeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeeeaeeeateeas 4 39 4 5 Output axis Module wi ee e nena An ada aac allel darani daade ai aait ihi 4 41 e ebe Ee ge te EK Ee el 4 41 4 5 2 Output axis Darameterg tns tAtAArEAAEEAAEEASEEASEEASEEASEEASEEASEEESEEE EnEn EEE nn ennnen 4 43 4 6 Synchronous control change function ce eeeeeeeeeteeeeeteeeteeeeeeeseeeseeeseesenesaeseeseeeseeeseeeseneseaeeeaeeeaeeeaeteaes 4 47 4 6 1 Overview of synchronous control change function ee eeeeeeeeeeeeeeeteeeeeeeaeeeaeeeaeeeaeeeaeeeaeeeaeenaeenas 4 47 4 6 2 Synchronous control change control data 4 48 4 7 Synchronous control monitor data 4 53 4 8 Phase compensation function cccccecceeeeeeeeeeeeeeeeeeceeeeaeeeaecaeeteaeeseaeeecaceeeneeseaeescaeeseeeseseeeteieeseeeeess 4 58 49 OutputiaxiS SUD bleu EE 4 61 5 1 Synchronous control initial position 5 2 5 2 Synchronous control initial position parameters c cccceecceeeeeeeeceeeeeeeeeneeeeaeeeeaeeesneeseaeeseaeessueeeseseeeaes 5 7 5 3 Cam axis position restoration mebod tnnt EnntEnnEEnntEnnt Ennn nennen 5 11 5 3 1 Cam axis current value per Cycle restoration ceceeceeceseeeeeeeeeeeeeeseeeseeeseneseeeseneseneseaesenese
30. At last point E Timing of applying cam control data 1 Stroke ratio data format If Pr 440 Cam No or Pr 441 Cam stroke amount is changed during synchronous control the new value is accepted and applied when the cam axis current value per cycle passes through the Oth point of cam data or is on the Oth point The cam reference position is updated when the cam axis current value per cycle passes through the Oth point of cam data 2 Coordinate data format If Pr 440 Cam No is changed during synchronous control the new value is accepted and applied when the cam axis current value per cycle passes through O or is on 0 The cam reference position is updated when the cam axis current value per cycle passes through 0 Chapter 3 Cam Function E Linear cam control When 0 is set for Pr 440 Cam No the cam data operates as a straight line with a 100 stroke ratio at the last point A Cam axis current value per cycle i Cam reference Cam reference Cam reference A position position position Current feed value T at 4st cycle At2nd cycle At 3rd cycle Stroke amount x100 Chapter 3 Cam Function 3 2 Create cam data 3 2 1 Memory configuration of cam data Cam data is arranged in the following 2 areas Memory r i A Storage item Details Remark configuration Data is written by the following operations e Data is preserved e Write with GX Works2 even when turning Cam d
31. Cam axis current value per cycle eee gt t Cd 408 Synchronous control Cam axis current feed value Current feed value gt t Md 408 Cam reference position Cd 409 Synchronous control gt reflection time Synchronous control change request Synchronous control change command 0 Cam reference position movement When Cd 406 Synchronous control change request is reset to 0 while executing the cam reference position movement command operation is stopped midway If the cam reference position movement command is executed again the remainder travel value is not reflected and the operation starts with Cd 408 Synchronous control change value to be used again If synchronous control is stopped while the cam reference position movement command is being executed operation also stops midway If synchronous control is restarted the remainder travel value is not reflected 2 3 Chapter 4 Synchronous Control Change cam axis current value per cycle The cam axis current value per cycle is changed to Cd 408 Synchronous control change value The cam reference position will be also changed to correspond to the changed cam axis current value per cycle This operation is completed within one operation cycle Cd 408 Synchronous control change value Cam axis current value per cycle Cam axis c
32. E D om 0 5 ei Q D o s WS J o n ad E J Q E 2 RK ei a P E S c fa o n bel fe C S Ki Si C N Cam reference position Initial setting Gz oe oe Cam axis current value per cycle Initial setting n Axis No 1 Appendix 14 Appendices 8 Control data for synchronous control address section Main shaft clutch command 44080 20n Section 4 1 4 Auxiliary shaft clutch control invalid command 44084 20n Section 4 2 4 64405 auxiliary shaft clutch forced OFF command 44085 20n Synchronous control change request 44086 20n Synchronous control change command 44087 20n 44088 20n Section 4 6 2 Ca 408 meee control change value pice C 409 64409 synchronous control reflection time control reflection time 44090 20n e n Axis No 1 Synchronous control monitor data Buffer memory Reference Item address section 42800 40n Current value after composite main shaft gear 42801 40n 42802 40n Current value per cycle after main shaft gear 42803 40n 42804 40n Current value per cycle after auxiliary shaft gear 42805 40n 42810 40n Cam axis phase compensation amount 42811 40n 42812 40n Cam axis current value per cycle 42813 40n 42814 40n am reference position ection 4 Md 408 C f positi Section 4 7 42815 40n 42816 40n d 409 Jam axis current feed value eruo n Maa 410 M20 Execute ene sd cam No 42818 40n e
33. It is impossible to use degree as the same as the ball screw shaft etc unit of cam shaft It is possible to use as degree the unit of cam shaft Phase Advance time Advance time compensation 2147483648 to 2147483647 us 2147483648 to 2147483647 us Time constant 0 to 32767 Time constant 0 to 65535 ms Number of operation cycle Stroke limit An error is detected by stroke limit An error is detected by stroke limit and operation However the operation is continued the operation is stopped Stop command Stop command net Vaid Cam ball screw ee ad E switching Operate the ball screw by inputting the Operate the ball screw by the command pulse from the drive axis positioning control after the synchronous control stop of each axis Cam axis starting 1 Cam reference position setting ON Select the one which is restored from point Start from the point corresponding to cam axis current value per cycle cam current value within 1 cam shaft reference position or cam axis current revolution is 0 feed value in the parameter 2 Cam reference position setting OFF The initial setting is same as 1 in Restore the current value within 1 cam Q172DCPU shaft revolution based on the current feed value Appendix 4 Appendices Q172DCPU QD77MS QD77GF LD77MS LD77MH Cam function Camresolution Cam resolution Stroke ratio data format Number of 256 512 1024 2048 256 512 1024 2048 4096 8192 c
34. LD77MS E Representation of numerical values used in this manual e Buffer memory addresses error codes and warning codes are represented in decimal e X Y devices are represented in hexadecimal e Setting data and monitor data are represented in decimal or hexadecimal Data ended by H or h is represented in hexadecimal Example 10 Decimal 10H Hexadecimal E Representation of buffer memory address used in this manual In the buffer memory address n in 32800 10n etc indicates a value corresponding to axis No such as the following table RE SR a ee ee ee aa ee e ee ee eee EC Se a a a ee ee Ea er Pa ee ce e Note 1 Calculate as follows for the buffer memory address corresponding to each axis Example For axis No 16 32800 10n prop Servo input axis type 32800 10 X 15 32950 Note 2 The range from axis No 1 to 2 n 0 to 1 is valid in the 2 axis module and the range from axis No 1 to 4 n 0 to 3 is valid in the 4 axis module In the buffer memory address j in 34720 20j etc indicates a value corresponding to a encoder axis No such as the following table Note 1 Calculate as follows for the buffer memory address corresponding to each axis Example For synchronous encoder axis No 4 24 7201 201 Pr 320 Synchronous encoder axis type 34720 20 X 3 34780 TERMS Unless otherwise specified this manual uses the following terms QD77MS 8 Another term for the M
35. Md 600 Cam position calculation result and the setting value is reset to 0 automatically after completion of cam position calculation If warnings occur when requesting the cam position calculation the warning number is stored in Md 24 Axis warning No of axis 1 and the setting value is reset to 0 automatically When a value other than the request command values listed above is set this calculation does not get executed and the setting value is reset to 0 automatically Cd 613 Cam position calculation Cam No Set the cam No for the cam position calculation If 0 is set for the cam No the cam position is calculated as a linear cam Cd 614 Cam position calculation Stroke amount Set the cam stroke amount for the cam position calculation Cd 615 Cam position calculation Cam axis length per cycle Set the cam axis length per cycle for the cam position calculation Cd 616 Cam position calculation Cam reference position Set the cam reference position for the cam position calculation Cd 617 Cam position calculation Cam axis current value per cycle Set the cam axis current value per cycle for the cam position calculation when calculating the cam axis current feed value Set the cam axis current value per cycle as the starting point to search when calculating the cam axis current value per cycle and the cam position Cd 618 Cam position calculation Cam axis current feed value Set the cam axis current feed value for
36. Name lt Manual number model code gt SSCNETII H Interface AC Servo MR J4 _B RJ Servo Amplifier Instruction Manual lt SH 030106 1CW805 gt SSCNETI H Interface Multi axis AC Servo MR J4W2 _B MR J4W3 _B Servo Amplifier Instruction Manual lt SH 030105 1CW806 gt SSCNETII Interface MR J3 _B Servo Amplifier Instruction Manual lt SH 030051 1CW202 gt SSCNETI Compatible Linear Servo MR J3 _B RJ004 U_ Instruction Manual lt SH 030054 1CW943 gt SSCNETI Fully Closed Loop Control MR J3 _B RJO06 Servo Amplifier Instruction Manual lt SH 030056 1CW304 gt SSCNETII Interface 2 axis AC Servo Amplifier MR J3W 0303BN6 MR J3W _B Servo Amplifier Instruction Manual lt SH 030073 1CW604 gt SSCNETII Interface Direct Drive Servo MR J3 _B RJO80W Instruction Manual lt SH 030079 1CW601 gt SSCNETII Interface Drive Safety Integrated MR J3 _B Safety Servo Amplifier Instruction Manual lt SH 030084 gt CC Link IE Field Network Interface with Motion MR J4 _B RJ010 MR J3 T10 Servo Amplifier Instruction Manual lt SH 030117 1CW810 gt This manual explains the I O signals parts names parameters start up procedure and others for MR J4 _B RJ servo amplifier This manual explains the I O signals parts names parameters start up procedure and others for multi axis AC servo MR J4W2 _B MR J4W3 _B servo amplifier This manual explains the I O signals parts names parameters start up procedure and others for MR J3 _B ser
37. Output value Input value speed before speed change Pr 436 Speed change ratio Numerator Pr 437 Speed change ratio Denominator Input value speed after speed change Speed change gear Speed change gear smoothing time constant smoothing time constant Chapter 4 Synchronous Control 4 4 2 Speed change gear parameters Default Buffer memo Setting item Setting details Setting value 4 y value address W Set in decimal Set the arrangement for the speed 0 No speed change gear change gear 1 Main shaft side 36460 200n Speed change gear Fetch cycle At start of synchronous control 2 Auxiliary shaft side 3 After composite auxiliary shaft gear Set the smoothing time constant for the I Set in decimal Speed change gear speed change gear 0 to 5000 36461 200n smoothing time constant Eetch cycle At start of synchronous control o ms Pr436 Set the numerator for the speed change z se i ratio I Set in decimal 36462 200n peed change ratio Numerator Fetch cycle Operation cycle 2147483648 to 2147483647 36463 200n Pr 437 e Set the denominator for the speed A I Set in decimal 36464 200n Ppa ponte A 1 to 2147483647 36465 200 Denominator Fetch cycle Operation cycle o n n Axis No 1 Pr 434 Speed change gear Set the arrangement for the speed change gear 0 No speed change gear Speed change is not processed and
38. Read the encoder value of the gray code encoder with a sequence program and update Cd 325 Input value for synchronous encoder via CPU of the synchronous encoder axis 4 at every time Chapter 2 Input Axis Module E Restrictions 1 Cd 325 Input value for synchronous encoder via CPU is taken every operation cycle but it is asynchronous with the scan time of the PLC CPU Therefore speed fluctuation of the synchronous encoder axis becomes larger if the refresh cycle of Cd 325 Input value for synchronous encoder via CPU becomes long Update Cd 325 Input value for synchronous encoder via CPU in a cycle less than the operation cycle or use smooth speed fluctuation with the smoothing function 2 The synchronous encoder current value that is restored for the synchronous encoder connection gets restored into a converted value from the following range based on the synchronous encoder travel value on disconnection Setting value of Pr 329 Resolution of Range of restored synchronous encoder current value synchronous encoder via CPU Resolution of synchronous encoder via CPU 2 to Resolution of synchronous encoder via CPU 2 1 PLS 1 or more Note If the resolution of a synchronous encoder via CPU is an odd number round down a negative value after the decimal point round up a positive value after decimal point 2147483648 to 2147483647 PLS Chapter 2 Input Axis Module 2 2 3 Synchronous encoder axis parameter
39. Synchronous control start turned OFF during synchronous control Fetch cycle Operation cycle e If the target axis bit is turned ON and ll Set the target axis in 16bits synchronous control is started the itO axi it15 axi y Ea bitO axis 1 to bit15 axis 16 analysis is only executed and the control OFF Synchronous control analysis Synchronous control does not start mode OFF analysis mode Fetch cycle At start of the synchronous ON Synchronous control analysis control mode ON Note 1 Note 1 The range from axis 1 to 2 is valid in the 2 axis module and the range from axis 1 to 4 is valid in the 4 axis module E Example The following shows an example of aligning the synchronous position of an output axis that references the input axis 1 Set the following values in the synchronous control initial position parameters Setting item Setting value Setting method of current value per cycle after main shaft gear 2 Calculate from input axis Pr 462 Cam axis position restoration object 2 Cam axis current feed value restoration Setting method of cam reference position 0 Previous value Setting method of cam axis current value per cycle 2 Current value per cycle after main shaft gear 2 Turn ON the target axis bit of Cd 381 Synchronous control analysis mode and then turn the target axis bit from OFF to ON in Cd 380 Synchronous control start to start the synchronous control analysis mo
40. axis position restoration object to start synchronous control at high speed When the synchronous control parameter is set to the value outside the setting range the synchronous control does not start and the input axis error No is stored in the monitor data Chapter1 Outline of Synchronous Control 1 5 4 Stop operation of output axis If the following causes occur in stopping the output axis during synchronous control synchronous control is completed after stops processing for the output axis BUSY signal is OFF axis operation status is standby Synchronous alignment must be executed for the output axis to restart the synchronous control Refer to Section 4 5 Stop process The target axis bit of Cd 380 Synchronous control start is turned from ON to OFF Software stroke limit error occurrence Immediate stop Forced stop Stop group1 to 3 eee Stop with hardware stroke limit or stop command Deceleration stop Note 1 Refer to the User s Manual Positioning control of each Simple Motion module 1 Immediate stop The operation stops without decelerate The Simple Motion module immediately stops the command but the operation will coast for the droop pulses accumulated in the deviation counter of the servo amplifier Cam axis current value per cycle Current feed value Cam operation Md 22 Feedrate Cd 380 Synchronous control f start Target axis bit
41. axis type is current feed value or read current value the speed position switching control is started with the detailed parameter 1 Pr 21 Current feed value during speed control set to other than 1 Update of current feed value e The hardware of the synchronous encoder or the servo amplifier is faulty e The synchronous encoder cable is disconnected e Communication to the synchronous encoder cannot be established The battery which the servo amplifier connected synchronous encoder is empty or the battery is disconnected The setting becomes invalid for input axis The input axis operation is immediately stopped and a connection becomes invalid The speed position switching control does not start The connection of synchronous encoder axis becomes invalid The synchronous encoder control continues Synchronous Control Set a value within the setting range Set a value within the range from 1 to 2147483647 Set a value within the range from 0 to 5000 Set a value within the range from 0 to 2 e Set a smaller unit conversion ratio unit conversion Numerator unit conversion Denominator of the input axis e Decrease the input axis speed e Set Pr 300 Servo input axis type to Servo command value or Feedback value e Set Pr 21 Current feed value during speed control to 1 Update of current feed value e Replace the synchronous encoder or the servo amplifier e Check t
42. b4 Error detection flag of Md 325 Synchronous encoder axis status for target axis turns ON and the input axis error number is stored in Md 326 Synchronous encoder axis error No 2 Warning detection b5 Warning detection flag of Md 325 Synchronous encoder axis status for target axis turns ON and the input axis warning number is stored in Md 327 Synchronous encoder axis warning No 3 Resetting errors and warnings Remove the cause of error or warning following the actions described in Section 6 2 1 and 6 2 2 before canceling an error or warning state through resetting the error An error or warning state is canceled after the following processing has been carried out by setting 1 in Cd 323 Synchronous encoder axis error reset for target axis e D b4 Error detection flag of Md 325 Synchronous encoder axis status is turned OFF e Md 326 Synchronous encoder axis error No is cleared e b5 Warning detection flag of Md 325 Synchronous encoder axis status is turned OFF e Md 327 Synchronous encoder axis warning No is cleared Chapter 6 Troubleshootin 6 2 1 List of input axis errors Error Operation status at Error name Error Corrective action No error occurrence Outside input axis type setting range Outside input axis unit setting range Outside input axis unit conversion denominator range a N Ru D gt bg Q CH Wu Outside input axis length per cycle range N oa D a
43. cam storage area and cam open area Calculate the cam position by the sequence program Cam position calculation function Used to calculate the cam position for the synchronous control initial position before starting synchronous control E Synchronous encoder axis specifications Specification Number of control axes Incremental synchronous encoder Synchronous encoder axis type Synchronous encoder via servo amplifier LD77MS VI Synchronous encoder via CPU mm inch degree PLS Control unit Possible to select the decimal places of position unit and speed unit 2147483648 to 2147483647 Numerator Unit Synchronous encoder axis position unit conversion f 1 to 2147483647 Denominator PLS 1 to 2147483647 Length per cycle setting range Ss i Synchronous encoder axis position unit 2147483648 to 2147483647 Current value re 7 Current Synchronous encoder axis position unit value range Current value 0 to Length per cycle 1 per cycle Synchronous encoder axis position unit Control instruction Current value change Counter disable Counter enable Current value Address setting range 2147483648 to 2147483647 setting address Synchronous encoder axis position unit Chapter1 Outline of Synchronous Control 1 3 Restrictions by the SERIAL No and version Software versions that are compatible with each Simple Motion module are shown below Version GX Works2 MR Configurator2 QD77MS Version 1 77F or later Version
44. confirm that the position detection of the absolute position detector function is correct Do not drop or impact the battery installed to the module Doing so may damage the battery causing battery liquid to leak in the battery Do not use the dropped or impacted battery but dispose of it 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 module or servo amplifier The electrolytic capacitor and fan will deteriorate Periodically replace these to prevent secondary damage from faults Please contact with our sales representative Lock the control panel and prevent access to those who are not certified to handle or install electric equipment Do not mount remove the module and base or terminal block more than 50 times IEC61131 2 compliant after the first use of the product Failure to do so may cause malfunction Do not burn or break a module and servo amplifier Doing so may cause a toxic gas 9 About processing of waste When you discard module servo amplifier a battery primary battery and other option articles please follow the law of each country area Z CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life When considering this product for operation in special applications such as machinery
45. constant method Exponential in the clutch smoothing method Clutch ON OFF status Clutch smoothing status Speed before clutch processing Speed after clutch smoothing Clutch smoothing time constant Main shaft clutch Auxiliary shaft clutch Clutch ON OFF status Main shaft clutch ON OFF status Md 423 Auxiliary shaft clutch ON OFF status Clutch smoothing status Main shaft clutch smoothing status Md 424 Auxiliary shaft clutch smoothing status 2 Time constant method linear acceleration deceleration smoothing Set 2 Time constant method Linear in the clutch smoothing method Clutch ON OFF status Clutch smoothing status Speed before clutch processing Speed after clutch smoothing Clutch smoothing time constant Chapter 4 Synchronous Control E Slippage method smoothing Smoothing is processed with the value in slippage at clutch ON when the clutch turns ON and with slippage at clutch OFF when the clutch turns OFF Smoothing is also processed with the slippage amount setting when the input speed to the clutch changes therefore positioning control at clutch ON OFF is not affected by speed changes Processing proceeds with direct operation after completing clutch ON smoothing The travel value between the clutch turning ON and OFF is as follows after clutch smoothing Travel value after Travel value before 3 Slippage amount at OFF Slippage amount at ON clut
46. control is 2 Clear current feed value to zero only Restoration method 1 The new current value after composite main shaft gear is calculated based on the current value of the main input axis Current value Main input direction of Kor S k f Main input axis after composite composite main shaft gear x current value main shaft gear Input Input No input 0 Restoration method 2 The travel value of the main input axis from the last synchronous control session is reflected to the current value after composite main shaft gear Amount of change Current value after Fan f des SE of main input axis Current value composite main Main input direction of f f current value from after composite shaft gear at the composite main shaft gear x P e las main shaft gear last synchronous Input Input No input 0 synchronous control session i control session The current value after composite main shaft gear at the last synchronous control session is restored when 0 Invalid is set in Pr 400 Main input axis No or when a servo input axis or a synchronous encoder axis as the main input axis is not connected The last synchronous control session indicates status just before the last synchronous control session was stopped as follows These are listed with the last synchronization status e Just before Cd 380 Synchronous control start turns from ON to OFF e Just before deceleration stop by a stop command or a
47. control is used as the cam axis current feed value Pr 464 Setting method of cam axis current value per cycle 0 Previous value 1 Initial setting value of cam axis current value per cycle 2 Current value per cycle gt after main shaft gear 3 Current value per cycle after Md 407 Cam axis current The cam reference position is restored value per cycle based on the cam axis current value per cycle and the cam axis current feed value auxiliary shaft gear Md 408 Cam reference position Md 20 Current feed value p Md 409 Cam axis current At synchronous control start feed value Cam axis current value per cycle Cam axis current feed value Cam reference position j Restored by the equation of Current feed value Cam axis current value per cycle E Example The following shows an example of restoring the cam reference position to start operation from a point the current feed value and the cam axis current value per cycle are 0 in the cam when the cam data starting point is not 0 Cam axis current value per cycle 0 A Cam axis current feed value gt 0 starting point Cam reference position Cam data Chapter 5 Synchronous Control Initial Position 5 3 3 Cam axis current feed value restoration If Pr 462 Cam axis position restoration object is set to 2 cam current feed value restorat
48. cycle encoder 101 to 116 Synchronous encoder via servo amplifier Connectable servo amplifier Axis 1 to axis 16 Synchronous encoder via CPU W Set in hexadecimal HOOOO Control unit 0 mm 1 inch 2 degree 3 PLS gt Number of decimal places for position Diop Speed time unit 0 sec 1 min gt Number of decimal places for speed 0to9 34720 20 0003h 34721 20 E Set in decimal 2147483648 to 2147483647 Synchronous encoder axis position Note 1 34722420 34723 20 units I Set in decimal 1 to 2147483647 PLS 34724 20 34725 20 W Set in decimal 1 to 2147483647 Synchronous encoder axis position units Note 1 34726 20 34727 20 I Set in decimal 34728 20 0 to 5000 ms I Set in decimal 2147483648 to 2147483647 us 34730 20 34731420 j Synchronous encoder axis No 1 Note 1 Synchronous encoder axis position units Refer to Section 2 2 1 Chapter 2 Input Axis Module wea Default Buffer memory Setting item Setting details Setting value value address Pr 327 Synchronous encoder axis phase compensation time constant Set the time constant to affect the phase I Set in decimal 0 to 65535 ms compensation Note 2 34732 20 Fetch cycle At power supply ON BW Set in decimal Set this parameter to restrict the input 0 Without rotation direction restriction SC 1 Enable only for current va
49. cycle value per cycle after auxiliary shaft gear 1 Initial setting value of current value per after auxiliary shaft Fetch cycle At start of synchronous control cycle after auxiliary shaft gear Pr 466 gear 2 Calculate from input axis E Set in decimal Select the object to restore the cam axis 0 Cam axis current value per cycle Cam axis position position restoration restoration object Fetch cycle At start of synchronous control 1 Cam reference position restoration 2 Cam axis current feed value restoration Select the setting method for the cam reference position E Set in decimal Set for the cam axis current value per 0 EE value Setting method of cam 1 Initial setting value of cam reference reference position position 2 Current feed value cycle restoration or the cam axis current feed value restoration Fetch cycle At start of synchronous control Setting method of cam Set for the cam reference position value per cycle axis current value per restoration or the cam axis current feed Current value per cycle after main shaft cycle value restoration gear Fetch cycle At start of synchronous control Current value per cycle after auxiliary shaft gear Current value per cycle after main shaft gear Initial setting e Set the initial value of the current value Get in decimal per cycle after main shaft gear 0 to Cam axis length pore ape 1 Fetch cycle At start of synchronous control Cam axi
50. described in the instruction manual The ratings and characteristics of the parts other than module servo amplifier and servomotor used in a system must be compatible with the module servo amplifier and servomotor Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure when the ball screw and servomotor are connected with a timing belt etc Install a stopping device to ensure safety on the machine side 2 Parameter settings and programming AN DANGER Set the parameter values to those that are compatible with the module servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode and servo amplifier The protective functions may not function if the settings are incorrect 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
51. encoder axis monitor data to 20 words axis 35279 36320 to 36359 36400 Pees i e 3200 ynchronous parameter to 200 words axis 39599 42800 to to 43439 are Control data f h trol S ontrol data for synchronous contro to 20 words axis 44399 45000 to 8800 Cam operation control data to 53799 53800 to 2 Cam operation monitor data 53999 Synchronous encoder axis control data 10 words axis Synchronous control system control data Cd 380 to Cd 381 Synchronous control monitor data 40 words axis 40 40 640 320 00 1 11 Chapter1 Outline of Synchronous Control 1 5 Operation method of synchronous control 1 5 1 Synchronous control execution procedure The synchronous control is executed using the following procedure Preparation STEP 1 Set positioning parameters Pee ie R p ne of the following two methods can be used Refer to Section Pri to Pr 42 Pr 80 to 1 5 2 Pr 90 Pr 95 lt Method 1 gt Directly set write the parameters in the Simple Motion module using GX Works2 Set input axis parameters for synchronous Refer to Chapter 2 control lt Method 2 gt Pr 300 to Pr 304 Pr 320 to Pr 329 Set write the parameters from the PLC CPU to the Simple Motion module using the sequence program Refer to Chapter 3 Set the cam data TO command Set synchronous parameters for synchronous Refer to Chapter 4 control
52. encoder is controlled by the encoder value which is the input value of Cd 325 Input value for synchronous encoder via CPU The encoder value can be used as a cycle counter within the range from 0 to Resolution of synchronous encoder via CPU 1 Connection is invalid just after the system s power supply is ON When 1 is set in Cd 324 Connection command of synchronous encoder via CPU the synchronous encoder axis current value and the synchronous encoder axis current value per cycle are restored based on Cd 325 Input value for synchronous encoder via CPU Therefore connection becomes valid and will be on the counter enabling status The synchronous encoder axis is controlled based on the amount of change of Cd 325 Input value for synchronous encoder via CPU while it is connecting E Setting example The following shows an example for setting a synchronous encoder via CPU as synchronous encoder axis 4 of the QD77MS Resolution of the gray code encoder 4096 PLS rev QD77MS module Gray code encoder Synchronous encoder axis 4 Axis 1 Axis 2 Axis 3 Set 201 Synchronous encoder via CPU in Pr 320 Synchronous encoder axis type of synchronous encoder axis 4 Set 4096 in Pr 329 Resolution of synchronous encoder via CPU of synchronous encoder axis 4
53. function Absolute position system Step function Skip function M code output function Teaching function Target position change function Command in position function Acceleration deceleration processing function Pre reading start function Deceleration start flag function er i Setting is ignored Stop command processing for deceleration stop function Speed control 10 x multiplier p i Reflected on monitor data setting for degree axis function O Valid Invalid Chapter 4 Synchronous Control Sub function Output axis Controlled the same as positioning control Operation setting for incompletion 8 For a system that needs alignment start of OPR function synchronous control after establishing an OP Servo OFF request is ignored during synchronous Servo ON OFF te nee control similar to positioning control O Valid Invalid POINT Sub functions for an input axis in synchronous control conform to the specification of each control OPR control Positioning control Manual control Speed torque control Refer to the User s Manual Positioning control of each Simple Motion module for details Chapter 5 Synchronous Control Initial Position Chapter 5 Synchronous Control Initial Position The initial position for synchronous control is explained in this chapter Configure these settings for situations that require initial position alignment for synchronous control 5
54. is started while the clutch command is ON the condition is established just after starting synchronous control by setting 2 Clutch command leading edge The condition is not established just after starting by setting 3 Clutch command trailing edge Cd 401 Main shaft clutch control invalid command The main shaft clutch control is invalid if 1 is set The previous clutch ON OFF status remains before clutch control becomes invalid Clutch control will not become invalid during the movement before clutch ON and clutch OFF Instead clutch control will become invalid after movement is completed Main shaft clutch forced OFF command Set 1 to force the clutch OFF The output value from the clutch becomes 0 immediately even during clutch smoothing The slippage accumulative amount is set to 0 if smoothing with a slippage method Reset to 0 to restart the clutch control from the clutch OFF status after using the clutch forced OFF command Chapter 4 Synchronous Control 4 2 Auxiliary shaft module 4 2 1 Overview of auxiliary shaft module Pr 420 Pr 421 Pr 418 For the auxiliary shaft module the input value is generated from the auxiliary shaft The input value can be converted by the auxiliary shaft gear that provides the deceleration ratio and the rotation direction for the machine system etc Refer to Section 4 2 2 and Section 4 2 3 for details on setting for the auxiliary shaft module
55. j DEE 1 81inch gt Slippage amount at clutch ON Slippage amount at clutch OFF Complete synchronous control and Distance between the Set as 20mm 0 79inch return to the waiting position by sensor and the waiting to stop early positioning control position 100mm 3 94inch It can be returned by auxiliary shaft without changing synchronous control Chapter 4 Synchronous Control 4 4 Speed change gear module 4 4 1 Overview of speed change gear module A speed change gear module is used to change the input speed from the main shaft auxiliary shaft composite auxiliary shaft gear during operation When not using a speed change gear module set 0 No speed change gear in Pr 434 Speed change gear With speed change from a speed change gear module operation is executed with linear acceleration deceleration based on the setting for the speed change gear smoothing time constant Arrangement the speed change gear Arranged on one of Main shaft side Auxiliary shaft Input value side or After composite Main shaft clutch auxiliary shaft gear DEE SCH Pr 434 Speed change gear ST Speed change Speed gear Pr 435 Speed change gear SE ion Auxiliary Speed smoothing time constant geg shaft clutch change gear a Pr 436 Speed change ratio Composite Numerator auxiliary shaft gear Pr 437 Speed change ratio Speed change gear Denominator
56. mode 2 when using the setting 5 High speed input request Setting value i Setting value Setting value i Setting value Hexadecimal Hexadecimal V Hexadecimal Hexadecimal Chapter 4 Synchronous Control Pr 423 Auxiliary shaft clutch reference address setting Select the address type to be used as the reference address for clutch control Note that the processing order of the auxiliary shaft gear and the auxiliary shaft clutch will change depending on the reference address setting 0 Auxiliary shaft current value The clutch is controlled by using the current value for the servo input axis synchronous encoder axis that is set for the auxiliary shaft Output after the clutch is a converted travel value through the auxiliary shaft gear 1 Current value per cycle after auxiliary shaft gear EE The clutch is controlled by using the current value per cycle after auxiliary shaft gear Output after the clutch is a travel value without conversion The setting values for the following parameters are in units based on the reference address setting e Pr 424 Auxiliary shaft clutch ON address e Pr 426 Auxiliary shaft clutch OFF address e Pr 425 Travel value before auxiliary shaft clutch ON Pr 427 Travel value before auxiliary shaft clutch OFF e Pr 430 Slippage amount at auxiliary shaft clutch ON Pr 431 Slippage amount at auxiliary shaft clutch OFF Pr 424 Auxiliary shaft clutch ON ad
57. polarity as this may lead to destruction or damage Do not touch the heat radiating fins of module or servo amplifier regenerative resistor and servomotor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Always turn the power OFF before touching the servomotor shaft or coupled machines as these parts may lead to injuries 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 Z CAUTION Always install a leakage breaker on the module and servo amplifier power source If installation of an electromagnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always install the electromagnetic contactor Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Use the module servo amplifier servomotor and regenerative resistor with the correct combinations listed in the instruction manual Other combinations may lead to fire or faults Use the CPU module base unit and Simple Motion module with the correct combinations listed in the instruction manual Oth
58. reference address setting 36409 200n 36410 200 Main shaft clutch ON address i 36411 200n 36412 200n Travel value before main shaft clutch ON 36413 200n 36414 200n Main shaft clutch OFF address 36415 200n 9364164200 Section 4 1 3 n Travel value before main shaft clutch OFF 36417 200n Main shaft clutch smoothing method 36418 200n Main shaft clutch smoothing time constant 36419 200n 36420 200n Slippage amount at main shaft clutch ON 36421 200n s 36422 200n Slippage amount at main shaft clutch OFF 36423 200n Auxiliary shaft axis No 36430 200n A Section 4 2 2 36433 200n 36434 200n 36438 200n 36439 200n Ze 36440 200n Travel value before auxiliary shaft clutch ON 36441 200n 36442 200n 36443 200n i Section 4 2 3 oi 36444 200n Travel value before auxiliary shaft clutch OFF 36445 200n 36446 200n 36447 200n A 36448 200n Slippage amount at auxiliary shaft clutch ON 36449 200n i TS 36450 200n Slippage amount at auxiliary shaft clutch OFF 36451 200n Main shaft Auxiliary shaft gear Numerator Auxiliary shaft gear Denominator Auxiliary shaft clutch control setting Auxiliary shaft clutch reference address setting ZS Auxiliary shaft clutch ON address x n Travel value before ave shateach ON amp x Ee Auxiliary shaft clutch OFF address Auxiliary shaft clutch smoothing method Auxiliary shaft clutch smoothing time constant n Axis No 1 Appendix 13 Appendices tem Buffer memory
59. section 33120 10n Servo input axis current value 33121 10n Section 2 1 3 33122 10n Servo input axis speed 33123 10n 33124 10n Servo input axis phase compensation amount 33125 10n 33126 10n Servo input axis rotation direction restriction amount 931974410 n n Axis No 1 Appendix 10 Appendices 4 Synchronous encoder axis parameter Ge Buffer memory Reference address section Synchronous encoder axis type 34720 20j Synchronous encoder axis unit setting 34721 20 Synchronous encoder axis unit conversion 34722 20 Numerator 34723 20 Synchronous encoder axis unit conversion 34724 20 Denominator 34725 20 34726420 Pr 324 EE encoder axis length per cycle aaa PRS 325 P22 synchronous encoder axis smoothing time constant _ encoder axis smoothing time constant 34728420 _ Section 2 2 3 P326 Synchronous encoder axis phase compensation 34730 20j advance time 34731 20j Synchronous encoder axis phase compensation A S S 34732 20j time constant Synchronous encoder axis rotation direction restriction 34734 20 Resolution of synchronous encoder via CPU 34735420 j Synchronous encoder axis No 1 Synchronous encoder axis control data it Buffer memory Reference em address section Synchronous encoder axis control start 35040 10j Synchronous encoder axis control method 35041 10 ca 322 Synchronous encoder axis current value setting 35042 10j ECH 35043 1 ETE Section 2 2 4 Tous 32
60. speed input request DI Also set the external command signal to be used in Pr 95 External command signal selection for the 16 axis module Set the control method for the synchronous encoder axis in Cd 321 Synchronous encoder axis control method The Simple Motion module resets the value to 0 automatically after completion of the synchronous encoder axis control Md 320 Synchronous encoder axis current value Pr 42 External command function selection Axis 3 4 High speed input request Cd 8 External command valid Axis 3 1 External command valid High speed input request DI Axis 3 Cd 320 Synchronous encoder axis control start 0 103 Axis 3 0 Cd 321 Synchronous encoder axis control method 0 Current value change Cd 322 Synchronous encoder axis current value setting address 100 Chapter 2 Input Axis Module Cd 321 Synchronous encoder axis control method Set the control method for the synchronous encoder axis 0 Current value change The synchronous encoder axis current value and the synchronous encoder axis current value per cycle are changed as follows Set the new current value in Cd 322 Synchronous encoder axis current value setting address Item Change value Md 320 Cd 322 Synchronous encoder axis current Synchronous encoder axis value setting address current valu
61. 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 Z CAUTION When not using the module for a long time disconnect the power line from the module or servo amplifier Place the module and servo amplifier in static electricity preventing vinyl bags and store When storing for a long time please contact with our sales representative Also execute a trial operation Make sure that the connectors for the servo amplifier and peripheral devices have been securely installed until a click is heard Not doing so could lead to a poor connection resulting in erroneous input and output Use the programmable controller in an environment that meets the general specifications in the user s manual for the CPU module used Failure to do so may result in electric shock fire malfunction or damage to or deterioration of the product To mount the module while pressing the module mounting lever located in the lower part of the module fully insert the module fixing projection s into the hole s in the base unit and press the module until it snaps into place Incorrect mounting may cause malfunction failure or drop of the module When using the programmable controller in an environment of frequent vibrations fix the module with a screw Tighten the screws within the specified torque range Undertighte
62. synchronous encoders are set more than 4 on the system setting screen using the Simple Motion Module Setting Tool e The following information of the synchronous encoder via servo amplifier can be output with the optional data monitor The setting details of the optional data monitor for the synchronous encoder information are shown below Information of synchronous encoder Setting detail for optional data monitor 24 Load side encoder information 1 Used point 2words 25 Load side encoder information 2 Scale absolute counter S Used point 2words Scale position within one revolution s A serial absolute synchronous encoder Q171ENC W68 can be used in an incremental system by setting 2000h in the servo parameter Scale measurement mode selection PA22 even if the battery of the servo amplifier is dismounted Chapter 2 Input Axis Module E Setting example The following shows an example for setting a serial absolute synchronous encoder Q171ENC W8 using MR J4 _B RJ as synchronous encoder axis 1 of the QD77MS QD77MS MR J4 _B RJ i IS ia TE Q171ENC W8 4194304PLS rev fies J Axis 1 Axis 2 Axis 3 Synchronous encoder axis 1 Set the parameters as below Set 101 Synchronous encoder via serv
63. the servo amplifier and the synchronous encoder that used for input axis module 2T SERVO TE ET ccnatdadaaieda a AEE 2 2 2 1 1 Overview of Servo input AXIS eeeeeeeeeceeeeeeeeeecaeceeeeeeesenacaeeeeeeesesennieaeeeeeess 2 2 2 1 2 Servo input axis parameters nsssssssesstsrntnestettrnntnsstttttnnnttestertttnnnnnn teeren nn 2 4 2 1 3 Servo input axis monitor data 2 8 2 2 SYNCHFONOUS encoder EE 2 10 2 2 1 Overview of Synchronous encoder AXIS c eee ee eeeeeeeeeeteeeeeeneeeeeenateeeeeaaes 2 10 2 2 2 Setting method for synchronous encoder eeeeceeeeeeeeeeeeeteeeeeetaeeeeeenaeeeeeeaaes 2 13 2 2 3 Synchronous encoder axis parameters eee scence eeeetete teeter eeetaeeeeeeaaes 2 21 2 2 4 Synchronous encoder axis Control data 2 28 2 2 5 Synchronous encoder axis Monitor data eee eeeeeee eset ee eeeeeeeeeeneeeeeeenaees 2 32 Chapter 2 Input Axis Module 2 1 Servo input axis 2 1 1 Overview of servo input axis The servo input axis is used to drive the input axis based on the position of the servomotor that is being controlled by the Simple Motion module The status of a servo input axis can also be monitored even before the synchronous control start since the setting of a servo input axis is valid after the system s power supply ON The following shows the relationship between the position of the servomotor and the servo
64. to 1 Us Delay the phase input response according to the setting time If the setting time is too long the system experiences overshoot or undershoot at acceleration deceleration of the input speed In this case set a longer time to affect the phase compensation amount in Pr 327 Synchronous encoder axis phase compensation time constant Chapter 2 Input Axis Module Pr 327 Synchronous encoder axis phase compensation time constant Set the time constant to affect the phase compensation amount for the first order delay 63 of the phase compensation amount are reflected in the time constant setting Synchronous encoder axis phase Synchronous encoder axis current value compensation advance time j 4 e Current value before phase compensation Current value after phase compensation Speed before phase compensation Speed after phase compensation Md 323 Synchronous encoder axis gt t Speed before x Synchronous encoder axis phase phase compensation compensation advance time phase compensation amount gt t Synchronous encoder axis Synchronous encoder axis phase compensation time constant phase compensation time constant Chapter 2 Input Axis Module Pr 328 Synchronous encoder axis rotation direction restriction Set this parameter to restrict the input travel value for the synchronous encoder axis to one d
65. to 2147483647 PLS min fg xt PLS imin 2 147483648 to 2 147483647 PLS min Chapter 2 Input Axis Module 2 2 2 Setting method for synchronous encoder 1 Incremental synchronous encoder E Setting method Connect the synchronous encoder to the Manual pulse generator Incremental synchronous encoder input of the Simple Motion module Set the input method for the incremental synchronous encoder signal using the following parameters It may be common to use the same set up for the manual pulse generator input e Pr 22 Input signal logic selection e Pr 24 Manual pulse generator Incremental synchronous encoder input selection e Pr 89 Manual pulse generator Incremental synchronous encoder input type selection The synchronous encoder axis operates completely independently with the manual pulse generator operation The parameter and control data for the manual pulse generator operation except the 3 parameters listed above has not influence on control of synchronous encoder axis Therefore they can also be controlled simultaneously by common input pulses When the synchronous encoder axis connection is valid after the system s power supply is ON it will be Synchronous encoder axis current value 0 Synchronous encoder axis current value per cycle 0 and Counter enabling status Chapter 2 Input Axis Module E Setting example The following shows an example for setting an incremental synchronous encoder as synchron
66. turning clutch ON Slippage amount at main shaft clutch ON e For smoothing with a slippage method set the slippage amount at clutch OFF Fetch cycle At turning clutch OFF Slippage amount at main shaft clutch OFF Note 2 Main input axis position units Refer to Chapter 2 Note 3 Cam axis cycle units Refer to Section 4 5 1 I Set in decimal 2147483648 to 2147483647 Main input axis position units S Note 3 cam axis cycle units 36414 200n en 36415 200n W Set in decimal 2147483648 to 2147483647 Main input axis position units e Note 3 cam axis cycle units 36416 200n 36417 200n 36418 200n 36419 200n 36420 200n 36421 200n Note 2 or I Set in decimal 0 Direct 1 Time constant method Exponent 2 Time constant method Linear 3 Slippage method Exponent 4 Slippage method Linear E Set in decimal 0 to 5000 ms BW Set in decimal 0 to 2147483647 Main input axis position units Melee or d Note 3 cam axis cycle units E Set in decimal 0 to 2147483647 Main input axis position units yore or cam axis cycle units 36422 200n 36423 200n n Axis No 1 Pr 405 Main shaft clutch control setting Chapter 4 Synchronous Control Set the ON and OFF control methods separately for the main shaft clutch The clutch control setting can be changed during synchronous control however the setting No clutch Direct coupled operation cannot be s
67. 1 09K or later QD77GF Version 1 98C or later Version 1 19V or later LD77MS Version 1 493P or later Version 1 20W or later LD77MH Version 1 31H or later Version 1 01B or later There are restrictions in the function that can be used by the SERIAL No of the Simple Motion module and the version of GX Works2 The combination of each version and function are shown below 1 QD77MS QD77MS2 QD77MS4 QD77MS16 Function First five digits of aus Reference SERIAL No De ve Synchronous encoder via servo amplifier 15042 or later 1 492N or later Section 2 2 Note 1 The serial number can be checked on the Product Information List screen in GX Works2 2 LD77MH LD77MH4 LD77MH16 Reference Function First five digits of First five digits of Em SERIAL No GX Works2 SERIAL No GX Works2 Note 1 Note 1 Section 4 1 Clutch function 12102 or later 1 48A or later 1 48A or later Section 4 2 Section 4 3 Auxiliary shaft 12102 or later 1 48Aorlater 148Aorlater Section 4 2 Cam function using coordinate data format 12102 or later 1 48A or later 1 48A or later Chapter 3 Expand capacity of cam storage area 12102 or later 1 48A or later 1 48A or later Section 1 2 16k bytes to 256k bytes Synchronous control change function 12102 or later 1 48A or later 1 48A or later Section 4 6 Synchronous encoder 4 axes 12102 or later 1 48A or later iS ea 1 48A or later Section 2 2 Synchronous encoder via CPU 12102 or later 1 48A or later
68. 11 Main shaft clutch smoothing method Set the smoothing method for clutch ON OFF Refer to Section 4 3 3 for details 0 DileCtivciiceenin beni No smoothing 1 Time constant method Exponent Smoothing with an exponential curve based on the time constant setting 2 Time constant method Linear Smoothing with linear acceleration deceleration based on the time constant setting 3 Slippage method Exponent Smoothing with an exponential curve based on the slippage amount setting 4 Slippage method near Smoothing with linear acceleration deceleration based on the slippage amount setting Pr 412 Main shaft clutch smoothing time constant Set a time constant when the time constant method is set in Pr 411 Main shaft clutch smoothing method The time constant setting applies for clutch ON OFF Chapter 4 Synchronous Control Pr 413 Slippage amount at main shaft clutch ON Set the slippage amount at clutch ON when the slippage method is set in Pr 411 Main shaft clutch smoothing method The slippage amount is set in units based on the current value selected in Pr 406 Main shaft clutch reference address setting If the set amount is negative slippage amount at clutch ON is controlled as 0 direct Pr 414 Slippage amount at main shaft clutch OFF Set the slippage amount at clutch OFF when the slippage method is set in Pr 411 Main shaft clutch smoothing method The slippage amount is s
69. 2 Clutch command leading edge 3 Clutch command trailing edge clutch control The clutch is turned ON OFF by the operation of Cd 403 Auxiliary shaft clutch command ON OFF Setting in the OFF control mode are not applicable in the clutch command ON OFF mode The clutch is turned ON when Cd 403 Auxiliary shaft clutch command passes the leading edge from OFF to ON eh The clutch is turned ON when Cd 403 Auxiliary shaft clutch command passes the trailing edge from ON to OFF 4 Address mode The clutch is turned ON when the reference address the auxiliary shaft current value or the current value per cycle after auxiliary shaft gear reaches Pr 424 Auxiliary shaft clutch ON address The travel value after passing through the ON address is calculated as the output travel value of the clutch based on the reference address passing through thereby controlling the clutch with an accurate travel value 5 High speed input request 0 1012 The clutch is turned ON when the high speed input request DI turns ON Other clutch parameters are not applicable during direct coupled operation by setting 0 No clutch Cd 405 Auxiliary shaft clutch forced OFF command and the change of the clutch control setting are ignored during direct coupled operation Chapter 4 Synchronous Control 2 OFF control mode 0 OFF control invalid oo eee eeeeeeeeeee Clutch OFF control is not used This setting
70. 201 20j axis current value Refresh cycle Operation cycle Synchronous encoder axis position units Md 321 Note 1 The current value per cycle for a BW Monitoring is carried out in decimal Synchronous encoder synchronous encoder axis is stored 0 to Synchronous encoder axis length per cycle 1 axis current value per Refresh cycle Operation cycle Synchronous encoder axis position units Moet cycle Md 322 The speed for a synchronous encoder 9 Monitoring is carried out in decimal Synchronous encoder Ss is stored 2147483648 to 2147483647 axis speed Refresh cycle Operation cycle Synchronous encoder axis speed units Md 323 S o The phase compensation amount Te I Monitoring is carried out in decimal Synchronous encoder stored 2147483648 to 2147483647 axis phase Refresh cycle Operation cycle Synchronous encoder axis position units compensation amount 35202 20 35203 20 35204 20 Note 2 35205 20 35206 20 Note 1 35207420 e While the rotation direction is restricted the accumulation for the input travel value in the opposite RW Monitoring is carried out in decimal 2147483648 to 2147483647 Synchronous encoder axis position units 35208 20 35209 20 Synchronous encoder direction of the enable direction is stored Refresh cycle Operation cycle axis rotation direction Note 1 restriction amount W Monitoring is carried out in hexadecimal Buffer memory
71. 3 64323 synchronous encoder axis error reset encoder axis error reset 5044410 Connection command of synchronous encoder via 35046 10j Cd 325 Input value for synchronous encoder via CPU ieee j Synchronous encoder axis No 1 Appendix 11 Appendices Synchronous encoder axis monitor data Buffer memory Reference Item address section 35200 20j Synchronous encoder axis current value 35001 Es 35202 20j Md 321 Synchronous encoder axis current value per cycle 35203 20j 35204420 Md 322 Synchronous encoder axis speed 35205 20 Synchronous encoder axis phase compensation 35206 20 4 S RR PNR 1 1 Section 2 2 5 amount 35207 20j Ma 324 Synchronous encoder axis rotation direction 35208 20j EH amount ea Ma3 325 M432 synchronous encoder axis status encoder axis status 35210 20 Synchronous encoder axis error No 35211 20j Synchronous encoder axis warning No 35212 20j j Synchronous encoder axis No 1 7 Synchronous parameter Buffer memory Reference em address section Main input axis No 36400 200n Sub input axis No 36401 200n Composite main shaft gear 36402 200n 36404 200n 36405 200n e 36406 200n Main shaft gear Denominator 36407 200n Section 4 1 2 A N be Main shaft gear Numerator n Axis No 1 Appendix 12 Appendices SEN Buffer memory Reference address section Main shaft clutch control setting 36408 200n Main shaft clutch
72. 33125 10n e While the rotation direction is restricted the accumulation for the input travel value in the Monitoring is carried out in decimal Servo input axis rotation opposite direction of the enable direction is 2147483648 to 2147483647 direction restriction stored 33126 10n Note 1 33127 10n Servo input axis position units amount Refresh cycle Operation cycle n Axis No 1 Note 1 Servo input axis position units Refer to Section 2 1 1 Note 2 Servo input axis speed units Refer to Section 2 1 1 Md 300 Servo input axis current value The current value for the servo input axis is stored in servo input axis position units Refer to Section 2 1 1 as follows The current value for the servo input axis is the value after processing the smoothing the phase compensation and the rotation direction restriction Setting value of Pr 300 f 7 p Storage details Servo input axis type The accumulative current value started with Md 20 Current feed value Md 101 Real current value for the connection to the servo amplifier is stored It is also stored in the range from 21474 83648 to 21474 83647 degree for degree units e When the ivd 20 Current feed value Md 101 Real current value is changed by an OPR or a current value change the value is changed to the new current value 1 Current feed value 2 Real current value When of the absolute position detection system setting is invalid
73. 603 Number of cam data operation points is outside the range from 1 to 2048 for cam using the coordinate data format e First position and number of operation points are exceeded the cam resolution or coordinate number during the cam data writing operation Cd 604 Cam data format is other than 1 or 2 during the cam data writing operation e Cd 605 Cam resolution coordinate number is other than 256 512 1024 2048 4096 8192 16384 32768 for cam using the stroke ratio data format during the cam data writing operation e Cd 605 Cam resolution coordinate number is outside the range from 2 to 16384 for cam using the coordinate data format during the cam data writing operation Cd 606 Cam data starting point is outside the range from 0 to Cam resolution 1 during the cam data writing operation e The free area in the cam storage area is insufficient during the cam data writing operation e The writable area is insufficient due to the decoupling of free area e The free area in the cam open area is insufficient during the cam data writing operation e The writable area is insufficient due to the decoupling of free area e Input value of coordinate data is a negative value during the cam data writing operation e Input value of coordinate data is not Xn lt Xn 1 during the cam data writing operation 827 Cam data reading Cam data reading operation is executed 33Bh Joperation inhibit with the c
74. 7483648 to 214 7483647 s Stroke ratio at 4096th point 53199 2 Coordinate data format Buffer memory f Item Setting value address 45008 0 to 2147483647 Input value 45009 Cam axis cycle unit At first point W 2147483648 to 2147483647 Ea value Output axis position unit M 1 E 0 to 2147483647 wans value za Cam axis cycle unit 2147483648 to 2147483647 Output value Se axis unit a _ to 2147483647 Cam axis cycle unit Chapter 3 Cam Function 3 2 3 Cam auto generation function The cam auto generation function is used to generate cam data automatically for specific purposes based on parameter settings With this function cam data is generated in the cam open area It is possible to generate up to 1 Mbyte including the regular cam data Example 256 cam data with the stroke ratio format resolution is 1024 can be automatically generated The processing time of cam auto generation takes longer if the data point is larger Also the real processing time changes by status of axis start etc Reference Relationship between the cam resolution and processing time in the cam auto generation Stroke ratio data format 256 4096 32768 Processing time us 257 75 4519 75 33012 0 E Cam operation control data Default Buffer memo Setting item Setting details Setting value S y value address Set the request for cam auto generation The Simple Motion module resets the valu
75. Cam axis current value per cycle Search from Cam axis current value per cycle 0 Cam axis current feed value Current feed value Restore to the first current feed value that matches Other values are not restored Cam reference position gt b Search from a value in the middle of the cam axis current value per cycle Cam data starting point 0 A Pr 468 Cam axis current value per cycle Initial setting Cam axis current value per cycle See acest EE te Cam axis current feed value Current feed value New cam reference position Cam reference position Bre at starting the restoration mg i Restore to the first current Update the cam reference feed value that matches position in the next cycle automatically Chapter 5 Synchronous Control Initial Position c Search from a value in the middle of the cam axis current value per cycle Cam data starting point 0 Cam axis current value per cycle Cam axis current feed value a Current feed value New cam reference position Cam reference position _ at starting the restoration Pr 468 Cam axis current value per cycle Initial setting gt Search from the value in the middle gt Cam data Restore to the first current starting point Update the cam reference feed value that matches position in the next cycle
76. ELSEC Q series Simple Motion module QD77GF LD77MS Another term for the MELSEC L series Simple Motion module LD77MH MR J4 W B MR J4 _B MR J4W _B MR J4 _B RJ010 MR J3 T10 Servo amplifier series MR J3 W B MR J3 _B MR J3W _B Servo amplifier series Programming tool Generic term for GX Works2 GX Developer and MR Configurator2 Product name of the software package for the MELSEC programmable controllers Version 1 31H or later MR Configurator2 Product name of the setup software for the servo amplifier Version 1 01B or later GX Developer Product name of the software package for the MELSEC programmable controllers Version 8 89T or later GX Configurator QP Product name of the setting and monitoring tool for the Simple Motion module Version 2 34L or later Intelligent function module A MELSEC Q L series module that has functions other than input or output such as A D converter module and D A converter module Servo amplifier drive unit Abbreviation for SSCNETII H SSCNETIL and CC Link IE Field Network compatible servo amplifier drive unit Manual pulse generator Abbreviation for manual pulse generator MR HDP01 prepared by user opp O Generic term for Home position return lop OE Generic term for Home position Not SSCNETII H Tel High speed synchronous communication network between QD77MS LD77MS LD77MH and SscnNeTo servo amplifier ler Note SSCNET Servo System Controller NETwork
77. Error name Error Corrective action No error occurrence 767 2FFh Outside cam axis current value per cycle Initial setting range Cam axis current value per cycle restoration disable Cam axis current feed value restoration disable The synchronous parameter Pr 468 Cam axis current value per cycle Initial setting is set other than 0 to Cam axis length per cycle 1 Cam axis current value per cycle corresponding to the current feed value at synchronous control start could not be restored when the synchronous parameter Pr 462 Cam axis position restoration object was 0 Cam axis current value per cycle restoration Occurs in reciprocated cam pattern Synchronous control does not start Restoration could not be completed when the synchronous parameter Pr 462 Cam axis position restoration object was 2 Cam axis current feed value restoration because the difference between the restored cam axis current feed value and the current feed value at synchronous control start pulse command unit was larger than the servo parameter In position range Set within the range from 0 to Cam axis length per cycle 1 e Start synchronous control after moving the current feed value within the stroke of two way operation cam pattern e Set the cam reference position within the stroke of two way operation cam pattern e Start synchronous control after calculating the cam axis current feed value to be re
78. GER Never open the front case or terminal covers while the power is ON or the unit is running as this may lead to electric shocks Never run the unit with the front case or terminal cover removed The high voltage terminal and charged sections will be exposed and may lead to electric shocks Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF The insides of the module and servo amplifier are charged and may lead to electric shocks Completely turn off the externally supplied power used in the system before mounting or removing the module performing wiring work or inspections Failing to do so may lead to electric shocks When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Be sure to ground the module servo amplifier and servomotor Ground resistance 100 Q or less Do not ground commonly with other devices The wiring work and inspections must be done by a qualified technician Wire the units after installing the module 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 tou
79. MITSUBISHI Mitsubishi Programmable Controller MELSECTA i MELSECL MELSEC Q L QD77MS QD7 7GF LD77MS LD77MH Simple Motion Module User s Manual Synchronous Control QD77MS2 QD77GF16 LD77MS2 LD77MH4 QD77MS4 LD77MS4 LD77MH16 QD77MS16 LD77MS16 SAFETY PRECAUTIONS Please read these instructions before using this equipment Before using this product please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly The precautions given in this manual are concerned with this product only Refer to the Users manual of the CPU module to use for a description of the PLC system safety precautions In this manual the safety instructions are ranked as DANGER and CAUTION Indicates that incorrect handling may cause hazardous i bg DAN G R conditions resulting in death or severe injury Indicates that incorrect handling may cause hazardous l AN CAU T O N conditions resulting in medium or slight personal injury or physical damage ee a a a s e e as m ae el a et Set ent el et Ze eg ent Se Depending on circumstances procedures indicated by A CAUTION may also be linked to serious results In any case it is important to follow the directions for usage Please save this manual to make it accessible when required and always forward it to the end user For Safe Operations 1 Prevention of electric shocks Z ADAN
80. RANTY TORT PRODUCT LIABILITY FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS PRECAUTIONS OR WARNING CONTAINED IN MITSUBISHI S USER INSTRUCTION AND OR SAFETY MANUALS TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT Prohibited Application Prohibited Applications include but not limited to the use of the PRODUCT in e Nuclear Power Plants and any other power plants operated by Power companies and or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT e Railway companies or Public service purposes and or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User e Aircraft or Aerospace Medical applications Train equipment transport equipment such as Elevator and Escalator Incineration and Fuel devices Vehicles Manned transportation Equipment for Recreation and Amusement and Safety devices handling of Nuclear or Hazardous Materials or Chemicals Mining and Drilling and or other applications where there is a significant risk of injury to the public or property Notwithstanding the above restrictions Mitsubishi may in its sole discretion authorize use of the PRODUCT in one or more of the Prohibited Applications provided that the usage of the PRODUCT is limited only for the specific applications ag
81. Reference address section Speed change gear 36460 200n Speed change gear smoothing time constant 36461 200n 36462 200n i Speed change ratio Numerator Section 4 4 2 36463 200n 36464 200n Speed change ratio Denominator 36465 200n Cam axis cycle unit setting 36470 200n 36472 200n Cam axis length per cycle 36473 200n 36474 200n 36476 200n 36477 200n Section 4 5 2 e e 36482 200n Cam axis phase compensation advance time 36483 200n Cam axis phase compensation time constant 36484 200n Synchronous control deceleration time 36485 200n Output axis smoothing time constant 36486 200n 36500 200n 36501 200n Cam axis position restoration object 36502 200n iti 36503 200n 36504 200n Section 5 2 36506 200n 36507 200n Current value per cycle after auxiliary shaft 36508 200n iti ing 36509 200n 36510 200n 36511 200n 36512 200n 36513 200n Speed change gear Cam stroke amount D D D a a iS AL A KR wl lei iN oO Ka Ki Ka ol S Output axis O NJ on Wal CH LE e P 2 D 3 ays ZS SIS E 3 D 5 5 gt 2 5 5 a 1 2a ja e Zz E lt si fo lt 3 3 s 3 B 3 s v 2 2 Sdt ed E SS v Fe 5 D olo cb o o ke aja lg A212 a bd 2 ais Sal g 9 o lo 3 Q o zl 818 S SS el 313 al g v D Io 5 5 De p a D om D lt lt bw o lo v v 3 g 5 Z fa D 3 90 OD OD Eh EI 3 3 Nd e US s gt lt lo Q Q D D lt lt gt Clo Q Q Q RE b by D o K Oo 7 s D D ke ke gt
82. Restoration method 1 The new value of the current value per cycle after main shaft gear current value per cycle after auxiliary shaft gear is calculated based on the current value after composite main shaft gear auxiliary shaft current value Main shaft Current value per cycle _ Main shaft gear Current value after after main shaft gear ratio S composite main shaft gear Auxiliary shaft Current value per cycle Auxiliary shaft gear 8 M x Auxiliary shaft current value after auxiliary shaft gear ratio Chapter 5 Synchronous Control Initial Position Restoration method 2 The travel value from the last synchronous control session is reflected to the current value per cycle after main shaft gear current value per cycle after auxiliary shaft gear Main shaft Current value per cycle Amount of change of current Current value per after main shaft gear at Main shaft value after composite main cycle after main x ran the last synchronous gear ratio shaft gear from the last shaft gear S control session synchronous control session Auxiliary shaft Current value per Current value per cycle Le Amount of change of auxiliary Auxiliary cycle after after auxiliary shaft gear Pak shaft current value from the Si sna x auxiliary shaft at the last synchronous last synchronous control 8 gear ratio gear control session session The current value per cycle after main shaft gear current value per cycle after auxiliary
83. Warning name Warning Corrective action warning occurrence 33Eh 832 340h Outside cam position calculation cam No range Cam position calculation cam is not registered Outside cam position calculation cam axis length per cycle range Outside cam position calculation cam axis current value per cycle range Cam position calculation cam axis 1 cycle current value calculation disable Cd 613 Cam position calculation Cam No is outside the range from 0 to 256 Cam data of the specified cam No does not exist on the cam open area during the cam position calculation Cam position Cd 615 Cam position calculation Cam axis e calculation is not length per cycle is set to 0 or lower executed Cd 617 Cam position calculation Cam axis current value per cycle is outside the range from 0 to Cam axis length per cycle Corresponding cam axis current value per cycle could not be calculated during cam axis current value per cycle calculation Occurs in reciprocated cam pattern Synchronous Control Set a value within the range from 0 to 256 e Specify the cam No for cam data that registers e When writing the cam data from a peripheral software turn the PLC ready signal from OFF to ON and open the cam data ON the cam open area Set a value within the range from 1 to 2147483647 Set a value within the range from 0 to Cam axis length per cycle Set Cd 614 Cam position calculation
84. ae 1 48A or later Section 2 2 Synchronous encoder control by 12102 or later 1 48A or later 1 48A or later Section 2 2 high speed input request Output axis smoothing function 12102 or later 1 48A or later 12102 or later 1 48A or later Section 4 5 Cam axis current value per cycle s 12102 or later 12102 or later Section 4 6 movement function No restriction by the version Note 1 The serial number can be checked on the Product Information List screen in GX Works2 Chapter1 Outline of Synchronous Control Refer to the following for how to check the SERIAL No of the Simple Motion module e QD77MS MELSEC Q QD77MS Simple Motion Module User s Manual Positioning Control e QD77GF MELSEC Q QD77GF Simple Motion Module User s Manual Positioning Control e LD77MS MELSEC L LD77MS Simple Motion Module User s Manual Positioning Control e LD77MH MELSEC L CPU Module User s Manual Hardware Design Maintenance and Inspection Chapter1 Outline of Synchronous Control 1 4 General configuration of buffer memory Synchronous control area Buffer memory address Number of 2 axis 4 axis 16 axis Item word module module module 32800 e STE A 460 ervo input axis parameter to 10 words axis 32959 33120 s ee irda a Aen ervo input axis monitor data is 10 words axis 33279 34720 Sundh 4 i i to ynchronous encoder axis parameter to 20 words axis 34799 35040 to to 35079 SAR Synch d i itor dat we ync tonon
85. alid Main shaft clutch Fetch cycle Operation cycle 1 One shot BEE 0000h 36408 200n control setting 2 Clutch command leading edge 3 Clutch command trailing edge 4 Address mode 5 High speed input request gt High speed input request signal 0 to F High speed input request signal from axis 1 to axis 16 Note 1 H Set in decimal 0 Current value after composite main shaft gear 36409 200n 1 Current value per cycle after main shaft gear Main shaft clutch Set the reference address for the clutch reference address Fetch cycle At start of synchronous control setting e Set the clutch ON address for address mode This setting is invalid except during address mode H Set in decimal If the address is out of the range from 0 to 2147483648 to 2147483647 Cam axis length per cycle 1 the Main input axis position units Note 2 or address is converted to a value within cam axis cycle units ee Main shaft clutch ON address 36410 200n 36411 200n range Fetch cycle Operation cycle e Set the travel value for the distance between the clutch ON condition completing and the clutch closing E Set in decimal Travel value before main shaft clutch ON Set a positive value when the reference 2147483648 to 2147483647 address is increasing and a negative Main input axis position units or te 3 36412 200n 36413 200n value when it is decreasing cam axis c
86. alue Generate the input value based on Md 20 Current feed value 2 Real current value Generate the input value based on the real current value which is converted units of the encoder feedback pulses from the servo amplifier 3 Servo command value Generate the input value based on the command pulse encoder pulse units to the servo amplifier 4 Feedback value nannaanaan Generate the input value based on the encoder feedback pulse from the servo amplifier Simple Motion module 1 Current feed value UnitPulse conversion 3 Servo command value H gt Backlash compensation Servo amplifier 2 Real current value Real current value 2 Rea current value Ja Pulse gt Unit conversion e 4 Feedback value Pr 301 Servo input axis smoothing time constant Set the averaging time to execute a smoothing process for the input travel value from the servo input axis The smoothing process can moderate speed fluctuation when the Real current value or Feedback value is used as input values The input response is delayed depending on the time corresponding to the setting by smoothing process setting Input value speed A before smoothing Averaging by Input value speed 4 smoothing time constant after smoothing Servo input axis Servo input axis smoothing time constant smoothing time constant Cha
87. alue of cam axis The current feed value is calculated as shown below 1 Stroke ratio data format Current feed Cam reference F Cam stroke x Stroke ratio corresponding to value position amount cam axis current value per cycle 2 Coordinate data format Current feed Cam reference m Output value corresponding to value position cam axis current value per cycle When the cam axis current value per cycle is in the middle of the defined cam data Stroke ratio data Coordinate data the middle value is calculated from the nearest cam data Cam axis current valde DEE Calculate the middle value from the nearest cam data Cam data Chapter 3 Cam Function E Cam reference position The cam reference position is calculated as shown below 1 Stroke ratio data format Cam reference The preceding cam 7 Cam stroke 7 Stroke ratio at position reference position amount the last point 2 Coordinate data format y Output value corresponding Output value Cam reference The preceding cam i f E Se to Input value Cam axis corresponding to position reference position length per cycle Input value 0 Cam axis current value per cycle Cam reference Cam reference position position Cam reference position Current feed value At 1st cycle At 2nd cycle At 3rd cycle Stroke ratio data format Cam stroke amount x Stroke ratio at last point Coordinate data format The output value corresponding to In
88. alue which was calculated in 3 5 Start synchronous control on axis 1 2 and 3 with the current feed value restoration mode Use the cam axis current value per cycle that was calculated in 1 for the cam axis current value per cycle Initial setting Chapter 5 Synchronous Control Initial Position 5 5 1 Cam position calculation control data Ze gt Default Buffer memory Setting item Setting details Setting value value address Set the cam position calculation request Cam position calculation request Cam position calculation Cam No Cam position calculation Stroke amount Cam position calculation Cam axis length per cycle Cam position calculation Cam reference position Cam position calculation Cam axis current value per cycle Cam position calculation Cam axis current feed value e The Simple Motion module resets the value to 0 automatically after completion of the cam position calculation Fetch cycle Main cycle ey Set the cam No for the cam position calculation Fetch cycle At requesting cam position calculation Set the cam stroke amount for the cam position calculation Fetch cycle At requesting cam position calculation Set the cam axis length per cycle for the cam position calculation Fetch cycle At requesting cam position calculation Set the cam reference position for the cam position calculation Fetch cycle At requesting cam position
89. am No 334h outside the range from 1 to 256 256 range Outside cam auto Cd 610 Cam auto generation type is other 335h generation type range than 1 e The free area of the cam storage area Cam auto generation ES is insufficient cam storage area e The writable area is insufficient due to e Decrease the number of cam data capacity over the decoupling of free area number of cams cam resolution and e The free area in the cam open area is coordinate number Cam auto generation i pee SR insufficient Z e Erase the cam data and rewrite it cam open area ing Cam auto generation e The writable area is insufficient due to capacity over is not executed the decoupling of free area Outside cam auto Cd 611 Cam auto generation data is 338h generation data range outside the setting range the cam auto generation Cd 611 Cam auto generation data is incorrect that the cam pattern cannot be Cam auto generation generated Such as when the sheet Review the setting value of the cam calculation disable synchronization width is larger than the auto generation data sheet length in the cam for a rotary cutter Cam auto generation Cam auto generation is executed with Delete the cam data write password nee data write inhibit the cam data write password set with a programming tool 823 337h Chapter 6 Troubleshootin 6 4 3 List of cam position calculation warnings ae Operation status at
90. am data read password set 828 Cam data writing 33Ch operation inhibit Cam data writing operation is executed with the cam data write password set Cam data writing reading is not executed Set within the range from 1 to 4096 for cam using the stroke ratio data format Set within the range from 1 to 2048 for cam using the coordinate data format Set Cam data first position Number of cam data operation points 1 not to exceed the cam resolution Set Cam data first position Number of cam data operation points 1 not to exceed the number of coordinates e Set a value within the range of 256 512 1024 2048 4096 8192 16384 32768 for cam using the stroke ratio data format e Set within the range from 2 to 16384 for cam using the coordinate data format cam Set within the range from 0 to Cam resolution 1 e Decrease the number of cam data number of cams cam resolution and coordinate number e Erase the cam data and rewrite it e Set the Input value of coordinate data to 0 or more e Set the Input value of coordinate data to Xn lt Xn 1 a programming tool with a programming tool Chapter 6 Troubleshooting Synchronous Control 6 4 2 List of cam auto generation warnings ee Operation status at Warning name Warning Corrective action warning occurrence Outside cam auto x is fi N Cd 609 Cam auto generation cam No Set a value within the range from 1 to generation c
91. amplifier in Pr 320 Synchronous encoder axis type the status becomes servo OFF e Absolute position erase error code 2025 e Load side encoder error 1 error code 2070 e Load side encoder error 2 error code 2071 The error Synchronous encoder via servo amplifier invalid error error code 979 occurs in the following cases e Other than 32 MR J4 _B is set in Pr 100 Servo series of the axis No selected as Synchronous encoder via servo amplifier in Pr 320 Synchronous encoder axis type e The servo amplifier axis which is not set in the system setting is set to the servo amplifier axis No to connect to Synchronous encoder via servo amplifier e The servo axis which Invalid is set to from the External synchronous encoder input list of the amplifier setting dialog using the Simple Motion Module Setting Tool is set to the servo amplifier axis No to connect to Synchronous encoder via servo amplifier e The encoder other than Q171ENC W8 is connected to the servo amplifier axis selected as Synchronous encoder via servo amplifier in Pr 320 Synchronous encoder axis type Chapter 2 Input Axis Module 3 Synchronous encoder via CPU Synchronous encoder via PLC CPU E Setting method Used to operate a gray code encoder that is connected to the input module of the PLC CPU as a synchronous encoder axis By setting 201 Synchronous encoder via CPU in Pr 320 Synchronous encoder axis type the synchronous
92. ange check 900 to 999 EE warnings User s Manual Positioning Servo amplifier warnings Control of each Simple 2000 to 2999 The contents of warnings vary in the model Motion module of servo amplifier Chapter 6 Troubleshooting Synchronous Control 6 2 Error and warning of input axis The detection processing and reset method for error and warning of input axis are different in the servo input axis and synchronous encoder axis E Error and warning of servo input axis 1 Error detection The error detection signal for target axis turns ON and the input axis error number is stored in Md 23 Axis error Mo 2 Warning detection b9 Axis warning detection of Md 31 Status turns ON and the input axis warning number is stored in Md 24 Axis warning No 3 Resetting errors and warnings Remove the cause of error or warning following the actions described in Section 6 2 1 and 6 2 2 before canceling an error or warning state through resetting the error An error or warning state is canceled after the following processing has been carried out by setting 1 in Ca 5 Axis error reset for target axis e Axis error detection signal is turned OFF e Md 23 Axis error No is cleared e Md 24 Axis warning No is cleared e Changing of Md 26 Axis operation status from Error to Standby e Axis warning detection Md 31 Status b9 is turned OFF E Error and warning of synchronous encoder axis 1 Error detection
93. anual Name Programming tool lt Manual number model code gt GX Works2 Version1 Operating Manual Common lt SH 080779ENG 13JU63 gt GX Works2 Version1 Operating Manual Intelligent Function Module lt SH 080921ENG 13JU69 gt Specifications of the CPU modules power supply modules display unit SD memory cards and batteries information on how to establish a system maintenance and inspection and troubleshooting Functions devices and programming of the CPU module System configuration parameter settings and online operations common to Simple project and Structured project of GX Works2 Parameter settings monitoring and operations of the predefined protocol support function of intelligent function modules using GX Works2 GX Developer Version 8 Operating Manual Operating methods of GX Developer such as programming lt SH 080373E 13JU41 gt printing monitoring and debugging GX Configurator QP Version 2 Operating Manual Data creation such as parameters and positioning data and operations of transferring data to modules positioning monitor and tests using GX Configurator QP lt SH 080172 13JU19 gt sold separately x1 The manual is included in the CD ROM of the software package in a PDF format file For users interested in buying the manual separately a printed version is available Please contact us with the manual number model code in the list above 4 Servo amplifier Manual
94. ata Cam storage e When executing write Cam storage area with the the power supply area cam data operation function OFF Cam auto generation Data is written when the cam auto generation request data is executed Cam auto generation function e Cam data is transmitted from the cam storage area Data is lost when when turning the power supply ON writing to the turning the power cam storage area or turning the PLC READY signal supply OFF Cam open YO OFF to ON e The cam data that Cam data Ei area e Writing to the cam open area is possible through the is used in cam cam data operation function control is stored e Cam data that is generated by the cam auto generation function is stored Previously written cam data can be used after turning the power supply OFF by writing data in the cam storage area Cam data should be written in the cam storage area for normal use It is possible to write directly to the cam open area via buffer memory when registering cam data that exceeds the memory capacity in the cam storage area etc Refer to Section 3 2 2 Cam data operation function Writing must be executed to the cam open area due to transmitting from the cam storage area when turning the power supply ON again updating the cam storage area or turning the PLC READY signal Y0 OFF to ON 2 Operation with buffer memory Simple Motion module 1 1 i Yy Buffer memory address 1 Operation wit
95. ator is set within the range from 1 to 2147483647 Chapter 4 Synchronous Control 4 5 Output axis module 4 5 1 Overview of output axis module Pr 438 Pr 446 Pr 444 Pr 445 For the output axis module the cam axis current value per cycle is calculated based on the input value the output value from a speed change gear and is converted based on the cam data settings as output commands to the servo amplifier Input value Cam axis cycle unit setting No influence on control Synchronous control deceleration time Use only at deceleration stop Cam axis phase compensation processing Cam axis phase compensation advance time gt Md 406 Cam axis phase compensation amount Cam axis phase compensation time constant Pr 439 Cam axis length per cycle Pr 440 Cam No Pr 441 Cam stroke amount Cam data Cam conversion d Md 410 Execute cam No processing Md 411 Execute cam stroke amount f Md 407 Cam axis current value per cycle GE l Md 408 Cam reference position J Md 409 Cam axis current feed value Output axis Pr 447 Output axis smoothing time constant gt smoothing processing Md 20 Current feed value Chapter 4 Synchronous Control E Units for the output axis The position units for the output axis are shown below based on the setti
96. automatically Update the cam data on Oth point d The first search is fails and a search begins for the second time A Cam axis current value per cycle Cam axis current feed value Current feed value New cam reference position Cam reference position Feed stroke Restore to the first current feed value that is found in the second search at starting the restoration LS Once the restoration fails in the first search the new cam reference position is automatically updated to set Current feed value New cam reference position to be within the feed stroke amount and the search process starts again If the first search fails a second search may not be processed on the next cycle for a cam pattern with a feed stroke that is smaller than 100 of the stroke as above The intended cam axis current value per cycle can be found in the first search by setting or positioning the cam reference position in advance Chapter 5 Synchronous Control Initial Position 5 3 2 Cam reference position restoration If Pr 462 Cam axis position restoration object is set to 1 cam reference position restoration when starting synchronous control the cam reference position is restored based on the cam axis current value per cycle and the cam axis current feed value Select the method for the cam axis current value per cycle to be restored The current feed value when starting synchronous
97. avel value before clutch Travel value before main shaft clutch Travel value before auxiliary shaft OFF OFF clutch OFF 3 Clutch command leading edge The clutch is turned OFF when the clutch command passes the leading edge from OFF to ON Clutch command Clutch ON OFF status Current value before clutch al gt t Travel value after clutch Chapter 4 Synchronous Control 4 Clutch command trailing edge The clutch is turned OFF when the clutch command passes the trailing edge from ON to OFF Clutch command L Clutch ON OFF status 5 Current value before clutch Travel value after clutch 5 Address mode The clutch is turned OFF when the reference address reaches Clutch OFF address The travel value before passing through the OFF address is calculated as the output travel value of the clutch based on the reference address passing through thereby controlling the clutch with an accurate travel value Clutch ON OFF status A Clutch OFF address Current value specified in clutch reference address setting Travel value after clutch Main shaft clutch Auxiliary shaft clutch The current value specified in Pr 423 The current value specified in Pr 406 Auxiliary shaft clutch reference address Main shaft clutch reference address setting setting Reference address Md 400 Current value after composite main Auxiliary shaft current value servo input
98. axis advance time When overshoot or undershoot occurs during acceleration deceleration set a longer time for the phase compensation time constant Chapter 4 Synchronous Control 4 9 Output axis sub functions The following shows which sub functions apply for the output axis in synchronous control Sub function Output axis Backlash compensation function o The same control as other methods Electronic gear function o Setting is ignored Speed limit function Pr 8 Speed limit value must be set to use Pr 446 Synchronous control deceleration time Controlled with Pr 17 Torque limit setting value or Cd 101 Torque output setting value similar to other methods Torque limit function The axis stops immediately when exceeding the software stroke limit range To disable the software stroke limit set the setting Software stroke limit function value so that Upper limit value Lower limit value Controlled the same as positioning control Same control as other methods Hardware stroke limit function Forced stop function Speed change function Override function Setting is ignored Same control as other methods Setting is ignored M code is not able to output Same control as other methods Setting is ignored Valid at deceleration stop only Deceleration time is set in Pr 446 Synchronous control deceleration time Acceleration deceleration time change function Torque change
99. below for the cam storage area cam open area d Data method Cam storage area Cam open area Operation method Auto generation type 262144 bytes 1048576 bytes Create with Stroke ratio data format _Cam resolution X 4 bytes Cam resolution X 4 bytes GX Works2 Coordinate data format Coordinate number X 8 bytes Coordinate number X 8 bytes Create in cam storage Stroke ratio data format Cam resolution x 4 bytes Cam resolution X 4 bytes area with cam data operation function Coordinate data format Coordinate number X 8 bytes Coordinate number X 8 bytes Create in cam open E ratio data format Cam resolution x 4 Eessen area with cam data operation function Coordinate data format data format Coordinate number X 8 Coordinate number x 8 bytes Create with For a rotary cutter 28 bytes Cam resolution X 4 bytes cam auto generation When writing with the cam data operation function or when the cam auto generation function is executed the writing area free capacity size may decrease since the size changes depending on the cam resolution change etc In this case write the cam data with GX Works2 or delete them once E Delete method of cam data The data of cam storage area cam open area can be deleted initialize by the parameter initialization function with a parameter setting and positioning data The parameter initialization function is executed by setting 1 in Cd 2 Parameter initialization request Write the e
100. can moderate sudden speed fluctuation for cams using the coordinate data format etc The input response is delayed depending on the time corresponding to the setting by smoothing process setting Md 407 Cam axis current value per cycle gt t Md 409 Cam axis current feed value Current feed value Current feed value Q Md 20 gt t Speed before smoothing Speed after smoothing gt t Feedrate Pr 447 Output axis smoothing time constant Chapter 4 Synchronous Control 4 6 Synchronous control change function 4 6 1 Overview of synchronous control change function This function can be used to change the cam reference position the cam axis current value per cycle and the current value per cycle after the main auxiliary shaft gear during the synchronous control The following 5 methods exist for the synchronous control change function Refer to Section 4 6 2 for details on each change command Synchronous control change ee Output axis Application command operation Cam reference position movement Adjust the cam reference position by travel value Operated Change cam axis current value per Change the cam axis current value per cycle None cycle Change current value per cycle after Change the current value per cycle after main shaft Nine main shaft gear gear Change current value per cycle after Change the current value per cycle after auxil
101. ch smoothing clutch smoothing Setting item d Item Setting details Setting value Main shaft clutch Auxiliary shaft clutch e For smoothing with a Slippage amount at Slippage amount at slippage method set the I Set in decimal main shaft clutch auxiliary shaft clutch slippage amount at clutch 0 to 2147483647 ON ON ON Main input axis position Slippage amount at clutch ON Note 1 ie Pr 414 Pr 431 e For smoothing with a units Note auxiliary shaft Pe _ Note 2 Slippage amount at Slippage amount at slippage method set the position units ie or cam amount at ge _ Note 3 main shaft clutch auxiliary shaft clutch slippage amount at clutch axis cycle units clutch OFF OFF OFF OFF Slippage Note 1 Main input axis position units Refer to Chapter 2 Note 2 Auxiliary shaft position units Refer to Chapter 2 Note 3 Cam axis cycle units Refer to Section 4 5 1 1 Slippage method exponential curve smoothing Set 3 Slippage Exponential in the clutch smoothing method Clutch ON OFF status Clutch smoothing status Speed before clutch processing Speed after clutch smoothing 7 gt t Slippage amount at clutch ON Slippage amount at clutch OFF Main shaft clutch Auxiliary shaft clutch Clutch ON OFF status Main shaft clutch ON OFF status Md 423 Auxiliary shaft clutch ON OFF status Clutch smoothing status Main shaft clutch smoothing status Md 424 Auxi
102. ch the module servo amplifier servomotor connector or terminal blocks while the power is ON as this may lead to electric shocks Do not touch the built in power supply built in grounding or signal wires of the module and servo amplifier as this may lead to electric shocks 2 For fire prevention A CAUTION Install the module servo amplifier servomotor and regenerative resistor on incombustible Installing them directly or close to combustibles will lead to fire if a fault occurs in the module or servo amplifier shut the power OFF at the servo amplifier s power source If a large current continues to flow fire may occur When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fire Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used Failing to do so may lead to fire Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to fire 3 For injury prevention Z CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal Doing so may lead to destruction or damage Do not mistake the terminal connections as this may lead to destruction or damage Do not mistake the
103. chronous control 0 Cam axis current value per cycle restoration 1 Cam reference position restoration 2 Cam axis current feed value restoration Restore the cam axis current value per cycle from Cam reference position and Cam axis current feed value Restore the cam reference position from Cam axis current value per cycle and Cam axis current feed value Restore the cam axis current feed value from Cam axis current value per cycle and Cam reference position Pr 463 Setting method of cam reference position Select the method for the cam reference position to be restored when Pr 462 Cam axis position restoration object is set to 0 Cam axis current value per cycle restoration or 2 Cam axis current feed value restoration 0 Previous value The cam reference position from the last synchronous control session is stored The current feed value is stored when the cam reference position from the last synchronous control session is not saved 1 Initial setting value of cam reference position 2 Current feed value The value set in Pr 467 Cam reference position Initial setting is stored The value set in Md 20 Current feed value is stored Pr 464 Setting method of cam axis current value per cycle Select the method for the cam axis current value per cycle to be restored when Pr 462 Cam axis position restoration object is set to 1 Cam reference position restoration or 2 Cam axis
104. chronous encoder axis unit conversion Numerator Synchronous encoder axis unit conversion Denominator Synchronous encoder axis smoothing time constant Synchronous encoder axis phase compensation advance time Synchronous encoder axis phase compensation time constant Pr 328 Pr 324 Synchronous encoder axis rotation direction restriction Unit conversion Input smoothing processing Phase compensation processing Rotation direction restriction Current value change Synchronous encoder axis length per cycle Current value of synchronous encoder axis Md 323 Synchronous encoder axis phase compensation amount Md 324 Synchronous encoder axis rotation direction restriction amount Md 320 Synchronous encoder axis current value Synchronous encoder axis current value per cycle Synchronous encoder axis speed Md 321 Md 322 Chapter 2 Input Axis Module E Synchronous encoder axis type The following 3 types of synchronous encoders can be used for the synchronous encoder axis Refer to Section 2 2 2 for the setting method for each synchronous encoder axis Synchronous encoder f Details axis type The incremental synchronous encoder that is connected to the manual pulse Incremental synchronous generator incremental synchronous encoder input of the Simple Motion module is e
105. constant method smoothing e Slippage method smoothing When not using clutch smoothing set 0 Direct in the clutch smoothing method Setting item F Item Setting details Setting value Main shaft clutch Auxiliary shaft clutch e Set the clutch smoothing method BW Set in decimal 0 Direct Main shaft clutch Auxiliary shaft clutch 1 Time constant method Exponent smoothing method smoothing method 2 Time constant method Linear 3 Slippage method Exponent 4 Slippage method Linear The operation of each smoothing method is shown below E Time constant method smoothing Smoothing is processed with the time constant setting value in the smoothing time constant at clutch ON OFF After clutch ON smoothing is complete smoothing is processed with the time constant setting value when the speed of the input values changes The travel value between the clutch turning ON and OFF is not changed with smoothing Travel value after clutch smoothing Travel value before clutch smoothing Setting item 7 Item Setting details Setting value Main shaft clutch Auxiliary shaft clutch Clutch e For smoothing with a time f Se Main shaft clutch Auxiliary shaft clutch lB Set in decimal smoothing time constant method set the smoothing time smoothing time SE 0 to 5000 ms constant smoothing time constant constant constant Chapter 4 Synchronous Control 1 Time constant method exponential curve smoothing Set 1 Time
106. current feed value restoration 0 Previous value The cam axis current value per cycle from the last synchronous control session is stored as is 1 Initial setting value of cam axis current value per cycle The value set in Pr 468 Cam axis current value per cycle Initial setting is stored 2 Current value per cycle after main shaft gear The current value per cycle after main shaft gear is stored 3 Current value per cycle after auxiliary shaft gear The current value per cycle after auxiliary shaft gear is stored Chapter 5 Synchronous Control Initial Position Pr 465 Current value per cycle after main shaft gear Initial setting Set the initial setting value of the current value per cycle after main shaft gear when Pr 460 Setting method of current value per cycle after main shaft gear is set to 1 Current value per cycle after main shaft gear Initial setting The unit settings are in cam axis cycle units Refer to Section 4 5 1 Set within the range from 0 to Cam axis length per cycle 1 Pr 466 Current value per cycle after auxiliary shaft gear Initial setting Set the initial setting value of the current value per cycle after auxiliary shaft gear when Pr 461 Setting method of current value per cycle after auxiliary shaft gear is set to 1 Current value per cycle after auxiliary shaft gear Initial setting The unit settings are in cam axis cycle units Refer to Section 4 5 1 Set within the
107. d for the OFF control mode of the auxiliary shaft clutch When the reference address is the current value per cycle after auxiliary shaft gear the setting address is converted for control within the range from 0 to Cam axis length per cycle 1 Example Cam axis length per cycle 20000PLS The OFF address is controlled as 60PLS when the setting value is 40060 Chapter 4 Synchronous Control Pr 427 Travel value before auxiliary shaft clutch OFF Set the travel value for the reference address with a signed numbers for the distance between the clutch OFF condition completing and the clutch opening 1 to 2147483647 Positive value Used when the reference address is increasing in direction On cide EEE EEE ie Rie No movement The clutch is immediately turned OFF with the clutch OFF condition completing 2147483648 to 1 Negative value Used when the reference address is decreasing in direction Clutch OFF condition is completed Example Cd 403 Auxiliary shaft clutch command OFF E Md 423 Auxiliary shaft clutch ON OFF status Dee i Pr 427 Travel value before auxiliary shaft Auxiliary shaft current value or i i clutch OFF Positive value Md 402 Current value per cycle after auxiliary shaft gear Travel value after clutch Pr 428 Auxiliary shaft clutch smoothing method Set the smoothing method for clutch ON OFF Refer to Section 4 3 3
108. data operation points is larger than the coordinate number with the coordinate data format Reading The cam data from the first position to the last coordinate is read in the buffer memory Writing The warning Outside number of cam data operation points range warning code 813 occurs and writing is not executed Cd 604 Cam data format Set one of the following cam data formats 1 Stroke ratio data format 2 Coordinate data format Cd 605 Cam resolution coordinate number Set load the cam resolution the coordinate number Reading The cam resolution the coordinate number of the set cam data is read Writing Set the cam resolution with the following values when using the stroke ratio data format 256 512 1024 2048 4096 8192 16384 32768 Set the coordinate number within the range from 2 to 16384 when using the coordinate data format Cd 606 Cam data starting point Set load the cam data starting point This is used with the stroke ratio data format Reading The cam starting point of the set cam data is read Writing Set the cam data starting point within the range from O to Cam resolution 1 Chapter 3 Cam Function Cd 607 Cam data value Set load the cam data operation points according to one of the following formats 1 Stroke ratio data format Buffer memory Item Setting value address 45008 i F Stroke ratio at first point 45009 45010 E Stroke ratio at second 01 2147483648 to 2147483647 X10 Tou 214
109. de 3 Verify the target axis bit is OFF for Cd 380 Synchronous control start and execute positioning for the output axis to be updated to Md 409 Cam axis current feed value 4 Turn OFF the target axis bit of Cd 381 Synchronous control analysis mode and then turn the target axis bit from OFF to ON in Cd 380 Synchronous control start to start synchronous control Chapter 5 Synchronous Control Initial Position 5 5 Cam position calculation function The cam position is calculated by the sequence program with this function This function can be used to calculate the cam position for the synchronous control initial position before starting synchronous control E Example The following shows the procedure for synchronous position alignment in a synchronous system where cam axes 2 and 3 are synchronized with the cam axis current value per cycle of axis 1 1 Calculate the cam axis current value per cycle using this function based on the current feed value and the cam reference position of axis 1 2 Calculate the cam axis current feed value of axis 2 with this function based on the cam axis current value per cycle that was calculated in 1 3 Calculate the cam axis current feed value of axis 3 with this function based on the cam axis current value per cycle that was calculated in 1 4 Execute positioning on axis 2 to the cam axis current feed value which was calculated in 2 and also on axis 3 to the cam axis current feed v
110. de setting method of cam reference position range Outside setting method of cam axis current value per cycle range The synchronous parameter Pr 435 Speed change gear smoothing time constant is set other than 0 to 5000 Overflow sign reversion occurred in input values because the speed change ratio of speed change gear is too large 0 The synchronous parameter Pr 440 Outside cam No range A S p g 2EEh Cam No is set to other than 0 to 256 Cam data specified in the synchronous parameter Pr 440 Cam No does not exist on the cam open area The synchronous parameter Pr 439 Cam axis length per cycle is set to 0 or lower The synchronous parameter Pr 447 Output axis smoothing time constant is set to other than 0 to 5000 The synchronous parameter Pr 460 Setting method of current value per cycle after main shaft gear is set to other than 0 to 2 The synchronous parameter Pr 465 Current value per cycle after main shaft gear Initial setting is other than 0 to Cam axis length per cycle 1 The synchronous parameter Pr 461 Setting method of current value per cycle after auxiliary shaft gear is set to other than 0 to 2 The synchronous parameter Pr 466 Current value per cycle after auxiliary shaft gear Initial setting is other than 0 to Cam axis length per cycle 1 The synchronous parameter Pr 462 Cam axis position restoration object is set to other than 0
111. der Number of decimal axis position unit Control unit D places for position 0 mm 2147483648 to 2147483647 mm 9 xomm 2147483648 to 2 147483647 mm nl inn 2147483648 to 2147483647 inch WEE a a L 8 mmh 2147483648 to 2 147483647 inch o dege 2147483648 to 2147483647 degree 2 degree WEE EE EE El ieee Te x1 0 degree 2 147483648 to 2 147483647 degree 9 o Pe 2147483648 to 2147483647 PLS SSC Dez 2 147483648 to 2 147483647 PLS Table 2 4 Synchronous encoder axis speed units Setting value of Pr 321 Synchronous encoder axis unit setting Synchronous encoder z Range Number of decimal axis speed unit Control unit Speed time unit places for speed Po mms 2147483648 to 2147483647 mm s gn 2147483648 to 2 147483647 mmis o mmmn 2147483648 to 2147483647 mm min mie o E E EE EEN P10 mmimin _ _ 2 147483648 to 2 147483647 mm min o ins 2147483648 to 2147483647 inchis SSES 10 inch s 2 147483648 to 2 147483647 inch s o incthimin 2147483648 to 2147483647 inch min x 10 inch min 2 147483648 to 2 147483647 inch min 2147483648 to 2147483647 degree s 3 PLS x 10 degree s 2 147483648 to 2 147483647 degree s 2147483648 to 2147483647 degree min g 10 degree min 1 2 147483648 to 2147483647 degree min ee PLS s 2147483648 to 2147483647 PLS s X10 PLS s 2 147483648 to 2 147483647 PLS s PLS min 2147483648
112. dress Set the clutch ON address when address mode is configured for the ON control mode of the auxiliary shaft clutch When the reference address is the current value per cycle after auxiliary shaft gear the setting address is converted for control within the range from 0 to Cam axis length per cycle 1 Example Cam axis length per cycle 20000PLS The ON address is controlled as 19000PLS when the setting value is 1000 Chapter 4 Synchronous Control Pr 425 Travel value before auxiliary shaft clutch ON Set the travel value for the reference address with a signed numbers for the distance between the clutch ON condition completing and the clutch closing 1 to 2147483647 Positive value Used when the reference address is increasing in direction 0 No movement The clutch is immediately turned ON with the clutch ON condition completing 2147483648 to 1 Negative value Used when the reference address is decreasing in direction Clutch ON condition is completed Example Cd 403 Auxiliary shaft clutch command ON Md 423 Auxiliary shaft clutch i ON OFF status 1 Pr 425 Travel value before auxiliary shaft clutch ON Positive value Auxiliary shaft current value or Md 402 Current value per cycle after auxiliary shaft gear Travel value after clutch Pr 426 Auxiliary shaft clutch OFF address Set the clutch OFF address when address mode is configure
113. e A value that is converted Cd 322 Synchronous encoder axis current value setting address into the range from 0 to Pr 324 Synchronous encoder axis length per cycle 1 1 Counter disable Input from the synchronous encoder is invalid Smoothing processing phase compensation processing and rotation direction restriction processing are continued While these processes are valid the input axis speed may not stop immediately when the counter disable is selected 2 Counter enable 010e Input from the synchronous encoder is valid Md 321 Synchronous encoder axis current value per cycle Cd 322 Synchronous encoder axis current value setting address Set a new current value in synchronous encoder axis position units to apply to the current value change for the synchronous encoder axis Refer to section 2 2 1 Cd 323 Synchronous encoder axis error reset If set to 1 Md 326 Synchronous encoder axis error No and Md 327 Synchronous encoder axis warning No are set to 0 and then b4 Error detection flag and b5 Warning detection flag of Md 325 Synchronous encoder axis status are turned OFF A synchronous encoder connection becomes valid if there is no error The Simple Motion module resets the value to 0 automatically after completion of the error reset However the setting of the synchronous encoder axis will not be valid even if the error is reset for the setting error of the synchron
114. e phase compensation amount in Pr 445 Cam axis phase compensation time constant Chapter 4 Synchronous Control Pr 445 Cam axis phase compensation time constant Set the time constant to affect the phase compensation amount for the first order delay 63 of the phase compensation amount is reflected in the time constant setting Cam axis phase compensation advance time Current value per cycle after phase compensation Current value per cycle before phase compensation Cam axis current value per cycle Cam axis current feed value Input speed before phase compensation Input speed after phase compensation Speed before phase Se Pr 444 Cam axis phase i Md 406 Cam axis phase 4 compensation compensation advance time compensation amount 1 gt t Pr 445 Cam axis phase compensation Cam axis phase compensation time constant time constant Pr 446 Synchronous control deceleration time Set the time to decelerate to a stop when deceleration stop occurs during synchronous control Set the time from Pr 8 Speed limit value until the speed becomes 0 in units of ms Operation assumes an immediate stop when 0 is set Chapter 4 Synchronous Control Output axis smoothing time constant Set the averaging time to execute a smoothing process for the travel value of the output axis after cam data conversion The smoothing process
115. e EES SE ae eee At the Oth point At the 512th point At the last point Chapter 3 Cam Function 2 Coordinate data format The coordinate data format is defined in coordinates of more than 2 points for one cam cycle The coordinate data is represented as Input value and output value e Input value Cam axis current value per cycle e Output value Stroke position from cam reference position With this format Pr 441 Cam stroke amount of output axis parameter is ignored and output value of the coordinate data becomes cam stroke position Refer to Section 3 2 Create cam data for setting methods of cam data Default value Cam data Setting item Setting details Setting range GX Works2 function Linear cam Cam No Set the cam No 1 to 256 User created cam F cam No Cam data Set 2 Cd 604 2 Coordinate data format format Setting with GX Works2 is not required Cam data format Set the number of coordinate points in one Cd 605 Coordinate j f cam cycle The coordinates are included at 2 to 16384 Cam resolution the Oth point coordinate number number Cd 606 Cam data Setting is not required with coordinate data Cam data starting starting point format point Set all coordinate data input value Xn Input value output value Yn 0 to 2147483647 Coordinate Required to set the coordinate data Xo Yo Cam axis cycle units data from the Oth point Output value Cam data value The input value should b
116. e ON and OFF control mode setting for clutch ON OFF are shown on the next page Chapter 4 Synchronous Control WON control mode 1 No clutch Direct coupled operation Execute direct coupled operation without clutch control Other clutch parameters are not applicable during direct coupled operation by setting 0 No clutch Clutch forced OFF command and the change of the clutch control setting are ignored during direct coupled operation 2 Clutch command ON OFF The clutch is turned ON OFF by the operation of clutch command ON OFF Setting in the OFF control mode are not applicable in the clutch command ON OFF mode Clutch command Clutch ON OFF status Current value before clutch Travel value after clutch Main shaft clutch Auxiliary shaft clutch Clutch command Main shaft clutch command Cd 403 Auxiliary shaft clutch command Clutch ON OFF status Main shaft clutch ON OFF status Md 423 Auxiliary shaft clutch ON OFF status 3 Clutch command leading edge The clutch is turned ON when the clutch command passes the leading edge from OFF to ON Clutch command Clutch ON OFF status Current value before clutch Travel value after clutch Chapter 4 Synchronous Control 4 Clutch command trailing edge The clutch is turned ON when the clutch command passes the trailing edge from ON to OFF Clutch command h Clutch ON OFF status Current value b
117. e Simple Motion module LED display and GX Works2 When an error or warning is detected check the status details and then proceed with the countermeasures 6 1 Error and warning details 2 00 00 eccceeeeeeeeeeeeeeeeneee ee eiieee ee tieeeeeesaeeeeeeaeeeeesneeeee 6 2 6 2 Error and warning of input AXIS 2 eee eeeeeee ee eene cece etree ee eaeeeeetaeeeeetnaeeeerenaeeeeee 6 3 6 221 Eist of lee 6 4 6 2 2 List of INDUt AXIS WAPNINGS esaeria anker naea AR EAEE E EEEn 6 5 6 3 Error and warning of output avis 6 6 6 3 1 List of output AXIS ELLOS ceceeeeeceecee cece eeeeeeceeeaeceeeeeseseceaeaeeeeeeesetecniaeeeeeess 6 6 6 3 2 List of output AXIS warnings eee cect ee eeeeeeeeeeaeeeeeeaaeeeeeeaeeeeeenaeeeeeeeaas 6 10 6 4 Warning of cam Operation cece eeeeceeeeeeeeeeeeeeeeeeeeaeeeeeeaeeeeeeaeeeeeenaeeesesnaeeeeeeaes 6 11 6 4 1 List of cam data operation warnings ceeeseeeeeeeeeeeeeneeeeeeenaeeeseenaeeeeseaaes 6 11 6 4 2 List of cam auto generation Warnings sseessessesseirsseerrrssttrrssttrrssterrssrn nnet 6 13 6 4 3 List of cam position calculation warmings ce eeeeeeeeeeeeeeeenteeeeeeneeeeeeaaes 6 14 Chapter 6 Troubleshooting Synchronous Control 6 1 Error and warning details 1 Error Errors detected by the Simple Motion module include parameter setting range errors errors at the operation start or during operation and servo amplifier errors Errors can be confirmed with the LED display of Simple Mo
118. e The current value is changed For 1 Enable only for current value increase direction is set in Pr 304 Servo input axis rotation direction restriction Speed before rotation A direction restriction A Md 301 Servo input axis speed Speed after rotation direction restriction Md 303 Servo input axis rotation direction restriction amount The input travel value is accumulated as a rotation direction restricted amount and will be reflected when the input travel moves in the enable direction Chapter 2 Input Axis Module 2 1 3 Servo input axis monitor data Buffer memo Monitor item Storage details Monitor value y address Md 300 e The current value for the servo input axis is Monitoring is carried out in decimal Servo input axis current stored 2147483648 to 2147483647 value Refresh cycle Operation cycle Servo input axis position units 33120 10n Note 1 33121 10n The speed for the servo input axis is stored E Monitoring is carried out in decimal 331224 10n Servo input axis speed Refresh cycle Operation cycle 2147483648 to 2147483647 33123 10 Servo input axis speed units hee S Md 302 The current phase compensation amount is Monitoring is carried out in decimal Servo input axis phase Stored 2147483648 to 2147483647 compensation amount Refresh cycle Operation cycle Servo input axis position units 33124 10n Note 1
119. e clutch ON OFF The input axis of the auxiliary shaft module The converting auxiliary shaft travel value is transmitted by the setting gear ratio The auxiliary shaft travel value is transmitted by the clutch ON OFF The composite travel value of the main shaft and the auxiliary shaft are transmitted It is used to change the speed by setting speed change ratio during the operation The cam conversion is processed based on the input travel value and the setting cam data The current feed value is output as the command to the servo amplifier Chapter1 Outline of Synchronous Control a number of usable Reference Number Numberpermodue module Number 2 axis 4 axis 16 axis per axis module module module Section 4 1 Section 4 1 Section 4 1 Section 4 1 Section 4 1 Section 4 3 Sp HH DES Se Section 4 2 Section 4 4 Section 4 5 Chapter1 Outline of Synchronous Control Cam data EE number of usable Classification Name Function description Reference Number Number per module module e It controls the operation pattern of the output axis two way operation and feed operation which is Cam data Cam data a f Up to 256 Chapter 3 corresponding to the input travel value of the output axis module Chapter1 Outline of Synchronous Control 1 2 Performance specifications E Synchronous control specifications d Number of settable axes em 16 axis module Input axis 4 axes modu
120. e in the middle of the cam axis current value per cycle Cam data starting point 0 i Pr 468 Cam axis current value per cycle Initial setting Cam axis current value per cycle gt gt Search from the value in the middle Preceding values are searched later Restore to the first current value that matches The restoration is done on the second Cam axis current feed value Current feed value Cam reference position gt c Search from a value in the middle of the cam axis current value per cycle Cam data starting point 0 A Pr 468 Cam axis current value per cycle Initial setting Cam axis current value per cycle e gt Search from the value in the middle Cam axis current feed value Current feed value Cam data starting point gt Restore to the first current feed value that matches Cam reference position gt Chapter 5 Synchronous Control Initial Position d The search fails Cam axis current value per cycle Cam axis current feed value 4 Current feed value Ier Restoration fails No match is found for the current feed value within1 cycle an Cam reference position gt 4 2 With a feed operation cam pattern a Search from Cam axis current value per cycle 0 Cam data starting point 0 A
121. e larger than the 2147483648 to 2147483647 previous coordinate data Xn lt Xn 1 Output axis position units Output value Y Output axis position unit A 2147483647 0 gt Input value X Cam reference position 2147483648 p Cam axis length per cycle Cam axis cycle unit Chapter 3 Cam Function When an input value that is 0 or the cam axis length per cycle does not exist in the coordinate data the coordinate is calculated from the line segment between the nearest two coordinates Output value Y Output axis position units A Generated line Generated line t from segment from Segmen Xo Yo and X1 Y1 Xa Y3 X9 Y9 and X10 Y10 2147483647 j 2 s5 555 rrr crn re x 4 X10 Y10 a r gt Input value X 0 Cam reference position 2147483648 k Cam axis length per cycle Cam axis cycle units A CAUTION If the cam data is set incorrectly such as simply setting a target value and command speed similar to positioning control the position and speed command to the servo amplifier increases and may cause machine interface and servo errors such as Overspeed error code 2031 or Command frequency error error code 2035 When creating and changing cam data execute a trial operation and provide the appropriate adjustments Refer to Safety precautions for precautions on trial operations and adjustments E Current feed v
122. e main shaft clutch OFF e Pr 413 Slippage amount at main shaft clutch ON Pr 414 Slippage amount at main shaft clutch OFF Pr 407 Main shaft clutch ON address Set the clutch ON address when address mode is configured for the ON control mode of the main shaft clutch When the reference address is the current value per cycle after main shaft gear the setting address is converted for control within the range from 0 to Cam axis length per cycle 1 Example Cam axis length per cycle 20000PLS The ON address is controlled as 19000PLS when the setting value is 1000 Chapter 4 Synchronous Control Pr 408 Travel value before main shaft clutch ON Set the travel value for the reference address with a signed number for the distance between the clutch ON condition completing and the clutch closing 1 to 2147483647 Positive value Used when the reference address is increasing in direction 0 No movement The clutch is immediately turned ON with the clutch ON condition completing 2147483648 to 1 Negative value Used when the reference address is decreasing in direction Clutch ON condition is completed Example Cd 400 Main shaft clutch f command ON Md 420 Main shaft clutch ON OFF status Md 400 Current value after composite Pr 408 Travel value before main shaft clutch ON Positive value main shaft gear or Md 401 Current value per cycle after main shaf
123. e main shaft gear can be changed during synchronous control It is used as a clutch to switch input values between the main and the sub input axes Pr 403 Main shaft gear Numerator Pr 404 Main shaft gear Denominator Set the numerator and the denominator for the main shaft gear to convert the input value The input value is converted as follows Main shaft gear Numerator Input value after conversion Input value before conversion X Pr 404 Main shaft gear Denominator The input value direction can be reversed by setting a negative value in the numerator of the main shaft gear Set the denominator of the main shaft gear to a value within the range from 1 to 2147483647 Example Convert the cam axis per cycle to be controlled in intervals of 0 1mm 0 00394inch The cam axis synchronizes with a conveyer that moves 100mm 3 937inch for every 360 00000degree of the main shaft Pr 403 Main shaft gear Numerator 1000 lt 0 1mm Pr 404 Main shaft gear Denominator 36000000 x 1 0 degree Chapter 4 Synchronous Control 4 1 3 Main shaft clutch parameters Default Buffer memo Setting item Setting details Setting value S u y value address E Set in hexadecimal HOOOI gt ON control mode 0 No clutch 1 Clutch command ON OFF 2 Clutch command leading edge 3 Clutch command trailing edge 4 Address mode 5 High speed input request Set the control method for the clutch TR So Ee
124. e per cycle restoration 1 Cam reference position restoration Pr 461 Setting method of current value 2 Cam axis current feed per cycle after auxiliary shaft gear value restoration 0 Previous value 1 Initial setting value of current value per cycle after auxiliary shaft gear 2 Calculate from input axis Chapter 5 Synchronous Control Initial Position E Current value after composite main shaft gear when starting synchronous control The current value after composite main shaft gear is restored as follows according to the main input axis operation executed before starting synchronous control Operation of main input axis em Synchronous Absolute position Absolute position 7 Before synchronous control start f r encoder axis detection system valid detection system invalid C Restoration method 1 Current value change Restoration method 1 Restoration method 1 N S Speed control E Restoration method 1 9 ees Fixed feed control Restoration method 1 ae Speed position switching control Note 1 Restoration method 1 KE speed switching control Note 1 Restoration method 1 Connection to servo amplifier Restoration method 2 Restoration method 1 Eo o ae Connection to synchronous Restoration method 1 encoder Restoration method 2 Restoration method 2 Note 1 When Pr 300 Servo input axis type is either 1 Current feed value or 2 Real current value and when Pr 21 Current feed value during speed
125. e to 0 Cam auto generation automatically after completion of the cam auto request generation Fetch cycle Main cycle ege H Set in decimal 1 Cam auto generation request Cam auto generation cam No Cam auto generation type Set the parameters for each type of cam auto e Set the cam No to be generated automatically Set in decimal Fetch cycle At requesting cam auto generation 1 to 256 Set the type of cam auto generation I Set in decimal Fetch cycle At requesting cam auto generation 1 Cam for rotary cutter Cam auto generation generation Refer to the next page data Fetch cycle At requesting cam auto generation Note 1 With the exception of positioning control main cycle processing is executed during the next available time Cd 608 Cam auto generation request Set 1 Cam auto generation request to execute cam auto generation Cam data is generated in the cam open area of the specified cam No based on the cam auto generation data The setting value is reset to 0 automatically after completing the process The cam auto generation data is saved in the cam storage area The cam auto generation is executed automatically again when the next power supply turns ON or PLC READY signal Y0 OFF to ON If a warning occurs when requesting cam auto generation the warning number is stored in Md 24 Axis warning No of axis 1 and the setting value is reset to 0 automatically When another request com
126. ear i iA shaft gear Numerator input values because the main shaft gear is immediately 2BFh Joperation overflow an e Set a larger the synchronous parameter ratio is too large stopped S A z Main shaft gear Denominator e Decrease the input axis speed Chapter 6 Troubleshooting Synchronous Control Outside main shaft Setting value of the synchronous clutch control setting parameter Pr 405 Main shaft clutch control setting is outside the setting range Error Operation status at Error name Error Corrective action No error occurrence 704 2C0h Outside main shaft Setting value of the synchronous 705 durch reference parameter Pr 406 Main shaft clutch 2C1h address setting reference address setting is outside the range setting range 3 Setting value of the synchronous Set within the range 706 Quisige main shalt arameter Pr 411 Main shaft clutch clutch smoothing p a an S Geer 2C2h smoothing method is outside the setting method range range Setting value of the synchronous Synchronous control 707 GEN arameter Pr 412 Main shaft clutch does not start clutch smoothing Se i 2C3h smoothing time constant is outside the time constant range setting range Setting value of the synchronous parameter Pr 418 Auxiliary shaft axis No is 720 Outside auxiliary outside the setting range 2D0h shaft axis No range The same servo input axis No as the output axis is set i
127. eeeeeeeaeeas 2 21 2 2 4 Synchronous encoder axis control data 2 28 2 2 5 Synchronous encoder axis monitor data 2 32 3 1 Control details for Cam FUNCTION raantenen E AAR AAEE A ANA A 3 2 32 Create cam E EE 3 9 3 2 1 Memory configuration of cam data AAA 3 9 3 2 2 Cam data operation funchon EESE ESEEESEES EEAS EEESEEnnEEn EEEn Ennen 3 11 3 2 3 Cam auto generation FUNCTION 2 0 ceeeeceseeeeeeteeeeeeeteeeseeeeeeeseneseeeseeesenesneseeeseeeseeeseneseeeseaeseeseneseneeeaes 3 15 4 1 Main shatt module EE 4 2 4 1 1 Overview of main shaft module uuu eeeeeeeeeeeeeeeeeeeeeeeeeeddedeedeededeeeddedeeeeeeeeeeeeeeeeeeeeee 4 2 42 Main Shatt parameters EE 4 3 4 1 3 Main shaft clutch parameiers EESE EnnE EEEn En nErenn 4 5 4 1 4 Main shaft clutch Control data 4 13 4 2 Auxiliary Shaft MOCUIC assinei sr earan rnaar EAA RESA NEE AAE NAI ESIAS ANETARE A FEOT AA PNAS VIRNA ARE RA E Sa 4 14 4 2 1 Overview of auxiliary shaft module A 4 14 4 2 2 Auxiliary shaft parameters yrs arn aTa AEE A TREER EA ATEARI 4 15 4 2 3 Auxiliary shaft clutch oarameierg AA 4 17 4 2 4 Auxiliary shaft clutch Control data A 4 25 ETC DEE EE 4 26 433 1 Overview of Clute nisnin laine lint ele ide ein eh ada eee 4 26 4 3 2 Control method for clutch ecceceecceeseceeeceeeeeeeeeeeeeeaeeeeaeeecaceeseaeeseaeescaeeseaeeeseaeeseaeescaeeesieeeseaeeseeeesaees 4 26 4 3 3 Smoothing method for dutch A 4 33 4 3 4 Use example Of clutch oii ethane tee twat ata teal wien adi eee ada 4 37 4
128. efore clutch Travel value after clutch ee gt t 5 Address mode The clutch is turned ON when the reference address reaches Clutch ON address The travel value after passing through the ON address is calculated as the output travel value of the clutch based on the reference address passing through thereby controlling the clutch with an accurate travel value Clutch ON OFF status A Clutch ON address Current value specified in clutch reference address setting A Travel value after clutch Main shaft clutch Auxiliary shaft clutch The current value specified in Pr 423 The current value specified in Pr 406 Auxiliary shaft clutch reference address Main shaft clutch reference address setting setting Reference address d 400 Current value after composite main Auxiliary shaft current value servo input shaft gear or Md 401 Current value per axis current value synchronous encoder cycle after main shaft gear axis current value or Md 402 Current value per cycle after auxiliary shaft gear Clutch ON address Main shaft clutch ON address Pr 424 Auxiliary shaft clutch ON address Clutch ON OFF status Main shaft clutch ON OFF status Ma 423 Auxiliary shaft clutch ON OFF status Chapter 4 Synchronous Control High speed input request The clutch is turned ON when the high speed input request DI turns ON The following actions are required when using the high speed input r
129. ek desert cen Meadne dt Eege tate de Adan A 25 PACKING LIS EE A 26 1 Outline of Synchronous Control 1 1 to 1 18 1 1 Outline Of SyNCHrONOUS Control 1 2 1 2 Performance spechfications taet tEStEASEAESEAEEEAAEEAREEAAEEASEEASE EES EES EEES E EEEE E En 1 6 1 3 Restrictions by the SERIAL No and version 1 9 1 4 General configuration of buffer memory Synchronous Control area ee eeceeeceeeeeseeeeeeteeetteeeneeeeeeneees 1 11 1 5 Operation method of synchronous Control 1 12 1 5 1 Synchronous control execution procedure eeeeeeeceeeeeeeeeeeeeeeeeeeeeeeeaeeeaeeeaeeeaeeeaeesaeeeaeetaeesaeeeaeeeaeeas 1 12 1 5 2 Setting items for positioning parameters cece eeeeeeeeeeeeeeeeeeeeeeeeeeeaeesaeeeaeeeaeeeaeesaeeeaeeeaeesaeeneeeatesas 1 13 1 5 3 Starting ending for synchronous Control 1 15 TOA Stop operation of Output EE 1 17 ELEM eebe a be an 2 2 2 1 1 Overview Of servo input ale 2 2 2 1 2 Servo input axis parameter S uercii reinii neaei ai anatia tonei areia i aan aeir aeae iia 2 4 2 1 3 Servo input axis monitor data 2 8 2 2 SYNCHrONOUS encoder AXIS sararae Aaa REA EEN AR NEAR ET ARN ARASAN EAREN ENAA A FRNA A E EANN ARAARA E R r AE 2 10 2 2 1 Overview of synchronous encoder ale 2 10 2 2 2 Setting method for synchronous encoder s essessessesresrssresnsrnssnetnsrndtnetnstnsnnetnsnndennnndeneindnanineenenann 2 13 2 2 3 Synchronous encoder axis parameters eeceeeeeeeeeeeeeeeeeeeaeeeeeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaeeeaee
130. elected during synchronous control after already selecting another setting Refer to Section 4 3 2 for operation details on the clutch control 1 ON control mode 0 No clutch Direct coupled operation 1 Clutch command ON OFF ossaa 2 Clutch command leading edge 3 Clutch command trailing edge 4 Address mode 5 High speed input request 00 101 Other clutch parameters are not applicabl Execute direct coupled operation without clutch control The clutch is turned ON OFF by the operation of Cd 400 Main shaft clutch command ON OFF Setting in the OFF control mode are not applicable in the clutch command ON OFF mode The clutch is turned ON when Cd 400 Main shaft clutch command passes the leading edge from OFF to ON The clutch is turned ON when Cd 400 Main shaft clutch command passes the trailing edge from ON to OFF The clutch is turned ON when the reference address the current value after composite main shaft gear or the current value per cycle after main shaft gear reaches Pr 407 Main shaft clutch ON address The travel value after passing through the ON address is calculated as the output travel value of the clutch based on the reference address passing through thereby controlling the clutch with an accurate travel value The clutch is turned ON when the high speed input request DI turns ON e during direct coupled operation by set
131. ent value per cycle after main shaft gear Select the setting method of Md 401 Current value per cycle after main shaft gear when starting synchronous control 0 Previous value n The current value per cycle after main shaft gear from the last synchronous control session is stored 1 Initial setting value of current value per cycle after main shaft gear E ET The value set in Pr 465 Current value per cycle after main shaft gear Initial setting is stored ET The value calculated based on the current value after composite main shaft gear is stored Pr 461 Setting method of current value per cycle after auxiliary shaft gear Select the setting method of Md 402 Current value per cycle after auxiliary shaft gear when starting synchronous control 0 Previous value ccecceeeceeereeeseeeeeeees The current value per cycle after auxiliary shaft gear from the last synchronous control session is stored 1 Initial setting value of current value per cycle after auxiliary shaft gear PEET The value set in Pr 466 Current value per cycle after auxiliary shaft gear Initial setting is stored teh EEN The value calculated based on the auxiliary shaft current value is stored Chapter 5 Synchronous Control Initial Position Pr 462 Cam axis position restoration object Select the object to be restored from Cam axis current value per cycle Cam reference position or Cam axis current feed value when starting syn
132. equest e Set the signal No for the High speed input request signal clutch control setting e Set 4 High speed input request in Pr 42 External command function selection and 1 Validates an external commana in Cd 8 External command valid for the applicable axis e For the 16 axis module set the external command signal in Pr 95 External command signal selection for the applicable axis Cd 8 External command valid f High speed input request DI Clutch ON OFF status Current value before clutch Travel value after clutch Chapter 4 Synchronous Control E OFF control mode 1 OFF control invalid Clutch OFF control is not used This setting is applicable only for execution with clutch ON control 2 One shot OFF The clutch is turned OFF after moving the distance Travel value before clutch OFF One shot operation after the clutch command turn ON If Travel value before clutch OFF is 0 Clutch ON OFF status does not turn ON in order to turn back OFF immediately Clutch command Clutch ON OFF status Current value before clutch gt t Travel value before clutch OFF Travel value after clutch na gt t Item Main shaft clutch Auxiliary shaft clutch Clutch command Main shaft clutch command Cd 403 Auxiliary shaft clutch command Clutch ON OFF status Main shaft clutch ON OFF status M4423 Auxiliary shaft clutch ON OFF status Tr
133. er Feedback pulse value from the servo Appendix 6 Appendices 3 Create the cam data cam No 1 E 0030 0077Ms1 6 Cam Data No 001 Sample Return to Basic Setting Setting Method Bet by Stroke Ratio Resolution 512 Stroke Setting Range 100 0000000 to 100 0000000 Cam Graph Display Graph Display Magnification Point Data J7 Stroke Speed Acceleration Jerk width 100 w Height 100 f WH 100 Screen view 100 0000000 0 0000000 100 0000000 0 00000 90 00000 180 00000 270 00000 Stroke Setting Section End degree Stroke Cam Curve 100 0000000 Constant Speed 270 00000 60 0000000 Constant Speed 0 00000 50 0000000 Constant Speed Item Synchronous contro module setting Set each module parameter Main shaft Main input axis Pr 400 Type 1 Servo Input Axis Pr 400 Axis No 4 E Sub input axis Pr 401 Type O Invalid Pr 401 Axis No o Main shaft composite gear Pr 402 Main Lilnput Pr 402 Sub O No Input Main shaft gear Pr 403 Numerator 1 Pr 404 Denominator 1 Main shaft clutch Auxiliary shaft Pr 418 Type O Invalid Pr 418 Axis No o Auxiliary shaft composite gear Auxiliary shaft gear Auxiliary shaft clutch Speed change gear Output axis Cam axis cycle unit Pr 438 Unit setting selection 1 Use Units in This Setting Pr 438 Unit 2 degree Pr 438 Number of decimal places 3 Pr 439 Cam axis length per cycle 360 000 degree Pr 441 Ca
134. er combinations may lead to faults if safety standards ex robot safety rules etc apply to the system using the module servo amplifier and servomotor make sure that the safety standards are satisfied Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of the module or servo amplifier differs from the safety directive operation in the system In systems where coasting of the servomotor will be a problem during the forced stop emergency stop servo OFF or power supply OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes In systems where perpendicular shaft dropping may be a problem during the forced stop emergency stop servo OFF or power supply OFF use both dynamic brakes and electromagnetic brakes The dynamic brakes must be used only on errors that cause the forced stop emergency stop or servo OFF These brakes must not be used for normal braking The brakes electromagnetic brakes assembled into the servomotor are for holding applications and must not be used for normal braking Z CAUTION The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max speed Use wires and cables that have a wire diameter heat resistance and bending resistance compatible with the system Use wires and cables within the length of the range
135. error details is stored If set to 1 in Cd 323 Synchronous encoder axis error reset the value is set to 0 Md 327 Synchronous encoder axis warning No When a warning for a synchronous encoder axis is detected the warning code corresponding to the warning details is stored If set to 1 in Cd 323 Synchronous encoder axis error reset the value is set to 0 Chapter 3 Cam Function Chapter 3 Cam Function The details on cam data and operation for cam function in output axis cam axis are explained in this chapter The cam function controls output axis by creating cam data that corresponds to the operation The functions to operate cam data include Cam data operation function Cam auto generation function and Cam position calculation function Refer to Chapter 4 Synchronous control for setting the output axis Refer to Section 5 5 Cam position calculation function 3 1 Control details for cam funchon rennet ent 3 2 32 Create Cam E EE 3 9 3 2 1 Memory configuration Of cam data 3 9 3 2 2 Cam data operation function sssssseserensseerttrtenstrttttnrnnnsstrrttnn nn nnee trennen 3 11 3 2 3 Cam auto generation TIupnchon cc eeeeeeeteeeeeeeeeeeeeeeeeeeeeeteeeaeeeteeaeeeeneenaees 3 15 3 1 Control details for cam function Chapter 3 Cam Function The output axis for synchronous control is operated with a cam The following operations can be performed with cam functions e Two
136. es between the main and the auxiliary shafts Pr 420 Auxiliary shaft gear Numerator Pr 421 Auxiliary shaft gear Denominator Set the numerator and the denominator for auxiliary shaft gear to convert the input value The input value is converted as follows Pr 420 Auxiliary shaft gear Numerator Input value after conversion Input value before conversion X lt lt Pr 421 Auxiliary shaft gear Denominator The input value direction can be reversed by setting a negative value in the numerator of the auxiliary shaft gear Set the denominator of the auxiliary shaft gear to a value within the range from 1 to 2147483647 4 2 3 Auxiliary shaft clutch parameters Default Buffer memo Setting item Setting details Setting value S IX value address Auxiliary shaft clutch control setting Auxiliary shaft clutch reference address setting Auxiliary shaft clutch ON address Travel value before auxiliary shaft clutch ON Note 1 The range from axis 1 to 2 is valid in the 2 axis module and the range from axis 1 to 4 is valid in the 4 axis module Set the control method for the clutch Fetch cycle Operation cycle Set the reference address for the clutch Fetch cycle At start of synchronous control Set the clutch ON address for address mode This setting is invalid except during address mode If the address is out of the range from 0 to Cam axis length per cycle 1 the address is converted
137. et in units based on the current value selected in Pr 406 Main shaft clutch reference address setting If the set amount is negative slippage amount at clutch OFF is controlled as 0 direct Chapter 4 Synchronous Control 4 1 4 Main shaft clutch control data Default Buffer memo Setting item Setting details Setting value s 7 y value address ca 400 Set the clutch command ON OFF i Set in decimal Main shaft clutch Fetch cycle Operation cycle 0 Main shaft clutch command OFF 44080 20n command 1 Main shaft clutch command ON e Set 1 to disable the clutch control BB Set in decimal Main shaft clutch rg temporarily 0 Main shaft clutch control valid 44081 20n invali Fetch cycle Operation cycle 1 Main shaft clutch control invalid command Cd 402 Set in decimal es SE ER d 0 Ve SEI clutch normal control i i u Main shaft clutch forced Fetch cycle Operation cycle 44082 20n OFF command 1 Main shaft clutch forced OFF n Axis No 1 Cd 400 Main shaft clutch command Use ON OFF for the main shaft clutch command This command is used with the following settings e The clutch ON control mode is 1 Clutch command ON OFF 2 Clutch command leading edge or 3 Clutch command trailing edge e The clutch OFF control mode is either 2 Clutch command leading edge or 3 Clutch command trailing edge Status is considered as clutch command OFF just before starting synchronous control If synchronous control
138. for details Re iti EAA E No smoothing 1 Time constant method Exponent Smoothing with an exponential curve based on the time constant setting 2 Time constant method Linear Smoothing with linear acceleration deceleration based on the time constant setting 3 Slippage method Exponent Smoothing with an exponential curve based on the slippage amount setting 4 Slippage method near Smoothing with linear acceleration deceleration based on the slippage amount setting Pr 429 Auxiliary shaft clutch smoothing time constant Set a time constant when the time constant method is set in Pr 428 Auxiliary shaft clutch smoothing method The time constant setting applies for clutch ON OFF Chapter 4 Synchronous Control Pr 430 Slippage amount at auxiliary shaft clutch ON Set the slippage amount at clutch ON when the slippage method is set in Pr 428 Auxiliary shaft clutch smoothing method The slippage amount is set in units based on the current value selected in Pr 423 Auxiliary shaft clutch reference address setting If the set amount is negative the slippage amount at clutch ON is controlled as 0 direct Pr 431 Slippage amount at auxiliary shaft clutch OFF Set the slippage amount at clutch OFF when the slippage method is set in Pr 428 Auxiliary shaft clutch smoothing method The slippage amount is set in units based on the current value selected in Pr 423 Auxiliary shaf
139. g 1 in Cd 5 Axis error reset for target axis e Axis error detection signal is turned OFF e Md 23 Axis error No is cleared e Md 24 Axis warning No is cleared e Changing of Md 26 Axis operation status from Error to Standby e Axis warning detection Md 31 Status b9 is turned OFF 6 3 1 List of output axis errors Error Operation status at p Error name Error Corrective action No error occurrence Setting value of the synchronous parameter Pr 400 Main input axis No is 700 Outside main input outside the setting range 2BCh Jaxis No range e The same servo input axis No as the output axis is set in the synchronous parameter Pr 400 Main input axis No Setting value of the synchronous parameter Pr 401 Sub input axis No is 701 Outside sub input outside the setting range 2BDh Jaxis No range e The same servo input axis No as the output axis is set in the synchronous parameter Pr 401 Sub input axis No Set within the range e Do not set up the same servo input axis Synchronous control number as the output axis does not start Outside main shaft gear denominator range The synchronous parameter Pr 404 Main Set a value within the range from 1 to shaft gear Denominator is set to 0 or lower 2147483647 e Set a smaller absolute value for the i synchronous parameter Pr 403 Main Overflow sign reversion occurred in Synchronous control x 703 Main shaft g
140. g GX Works2 REVISIONS The manual number is given on the bottom left of the back cover Print Date Manual Number Mar 2011 IB NA 0300174 A_ First edition Feb 2012 IB NA 0300174 B_ Additional model QD77MS Additional correction partial correction Processing time of cam auto generation Mar 2013 B NA 0300174 C gael model IB NA 0300174 D Additional modell LD77MS Additional function Synchronous encoder via servo amplifier Feb 2014 B NA 0300174 E_ Additional correction partial correction Speed torque control mode QD77GF Synchronous encoder via servo amplifier Japanese Manual Version IB 0300166 This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2011 MITSUBISHI ELECTRIC CORPORATION A 16 CONTENTS SAFETY PRECAUTIONS sina gigan le Ain tie del anes tee echte Ee AE eege een A 1 CONDITIONS OF USE FOR THE PRODUCT cece e cece eter tee eeeetae teeta snae tae saeseeeaesaesaeseeenaeeae A 14 INTRODUCTION DEE A 15 REVISIONS p i eae chien chee aii A ire EES A 16 CONTENTS E A 17 COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECT IVES 0c eect eee eter tee teens A 20 RELEVANT MANIAC eire aiaei A 21 MANUAL PAGE ORGANLZATION AAA A 24 TERM Succtcecet Ot
141. g is carried out in decimal Main shaft clutch smoothing with slippage method is stored as a signed value slippage accumulative Refresh cycle Operation cycle During synchronous control only e The ON OFF status of the auxiliary shaft clutch is stored Refresh cycle Operation cycle During synchronous Auxiliary shaft clutch E Monitoring is carried out in decimal ON OFF status control only Auxiliary shaft clutch stored The smoothing status of the auxiliary shaft clutch is Monitoring is carried out in decimal Refresh cycle Operation cycle During synchronous smoothing status control only e The accumulative slippage on the auxiliary shaft Auxiliary shaft clutch Signed value slippage accumulative Refresh cycle Operation cycle During synchronous control only Note 1 Note 2 Note 3 Note 4 Main input axis position units Refer to Chapter 2 Cam axis cycle units Refer to Section 4 5 1 Output axis position units Refer to Section 4 5 1 Auxiliary shaft position units Refer to Chapter 2 Sere wae aH clutch smoothing with slippage method is stored as display 2147483648 to 2147483647 Main input axis position units Cam axis cycle units er 42830 40n 42831 40n 42832 40n 42833 40n 42834 40n 42835 40n Note 1 or display 0 Clutch OFF status 1 Clutch ON status display 0 Not on clutch smoothing 1 On clutch smoothing E Monitorin
142. g is carried out in decimal display 2147483648 to 2147483647 Auxiliary shaft position units Cam axis cycle units Dees n Axis No 1 Chapter 4 Synchronous Control Md 400 Current value after composite main shaft gear The current value after combining the main input and the sub input values going into the composite main shaft gear is stored as an accumulative value Units are in position units of the main input axis Refer to Chapter 2 The unit is PLS if the main input axis is invalid The current value after composite main shaft gear will be changed when the following operations are executed in the main input axis during synchronous control Operations of main input axis 7 Synchronous Absolute position Absolute position d Synchronous control 8 encoder axis detection system valid detection system invalid Change method 1 Current value change Change method 1 Change method 1 Speed control Nae Change method 1 Fixed feed control Change method 1 Speed position switching control Note 1 Change method 1 Position speed switching control Note 1 Change method 1 Connection to servo amplifier Change method 2 Change method 1 Connection to synchronous Change method 1 encoder Note 1 When 2 Clear current feed value to zero is set in Pr 21 Current feed value during speed control only Change method 1 The new current value after composite main shaft gear is calculated based on the curren
143. gear Cam axis current value per cycle movement E Set in decimal 2147483648 to 2147483647 Refer to the detailed explanation on the next page for units E Set in decimal 0 to 65535 ms Dok a 44086 20n 44087 20n 44088 20n 44089 20n 44090 20n n Axis No 1 Chapter 4 Synchronous Control Cd 406 Synchronous control change request Set 1 to initiate Cd 407 Synchronous control change command The Simple Motion module resets the value to 0 automatically after completion of the synchronous control change The setting is initialized to 0 when starting synchronous control Cd 407 Synchronous control change command Set the synchronous control change command 0 Cam reference position MOVEMENT eeeeeeeeeeeeeeteeeteeeteeeteees 1 1 Change cam axis current value per cycle n se 2 2 Change current value per cycle after main shaft gear 3 3 Change current value per cycle after auxiliary shaft gear 4 4 Cam axis current value per cycle movement ss 5 1 Cam reference position movement This command is executed to move the cam reference position through adding the setting travel value of Cd 408 Synchronous control change value The travel value to be added is averaged in Cd 409 Synchronous control reflection time for its output Set a long reflection time when a large travel value is used since the cam axis current feed value moves with the travel value
144. ger than the speed limit value Use the units with the following conditions 1 QD77MS QD77GF Input power According to each instruction manual Input frequency According to each instruction manual Tolerable momenta P 2 According to each instruction manual power failure 2 LD77MS LD77MH ag L61P L63P e 100 to 240VAC Iss VDC GE to 264VAC 15 6 to 31 2VDC Input Input frequency 50 60Hz Po 0YOHZ Ap OS Tolerable momentary 10ms or less power failure 7 Corrective actions for errors Z CAUTION If an error occurs in the self diagnosis of the module or servo amplifier confirm the check details according to the instruction manual and restore the operation If a dangerous state is predicted in case of a power failure or product failure use a servomotor with electromagnetic brakes or install a brake mechanism externally Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally Shut off with the Shut off with servo ON signal OFF emergency stop alarm electromagnetic brake signal signal EMG Servo motor if an error occurs remove the cause secure the safety and then resume operation after alarm release The unit may suddenly resume operation after a power failure is restored so do not go near the machine Design the machine so that personal safety can be ensured even if the machine restarts sudde
145. h GX Works2 Write Note 1 Write Cam storage area Cam auto generation Write Cam open area Note 2 Cam storage area 256k bytes Read Verify Note 1 Cam open area Transmit in the following timing 1024k bytes e Power supply turn ON e Write to cam storage area e PLC READY signal Y0 OFF to ON Cam control Note 1 Write read verify from GX Works2 is executed toward cam storage area Note 2 The directly writing in cam open area is not transmitted to cam storage area The data in cam open area will be returned as cam storage area such as the power supply ON again Chapter 3 Cam Function E Cam data operation with GX Works2 Cam data can be modified while viewing the waveform with GX Works2 The cam data is written read verified to the cam storage area with GX Works2 however it cannot be executed to the cam open area The waveform generated by the cam auto generation function can be confirmed on the Cam graph of the Cam data window through reading with GX Works2 E Cam data operation with buffer memory It is possible to specify the area where cam data is written The cam data is read from the cam open area Refer to Section 3 2 2 Cam data operation function With the cam auto generation function auto generation data is saved in the cam storage area and the cam data is generated into the cam open area E Cam data capacity The size of the created cam data is shown
146. h per cycle for the synchronous encoder axis current value per cycle The current value of synchronous encoder axis is stored in Md 321 Synchronous encoder axis current value per cycle at ring counter based on the setting value The unit settings are in synchronous encoder axis position units Refer to Section 2 2 1 Set a value within the range from 1 to 2147483647 2 23 Chapter 2 Input Axis Module Example Setting example of the unit conversion and the length per cycle The following shows an example a rotary encoder is connected which resolution is 4000 PLS rev to the motor axis side on the rotation table that drives by 1 5 pulley system and the control unit is degree e Position unit 0 1 degree e Speed unit 0 001 degree min e Length per cycle 360 0 degree 1 cycle of the rotation table Setting item Setting details Setting value Number of decimal places for position Synchronous encoder Speed time unit axis unit settin S Number of decimal places for speed Pr 322 Synchronous encoder axis unit conversion Numerator 360 0 degree x 1 3600 X0 1degree Pr 323 Synchronous encoder axis unit conversion Denominator 4000 PLS x 5 20000 PLS Synchronous encoder axis length per cycle 360 0 degree 3600 X0 1degree Synchronous encoder input pulse Pr 322 Pr 323 Synchronous encoder axis unit conversion Md 320 Synchronous encoder axis x0 1degree current value
147. he module or absolute value motor has been replaced always perform a home position return Before starting test operation set the parameter speed limit value to the slowest value and make sure that operation can be stopped immediately by the forced stop etc if a hazardous state occurs Before starting the operation confirm the brake function 6 Usage methods Z CAUTION Immediately turn OFF the power if smoke abnormal sounds or odors are emitted from the module servo amplifier or servomotor Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized Do not make any modifications to the unit Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields etc Electromagnetic obstacles may affect the electronic devices used near the module or servo amplifier When using the CE Mark compliant equipment design refer to the EMC Installation Guidelines data number IB NA 67339 and refer to the corresponding EMC guideline information for the servo amplifiers and other equipment Note that when the reference axis speed is designated for interpolation operation the speed of the partner axis 2nd axis 3rd axis and 4th axis may be larger than the set speed lar
148. he synchronous encoder cable e Check the connected synchronous encoder e Check whether the synchronous encoder cable is faulty Replace the battery or check the battery connection of the servo amplifier Chapter 6 Troubleshooting Synchronous Control 6 2 2 List of input axis warnings Warning Operation status at Warning name Warning Corrective action No warning occurrence 680 2A8h 681 2A9h 682 2AAh 683 2ABh Out of range the input axis phase compensation amount Out of range the input axis rotation direction restriction amount Out of range the input axis speed display Synchronous encoder via servo amplifier battery warning Phase compensation amount of input axis is equal or lower than the minimum value 2147483648 or exceeding the maximum value 2147483647 Rotation direction restriction amount of input axis is equal or lower than the minimum value 2147483648 or exceeding the maximum value 2147483647 Monitor speed display of input axis is equal or lower than the minimum value 2147483648 or exceeding the maximum value 2147483647 Voltage of the servo amplifier battery connected with a synchronous encoder decreased to 3 2V or less e Set a smaller phase compensation advance time The input axis operation continues It is controlled with e Decrease the input axis speed e Confirm the enabled direction of the rotation direction restriction set
149. hem Failure to do so may result in malfunction due to noise Prevent foreign matter such as dust or wire chips from entering the module Such foreign matter can cause a fire failure or malfunction A protective film is attached to the top of the module to prevent foreign matter such as wire chips from entering the module during wiring Do not remove the film during wiring Remove it for heat dissipation before system operation Place the cables in a duct or clamp them If not dangling cable may swing or inadvertently be pulled resulting in damage to the module or cables or malfunction due to poor contact When disconnecting the cable from the module do not pull the cable by the cable part For the cable with connector hold the connector part of the cable Pulling the cable connected to the module may result in malfunction or damage to the module or cable Use 1000BASE T compliant Ethernet cables for Ethernet connection For the maximum station to station distance and the overall cable distance follow the specifications in this manual If not normal data transmission is not guaranteed 5 Trial operation and adjustment A CAUTION Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Extreme adjustments and changes may lead to unstable operation so never make them When using the absolute position system function on starting up and when t
150. hile controlling the cam axis is stored Md 409 e Value is stored even after system s power supply Cam axis current feed OFF value control only e The executing cam No is stored Refresh cycle Operation cycle During synchronous 2147483648 to 2147483647 Output axis position units eo Refresh cycle Operation cycle During synchronous E Monitoring is carried out in decimal Execute cam No control only Md 411 Execute cam stroke e The executing cam stroke amount is stored control only e The ON OFF status of main shaft clutch is stored Refresh cycle Operation cycle During synchronous Refresh cycle Operation cycle During synchronous 2147483648 to 2147483647 E Monitoring is carried out in decimal Main shaft clutch control only Refresh cycle Operation cycle During synchronous Main shaft clutch smoothing status control only W Monitoring is carried out in decimal display 42814 40n 42815 40n E Monitoring is carried out in decimal display 2147483648 to 2147483647 42816 40n 42817 40n 42818 40n 42820 40n 42821 40n 42828 40n 42829 40n Output axis position units Mee display 0 to 256 W Monitoring is carried out in decimal display Output axis position units Gees display 0 Clutch OFF status 1 Clutch ON status display 0 Not on clutch smoothing 1 On clutch smoothing The accumulative slippage of the main shaft clutch I Monitorin
151. ia CPU Fetch cycle Main cycle ee via CPU Set a value to be used every time as the input Input value for value for the synchronous encoder for the RW Set in decimal synchronous encoder Synchronous encoder via CPU 2147483648 to 2147483647 PLS via CPU Fetch cycle Operation cycle j Synchronous encoder axis No 1 Note 1 With the exception of positioning control main cycle processing is executed during the next available time Note 2 The range from axis 1 to 2 is valid in the 2 axis module and the range from axis 1 to 4 is valid in the 4 axis module Note 3 Synchronous encoder axis position units Refer to Section 2 2 1 Chapter 2 Input Axis Module Cd 320 Synchronous encoder axis control start If set to 1 the synchronous encoder axis control is started Md 2201 Synchronous encoder axis current value Cd 320 Synchronous encoder axis control start Cd 321 Synchronous encoder axis control method 0 Current value change Cd 322 Synchronous encoder axis current value setting address 100 If set to 101 to 116 the synchronous encoder axis control starts based on the high speed input request DI for the specified servo amplifier axis Set 4 High speed input request in Pr 42 External command function selection and set 1 Validates an external commana in Cd 8 External command valid for the specified servo amplifier axis to start from a high
152. iary Nene auxiliary shaft gear shaft gear Cam axis current value per cycle Adjust the phase of the cam axis by travel value Operated movement 4 6 2 Synchronous control change control data Chapter 4 Synchronous Control Default Buffer memo Setting item Setting details Setting value 7 y value address Synchronous control change request Synchronous control change command Synchronous control change value Synchronous control reflection time Set 1 to initiate a synchronous control change command request The value is reset to 0 automatically after completion of the synchronous control change Fetch cycle Operation cycle Set the synchronous control change command Fetch cycle At requesting synchronous control change Set the change value for synchronous control change processing Fetch cycle At requesting synchronous control change Set the reflection time for synchronous control change processing Fetch cycle At requesting synchronous control change Note 1 Set the value as follows in a sequence program 0 to 32767 32768 to 65535 PETATE Set as a decimal gie Convert into a hexadecimal and set E Set in decimal 1 Synchronous control change request E Set in decimal Cam reference position movement Change cam axis current value per cycle Change current value per cycle after main shaft gear Change current value per cycle after auxiliary shaft
153. ictions 1 With two way cam pattern operation if the corresponding cam axis current value per cycle is not found the error Cam axis current value per cycle restoration disable error code 768 will occur and synchronous control will not be started 2 When starting synchronous control the current feed value may change slightly from its original position at starting synchronous control This is due to the readjustment of the position based on the restored cam axis current value per cycle This does not result in position displacement 3 With a feed operation cam pattern if the corresponding cam axis current value per cycle is not found on the first cycle the cam reference position is changed automatically and the pattern is searched again 4 Ifthe cam resolution is large search processing may take a long time when starting synchronous control Cam resolution 32768 up to about 10ms Chapter 5 Synchronous Control Initial Position E Cam axis current value per cycle restoration operation 1 With a two way cam pattern operation a Search from Cam axis current value per cycle 0 Cam data starting point 0 Cam axis current value per cycle Search from Cam axis current value per cycle 0 Cam axis current feed value Current feed value Restore to the first current feed value that matches gt Other values are not restored Cam reference position b Search from a valu
154. igh speed Slippage amount Exponential system input request Linear system Set mode for ON condition and OFF condition individually Smoothing Time constant Exponential system Linear system Slippage Exponential system Linear Speed change Speed change ratio 0 to 655 35 Numerator of speed change ratio gear Smoothing Exponential system 2147483648 to 2147483647 Denominator of speed change ratio 1 to 2147483647 Smoothing Linear system Differential gear Use main shaft and auxiliary input Use composite main shaft gear and Main shaft side Auxiliary shaft side composite auxiliary shaft gear Select a composite method for each input from Input Input No input 0 Note Clutch compatibility The following shows the control methods for the clutch setting in the Simple Motion module QD77MS QD77GF LD77MS LD77MH compared with those in the Motion controller Q173DCPU Q172DCPU SV22 Q173DCPU Q172DCPU SV22 QD77MS QD77GF LD77MS LD77MH Clutch mode ON control mode OFF control mode ON OFF mode 1 Clutch command ON OFF ae ee Address mode 4 Address mode 4 Address mode One shot mode 2 Clutch command leading edge 1 One shot OFF External input mode 5 High speed input request 3 Clutch command trailing edge Appendix 3 Appendices Q172DCPU QD77MS QD77GF LD77MS LD77MH Output module Type Roller shaft Ball screw shaft Rotary Cam shaft only table shaft Cam shaft The linear cam can be controlled as
155. ing synchronous control with synchronous control analysis mode the following error does not occur e Cam axis current feed value restoration disable error code 769 Synchronous control start Target axis bit Cd 381 Synchronous control analysis mode Target axis bit Synchronous control monitor data The last monitor value Monitor value at synchronous control start Md 400 to Md 425 Start positioning on the cam axis current feed value at the beginning after checking the target axis bit of Cd 2901 Synchronous control start is OFF Positioning start BUSY signal OFF during analyzing f Standby Ver Standby Position deep EE Synchronous Md 26 Axis operation status 0 l control 8 control 15 i N gt Check synchronization Move tothe to the i Start synchronous control position in synchronous synchronization position control analysis mode with positioning control Chapter 5 Synchronous Control Initial Position E Synchronous control system control data Default Buffer memo Setting item Setting details Setting value S S y value address Synchronous control begins if the target axis bit is turned ON E Set the target axis in Ve dt EE ae N e Synchronous control ends if the bit is bit0 axis 1 to bit15 axis 16 OFF Synchronous control end ON Synchronous control start
156. io data from points within the cam resolution Refer to Section 3 2 Create cam data for setting methods for cam data Default value Cam data Setting item Setting details Setting range GX Works2 Se function Li Cam No Set the cam No nsa gam 1 to 256 User created cam Operation cam No Cam data Set 1 1 Stroke ratio data format format Setting with GX Works2 is not required am data format Cam resolution Set the number of divisions for one cam 256 512 1024 2048 4096 81 92 resolution cycle 16384 32768 i coordinate number Cd 606 Cam data Set the cam data point corresponding to starting point Cam axis current value per cycle 0 0 to Cam resolution 1 Cam data starting point Set the stroke ratio from the 1st to the 2147494048 to 2147483647 Stroke ratio last point x10 Tol Note 1 data The Oth point setting is not required Cam data value 214 7483648 to 214 7483647 It is always 0 Noet 1 For setting the stroke ratio out of range 100 with GX Works2 Simple Motion Module Setting Tool check the Display Advanced Cam Graph Stroke by selecting the Cam Data of Project on the options screen displayed by the menu bar Tools Options Example Cam resolution 512 Stroke ratio Setting range 214 7483648 to 214 7483647 A Cam axis length per cycle Cam axis cycle units 100 0000000 ri 0 gt Cam reference position 100 0000000 Fan sea E
157. ion when starting synchronous control the cam axis current feed value is restored based on the cam axis current value per cycle and the cam reference position Select the method for the cam axis current value per cycle and the method for the cam reference position to be restored Pr 464 Setting method of cam axis current value per cycle 0 Previous value 1 Initial setting value of cam axis current value per cycle Md 407 Cam axis current 2 Current value per cycle gt ES after main shaft gear vaUe E The cam axis current feed value is 3 Current value per cycle after restored based on the cam axis current value auxiliary shaft gear per cycle and the cam reference position Pr 463 Setting method of cam Md 409 Cam axis current feed value reference position 0 Previous value 1 Initial setting value of cam re Md 408 Cam reference reference position position L 2 Current feed value Cam axis current value per cycle Cam axis current feed value Cam reference position gt E Restrictions The cam axis current feed value moves to its restored value just after starting synchronous control when the cam axis current feed value to be restored is different from the current feed value at synchronous control start If the difference is larger than In position width PA10 of servo amplifier in pulse command units the error Cam axis current feed value re
158. ion of cam data operation If a warning occurs when requesting cam data operation the warning number is stored in Md 24 Axis warning No of axis 1 and the setting value is reset to 0 automatically When another request command is set the operation does not get executed and the setting value is reset to 0 automatically Cd 601 Operation cam No Set the cam No to write read Cd 602 Cam data first position Set the first position of the cam data to write read Set the cam data first position within the range from 1 to the cam resolution in cam resolution units using the stroke ratio data format The stroke ratio of the Oth cam data is 0 fixed and this data cannot be written read Set a value within the range from 0 to Coordinate number 1 with the coordinate data format Chapter 3 Cam Function Cd 603 Number of cam data operation points Set the number of operation points to write read starting from the first position of cam data The following shows the operation details when the value of Cam data first position Cam data operation points 1 is larger than the cam resolution in the stroke ratio data format Reading The cam data from the first position to the cam resolution is read in the buffer memory Writing The warning Outside number of cam data operation points range warning code 813 occurs and writing is not executed The following shows the operation details when the value of Cam data first position Cam
159. ipment from Mitsubishi 7 Any other failure found to not be the responsibility of Mitsubishi or that admitted not to be so by the user 2 Onerous repair term after discontinuation of production 1 Mitsubishi shall accept onerous product repairs for seven 7 years after production of the product is discontinued Discontinuation of production shall be notified with Mitsubishi Technical Bulletins etc 2 Product supply including repair parts is not available after production is discontinued 3 Overseas service Overseas repairs shall be accepted by Mitsubishi s local overseas FA Center Note that the repair conditions at each FA Center may differ 4 Exclusion of loss in opportunity and secondary loss from warranty liability Regardless of the gratis warranty term Mitsubishi shall not be liable for compensation to damages caused by any cause found not to be the responsibility of Mitsubishi loss in opportunity lost profits incurred to the user by Failures of Mitsubishi products special damages and secondary damages whether foreseeable or not compensation for damages to products other than Mitsubishi products replacement by the user maintenance of on site equipment start up test run and other tasks 5 Changes in product specifications The specifications given in the catalogs manuals or technical documents are subject to change without prior notice Microsoft Windows Windows NT and Windows Vista are registered trademarks of Mic
160. irection This helps to avoid reverse operation caused by machine vibration etc when Real current value or Feedback value is used as input values 0 Without rotation direction restriction ccccceeeeeseeees Rotation direction restriction is not executed 1 Enable only for current value increase direction Enable only the input travel value in the increasing direction of the synchronous encoder axis current value 2 Enable only for current value decrease direction Enable only the input travel value in the decreasing direction of the synchronous encoder axis current value The input travel value in the opposite direction of the enable direction accumulates as a rotation direction restricted amount and it will be reflected when the input travel value moves in the enabled direction again Therefore the current value of synchronous encoder axis does not deviate when the reverse operation is repeated The rotation direction restricted amount is set to 0 at the synchronous encoder axis connection and current value change For 1 Enable only for current value increase direction is set in Pr 328 Synchronous encoder axis rotation direction restriction A Speed before rotation direction restriction A Md 322 Synchronous encoder axis speed Speed after rotation direction restriction Md 324 Synchronous encoder axis rotation direction restriction amount
161. is applicable only for execution with clutch ON control 1 One shot OFF The clutch is turned OFF after moving the distance Pr 427 Travel value before auxiliary shaft clutch OFF One shot operation after the clutch command turns ON If Pr 427 Travel value before auxiliary shaft clutch OFF is 0 Md 423 Auxiliary shaft clutch ON OFF status does not turn ON in order to turn back OFF immediately 2 Clutch command leading edge The clutch is turned OFF when Cd 403 Auxiliary shaft clutch command passes the leading edge from OFF to ON 3 Clutch command trailing edge The clutch is turned OFF when Cd 403 Auxiliary shaft clutch command passes the trailing edge from ON to OFF 4 Address Mode ssssssessneesneeenerenereneee The clutch is turned OFF when the reference address the auxiliary shaft current value or the current value per cycle after auxiliary shaft gear reaches Pr 426 Auxiliary shaft clutch OFF address The travel value before passing through the OFF address is calculated as the output travel value of the clutch based on the reference address passing through thereby controlling the clutch with an accurate travel value 5 High speed input request 0100s10n The clutch is turned OFF when the high speed input request DI turns ON 3 High speed input request signal Set the high speed input request signal No for the ON control mode 1 and the OFF control
162. 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 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 assignment setting and validity of continuous operation during error detection to values that are compatible with the system application The protective functions may not function if the settings are incorrect ZADANGER 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 intelligent function module s instruction manual for the program corresponding to the intelligent function module When connecting GX Works2 with the CPU module or connecting a personal computer with an intelligent function module to modify data of a running programmable controller configure an interlock circuit in the program to ensure that the entire system will always operate safely For other forms of control such as program modification or operating status change of a running programmable controller read the relevant
163. is turned OFF and input from the synchronous encoder becomes invalid Counter enable flag If the counter enable control Note 1 is executed it is turned ON and input from the synchronous encoder becomes valid When the synchronous encoder is valid to connect the initial status is ON enable status This flag turns ON when a synchronous encoder axis current value change is never executed Current value setting If the current value setting request flag is ON for the synchronous encoder request flag connection the synchronous encoder axis current value starts counting with 0 This flag turns OFF when a synchronous encoder axis current value change is executed This flag turns ON when an error occurs for the synchronous encoder axis Error detection flag The error No is stored in 1vd 326 Synchronous encoder axis error No Reset the error in Cd 323 Synchronous encoder axis error reset This flag turns ON when a warning occurs for the synchronous encoder axis Warning detection flag The warning No is stored in 1d 327 Synchronous encoder axis warning No Reset the warning in Ca 323 Synchronous encoder axis error reset Not used Always OFF b15 Note 1 Set the control method for synchronous encoder in Cd 321 Synchronous encoder axis control method Refer to Section 2 2 4 Md 326 Synchronous encoder axis error No When an error for a synchronous encoder axis is detected the error code corresponding to the
164. istsrsttstntttstnttnstustnstnatuntnatnatnatnntnatnntnatnatnntnnnna 6 13 6 4 3 List of cam position Calculation warnings ccceeceeceeeceteeeeeeeteeeeeeeeeeeeeeeceeeseeeseeeseneseeeseaeseaeseneeeaeeats 6 14 Appendices Appendix 1 to Appendix 18 Appendix 1 Comparisons with the Motion controller GV Appendix 2 Appendix 2 Sample program of synchronous Control Appendix 6 Appendix 3 Lists of buffer memory address for synchronous Control Appendix 10 COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES 1 For programmable controller system To ensure that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated into other machinery or equipment certain measures may be necessary Please refer to one of the following manuals e QCPU User s Manual Hardware Design Maintenance and Inspection e MELSEC L CPU Module User s Manual Hardware Design Maintenance and Inspection e Safety Guidelines This manual is included with the CPU module or base unit The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage Directives For the product To make this product comply with EMC and Low Voltage Directives refer to Section 4 3 1 Precautions for wiring of the following e MELSEC Q QD77MS Simple Motion Module User s Manual Positioning Control MELSEC Q QD77GF Simple Motion Module User s Manual Positioning Control e MELSEC L LD77MS Simple Motion Module Use
165. it setting gt Control unit 0 mm 1 inch 2 degree 3 PLS Number of decimal places Diop Unit setting selection 0 Use units of main input axis 1 Use units of this setting Set the required input amount with the Hl Set in decimal Cam axis length per cycle Set the cam No Fetch cycle At start of synchronous control Cam No At passing through the Oth point of cam data Set the cam stroke amount corresponding to the stroke ratio 100 for cam with stroke ratio data format e This is ignored for cams using the Cam stroke amount coordinate data format Fetch cycle At start of synchronous control At passing through the Oth point of cam data Cam axis phase Set the time to advance or delay the phase of the cam axis Fetch cycle Operation cycle compensation advance time Pr 445 Cam axis phase Set the time constant to affect the phase compensation of the cam axis compensation Fetch cycle At start of synchronous control time constant Set the deceleration time for the Synchronous control synchronous control deceleration time Fetch cycle At start of synchronous control Output axis smoothing time constant Note 1 Cam axis cycle units Refer to Section 4 5 1 Note 2 Output axis position units Refer to Section 4 5 1 Note 3 Set the value as follows in a sequence program 0 to 32767 woe Set as a decimal 32768 to 65535 Convert i
166. ite operation Set the cam data starting point Fetch cycle At requesting cam data operation E Set in decimal e Read operation The cam data starting point is e Stroke ratio data format Cam data stored 0 to Cam resolution 1 starting point Refresh cycle At completing cam data operation e Coordinate data format Setting not required Setting is not required with coordinate data format W Set in decimal Stroke ratio data format Write operation Set the cam data corresponding 2147483648 to 2147483647 x 10 to the cam data format e Coordinate data format Fetch cycle At requesting cam data operation Input value Cam data value Read operation The cam data is stored 0 to 2147483647 Refresh cycle At completing cam data operation Cam axis cycle units Output value 2147483648 to 2147483647 a Note 3 Output axis position units Note 2 Note 2 Cam axis cycle units Refer to Section 4 5 1 Note 3 Output axis position units Refer to Section 4 5 1 Cd 600 Cam data operation request Set the following commands to write read cam data 1 Read The cam is read from the cam open area and stored to the buffer memory 2 Write Cam storage area The cam data is written to the cam storage area and the cam open area from the buffer memory 3 Write Cam open area The cam data is written to the cam open area from the buffer memory The setting value is reset to 0 automatically after complet
167. j 35041 10j 35042 10j 35043 10j e Set the control method for the synchronous E Set in decimal SE 0 Current value change Synchronous encoder Fetch cycle At synchronous encoder axis 1 Counter disable axis control method control start 2 Counter enable Set a new current value for changing the E Set in decimal Synchronous encoder Current value 2147483648 to 2147483647 Fetch cycle At synchronous encoder axis Synchronous encoder axis position control start units Dok sl set to 1 for resetting error and warning for the synchronous encoder axis the error number and warning number are set to 0 and axis current value setting address the error detection and warning detection bits status are turned OFF e The Simple Motion module resets the value to E Set in decimal 0 automatically after completion of the error 1 Error reset request reset e In the case of the synchronous encoder axis parameter error even if the error is reset the setting valid flag of the synchronous encoder axis status has been OFF Fetch cycle Main cycle pier 35044 10j 35045 10j 35046 10j 35047 10j Synchronous encoder axis error reset e If set to 1 the synchronous encoder via i i y H Set in decimal CPU is connected 1 Connect synchronous encoder via Connection command if set to 0 the synchronous encoder via CPU of synchronous CPU is disconnected 0 Disconnect synchronous encoder encoder v
168. lag for synchro nization M100 Start sy nchronou s contro l M100 Start sy nchronou s contro l Y30 PLC READ Y signal X40 Axis 1 BUSY X40 Axis 1 BUSY U3 G2409 Ki Axis 1 in drivi ng X43 Axis 4 BUSY U3 SET Dr i All axes servo ON U3 G36320 0 Synchron ous cont rol star t U3 DMOVP K20000 64618 SET G2409 Ki Axis 1 in drivi ng X43 RST Axis 4 BUSY Appendix 9 RST JOG spee d of axi s4 U3 G30131 0 Forward run JOG start of axis 4 U3 G30131 0 Forward run JOG start of axis 4 U3 G36320 0 Synchron ous cont rol star t Appendices Appendix 3 Lists of buffer memory address for synchronous control Synchronous control system control data It Buffer memory Reference em address section Synchronous control start 36320 Section 1 5 3 Synchronous control analysis mode 36322 Section 5 4 Servo input axis parameter iter Buffer memory Reference address section Servo input axis type 32800 10n Servo input axis smoothing time constant 32801 10n 32802 10n Pr 302 Servo input axis phase compensation advance time Section 2 1 2 RES F303 303 P eene input axis Servo input axis phase compensation time constant compensation time constant 32804 10n On Servo input axis rotation direction restriction 32805 10n n Axis No 1 Servo input axis monitor data Buffer memory Reference Item address
169. le 1 axis output axis Main shaft sub input axis 1 axis output axis 1output axis 1 axis output axis 1output axis 1output axis 1output axis Speed change gear 1 output axis Output axis Cam axis 2 axes module 4 axes module 16 axes module Chapter1 Outline of Synchronous Control E Cam specifications Specification 256k bytes Memory capacity Cam open area open area 1024k bytes Up to 256 Dependent on memory capacity cam resolution and Number of cam registration Nee coordinate number Up to 32 characters per cam data Stroke ratio 256 512 1024 2048 4096 8192 16384 32768 data format Stroke ratio 214 7483648 to 214 7483647 g Coordinate number 2 to 16384 Coordinate Input value O to 2147483647 data format Coordinate data Output value 2147483648 to 2147483647 Note 1 The maximum number of cam registration by the cam resolution is shown below In case it created by the same cam resolution 1 Stroke ratio data format 2 Coordinate data format Cam Maximum number of cam registration Coordinate Maximum number of cam registration l resolution Cam storage area Cam open area number Cam storage area Cam open area 256 256 128 256 1 7 Chapter1 Outline of Synchronous Control E Cam operation specifications Specification 1 GX Works2 s Write read verify to cam storage area Operation method of cam data 2 Via buffer memory Cam data operation function Write read to
170. le only for current value A negative accumulation is stored during rotation direction restriction increase direction 0 is stored if there is no restriction 2 Enable only for current value A positive accumulation is stored during rotation direction restriction decrease direction 0 is stored if there is no restriction Rotation direction restriction is processed after phase compensation processing Therefore if undershoot occurs from phase compensation during deceleration stop the rotation direction restriction amount might remain 2 2 Synchronous encoder axis 2 2 1 Overview of synchronous encoder axis Chapter 2 Input Axis Module The synchronous encoder is used to drive the input axis based on input pulse from a synchronous encoder that is connected externally The status of a synchronous encoder axis can also be monitored after the system s power supply tu Pr 22 Pr 24 Pr 89 Pr 320 Pr 329 Pr 321 Pr 322 Pr 323 Pr 325 Pr 326 Pr 327 rns ON Input signal logic selection Manual pulse generator Incremental synchronous encoder input selection Manual pulse generator Incremental synchronous encoder input type selection Synchronous encoder axis type Resolution of synchronous encoder via CPU Input pulse ek of synchronous encoder Counter disable Counter enable Synchronous encoder axis unit setting Syn
171. liary shaft clutch smoothing status 2 Slippage method linear Chapter 4 Synchronous Control acceleration deceleration smoothing Set 4 Slippage method Linear in the clutch smoothing method Clutch ON OFF status Clutch smoothing status Speed before clutch processing Speed after clutch smoothing Slippage a A gt t mount at clutch ON Slippage amount at clutch OFF 3 Operation at input speed deceleration during slippage method smoothing When the speed before clutch processing decreases the speed after clutch smoothing is controlled without exceeding the speed before clutch processing If slippage amount remains when the speed before clutch processing becomes 0 the smoothing process will be continued Then the clutch smoothing process will be executed with the remaining slippage amount when the speed before clutch processing gets faster than Clutch ON OFF status Clutch smoothing status the speed after clutch smoothing Speed before clutch processing gt t Speed after clutch smoothing A Slippage amount at clutch ON Slippage amount at clutch OFF es d Deceleration without Clutch smoothing is executed with exceeding the speed the remaining slippage amount at before clutch processing clutch OFF since the speed before clutch processing gets faster Chapter 4 Synchronous Control 4 3 4 Use example of clutch The following machine shows an exa
172. lidiinvalid selection O Always set O Set as required when not required Setting not required This is an irrelevant item so the setting value will be ignored If the value is the default value or within the setting range there is no problem 1 13 Chapter1 Outline of Synchronous Control Synchronous Positioning parameter control 25 Acceleration tme 1 o 30 Decelerationtimes s s s s N IIN IIN N NI IS ea a Ca WE RE Eech 31 OG speediimitvaue 32 JOG operation acceleration time selection 33 JOG operation deceleration time selection 34 Acceleration deceleration process selection 1 O O O O o Sa RE Detailed 3 pateles TPF Zi 2 S curve ratio CH Vy Dy Dl Dy Oy Dy YOY DY Di OT DI Di Dy Dy s s s s s s s s s s s s s CO A IA ISl e il lel el el lel eel ael el el N wo CO POO TIN Io PfOu yy Pood N yi o Speed control 10 x multiplier setting for degree axis Restart allowable range when servo OFF to ON Manual pulse generator Incremental synchronous encoder input type selection ES e CO o Pr 90 Operation setting for speed torque control mode EE Pr 95 External command signal selection Always set O Set as required when not required Setting not required This is an irrelevant item so the setting value will be ignored If the value is the default value or within the
173. lue increase Synchronous encoder travel value to one direction y K 34733 20j direction axis rotation direction Fetch cycle At power supply ON restriction 2 Enable only for current value decrease direction Set the resolution of the synchronous encoder when the synchronous encoder axis type is set to synchronous encoder Resolution of via CPU i Set in decimal 34734 20j synchronous encoder f 9 or less is set the input value of 2147483648 to 2147483647 PLS 34735 20j via CPU synchronous encoder via CPU is processed as 32 bit counter Fetch cycle At power supply ON j Synchronous encoder axis No 1 Note 2 Set the value as follows in a sequence program 0 to 32767 woe Set as a decimal 32768 to 65535 Convert into a hexadecimal and set Chapter 2 Input Axis Module Pr 320 Synchronous encoder axis type Set the synchronous encoder type to be generated of the input value for the synchronous encoder axis Oz nvalid EE Synchronous encoder axis is invalid 1 Incremental synchronous encoder Generate the input value based on the incremental synchronous encoder input 101 to 116 Synchronous encoder via servo amplifier Connectable servo amplifier Axis 1 to axis 16 ENE ME remote EE Ee Generate the input value based on the synchronous encoder input via servo amplifier connected to the specified servo amplifier axis 1 to axis 16 201 Synchronous encoder via CPU Gene
174. m stroke amount 100000 PLS Pr 440 Cam No 1 Pr 444 Cam axis phase compensation advance time Pr 445 Cam axis phase compensation time constant Pr 446 Synchronous control deceleration time 0 ms Pr 447 Output axis smoothing time constant 0 ms Ops ter 10ms Output A Set the parameter for the initial alignment when starting the synchronous control Synchronous control initial position parameter Set each module parameter Appendix 7 Appendices 5 Create the sequence program to start synchronous control The sample programs when head I O number of the Simple Motion module is set to 30H are shown below 22 Operation example for 4 axis module X31 Flag for synchro nization Mi a 1 Y30 PLC READ Y signal X3C Ca SET Start sy nchronou s contro M100 Start sy nchronou s contro l Axis 1 BUSY X3C Axis 1 BUSY X3C Axis 1 BUSY U3 G809 K15 Axis 1 in drivi ng U3 G809 K15 Axis 1 in drivi ng DMOVP K20000 X3F an SET Axis 4 BUSY RST X3F RST Axis 4 BUSY Appendix 8 Dr i All axes servo O N U3 G36320 0 Synchron ous cont rol star t U3 G1818 JOG spee d of axi s4 Y3E Forward run JOG start of axis 4 Y3E Forward run JOG start of axis 4 U3 G36320 0 Synchron ous cont rol star t 22 Operation example for 16 axis module X31 Appendices F
175. mand is ON the condition is established just after starting synchronous control by setting 2 Clutch command leading edge The condition is not established after starting by setting 3 Clutch command trailing edge Cd 404 Auxiliary shaft clutch control invalid command The auxiliary shaft clutch control is invalid if 1 is set The previous clutch ON OFF status remains before clutch control becomes invalid Clutch control will not become invalid during the movement before clutch ON and clutch OFF Instead clutch control will become invalid after the movement is completed Cd 405 Auxiliary shaft clutch forced OFF command Set 1 to force the clutch OFF The output value from the clutch becomes 0 immediately even during clutch smoothing The slippage accumulative amount is set to 0 if smoothing with a slippage method Reset to 0 to restart the clutch control from the clutch OFF status after using the clutch forced OFF command Chapter 4 Synchronous Control 4 3 Clutch 4 3 1 Overview of clutch The clutch is used to transmit disengage command pulses from the main auxiliary shaft input side to the output module side through turning the clutch ON OFF which controls the operation stop of the servomotor A clutch can be configured for the main and auxiliary shafts 4 3 2 Control method for clutch Set the ON and OFF control methods separately in Pr 405 Main shaft clutch control setting and Pr 422 Auxiliary shaft clu
176. mand is set this function does not get executed and the setting value is reset to 0 automatically Chapter 3 Cam Function Cd 609 Cam auto generation cam No Set the cam No to be generated automatically Cd 610 Cam auto generation type Set the type of cam auto generation 1 Cam for rotary cutter Cd 611 Cam auto generation data Set the cam auto generation data corresponding to Cd 610 Cam auto generation type 1 Fora rotary cutter The cam data starting point for a rotary cutter is 0 Buffer memory Item Setting value Details address 53204 Canon 256 512 1024 2048 Set the cam resolution for generating the 4096 8192 16384 32768 cam 1 to 2147483647 Set the sheet length Sheet length Optional Same unit Set this value in the cam axis length per 0 1mm etc cycle Sheet 1 to 2147483647 synchronization Optional Same unit width 0 1mm etc 1 to 2147483647 Synchronous axis Set the cycle length of the rotary cutter Optional Same unit length shaft 0 1mm etc 0 to 2147483647 Set the length from the beginning of the Optional Same unit sheet to the start of the synchronous 0 1mm etc section Set the sheet length of the synchronous section Synchronization starting point Set when the synchronous speed in the Synchronous synchronous section needs to be adjusted section acceleration 5000 to 5000 0 01 The speed is Synchronous speed X ratio 100 Acceleration ratio in the
177. manuals carefully and ensure that the operation is safe before proceeding Especially when a remote programmable controller is controlled by an external device immediate action cannot be taken if a problem occurs in the programmable controller due to a communication failure To prevent this configure an interlock circuit in the program and determine corrective actions to be taken between the external device and CPU module in case of a communication failure For the operating status of each station after a communication failure refer to the MELSEC Q QD77GF Simple Motion Module User s Manual Network Incorrect output or malfunction due to a communication failure may result in an accident Do not write any data to the system area of the buffer memory in the intelligent function module Also do not use any use prohibited signals as an output signal from the CPU module to the intelligent function module Doing so may cause malfunction of the programmable controller system To set a refresh device in the network parameter select the device Y for the remote output RY refresh device If a device other than Y such as M and L is selected the CPU module holds the device status even after its status is changed to STOP if a communication cable is disconnected the network may be unstable resulting in a communication failure of multiple stations Configure an interlock circuit in the program to ensure that the entire system will always o
178. mory address 53204 53206 Sheet length 53207 53208 Sheet synchronous width 53209 53210 Synchronous axis length 53211 53212 eae f Synchronization starting point 53213 53214 Synchronous section acceleration ratio Cam operation monitor data 11 Buffer memory Reference Item address section L 53800 Cam position calculation result Section 5 5 2 53801 Cam position calculation Appendix 17 Appendices MEMO Appendix 18 WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range If any faults or defects hereinafter Failure found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company However if repairs are required onsite at domestic or overseas location expenses to send an engineer will be solely at the customer s discretion Mitsubishi shall not be held responsible for any re commissioning maintenance or testing on site that involves replacement of the failed module Gratis Warranty Term The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place Note that after manufacture and shipment from Mitsubishi the maximum distribution period shall be six 6 months and the longest gratis warra
179. mple using clutch control for a flying shear cutting system that synchronizes off a start signal from a sensor input Sensor input High speed input Main shaft request DI lt f gt gear KA Main shaft d gt main input axis EE _ Synchronous clute 100mm Output axis encoder axis 3 94inch L Synchronous GE ce encoder Output axis Waiting position Linear cam Sensor position Main shaft clutch setting item Setting value ON control mode 5 High speed input request Pr 405 405 Main shaft clutch e OFF control mode 1 One shot OFF control setting High speed input signal Specify the high speed input signal No used for sensor input Main shaft clutch reference address setting 0 Current value after composite main shaft gear Pr 410 Travel value before main shaft clutch OFF 380mm 14 96inch Main shaft clutch smoothing method 4 Slippage method Linear 100mm 3 94inch Distance between the sensor and the waiting position Pr 414 Slippage amount at main shaft clutch OFF 20mm 0 79inch Slippage amount at main shaft clutch ON Synchronous encoder axis and output axis in synchronization High speed input request DI Clutch smoothing status Clutch ON OFF status Synchronous encoder axis speed gt t Cutting After clutch smoothing Output axis speed i All travel value of output axis j Lt 380mm 20mm 100mm 300mm
180. mpty data in the cam storage area with GX Works2 to delete only cam data Password protection for cam data The cam data can be protected as shown below by password setting Password setting Cam data operation with GX Works2 Cam data operation with buffer memory e Cam data cannot be read without d Password for read protection Reading cam data is not operated password for read protection p Cam data cannot be written without Writing cam data and generating cam Password for write protection 8 f s password for write protection data auto generation is not operated The password for cam data is deleted with cam data by Cd 2 Parameter initialization request Chapter 3 Cam Function 3 2 2 Cam data operation function This function is used to write read cam data via buffer memory with the cam operation control data The amount of data for each operation is 4096 points with the stroke ratio data format and 2048 points with the coordinate data format If it is more than that the operation should be executed separately E Cam operation control data Setting value Default Buffer memory Setting item Setting details Read operation Stored value value address Set the command for operating cam data 4 600 e The Simple Motion module resets the value to 0 R Set in decimal automatically after completion of cam data 1 Read operation 2 Write Cam storage area Fetch cycle Main cycle N 3 Write Cam open area
181. n control Pr 421 Auxiliary shaft gear Denominator n Axis No 1 Note 1 The range from 1 to 2 is valid in the 2 axis module and the range from 1 to 4 is valid in the 4 axis module Pr 418 Auxiliary shaft axis No Set the input axis No for the auxiliary shaft dl DEE The input value is always 0 1 to 16 Servo input ais Set the servo input axis axis 1 to axis 16 When the servo input axis is not set in the system setting the input value is always 0 If the number is set to the same value as the output axis the error Outside auxiliary shaft axis No range error code 720 occurs and synchronous control cannot be started 801 to 804 Synchronous encoder axis EE Set the synchronous encoder axis axis 1 to axis 4 When synchronous encoder axis is invalid the input value is always 0 Chapter 4 Synchronous Control Pr 419 Composite auxiliary shaft gear Set the composite method for input values from the main and auxiliary shafts The setting values for each axis are shown as follows O Nomput The input value from the input axis is calculated as 0 Neu EE The input value from the input axis is calculated as it is Ke The input value from the input axis is calculated with its opposite sign Operation assumes 0 No input if the value is set out of the range from 0 to 2 The composite method for the composite auxiliary shaft gear can be changed during synchronous control It is used as a clutch to switch input valu
182. n error etc e Just before the system s power supply turned OFF to the Simple Motion module 5 3 Chapter 5 Synchronous Control Initial Position E Current value per cycle after main shaft gear current value per cycle after auxiliary shaft gear when starting synchronous control The current value per cycle after main shaft gear current value per cycle after auxiliary shaft gear is restored as follows according to the main input axis auxiliary shaft operation executed before starting synchronous control Operation of main input axis R Se em Synchronous auxiliary shaft Absolute position Absolute position y y encoder axis Before synchronous control start detection system valid detection system invalid jor i i y Restoration method 1 Current value change Restoration method 1 Restoration method 1 Note 1 Speed control us Restoration method 1 Fixed feed control Restoration method 1 Speed position switching control Note 1 Restoration method 1 Position speed switching control Note 1 Restoration method 1 Connection to servo amplifier Restoration method 2 Restoration method 1 Connection to synchronous Restoration method 1 encoder Restoration method 2 Restoration method 2 Note 1 When Pr 300 Servo input axis type is either 1 Current feed value or 2 Real current value and when Pr 21 Current feed value during speed control is 2 Clear current feed value to zero only
183. n the synchronous parameter Pr 418 Auxiliary shaft axis No Outside auxiliary The synchronous parameter Pr 421 shaft gear Auxiliary shaft gear Denominator is set to 0 denominator range or lower Set within the range e Do not set the same servo input axis number of the output axis Set a value within the range from 1 to 2147483647 e Set a smaller absolute value for the synchronous parameter Pr 420 Auxilia a Overflow sign reversion occurred in Synchronous control a P u Auxiliary shaft gear a TA shaft gear Numerator input values because the auxiliary shaft e immediately operation overflow or Set a larger synchronous parameter gear ratio is too large stopped x eh P Pr 421 Auxiliary shaft gear Denominator e Decrease the input axis speed Outside auxiliary Setting value of the synchronous shaft clutch control parameter Pr 422 Auxiliary shaft clutch setting range control setting is outside the setting range 724 2D4h Outside auxiliary Setting value of the synchronous 725 shaft clutch parameter Pr 423 Auxiliary shaft clutch 2D5h reference address _ reference address setting is outside the setting range setting range Outside auxiliary Setting value of the synchronous 726 shaft clutch parameter Pr 428 Auxiliary shaft clutch 2D6h smoothing method smoothing method is outside the setting range range Set within the range Synchronous control m S does not start
184. natt Restored according to Pr 460 Setting method of current value per cycle after main shaft gear Restored according to Pr 461 Setting method of current value per cycle after auxiliary shaft gear Md 401 Current value per cycle after main shaft gear Md 402 Current value per cycle after auxiliary shaft gear Md 407 Cam axis current value per cycle Restored according to Pr 462 Cam axis position restoration Md 408 Cam reference position 9 E S object Md 409 Cam axis current feed value Md 400 Current value after composite main shaft gear Composite Main shaft main shaft Main shaft main input axis gear pear oe Md 401 Current value per cycle lt Pr 460 Setting method of current value after main shaft gear per cycle after main shaft gear d 0 Previous value Main shaft Ss clutch 1 Initial setting value of current value per cycle after main shaft gear 2 Calculate from input axis Main shaft sub input axis Auxiliary shaft Auxiliary shaft gear clutch Composite auxiliary shaft gear value per cycle es gt Md 407 Cam axis current See Output axis Pr 462 Cam axis position HR ee Md 408 Cam reference position restoration object Md 402 Current value per cycle after Md 409 Cam axis current feed 0 Cam axis current value auxiliary shaft gear valu
185. ncoder A used as the synchronous encoder axis Synchronous encoder via a Used to use a serial absolute synchronous encoder Q171ENC W8 connected to servo amplifier CN2L of the servo amplifier MR J4 _B RJ as a synchronous encoder axis Synchronous encoder via Used to operate a gray code encoder that is connected to the input module of PLC CPU CPU as a synchronous encoder axis E Control method for synchronous encoder axis The following controls can be executed for the synchronous encoder axis by using Cd 320 Synchronous encoder axis control start and Cd 321 Synchronous encoder axis control method Setting value of cd 321 Synchronous encoder axis Control details control method Ma 320 Synchronous encoder axis current value and Md 321 Synchronous encoder axis y y 0 Current value change current value per cycle are changed based on the setting of Ca 322 Synchronous encoder axis current value setting address 1 Counter disable Input from the synchronous encoder is disabled 2 Counter enable Input from the synchronous encoder is enabled Chapter 2 Input Axis Module E Units for the synchronous encoder axis The position units and speed units for the synchronous encoder axis are shown below for the setting of Pr 321 Synchronous encoder axis unit setting Table 2 3 Synchronous encoder axis position units Setting value of Pr 321 Synchronous encoder axis unit setting Synchronous enco
186. neeeaeeans 5 11 5 3 2 Cam reference position restoration ccccccceccceecceeeeeeeeeeeeeeeseneeceaeeeeaeeeeaaeesaeeseaeeeceeeeaeeeseaeessaees 5 15 5 3 3 Cam axis current feed value restoration 5 16 5 4 Synchronous control analysis mode 5 17 5 5 Cam position calculation function ccceccceescceeeceeeeceeeeceeeeneeeeaeeecaeeceaneeseaeeseaeeseaeeesaceeseaeeseaeeseueeesiseesaas 5 19 5 5 1 Cam position calculation Control data 5 20 5 5 2 Cam position calculation Monitor data e cecccececceeeceeeeeeeeeeeeeeeeecceeseaeeseaeescaeeseaneeseaeeteeeseieeeeeeess 5 22 5 6 Method to restart synchronous Control 5 23 6 Troubleshooting Synchronous Control 6 1 to 6 14 631 Error and warning detallS i222 cichi tain didndihiiiahiandidnanbncidnhnaiaitdianananal 6 2 6 2 Error and warning Of input AXIS 2 0 ee eee eeeeeeeeeeeeeeeeeeeceeeeesaeesaeeeaeesaeesaeesaeesaeeeaeeseeeaeeseeeeeseesatesresaeeeas 6 3 6 2 1 List Of input AXIS EOS a a a a a a aae a ie a ae a n aa i 6 4 02 2 sto input are WamMiNnGS rere ea ES 6 5 6 3 Error and warning of oufput avis 6 6 6 3 1 List of output axis errors iisi a eld a dnd ldecal ai dies 6 6 6 3 2 List Of OUtDUt AXIS warnings riase annasan aa aa R a aa an SANE aa a A an Naa Aa aa EKAR aa E aaia 6 10 6 4 Warning of cam oparatiomesnnnannniiininianiia na a a a a a 6 11 6 4 1 List of cam data operation warnings GAMBA MAME AeA ee 6 11 6 4 2 List of cam auto generation wamings ssssssssssies
187. ng Pr 1 Unit setting Table 4 1 Output axis position units Setting value of STE iti it R IET Unit setting utput axis position uni ange x10 um 214748364 8 to 214748364 7 um l 3 PLS PLS 2147483648 to 2147483647 PLS Cam axis cycle units are shown below based on the setting Pr 438 Cam axis cycle unit setting Table 4 2 Cam axis cycle units Setting value of Pr 438 Cam axis cycle unit setting Cam axis cycle Unit setting Number of A Control unit unit selection decimal places Servo input axis position unit Refer to Section 2 1 1 0 Use units of Mae Synchronous encoder axis position unit Refer to Section main input axis 2 2 1 2147483648 to 2147483647 mm x410 mm 2 147483648 to 2 147483647 mm 2147483648 to 2147483647 inch P 2147483648 to 2147483647 degree setting 2 degree 3 PLS m 9 x10 degree 2 147483648 to 2 147483647 degree 2147483648 to 2147483647 PLS x10 PLS 2 147483648 to 2 147483647 PLS eaa oe 1 Use units of this m EZE 2 147483648 to 2 147483647 inch 4 5 2 Output axis parameters Chapter 4 Synchronous Control Default Buffer memo Setting item Setting details Setting value y value address E Setin hexadecimal HOOOO Set the units for the cam axis length per cycle e There is no influence on the control for the parameter for monitor display Fetch cycle At start of synchronous control Cam axis cycle un
188. ning can cause drop of the screw short circuit or malfunction Overtightening can damage the screw and or module resulting in drop short circuit or malfunction Do not directly touch any conductive parts and electronic components of the module Doing so can cause malfunction or failure of the module When fumigants that contain halogen materials such as fluorine chlorine bromine and iodine are used for disinfecting and protecting wooden packaging from insects they cause malfunction when entering our products Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products or treat packaging with methods other than fumigation heat method Additionally disinfect and protect wood from insects before packing products The module and the servo amplifier must not be used with parts which contain halogen series flame retardant materials such as bromine under coexisting conditions 4 Wiring Z7 DANGER Shut off the external power supply all phases used in the system before wiring Failure to do so may result in electric shock or cause the module to fail or malfunction Z CAUTION 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 protective covers such as the terminal covers to the original positions Do not i
189. ning control of the LD77MS MELSEC L LD77MH Simple Motion Module User s Manual Positioning Control lt IB 0300172ENG 1XB942 gt MELSEC Q L QD77MS QD77GF LD77MS LD77MH Simple Motion Module User s Manual Synchronous Control lt IB 0300174ENG 1XB943 gt Specifications of the LD77MH and information on how to establish a system maintenance and inspection and troubleshooting Functions programming and buffer memory for the positioning control of the LD77MH Functions programming and buffer memory for the synchronous control of the Simple Motion Module 2 CPU module Manual Name lt Manual number model code gt QCPU User s Manual Hardware Design Maintenance and Inspection lt SH 080483ENG 13JR73 gt Specifications of the hardware CPU modules power supply modules base units batteries and memory cards system maintenance and inspection and troubleshooting QnUCPU User s Manual Function Explanation Program Fundamentals lt SH 080807ENG 13JZ27 gt Functions devices and programming of the CPU module Qn H QnPH QnPRHCPU User s Manual Function Explanation Program Fundamentals lt SH 080808ENG 13JZ28 gt Functions devices and programming of the CPU module MELSEC L CPU Module User s Manual Hardware Design Maintenance and Inspection lt SH 080890ENG 13JZ36 gt MELSEC L CPU Module User s Manual Function Explanation Program Fundamentals lt SH 080889ENG 13JZ35 gt 3 M
190. nly 8 Maintenance inspection and part replacement ZADANGER Do not touch any terminal while power is on Doing so will cause electric shock or malfunction Shut off the external power supply all phases used in the system before cleaning the module or retightening the module fixing screw Failure to do so may result in electric shock Z CAUTION Before performing online operations especially program modification forced output and operating status change for the running CPU module on another station from GX Works2 over CC Link IE Field Network read relevant manuals carefully and ensure the safety Improper operation may damage machines or cause accidents Do not disassemble or modify the modules Doing so may cause failure malfunction injury or a fire Use any radio communication device such as a cellular phone or PHS Personal Handy phone System more than 25cm away in all directions from the programmable controller Failure to do so may cause malfunction Shut off the external power supply all phases used in the system before mounting or removing a module Failure to do so may cause the module to fail or malfunction Tighten the screw within the specified torque range Undertightening can cause drop of the screw short circuit or malfunction Overtightening can damage the screw and or module resulting in drop short circuit or malfunction Perform the daily and periodic inspections according to the in
191. nous control start after setting the parameters for synchronous control 5 Analyzing is set in Md 26 Axis operation status at the synchronous control start and the parameters for synchronous control are analyzed The BUSY signal turns ON after completion of analysis and 15 Synchronous control is set in Md 26 Axis operation status Start the input axis operation after confirming that 15 Synchronous control is set in Md 26 Axis operation status E Ending method for synchronous control Synchronous control can be ended by turning the target axis bit from ON to OFF in Cd 380 Synchronous control start after the input axis operation is stopped The BUSY signal turns OFF at the synchronous control end and 0 Standby is set in Md 26 Axis operation status at the output axis stop Synchronous control can also be ended by turning the target axis bit from ON to OFF in Cd 380 Synchronous control start during the input axis operation However it is recommended to end after stopping the input axis operation since the output axis stops immediately Refer to Section 1 5 4 Stop operation of output axis at the synchronous control end 1 15 Chapter1 Outline of Synchronous Control E Starting history The starting history is updated when starting synchronous control 9020 Synchronous control operation is stored in Md 4 Start No E Status when starting synchronous control The following bits in Md 31 Status are tu
192. nous control start to start synchronous control Chapter 5 Synchronous Control Initial Position 2 Procedure for restarting synchronous control 1 Set the synchronous control initial position parameters for axis 2 and 3 as follows Setting item Setting value Setting method of current value per cycle after 2 Calculate from input axis main shaft gear Pr 462 Cam axis position restoration object 2 Cam axis current feed value restoration Pr 463 Setting method of cam reference position 0 Previous value Pr 464 Setting method of cam axis current value per i 2 Current value per cycle after main shaft gear cycle 2 Turn ON the bits for axes 2 and 3 in Cd 381 Synchronous control analysis mode and then turn ON the bits for axes 2 and 3 in Cd 380 Synchronous control start to execute the synchronous control analysis The analyzed result is updated in to DEZ 3 Position axes 2 and 3 to Md 409 Cam axis current feed value which has been updated in 2 4 Turn OFF the bits for axes 2 and 3 in Cd 381 Synchronous control analysis mode and then turn ON the bits for axes 2 and 3 in Cd 380 Synchronous control start to start synchronous control Chapter 6 Troubleshooting Synchronous Control Chapter 6 Troubleshooting Synchronous Control The errors and warnings related to synchronous control detected by the Simple Motion module are explained in this chapter Errors can be confirmed with th
193. nstall 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 terminal U V W Incorrect connections will lead the servomotor to operate abnormally Do not connect a commercial power supply to the servomotor as this may lead to trouble Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake signals etc Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning Servo amplifier Servo amplifier 24VDC Control output Control output signal signal DICOM DICOM For the sink output interface For the source output interface Do not connect or disconnect the connection cables between each unit the encoder cable or PLC expansion cable while the power is ON Securely tighten the cable connector fixing screws and fixing mechanisms Insufficient fixing may lead to the cables combing off during operation Do not bundle the power line or cables Use applicable solderless terminals and tighten them with the specified torque If any solderless spade terminal is used it may be disconnected when the terminal screw comes loose resulting in failure Do not install the control lines or communication cables together with the main circuit lines or power cables Keep a distance of 100mm or more between t
194. nto a hexadecimal and set cam per cycle 1 to 2147483647 Fetch cycle At start of synchronous control Cam axis cycle units Note 1 BB Set in decimal 0 1 to 256 User created cam Linear cam Preset E Set in decimal 2147483648 to 2147483647 Output axis position units Note 2 E Set in decimal 2147483648 to 2147483647 us E Set in decimal 0 to 65535 ms Note 3 E Set in decimal 0 to 65535 ms Note 3 Set to smooth the output axis I Set in decimal Fetch cycle At start of synchronous control 0 to 5000 ms QD77MS QD77GF LD77MSs 4194304 LD77MH 262144 QD77MS QD77GF LD77MSs 4194304 LD77MH 262144 36470 200n 36472 200n 36473 200n 36474 200n 36476 200n 36477 200n 36482 200n 36483 200n 36484 200n 36485 200n 36486 200n n Axis No 1 Chapter 4 Synchronous Control Pr 438 Cam axis cycle unit setting Set the command units for the cam axis input per cycle to be used for cam control These units are used for setting the cam axis length per cycle and the cam axis current value per cycle There is no influence on the control for the parameter for monitor display Refer to Section 4 5 1 for details Pr 439 Cam axis length per cycle Set the length per cycle of the cam axis to generate the cam axis current value per cycle The unit settings are in the cam axis cycle units Refer to Section 4 5 1 Set a value within the range from 1 t
195. ntrol change function eeseeseeeeeeeseereeseeee 4 47 4 6 2 Synchronous control change control data eee ceeeeeceeeeeeeeeeeenneeeeeenaeeeeeeaas 4 48 4 7 Synchronous control Monitor data 4 53 4 8 Phase compensation function 0 ccccceceeeeeeec cece eeeeteceeeaeeeeeeeeeseseeaeeeeeeeeeseeenanees 4 58 4 9 Output axis sub FUNCTIONS 00 cee ece ce ccece cece eeeeeeee cece eeeeeeeeeaaeceeeeeeeseceenaeeeeeeeeetenseaeees 4 61 Chapter 4 Synchronous Control 4 1 Main shaft module 4 1 1 Overview of main shaft module For the main shaft module the input value is generated as a composite value from two input axes the main and sub input axis through the composite main shaft gear The composite input value can be converted by the main shaft gear that provides the deceleration ratio and the rotation direction for the machine system etc Refer to Section 4 1 2 and Section 4 1 3 for details on setting for the main shaft module Pr 403 Main shaft gear Numerator Pr 404 Main shaft gear Denominator Pr 400 Main input axis No Pr 402 Composite DEER main shaft gear i Main shaft Composite main input axis main shaft gear LR J Main shaft gear v Md 400 Current value after composite main shaft gear Md 401 Current value per cycle after main shaft gear Main shaft Main shaft sub input axis clutch Note Note
196. nty term after manufacturing shall be eighteen 18 months The gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs Gratis Warranty Range 1 The range shall be limited to normal use within the usage state usage methods and usage environment etc which follow the conditions and precautions etc given in the instruction manual user s manual and caution labels on the product 2 Even within the gratis warranty term repairs shall be charged for in the following cases 1 Failure occurring from inappropriate storage or handling carelessness or negligence by the user Failure caused by the user s hardware or software design 2 Failure caused by unapproved modifications etc to the product by the user 3 When the Mitsubishi product is assembled into a user s device Failure that could have been avoided if functions or structures judged as necessary in the legal safety measures the user s device is subject to or as necessary by industry standards had been provided 4 Failure that could have been avoided if consumable parts battery backlight fuse etc designated in the instruction manual have been correctly serviced or replaced 5 Failure caused by external irresistible forces such as fires or abnormal voltages and Failure caused by force majeure such as earthquakes lightning wind and water damage 6 Failure caused by reasons unpredictable by scientific technology standards at time of sh
197. o switches Chapter 4 Synchronous Control Md 411 Execute cam stroke amount The executing cam stroke amount is stored When Pr 441 Cam stroke amount is changed during synchronous control this is updated when the controlling cam stroke amount switches Md 420 Main shaft clutch ON OFF status Md 423 Auxiliary shaft clutch ON OFF status The clutch ON OFF status is stored Md 421 Main shaft clutch smoothing status Md 424 Auxiliary shaft clutch smoothing status The smoothing status of the clutch is stored The status is updated by the clutch smoothing method as follows Time constant method Slippage method The status is always 1 On clutch smoothing during the clutch ON status The status will be 0 Not on clutch smoothing when the clutch is turned OFF and smoothing is completed The status is 1 On clutch smoothing till the clutch accumulative slippage amount reaches the slippage at clutch ON when the clutch is turned ON The status will change to 0 Not on clutch smoothing when the clutch accumulative slippage amount reaches the slippage at clutch ON The status is 1 On clutch smoothing till the clutch accumulative slippage amount reaches 0 when the clutch is turned OFF The status will change to 0 Not on clutch smoothing when the clutch accumulative slippage amount reaches 0 Md 422 Main shaft clutch slippage accumulative Md 425 Auxiliary shaft clutch slippage accumulative The accumula
198. o 2147483647 Pr 440 Cam No Set the cam No for cam control Cam No 0 is preset in the Simple Motion module and it operates as a linear cam for 100 of its stroke ratio along the cam axis length per cycle The cam No can be changed during synchronous control The value set in Pr 440 Cam No is valid when the cam axis current value per cycle passes through the Oth point of cam data or is on the Oth point Pr 441 Cam stroke amount Set the cam stroke amount corresponding to a 100 stroke ratio in output axis position units Refer to Section 4 5 1 for cam control using the stroke ratio data format The cam stroke amount can be changed during synchronous control The value set in Pr 441 Cam stroke amount is valid when the cam axis current value per cycle passes through the Oth point of cam data or is on the Oth point The setting value is ignored for a cam using the coordinate data format Pr 444 Cam axis phase compensation advance time Set the time to advance or delay the phase of the cam axis current value per cycle in the cam control 1 to 2147483647 us Advance the phase according to the setting time O PS ki een aed Do not execute phase compensation 2147483648 to 1 Us Delay the phase according to the setting time If the setting time is too long the system experiences overshoot or undershoot at acceleration deceleration of the input speed In this case set a longer time to affect th
199. o amplifier servo amplifier axis 3 in Pr 320 Synchronous encoder axis type of synchronous encoder axis 1 e Set 32 MR J4 _B in Pr 100 Servo series of the axis to connect Q171ENC W8 e Set ABS or INC from the External synchronous encoder input list of the amplifier setting dialog using the Simple Motion Module Setting Tool To set using the sequence program set 1000h or 2000h in the servo parameter Scale measurement mode selection PA22 e Set 1000h in the servo parameter Function selection C 8 PC26 Chapter 2 Input Axis Module E Restrictions 1 The servo amplifier axis selected as Synchronous encoder via servo amplifier in Pr 320 Synchronous encoder axis type does not operate in the fully closed control mode even though 0010 is set in the servo parameter Operation mode selection PAO1 The information about the synchronous encoder is output to Md 112 Optional data monitor output 4 of the servo amplifier axis selected as Synchronous encoder via servo amplifier in Pr 320 Synchronous encoder axis type and Pr 94 Optional data monitor Data type setting 4 is ignored Set the total points to be within 3 words for the optional data monitor Otherwise the monitor setting is ignored When any of the following servo errors about the serial absolute synchronous encoder connection occurs in the servo amplifier axis selected as Synchronous encoder via servo
200. o input axis phase compensation amount gt t Servo input axis phase Servo input axis phase compensation time constant compensation time constant Chapter 2 Input Axis Module Pr 304 Servo input axis rotation direction restriction Set this parameter to restrict the input travel value for the servo input axis to one direction This helps to avoid reverse operation caused by machine vibration etc when Real current value or Feedback value is used as input values 0 Without rotation direction restriction ccecceeeeseeees Rotation direction restriction is not executed 1 Enable only for current value increase direction Enable only the input travel value in the increasing direction of the servo input axis current value 2 Enable only for current value decrease direction Enable only the input travel value in the decreasing direction of the servo input axis current value The input travel value in the opposite direction of the enable direction accumulates as a rotation direction restricted amount and will be reflected when the input travel value moves in the enabled direction again Therefore the current value of servo input does not deviate when the reverse operation is repeated The rotation direction restricted amount is set to 0 when the following operations are executed for the servo input axis e A servo amplifier is connected e An OPR is executed
201. o input axis type servo input axis 2 Real current value Fetch cycle At power supply ON 3 Servo command value 4 Feedback value 32800 10n 32801 10n 32802 10n 32803 10n Pr 301 Set to smooth the input value li Set in decimal Servo input axis Fetch cycle At power supply ON 0 to 5000 ms smoothing time constant Pr 302 Set the time to advance or delay the e Servo input axis phase RW Set in decimal phase compensation Fetch cycle Operation cycle 2147483648 to 2147483647 us advance time I Set in decimal Set this parameter to restrict the input 0 Without rotation direction restriction travel value to one direction 1 Enable only for current value Fetch cycle At power supply ON Servo input axis rotation direction restriction increase direction 2 Enable only for current value Pr 303 Set the time constant to affect the phase P A Set in decimal ee a compensator Note 1 10 32804 10n phase compensation Fetch cycle At power supply ON 0 to 65535 ms time constant 32805 10n decrease direction n Axis No 1 Note 1 Set the value as follows in a sequence program O to 32767 isisisi Set as a decimal 32768 to 65535 Convert into a hexadecimal and set Chapter 2 Input Axis Module Pr 300 Servo input axis type Set the current value type to be generated of the input value for the servo input axis O Invalid EE Servo input axis is invalid 1 Current feed v
202. of input axis module is small the speed fluctuation of output axis module may occur depending on the setting for synchronous parameter 1 Input axis Maximum number of usable Number per module Classification Function description A Number Reference 2 axis 4 axis 16 axis module module module e Used to drive the input axis with the position of the servomotor i 2 4 16 Section 2 1 controlled by the Simple Motion module e Used to drive the input axis with input pulse from the synchronous 4 Section 2 2 encoder axis encoder Classification Main shaft module 2 Main shaft main input axis Main shaft sub input axis Composite main shaft gear Main shaft clutch Auxiliary shaft axis Auxiliary shaft gear Auxiliary shaft clutch Composite auxiliary shaft gear Speed change gear B Output axis Function description e The input axis on the main side of the main shaft module The reference position on the main shaft The input axis on the sub side of the main shaft module It is used to compensate for the position of the main shaft main input axis The composite travel value of the main shaft main input axis and the main shaft sub input axis are transmitted to the main shaft gear The converting travel value after composite main shaft gear is transmitted by the setting gear ratio The main shaft travel value is transmitted by th
203. oordinate Coordinate data format None 16384 32768 Coordinate data format 2 to 16384 Up to 256 Up to 256 Cam No 1 to 64 101 to 164 201 to 264 0 to 256 0 Linear cam 301 to 364 Stroke ratio ratio 0 to 32767 32767 100 214 7483648 to 214 7483647 pol mode Two way cam mode Endpoint 0 fixed None Feed cam mode Endpoint 100 fixed No restrictions by a cam mode due to the possibility of freely setting the endpoint Editing method of Programming software Programming software MT Developer MT Works2 GX Works2 Motion SFC program Sequence program BMOV command New pattern cannot Cam data operation by buffer memory be added New pattern can be added generation generated automatically Cam position Cam axis current feed value and cam axis calculation current value per cycle can be calculated before starting synchronous control Mixed function of Provided None virtual mode real Synchronous control can be started and mode stopped for each axis Operation status It is possible to select to continue the No effect on axis operations except the at servo error virtual mode at a servo error occurrence axes where a servo error has occurred occurrence All relevant systems stop even if a Use the user program to stop axes where continuance is selected a servo error has not occurred Appendix 5 Appendices Appendix 2 Sample program of synchronous control The following shows a sample program of execu
204. or systems used in passenger transportation medical aerospace atomic power electric power or submarine repeating applications please contact your nearest Mitsubishi sales representative Although this product was manufactured under conditions of strict quality control you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident 10 General cautions All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections When operating the product always return the covers and partitions to the designated positions and operate according to the instruction manual 1 2 CONDITIONS OF USE FOR THE PRODUCT a Mitsubishi programmable controller the PRODUCT shall be used in conditions i where any problem fault or failure occurring in the PRODUCT if any shall not lead to any major or serious accident and ii where the backup and fail safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem fault or failure occurring in the PRODUCT The PRODUCT has been designed and manufactured for the purpose of being used in general industries MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY INCLUDING BUT NOT LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT WAR
205. ous encoder axis 2 of the QD77MS QD77MS Incremental synchronous encoder DADEA DADEA Synchronous encoder axis 2 o Sp Axis 1 Axis 2 Axis 3 Set 1 Incremental synchronous encoder in Pr 320 Synchronous encoder axis type for the synchronous encoder axis 2 And set the input method for incremental synchronous encoder signal in the following parameters e Pr 22 Input signal logic selection Manual pulse generator input b8 EE 0 Negative logic e Pr 24 Manual pulse generator Incremental synchronous encoder input selection ec ae Se Ee 0 A phase B phase multiplied by 4 e Pr 89 Manual pulse generator Incremental synchronous encoder input type selection EE 0 Differential output type Chapter 2 Input Axis Module 2 Synchronous encoder via servo amplifier There are restrictions in the function that can be used by the version of the servo amplifier MR J4 _B RJ Refer to the SSCNETM H Interface AC Servo MR J4 _B RJ Servo Amplifier Instruction Manual for details E Setting method Used to use a serial absolute synchronous encoder Q171ENC W8 connected to CN2L of the servo amplifier MR J4 _B RJ as a synchronous encoder axis A synchronous encoder connected to the specified servo amplifie
206. ous encoder axis parameter Reconfigure the parameter and turn the power supply ON again Chapter 2 Input Axis Module Cd 324 Connection command of synchronous encoder via CPU Use this data when 201 Synchronous encoder via CPU is set in Pr 320 Synchronous encoder axis type If set to 1 the synchronous encoder axis is connected Once connected the synchronous encoder current value is restored based on the Cd 325 Input value for synchronous encoder via CPU If set to 0 the synchronous encoder axis is disconnected Cd 325 Input value for synchronous encoder via CPU Use this data when 201 Synchronous encoder via CPU is set in Pr 320 Synchronous encoder axis type Set a value to be used every time as the input value for the synchronous encoder in encoder pulse units If 1 or more is set in Pr 329 Resolution of synchronous encoder via CPU it is processed as a cycle counter within the range from 0 to resolution of synchronous encoder via CPU 1 If the setting value is outside this range it is converted to a value within the range from 0 to resolution of synchronous encoder via CPU 1 2 31 Chapter 2 Input Axis Module 2 2 5 Synchronous encoder axis monitor data Buffer memo Monitor item Storage details Monitor value y address EES The current value for the synchronous I Monitoring is carried out in decimal 35200 20j encoder axis is stored 2147483648 to 2147483647 Synchronous encoder 35
207. perate safely even if communications fail Failure to do so may result in an accident due to an incorrect output or malfunction 3 Transportation and installation ZADANGER Shut off the external power supply all phases used in the system before mounting or removing a module Failure to do so may result in electric shock or cause the module to fail or malfunction Z CAUTION Transport the product with the correct method according to the mass 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 transporting the module or servo amplifier never hold the connected wires or cables When transporting the servomotor never hold the cables shaft or detector When transporting the module or servo amplifier never hold the front case as it may fall off When transporting installing or removing the module or servo amplifier never hold the edges Install the unit according to the instruction manual in a place where the mass 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 module or servo amplifier and control panel inner surface or the module and servo amplifier module or servo amplifier and other devices Do not install or operate modules servo amplifiers or servomotor
208. peration to torque control mode of speed torque control Note 2 Speed change gear can be arranged on one of Main shaft side Auxiliary shaft side or After composite auxiliary shaft gear Chapter1 Outline of Synchronous Control E List of synchronous control module The module is used in synchronous control as follows Synchronous parameter Main shaft module i r __ nput axis module Main shaft Composite main Main shaft main input axis shaft gear gear Synchronous encoder axis parameter f Synchronous encoder axis DH Main Servo input axis shaft parameter k ol H sub input axis Servo input axis DENTS E EE Oe U EE Auxiliary Auxiliary as Auxiliary Auxiliary shaft shaft clutch gear A Composite l auxiliary shaft gear L l i ae Speed change 1 peed gear module i change Cam data CO I gear J i peene k EER H Auxiliary shaft axis ES H Output axis i pe E te J module 7 1 Input axis module can be set to one of servo input axis or synchronous encoder axis 2 Speed change gear can be arranged on one of main shaft side auxiliary shaft side or after composite auxiliary shaft gear 3 Set the travel value of input axis module as large as possible to prevent the speed fluctuation of output axis module in the synchronous control If the travel value
209. pter 2 Input Axis Module Pr 302 Servo input axis phase compensation advance time Set the time to advance or delay the phase input response of the servo input axis Refer to Section 4 8 Phase compensation function for the peculiar time delay of the system using the servo input axis 1 to 2147483647 us Advance the phase input response according to the setting time Os US aaa Do not execute phase compensation 2147483648 to 1 US Delay the phase input response according to the setting time If the setting time is too long the system experiences overshoot or undershoot at acceleration deceleration of the input speed In this case set longer time to affect the phase compensation amount in Pr 303 Servo input axis phase compensation time constant Pr 303 Servo input axis phase compensation time constant Set the time constant to affect the phase compensation amount for the first order delay 63 of the phase compensation amount are reflected in the time constant setting Servo input axis phase compensation advance time Servo input axis Current value after phase compensation current value Current value before phase compensation Speed before phase compensation Speed after phase compensation I 1 T i i Speed before phase x Pr 302 Servo input axis phase compensation compensation advance time A Md 302 Serv
210. put value Cam axis length per cycle The output value corresponding to Input value 0 Create cam data for two way cam operation as shown below 1 Stroke ratio data format Create cam data so that the stroke ratio is 0 at the last point 2 Coordinate data format Create cam data with the same output value for the point where the input value is O and the input value is equal to the cam axis length per cycle Cam axis current value per cycle IZ gt t Cam reference position Does not change because of the stroke ratio 0 and output value 0 Chapter 3 Cam Function E Cam data starting point This setting is only valid for cam data using the stroke ratio data format The cam data point corresponding to Cam axis current value per cycle 0 can be set as the cam data starting point The default value of the cam data starting point is 0 The cam axis is controlled with cam data starting from the Oth point stroke ratio 0 When a value other than 0 is set for the cam data starting point cam control is started from the point where the stroke ratio is not 0 The cam data starting point is set for each cam data The setting range is from 0 to cam resolution 1 Cam axis current 4 value per cycle Cam reference Cam reference position position Current feed value At 2nd cycle j Cam reference position At 1st cycle Cam data starting point At Oth point
211. r axis can be used by the following settings arr Setting method Setting item Simple Motion Module Setting Tool Sequence program Set the synchronous encoder axis parameter according to the setting below Pr320 Type Set 101 to 116 Synchronous encoder via Synchronous encoder f servo amplifier Connectable servo 101 Synchronous encoder via servo L i X ara axis setting amplifier amplifier axis 1 to axis 16 in Pr 320 e Pr 320 Axis No of connected servo amplifier Synchronous encoder axis type Axis No of servo amplifier to connect Set the servo parameter Scale measurement mode selection PA22 according to the setting below oOODh Disabled 1000h used in absolute position detection system 2000h Used in incremental system Set ABS or INC from the External synchronous encoder input list of the Encoder type setting amplifier setting dialog Absolute Incremental The amplifier setting dialog can be opened from the system structure screen in the system setting When 1000h is set in the servo parameter Scale measurement mode selection PA22 the synchronous encoder axis current value and the synchronous encoder axis current value per cycle are restored after the servo amplifier axis is connected Therefore connection becomes valid and will be on the counter enabling status When 2000h is set in the servo parameter Scale measurement mode selection PA22 0 is
212. r s Manual Positioning Control e MELSEC L LD77MH Simple Motion Module User s Manual Positioning Control RELEVANT MANUALS 1 Simple Motion module Manual Name ar Description lt Manual number model code gt MELSEC Q QD77MS Simple Motion Module User s Manual Positioning Control lt IB 0300185ENG 1XB947 gt MELSEC Q QD77GF Simple Motion Module User s Manual Positioning Control lt IB 0300202ENG 1XB956 gt MELSEC Q QD77GF Simple Motion Module User s Manual Network lt IB 0300203ENG 1XB957 gt MELSEC L LD77MS Simple Motion Module User s Manual Positioning Control lt IB 0300211ENG 1XB961 gt Specifications of the QD77MS and information on how to establish a system maintenance and inspection and troubleshooting Functions programming and buffer memory for the positioning control of the QD77MS Specifications of the QD77GF and information on how to establish a system maintenance and inspection and troubleshooting Functions programming and buffer memory for the positioning control of the QD77GF Overview of CC Link IE Field Network and specifications procedures before operation system configuration installation wiring settings functions programming and troubleshooting of the MELSEC Q series Simple Motion module Specifications of the LD77MS and information on how to establish a system maintenance and inspection and troubleshooting Functions programming and buffer memory for the positio
213. rage details direction restriction A negative accumulation is stored during rotation direction restriction increase direction 0 is stored if there is no restriction A positive accumulation is stored during rotation direction restriction decrease direction 0 is stored if there is no restriction Rotation direction restriction is processed after phase compensation processing Therefore if undershoot occurs from phase compensation during deceleration stop the rotation direction restriction amount might remain Chapter 2 Input Axis Module Md 325 Synchronous encoder axis status The each status for a synchronous encoder axis is monitored with the following each bits Storage item Storage details At power supply ON this flag turns ON when the synchronous encoder axis parameter Pr 320 to Pr 329 is normal and the setting of the synchronous encoder axis is valid It is turned OFF when the setting is invalid or an error occurs Setting valid flag When the synchronous encoder axis setting is valid the synchronous encoder connection also becomes valid and this flag turns ON This flag turns OFF when the connection is invalid When setting an incremental synchronous encoder this flag turns ON simultaneously the power supply turns ON regardless of connecting the current encoder Connecting valid flag This flag turns ON when input from the synchronous encoder is enabled If the counter disable control SH is executed it
214. range from 0 to Cam axis length per cycle 1 Pr 467 Cam reference position Initial setting Set the initial setting value of the cam reference position in output axis position units Refer to Section 4 5 1 when Pr 463 Setting method of cam reference position is set to 1 Cam reference position Initial setting Pr 468 Cam axis current value per cycle Initial setting Set a value according to the setting for Pr 462 Cam axis position restoration object The unit settings are in cam axis cycle units Refer to Section 4 5 1 Set within the range from 0 to Cam axis length per cycle 1 Cam axis position restoration object Setting value Set the starting point for search processing to restore the cam i axis current value per cycle Set to restore the position on the 0 Cam axis current value per cycle restoration return path in two way cam pattern operation Refer to Section 5 3 1 for details on search processing amp 9 Set the initial setting value for the cam axis current value per 1 Cam reference position restoration 7 s cycle when Setting method of cam axis current value per cycle is set to 1 Cam axis current value per cycle Initial 2 Cam axis current feed value restoration setting Chapter 5 Synchronous Control Initial Position 5 3 Cam axis position restoration method 5 3 1 Cam axis current value per cycle restoration If Pr 462 Cam axis position restoration object is set to 0 Cam axi
215. rate the input value with the value set in the buffer memory by the PLC CPU as the encoder value Pr 321 Synchronous encoder axis unit setting Set the position and speed unit of the synchronous encoder axis Refer to Section 2 2 1 for details Pr 322 Synchronous encoder axis unit conversion Numerator Pr 323 Synchronous encoder axis unit conversion Denominator The input travel value of synchronous encoder is configured in encoder pulse units The units can be arbitrarily converted through unit conversation with setting and Pr 323 Set and according to the controlled machine Pr 322 Synchronous encoder axis unit Synchronous encoder axis Synchronous encoder n t E RE Ko i tt I val conversion Numerator ravel value Travel value input travel value oS oe S P TT Pr 323 Synchronous encoder axis unit after unit conversion Encoder pulse units conversion Denominator The travel value corresponding to Pr 323 Synchronous encoder axis unit conversion Denominator is set in Pr 322 Synchronous encoder axis unit conversion Numerator in synchronous encoder axis position units Refer to Section 2 2 1 The input travel value can be reversed by the setting negative values Set Pr 323 Synchronous encoder axis unit conversion Denominator based on encoder pulse units from the synchronous encoder Set a value within the range from 1 to 2147483647 Pr 324 Synchronous encoder axis length per cycle Set the lengt
216. ravel value to be added is averaged in Cd 409 Synchronous control reflection time for its output Set a long reflection time when a large travel value is used since the cam axis current feed value moves with the travel value Synchronous control change value Cam axis current value per cycle Cam axis current feed value Current feed value Md 408 Cam reference Gi position Cd 409 Synchronous control lt reflection time Cd 406 Synchronous control change request Cd 407 Synchronous control A Cam axis current value change command per cycle movement Cd 408 Synchronous control change value Set the change value for synchronous control change processing as follows Cd 407 Synchronous control change Cd 408 Synchronous control change value command Setting range Setting details Set the travel value of the cam Output axis reference position position unit It moves within the range from 2147483648 to 2147483647 1 Change cam axis current value per cycle Set the change current value per cycle 2147483648 0 Cam reference position movement 2 Change current value per cycle The setting value is converted within after main shaft gear the range from 0 to Cam axis length 2147483647 3 Change current value per cycle Cam axis per cycle 1 after auxiliary shaft gear cycle unit Set the travel value of the cam axis
217. reed to by Mitsubishi and provided further that no special quality assurance or fail safe redundant or other safety features which exceed the general specifications of the PRODUCTs are required For details please contact the Mitsubishi representative in your region INTRODUCTION Thank you for purchasing the Mitsubishi MELSEC Q L series programmable controllers This manual describes the functions and programming of the Simple Motion module Before using this product please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC Q L series programmable controller to handle the product correctly When applying the program examples introduced in this manual to the actual system ensure the applicability and confirm that it will not cause system control problems Please make sure that the end users read this manual e Unless otherwise specified this manual describes the program examples in which the I O numbers of X Y00 to X Y1F are assigned for a Simple Motion module I O number assignment is required for using the program examples described in the manual For I O number assignment refer to the following e QnUCPU User s Manual Function Explanation Program Fundamentals e Qn H QnPH QnPRHCPU User s Manual Function Explanation Program Fundamentals e MELSEC L CPU Module User s Manual Function Explanation Program Fundamentals e Operating procedures are explained usin
218. rned OFF when starting synchronous control in the same way as for the positioning control start bO b1 b2 b4 b5 In speed control flag Speed position switching latch flag Command in position flag OPR complete flag Position speed switching latch flag b10 Speed change 0 flag E Restrictions 1 If bit for multiple axes are turned ON simultaneously in Cd 380 Synchronous control start control is not started simultaneously since the analysis is processed for each axis in numerical order When the multiple axes must be started simultaneously start the input axis operation after confirming that all axes are configured for the synchronous control If the input axis operates during the analysis at the synchronous control start the travel value of the input axis is reflected immediately after the synchronous control start The output axis might suddenly accelerate depending on the travel value of the input axis Start the input axis operation after confirming that are configured for synchronous control The analysis process for synchronous control start might take time depending on the parameter setting for synchronous control Up to about 10ms In case of searching the cam cam resolution 32768 with the setting 0 Cam axis current value per cycle restoration in Pr 462 Cam axis position restoration object Set 1 Cam reference position restoration or 2 Cam axis current feed value restoration in Pr 462 Cam
219. ronous encoder axis by setting the parameters for synchronous control and starting synchronous control on each output axis Synchronous Positioning start encoder Synchronous control start Synchronous control start Synchronous control start Manual pulse generator i i Synchronous encoder input H ig Simple Motion module Synchronous parameter Synchronous encoder A axis parameter Main shaft Composite main Main shaft main input axis shaft gear Synchronous encoder Positioning data axis Positioning control S A Servo input axis parameter Servo input axis Note 1 Main shaft i sub input axis Auxiliary Auxiliary shaft shaft Speed change gear clutch gear Note 2 Composite auxiliary shaft gear Cam data Auxiliary shaft axis Servo Servo amplifier amplifier l 1 Servo Servo amplifier amplifier l l Servo Servo Servo motor It is possible to control without amplifier by setting the virtual servo amplifier Note 1 It is possible to drive the servo input axis except for the positioning control OPR manual control speed torque control synchronous control Refer to the User s Manual Positioning control of each Simple Motion module for details on the positioning control OPR the manual control and the speed torque control For QD77GF it is not available to switch to Continuous o
220. rosoft Corporation in the United States and other countries Pentium is a trademark of Intel Corporation in the United States and other countries Ethernet is a trademark of Xerox Corporation All other company names and product names used in this manual are trademarks or registered trademarks of their respective companies IB NA 0300174 E MELSEC Q L QD77MS QD77GF LD77MS LD77MH Simple Motion Module User s Manual Synchronous Control MODEL LD77MH U SD E MODEL 1XB943 IB NA 0300174 E 1402 MEE d MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission Specifications subject to change without notice
221. rting synchronous control Refer to Section 5 1 Md 406 Cam axis phase compensation amount The phase compensation amount for the cam axis is stored with cam axis cycle units Refer to Section 4 5 1 The phase compensation amount after smoothing processing with Pr 445 Cam axis phase compensation time constant is stored Md 407 Cam axis current value per cycle The cam axis current value per cycle is stored within the range from 0 to Cam axis length per cycle 1 The current value after cam axis phase compensation processing can be monitored The unit is in cam axis cycle units Refer to Section 4 5 1 The value is restored according to Pr 462 Cam axis position restoration object when starting synchronous control Refer to Section 5 1 Md 408 Cam reference position The current feed value is stored as the cam reference position The unit is in output axis position units Refer to Section 4 5 1 When the unit is in degrees a range from 0 to 35999999 is used The value is restored according to Pr 462 Cam axis position restoration object when starting synchronous control Refer to Section 5 1 Md 409 Cam axis current feed value The current feed value of the cam axis is stored The value is the same as Md 20 Current feed value during synchronous control Md 410 Execute cam No The executing cam No is stored When Pr 440 Cam No is changed during synchronous control this is updated when the controlling cam N
222. s Default Buffer memo Setting item Setting details Setting value 7 y value address E Set in decimal Synchronous encoder axis type Pr 321 Synchronous encoder axis unit setting Synchronous encoder axis unit conversion Numerator Synchronous encoder axis unit conversion Denominator Synchronous encoder axis length per cycle Synchronous encoder axis smoothing time constant Synchronous encoder axis phase compensation advance time 0 1 Invalid Incremental synchronous Set the synchronous encoder axis type to be used Fetch cycle At power supply ON Set the unit of the synchronous encoder axis Set the position unit within the range from x1 to 10 control unit Set the speed unit within the range from x1 to 10 control unit s or control unit min Fetch cycle At power supply ON Set the numerator to convert the unit from the encoder pulse of the synchronous encoder axis into the synchronous encoder axis unit Fetch cycle At power supply ON e Set the denominator to convert the unit from the encoder pulse of the synchronous encoder axis into the synchronous encoder axis unit Fetch cycle At power supply ON Set the length per cycle of the synchronous encoder axis Fetch cycle At power supply ON Set the time to smooth for the input value Fetch cycle At power supply ON Set the time to advance or delay the phase Fetch cycle Operation
223. s current value per cycle restoration when starting synchronous control the cam axis current value per cycle is restored based on the cam reference position and the cam axis current feed value Select the method for the cam reference position to be restored The current feed value when starting synchronous control is used as the cam axis current feed value The cam axis current value per cycle is restored by searching for the corresponding value from the beginning to the end of the cam pattern Set the starting point from where to search the cam pattern in Pr 468 Cam axis current value per cycle Initial setting It is also possible to search the return path in a two way cam pattern operation Md 20 Current feed value Md 409 Cam axis 15 At synchronous control start current feed value The cam axis current value per cycle is restored based on the cam reference position and cam axis current feed value Pr 463 Setting method of gt Md 407 Cam axis current value per cycle cam reference position 0 Previous value 1 Initial setting value of S Md 408 Cam reference reference position l position 2 Current feed value Cam axis current value per cycle Search the cam pattern Cam axis current feed value It is also possible to search from the middle of the cam axis current value per cycle Cam reference position E Restr
224. s current value per cycle restoration object SS d KS d position Initial setting value per cycle Initial setting Cam axis current O Restore Cam axis current value per value per cycle Used as search cycle based on Cam reference position restoration starting point and Cam axis current feed value Restore Cam reference position based on Cam axis current value per cycle and Cam axis current feed value Cam reference position restoration Cam axis current Restore Cam axis current feed value feed value based on Cam axis current value per restoration cycle and Cam reference position O Required A Required for initial setting value Not required Chapter 5 Synchronous Control Initial Position 5 2 Synchronous control initial position parameters Default Buffer memory Setting item Setting details Setting value value address E Set in decimal Select the setting method for the current 0 Previous value value per cycle after main shaft gear 1 Initial setting value of current value per 36500 200n Fetch cycle At start of synchronous control cycle after main shaft gear Pr 465 2 Calculate from input axis 36501 200n 36502 200n E Set in decimal Setting method of Select the setting method for the current 0 Previous value 36503 200n 36504 200n 36506 200n 36507 200n Pr 460 460 Setting method of current value per cycle after main shaft gear current value per
225. s cycle units Current value per Set the initial value of the current value E Set in decimal 36508 200n cycle after auxiliary per cycle after auxiliary shaft gear 0 to Cam axis length per ape 1 Note 36509 200n Fetch cycle At start of synchronous control Cam axis cycle units e Set the initial value of the cam reference Set in decimal Cam reference ai position 2147483648 to 2147483647 Note 2 Fetch cycle At start of synchronous control Output axis position units Mote R 36510 200n 36511 200n E Set in decimal Select the setting method for the cam axis Previous value current value per cycle Initial setting value of cam axis current n Axis No 1 Note 1 Cam axis cycle units Refer to Section 4 5 1 Note 2 Output axis position units Refer to Section 4 5 1 Chapter 5 Synchronous Control Initial Position Default Buffer memo Setting item Setting details Setting value y value address e Set the initial value for the cam axis current value per cycle e The restoration value for the cam axis S RW Set in decimal Cam axis current current value per cycle is searched from 0 to Cam axis length Geh cycle 1 36512 200n the setting value with the cam axis current Cam axis cycle units Notet 36513 200n value per cycle restoration Fetch cycle At start of synchronous control n Axis No 1 Note 1 Cam axis cycle units Refer to Section 4 5 1 Pr 460 Setting method of curr
226. s that are damaged or that have missing parts Do not block the intake outtake ports of the servo amplifier and servomotor with cooling fan Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the module servo amplifier or servomotor The module servo amplifier and servomotor are precision machines so do not drop or apply strong impacts on them Securely fix the module servo amplifier and servomotor to the machine according to the instruction manual If the fixing is insufficient these may come off during operation Always install the servomotor with reduction gears in the designated direction Failing to do so may lead to oil leaks Store and use the unit in the following environmental conditions Conditions Environment Module Servo amplifier Servomotor Ambient 0 C to 40 C With no freezi a According to each instruction manual S CMI ne feszing temperature 32 F to 104 F i n 80 RH or less Ambient humidity According to each instruction manual With no dew condensation ora mo ZS o o ge According to each instruction manual 207G eae temperature 4 F to 149 F A Indoors where not subject to direct sunlight sphere H No corrosive gases flammable gases oil mist or dust must exist St At Altitude 1000m 3280 84ft or less above sea level According to each instruction manual When coupling with the servomotor shaft end do not apply impact
227. set to the initial value of the synchronous encoder axis current value and the synchronous encoder axis current value per cycle after the servo amplifier axis is connected Therefore connection becomes valid and will be on the counter enabling status If the corresponding servo amplifier axis is not connected the connection of the synchronous encoder axis will be invalid Chapter 2 Input Axis Module POINT e Scale measurement mode selection PA22 is set to the servo amplifier set by ABS or INC from the External synchronous encoder input list of the amplifier setting dialog using the Simple Motion Module Setting Tool Note When the servo parameter Scale measurement mode selection PA22 is changed it is required to switch the power of servo amplifier off once after the parameter is transferred to the servo amplifier and then switch it on again e If the servo amplifier set by the servo parameter Scale measurement mode selection PA22 does not support the Scale measurement mode AL 37 parameter error will occur in the servo amplifier Refer to the SSCNETI H Interface AC Servo MR J4 _B RJ Servo Amplifier Instruction Manual for details of the servo parameter Scale measurement mode selection PA22 e The synchronous encoder via servo amplifier can be controlled up to 4 However there is no restriction for the number of connections Therefore the error check is not executed even when the external
228. setting range there is no problem 1 14 Chapter1 Outline of Synchronous Control 1 5 3 Starting ending for synchronous control Set the parameters for synchronous control for each output axis to start synchronous control The status changes to synchronous control after the parameters are analyzed at the start of synchronous control and the output axes synchronize with input axis operations Cd 380 Synchronous control start Target axis bit BUSY signal Md 26 Axis operation status Standby 0 i Synchronous control 15 Standby 0 Md 321 Synchronous encoder 4 axis current value per cycle A Cam axis current value per cycle Current feed value E Synchronous control system control data nae gt P Default Buffer memory Setting item Setting details Setting value value address e Synchronous control begins if the target axis bit is turned ON W Set the target axis in 16bits e Synchronous control ends if the bit is de OFF Synchronous control end ON_ Synchronous control start Note 1 Synchronous control start turned OFF during synchronous control Fetch cycle Operation cycle Note 1 The range from axis 1 to 2 is valid in the 2 axis module and the range from axis 1 to 4 is valid in the 4 axis module Starting method for synchronous control Synchronous control can be started by turning the target axis bit from OFF to ON in Cd 380 Synchro
229. ss oO 2147483648 to 2147483647 2147483648 to 2147483647 PLS s 3 Servo command value PLS s 2147483648 to 2147483647 PLS s 4 Feedback value Noet 1 When Pr 83 Speed control 10 x multiplier setting for degree axis is valid this will be the speed unit X10 jegree min Range 21474836 48 to 21474836 47 degree min 1 When 1 Current feed value or 3 Servo command value is set in Pr 300 Servo input axis type and the servo input axis becomes servo OFF by the servo error or forced stop the amount of value change may be large This can be prevented by setting 2 Real current value or 4 Feedback value in Pr 300 Servo input axis type When a home position return for the axis where 1 Current feed value or 2 Real current value is set in Pr 300 Servo input axis type is performed if the servo input axis operation during home position return is used as the input value the input is stopped in the midway of home position return When the servo input axis operation during home position return is used as the input value set 3 Servo command value or 4 Feedback value in Pr 300 Servo input axis type Chapter 2 Input Axis Module 2 1 2 Servo input axis parameters Default Buffer memo Setting item Setting details Setting value 7 y value address W Set in decimal Set the current value type to be 0 Invalid generated of the input value for the 1 Current feed value Serv
230. st synchronous control session was stopped as follows These are listed with the last synchronization status e Just before Cd 380 Synchronous control start turns from ON to OFF e Just before deceleration stop by a stop command or an error etc e Just before the system s power supply turned OFF to the Simple Motion module Buffer memo Monitor item Storage details Monitor value y address e The current value after combining the main input and sub input values from the main shaft is stored I Monitoring is carried out in decimal Current value after e Value is stored even after system s power supply display 42800 40n composite main shaft OFF 2147483648 to 2147483647 42801 40n gear Refresh cycle Operation cycle During synchronous Main input axis position units ote i control only e The current value per cycle after the main shaft gear is stored e One cycle is considered the cam axis length per I Monitoring is carried out in decimal cycle display 42802 40n Current value per cycle Value is stored even after system s power supply 0 to Cam axis length per cycle 1 42803 40n after main shaft gear OFF Cam axis cycle units Note Refresh cycle Operation cycle During synchronous control only e The current value per cycle after the auxiliary shaft gear is stored One cycle is considered the cam axis length per 9 Monitoring is carried out in decimal Current value per cycle cycle display 42804 40n after au
231. stem for a servo input axis a QD77MS Operation Servo input axis type cycle ms Current feed value Real current value Command to servo amplifier Feedback value b QD77GF Operation Servo input axis type cycle ms 7251 ps 14397 us c LD77MS Operation Servo input axis type cycle ms Current feed value Real current value Command to servo amplifier Feedback value 0 us 1781 us 0 us 3672 us 0 us 1776 us 0 us 5443 us d LD77MH Operation Servo input axis type cycle ms Current feed value Real current value Command to servo amplifier Feedback value 5333 ps Chapter 4 Synchronous Control 2 Delay time peculiar to the system for a synchronous encoder axis a QD77MS Pr 320 Synchronous encoder axis type Operation cycle ms Incremental synchronous Synchronous encoder Synchronous encoder y encoder via servo amplifier via CPU 2287 us 3634 us 2287 Scan time us 3953 us 5413 us 3953 Scan time us b QD77GF Operation Synchronous encoder axis type cycle ms Incremental synchronous encoder Synchronous encoder via CPU 2387 us 2387 Scan time us 4968 us 4968 Scan time us 10236 us 10236 Scan time us c LD77MS Operation cycle ms Incremental synchronous EC encoder Synchronous encoder y encoder via servo amplifier via CPU 2398 us 3634 us 2398 Scan time us 4045 us 5413 us 4045 Scan time us d LD77MH Operation S
232. storation disable error code 769 will occur and synchronous control cannot be started Note that if the setting value of In position width is large a rapid operation may occur With cam axis current feed value restoration calculate the cam axis current feed value with the cam position calculation function Refer to Section 5 5 or with synchronous control analysis mode Refer to Section 5 4 before starting synchronous control Then start synchronous control after positioning to the correct cam axis current feed value Chapter 5 Synchronous Control Initial Position 5 4 Synchronous control analysis mode With synchronous control analysis mode parameters are only analyzed for synchronous control when there is a command to start synchronous control This mode is used to confirm the synchronous positions of the output axes in order to align axes with position control before starting synchronous control If the target axis bit is ON in Cd 381 Synchronous control analysis mode when starting synchronous control turning the target axis bit from OFF to ON for Cd 380 Synchronous control start operation enters synchronous control analysis mode When the synchronization position analysis is completed the synchronous control monitor data IMd 400 to IMd 425 is updated and the target axis bit in Cd 380 Synchronous control start turns OFF The busy signal is not turned ON during synchronous control analysis mode When start
233. stored using the cam position calculation function and moving the current feed value Set a larger setting value for the servo parameter In position range if the current value is too small such as 0 Chapter 6 Troubleshooting Synchronous Control 6 3 2 List of output axis warnings Warning s Operation status at e s Warning name Warning Corrective action No warning occurrence The synchronous parameter Pr 405 Main shaft clutch control setting was set to outside the setting range during the Synchronous control 704 Outside main shaft synchronous control Reais bythe GC clutch control setting Ve The synchronous parameter Pr 405 previous main shaft range Main shaft clutch control setting was set clutch control setting from a setting other than No Clutch to No Clutch during the synchronous control Th 7 ter e Do not change the settings other than e The synchronous parameter Pr 422 y Sp No Clutch to No Clutch Auxiliary shaft clutch control setting was set to outside the setting range during Synchronous control 724 Outside auxiliary shaft the synchronous control continues by the 2D4h clutch control setting Ve The synchronous parameter Pr 422 previous auxiliary Set a value within the range range Auxiliary shaft clutch control setting was __ shaft clutch control set from a setting other than No setting Clutch to No Clutch during the synchronous control
234. struction manual Perform maintenance and inspection after backing up the program and parameters for the module 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 the instruction manual Do not touch the lead sections such as ICs or the connector contacts Before touching the module always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the module to fail or malfunction Do not directly touch the module s conductive parts and electronic components Touching them could cause an operation failure or give damage to the module Do not place the module or servo amplifier on metal that may cause a power leakage or wood plastic or vinyl that may cause static electricity buildup Do not perform a megger test insulation resistance measurement during inspection When replacing the module or servo amplifier always set the new module settings correctly Z CAUTION When the module or absolute value motor has been replaced carry out a home position return operation using one of the following methods otherwise position displacement could occur 1 After writing the servo data to the Simple Motion module using programming software switch on the power again then perform a home position return operation After maintenance and inspections are completed
235. synchronous position for synchronous control is always saved in the Simple Motion module Synchronous control can be restarted without returning all axes to their starting points by restoring the synchronized relationship through the synchronous control initial position parameters Refer to Section 5 2 The reference axis used to restart synchronous control is different for each system The following procedure shows an example of how to restore synchronized values based on the servo input axis as reference position E Example Restoring 2 output axes axis 2 axis 3 based on the servo input axis axis 1 as the reference position Press conveyance device position Axis 1 Y axis of X axis of workpiece workpiece conveyance a conveyance Axis 2 Axis 3 lt r Axis 2 1 Procedure for synchronous control first time 1 Execute OPR for axis 1 2 and 3 and position to the synchronization starting point 2 Set the synchronous control initial position parameters for axis 2 and 3 as follows Setting item Setting value Setting method of current value per cycle F 2 Calculate from input axis after main shaft gear Pressing Pr 462 Cam axis position restoration object 0 Cam axis current value per cycle restoration Pr 463 Setting method of cam reference position 2 Current feed value Pr 468 Cam axis current value per cycle Initial setting re eee 3 Turn ON the bits for axis 2 and 3 in Cd 380 Synchro
236. synchronous section Chapter 3 Cam Function Synchronous axis length Synchronous axis cycle length Sheet synchronization width Synchronization starting point Feed sheet Sheet length Cam axis current value per cycle Sheet synchronization width i Sheet length Synchronization starting point en Cam axis Synchronous axis speed A Synchronous section acceleration ratio E E i K When 0 it is as fast as synchronous speed y u Feed sheet speed i i i r gt t Cam stroke ratio A Cam data by auto generation 100 ESCH Dee i i zie Chapter 3 Cam Function MEMO Chapter A Gvpchronous Control Chapter 4 Synchronous Control The parameters and monitor data for synchronous control such as Main shaft module Speed change gear module and Output axis module are explained in this chapter Configure the required settings according to the control and application requirements for each module At Man sberrrgoglgle sarira dee sntcudsevaed t2acd sn btale saat dare mbes deevecsdac aaadaaleraateets sabe 4 2 4 1 1 Overview of main shaft module esesessssesesrresrsrnesernrnarrnnesrennasrrnnesenennaarnnne 4 2 4 1 2 Main shaft parameters ccccceceeeeeececceceeeeeeeceeaeeeeeeeeesecseaeeeeeeeeneensnaeees 4 3 4 1 3 Main shaft clutch pDarameters renerne 4 5 4 1 4 Main shaf
237. t clutch control data 4 13 4 2 Auxiliary shaft mode ca aaia a E R e a Ea E EE RSS 4 14 4 2 1 Overview of auxiliary shaft module sesssssseesssrnsseerresrrrssttrresrtnrssrernssrennne 4 14 4 2 2 Auxiliary shaft parameters saasseeeeerreesirreerrrnaerrnnestnnnaattnnssttnnatenneatennaatennne 4 15 4 2 3 Auxiliary shaft clutch parameters ssseseeseeseneserreseerresrtnnssttrrnsttnnssrtnnssrnnne 4 17 4 2 4 Auxiliary shaft clutch Control data 22 eeccceeeeeneeeeeenneeeeeeneeeeeeenaeeeeeeneeeeeeaes 4 25 AsSe CMC KEE 4 26 473 1 Overview Of ClULCM eaaa Sasteuhacacteunstind inde deceutteprcctheeaeeeanees 4 26 4 3 2 Control method for dutch neeo n a a a a A A 4 26 4 3 3 Smoothing method for chutch eeii aeiia a araea aa Erenn E ere Raai 4 33 4 3 4 Use example of cutch nenen nentrn nnne nanen 4 37 4 4 Speed change gear module eeEEESEREEEKEEEENEREEEREEEEEEEEEEEEEEEENENEEEEEEE REENEN 4 38 4 4 1 Overview of speed change gear module 0 eee eee eeeeeeeeeeeeeeeeenteeeeetnaeeeeeeaaes 4 38 4 4 2 Speed change gear parameters ssssesesseeiieseerrestirretttrretttnnnstennnnttnnnnten nne 4 39 4 5 Output axis module cece e a cece ee a aa a aaaea aaa EETA aaa 4 41 4 5 1 Overview of output axis module nner nnt 4 41 4 5 2 Output axis ParamMetelS tette tttt ttre ttrt ttnn nansa tt ttnn nennen rtnn nenne ent 4 43 Ap Synchronous control change TIunchon eceeeeeeeeeeeeeeeeeeeeeeeeeeeteeeeeeeseeaeeeeeeaeees 4 47 4 6 1 Overview of synchronous co
238. t clutch reference address setting If the set amount is negative the slippage amount at clutch OFF is controlled as 0 direct Chapter 4 Synchronous Control 4 2 4 Auxiliary shaft clutch control data value address Cd 403 W Set in decimal e Set the clutch command ON OFF 6 Adsillany Shaft eltteh comand OFE uxili u Auxiliary shaft clutch Fetch cycle Operation cycle S ry 44083 20n command 1 Auxiliary shaft clutch command ON e Set 1 to disable the clutch control E Set in decimal Auxiliary shaft clutch ea alid temporarily 0 Auxiliary shaft clutch control valid 44084 20n invali i Fetch cycle Operation cycle 1 Auxiliary shaft clutch control invalid command Cd 405 Set in decimal SS ESSE OOCR Orr g 0 Auxiliary shaft clutch normal control ili Auxili u Auxiliary shaft clutch Fetch cycle Operation cycle z ry 44085 20n forced OFF command 1 Auxiliary shaft clutch forced OFF n Axis No 1 Cd 403 Auxiliary shaft clutch command Use ON OFF for the auxiliary shaft clutch command This command is used with the following settings e The clutch ON control mode is 1 Clutch command ON OFF 2 Clutch command leading edge or 3 Clutch command trailing edge e The clutch OFF control mode is either 2 Clutch command leading edge or 3 Clutch command trailing edge Status is considered as clutch command OFF just before starting synchronous control If synchronous control is started while the clutch com
239. t gear Travel value after clutch Pr 409 Main shaft clutch OFF address Set the clutch OFF address when address mode is configured for the OFF control mode of the main shaft clutch When the reference address is the current value per cycle after main shaft gear the setting address is converted for control within the range from 0 to Cam axis length per cycle 1 Example Cam axis length per cycle 20000PLS The OFF address is controlled as 60PLS when the setting value is 40060 Chapter 4 Synchronous Control Pr 410 Travel value before main shaft clutch OFF Set the travel value for the reference address with a signed number for the distance between the clutch OFF condition completing and the clutch opening 1 to 2147483647 Positive value Used when the reference address is increasing in direction 0 No movement The clutch is immediately turned OFF with the clutch OFF condition completing 2147483648 to 1 Negative value Used when the reference address is decreasing in direction Clutch OFF condition is completed Example Cd 400 Main shaft clutch l command OFF Md 420 Main shaft clutch ON OFF status i A Md 400 Current value after composite Travel value before main shaft main shaft gear clutch OFF Positive value or Md 401 Current value per cycle after main shaft gear Travel value after clutch Pr 4
240. t value of the main input axis Current value Main input direction of us A f Main input axis after composite composite main shaft gear current value main shaft gear Input Input No input 0 Change method 2 The travel value of the main input axis from the last synchronous control session is reflected to the current value after composite main shaft gear ae DEES Travel value of main Current value Current value Main input direction of i 2 input axis from the after composite after composite composite main shaft gear S i x last synchronous main shaft gear main shaft gear Input Input No input 0 control session Chapter 4 Synchronous Control Md 401 Current value per cycle after main shaft gear The input travel value after the main shaft gear is stored within the range from 0 to Cam axis length per cycle 1 The unit is in cam axis cycle units Refer to Section 4 5 1 The value is restored according to Pr 460 Setting method of current value per cycle after main shaft gear when starting synchronous control Refer to Section 5 1 Md 402 Current value per cycle after auxiliary shaft gear The input travel value after the auxiliary shaft gear is stored within the range from 0 to Cam axis length per cycle 1 The unit is in cam axis cycle units Refer to Section 4 5 1 The value is restored according to Pr 461 Setting method of current value per cycle after auxiliary shaft gear when sta
241. tch control setting Although the clutch control setting can be changed during synchronous control however the setting No clutch Direct coupled operation cannot be selected during synchronous control after already selecting another setting Settingitem item Item Main shaft Auxiliary shaft Setting details Setting value clutch clutch e Set the clutch control method H Set in hexadecimal HOOOO ON control mode 0 No clutch 1 Clutch command ON OFF 2 Clutch command leading edge 3 Clutch command trailing edge 4 Address mode Clutch control S 5 High speed input request setting Main shaft clutch Auxiliary shaft clutch L OFF control mode control setting control setting 0 OFF control invalid 1 One shot OFF 2 Clutch command leading edge 3 Clutch command trailing edge 4 Address mode 5 High speed input request High speed input request signal 0 to F High speed input request signal from axis 1 to axis 16 Note 1 Note 1 The range from axis 1 to 2 is valid in the 2 axis module and the range from axis 1 to 4 is valid in the 4 axis module When the clutch ON condition and the clutch OFF condition are completed simultaneously within one operation cycle both clutch ON and OFF processing are executed within one operation cycle Therefore the clutch is from OFF to ON and again to OFF at the clutch OFF status and it is from ON to OFF and again to ON at the clutch ON status Th
242. te 2 Ge auxiliary shaft clutch CN Fetch cycle At turning clutch ON Auxiliary shat position unit cam axis cycle units E Set in decimal Pr 431 e For smoothing with a slippage method 0 to 2147483647 Slippage amount at set the slippage amount at clutch OFF 36450 200n a Fa Note 2 Auxiliary shaft position units or 36451 200n auxiliary shaft clutch OFF Fetch cycle At turning clutch OFF Yy H Note 3 cam axis cycle units E Set in decimal e Set the clutch smoothing method Ge SE Auxiliary shaft clutch Fetch cycle At start of synchronous 1 Time constant method Exponent f 2 Time constant method Linear smoothing method control i 3 Slippage method Exponent 4 Slippage method Linear n Axis No 1 Note 2 Auxiliary shaft position units Refer to Chapter 2 Note 3 Cam axis cycle units Refer to Section 4 5 1 Pr 422 Auxiliary shaft clutch control setting Chapter 4 Synchronous Control Set the ON and OFF control methods separately for the auxiliary shaft The clutch control setting can be changed during synchronous control however the setting to No clutch Direct coupled operation cannot be selected during synchronous control after already selecting another setting Refer to Section 4 3 2 for operation details on the clutch control 1 ON control mode 0 No clutch Direct coupled operation Execute direct coupled operation without 1 Clutch command ON OFF osaceae
243. the accumulative current value that starts from 0 for the connected servo amplifier is stored 3 Servo command value When of the absolute position detection system setting is valid the accumulative 4 Feedback value current value that starts from the absolute position command encoder feedback pulse for the connected servo amplifier is stored e The servo input axis current value will not change even if an OPR or the current value is changed Chapter 2 Input Axis Module Md 301 Servo input axis speed The speed for the servo input axis is stored in servo input axis speed units Refer to Section 2 1 1 The speed for the servo input axis is the value after processing smoothing phase compensation and rotation direction restriction Md 302 Servo input axis phase compensation amount The phase compensation amount for a servo input axis is stored in servo input axis position units Refer to Section 2 1 1 The phase compensation amount for a servo input axis is the value after processing smoothing and phase compensation Md 303 Servo input axis rotation direction restriction amount While the rotation direction is restricted for a servo input axis the accumulation for input travel value in the opposite direction of the enabled direction is stored in servo input axis position units Refer to Section 2 1 1 as follows Setting value of Pr 304 Servo input SEU Ee EE Storage details axis rotation direction restriction 1 Enab
244. the cam position calculation when calculating the cam axis current value per cycle This is not used when calculating the cam axis current feed value Chapter 5 Synchronous Control Initial Position 5 5 2 Cam position calculation monitor data de Buffer memory Monitor item Storage details Monitor value address W Monitoring is carried out in decimal e When calculating the cam axis current feed value e The result of the cam position eae 2147483648 to 2147483647 calculation is stored Output axis position units Note 1 pee wes Refresh cycle Al cam position ae calc S the cam axis current value per cycle e ulati xis cu valu calculation result calculation completion 9 Parey 0 to Cam axis length per cycle 1 P Note 2 Cam axis cycle units Note 1 Output axis position units Refer to Section 4 5 1 Note 2 Cam axis cycle units Refer to Section 4 5 1 Md 600 Cam position calculation result The result of the cam position calculation is stored When calculating the cam axis current feed value Ee Calculated value of the cam axis current feed value is stored When calculating the cam axis current value per cycle GE Calculated value of the cam axis current value per cycle is stored The cam reference position is not updated automatically by the cam position calculation function Chapter 5 Synchronous Control Initial Position 5 6 Method to restart synchronous control The relationship of the
245. the input value is transmitted as is 1 Main shaft side ccceeeeeeeeteeteeeees Speed change is processed for input value after main shaft clutch based on the speed change ratio settings 2 Auxiliary shaft aide Speed change is processed for input value after auxiliary shaft clutch based on the speed change ratio settings 3 After composite auxiliary shaft gear Speed change is processed for input value after composite auxiliary shaft gear based on the speed change ratio settings Pr 435 Speed change gear smoothing time constant Set the averaging time to execute a smoothing process for the speed change for the speed change gear The input response is delayed depending on the time set in the speed change gear smoothing time constant Speed is changed directly when 0 is set Chapter 4 Synchronous Control Pr 436 Speed change ratio Numerator Pr 437 Speed change ratio Denominator Set the numerator and the denominator for the speed change ratio Pr 436 Speed change ratio Numerator and Pr 437 Speed change ratio Denominator can be changed during synchronous control Input values for speed change are processed as follows Speed change ratio Numerator Input value after change Input value before change X _ S 9 E S Speed change ratio Denominator The input speed can be reversed by setting a negative value in Pr 436 Speed change ratio Numerator Pr 437 Speed change ratio Denomin
246. ting The setting may be reversed e Check if the input axis moves to the reverse direction of the enabled direction the minimum or maximum value e Set a lower value if the number of The input axis operation continues The minimum or decimal places for speed command setting is available in the input axis setting Switch the units from min to sec if the speed command time unit setting is maximum value is displayed as the speed display of available in the input axis setting monitor data e Decrease the input axis speed The synchronous encoder control Replace the battery continues Chapter 6 Troubleshooting Synchronous Control 6 3 Error and warning of output axis The detection processing and reset method for error and warning of output axis are similar to normal positioning control E Error and warning of output axis 1 Error detection The error detection signal turns ON and the output axis error number is stored in Md 23 Axis error No 2 Warning detection b9 Axis warning detection of Md 31 Status turns ON and the output axis warning number is stored in Md 24 Axis warning No 3 Resetting errors and warnings Remove the cause of error or warning following the actions described in Section 6 3 1 and 6 3 2 before canceling an error or warning state through resetting the error An error or warning state is canceled after the following processing has been carried out by settin
247. ting 0 No clutch Cd 402 Main shaft clutch forced OFF command and the change of the clutch control setting are ignored during direct coupled operation Chapter 4 Synchronous Control 2 OFF control mode 0 OFF control invalid oo eee eeeeeeeeeee Clutch OFF control is not used This setting is applicable only for execution with clutch ON control 1 One Shot OPE AA The clutch is turned OFF after moving the distance Pr 410 Travel value before main shaft clutch OFF One shot operation after the clutch command turns ON If Pr 410 Travel value before main shaft clutch OFF is 0 Md 420 Main shaft clutch ON OFF status does not turn ON in order to turn back OFF immediately 2 Clutch command leading edge The clutch is turned OFF when Cd 400 Main shaft clutch command passes the leading edge from OFF to ON 3 Clutch command trailing edge The clutch is turned OFF when Cd 400 Main shaft clutch command passes the trailing edge from ON to OFF 4 Address mode The clutch is turned OFF when the reference address the current value after composite main shaft gear or the current value per cycle after main shaft gear reaches Pr 409 Main shaft clutch OFF address The travel value before passing through the OFF address is calculated as the output travel value of the clutch based on the reference address passing through thereby controlling the clutch with an accurate travel value
248. ting synchronous control on the axis 1 with the axis 4 as an input axis The axis 4 is configured as the virtual servo amplifier 1 Set MR J4 W B on the axis 1 and the virtual servo amplifier on the axis 4 in the system setting 7 0030 0D77MS1 6 System Structure EIS Amplifier Setting Axis 4 Servo Amplifier Information Servo Amplifier Series MR 34 W B RJ Amplifier Operation Mode Servo Parameter MR Configurator starts and servo Servo Parameter parameters can be set Setting IF MR Configurator is not installed display the servo parameter setting screen 2 Set the axis 4 as the servo input axis in the input axis parameter E 0030 0D77MS1 6 Input Axis Parameter Display Filter All Input Axes e Synchronous Parameter Setting Item Servo input axis Pr 300 5ervo input axis type O Invalid O Invalid O Invalid Detail setting Synchronous encoder axis Set the current value type to be the generator of the input value For servo input axis Invalid Servo input axis is invalid Current Feed Value Generate the input value based on the current feed value Real Current Value Generate the input value based on the real current value which has been created from unit conversion from the Feedback value Servo Command Value Generate the input value based on the servo command value in the encoder pulse unit to command the servo Feedback Value Generate the input value based on the encod
249. tion module or GX Works2 Refer to the Simple Motion Module Setting Tool Help of GX Works2 for details Classification of errors 001 to 009 100 to 199 User s Manual Positioning 200 to 299 OPR or absolute position restoration errors Control of each Simple 300 to 399 JOG operation or inching operation errors Motion module 500 to 599 Positioning operation errors 600 to 699 Synchronous control input axis errors Section 6 2 1 700 to 799 Synchronous control output axis errors Section 6 3 1 800 to 899 I F Interface errors ij ii e 1 iti D 900 to 999 Parameter setting range errors Sele Manual RA mec Control of each Simple 1201 to 1209 Motion module 2000 to 2999 Servo amplifier errors 2 Warning Warnings detected by the Simple Motion module include system warnings axis warnings and servo amplifier warnings The warning definitions can be found from the warning codes Confirming them requires GX Works2 Refer to the Simple Motion Module Setting Tool Help of GX Works2 for details Classification of wamings 100 to 199 User s Manual Positioning 300 to 399 JOG operation warnings i Control of each Simple 400 to 499 Manual pulse generator operation warnings Motion module 500 to 599 Positioning operation warnings 600 to 699 Synchronous control input axis warnings Section 6 2 2 700 to 799 Synchronous control output axis warnings Section 6 3 2 800 to 899 Cam operation warnings Section 6 4 System control data setting r
250. tive slippage amount with the slippage method is stored as a signed value The absolute value of the accumulative slippage increases to reach the slippage at clutch ON during clutch ON The absolute value of the accumulative slippage decreases to reach 0 during clutch OFF Monitoring of the accumulative slippage is used to check the smoothing progress with the slippage method 4 57 Chapter 4 Synchronous Control 4 8 Phase compensation function In synchronous control delays in progresses etc cause the phase to deviate at the output axis motor shaft end with respect to the input axis Servo input axis or synchronous encoder axis The phase compensation function compensates in this case so that the phase does not deviate Phase compensation can be set for the input and the output axis It is possible to compensate using the delay time peculiar to the system based on the servo input axis or the synchronous encoder axis on the input axis side It is also possible to use a compensation delay time equivalent to the position deviation for each servo amplifier on the output axis side E Phase compensation on delay time of the input axis Set delay time peculiar to the system in the phase compensation advance time of the input axis Pr 302 Servo input axis phase compensation advance time Pr 326 Synchronous encoder axis phase compensation advance time The delay time peculiar to the system is shown below 1 Delay time peculiar to the sy
251. to 2 The synchronous parameter Pr 463 Setting method of cam reference position is set to other than 0 to 2 e The synchronous parameter Pr 464 Setting method of cam axis current value per cycle is set to other than 0 to 3 e 3 Current value per cycle after auxiliary shaft gear is established when the auxiliary shaft does not exist Synchronous control does not start Synchronous control is immediately stopped Synchronous control does not start Set a value within the range from 0 to 5000 e Set a smaller absolute value for the synchronous parameter Pr 436 Speed change ratio Numerator e Set a larger the synchronous parameter Pr 437 Speed change ratio Denominator e Decrease the input axis speed Set a value within the range from 0 to 256 Specify the cam No of an existing cam data Set a value within the range from 1 to 2147483647 Set a value within the range from 0 to 5000 Set a value within the range from 0 to 2 Set within the range from 0 to Cam axis length per cycle 1 Set a value within the range from 0 to 2 Set within the range from 0 to Cam axis length per cycle 1 Set a value within the range from 0 to 2 e Set a value within the range from 0 to 3 e Set other than 3 Current value per cycle after auxiliary shaft gear when the auxiliary shaft does not exist Chapter 6 Troubleshootin Synchronous Control Error Operation status at S p
252. to a value within range Fetch cycle Operation cycle Set the travel value for the distance between the clutch ON condition completing and the clutch closing Set a positive value when the reference address is increasing and a negative value when it is decreasing Fetch cycle At completing clutch ON condition Note 2 Auxiliary shaft position units Refer to Chapter 2 Note 3 Cam axis cycle units Refer to Section 4 5 1 Chapter 4 Synchronous Control E Set in hexadecimal HOOOO ON control mode 0 No clutch 1 Clutch command ON OFF 2 Clutch command leading edge 3 Clutch command trailing edge 4 Address mode 5 High speed input request gt OFF control mode 0 OFF control invalid 1 One shot OFF 2 Clutch command leading edge 3 Clutch command trailing edge 4 Address mode 5 High speed input request High speed input request signal 0 to F High speed input request signal from axis 1 to axis 16 Note 1 RW Set in decimal 0 Auxiliary shaft current value 1 Current value per cycle after auxiliary shaft gear E Set in decimal 2147483648 to 2147483647 Auxiliary shaft position units A _ Note 3 cam axis cycle units Note 2 E Set in decimal 2147483648 to 2147483647 Auxiliary shaft position units Note 3 cam axis cycle units Note 2 or 0000h 36436 200n 36437 200n 36438 200n 36439 200n 36440 200n 36441 200n n A
253. ue per cycle The current value per cycle for a synchronous encoder axis is stored in the range from 0 to Pr 324 Synchronous encoder axis length per cycle 1 The unit is synchronous encoder axis position units Refer to Section 2 2 1 Md 322 Synchronous encoder axis speed The speed for a synchronous encoder axis is stored in synchronous encoder axis speed units Refer to Section 2 2 1 If the speed for a synchronous encoder axis exceeds the monitor range Refer to Section 2 2 1 the warning Out of range the input axis speed display warning code 682 will occur In this case use a smaller number of decimal places for the speed in Pr 321 Synchronous encoder axis unit setting or set the speed time units to sec Md 323 Synchronous encoder axis phase compensation amount The phase compensation amount for a synchronous encoder axis is stored in the synchronous encoder axis position units Refer to Section 2 2 1 The phase compensation amount for a synchronous encoder axis is the value after smoothing processing and phase compensation processing Md 324 Synchronous encoder axis rotation direction restriction amount While the rotation direction is restricted for a synchronous encoder axis the accumulation for input travel in the opposite direction of the enabled direction is stored in synchronous encoder axis position units Refer to Section 2 2 1 as follows Setting value of Pr 328 Synchronous encoder axis rotation Sto
254. urrent feed value Current feed value Before being changed Md 408 Cam reference After being changed position l Changed to new cam reference position Synchronous control change request Synchronous control 1 Change cam axis current change command value per cycle Change current value per cycle after main shaft gear The current value per cycle after main shaft gear is changed to the value set in Cd 408 Synchronous control change value This operation is completed within one operation cycle Clutch control is not executed if the current value per cycle after main shaft gear the value before being changed and after being changed has already passed through the ON OFF address in address mode Change current value per cycle after auxiliary shaft gear The current value per cycle after auxiliary shaft gear is changed to the value set in Cd 408 Synchronous control change value This operation is completed within one operation cycle Clutch control is not executed if the current value per cycle after the auxiliary shaft gear the value before being changed and after being changed has already passed through the ON OFF address in address mode Chapter 4 Synchronous Control 5 Cam axis current value per cycle movement This command is executed to move the cam axis current value per cycle through adding the setting travel value of Cd 408 Synchronous control change value The t
255. vo amplifier This manual explains the I O signals parts names parameters start up procedure and others for linear servo MR J3 _B RJ004 U_ This manual explains the I O signals parts names parameters start up procedure and others for fully closed loop control MR J3 _B RJO06 servo amplifier This manual explains the I O signals parts names parameters start up procedure and others for 2 axis AC servo amplifier MR J3W 0303BN6 MR J3W _B servo amplifier This manual explains the I O signals parts names parameters start up procedure and others for direct drive servo MR J3 _B RJO80W This manual explains the I O signals parts names parameters start up procedure and others for safety integrated MR J3 _B safety servo amplifier This manual explains the I O signals parts names parameters start up procedure and others for CC Link IE Field Network interface AC servo amplifier with Motion MR J4 _B RJ010 and CC Link IE Field Network interface unit MR J3 T10 MANUAL PAGE ORGANIZATION Mi The symbols used in this manual are shown below The following symbols represent the buffer memories supported for each axis A serial No is inserted in the mark Symbol Description Symbol that indicates positioning parameter and OPR parameter item Symbol that indicates monitor data item Symbol that indicates control data item Symbol that indicates correspondence to only QD77MS Symbol that indicates correspondence to only
256. way operation Reciprocating operation with a constant cam strokes range e Feed operation e Linear operation Cam reference position is updated every cycle Linear operation cam No 0 in the cycle as the stroke ratio is 100 The output axis is controlled by a value current feed value which is converted from the input value cam axis current value per cycle by cam data Two way operation Cam data aS User created cam Feed operation Cam data User created cam Linear operation Cam data Linear cam Cam No 0 Cam axis current value per cycle Cam conversion processing Current feed value Cam axis current value per cycle Cam conversion processing Current feed value Cam axis current value per cycle Cam conversion processing Current feed value ae Lae gt t A ae Se a as A Cam reference i Cam reference Cam reference position 1 position position i At 1st cycle At 2nd cycle At 3rd cycle d A e Ee gt t Cam reference Cam reference Cam reference 4 position position position At 1st cycle At 2nd cycle At 3rd cycle t Stroke amount x100 Chapter 3 Cam Function E Cam data 1 Stroke ratio data format The stroke ratio data format is defined in equal divisions for one cam cycle based on the cam resolution and configured with stroke rat
257. xiliary shaft e Value is stored even after system s power supply 0 to Cam axis length pet cycle 1 42805 40n ote OFF Cam axis cycle units Refresh cycle Operation cycle During synchronous control only gear E Monitoring is carried out in decimal display 42810 40n 2147483648 to 2147483647 42811 40n Md 406 e The current phase compensation amount is stored Cam axis phase Refresh cycle Operation cycle During synchronous control only 4 Note 2 compensation amount Cam axis cycle units e The current value per cycle is stored which is calculated from the input travel value to the cam oo 3 axis The value after phase compensation E Monitoring is carried out in decimal e Value is stored even after system s power supply display EH 0 to Cam axis length per cycle 1 42813 40n OFF xis leng 3 Cam axis cycle units Cam axis current value per cycle Refresh cycle Operation cycle During synchronous control only n Axis No 1 Note 1 Main input axis position units Refer to Chapter 2 Note 2 Cam axis cycle units Refer to Section 4 5 1 Chapter 4 Synchronous Control ae Buffer memory Monitor item Storage details Monitor value address e The current feed value as the cam reference position is stored e Value is stored even after system s power supply OFF Cam reference position Refresh cycle Operation cycle During synchronous control only e The current feed value w
258. xis No 1 Chapter 4 Synchronous Control SE e Default Buffer memory Setting item Setting details Setting value value address Set the clutch OFF address for the address mode This setting is invalid except during address mode i Set in decimal If the address is out of the range from O 2147483648 to 2147483647 36442 200n to Cam axis length per cycle 1 the Auxiliary shaft position units DOE or 36443 200n setting address is converted to a value cam axis cycle units dee within range Fetch cycle Operation cycle Auxiliary shaft clutch OFF address Set the travel value for the distance between the clutch OFF condition completing and the clutch opening i Set in decimal Set a positive value when the reference 2147483648 to 2147483647 address is increasing and a negative Auxiliary shaft position units Note 2 or value when it is in decreasing cam axis cycle units UE Fetch cycle At completing clutch OFF condition Travel value before auxiliary shaft clutch OFF 36444 200n 36445 200n 36446 200n 36447 200n 36448 200n 36449 200n e For smoothing with a time constant method set the smoothing time Auxiliary shaft clutch constant smoothing time constant Fetch cycle At start of synchronous control E Set in decimal 0 to 5000 ms I Set in decimal Pr 430 e For smoothing with a slippage method 0 to 2147483647 Slippage amount at set the slippage amount at clutch ON ole ae E No
259. ycle units Ge Fetch cycle At completing clutch ON condition n Axis No 1 Note 1 The range from axis 1 to 2 is valid in the 2 axis module and the range from axis 1 to 4 is valid in the 4 axis module Note 2 Main input axis position units Refer to Chapter 2 Note 3 Cam axis cycle units Refer to Section 4 5 1 Chapter 4 Synchronous Control eat F s Default Buffer memory Setting item Setting details Setting value value address Set the clutch OFF address for the address mode This setting is invalid except during address mode If the address is out of the range from 0 to Cam axis length per cycle 1 the setting address is converted to a value within range Fetch cycle Operation cycle e Set the travel value for the distance Main shaft clutch OFF address between the clutch OFF condition completing and the clutch opening Set a positive value when the reference address is increasing and a negative value when it is decreasing Fetch cycle At completing clutch OFF condition Travel value before main shaft clutch OFF Pr 411 Main shaft clutch Set the clutch smoothing method Fetch cycle At start of synchronous control smoothing method Main shaft clutch e For smoothing with a time constant method set the smoothing time constant Fetch cycle At start of synchronous control e For smoothing with a slippage method set the slippage amount at clutch ON Fetch cycle At
260. ynchronous encoder axis type cycle ms Incremental synchronous encoder Synchronous encoder via CPU 2256 us 2256 Scan time us 4036 us 4036 Scan time us Chapter 4 Synchronous Control E Phase compensation of delay time of the output axis Set delay time equivalent to the position deviation on the servo amplifier in Pr 444 Cam axis phase compensation advance time for the output axis The delay time equivalent to position deviation of the servo amplifier is calculated using the following formula MR J3 B and MR J4 B use 1000000 Delay time 4s Servo parameter Model loop gain PBO7 Note When the feed forward gain is set the delay time is set to a smaller value than the value listed above The model loop gain will change when the gain adjustment method is auto tuning mode 1 or 2 The model loop gain must not be changed on the axis executing phase compensation through preventing change with the manual mode or interpolation mode setting E Setting example When axis 1 is synchronized with an incremental synchronous encoder axis the phase compensation advance time is set as follows If the operation cycle is as 1 77 ms and model loop gain of axis 1 is as 80 Setting item Setting value QD77MS LD77MH 4036 us QD77GF 4968 us Pr 326 326 Synchronous encoder axis phase Ge 5 LD77MS 4045 us compensation advance time Reference Delay time peculiar to system for a synchronous encoder

Synchronous Control - Allied Automation, Inc.

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