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MELSEC iQ-F FX5 Simple Motion Module User`s Manual (Advanced

1. li il Incremental E 5 synchronous e S encoder g g 5 S H E Synchronous o o encoder axis 2 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 Pr 24 Manual pulse generator Incremental synchronous encoder input selection 0 A phase B phase multiplied by 4 Pr 89 Manual pulse generator Incremental synchronous encoder input type selection 0 Differential output type Pr 151 Manual pulse generator Incremental synchronous encoder input logic selection 0 Differential output type 2 INPUT AXIS MODULE 2 2 Synchronous Encoder Axis 33 34 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 following for details LLISSCNETIIIH Interface AC Servo MR J4 B RJ MR J4 _B4 RJ MR J4 B1 RJ Servo Amplifier Instruction Manual llSetting method Used to use a serial absolute synchronous encoder and an absolute incremental scale connected to CN2L of the servo amplifier MR J4 B RJ as a synchronous encoder axis
2. Servo input axis monitor data Md 300 Servo input axis current value 33120 10n 33121 10n Md 301 Servo input axis speed 33122 10n 33123 10n Md 302 Servo input axis phase compensation amount 33124 10n 33125 10n Md 303 Servo input axis rotation direction restriction amount 33126 10n 33127 10n Synchronous encoder axis monitor data Md 320 Synchronous encoder axis current value 35200 20 35201 20j Md 321 Synchronous encoder axis current value per cycle 35202 20j 35203 20j Md 322 Synchronous encoder axis speed 35204420 35205 20j Md 323 Synchronous encoder axis phase compensation amount 35206 20j 35207 20j Md 324 Synchronous encoder axis rotation direction restriction amount 35208 20 35209420 Md 325 Synchronous encoder axis status 35210 20j Md 326 Synchronous encoder axis error No 35211420 Md 327 Synchronous encoder axis warning No 35212420 Synchronous control monitor data Md 400 Current value after composite main shaft gear 42800 40n 42801 40n Md 401 Current value per cycle after main shaft gear 42802 40n 42803 40n Md 402 Current value per cycle after auxiliary shaft gear 42804 40n 42805 40n Md 406 Cam axis phase compensation amount 42810 40n 42811 40n Md 407 Cam axis current value per cycle 42812 40n 42813 40n Md 408 Cam reference position 42814 40n 42815 40n Md 409 Cam axis feed current value 42816 40n 42817 40n Md 410 Execute cam No 42818 40n Md 411
3. Synchronous parameter Main shaft module Main shaft Composite main Main shaft main input axis shaft gear gear I I I I l Synchronous encoder axis parameter a1 Synchronous encoder axis Servo input axis parameter m Main shaft sub input axis I Servo input axis l Main shaft E clutch Auxiliary Auxiliary shaft shaft gear clutch Composite auxiliary shaft gear a Speed change Speed gear module Cam data gear Output axis Auxiliary shaft module Cam module I Input axis module can be set to one of servo input axis or synchronous encoder axis Speed change gear can be arranged on one of main shaft side auxiliary shaft side or after composite auxiliary shaft gear Set the movement amount of input axis module as large as possible to prevent the speed fluctuation of output axis module in the synchronous control If the movement amount of input axis module is small the speed fluctuation of output axis module may occur depending on the setting for synchronous parameter input axis Input axis Servo input Used to drive the input axis with 4 K Page 23 module axis the position of the servomotor Servo Input controlled by the Simple Motion Axis module Synchronous Used to drive the input axis with 4 Page 30
4. Set the change value for synchronous control change processing as follows 0 Cam reference position movement 2147483648 to Output axis position Set the movement amount of the cam reference position 2147483647 unit It moves within the range from 2147483648 to 2147483647 1 Change cam axis current value per Cam axis cycle unit Set the change current value per cycle cycle The setting value is converted within the range from 0 to Cam axis 2 Change current value per cycle after length per cycle 1 main shaft gear 3 Change current value per cycle after auxiliary shaft gear 4 Cam axis current value per cycle Set the movement amount of the cam axis current value per cycle movement It moves within the range from 2147483648 to 2147483647 4 SYNCHRONOUS CONTROL 4 6 Synchronous Control Change Function C ntrol reflection time Set the reflection time for synchronous control change processing as follows 0 Cam reference position movement The time to reflect the movement amount to the cam reference position 1 Change 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 Setting not required 4 Cam axis current value per cycle movement The time to reflect the movement amount to the cam axis current value per cycle 4 SYNCHRONOUS CONTROL 4
5. 1 The item details on the cam auto generation are shown below Parameters for generating rotary cutter Cam resolution 53204 Sheet length 53206 53207 Sheet synchronous width 53208 53209 Synchronous axis length 53210 53211 Synchronization starting point 53212 53213 Synchronous section acceleration 53214 ratio APPENDICES APPENDIX 1 27 Appendix 1 List of Buffer Memory Addresses for Synchronous Control Appendix 2 Sample Program of Synchronous Control The following shows a sample program of executing 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 Servo Amplifier Information Servo Amplifier Series Me 34 W 8 RI Amplifier Operation Mode Standard V Use as Virtual Servo Amplifier Servo Parameter IR confiar parameter setting sareen Servo Parameter started and servo parameter can be set Setting 2 Setthe axis 4 as the servo input axis in the input axis parameter Synchronous Parameter Setting Set the current value type to be the generator of the input value for servo input axis Invalid Servo input axis is invalid Feed Current Value CEN KP yak Dre ee ee oem re Actual Current Value Generate the input value based on the
6. 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 Setting value Details 0 No input The input value from the input axis is calculated as 0 1 Input The input value from the input axis is calculated as it is 2 Input 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 Point The composite method for the composite 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 Pr 403 Main shaft gear Numerator Input value after conversion Input value before conversion x Vidas Ten icd iia 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 ex Convert the cam axis per cycle to be controlled in intervals of 0 1 mm 0 00394 inch The cam
7. Search order At the 2nd point d At the 3rd point Search starting point M At the 1st point N At the Oth point Cd 617 Cam position calculation Cam axis current value per cycle 0 Cam reference position Cam axis length per cycle Cam axis cycle units Searches from the range of 1 If the corresponding position is not found in the range of 1 searches from the 1st point of the cam data in the range of 2 2 The range within the cam data When Cd 617 Cam position calculation Cam axis current value per cycle the last point of cam data the position corresponding to Cd 618 Cam position calculation Cam axis feed current value is searched from the range of the cam data When the nth point of cam data lt Cd 617 Cam position calculation Cam axis current value per cycle lt the n 1st point of cam data the position corresponding to Cd 618 Cam position calculation Cam axis feed current value is searched from the nth point of cam data If ICd 617 Cam position calculation Cam axis current value per cycle is in the middle of the cam data and the corresponding position is not found until the last point of the cam data returns to the 1st point and searches until the search starting point If the corresponding position is not found in the range of 2 searches in the range of 3 If the corresponding position is not found even though the range of 2 and 3 has been searched the warning Cam p
8. Verify Write Cam storage area 12 Cam auto generation Write Cam openana Cam storage area 64k bytes Cam open area Transmit in the following timing 1024k bytes e Power supply turn ON e Write to cam storage area ICd 190 PLC READY signal OFF to ON Cam control 1 Write read verify from the engineering tool is executed toward cam storage area 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 3 CAM FUNCTION 3 2 Create Cam Data 53 54 operation with an engineering tool Cam data can be modified while viewing the waveform with the engineering tool The cam data is written read verified to the cam storage area with the engineering tool 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 the engineering tool 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 Page 55 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 data capacity The size of the created cam dat
9. 1 One shot OFF High speed input signal Specify the high speed input signal No used for sensor input Pr 406 Main shaft clutch reference address setting 0 Current value after composite main shaft gear Pr 408 Movement amount before main shaft clutch ON 0 mm Pr 410 Movement amount before main shaft clutch OFF 380 mm 14 96 inch Pr 411 Main shaft clutch smoothing method 4 Slippage method Linear Pr 413 Slippage amount at main shaft clutch ON 100 mm 3 94 inch Distance between the sensor and the waiting position Pr 414 Slippage amount at main shaft clutch OFF Synchronous encoder axis and output axis in synchronization High speed input request DI Clutch smoothing status 20 mm 0 79 inch Clutch ON OFF status A Synchronous encoder axis speed Output axis speed gt t Cutting After clutch smoothing All movement amount of output axis 380 mm 20 mm 100 mm 300 mm 14 96 inch 0 79 inch 3 94 inch 11 81 inch gt t Slippage amount at clutch OFF Set as 20 mm 0 79 inch to stop early Slippage amount at clutch ON Distance between the sensor and the waiting position 100 mm 3 94 inch 4 SYNCHRONOUS CONTROL 4 3 Clutch 84 Complete synchronous control and return to the waiting position by positioning control It can be returned by auxiliary shaft without changing synchronou
10. Current value after phase compensation gt t Speed before phase 4 compensation S ul Speed after phase i j Speed before Md 302 Servo input axis compensation i UU T gt t i i phase x phase compensation Md 302 Servo input 1 i compensation amount axis phase P m a 63 compensation VA 1639 ics F amount E T l i k if Pr 303 Servo input axis phase Pr 303 Servo input axis phase compensation time constant compensation time constant 2 INPUT AXIS MODULE 2 1 Servo Input Axis Pr 304 Servo input axis rotation direction restriction Set this parameter to restrict the input movement amount 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 Sel 0 Without rotation direction restriction Rotation direction restriction is not executed 1 Enable only for current value increase direction Enable only the input movement amount in the increasing direction of the servo input axis current value 2 Enable only for current value decrease direction Enable only the input movement amount in the decreasing direction of the servo input axis current value The input movement amount in the reverse direction of the enabled direction accumulates as a rotation direction restricted amount and will be reflected when the input movem
11. Pr 411 Setthe clutch smoothing method Set in decimal 0 36418 200n Main shaft clutch Fetch cycle At start of synchronous control 0 Direct smoothing method 1 Time constant method Exponent 2 Time constant method Linear 3 Slippage method Exponent 4 Slippage method Linear Pr 412 For smoothing with a time constant method set the Set in decimal 0 36419 200n Main shaft clutch smoothing time constant 0 to 5000 ms smoothing time Fetch cycle At start of synchronous control constant Pr 413 For smoothing with a slippage method set the slippage WSet in decimal 0 36420 200n Slippage amount at amount at clutch ON 0 to 2147483647 36421 200n main shaft clutch ON Fetch cycle At turning clutch ON Main input axis position units or cam axis cycle units 2 4 SYNCHRONOUS CONTROL 4 1 Main Shaft Module 63 64 Pr 414 For smoothing with a slippage method set the slippage WSet in decimal 0 36422 200n Slippage amount at amount at clutch OFF 0 to 2147483647 36423 200n main shaft clutch Fetch cycle At turning clutch OFF Main input axis position units or cam axis OFF cycle units 1 Main input axis position units Page 23 INPUT AXIS MODULE 2 Cam axis cycle units Page 88 Units for the output axis Pr 405 Main shaft clutch control setting Set the ON and OFF control methods separately for the main shaft clutch The clutch control setting can be changed d
12. A serial absolute synchronous encoder and an absolute incremental scale connected to the specified servo amplifier axis can be used as a synchronous encoder by the following settings Synchronous encoder axis setting Set the synchronous encoder axis parameter according to the setting below Pr 320 Type Set 101 to 104 Synchronous encoder via servo amplifier Connectable servo amplifier axis 1 to axis 4 in Pr 320 Synchronous encoder axis type 101 Synchronous encoder via servo amplifier Pr 320 Axis No of connected servo amplifier Axis No of servo amplifier to connect Encoder type setting Absolute Set ABS or INC from the External synchronous encoder Set the servo parameter Scale measurement mode Incremental input list of the amplifier setting dialog selection PA22 according to the setting below The amplifier setting dialog can be opened from the system 0 H Disabled structure screen in the system setting 1 H Usedin absolute position detection system 2__ _H Used in incremental system When 1__ H 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 2_ synchronous encoder axis current value and the synchronous encoder a
13. Convert into a hexadecimal and set 4 SYNCHRONOUS CONTROL 4 5 Output Axis Module 89 90 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 the following Cs Page 87 Overview of output axis module 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 L Page 88 Units for the output axis Set a value within the range from 1 to 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 L Page 88 Units for the output axis for cam control using the stroke ratio data format The cam stroke amount can be changed during synchronous control The value set in Pr 44
14. 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 Coordinate data format If IPr 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 0 or is on 0 The cam reference position is updated when the cam axis current value per cycle passes through 0 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 Cam axis current value per cycle Cam reference position At 1st cycle i Feed current value 4 Cam reference position At 3rd cycle Cam reference position At 2nd cycle gt t 3 CAM FUNCTION Stroke amount x 100 3 1 Control Details for Cam Function 3 2 Create Cam Data Memory configuration of cam data Cam data is arranged in the following 2 areas Memory configuration Storage item Details Remark Cam storage area Cam data Data is written by the following Data is preserved even when operations turning the power supply OFF Write with the engineering tool When e
15. Pr 414 Pr 431 For smoothing with a slippage clutch OFF Slippage amount at main shaft Slippage amount at auxiliary method set the slippage amount clutch OFF shaft clutch OFF at clutch OFF 1 Main input axis position units Page 23 INPUT AXIS MODULE 2 Auxiliary shaft position units Page 23 INPUT AXIS MODULE 3 Cam axis cycle units Page 88 Units for the output axis HSlippage method exponential curve smoothing Set 3 Slippage Exponential in the clutch smoothing method Clutch ON OFF status LLL Clutch smoothing status I 1 A Speed before clutch processing Speed after clutch smoothing gt t Slippage amount at clutch ON Slippage amount at clutch OFF Clutch ON OFF status Md 420 Main shaft clutch ON OFF status Md 424 Auxiliary shaft clutch smoothing status Clutch smoothing status Md 421 Main shaft clutch smoothing status 4 SYNCHRONOUS CONTROL 4 3 Clutch HSlippage method linear acceleration deceleration smoothing Set 4 Slippage method Linear in the clutch smoothing method Clutch ON OFF status Clutch smoothing status iz Speed before clutch processing Speed after clutch smoothing gt t Slippage amount at clutch ON Slippage amount at clutch OFF Operation at input speed deceleration during slippage method smoothing When the speed before clutch processing decreases the speed after clutch smoothin
16. Refresh cycle Operation cycle Servo input axis speed units Md 302 The current phase compensation amount lMonitoring is carried out in decimal 33124 10n Servo input axis phase compensation is stored 2147483648 to 2147483647 33125 10n amount Refresh cycle Operation cycle Servo input axis position units Md 303 While the rotation direction is restricted Monitoring is carried out in decimal 33126 10n Servo input axis rotation direction restriction the accumulation for the input movement 2147483648 to 2147483647 33127 10n amount amount in the opposite direction of the Servo input axis position units enabled direction is stored Refresh cycle Operation cycle 1 Servo input axis position units I Page 24 Servo input axis position units 2 Servo input axis speed units Page 24 Servo input axis speed units E 300 Servo input axis current value The current value for the servo input axis is stored in servo input axis position units Page 24 Servo input axis position units 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 1 Feed current value The accumulative current value started with Md 20 Feed current value Md 101 2 Real current value 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 degr
17. The Simple Motion module resets the value to 0 1 Cam auto generation request request automatically after completion of the cam auto generation Fetch cycle Main cycle Cd 609 Set the cam No to be generated automatically Set in decimal 0 53201 Cam auto generation Fetch cycle At requesting cam auto generation 1to64 cam No Cd 610 Set the type of cam auto generation Set in decimal 0 53202 Cam auto generation Fetch cycle At requesting cam auto generation 1 Cam for rotary cutter type Cd 611 Set the parameters for each type of cam auto Page 59 Cd 611 Cam auto 0 53204 to 53779 Cam auto generation generation generation data data Fetch cycle At requesting cam auto generation 1 With the exception of positioning control main cycle processing is executed during the next available time It changes by status of axis start 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 Cd 190 PLC READY signal OFF to ON If a warning occurs when requesting cam auto generation the warning number is stored in Md 24 Axis wa
18. by the stroke difference and searches again from the Oth point to the whole range If the corresponding position is not found even though the search process starts again the warning Cam position calculation cam axis 1 cycle current value calculation disable warning code 0C64H will occur When Cd 617 Cam position calculation Cam axis current value per cycle is corresponding to the last point of cam data 1 Search order At the 2nd point i At the 3rd point Atine IStpoint Search starting point i At the 5th point At the Oth point pA N 0 Cam reference position At the 4th point 2 Cam axis length per cycle Cam axis cycle units Cd 617 Cam position calculation Cam axis current value per cycle Searches from the range of 3 122 5 SYNCHRONOUS CONTROL INITIAL POSITION 5 5 Cam Position Calculation Function 5 6 Method to Restart Synchronous Control The relationship of the 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 I Page 106 Synchronous Control Initial Position Parameters 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 o
19. given in the instruction manual user s manual and caution labels on the product 2 Even within the gratis warranty term repairs shall be charged for in the following cases a Failure occurring from inappropriate storage or handling carelessness or negligence by the user Failure caused by the user s hardware or software design b Failure caused by unapproved modifications etc to the product by the user c When the Mitsubishi product is assembled into a user s device Failure that could have been avoided if functions or structures judged as necessary in the legal safety measures the user s device is subject to or as necessary by industry standards had been provided d Failure that could have been avoided if consumable parts battery backlight fuse etc designated in the instruction manual had been correctly serviced or replaced e Relay failure or output contact failure caused by usage beyond the specified life of contact cycles f Failure caused by external irresistible forces such as fires or abnormal voltages and failure caused by force majeure such as earthquakes lightning wind and water damage g Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi h Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user 2 Onerous repair term after discontinuation of production 1 Mitsubishi shall a
20. 1 Connection to servo amplifier Change method 2 Change method 1 Connection to synchronous encoder Change method 1 1 When 2 Clear feed current value to zero is set in Pr 21 Feed current value during speed control only Change 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 after composite main shaft gear Main input direction of composite main shaft gear x Main input axis current value Change method 2 The movement amount of the main input axis from the last synchronous control session is reflected to the current value after composite main shaft gear Current value after composite main shaft gear Current value after composite main shaft gear x Movement amount of main input axis from the last synchronous control session 4 SYNCHRONOUS CONTROL 4 7 Synchronous Control Monitor Data 97 98 Md 401 Current value per cycle after main shaft gear The input movement amount 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 L Page 88 Units for the output axis The value is restored according to Pr 460 Setting method of current value per cycle after main shaft gear when starting synchronous control Page 102 Synchronous Control Initial Position Md 402 Current value per cycle after auxiliary shaft gear The inp
21. 147483647 mm 1 inch 0 inch 2147483648 to 2147483647 inch 9 x 10 inch 2 147483648 to 2 147483647 inch 2 degree 0 degree 2147483648 to 2147483647 degree 9 x 109 degree 2 147483648 to 2 147483647 degree 3 pulse 0 pulse 2147483648 to 2147483647 pulse 9 x 10 pulse 2 147483648 to 2 147483647 pulse 2 INPUT AXIS MODULE 1 2 2 Synchronous Encoder Axis 3 32 MSynchronous encoder axis speed units 0 mm second s mm s 2147483648 to 2147483647 mm s x 10 mm s 2 147483648 to 2 147483647 mm s minute min mm min 2147483648 to 2147483647 mm min x 10 mm min 2 147483648 to 2 147483647 mm min 1 inch second s inch s 2147483648 to 2147483647 inch s x 10 inch s 2 147483648 to 2 147483647 inch s minute min inch min 2147483648 to 2147483647 inch min x 10 inch min 2 147483648 to 2 147483647 inch min 2 degree second s degree s 2147483648 to 2147483647 degree s x 109 degree s 2 147483648 to 2 147483647 degree s minute min degree min 2147483648 to 2147483647 degree min x 109 degree min 2 147483648 to 2 147483647 degree min 3 pulse second s pulse s 2147483648 to 2147483647 pulse s x 10 pulse s 2 147483648 to 2 147483647 pulse s minute min pulse min 2147483648 to 2147483647 pulse min x 10 pulse min 2 147483648 to 2 147483647 pulse min 2 INPUT AXIS MODULE 2 2 Synchronous Enco
22. 401 Axis No 0 Main shaft composite gear Pr 402 Main i Input Pr 402 Sub 0 No Input Main shaft gear Pr 403 Numerator 1 Pr 404 Denominator 1 3j Main shaft clutch Auxiliary shaft Pr 418 Type O Invalid Pr 418 Axis No 0 3 Auxiliary shaft composite gear 3 Auxiliary shaft gear 8j Auxiliary shaft clutch Speed change gear Output axis Cam axis cycle unit Pr 438 Unit setting selection 1 Use Unit in This Setting Pr 438 Unit 2 degree Pr 438 Number of decimal places 3 Pr 439 Cam axis length per cyde 360 000 degree Pr 441 Cam stroke amount 100000 pulse Pr 440 Cam No 1 Pr 444 Cam axis phase compensation 0 advance time i Pr 445 Cam axis phase compensation 10 ms time constant Pr 446 Synchronous control Oms deceleration time Pr 447 Output axis smoothing time ng constant Smaa control initial position Set the parameter for the initial alignment when starting the synchronous control Set each module parameter APPENDICES APPENDIX 12 Appendix 2 Sample Program of Synchronous Control 9 5 Create the program to start synchronous control The sample program when head I O number of the Simple Motion module is set to OOH is shown below n flag signal U1 G5951 0 M100 U1 G31501 0 U1 G31501 0 U1 G4618 Axis 4 JOG s U1 G31501 3 U1 G30131 0 Axis 4 Forward run JOG start Axis 4 BUSY M100 U1 G31501 0 U1 G30131 0 o x Axis 4 Forward 41 Axis 1 BUSY his
23. Auxiliary shaft clutch OFF address Clutch ON OFF status Md 420 Main shaft clutch ON OFF status Md 423 Auxiliary shaft clutch ON OFF status HHigh 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 Set the signal No for the High speed input request signal clutch control setting Set the external command signal used in Pr 95 External command signal selection 4 High speed input request in Pr 42 External command function selection and 1 Validates an external command in Cd 8 External command valid for the applicable axis Cd 8 External command valid High speed input request DI Clutch ON OFF status Current value before clutch ies Movement amount after clutch 4 SYNCHRONOUS CONTROL 4 3 Clutch A gt t A gt t 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 Time constant method smoothing Slippage method smoothing When not using clutch smoothing set 0 Direct in the clutch smoothing method Clutch smoothing Pr 411 Pr 428 Set the clutch smoothing method method Main shaft clutch smoothing Auxiliary shaft clutch Set in decimal method smoot
24. Cam axis current value per cycle restoration 0 0 ccc rne 109 Cam reference position restoration liliis rh 112 Cam axis feed current value restoration liliis 113 5 4 Synchronous Control Analysis Mode ssleeeeeeeee hh n 114 5 5 Cam Position Calculation Function 0 000 e eee ee eh hh 116 Cam position calculation control data 1 teeta 116 Cam position calculation monitor data 0 6 tte 118 5 6 Method to Restart Synchronous Control 0 0 ccc eee eee 123 APPENDICES 124 Appendix 1 List of Buffer Memory Addresses for Synchronous Control 0 00s eee e eee 124 Appendix 2 Sample Program of Synchronous Control 00 e cee eee 128 INDEX 132 Wanranty cane eaa arnee n E E rE a an r PIC 134 REVISIOMMAISTONY sates aps iee enna aa E aa EA ct stats aati a E aaa e a a etn a a e bea epee 135 TRADEMARKS Lee i amp kesrienuremxeebbexereeXxurexgebe ibe eased E etd EE 136 11 RELATED MANUALS C MELSEC iQ F FX5 Simple Motion Module User s Manual Functions and programming for the synchronous control of the Simple Motion module Advanced Synchronous Control lt IB 0300255 gt This manual MELSEC iQ F FX5 Simple Motion Module User s Manual Functions input output signals buffer memories parameter settings programming and Application troubleshooting of the Simple Motion module lt IB 0300253 gt MELSEC iQ F FX5 Simple Motion Module User s Manual Specifica
25. Cam axis cycle unit setting No influence on control Pr 446 Synchronous control deceleration time Use only at deceleration stop Pr 444 Cam axis phase compensation advance Hen Cam axis phase TEN ins compensation Pr 445 Cam axis phase compensation time constant processing Pr 439 Cam axis length per cycle Pr 440 Cam No Pr 441 Cam stroke amount Cam data RNC RU Cam conversion processing Output axis Pr 447 Output axis smoothing time constant smoothing processing Md 20 Feed current value Md 406 Cam axis phase compensation amount Md 410 Execute cam No Md 411 Execute cam stroke amount Md 407 Cam axis current value per cycle 4 Md 408 Cam reference position Md 409 Cam axis feed current value 4 SYNCHRONOUS CONTROL 4 5 Output Axis Module 87 88 The position units for the output axis are shown below based on the setting Pr 1 Unit setting 0 mm x 104 mm 214748 3648 to 214748 3647 mm x 107 um 214748364 8 to 214748364 7 um 1 inch x 10 inch 21474 83648 to 21474 83647 inch 2 degree x 105 degree 21474 83648 to 21474 83647 degree 3 pulse pulse 2147483648 to 2147483647 pulse Cam axis cycle units are shown below based on the setting Pr 438 Cam axis cycle unit setting 0 Use units of main input Servo input axis position unit Page 24 Servo input axis position
26. Search starting point At the Tst point At the 3rd point At the Oth point Cd 617 Cam position calculation E Cam axis current value per cycle Cam reference position Cam axis length per cycle Cam axis cycle units Searches in order of the cam data between the 3rd point and the 4th point and between the 4th point and the 5th point last point If the corresponding position is not found until the last point of the cam data searches from the 1st point of the cam data If the corresponding position is not found in the cam data between the 1st point and the 2nd point and between the 2nd point and the 3rd point searches from the range of 3 5 SYNCHRONOUS CONTROL INITIAL POSITION 1 21 5 5 Cam Position Calculation Function 3 The range from the last point of cam data to the cam axis length per cycle When the last point of cam data lt Cd 617 Cam position calculation Cam axis current value per cycle lt cam axis length per cycle the position corresponding to Cd 618 Cam position calculation Cam axis feed current value is searched from the last point of the cam data or later If the corresponding position is not found even though the range of 3 has been searched the warning Cam position calculation cam axis 1 cycle current value calculation disable warning code 0C64H will occur in reciprocated cam pattern For the feed cam calculates Cd 618 Cam position calculation Cam axis feed current value
27. Switch is on RUN INSTALLATION PRECAUTIONS NWARNING Make sure to cut off all phases of the power supply externally before attempting installation or wiring work Failure to do so may cause electric shock or damage to the product Use the product within the generic environment specifications described in the generic specifications of the following manual MELSEC iQ F FX5 User s Manual Hardware Never use the product in areas with excessive dust oily smoke conductive dusts corrosive gas salt air Clo H2S SO or NO3 flammable gas vibration or impacts or expose it to high temperature condensation or rain and wind If the product is used in such conditions electric shock fire malfunctions deterioration or damage may occur INSTALLATION PRECAUTIONS NCAUTION Do not touch the conductive parts of the product directly Doing so may cause device failures or malfunctions When drilling screw holes or wiring make sure that cutting and wiring debris do not enter the ventilation slits of the PLC Failure to do so may cause fire equipment failures or malfunctions For product supplied together with a dust proof sheet the sheet should be affixed to the ventilation slits before the installation and wiring work in order to block foreign objects such as cutting and wiring debris However when the installation work is completed make sure to remove the sheet to provide adequate ventilation Failure to do so m
28. Synchronous Positioning start encoder Synchronous control start Synchronous control start Synchronous control start 34 Manual pulse generator Dod Synchronous encoder input Simple Motion module Y Synchronous Synchronous parameter encoder axis Main shaft Composite Main shaft gear arameter pats i P 3 main input axis main shaft gear Synchronous encoder axis Positioning data Positioning control Servo input axis parameter Servo input axis c Main shaft Main shaft sub input axis lon Speed change Auxiliary Auxiliary gear 2 shaft shaft clutch Composite auxiliary shaft gear Speed change gear 2 Cam data Auxiliary shaft axis It is possible to control without amplifier by setting the virtual servo amplifier 1 Itis possible to drive the servo input axis except for the positioning control home position return manual control speed torque control synchronous control For details on the positioning control the home position return the manual control and the speed torque control refer to the following manual of the Simple Motion module that is used LLIUser s Manual Application 2 Speed change gear can be arranged on one of Main shaft side Auxiliary shaft side or After composite auxiliary shaft gear 1 OUTLINE OF SYNCHRONOUS CONTROL 1 1 Outline of Synchronous Control
29. and 1 Validates an external command in Cd 8 External command valid for the applicable axis Cd 8 External command valid High speed input request DI Clutch ON OFF status A Current value before clutch Ir gt t A Movement amount after clutch gt t 4 SYNCHRONOUS CONTROL 4 3 Clutch OFF control mode HOFF control invalid Clutch OFF control is not used This setting is applicable only for execution with clutch ON control llOne shot OFF The clutch is turned OFF after moving the distance Movement amount before clutch OFF One shot operation after the clutch command turn ON If Movement amount 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 M T Movement amount before clutch OFF Lt i Movement amount after clutch Clutch command Cd 400 Main shaft clutch command Cd 403 Auxiliary shaft clutch command Clutch ON OFF status Md 420 Main shaft clutch ON OFF status Md 423 Auxiliary shaft clutch ON OFF status Movement amount before clutch OFF Pr 410 Movement amount before main shaft Pr 427 Movement amount before auxiliary shaft clutch OFF clutch OFF 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 statu
30. and the 128th point in order of the cam data between the Oth point and the 1st point and between the 1st point and the 2nd point llCoordinate data format 1 The range before the 1st point of cam data When the 1st point of the cam data is larger than 0 and Cd 617 Cam position calculation Cam axis current value per cycle the 1st point of cam data the position corresponding to Cd 618 Cam position calculation Cam axis feed current value is searched from the range before the 1st point of the cam data If the corresponding position is not found in the range of 1 searches in the range of 2 If the corresponding position is not found in the range of 2 either searches in the range of 3 If the corresponding position is not found even though the range of 1 to 3 has been searched the warning Cam position calculation cam axis 1 cycle current value calculation disable warning code 0C64H will occur in reciprocated cam pattern For the feed cam calculates Cd 618 Cam position calculation Cam axis feed current value by the stroke difference and searches again from the Oth point to the whole range If the corresponding position is not found even though the search process starts again the warning Cam position calculation cam axis 1 cycle current value calculation disable warning code 0C64H will occur When Cd 617 Cam position calculation Cam axis current value per cycle is set before the 1st point of cam data 2 Qo
31. 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 the following on each change command C Page 92 Synchronous control change control data Cam reference position movement Adjust the cam reference position by the Operated movement amount Change cam axis current value per cycle Change the cam axis current value per cycle None Change current value per cycle after main shaft Change the current value per cycle after main shaft None gear gear Change current value per cycle after auxiliary shaft Change the current value per cycle after auxiliary None gear shaft gear Cam axis current value per cycle movement Adjust the phase of the cam axis by the movement Operated amount Synchronous control change control data n Axis No 1 Cd 406 Set 1 to initiate a synchronous control change Set in decimal 0 44086 20n Synchronous command request The value is reset to 0 1 Synchronous control change request control change automatically after completion of the synchronous request control change Fetch cycle Operation cycle Cd 407 Set the synchronous control change command Set in decimal 0 44087 20n Synchronous Fetch cycle At requesting synchronous control change 0 Cam reference position movement control change 1 Change cam axis current va
32. axis position restoration object when starting synchronous control E Page 102 Synchronous Control Initial Position Md 409 Cam axis feed current value The feed current value of the cam axis is stored The value is the same as Md 20 Feed current 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 No switches 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 The clutch ON OFF status is stored 4 SYNCHRONOUS CONTROL 4 7 Synchronous Control Monitor Data Md 421 Main shaft clutch smoothing status The smoothing status of the clutch is stored The status is updated by the clutch smoothing method as follows Method Details Time constant 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 Slippage method 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 accu
33. axis synchronizes with a conveyer that moves 100 mm 3 937 inch for every 360 00000 degree of the main shaft Pr 403 Main shaft gear Numerator 1000 x 0 1 mm Pr 404 Main shaft gear Denominator 36000000 x 10 degree 4 SYNCHRONOUS CONTROL 4 1 Main Shaft Module Main shaft clutch parameters n Axis No 1 Pr 405 Set the control method for the clutch Set in hexadecimal 0000H 36408 200n Main shaft clutch Fetch cycle Operation cycle H ee LON 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 3 High speed input request signal from axis 1 to axis 4 Pr 406 Set the reference address for the clutch Set in decimal 0 36409 200n Main shaft clutch Fetch cycle At start of synchronous control 0 Current value after composite main shaft reference address gear setting 1 Current value per cycle after main shaft gear Pr 407 Set the clutch ON address for address mode This Set in decimal 0 36410 200n Main shaft clutch setting is invalid except during address mode 2147483648 to 2147483647 36411 200n ON address If the address is out of the range f
34. calculation function Calculate the cam position by the program Used to calculate the cam position for the synchronous control initial position before starting synchronous control pecifications Number of control axes Synchronous encoder axis type Incremental synchronous encoder Synchronous encoder via servo amplifier Synchronous encoder via CPU Control unit mm inch degree pulse Possible to select the decimal places of position unit and speed unit Unit conversion Numerator 2147483648 to 2147483647 Synchronous encoder axis position unit Denominator 1 to 2147483647 pulse Length per cycle setting range 1 to 2147483647 Synchronous encoder axis position unit Current value range Current value 2147483648 to 2147483647 Synchronous encoder axis position unit Current value per cycle 0 to Length per cycle 1 Synchronous encoder axis position unit Control method Control instruction Current value change Counter disable Counter enable Current value setting Address setting range 2147483648 to 2147483647 address Synchronous encoder axis position unit 1 8 1 OUTLINE OF SYNCHRONOUS CONTROL 1 2 Performance Specifications 1 3 Synchronous control execution procedure The synchronous control is executed using the following procedure Operation Method of Synchronous Control Preparation STEP 1 STEP 1 Set the following parameters One of the follow
35. cam position calculation when calculating the cam axis current value per cycle This is not used when calculating the cam axis feed current value 5 SYNCHRONOUS CONTROL INITIAL POSITION 1 1 5 5 Cam Position Calculation Function T Cam position calculation monitor data Md 600 The result of the cam position calculation BlMonitoring is carried out in decimal 53800 Cam position calculation result is stored When calculating the cam axis feed 53801 Refresh cycle At cam position calculation current value completion 2147483648 to 2147483647 Output axis position units When calculating the cam axis current value per cycle 0 to Cam axis length per cycle 1 Cam axis cycle units 7 1 Output axis position units Page 88 Units for the output axis 2 Cam axis cycle units Page 88 Units for the output axis ion calculation result The result of the cam position calculation is stored When calculating the cam axis feed Calculated value of the cam axis feed current value is stored current value When calculating the cam axis Calculated value of the cam axis current value per cycle is stored current value per cycle The cam reference position is not updated automatically by the cam position calculation function 1 1 8 5 SYNCHRONOUS CONTROL INITIAL POSITION 5 5 Cam Position Calculation Function Search for the cam axis current value per cycle When calculating the cam axis cur
36. can be converted by the main shaft gear that provides the deceleration ratio and the rotation direction for the machine system etc Refer to the followings for details on setting for the main shaft module Cs Page 61 Main shaft parameters Page 63 Main shaft clutch parameters Pr 400 Main input axis Pr 402 Composite main shaft gear ___ Pr 403 Main shaft gear Numerator No Pr 404 Main shaft gear Denominator Composite main Main shaft shaft gear main input axis Main shaft gear E Y Md 400 Current value after composite main shaft gear Md 401 Current value per cycle after main shaft gear Main shaft clutch Main shaft sub input axis Pr 401 Sub input axis No Speed change gear Composite auxiliary shaft gear 1 K Page 76 Clutch 4 SYNCHRONOUS CONTROL 4 1 Main Shaft Module Main shaft parameters n Axis No 1 Pr 400 Set the input axis No on the main input side for the Set in decimal 0 36400 200n Main input axis No main shaft 0 Invalid Fetch cycle At start of synchronous control 1 to 4 Servo input axis 801 to 804 Synchronous encoder axis Pr 401 Set the input axis No on the sub input side for the main WSet in decimal 0 36401 200n Sub input axis No shaft 0 Invalid Fetch cycle At start of synchronous control 1 to 4 Servo input axis 801 to 804 Synchronous encoder axis Pr 402 Select the composite
37. change gear parameters n Axis No 1 Pr 434 Set the arrangement for the speed change gear Set in decimal 0 36460 200n Speed change gear Fetch cycle At start of synchronous control 0 No speed change gear 1 Main shaft side 2 Auxiliary shaft side 3 After composite auxiliary shaft gear Pr 435 Set the smoothing time constant for the speed change WSet in decimal 0 36461 200n Speed change gear gear 0 to 5000 ms smoothing time Fetch cycle At start of synchronous control constant Pr 436 Set the numerator for the speed change ratio Set in decimal 1 36462 200n Speed change ratio Fetch cycle Operation cycle 2147483648 to 2147483647 36463 200n Numerator Pr 437 Set the denominator for the speed change ratio Set in decimal 1 36464 200n Speed change ratio Fetch cycle Operation cycle 1 to 2147483647 36465 200n Denominator 1 43 peed change gear Set the arrangement for the speed change gear 0 No speed change gear Speed change is not processed and the input value is transmitted as is 1 Main shaft side Speed change is processed for input value after main shaft clutch based on the speed change ratio settings 2 Auxiliary shaft side Speed change is processed for input value after auxiliary shaft clutch based on the speed change ratio settings 3 After composite auxiliary shaft Speed change is processed for input value after composite auxiliary shaft gear base
38. clutch Clutch forced OFF command and the change of the clutch control setting are ignored during direct coupled operation 4 SYNCHRONOUS CONTROL 4 3 Clutch 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 lt Current value before clutch gt t a C C NNNM ree Clutch command Cd 400 Main shaft clutch command Cd 403 Auxiliary shaft clutch command Movement amount after clutch Clutch ON OFF status Md 420 Main shaft clutch ON OFF status Md 423 Auxiliary shaft clutch ON OFF status 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 A Current value before clutch i gt t A Movement amount after clutch an gt t Clutch command trailing edge The clutch is turned ON when the clutch command passes the trailing edge from ON to OFF Clutch command Clutch ON OFF status Current value before clutch al gt t Movement amount after clutch gt t 4 SYNCHRONOUS CONTROL 4 3 Clutch 77 78 Address mode The clutch is turned ON when the reference address reaches Clutch ON address The movement amount after passing through the ON address is calculated as the ou
39. clutch command ON Md 420 Main shaft clutch i ONOFF status Pr 408 Movement amount before main shaft clutch ON Positive value Md 400 Current value after composite main shaft gear or Md 401 Current value per cycle after main shaft gear Movement amount after clutch I gt t 4 SYNCHRONOUS CONTROL 4 1 Main Shaft Module 65 66 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 Ex Cam axis length per cycle 20000 pulses The OFF address is controlled as 60 pulses when the setting value is 40060 Pr 410 Movement amount before main shaft clutch OFF Set the movement amount of the reference address with a signed value between the clutch OFF condition completing and the clutch opening Setting value Details 1 to 2147483647 Positive value Used when the reference address is increasing in direction 0 No movement amount 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 command OFF Md 420 M
40. direction of the synchronous encoder axis current value decrease direction The input movement amount in the reverse direction of the enabled direction accumulates as a rotation direction restricted amount and it will be reflected when the input movement amount 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 Speed before rotation A direction restriction A N gt t we Md 322 Synchronous 4 encoder axis speed Speed after rotation direction restriction gt t Md 324 Synchronous encoder axis rotation direction restriction amount gt t The input movement amount is accumulated as a rotation direction restricted amount and will be reflected when the input movement amount moves in the enabled 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 resolu
41. line and communication cables together with or lay them close to the main circuit high voltage line load line or power line As a guideline lay the power line control line and connection cables at least 100 mm 3 94 away from the main circuit high voltage line load line or power line Ground the shield of the shield wire or shielded cable at one point on the PLC However do not use common grounding with heavy electrical systems Ground the shield of the analog input output cable at one point on the signal receiving side Do not use common grounding with heavy electrical systems STARTUP AND MAINTENANCE PRECAUTIONS NWARNING Do not touch any terminal while the PLC s power is on Doing so may cause electric shock or malfunctions Before cleaning or retightening terminals cut off all phases of the power supply externally Failure to do so may cause electric shock Before modifying the program in mid operation forcing output running or stopping the PLC read through the manual carefully and ensure complete safety An operation error may damage the machinery or cause accidents Do not change the program in the PLC from two or more peripheral equipment devices at the same time i e from an engineering tool and a GOT Doing so may cause destruction or malfunction of the PLC program Use the battery for memory backup in conformance to the following manual MELSEC iQ F FX5 User s Manual Hardware Use the batt
42. method 0 No input 1 Input 2 Input Pr 420 Set the numerator for the auxiliary shaft gear Set in decimal 1 36432 200n Auxiliary shaft gear Fetch cycle At start of synchronous control 2147483648 to 2147483647 36433 200n Numerator Pr 421 Set the denominator for the auxiliary shaft gear Set in decimal 1 36434 200n Auxiliary shaft gear Fetch cycle At start of synchronous control 1 to 2147483647 36435 200n Denominator 4 SYNCHRONOUS CONTROL 68 4 2 Auxiliary Shaft Module Auxiliary shaft axis No Set the input axis No for the auxiliary shaft 0 Invalid The input value is always 0 1 to 4 Servo input axis Set the servo input axis axis 1 to axis 4 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 1BFOH occurs and synchronous control cannot be started 801 to 804 Synchronous encoder Set the synchronous encoder axis axis 1 to axis 4 When synchronous encoder axis is invalid the input value is always axis 0 r 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 0 No input The input value from the input axis is calculated as O 1 Input The input value from the input axis is calculat
43. method 2 Restoration method 1 Connection to synchronous encoder Restoration method 1 Others Restoration method 2 Restoration method 2 1 When Pr 300 Servo input axis type is either 1 Feed current value or 2 Real current value and when Pr 21 Feed current value during speed control is 2 Clear feed current value to zero only 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 after main shaft gear Main shaft gear ratio x Current value after composite main shaft gear Auxiliary shaft Current value per cycle after auxiliary shaft gear Auxiliary shaft gear ratio x Auxiliary shaft current value Restoration method 2 The movement amount 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 after main shaft gear Current value per cycle after main shaft gear at the last synchronous control session Main shaft gear ratio x Amount of change of current value after composite main shaft gear from the last synchronous control session Auxiliary shaft Current value per cycle after auxiliary shaft gear Current value per cycle after auxiliary shaf
44. object is set to 2 cam feed current value restoration when starting synchronous control the cam axis feed current 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 2 Current value per cycle Md 407 Cam axis current after main shaft gear value per cycle The cam axis feed current value is 3 Current value per cycle restored based on the cam axis current value after auxiliary shaft gear per cycle and the cam reference position gt Md 409 Cam axis feed current value Pr 463 Setting method of cam reference position 0 Previous value 1 Initial setting value of cam Md 408 Cam reference reference position position 2 Feed current value Cam axis current value per cycle hc Cam axis feed current value Cam reference position gt The cam axis feed current value moves to its restored value just after starting synchronous control when the cam axis feed current value to be restored is different from the feed current 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 feed cur
45. on the output axis side n on delay time of the input axis Set delay time inherent 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 inherent to the system is shown below lelDelay time inherent to the system for a servo input axis 1 777 0 us 1833 us 0 us 5389 us llDelay time inherent to the system for a synchronous encoder axis 1 777 3953 us 5413 us 3953 Scan time us ion 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 When using MR J3 B MR J4 B and MR JE B Delay time us 1000000 Servo parameter Model loop gain PBO7 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 When axis 1 is synchronized with an incremental synchronous encoder axis the phase compensation ad
46. 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 IMd 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 O 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 feed current 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 feed current value Set the cam axis feed current value for the
47. s Manual Application 4 SYNCHRONOUS CONTROL 1 1 4 9 Output Axis Sub Functions 0 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 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 Md 400 Current value after composite main shaft gear Restored to a position based on the main input axis of the main shaft Md 401 Current value per cycle after main shaft gear Restored according to Pr 460 Setting method of current value per cycle after main shaft gear Md 402 Current value per cycle after auxiliary shaft gear Restored according to Pr 461 Setting method of 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 object Md 408 Cam reference position Md 409 Cam axis feed current value Md 400 Current value after
48. status Refresh cycle Operation cycle During synchronous control only 4 SYNCHRONOUS CONTROL 4 7 Synchronous Control Monitor Data 0 Clutch OFF status 1 Clutch ON status Md 421 The smoothing status of main shaft clutch is stored Monitoring is carried out in decimal display 42829 40n Main shaft clutch smoothing Refresh cycle Operation cycle During synchronous 0 Not on clutch smoothing status control only 1 Onclutch smoothing Md 422 The accumulative slippage of the main shaft clutch WMonitoring is carried out in decimal display 42830 40n Main shaft clutch slippage smoothing with slippage method is stored as a signed 2147483648 to 2147483647 42831 40n accumulative value Main input axis position units or Cam axis Refresh cycle Operation cycle During synchronous cycle units control only Md 423 The ON OFF status of the auxiliary shaft clutch is WMonitoring is carried out in decimal display 42832 40n Auxiliary shaft clutch ON stored 0 Clutch OFF status OFF status Refresh cycle Operation cycle During synchronous 1 Clutch ON status control only Md 424 The smoothing status of the auxiliary shaft clutch is WMVonitoring is carried out in decimal display 42833 40n Auxiliary shaft clutch stored 0 Not on clutch smoothing smoothing status Refresh cycle Operation cycle During synchronous 1 On clutch smoothing control only Md 425 The accumulati
49. 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 a Deceleration time Slope of deceleration Pr 8 Sped limit value Sudden stop deceleration time The cam axis current value per cycle is not updated and only the feed current value is updated since the deceleration stop begins Therefore the path of the feed current 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 A Md 407 Cam axis current value per cycle Md 20 Feed current value Cam operation Md 22 Feedrate Cd 380 Synchronous control start i Target axis bit Axis stop signal Md 141 BUSY signal Target axis bit 1 OUTLINE OF SYNCHRONOUS CONTROL 1 3 Operation Method of Synchronous Control 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 following manual of the Simple Motion module that is used for details on the connection and control for the servo amplifier and the synchronous encoder that used for input axis module LLlUser s Manual Application 2 1 Servo I
50. turned OFF during OFF Synchronous control end synchronous control ON Synchronous control start Fetch cycle Operation cycle Cd 381 If the target axis bit is turned ON and synchronous Set the target axis in 16 bits 36322 Synchronous control control is started the analysis is only executed and the bitO axis 1 to bit3 axis 4 analysis mode control does not start OFF Synchronous control analysis mode OFF Fetch cycle At start of the synchronous control ON Synchronous control analysis mode ON 414 5 SYNCHRONOUS CONTROL INITIAL POSITION 5 4 Synchronous Control Analysis Mode The following shows a procedure of aligning the synchronous position of an output axis that references the input axis 1 Setthe following values in the synchronous control initial position parameters Pr 460 Setting method of current value per cycle after main shaft gear Calculate from input axis Pr 462 Cam axis position restoration object Cam axis feed current value restoration Pr 463 Setting method of cam reference position Previous value Pr 464 Setting method of cam axis current value per cycle 2 2 0 2 Current value per cycle after main shaft gear 2 Turn ON the target axis bit of ICd 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 mode 3 Verify the target a
51. used when the clutch ON control mode is 1 Clutch command ON OFF 2 Clutch command leading edge or 3 Clutch command trailing edge and the clutch OFF control mode is 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 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 Cd 402 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 O to restart the clutch control from the clutch OFF status after using the clutch forced OFF command 4 SYNCHRONOUS CONTROL 4 1 Main Shaft Module 67 4 2 Auxiliary Shaft Module Overview of auxiliary shaft module For
52. 0 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN Specifications are subject to change without notice
53. 0j Synchronous encoder axis synchronous encoder axis 1 to 2147483647 34727 20j length per cycle Fetch cycle At power supply ON Synchronous encoder axis position units Pr 325 Set the time to smooth for the input Set in decimal 0 34728 20j Synchronous encoder axis value 0 to 5000 ms smoothing time constant Fetch cycle At power supply ON Pr 326 Set the time to advance or delay the Set in decimal 0 34730 20 Synchronous encoder axis phase 2147483648 to 2147483647 us 34731420 phase compensation Fetch cycle Operation cycle advance time Pr 327 Set the time constant to affect the Set in decimal 10 34732420j Synchronous encoder axis phase compensation 0 to 65535 ms phase compensation time Fetch cycle At power supply ON constant Pr 328 Set this parameter to restrict the input WSet in decimal 0 34733420j Synchronous encoder axis movement amount to one direction 0 Without rotation direction restriction rotation direction restriction Fetch cycle At power supply ON 1 Enable only for current value increase direction 2 Enable only for current value decrease direction Pr 329 Set the resolution of the synchronous WSet in decimal 0 34734420j Resolution of synchronous encoder when the synchronous 2147483648 to 2147483647 pulse 34735 20j encoder via CPU encoder axis type is set to synchronous encoder via CPU If 0 or less is set the input value of synchronous encoder via CPU is processed as 32 bit cou
54. 1 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 Setting value Details 1 to 2147483647 us Advance the phase according to the setting time 0 us 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 the phase compensation amount in Pr 445 Cam axis phase compensation time constant 4 SYNCHRONOUS CONTROL 4 5 Output Axis Module 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 Pr 444 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 feed current value Input speed before phase 4 compensation gt t Input speed after phase A compensatio
55. 200n clutch OFF address If the address is out of the range from 0 to Cam axis Auxiliary shaft position units or cam axis length per cycle 1 the setting address is converted to cycle units a value within range Fetch cycle Operation cycle Pr 427 Setthe movement amount between the clutch OFF Set in decimal 0 36444 200n Movement amount condition completing and the clutch opening 2147483648 to 2147483647 36445 200n before auxiliary Set a positive value when the reference address is Auxiliary shaft position units or cam axis shaft clutch OFF increasing and a negative value when it is decreasing cycle units Fetch cycle At completing clutch OFF condition Pr 428 Setthe clutch smoothing method Set in decimal 0 36446 200n Auxiliary shaft Fetch cycle At start of synchronous control 0 Direct clutch smoothing 1 Time constant method Exponent method 2 Time constant method Linear 3 Slippage method Exponent 4 Slippage method Linear Pr 429 For smoothing with a time constant method set the Set in decimal 0 36447 200n Auxiliary shaft smoothing time constant 0 to 5000 ms clutch smoothing Fetch cycle At start of synchronous control time constant Pr 430 For smoothing with a slippage method set the slippage Set in decimal 0 36448 200n Slippage amount at amount at clutch ON 0 to 2147483647 36449 200n auxiliary shaft clutch ON Fetch cycle At turning clutch ON Auxiliary shaft positi
56. 6 Synchronous encoder axis phase compensation advance time comin Synchronous encoder A axis current value Current value before phase compensation Current value after AM d phase compensation 17 gt t Speed before phase i compensation i i E L rt Speed after phase a i compensation 1 1 1 L Speed before Pr 326 DE encoder N gt t i j phase x i i Md 323 Synchronous i compensation stl aA encoder axis P 6301 M phase vA 1639 sfer I id compensation y M amount em En i Pr 327 Synchronous encoder axis Pr 327 Synchronous encoder axis phase compensation time phase compensation time constant constant 40 2 INPUT AXIS MODULE 2 2 Synchronous Encoder Axis Pr 328 Synchronous encoder axis rotation direction restriction Set this parameter to restrict the input movement amount for the synchronous encoder 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 Setting value Details 0 Without rotation direction Rotation direction restriction is not executed restriction 1 Enable only for current value Enable only the input movement amount in the increasing direction of the synchronous encoder axis current value increase direction 2 Enable only for current value Enable only the input movement amount in the decreasing
57. 6 Synchronous Control Change Function 95 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 I Page 102 SYNCHRONOUS CONTROL INITIAL POSITION 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 Just before Cd 380 Synchronous control start turns from ON to OFF Just before deceleration stop by a stop command or an error etc Just before the system s power supply turned OFF to the Simple Motion module n Axis No 1 Monitor item Storage details Monitor value Buffer memory address Md 400 The current value after combining the main input and HMonitoring is carried out in decimal display 42800 40n Current value after composite sub input values from the main shaft is stored 2147483648 to 2147483647 42801 40n main shaft gear Value is stored even after system s power supply OFF Main input axis position units Refresh cycle Operation cycle During
58. 8 to 2147483647 pulse 3 Servo command value pulse 2147483648 to 2147483647 pulse 4 Feedback value llServo input axis speed units 1 Feed current value 0 mm x 10 mm min 21474836 48 to 21474836 47 mm min 2 Real current value 1 inch x 10 inch min 2147483 648 to 2147483 647 inch min 2 degree x 103 degree min 2147483 648 to 2147483 647 degree min 3 pulse pulse s 2147483648 to 2147483647 pulse s 3 Servo command value pulse s 2147483648 to 2147483647 pulse s 4 Feedback value 1 When Pr 83 Speed control 10 x multiplier setting for degree axis is valid this will be the speed unit x 10 degree min Range 21474836 48 to 21474836 47 degree min When 1 Feed current 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 Feed current 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
59. 9 MITSUBISHI ELECTRIC PROGRAMMABLE CONTROLLERS series MELSEC iQ F FX5 Simple Motion Module User s Manual Advanced Synchronous Control FX5 40SSC S SAFETY PRECAUTIONS Read these precautions before use Before using this product please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety in order to handle the product correctly This manual classifies the safety precautions into two categories L NWARNING and N CAUTION A WARNING Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury N CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in minor or moderate injury or property damage Depending on the circumstances procedures indicated by NCAUTION may also cause severe injury It is important to follow all precautions for personal safety Store this manual in a safe place so that it can be read whenever necessary Always forward it to the end user DESIGN PRECAUTIONS NWARNING Make sure to set up the following safety circuits outside the PLC to ensure safe system operation even during external power supply problems or PLC failure Otherwise malfunctions may cause serious accidents Most importantly set up the following an emergency stop circuit a protection circuit an interlock circuit for opposite movements such as forward vs r
60. ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT WARRANTY 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 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 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 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 PRO
61. DUCT is limited only for the specific applications agreed 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 iQ F series programmable controllers This manual describes the functions and programming of the relevant products listed below Before using this product please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC iQ F series programmable controller to handle the product correctly When applying the program examples provided in this manual to an 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 Relevant products FX5 40SSC S Point In this manual buffer memories are classified using the following symbols Each area name can represent the buffer memories corresponding to each axis Pr Symbols indicating positioning parameter or home position return parameter items Da Symbols indicating positioning data or block start data items Md Symbols indicating monitor data items Cd Symbols indicating control data items Outline Precautions This product ha
62. Execute cam stroke amount 42820 40n 42821 40n Md 420 Main shaft clutch ON OFF status 42828 40n Md 421 Main shaft clutch smoothing status 42829 40n Md 422 Main shaft clutch slippage accumulative 42830 40n 42831 40n Md 423 Auxiliary shaft clutch ON OFF status 42832 40n Md 424 Auxiliary shaft clutch smoothing status 42833 40n Md 425 Auxiliary shaft clutch slippage accumulative 42834 40n 42835 40n Synchronous control system control data Cd 380 Synchronous control start 36320 Cd 381 Synchronous control analysis mode 36322 Synchronous encoder axis control data Cd 320 Synchronous encoder axis control start 35040 10 Cd 321 Synchronous encoder axis control method 35041 10j Cd 322 Synchronous encoder axis current value setting address 35042 10j 35043 10j Cd 323 Synchronous encoder axis error reset 35044 10j Cd 324 Connection command of synchronous encoder via CPU 35045 10j Cd 325 Input value for synchronous encoder via CPU 35046 10j 35047 10j APPENDICES APPENDIX 126 Appendix 1 List of Buffer Memory Addresses for Synchronous Control Control data for synchronous control Cd 400 Main shaft clutch command 44080 20n Cd 401 Main shaft clutch control invalid command 44081 20n Cd 402 Main shaft clutch forced OFF command 44082 20n Cd 403 Auxiliary shaft clutch command 44083 20n Cd 404 Auxiliary shaft clutch control invalid command 44084 20
63. MANUALS TERMS Section 1 1 1 3 2 1 2 2 4 9 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 2014 MITSUBISHI ELECTRIC CORPORATION 135 TRADEMARKS Microsoft Windows Windows Vista Windows NT Windows XP Windows Server Visio Excel PowerPoint Visual Basic Visual C and Access are either registered trademarks or trademarks of Microsoft Corporation in the United States Japan and other countries Intel Pentium and Celeron are either registered trademarks or trademarks of Intel Corporation in the United States and other countries Ethernet is a registered trademark of Xerox Corp The SD and SDHC logos are either registered trademarks or trademarks of SD 3C LLC All other company names and product names used in this manual are either trademarks or registered trademarks of their respective companies p PP 136 Manual number IB NA 0300255 B 1501 MEE Model FX5SSC U ADV E Model code 1XB022 When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 831
64. Module Auxiliary shaft clutch control data n Axis No 1 Setting item Setting details Setting value Default value Buffer memory address Cd 403 Set the clutch command ON OFF Set in decimal 0 44083 20n Auxiliary shaft Fetch cycle Operation cycle 0 Auxiliary shaft clutch clutch command command OFF 1 Auxiliary shaft clutch command ON Cd 404 Set 1 to disable the clutch control temporarily Set in decimal 0 44084 20n Auxiliary shaft Fetch cycle Operation cycle 0 Auxiliary shaft clutch control clutch control invalid valid command 1 Auxiliary shaft clutch control invalid Cd 405 Set 1 to force the clutch OFF Set in decimal 0 44085 20n Auxiliary shaft Fetch cycle Operation cycle 0 Auxiliary shaft clutch normal clutch forced OFF control command 1 Auxiliary shaft clutch forced OFF Cd 403 Auxiliary shaft clutch command Set ON OFF for the auxiliary shaft clutch command This command is used when the clutch ON control mode is 1 Clutch command ON OFF 2 Clutch command leading edge or 3 Clutch command trailing edge and the clutch OFF control mode is 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 command is ON the condition is established just after starting synchronous control by setting 2 Clutch command lead
65. Operation Method of Synchronous Control 22 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 Md 141 BUSY signal is OFF Md 26 Axis operation status is standby Synchronous alignment must be executed for the output axis to restart the synchronous control I Page 87 Output Axis Module Stop cause Stop process The target axis bit of Cd 380 Synchronous control start is turned from ON to OFF Immediate stop Software stroke limit error occurrence Emergency stop Forced stop Stop group1 to 3 Stop with hardware stroke limit or stop command Deceleration stop 1 Refer to L User s Manual Application of the Simple Motion module that is used 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 A Md 407 Cam axis current value per cycle n i i i Md 20 Feed current value A AZ a oo Cam operation 1 gt t Md 22 Feedrate A e a f Cd 380 Synchronous control start l Target axis bit E i Md 141 BUSY signal Target axis bit Deceleration stop The output axis stops with deceleration according to the setting in Pr 37 Stop group 1 sudden
66. PLC After transportation verify operation of the PLC and check for damage of the mounting part etc For details on the general specifications refer to the following MELSEC iQ F FX5 User s Manual Hardware When transporting lithium batteries follow required transportation regulations For details on the regulated products refer to the following MELSEC iQ F FX5 User s Manual Hardware Fumigants that contain halogen materials such as fluorine chlorine bromine and iodine used for disinfecting and protecting wooden packaging from insects will cause malfunction in Mitsubishi products Please take necessary precautions to ensure that residual fumigants do not enter the product or treat packaging with methods other than fumigation heat method Additionally disinfect and protect wood from insects before packing CONDITIONS OF USE FOR THE PRODUCT 1 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 2 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
67. Pr 412 Main shaft clutch smoothing time constant 36419 200n Pr 413 Slippage at main shaft clutch ON 36420 200n 36421 200n Pr 414 Slippage at main shaft clutch OFF 36422 200n 36423 200n APPENDICES APPENDIX 124 Appendix 1 List of Buffer Memory Addresses for Synchronous Control Synchronous parameter Auxiliary shaft Pr 418 Auxiliary shaft axis No 36430 200n Pr 419 Composite auxiliary shaft gear 36431 200n Pr 420 Auxiliary shaft gear Numerator 36432 200n 36433 200n Pr 421 Auxiliary shaft gear Denominator 36434 200n 36435 200n Pr 422 Auxiliary shaft clutch control setting 36436 200n Pr 423 Auxiliary shaft clutch reference address setting 36437 200n Pr 424 Auxiliary shaft clutch ON address 36438 200n 36439 200n Pr 425 Movement amount before auxiliary shaft clutch ON 36440 200n 36441 200n Pr 426 Auxiliary shaft clutch OFF address 36442 200n 36443 200n Pr 427 Movement amount before auxiliary shaft clutch OFF 364444200n 36445 200n Pr 428 Auxiliary shaft clutch smoothing method 36446 200n Pr 429 Auxiliary shaft clutch smoothing time constant 36447 200n Pr 430 Slippage at auxiliary shaft clutch ON 36448 200n 36449 200n Pr 431 Slippage at auxiliary shaft clutch OFF 36450 200n 36451 200n Speed change gear Pr 434 Speed change gear 36460 200n Pr 435 Speed change gear smoothing time constant 36461 200n Pr 436
68. S NCAUTION Construct an interlock circuit in the program to ensure safe operation for the whole system when executing control for data change of the PLC in operation Read the manual thoroughly and ensure complete safety before executing other controls for program change parameter change forced output and operation status change of the PLC in operation Otherwise the machine may be damaged and accidents may occur by erroneous operations DISPOSAL PRECAUTIONS NCAUTION Please contact a certified electronic waste disposal company for the environmentally safe recycling and disposal of your device When disposing of batteries separate them from other waste according to local regulations For details on the Battery Directive in EU countries refer to the following MELSEC iQ F FX5 User s Manual Hardware TRANSPORTATION PRECAUTIONS NCAUTION When transporting the PLC with the optional battery turn on the PLC before shipment confirm that the battery mode is set in PLC parameters and the BAT LED is OFF and check the battery life If the PLC is transported with the BAT LED on or the battery exhausted the battery backed data may be lost during transportation The PLC is a precision instrument During transportation avoid impacts larger than those specified in the general specifications by using dedicated packaging boxes and shock absorbing palettes Failure to do so may cause failures in the
69. Simple Motion module that is used for the controls other than the synchronous control LLlUser s Manual Application Point 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 following manual of the Simple Motion module that is used for details on virtual servo amplifier function LLlUser s Manual Application 2 INPUT AXIS MODULE 2 2 1 Servo Input Axis 3 24 Restriction If 1 Feed current value or 2 Real current value is set in Pr 300 Servo input axis type set 1 Update feed current value in Pr 21 Feed current value during speed control to start the speed position change control If 0 Do not update feed current value or 2 Clear feed current value to zero is set in Pr 21 the error Speed position switching control start in servo input axis not possible error code 1BA7H will occur and the control will not start 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 llServo input axis position units 1 Feed current value 0 mm x 10 mm 214748 3648 to 214748 3647 mm 2 Real current value 10 um 214748364 8 to 214748364 7 um 1 inch x 10 inch 21474 83648 to 21474 83647 inch 2 degree x 10 degree 21474 83648 to 21474 83647 degree 3 pulse pulse 214748364
70. Speed change ratio Numerator 36462 200n 36463 200n Pr 437 Speed change ratio Denominator 36464 200n 36465 200n Output axis Pr 438 Cam axis cycle unit setting 36470 200n Pr 439 Cam axis length per cycle 36472 200n 36473 200n Pr 440 Cam No 36474 200n Pr 441 Cam stroke amount 36476 200n 36477 200n Pr 444 Cam axis phase compensation advance time 36482 200n 36483 200n Pr 445 Cam axis phase compensation time constant 36484 200n Pr 446 Synchronous control deceleration time 36485 200n Pr 447 Output axis smoothing time constant 36486 200n Synchronous control Pr 460 Setting method of current value per cycle after main shaft gear 36500 200n initial position Pr461 Setting method of current value per cycle after auxiliary shaft gear 36501 200n Pr 462 Cam axis position restoration object 36502 200n Pr 463 Setting method of cam reference position 36503 200n Pr 464 Setting method of cam axis current value per cycle 36504 200n Pr 465 Current value per cycle after main shaft gear Initial setting 36506 200n 36507 200n Pr 466 Current value per cycle after auxiliary shaft gear Initial setting 36508 200n 36509 200n Pr 467 Cam reference position Initial setting 36510 200n 36511 200n Pr 468 Cam axis current value per cycle Initial setting 36512 200n 36513 200n APPENDICES APPENDIX Appendix 1 List of Buffer Memory Addresses for Synchronous Control 125
71. 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 Setting example The following shows an example for setting a synchronous encoder via CPU as synchronous encoder axis 4 of the Simple Motion module Resolution of the gray code encoder 4096 pulses rev Simple Motion module i Gray code encoder B o Synchronous o 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 Read the encoder value of the gray code encoder with a p
72. a is shown below for the cam storage area cam open area Create with an engineering tool Stroke ratio data format Cam resolution x 4 bytes Cam resolution x 4 bytes Coordinate data format Coordinate number x 8 bytes Coordinate number x 8 bytes Create in cam storage area with cam Stroke ratio data format Cam resolution x 4 bytes Cam resolution x 4 bytes data operation function Coordinate data format Coordinate number x 8 bytes Coordinate number x 8 bytes Create in cam open area with cam Stroke ratio data format 0 byte Cam resolution x 4 bytes data operation function Coordinate data format Coordinate number x 8 bytes Create with cam auto generation For a rotary cutter 28 bytes Cam resolution x 4 bytes 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 the engineering tool or delete them once 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 empty data in the cam storage area with the engineering tool to delete only cam data as word protection for cam data The cam data can b
73. actual 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 encoder feedback pulse value from the servo 4 28 APPENDICES APPENDIX Appendix 2 Sample Program of Synchronous Control 3 Create the cam data cam No 1 01 FX5 40SSC S Cam Data No 001 Coles Return to Basic Setting Setting Method Broke Ratio Cam Curve 3 I EIU Resolution 512 Stroke Setting Range 100 0000000 to 100 0000000 Cam Graph Display Graph Display Magnification Point Data Stroke speed F Acceleration F Jerk Width 100 Height 100 W H 100 Screen vew D 100 0000000 0 0000000 100 0000000 0 00000 90 00000 180 00000 270 00000 360 00000 degree Stroke Setting Fine tune the cam curve by section Section Start degree End degree Stroke Cam Curve 1 90 00000 100 0000000 Constant Speed 90 00000 270 00000 60 0000000 Constant Speed 270 00000 0 00000 50 0000000 Constant Speed 4 Setthe synchronous parameter of the axis 1 Ttem Synchronous control module setting Main shaft Main input axis Pr 400 Type 1 Servo Input Axis Pr 400 Axis No Li Sub input axis Pr 401 Type O Invalid Pr
74. ain shaft clutch ON OFF status Pr 410 Movement amount before Md 400 Current value after main shaft clutch OFF Positive value composite main shaft gear or Md 401 Current value per p Lene ht hablo oar gt t cycle after main shaft gear i Movement amount after clutch gt t Pr 411 Main shaft clutch smoothing method Set the smoothing method for clutch ON OFF Refer to the following Cs Page 81 Smoothing method for clutch Setting value Details 0 Direct No smoothing 1 Time constant method Smoothing with an exponential curve based on the time constant setting Exponent 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 Linear 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 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 clutc
75. al 32768 to 65535 Convert into a hexadecimal and set S fo input axis type Set the current value type to be generated of the input value for the servo input axis 0 Invalid Servo input axis is invalid 1 Feed current value Generate the input value based on Md 20 Feed current value 2 Real current value Generate the input value based on the real current value which is converted into units of the encoder feedback pulses from the servo amplifier 3 Servo command value 4 Feedback value Generate the input value based on the command pulse for the servo amplifier a value that the feed current value is converted into encoder pulse units Generate the input value based on the encoder feedback pulse from the servo amplifier Simple Motion module 1 Feed current value Unit Pulse conversion 3 Servo command value Servo Backlash compensation amplifier 2 Real current value 4 Feedback value Pulse Unit conversion 2 INPUT AXIS MODULE 2 2 1 Servo Input Axis 5 Pr 301 Servo input axis smoothing time constant Set the averaging time to execute a smoothing process for the input movement amount 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 smoot
76. al synchronous encoder that is connected to the manual pulse generator incremental synchronous encoder input of the Simple Motion module is used as the synchronous encoder axis Synchronous encoder via servo amplifier 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 Synchronous encoder via CPU Used to operate a gray code encoder that is connected to the input module of CPU module as a synchronous encoder axis ous 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 0 Current value change Md 320 Synchronous encoder axis current value and Md 321 Synchronous encoder axis current value per cycle are changed based on the setting of Cd 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 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 llSynchronous encoder axis position units 0 mm 0 mm 2147483648 to 2147483647 mm 9 x 10 mm 2 147483648 to 2
77. alue per cycle restoration Restore the cam axis current value per cycle from Cam reference position and Cam axis feed current value 1 Cam reference position restoration Restore the cam reference position from Cam axis current value per cycle and Cam axis feed current value 2 Cam axis feed current value restoration Restore the cam axis feed current value from Cam axis current value per cycle and Cam reference position 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 feed current value restoration 0 Previous value The cam reference position from the last synchronous control session is stored The feed current value is stored when the cam reference position from the last synchronous control session is not saved 1 Initial setting value of cam reference The value set in Pr 467 Cam reference position Initial setting is stored position 2 Feed current value The value set in Md 20 Feed current value is stored etting 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 feed current value restoration Previous value The ca
78. am axis cycle unit 45010 Output value 2147483648 to 2147483647 45011 Output axis position unit 45012 At second point Input value 0 to 2147483647 45013 Cam axis cycle unit 45014 Output value 2147483648 to 2147483647 45015 Output axis position unit 53196 At 2048th point Input value 0 to 2147483647 53197 Cam axis cycle unit 53198 Output value 2147483648 to 2147483647 53199 Output axis position unit Cd 601 to Cd 607 Cam data Not set X Set Cd 600 Cam data operation request 0 2 0 3 CAM FUNCTION 3 2 Create Cam Data 57 58 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 64 cam data with the stroke ratio format resolution is 4096 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 Cam resolution 256 2048 16384 Processing time ms 0 78 3 5 25 m operation control data Cd 608 Set the request for cam auto generation Set in decimal 0 53200 Cam auto generation
79. am position calculation cam axis 1 cycle current value calculation disable warning code 0C64H will occur When Cd 617 Cam position calculation Cam axis current value per cycle is corresponding to the Oth point of cam data Search order Cd 617 Cam position calculation Cam axis 0 current value per cycle Cam reference position Search starting point At the Oth point Cam axis length per cycle Cam axis cycle units At the 256th point Searches until between the 255th point and the 256th point last point in order of the cam data between the Oth point and the 1st point and between the 1st point and the 2nd point When Cd 617 Cam position calculation Cam axis current value per cycle is corresponding to the 128th point of cam data Search order Cd 617 Cam position calculation Cam axis current value per 0 cycle Cam reference position Search starting point At the 128th point At the Oth point Cam axis length per cycle Cam axis cycle units At the 256th point Searches until between the 255th point and the 256th point last point in order of the cam data between the 128th point and the 129th point and between the 130th point and the 131th point 5 SYNCHRONOUS CONTROL INITIAL POSITION 1 1 9 5 5 Cam Position Calculation Function If the corresponding position is not found until the last point of the cam data searches from the Oth point of the cam data Searches until between the 127th point
80. axis Composite auxiliary shaft gear 1 output axis Speed change gear 1 output axis Output axis Cam axis 4 axes module Memory capacity Cam storage area 64k bytes Cam open area 1024k bytes Number of cam registration Cam storage area Up to 64 Cam open area Up to 256 Dependent on memory capacity cam resolution and coordinate number Comment Up to 32 characters per cam data Cam data Stroke ratio data format Cam resolution 256 512 1024 2048 4096 8192 16384 Stroke ratio 214 7483648 to 214 7483647 96 Coordinate data format Coordinate number 2 to 8192 Coordinate data Input value 0 to 2147483647 Output value 2147483648 to 2147483647 1 The maximum number of cam registration by the cam resolution is shown below In case it created by the same cam resolution 1 OUTLINE OF SYNCHRONOUS CONTROL 1 1 2 Performance Specifications 7 Stroke ratio data format 256 64 256 512 32 256 1024 16 256 2048 8 128 4096 4 64 8192 2 32 16384 1 16 Coordinate data format 128 256 32 256 512 16 256 1024 8 128 2048 4 64 4096 2 32 8192 1 16 Operation method of cam data 1 Engineering tool Write read verify to cam storage area 2 Via buffer memory Cam data operation function Write read to cam storage area and cam open area Cam auto generation function Automatically generate the cam for rotary cutter Cam position
81. ay cause fire equipment failures or malfunctions Install the product on a flat surface If the mounting surface is rough undue force will be applied to the PC board thereby causing nonconformities Install the product securely using a DIN rail or mounting screws Connect the expansion board and expansion adapter securely to their designated connectors Loose connections may cause malfunctions Make sure to affix the expansion board with tapping screws Tightening torque should follow the specifications in the manual If the screws are tightened outside of the specified torque range poor connections may cause malfunctions Work carefully when using a screwdriver during product installation Failure to do so may cause damage to the product or accidents Connect the extension cables peripheral device cables input output cables and battery connecting cable securely to their designated connectors Loose connections may cause malfunctions When using an SD memory card insert it into the SD memory card slot Check that it is inserted completely Poor contact may cause malfunction Turn off the power to the PLC before attaching or detaching the following devices Failure to do so may cause device failures or malfunctions Peripheral devices expansion board and expansion adapter Extension modules and bus conversion module Battery WIRING PRECAUTIONS NWARNING Make sure to cut off all phases of the power supply externally
82. before attempting installation or wiring work Failure to do so may cause electric shock or damage to the product Make sure to attach the terminal cover provided as an accessory before turning on the power or initiating operation after installation or wiring work Failure to do so may cause electric shock The temperature rating of the cable should be 80 C or more Make sure to wire the screw terminal block in accordance with the following precautions Failure to do so may cause electric shock equipment failures a short circuit wire breakage malfunctions or damage to the product Wire terminals should follow the dimensions described in the manual Tightening torque should follow the specifications in the manual Tighten the screws using a Phillips head screwdriver No 2 shaft diameter 6 mm 0 24 or less Make sure that the screwdriver does not touch the partition part of the terminal block Make sure to wire the terminal block European type in accordance with the following precautions Failure to do so may cause electric shock equipment failures a short circuit wire breakage malfunctions or damage to the product Wire terminals should follow the dimensions described in the manual Tightening torque should follow the specifications in the manual Twist the ends of stranded wires and make sure that there are no loose wires Do notsolder plate the electric wire ends Do not connect more than the specified n
83. c term for GX Works3 and MR Configurator2 GX Works3 Product name of the software package for the MELSEC programmable controllers Version 1 005F or later MR Configurator2 Intelligent function module Product name of the setup software for the servo amplifier Version 1 34L or later A MELSEC iQ F series module that has functions other than input or output such as Simple Motion module Manual pulse generator Abbreviation for manual pulse generator prepared by user SSCNETII H SSCNETII SSCNETII H Servo network High speed synchronous communication network between Simple Motion module and servo amplifier Generic term for SSCNETIII H SSCNETII 1 SSCNET Servo System Controller NETwork 13 14 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 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 synchronous encoder axis by setting the parameters for synchronous control and starting synchronous control on each output axis
84. ccept onerous product repairs for seven 7 years after production of the product is discontinued Discontinuation of production shall be notified with Mitsubishi Technical Bulletins etc 2 Product supply including repair parts is not available after production is discontinued Overseas service Overseas repairs shall be accepted by Mitsubishi s local overseas FA Center Note that the repair conditions at each FA Center may differ Exclusion of loss in opportunity and secondary loss from warranty liability Regardless of the gratis warranty term Mitsubishi shall not be liable for compensation of damages caused by any cause found not to be the responsibility of Mitsubishi loss in opportunity lost profits incurred to the user or third person by failure of Mitsubishi products special damages and secondary damages whether foreseeable or not compensation for accidents and compensation for damages to products other than Mitsubishi products replacement by the user maintenance of on site equipment start up test run and other tasks Changes in product specifications The specifications given in the catalogs manuals or technical documents are subject to change without prior notice Product application 1 In using the Mitsubishi MELSEC programmable controller the usage conditions shall be that the application will not lead to a major accident even if any problem or fault should occur in the programmable logic contr
85. chronous control is used as the cam axis feed current value Pr 464 Setting method of cam axis current value per cycle Previous value Initial setting value of cam axis current value per cycle Current value per cycle after main shaft gear Current value per cycle after auxiliary shaft gear 0 1 2 Md 407 Cam axis current 3 value per cycle Md 409 Cam axis feed current value Md 20 Feed current value At synchronous control start Cam axis current value per cycle Cam axis feed current value Cam reference position K The cam reference position is restored based on the cam axis current value per cycle and the cam axis feed current value IMa 408 Cam reference position Restored by the equation of Feed current value Cam axis current value per cycle Example The following shows an example of restoring the cam reference position to start operation from a point the feed current value and the cam axis current value per cycle are 0 in the cam when the cam data starting point is not 0 A Cam axis current value per cycle 0 A Cam axis feed current value gt 0 Cam data 9 Cam reference position starting point Cam data 5 SYNCHRONOUS CONTROL INITIAL POSITION 5 3 Cam Axis Position Restoration Method 112 Cam axis feed current value restoration If IPr 462 Cam axis position restoration
86. chronous 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 2 INPUT AXIS MODULE 2 2 Synchronous Encoder Axis Synchronous encoder axis monitor data j Synchronous encoder axis No 1 Monitor item Storage details Monitor value Buffer memory address Md 320 The current value for the synchronous encoder axis lI Monitoring is carried out in decimal 35200 20j Synchronous encoder axis is stored 2147483648 to 2147483647 35201 20j current value Refresh cycle Operation cycle Synchronous encoder axis position units Md 321 The current value per cycle for a synchronous HMonitoring is carried out in decimal 35202 20 Synchronous encoder axis encoder axis is stored 0 to Synchronous encoder axis length per cycle 1 35203 20j current value per cycle Refresh cycle Operation cycle Synchronous encoder axis position units Md 322 The speed for a synch
87. cle 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 value per cycle Cam data Ir 3 CAM FUNCTION Calculate the middle value from the nearest cam data esolution or between 2 coordinates i i i 3 1 Control Details for Cam Function Cam reference position The cam reference position is calculated as shown below Stroke ratio data format Cam reference position The preceding cam reference position Cam stroke amount x Stroke ratio at the last point Coordinate data format Cam reference position The preceding cam reference position Output value corresponding to Input value Cam axis length per cycle Output value corresponding to Input value 0 Cam axis current 4 value per cycle Cam reference Cam reference position l Cam reference position At 3rd cycle Feed current 4 position At 2nd cycle value At 1st cycle 1 gt t Stroke ratio data format Cam stroke amount x Stroke ratio at last point Coordinate data format The output value corresponding to Input 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 llStroke ratio data format Create cam data so that the str
88. coder normal communication error 1 occurs in the servo amplifier The error Synchronous encoder via servo amplifier invalid error error code 1BAAH occurs in the following cases 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 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 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 The encoder other than Q171ENC W6 is connected to the servo amplifier axis selected as Synchronous encoder via servo amplifier in Pr 320 Synchronous encoder axis type 2 INPUT AXIS MODULE 2 2 Synchronous Encoder Axis 35 36 chronous encoder via CPU Setting method Used to operate a gray code encoder that is connected to the input part of the CPU module or the extension input module as a synchronous encoder axis By setting 201 Synchronous encoder via CPU in Pr 320 Synchronous encoder axis type the synchronous encoder is controlled by the encoder value which is the input value of Cd 325 Input value for synchronous encoder via CPU
89. comes cam stroke position Refer to the following for setting methods for cam data lt Page 53 Create Cam Data Cam No Set the cam No 0 Linear cam 1 Cd 601 1 to 64 User created cam Cam storage area Operation cam No 1 to 256 User created cam Cam open area Cam data Set 2 2 Coordinate data format 2 Cd 604 format Setting with the engineering tool is not Cam data format required Coordinate Set the number of coordinate points in one cam 2 to 8192 2 Cd 605 number cycle The coordinates are included at the Oth Cam resolution point coordinate number Cam data Setting is not required with coordinate data Cd 606 starting format Cam data starting point point Coordinate Set all coordinate data input value X output Input value 0 Cd 607 data value Yn 0 to 2147483647 Cam data value Required to set the coordinate data Xo Yo Cam axis cycle units from the Oth point Output value The input value should be larger than the 2147483648 to 2147483647 previous coordinate data X lt X 4 Output axis position units Output value Y Output axis position units A 2147483647 5 7 eR LL y HSS SESS Heute X10 Y10 0 Input value X Cam reference position 2147483648 fa UM CMIC QUIC dir GEUnlpiM AccKE p LCD DD d Cam axis length per cycle Cam axis cycle units When an input value that is 0 or the cam axis length per cycle does not exist in t
90. command trailing edge 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 movement amount after passing through the ON address is calculated as the output movement amount of the clutch based on the reference address passing through thereby controlling the clutch with an accurate movement amount 5 High speed input request 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 BIOFF control mode 0 OFF control invalid Clutch OFF control is not used This setting is applicable only for execution with clutch ON control 1 One shot OFF The clutch is turned OFF after moving the distance Pr 427 Movement amount before auxiliary shaft clutch OFF One shot operation after the clutch command turns ON If Pr 427 Movement amount 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 e
91. composite main shaft gear Composite B Main shaft main Main shaft main input axis shaft gear gear passaras Md 401 Current value Pr 460 Setting method of current value per cycle after per cycle after main shaft gear main shaft gear g 0 Previous value 1 Initial setting value of current value per cycle after main shaft gear 2 Calculate from input axis Main shaft sub input axis Main shaft clutch Auxiliary shaft Auxiliary shaft Composite auxiliary shaft gear value per cycle Md 407 Cam axis current Pr 462 Cam axis position restoration object Auxilia Output axi ene A ene Md 408 Cam reference 0 Cam axis current value jus gt position per cycle restoration Md 402 Current value per cycle Md 409 Cam axis feed 1 cum PR position after auxiliary shaft gear restoration Care 3 current value 2 Cam axis feed current value restoration Pr 461 Setting method of current value per cycle after auxiliary shaft gear 0 Previous value 1 Initial setting value of current value per cycle after auxiliary shaft gear 2 Calculate from input axis 4 02 5 SYNCHRONOUS CONTROL INITIAL POSITION 5 1 Synchronous Control Initial Position value after composite main shaft gear at synchronous control start The current value after composite main shaft gear is restored as follows according to the main input axis operation executed before starting synchronous contro
92. ction 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 Md 325 Synchronous encoder axis status The each status for a synchronous encoder axis is monitored with the following each bits Bit Storage item Storage details bO Setting valid flag 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 b1 Connecting 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 b2 Counter enable flag This flag turns ON when input from the synchronous encoder is enabled If the counter disable control is executed it is turned OFF and input from the synchronous encoder becomes invalid If the counter enable control 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 b3 Current val
93. ction Override function Acceleration deceleration time change function Setting is ignored Torque change function Absolute system Step function Skip function Same control as other methods Setting is ignored M code output function M code is not able to output Teaching function Target position change function Command in position function Same control as other methods Setting is ignored Acceleration deceleration processing function Valid at deceleration stop only Deceleration time is set in Pr 446 Synchronous control deceleration time Pre reading start function Deceleration start flag function Stop command processing for deceleration stop function Speed control 10 x multiplier setting for degree axis function Setting is ignored Reflected on monitor data Operation setting for incompletion of home position return function Controlled the same as positioning control For a system that needs alignment start synchronous control after establishing an a home position Servo ON OFF Servo OFF request is ignored during synchronous control s imilar to positioning control Sub functions for an input axis in synchronous control conform to the specification of each control Home position return control Positioning control Manual control Speed torque control Refer to the following manual of the Simple Motion module that is used LLlUser
94. current value lMiSet in decimal 35042 10j Synchronous encoder axis Fetch cycle At synchronous encoder axis control start 2147483648 to 2147483647 35043 10j current value setting address Synchronous encoder axis position units Cd 323 If set to 1 for resetting error and warning for the WSet in decimal 35044 10j Synchronous encoder axis synchronous encoder axis the error number and 1 Error reset request error reset warning number are set to 0 and the error detection and warning detection bits status are turned OFF The Simple Motion module resets the value to 0 automatically after completion of the error reset 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 Cd 324 If set to 1 the synchronous encoder via CPU is WSet in decimal 350454 10j Connection command of connected 1 Connect synchronous encoder synchronous encoder via If set to 0 the synchronous encoder via CPU is via CPU CPU disconnected 0 Disconnect synchronous Fetch cycle Main cycle encoder via CPU Cd 325 Set a value to be used every time as the input value for WSet in decimal 35046 10j Input value for synchronous the synchronous encoder for the synchronous encoder 2147483648 to 2147483647 35047 10j encoder via CPU via CPU Fetch cycle Operation cycle pulse 1 With the exception o
95. current value which was calculated in 3 5 Start synchronous control on axis 1 2 and 3 with the feed current 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 Cam position calculation control data Cd 612 Set the cam position calculation request WSet in decimal 53780 Cam position The Simple Motion module resets the value to 0 1 Cam axis feed current value calculation request automatically after completion of the cam position calculation request calculation 2 Cam axis current value per cycle Fetch cycle Main cycle calculation request Cd 613 Set the cam No for the cam position calculation Set in decimal 53781 Cam position Fetch cycle At requesting cam position calculation 0 to 256 calculation Cam No Cd 614 Set the cam stroke amount for the cam position Set in decimal 53782 Cam position calculation 2147483648 to 2147483647 53783 calculation Stroke Fetch cycle At requesting cam position calculation Output axis position units amount Cd 615 Setthe cam axis length per cycle for the cam WSet in decimal 53784 Cam position position calculation 1 to 2147483647 53785 calculation Cam axis Fetch cycle At requesting cam position calculation Cam axis cycle units 3 length per cycle Cd 616 Set the cam reference position for the cam position Set in decimal 53786 Cam position ca
96. cycle Cam reference position 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 1C28H will occur and synchronous control will not be started When starting synchronous control the feed current 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 the position mismatch 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 If the cam resolution is large search processing may take a long time when starting synchronous control Cam resolution 16384 Up to about 14 ms 5 SYNCHRONOUS CONTROL INITIAL POSITION 1 5 3 Cam Axis Position Restoration Method 09 Cam axis current value per cycle restoration operation IIWith a two way cam pattern operation 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 feed current value Feed current value Restore to the first feed current value that matches Other values are n
97. cycle 360 0 degree 1 cycle of the rotation table Pr 321 Control unit 2 degree 3112H Synchronous encoder axis unit Number of decimal places for position 1 setting Speed time unit 1 minute min Number of decimal places for speed 3 Pr 322 Synchronous encoder axis unit conversion Numerator 360 0 degree x 1 3600 x 0 1 degree Pr 323 Synchronous encoder axis unit conversion Denominator 4000 pulse x 5 20000 pulse Pr 324 Synchronous encoder axis length per cycle 360 0 degree 3600 x 0 1 degree Synchronous encoder pulse input pulse 4 40000 eee eee tenes Pr 322 Pr 323 Synchronous encoder 20000 axis unit conversion gt t Md 320 Synchronous x 0 1 degree encoder axis 4 current value 200 22H sonst ened nasser sors 7 3600 i i gt t Md 321 Synchronous x 0 1 degree encoder axis A Pr 324 Synchronous encoder axis length per cycle current value 3600 7 cea ile teeters Semester per cycle gt t Md 322 Synchronous x 0 001 degree min encoder axis speed 4 Speed after unit conversion gt t Pr 325 Synchronous encoder axis smoothing time constant Set the averaging time to execute a smoothing process for the input movement amount from synchronous encoder The smoothing process can moderate speed fluctuation of the synchronous encoder input The input response is delayed depending on
98. cycle after main shaft gear when starting synchronous control 0 Previous value 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 The value set in Pr 465 Current value per cycle after main shaft gear Initial setting is stored Calculate from input axis The value calculated based on the current value after composite main shaft gear is stored 5 SYNCHRONOUS CONTROL INITIAL POSITION 5 2 Synchronous Control Initial Position Parameters tting 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 Previous value 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 The value set in Pr 466 Current value per cycle after auxiliary shaft gear Initial setting is stored after auxiliary shaft gear 2 Calculate from input axis The value calculated based on the auxiliary shaft current value is stored Zam axis position restoration object Select the object to be restored from Cam axis current value per cycle Cam reference position or Cam axis feed current value when starting synchronous control 0 Cam axis current v
99. d on the speed change ratio gear settings 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 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 x a Jae S synchronous control Input values for speed change are processed as follows Pr 436 Speed change ratio Numerator Input value after change Input value before change X n 9 k 8 Pr 437 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 Denominator is set within the range from 1 to 2147483647 4 SYNCHRONOUS CONTROL 4 4 Speed Change Gear Module 4 5 Output Axis Module Overview of output axis module 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 set cam data The feed current value which is a command is output to the servo amplifier Input value Pr 438
100. d operation Cam data Cam axis current 4 i value per cycle Cam aa he ee 7 PA conversion i 1 Cam retereqen am reference position i processing Cam reference position At 3rd cycle Feed current value position At 2nd cycle peus User created cam At 1st cycle gt t Cam data Cam axis current 4 value per cycle Cam gt t conversion processing i Cam reterence a R Feed current value 4 Cam reference position At 3rd cycle position j At 2nd cycle i Linear cam Cam No 0 At 1st cycle i t Stroke amount x 100 3 CAM FUNCTION 4 3 1 Control Details for Cam Function T 48 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 ratio data from points within the cam resolution Refer to the following for setting methods for cam data lt Page 53 Create Cam Data Cam No Set the cam No 0 Linear cam 1 Cd 601 1 to 64 User created cam Cam Operation cam No storage area 1 to 256 User created cam Cam open area Cam data Set 1 1 Stroke ratio data format 1 Cd 604 format Setting with the engineering tool is not Cam data format required Cam resolution Set the number of divisions for one cam cycle 256 512 1024 2048 4096 8192 16384 256 Cd 605 Cam resolution coordinate numb
101. der Axis Setting method for synchronous encoder Incremental synchronous encoder 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 Pr 24 Manual pulse generator Incremental synchronous encoder input selection Pr 89 Manual pulse generator Incremental synchronous encoder input type selection Pr 151 Manual pulse generator Incremental synchronous encoder input logic selection Point 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 ESetting example The following shows an example for setting an incremental synchronous encoder as synchronous encoder axis 2 of the Simple Motion module Simple Motion module
102. dge 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 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 movement amount before passing through the OFF address is calculated as the output movement amount of the clutch based on the reference address passing through thereby controlling the clutch with an accurate movement amount 5 High speed input request The clutch is turned OFF when the high speed input request DI turns ON 4 SYNCHRONOUS CONTROL 1 4 2 Auxiliary Shaft Module 7 72 HHigh 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 1 0 The external command signal specified by Pr 95 External command signal selection of the axis 1 is used 2 1 The external command signal specified by Pr 95 External command signal selection of the axis 2 is used 3 2 The external command signal specified by Pr 95 External command signal selection of the axis 3 is used 4 3 The external command signal specified by Pr 95 Externa
103. e 37 38 Synchronous encoder axis unit setting 37 38 Synchronous encoder axis warning No 45 46 133 Warranty Read and completely understand the warranty below when using this product 1 134 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 warranty term after manufacturing shall be eighteen 18 months The gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs Gratis Warranty Range 1 The range shall be limited to normal use within the usage state usage methods and usage environment etc which follow the conditions and precautions etc
104. e 68 shaft clutch i auxiliary shaft is transmitted Auxiliary Shaft by the clutch ON OFF Module C Page 76 Clutch Composite The composite movement C Page 68 auxiliary amount of the main shaft and Auxiliary Shaft shaft gear the auxiliary shaft are Module transmitted Speed change Speed Itis used to change the speed C Page 85 gear module change by setting speed change ratio Speed gear during the operation Change Gear Module Output axis Output axis The cam conversion is C Page 87 module processed based on the input Output Axis Ede movement amount and the Module setting cam data The feed current value is output as the command to the servo amplifier Cam data Cam data Cam data It controls the operation pattern of the output axis two way operation and feed operation which is corresponding to the input movement amount of the output axis module 1 OUTLINE OF SYNCHRONOUS CONTROL 1 1 Outline of Synchronous Control Page 47 CAM FUNCTION 1 2 Performance Specifications ce specifications Input axis Servo input axis 4 axes module Synchronous encoder 4 axes module axis Composite main shaft gear 1 output axis Main shaft main input axis 1 axis output axis Main shaft sub input axis 1 axis output axis Main shaft gear 1 output axis Main shaft clutch 1 output axis Auxiliary shaft 1 axis output axis Auxiliary shaft gear 1 output axis Auxiliary shaft clutch 1 output
105. e per after main shaft gear 0 to Cam axis length per cycle 1 36507 200n cycle after main Fetch cycle At start of synchronous control Cam axis cycle units shaft gear Initial setting Pr 466 Set the initial value of the current value per cycle Set in decimal 36508 200n Current value per after auxiliary shaft gear 0 to Cam axis length per cycle 1 36509 200n cycle after auxiliary Fetch cycle At start of synchronous control Cam axis cycle units shaft gear Initial setting Pr 467 Set the initial value of the cam reference position Set in decimal 36510 200n Cam reference Fetch cycle At start of synchronous control 2147483648 to 2147483647 36511 200n position Initial Output axis position units setting Pr 468 Set the initial value for the cam axis current value per Set in decimal 36512 200n Cam axis current cycle 0 to Cam axis length per cycle 1 36513 200n value per cycle Initial setting The restoration value for the cam axis current value per cycle is searched from the setting value with the cam axis current value per cycle restoration Fetch cycle At start of synchronous control Cam axis cycle units 1 Cam axis cycle units Page 88 Units for the output axis 2 Output axis position units Page 88 Units for the output axis etting method of current value per cycle after main shaft gear Select the setting method of Md 401 Current value per
106. e protected as shown below by password setting Password for read protection Cam data cannot be read without password for Reading cam data is not operated read protection Password for write protection Cam data cannot be written without password for Writing cam data and generating cam data auto write protection generation is not operated The password for cam data is deleted with cam data by Cd 2 Parameter initialization request 3 CAM FUNCTION 3 2 Create Cam Data 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 eration control data Cd 600 Set the command for operating cam data Set in decimal 45000 Cam data operation The Simple Motion module resets the value to 0 1 Read request automatically after completion of cam data operation 2 Write Cam storage area Fetch cycle Main cycle 3 Write Cam open area Cd 601 Setthe operating cam No Set in decimal 45001 Operation cam No Fetch cycle At requesting cam data operation 1 to 64 Cam storage area 1 to 256 Cam open area Cd 602 Set the first position for the operating cam data Set in decimal 45002 Cam da
107. ed as it is 2 Input 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 values between the main and the auxiliary shafts 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 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 SYNCHRONOUS CONTROL 4 2 Auxiliary Shaft Module 69 Auxiliary shaft clutch parameters n Axis No 1 Pr 422 Set the control method for the clutch Set in hexadecimal 0000H 36436 200n Auxiliary shaft Fetch cycle Operation cycle H Lu v L 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 gt OFF control mode 0 OFF control invalid 1 One shot OFF 2 Clutch command leading edge 3 Clutch command trailin
108. ed change 0 flag 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 movement amount of the input axis is reflected immediately after the synchronous control start The output axis might suddenly accelerate depending on the movement amount 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 14 ms When 0 Cam axis current value per cycle restoration is set in Pr 462 Cam axis position restoration object and the cam cam resolution 16384 is searched Set 1 Cam reference position restoration or 2 Cam axis feed current value restoration in Pr 462 Cam 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 1 OUTLINE OF SYNCHRONOUS CONTROL 21 1 3
109. ee for degree units When the Md 20 Feed current value Md 101 Real current value is changed by the home position return or the current value change the value is changed to the new current value 3 Servo command value 4 Feedback value When of the absolute position detection system setting is invalid the accumulative current value that starts from 0 for the connected servo amplifier is stored When of the absolute position detection system setting is valid the accumulative current value that starts from the absolute position command encoder feedback pulse for the connected servo amplifier is stored The servo input axis current value will not change even if the home position return or the current value is changed The speed for the servo input axis is stored in servo input axis speed units Page 24 Servo input axis speed units The speed for the servo input axis is the value after processing smoothing phase compensation and rotation direction restriction The phase compensation amount for a servo input axis is stored in servo input axis position units L Page 24 Servo input axis position units The phase compensation amount for a servo input axis is the value after processing smoothing and phase compensation 2 INPUT AXIS MODULE 2 1 Servo Input Axis It axis rotation direction restriction amount While the rotation direction is restricted for a servo input axis the accumulation f
110. emory Writing The warning Outside number of cam data operation points range warning code 0C43H occurs and writing is not executed data format Set one of the following cam data formats 1 Stroke ratio data format 2 Coordinate data format 3 CAM FUNCTION 3 2 Create Cam Data ion 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 51 2 1024 2048 4096 8192 16384 Set the coordinate number within the range from 2 to 8192 when using the coordinate data format d 606 Cam data sta ting 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 0 to Cam resolution 1 value Set load the cam data operation points according to one of the following formats Stroke ratio data format 45008 Stroke ratio at first point 2147483648 to 2147483647 x 107 45009 214 7483648 to 214 7483647 45010 Stroke ratio at second point 45011 53198 Stroke ratio at 4096th point 53199 Coordinate data format 45008 At first point Input value 0 to 2147483647 45009 C
111. encoder axis input pulse from the Synchronous synchronous encoder Encoder Axis 1 OUTLINE OF SYNCHRONOUS CONTROL 1 1 1 Outline of Synchronous Control 5 16 Output axis Main shaft Main shaft The input axis on the main lt Page 60 module main input side of the main shaft module Main Shaft axis The reference position on the Module main shaft Main shaft The input axis on the sub side C Page 60 sub input of the main shaft module Main Shaft axis It is used to input the Module compensation amount for the position of the main shaft main input axis Composite The composite movement C Page 60 main shaft amount of the main shaft main Main Shaft gear input axis and the main shaft Module sub input axis are transmitted to the main shaft gear Main shaft The converting movement C Page 60 gear amount after composite main Main Shaft shaft gear is transmitted by Module the setting gear ratio Main shaft The movement amount of the C Page 60 clutch main shaft is transmitted by Main Shaft the clutch ON OFF Module C Page 76 Clutch Auxiliary shaft Auxiliary The input axis of the auxiliary C Page 68 module shaft axis shaft module Auxiliary Shaft Module Auxiliary The converting movement C Page 68 shaft gear E amount of the auxiliary shaft is Auxiliary Shaft transmitted by the setting gear Module ratio Auxiliary The movement amount of the I Pag
112. ent amount 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 Aservo amplifier is connected The home position return is executed 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 direction restriction MA I i i E t Md 301 Servo input axis speed Speed after rotation E E 1 direction restriction 1 E i gt t Md 303 Servo input axis rotation direction lt gt t restriction amount The input movement amount is accumulated as a rotation direction restricted amount and will be reflected when the input movement amount in the enabled direction 2 INPUT AXIS MODULE 2 2 1 Servo Input Axis 7 28 Servo input axis monitor data n Axis No 1 Md 300 The current value for the servo input axis Monitoring is carried out in decimal 33120 10n Servo input axis current value is stored 2147483648 to 2147483647 33121 10n Refresh cycle Operation cycle Servo input axis position units Md 301 The speed for the servo input axis is Monitoring is carried out in decimal 33122 10n Servo input axis speed stored 2147483648 to 2147483647 33123 10n
113. er Cam data Set the cam data point corresponding to Cam 0 to Cam resolution 1 0 Cd 606 starting point axis current value per cycle 0 Cam data starting point Stroke ratio Set the stroke ratio from the 1st to the last point 2147483648 to 2147483647 0 Cd 607 data The Oth point setting is not required It is always 0 x 10794 214 7483648 to 214 7483647 Cam data value 1 For setting the stroke ratio out of range 100 with the engineering tool 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 Ex Cam resolution 512 Stroke ratio Setting range 214 7483648 to 214 7483647 A Cam axis length per cycle Cam axis cycle units 100 0000000F 7 1 F 0 Cam reference position 100 0000000 7 i r At the Oth point 3 CAM FUNCTION 3 1 Control Details for Cam Function At the 512th point At the last point 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 Output value Input value Cam axis current value per cycle 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 be
114. ers are not applicable during direct coupled operation by setting 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 BIOFF control mode 0 OFF control invalid Clutch OFF control is not used This setting is applicable only for execution with clutch ON control 1 One shot OFF The clutch is turned OFF after moving the distance Pr 410 Movement amount before main shaft clutch OFF One shot operation after the clutch command turns ON If Pr 410 Movement amount before main shaft clutch OFF is 0 IMd 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 movement amount before passing through the OFF address is calculated as the output movement amount of the clutch based on the reference address passing through thereby controlling the clutch with an accurate movement amount 5 High speed inp
115. ery for the specified purpose only Connect the battery correctly Do not charge disassemble heat put in fire short circuit connect reversely weld swallow or burn the battery or apply excessive force vibration impact drop etc to the battery Do not store or use the battery at high temperatures or expose to direct sunlight Do not expose to water bring near fire or touch liquid leakage or other contents directly Incorrect handling of the battery may cause excessive heat bursting ignition liquid leakage or deformation and lead to injury fire or failures and malfunction of facilities and other equipment STARTUP AND MAINTENANCE PRECAUTIONS NCAUTION Do not disassemble or modify the PLC Doing so may cause fire equipment failures or malfunctions For repair contact your local Mitsubishi Electric representative After the first use of the SD memory card do not insert remove the memory card more than 500 times Insertion removal 500 times or more may cause malfunction Turn off the power to the PLC before connecting or disconnecting any extension cable Failure to do so may cause device failures or malfunctions Turn off the power to the PLC before attaching or detaching the following devices Failure to do so may cause device failures or malfunctions Peripheral devices expansion board and expansion adapter Extension modules and bus conversion module Battery OPERATION PRECAUTION
116. everse rotation and an interlock circuit to prevent damage to the equipment at the upper and lower positioning limits Note that when the CPU module detects an error such as a watchdog timer error during self diagnosis all outputs are turned off Also when an error that cannot be detected by the CPU module occurs in an input output control block output control may be disabled External circuits and mechanisms should be designed to ensure safe machine operation in such a case Note that the output current of the 24 V DC service power supply varies depending on the model and the absence presence of extension modules If an overload occurs the voltage automatically drops inputs in the PLC are disabled and all outputs are turned off External circuits and mechanisms should be designed to ensure safe machine operation in such a case Note that when an error occurs in a relay triac or transistor of an output circuit the output might stay on or off For output signals that may lead to serious accidents external circuits and mechanisms should be designed to ensure safe machine operation Construct an interlock circuit in the program to ensure safe operation for the whole system when executing control for data change of the PLC in operation Read the manual thoroughly and ensure complete safety before executing other controls for program change parameter change forced output and operation status change of the PLC in operation Otherwi
117. eysens ma a medan paaa n EE a a E E E A EGE a a ER E DEA E ea 76 Control method for clutch cerei erosione nnie nea iea a Aa ERE REP I re E E EE 76 Smoothing method for clutch asa aanarn annarar mn 81 10 Use examiple of Clutch 2x osceni sere RR py eee esd Pete EK a tee baa Rhee eee EE EE 84 4 4 Speed Change Gear Module ever rupe eR E EE a eb eee eee REC E ER Eee RE UE 85 Overview of speed change gear module 1 2 2 eee 85 Speed change gear parameters 00 eee 86 4 5 Output Axis Mod le bre a divin tated aici de Ercusienan te edie Sd eee ata ene tee 87 Overview of output axis module 1 1 0 0 0 0 tte 87 Output axis parameters erse ya xd dd aUe a we qw eau ei eke domed ae a ee wade eee dees 89 4 6 Synchronous Control Change Function 0000 cece cece nhan 92 Overview of synchronous control change function 0 0 92 Synchronous control change control data lilii 92 4 7 Synchronous Control Monitor Data 0 0 0 ccc hh hh 96 4 8 Phase Compensation Function 0c c cece eee eee hn 100 4 9 Output Axis SUB FUME OMS xx rom erneut eri oe e eee inen Rael RD Ee exon eap aie E 101 CHAPTER 5 SYNCHRONOUS CONTROL INITIAL POSITION 102 5 1 Synchronous Control Initial Position llleleeeee IRI In 102 5 2 Synchronous Control Initial Position Parameters lslleeseeeeee ene 106 5 3 Cam Axis Position Restoration Method ssseseeeeseeee nnn 109
118. f positioning control main cycle processing is executed during the next available time It changes by status of axis start 2 Synchronous encoder axis position units Page 31 Synchronous encoder axis position units 42 2 INPUT AXIS MODULE 2 2 Synchronous Encoder Axis Cd 320 Synchronous encoder axis control start If set to 1 the synchronous encoder axis control is started Md 320 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 104 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 command in Cd 8 External command valid for the specified servo amplifier axis to start from a high speed input request DI Also set the external command signal to be used in Pr 95 External command signal selection 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 com
119. fer to lt gt Page 106 Synchronous Control Initial Position Parameters for the setting details O Required A Required for initial setting value Not required 0 Cam axis current value per O A cycle restoration O Used as search starting point Restore Cam axis current value per cycle based on Cam reference position and Cam axis feed current value 1 Cam reference position oO restoration 2 Cam axis feed current value O A O restoration A Restore Cam reference position based on Cam axis current value per cycle and Cam axis feed current value Restore Cam axis feed current value based on Cam axis current value per cycle and Cam reference position 5 SYNCHRONOUS CONTROL INITIAL POSITION 5 1 Synchronous Control Initial Position 1 05 5 2 Synchronous Control Initial Position Parameters n Axis No 1 Pr 460 Select the setting method for the current value per Set in decimal 36500 200n Setting method of cycle after main shaft gear 0 Previous value current value per Fetch cycle At start of synchronous control 1 Initial setting value of current value per cycle cycle after main after main shaft gear Pr 465 shaft gear 2 Calculate from input axis Pr 461 Select the setting method for the current value per Set in decimal 36501 200n Setting method of cycle after auxiliary shaft gear 0 Previous value cur
120. ft gear the value before being changed and after being changed has already passed through the ON OFF address in address mode llChange 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 Cam axis current value per cycle movement This command is executed to move the cam axis current value per cycle through adding the setting movement amount of Cd 408 Synchronous control change value The movement amount to be added is averaged in Cd 409 Synchronous control reflection time for its output Set a long reflection time when a large movement amount is used since the cam axis feed current value moves with the movement amount Cd 408 Synchronous control change value Md 407 Cam axis current value per cycle Md 409 Cam axis feed current value Feed current value Md 408 Cam reference Cq 409 Synchronous control reflection time position Cd 406 Synchronous control change request Cd 407 Synchronous 4 Cam axis current value per cycle movement control change command Cd 408 Synchronous control change value
121. g edge 4 Address mode 5 High speed input request High speed input request signal 0 to 3 High speed input request signal from axis 1 to axis 4 Pr 423 Setthe reference address for the clutch Set in decimal 0 36437 200n Auxiliary shaft Fetch cycle At start of synchronous control 0 Auxiliary shaft current value clutch reference 1 Current value per cycle after main shaft address setting gear Pr 424 Setthe clutch ON address for address mode This Set in decimal 0 36438 200n Auxiliary shaft setting is invalid except during address mode 2147483648 to 2147483647 36439 200n clutch ON address If the address is out of the range from 0 to Cam axis Auxiliary shaft position units or cam axis length per cycle 1 the address is converted to a value cycle units within range Fetch cycle Operation cycle Pr 425 Setthe movement amount between the clutch ON Set in decimal 0 36440 200n Movement amount condition completing and the clutch closing 2147483648 to 2147483647 36441 200n before auxiliary Set a positive value when the reference address is Auxiliary shaft position units or cam axis shaft clutch ON increasing and a negative value when it is decreasing cycle units Fetch cycle At completing clutch ON condition Pr 426 Set the clutch OFF address for the address mode This WSet in decimal 0 36442 200n Auxiliary shaft setting is invalid except during address mode 2147483648 to 2147483647 36443
122. g 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 the speed after clutch smoothing Clutch ON OFF status Clutch smoothing status A i Speed before clutch N 1 i eet processing i Slippage amount Slippage amount Speed after clutch rat clutch ON at clutch OFF Y A f smoothing 9 i gt t 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 4 SYNCHRONOUS CONTROL 4 3 Clutch 83 Use example of clutch The following machine shows an example using clutch control for a flying shear cutting system that synchronizes off a start signal from a sensor input Sensor input High speed input request DI 100 mm 3 94 inch j i Synchronous encoder sas s Waiting position Sensor position Main shaft main Output axis D Main shaft gear input axis Main shaft clutch Synchronous encoder axis Output axis Linear cam Pr 405 ON control mode 5 High speed input request Main shaft clutch control setting OFF control mode
123. gth per cycle 89 90 Cam axis phase compensation advance time 89 90 Cam axis phase compensation amount 96 98 Cam axis phase compensation time constant 89 91 Cam axis position restoration object 106 107 Cam data first position 55 56 Cam data format 000055 55 56 Cam data operation request 55 56 Cam data starting point 55 57 Cam data value 0 0000 ce eee 55 57 Cam No 2 0 00 c ee ee ee 89 90 Cam position calculation Cam axis current value per cycle 116 117 Cam axis feed current value 116 117 Cam axis length per cycle 116 117 Cam NO 22uue om er TESTA 116 117 Cam reference position 116 117 Stroke amount 05 116 117 Cam position calculation request 116 117 Cam position calculation result 118 Cam reference position 96 98 Cam reference position Initial setting 106 108 Cam resolution coordinate number 55 57 Cam stroke amount 25 89 90 Composite auxiliary shaft gear 68 69 Composite main shaft gear 61 62 Connection command of synchronous encoder via CPU pie wes De aei ase VPE ewe ees 42 44 Current value after composite main shaft gear iiideebaed oud lt evacuees week ead eae 6 96 97 Current value per cycle after auxiliary shaft gear Ae Venice sp a Glas ede ee ae Pw 96 98 Cu
124. h point of cam data 1 to 256 User created cam Pr 441 Set the cam stroke amount corresponding to the stroke WSet in decimal 4194304 36476 200n Cam stroke ratio 100 for cam with stroke ratio data format 2147483648 to 2147483647 36477 200n amount This is ignored for cams using the coordinate data Output axis position units format Fetch cycle At start of synchronous control At passing through the Oth point of cam data Pr 444 Set the time to advance or delay the phase of the cam Set in decimal 0 36482 200n Cam axis phase axis 2147483648 to 2147483647 us 36483 200n compensation Fetch cycle Operation cycle advance time Pr 445 Set the time constant to affect the phase compensation WSet in decimal 10 36484 200n Cam axis phase of the cam axis 0 to 65535 ms compensation Fetch cycle At start of synchronous control time constant Pr 446 Set the deceleration time for the synchronous control Set in decimal 0 36485 200n Synchronous Fetch cycle At start of synchronous control 0 to 65535 ms control deceleration time Pr 447 Set to smooth the output axis Set in decimal 0 36486 200n Output axis Fetch cycle At start of synchronous control 0 to 5000 ms smoothing time constant 1 Cam axis cycle units I Page 88 Units for the output axis 2 Output axis position units lt Page 88 Units for the output axis 3 Set the value as follows in a program 0 to 32767 Set as a decimal 32768 to 65535
125. h reference address setting If the set amount is negative slippage amount at clutch ON is controlled as 0 direct 4 SYNCHRONOUS CONTROL 4 1 Main Shaft Module 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 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 OFF is controlled as 0 direct Main shaft clutch control data n Axis No 1 Setting item Setting details Setting value Default value Buffer memory address Cd 400 Set the clutch command ON OFF Set in decimal 0 44080 20n Main shaft clutch Fetch cycle Operation cycle 0 Main shaft clutch command OFF command 1 Main shaft clutch command ON Cd 401 Set 1 to disable the clutch control temporarily Set in decimal 0 44081 20n Main shaft clutch Fetch cycle Operation cycle 0 Main shaft clutch control valid control invalid 1 Main shaft clutch control invalid command Cd 402 Set 1 to force the clutch OFF Set in decimal 0 44082 20n Main shaft clutch Fetch cycle Operation cycle 0 Main shaft clutch normal control forced OFF 1 Main shaft clutch forced OFF command Cd 400 Main shaft clutch command Set ON OFF for the main shaft clutch command This command is
126. he coordinate data the coordinate is calculated from the line segment between the nearest two coordinates 3 CAM FUNCTION 4 3 1 Control Details for Cam Function 9 50 Output v alue Y Output axis position units A 2147483647 nm NUR v ML L Generated line Generated line segment from segment from Xo Yo and X1 Y1 C Y3 Xe Yo and X10 Y10 X10 Y10 a r 0 Cam reference position 21 47483648 X7 Y7 Input value X Cam axis length per cycle Cam axis cycle units N 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 alarms such as AL 31 Overspeed or AL 35 Command frequency error in the servo amplifier When creating and changing cam data execute a trial operation and provide the appropriate adjustments Refer to lt SAFETY PRECAUTIONS for precautions on test operations and adjustments Feed current value of cam axis The feed current value is calculated as shown below lllStroke ratio dat a format Feed current value Cam reference position Cam stroke amount x Stroke ratio corresponding to cam axis current value per cycle llCoordinate data format Feed current value Cam reference position Output value corresponding to cam axis current value per cy
127. he 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 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 096 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 N De Number of cam data operation points Set the number of operation points to write read starting from the first position of cam data Stroke ratio data format 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 0C43H occurs and writing is not executed Coordinate data format The following shows the operation details when the value of Cam data first position Cam 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 m
128. hing method Direct Time constant method Exponent Time constant method Linear Slippage method Exponent Slippage method Linear RPwN rE The operation of each smoothing method is shown below nod 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 movement amount between the clutch turning ON and OFF is not changed with smoothing Movement amount after clutch smoothing Movement amount before clutch smoothing Clutch smoothing Pr 412 Pr 429 For smoothing with a time Set in decimal time constant Main shaft clutch smoothing Auxiliary shaft clutch constant method set the 0 to 5000 ms time constant smoothing time constant smoothing time constant lilTime constant method exponential curve smoothing Set 1 Time constant method Exponential in the clutch smoothing method Clutch ON OFF status Clutch smoothing status F n Speed before clutch processing Speed after clutch smoothing Clutch smoothing time constant Clutch ON OFF status Md 420 Main shaft clutch ON OFF status Md 423 Auxiliary shaft clutch ON OFF status Clutch smoothing status Md 421 Main shaft clutch smoothing status Md 424 Auxiliary shaft clutch smoothing statu
129. hing process setting Input value speed before smoothing gt t Averaging by smoothing time constant Input value speed after smoothing gt t gt Pr 301 Servo input axis smoothing Pr 301 Servo input axis smoothing time constant time constant 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 the following for the delay time inherent to the system using the servo input axis Cs Page 100 Phase Compensation Function Setting value Details 1 to 2147483647 us Advance the phase input response according to the setting time 0 us 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 96 of the phase compensation amount are reflected in the time constant setting Pr 302 Servo input axis phase compensation advance time Servo input axis current value i Current value before phase compensation
130. hod Cam axis current value per cycle restoration If IPr 462 Cam axis position restoration object is set to 0 Cam axis 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 feed current value Select the method for the cam reference position to be restored The feed current value when starting synchronous control is used as the cam axis feed current 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 Feed current value Md 409 Cam axis feed ___ At synchronous l l ae The cam axis current value per cycle is control start restored based on the cam reference position and cam axis feed current value Pr 463 Setting method of cam Md 407 Cam axis current value per cycle reference position 0 Previous value 1 Initial setting gt Md 408 Cam reference value of cam position reference position 2 Feed current value Cam axis current value per cycle Cam axis feed current value Search the cam pattern It is also possible to search from the middle of the cam axis current value per
131. hronous encoder axis parameters 66 n 37 Synchronous encoder axis control data lille 42 Synchronous encoder axis monitor data liliis 45 CHAPTER3 CAM FUNCTION 47 3 1 Control Details for Cam Function slleeeeeeeeeee eh hh hh mnt 47 3 2 Create Cam Data ern mr n e RESER cem EROS Roni mdp ace ona UIS UR ee cR RR RR RR 53 Memory configuration of cam data 0 0 e 53 Cami data operation function iusso RR ed Sea ee Rx UXOR eee eed EO LA EUER OR RR dod n a 55 Cam auto generation function 2 2 0 e m 58 CHAPTER4 SYNCHRONOUS CONTROL 60 4 1 Main Shaft Mod le i e p e ERE IL to RER EOEUR RC AER E QR oed ERE eeO sews ones 60 Overview of main shaft module naunan 0 00 m 60 Main Shaft parameters 2 Dev IP acini ede ERU TIPP AER Sd IN Dad wea sen neget ded 61 Main shaft clutch parameters 0 0244 ses RR Re tees palma ee LA ERREUR RO RE sad EROR ol oos 63 Main shaft clutch control data 2 e e 67 4 2 Auxiliary Shaft Module 59 iik Ik tk 4 p XE 6 Coe p R REPERI ERIT RREREGCITRE 2 iY4g 68 Overview of auxiliary shaft module lsseleseeeee eee 68 Auxiliary shaft parameters ccce 00066 ee er mk eee eee ee RUE Rar aha 68 Auxiliary shaft clutch parameters 2 0 0 m ree 70 Auxiliary shaft clutch control data ies eek re menor e ede ces e a Rae eg e qe 75 4 3 uino i irises aa pig were io pais lene ogee nceiei sara caus ert DE E EE erecerece aes ene 76 OVERVIEW OF CIUICH nei
132. in IMd 26 Axis operation status 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 Md 141 BUSY signal Target axis bit 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 the following for the stop operation of output axis at the synchronous control end K5 Page 22 Stop operation of output axis 1 OUTLINE OF SYNCHRONOUS CONTROL 1 3 Operation Method of Synchronous Control Starting history The starting history is updated when starting synchronous control 9020 Synchronous control operation is stored in Md 4 Start No Status when starting synchronous control The following bits in Md 31 Status are turned OFF when starting synchronous control in the same way as for the positioning control start Bit Details bO In speed control flag b1 Speed position switching latch flag b2 Command in position flag b4 Home position return complete flag b5 Position speed switching latch flag b10 Spe
133. in the synchronous section section needs to be adjusted acceleration The speed is Synchronous speed x 10095 ratio Acceleration ratio in the synchronous section Sheet synchronization width Synchronization starting point Synchronous axis length Synchronous axis cycle length Synchronous axis Cam axis Feed sheet j Cam axis current value per cycle 4 Sheet synchronization width Synchronization starting point Sheet length Sheet length Cam axis Synchronous axis speed 4 Synchronous speed gt t Synchronous section acceleration ratio When 0 it is as fast Feed sheet speed Cam stroke ratio Cam data by auto generation 100 gt t gt t as synchronous speed 3 CAM FUNCTION 3 2 Create Cam Data 59 60 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 4 1 Main Shaft Module 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
134. ing 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 4 SYNCHRONOUS CONTROL 4 2 Auxiliary Shaft Module 75 76 4 3 Clutch Overview of clutch The clutch is used to transmit disengage command pulses from the main auxiliary shaft input side to the output axis module 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 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 clutch control setting Although the clutch control setting can be changed during synchronous con
135. ing two methods can be used Common parameters Pr 24 Pr 82 Pr 89 Method 1 gt Pr 97 Pr 150 Pr 151 Directly set write the parameters Positioning parameters Pr 1 to Pr 4 in the Simple Motion module using Pr 7 to Pr 22 Pr 25 to Pr 42 Pr 81 the engineering tool Pr 83 Pr 84 Pr 90 Pr 95 Method 2 Pr 116 to Pr 119 Set write the parameters from Expansion parameters Pr 91 to Pr 94 the CPU module to the Simple Motion module using the program Set input axis parameters for synchronous control Pr 300 to Pr 304 Pr 320 to Pr 329 Set synchronous parameters for synchronous control Pr 400 to Pr 468 reate a program that executes to start change control stop synchronous control Set Cd 380 Synchronous control start start and stop the input axis operation and change the reduction ratio Write the program which is created in STEP1 and STEP2 to the CPU module Start Turn ON the target axis bit in a Turn ON the synchronous control start bit for Cd 380 Synchronous control start synchronous the axis that starts synchronous control and start synchronous control control by the program in STEP 2 Verify that it s during synchronous control Verify that it s during synchronous control in Md 26 Axis operation status Operate the input axis Operate the input axis by the program in STEP 2 Monitor the STEP 5 Monitor the synchronous control operation status Monit
136. is 1 Set 32 MR J4 B in Pr 100 Servo series of the axis to connect Q171ENC W8 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 program set 1 H or 2 q H in the servo parameter Scale measurement mode selection PA22 e Set 1 H inthe servo parameter Function selection C 8 PC26 lkRestrictions 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 1 H 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 the servo alarms about the serial absolute synchronous encoder connection occur in the servo amplifier axis selected as Synchronous encoder via servo amplifier in Pr 320 Synchronous encoder axis type the status becomes servo OFF AL 25 Absolute position erased AL 70 Load side encoder initial communication error 1 or AL 71 Load side en
137. l Home position return Restoration method 1 Current value change Restoration method 1 Restoration method 1 Speed control Restoration method 1 Fixed pitch feed control Restoration method 1 Speed position switching control Restoration method 1 Position speed switching control Restoration method 1 Connection to servo amplifier Restoration method 2 Restoration method 1 Connection to synchronous encoder Restoration method 1 Others Restoration method 2 Restoration method 2 1 When Pr 300 Servo input axis type is either 1 Feed current value or 2 Real current value and when Pr 21 Feed current value during speed control is 2 Clear feed current 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 after composite main shaft gear Main input direction of composite main shaft gear x Main input axis current value Restoration method 2 The movement amount of the main input axis from the last synchronous control session is reflected to the current value after composite main shaft gear Current value after composite main shaft gear Current value after composite main shaft gear at the last synchronous control session Main input direction of composite main shaft gear x Amount of change of main input axis current value from the last synchronous control ses
138. l command signal selection of the axis 4 is used xiliary 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 movement amount through the auxiliary shaft gear 1 Current value per cycle after The clutch is controlled by using the current value per cycle after auxiliary shaft gear auxiliary shaft gear Output after the clutch is a movement amount without conversion The setting values for the following parameters are in units based on the reference address setting Pr 424 Auxiliary shaft clutch ON address Pr 426 Auxiliary shaft clutch OFF address Pr 425 Movement amount before auxiliary shaft clutch ON Pr 427 Movement amount before auxiliary shaft clutch OFF Pr 430 Slippage amount at auxiliary shaft clutch ON Pr 431 Slippage amount at auxiliary shaft clutch OFF uxi liary shaft clutch ON address Set the linen 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 pe
139. lculation 2147483648 to 2147483647 53787 calculation Cam Fetch cycle At requesting cam position calculation Output axis position units reference position Cd 617 Set the cam axis current value per cycle for the cam WSet in decimal 53788 Cam position position calculation 0 to Cam axis length per cycle 53789 calculation Cam axis Fetch cycle At requesting cam position calculation Cam axis cycle units 3 current value per cycle Cd 618 Setthe cam axis feed current value for the cam WSet in decimal 53790 Cam position position calculation Set when calculating the cam 2147483648 to 2147483647 53791 calculation Cam axis axis current value per cycle Output axis position units feed current value Fetch cycle At requesting cam position calculation 1 With the exception of positioning control main cycle processing is executed during the next available time It changes by status of axis start 2 Output axis position units lt Page 88 Units for the output axis 3 Cam axis cycle units Page 88 Units for the output axis 5 SYNCHRONOUS CONTROL INITIAL POSITION 5 5 Cam Position Calculation Function Cd 612 Cam position calculation request Set the following commands to calculate the cam position Setting value Details 1 Cam axis feed current value calculation request 2 Cam axis current value per cycle calculation request The result is stored in Md 600 Cam position calculation
140. ls esses 55 56 Output axis smoothing time constant 89 91 Resolution of synchronous encoder via CPU 37 41 Servo input axis current value 28 Servo input axis phase compensation advance time TP CP 25 26 Servo input axis phase compensation amount 28 Servo input axis phase compensation time constant Magee bd an eh eA a ae ed a a 25 26 Servo input axis rotation direction restriction 25 27 Servo input axis rotation direction restriction amount T 28 29 Servo input axis smoothing time constant 25 26 Servo input axis speed 0 28 Servo input axis type saaana anaua 25 Setting method of cam axis current value per cycle Pun a O 106 107 Setting method of cam reference position 106 107 Setting method of current value per cycle after auxiliary shaft gear 0 0 eee eae 106 107 Setting method of current value per cycle after main shaft gea copa ha wale dine uiu RIBERA S 106 Slippage amount at auxiliary shaft clutch OFF 4d Bed d dana Athan aud dodo eee epos dance 71 74 Slippage amount at auxiliary shaft clutch ON 70 74 Slippage amount at main shaft clutch OFF 64 67 Slippage amount at main shaft clutch ON 63 66 Speed change gear 2 0c eee eee 86 Speed change gear smoothing time constant 86 Speed change ratio Denominator 0 0000000ee 86 Numerator s aea pode eek dead wee ae deen 86 Sub input axis No llle 61 Synchronou
141. lue per command cycle 2 Change current value per cycle after main shaft gear 3 Change current value per cycle after auxiliary shaft gear 4 Cam axis current value per cycle movement Cd 408 Set the change value for synchronous control change Set in decimal 0 44088 20n Synchronous processing 2147483648 to 2147483647 44089 20n control change Fetch cycle At requesting synchronous control change Refer to the detailed explanation for value units Cd 409 Set the reflection time for synchronous control change Set in decimal 0 44090 20n Synchronous processing 0 65535 ms control reflection Fetch cycle At requesting synchronous control change time 1 Setthe value as follows in a program 0 to 32767 Set as a decimal 32768 to 65535 Convert into a hexadecimal and set c Synchronous control change request Set 1 to initiate ICd 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 4 SYNCHRONOUS CONTROL 4 6 Synchronous Control Change Function Cd 407 Synchronous control change command Set the synchronous control change command Setting value Details Reference 0 Cam reference position movement I5 Page 93 Cam reference position movement 1 Change cam axis current value per cycle I5 Page 93 Change cam axis curre
142. m axis current value per cycle from the last synchronous control session is stored as is 1 Initial setting value of cam axis current value The value set in Pr 468 Cam axis current value per cycle Initial setting is stored per cycle 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 The current value per cycle after auxiliary shaft gear is stored gear 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 I Page 88 Units for the output axis Set within the range from 0 to Cam axis length per cycle 1 5 SYNCHRONOUS CONTROL INITIAL POSITION 1 5 2 Synchronous Control Initial Position Parameters 07 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 I Page 88 Units for the
143. m reference position 0 Previous value Pr 464 Setting method of cam axis current value per cycle 2 Current value per cycle after main shaft gear 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 Md 400 to Md 425 e Position axes 2 and 3 to Md 409 Cam axis feed current 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 5 SYNCHRONOUS CONTROL INITIAL POSITION 1 2 5 6 Method to Restart Synchronous Control 3 APPENDICES Appendix 1 List of Buffer Memory Addresses for Synchronous Control The following shows the relation between the buffer memory addresses and the various items n Axis No 1 j Synchronous encoder axis No 1 Servo input axis parameter Pr 300 Servo input axis type 32800 10n Pr 301 Servo input axis smoothing time constant 32801 10n Pr 302 Servo input axis phase compensation advance time 32802 10n 32803 10n Pr 303 Servo input axis phase compensation time constant 32804 10n Pr 304 Servo input axis rotation direction restriction 32805 10n Synchronous e
144. mand function selection Axis 3 Pr 95 External command signal selection 4 High speed input request 3 DIS 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 X103 Axis 3 0 Cd 321 Synchronous encoder axis control method 0 Current value change Cd 322 Synchronous encoder axis current value setting address 100 Cd 321 Synchronous encoder axis control method Set the control method for the synchronous encoder axis Setting value Details 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 Md 320 Cd 322 Synchronous encoder axis current value setting address Synchronous encoder axis current value Md 321 A value that is converted Cd 322 Synchronous encoder axis current value setting Synchronous encoder axis current address into the range from 0 to Pr 324 Synchronous encoder axis length per cycle value 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 immediatel
145. ment amount without conversion The setting values for the following parameters are in units based on the reference address setting Pr 407 Main shaft clutch ON address Pr 409 Main shaft clutch OFF address Pr 408 Movement amount before main shaft clutch ON Pr 410 Movement amount before main shaft clutch OFF Pr 413 Slippage amount at main shaft clutch ON Pr 414 Slippage amount at main shaft clutch OFF M ain 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 Ex Cam axis length per cycle 20000 pulses The ON address is controlled as 19000 pulses when the setting value is 1000 i ement amount before main shaft clutch ON Set the movement amount of the reference address with a signed value 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 amount 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
146. method for input values from the Set in hexadecimal 0001H 36402 200n Composite main main input axis and sub input axis H shaft gear Fetch cycle Operation cycle Le Main input method 0 No input 1 Input 2 Input Sub input method 0 No input 1 Input 2 Input Pr 403 Set the numerator for the main shaft gear Set in decimal 1 36404 200n Main shaft gear Fetch cycle At start of synchronous control 2147483648 to 2147483647 36405 200n Numerator Pr 404 Set the denominator for the main shaft gear Set in decimal 1 36406 200n Main shaft gear Fetch cycle At start of synchronous control 1 to 2147483647 36407 200n Denominator xis No Pr 401 Sub input axis No Set the main input axis No and the sub input axis No for the main shaft 0 Invalid The input value is always 0 1 to 4 Servo input axis Set the servo input axis axis 1 to axis 4 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 Outside main input axis No range error code 1BEOH Outside sub input axis No range error code 1BE1H 801 to 804 Synchronous encoder axis Set the synchronous encoder axis axis 1 to axis 4 When synchronous encoder axis is invalid the input value is always 0 4 SYNCHRONOUS CONTROL 1 4 1 Main Shaft Module 6 62
147. mulative 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 The accumulative 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 Md 423 Auxiliary shaft clutch ON OFF status The clutch ON OFF status is stored 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 Method Details Time constant 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 Slippage method 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 accumula
148. n t l Speed before phase x Pr 444 Cam axis phase A d compensation compensation advance time Md 406 Cam axis phase Vk i compensation amount a 1639 4 63 YN 3 I t Pr 445 Cam axis phase Pr 445 Cam axis phase compensation time constant compensation 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 O is set Pr 447 Output axis smoothing time constant Set the averaging time to execute a smoothing process for the movement amount of the output axis after cam data conversion The smoothing process 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 A Md 407 Cam axis current value per cycle pt Md 409 Cam axis feed current value Md 20 Feed current value gt t Md 20 Feed current value Speed before smoothing Speed after smoothing Pr 447 Output axis smoothing time constant Md 22 Feedrate 4 SYNCHRONOUS CONTROL 4 4 5 Output Axis Module 9 92 4 6 Synchronous Control Change Function Overview of synchronous control change function This function can change the cam reference position the cam
149. n Cd 405 Auxiliary shaft clutch forced OFF command 44085 20n Cd 406 Synchronous control change request 44086 20n Cd 407 Synchronous control change command 44087 20n Cd 408 Synchronous control change value 44088 20n 44089 20n Cd 409 Synchronous control reflection time 44090 20n Cam operation Cam position Md 600 Cam position calculation result 53800 monitor data calculation 53801 Cam operation Cam data operation Cd 600 Cam data operation request 45000 control data Cd 601 Operation cam No 45001 Cd 602 Cam data first position 45002 Cd 603 Number of cam data operation points 45003 Cd 604 Cam data format 45004 Cd 605 Cam resolution coordinate number 45005 Cd 606 Cam data starting point 45006 Cd 607 Cam data value 45008 to 53199 Cam auto Cd 608 Cam auto generation request 53200 generation Cd 609 Cam auto generation cam No 53201 Cd 610 Cam auto generation type 53202 Cd 611 Cam auto generation data 53204 to 53779 Cam position Cd 612 Cam position calculation request 53780 calculation Cd 613 Cam position calculation Cam No 53781 Cd 614 Cam position calculation Stroke amount 53782 53783 Cd 615 Cam position calculation Cam axis length per cycle 53784 53785 Cd 616 Cam position calculation Cam reference position 53786 53787 Cd 617 Cam position calculation Cam axis current value per cycle 53788 53789 Cd 618 Cam position calculation Cam axis feed current value 53790 53791
150. n the servo input axis as reference position Example Restoring 2 output axes axis 2 axis 3 based on the servo input axis axis 1 as the reference position Press conveyance device Pressing position ens J Axis 1 Y axis of workpiece conveyance Axis 3 ic X axis of workpiece conveyance Axis 2 llProcedure for synchronous control first time 1 Execute home position return for axis 1 2 and 3 and position to the synchronization starting point 2 Setthe synchronous control initial position parameters for axis 2 and 3 as follows Setting item Setting value Pr 460 Setting method of current value per cycle after main shaft gear 2 Calculate from input axis Pr 462 Cam axis position restoration object 0 Cam axis current value per cycle restoration Pr 463 Setting method of cam reference position 2 Feed current value Pr 468 Cam axis current value per cycle Initial setting 0 3 Turm ON the bits for axis 2 and 3 in Cd 380 Synchronous control start to start synchronous control llProcedure for restarting synchronous control 1 Set the synchronous control initial position parameters for axis 2 and 3 as follows Setting item Setting value Pr 460 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 feed current value restoration Pr 463 Setting method of ca
151. ncoder axis parameter Pr 320 Synchronous encoder axis type 34720 20j Pr 321 Synchronous encoder axis unit setting 34721 20j Pr 322 Synchronous encoder axis unit conversion Numerator 34722 20j 34723 20j Pr 323 Synchronous encoder axis unit conversion Denominator 34724 20j 34725 20j Pr 324 Synchronous encoder axis length per cycle 34726 20j 34727 20j Pr 325 Synchronous encoder axis smoothing time constant 34728 20j Pr 326 Synchronous encoder axis phase compensation advance time 34730 20 34731420 Pr 327 Synchronous encoder axis phase compensation time constant 34732 20 Pr 328 Synchronous encoder axis rotation direction restriction 34733 20 Pr 329 Resolution of synchronous encoder via CPU 34734420 34735 20j Synchronous Main shaft Pr 400 Main input axis No 36400 200n parameter Pr401 Sub input axis No 36401 200n Pr 402 Composite main shaft gear 36402 200n Pr 403 Main shaft gear Numerator 36404 200n 36405 200n Pr 404 Main shaft gear Denominator 36406 200n 36407 200n Pr 405 Main shaft clutch control setting 36408 200n Pr 406 Main shaft clutch reference address setting 36409 200n Pr 407 Main shaft clutch ON address 36410 200n 36411 200n Pr 408 Movement amount before main shaft clutch ON 36412 200n 36413 200n Pr 409 Main shaft clutch OFF address 36414 200n 36415 200n Pr 410 Movement amount before main shaft clutch OFF 36416 200n 36417 200n Pr 411 Main shaft clutch smoothing method 36418 200n
152. 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 instruction is being executed operation also stops midway If synchronous control is restarted the remainder movement amount is not reflected llChange 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 Md 407 Cam axis current value per cycle gt t Md 409 Cam axis feed current value 4 po Feed current value lt Pat Md 408 Cam reference position Before being changed After being changed Changed to new cam reference position Cd 406 Synchronous control change request Cd 407 Synchronous control change 1 Change cam axis current value per cycle command 4 SYNCHRONOUS CONTROL 4 6 Synchronous Control Change Function 93 94 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 sha
153. nput Axis 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 status of a servo input axis can be monitored after the system s power supply ON The following shows the relationship between the position of the servomotor and the servo input axis Servo motor position Feed current value Pr 300 Servo input axis Real current value type Servo command value Feedback value Pr 301 Servo input axis smoothing time constant Input smoothing processing Pr 302 Servo input axis phase compensation advance time Md 302 Servo input axis phase Pr 303 Servo input axis phase f i o DAN x compensation amount compensation time constant Pr 304 Servo input axis Rotation Md 303 Servo input axis rotation direction direction r Te rotation direction restriction restriction restriction amount i Md 300 Servo input axis Current value of current value servo input axis iind da Md 301 Servo input axis speed Control method for servo input axis All controls including synchronous control can be executed for a servo input axis Refer to the following manual of the
154. nt value per cycle 2 Change current value per cycle after main shaft gear CF Page 94 Change current value per cycle after main shaft gear 3 Change current value per cycle after auxiliary shaft gear KF Page 94 Change current value per cycle after auxiliary shaft gear 4 Cam axis current value per cycle movement KF Page 94 Cam axis current value per cycle movement lllCam reference position movement This command is executed to move the cam reference position through adding the setting movement amount of Cd 408 Synchronous control change value The movement amount to be added is averaged in Cd 409 Synchronous control reflection time for its output Set a long reflection time when a large movement amount is used since the cam axis feed current value moves with the movement amount Md 407 Cam axis current value per cycle Cd 408 Synchronous d control change Md 409 Cam axis A feed current value Feed current value pu Md 408 Cam reference position Cd 409 Synchronous control reflection time amp Cd 406 Synchronous control a E change request 0 Cam reference position movement Cd 407 Synchronous control change command When Cd 406 Synchronous control change request is reset to 0 while executing the cam reference position movement instruction operation is stopped midway If the cam reference position movement instruction is executed again the remainder movement amount is
155. nter Fetch cycle At power supply ON 1 Synchronous encoder axis position units Page 31 Synchronous encoder axis position units 2 Setthe value as follows in a program 0 to 32767 Set as a decimal 32768 to 65535 Convert into a hexadecimal and set 2 INPUT AXIS MODULE 2 2 Synchronous Encoder Axis 37 38 Pr 320 Synchronous encoder axis type Set the synchronous encoder type to be generated of the input value for the synchronous encoder axis Setting value Details 0 Invalid Synchronous encoder axis is invalid 1 Incremental synchronous encoder Generate the input value based on the incremental synchronous encoder input 101 to 104 Synchronous encoder via servo Generate the input value based on the synchronous encoder input via servo amplifier connected to the amplifier specified servo amplifier axis 1 to axis 4 Connectable servo amplifier Axis 1 to axis 4 201 Synchronous encoder via CPU Generate the input value with the value set in the buffer memory by the CPU module as the encoder value Pr 321 Synchronous encoder axis unit setting Set the position and speed unit of the synchronous encoder axis Refer to the following for details K5 Page 31 Units for the synchronous encoder axis Pr 322 Synchronous encoder axis unit conversion Numerator The input movement amount of synchronous encoder is configured in encoder pulse units The units can be arbitrarily converted
156. oke ratio is 096 at the last point llCoordinate data format Create cam data with the same output value for the point where the input value is 0 and the input value is equal to the cam axis length per cycle Cam axis current value per cycle sad eed eaa M i Feed current value 4 gt t Cam reference position Does not change because of the stroke ratio 096 and output value 0 3 CAM FUNCTION 4 3 1 Control Details for Cam Function 5 52 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 A value per cycle Feed current value Cam reference position l At 1st cycle n Cam reference Cam reference ms position position i A At 2nd cycle At3rdoycle l t A Cam data starting point At the Oth point Timing of applying cam At last point control data llStroke ratio data format
157. oller device and that backup and fail safe functions are systematically provided outside of the device for any problem or fault 2 The Mitsubishi programmable controller has been designed and manufactured for applications in general industries etc Thus applications in which the public could be affected such as in nuclear power plants and other power plants operated by respective power companies and applications in which a special quality assurance system is required such as for railway companies or public service purposes shall be excluded from the programmable logic controller applications In addition applications in which human life or property that could be greatly affected such as in aircraft medical applications incineration and fuel devices manned transportation equipment for recreation and amusement and safety devices shall also be excluded from the programmable logic controller range of applications However in certain cases some applications may be possible providing the user consults their local Mitsubishi representative outlining the special requirements of the project and providing that all parties concerned agree to the special circumstances solely at the user s discretion Revision History The manual number is listed on the back cover of this manual First edition IB NA 0300255 A November 2014 January 2015 IB NA 0300255 B WAdded or modified parts SAFETY PRECAUTIONS RELEVANT
158. on units or cam axis cycle units 4 SYNCHRONOUS CONTROL 4 2 Auxiliary Shaft Module Pr 431 For smoothing with a slippage method set the slippage llSet in decimal 0 36450 200n Slippage amount at amount at clutch OFF 0 to 2147483647 36451 200n auxiliary shaft clutch Fetch cycle At turning clutch OFF Auxiliary shaft position units or cam axis OFF cycle units 1 Auxiliary shaft position units I Page 23 INPUT AXIS MODULE 2 Cam axis cycle units Page 88 Units for the output axis y shaft clutch control setting 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 the following for operation details on the clutch control L Page 76 Control method for clutch HON control mode 0 No clutch Direct coupled Execute direct coupled operation without clutch control operation 1 Clutch command ON OFF 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 2 Clutch command leading edge The clutch is turned ON when Cd 403 Auxiliary shaft clutch command passes the leading edge from OFF to ON 3 Clutch
159. onous control start turns OFF Md 141 BUSY signal is not turned ON during synchronous control analysis mode When starting synchronous control with synchronous control analysis mode the following error does not occur Cam axis feed current value restoration disable error code 1C29H Cd 380 Synchronous control start Target axis bit li Cd 381 Synchronous control analysis mode Target axis bit Synchronous control monitor data The last monitor value Md 400 to Md 425 Monitor value at synchronous control start Start positioning on the cam axis feed current value at the beginning after checking the target axis bit of Cd 380 Synchronous control start is OFF Cd 184 Positioning start signal Md 141 BUSY signal Target analyzing Md 26 Axis operation status axis bit OFF during i Check synchronization nm A ji position in synchronous control analysis mode ous control system control data n Move to the I iF i Standby 0 KAnalyzing 5 xStandby 0 Position control 8 XStandby 0 Analyzing 5 Synchronous control 15 I I i I synchronization position with positioning control Start synchronous control Cd 380 Synchronous control begins if the target axis bit is Set the target axis in 16 bits 36320 Synchronous control turned ON bitO axis 1 to bit3 axis 4 start Synchronous control ends if the bit is
160. onverted for control within the range from 0 to Cam axis length per cycle 1 Ex Cam axis length per cycle 20000 pulses The OFF address is controlled as 60 pulses when the setting value is 40060 Pr 427 Movement amount before auxiliary shaft clutch OFF Set the movement amount of the reference address with a signed value 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 amount 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 Md 423 Auxiliary shaft clutch ON OFF status Pr 427 Movement amount before auxiliary shaft clutch OFF Positive value Auxiliary shaft current value or Md 402 Current value per cycle after auxiliary shaft gear Movement amount after clutch 4 SYNCHRONOUS CONTROL 4 2 Auxiliary Shaft Module 73 74 Pr 428 Auxiliary shaft clutch smoothing method Set the smoothing method for clutch ON OFF Refer to the following Cs Page 81 Smoothing method for clutch Setting value Details 0 Direct No smoothing 1 Time constant method Smoothing with an exponential curve based on the time con
161. or input movement amount in the opposite direction of the enabled direction is stored in servo input axis position units Page 24 Servo input axis position units as follows 1 Enable only for current value increase direction A negative accumulation is stored during rotation direction restriction 0 is stored if there is no restriction 2 Enable only for current value decrease direction A positive accumulation is stored during rotation direction restriction 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 INPUT AXIS MODULE 2 2 1 Servo Input Axis 9 2 2 Synchronous Encoder Axis Overview of synchronous encoder axis 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 turns ON Pr 24 Manual pulse generator Incremental synchronous encoder input selection Pr 89 Manual pulse generator Incremental synchronous encoder input type selection Pr 151 Manual pulse generator Incremental synchronous encoder input logic selection Pr 320 Synchronous encoder axis type Pr 329 Resolution of synchronous encoder via CPU Inpu
162. or using the engineering tool synchronous Execute the control change for the speed change Changing the control by the program in STEP 2 control change ratio cam No etc Complete STEP 6 Stop the input axis Stop the input axis by the program in STEP 2 synchronous contr Turn OFF the target axis bit i Verify the input axis is stopped and turn OFF the E zn E ATJE AXIS ILI synchronous control start bit for the axis that stops Cd 380 Synchronous control start synchronous control to stop synchronous control by the program in STEP 2 End of control 1 K Page 23 INPUT AXIS MODULE 2 K Page 47 CAM FUNCTION 3 Cs Page 60 SYNCHRONOUS CONTROL Page 106 Synchronous Control Initial Position Parameters 4 K Page 124 APPENDICES 1 OUTLINE OF SYNCHRONOUS CONTROL 1 3 Operation Method of Synchronous Control 19 20 Precautions Mechanical elements such as limit switches are considered as already installed Parameter settings for positioning control apply for all axes with the Simple Motion module Be sure to execute the home position return when the home position return request flag is ON 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 star
163. osition calculation cam axis 1 cycle current value calculation disable warning code 0C64H will occur in reciprocated cam pattern For the feed cam calculates Cd 618 Cam position calculation Cam axis feed current value by the stroke difference and searches again from the Oth point to the whole range If the corresponding position is not found even though the search process starts again the warning Cam position calculation cam axis 1 cycle current value calculation disable warning code 0C64H will occur 120 5 SYNCHRONOUS CONTROL INITIAL POSITION 5 5 Cam Position Calculation Function When Cd 617 Cam position calculation Cam axis current value per cycle is corresponding to the 1st point of cam data 1 2 At the 2nd point Search order Search starting point At the 3rd point At the 1st point At the Oth point i Cd 617 Cam position E calculation Cam axis T current value per cycle Cam reference position Cam axis length per cycle Cam axis cycle units Searches until between the 4th point and the 5th point last point in order of the cam data between the 1st point and the 2nd point and between the 2nd point and the 3rd point If the corresponding position is not found until the last point of the cam data searches from the range of 3 When Cd 617 Cam position calculation Cam axis current value per cycle is corresponding to the 3rd point of cam data Search order At the 2nd point f
164. ot restored Cam reference position gt Search from a value in the middle of the cam axis current value per cycle Cam data starting point 7 0 Pr 468 Cam axis current value per cycle Initial setting Cam axis current value per cycle i y Search from the value in the middle Preceding values are searched later Restore to the first feed current value that matches The restoration is done on the second Cam axis feed current value Feed current value Cam reference position gt gt 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 gt Search from the value in the middle Cam axis feed current value Feed current value e gt V Restore to the first feed current value that matches Cam reference position gt The search fails A Cam axis current value per cycle M dil L A Cam axis feed current value gt r Restoration fails No match Feed current value is found for the feed current value within 1 cycle Cam reference position gt BIWith a feed operation cam pattern Search from Cam axis current value per cycle 0 Cam data starting point 0 Cam axis current value per cycle Lee
165. output axis Set within the range from 0 to Cam axis length per cycle 1 gum r 467 Cam reference position Initial setting Set the initial setting value of the cam reference position in output axis position units 15 Page 88 Units for the output axis 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 I Page 88 Units for the output axis Set within the range from 0 to Cam axis length per cycle 1 0 Cam axis current value per cycle Set the starting point for search processing to restore the cam axis current value per cycle restoration Set to restore the position on the return path in two way cam pattern operation Refer to the following for details on search processing C Page 109 Cam axis current value per cycle restoration 1 Cam reference position restoration Set the initial setting value for the cam axis current value per cycle when Pr 464 Setting method of cam 2 Cam axis feed current value restoration axis current value per cycle is set to 1 Cam axis current value per cycle Initial setting 1 08 5 SYNCHRONOUS CONTROL INITIAL POSITION 5 2 Synchronous Control Initial Position Parameters 5 3 Cam Axis Position Restoration Met
166. pdate the cam data on Oth point The first search is fails and a search begins for the second time A Cam axis current value per cycle Cam axis feed current value Feed current value New cam reference position Cam reference position at starting the restoration Point Restore to the first feed current value that is found in the second search Once the restoration fails in the first search the new cam reference position is automatically updated to set Feed current 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 5 SYNCHRONOUS CONTROL INITIAL POSITION 5 3 Cam Axis Position Restoration Method 111 Cam reference position restoration If IPr 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 feed current value Select the method for the cam axis current value per cycle to be restored The feed current value when starting syn
167. r cycle after auxiliary shaft gear the setting address is converted for control within the range from 0 to Cam axis length per cycle 1 Ex Cam axis length per cycle 20000 pulses The ON address is controlled as 19000 pulses when the setting value is 1000 4 SYNCHRONOUS CONTROL 4 2 Auxiliary Shaft Module P Set the movement amount of the reference address with a signed value between the clutch ON condition completing and the 425 Movement amount before auxiliary shaft clutch ON clutch closing 1 to 2147483647 Positive value Used when the reference address is increasing in direction 0 No movement amount 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 f Example Cd 403 Auxiliary shaft clutch command ON Md 423 Auxiliary shaft clutch ON OFF status i Lr 425 Movement amount before auxiliary shaft clutch ON Positive value Auxiliary shaft current value or Md 402 Current value per cycle after auxiliary shaft gear Movement amount after clutch Pr 426 Auxiliary shaft clutch OFF address Set the clutch OFF address when address mode is configured 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 c
168. r s Manual Application error No Refresh cycle Operation cycle Md 327 The warning code for the synchronous encoder axis MMonitoring is carried out in decimal 35212 20j Synchronous encoder axis warning No is stored Refresh cycle Operation cycle QAUser s Manual Application 1 Synchronous encoder axis position units Page 31 Synchronous encoder axis position units 2 Synchronous encoder axis speed units Page 32 Synchronous encoder axis speed units Md 320 Synchronous encoder axis current value The current value for the synchronous encoder axis is stored in synchronous encoder axis position units 5 Page 31 Synchronous encoder axis position units The synchronous encoder position for an incremental synchronous encoder is 0 immediately after the power supply ON Md 321 Synchronous encoder axis current value 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 1 Page 31 Synchronous encoder axis position units Md 322 Synchronous encoder axis speed The speed for a synchronous encoder axis is stored in synchronous encoder axis speed units lt Page 32 Synchronous encoder axis speed units If the speed for a synchronous encoder axis exceeds the monitor range Page 30 Overview of synchronous encoder axis the wa
169. rent value per Fetch cycle At start of synchronous control 1 Initial setting value of current value per cycle cycle after auxiliary after auxiliary shaft gear Pr 466 shaft gear 2 Calculate from input axis Pr 462 Select the object to restore the cam axis position Set in decimal 36502 200n Cam axis position Fetch cycle At start of synchronous control 0 Cam axis current value per cycle restoration restoration object 1 Cam reference position restoration 2 Cam axis feed current value restoration Pr 463 Select the setting method for the cam reference Set in decimal 36503 200n Setting method of position 0 Previous value cam reference Set for the cam axis current value per cycle 1 Initial setting value of cam reference position position restoration or the cam axis feed current value 2 Feed current value restoration Fetch cycle At start of synchronous control Pr 464 Select the setting method for the cam axis current Set in decimal 36504 200n Setting method of value per cycle 0 Previous value cam axis current Set for the cam reference position restoration or the 1 Initial setting value of cam axis current value value per cycle cam axis feed current value restoration per cycle Fetch cycle At start of synchronous control 2 Current value per cycle after main shaft gear 3 Current value per cycle after auxiliary shaft gear Pr 465 Set the initial value of the current value per cycle Set in decimal 36506 200n Current valu
170. rent value per cycle using cam data the position corresponding to Cd 618 Cam position calculation Cam axis feed current value is searched using cam data based on the position specified by Cd 617 Cam position calculation Cam axis current value per cycle The following shows the order of the search for Cd 618 Cam position calculation Cam axis feed current value Stroke ratio data format When the nth point of cam data lt Cd 617 Cam position calculation Cam axis current value per cycle lt the n 1st point of cam data the position corresponding to Cd 618 Cam position calculation Cam axis feed current value is searched from the nth point of cam data If ICd 617 Cam position calculation Cam axis current value per cycle is in the middle of the cam data and the corresponding position is not found until the last point of the cam data return to the Oth point and search until the search starting point If the corresponding position is not found even though the whole area of the cam data has been searched the warning Cam position calculation cam axis 1 cycle current value calculation disable warning code 0C64H will occur in reciprocated cam pattern For the feed cam calculates Cd 618 Cam position calculation Cam axis feed current value by the stroke difference and searches again from the Oth point to the whole range If the corresponding position is not found even though the search process starts again the warning C
171. rent value restoration disable error code 1C29H 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 Point With cam axis feed current value restoration calculate the cam axis feed current value with the cam position calculation function Page 116 Cam Position Calculation Function or with synchronous control analysis mode Page 114 Synchronous Control Analysis Mode before starting synchronous control Then start synchronous control after positioning to the correct cam axis feed current value 5 SYNCHRONOUS CONTROL INITIAL POSITION 4 4 5 3 Cam Axis Position Restoration Method 3 5 4 With synchronous control analysis mode parameters are only analyzed for synchronous control when there is a command to Synchronous Control Analysis Mode 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 Md 400 to Md 425 is updated and the target axis bit in Cd 380 Synchr
172. rning Input axis speed display over warning code OBD2H 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 0 second s 2 INPUT AXIS MODULE 2 2 Synchronous Encoder Axis 45 46 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 E Page 31 Synchronous encoder axis position units 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 movement amount in the opposite direction of the enabled direction is stored in synchronous encoder axis position units Page 31 Synchronous encoder axis position units as follows Setting value of Pr 328 Synchronous encoder axis rotation Storage details direction restriction 1 Enable only for current value increase direction A negative accumulation is stored during rotation direction restriction 0 is stored if there is no restriction 2 Enable only for current value decrease direction A positive accumulation is stored during rotation direction restriction 0 is stored if there is no restri
173. rning No of axis 1 and the setting value is reset to 0 automatically When another request command is set this function does not get executed and the setting value is reset to 0 automatically 609 Cam auto generation cam No Set the cam No to be generated automatically 3 CAM FUNCTION 3 2 Create Cam Data 1 61 0 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 For a rotary cutter The cam data starting point for a rotary cutter is 0 53204 Cam resolution 256 512 1024 2048 4096 8192 16384 Set the cam resolution for generating the cam 53206 Sheet length 1 to 2147483647 Set the sheet length 53207 Optional Same unit 0 1 mm etc Set this value in the cam axis length per cycle 53208 Sheet 1 to 2147483647 Set the sheet length of the synchronous section 53209 synchronization Optional Same unit 0 1 mm etc width 53210 Synchronous 1 to 2147483647 Set the cycle length of the rotary cutter shaft 53211 axis length Optional Same unit 0 1 mm etc 53212 Synchronization 0 to 2147483647 Set the length from the beginning of the sheet to the start 53213 starting point Optional Same unit 0 1 mm etc of the synchronous section 53214 Synchronous 5000 to 5000 0 0196 Set when the synchronous speed
174. rogram and update Cd 325 Input value for synchronous encoder via CPU of the synchronous encoder axis 4 at every time llRestrictions Cd 325 Input value for synchronous encoder via CPU is taken every operation cycle but it is asynchronous with the scan time of the CPU module 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 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 movement amount on disconnection Resolution of synchronous encoder via CPU 2 to Resolution of synchronous encoder via CPU 2 1 pulse 2147483648 to 2147483647 pulse 1 or more O or less 1 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 2 INPUT AXIS MODULE 2 2 Synchronous Encoder Axis Synchronous encoder axis parameters j Synchronous encoder axis No 1 Pr 320 Set the synchronous encoder axis Set in decimal 0 34720 20j Synchronous encoder axis
175. rom 0 to Cam axis Main input axis position units or cam axis length per cycle 1 the address is converted to a value cycle units within range Fetch cycle Operation cycle Pr 408 Setthe movement amount between the clutch ON Set in decimal 0 36412 200n Movement amount condition completing and the clutch closing 2147483648 to 2147483647 36413 200n before main shaft Set a positive value when the reference address is Main input axis position units or cam axis clutch ON increasing and a negative value when it is decreasing cycle units Fetch cycle At completing clutch ON condition Pr 409 Set the clutch OFF address for the address mode This WSet in decimal 0 36414 200n Main shaft clutch setting is invalid except during address mode 2147483648 to 2147483647 36415 200n OFF address If the address is out of the range from 0 to Cam axis Main input axis position units or cam axis length per cycle 1 the address is converted to a value cycle units within range Fetch cycle Operation cycle Pr 410 Setthe movement amount between the clutch OFF Set in decimal 0 36416 200n Movement amount condition completing and the clutch opening 2147483648 to 2147483647 36417 200n before main shaft Set a positive value when the reference address is Main input axis position units or cam axis clutch OFF increasing and a negative value when it is decreasing cycle units Fetch cycle At completing clutch OFF condition
176. ronous encoder axis is stored WMonitoring is carried out in decimal 35204 20 Synchronous encoder axis Refresh cycle Operation cycle 2147483648 to 2147483647 35205 20 speed Synchronous encoder axis speed units Md 323 The phase compensation amount is stored HMonitoring is carried out in decimal 35206 20 Synchronous encoder axis Refresh cycle Operation cycle 2147483648 to 2147483647 35207 20 phase compensation amount Synchronous encoder axis position units Md 324 While the rotation direction is restricted the HMonitoring is carried out in decimal 35208 20j Synchronous encoder axis accumulation for the input movement amount in the 2147483648 to 2147483647 35209 20j rotation direction restriction opposite direction of the enabled direction is stored Synchronous encoder axis position units amount Refresh cycle Operation cycle Md 325 The status for a synchronous encoder axis is WMVonitoring is carried out in hexadecimal 35210 20j Synchronous encoder axis monitored Buffer memory status Refresh cycle Operation cycle b15 b12 b8 b4 bO i il i i Not used Stored items Meaning bO Setting valid flag b1 Connecting valid flag b2 Counter enable flag 0 OFF T T b3 Setling request flag 1 ON b4 Error detection flag b5 Warning detection flag Md 326 The error code for the synchronous encoder axis is Monitoring is carried out in decimal 35211420j Synchronous encoder axis stored LLlUse
177. rrent value per cycle after auxiliary shaft gear Initial setting eho shite ee tea nie eee ea es 106 108 Current value per cycle after main shaft gear 96 98 Current value per cycle after main shaft gear Initial Setting x22 tated 4 2a ee e eq 106 107 Execute cam No l l 96 98 Execute cam stroke amount 96 98 Input value for synchronous encoder via CPU TUTTO 42 44 Main input axis No llle 61 Main shaft clutch command 67 Main shaft clutch control invalid command 67 Main shaft clutch control setting 63 64 Main shaft clutch forced OFF command 67 Main shaft clutch OFF address 63 66 Main shaft clutch ON address 63 65 Main shaft clutch ON OFF status 96 98 Main shaft clutch reference address setting 63 65 Main shaft clutch slippage accumulative 97 99 Main shaft clutch smoothing method 63 66 Main shaft clutch smoothing status 97 99 Main shaft clutch smoothing time constant 63 66 Main shaft gear Denominator llle 61 62 Numerator llle 61 62 Movement amount before auxiliary shaft clutch OFF oce 70 73 Movement amount before auxiliary shaft clutch ON Dus uM ELM iM TN E 70 73 Movement amount before main shaft clutch OFF X 63 66 Movement amount before main shaft clutch ON VIVERET ETT 63 65 Number of cam data operation points 55 56 Operation cam No ll
178. run JOG start control U11G31501 3 130 APPENDICES APPENDIX Appendix 2 Sample Program of Synchronous Control MEMO APPENDICES APPENDIX 4 4 Appendix 2 Sample Program of Synchronous Control 3 INDEX Auxiliary shaft axis No 4 68 69 Auxiliary shaft clutch command 75 Auxiliary shaft clutch control invalid command 75 Auxiliary shaft clutch control setting 70 71 Auxiliary shaft clutch forced OFF command 75 Auxiliary shaft clutch OFF address 70 73 Auxiliary shaft clutch ON address 70 72 Auxiliary shaft clutch ON OFF status 97 99 Auxiliary shaft clutch reference address setting Tm 70 72 Auxiliary shaft clutch slippage accumulative 97 99 Auxiliary shaft clutch smoothing method 70 74 Auxiliary shaft clutch smoothing status 97 99 Auxiliary shaft clutch smoothing time constant EM RASS acd a i eh 70 74 Auxiliary shaft gear Denominator 00005 68 69 Numerator 0 00 000 ee eee 68 69 Cam auto generation cam No 58 Cam auto generation data 58 59 Cam auto generation request 58 Cam auto generation type 58 59 Cam axis current value per cycle 96 98 Cam axis current value per cycle Initial setting Pete aed RENE EN Ad RUE PON RR 106 108 Cam axis cycle unit setting 89 90 Cam axis feed current value 96 98 Cam axis len
179. s 4 SYNCHRONOUS CONTROL 4 3 Clutch 81 82 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 L Speed before clutch processing eT Speed after clutch i smoothing t Clutch smoothing time constant 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 movement amount between the clutch turning ON and OFF is as follows after clutch smoothing Movement amount after clutch smoothing Movement amount before clutch smoothing Slippage amount at OFF Slippage amount at ON Set in decimal 0 to 2147483647 Main input axis position units auxiliary shaft position units or cam axis cycle units 3 For smoothing with a slippage method set the slippage amount at clutch ON Slippage amount at clutch ON Pr 413 Slippage amount at main shaft clutch ON Pr 430 Slippage amount at auxiliary shaft clutch ON Slippage amount at
180. s Current value before clutch gt t Movement amount after wo LL Clutch command trailing edge The clutch is turned OFF when the clutch command passes the trailing edge from ON to OFF Clutch command Clutch ON OFF status 3 A i Current value before clutch Jd e gt t A Movement amount after clutch A d gt t 4 SYNCHRONOUS CONTROL 4 3 Clutch 79 80 Address mode The clutch is turned OFF when the reference address reaches Clutch OFF address The movement amount before passing through the OFF address is calculated as the output movement amount of the clutch based on the reference address passing through thereby controlling the clutch with an accurate movement amount Clutch ON OFF status Current value specified in clutch reference address setting Movement amount after clutch Clutch OFF address Reference address The current value specified in Pr 406 Main shaft clutch reference address setting Md 400 Current value after composite main shaft gear or Md 401 Current value per cycle after main shaft gear The current value specified in Pr 423 Auxiliary shaft clutch reference address setting Auxiliary shaft current value servo input axis current value synchronous encoder axis current value or Md 402 Current value per cycle after auxiliary shaft gear Clutch OFF address Pr 409 Main shaft clutch OFF address Pr 426
181. s Pr 323 Synchronous encoder axis unit conversion Denominator The movement amount 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 1 Page 31 Synchronous encoder axis position units The input movement amount 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 length 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 L Page 31 Synchronous encoder axis position units Set a value within the range from 1 to 2147483647 2 INPUT AXIS MODULE 2 2 Synchronous Encoder Axis 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 pulse rev to the motor axis side on the rotation table that drives by 1 5 pulley system and the control unit is degree Position unit 0 1 degree Speed unit 0 001 degree min Length per
182. s gt Cam axis feed current value Feed current value Search from Cam axis current value per cycle 0 B Restore to the first feed current value that matches Other values are not restored Cam reference position gt 1 1 0 5 SYNCHRONOUS CONTROL INITIAL POSITION 5 3 Cam Axis Position Restoration Method 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 z A Cam axis feed current value Feed current value New cam reference position Cam reference position EX at starting the restoration Restore to the first feed current Update the cam reference position value that matches in the next cycle automatically 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 Cam axis feed current value Feed current value Search from the value in the middle New cam reference position Cam reference position at starting the restoration gt Cam data Restore to the first feed current starting point Update the cam reference value that matches position in the next cycle automatically U
183. s been manufactured as a general purpose part for general industries and has not been designed or manufactured to be incorporated in a device or system used in purposes related to human life Before using the product for special purposes such as nuclear power electric power aerospace medicine or passenger movement vehicles consult Mitsubishi Electric This product has been manufactured under strict quality control However when installing the product where major accidents or losses could occur if the product fails install appropriate backup or failsafe functions in the system Disclaimer If in doubt at any stage during the installation of the product always consult a professional electrical engineer who is qualified and trained in the local and national standards If in doubt about the operation or use please consult the nearest Mitsubishi Electric representative Since the examples indicated by this manual technical bulletin catalog etc are used as a reference please use it after confirming the function and safety of the equipment and system Mitsubishi Electric will accept no responsibility for actual use of the product based on these illustrative examples This manual content specification etc may be changed without a notice for improvement The information in this manual has been carefully checked and is believed to be accurate however if you notice a doubtful point an error etc please contact the nearest Mi
184. s control 4 4 Speed Change Gear Module 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 Input value After composite auxiliary shaft gear i Speed Pr 434 Speed change gear ls freee changes gear Auxiliary shaft pee 2 Pr 435 Speed change gear clutch change gear smoothing time constant Pr 436 Speed change ratio Numerator Pr 437 Speed change ratio Denominator Composite auxiliary shaft Speed change gear Output value Output axis Input value speed before speed change gt t Pr 436 Speed change i ratio Numerator 100000 50000 50000 Pr 437 Speed change x 100000 X 100000 100000 ratio Denominator Input value speed before speed change gt t Pr 435 Speed change gear Pr 435 Speed change gear smoothing time constant smoothing time constant 4 SYNCHRONOUS CONTROL 4 4 Speed Change Gear Module 85 86 Speed
185. s control change command 92 93 Synchronous control change request 92 Synchronous control change value 92 94 Synchronous control deceleration time 89 91 Synchronous control reflection time 92 95 Synchronous encoder axis control method 42 43 Synchronous encoder axis control start 42 43 Synchronous encoder axis current value 45 Synchronous encoder axis current value per cycle uude MU IM ICM iM E 45 Synchronous encoder axis current value setting address nudos M a lan ee M EM M 42 44 Synchronous encoder axis error No 45 46 Synchronous encoder axis error reset 42 44 Synchronous encoder axis length per cycle 37 38 Synchronous encoder axis phase compensation advance time eee 37 40 Synchronous encoder axis phase compensation amount Tn 45 46 Synchronous encoder axis phase compensation time constarib 23s c dee Te e xa er rd 37 40 Synchronous encoder axis rotation direction restriction Shae Aqu bium Oe r as ba dune 37 41 Synchronous encoder axis rotation direction restriction amount 2 5 3 tea adore ded aud E pde 45 46 Synchronous encoder axis smoothing time constant cU Rex RUE E chi s eu Ae pM RUNE E 37 39 Synchronous encoder axis speed 45 Synchronous encoder axis status 45 46 Synchronous encoder axis type 37 38 Synchronous encoder axis unit conversion Denominator 0 000000 eee eee 37 38 Numerator 0 0 0 0 le
186. sation Cam axis cycle units Value is stored even after system s power supply OFF Refresh cycle Operation cycle During synchronous control only Md 408 The feed current value as the cam reference position is MMonitoring is carried out in decimal display 42814 40n Cam reference position stored 2147483648 to 2147483647 42815 40n Value is stored even after system s power supply OFF Output axis position units 3 Refresh cycle Operation cycle During synchronous control only Md 409 The feed current value while controlling the cam axisis BiMonitoring is carried out in decimal display 42816 40n Cam axis feed current value stored 2147483648 to 2147483647 42817 40n Value is stored even after system s power supply OFF Output axis position units 3 Refresh cycle Operation cycle During synchronous control only Md 410 The executing cam No is stored Monitoring is carried out in decimal display 42818 40n Execute cam No Refresh cycle Operation cycle During synchronous 0 to 256 control only Md 411 The executing cam stroke amount is stored HMonitoring is carried out in decimal display 42820 40n Execute cam stroke amount Refresh cycle Operation cycle During synchronous 2147483648 to 2147483647 42821 40n control only Output axis position units 3 Md 420 The ON OFF status of main shaft clutch is stored WMonitoring is carried out in decimal display 42828 40n Main shaft clutch ON OFF
187. se the machine may be damaged and accidents may occur due to erroneous operations In an output circuit when a load current exceeding the current rating or an overcurrent caused by a load short circuit flows for a long time it may cause smoke and fire To prevent this configure an external safety circuit such as a fuse For the operating status of each station after a communication failure of the network refer to relevant manuals for the network Incorrect output or malfunction may result in an accident DESIGN PRECAUTIONS NCAUTION When an inductive load such as a lamp heater or solenoid valve is controlled a large current approximately ten times greater than normal may flow when the output is turned from off to on Take proper measures so that the flowing current does not exceed the value corresponding to the maximum load specification of the resistance load After the CPU module is powered on or is reset the time taken to enter the RUN status varies depending on the system configuration parameter settings and or program size Design circuits so that the entire system will always operate safely regardless of this variation in time Simultaneously turn on and off the power supplies of the CPU module and extension modules If a long time power failure or an abnormal voltage drop occurs the PLC stops and output is turned off When the power supply is restored it will automatically restart when the RUN STOP RESET
188. set 3 Servo command value or 4 Feedback value in Pr 300 Servo input axis type 2 INPUT AXIS MODULE 2 1 Servo Input Axis Servo input axis parameters n Axis No 1 Pr 300 Set the current value type to be Set in decimal 0 32800 10n Servo input axis type generated of the input value for the 0 Invalid servo input axis 1 Feed current value Fetch cycle At power supply ON 2 Real current value 3 Servo command value 4 Feedback value Pr 301 Set to smooth the input value Set in decimal 0 32801 10n Servo input axis smoothing time Fetch cycle At power supply ON 0 to 5000 ms constant Pr 302 Set the time to advance or delay Wi Set in decimal 0 32802 10n Servo input axis phase compensation the phase 2147483648 to 2147483647 us 32803 10n advance time Fetch cycle Operation cycle Pr 303 Set the time constant to affect the Set in decimal 10 32804 10n Servo input axis phase compensation phase compensation 0 to 65535 ms time constant Fetch cycle At power supply ON Pr 304 Set this parameter to restrict the Set in decimal 0 32805 10n Servo input axis rotation direction input movement amount to one 0 Without rotation direction restriction direction restriction Fetch cycle At power supply ON 1 Enable only for current value increase direction 2 Enable only for current value decrease direction 1 Setthe value as follows in a program 0 to 32767 Set as a decim
189. sion 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 Just before Cd 380 Synchronous control start turns from ON to OFF Just before deceleration stop by a stop command or an error etc Just before the system s power supply turned OFF to the Simple Motion module 5 SYNCHRONOUS CONTROL INITIAL POSITION 1 5 1 Synchronous Control Initial Position 03 value per cycle after main auxiliary shaft gear at synchronous control start 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 Home position return Restoration method 1 Current value change Restoration method 1 Restoration method 1 Speed control Restoration method 1 Fixed pitch feed control Restoration method 1 Speed position switching control Restoration method 1 Position speed switching control Restoration method 1 Connection to servo amplifier Restoration
190. stant setting Exponent 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 Linear 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 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 O 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 shaft clutch reference address setting If the set amount is negative the slippage amount at clutch OFF is controlled as O direct 4 SYNCHRONOUS CONTROL 4 2 Auxiliary Shaft
191. stored If set to 1 in Cd 323 Synchronous encoder axis error reset the value is set to O 2 INPUT AXIS MODULE 2 2 Synchronous Encoder Axis 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 the following for the setting of the output axis Cs Page 60 SYNCHRONOUS CONTROL Refer to the following for the cam position calculation function K Page 116 Cam Position Calculation Function 3 1 Control Details for Cam Function The output axis for synchronous control is operated with a cam The following operations can be performed with cam functions Two way operation Reciprocating operation with a constant cam strokes range Feed operation Cam reference position is updated every cycle Linear operation Linear operation cam No 0 in the cycle as the stroke ratio is 100 The output axis is controlled by a value feed current value which is converted from the input value cam axis current value per cycle by cam data Two way operation Cam data Cam axis current 4 value per cycle Cam conversion processing Feed current value gt t I 1 A User created cam Fee
192. synchronous control only Md 401 The current value per cycle after the main shaft gear is lBlVonitoring is carried out in decimal display 42802 40n Current value per cycle after stored 0 to Cam axis length per cycle 1 42803 40n main shaft gear One cycle is considered the cam axis length per cycle Cam axis cycle units Value is stored even after system s power supply OFF Refresh cycle Operation cycle During synchronous control only Md 402 The current value per cycle after the auxiliary shaft WMonitoring is carried out in decimal display 42804 40n Current value per cycle after gear is stored 0 to Cam axis length per cycle 1 42805 40n auxiliary shaft gear One cycle is considered the cam axis length per cycle Cam axis cycle units Value is stored even after system s power supply OFF Refresh cycle Operation cycle During synchronous control only Md 406 The current phase compensation amount is stored HMonitoring is carried out in decimal display 42810 40n Cam axis phase Refresh cycle Operation cycle During synchronous 2147483648 to 2147483647 42811 40n compensation amount control only Cam axis cycle units Md 407 The current value per cycle is stored which is HMonitoring is carried out in decimal display 42812 40n Cam axis current value per calculated from the input movement amount to the cam 0 to Cam axis length per cycle 1 42813 40n cycle axis The value after phase compen
193. t Target axis bit Md 141 BUSY signal Target axis bit i Md 26 Axis operation status Standby aK Synchronous control 15 ad Pai Pad Pai eaa gt t 4 EN Md 407 Cam axis current i i i value per cycle i i i 0 Md 321 Synchronous encoder 4 axis current value per cycle Md 20 Feed current value gt t Synchronous control system control data Setting item Setting details Setting value Default value Buffer memory address Cd 380 Synchronous control begins if the target axis bit WSet the target axis in 16 bits 0 36320 Synchronous is turned ON bitO axis 1 to bit3 axis 4 control start Synchronous control ends if the bit is turned OFF Synchronous control end OFF during synchronous control ON Synchronous control start Fetch cycle Operation cycle Starting method for synchronous control Synchronous control can be started by turning the target axis bit from OFF to ON in Cd 380 Synchronous 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 Md 141 BUSY signal Target axis bit turns ON after completion of analysis and 15 Synchronous control is set in IMd 26 Axis operation status Start the input axis operation after confirming that 15 Synchronous control is set
194. t required Cd 607 Write operation Set the cam data corresponding to the Set in decimal 45008 to 53199 Cam data value cam data format Fetch cycle At requesting cam data operation Read operation The cam data is stored Refresh cycle At completing cam data operation Stroke ratio data format 2147483648 to 2147483647 x 107 Coordinate data format Input value 0 to 2147483647 Cam axis cycle units Output value 2147483648 to 2147483647 Output axis position units 3 1 With the exception of positioning control main cycle processing is executed during the next available time It changes by status of axis start 2 Cam axis cycle units Page 88 Units for the output axis 3 Output axis position units Page 88 Units for the output axis 3 CAM FUNCTION 3 2 Create Cam Data 56 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 completion 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 t
195. t gear at the last synchronous control session Auxiliary shaft gear ratio x Amount of change of auxiliary shaft current value from the last synchronous control session The current value per cycle after main shaft gear current value per cycle after auxiliary 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 1 04 5 SYNCHRONOUS CONTROL INITIAL POSITION 5 1 Synchronous Control Initial Position nous 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 feed current value One of positions can be restored by defining 2 positions when starting synchronous control Cam axis current value per cycle Cam axis feed current 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 Page 109 Cam Axis Position Restoration Method for details on the restoration method Cam axis current value per cycle restoration Cam reference position restoration Cam axis feed current value restoration Various parameters need to be set for the cam axis position restoration as shown below Re
196. t pulse of synchronous encoder Counter disable Counter enable Pr 321 Synchronous encoder axis unit setting Pr 322 Synchronous encoder axis unit conversion Numerator Pr 323 Synchronous encoder axis unit conversion Denominator Pr 325 Synchronous encoder axis smoothing time constant Pr 326 Synchronous encoder axis phase compensation advance time Pr 327 Synchronous encoder axis phase compensation time constant Pr 328 Synchronous encoder axis rotation direction restriction HL Unit conversion Input smoothing processing j Phase compensation processing i Rotation direction restriction Current value change i Pr 324 Synchronous encoder axis length per cycle 2 INPUT AXIS MODULE 2 2 Synchronous Encoder 30 Current value of synchronous encoder axis 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 gt Md 321 Synchronous encoder axis current value per cycle Md 322 Synchronous encoder axis speed The following 3 types of synchronous encoders can be used for the synchronous encoder axis Refer to the following for the setting method for each synchronous encoder axis lt Page 33 Setting method for synchronous encoder Incremental synchronous encoder The increment
197. ta first Fetch cycle At requesting cam data operation Stroke ratio data format 1 to cam position resolution Coordinate data format 0 to Coordinate number 1 Cd 603 Set the number of operating cam data points Set in decimal 45003 Number of cam data Fetch cycle At requesting cam data operation Stroke ratio data format 1 to 4096 operation points Coordinate data format 1 to 2048 Cd 604 Write operation Set cam data format Set in decimal 45004 Cam data format Fetch cycle At requesting cam data operation 1 Stroke ratio data format Read operation The cam data format is stored 2 Coordinate data format Refresh cycle At completing cam data operation Cd 605 Write operation Set the cam resolution the coordinate Set in decimal 45005 Cam resolution number Stroke ratio data format 256 512 1024 coordinate number Fetch cycle At requesting cam data operation 2048 4096 8192 16384 Read operation The cam resolution the coordinate Coordinate data format 2 to 8192 number is stored Refresh cycle At completing cam data operation Cd 606 Write operation Set the cam data starting point Set in decimal 45006 Cam data starting Fetch cycle At requesting cam data operation Stroke ratio data format 0 to Cam point Read operation The cam data starting point is stored resolution 1 Refresh cycle At completing cam data operation Coordinate data format Setting not Setting is not required with coordinate data forma
198. 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 the followings for details on setting for the auxiliary shaft module lt Page 68 Auxiliary shaft parameters Page 70 Auxiliary shaft clutch parameters Numerator Pr 421 Auxiliary shaft gear Denominator Pr 420 Auxiliary shaft a ecd Pr 418 Auxiliary shaft axis No 1 Page 76 Clutch Main shaft input Speed change gear Auxiliary Composite auxiliary shaft clutch shaft gear Auxiliary shaft gear 3 Auxiliary shaft axis i Pr 419 Composite auxiliary shaft gear Y Md 402 Current value per cycle after auxiliary shaft gear Speed change gear Output axis Auxiliary shaft parameters n Axis No 1 Pr 418 Setthe input axis No for the auxiliary shaft Set in decimal 0 36430 200n Auxiliary shaft axis Fetch cycle At start of synchronous control 0 Invalid No 1 to 4 Servo input axis 801 to 804 Synchronous encoder axis Pr 419 Select the composite method for input values from the Set in hexadecimal 0001H 36431 200n Composite auxiliary main shaft and the auxiliary shaft H shaft gear Fetch cycle Operation cycle Ls Main shaft input method 0 No input 1 Input 2 Input Auxiliary shaft input
199. the external synchronous encoders are set more than 4 on the system setting screen using the Simple Motion Module Setting Tool 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 Scale position within one revolution 24 Load side encoder information 1 Used point 2words Scale absolute counter 25 Load side encoder information 2 Used point 2words H in the A serial absolute synchronous encoder Q171ENC W8 can be used in an incremental system by setting 2 servo parameter Scale measurement mode selection PA22 even if the battery of the servo amplifier is dismounted 2 INPUT AXIS MODULE 2 2 Synchronous Encoder Axis Setting example The following shows an example for setting a serial absolute synchronous encoder Q171ENC WS8 using MR J4 B RJ as synchronous encoder axis 1 of the Simple Motion module Simple Motion module Q171ENC W8 4194304 pulses rev Synchronous encoder axis 1 Set the parameters as below Set 101 Synchronous encoder via servo amplifier servo amplifier axis 3 in Pr 320 Synchronous encoder axis type of synchronous encoder ax
200. the time corresponding to the setting by smoothing process setting Input value speed 4 before smoothing gt t Averaging by Input value speed smoothing time constant after smoothing l l t Pr 325 Synchronous encoder axis Pr 325 Synchronous encoder axis smoothing time constant smoothing time constant 2 INPUT AXIS MODULE 2 2 Synchronous Encoder Axis 39 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 the following for the delay time inherent to the system using the synchronous encoder axis K Page 100 Phase Compensation Function ettin 1 to 2147483647 us Advance the phase input response according to the setting time 0 us 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 a longer time to affect the phase compensation amount in Pr 327 Synchronous encoder axis phase compensation time constant 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 Pr 32
201. through unit conversation with setting Pr 322 and Pr 323 Set Pr 322 and Pr 323 according to the controlled machine Pr 322 Synchronous encoder axis unit conversion Numerator Synchronous encoder axis movement amount Movement amount after unit conversion Synchronous encoder input movement amount x Encoder pulse units Pr 323 Synchronous encoder axis unit conversion Denominator The movement amount 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 1 Page 31 Synchronous encoder axis position units The input movement amount 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 323 Synchronous encoder axis unit conversion Denominator The input movement amount of synchronous encoder is configured in encoder pulse units The units can be arbitrarily converted through unit conversation with setting Pr 322 and Pr 323 Set Pr 322 and Pr 323 according to the controlled machine Pr 322 Synchronous encoder axis unit conversion Numerator Synchronous encoder axis movement amount Movement amount after unit conversion Synchronous encoder input movement amount x Encoder pulse unit
202. tion 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 Point P If 1 or more is set in Pr 329 Resolution of synchronous encoder via CPU set the cycle counter from 0 to resolution of synchronous encoder via CPU 1 in Cd 325 Input value for synchronous encoder via CPU as the input value 2 INPUT AXIS MODULE 41 2 2 Synchronous Encoder Axis Synchronous encoder axis control data j Synchronous encoder axis No 1 Cd 320 If set to 1 the synchronous encoder axis control is Set in decimal 35040 10j Synchronous encoder axis started 1 Start for synchronous encoder control start If set to 101 to 104 the synchronous encoder axis axis control control starts based on the highspeed input request 101 to 104 High speed input start external command signal for synchronous encoder axis The Simple Motion module resets the value to 0 control axis 1 to axis 4 automatically after completion of the synchronous encoder axis control Fetch cycle Operation cycle Cd 321 Set the control method for the synchronous encoder Set in decimal 35041410 Synchronous encoder axis axis 0 Current value change control method Fetch cycle At synchronous encoder axis control start 1 Counter disable 2 Counter enable Cd 322 Set a new current value for changing the
203. tions procedures before operation system configuration wiring and operation Startup examples of the Simple Motion module lt IB 0300251 gt This manual does not include detailed information on the followings General specifications Available CPU modules and the number of mountable modules Installation For details refer to the following LLIMELSEC iQ F FX5U User s Manual Hardware LLIMELSEC iQ F FX5UC User s Manual Hardware e Manual refers to the Mitsubishi FA electronic book manuals that can be browsed using a dedicated tool e Manual has the following features Required information can be cross searched in multiple manuals Other manuals can be accessed from the links in the manual The hardware specifications of each part can be found from the product figures Pages that users often browse can be bookmarked 12 TERMS Unless otherwise specified this manual uses the following terms CPU module Abbreviation for the MELSEC iQ F series CPU module Simple Motion module Abbreviation for the MELSEC iQ F series Simple Motion module 40SSC S Another term for the MELSEC iQ F series Simple Motion module Servo amplifier Abbreviation for SSCNETIII H and SSCNETII compatible servo amplifier MR J4 W B MR J4 B MR JAW B Servo amplifier series MR J3 W B MR J3 B MR J3W B Servo amplifier series MR JE B MR JE B Servo amplifier series Engineering tool Generi
204. tive 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 425 Auxiliary shaft clutch slippage accumulative The accumulative 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 SYNCHRONOUS CONTROL 4 7 Synchronous Control Monitor Data 99 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 inherent 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
205. tput movement amount of the clutch based on the reference address passing through thereby controlling the clutch with an accurate movement amount Clutch ON OFF status Current value specified in clutch reference address setting Movement amount after clutch Clutch ON address gt t Reference address The current value specified in Pr 406 Main shaft clutch reference address setting Md 400 Current value after composite main shaft gear or Md 401 Current value per cycle after main shaft gear The current value specified in Pr 423 Auxiliary shaft clutch reference address setting Auxiliary shaft current value servo input axis current value synchronous encoder axis current value or Md 402 Current value per cycle after auxiliary shaft gear Clutch ON address Pr 407 Main shaft clutch ON address Pr 424 Auxiliary shaft clutch ON address Clutch ON OFF status Md 420 Main shaft clutch ON OFF status Md 423 Auxiliary shaft clutch ON OFF status HHigh 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 request Set the signal No for the High speed input request signal clutch control setting Set the external command signal used in Pr 95 External command signal selection 4 High speed input request in Pr 42 External command function selection
206. trol however the setting No clutch Direct coupled operation cannot be selected during synchronous control after already selecting another setting Clutch control Pr 405 Pr 422 Set the clutch control method setting Main shaft clutch control Auxiliary shaft clutch control Set in hexadecimal setting setting H L 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 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 3 High speed input request signal from axis 1 to axis 4 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 The following shows the operations for the clutch ON OFF by the setting of the ON control mode and the OFF control mode ON control mode BINo 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
207. tsubishi Electric representative When doing so please provide the manual number given at the end of this manual CONTENTS SAFETY PRECAUTIONS pea paced eehe ped phi bd ee e Eie REPE ELE pes rene vA pee dda E ERE red 1 CONDITIONS OF USE FOR THE PRODUCT ssssssesee hrs 8 INFRODUCTION pec ro 9 RELATED MANUALES 2 22 itg uit aed en Rod Re dos Shee REE Ae eee Eee POR RR TR GR ier RA SEATe Eales 12 Hd cL 13 CHAPTER 1 OUTLINE OF SYNCHRONOUS CONTROL 14 1 1 Outline of Synchronous Control llelleleeeeeeeeeee hh hn 14 1 2 Performance Specifications llsleeeseeeeeeeeee leen hh hrs 17 1 3 Operation Method of Synchronous Control 0c cece eee eee 19 Synchronous control execution procedure 0 0 cee tenes 19 Starting ending for synchronous control 2 0 n 20 Stop operation of outputaxis liiilselseeeee ehh hme 22 CHAPTER2 INPUT AXIS MODULE 23 2 1 Servo Input AXIS 21 co nior enun trt ec bue dps ice tle imet ee E E a atacand ONU E cese ee ETE USERS 23 Overview of servoinp t AXIS cae cba kh Rer Ros nau wie ed A Lada ch SG dR eed ERREUR RT 23 Servo input axis parameters cedia sas peo cease RE RU pode OS eae peace ur d Re e ngon 25 Servo input axis monitor data 1 2 0 ehh mre 28 2 2 synchronous Encoder AXIS eve rERE eR terip ketna o oa ni EDERE FEE qe E E Een RR GR 30 Overview of synchronous encoder axis lilii ernearen 30 Setting method for synchronous encoder 33 Sync
208. type to be used 0 Invalid type Fetch cycle At power supply ON 1 Incremental synchronous encoder 101 to 104 Synchronous encoder via servo amplifier Connectable servo amplifier Axis 1 to axis 4 201 Synchronous encoder via CPU Pr 321 Set the unit of the synchronous Set in hexadecimal 0003H 34721420 Synchronous encoder axis encoder axis H unit setting Set the position unit within the range TTT T from x 1 to 10 control unit Control unit Set the speed unit within the range 0 mm 1 inch from x 1 to 10 control unit s or 2 degree 3 pulse control unit min Number of decimal places for position Fetch cycle At power supply ON 0 to 9 Speed time unit 0 second s 1 minute min Number of decimal places for speed 0to 9 Pr 322 Set the numerator to convert the unit Set in decimal 1 34722420j Synchronous encoder axis from the encoder pulse of the 2147483648 to 2147483647 34723420j unit conversion Numerator synchronous encoder axis into the Synchronous encoder axis position units synchronous encoder axis unit Fetch cycle At power supply ON Pr 323 Set the denominator to convert the Set in decimal 1 34724 20j Synchronous encoder axis unit from the encoder pulse of the 1 to 2147483647 pulse 34725420j unit conversion synchronous encoder axis into the Denominator synchronous encoder axis unit Fetch cycle At power supply ON Pr 324 Set the length per cycle of the Set in decimal 4000 34726 2
209. ue setting This flag turns ON when a synchronous encoder axis current value change is never executed request flag If the current value setting request flag is ON for the synchronous encoder 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 b4 Error detection flag This flag turns ON when an error occurs for the synchronous encoder axis The error No is stored in Md 326 Synchronous encoder axis error No Reset the error in Cd 323 Synchronous encoder axis error reset b5 Warning detection flag This flag turns ON when a warning occurs for the synchronous encoder axis The warning No is stored in Md 327 Synchronous encoder axis warning No Reset the warning in Cd 323 Synchronous encoder axis error reset b6 to b15 Not used Always OFF 1 Set the control method for synchronous encoder in Cd 321 Synchronous encoder axis control method Page 42 Synchronous encoder axis control data Md 326 Synchronous encoder axis error No When an error for a synchronous encoder axis is detected the error code corresponding to he error details is stored If set to 1 in ICd 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
210. umber of wires or electric wires of unspecified size Affix the electric wires so that neither the terminal block nor the connected parts are directly stressed WIRING PRECAUTIONS NCAUTION Do not supply power to the 24 and 24 V terminals 24 V DC service power supply on the CPU module or extension modules Doing so may cause damage to the product Perform class D grounding grounding resistance 100 Q or less of the grounding terminal on the CPU module and extension modules with a wire 2 mm or thicker However do not use common grounding with heavy electrical systems Refer to the following for the details MELSEC iQ F FX5 User s Manual Hardware Connect the power supply wiring to the dedicated terminals described in the manual If an AC power supply is connected to a DC input output terminal or DC power supply terminal the PLC will burn out Do not wire vacant terminals externally Doing so may cause damage to the product Install module so that excessive force will not be applied to terminal blocks power connectors I O connectors communication connectors or communication cables Failure to do so may result in wire damage breakage or PLC failure NCAUTION Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to malfunction of the PLC caused by abnormal data written to the PLC due to the effects of noise Do not bundle the power line control
211. units axis Synchronous encoder axis position unit I Page 31 Synchronous encoder axis position units 1 Use units of this setting 0 mm 0 mm 2147483648 to 2147483647 mm 9 x 10 mm 2 147483648 to 2 147483647 mm 1 inch 0 inch 2147483648 to 2147483647 inch 9 x 10 inch 2 147483648 to 2 147483647 inch 2 degree 0 degree 2147483648 to 2147483647 degree 9 x 10 degree 2 147483648 to 2 147483647 degree 3 pulse 0 pulse 2147483648 to 2147483647 pulse 9 x 10 pulse 2 147483648 to 2 147483647 pulse 4 SYNCHRONOUS CONTROL 4 5 Output Axis Module Output axis parameters n Axis No 1 Pr 438 Set the units for the cam axis length per cycle Set in hexadecimal 0000H 36470 200n Cam axis cycle There is no influence on the control for the parameter H unit setting for monitor display TE L Control unit Fetch cycle At start of synchronous control 0 mm 1 inch 2 degree 3 pulse Number of decimal places 0to9 Unit setting selection 0 Use units of main input axis 1 Use units of this setting Pr 439 Set the required input amount with the cam per cycle Set in decimal 4194304 36472 200n Cam axis length Fetch cycle At start of synchronous control 1 to 2147483647 36473 200n per cycle Cam axis cycle units Pr 440 Set the cam No Set in decimal 0 36474 200n Cam No Fetch cycle At start of synchronous control At passing 0 Linear cam Preset through the Ot
212. uring synchronous control however the setting No clutch Direct coupled operation cannot be selected during synchronous control after already selecting another setting Refer to the following for operation details on the clutch control L Page 76 Control method for clutch HON control mode 0 No clutch Direct coupled Execute direct coupled operation without clutch control operation 1 Clutch command ON OFF 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 2 Clutch command leading edge The clutch is turned ON when Cd 400 Main shaft clutch command passes the leading edge from OFF to ON 3 Clutch command trailing edge The clutch is turned ON when Cd 400 Main shaft clutch command passes the trailing edge from ON to OFF 4 Address mode 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 movement amount after passing through the ON address is calculated as the output movement amount of the clutch based on the reference address passing through thereby controlling the clutch with an accurate movement amount 5 High speed input request The clutch is turned ON when the high speed input request DI turns ON Other clutch paramet
213. ut movement amount 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 1 Page 88 Units for the output axis The value is restored according to Pr 461 Setting method of current value per cycle after auxiliary shaft gear when starting synchronous control I Page 102 Synchronous Control Initial Position Md 406 Cam axis phase compensation amount The phase compensation amount for the cam axis is stored with cam axis cycle units gt Page 88 Units for the output axis 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 E Page 88 Units for the output axis The value is restored according to Pr 462 Cam axis position restoration object when starting synchronous control lt Page 102 Synchronous Control Initial Position Md 408 Cam reference position The feed current value is stored as the cam reference position The unit is in output axis position units 1 Page 88 Units for the output axis When the unit is in degrees a range from 0 to 35999999 is used The value is restored according to Pr 462 Cam
214. ut request The clutch is turned OFF when the high speed input request DI turns ON 4 SYNCHRONOUS CONTROL 4 1 Main Shaft Module HHigh 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 1 0 The external command signal specified by Pr 95 External command signal selection of the axis 1 is used 2 1 The external command signal specified by Pr 95 External command signal selection of the axis 2 is used 3 2 The external command signal specified by Pr 95 External command signal selection of the axis 3 is used 4 3 The external command signal specified by Pr 95 External command signal selection of the axis 4 is used ain 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 The clutch is controlled by using the current value after composite main shaft gear as a reference main shaft gear Output after the clutch is a converted movement amount through the main shaft gear 1 Current value per cycle after The clutch is controlled by using the current value per cycle after main shaft gear main shaft gear Output after the clutch is a move
215. vance time is set as follows If the operation cycle is as 1 77 ms and model loop gain of axis 1 is as 80 Pr 326 Synchronous encoder axis phase compensation advance time 4036 us Reference Delay time inherent to system for a synchronous encoder axis Pr 444 Cam axis phase compensation advance time 1000000 80 12500 us When overshoot or undershoot occurs during acceleration deceleration set a longer time for the phase compensation time constant 100 4 SYNCHRONOUS CONTROL 4 8 Phase Compensation Function 4 9 Output Axis Sub Functions The following shows which sub functions apply for the output axis in synchronous control O Valid Invalid Backlash compensation function Electronic gear function The same control as other methods Speed limit function Setting is ignored Pr 8 Speed limit value must be set to use Pr 446 Synchronous control deceleration time Torque limit function Controlled with Pr 17 Torque limit setting value or Cd 101 Torque output setting value similar to other methods Software stroke limit function The axis stops immediately when exceeding the software stroke limit range To disable the software stroke limit set the setting value so that Upper limit value Lower limit value Hardware stroke limit function Controlled the same as positioning control Forced stop function Same control as other methods Speed change fun
216. ve slippage on the auxiliary shaft clutch liR IMonitoring is carried out in decimal display 42834 40n Auxiliary shaft clutch slippage smoothing with slippage method is stored as a signed 2147483648 to 2147483647 42835 40n accumulative value Auxiliary shaft position units or Cam axis Refresh cycle Operation cycle During synchronous cycle units control only 1 Main input axis position units Page 23 INPUT AXIS MODULE 2 Cam axis cycle units Page 88 Units for the output axis 3 Output axis position units lt Page 88 Units for the output axis 4 Auxiliary shaft position units Page 23 INPUT AXIS MODULE nt 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 IL Page 23 INPUT AXIS MODULE The unit is pulse 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 Home position return Change method 1 Current value change Change method 1 Change method 1 Speed control Change method 1 Fixed pitch feed control Change method 1 Speed position switching control Change method 1 Position speed switching control Change method
217. xecuting write Cam storage area with the cam data operation function Cam auto generation data Data is written when the cam auto generation request is executed Cam auto generation function Cam open area Cam data Cam data is transmitted from the Datais lost when turning the power cam storage area when turning supply OFF the power supply ON writing to the The cam data that is used in cam cam storage area or turning the control is stored Cd 190 PLC READY signal OFF to ON Writing to the cam open area is possible through the cam data operation function 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 1 Page 55 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 Cd 190 PLC READY signal OFF to ON 2 Operation with buffer memory Simple Motion module Y Read Buffer memory address 1 Operation with an engineering tool Write Engineering tool Read
218. xis bit is OFF for Cd 380 Synchronous control start and execute positioning for the output axis to be updated to Md 409 Cam axis feed current value 4 Turn OFF the target axis bit of ICd 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 5 SYNCHRONOUS CONTROL INITIAL POSITION 11 5 4 Synchronous Control Analysis Mode 5 5 5 Cam Position Calculation Function The cam position is calculated by the program with this function This function can be used to calculate the cam position for the synchronous control initial position before starting synchronous control 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 feed current value and the cam reference position of axis 1 2 Calculate the cam axis feed current value of axis 2 with this function based on the cam axis current value per cycle that 116 was calculated in 1 3 Calculate the cam axis feed current 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 feed current value which was calculated in 2 and also on axis 3 to the cam axis feed
219. xis current value per cycle after the servo amplifier _H is set in the servo parameter Scale measurement mode selection PA22 0 is set to the initial value of the 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 liPoint of the setting method 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 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 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 LLISSCNETIII H Interface AC Servo MR J4 B RJ MR J4 _B4 RJ MR J4 B1 RJ Servo Amplifier Instruction Manual for details of the servo parameter Scale measurement mode selection PA22 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
220. y when the counter disable is selected 2 Counter enable Input from the synchronous encoder is valid 2 INPUT AXIS MODULE 4 2 2 Synchronous Encoder Axis 3 44 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 5 Page 31 Synchronous encoder axis position units Cd 323 Synchronous encoder axis error reset If set to 1 IMd 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 synchronous encoder axis parameter Reconfigure the parameter and turn the power supply ON again 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 syn

MELSEC iQ-F FX5 Simple Motion Module User`s Manual (Advanced

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