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MR-MQ100 User`0s Manual

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1. zc RS Panel computer 1 Hub connection settings Before connection with a hub can be made the Motion controller s settings must be changed using a direct connection method a Connecting an Ethernet cable Crossover cable Connect an Ethernet cable Crossover cable between the Motion controller and a computer b Setting IP address of the Motion controller Set the IP address located in the Built in Ethernet Port Setting tab The default IP address value is 192 168 3 39 Refer to 2 Note about IP address value setting No need to set Subnet Mask Pattern or Default Router IP Address Built in Ethernet Port Setting System Setting Basic Setting Built in Ethernet Port Setting Basic Setting System Basic Setting CPU Name Setting IP Address Setting Input Format DE ei el el o 39 Subnet Mask Pattern OJ os Default Router IP Address DELE ERE ER Set IP address Refer to 2 Note IP Address Open Setting Set if it is needed Default Changed 12 COMMUNICATION c Open Setting of the Motion controller Select TCP or UDP to correspond to current setting of the computer TCP is recommended because of the quality of the communication Open Setting System Setting gt Basic Setting gt Built in Ethernet Port Setting gt Open Setting Built in Ethernet Port Open Setting H
2. Motion controller MR MQ100 Ethernet cable AA Computer Connection Ethernet Model name type standard Connection Straight 10BASE T Ethernet with HUB cable 100BASE TX Compliant with Ethernet standards category 5 or higher 10BASE T Shielded twisted pair cable STP cable cable Direct Crossover connection cable 100BASE TX a Selection criterion of cable Category 5 or higher e Diameter of lead AWG26 or higher Shield Copper braid shield and drain wire Copper braid shield and aluminium layered type shield 2 SYSTEM CONFIGURATION 2 1 1 MR MQ100 System overall configuration MITSUBISHI MR MQ100 Vu POWER o Da RESET STOP RUN g PERIPHERAL F PERIHERAL I F MR J3 D01 extension 10 unit Note 2 di j Analog input 2 points Analog output 2 points L Input 16 points Output 16 points External input signals of servo amplifier Note 1 Proximity dog Upper stroke limit Lower stroke limit 2avoe _ MR J3LIB type Servo amplifier 1 axis P Manual pulse generator or Incremental 1 set synchronous encoder GOT I Input 4 points Output 2 points RS 422 communication F GOT Note 1 Up to 16 different e
3. 2 Option card parameter Symbol Name and function Initial value Unit Analog input ANI1 offset of the extension IO unit 0000h Set the offset voltage of the analog input in hexadecimal to OFFFFh Note 1 Analog input ANI2 offset of the extension IO unit 0000h Set the offset voltage of the analog input in hexadecimal to OFFFFh Note 1 Analog output ANO1 offset of the extension IO unit 0000h Set the offset voltage of the analog output in hexadecimal to OFFFFh Note 1 Analog output ANO2 offset of the extension IO unit 0000h Set the offset voltage of the analog output in hexadecimal to OFFFFh Note 1 Note 1 The setting range is 9999mV to 9999mV If set to outside the range servo amplifier rounds it to within the range 13 20 14 ERROR CODE 14 ERROR CODE MR MQ100 detects errors as below Refer to each programming manuals for details Self diagnosis errors Q173DCPU Q172DCPU Motion controller Programming Manual COMMON System setting errors Servo program setting errors Minor errors i Positioni Programming Manual REAL MODE ositioning error S ajor emors IB NA 0300136 Motion SFC Errors Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual Motion SFC Motion SFC parameter errors p IB NA 0300135 Real Virtual mode switching errors Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL MODE Output module errors
4. Virtual axis Virtual main shaft Virtual auxiliary input axis Differential Speed Drive module change gear Virtual Clutch servomotor Set as NN d ZE as ES Output axis a hi a a 8 uH Een LITT V eedem Ball screw Eurer evi l4 Rotary table I ee pao Output module 1 system J 7 e Either a virtual servomotor or a synchronous encoder can be connected to the drive shaft Either a cam roller ball screw or rotary table can be connected to the output shaft 11 2 11 MECHANICAL SYSTEM PROGRAM 1 Block The term block is one set of mechanical modules beginning after a virtual transmission module gear connected to the virtual main shaft and ending at the output module Refer to Section 11 2 for the number of mechanical modules which can be connected in a single block 2 System The term system is a generic term of multiple blocks connected to one virtual main shaft The maximum number of blocks allowable in a single system is 32 3 Transmission module connections There are 3 transmission module connection patterns e Pattern 1 Straight connection to output i e no differential gear e Pattern 2 Differential gear connection directly connected to the output module i e no speed change gear Pattern 3 Diff
5. se Number of used Deeg i i N 2147483648 to 2147483648 O to 35999999 2147483648 2147483647 to 2147483647 i eie iem to 2147483647 x10 ium x 10f inch 9 O 2x2 nog Note 1 0 to 2147483647 1 to 4294967295 1 to 4294967295 0 to 35999999 1to x 10 finch x 10 degree 4294967295 2147483648 2147483648 to 2147483647 to 2147483647 x 10 x 10 inch 0 to 35999999 2147483648 x 10 degree to 2147483647 0 to 2147483647 1 to 2147483647 x 10 x 10 x 107 2147483647 degree min mm min inch min Note 5 PLS s 1 to 65535 ms 0 to 100 7 0 Deceleration to a stop in accordance with the deceleration time 1 Deceleration to a stop in accordance with the rapid stop deceleration time 1 to 100000 1 to 100000 1to 100000 1 to 100000 x 107 um x107 inch x 10 degree PLS Note 1 The n in n03 n08 n09 and n10 indicates the axis No 1 to 32 Note 4 If there are multiple errors in the same program the latest error item information is stored Note 5 When the speed control 10 X multiplier setting for degree axis is set to valid is 0 01 to 21474836 47 degree min Note 7 The setting value is invalid in Real mode 9 SERVO PROGRAMS FOR POSITIONING CONTROL bod Repeat condition Number of repetitions Table 9 3 Positioning data Continued Set the repeat conditions between FOR TIMES instruction and NEXT instructi
6. ssesssssssssssssseeeeeeeneee nennen 6 11 6 6 Troubleshooting Ret RE 6 12 6 6 1 Troubleshooting BASICS AAA 6 12 6 6 2 Troubleshooting of Motion CPU module sse enne nnne nnne 6 13 6 6 3 Confirming error code ccecceeceeceeeeeceeseceeecaeceeecaeeaecaeceeeeaecaesaeseaeeaesaeseeseaesaesaeseaesaesaesaeseeeeaesaeseeeeaeeates 6 24 6 6 4 I O circuit troubleshooting esses einen ennt tnnt a nne nn str s irren a 6 25 7 1 Device List et oe edat ee etate e deat e tate eed eate eed tet SU 7 1 Te Internal relays oi nete ped eae Whee the EUN DER a rette toos 7 2 T2 Intermal relay lista 5i iR ee Ee 7 2 7 2 2 AXIS SEtItUS ST a e rt T EES EE re suns 7 4 7 2 3 Axis command signal list nennen nnne nnne nnne nne 7 5 7 2 4 Virtual servomotor axis status list nennen nnne nnns 7 6 7 2 5 Virtual servomotor axis command signal let 7 7 7 2 6 Synchronous encoder axis Status et 7 8 7 2 7 Synchronous encoder axis command signal et 7 8 7 2 8 Common device list esses nennen enhn etne trennen inns tnnt nnns 7 9 7 2 9 Common device list Command device ssesssssssssseeeeeeeee enne 7 12 To Data BHeglsters i teabse pe p Re bet HE ER ERREUR RR REOR NIU RUE MR dd 7 13 7 3 1 Common device list Command device sesssssssssssseeeeseeee nennen tnnt 7 18 7 32 Axis Monitor device liSt n eer dde diet onan see 7 15 7 3 3 Control chan
7. Check upper lower stroke limits Check that the upper lower stroke limits operate correctly 3 Z DANGER When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Wire the units after mounting the Motion controller servo amplifier and servomotor Failing to do so may lead to electric shocks or damage ZA CAUTION Always mount a leakage breaker on the Motion controller and servo amplifier power source Install emergency stop circuit externally so that operation can be stopped immediately and the power shut off Use the program commands for the program with the conditions specified in the instruction manual Some devices used in the program have fixed applications so use these with the conditions specified in the programming manual Axis No and error description of servo amplifier which detected errors are displayed on initial check screen ANCAUTION If safety standards ex robot safety rules etc apply to the system using the Motion controller servo amplifier and servomotor make sure that the safety standards are satisfied Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system
8. Selective branch Selective coupling IFEm Selective branch IFBm 1 Parallel coupling PAEm Parallel branch PABm 1 JMP IFEm IFEm PABm PATI CALL Fn JMP PAEm PAT2 CALL Fn JMP PAEm PAEm JMP PAEm PAEm IFBm IFT1 SFT Gn JMP IFEm IFT2 SFT Gr JMP IFEm IFEm JMP IFEm IFEm IFBm 1 IFT1 SFT Gn JMP IFEm 1 IFT2 SFT Gn JMP IFEm 1 IFEm 1 JMP PAEm PAEm PABm 1 PATI CALL Fn JMP PAEm 1 PAT2 CALL Fn JMP PAEm 1 PAEm 1 10 9 point can be the same Note that in the Motion SFC chart this type is displayed in order of a selective coupling gt parallel branch as shown on the left In this case a pointer Pn cannot be set between the selective coupling point IFEm and the parallel branch point PABm The parallel coupling point and selective branch point can be the same Note that in the Motion SFC chart this type is displayed in order of a parallel coupling selective branch as shown on the left Execution waits at the parallel coupling point and shifts to the selective branch In this case a pointer Pn cannot be set between the parallel coupling point PAEm and the selective branch point IFBm The selective coupling point and selecti
9. 5 TRIAL OPERATION AND ADJUSTMENT Motion controller Motion controller Test mode JOG operation Check machine operation Check the followings by making the machine operate with the JOG operation of MT Developer2 1 Machine operates correctly no vibration hunting etc 2 Stroke limits operate correctly 3 Machine stops by the emergency stop or forced stop Test mode home position return Check home position return Check the followings by executing the home position return 1 Home position return direction 2 Home position return data 3 Proximity dog position Programming Check Motion program Set the RUN STOP RESET switch of Motion controller to RUN and check that all positioning controls by Motion programs are correct Monitor Check by automatic operation Check the sequence operation by executing the PLC program using an actual external input END CAUTION The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max speed Execute the test operation in the system that it is low speed as much as possible and put forced stop and confirm the operation and safety 1 Make a note of the series name of the motor before mounting to a machine The servo motor name plate may not be visible after the servo motor is mounted 2 When
10. Do not connect or disconnect the connection cables between each unit the encoder cable or PLC expansion cable while the power is ON Securely tighten the cable connector fixing screws and fixing mechanisms Insufficient fixing may lead to the cables combing off during operation Do not bundle the power line or cables 5 Trial operation and adjustment NCAUTION Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Extreme adjustments and changes may lead to unstable operation so never make them When using the absolute position system function on starting up and when the Motion controller or absolute value motor has been replaced always perform a home position return Before starting test operation set the parameter speed limit value to the slowest value and make sure that operation can be stopped immediately by the forced stop etc if a hazardous state occurs 6 Usage methods NCAUTION Immediately turn OFF the power if smoke abnormal sounds or odors are emitted from the Motion controller servo amplifier or servomotor Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized Do not make any modifications to the
11. 1 Location of the Motion Controller serial number information a On the rating plate The rating plate is located on the left side of the Motion controller b On the face of the Motion Controller The serial number is printed on the bottom area of the face of the motion controller 00000000000000000 E ad PERIHERAL UF Rating plate Serial number I I I I I H gt cC e mmo e M E um E e Serial number display plate 2 SYSTEM CONFIGURATION 2 3 System Configuration Equipment 1 Table of Motion Controller related items Model name Te Description Remark 1 axis control Operation cycle 0 44 ms or more Servo program capacity 16k steps Internal I F Incremental synchronous encoder interface 1ch Input signal Mark detection input signal 4 points Output signal 2 points Attachment battery Q6BAT Internal I F connector 24VDC power supply connector Nominal current 1800mAh MR MQ100 Eo EE battery Nominal current 5000mAh EET kees base Le battery holder connector set Mark detection signal interface connector MR MQ100 Incremental synchronous encoder Q170MIOCBL1M A Mark detection signal interface connector Motion controller MR MQ100
12. 3 Download of servo parameters sending of servo ON OFF and position commands etc can be accomplished by connecting a SSCNET III cable between MR MQ100 and servo amplifier 4 A single incremental synchronous encoder can be used for synchronous control with an external axis Please note hereafter INC will be used instead of incremental b The Motion controller uses the servo amplifier s stroke limit and DOG signal inputs 6 The MR MQ100 has 4 digital inputs and 2 digital outputs The input signals can be used as Mark detection signals 7 RS 422 communication I F functionality has been added to the internal I F connector of the Motion controller This will enable connection with even the GOTs that do not have Ethernet I F connectivity 8 MR J3 D01 extension IO unit for I O signal and analog I O data can be controlled by the Motion controller 2 1 3 Restrictions on Motion controller 1 Since the Motion controller does not contain a forced stop input the forced stop function of the servo amplifier should be used 2 Be sure to connect the battery Q6BAT which is included with MP MO 00 3 It takes about 10 sec for the Motion controller to power up after 24VDC power is applied 4 Setthe rotary switch on the servo amplifier to O 2 SYSTEM CONFIGURATION 2 2 Checking Serial Number The serial number of the Motion controller can be viewed both on the rating plate and the face of the module
13. 3 Internal I F connector cable a Q170MIOCBL 1 M A Type Q170MIOCBLLIM x Cable type Symbol A The GOT side is cable covering B The GOT side is D SUB 9pin 1 1 3 28 pres Cable length m ft App 7 APPENDICES b Connection diagram with Q170MIOCBL 1 M A a MR MQ100 side CNRC GOT 25fS 50 Ps eum Dit eee aC We dac E MR MQ100 HBL 25 HBH 24 HAL 23 HAH 22 HB 21 Manual pulse generator hA 20 Incremental synchronous encoder side SEL 49 SG 50 5V 46 SG 48 5V 45 SG D01 COM2 gt Output D02 COM2 DI COM1 DI3 Input Mark detection input side DI2 COM1 DI4 GOT side terminal block l j POR CS UN TUIS UU cel S RXDL 42 B Se Yel Low Dot mark Red 1 a gt ti Yel low Dot mark Black RXDH Ar i SDA GOT om we Eod NE Pink Dot mark Red RDB i l I I I i ME E Pink Dot mark Black bd x i m E White Dot k Black Ger SG e ME ite Dot mark Blac Fo E SG L L L L de E AB if E k yl 1 FG Shell A ker zz ad KEE x d APPENDICES c Connection diagram with Q170MIOCBL1M B Cm A MR MQ100 side GoT m HHH mos WG 5 MR MQ100 HBL HBH HAL HAH HB HA Manual pulse gener
14. 3 Transportation and installation NCAUTION Transport the product with the correct method according to the mass Use the servomotor suspension bolts only for the transportation of the servomotor Do not transport the servomotor with machine installed on it Do not stack products past the limit When transporting the Motion controller or servo amplifier never hold the connected wires or cables When transporting the servomotor never hold the cables shaft or detector When transporting the Motion controller or servo amplifier never hold the front case as it may fall off When transporting installing or removing the Motion controller or servo amplifier never hold the edges Install the unit according to the instruction manual in a place where the mass can be withstood Q Do not get on or place heavy objects on the product Always observe the installation direction Keep the designated clearance between the Motion controller or servo amplifier and control panel inner surface or the Motion controller and servo amplifier Motion controller or servo amplifier and other devices Do not install or operate Motion controller servo amplifiers or servomotors that are damaged or that have missing parts Q Do not block the intake outtake ports of the Motion controller servo amplifier and servomotor with cooling fan Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil en
15. Stopper type SE ESCH Home position is set at the point where Stopper type 2 further motion is prevented by a physical stopper Proximity dog is not used Home position is zero point of servomotor e It is used in the system that the proximity dog Limit switch combined type Proximity dog is not used signal cannot be used and only external limit External limit switch is used Switch can be used Proximity dog type Count type 1 Stopper type 1 8 PARAMETERS FOR POSITIONING CONTROL Table 8 4 Home position return data list Setting range p gh Lag Initial use etting range nits etting range its etting range its g rang nits invalid of words 0 Reverse direction Address decrease direction 0 return direction 1 Forward direction Address increase direction 0 Proximity dog type 1 7 Dog cradle type 4 Proximity dog type 2 8 Stopper type 1 1 Count type 1 9 Stopper type 2 5 Count type 2 10 Limit switch combined type 6 Count type 3 2 Data set type 1 3 Data set type 2 214748364 8 21474 83648 2147483648 Home position A Oto ddr to to inch 359 99999 degree to PLS DE 214748364 7 21474 83647 i 2147483647 S 0 001 to Home position 0 01 to 0 001 to g 7 1 to return speed 6000000 00 600000 000 e 10000000 PLS s 0 001 to 0 01 to 0 001 to 1 to Creep speed soen og 600000 000 sae ee ee 10000000 T 214748364 7 ATA diens 21474 83647 2147483647 Parameter Block setting Home position return r
16. i Axes 1 to 8 can be set as a Virtual axis servomotor D Total Total Drives the virtual axis using input pulses from an external synchronous Synchronous encoder encoder This is a virtual link shaft ZS main Drive module rotation is transferred to the transmission module shaft Total Function Description Auxiliary This is the auxiliary input axis to the transmission module s differential gear Automatically displayed when a differential gear and standard gear are connected 1 Drive module rotation is transmitted to the output axis The travel value pulse input from the drive module is transmitted to the output axis as a function of the gear ratio and rotation direction defined by the user in the module s settings Transmits or disconnects the drive module rotation to the output module Direct clutches transmit directly to the output shaft while smoothing clutches perform an acceleration deceleration profile during ON OFF Direct clutch operation based on a set smoothing time constant setting ON OFF mode address mode can be selected to suit the application The external input mode can not be selected to suit the application A 2 The smoothing clutch can be set to use a time constant method or D l slippage method Changes the speed of an output module roller The setting speed change ratio is applied to input axis speed and Speed change transmits to the output
17. parameter block J of parameter block 3 P B 3 9 1 2 Servo program area 1 Servo program area Internal RAM memory of the Motion controller which stores the servo program created using MT Developer2 2 Servo program capacity The servo program area has a capacity of 16384 steps Servo programs are stored in the order in which their program No were created Program No 1 Program No 10 Program No 2 Servo program area 16k steps Fig 9 2 Servo program area If the servo program area has insufficient capacity execute multiple positioning control operations with one program using indirect setting of the servo program s positioning data 9 SERVO PROGRAMS FOR POSITIONING CONTROL 9 2 Servo Instructions The servo instructions used in the servo programs are shown below Refer to the Q173DCPU Q172DCPU Motion Controller SV13 SV22 Programming Manual Motion SFC for details of the current value change control CHGA CHGA E CHGA C 1 Guide to servo instruction list Table 9 1 Guide to Servo Instruction List Positioning data Parameter block o Ei 3 3 o 5 gt 9 I Ki o 2 e O Pitch Starting angle Amplitude at stop input Allowable error range for circular interpolation S curve ratio lion time Dwell time Auxiliary point Central point Frequency Reference axis No Control unit Program No WAIT ON OFF decel Address travel Fixed position stop acceleration Instructio
18. GE Unusable Virtual mode continuation operation Main disable warning em 3 Unusale O O Unusable 7 2 7 Synchronous encoder axis command signal list Signal name M5440 to M5443 Signal LM TERI DATAS direction Status o ere reset Main cycle signal Valid x Invalid 7 POSITIONING DEDICATED SIGNALS 7 2 8 Common device list Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE for details Device Signal Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle No direction No direction Note 4 Command M2000 PLC ready flag Main cycle i M3072 M2053 Unusable signal M2001 Axis 1 Status M2001 ist M2054 Operation cycle over flag Operation cycle E ESSI signal M200 Status M signal M2057 Unusable Note 1 Note 2 M2058 6 points M2059 M2060 M2061 M2062 M2063 Status Speed changing 5 signal Operation cycle accepting flag Note 1 Note 2 Start accept flag Operation cycle Unusable 24 points Unusable 24 points M2033 Unusable M2034 2 points Motion error history clear i Command M2035 Main cycle M3080 request flag signal M2036 Unusable M2037 2 points p At debugging mode M2038 Motion SFC debugging flag Status transition signal M2039 Motion error detection flag Immediate Speed switching point specified Command M2040 At start flag signal
19. Internal I F The GOT side is pigtail cable connector cable Incremental synchronous encoder Q170MIOCBL1M B Mark detection signal interface connector The GOT side is D SUB 9pin 24VDC power Q170MPWCBL2M Length 2m 6 56ft With solderless terminal R1 25 3 5 supply cable Q170MPWCBL2M E Length 2m 6 56ft With solderless terminal R1 25 3 5 With EMI terminal 24VDC power included with Q170MPWCON Connector for 24VDC power supply cable supply connector set jarroPwcon p SEE MR MQ100 MR MQ100 MR J3 LIB MR J3BUS Standard code for inside panel 0 15m 0 49ft 0 3m 0 98ft 0 5m 1 64ft 1m 3 28ft 3m 9 84ft MR MQ100 MR J3 LIB SSCNETII cable MR J3BUS Standard cable for outside panel 5m 16 40ft 10m 32 81ft 20m 65 62ft MR MQ100 MR J3 Long distance cable 30m 98 43ft 40m 131 23ft 50m 164 04ft Note 1 L1 Cable length 015 0 15m 0 49ft 03 0 3m 0 98ft 05 0 5m 1 64ft 1 1m 3 28ft 2 2m 6 56ft 3 3m 9 84ft 5 5m 16 40ft 10 10m 32 81ft 20 20m 65 62ft 25 25m 82 02ft 30 30m 98 43ft 40 40m 131 23ft 50 50m 164 04ft Note 2 Please contact your nearest Mitsubishi sales representative for the cable of less than 30m 98 43ft 2 SYSTEM CONFIGURATION 2 Table of Servo amplifier related items Model name Description Remark MR J3 MR J3 L B RJ004 For linear servo motor MR
20. JI E E 7 0 28 AMAA o de s 1 ER MER p nd 135 5 31 4 6 0 18 30 1 18 30 1 18 a l4 gt s o App 10 APPENDICES APPENDIX 2 2 Battery holder 1 Battery holder For Q6BAT a URHU FES UHU amp S Ip E E er d Chic A Y AH 2 4 0 09 47 2 1 86 1 5 0 06 26 2 1 03 unit mm inch 49 6 1 95 3 1 0 12 c C 22 6 0 89 2 Large capacity battery holder For Q7BAT m 29 4 1 16 10 0 39 U al le 2 4 0 09 47 2 1 86 gt gt unit mm inch 27 1 1 09 1 5 0 06 H 45 9 1 81 2 0 08 21 4 1 08 gt gt 6 9 0 27 26 2 1 03 gt 34 1 1 37 App 11 APPENDICES APPENDIX 2 3 Connector 1 24VDC power supply connector Tyco Electronics AMP K K make Type connector 1 1827864 2 Terminal 1827587 2 12 45 0 49 E iG LI unit mm inch 7 6 0 30 1 9
21. X Y M B F UL 1 to 5000 ms X Y M B F UH 1 to 65535 ms X Y M B F UDG 9 SERVO PROGRAMS FOR POSITIONING CONTROL Table 9 3 Positioning data Continued Setting value using the Motion SFC program Indirect setting Indirect setting Processing at the setting error Setting range Possible Number of used EON item information Control using Not start L M 1 to 600000000 1 to 600000000 Nee rer 10 102 10 x ele x19 degree min 1to 2147483647 mm min inch min Note 5 PLS s Control by 1 to 5000 ms 1000 ms Control by 1 to 65535 ms 1000 ms 9 SERVO PROGRAMS FOR POSITIONING CONTROL MEMO 10 MOTION SFC PROGRAMS 10 MOTION SFC PROGRAMS 10 1 Motion SFC Performance Specifications This chapter describes the Motion SFC program Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual Motion SFC for details a Motion SFC Performance Specifications Code total Motion SFC chart Operation control 543k bytes Motion SFC program capacity Transition Text total 484k bytes EH control Transition Number of Motion INumber of Motion SFC programs programs egenen No 0 to 255 Motion SFC chart size program Up to 64k bytes Included Motion SFC chart comments Number of Motion SFC steps program Up to 4094 steps Moti F otion SFG program Number of selective branches branch 255 Number of parallel branches oranch HH
22. i Status M2041 System setting error flag Operation cycle i signal M2042 All axes servo ON command Operation cycle M3074 Command Real mode virtual mode At virtual mode 043 ae Signal M3075 switching request SV22 transition Real mode virtual mode switching status SV22 M2094 M2095 M2096 Unusable M2097 8 points M2098 M2099 M2100 M2101 N DS w2067 m2069 12070 m2071 m2072 m2073 DS DS 12076 Da DS m2079 m2081 208 DS m2084 m2085 DS M2087 eme DS m2090 DS 2092 2094 m2095 2096 m2097 2096 w209 w2100 m2101 M2102 Synchronous M2103 encoder current Status M2104 value changing flag signal Operation cycle Note 3 Note 1 M2106 Note 2 M2107 12 axes M2108 M2109 M2110 Unusable M2111 4 Points M2112 Real mode virtual mode At virtual mode M2045 switching error detection transition signal SV22 M2046 Out of sync warning SV22 M2047 Motion slot fault detection flag Operation cycle JOG operation simultaneous start command M2049 All axes servo ON accept flag Operation cycle Unse o Status signal Command Main cycle Signal Status M2113 Signal Unusable Command 6 points 0 M2051 Main cycle M3077 Manual pulse generator 1 enable flag signal ASSEN eco 7 POSITIONING DEDICATED SIGNALS Common device list Continued Device Signal Signa
23. 2A J Twisted pair cable Note Use a cable of wire size AWG22 EMI COM 2 EMI 1 5556PBTL Terminal 5557 02R 210 Connector App 4 APPENDICES APPENDIX 1 3 Internal I F connector cable Fabricate the MR MQ1 00 s internal I F connector cable on the customer side 1 Connection diagram with differential output type Make the cable within 30m 98 43ft MR MQ100 HBL HBH HAL HAH HB Differential output type Manual pulse generator Incremental synchronous HA encoder side SG 5V SG 5V SEL SG D01 COM2 D02 COM2 Output Input detection input side Twisted pair cable Note Connect SEL to the SG terminal if differential output type is used App 5 APPENDICES 2 Connection diagram with voltage output open collector type Make the cable within 30m 98 43ft MR MQ100 HBL HBH HAL HAH HB voltage output open collector type Manual pulse generator Incremental synchronous encoder side HA SG 5V SG 5V SEL SG G D01 coM2 D02 com2 Output A8 8 DI DON DI3 6 8 Input Mark detection input side DI2 DON DI4 FG 88 Twisted pair cable Note When Voltage output Open collector type is used open between SEL and SG App 6 APPENDICES
24. B 100 43800 39000 T After SM51 SM52ON The actual service value indicates the average value and the guaranteed time indicates the minimum time The power on time ratio indicates the ratio of Motion controller power on time to one day 24 hours Power on time ratio z x100 70 When the total power on time is 17 hours and the total power off time is 7 hours the power on time ratio is 70 The guaranteed value MIN equivalent to the total power failure time that is calculated based on the characteristics value of the memory SRAM supplied by the manufacturer and under the storage ambient temperature range of 25 C to 75 C 13 to 167 F operating ambient temperature of 0 C to 55 C 32 to 131 F The guaranteed value TYP equivalent to the total power failure time that is calculated based on the normal air conditioned environment 40 C 104 F The actual service value Reference value equivalent to the total power failure time that is calculated based on the measured value and under the storage ambient temperature of 25 C 77 F This value is intended for reference only as it varies with characteristics of the memory In the following status the backup time after power OFF is 3 minutes The Q6BAT lead connector Q7BAT lead connector is disconnected Lead wire of Q6BAT Q7BAT is broken Set the battery Q6BAT Q7BAT to battery holder 6 INSPECTION AND MAINTENANCE
25. Before touching the Motion controller always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the Motion controller to fail or malfunction Q Do not directly touch the Motion controller s conductive parts and electronic components Touching them could cause an operation failure or give damage to the Motion controller 6 INSPECTION AND MAINTENANCE 6 1 Maintenance 6 1 1 Inspection Instructions In order to ensure safe and normal operation of the Motion controller the below items must be inspected NDANGER Never open the front case while the power is ON or the unit is running as this may lead to electric shocks Never run the unit with the front case cover removed The high voltage terminal and charged sections will be exposed and may lead to electric shocks Never remove the front case at times other than wiring work or periodic inspections even if the power is OFF The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to electric shocks or fire Do not tou
26. Do not remove the SSCNETII cable while the power supply of the Motion controller or servo amplifier is turned on Do not look directly into the light generated from SSCNETII connector of the Motion controller servo amplifier or from the end of SSCNETII cable The light can damage the eye The light source of SSCNETII cable complies with class1 defined in JISC6802 or IEC60825 1 When replacing the servo amplifier or the Motion controller be sure to put a cap on the SSCNETII connector When sending a servo amplifier or Motion controller back for repairs also be sure to put a cap on the SSCNETII connector Without a cap the light device may be damaged during transit If this is the exchange or repair of the light device will be required Cable specifications a MR J3BUSLIM Model name MR J3BUS015M MR J3BUSOSM MR J3BUSO5M MR J3BUS1M MR J3BUS3M Cable length m ft 0 15 0 49 MR J3BUSOM A Model name MR J3BUS5M A MR J3BUS10M A MR J3BUS20M A Cable length m ft 5 16 40 0 32 81 0 65 62 c MR J3BUSOM B Model name MR J3BUS30M B MR J3BUS40M B MR J3BUS50M B Cable length m ft 0 98 43 0 131 23 0 164 04 2 SYSTEM CONFIGURATION 3 Setting of the axis No and axis select rotary switch of servo amplifier Axis No is used in the program to set the axis numbers of any servo amplifiers connected to the motion controller via SSCNETII Set the axis select rotary switch of the servo amplifier to 0 be
27. Note 1 Note 2 21 6 to 26 4VDC 24VDC 10 m ratio 596 or less Input type tow CS Permissible instantaneous power off time Note 4 Note 5 10ms at 24VDC input Input voltage 0 7kg 178 H x 30 W x 135 D mm De 7 01 H x 1 18 W x 5 31 D inch Installation method It fixes directly to the control S Exterior dimensions Note 1 Input power supply MR MQ100 is rated for use with a 24VDC input power supply only The MR MQ100 unit breaks down when 28VDC or more is input Note 2 Select 24VDC power supply and electric wire within the range of 21 6 to 26 4VDC including any input ripple or spike voltage measured at the input connector of the MR MQ100 Note 3 Inrush current Take care that the inrush current of several amperes may flow when the sharp square voltage is applied or the power supply is turned ON with the mechanical switch Turn on the primary AC side of power supply When selecting a fuse and breaker in the external circuit take account of the blow out detection characteristics and above points Note 4 Allowable momentary power failure period a An instantaneous power failure lasting less than 10ms 24VDC down to be detected but operation will continue b An instantaneous power failure lasting in excess of 10ms may cause the operation to continue or initial start to take place depending on the power supply load Note This is for a 24VDC input This is 10ms or less
28. The manual pulse generator axis setting error is stored in bO P1 SD515 setting error infonistion The smoothing magnification setting is stored in b3 P1 SD514 One pulse input magnification setting error is stored in bO axis 1 6 Error program Error program No When the servo program setting error flag SM516 turns on the erroneous No of servo program servo program No will be stored D517 Error item Error code of servo When the servo program setting error flag SM516 turns on the error code information program corresponding to the erroneous setting item will be stored n tim Main cycle is stored in the 1ms units D520 Scan time Scan ime iR LAE i e 1ms units Setting range 0 to 65535 ms e e S Main processing D521 Maximum scan Maximum scan The maximum value of the main cycle is stored in the 1ms units time time 1ms units Setting range 0 to 65535 ms D522 Get operation nin operation The time required for motion operation cycle is stored in the ys unit S Operation cycle Is cycle cycle Operation cycle Operation cycle of the Motion CPU The setting operation cycle is stored in the ys unit S Initial processing CPU setting setting D700 allocated devices allocated number The number of devices that are set is stored S Initial processing all D720 444us Coasting 444us Coasting It is counting up 1 each 444us No latch device When power is on it will be 2 S
29. ial positioning method is shown to the right A TES mum ncremental o o data method 214748364 7 21474 83647 21474 83647 1 to 2147483647 ym Absolute T p SE EE EE Ge e 2147483648 ot 59 9999 2147483648 data method um i to 21474 83647 to 2147483647 Incremental T data method 0 to 2147483647 Number of pitches Set at the helical interpolation Si 0 to 999 Commlunt Can only be setto items ofthe speciied 3 o 1 2 89 parameter block which are to be changed 0 001 to Refer to Section 4 3 Parameter Block for 200000 PIG Dont 2147483 647 TIO details of each data PLS s 6000000 00 600000 000 degree min 2147483647 mm min inch min Note 5 PLS s Acceleration time 1000 ms 1 to 65535 ms Deceleration time 1000 ms 1 to 65535 ms deceleration time 0 to 100 74 Torque limit value 1 to 1000 Deceleration processing on STOP input Allowable error 0 to 10000 0 range for circular 100 PLS um 0 to 1 00000 0 to 1 00000 0 to 100000 interpolation H Auxiliary point Circular Interpolation Speed limit value Parameter block 0 Deceleration stop based on the deceleration time 1 Deceleration stop based on the rapid stop deceleration time 9 SERVO PROGRAMS FOR POSITIONING CONTROL Setting value using the Motion SFC program Indirect setting Indirect setting Processing at the setting error Setting range Error item information SeMnghangs
30. 7 segment LED Si Flowchart for when does not flash in the first digit of 7 segment LED Ann di c A00 displays on 7 segment LED A0O displays on 7 seament LED j gt Flowchart for when A00 displays on 7 segment LED a d ee Flowchart for when AL LO01 displays on 7 segment LED POWER LED turns off AL A1 gt 1 displays on 7 segment e LED Flowchart for when AL A1 gt O displays on 7 segment LED v SEET f BT 7 LED T dep eye on 7 segment Flowchart for when BTO displays on 7 segment LED A oe a y 9 s zdisplays on 7 segment LED Flowchart for when displays on 7 segment LED v h Servo amplifier does not start Servo ampliier does notstat st Flowchart for when servo amplifier does not start AL S01 displays on 7 segment LED i Spay i Flowchart for when AL S01 displays on 7 segment LED 6 INSPECTION AND MAINTENANCE a Flowchart for when the POWER LED turns off The following shows the flowchart when the POWER LED turns off while turning on the or during operation POWER LED turns off Ne Supply power Is there power YES NO Does POWER YES LED turn on Is the wiring terminal connection correct NO Connect wiring and fix terminal connection correctly Does POWER YES LED turn on Is the power supply voltage w
31. 7918L H41544144 b Mark detection signals allocation devices 7920 20m These devices allocate between the digital inputs DI1 to DI4 to the mark detection functions Setting value 1 fme mark detection signal is allocated to DI1 The mark detection signal is allocated to DI2 2 3 The mark detection signal is allocated to DI3 4 fme mark detection signal is allocated to DIA Ex1 Each mark detection functions is allocated to a different digital inputs DI 575 7920 1 Mark detection function 1 DI2 5 8 7940 2 1 Mark detection function 2 DI3 55 7960 3 m Mark detection function 3 DI4 ss 7980 4 Mark detection function 4 lt Ex2 gt All mark detection functions are allocated to a digital input D11 Di ss 7920 1 Mark detection function 1 DI2 5 8 7940 1 1 Mark detection function 2 DI3 So 7960 1 m Mark detection function 3 DI4 Si 7980 1 Mark detection function 4 13 AUXILIARY FUNCTION c Mark detection signal compensation time 7921 20m Unit us Use these devices to compensate delay of sensors and so on Setting values 3276810 1 Decrease in sensor delay us 0 to 32767 __ Increase in sensor delay us d Latch data type 7922 20m Select data type to latch at the mark sensors are detec
32. Ampltude sweep count Under intermittent 0 14inch 10 times each A vibration Vibration resistance 9 to 150Hz in X Y Z p E i 0 07inch For 80 min 147m s 3 times in each of 3 directions X Y Z Note 1 This indicates the section of the power supply to which the equipment is assumed to be connected between the public electrical power distribution network and the machinery within premises Category I applies to equipment for which electrical power is supplied from fixed facilities The surge voltage withstand level for up to the rated voltage of 300V is 2500V Note 2 This index indicates the degree to which conductive material is generated in terms of the environment in which the equipment is used Pollution level 2 is when only non conductive pollution occurs A temporary conductivity caused by condensing must be expected occasionally Note 3 Do not use or store the Motion controller under pressure higher than the atmospheric pressure of altitude Om Doing so can cause an operation failure NCAUTION The Motion controller must be stored and used under the conditions listed in the table of specifications above When not using the module for a long time disconnect the power line from the Motion controller or servo amplifier Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store When storing for a long time please contact with our
33. Buit n Dthermet port on Network T Finds CPU Duit in Ethernet port on the same network This cannot be performed when the falloning happens hio responce satt a spectic time perc Connected va a router cr Do not respond to search for CPU Duin Dthemet port is checked in PLC parameter PC side I F Ethernet Board Setting Select TCP or UDP to be same as Open Setting PC side I F Ethernet Board Setting Network No Station No Cancel This is the layout setting layout For the Ethernet board Please execute the following setting Network No Network No of Ethernet module set in parameter Station No Station No that does not overlap on the same loop Network No and station No are not used when communicating with an Ethernet port of CPU Built in Ethernet port Protocol TN 12 6 12 COMMUNICATION 2 Hub connection setting a IP Address The IP address of the Motion controller has to be considered when the IP address of the computer is already set The below setting is one example For instance the IP address of the computer is 192 168 1 1 The IP address of the computer General You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings C Obtain an IP address automatically r f Use the following IP address For instance IP address
34. Command Main cycle oeren cycle o Vase 0 0 0 0 0 Main cycle Command At start At start Command signal At virtual mode transition Operation cycle Note Operation cycle Command Operation cycle i signal Ea Note 1 It is unusable in the real mode Note 2 Operation cycle 7 1 ms or more Every 3 5 ms 7 POSITIONING DEDICATED SIGNALS 7 2 4 Virtual servomotor axis status list Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual VIRTUAL MODE for details Signal name 4 M4000 to M4019 M4020 to M4039 vmu M4040 to M4059 Refresh Fetch Signal Signal name Ball Rotary 4 M4060 to M4079 Roller cycle cycle direction screw table 5 M4080 to M4099 6 M4100 to M4119 nm Positioning start complete Backup Gg Status M4120 to M4139 D Positioning complete PESE signal 8 wai4otomaiss 2 Unusable o AES Command in position Em Status Backup O Speed controlling cycle signal 3 Immedi Status 7 Error detection Backup O ately signal Operation Status M code outputting signal Backup BE ESCH g O Valid PE wo a fo Jo Jo Jo Jo Ja Joa Ja O JOIN ID a m 2 o 1 Axes 1 to 8 can be set as a Virtual axis Up to 3 axes can be used In the positioning dedicated signals n in M4007 20n etc indicates a value corresponding to axis No such as the following table SSE a a
35. Detail Setting Property Value Transmission Speed BPS 38400 3 Precautions a Communication with RS 422 can be performed only when the motion controller is starting in the normal mode When a system setting error etc occurs it is possible to communicate only if the motion controller is in the normal mode b It is not possible to communicate in the installation mode c When a rate faster than 38400bps is specified say when 57600 115200 bps is set the speed is automatically set to 38400bps 12 10 13 AUXILIARY FUNCTION 13 AUXILIARY FUNCTION 13 1 Mark detection function The mark detect function latches various data such as real current value etc when a mark sensor Digital input signal input changes state Specification Digital input signals DH DI2 DI3 and DI4 Valid on leading rising edge Input Module Detect Direction Valid on trailing falling edge Selectable in System Structure of MT Developer2 Mark ou signal compensation time 32768 to 32767us Mark input accuracy Total 7 types Real current value Feed current value Position feed back Feed current value of virtual servomotor Latch data Current value of synchronous encoder Current value within 1 cam shaft revolution Real current value Current value within 1 cam shaft revolution Feed current value Number of continuous Up to 32 Sarre aa data that can be stored Range of latch data of latch data 2147483648 t
36. Ee c Flowchart for when A00 displays on 7 segment LED A00 displays when the operating system software is not installed The following shows the flowchart when the A00 displays at the power supply ON or operation start A00 displays on 7 segment LED Is the operating system software installed to Motion controller Install the operating system software Reset the Motion controller Does A00 disappear on 7 segment LED Explain the error symptom and get advice from out sales representative 6 INSPECTION AND MAINTENANCE eee d Flowchart for when AL gt L01 displays on 7 segment LED AL flashes 3 times gt Steady L01 display displays at the system Setting error occurrence The following shows the flowchart when the AL flashes 3 times Steady L01 display displays during operation AL gt L01 displays on 7 segment LED Confirm details of error by Motion controller error batch monitor of MT Developer2 Does a ROM ERROR O occur Is ROM operation executed Set a rotary switch1 SW1 to 0 a Set a rotary switch SW1 to 0 a rotary switch2 SW2 to 6 of Motion rotary switch2 SW2 to 0 of Motion controller and then execute ROM controller writing Mode operated by RAM Reset the Motion controller Does A00 L01 disappear on 7 segment LED NO YES END 6 INSPECTION AND MAINTENANCE e Flow
37. PERIPHERAL I F ConnectionviaHUB o gt o O Possible x Impossible Note 1 Functionality varies by version Please see Section 1 3 for details 12 1 Connection to peripheral devices There are two ways to communicate between the Motion controller and a computer Direct connection and Hub Connection Ethernet cables and parameters are different for Direct connection and Hub Connection Please note there are two types of Ethernet cables Crossover cable and Straight cable Refer to the section 2 1 2 12 1 1 Direct connection Direct connection uses an Ethernet cable between the Motion controller and a computer Select Direct connection on the Transfer Setup screen of MT Developer2 No need to set IP address IP Input Format or Protocol Computer Ethernet cable Crossover cable HO Exp PERIPHERAL I F Ethernet MT Devel 2 eveloper Leo LE g 12 COMMUNICATION 1 Direct connection settings Select Ethernet Port Direct connection on the Transfer Setup screen Transfer Setup Online Transfer Setup 1 Select Ethernet Board for PC side I F 2 Select CPU Module for CPU side I F Select the Ethernet Port Direct Connection on the CPU side I F Detail Setting of PLC Module screen 3 Choose this setting for Other Station Setting CPU side I F Detailed Setting of PLC Module Online gt Transfer Setup gt CPU
38. Virtual axes 8 Output axis 1 Synchronous encoder 1 7 2 1 Internal relay list User device 2000 points M2000 Common device 320 points to 80 points Axis status Real mode Axis status 20 points x 1 axis Virtual mode Output module 652 points 64 points 64 points e command signal Real mode Axis status 20 points x 1 axis Virtual mode Output module 780 points 20 points x 8 axes 480 points 4 points x 1 axis 156 points 20 points x 8 axes EB 1 480 points 4 points x 1 axis 44 points M5488 User device 2704 points M8191 P 7 POSITIONING DEDICATED SIGNALS Not available 4096 points TT Itcan be used as an user device Note 1 It can be used as a user device in real mode only Note 2 Do not set M4000 to M5487 as the latch range in Virtual mode Note 3 Cam axis command signals and Smoothing clutch complete signals can be set to the parameters of any device Note 4 Only the area of the axis set in Mechanical System Program is occupied The area which is not used in Mechanical System Program can be used by users 1 Total number of user device points 4704 points 2 This manual explains only the data registers that are used in Virtual mode Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE for information regarding other data registers 7 POSITIONING DEDICATED SIGNALS 7 2 2 Axis status li
39. by 1 per 444ys D721 Timer Timer 0 and then it starts counting up Motion CPU Error meaning of WDT error cause WDT error occurs S Occur an error 7 g 2 77 o m o 9 SA o o ct o 5 n n n n CH vJ 77 7 POSITIONING DEDICATED SIGNALS 7 6 I O devices 7 6 1 Input device list User devices PX assignment 4096 points X1000 Not available 3584 points X1E00 Input devices for extension IO unit 16 points x 1 axis Not available 496 points 7 6 2 Output device list YO User devices PY assignment 4096 points Y1000 Not available 3584 points Y1E00 Output devices for extension IO unit to 16 points x 1 axis Y1E10 to YAFFF Not available 496 points 7 POSITIONING DEDICATED SIGNALS 7 6 3 Input device Axis MR J3 D01 Ns 1 input signal Dit CN10 2 2 nputsignalDiI2 ona 3 nputsignalDiS cNt0 4 4 Jena song Di ons e Input signal DI5 CN10 6 fern onar Operation cycle 0 8 ms or less 0 8 ms l Operation cycle 1 7 ms 1 7 ms Status signal 8 npusignalDi amp ous Operation cycle 3 5 ms or more 3 5 ms 9 input song pg CNi0 10 B inputsignal Dit oos C mputsignaDH2 omg D putsignalDH3 CNt0 16_ LE input sigar Di4 CNt0 17_ 7 6 4 Output device Axis MR J3 D01 0 Output signal DOO oos L6 Output s
40. e Abbreviation for Motion controller programming software MT Developer2 Abbreviation for Servo setup software package MP Configurator MR Configurator Version C1 or later Abbreviation for Servo setup software package MR Configurator2 MR Configurator2 Version 1 00B or later ss CNETII Note 2 High speed synchronous network between Motion controller and servo amplifier General name for system using the servomotor and servo amplifier for Absolute position system Rut absolute position Note 1 This software is included in Motion controller engineering environment MELSOFT MT Works2 Note 2 SSCNET Servo System Controller NETwork 1 OVERVIEW For information about each module and design methods for programs and parameters refer to the following manuals Reference Manual Operation method for MT Developer2 Help of each software Performance specification P Q173DCPU Q172DCPU Motion controller Design method for common parameter 3 S Programming Manual COMMON Auxiliary and applied functions common Design method for Motion SFC program Q173DCPU Q172DCPU Motion controller SV13 SV22 e Design method for Motion SFC parameter Programming Manual Motion SFC Design method for positioning control program in the real mode Q173DCPU Q172DCPU Motion controller SV13 SV22 Design method for positioning control Programming Manual REAL MODE parameter SV22 Design method for mechanical system Q173DCPU Q
41. loading 1 non loading 0 of the servo amplifier checked in initial process and stored as the bit data Servo amplifier d SD502 b0 Axis 1 Servo amplifier i loading loading informati n S Initial processing information 9 The axis which turned from non loading to loading status after power on is handled as loaded However the axis which turned from loading to non loading status remains as loaded Real mode virtual Real mode virtual When a mode switching error occurs in real to virtual or virtual to real mode switching mode switching mode switching or a mode continuation error occurs in the virtual mode its S Occur an error error information error code error information is stored It is operating in requirement error le Each axis is stopping 0 Operating 1 information is stored as a bit data occurrence of the SD510 b0 Axis 1 test mode axis information Test mode request error The following error codes are stored in SD512 1 S W fault 1 2 Operation cycle over 3 4 WDT error 201 to 215 250 to 253 Servo amplifier interface H W fault 300 S W fault 3 301 15 CPSTART instructions of 8 or more points were started simultaneously 303 S W fault 4 Contents of the manual pulse generator axis setting error is stored when the manual pulse generator axis setting error flag SM513 turns on Manual pulse SD513 Manual pulse e Normal O Setting error 1 SD514 generator axis ER SD513
42. rotation control Reverse Position follow up PVR 2 D n 1 Constant speed control passing point absolute specification Constant speed contro SIESIESIESIESIETIESTE PE ESI IRL gt Di SE p Constant speed control passing point helical absolute specification gt D mH il Esse Renee E ee ENTER SERRE RECEN ERE RR BEER MI EUR eS WERTEN LU IT Ieee TL me TE S Ee ee E dE Elek ed eee S RERO EUN ERRARE ESSET EE EXIST ES E SEA ESSI EN EE RES Rd EE ERR ERREUR SIL Lae EDAD ES SIE ER ES E ETE EHE TEUER EE EIC E ded ES ala I I P 9 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data Number of steps 610 19 dois uonisod pexi nH E euin uoneJojooop uoneJojoooe dois uonisod pexi4 S O S d bee Tole eT uomeJjojeoep uoneje oo9e NIJ oi m BEBE feo psp peeds puewwog el sl oem uonipuoo jeedeH o all uonejodaojur Je n9JI9 10 eBueiJ 10119 ejqewolv 2 Note Note 2 Note 2 1 1B N indui dois ye DuisseooJud uonejJojooeq en eA Wu enbJo euin uoneJo ooop dois pidey O Parameter block euin uone1sjeoeq euin uomeJejeooy N en eA Uu peeds O yun OO H L 91O0N ON SIE eoueJojeH o E o d PUE HEN e N n E E H 9 to 14 A Set if req
43. 04inch or more Leave at least 30mm 1 18inch of space between the MR MQ100 and any object to its left 3 Motion controller mounting orientation a Mount the Motion controller in the orientation shown below to ensure good ventilation for heat release b Do not use it in any of the orientations shown below XX X Horizontal installation Flat Upside down 4 Mounting surface Mount the Motion controller on a flat surface If the mounting surface is not even this may strain the printed circuit boards and cause malfunctions 5 Mounting of unit in an area where other devices are mounted Avoid mounting the Motion controller in proximity to vibration sources such as large magnetic contactors and no fuse circuit breakers Mount these on a separate panel or at a distance 4 INSTALLATION AND WIRING 6 Distances from other devices In order to avoid the effects of radiated noise and heat provide the clearances indicated below between the Motion controller and devices that generate noise or heat contactors and relays In front of the Motion controller 100 mm 3 94 inch or more On the left of the Motion controller 30 mm 1 18 inch or more 100mm 3 94 inch or more 30mm 1 18inch or more Contactor relay etc Contactor relay etc 1 Make sure to tighten both the upper side screw and the bottom side screw 2 Tighten the screws within the specified torque range 3 Ifthe screws a
44. 2 Note 2 1 Note 2 1 Note 2 18 1 1 8 18 1B x 2 E S o o O 9 S o o S9 eo c 9 e fe o o D x iL Allowable error range for circular Must be set A Set if required Note 1 Only reference axis speed specification Note 2 B indicates a bit device 9 SERVO PROGRAMS FOR POSITIONING CONTROL Table 9 2 Servo Instruction List continued Positioning data gt E Q I o EI Dwell time Auxiliary point Instruction Processin symbol ng Parameter block No Address travel value Command speed Torque limit value Positioning control START Simultaneous start ZERO Home position return start High speed oscillation CHGA Servomotor Virtual Servomotor Shaft Current Value Change CHGA E Encoder current value change CHGA C CAM shaft current value change switching control constant Speed control same control used in speed ee o c S Ss o e Oo a Simultaneous position High speed oscillation Current Value 9 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data Parameter block Number of steps Note 1 Only reference axis speed specification dois uonisod Gast euin uoneJojooop uoneJojoooe dois uonisod pexi4 uonejodaojur Je n9JI9 10 fue 10119 e qewolv indui dois ye DuisseooJud uonejojooeg anjea Wu enbJo euin uoneJo ooop dois pidey euin uo
45. 2 In order to avoid changes in operation do not remove the motion controller s printed circuit boards from the enclosure 3 Tighten the Motion controller s fixing screws and FG terminal screws within the tightening torque range specified below Tightening torque range Motion controller FG terminal fixing screw 0 82 to 1 11 N m M4 X 12screw Motion controller fixing screw M5 screw 2 75 to 3 63 Nem Note Note Torque range applies when the mounting panel is 2mm 0 88inch thick and a fastening nut is used to secure the screw from the back side of the panel 4 INSTALLATION AND WIRING 4 1 2 Motion Controller Installation Be sure to fix the motion controller to the control panel using fixing screws Not doing so could result in vibration that may cause erroneous operation Mount the motion controller in the following procedure a Temporarily fasten the bottom side screw Control panel Bottom side screw o b Place the bottom side notch of the Motion controller onto the bottom side Screw Control panel pe pem H ei l H c Seta screw through the upper side hole of the motion controller to the control panel Control panel d Tighten both of the upper side screw and the bottom side screw 4 INSTALLATION AND WIRING 4 1 3 Motion Controller Mounting Instructions When mounting the Motion controller to an enclosure or similar fully consider its operability maintai
46. 4 0 37 5 9 9 0 35 0 23 2 Internal I F connector HONDA TSUSHIN KOGYO CO make Core size AWG Remark soldering type connector HDR E50MSG1 AWG19 to AWG22 Attachment Pressure displacement HDR E50MAG1 AWG28 type connector HDR E50MG1 AWG30 S connector case HDR E50LPH Attachment unit mm inch 22 8 0 90 l p9 0 35 C Ak A S aft wW w x es s2 z Tz oo ad Er 3 Lo N 33 8 1 33 Ei 8 0 31 o A Hog sp App 12 APPENDICES 3 SSCNETII cable connector unit mm inch 4 8 0 19 poris he 13 4 0 53 Pit 15 0 59 17 63 0 2 0 692 0 01 20 9 0 2 0 82 0 01 6 7 0 267 9 3 0 37 App 13 APPENDICES MEMO App 14 WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range We will repair any failure or defect hereinafter referred to as failure in our FA equipment hereinafter referred to as the Product arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider However we will charge the actual cost of dispatching our engineer for an on site repair work on request by customer
47. CPU Name Setting Built in Ethernet Port Setting Label MR MQ100 Comment MR MQ100 No 1 Length Enter a label name and or Label Up to 10 characters purpose of the Motion controller Enter comments regarding the Up to 64 characters Comment Motion controller The Find CPU Built in Ethernet port on Network function in the CPU side I F Detailed Setting of PLC Module conveniently shows the below information when MT Developer2 and the Motion controller are connected via the PERIPHERAL I F Ethernet IP address CPU type Label Comment 12 COMMUNICATION 12 2 Connection with GOT The Motion controller can connect GOT with using the RS 422 communication interface Internal UE connector cable Q170MIOCBL1M A The GOT side is a pigtail cable GOT communication I F Q170MIOCBL1M B The GOT side is D SUB 9pin 1 Connection between the MR MQ100 and GOT Diagram of the connection between the MR MQ100 and GOT GT1020 is shown below MR MQ100 GOT Sio ox L E PERIHERAL VF Q170MIOCBL1M A SSS E 2 Controller setting with the GOT device Set the parameter with the GOT device in Controller Setting of GT Designers Example for setting GOT1020 is shown below Manufacturer MITSUBISHI v Controller Type MELSEC QnU v Vr Standard I F RS422 232 v Driver QnA Q CPU
48. Classification Device ASCII code Device number range Remarks Note 1 Binary code Internal system Special relay 000000 to 002255 device Special register sp a h 000000to002255 SD 000000 to 001FFF Including actual input device PX Including actual input device PY Internal user device Link relay B 000000 to 001FFF Hexadecimal D Note 1 When data is communicated in ASCII code the second character can be designated a blank space code 20H 4 Precautions a Number of connected modules In the connection with external devices using the MC protocol the number of Motion controllers set as MELSOFT connection in the Open Settings on Built in Ethernet Port setting of Basic Setting can be connected simultaneously b Data communication frame Table below shows the frames available in the communication function using the MC protocol with PERIPHERAL I F EE Communication function using the MC protocol I l S with PERIPHERAL I F x Etam x 000 QnA compatible 3E frame EE re A compatible 1E frame O Available x Not available c Access range 1 Only Motion controller connected by Ethernet can be accessed Accessing a Motion controller not connected by Ethernet results in an error d Precautions when UDP protocol is selected 1 Ifa new request message is sent to the same UDP port while the port waits for a response message the new request message is discarded 2 Setting same host station po
49. IB NA 0300137 14 1 Self diagnosis errors When an error occurs check the error code and details using the Motion CPU Error Batch Monitor of MT Developer2 then troubleshoot the causes of the error n Motion CPU Error Batch Monitor MT Developer D Users tominaga Documents MTDZMQI0O POWER ONOFP MTDZWMQ100 5V22 i i ciem LACILILEE PEL LA JB movon ceu error sateh montor Check on error No to diginy Error Pep PLC ReadytM2000 POPU Beggen System Setting tr AB AX Servo ON M2042 no mor AW OTT System setting error Self diagnosis error we rm wm P Aus Cre Code re Centers e HESE Positioning error fecht Block ho BATTERY ERROR voltage n the CPU module battery has dropped below Im gt Motion SFC error Motion SFC parameter error 1179 1600 ctpxinted level Or the inad connector uriestali WOT Error Cause 50512 BATTERY ERROR Voltage in the CPU module battery has dropped below Z 19 Zeen 1600 stipulated level Or the lead connector uninstall Self dagnosti Errer S00 e 1 9 1656 o CDM 14 Desleraion lese is set Lo Ores JOG Samad Set ai 1 5 kb 5 ses 15 Rapid stop deceleration tme is set to ms tn Debug Mode M2030 11 9 16 SCC 14 Deceleration teme is set to Ora been Test Request Error 5M510 uj un 1 Rad stop deceleration tme is set to Oms MAN PLS 1 Enabie M2051 Unusable by User M2052 11 9 SI The rapid steo dece
50. IFT2 operation execution completion If the transition of condition SFT Gn condition is not met transitions to the right connected step If preceded by a subroutine call or starting step transitions to the next step after meeting the transition condition without waiting for subroutine operation completion If transition condition is not met transitions to the right connected step IFBm JMP IFEm IFEm 10 4 10 MOTION SFC PROGRAMS Symbol Classification Name 7 List representation Function Code size byte f preceded by a motion control step waits for motion operation completion and then transitions to the next IFBm step after meeting transition condition Gn GO to En G4095 If transition condition is not met transitions to the right connected step WAIT Gn 9 j T Not i If preceded by an operation control step transitions to Sech JMP IFEA the next step after meeting the transition condition and Transition WAIT Y N N Ir after operation execution If transition condition is not Completion Y met transitions to the right connected step iti WAIT Gn ofeondiian f Same operation as Shift If preceded by a subroutine call or starting step waits JMP IFEm j y arting step IFEm for the subroutine operation completion and then transitions to the next step after meeting the transition condition If the transition condition is not met transitions to the right connected step Jumps
51. J3 LB RJ006 For fully closed control MR J3 series servo amplifier zm MR J3 LIB RJ080W For direct drive motor Refer to the servo amplifier MR J3 OS For safety servo instruction manuals Extension IO unit MR J3 D01 For I O signal analog I O data Back up for the absolute position Battery MR J3BAT up PEN detection 3 Software packages a Operating system software Application For automatic machinery SV22 SW9DNC SV22QW CD ROM 1 disk b Motion controller engineering environment MELSOFT MT Works2 for MR MQ100 SW1DNC MTW2MQ E CD ROM 1 disk MT Developer Note 1 This software is included in Motion controller engineering environment MELSOFT MT Works2 c Servo set up software package MR Configurator MRZJW3 SETUP221E Version C1 or later MR Configurator2 SW1DNC MRC2 E Version 1 00B or later 1 When operating this software if the operation of Windows is unclear please refer to a Windows manual or guide book from another supplier 2 Use standard size font setting in Windows When using the Big font setting the display might not be shown properly 2 SYSTEM CONFIGURATION 2 4 General Specifications General specifications of MR MQ100 Motion Controller are shown below 0 to 55 C 32 to 131 F 25 to 75 C 13 to 167 F Note 5 to 9596 RH non condensing Storage ambient humidity 5 to 9596 RH non condensing Frequency Acceleration
52. M M M M MM M 86 S i i 24VDC ower supply i pa for electromagnetic brake M avoe 24 0 oo power i i l o supply 2460 i v p e 4 i i i Operation Operation i ready ready OFF ON CP4 Ral i KL cp o o o amp l olo0 5 0 uc MC Sm AAA ry 3 DESIGN Motion SFC program example is shown in the right record lt Examplo Forcontrol axis It is also possible to use a full wave rectified power supply as the Servo error detection power supply for the electromagnetic brake It is also possible to use forced stop signal of the servo amplifier IF 1 SET PYm PYm ON with initial It is recommended to use one leakage breaker for one servo ON normal A ein When electric power is supplied to multiple servo amplifiers for one M2408 SE EE leakage breaker select the wire connected to the servo amplifier IF 2 according to the capacity of the leakage breaker RST PYm OFF abnormal error END Note 5 Be sure to shut off both the main circuit power supply L1 L2 L3 and control power supply L11 L21 at the time of exchange of servo amplifier At this time it is not possible to communicate between the servo amplifier and Motion controller Therefore be sure to exchange the servo amplifier after stopping the operating of machine beforehand ELB2 or MER Note 4 U olf NR E oe 1 PAY LI man H vi i o L2 V o SM REN wi Ra2 S L3
53. MR MQ100 requires 24VDC The pins layout from front view of the 24VDC connector is shown below 24V 24G b DC24V power supply cable Connect 24V to the 24VDC power supply connector as shown in the table below Signal Name 1B 2AN 4 2B 24G Applicable connector model name 24VDC power supply connector set Q170MPWCON Attachment 1 1827864 2 connector Tyco Electronics AMP K K make 1827587 2 terminal Conductor size for power supply wiring 0 34 to 0 37 mm AWG22 2 SYSTEM CONFIGURATION Termination of the cables When the 24VDC power supply cable is produced with the customer a crimping tool is necessary Please refer to the manual of the manufacturing maker of the crimp tool for details Sheath Core 2mm 0 3mm gt 0 1 to 0 65mm poe terminal A CAUTION 24V pin is upper side and 24G pin is lower side of 24VDC connector of MR MQ100 If the polarity is wrong the unit may be damaged Recommend the use of twisted pair cabling for 24VDC input Power off the unit before wiring 24VDC input Use proper size wire for 24VDC Do not connect to pins 1A or 2A of the 24VDC power input connector 2 SYSTEM CONFIGURATION 2 5 4 SSCNETITII cables and connection method MR J3BUS MR J3BUS This section describes how to connect between the Motion controller and servo amplifier SSCNETII cabling is used between the Motion controller and servo amplifie
54. Motion controller SV13 SV22 Programming Manual REAL MODE for details Device N Sianal Signal direction Refresh Fetch evice No ignal name cyce age Seventh error information in past 8640 to 8651 i oldest error information 8652 to 8663 Sixth error information in past 8664 to 8675 Fifth error information in past Motion error history At error 8 errors 96 point occurrence Error information Seventh Fourth Third Signal name Latest in past in past in past Error Motion SFC program No Error type Error program No Error block No Motion SFC list Line No Axis No Error code 8645 8657 8669 8681 8693 8705 8717 8729 Error occurrence time Year month 8646 8658 8670 8682 8694 8706 8718 8730 Error occurrence time Day hour Error occurrence time Minute second Error setting data information Unusable Error setting data 7 POSITIONING DEDICATED SIGNALS 7 4 4 Mark detection devices Mark detection monitor devices 1 Mark detection Device No Signal name function No 1 8896 to 8975 Signal Signal name Refresh cycle NM direction 8976 to 9055 Mark detection data current monitor Operation cycle Number of marks detected At mark detection 9056 to 9135 d TIS Mark detection settings verification flag EN 36 to 9215 Not available Monitor device Se Latch data storage area 32 Ww N en pr p
55. Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF The insides of the Motion controller and servo amplifier are charged and may lead to electric shocks Completely turn off the externally supplied power used in the system before mounting or removing the module performing wiring work or inspections Failing to do so may lead to electric shocks When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Be sure to ground the Motion controller servo amplifier and servomotor Ground resistance 100 9 or less Do not ground commonly with other devices The wiring work and inspections must be done by a qualified technician Wire the units after installing the Motion controller servo amplifier and servomotor Failing to do so may lead to electric shocks or damage Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to electric shocks Do not touch the Motion controller servo amplifier or servomotor terminal blocks while the power is ON as this may lead to electric shocks Q Do not touch the built in power supply built in grounding or signal wires of the Motion controller and servo amplifier as this may l
56. and positioning data When a program number and the required servo instructions are specified using MT Developer2 the positioning data required to execute the specified servo instructions can be set Explanation of the program K Program No 11 ABS 1 1 axis linear interpolation control as absolute K 11 gt 3000000 0 mm e Axis1 3000000 0 Axis used and positioning address 40000 00 mm min TERIS 2500 ms Positioning 12 data s Positioning address ini Control units data method 3000000 0 um Command speed 40000 00 mm min Dwell time 2500 ms Number of program steps 7 12 N f 7 1 4 Umber ot Use programs OCHS TRB a Parameter block No 3 Fig 9 1 Composition example of servo program 1 Program No This number is specified using the Motion SFC program Any number in the range of 0 to 4095 can be set 2 Servo instruction Type of positioning control is indicated 9 SERVO PROGRAMS FOR POSITIONING CONTROL 3 Positioning data This is the required data for executing servo instructions The data required is fixed for each servo instruction The following applies for the servo program shown in Figure 9 1 Axis used and positioning address e Command speed J Data which must be set in order to execute the servo instruction Dwell time Data which will be set to default M code J values for control if not set P B iE Control is executed using the data
57. axis gear 2 Auxiliary input axis rotation is subtracted from the virtual main shaft rotation and the result is transmitted to the output axis Auxiliary input axis rotation is subtracted from the virtual main shaft rotation and the result is transmitted to the output axis Connected to the virtual main shaft gear 1 1 1 Differential D o perform speed control o perform linear positioning control 1 io perform angle control Position control executed based on cam pattern data setting There are 2 cam control modes two way cam and feed cam 11 5 11 MECHANICAL SYSTEM PROGRAM 11 3 Device range The below devices can be used for Indirect setting of Transmission module and Output module in Mechanical support language 1 Bit devices Table 11 2 Bit devices List Setting range Input relay X0000 to X1FFF Output relay Y0000 to Y1FFF Internal rela MO to M8191 Link relay B0000 to B1FFF FO to F2047 2 Word devices Table 11 3 Word devices List Setting range Data register DO to D8191 Link register WO to W1FFF Motion register 0 to 12287 An error will occur if the multi CPU common devices for Q172DCPU Q173DCPU are set 12 COMMUNICATION 12 COMMUNICATION Connection compatibility of the Motion controller with the dedicated software and GOT is shown below MT Developer2 Peripheral device interface RS 422 communication I F a a S e
58. battery with a new one After setting the battery in the Battery holder unit use the MT Developer2 verify function to confirm the data on the motion controller has not changed In the following status the backup time after power OFF is 3 minutes The lead connector of Q6BAT Q7BAT is disconnected The lead wire of Q6BAT Q7BAT is broken Replacing Battery v Turn off the system power supply Remove the old battery from its holder Install a new battery into the holder in the correct direction Connect the lead connector to the connector BATTERY Set the battery holder to the motion controller Turn on the Motion controller power supply 6 INSPECTION AND MAINTENANCE 6 5 3 Resuming operation after storing the Motion controller When operation is to be resumed after the Motion controller has been in storage with the battery removed or if the battery has died during storage the contents of programs parameters absolute position data and latch data cannot be guaranteed Before resuming operation write the contents of programs parameters absolute position data and latch data which were backed up to the motion controllers SRAM prior to storage Before placing the motion controller into storage always back up the contents of programs parameters absolute position data and latch data to the Motion controller s SRAM 6 5 4 Symbol for the new EU Battery Directive This section describes a
59. becomes smaller than the minimum bend radius Model name of SSCNETII cable Minimum bend radius mm inch MR JSBUSLIM 25 0 98 Enforced covering cord 50 1 97 Code 25 0 98 MR J3BUSOM A Enforced covering cord 50 1 97 Code 30 1 18 MR J3BUSOM B Tension If tension is added to the SSCNETII cable the increase of transmission loss occurs due to external forces concentrated on attachment portion of the SSCNETII cable or the connecting tab of SSCNETII connector At worst breakage of the SSCNETITI cable or damage to the SSCNETII connector may occur For cable laying handle without adding forced tension Refer to APPENDIX1 1 SSCNETII cables for the tension strength Lateral pressure If lateral pressure is applied to the SSCNETII cable the cable itself distorts and internal optical fiber becomes stressed Then transmission loss increases At worst breakage of the optical cable may occur As the same condition also occurs during cable laying do not bundle or fasten the SSCNETII cable with anything such as nylon bands tie wrap etc Do not stomp or tuck it down with the door of control box etc 4 INSTALLATION AND WIRING d Twisting If the SSCNETTI cable is twisted it will have the same effect as when local lateral pressure or bending is applied Consequently transmission loss increases and breakage of the optical fiber may occur e Disposal When incinerating optical cable cord used for SSCNET h
60. displays on 7 segment LED during operation AL S01 displays on 7 segment LED Confirm details of error by Motion CPU error batch monitor of MT Developer2 Remove the error cause of servo amplifier and then execute the servo error reset M3208 20n ON or re turn on the servo amplifier power supply Does AL S01 disappear on 7 segment LED 6 INSPECTION AND MAINTENANCE 6 6 3 Confirming error code The error code and error message can be read using MT Developer2 The procedure for reading error is as follows 1 Connect a computer to the PERIPHERAL UE of the Motion controller 2 Start MT Developer2 8 Select Online Read from CPU Menu of MT Developer2 and read the project data from Motion controller 4 Start the monitor screen of MT Developer2 and select Motion CPU error batch monitor menu b Confirm the error codes and error messages displayed on screen Refer to help of MT Developer for details of operating method 6 INSPECTION AND MAINTENANCE 6 6 4 I O circuit troubleshooting This section describes possible problems with I O circuits and their corrective actions 1 Input circuit troubleshooting The following describes possible problems with input circuits and their corrective actions Input Circuit Troubleshooting and Corrective Action Condition Cause Corrective action Drive by switch with LED indicator Connect an appropriate resistor so that the curr
61. etc and may lead to fire Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is mounted and for the wires used Failing to do so may lead to fire Do not apply a voltage other than that specified in the instruction manual on any terminal Doing so may lead to destruction or damage Do not mistake the polarity as this may lead to destruction or damage 3 DESIGN NCAUTION Do not touch the heat radiating fins of controller or servo amplifier regenerative resistor and servomotor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Always turn the power OFF before touching the servomotor shaft or coupled machines as these parts may lead to injuries Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries Always mount a leakage breaker on the Motion controller and servo amplifier power source If mounting of an electromagnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always mount the electromagnetic contactor Mount an emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Use the Motion controller servo amplifier servomotor and regenera
62. example PX actual output PY ale x fo Fo Sel ie O number d Actual Input PX Oo x Actual inputs Actual EE EES outputs PXIPY to First Actual Output l O No in System O EE SSC j Suet oe MT irey La o o Devore Bit devices JAnnunciator F o o SEENEN DO PYO to PYFFF O usable X unusable Restrictions on write enabled bit devices 1 X Devices except Actual inputs can be written 2 Special relay has predetermined applications in the system Do not perform write to other than the user setting device m me example Dataregister D ofo imgsr w olo Spedalegser s Oo o o Motion register a olol HE Coastingtimer m Qo x O usable X unusable Restrictions on write enabled word devices 1 Special register has predetermined applications in the system Do not perform write to other than the user set device 10 10 10 MOTION SFC PROGRAMS Table of the operation control transition control specification continued 16 bit integer type signed 32768 to 32767 PECES 16 bit integer type unsigned 0 to 65535 32 bit integer type signed 2147483648 to 2147483647 2000000000 W100L etc 32 bit integer type unsigned 0 to 4294967295 p EE IEEE format 1 23 10F etc double precision real number type Decimal e ES constant The above data type symbol L or decimal point provided at the end K 100 HOFFL etc K Cons
63. exi os 4 1 4 1 2 Motion controller Installation AAA 4 2 4 1 3 Instructions for mounting the Motion controller sese 4 8 4 2 Connection and disconnection of Cable A 4 6 4 2 1 SSONETIHI EE 4 6 4 2 2 24VDC power supply Cable i n e tene aeneo tee Pe fete 4 12 AREAALI EEE RAENT REL ERE EA EM 4 13 4 31 Instructions for ue WEE 4 13 4 3 2 Connecting to the power supply module nennen nnne nnne 4 16 5 TRIAL OPERATION AND ADJUSTMENT 5 1105 8 5 1 Checklist before Trial Operation enter tert ite centi re LER en ERER 5 1 5 2 Trial Operation and Adjustment Procedure sse 5 2 5 3 Operating System Software Installation Procedure sss 5 6 5 4 Trial Operation and Adjustment Checker 5 7 6 1 Maintenance Works 6 2 6 1 1 Instruction of Inspection works ssssssssssssseeeeeeeeee nennen tnnt trennen tnit 6 2 6 2 Daily Inspectors eec er te i e e e a ner e n e n eet ner E e c n nU E rd 6 4 6 3 Periodic Inspection 2 5 RE SERERE eR RE EE Ri REO ne Ee in inen d 6 5 SIME 6 6 6 5 Battery stie ne E i oen ite i Utenti oco tie cna opc i E 6 7 6 5 1 Battery life een dee e deed d dee e pite pia Aeneid 6 8 6 5 2 Battery replacement procedure serras sanaaa oare ER EE EEE E RO EA E 6 10 6 5 3 Resuming operation after storing the Motion controller eene 6 11 6 5 4 Symbol for the new EU Battery Directive
64. f NEE EE EE Ee Seier Sg inside panel msna AAA E EE 8 e pA E eunte n La La m Note 1 For the cable of less than 30 m 98 43 ft contact your nearest Mitsubishi sales representative 2 Specifications Dil c E Description SSCNETII cable model MR J3BUS MR J3BUS MR J3BUS ae 0 3103 5 to 20 30 to 50 length SSONETI cable length Imi 0 98 to 9 84 16 40 to 65 62 98 43 to 164 04 5 0 98 Minimum bend radius Reinforcing coat cable 50 1 97 Reinforcing coat cable 50 1 97 mm inch Code 25 0 98 Code 30 1 18 Tension strength N 420 Enforced covering cord 980 Enforced covering cord Temperature range 40 to 80 20 to 70 for use C F e 40 to 176 4 to 158 Indoors no direct sunlight No solvent or oil 0 170 016 Optical cable Code 0 17 0 004 0 09 0 003 0 090 008 2 20 07 External appearance 0 09 0 003 mm 1G ES 10 1602 4 43 0 1 0 40 0 17 0 004 0 09 0 003 S sana 0 240 008 Note 1 This temperature range for use is the value for optical cable cord only Note 2 Dimension of connector fiber insert location The distance of two cords is changed by how to bend it App 1 APPENDICES 1 If the end face of code tip for the SSCNETII cable is dirty optical transmission is interrupted and it may cause malfunctions If it becomes dirty wipe with a bonded textile etc Do not use s
65. f Twist pair cable Note 1 The 5VDC power supply from the MR MQ100 must not be used if a separate power supply is applied to the Manual pulse generator incremental synchronous encoder If a separate power supply is used be sure it is 5V stabilized Anything else may cause a failure Note 2 Input type from manual pulse generator incremental synchronous encoder switched by SEL Not connected Voltage output open collector type SEL SG connection Difference output type NCAUTION If a separate power supply is used as the manual pulse generator incremental synchronous encoder power supply use a 5V stabilized power supply Any other power supply may cause a failure Wiring during power on may damage the unit Power off the unit before wiring Miss wiring may cause damage to the unit Ensure care during wiring 5 PERIPHERAL I F Specifications Data transmission speed 100 10Mbps Communication mode Full duplex Half duplex Transmission Transmission method Cable length m ft Up to 30 98 43 2 SYSTEM CONFIGURATION 6 RS 422 communication UE Specifications Full duplex Synchronous method Asynchronous communication method 9600 19200 38400bps Start bit 1 Data bit Data type E Parity bit Cable length m ft Up to 30 98 43 2 SYSTEM CONFIGURATION EEN 2 5 3 24VDC power supply connector 1 Connecting of 24VDC power supply connector a Pin layout of the 24VDC power supply connector
66. gear storage registers Vibius g t D1126 D1127 ruar moce pdate Real mode All errors can be reset regardless of the error type Error reset command 1 p configuration value change CHGA E Virtual mode 1 Synchronous encoder current value monitor in real mode The synchronous encoder set in the system setting is updated for every operation cycle in the current value storage register D1120 D1121 regardless of whether or not the synchronous encoder is set in the mechanical program However the current value after synchronous encoder axis main shaft s differential gear storage registers D1126 D1127 is updated in only virtual mode 2 Error reset of the synchronous encoder axis The error reset command M5440 can be executed in both of the real mode and virtual mode If the error reset command M5440 is turned ON when the synchronous encoder and output module are normal the minor error code storage register D1122 and major error code storage register D1123 are cleared and the error detection signal M4640 is reset 3 Synchronous encoder current value change CHGA E The synchronous encoder current value change CHGA E of the synchronous encoder set in the system setting can be changed regardless of whether or not the synchronous encoder is set in the mechanical program 13 15 13 AUXILIARY FUNCTION 13 5 Connection of extension IO unit MR J3 DO1 The extension IO unit MR J3 D01 for digital UO signal and a
67. generator 1 switching request SV22 enable flag request D708 JOG operation simultaneous D756 start command request Unusable p umso S o o ojo ala ala o At start s X N A Q E Command device At the manual pulse Manual pulse generator axis P 9 Vaio a flag 1 No setting register 7 pz Manual pulse generators 1 pulse At the manual pulse D720 Axis 1 input magnification quU enable flag setting register Note 1 Note 2 s ojojojo s ojo u ula ala u ala 9 o o o o o 9lo Ajo o x amp e lz af Ka N N o N ojo CER i o 725 726 727 728 729 730 731 732 733 734 735 736 Unusable 737 738 739 Unusable 42 points ojojojojojojojo SIS ISIS S15 Es bail Pe ee bail bail Ps a o o 3 o lala N El Ed o oijojojojojojo ual ul ojo elo N o MIZ J Ed Ki 741 743 744 745 746 747 748 749 g g g g ISIS g g 19189 S Z J 191918919189 S S E J S S a A BR N o m o v oj ojojojojojo Ex alu alu o o o do o o ei E D751 7 19 7 POSITIONING DEDICATED SIGNALS 7 4 Motion registers The motion registers 0 to 12287 are available as the Motion controller dedicated devices they can be used in operation control F FS program or transition G programs Motion register Number of points 12288 points 0 to 12287 Data size 16 bit points Only a user device is latched Read and write enabled in
68. grounding of the earth terminal FG 2 Check that the battery is connected correctly 3 Check that the internal UE are wired correctly 4 Check that the Manual pulse generator or INC synchronous encoder is wired correctly 1 Check that the rotary switch is set to 0 2 Check that the connection with the main circuit power supply is correct 1 Check that the model name of SSCNETII cables is correct 2 Check that the SSCNETTII cables are connected to the correct location 3 Check that the SSCNETII cables are connected properly 4 Check for looseness rattling or incorrect connection 1 1 1 1 MR J3 L B Servo amplifier SSCNETI cable 5 Check that the bend radius meets the minimum requirement or more 6 Check that the MR J3BUSLIM or MR J3BUSLIM A do not come in contact with wires cables that use materials with the plasticizing material Check Reference 4 3 1 2 5 8 2 5 8 4 3 1 4 3 1 4 3 1 4 3 1 2 5 5 2 5 2 2 5 2 2 5 4 3 2 2 5 4 4 2 1 4 2 1 4 2 1 4 2 1 5 TRIAL OPERATION AND ADJUSTMENT 5 2 Trial Operation and Adjustment Procedure Motion controller Servo amplifier Motion controller Motion controller A M A Servo start up procedure Turn OFF Motion contr
69. in Japan or overseas countries We are not responsible for any on site readjustment and or trial run that may be required after a defective unit is repaired or replaced Gratis Warranty Term The term of warranty for Product is thirty six 36 months after your purchase or delivery of the Product to a place designated by you or forty two 42 months from the date of manufacture whichever comes first Warranty Period Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work Gratis Warranty Range 1 You are requested to conduct an initial failure diagnosis by yourself as a general rule It can also be carried out by us or our service company upon your request and the actual cost will be charged However it will not be charged if we are responsible for the cause of the failure 2 This limited warranty applies only when the condition method environment etc of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product 3 Even during the term of warranty the repair cost will be charged on you in the following cases 1 A failure caused by your improper storing or handling carelessness or negligence etc and a failure caused by your hardware or software problem 2 A failure caused by any alteration etc to the Product made on your side without our appro
70. notice
71. points Coasting timers 1 point 888us Multiple CPU area device None 10 2 10 MOTION SFC PROGRAMS 10 2 Motion SFC Chart Symbol List Motion SFC program components are shown below The operation sequence or transition control is expressed by connecting these symbols with directed lines in the Motion SFC program Code size byte E Indicates a program entry an its name Program name Specify this program name with a subroutine call Only one program name per program Indicates a program end exit When a subroutine call is carried out returns to the call END Source program It is possible to use one multiple or zero END commands in a single program 0 8 Motion control Kn step CALL Kn Starts a servo program Kn KO to K4095 8 Fn 8 8 Program start end Single execution type CALL Fn Executes the operation control program Fn a single time FO to F4095 CALL FSn Repeats an operation control program FSn FSO to FS4095 until the next transition condition enables operation control step When a WAIT command comes after GSUB performs a subroutine call and transfers control to the specified program Control returns to the call source program at END execution Subroutine Program name When anything other than WAIT comes after GSUB GSUB program name m call start step performs subroutine start starts the specified program and transitions to the next belo
72. sales representative Also execute a trial operation 2 SYSTEM CONFIGURATION EH 2 5 Specifications of Equipment and Settings 2 5 1 Name of parts for MR MQ100 This section explains the names and settings of the module 1 MR MQ100 RESET STOP RUN CT D C gt 2avoc amp B C SW eti TCM TI ap C NIM E EJ NCAUTION Close the clear cover after using the rotary switches 2 SYSTEM CONFIGURATION Application 7 segment LED Indicates the operating status and error information Rotary function select 1 switch Set the operation mode SW1 Normal operation mode Installation mode Mode operated by ROM etc Rotary function select 2 switch Each switch setting is 0 to F SW2 Shipped from the factory in SW1 0 SW2 0 position ON Red The internal power 5VDCO is on 3 POWER LED l OFF The internal power 5VDC is off Move to RUN STOP RUN Motion SFC program is started STOP Motion SFC program is stopped RESET Momentary switch Set the switch to the RESET position 1 second
73. short and proximity dog type 1 cannot be used started Home position is zero point of servomotor It is used in systems which will always pass a zero point while travelling the set distance from the home position return start point based on the travel value after proximity dog ON setting Zero point is not used in the home position e This method is used when the proximity dog is Count type 2 return near the stroke end and the stroke range is narrow Count type 3 Home position is zero point of servomotor This method is valid when the stroke range is yp short and count type 1 cannot be used Home position is the commanded position e External input signals such as dog signal are not Data set type 1 of Motion controller used in an absolute position system Data set type This method is valid for the data set independent of a deviation counter value bonne SEET assieme pastorem o Data set type 2 ae servomotor used in an absolute position system e Home position is zero point of servomotor It is easy to set the position of the proximity dog Dog cradle type immediately after the proximity dog signal because it is near the same position used for ON homing Home position is set at the point where This method is useful for improving accuracy of further motion is prevented by a physical home position return when the physical stopper stopper of a machine is used as the home position Proximity dog is used
74. side I F Detailed Setting of PLC Module Select Ethernet Port Direct connection 12 COMMUNICATION 2 Note a When you want to use a hub refer to next section Hub Connection Computer HUB 8950 DIE ru b Do not connect to a LAN with Direct connection setting The LAN line will become busy and may effect communication of other equipment on the LAN c IP address setting does not matter when using a direct connection However communication may fail with the below conditions eIn the Motion controller IP address bits corresponding to 0 in the computer subnet mask are all ON 255 or all OFF 0 Example Motion controller IP address 64 64055655 Personal computer IP address 64 64 17 1 Personal computer subnet mask 255 255 0 Co In the Motion controller IP address bits corresponding to the computer IP address for each class in the personal computer IP address are all ON 255 or all OFF 0 Example Motion controller IP address 64 64 255 255 Personal computer IP address 192 168 0 0 Personal computer subnet mask 255 0 0 O0 12 COMMUNICATION 12 1 2 Hub Connection The Motion controller can be connected to multiple computers through a hub Computer Ethernet cable straight cable Ethernet cable straight cable PERIPHERAL I F Ethernet
75. speed position switching signal input are correct Program Check that the Motion program PLC program and positioning data are stored in positioning data the motion controller correctly Power supply ON Check communications with servo amplifiers Motion controller in Check that the rotation direction for JOG operation is correct STOP status Check that the upper lower limit switches operate correctly de And Check that the maximum commanded rotation speed is within the motor s rating Basic axis operations Check that the machine operates correctly by the JOG operation Check that the machine stops by the upper lower stroke limit Check that the machine stops by the emergency stop or forced stop Q Ze 9 g Check that the home position return is executed correctly Check that each positioning control of the motion program operates correctly Checks for each operation in manual operation mode during Motion program execution Check that the machine operation stops immediately by the emergency stop or forced stop Check the operation of each actuator and confirm limit switch operation Manual operation Check that the emergency stop forced stop and equipment alarm signals are correct Check for compliance with control specifications specific to system and equipment Checks for each operation in automatic operation mode during Mo
76. the count type is set proximity More than the deceleration distance at the home position return speed is set dog ON Home position Valid invalid of home position return retry is set return retry function Dwell time at the The stop time at the deceleration stop during the home position return retry is set home position return retry The shift amount at the home position shift is set Home position shift amount D d i iti hi rn Speed set at the The operation speed which set the home position shift amount except 0 is set home position shift Torque limit value The torque limit value with creep speed at the stopper type home position return is set at the creep speed When the home position return request signal is ON it set whether a servo program can be executed or not Operation setting for incompletion of home position return 8 PARAMETERS FOR POSITIONING CONTROL MEMO 9 SERVO PROGRAMS FOR POSITIONING CONTROL 9 SERVO PROGRAMS FOR POSITIONING CONTROL Servo programs specify the type of the positioning data required to execute positioning control in the Motion controller This chapter describes the configuration and setting method of the servo programs 9 1 Servo Program Composition Area This section describes the composition of servo programs and the area in which they are stored 9 1 1 Servo Program Composition A servo program is composed of a program number servo instructions
77. the servo amplifier servomotor is first turned on check the operation before mounting them to a machine in order to avoid unexpected accidents such as machine damage 5 TRIAL OPERATION AND ADJUSTMENT 5 3 Operating System Software Installation Procedure The operating system software can be installed to the Motion controller from a computer running MT Developer2 The installation procedure is shown below Set the first rotary switch SW1 of the Set to installation mode motion controller to position A Rotar erie vot Refer to Section 2 5 1 3 for rotary switch switch 2 s SW2 position does not matter Shipped from the factory in SW1 0 SW2 0 position supply 2222 pU Steady INS display A Turn ON the Motion controller power v Install the operating system software using MT Developer2 AA Turn OFF the Motion controller power supply v Set the both rotary switches SW1 and SW2 of the motion controller to position CH H END Set to mode operated by RAM POINT 1 The operating system software is installed at the time of Motion controller purchase It is necessary to install operating system software again after any upgrades 2 Be sure to change the rotary switches only after first turning off the power supply 3 Even if the operating system software is installed the programs parameters and absolute position da
78. tnter stre nhn tnnt nnns 9 1 9 1 2 Servo program are 9 2 9 2 Servo Instr uctions ere et een oli a C cath Hd OE EORR LI e zo BOE eg d duo de d ate 9 3 9 3 Positioning Date eren oer e p e DUREE EE P ET ERE RE E EXE IURE Xue E EX Ee Re 9 16 10 1 Motion SFC Performance Specifications eesssssssssssssseseeeeeee nennen nnn nenne 10 1 10 2 Motion SFC Chart Symbol Uert 10 3 10 3 Branch and Coupling Chart List esses nennen nennen nnne tnnt rnit 10 6 10 4 Operation control transition control specifications seseeeeeenenn 10 10 10 5 Programm Paraimieters ii e ESRB RERRUR ae 10 14 URL e UBI eei 10 15 11 MECHANICAL SYSTEM PROGRAM 11 1t0 11 6 11 1 Mechanical Module Connection Diagram enne ennt tnit 11 2 11 2 Mechanical Module List eese essen enne tenerent nnns tren nette etre nnns 11 5 T3 Device ln E 11 6 12 COMMUNICATION 12 1to 12 10 12 1 Connection to peripheral devices nennen nnne treten nnns 12 1 12 1 1 Dir ct COninectioni aco ce cette cer t ec e c RO EUER DER EUER P ERE EU De Rn ge e 12 1 12 1 2 Hub Connection ececececeeseceeceececeeeeeaeceeeeaeeaecaeceeseaesaecaeseeeeaecaecaeseeeeaesaesaeseesassaesaeseaesaeeaeseeteaeeaeeas 12 4 12 1 3 Setting CPU n ame ii eos Ec b d o t eere Lc Boe Bc ale dt Pea Dd 12 9 12 2 Connection with GO T dae dea ae de pdt de
79. to be used in equipment or systems in situations that can affect or endanger human life When considering this product for operation in special applications such as machinery or systems used in passenger transportation medical aerospace atomic power electric power or submarine repeating applications please contact your nearest Mitsubishi sales representative Although this product was manufactured under conditions of strict quality control you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident 10 General cautions All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections When operating the product always return the covers and partitions to the designated positions and operate according to the instruction manual REVISIONS The manual number is given on the bottom left of the back cover IB NA 0300150 A Sep 2009 IB NA 0300150 B Additional correction partial correction About manuals EMC directive Battery transportation Symbol for the new EU battery directive MC protocol communication Synchronous encoder current value monitor in real mode Connection of the servo amplifier for direct drive motor July 2010 IB NA 0300150 C Additional correction partial correction Connection with GOT Connec
80. when the request from a data register and the request from the above device are performed simultaneously the request from the above device becomes effective Note 2 Refer to the explanation of the point column Note 3 Do not use as a user device It can be used as a device that performs automatic refresh because of area for the reserve of command signal When the common devices M3072 to M3080 turn to ON OFF the devices in REMARKS will turn to ON OFF And it can also be turned ON OFF by the data register 7 POSITIONING DEDICATED SIGNALS 7 3 Data Registers 7 3 1 Data register list Real Virtual Device No Purpose Remark mode mode A d Real mode Axis status EE Virtual mode Output 20 points module EAM available MEER IE o Res points D640 Control change register Realmode Axis status o 2 points x 8 axes Virtual mode Output module to 48 points D704 Common device 54 points to to 42 points Virtual servomotor axis monitor device 6 points x 8 axes 6 points x 24 axes Not available Baap Current value after virtual servomotor axis main shafts differential gear Kc 4 points x 8 axes EN 1 E 240 points 6 points D1120 Synchronous encoder axis Current value after synchronous encoder axis main shafts differential gear 4 points to 110 points to 10 points x 1 axis to 310 points D1560 F i User device 6632 points O Valid 7 POSITIONING DE
81. with bundle material in order to prevent the SSCNETII cable from putting its own weight on SSCNETII connector When laying cable the optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius and it should not be twisted Also fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material 4 INSTALLATION AND WIRING 9 Migrating plasticizer is used for vinyl tape Keep the MR J3BUSOM and MR J3BUSOM A cables away from vinyl tape because the optical characteristic may be affected Optical cord Cable mRssBusom MR J3BUSLIM A A A wrvesusomB o o O Normally cable is not affected by plasticizers A Phthalate ester plasticizer such as DBP and DOP may affect optical characteristic of cable Generally soft polyvinyl chloride PVC polyethylene resin PE and fluorine resin contain non migrating plasticizer and they do not affect the optical characteristic of SSCNETII cable However some wire sheaths and cable ties which contain migrating plasticizer phthalate ester may affect MR J3BUSOM and MR J3BUSOIM A cables made of plastic In addition MR J3BUSOM B cable made of quartz glass is not affected by plasticizer 10 The adhesion of solvent and oil to the cord part of SSCNETII cable may lower the optical characteristic and machine characteristic If used in such an environme
82. 1 Do not use any battery having exceeded its guaranteed life 2 When the battery hours total power failure time may exceed its guaranteed value take the following measure Perform ROM operation to protect a program even if the battery dies at the Motion controller power OFF If SM51 turns on the contents for the data Refer to Section 6 5 of SRAM built in Motion controller cannot be guaranteed It is recommended to back up the data periodically When the total power failure time exceeds its guaranteed value and SM51 SMB2 SM58 and SM59 turns on immediately change the battery Even if the alarm has not yet occurred it is recommended to replace the battery periodically according to operating conditions Even when not connect to a motion controller self discharge influences the life of the battery The battery should be exchanged approximately every 4 or 5 years even if the total power failure time is within the guaranteed value 6 INSPECTION AND MAINTENANCE PE 6 5 2 Battery replacement procedure 1 Battery replacement procedure of the Battery holder unit When the battery has been exhausted replace the battery with a new one in accordance with the procedure shown below When replacing the battery pay attention to the following 1 Back up the data using MT Developer2 before starting replacement 2 First back up data stored in the Motion controller using a personal computer with MT Developer2 installed Then replace the
83. 12 8913 80m to 8974 8975 80m There are 32 storage areas for detection e Continuous detection mode 7930 20m 0 The latch data is stored to 8912 8913 80m upon every mark detection Latch data storage area Latch data 8912 8913 480m Specified number of detections mode 7930 20m 1 to 32 Latch data is stored to the corresponding area up to the maximum number specified by Mark detection mode 7930 20m Latch data storage area Latch data 8912 8913 80m 8914 8915 80m 8916 8917 80m to 8974 8975 80m m for example in 7920 20m corresponds to the Mark detection function number a ee See Timing chart 1 Timing of mark detection function verification When Registration code 7912 to 7919 is set and Mark detection signal allocation devices 7920 20m Latch data type 7922 20m and Mark detection data axis number 7923 20m are all correct Mark detection settings verification flag 8899 80m will be 1 and the mark detection functions become valid Mark detection signals 1 allocated devices Latch data type 0 Mark detection data 1 D Axis number 7912L H414D434D Registration code 47914L H45444B52 7916L H54434554 7918L H41544144 Mark detection setting verification flag 13 AUXILIARY FUNCTION 2 Timing of the mark detection funct
84. 172DCPU Motion controller SV22 Virtual mode program Programming Manual VIRTUAL MODE 1 OVERVIEW 1 2 Comparison between MR MQ100 and Q173DCPU Q172DCPU MR MQ100 Q173DCPU Q172DCPU 0 44ms 1to 4axes R 12 A4 1to4 SV22 CEPI axi 0 88ms 5 to 12 axes 0 44ms 1 to 4 axes 1 77ms 13 to 28 axes 0 88ms 5 to 8 axes 3 55ms 29 to 32 axes Medi f i POL okoperating System CD ROM 1 disk CD ROM 1 disk software Model of operating system SW9DNC SV22QW SW8DNC SVOQ software Peripheral I F PERIPHRAL UE Via PLC CPU USB RS 232 PTP Point to Point control Speed control Speed position control The changing signal comes via servo amplifier Note 1 Fixed pitch feed Constant speed control Position follow up control Speed control with position stop Speed switching control High speed oscillation control Synchronous control SV22 Manual pulse generator Possible to connect 1 module Possible to connect 3 modules Synchronous encoder Possible to connect 1 module Possible to connect 12 Possible to connect 8 operation function Only incremental modules modules PTP Point to Point control Speed control Speed position control Fixed pitch feed Constant speed control Position follow up control Speed control with position stop Speed switching control High speed oscillation control Synchronous control SV22 Number of SSCNETII Systems Note 2 Exte lin signal Externa put sig al of servo a pli le
85. 2 5 5VDC or less manual pulse pulse BEE DEER DEER enerator generator HIGH level ES A B phase A v 23 2 0 to 5 25VDC WW HAL anual pulse Pulse width generato L 2 ius or more INC B h LOW level Manual synchronous Input pulse HBH a encoder 0 8VDC or less SS e E See ae eee Sane eee Duty ratio 50 25 generator Leading dae Tail phase B B 25 26LS31 or eading edge une HBL equivalent edge time 0 2548 or less Phase difference Phase A LT L Select type signal iiri 0 25us or 9 49 more SEL 1 Address increases if Phase A leads Phase B Note 1 Power supply 2 Address decreases 5V 5VDC if Phase B leads Phase A Power supply SS Note 1 The 5VDC power supply from the MR MQ100 must not be used if a separate power supply is applied to the Manual pulse generator incremental synchronous encoder If a separate power supply is used be sure it is 5V voltage Anything else may cause a failure Note 2 Connect SEL to the SG terminal if the manual pulse generator differential output type incremental synchronous encoder is used 2 SYSTEM CONFIGURATION c Interface between Manual pulse generator Voltage output Open collector type Incremental synchronous encoder de i Signal name Pin No Wiring example Internal circuit Specification Description utpu Manual Rated input voltage For connection pulse 5 5VDC or less manual pulse generato
86. 2312 Unusable 16 points Unusable 16 points M2313 M2314 M2315 M2316 M2317 M2318 M2319 Note 1 Axes 1 to 8 can be set as a Virtual axis Up to 3 axes can be used Axis 1 can be set as a Real axis Device areas for axis9 or larger cannot be used with the MR MQ100 This signal is unusable in real mode The device shown in the remark column can also be used These devices can be used for clutch statuses The clutch status can also be set as the optional device at the clutch parameter Note 6 The devices in the shaded region cannot be used 7 11 7 POSITIONING DEDICATED SIGNALS 7 2 9 Common device list Command device Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE for details Remark Lil Se icd RS SE SUM cii ees M3072 PLC ready flag Main cycle Main cycle wo M3073 Speed switching point specified flag At start Operation M3074 All axes servo ON command cycle M2042 Command Real mode virtual mode switchin eel irtual mode i M3075 eal m virtu witching virtu signal We request SV22 eel JOG operation simultaneous start command Main cycle M3076 M3077 Manual pulse generator 1 enable flag Unusable 2 points Command M3080 Motion error history clear request flag Main cycle signal M2035 Unusable ie 55 points Note 1 The state of a device is not in agreement when the device of a remark column is turned ON OFF directly In addition
87. 30mm 1 18inch of space between the MR MQ100 and any object to its left 4 INSTALLATION AND WIRING Bundle fixing Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius and it should not be twisted When laying cable fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material Model name of SSCNETII Minimum bend radius mm inch cable Enforced covering cord Code MR J3BUSOM 25 0 98 25 0 98 MR J3BUSUIM A 50 1 97 25 0 98 MR J3BUSOIM B 50 1 97 30 1 18 Motion controller Contro panel b 9 gt c c TT d gt c gt c 5 c c TT 5 gt c c LI gt c TI gt Cord Loose slack v Minimum bend radius of cord Minimum bend radius of Enforced covering cord Cable Bundle material Recommended product NK clamp SP type NIX INC 4 INSTALLATION AND WIRING 1 Be sure to connect SSCNETI cable with the above connector If the connection is mistaken between the Motion controller and servo amplifier cannot be communicated Forcible removal the SSCNETII cable from the Motion controller may damage the Motion controller and SSCNETII cables After removal of the SSCNETII cable be sure to replace the cap
88. 32 1 26 24 0 94 x 52 2 05 Note The following points are changed for lithium metal batteries transportation by sea or air due to Recommendations of the United Nations Rev 15 and ICAO TI 2009 2010 edition 1 A package containing 24 cells or 12 batteries or less that are not contained in equipment are no longer exempt from the following attachment of a handling label submission of the Shipper s Declaration for Dangerous Goods and a 1 2m drop test 2 A battery handling label size 120 x 110mm is required Emergency telephone number must be filled out in the additional handling information of the Shipper s Declaration for Dangerous Goods 3 New label design containing battery illustration must be used in air transportation only E CAUTION ds IF DAMAGED Lithium Metal batteries DO NOT LOAD OR TRANSPORT PACKAGE IF DAMAGED For more information call 81 3 3218 3639 International M PW deeg eege Seege ee eege ee VAN Fig 2 1 Example of Label with Battery Illustration Transportation precaution for customers Documentations like the handling label in the specified design and the Shipper s Declaration for Dangerous Goods are required for air and sea transportation Please attach documentations like the handling label in the specified design and the Shipper s Declaration for Dangerous Goods to the package If you need the self certification form for the battery safety test contact Mitsubishi F
89. 64 parameter blocks can be created Parameter blocks can be set using MT Developer2 Parameter block parameters available are shown in Table 8 2 Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE for details Co N a P wearer wae Table 8 2 Parameter Block Setting List Setting range Initial tue Units Remarks Setting range Setting range Y Set the units for compensation control Interpolation It can be also used as the units for the control unit 1 2 3 3 command speed and allowable error Note 2 range for circular interpolation set in the servo program Set the maximum speed for 0 601 to positioning home position return Speed limit value 0 001 to AY 24 47483 647 degree 1to PLS 200000 PLS If the positioning speed or home position 6000000 00 min 600000 000 min Note 1 min 2147483647 s S return speed setting exceeds the speed limit value control is executed at the speed limit value uen fs Set the time taken to reach the speed cceteration ume 1 to 65535 ms GER limit value from the start of motion 4 Deceleration time 1 to 65535 ms 1000 i Set the time taken to stop from the speed limit value Set the time taken to stop from the speed limit value when a rapid stop is 1 to 65535 ms 1000 executed Set the S curve ratio for S pattern processing S curve ratio 0 to 100 96 When the S curve ratio is O trapezoidal acceleration deceleration process
90. 647 2147483647 20000 PLS s If JOG speed setting exceeds the JOG Note 1 speed limit value it is controlled with JOG speed limit value Parameter Sets the parameter block No to be used at 2 block 1 to 64 the JOG operation setting Note 1 When the speed control 10 multiplier speed setting for degree axis is set to valid the setting range is 0 01 to 21474836 47 degree min 8 PARAMETERS FOR POSITIONING CONTROL 8 4 Home Position Return 1 Use home position return immediately after power supply ON or at other times when confirmation of axis location is required 2 Six methods for home position return are as follows Proximity dog type Count type Data set type Dog cradle type Stopper type Limit switch combined type 3 Select the optimal home position return method based on the system configuration and application with reference to the following 4 Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE for details Home position return methods Applications Home position is zero point of servomotor It is used in the system which can surely pass a Proximity dog type 1 When the proximity dog is ON it cannot be zero point from the home position return start to started proximity dog ON OFF Home position is zero point of servomotor This method is valid when the stroke range is Proximity dog type 2 When the proximity dog is ON it can be
91. 70 of rated voltage 25cycle Note 3 k ae EN61131 2 2007 Immunity test in which voltage dip is EN61131 2 2007 esM unity test in waich vorage TEE 0 of rated voltage O 5cycle 20 times Voltage dip immunity applied to the power supply Note 1 This product is an open type device a device designed to be housed inside other equipment and must be installed inside a conductive control panel The corresponding test has been done with the programmable controller installed inside a control panel QP Quasi peak value For the AC power supply line For the electrical communication port AV Average value Note 2 Note 3 Note 4 Note 5 e E 15 2 15 EMC DIRECTIVES 15 1 2 Installation instructions for EMC Directive 1 Installation Motion controller is an open type device and must be installed inside a control panel for use This not only ensures safety but also ensures effective shielding of Motion controller generated electromagnetic noise a Control panel 1 Use a conductive control panel 2 When attaching the control panel s top plate or base plate expose bare metal surface and weld so that good surface contact can be made between the panel and plate 3 To ensure good electrical contact with the control panel mask the paint on the installation bolts of the inner plate in the control panel so that contact between surfaces can be ensured over the widest possible area 4 Ground the control panel with
92. 73DCPU Q172DCPU Motion controller Programming Manual COMMON at the system setting error occurrence Refer to Section 2 5 2 ANCAUTION Do not mount a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo amplifier Correctly connect the output side terminal U V W Incorrect connections will lead the servomotor to operate abnormally ANCAUTION Set parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor model name and the system name application The protective functions may not function if the settings are incorrect 5 TRIAL OPERATION AND ADJUSTMENT Motion controller Motion controller Motion controller Programming Create Motion programs Create the Motion programs using MT Developer2 Write Motion programs Write the positioning data and Motion programs created to the Motion controller Turn ON power supply again Cycle the power of the Motion Controller Turn ON servo amplifiers power supply Check the emergency stop ON and forced Stop ON and turn ON the power supply of servo amplifiers and servomotors Test mode Servo start up Initial check Check servo amplifier Check that the mounted servo amplifiers operate correctly Test mode servo start up Upper lower stroke limit check
93. 7dBuV AV 74dBuV EN61000 4 2 1995 8kV 10 times at 1 second interval A1 1998 A2 2001 Immunity test in which electrostatic Air discharge Electrostatic discharge discharge is applied to the product 4kV 10 times at 1 second interval immunity Contact discharge 80 1000MHz 10V m EN61000 4 3 2006 Immunity test in which electric fields 1400M 2000MHz 3V m Radiated immunity are radiated to the product 2000M 2700MHz 1V m 80 AM modulation 1kHz EN61000 4 4 2004 Immunity test in which burst noise is AC power line 2kV 5kHz Electrical fast transient applied to the power cable and signal DC power line 2kV 5kHz UO communication line 1kV 5kKHz AC power line EN61000 6 2 2005 Common mode 2 5kV EN61131 2 2007 Differential mode 1 5kV EN61000 4 5 2006 Immunity test in which surge is applied DC power line Surge immunity to the power line and signal line Common mode 0 5kV Differential mode 0 5kV I O communication line Common mode 1kV EN61000 4 6 2007 Immunity test in which high frequency A 2001 noise is applied to the power line and 0 1990M z i l I l Wi B f e d P 80 AM modulation 1kHz 10Vrms Conducted immunity signal line Note EN61000 4 11 2004 Immunity test in which power suppl o GER l F poer 0 of rated voltage 250cycle Short interruptions immunity has short interruptions N is EN61000 4 11 2004 Test in which voltage dip is applied to 40 of rated voltage 10cycle Voltage dip the power supply
94. 8 80m is reached 2 Mark detection monitor devices These monitor devices show the status of the mark detection function a Mark detection data current monitor 8896 80m 8897 80m The current data selected can be monitored b Number of marks detected 8898 80m Running count of each mark detected The range depends upon the Mark detection mode 7930 20m e Continuous detection mode 7930 20m 0 to 65535 After 65535 is reached the count returns to 0 Ring counter The latch data is always stored to 8912 8913 80m e Specified number of detections mode 7930 20m 0 to 32 Until Number of marks detected 8898 80m reaches the value of 7930 20m the latch data is stored to the Latch data storing area Clear Number of marks detected 8898 80m before starting the mark detection function 1 When specified number of detections mode is set as the Mark detection mode 7930 20m clear Number of marks detected 8898 80m set to 0 Otherwise mark detection will not work correctly Mark detection settings verification flag 4 amp 8899 80m When Mark detection signals allocation devices 7920 20m Latch data type 7922 20m and Mark detection data axis number 7923 20m are all correct the verification flag 8899 80m will become 1 If even one of the above three settings is incorrect the verification flag becomes 0 13 AUXILIARY FUNCTION d Latch data storage area 89
95. APPENDIX 1 1 SSCNETII cables nennen nennen nnn tnnt nenne tnnt nenne nnns App 1 APPENDIX 1 2 24VDC power supply cable enne App 4 APPENDIX 1 3 Internal I F connector cable seen App 5 APPENDIX 2 Exterior DIMENSIONS AAA App 10 APPENDIX 2 1 MPEMQYOO oi reiten eerte npe EEE m ta e eee e D P App 10 APPENDIX 2 2 Battery NANET Zeen setze niae tt tei tesi a deed aaa ds App 11 APPENDIX 2 3 Connector 2 ooa pe p TR Late i eae eta Beth eva ie nda App 12 About Manuals The following manuals are also related to this product If necessary order them by quoting the details in the tables below Related Manuals 1 Motion controller Model Code Q173DCPU Q172DCPU Motion controller Programming Manual COMMON This manual explains the Multiple CPU system configuration performance specifications common IB 0300134 parameters auxiliary applied functions error lists and others 1XB928 Optional Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual Motion SFC This manual explains the functions programming debugging error lists and others for Motion SFC GER Optional Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE 1B 0300136 This manual explains the servo parameters positioning instructions device lists error lists and others 1XB930 Optional Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL MODE This manual explains the dedicated instruc
96. Changes for the Better MITSUBISHI ELECTRIC MOTION CONTROLLERS MOTION CONTROLLER MR MQ100 User s Manual Details SAFETY PRECAUTIONS 6 Please read these instructions before using this equipment Before using this product please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly These precautions apply only to this product In this manual the safety instructions are ranked as DANGER and CAUTION Indicates that incorrect handling may cause hazardous AN D A N G E R conditions resulting in death or severe injury Indicates that incorrect handling may cause hazardous AN CAU T O N conditions resulting in medium or slight personal injury or physical damage EE T Depending on circumstances procedures indicated by A CAUTION may also be linked to serious results In any case it is important to follow the directions for usage Please save this manual to make it accessible when required and always forward it to the end user fs i oe es eeng For Safe Operations 1 Prevention of electric shocks NDANGER Never open the front case or terminal covers while the power is ON or the unit is running as this may lead to electric shocks Never run the unit with the front case or terminal cover removed The high voltage terminal and charged sections will be exposed and may lead to electric shocks
97. Connect the battery connector first then store the connector and lead wire into the battery holder E cre C KSE IT 3 A KS TT 2 gt C LI gt Se i cD Cl SG CI ERA 5 e ERA L a U Nr 0000000000000000 UU LV x Be sure that the battery s lead Li A wire is contained completely m El inside the battery holder 2 SYSTEM CONFIGURATION 4 Handling the battery lead wire a Precautions for handling the battery lead wire Be sure to securely hold the battery lead wire connector while connecting or removing the battery connection Battery lead connector Do not hold lead wire b Connection of the battery lead wire Hold the battery lead connector and connect it securely to the battery connector of the Motion controller Be sure to insert it until it clicks c Removal of the battery lead wire from battery case Remove the battery lead wire from battery case by pulling it out while holding the battery lead connector d Detaching of the battery connector Please remove the battery connector by pulling on the connector hook in the manner shown below Do n
98. DC power supply cable For connection of a 24VDC power supply cable to the Motion controller connect it surely to a 24VDC power supply connector of Motion controller while holding a connector Be sure to insert it until it clicks 3 Removal of the 24VDC power supply cable For removal of the 24VDC power supply cable push a tab and pull out the cable while holding a connector Forcibly removal the 24VDC power supply cable from the Motion controller will damage the Motion controller or 24VDC power supply cable 4 INSTALLATION AND WIRING 4 3 Wiring 4 3 1 Wiring Instructions Z DANGER Completely turn off the externally supplied power used in the system before installation or removal of the module Not doing so could result in electric shock or damage to the product When turning on the power supply or operating the module after wiring be sure that the module s terminal covers are correctly attached Not attaching the terminal cover could result in electric shock NCAUTION Be sure to ground the earth terminal FG to avoid an electric shock or operation failure Ground resistance 100 or less When wiring in the Motion controller be sure that it is done correctly by checking the product s rated voltage and the terminal layout Connecting a power supply that is different from the rating or incorrectly wiring the product could result in fire or damage External connections shall be crimped or pressure welded wi
99. DI14 CN10 17 Input signal DI15 CN10 18 13 18 13 AUXILIARY FUNCTION 1 When the motion controllers power supply is turned on the input device is cleared to 0 4 Output signal e Pin No of Device No Signal name MR J3 D01 Output signal DOO Output signal DO1 CN10 22 CN10 23 Output signal DO2 CN10 24 Output signal DO3 CN10 25 Output signal DO4 CN10 38 Output signal DO5 CN10 39 Output signal DOG CN10 40 Output signal DO7 CN10 41 Output signal DO8 Output signal DO9 CN10 42 CN10 43 Output signal DO10 CN10 44 Output signal DO11 CN10 45 Output signal DO12 CN10 46 Y1EOE Output signal DO13 Output signal DO14 CN10 47 Y1EOF Output signal DO15 CN10 48 CN10 49 1 When the motion controllers power supply is turned on the output device is cleared to 0 13 19 13 AUXILIARY FUNCTION 13 5 3 Related servo amplifier parameters The relevant servo amplifier parameters are shown below Forany parameter whose symbol is preceded by set the parameter value and switch power off once then switch it on again to make that parameter setting valid 1 l O Setting parameter Name and function Initial value Unit Setting range Input filter setting Select the input filter Dos Input signal filter None 0 88ms 1 77ms 2 66ms 9 55ms
100. DICATED SIGNALS 1 Total number of points for the user devices 6632 points 2 Note 1 Current value of synchronous encoder is updated in Real mode 3 This manual describes only details for data registers used in the virtual mode If it is required refer to the Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE 7 POSITIONING DEDICATED SIGNALS 7 3 2 Axis monitor device list Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE for details Axis g A DO to D19 Signal Signal name Virtual Refresh cycle Unit 9 direction o Feed current value n roller cycle speed Command unit ICH current value Operation cycle e O Deviation counter value as 6 Minor errorcode i Immediate Servo errorcode Main al Di Servo Sno ain Maincycle e Monitor Home position return PLS device re travel value i Operation cycle 10 Travel value after Command proximity dog ON unit Execute program No At start 13 M code Operation cycle Torque limit value K Data set pointer for At start during e speed control S start m current value at Command Monitor Backup Operation cycle stop input unit device O Valid x Invalid Note 1 It can be used as the travel value change register The travel value change register can be set to the device optionally in the servo program 7 POSITIONING DEDICATED SIGNALS 7 3 3 Control change r
101. De 1 192 168 1 1 is already set as SE GER the IP address of the computer Default gateway 192 168 Built in Ethernet Port Setting Basic Setting Set the values of these 3 columns to the same value as the computer s setting System Basic Setting CPU Name Setting IP Address Setting Be sure this column has a different value than the computer s setting IP Address Subnet Mask Pattern Default Router IP Address Open Setting For example 192 168 1 2 on the controller when 192 168 1 1 is set on the computer side Default Skhanged GPU side I F Detailed Setting of PLC Module Set this value to be the same as EST Drect Connection ep 3 the Built in Ethernet Port Setting In this example 192 168 1 2 Please select Connection via HUB when you use hub HUB even if the equipments to be communicated is one c 182 168 The load hangs to the ine when Ethernet Port Direct TP Address Connection is selected with other equipment connected with TP Input Format hub HUB and it communicates and there is thing that influences the communication of other equipment C Host Nome IP address CPU Type Label Comment A Find CPU Built in Ethernet port on Network 7 Finds CPU Built in Ethernet port on the same network This cannot be performed when the following happens No response within a specific time period Connected via a router or subne
102. IONING CONTROL Positioning data Number of steps dois uonisod Gast eun uoneJojooop uoneJojoooe dois uonisod paxi4 2 Cr oi Eoo EE ES peeds pueuuo el MA e T uonipuoo 1eedeu o a ee qb 2 Note Note uonejodaojur Je n9JI9 104 eBuei 10119 ejqewolv M ES indui dois ye BuisseooJd uonejojeoeq a ba EE iii ud EBEN EE m A E TAS lr al en eA Wu enbJo Parameter block euin uomeJejeooy en eA Uu peeds w DEE io 7 DERE A o TT ia ls ES P ERI PT LLL LLELELLDLLLLBELELEL S LL hallaa ta i i A S S es A Set if required Note 1 Only reference axis speed specification Note 2 B indicates a bit device O Must be set Note 3 The DOG signal of a servo amplifier is used for CHANGE Speed position switching signal of Speed position switching control 9 SERVO PROGRAMS FOR POSITIONING CONTROL Table 9 2 Servo Instruction List continued Positioning data gt E Q I Q o D Dwell time Auxiliary point Instruction symbol Command speed Torque limit value Processing Parameter block No Address travel value Positioning control Virtual enable Number of steps Number of indirect words Forward Speed control with fixed position stop absolute specification eis PFSTART Position follow up control start ABS 1 ABS 2 ABS 3 ABS 4 Speed control with fixed position stop rotation
103. MP IFEm IFEm SFT Gn CALL Kn PABm PAT1 SFT Gn PABm 1 PAT1 CALL Fn JMP PAEm 1 PAT2 CALL Fn JMP PAEm 1 PAEm 1 JMP PAEm PAT2 CALL Fn CALL Kn JMP PAEm PAEm SFT Gn 10 8 After a selective branch a selective branch can be performed The two selective coupling points for selective branch selective branch can be the same Note that in the Motion SFC chart this type is displayed in order of a selective coupling gt Selective coupling as shown on the left In this case a pointer Pn cannot be set between the selective coupling point IFEm 1 and the selective coupling point IFEm After a parallel branch a parallel branch can be performed A parallel branch can be nested up to four levels The two parallel coupling points for parallel branch parallel branch can be the same Note that in the Motion SFC chart this type is displayed in order of a parallel coupling parallel coupling as shown on the left In this case a pointer Pn cannot be set between the parallel coupling point PAEm 1 and the parallel coupling point PAEm 10 MOTION SFC PROGRAMS 1 Li Lat Name Motion SFC chart symbol e Function representation The selective coupling point and parallel branch Selective coupling Parallel branch Parallel coupling PAEm
104. Motion controller cannot be guaranteed It is recommended to back up the battery periodically 6 INSPECTION AND MAINTENANCE g Flowchart for when displays on 7 segment LED displays at the WDT error occurrence The following shows the flowchart for when displays on 7 segment LED during operation displays on 7 segment LED Confirm details of error by Motion controller error batch monitor of MT Developer2 Is the error code of Motion controller WDT cause 1 NO YES Correct the main cycle not to exceed 1 0 s by the following methods and write it to Motion controller 1 Change the operation cycle to large value in the system setting 2 Reduce the number of execution to the event task program in the Motion SFC program 3 Reduce the number of execution to the normal task program executed simultaneously in the Motion SFC program Reset the Motion controller Does disappear on 7 segment LED YES END Is the error code of Motion controller WDT cause 2 NO YES Is the error code of Motion controller WDT cause 301 NO Correct the Motion operating time to shorten by the following methods and write it to Motion controller 1 Change the operation cycle to YES large value in the system setting 2 Reduce the number of execution to the event task program in the Motion SFC program Correct the servo progr
105. Note 1 Only SSCNETII based MR J3 series servo amplifier can be used Note 2 Either a Manual pulse generator or Incremental synchronous encoder can be used Note 3 CHANGE signal of Speed position control comes from the servo amplifier 2 SYSTEM CONFIGURATION 2 Motion SFC performance specifications Motion SFC program capacity Motion SFC program Operation control program F FS Transition program G Execute specification UO X Y points Code total Motion SFC chart Operation control Transition 543k bytes Text total Td 484k bytes Operation control Transition Number of Motion SFC programs 256 No 0 to 255 Motion SFC chart size program Number of Motion SFC steps program Number of selective branches branch Up to 64k bytes Included Motion SFC chart comments Up to 4094 steps 255 Number of parallel branches branch Parallel branch nesting Up to 4 levels E EE 4096 with F Once execution type and FS Scan execution type u P prog combined F FSO to F FS4095 4096 G0 to G4095 Up to approx 64k bytes 32766 steps Up to 8192 blocks in the case of 4 steps min blocks nesting block Operation control program expression Transition program Number of multi execute programs Number of multi active steps Normal task Event task Fixed cycle Up to 128 comment included Up to 64 operand constants word device bit devices Up to 32 levels Tar Calculation expre
106. Parallel branch nesting Up to 4 levels 4096 with F Once execution type and FS Scan execution type combined T to F FS4095 Operation control program F FS Up to 8192 blocks in the case 5 4 EC Transition program G nesting block Up to 32 levels D sciintive Operation control program Calculation expression bit conditional expression Iptv 5 ya Calculation expression bit conditional expression expression Transition program i G comparison conditional expression Number of multi execute programs Up to 256 Number of multi active steps Up to 256 steps all programs Normal task Execute in main cycle of Motion CPU Event task Fixed cycle Execute in fixed cycle IN Execute specification db y 0 44ms 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms Executed Execution External task can be None interrupt masked PLC interrupt NMI task None Number of operation control programs 10 1 10 10 MOTION SFC PROGRAMS a Motion SFC Performance Specifications continued UO X Y points 8192 points VO PX PY points Internal I F Input 4 points Output 2 points internal relays 12288 points Link relays 8192 points Annunciators relays 2048 points Number of devices Device in the Motion controller only included the positioning dedicated device Special relays 2256 points Data registers 8192 points Link registers 8192 points Special registers 2256 points Motion registers 12288
107. Q1 72DLX or X all put IO c Externa put sig al of servo a pli le Servo amplifier has EM1 as the forced stop input Use EMI terminal of Motion CPU module Forced stop input The motion controller does not have the forced stop Use device set by forced stop input setting in the input System setting Necessity of Operatin i 7 p g No need to install It is already installed Need to install System Software Installation Note 1 DOG signal of servo amplifier is used as Speed position changing signal of Speed position control mode Note 2 SSCNET Servo System Controller NETwork 1 system 2 systems 1 system 1 3 1 OVERVIEW 1 3 Combination of software version and a function There are combination in the function that can be used by the version of the operating system software and programming software The combination of each version and a function is shown below 1 Combination of software version and a function o i Programming software Section of erating system Function P g Sy version Serial number of i reference software version MELSOFT MT Works2 Motion controller MC protocol communication NM Section 13 3 Incremental synchronous encoder Section 13 4 current value in real mode Connection of the servo amplifier for direct drive motor Connection with GOT by RS 422 te ad pud is communication Connection of the extension IO unit Section 13 5 MR J3 D01 2 Confirmation method of the opera
108. RST D conditional expression DIN D S itional on m device output OUT D conditional expression B SHORT O10 c o I o X E Type conversion Bit device control 10 12 Usable step O Y N transition s conditional expression Jegen D 9 La Pl FT dion J gg 4 olol ubtracti iti ion 10 MOTION SFC PROGRAMS Table of the operation control transition instruction continued Usable step Y N Classification Symbol Function Format Basic steps Kies SC F FS G conditional expression Logical acknowledgment Conditional expression o lolol o 3 Logical negation K Conditional expression 2 lolol o Logical operation Logical AND Co ditiorial expression conditional expression Logical OR Conditional expression conditional expression Conditional expression lt Less than Zu 4 O O Comparison conditional expression operation Conditional expression lt conditional expression 1i bi e eo 2 m o E o c 2 o Conditional expression gt More than or equal to m conditional expression Motion dedicated CHGV Speed change request S2 function CHGT Torque limit value change request CHGT S1 S2 Et __ Event task enabe JE Di Eventakdsabe NOP E Same data block transfer FMOV D S n El OP Same data block transfer T Write device data to CPU share
109. W j PE o EH come Eleotro e L 1 DICOM magneticq4 brake f SSCNETII on aw Red Note 2 CNIB EMI o_o D 24V DOCOM 24G Note 3 3 DESIGN 3 2 1 Power supply circuit design This section describes the protective coordination and noise suppression techniques of the power supply circuit 1 Separation and protective coordination leakage current protection over current protection of power supply lines Separate the lines for Motion controller power supplies from the lines for I O devices and servo amplifiers as shown below When there is much noise connect an insulation transformer The Motion controller may malfunction as it is affected by various noises such as electric path noises from the power supply systems and electromagnetic noises from conductors To avoid such troubles set the 24VDC power supply according to application When there is much leakage current connect a leakage current breaker Motion S controller Insulation Main power power transformer supply supply r J ATEN ZC CN 100 200VAC OO e O oOo NFB or ELB CP l l VO power Ti supply FON oO O 24VDQ gt UO devices CP power Main supply power supply PEERS 24VDC power supply Motion controller gt Main circuit device oO O CP Main circuit power supply for servo amplifier e a 100 200 400VAC os NFB or ELB MC Servo ampl
110. a setting areas of MT Developer2 Home position return data setting screen I MELSOFT Series MT Developer Unset Project Servo Data Jo Wedom Heb zi di Promet Edit Doten Yew Qniee Opte LLA LE 7 Wien menge S Servo Data Fused Parameter VP Deia Operation Data List Double ciching the set value shifts to the setting screen Mone Conte Retum Data Home Position Shift Amount Spaed Sat M tre Pos St Torque Lint of Creep Speed Operation fce HPS Incompletion UTE UNT LL Parameter ga setting td Szeen Dota MA MONM SV2 Host Stat Parameter block No setting in the home position return Parameter block No setting in the JOG operation 8 PARAMETERS FOR POSITIONING CONTROL 8 3 JOG Operation Data 1 The settings for JOG operation is executed 2 Individual start or simultaneous start can be used in JOG operation 3 JOG operation can be executed using the Motion SFC program or test mode of MT Developer2 Refer to the help of MT Developer2 for JOG operation method in the test mode of MT Developer2 4 Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE for details Table 8 3 JOG operation data list a ae a range l l Item S z inn S EE M inte u nits Remarks ettin ettin ettin EJTEJTE AT Seg ic range range range Sets the maximum speed at the JOG 0 001 to ito operation 2147483
111. a thick wire so that a low impedance connection to ground can be ensured even at high frequencies 5 Holes made in the control panel must be 10cm 3 94inch diameter or less If the holes are 10cm 3 94 inch or larger radio frequency noise may be emitted In addition because radio waves leak through a clearance between the control panel door and the main unit reduce the clearance as much as practicable The leakage of radio waves can be suppressed by the direct application of an EMI gasket on the paint surface 2 Connection of power line and ground wire It is necessary to use the Motion controller grounding terminal only when it is in the grounded condition Be sure to ground the grounding for the safety reasons and EMC Directives Ground wire and power supply cable for the Motion controller system must be connected as described below a Provide an grounding point near the FG terminals Ground the FG terminals FG Frame Ground with the thickest and shortest wire possible The wire length must be 30cm 11 81inch or shorter The FG terminals function is to pass the noise generated in the Motion controller system to the ground so wire the ground wire as short as possible to ensure a low impedance The wire itself carries a large noise content and thus short wiring means that the wire is prevented from acting noise emission as an antenna 15 3 15 EMC DIRECTIVES 3 Cables The cables extracted from the control panel co
112. al oscilloscope function cannot be used remains flashing in the first digit and steady When rotary switch 2 is set to C and a power ON is done the SRAM area SRAM clear pe iscleared The programs parameters absolute position data and latch data in the Motion controller are cleared Steady INS display at the 7 segment LED Operating system software can be installed STOP status is maintained regardless of the RUN STOP RESET switch position on the front side of Motion controller Digital oscilloscope function cannot be used Installation mode 2 SYSTEM CONFIGURATION c Ethernet IP address display mode overview 7 segment LED Operation overview e IP address Example 192 168 3 39 Subnet mask pattern Example 255 255 255 0 Default router IP address Example 192 168 3 1 Disconnect Link status Connect 10Mbps EM DP Full duplex E LI J Connect 100Mbps Half duplex cb Note When the Ethernet parameters are not written in the Motion controller the address are displayed as follows P address 192 168 3 39 Subnet mask pattern 255 255 255 0 e Default router IP address 192 168 3 1 Be sure to turn OFF the Motion controller power supply before a rotary switch setting change 2 SYSTEM CONFIGURATION 2 5 2 MR MQ100 hardware and wiring 1 Module specification a Module specification Specifications
113. am so that the number of CPSTART instructions of 8 or more points should not exceed the number of simultaneous startable programs 14 or less and write it to Motion controller NO Explain the error symptom and get advice from out sales representative 6 INSPECTION AND MAINTENANCE h Flowchart for when servo amplifier does not start The following shows the flowchart for when servo amplifier does not start Servo amplifier does not start Is there error display on 7 segment LED of Motion controller Remove the error cause Does servo amplifier start Has the control power supply of servo amplifier turn on the control power supply of servo amplifier turn on Does servo amplifier start Is the connection of SSCNET m cable correct Connect the SSCNET M cable correctly Does servo amplifier start Set the axis select rotary switch in 0 turn on the power supply of the servo amplifier Is the axis select rotary switch of servo amplifier correct Does servo amplifier start Explain the error symptom and get advice from out sales representative 6 INSPECTION AND MAINTENANCE i Flowchart for when AL S01 displays on 7 segment LED AL flashes 3 times Steady S01 display displays at the servo error occurrence The following shows the flowchart for when AL flashes 3 times gt Steady S01 display
114. ames parameters start up procedure and others for Fully 1CW304 Closed Loop Control MR J3 L B RJ006 Servo amplifier Optional SSCNETII interface Drive Safety integrated MR J3 L1B Safety Servo amplifier Instruction Manual SH 030084 This manual explains the UO signals parts names parameters start up procedure and others for safety 1CW205 integrated MR J3 L1B Safety Servo amplifier Optional MEMO 1 OVERVIEW 1 OVERVIEW 1 1 Overview This User s Manual describes the hardware specifications the software specifications and handling methods of the Motion controller This manual explains the changes between the MR MQ100 and Q173DCPU Q172DCPU Refer to the other motion controller manuals for details of each function In this manual the following abbreviations are used Generic term Abbreviation Dm a MR MQ100 Single Axis Motion Controller Ee controller MR MRJ amp OB OB Servo Servo amplifier model MP model MR J3 L B AMP or Servo amplifier General name for Servo amplifier model MR J3 L B Programming software package General name for MT Developer MR ConfiguratorO Operating system software General name for SW9DNC SV22QW SV22 Operating system software for automatic machinery SW9DNC SV22QW Abbreviation for Motion controller engineering environment MELSOFT MT Works2 MELSOFT MT Works2 for MR MQ100 SW1DNC MTW2MQ E Version 1 04E or later MT Developer2
115. at leave 100mm 3 94inch or more clearance to instruments fitted in front of the Motion controller on the rear of the door Install the MR MQ100 to the left of the servo amplifier Separate the interval between MR MQ100 and the servo amplifier by 1mm 0 04inch or more Leave at least 30mm 1 18inch of space between the MR MQ100 and any object to its left 3 DESIGN 3 3 3 Calculating Motion Controller Heat Generation The ambient temperature inside the panel storing the Motion controller must be suppressed to the specified ambient temperature of 55 C 131 F or less For the design of a heat releasing panel it is necessary to know the average power consumption heating value of the devices and instruments stored inside Use the Power consumption on section 2 5 2 MR MQ100 hardware and wiring 1 Unit specification From the power consumption calculate a rise in ambient temperature inside the control panel 3 4 Design Checklist Copy the following table for use as a check sheet at the worksite Sub Item Design confirmation External Avoidance of operation failure at power on EC circuit Fail safe circuit design design Avoidance of hazard at Motion controller failure E Conformance with general specifications such as ambient temperature humidity dust etc Lavout Total power consumption of Motion controller Oe Module layout design Calculate the heating value design Layout in consideration of clearances bet
116. ator Incremental synchronous encoder side SEL SG 5V SG Eu SG DO1 COM2 Output COM2 Input Mark detection input side RXDL 42 ml 47 I j DOLI 17 TOH 16 se 9 6 SDB 1 i l SDA GOT 7 RDB 2 RDA 5 SG 3 RSA 8 RSB 4 CSA 9 CSB SG 38 AB 13 App 9 APPENDICES APPENDIX 2 Exterior Dimensions APPENDIX 2 1 MR MQ100 unit mm inch With battery Q6BAT Without battery e 4 Jl MEM pedido qoo 4 pop Vater 4 g MES zo APTE amp s eS n Power FER Dn E M S Rr S 2 Z s Es e e E E s co r nnnnr Lei EXTIO r3 O F J U Ly U U JO D F S _ A 2 S L L L Loi E EE PE zl
117. ave a wire diameter heat resistance and bending resistance compatible with the system Use wires and cables within the length of the range described in the instruction manual The ratings and characteristics of the parts other than Motion controller servo amplifier servomotor used in a system must be compatible with the Motion controller servo amplifier and servomotor Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure when the ball screw and servomotor are connected with a timing belt etc Mount a stopping device to ensure safety on the machine side 3 DESIGN 3 2 External Circuit Design This section explains methods and instructions for designing the power supply circuits and safety circuits etc 1 Sample system circuit design for Motion controller prisen MR ma100 3 phase veut AC200 220V POWER yyy we A i SR Add hi PE EE normal output Oo DAVDG Servo normal ON cv SSCNETIII interface Alarm OFF Note 1 o cp Power supply rogi cs Gi ep CP supply 24VG E Sa g con o o 24NDC sw power supply 24G 2 for MR MQ100 ua Se 24V ooo M supply 24VG re d pM
118. bJo euin uone1ejeoeq euin uoneio eooy en eA Uu peeds e SENE MIT DIE EISE CTI ZUM ES EROR REM EUN A Set if required Only reference axis speed specification Note 2 B indicates a bit device O Must be set Note 1 9 SERVO PROGRAMS FOR POSITIONING CONTROL Table 9 2 Servo Instruction List continued Positioning data gt E Q I o EI Dwell time Instruction symbol Auxiliary point Processing Parameter block No Address travel value Command speed Torque limit value Positioning control 1 axis fixed pitch feed start 2 axes linear interpolation fixed pitch feed start 3 axes linear interpolation fixed pitch feed start Speed control I forward rotation start Fixed pitch feed lt m lt D Speed control I reverse rotation start Speed control T forward rotation start lt lt Speed control II reverse rotation start ABS 1 Speed position control Note 3 Speed switching control end ABS 2 point address ABS 3 INC 1 Speed switching control z Q eo Travel value up to speed switching INC 2 control end point Speed switching point absolute specification Speed switching point incremental specification REESEN WEE DREES EE 9 SERVO PROGRAMS FOR POSIT
119. cal interpolation Incremental auxiliary point specified helical interpolation Absolute radius specified helical interpolation less than CW 180 Absolute radius specified helical interpolation CW 180 or more O Ee TL LSS EE ECCE ERE THREE AAE ER EA SHE E E E EN eels ae Absolute radius specified helical interpolation less than CCW 180 Absolute radius specified helical interpolation CCW 180 or more Incremental radius specified helical interpolation less than CW 180 Radius specified Incremental radius specified helical interpolation CW 180 or more Incremental radius specified helical interpolation less than CCW 180 Incremental radius specified helical interpolation CCW 180 or more Absolute central point specified helical interpolation CW Absolute central point specified helical interpolation CCW Incremental central point specified helical interpolation CW Incremental central point specified helical interpolation CCW Helical interpolation control Central point specified 9 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data Parameter block SE BEE Number of steps 10 to 27 dois uonisod pexi4 euin uoneJejooop uoneJojoooe dois uonisod paxi4 Ser HIT SEIT Note 2 Note 2 uonejodaojur Je n9JI9 10 eBueiJ 10119 ejJqewolv indui dois ye DuisseooJud uonejJojooeg en eA Wu en
120. cause the axis number is fixed in the system structure display as dO1 The default setting of the axis select rotary switch of servo amplifier is O System structure Allocation of axis No Axis select rotary switch IF MELSOFT Series MT Developer L 1 Ga S manual FH System Structure BEE Servo amplifier Project Edit Convert View Online Option Tool Window Help i 8 jE5W 3 amp 3 m 3 XSEXoud w r tENHEN 5 Project nx D System Structure E Lei manual fia 5V22 f system Setting Basic Setting System Structure F High speed Reading Ifa Optional Data Monitc e Servo Data Setting g Motion SFC Program Servo Program H g Mechanical System AXE Cam Data H Labels Structured Data Types E D I Device Memory Set the servo amplifier s rotary switch to O The axis number d01 is fixed on the system lt m structure display Output n MR MQ100 S 22 Host Station 2 SYSTEM CONFIGURATION 2 5 5 Battery Below explains the specification install procedure and handling of the Motion controller battery Battery specifications Model Classification Manganese dioxide lithium primary battery Initial voltage V DEE ns Nominal current mAh 1800 5000 Storage life 5 years typical Room temperature 5 years typical Room temperature Lithium content g 0 49 1 52 Applications For memory data backup of SRAM built in Motion controller Exterior dimensions mm inch 16 0 63 x
121. ch the Motion controller servo amplifier or servomotor terminal blocks while the power is ON as this may lead to electric shocks Do not touch the built in power supply built in grounding or signal wires of the Motion controller and servo amplifier as this may lead to electric shocks NCAUTION Be sure to ground the Motion controller servo amplifier and servomotor Do not ground commonly with other devices Ground resistance 100 or less The wiring work and inspections must be done by a qualified technician Wire the units after mounting the Motion controller servo amplifier and servomotor Failing to do so may lead to electric shocks or damage Perform the daily and periodic inspections according to the instruction manual Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier Do not place fingers or hands in the clearance when opening or closing any opening Periodically replace consumable parts such as batteries according to the instruction manual Do not touch the lead sections such as ICs or the connector contacts Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or wood plastic or vinyl that may cause static electricity buildup Do not perform a megger test insulation resistance measurement during inspection When replacing the Motion controller or servo amplifier always set the ne
122. chart for when AL A1 L1 displays on 7 segment LED AL flashes 3 times Steady A1 display gt L1 displays at the self diagnosis error occurrence L1 4 digits error code is displayed in two sequential flashes of 2 digits each AL gt L01 ET displays on 7 segment LED Confirm details of error by Motion controller error batch monitor of MT Developer2 E NO YES Take measures against noise Explain the error symptom and get advice from out sales representative Reset the Motion controller Does AL gt L01 gt LT disappear on 7 segment LED NO YES END 6 INSPECTION AND MAINTENANCE SEENEN f Flowchart for when BTO displays on 7 segment LED BT1 or BT2 displays when the battery voltage is lowered BT1 or BT2 displays at the following cases e BT1 Battery voltage 2 7V or less BT2 Battery voltage 2 5V or less The following shows the flowchart for when BTL displays BTO displays on 7 segment LED Turn off the Motion controller power supply Replace the battery Turn on the Motion controller ower supply Does BTO disappear on 7 segment LED Confirm ON OFF by monitoring SML NO SM58 or SM51 ON YES SM58 SM51 OFF H W fault Explain the error symptom and get advice from out sales representative If SM51 SM58 turns on the contents for the data Refer to Section 6 5 of SRAM built in
123. compatible with the system application The protective functions may not function if the setting is incorrect Set the servomotor capacity and type standard low inertia flat etc parameter to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the servo amplifier capacity and type parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Use the program commands for the program with the conditions specified in the instruction manual NCAUTION Set the sequence function program capacity setting device capacity latch validity range UO assignment setting and validity of continuous operation during error detection to values that are compatible with the system application The protective functions may not function if the settings are incorrect Some devices used in the program have fixed applications so use these with the conditions specified in the instruction manual The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error etc Thus an error correspondence interlock program specified in the instruction manual must be used Use the interlock program specified in the intelligent function module s instruction manual for the program corresponding to the intelligent function module
124. connect 2 No connect Mote 6 26 No connect 1 No connect f Vote m Applicable connector model name HDR type connector HONDA TSUSHIN KOGYO CO LTD HDR E50MSG 1 connector Attachment HDR E50LPH connector case Note 1 Input type from manual pulse generator Incremental synchronous encoder switched by SEL Not connected Voltage output open collector type SEL SG connection Differential output type Note 2 Voltage output open collector type Connect the A phase signal to HA and the B phase signal to HB Note 3 Differential output type Connect the A phase signal to HAH and the A phase inverse signal HAL Connect the B phase signal to HBH and the B phase inverse signal HBL Note 4 COM1 is the common terminal of DI1 DI2 DI3 and DIA Note 5 COM is the common terminal of DO1 and DO2 Note 6 Do not connect to any of the terminal is explained as No connect 2 SYSTEM CONFIGURATION 2 Input signal Mark detection a Specifications of input signal mark detection input signal item Photo coupler Rated input voltage 24VDC Rated input current lin Approx 5mA 21 6 to 26 4VDC 24VDC_ 10 ripple ratio 5 or less ON voltage current 17 5VDC or more 3 5mA or more OFF voltage current 5VDC or less 0 9mA or less Operating voltage range Input resistance Approx 5 6kQ OFF to ON Response time 1ms or less ON to OFF Common terminal arrangement 4 points common Common contact COM1 In
125. control Virtual enable O Number of steps Number of indirect words Linear interpolation control Incremental 3 axes linear interpolation Absolute 4 axes linear interpolation Incremental 4 axes linear interpolation Absolute auxiliary point specified circular interpolation Incremental auxiliary point specified circular interpolation Absolute radius specified circular interpolation less than CW 180 Absolute radius specified circular interpolation CW 180 or more Absolute radius specified circular interpolation less than CCW 180 Absolute radius specified circular interpolation CCW 180 or more Incremental radius specified circular interpolation less than CW 180 Circular interpolation control Radius specified Incremental radius specified circular interpolation CW 180 or more Incremental radius specified circular interpolation less than CCW 180 Incremental radius specified circular interpolation CCW 180 or more fo gt 5 foo foo e 1e 1 fe fo fo gt o gt pbl mewn BER ERST pese SR ES ER ncs See E mo E mo 9 SERVO PROGRAMS FOR POSITIONING CONTROL Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming for details REAL MODE Servo instructions which need multiple axes like Linear Interpolation control and Circular Interpolation control are set i
126. ct the power line from the Motion controller or servo amplifier Place the Motion controller and servo amplifier in static electricity preventing vinyl bags and store When storing for a long time please contact with our sales representative Also execute a trial operation Ambient humidity According to each instruction manual 4 Wiring NCAUTION Correctly and securely wire the wires Reconfirm the connections for mistakes and the terminal screws for tightness after wiring Failing to do so may lead to run away of the servomotor After wiring install the protective covers such as the terminal covers to the original positions Do not install a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo amplifier Correctly connect the output side terminal U V W and ground Incorrect connections will lead the servomotor to operate abnormally Do not connect a commercial power supply to the servomotor as this may lead to trouble Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake signals etc Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning Servo amplifier Servo amplifier 24VDC Control output Control output signal Q signal 9 DICOM DICOM For the sink output interface For the source output interface
127. d memory MULT of the self CPU MOTOS AAP Read device data from CPU shared MULTR MULTR D S1 S2 memory of the other CPU VETER OD SOL TO Write device data to intelligent function TO D1 D2 S n module R i fi intelli functi FROM Bun ARE data from intelligent function FROM D S1 S2 n TIME _ Time to wait TIME S 7 Z CAUTION if an unavailable Operation control or Transition instruction is set a Motion SFC program start error will occur 3 Rough calculation expression of single program for operation control transition program 2 1 Total number of basic steps in 1 block Number of 32 bit constants 1 block x 1 Number of 64 bit constants 1 block x 3 x Number of blocks steps 1 step 2 bytes 10 13 10 MOTION SFC PROGRAMS 10 5 Program Parameters Start setting Set the following parameters for every Motion SFC program Setting range Automatically started or not Initial value Not setting Execute task Can be either a normal event or NMI task Normal task When you have set the event task further set the event 1 Fixed cycle Can be either 0 44ms 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms or none The same event can be shared among multiple Motion SFC programs Number of consecutive transitions 1to 10 Set the number of consecutive transitions toward the program set to the event END operation Executing flag End continue Set the o
128. de Operation at Error name Note 1 Note 2 error cause Check timing LED error occurrence AMP No JAMP No SETTING Servo axis is not set in Servo axis is not set in system setting setting System setting data is not written SYS SET DATA ERR System setting data is written before Relative check Or It is written with an error of Relative check ROM ERRORI Operating system software data type written to ROM is different Cannot be ROM ERROR2 Data is not written to ROM When the started AL 3 times 10014 ROM data size is wrong power is turned Motion Note 3 flashes s Execute ROM write again ROM ERROR3 Check for version adjustment system setting of the motion controller MT Developper2 error and operating system software ROM data is wrong Execute ROM write again ROM ERROR4 Check for version adjustment of the motion controller MT Developper2 and operating system software Note 1 AL flashes 3 times gt L01 turns on is continuously repeated No error code on 7 segments LED Note 2 This error code is stored in Self diagnosis error SDO Note 3 When error code 10014 occurs System setting error flag M2041 turns ON and the applicable error name shown above is displayed on the error list monitor of the MT Developer2 14 2 14 ERROR CODE 14 3 Servo program setting error MR MQ100 has the same Servo program setting errors as Q173DCPU Q172DCPU except for the below err
129. dicates to display None b Interface of input signal mark detection input signal Pin No Wiring Internal mur Description DI2 DI3 example circuit Signal name Signal input Input CT 2c Mark detection ark signal input detection input Note 1 O 21 to 4 Note 2 Both positive common and negative common can be used 2 SYSTEM CONFIGURATION 3 Output signal a Specification of output signal Specifications Number of output points Output method Sink Source type Isolation method Photo coupler Rated load voltage 24VDC 10 Maximum load current lout 40mA point 30mA common 21 6 to 26 4VDC External supply power 24VDC 10 ripple ratio 5 or less Maximum voltage drop at ON Vdorp 2 75VDC or less OFF voltage current 11VDC or less 1 7mA or less Input resistance Approx 5 6kQ OFF to ON 1ms or less Response time ON to OFF 1ms or less Rated load resistance load Common terminal arrangement 2 points common Common contact COM2 Indicates to display None b Interface of output signal Wiring Internal circuit Description example Signal name Signal output Output Output Note 1 O 1 to 2 Note 2 Both sink type and source type can be used 2 SYSTEM CONFIGURATION 4 Manual pulse generator Incremental synchronous encoder input a Specification of manual pulse genera
130. e electromagnetic interference emissions and are not unduly affected by electromagnetic interference immunity Section 15 1 1 through Section 15 1 4 summarize the precautions on compliance with the EMC Directive of the machinery constructed with the Motion controllers These precautions are based on the requirements and the standards of the regulation however it does not guarantee that the entire machinery constructed according to the descriptions will comply with above mentioned directive The method and judgment for complying with the EMC Directive must be determined by the person who construct the entire machinery 15 1 15 EMC DIRECTIVES 15 1 1 Standards relevant to the EMC Directive The standards relevant to the EMC Directive are listed in table below Certification Test details Signed value 40dBuV m EN5501 1 2007 A2 2007 Radio waves from the product are 10m 32 81 ft in measurement range Radiated emission measured 230M 1000MHz QP 47dBuV m 10m 32 81ft in measurement range AC power line 0 15M 0 5MHz Gei 8 79dBuV EN61000 6 4 2007 AV Note eegpguy EN55011 2007 A2 2007 9 j EN61131 2 2007 0 5M 30MHz QP 73dBuV Power line Noise from the product to the power AV 60dBuV EN55022 2006 A1 2007 N ine and electrical communication port l SE Electrical communication port Electrical communication port is measured ee Ge Se dl H S 0 15M 0 5MHz QP AV Logarithmic u decrease 0 5M 30MHz QP 8
131. e output voltage may not be correct 2 When the motion controller s power supply is turned on the content of the analog output instruction device is cleared to 0 2 Analog input devices 8800 to 8801 Signal name Pin No of Signal Signal name Fetch cycle dO MR J3 D01 direction o Analog input ANH CN20 2 Operation cycle 0 8 ms or less 0 8 ms Monitor Operation cycle 1 7 ms 1 7 ms GET 1 Analog input ANI2 CN20 12 Operation cycle 3 5 ms or more 3 5 ms 1 Analog input voltage is stored in units of mV However 0 is always stored in the channel due to improper usage as per the restrictions described in section 13 5 2 When the motion controllers power supply is turned on the content of the analog input instruction device is cleared to 0 7 POSITIONING DEDICATED SIGNALS 7 5 Special relays Special registers 7 5 1 Special relays Special relays are internal relays whose applications are fixed in the Motion controller For this reason they cannot be used in the same way as the normal internal relays by the Motion SFC programs However they can be turned ON OFF as needed in order to control the Motion controller Explanation of headings used in the table on the next page Indicates the name of the special relay Indicates whether the relay is set by the system or user and if it is set by system when setting is performed Set by S Set by system Motion controller U Set by use
132. e range of 5 to 95 RH 3 No condensing due to sudden temperature changes 4 No corrosive or inflammable gases b There must not be excessive dust iron filings oil mist salt or organic solvents 6 No direct sunlight 7 No strong electrical or magnetic fields 8 No direct vibrations or shocks to the Motion controller 3 DESIGN 3 3 2 Motion Controller Layout Design This section describes the precautions related to mounting a Motion controller in an enclosure 1 To improve ventilation and permit easy replacement of the module leave sufficient space between the top bottom side of the module and any other object See below list For details on layout design refer to section 4 1 3 Motion Controller Mounting Instructions Top 40mm 1 57inch or more Bottom 40mm 1 57inch or more Front 100mm 3 94inch or more e Right side 1mm 0 04inch or more e Left side 30mm 1 18inch or more 2 Provide a wiring duct if required NCAUTION Due to ventilation problems do not mount the base units vertically or horizontally Mount the base units on a flat surface Unevenness or warping of the surface can apply undue force to printed circuit boards and lead to operation failures Avoid mounting the base units close to a vibration source such as a large electromagnetic contactor or no fuse breaker Mount them on a separate panel or at a safe distance To limit the effects of reflected noise and he
133. e ratio 0 to 100 deceleration JOG operation function M function with mode M code output function provided M code complete wait function provided Manual pulse generator operation 1 unit can be connected function Setting of magnification 1 to 10000 Test mode only Setting of smoothing magnification provided Note 1 Capacity matching the servo program for real mode Note 2 Relation between a resolution per cycle of cam and type are shown below Resolution per cycle 1024 2048 3 DESIGN 3 DESIGN 3 1 System Design Procedure Design a system which uses the Motion controller using the following procedure Motion control system design Check the below items based on the control mode and the servo external signal When there is mechanical home position and home position return is made Proximity dog required For speed control Speed position switching control signal required When overrun prevention is necessary Stroke limit required Select the servo amplifier and servo motor according to the motor Refer to the servo capacity and number of revolution from the machine mechanism to be amplifier manual controlled Refer to section 3 2 External circuit design Power supply circuit design Design the power supply circuit which supplies power to such system DEE components as the Motion controller UO equipment and servo amplifiers etc taking into consideration t
134. ead to electric shocks 2 For fire prevention NCAUTION Install the Motion controller servo amplifier servomotor and regenerative resistor on incombustible Installing them directly or close to combustibles will lead to fire if a fault occurs in the Motion controller or servo amplifier shut the power OFF at the servo amplifier s power source If a large current continues to flow fire may occur When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fire Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used Failing to do so may lead to fire Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to fire 3 For injury prevention NCAUTION Q Do not apply a voltage other than that specified in the instruction manual on any terminal Doing so may lead to destruction or damage Do not mistake the terminal connections as this may lead to destruction or damage Do not mistake the polarity as this may lead to destruction or damage Do not touch the heat radiating fins of controller or servo amplifier regenerative resistor and servomotor etc while the power is ON and for a short time after the pow
135. ection The items that must be inspected one or two times every 6 months to 1 year are listed below When the equipment is moved or modified or layout of the wiring is changed also implement this inspection Table 6 2 Periodic Inspection 0 to 55 C 32 to 131 F When the controller is used Measure with a thermometer and a in an enclosure the ambient hygrometer 5 to 95 RH environment in the enclosure Measure corrosive gas becomes the operating environment No corrosive gases Measure the voltage across the Power voltage terminals of 24VDC 21 6 to 26 4VDC Change the power supply e Move the Motion controller to The module must be installed Retighten the screws x Looseness rattling e 3 check for looseness and rattling securely Ambient environment Looseness of FG Try to further tighten screws with a Retighten the terminal 2 Screws must not be loose terminal screws Screwdriver screws Retighten th nn r Logseness of Check visually Connectors must not be loose ten tha connecto connectors fixing screws Check the 7 segment LED on the BT1 or BT2 must not be Even if the lowering of a front side of MR MQ100 displayed battery capacity is not shown replace the battery Check the length of term after Must not be used for more than 5 with a new one if the service Battery purchasing the battery years life time of the battery is exceeded Check that SM51 or SM58 is Replace the battery with a turned OFF u
136. ectric AERSBAN ESET AD75CK 15 6 15 EMC DIRECTIVES 15 1 4 Example of measure against noise The example of corrective action to use noise suppression modules is shown below Control panel A E AD75CK cable clamp Motion controller NN Ferrite core d Ethernet cable AAN Recommended product ZCAT3035 1330 FI Shield tuisted pair of category 5 or more MER NF30CS2P10A Line Filter FR BLF Internal I F d SSCNETII cable connector U Internal I F l 1 connector care Manual pulse generator Synchronous encoder E Input Output 2 Internal I F connector cable 1 24VDC AC power power supply supply 1 Ground the FG terminal of the Motion controller and 24VDC power supply module to the control panel 2 Measure against noise of the power supply cable 24VDC twisted cable Wire the power supply cable as short as possible using the twisted cable Install a ferrite core at a position 20 to 30cm 7 87 to 11 81inch away from the product 3 Install a line filter in the secondary side of NF Approx 4 turn 4 Measure against noise of the internal I F connector cable Ground the cables at a position 30 to 40cm 11 81 to 15 75inch away from the module with the cable clamp etc When the cables are extracted from the control panel ground the cables at a position 5 to 10cm 1 97 to 3 94inch away from the exit entrance of the contr
137. ed grounding cannot be used use 2 Common Grounding Motion Another shown below Motion Another Motion Other controller equipment controller equipment controller equipment O Grounding I qe 1 Independent grounding Best 2 Common grounding Good 3 Joint Grounding Not allowed c For grounding cable use cable of 2 mm or thicker Position the ground contact point as close to the Motion controller as possible and reduce the length of the grounding cable as much as possible 4 INSTALLATION AND WIRING 4 3 2 Connecting to the power supply module The following diagram shows the wiring example of power lines grounding lines etc to the Motion controller 100 110VAC 24VDC MENT D ree Xd Aur keen L ym pE d ig 2 penmenat ur 2 ET a Lu e o Esch a ll ll I ILII TT 2 T_T TT I 3 E pu IL L d eg RM II 2 e II d b Le IT 2 2 Leen A op tee Oe CE Kee L d ZS Ii Ir E c gt ILI gt tL en n 0000000000 l CT Ung I Note Connect to power input terminals of I O signals that
138. egister list Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE for details Cl en Sm 1 D640 D641 D642 D643 ignal Bete 1049 N Signal name Virtual Fetch cycle Unit Signa D644 D645 direction L4 D646 D647 ol Command Command JOG speed setting O At start D648 D649 unit device 6 Deen Deet O Valid x Invalid 8 Gesa D655 1 Only axis 1 can be set as a real mode Axes 1 to 8 can be set as a virtual servo motor axis Up to 3 axes can be used 7 POSITIONING DEDICATED SIGNALS 7 3 4 Virtual servomotor axis monitor device list Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual VIRTUAL MODE for details Signal name D800 to D809 Refresh Fetch Signal Signal name Virtual 3 cycle cycle direction D810 to D819 3 D820 to D829 D830 to D839 D840 to D849 Current value after virtual 7 servomotor axis main shaft s differential gear Monitor device Operation cycle Error search output axis No Data set pointer for constant speed control D D Operation 85010 D859 ol Feed current value D860 to D869 cycle D870 o D679 AT Execute program No At start B Backup O O Valid x Invalid 1 Axes 1 to 8 can be set as a virtual servo motor axis Up to 3 axes can be used 7 POSITIONING DEDICATED SIGNALS 7 3 5 Synchronous encoder axis monitor device list Refer to Q173DCPU Q172DCPU Mo
139. elays are overlooked the contents may be erased After relay SM51 or SMB8 turns on replace the battery quickly within the data retention time for power failure 3 minutes POINT 1 SM51 or SM58 turns on when the battery voltage falls below the specified value and remains ON even after the voltage is recovered to the normal value SM51 or SM58 turns off after a power supply cycle or reset After SM51 or SM58 turns on replace the battery immediately e SM51 or SM52 turns on if the battery voltage becomes 2 5V or less SM58 or SM59 turns on if the battery voltage becomes 2 7V or less If SM51 turns on the details of the programs parameters and absolute position and latch data cannot be guaranteed It is recommended to back up the battery periodically The data stored in the SRAM built in Motion controller are shown below Programs Parameters Motion devices Devices of latch range and Absolute position data 6 INSPECTION AND MAINTENANCE 6 5 1 Battery life The battery life is shown below Battery life Total power failure time h Note 1 Actual service value Power on time Guaranteed value Guaranteed value Module type Note 5 Backup time after alarm Note 3 Note 4 Note 5 Note 6 Note 7 Note 3 Note 4 Ref Note MIN 75 C 167 TYP 40 C 104 Reference value PO TYP 25 C 77 F me SE 5o soo 43800 43800 ae 21000 After SM51 SM520N
140. ent across the Motion controller becomes lower than the off current DC input DC input plus common Input signal plus common is not Motion turned Leakage Motion Resistor controller OFF current controller Example 1 Note 1 A calculation example of the resistance to be connected is shown below Sneak path due to the use of two power Use only one power supply supplies Connect a sneak path prevention diode Figure below Input signal is not turned Motion OFF controller Example 2 lt Calculation example of Example 1 gt If a switch with LED display is connected to MR MQ100 and current of 4 mA is leaked MR MQ100 Leakage current WAR Input module a Because the condition for OFF voltage 0 9 mA of MR MQ100 is not satisfied Connect a resistor as shown below AmA MR MQ100 17 0 9mA ATI i Input impedance i 5 6 kQ SSS 24 VDC 6 INSPECTION AND MAINTENANCE b Calculate the connecting resistor value R as indicated below To satisfy the 0 9 mA OFF current of the MR MQ100 the resistor R to be connected may be the one where 3 1 mA or more will flow In Iz2Z Input impedance R R lt Ex Z nput impedance 3 56 x10 21625 0 R d R 1625 Q Assuming that resistor R is 1500 N the power capacity W of resistor R is W Input voltage R 26 4 1500 0 464 W c The power capacity of the resistor selected is 3 to 5 times greater than the actual current co
141. eplace the protective cap attached to Motion controller or servo amplifier to the Motion controller and servo amplifier For SSCNETII cable attach the optical fiber protective tube to the end of the connector 4 INSTALLATION AND WIRING 4 Precautions of SSCNETIII cable wiring b c The SSCNETII cable is made from optical fiber If the optical fiber undergoes major shock lateral pressure haul sudden bending or twisting its insides may distort or break and optical transmission will not be possible Since the optical fiber for MR JSBUSLIM MR J3BUSLIM A is made of synthetic resin it may melt if left near fire or high temperature Therefore do not allow it to touch any part which can achieve high temperatures such as radiators or the regenerative brake option of the servo amplifier Be sure to use the optical fiber within the range of operating temperature described in this manual Read described item of this section carefully and handle with caution Minimum bend radius Make sure to lay the cable with greater radius than the minimum bend radius Do not press the cable to edges of the equipment or anything else For SSCNET cable the appropriate length should be selected with consideration of the dimensions and arrangement of the Motion controller or servo amplifier When closing the door of control box pay careful attention to avoid pinching the SSCNET II cable with the case door or a situation where the cable bend
142. er are described below a Do not bundle the wires on the input side and output side of the noise filter When bundled the output side noise will be induced into the input side wires from which the noise was filtered Input side Input side power supply side power supply side Induction Noise filter E Noise filter E The noise will be included when the Separate and lay the input and input and output wires are bundled output wires Output side device side Output side device side Figure 15 4 Precautions on noise filter b Ground the noise filter grounding terminal to the control cabinet with the shortest wire possible approx 10cm 3 94 inch Noise ferrite Recommended product Manufacturer Model name Mitsubishi electric FR BLF Soshin Electric HF3010A UN 15 5 15 EMC DIRECTIVES 3 Cable clamp It is also possible to ground the exposed shielded part of the cable to the panel with the cable clamp Ground the shield at a position 20 to 30cm 7 87 to 11 81 inch away from the module When the cables pulled out from the control panel ground the cables at a position 5 to 10cm 1 97 to 3 94inch near the input output hole of the control panel with the cable clamp Motion controller Inside control panel 20 to 30cm 7 87 to 11 81 inch LH 2em ME 1 97 to 3 94 inch Cable clamp Recommended product AERSBAN DSET Mitsubishi el
143. er is turned OFF In this timing these parts become very hot and may lead to burns Always turn the power OFF before touching the servomotor shaft or coupled machines as these parts may lead to injuries Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries 4 Various precautions Strictly observe the following precautions Mistaken handling of the unit may lead to faults injuries or electric shocks 1 System structure NCAUTION Always install a leakage breaker on the Motion controller and servo amplifier power source If installation of an electromagnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always install the electromagnetic contactor Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Use the Motion controller servo amplifier servomotor and regenerative resistor with the correct combinations listed in the instruction manual Other combinations may lead to fire or faults Use the Motion controller base unit and motion module with the correct combinations listed in the instruction manual Other combinations may lead to faults If safety standards ex robot safety rules etc apply to the system using the Motion controller servo amplifier and servomotor make sure that the safety standards are
144. erential gear connection with a speed change gear on the output side Pattern 1 Pattern 2 Pattern 3 mm E p C Li NET S Output Differential Differential Gear module gear gear DE Xe Drive Output Drive Output module module module module 11 MECHANICAL SYSTEM PROGRAM a Transmission modules which can be used in the above A and B 1 A clutch speed change gear and clutch speed change gear can be used in A and B 2 There are no restrictions on connection constraints if a clutch speed change gear combination is used Speed Speed change gear change gear rni Clutch b Transmission module which can be used in above C pattern 3 Only a clutch can be used in location C Clutch 11 MECHANICAL SYSTEM PROGRAM 11 2 Mechanical Module List An overview of the mechanical modules used in the virtual mode connection diagram is shown in Table 11 1 Refer to the Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual VIRTUAL MODE for details of the mechanical modules Table 11 1 Mechanical Module List Mechanical Module Maximum Number of Usable Classifi Number Number Per Block cation Per Name Appearance Motion Connection Input PI Syst CPU ystem Shaft Side Side module Drives the virtual axis of the mechanical system program using the servo Virtual program or a JOG operation
145. etr 0 Invalid Do not execute the home position return retry by limit switch function Y 1 Valid Execute the home position return retry by limit switch Dwell time at the home 0 to 5000 ms position return retry 214748364 8 21474 83648 21474 83648 2147483648 to to to degree to 214748364 7 21474 83647 21474 83647 2147483647 Home position return method 0 0 ES r n n we Wi o o Home position shift amount 10 Speed set at 11 the home 0 Home position return speed position shift 1 Creep speed Torque limit 12 value at the 1 to 1000 95 creep speed Operation setting for 3 incompletion of home position return U o E 0 Execute a servo program 1 1 Not execute a servo program 8 PARAMETERS FOR POSITIONING CONTROL 4 Home position The home position return direction is set return direction The home position return method is set The proximity dog type or count type are recommended for servo amplifier s systems which do not support absolute value Home position return method The current value of home position after the home position return is set Home position address E The home position return speed is set Home position return speed The creep speed low speed immediately before stopping after deceleration from home position return speed Creep speed after the proximity dog ON is set Travel value after The travel value after the proximity dog ON for
146. etting Annunciator 2048 FO to F2047 Latch range setting 8192 WO to W1FFF Latch range setting 10 7912 0 to 7911 Available User area Motion register Not available System area 4376 7912 to 12287 7 Note 5 Note 4 2256 f Special relay SM SM0 to SM2255 Not available Note 6 2256 Special register SD SDO to SD2255 Not available Note 7 Coasting Timer Le dde FT 888ys Not available Note 1 Actual input PX is every 16 points Actual input X is 4 points and the dummy is 12 points Dummy devices cannot be used These are fixed as O Note 2 Actual output PY is every 16 points Actual output Y is 2 points and the dummy is 14 points Dummy devices cannot be used These are fixed as 0 Link register Motion register 8192 Latch range setting Data register 10 DO to D8191 Motion dedicated Note 3 device 10 10 10 example When starting I O number is 10 H PX10 to PX13 Actual input PX14 to PX1F Not Available PY10 to PY11 Actual output PY12 to PY1F Not Available Note 3 Including Motion dedicated devices Note 4 These devices are used by the system Note 5 The latch of Motion device 8640 to 8735 is available Note 6 SM2000 to SM2255 Not available Note 7 SD2000 to SD2255 Not available 7 POSITIONING DEDICATED SIGNALS 7 2 Internal relays The available numbers of axes are below Real mode 1 axis Virtual mode
147. f words R Note 2 0000 Writes word devices in units of one or two points by randomly specifying a device or device number Monitor Registers bit devices to be monitored in units registration 3 In units 0801 of 16 or 32 points 192 points Notera Noe Registers word devices to be monitored in Note 4 units of one or two points In units 0802 7 Number of 0000 Monitors devices registered registered points O Available X Not available of words 0000 Note 1 Note 2 Subcommand is for the QnA compatible 3E frame Devices such as TS TC SS SC CS and CC cannot be specified in units of words For the monitor registration an error 4032H occurs during the monitor operation Note 3 During monitor registration monitor condition cannot be set Note 4 Do not execute monitor registration from multiple external devices If executed the last monitor registration becomes valid Note 5 Set the number of processed points so that the following condition is satisfied Number of word access points X 12 Number of double word access points X 14 1920 Bit devices are regarded as 16 bits during word access and 32 bits during double word access Word devices are regarded as one word during word access and two words during double word access 13 11 13 AUXILIARY FUNCTION 3 Available devices The devices available in commands used in the MC protocol communication function is shown below
148. for cable length L Variation mm inch MR J3BUS5M A to MR J3BUS20M A 100 3 94 30 1 18 MR J3BUS30M B to MR J3BUS50M B 150 5 91 50 1 97 Unit mm inch Protective tube Note Note Dimension of connector part is the same as that of MR J3BUS015M Keep the cap and the tube for protecting light code end of SSCNETII cable in a plastic bag with a zipper of SSCNETII cable to prevent them from becoming dirty App 3 APPENDICES APPENDIX 1 2 24VDC power supply cable 1 Connection diagram a Model explanation Type Q170MPWCBLLIM Symbol Cable type None Without EMI terminal E With EMI terminal Symbol Cable length m ft 2 2 6 56 b Q170MPWCBL2M Without EMI terminal MR MQ100 side Solderless terminal 2A 2B Em A TO om E OI IS o 1A 1B 1827587 2 Terminal 1 1827864 2 Connector Solderless terminal size R1 25 3 5 24V 1B UN c 24V 24G 2B J 240 24V 1A 24G 2A J Twisted pair cable Note Use a cable of wire size AWG22 c Q170MPWCBL2M E With EMI terminal MR MQ100 side Solderless terminal 2A 2B 0000 E Ei CO E mja m j e 1A 1B 2 E 1 1827587 2 Terminal 1 1827864 2 Connector Solderless terminal size R1 25 3 5 24V 1B 24G 2B 24V 1A 24G
149. for less than 24VDC Note 5 Select 24VDC power supply with allowable momentary power failure period of 20ms or more Note 6 Exterior dimensions The stated height H of the MR MQ100 does include the battery holder dimensions Note will cause 2 SYSTEM CONFIGURATION b Pin layout of the Internal I F connector Use the internal I F connector on the front of the MR MQ100 to connect to manual pulse signals and incremental synchronous encoder signals The following is the pin layout of the MR MQ100 s internal I F connector as viewed from the front Internal F connector PIN No Signal name PIN No Signal name 50 SG 25 HBL Note 1 49 SEL 24 HBH 48 SG 23 HAL Morem Pin layout 4 SG 22 HAH on the side of EN 46 5V 21 HB ted t board Note 2 printed circuit boar 45 By 20 HA j Note 2 44 No connect 19 No connect 43 No connect 18 No connect 42 RXDL 17 TXDL 50 F 41 RXDH 16 TXDH Bg 40 No connect 15 No connect qd B 39 No connect 14 No connect Note 6 d B Mots ETUR SG 13 AB Note 6 B 31 SG 12 No connect d B 36 No connect 11 No connect 8B 35 No connect 10 No connect B 34 No connect 9 No connect a B 33 No connect 8 No connect d B Note 5 32 COM2 7 COM2 Note 5 26 d P 31 D02 6 D01 e Note 4 30 COM1 5 COM1 Note 4 29 DI4 4 DI3 28 DI2 3 DI1 2 No
150. ge register Wei 7 16 7 3 4 Virtual servomotor axis monitor device Iert 7 17 7 3 5 Synchronous encoder axis monitor device et 7 18 7 3 6 Cam axis monitor device list rico c ette ite tar ei ce E co cL en e bcd er uada 7 18 7 3 7 COMMON device let 7 19 pA deelir 3c 7 20 P WA te E E 7 20 7 4 2 Axis monitor device EE 7 21 74 3 Motion error history deviCes coiere dee ee 7 22 7 4 4 Mark detection area eeeeseieeeieeseeeeeeeesteen tnnt tte then treten treten treten trennen 7 23 7 4 5 Devices for extension IO unt 7 25 7 5 Special relavaipeclalreglsiers eene tnnt nnne tnnt 7 26 Fb Special relays ideni ie iei t ette ci tian exc cu icu HU He deca ail 7 26 7 b 2 Specialiregisters c ined eer e D EO EU Te op ET HR EE TU e E rA C RENI 7 29 VAROK E E ER E E E 7 34 7 6 T Inputidevice llst oci amine ee ea ee ae ee eae 7 34 7 6 2 lge EH 7 34 16 3 Input device aset d tete d ei dE ce d des 7 35 7 6 4 Output device EE 7 35 8 1 Fixed Parameters eibi t E ro I e E re d RE t e E Beeld 8 8 1 8 2 Parameter Block 5o de EE 8 2 8 3 JOG operation data iie eite a E d i i Ee al Fr ad ete dl ba nde deel Pee eds 8 4 8 4 Home Position Return ccecsecesecesseseceseeeeseeeseneseeeseeesaeesaeesaeeaeesaeesaeesaeesaeesaeeeaeeeaeseanseeeeeeeseeeeseeneneneaees 8 5 8 5 Servo Parameters 3 eu ai ain a nl e n ind ain der ed ee e d dee E e 8 8 9 1 Servo Program Composition Area 9 1 9 1 1 Servo program COMPOSITION
151. hat personal safety can be ensured even if the machine restarts suddenly 8 Maintenance inspection and part replacement NCAUTION Perform the daily and periodic inspections according to the instruction manual Perform maintenance and inspection after backing up the program and parameters for the Motion controller and servo amplifier Do not place fingers or hands in the clearance when opening or closing any opening Periodically replace consumable parts such as batteries according to the instruction manual Do not touch the lead sections such as ICs or the connector contacts Before touching the module always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the module to fail or malfunction Do not directly touch the module s conductive parts and electronic components Touching them could cause an operation failure or give damage to the module Do not place the Motion controller or servo amplifier on metal that may cause a power leakage or wood plastic or vinyl that may cause static electricity buildup Do not perform a megger test insulation resistance measurement during inspection When replacing the Motion controller or servo amplifier always set the new module settings correctly When the Motion controller or absolute value motor has been replaced carry out a home position return operation using one of the following methods otherwise position di
152. he protective coordination and noise suppression techniques Safety circuit design KE Refer to section 3 2 2 Design the operation ready circuit which stops the system at occurrence of any alarm such as a Motion controller or servo amplifier alarm or the emergency stop the circuit which avoids a malfunction while power is unstable at power on and the electromagnetic brake circuit for servomotors v Layout design within control panel Refer to section 3 3 Layout design based on the design environment such as temperatures and vibrations in consideration of heat generated from modules and handling of module installation 3 DESIGN Z CAUTION Provide appropriate circuits external to the Motion controller to prevent cases where danger may result from abnormal operation of the overall system in the event of an external power supply fault or the Motion controller failure Mount the Motion controller servo amplifier servomotor and regenerative resistor on incombustible material Mounting them directly or close to combustibles will lead to fire If a fault occurs in the Motion controller or servo amplifier shut the power OFF at the servo amplifier s power source If a large current continues to flow fire may occur When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor
153. he servo amplifier s data monitor function the following restrictions should be noted for the I O expansion unit Number of optional data Output signal monitor 13 17 13 AUXILIARY FUNCTION 13 5 2 I O devices MR J3 D01 1 The analog output voltage instruction is specified within the range of 10000 to 10000 mV When a value outside of the range is specified the output voltage may not be correct 2 When the motion controller s power supply is turned on the content of the analog output instruction device is cleared to 0 2 Analog input Device N Signal Pin No of vi i ignal name cdd duda MR J3 D01 8800 Analog input ANI1 CN20 2 8801 Analog input ANI2 CN20 12 1 Analog input voltage is stored in units of mV However 0 is always stored in the channel due to improper usage as per the restrictions 2 When the motion controllers power supply is turned on the content of the analog input instruction device is cleared to 0 3 Input signal e 3 Pin No of Device No Signal name MR J3 D01 X1E00 Input signal DIO CN10 1 X1E01 Input signal DI1 CN10 2 X1E02 Input signal DI2 CN10 3 X1E03 Input signal DI3 Input signal DI4 CN10 5 Input signal DI5 CN10 6 Input signal DI6 CN10 7 Input signal DI7 CN10 8 Input signal DI8 CN10 9 Input signal DI9 CN10 10 Input signal DI10 CN10 11 Input signal DI 1 CN10 12 Input signal DI12 CN10 15 Input signal DI13 CN10 16 Input signal
154. hen writing data to the Motion controller from the external device that communicates using the MC protocol For details on the available functions with this setting refer to this section 2 c Open Setting Set the following items 1 Protocol Select a connection used as MC protocol Up to 16 CPU modules can be connected 2 Open System Select MC protocol 3 Host Station Port No Required Set the host station port number in hexadecimal Setting range 0401H to 1387H 1392H to FFFEH lost Station H Protocol Open System Port No UDP TCP TCP TCP TCP TCP TCP TCP TCP TCP MELSOFT Connection Y MC Protocol 0401 MC Protocol 0402 MELSOFT Connection v MELSOFT Connection _v MELSOFT Connection v IMELSOFT Connection v IMELSOFT Connection Y MELSOFT Connection v IMELSOFT Connection v MELSOFT Connection Y IMELSOFT Connection IMELSOFT Connection v IMELSOFT Connection v IMELSOFT Connection Y MELSOFT Connection v 4 4 4 4 4 Host station port No Please input in HEX POINT When the Enable online change MC protocol box is unchecked if a data write request is sent from an external device to the Motion controller which is in the RUN status data will not be written to the Motion controller and the module returns the NAK message 13 10 13 AUXILIARY FUNCTION 2 Command l
155. htning 1 E1 earth of surge suppressor for lightning E2 earth of the 24VDC power supply and E3 the motion controller s earth must be grounded separately 2 Select a surge absorber for lightning whose power supply voltage does not exceed the maximum allowable circuit voltage even at the time of maximum power supply voltage elevation 2 Wiring of I O equipment a The wires used for connection to external I O signals should contain 0 3 to 0 75mm AWG22 to AWG18 conductors and 2 8mm 0 1 1inch or less in outside diameter b Do not run the input and output lines close to each other c When the wiring cannot be run away from the main circuit and power lines use a batch shielded cable and ground it on the Motion controller side In some cases ground it in the opposite side Motion control ler Input Output Q d Whenever wiring runs through piping be sure to ground the piping without fail e Run the 24VDC input line away from the 100VAC and 200VAC lines 4 INSTALLATION AND WIRING f As a countermeasure against a power surge due to lightning separate the AC wiring and DC wiring and connect a surge absorber Refer to Section 4 3 1 1 Failure to do so increases the risk of I O device failure due to lightning 3 Grounding For grounding follow the steps a to c shown below a Use dedicated grounding wire as much as possible Ground resistance 1002 or less b When dedicat
156. ible with the Motion controller servo amplifier and servomotor Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure when the ball screw and servomotor are connected with a timing belt etc Install a stopping device to ensure safety on the machine side 2 Parameter settings and programming NCAUTION Set the parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode servo amplifier and servo power supply module The protective functions may not function if the settings are incorrect Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the stroke limit input validity parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servomotor encoder type increment absolute position type etc parameter to a value that is
157. ieraten tme is larger fhan the decrieraton tme BATTERY ERROR voltage in the CPU module battery has dropped below Urusabie by Ustr 42053 nu 2 1600 ctpuated level Or the lead connector uninstall p MANPLS Axis E 4513 Res Netual Switching RequestiM2043 Deg Switching StatusiM2044 fa Real 5 Servo program setting error Real Virtual mode switching error Sync ONC 2 Motion Operason Cyde Setting 50523 mmer Motion Operation Cyde Monitor S0 22 s psec n Current Main Cyde S0520 zi H msec Maximum Main Cyde 80521 e mec 14 1 14 ERROR CODE Below table shows Self diagnosis errors Table 14 1 Self diagnosis errors error code Common Error Individual Error data 7 yo Operating status item error message SD0 data SD5 to SD15 SD16 to SD26 of CPU Powersupply 1500 DC DOWN pe ae ee r is on r is on is on Battery 1600 BATTERY ERROR Drive name l BT2 igon TTT BT2 is on Dia nosis error code Contents and causes Corrective action 1500 24VDC power supply has stopped supplying power Check the power ICheckthe power supply 1 Voltage of the CPU has dropped below stipulated level 1600 Always 2 The lead connector of CPU battery has not been EE installed 2 Install a lead connector 14 2 System setting errors Below table shows System setting errors Table 14 2 System setting error 7 segments Error co
158. ifier Control power supply for servo amplifier 3 DESIGN 2 Grounding Without proper grounding the Motion controller may malfunction as it is affected by various noises such as electric path noises from the power supply systems radiated and induced noises from other equipment servo amplifiers and their cables and electromagnetic noises from conductors To avoid such troubles connect the earthing ground of each equipment and the shield grounds of the shielded cables to the earth For grounding use the exclusive ground terminal wire of each equipment or a single point earth method to avoid grounding by common wiring where possible since noise interference may occur from other equipment due to common impedances 24VDC ie E power supply Motion control ler 100 200VAC SSCNETII Servo amplifier 1 d Note Be sure to ground the line noise filter Motion controller servo amplifier and servomotor Ground resistance 100 Q or less 3 DESIGN 3 2 2 Safety circuit design 1 Concept of safety circuits When the Motion controller is powered on and off normal control output may momentarily not be possible due to a delay or startup time difference between the Motion controller power supply and the external power supply DC in particular for the control target Also abnormal operation may occur if an external power supply fault or Motion controller failure takes place To pre
159. ignal Dos ONIO 40 Operation cycle 0 8 ms orless 0 8 ms Operation cycle 1 7 ms 1 7 ms SE 8 JOupusignaDO8 os Operation cycle 3 5 ms or more 3 5 ms signal 9 Output signa nog ong B Output signal DO11 CN10 45 D Output signari nors og 7 POSITIONING DEDICATED SIGNALS MEMO 36 8 PARAMETERS FOR POSITIONING CONTROL 8 PARAMETERS FOR POSITIONING CONTROL 8 1 Fixed Parameters 1 The user sets the fixed parameters for each axis based on the mechanical system requirements etc 2 Fixed parameters are set using MT Developer2 3 Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE for details Table 8 1 Fixed parameter list Setting range Item omm nn dge Initial value Units Remarks Set the command value for GEES ENEE mum control Set the number of feedback pulses per motor rotation 1 to 2147483647 PLS based on the mechanical system Set the travel value per motor 0 00001 to 0 00001 to 1to based on the mechanical 214748364 7 21474 83647 21474 83647 2147483647 System Travel value per pulse A Set the backlash amount of the machine Every time the direction changes during positioning Backlash backlash compensation is 4 compensation 0 to 6553 5 0 to 0 65535 0 to 0 65535 0 to 65535 0 B t Note executed with the set value amoun The expression below shows the setting range 0 backlash compensa
160. ilure 6 INSPECTION AND MAINTENANCE 6 2 Daily Inspection The items that must be inspected daily are shown below Table 6 1 Daily Inspection inspection tem Check that the fixing 1 VE screws are not loose and The screws and cover must be mounted securely EN the the cover is not dislocated Retighten the heck for 100s FG Screws should not be loose FG terminal terminal screws Screws Check for distance between The proper clearance should be provided between solder f Correct solder less terminals less terminals 2 Connecting conditions Retighten the Connections should not be loose connector fixing screws Check the connector part of the cable The LED should be ON red Refer to Section POWER LED Gheck ihat the EEDUS CN The LED off with power supplied is an abnormal situation 2 5 1 Steady RUN display Abnormal if RUN is not displayed or is incorrectly displayed Refer to Section 2 5 1 2 Steady STP display 2 Abnormal if STP is not displayed or incorrectly displayed a BT1 should not be displayed 2 7V or less Abnormal if steady BT1 is displayed Refer to Section 6 5 namina BT2 should not be displayed 2 5V or less Abnormal if steady BT2 is displayed should not be E AL should not flash Abnormal if is flashing Module indication LED Motion controller Refer to Section 2 5 1 2 6 INSPECTION AND MAINTENANCE 6 3 Periodic Insp
161. ing is executed K PLS Set the torque limit value in the servo program Set the deceleration processing when external signals STOP FLS RLS are input Set the permissible range for the locus of the arc and the set end point coordinates Torque limit value 1 to 1000 300 Decelerati i eration 0 Deceleration stop is executed based on the deceleration time SE SH 1 Deceleration stop is executed based on the rapid stop deceleration time STOP input PAID Allowable error range for circular d d 100 interpolation Note 2 Note 1 When the speed control 10xmultiplier setting for degree axis is set to valid the setting range is 0 01 to 21474836 47 degree min However setting range of 0 001 to 2147483 647 degree min is displayed in the parameter block setting screen of programming software Note 2 The setting value is invalid in Real mode Oto 10000 0 um Oto 1 00000 0 to 1 00000 degree Oto 100000 1 Parameter blocks are specified in the home position return data JOG operation data or servo program 2 The various parameter block data can be changed using the servo program 8 PARAMETERS FOR POSITIONING CONTROL POINT The data set in the parameter block is used in positioning control home position return and JOG operation 1 The parameter block No used in the positioning control is set using MT Developer2 during creation of the servo program If it is not set control
162. ion When a jump takes place from an FS step to a transition scans are executed while waiting for the completion of transition condition of the jump destination 2 Coupling jump When a jump to another route within a parallel branch takes place after a parallel branch a coupling jump occurs and execution waits at the jump destination 10 MOTION SFC PROGRAMS Combining basic type branches couplings provides the following application types List Name Motion SFC chart symbol 1 Function representation Selective branch Parallel branch Parallel coupling Selective coupling Parallel branch Selective branch Selective coupling Parallel coupling CALL Kn IFBm IFT1 SFT Gn PABm PAT1 CALL Fn JMP PAEm PAT2 CALL Fn JMP PAEm PAEm JMP IFEm IFT2 SFT Gn CALL Fn JMP IFEm IFEm SFT Gn SFT Gn PABm PAT1 CALL Fn IFBm IFT1 SFT Gn CALL Fn JMP IFEm IFT2 SFT Gn CALL Fn JMP IFEm IFEm JMP PAEm PAT2 CALL Fn CALL Kn JMP PAEm PAEm SFT Gr 10 7 After a selective branch a parallel branch can be performed The selective coupling point can be the same as the coupling point
163. ion Continuous detection mode Latch data is stored to Latch data storage area upon mark detection Number of Marks detected is incremented by 1 Mark detection setting verification flag ES Mark signals Raising edge mode Mark detection data Current alue current monitor Z Number of DI 1 gt 2 marks detected Latch data storage area A Cuwent valuet X Current value2 3 Timing of the Mark detection function Specified number of detections mode For Mark detection function first the Number of marks detected 8898 80m should be cleared to 0 When a mark detection signal turns on Latch data will be stored to the first Latch data storage area 8912 80m 8913 80m and then the Number of marks detected will be incremented by 1 The next mark detection signal stores the Latch data to the second Latch data storage area 8914 80m 8915 80m and then increments the Number of marks detected by 1 again Mark detection setting verification flag ES Mark signals Raising edge mode Mark detection data P Current v l e current monitor M Note 1 Number of x st y 1 V 2 marks detected Latch data storage area 1 X Current value 8912 8913 Latch data storage area 2 Current value2 891 4 8915 Note 1 Clear Number of marks detected 8898 80m to 0 13 AUXILIARY FUNCTION 13 2 High S
164. is executed with the contents of parameter block No 1 Also it is possible to set parameter block data individually in the servo program Servo program creation screen Servo Program Editor K10 Real Select Set Program Number Previous No Next No Setting Item 3VSTART ji 5 3 Wi DR m 2000 msec lt lt Add 100 0 ym Delete gt gt 0 10 mm min P Torque STOP 5 Ratio Cancel 500 0 pm 0 20 mm min Parameter block No setting Setting items of the parameter block Used Steps 16 Total Steps 16384 convert Program Steps i2 Instruction Details Mode Allocation Cancel Individual parameter block data setting VSTART Speed Switching Control Start Control Details 1 After a single control start the speed is switched for positioning control to the preset speed switching points 2 A speed switching point cannot be designated as an address which results in a change in travel direction Interpolation control unit S R Acceleration time N Rapid stop deceleration time P TORQ Deceleration processing on STOP input A S curve ratio when S pattern processing is executed v Speed limit value Deceleration time Torque limit value Allowable error range for circular interpolation 2 The parameter block No used in the home position return or JOG operation is set in the home position return data or JOG operation dat
165. ist When the PERIPHERAL I F of the Motion controller communicates using the MC protocol commands listed in table below can be executed Status of Motion controller Command Function Subcommand Description Nee Note 1 P processed points STOP Write Write enabled disabled In units 0401 EMG i ASCII 3584 points R f of bits 0001 eads bit devices in units of one point BIN 7168 points Batch read 960 words In units 0401 Reads bit devices in units of 16 points 15360 points of words 0000 e i Reads word devices in units of one point 960 points In units 1401 ecd a 3 ASCII 3584 points f 1 of bits 0001 Writes bit devices in units of one point BIN 7168 points Batch write 960 words T In units 1401 Writes bit devices in units of 16 points diss dian 2 of words 0000 7 7 F P Writes word devices in units of one point 960 points Reads bit devices in units of 16 or 32 points by randomly specifying a device or device Random read In units 0403 number 192 points SE of words 0000 Reads word devices in units of one or two Device points by randomly specifying a device or device number 0001 memory In units 1402 Sets resets bit devices in units of one point by ly specifying a device or device 188 points of bits 0001 randomly specifying vi vi poi number Test Sets resets bit devices in units of 16 or 32 Random write In units points by randomly specifying a device or 1402 device number 5 o
166. ithin the rated range NO Y The supply voltage should be within the rated range Does POWER YES LED turn on END 6 INSPECTION AND MAINTENANCE 1 Remove the internal I F connector from the Motion controller Does POWER LED turn on A manual pulse generator or a synchronous encoder break down the cable is disconnected A normal manual pulse generator or normal synchronous encoders are exchanged Does POWER LED turn on H W fault Check operation in the order starting with the minimum system If the module will not work explain the error symptom and get advice from out sales representative for the modules with failure END 6 INSPECTION AND MAINTENANCE b Flowchart for when does not flash in the first digit of 7 segment LED does not flash in the first digit of 7 segment LED Does POWER LED turn on a Flowchart for when POWER LED turns off RESET Set the RUN STOP RESET switch to STOP Is the RUN STOP RESET switch set to STOP Does flash in the first digit of 7 segment LED YES H W fault Check operation in the order starting with the minimum system If the module will not work explain the error symptom and get advice from out sales representative for the Note Normally flashes in the first digit of modules with failure 7 segment LED 6 INSPECTION AND MAINTENANCE
167. l Steady S01 display System setting error It takes about 10 seconds to initialize RUN STOP display Execute the power cycle of the Motion controller if the operation stopped at initializing It may be Motion controller s hardware fault when it is not improved Explain the error symptom LED display and get advice from our sales representative for the modules with failure Normal operation Mode for installing operating system software via personal computer Mode for operating based on user programs and parameters stored in the SRAM built in Motion controller Mode for operating after the user programs and parameters stored in the FLASH ROM built in Motion controller are read to the SRAM built in Motion controller Stopped the Motion SFC program Executed the Motion SFC program Displayed at battery voltage 2 7V or less Refer to Section 6 5 External Battery Displayed at battery voltage 2 5V or less Refer to Section 6 5 External Battery Installation status mode when the operating system Software is not installed System setting error of the Motion controller Refer to the Q173DCPU Q172DCPU Motion controller Programming Manual COMMON for details Motion controller servo error Refer to the Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE or Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL MODE for details Hardware fault or software fau
168. l name Refresh cycle Fetch cycle direction No direction M2119 M2188 Device Signal Signal name Refresh cycle Fetch cycle z M2120 M2189 M2121 M2190 M2122 m2191 91 Unusable M2123 gt M2192 9 points M2124 M2125 M2126 M2127 2128 M2193 M2194 M2195 M2196 M2197 M2198 M2199 M2200 Status 2131 Automatic signal Operation cycle M213 JAxis 5 decelerating flag P y Note 1 M2133 RRR Unusable 36 points Note 5 Unusable 24 Points Unusable 16 points Unusable 28 points Note 5 o a Ei bi EY Status Speed change 0 signal S Operation cycle accepting flag Note 1 Note 2 Unusable 9 points 7 POSITIONING DEDICATED SIGNALS Common device list Continued Device Signal Remark Device Signal Remark Signal name Refresh cycle Fetch cycle Signal name Refresh cycle Fetch cycle No direction Note 4 No direction Note 4 M2257 M2289 DS M2261 M2293 M2262 M2294 M2263 M2295 Unusable Unusable M2264 s points M2296 45 points E 7 gt i M2265 M2266 M2267 M2268 M2269 M2297 M2298 M2299 M2300 M2301 M2270 M2302 M2271 M2303 Status Control loop 4 d 2272 Axis 1 Operation cycle signal M2304 monitor status Note 2 M2273 M2274 M2275 M2276 M2277 M2278 M2279 M2280 M2281 M2282 M2283 M2284 M2285 M2286 M2287 M2288 M2305 M2306 M2307 M2308 M2309 M2310 M2311 M
169. lt Refer to the Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE or Q173DCPU Q172DCPU Motion controller SV22 Programming Manual VIRTUAL MODE for details 2 SYSTEM CONFIGURATION 1 When an error is displayed on the 7 segment LED confirm the error number etc using MT Developer2 2 Refer to the Motion controller error batch monitor of MT Developer 2 or error list of the programming manual for error details 3 Rotary switch assignment a Rotary function select switch 1 SW1 Rotary switch Jose Normal mode Normal operation mode When installing the operating system software A Installation mode i using MT Developer2 Note Should not be set to anything except the above settings b Rotary function select switch 2 SW2 Normal operation mode Mode operated by RAM Operation by the setting data and parameters stored in the Motion controllers SRAM Mode to operate based on the setting data and Mode operated by ROM the parameters written to the Motion controller s FLASH ROM Ethernet IP address Ethernet Internet Protocol address display mode E mode C SRAM Clear SRAM 0 clear Note Not to be set except above setting NCAUTION Be sure to turn OFF the Motion controller power supply before the rotary switch setting change 2 SYSTEM CONFIGURATION 4 Operation mode a Rotary switch setting and operation mode Rotary switch setting Opera
170. mputers and display devices read write device data from to the Motion controller using the MC protocol External devices monitor the operation of the Motion controller analyze data and manage production by reading writing device data Note 1 The MC protocol is an abbreviation for the MELSEC communication protocol The MELSEC communication protocol is a name of the communication method used to access CPU modules from external devices in accordance with the communication procedure of Q series programmable controllers such as serial communication modules Ethernet modules For details on the MC protocol refer to the Q Corresponding MELSEC Communication Protocol Reference Manual 1 Setting for MC protocol communication Setting for communication using the MC protocol is described below Set the items of following a to c in the Built in Ethernet Port Setting of the Basic Setting of MT Developer2 Basic Setting IP Address Setting Input Format Dec v IP Address 192 168 3 39 Subnet Mask Pattern Default Router IP Address Communication Data Code Default Changed a Binary Code ASCII Code b v Enable Online Change MC Protocol 13 AUXILIARY FUNCTION a Communication data code Select a communication data code used for the MC protocol Binary code or ASCII code b Enable online change MC protocol Check the checkbox to enable online change w
171. n Processing symbol Positioning control Parameter block No Command speed Torque limit value Speed limit value Acceleration time Deceleration time Rapid stop deceleration time Torque limit value Deceleration processing Repeat condition FIN acceleration deceleration Fixed position stop Number of steps Virtual enable 210 0 0 210 Number of step Io O Command speed constant speed N E Number of indirect words Absolute 1 axis positioning Incremental 1 axis positioning Absolute 2 axes linear Instruction symbol Lists the servo instructions usable in servo programs Lists the processing outlines of the servo instructions a Indicates positioning data which can be set in servo instructions 1 O Item which must be set by the user The servo instruction can not execute unless this data is set by the user 2 A Item which is set when required by user Data is set to the default value unless otherwise set by user b Allows direct or indirect designation except axis No 1 Direct designation Set with numerical value 2 Indirect designation Set with word device Servo program execution is controlled using the preset word device contents Each setting item may either be 1 or 2 word data For 2 word data set the start device N
172. n Virtual mode Manual Number of steps dois uonisod Gast euin uoneJojooop uoneJo oooe dois uonisod pexi4 peeds pueuuo y SE iiis BEER Ge 2 uonejodaejur III 40 eBuei 10416 e qewolv S indui dois ye DuisseooJd uonejojooeq Positioning data ane uui enbio L a aala euin uomeJojooep dois pidey Qo BEN euin uoneJojoooq ol al al lt EA EES EA ES S Ee L 8910N ON SIE eouaJojeu oj ele Euer vr duet s ES Qe i Q ee E A ET Parameter block euin uone1ajaooy en e Uu peeds A Set if required Must be set Note 1 Only reference axis speed specification Note 2 B indicates a bit device 9 SERVO PROGRAMS FOR POSITIONING CONTROL Table 9 2 Servo Instruction List continued Positioning data gt E Q I o EI Dwell time Instruction symbol Auxiliary point Processing Command speed Torque limit value Parameter block No Address travel value Positioning control Virtual enable ol Number of steps Number of indirect words Absolute central point specified circular interpolation CW Absolute central point specified circular interpolation CCW Circular interpolation Central point specified Incremental central point specified circular interpolation CW Incremental central point specified circular interpolation CCW Absolute auxiliary point specified heli
173. n return re try function provided home position shift function provided JOG operation function Manual pulse generator Note 2 Possible to connect 1 modules operation function Synchronous encoder operation S y P Possible to connect 1 modules incremental only rie function f M code output function provided M code function i s M code completion wait function provided ROSA f Number of output points 32 points Limit switch output function Watch data Motion control data Word device ROM operation function ex Made compatible by setting battery to servo amplifier Absolute position system f Possible to select the absolute data method or incremental method for each axis Number of SSCNETII systems Note 1 1 system Motion related interface module External input signal The input signal of the servo amplifier is used FLS RLS DOG High speed reading of Provided Specified Data Via internal I F input module Number of I O points Input points 4 points Output points 2 points 2 SYSTEM CONFIGURATION Motion control specifications continued Item Specifications Clock Function Write Protection or Read Write Protection can be set for Motion SFC program Security function Y Servo program Mechanical system program and CAM data All clear function Provided Remote Operation Remote RUN STOP Remote latch clear Digital Oscilloscope function Mixed Function of Virtual Mode None Real Mode
174. n the public interest for such as atomic power plants and other power plants of electric power companies and also which require a special quality assurance system including applications for railway companies and government or public offices are not recommended and we assume no responsibility for any failure caused by these applications when used In addition applications which may be substantially influential to human lives or properties for such as airlines medical treatments railway service incineration and fuel systems man operated material handling equipment entertainment machines safety machines etc are not recommended and we assume no responsibility for any failure caused by these applications when used We will review the acceptability of the abovementioned applications if you agree not to require a specific quality for a specific application Please contact us for consultation MOTION CONTROLLER User s Manual Details MR MQ100 a MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN MODEL MRMQ1 U E MODEL 1d 1XB818 When exported from Japan this manual does not require application to the IB NA 03001 50 E 1 11 2 M EE Ministry of Economy Trade and Industry for service transaction permission l IB NA 0300150 E 1112 MEE Specifications subject to change without
175. nability and environmental resistance 1 Fitting dimensions 30mm 1 18inch 7mm 0 28 inch meme 8mm 0 31 inch fixing screw Mb 7 154mm 6 06 inch Tofu EF 6mm 0 24 inch i mm inch 7mm 0 28inch 30mm 1 18inch fixing screw M5 2 Motion controller mounting position Make space for air flow between the upper side and bottom side of the control panel and the motion controller 4 40m 1 57 inch CR 135mn 5 31 inch or more H 0 T D LR e Servo amplifier 100mm 3 94inch g 9 L or more Door Extension le 10 unit o 100000000 Co HH PUSH DEAT f Motion control ler Y T corae ia fat xj TPUSH DI uz f p e Mont 57 inch or more I A 30mm 1 18i nch PES 30mm 1 18inch or more Lett 04inch or more or more 4 INSTALLATION AND WIRING NCAUTION Install the MR MQ100 to the left of the servo amplifier Separate the interval between MR MQ100 and the servo amplifier by 1mm 0
176. nalog I O can be controlled by the motion controller Contact your local sales office for more details 13 5 1 Connection of extension IO unit MR J3 DO1 1 Connection between the MR MQ100 and servo amplifiers E Tee ON 2 Connection Equipment Compatibility of servo amplifier models and software versions is as follows Model name B B RJ004 B RJ006 Extension 10 unit Ko ojKeVojeie 3e rH Servo amplifier Connection with Software version of MR J3 D01 servo amplifier x O C5 or later x MR J3 CIB RJOBOW Ls c rj MR J3 0S o 3 UO Specifications O Possible x Impossible The I O points and the signal update cycle of extension IO unit MR J3 D01 are as follows Item Number of devices Update Cycle 2 Points word Analog Input Analog Output Input signal Output signal 2 Points word 16 Points bit Operation cycle 0 8 ms or Jess 0 8 ms Operation cycle 1 7 ms 1 7 ms Operation cycle 3 5 ms or more 3 5 ms 16 Points bit 13 16 13 AUXILIARY FUNCTION BEER 4 Restrictions on the extension IO unit When the extension IO unit MR J3 D01 is used it is not necessary to set from MT Works2 However when using t
177. nda betae da d eee D Ee aes 12 10 13 AUXILIARY FUNCTION 13 1 to 13 20 13 1 M ark detection function eet o eege tene bate te nsi t e rq e ter ede ete 13 1 13 2 High Speed Reading of Specified Data 13 8 13 3 MC Protocol Commumnlcaiton nennen etnies tren rentrer nnn 13 9 13 4 Synchronous encoder for drive module sess 13 15 13 5 Connection of extension IO unit MR J3 DO1 essent nne nni 13 16 13 5 1 Connection of extension IO unit MP J8 DO 13 16 19 5 2 e Ee 13 18 13 5 3 Related servo amplifier parameters ssssssssssssseseeeee eene nnne nenne 13 20 14 ERROR CODE 14 1to 14 4 14 1 Selfdiagnosis errors nite eed e eet rn lab ri aves eet adie Sin pu 14 1 14 2 System setting errors cececceeeeeeceeceeeeseeeecaeceeeeaeeaecaeceeeeaesaesaeeeeeeaecaesaeseaeeaesaeseeseaeeaesaeseeseaesaeeaeseeseaeeaees 14 2 14 3 Servo program setting error nennen 14 3 15 EMC DIRECTIVES 15 1 to 15 8 15 1 Requirements for Compliance with the EMC Directive eseeeeenn 15 1 15 1 1 Standards relevant to the EMC Directive sesesssssssssssseseeseee nennen nnne 15 2 15 1 2 Installation instructions for EMC Directive nennen nennt 15 3 15 1 3 Parts of measure against NOISE nennen nnn nnn 15 5 15 1 4 Example of measure against NOISE nennen nnn 15 7 APPENDICES App 1 to App 14 APPENDIX Cables ni nee e RR A RD RU a i AD Le Iu eu eua App 1
178. ndition operating condition b Power supply on off c Status of input output devices d Installation condition of the Motion controller SSCNETTI cable synchronous encoder cable e State of wiring l O cables cables f Display states of various types of indicators Motion controller 7 segment LED Installation mode Operation mode Battery error STOP RUN RESET etc g Status of setting of various types of switches Setting of No of stages of extension base unit power interrupt hold on status After checking a to g monitor the operating conditions of servomotors and error code using MT Developer2 2 Error Check Check to see how the operating condition varies while the Motion controller is operated as follows a Set the RUN STOP RESET switch of the Motion controller to STOP b Reset the system with the RUN STOP RESET switch of Motion controller c Cycle the Motion controller power supply 3 The above two steps help determine if it is the servo programs or SFC programs that contain the error 6 INSPECTION AND MAINTENANCE 6 6 2 Motion Controller Troubleshooting This section gives error code descriptions and details corrective actions 1 Troubleshooting flowchart The following shows the issues classified into a variety of groups according to the types of events Error occurrence description a Flowchart for when POWER LED turns off does not flash in the first digit of b
179. ne1ejeoeq euin uomeJejeooy en eA Uu peeds id SENE ESI TUNE Pec i a a i SE Mese E ess El ZEE BST qr aue cq A Set if required O Must be set indicates a bit device Note 2 B 9 15 9 SERVO PROGRAMS FOR POSITIONING CONTROL 9 3 Positioning Data The positioning data set in the servo programs is shown in Table 9 3 Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE for details Table 9 3 Positioning data Setting value using MT Developer2 Explanation Default Setting range Set based on which parameter block to use during both acceleration deceleration processing and STOP input Set the starting axis The interpolation starting axis No during interpolation Set the positioning address as an Address absolute address Parameter block arameter bloc 11064 1 to 32 EES 214748364 8 21474 83648 2147483648 to 214748364 7 to 0 to 359 99999 to um 21474 83647 2147483647 Absolute data method Address travel value Oto address increase direction 21474 83647 21474 83647 2147483647 Negative Reverse rotation address decrease direction Sets the positioning speed Units for speed are the control units set in the parameter block Command speed Becomes either vector speed long axis reference speed or reference axis speed during interpolation moves PTP control only The time until the positioning complete signal Dwell
180. ns on Motion controller sees eene inne E nennen nen 2 4 2 2 Checking Serial Number 2 5 2 3 System Configuration Eouipment AA 2 6 2 4 General Specifications cecceccecceseceeceeeeeeeseeeaeeaeceeeeaecaeceeseeeeaesaeceeseaesaecaeseeeeaeeaesaeseeesaesaeseseaseaeseseeseaseaees 2 8 2 5 Specifications of Equipment and Gettinge sss ennt 2 9 2 5 1 Name of parts for MR MQ100 sssssssssssssssssseeee enne s tnnt nennt tns t rni e tnnt serene tnnt 2 9 2 5 2 MR MQ100 hardware and wiring essen nennen nnne trennen nnn 2 15 2 5 3 Connecting of 24VDC power supply connector of MP MOTO 2 24 2 5 4 SSCNETII cables and connection method 2 26 20 5 Battery use ded Re ed eee Ee 2 29 2 5 6 Software specification of MP MOTO 2 34 3 1 System Designing Ri tee 3 1 3 2 External Circuit Design esssssssssssssssssssseseeeeeenet nennen tnnt nnne trarre inns tret ene tn nnns trennt 3 4 3 2 1 Power supply circuit design sss enne nnn trennen tnter tnnt 3 6 312 2 Safety Cir Cui e LEE 3 8 3 3 Layout Design within The Control Panel 3 9 33 1 Mounting GUDDE ue o eee oed 3 9 3 3 2 Layout design of the Motion Controller ennemi 3 10 3 3 3 Calculating heat generation by Motion Controller 3 11 3 4 Design Checklist AA 3 11 4 INSTALLATION AND WIRING 4 1to 4 16 4 1 Motion controller Installation AAA 4 1 41 1 Instructions for handling ioc re tee rre ce e e o Une e
181. nsumption 1 5K N 2 to 3 W resistor may therefore be connected to the terminal in question 2 Output circuit troubleshooting The following describes possible problems with output circuits and their corrective actions It can drive lamp relay or photo coupler Install a diode D for an inductive load relay etc or install an inrush current suppressing resistor R for a lamp load Permissible current 40mA or less inrush current 100mA or less A maximum of 2 6V voltage drop occurs in the Motion controller a Circuit example of sink output If polarity of diode is reversed motion controller will fail d Load 24VDC 1096 b Circuit example of source output If polarity of diode is reversed motion controller will fail 24VDC 1096 NCAUTION Q Do not mistake the polarity and of diode as this may lead to destruction or damage 7 POSITIONING DEDICATED SIGNALS 7 POSITIONING DEDICATED SIGNALS The device list that can be used with the Motion controller is shown below 7 1 Device List The range of devices that can be used is shown below Device Numeric E i Class Type Device Name 1 Points Setting range Latch Code Expressions Output Actual input Actual output internal relay 10 8192 MO to M8191 Latch range setting Note 3 internal relay 10 4096 M8192 to M12287 Not available System area Link relay 8192 BO to B1FFF Latch range s
182. nt be sure to take protective measures for the cord portion 11 When storing the Motion CPU or servo amplifier be sure to replace the protective cap on the connector so that dirt can not adhere to the end of SSCNETII connector 12 The SSCNETII connector connected to the SSCNETIII cable contains a cap to protect the light device inside the connector from dust For this reason do not remove the cap until just before connecting the SSCNETII cable Always replace the cap after removing the SSCNETII cable 13 Be sure to keep the fiber optic protective cap and tube for the SSCNETII cable in a sealed plastic bag to prevent them from becoming dirty 14 When exchanging the Motion controller or servo amplifier be sure to replace the cap on SSCNETII connector When sending a Motion controller or servo amplifier in for repair also be sure to replace the cap on the SSCNETIII connector Without the cap the light device may be damaged during transit In this case exchange and repair of light device is required 4 INSTALLATION AND WIRING 4 2 2 24VDC power supply cable 1 Precautions for handling the 24VDC power supply cable For connection or removal of the 24VDC power supply cable do it surely while holding a connector of 24VDC power supply cable Motion controller gt e 2 Connection of the 24V
183. ntain a high frequency noise component On the outside of the control panel therefore they serve as antennas to emit noise To prevent noise emission use shielded cables for the cables and may be extracted to the outside of the control panel The use of a shielded cable also increases noise resistance If a shielded cable is not used or not grounded correctly the noise resistance will not meet the specified requirements a Grounding of shield section of shield cable 1 Ground the exposed shield section of the shielded cable close to the module When the grounded cables and the not yet grounded cables are bundled the cables might be induced to electromagnetic 2 Ground the exposed shield section to spacious area on the control panel A clamp can be used as shown in Figure 15 2 In this case mask the inner wall surface when coating the control panel and contact the exposed shield section with the clamp at the exposed bare metal surface Ee Screw Clamp fitti Shield section amp ilt ng e Shield cable Exposed bare metal surface Figure 15 1 Part to be exposed Figure 15 2 Shield grounding Correct example Note The method of grounding with a vinyl coated wire soldered onto the shielded section of the shielded cable as in shown Figure 15 3 is not recommended Doing so will raise the high frequency impedance resulting in loss of the shielding effect Shield cable Wire Solderless terminal crimp contact Figure 15 3 Shield gro
184. o c Number of steps The more set items there are the more the number of instruction steps The number of steps is displayed when the EECHER 2 5 servo program is created The instruction O item comprise the minimum steps and one A item increases the number of steps by 1 Items common to the servo instructions Items set in circular interpolation servo programs Items set for high speed oscillation Set when wishing to deviate from data set in the parameter block used in the servo program left at default parameter block value when not set The parameter block data remains unchanged in other servo programs Fy Setting items other than the common circular and parameter block items Items to be set vary with the servo instruction 8 Indicates the number of steps of each servo instruction 1 2 3 4 5 6 7 8 9 SERVO PROGRAMS FOR POSITIONING CONTROL 2 Servo instruction list The servo program servo instructions and available positioning data used are shown in Table 9 2 Refer to Section 9 3 for details of the servo instruction positioning data Table 9 2 Servo instruction list Positioning data Common i gt E Q I Q o D Dwell time Auxiliary point Instruction symbol Command speed Processing Torque limit value Parameter block No Address travel value EE E E a EE EE ERR EXESESESERERESESERETERSIESERESER EE EIC ER ER ERES EIER ERE EEZER ELE EIE EET Positioning
185. o APPENDIX 3 for details of the error code Diagnostic error After confirming the error content except a stop error it is possible to clear code turning the Motion error detection flag M2039 from ON to OFF Clear SDO to SD26 by switching the Motion error detection flag M2039 from ON to OFF except in the case of a stop error after confirming the error content The year last two digits and month that SDO data was updated is stored as BCD 2 digit code B15 to B8 B7 to Bo Example January 2006 Year 0 to 99 Month 1 to 12 d Diagnostic errors Clock time for Clock time for he day and hour that SDO data was updated is stored as BCD 2 digit code diagnostic error diagnostic error B15 to B8 B7 to BO duds ue a m occurrence occurrence Day 1 to 31 Hour 0 to 23 The minute and second that SDO data was updated is stored as BCD 2 digit code B15 to B8 B7 to Bo Example 35min 48 sec Minute 0 to 59 Second 0 to 59 H3548 Category codes which help indicate what type of information is being stored in the error common information areas SD5 to SD15 and error individual information areas SD16 to SD26 are stored The category code for judging the error information type is stored B15 to B8 B7 to BO Individual information Common information Error information Error information category codes category codes S Occur an error categories category code The comm
186. o 2147483647 to 2147483647 Feature One type of data can be selected out of a total of 7 types Real current value Feed current value Position feed back Feed current value of virtual servomotor Current value of synchronous encoder Current value within 1 cam shaft revolution Real current value Current value within 1 cam shaft revolution Feed current value Detailed function It is possible store latch data to a device continuously The number of stored latch data can be set by the user This is useful when latch data is continuously input into the system Example One work process has several marks Every 4 mark is used by the system a Set the value 4 to the Specified number method parameter and clear the value of Number of mark detection so that it returns to O b The system will wait until Number of mark detection reaches 4 c Then the latch data relating to the mark input will be saved to the data storage device 13 1 13 AUXILIARY FUNCTION Devices list hems Contents Malte Taking cycle 7912 7913 Registration codes 7914 7915 H4544 These devices make the Mark 7916 H4554 detection function valid 791 7 H5443 7918 7919 Setting device Mark detection function Setting range Fetch cycle Monitor value Refresh cycle Mark detection signal allocation At setti f 7980 1104 usd devices registration code Mark detection signals compensation time At set
187. of a parallel coupling for selective branch parallel branch Note that in the Motion SFC chart this type is displayed in order of a parallel coupling a selective coupling as shown on the left In this case a pointer Pn cannot be set between the parallel coupling point PAEm and the selective coupling point IFEm After a parallel branch a selective branch can be performed The parallel coupling point can be the same as the coupling point of a selective coupling for parallel branch selective branch Note that in the Motion SFC chart this type is displayed in order of a selective coupling a parallel coupling as shown on the left In this case a pointer Pn cannot be set between the selective coupling point IFEm and the parallel coupling point PAEm 10 MOTION SFC PROGRAMS 3 List Name Motion SFC chart symbol e Function representation Selective branch Selective branch Selective coupling Selective coupling Parallel branch Parallel branch Parallel coupling Parallel coupling CALL Kn IFBm IFT1 SFT Gn IFBm 1 IFT1 SFT Gn JMP IFEm 1 IFT2 SFT Gn JMP IFEm 1 IFEm 1 JMP IFEm IFT2 SFT Gn CALL Fn J
188. ol panel with the cable clamp etc Refer to Section 2 5 2 b for the internal I F connector cable Use the shielded twisted pair cable and correctly wire the internal UE connector cable 1 Refer to Chapter 2 and appendix for the following cables Ethernet cable e SSCNETII cable 2 Refer to Section 2 5 2 b and APPENDIX 1 3 for the internal UE connector cable Use the shielded twisted pair cable and correctly wire the internal I F connector cable 3 In wiring inside the panel the power line connected to the power or servo amplifier and the communication cable such as bus connection cable or network cable must not be mixed If the cables are installed closely with each other for wiring reasons using a separator made of metal can make the cables less influenced by noise Mixing the power line and communication cable may cause malfunction due to noise 15 7 15 EMC DIRECTIVES MEMO APPENDICES APPENDICES APPENDIX 1 Cables In this cable connection diagram maker names of connectors are omitted Refer to APPENDIX 2 3 Connector for maker names of connectors APPENDIX 1 1 SSCNETITI cables Generally use the SSCNETII cables available as our products 1 Model explanation Numeral in the column of cable length on the table is a symbol put in the O part of cable model Cables of which symbol exists are available Cable TE m ft Application 0 49 n res 3 28 934 1640 281 65 82 98 43 asi Oo i
189. oller power supply Check that the power supply of Motion controller is OFF Check wiring and module installation 1 Check the installation of the servo amplifier 2 Check the connecting condition of connectors 3 Check that all terminal screws are tight 4 Check the ground wires of servo amplifier etc b Check the servomotor wiring U V W 6 Check the regenerative resistor wiring 7 Check the circuit of emergency stop or forced stop Servo amplifier setting Set the axis number of the servo amplifier to 0 I Turn ON power supply Set the RUN STOP RESET switch of Motion controller to STOP and turn ON the Motion controller power supply System setting Motion controller parameters setting Set the positioning parameters using MT Developer2 1 System setting 1 The mode indicated in the brackets at top left of each step is the mode for checking or setting using MT Developer2 Refer to Section 4 1 for installation method Z DANGER Be sure to ground the Motion controllers servo amplifiers and servomotors Ground resistance 100 Qor less Do not ground commonly with other devices ZA CAUTION When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fires Alwa
190. olvent such as alcohol If the end face of code tip for SSCNETII cable is dirty optical transmission is interrupted and it may cause malfunctions If it becomes dirty wipe with a bonded textile etc Do not use solvent such as alcohol When incinerating the SSCNETITI cable optical fiber hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated For disposal of the SSCNETITI cable optical fiber request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas a MR J3BUSLIM 1 Model explanation Type EE Symbol Cable type None Standard code for inside panel A Standard cable for outside panel B Long distance cable Cable length m ft 2 Exterior dimensions e MR J3BUS015M Unit mm inch 37 65 1 48 Protective tube EE ER 15075 R 5 91 App 2 APPENDICES e MR J3BUS03M to MR J3BUS3M Unit mm inch Refer to the table of this section 1 for cable length L d I 3 94 L 3 94 Protective tube Note Note Dimension of connector part is the same as that of MR J3BUS015M e MR J3BUS5M A to MR J3BUS20M A MR J3BUS30M B to MR J3BUS50M B Refer to the table of this section 1
191. on Default value Setting value using MT Developer Setting range 1 to 32767 Repeat condition Set the repeat conditions between FOR X Y M B F UDG ON OFF ON OFF instruction and NEXT instruction Set the program No for simultaneous start ow i 0 to 4095 Command speed constant speed FIN acceleration deceleration WAIT ON OFF Fixed position stop acceleration deceleration time Fixed position stop E bit device of fixed position stop is Set the speed for points on the way in the servo program Set to stop execution of a servo program by deceleration stop by turning on the specified bit device in the servo program Set to cancel positioning to pass point and execute the positioning to the next point by turning on the specified bit device during positioning at each pass point for constant speed control instruction Set to execute positioning to each pass point for constant speed control instruction by turning on the FIN signal Set to make state of the waiting for execution by constant speed control and execute the positioning immediately by turning on off the command bit device Acceleration deceleration time used in the starting of speed control with fixed position stop speed change request CHGV or fixed position stop command ON 0 001 to 2147483 647 degree min Note 5 0 01 to 6000000 00 mm min 1 to 2147483647 PLS s 0 001 to 600000 000 inch min X Y M B F UDG
192. on controller s mounting screws Not doing so could result in electric shock Under tightening of terminal screws can cause a short circuit or malfunction Over tightening of screws can cause damages to the screws and the Motion controller resulting in fallout short circuits or malfunction The capacitors are mounted on the Motion controller Do not incinerate the Motion controller so that the incineration of capacitor may cause a burst NCAUTION Read the manual carefully and pay careful attention to safety for the on line operation especially program change forced stop or operation change performed by connecting peripheral devices to the Motion controller during operation Erroneous operation may cause machine breakage or accident Never try to disassemble or modify Motion controller It may cause product failure operation failure injury or fire Q Use any radio communication device such as a cellular phone or a PHS phone more than 25cm 9 85 inch away in all directions of the Motion controller Failure to do so may cause a malfunction Completely turn off the externally supplied power used in the system before installation or removing the Motion controller Not doing so could result in damage to the product Q Do not drop or impact the battery installed to the Motion controller Doing so may damage the battery causing battery liquid to leak in the battery Do not use the dropped or impacted battery but dispose of it
193. on information category codes store the following codes 0 No error 1 Module No CPU No Base No The individual information category codes store the following codes 0 No error 5 Parameter No 13 Parameter No CPU No Common information corresponding to the diagnostic error SDO is stored The error common information type can be judged by SD4 common information category code 1 Module No CPU No Base No For the Multiple CPU system Module No or CPU No is stored depending on the error that occurred Refer to corresponding error code for which No has been stored Error common Error common CPU No 1 1 CPU No 2 2 CPU No 3 3 CPU No 4 4 information information No Meaning SD7 to Empty SD15 o o o O O O eise leie O OC ole Ie 9 v D 2 o lo 6 9 gg Ao nm 7 POSITIONING DEDICATED SIGNALS Special register list Continued Set b E When A Error individual Error individual information information S Occur an error hile the Motion controller is performing calculations the value is counter No for AC DC DOWN Spano mung TE De incremented by 1 and stored in BIN code Module No with SD60 Fuse blown No G SE Wi The lowest station I O No of the module with the blown fuse is stored i i of th i D e AC DC DOWN Number of times Every time me input voltage falls to or below 85 of the rating C power The CPU switch status is
194. on the SSCNETII connector Otherwise adhesion of dirt nay deteriorates the cable s characteristic and cause malfunctions Do not remove the SSCNETII cable with the power supply of Motion controller or servo amplifier turned on Do not look directly into the light generated from SSCNETII connector of the Motion controller or servo amplifier or the end of SSCNETII cable The light can damage the eye The light source of SSCNETII cable complies with class1 defined in JISC6802 or IEC60825 1 If the SSCNETII cable undergoes major shock lateral pressure haul sudden bending or twisting or similar forces the inside may distort or brake and optical transmission will not be possible Be sure to take sufficient care so that the SSCNETII cable can easily bend or twist without damage Be sure to use the SSCNETII cable within the range of operating temperature described in this manual Especially as optical fiber for MR JBBUSLIM and MR J3BUSLIM A are made of synthetic resin it may melt if left near a fire or high temperature The cable portion and cord portion melt if left near the fire or high temperature Therefore do not allow either to touch any part which is high in temperature such as radiators or the regenerative brake option of servo amplifier or servomotor When laying the SSCNETII cable be sure to secure the minimum cable bend radius or more Put the SSCNETII cable in a duct or fix the cable to the closest part of the Motion CPU module
195. ons connected in series are processed in order from top to bottom Steps and transitions need not be lined up alternately When a transition is omitted unconditional shift processing is performed The first route to meet the transition condition is executed after executing the step or transition preceding the branch Selective branch destinations should always be started by transitions which must be either all Shift s or all WAIT s Mixed use of Shift and WAIT together will cause a parallel branch After the route branched by a selective branch has been processed execution shifts to a coupling point A coupling may be preceded and followed by either a step or a transition Multiple routes steps connected in parallel are executed simultaneously Each parallel branch destination may be started by either a step or transition Execution waits at the coupling point of the parallel branch output and shifts to the next step after all routes in the parallel branch have been completed A coupling may be preceded and followed by either a step or a transition When this coupling is preceded by an FS step scans are executed while waiting for the parallel branch to complete After completed scans are no longer executed 1 Normal jump After the step or transition preceding this jump transition is executed execution shifts to the pointer Pn specified within its own program The jump destination may either be a step or transit
196. or Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE for all other errors Table 14 3 Servo programming setting error Error Error name Error contents Error processing Corrective action code Rapid stop The rapid stop deceleration I et Control with the setting value Set the rapid stop deceleration time within deceleration time time is bigger than the setting AN ua of deceleration time the range of 1 to deceleration time setting error value of deceleration time 14 ERROR CODE MEMO 15 EMC DIRECTIVES 15 EMC DIRECTIVES Compliance to the EMC Directive which is one of the EU Directives has been a legal obligation for the products sold in European countries since 1996 as well as the Low Voltage Directive since 1997 Manufacturers who recognize their products are compliant to the EMC and Low Voltage Directives are required to declare that print a CE mark on their products A MITSUBISHI MOTION CONTROLLER MODEL MR MQ100 SERAL B98054306 COMES IND CONT EQ CE CE mark MITSUBISHI ELECTRIC JAPAN 1 Authorized representative in Europe Authorized representative in Europe is shown below Name Mitsubishi Electric Europe BV Address Gothaer strase 8 40880 Ratingen Germany 15 1 Requirements for Compliance with the EMC Directive The EMC Directive specifies that products placed on the market must be so constructed that they do not cause excessiv
197. or more information contact Mitsubishi 2 29 2 SYSTEM CONFIGURATION 2 Data back up of the Motion controller by the battery Be sure to set the battery to the Motion controller Set the battery Q6BAT Q7BAT to battery holder The data Refer to Section 6 5 of SRAM built in Motion controller are backed up without using the battery In the following status the backup time after power OFF is 3 minutes The Q6BAT Q7BAT lead connector is disconnected The lead wire of Q6BAT Q7BAT is broken Battery life Total power failure time h Actual service value Note 5 Reference value TYP 25 C 77 F Guaranteed value Guaranteed value Note 3 Note 4 MIN 75 C 167 F TYP 40 C 104 F Battery type Power on time Backup time after alarm ratio Note 2 20000 27000 VER 31000 43800 43800 30 Q6BAT After SM51 SM52 ON 36000 es 43800 o 39000 9 43800 43800 43800 After SM51 SM52 ON Q7BAT me 400 Note 1 The actual service value indicates the average value and the guaranteed time indicates the minimum time Note 2 The power on time ratio indicates the ratio of Motion controller power on time to one day 24 hours Power on time ratio x 100 70 When the total power on time is 17 hours and the total power off time is 7 hours the power on time ratio is 70 Note 3 The guaranteed value MIN equivalent to the total power failure time tha
198. or more to reset the hardware RUN STOP RESET switch For communication UE with peripherals Ethernet connector The upper LED of the connector for PERIPHERAL I F Remains flashing It communicates with the personal computer OFF It doesn t communicate with the personal computer The lower LED of the PERIPHERAL I F connector ON 100Mbps OFF 10Mbps Incremental synchronous encoder input Incremental synchronous encoder input has Differential output type Voltage output Open collector type The signal is input the signal is output RS 422 communication UE for GOT Note 1 Refer to 2 5 4 SSCNETII cable and connection about a notification and a method of connection for SSCNETII 2 SYSTEM CONFIGURATION 2 7 segment LED display The LED displays flashes in the combination with errors 7 segment LED Start 2 i Normal Ge X remains flashing Steady INS display Installation mode 3 4 F P d hee 3X remains flashing Mode operated by RAM X remains flashing Mode operated by Steady INS display ROM X remains flashing Steady STP display RUN Steady RUN display Early stage warning L Steady BT1 displa Battery 2 7V or less SI vs error Final stage warning Steady BT2 displa 2 5V or less d ie Operating system software not installed A00 remains flashing A AL flashes 3 times l Steady L01 display Doo Es E AL flashes 3 times Servo error
199. ost Station Protocol Open System IMELSOFT Connection IMELSOFT Connection wv MELSOFT Connection v IMELSOFT Connection wv IMELSOFT Connection v IMELSOFT Connection v d Writing parameters Write parameters to the Motion controller Crossover cable must be used for this step e Changing cables Power off the Motion controller then change the Ethernet cable from a crossover cable to a straight cable Equipment Ethernet cable The Motion controller Hub Straight cable All Computers Hub Straight cable f Enabling the parameters of the Motion controller Once power returns to the Motion controller the Open Setting IP address and parameters will become enabled 12 5 12 COMMUNICATION g Transfer Setup of the computer MT Developer2 Select Connection via Hub on the Transfer Setup screen Transfer Setup Online Transfer Setup Select Ethernet Board Select CPU Module Choose this setting CPU side UE Detailed Setting of PLC Module Select Connection via Hub Set the IP address to the same value as the IP address of the Motion controller The default value of the IP address is 192 168 3 39 Refer to part 2 of this chapter below regarding the IP address setting GPU side I F Detailed Setting of PLC Module PLC Mode C t Port Dech Connection Select Connection via Hub Set IP address Refer to 2 on next page Fed CPU
200. ot pull on the lead wire itself 1 Pull forward 2 Pull up 1 Forcible removal of the battery lead wire from the connector will damage the battery connector or battery lead wire 2 The programs parameters absolute position data and latch data of the Motion controllers SRAM are not backed up if the battery connector is not properly connected 2 SYSTEM CONFIGURATION 2 5 6 Software specification of MR MQ100 1 Motion control specifications tem Number of control axes Operation cycle default Interpolation functions PTP Point to Point control Speed control Speed position control CHE Fixed pitch feed Constant speed control Position follow up control Control modes GE M A Speed control with fixed position stop Speed switching control High speed oscillation control Synchronous control Acceleration Automatic trapezoidal acceleration deceleration deceleration control S curve acceleration deceleration Compensation Backlash compensation Electronic gear Phase compensation Programming language Servo program capacity 3200 points points Positioning data can be designated indirectly Peripheral I F Proximity dog type 2 types Count type 3 types Data set type 2 types Home position return function Dog cradle type Stopper type 2 types Limit switch combined type Number of positioning Home positio
201. ow Remains ON even if the condition is restored to normal thereafter Turns on when the voltage of the external battery reduces to Normal less than 2 5 V Battery low Turns OFF when the voltage of external battery returns to normal Diagnostic error Self diagnostic error Battery low latch S Occur an error Battery low AC DC DOWN AC DC DOWN not detected detection AC DC DOWN detected Turns ON if an instantaneous power failure of 10 ms or less occurs during use of the AC power supply module Resets after the power supply is cycled Turns ON if the voltage of external battery reduces to less Battery low warning Normal than 2 7 V latch Battery low Remains ON even if the condition is restored to normal thereafter Turns on when the voltage of the external battery reduces to Normal less than 2 7 V Battery low Turns OFF when the voltage of external battery returns to normal M211 Clock data error OFF No error Turns ON if an error occurs in the clock data SD210 to S Request ON _ Error SD213 value and turns OFF if no error is detected 3 ON M400 Always ON Normally ON signal OFF e ON S Main processing M401 Always OFF Normally OFF signal Battery low warning 77 77 7 POSITIONING DEDICATED SIGNALS Special relay list Continued Set by i i R k m Name Meaning Details When set ema ON PCPU READY completion OFF PCPU READY incom
202. p Cx 10 inch Except for speed position switching control 0 to 214783647 Speed position switching control 0 to x 107 um x 10 inch x 10 degree 2147483647 1 to 600000000 1 to 600000000 HR uu 1to x 10 x 10 degree min 2147483647 mm min inch min SC PLS s 0 to 5000 ms 0 to 32767 1 to 1000 Note 1 The n in n03 n08 n09 and n10 indicates the axis No 1 to 32 Note 2 When an error occurs because the speed limit value is exceeded it is controlled at the speed limit value Note 3 Applies when the command speed is 0 Note 4 If there are multiple errors in the same program the latest error item information is stored Note 5 When the speed control 10 X multiplier setting for degree axis is set to valid the setting range is 0 01 to 21474836 47 degree min Note 6 If 2 axes are set an error will be happened when the servo program starts 9 SERVO PROGRAMS FOR POSITIONING CONTROL Table 9 3 Positioning data Continued Setting value using MT Developer2 Name Explanation Default Setting range Set at the auxiliary point specified circular 214748364 8 to 21474 83648 2147483648 interpolation MDC to 21474 83647 0 to 359 99999 to 2147483647 Incremental 12147483647 data method Otot 836 Set at the radius specified circular 0 1 to 0 00001 to interpolation 429496729 5 0 to 359 99999 1 to 4294967295 un 42949 67295 The sitting ranges depending on the
203. peed Reading of Specified Data This function is used to store specified positioning data in a specified device DW The input signal of the Motion controller is used as a trigger and can be set in the system settings of MT Developer2 1 Position data that can be set Setting data Position command Feed current value 10 ym 10 inch 10 degree PLS Actual current value Real current value 10 um 10 inch 10 degree PLS 0 Position droop Deviation counter value PLS M code Torque limit value Motor current Motor speed 1 Motrsped 1 2 Virtual servomotor feed current value L5 las o 0 0 0 0 Synchronous encoder current value PLS Virtual servo M code E e Valid in virtual Current value after main shaft differential gear PLS mode only Current value within one revolution of cam axis PLS ExecutecamNo Lk Execute stroke amount 10 um 10 inch PLS Optional address Fixed to 4 bytes REH 2 Signals used Read timing Number of setting points PX devices MR MQ100 0 4 ms 3 Devices that can be assigned RUNE gua 0 10 8191 0 to 1FFF 1 When using 2 words of data assign to an even number device 2 If wrong address is assigned the motion controller will issue a watch dog timer error 13 AUXILIARY FUNCTION 13 3 MC Protocol Communication PERIPHERAL I F of the Motion controller enables communication using the MC protocol ete External devices such as personal co
204. peration mode of the END step toward the program set to the event None Bit device Set the bit device turned ON while executing Motion SFC program X0 to X1FFF YO to Y1FFF MO to M8191 BO to B1FFF 10 14 Remark These parameters are imported at leading edge of PLC ready flag M2000 and used for control thereafter When setting changing the values of these parameters turn PLC ready flag M2000 off 10 MOTION SFC PROGRAMS 10 6 Device Descriptions Word and bit device descriptions are shown below 1 Word device descriptions Device descriptions 64 bit f 32 bit j Ke 16 bit floating point Device No n specified ranges integer type integer type E type n is even No n is even No 0 to 1FFF 0 to 12287 lCoastingtimer am a For differentiation the 32 bit floating point type is ended by L and the 64 bit floating point type by F F for the link register b For the 32 bit integer type and 64 bit floating point type specify the device number with an even number It cannot be set as an odd number c The coasting timer FT is incremented per 888 us The coasting timer is a 32 bit integer type 2 Bit device descriptions ge Device description Device No n specified ranges Xn 0 to 1FFF Input rela i i PXn _0 to FFF 0 to 12287 Link relay 0 to 2255 a When using the device in DIN or DOUT as batch bit data specify n as a multi
205. ple of 16 Xn PXn Mem Yn Oto 1FFF PYn PYn 0 to FFF Oo Bn O 10 15 10 MOTION SFC PROGRAMS MEMO 10 16 11 MECHANICAL SYSTEM PROGRAM 11 MECHANICAL SYSTEM PROGRAM This section describes virtual mode of the mechanical system program In the mechanical system program Mechanical support language mechanical hardware that historically has been used to perform synchronous control such as gears shafts belts pulleys cams and variable speed changers etc are transposed to software and the same operational control can be performed The mechanical system program consists of mechanical module connection diagrams and mechanical module parameters Mechanical module connection diagrams show a virtual mechanical system consisting of multiple connected virtual mechanical modules The mechanical module parameters are used to control of the mechanical modules used at the mechanical module connection diagram Refer to the Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual VIRTUAL MODE for specifics of the mechanical module parameters 11 1 11 MECHANICAL SYSTEM PROGRAM 11 1 Mechanical Module Connection Diagram The mechanical module connection diagram depicts a virtual system composed of user arranged mechanical modules Configuration of the mechanical module connection is shown in Fig 11 1 below Indicates rotation direction D ransmission module Differential gear
206. pletion ON TEST mode ON SMSO TESEMOJS ON OFF Except TEST mode e EE aede M502 Confirms forced stop ON OFF input OFF Forced stop ON P ON Digital oscilloscope is Digital oscilloscope stop executing executing TEST mode request ON Abnormal error OFF Normal Motion controller SS WDT error Manual pulse SMB13 generator axis setting error SM516 Servo program setting error h SM526 Over heat warning latch SM527 Over heat warning OFF Ignored M lock eno cnc data set request ON Setrequest M801 Clock data read OFF Ignored request ON Read request M510 Abnormal Normal At least one D714 to D715 setting is abnormal All D714 to D715 settings are normal Abnormal Normal Normal Abnormal Normal ON Abnormal OFF Digital oscilloscope is When the PLC ready flag M2000 turns from OFF to ON the fixed parameters servo parameters and limit switch output data etc are checked and if no error is detected this flag turns ON Turns OFF with PLC ready flag M2000 OFF Judge whether TEST mode ON or not using MT Developer2 If the TEST mode is not established by TEST mode request using MT Developer2 the TEST mode request error flag SM510 turns ON S Request S Operation cycle Confirms the execution of digital oscilloscope using S Change status MT Developer2 Turns ON if the TEST mode is not established by TEST mode request using MT De
207. quipments can access to a single motion controller Note 2 The extension IO unit has the limitation of the servo amplifier that can be used Refer to section 13 5 for details The latest operating system software SW9DNC SV22QW is preinstalled in the MR MQ100 There is no need for customer installation NCAUTION Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system Q The ratings and characteristics of the parts other than Motion controller servo amplifier and servomotor used in a system must be compatible with the Motion controller servo amplifier and servomotor Set the parameter values to those that are compatible with the Motion controller servo amplifier servomotor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect Restriction matter The Motion controller does not have a forced stop input therefore the forced stop function on the servo amplifier should be used 2 3 2 SYSTEM CONFIGURATION Seo rr 2 1 2 Function explanations of the MR MQ100 Motion Controller 1 Each MR MQ100 system can control a single servo amplifier axis 2 The program is synchronized with the motion operation cycle and can be set to a fixed cycle 0 44 ms 0 88 ms 1 77 ms 3 55 ms 7 11 ms 14 2 ms
208. r 1 Connection between the MR MQ100 and servo amplifier E EE SSCNETII cable length a MR J3BUSCIM use Wu i Dx3m 9 84ft J MR J3BUSOM A use S Dx 20m 65 62ft MR J3BUSCIN B use Gs Dx 50m 164 04ft L 1 Servo amplifier Note Communication will not be possible if CN1A and CN1B are mistaken for one another List of SSCNETII cable model name 0 15m 0 49ft 0 3m 0 98ft 0 5m 1 64ft Standard cord for 1m 3 28ft 3m 9 84ft inside panel Standard cable for A M A 5m 16 4ft 10m 32 81ft 20m 65 62ft i MR MQ100 MR J3 outside panel MR J3BUSLIM B 30m 98 43ft 40m 131 23ft 50m 164 04ft Long distance cable Note cable length 2 SYSTEM CONFIGURATION 1 Be sure to connect SSCNETII cable as per above If the connection is incorrect communication between the Motion controller and servo amplifier is not possible The SSCNETII connector has a cap to protect the optical device inside from dust For this reason do not remove the cap until just before connecting the SSCNETII cable Also when removing the SSCNETII cable be sure to put the cap back on Be sure to keep the SSCNETII fiber optic protective cap and tubing in a sealed plastic bag to prevent them from becoming dirty
209. r 20 generator HIGH level Phases A B phase A 810525VDO E width HA anual pulse 2mA or less S ub or more generato Incremental Manual synchronous LOW level 2 5us 2 5us Input pulse encoder 1VDC or less 9r more pg MONE mA or mor Duty ratio 50961 2596 generator 21 gt on more Leading edge Trailing phase B edge time 1 2us or less HB Phase difference Phase A JIM Select type Phase B JuL signal 49 mere SEL 1 Address increases if Phase A leads Phase B 2 Address decreases Power supply if Phase B leads 5VDC Phase A Power 22 Note The 5VDC power supply from the MR MQ100 must not be used if a separate power supply is applied to the Manual pulse generator incremental synchronous encoder If a separate power supply is used be sure it is 5V voltage Anything else may cause a failure 2 SYSTEM CONFIGURATION d Connection examples of manual pulse generator incremental synchronous encoder Differential output type Voltage output Open collector type Manual pulse Manual pulse generator side generator side MR MQ100 Incremental synchronous MR MQ100 Incremental synchronous Signal name Signal name 5 encoder pide HAH HA A HAL HB B HBH SG oV HBL SG 5V SG SG 3 Note 1 5V 5V SG Note 2 SEL iem pne SAR SPERT een f Twist pair cable FG Shel I Shield
210. r Motion SFC program or test operation using MT Developer2 S U Set by both system Motion controller and user Set by When set Indicated only if setting is done by system Motion controller When set Main process Set during each main processing free time processing of the CPU Initial process Set only during initial processing when power supply is turned ON or when executed the reset Status change Set only when there is a change in status Error Set when error is occurred Request Set only when there is a user request Special relay etc Operation cycle Set during each operation cycle of the Motion controller 7 POSITIONING DEDICATED SIGNALS Special relay list Set by nl wen oo Meg o me When set Turns ON if an error occurs as a result of diagnosis Remains ON even if the condition is restored to normal No error thereafter Error Turns ON when the Motion error detection flag M2039 goes from ON to OFF except in the case of a stop error after confirming the error content Turns ON if an error occurs as a result of self diagnosis Remains ON even if the condition is restored to normal No self diagnostic error thereafter Self diagnostic error Turns ON when the Motion error detection flag M2039 goes from ON to OFF except when a stop error occurs after confirming the error content Turns ON if the voltage of external battery reduces to less Normal than 2 5 V Battery l
211. r rm wm Jo Ja Ja Ja Ja Ja Ja Ja Ja Latch data storage area 1 Latch data storage area 2 Latch data storage area 3 At mark detection Latch data storage area 4 7 POSITIONING DEDICATED SIGNALS 2 Mark detection setting devices Mark detection Device No function No 7912 to 7919 Mark detection Device No function No Signal name Signal Signal name Fetch cycle z direction Command Registration code Main cycle S Y device Signal name Signal Signal name Fetch cycle Rr ND o zm JI mm mee o Marl detection signal allocation devices At Registration code setting ES Mark detection signal compensation time Operation cycle Command Latch data type device ES yp At Registration code setting E3 Mark detection axis number Latch data upper limit Operation cycle VOR l Latch data lower limit P y device Mark detection mode Not available a 2 lech Joa Joa Joa Ja fu 7 POSITIONING DEDICATED SIGNALS 7 4 5 Devices for extension IO unit 1 Analog output devices 8736 to 8737 Signal name 0 Analog output ANO output ANO1 oss A out Operation cycle 0 8 ms orless 0 8 ms command Operation cycle 1 7 ms 1 7 ms device 1 Analog output ANO2 CN20 14 Operation cycle 3 5 ms or more 3 5 ms 1 The analog output voltage instruction is specified within the range of 10000 10000 mV When a value outside of the range is specified th
212. ram Number of Pg Total of 3200 points It changes with programs indirect specification is possible positioning points haa a Number of modules which can be set per CPU A Virtual module 3 axes Drive Synch encoder Main shaft Virtual Aali 7 axis EE mission gear modules Differential gear EE to main shaft Roller Ji Output Total of 4 modules Mechanical system program E CPU internal RAM memory 32767 2 SYSTEM CONFIGURATION 8 Mechanical system program specifications Continued PTP Point to Point control speed control fixed pitch feed constant speed control Control methods position follow up control PTP control Selection of absolute or incremental data method Fixed pitch feed Incremental data method Constant speed control Both absolute and incremental data method can be used together Position follow up control Absolute data method Address setting range 2147483648 to 2147483647 PLS Speed command Speed setting range 1 to 2147483647 PLS s Method Positioning Automatig Acceleration fixed acceleration deceleration Time fixed acceleration deceleration trapezoidal 4 Acceleration time 1 to 65535 ms Acceleration deceleration time 1 to 5000 ms Acceleration acceleration NIE Onl tant dconir l i ibl deceleration deceleration Deceleration time 1 to 65535 ms Only constant speed control is possible control Virtual servomotor S curve acceleration S curv
213. re loose the motion controller may drop or malfunction 4 Ifthe screws are too tight the screws or the unit may break and the motion controller may drop or malfunction 4 INSTALLATION AND WIRING 4 2 Cable Connection and Disconnection 4 2 1 SSCNETII cable 1 Precautions for handling the SSCNETTI cable Do not stomp on the SSCNETII cable When laying the SSCNETII cable be sure to secure the minimum cable bend radius or more If the bend radius is less than the minimum cable bend radius it may cause malfunctions due to characteristic deterioration wire breakage etc Hold the cable connector securely during connection and disconnection of the SSCNETII cable ow control ler EE P r Connection of SSCNETIII cable For connection of SSCNETII cable to the Motion controller connect it to the SSCNETII connector CN1 of the Motion controller while holding the SSCNETII cable connector s tab Be sure to insert it until it clicks If the cord tip of the SSCNETII cable is dirty optical transmission may be interfered and may result in malfunctions If it becomes dirty wipe with a bonded textile or similar Do not use solvent such as alcohol Disconnection of SSCNETIII cable For disconnection of SSCNETIII cable pull the cable out while holding the SSOCNETII cable connector s tab or the connector itself After disconnection of SSCNETII cable be sure to r
214. rea ae a Calculate as follows for the device No corresponding to each axis M4007 20n error detection M4007 20 X2 M4047 7 POSITIONING DEDICATED SIGNALS 7 2 5 Virtual servomotor axis command signal list Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual VIRTUAL MODE for details Signal name M4800 to M4819 mM 2 M4820 to M4839 Virtual M4840 to M4859 Refresh Fetch Signal 4 M4860 to M4879 Signal name Roller Ball Rotary cycle cycle direction 4 M4860 to M4879 screw table M4880 to M4899 ET EX Error reset command Ec ES o Stopcommand edd 1 Rapid stop command Rapid stop command edd 8 M4940to M4959 Forward rotation Ee start Ee Bessi start command ER command mme External stop input PE Command disable at start x O At start signal command i Bi l Operation Command FIN signal x O cycle signal O Valid x Invalid e a fjofo Lech LA l Jo fo Ju fi COIN Oo O1 W ro o 1 Axes 1 to 8 can be set as a Virtual axis Up to 3 axes can be used 7 POSITIONING DEDICATED SIGNALS 7 2 6 Synchronous encoder axis status list Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual VIRTUAL MODE for details Signal name 1 M4640 to M4643 ignal X Signal name Virtual Refresh cycle Fetch cycle Signa direction 0 Error detection l enean SE EE
215. require 24VDC POINT 1 Use a different 24VDC power supply for MR MQ100 and for I O components 2 Use different 24VDC power supplies for the MR MQ100 and the electromagnetic brake of the servomotor 3 Refer to Wiring of 24VDC power supply connector of MR MQ100 chapter 2 4 Motion controller and 24VDC power supply are an open type device and must be installed inside a control panel for use This not only ensures safety but also ensures effective shielding of the Motion controller and 24VDC power supply electromagnetic noise 5 TRIAL OPERATION AND ADJUSTMENT 5 TRIAL OPERATION AND ADJUSTMENT 5 1 Checklist before Trial Operation Table 5 1 Checklists before Trial Operation Confirmation Items 1 Check for looseness rattling or incorrect installation 2 Check that the module fixing screw tightening torque is as specified Check that the wire sizes of cables are correct 4 Check that the power line is wired correctly Check that the polarity of power supply line is corrected Check that FG is wired correctly 6 7 Check that the FG terminal screws are tightened correctly 8 Check that the FG terminal screws are tightening torque is as MR MQ100 specified Motion controller 9 Check that the 24VDC power supply wire is twisted as tightly as possible and run in the shortest distance 10 Check that the 24VDC power supply wire is not bound to or runs close to the power wires 1 Check for
216. roller For this reason it is not possible to use these registers in Motion SFC programs in the same way that normal registers are used However data can be written as needed in order to control the Motion controller Data stored in the special registers are stored as BIN values if no special designation has been made to the contrary Explanation of headings used in the table on the next page Indicates the name of the special register Indicates whether the register is set by the system or user and if set by system when setting is performed Set by S Set by system Motion controller U Set by user Motion SFC program or test operation using MT Developer2 S U Set by both system Motion controller and user Set by When set Indicated only if setting is done by system Motion controller When set Main process Set during each main processing free time processing of the CPU Initial process Set only during initial processing when power supply is turned ON or when executed the reset Status change Set only when there is a change in status Error Set when error is occurred Request Set only when there is a user request Special relay etc Operation cycle Set during each operation cycle of the Motion controller 7 POSITIONING DEDICATED SIGNALS Special register list Set by wj Name we as When set Error codes for any errors discovered during diagnosis are stored as BIN data Refer t
217. rt number to multiple UDP ports is regarded as one setting When communicating with multiple external devices using the same host station port number select TCP protocol 13 12 13 AUXILIARY FUNCTION e Response message receive processing Figure below shows an example of the response message receive processing on the external device side Communication processing on the external device side Request message send processing Response message receive processing TCP connection is closed Is TCP connection open Receive the rest of response messages Has the data been received within the monitoring timer The monitoring timer has run over The receive data exceeds the size limit Check the receive data size The response message for the following request has been received Processing for response messages Has processing for all received messages completed END Error processing Personal computers use the TCP socket functions internally for Ethernet communication These functions do not have boundary concept Therefore when data is sent by executing the send function once the recv function needs to be executed once or more to receive the same data One execution of the send function does not correspond to one execution of the recv function For this reason receive processing described above is required on the external device
218. s currently set for L devices Stores the number of points currently set for B devices Stores the number of points currently set for F devices Stores the number of points currently set for SB devices Device i d de x d Stores the number of points currently set for V devices S Initial processing assignment Stores the number of points currently set for S devices Stores the number of points currently set for T devices N f poi umor of points Stores the number of points currently set for ST devices assigned for ST Number of points G f Stores the number of points currently set for C devices assigned for C N f poi omger OT points I Stores the number of points currently set for D devices assigned for D Number of points 4 e Stores the number of points currently set for W devices assigned for W N f poi ampar or points i Stores the number of points currently set for SW devices assigned for SW p zle zi Zle Zie z z Zle Z Zl Z e e e e e e e e e e SEN EEN ENEE EE EA EE Ko Ko Ko Ko Ko Ko Ko Ko Ko Ko 5 O15 O75 Or GI Or GI Or Or Gr O bd bd bd bd bd bd bd bd bd bd o 9 o 9 o 9 o 9 o 9 o 9 o 9 o 9 Jo 9 o 2 x a a o o Le H o a o o s 2 s29ls 2l la la Sla Sla Sila Sa 2 sl www s sess e Zei d e ie a 1 Er x A 2 3 i 2le2 2 3 zgl zl zal z2 o o o o o o o o o o 7 POSITIONING DEDICATED SIGNALS Special register list Continued Set b wj om j we pe When 2 The loading status
219. satisfied Q Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system In systems where coasting of the servomotor will be a problem during the forced stop emergency stop servo OFF or power supply OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes In systems where perpendicular shaft dropping may be a problem during the forced stop emergency stop servo OFF or power supply OFF use both dynamic brakes and electromagnetic brakes NCAUTION The dynamic brakes must be used only on errors that cause the forced stop emergency stop or servo OFF These brakes must not be used for normal braking The brakes electromagnetic brakes assembled into the servomotor are for holding applications and must not be used for normal braking The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max speed Use wires and cables that have a wire diameter heat resistance and bending resistance compatible with the system Use wires and cables within the length of the range described in the instruction manual The ratings and characteristics of the parts other than Motion controller servo amplifier and servomotor used in a system must be compat
220. side If the recv function is used in blocking mode data may be read by executing the function once 13 13 13 AUXILIARY FUNCTION 5 Error codes for communication using MC protocol Table below shows the error codes error descriptions and corrective actions that will be sent from the Motion contrller to an external device when an error occurs during communication using the MC protocol Error code Description Corrective action Hexadecimal Refer to the QCPU User s Manual Hardware Design Motion controller detected error Error that occurred in 4000H to 4FFFH Maintenance and Inspection and take corrective other than communication using the MC protocol action When the setting for online change is disabled on the d g g e When enabling online change write data Built in Ethernet Port Setting of Basic Setting in 2 0055H 7 Change the status of the Motion controller to STOP MT Developer2 an external device requested online and write data change to the Motion controller When the communication data code setting is set to Set the communication data code to binary code and ASCII code in the Built in Ethernet Port Setting ASCII restart the Motion controller for communication 3 C050H TM code data that cannot be converted to binary code was Correct the send data on the external device side and received resend the data The number of device points for reading writing is Correct the number of device poin
221. sing MT Developer2 Must be turned OFF new one when SM51 or monitor SMB8 is ON Adhesion of dirt and Check visually Dirt and foreign matter must not Renove arid lean foreign matter be present Connection Installation 6 INSPECTION AND MAINTENANCE 6 4 Life The following parts must be changed periodically as listed below However if any part is found faulty it must be changed immediately even when it has not yet reached the end of its life which depends on the operating method and environmental conditions For parts replacement please contact a local sales representative Table 6 3 Life Life guideline Life guideline a reference only If any abnormality is discovered 10years the capacitor must be changed Motion controller Electrolytic capacitor immediately even if it has not yet reached the life guideline 1 Capacitor The life of the capacitor greatly depends on ambient temperature and operating conditions The capacitor will reach the end of its in 10 years of continuous operation in normal air conditioned environment 6 INSPECTION AND MAINTENANCE Ee 6 5 Battery The battery installed in the Motion controller is used for data retention of the program memory and latch device during a power failure Special relays SM51 SM52 SM58 or SM59 turn on due to a decrease in battery voltage Even if the special relays turn on the program and retained data are not erased immediately However if these r
222. splacement could occur 1 After writing the servo data to the Motion controller using programming software switch on the power again then perform a home position return operation 2 Using the backup function of the programming software load the data backed up before replacement After maintenance and inspections are completed confirm that the position detection of the absolute position detector function is correct Do not drop or impact the battery installed to the module Doing so may damage the battery causing battery liquid to leak in the battery Do not use the dropped or impacted battery but dispose of it Do not short circuit charge overheat incinerate or disassemble the batteries The electrolytic capacitor will generate gas during a fault so do not place your face near the Motion controller or servo amplifier The electrolytic capacitor and fan will deteriorate Periodically replace these to prevent secondary damage from faults Replacements can be made by our sales representative Lock the control panel and prevent access to those who are not certified to handle or install electric equipment Do not burn or break a module and servo amplifier Doing so may cause a toxic gas 9 About processing of waste When you discard Motion controller servo amplifier a battery primary battery and other option articles please follow the law of each country area NCAUTION This product is not designed or manufactured
223. ssion bit conditional expression Descriptive S 7 in Calculation expression bit conditional expression comparison conditional expression Up to 256 Up to 256 steps all programs Execute in main cycle of Motion controller Executed E i task Execution can be masked Execute in fixed cycle 0 44ms 0 88ms 1 77ms 3 55ms 7 11ms 14 2ms 8192 points UO PX PY points Internal UE Input 4 points Output 2 points Number of devices Devices in the Motion controller only Positioning dedicated devices are included internal relays 12288 points 8192 points 2048 points 2256 points 8192 points 8192 points 2256 points 12288 points 1 point 888us None Link relays Annunciators relays Special relays Data registers Link registers Special registers Motion registers Coasting timers Multiple CPU area device 2 SYSTEM CONFIGURATION 3 Mechanical system program specifications For S of control axes Synchronous control PTP Point to Point control speed control fixed pitch feed kewimees method constant speed control position follow up control speed switching control MOREM servomotor Drive module Senones eder nchronous encoder Control units Roller sd e dE al Output medie ybi 1 i roro table Fixed as degree mm inch PLS Program language LM instructions Servo program mechanical system program Capacity 16k steps 14334 steps Servo prog
224. st Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE for details Axis Device No Signal name No Signal Signal name Refresh cycle Fetch cycle ee direction Lo Postonng sa conpicie La sevo eror erein Operaton eye s rome postion reum reques Mane Hs FLS RLS Unusable DOG CHANGE Main cycle Status 15 XU Operation cycle signal 16 torque limiting 17 Unusable Virtual mode continuation operation 18 disable warning signal At virtual mode transition Status ded signal M code outputting signal Operation cycle Status Main cycle Note 1 It is unusable in the real mode 7 POSITIONING DEDICATED SIGNALS 7 2 3 Axis command signal list Refer to Q173DCPU Q172DCP Manual REAL MODE for detai ND sme o Stopcommand Reverse rotation JOG start command Speed position switching enable command Error reset command e Servo error reset command External stop input disable at start command Unusable 12 Feed current value update request command Address clutch reference setting command SV22 only Nt Cam reference position setting command SV22 only ie Servo OFF command 16 Gain changing command Control loop changing command FIN signal M3200 to M3219 17 ines U Motion controller SV13 SV22 Programming ls Signal name ignal Refresh cycle Fetch cycle Signa direction ETT cycle
225. stored in the following format B15 B12B11 B8 B7 B4 B3 T i i i T T T T SD200 Status of switch gt Not used 1 CPU switch status 0 RUN 1 STOP 2 Memory card switch Always OFF The CPU operating status is stored as indicated in the following figure S Main processing B15 B12B11 B4 B3 SD203 Operating status Operating status 1 Operating status of CPU 0 RUN 2 STOP 2 STOP cause 0 RUN STOP switch Note Priority is earliestfirst 4 Error 7 POSITIONING DEDICATED SIGNALS Special register list Continued wj wm we pe RUD The year last two digits and month are stored as BCD code Bo Example July 2006 Clock data j H0607 i Year Month Clock data Day Hour H3110 B15 to Bo Example 31st 10 a m T I i f The minutes and seconds are stored as BCD code B4 B3 to Bo Example 35 min 48 sec f f SD212 Clock data i H3548 Clock data Minute Second i S U Request Second B12B11 Example Friday H0005 Clock data Day of week Sunday Day of week Always set to 0 Monday Tuesday Wednesday Thursday Friday Saturday Stores the number of points currently set for X devices Stores the number of points currently set for Y devices Stores the number of points currently set for M devices Stores the number of point
226. suddenly restart after a power failure is restored so do not go near the machine Design the machine so that personal safety can be ensured even if the machine restarts suddenly Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Extreme adjustments and changes may lead to unstable operation so never make them Do not apply a voltage other than that specified in the instruction manual on any terminal Doing so may lead to destruction or damage Do not mistake the terminal connections as this may lead to destruction or damage Do not mistake the polarity as this may lead to destruction or damage Q Do not touch the heat radiating fins of controller or servo amplifier regenerative resistor and servomotor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Always turn the power OFF before touching the servomotor shaft or coupled machines as these parts may lead to injuries Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries Do not bunch the control wires or communication cables with the main circuit or power wires or lay them closely They should be installed 100 mm 3 94 inch or more from each other Trying to bunch or install could result in noise that would cause operation fa
227. symbol for the new EU Battery Directive 2006 66 EC that is labeled batteries Note This symbol mark is for EU countries only This symbol mark is according to the directive 2006 66 EC Article 20 Information for end users and Annex Il Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled and or reused This symbol means that batteries and accumulators at their end of life should be disposed of separately from your household waste If a chemical symbol is printed beneath the symbol shown above this chemical symbol means that the battery or accumulator contains a heavy metal at a certain concentration This will be indicated as follows Hg mercury 0 000596 Cd cadmium 0 002 Pb lead 0 004 In the European Union there are separate collection systems for used batteries and accumulators Please dispose of batteries and accumulators correctly at your local community waste collection recycling centre Please help us to conserve the environment we live in 6 INSPECTION AND MAINTENANCE 6 6 Troubleshooting This section describes the various types of trouble that occur when the system is operated and causes and corrective actions of these troubles 6 6 1 Troubleshooting basics The basic three points that must be followed in the troubleshooting are as follows 1 Visual inspection Visually check the following a Movement of machine stopped co
228. t is calculated based on the characteristics value of the memory SRAM supplied by the manufacturer and under the storage ambient temperature range of 25 C to 75 C 13 to 167 F operating ambient temperature of 0 C to 55 C 32 to 131 F Note 4 The guaranteed value TYP equivalent to the total power failure time that is calculated based on the normal air conditioned environment 40 C 104 F Note 5 The actual service value Reference value equivalent to the total power failure time that is calculated based on the measured value and under the storage ambient temperature of 25 C 77 F This value is intended for reference only as it varies with characteristics of the memory The self discharge influences the life of battery without the connection to Motion controller The battery should be exchanged approximately every 4 or 5 years And exchange the battery with a new one every 4 to 5 years even if the total power failure time is equal to or less than the guaranteed value 2 SYSTEM CONFIGURATION NCAUTION Do not short a battery Do not charge a battery Do not disassemble a battery Do not burn a battery Do not overheat a battery Do not solder the battery terminal The data Refer to Section 6 5 of SRAM built in Motion controller are backed up without using the battery 2 SYSTEM CONFIGURATION 3 Motion Controller connection procedure a Connection of the battery connector
229. t mask is different Do not respond to search for CPU Built in Ethernet port is checked in PLC parameter 12 7 12 COMMUNICATION b Up to 16 different equipment can access the Motion controller c Hub The hub can be either a 1OBASE T or 100BASE TX port It has to meet IEEE802 3 100BASE TX or IEEE802 3 10BASE T d The Ethernet cables must to be installed away from power cabling lines e The connections cannot be guaranteed under below conditions Any connection made over the internet Any connection made through a fire wall Any connection made through a broadband router Any connection made through a wireless LAN When multiple Motion controllers are connected to MT Developer2 beware of the below cautions P addresses must be different for each Motion controller Different projects must be used for each Motion controllers on MT Developer2 Only one instance each of the Digital oscilloscope function and Test mode function can be used on a single computer at a time SS 12 COMMUNICATION 12 1 3 Setting CPU name 1 HUB connection setting When setting up a connection to a hub a label and comments can be added to each controller in the CPU Name Setting tab of the Basic Settings window Communication is still available even without defining a Label and or Comment CPU Name Setting System Setting gt Basic Setting gt CPU Name Setting Basic Setting System Basic Setting
230. ta written to the Motion controller is not overwritten 4 Do not do any of the following while installing operating system software Doing so could result damage the Motion controller Turn off the motion controller s power supply Change the RUN STOP RESET switch of Motion controller to RESET Turn off the power supply of the personal computer Pull out the personal computer s communications cable 5 TRIAL OPERATION AND ADJUSTMENT 5 4 Trial Operation and Adjustment Checklist At the worksite copy the following table for use as a check sheet Work Step Item Trial Operation and Adjustment Confirmation Check that each module is installed correctly Check that each connector is connected correctly Check each terminal screw for looseness Installation of Check that the earth wires of Motion controller or servo amplifiers etc are correct Before power supply ON unit module Check that the servomotor wiring is correct and basic wiring Check that the regenerative option wiring is correct Check that the circuit of emergency stop and forced stop are correct Check that the wiring of each power supply and I O are correct Check that the rotary switch settings are correct System setting Check that the system setting is correct Check that the upper lower stroke limit inputs are correct External signal Check that the proximity dog and
231. tant indicates the data type The constant without the data type is regarded ES K H Hexadecimal as the applicable minimum type K may be omitted constant Binary operation ee a Bitoperation 6 EE Des conversion 6 es 59 in total Comparison operation 6 C Read write response Input response Direct read control at instruction execution of input PX output PY Output response Direct write control at instruction execution A CAUTION if Multi CPU common devices are set a SFC error will occur The error code depends on the instructions so refer to Motion SFC error code list 10 11 10 MOTION SFC PROGRAMS 2 Table of the operation control transition instruction Classification ATA Muttipication 1182 Sign inversion complement d S NS ASIN ACOS ATAN ABS Round off o S S Binary operation C S2 S2 gt gt S2 S2 Bit operation i 9 4 K A gt gt lt lt DL t5 Qo d S Q SQRT Standard function Round off S 1 Li E H E F B IN AN N XP ND IX UP IN CD LONG 4 FLOAT Regard as signed data and convert into 6 FLOAT S 2 bit floating point type UFLOAT Regard as unsigned data and convert into UFLOAT S 2 64 bit floating point type Sech None ON normally open contact Bit device status Ss OFF normally closed contact S 2 SET D SET D conditional expression RST D
232. ted Setting x Mark detection Contents Unit values data axis number 0 eadcurmvaue Mo Current value within 1 cam shaft revolution Note Real current value Current value within 1 cam shaft revolution Note 1 1 Feed current value Note 1 It depends on the axis whose data is latched X 10 m x 10 degree x 10 inch PLS e Mark detection data axis number 7923 20m Select the axis number for mark detection function With the exception of Feed current value of virtual servomotor only axis 1 can be selected Please refer to the above table f Latch data upper limit 7926 20m 7927 20m Set the upper limit of latch data during mark detection Depends upon the relation of the upper limit and the lower limit Setting values Contents ME __ All data greater than Lower limit and smaller than Upper Upper limit gt Lower limit limit can be latched Upper limit Lower limit All data can be latched Upper limit Lower limit Mark detection function will not work g Latch data lower limit 7928 20m 7929 20m Set the lower limit of latch data during mark detection See the above table 13 AUXILIARY FUNCTION h Mark detection mode 7930 20m Select the mark detection mode See the below table Setting values Continuous detection mode Specified number of detections mode The data continues to be latched until the specified number of detections 889
233. ter the Motion controller servo amplifier or servomotor The Motion controller servo amplifier and servomotor are precision machines so do not drop or apply strong impacts on them Securely fix the Motion controller servo amplifier and servomotor to the machine according to the instruction manual If the fixing is insufficient these may come off during operation NCAUTION Always install the servomotor with reduction gears in the designated direction Failing to do so may lead to oil leaks Store and use the unit in the following environmental conditions Environment Motion controller Servo amplifier Servomotor Ambient According to each instruction manual DEMO AD Cono Tessin temperature 32 F to 104 F 80 RH or less With no dew condensation Storage 20 C to 65 C According to each instruction manual temperature 4 F to 149 F Indoors where not subject to direct sunlight Atmosphere P k No corrosive gases flammable gases oil mist or dust must exist Altitude 1000m 3280 84ft or less above sea level Vibration According to each instruction manual When coupling with the synchronous encoder or servomotor shaft end do not apply impact such as by hitting with a hammer Doing so may lead to detector damage Do not apply a load larger than the tolerable load onto the synchronous encoder and servomotor shaft Doing so may lead to shaft breakage When not using the module for a long time disconne
234. th the specified tools or correctly soldered Imperfect connections could result in short circuit fire or operation failure Be sure there are no foreign matters such as sawdust or wiring debris inside the module Such debris could cause fire damage or operation failure This section describes the power supply wiring instructions Refer to the 15 EMC directives for grounding method and measure against noise 1 Power supply wiring a 24VDC power supply wires should be twisted as dense as possible Connect the modules using the shortest distance possible Use wires with the following conductor sizes Application AWG Note 24VDC power supply wire 0 34 to 0 37 mm AWG22 External I O signal wire 0 3 to 0 75mm AWG22 to AWG18 AWG14 or less Note AWG stands for American Wire Gauge b Do not bundle the 24VDC power supply wire with or run them close to the main circuit high voltage large current or I O signal lines including common line Reserve a distance of at least 100mm 3 94inch from adjacent wires 4 INSTALLATION AND WIRING c Noise due to a lightning surge may cause an instantaneous power failure or reset of the motion controller As a counter measures to lightning surges connect a surge absorber as shown below Using the surge absorber for lightening can reduce the influence of lightening E AC Motion i power supply controller o El surge absorber for lig
235. time M2401 20n is output after reaching the O ms 0 to 5000 ms positioning address Set the M code M code Set for each point at the speed switching 0 to 32767 control and constant speed control Updated it at the start or at a specified point e Set the torque limit value Torque limit The torque limit is performed based on the setting Tonguedimit value starting parameter block data Speed l valued 1 to 1000 2 switching control can be set for each point in the and torque limit values can be set at specific parameter points block 214748364 7 um 0 001 to 0 01 to 0 001 to 1 to 2147483 647 6000000 00 600000000 ti co i 2147483647 mm min inch min ec PLS s Common Settings Set the positioning address as an Expect for the speed position switching control incremental travel value Travel 0 to 2147483647 direction is indicated by the sign Speed position switching control Only positive settings can be made Incremental during speed position control data method Positive Forward rotation Oto Oto 0 to 9 SERVO PROGRAMS FOR POSITIONING CONTROL Setting value using the Motion SFC program Indirect setting Indirect setting Processing at the setting error Setting range Error item information 5 Sethgr ge cl gage Number of steal ire i N SSES 23 ans pide aid a iid oni ER En Gd 2147483648 214748364 to 21 Ge to i s ee 214 499019 x 10 degree to 2147483647 x107 um
236. tine operation If preceded by a motion control step waits for completion of the motion operation and then transitions to the next step after meeting the transition condition Gn GO to G4095 If preceded by an operation control step transitions to the next step after meeting the transition condition and after operation execution Same operation as Shift If preceded by a subroutine call or starting step waits for subroutine operation completion and then transitions to the next step after meeting transition condition Prepares start conditions of the next motion control Transition step and issues an instruction immediately when the WAITON WAITON bit device specified bit device turns ON Always pair this transition with the motion control step one for one Prepares start conditions of the next motion control step and issues an instruction immediately when the WAITOFF WAITOFF bit device specified bit device turns OFF Always pair this transition with the motion control step one for one If preceded by a motion control step transitions to the next step after meeting transition condition Gn GO to G4095 without waiting for the motion operation En completion If transition condition is not met transitions iai SFT Gn to the right connected step completion If preceded by an operation control step transitions to of condition Ab Cum the next step after both meeting the transition condition Shift Y N EE 7 IN
237. ting of 47982 Latch data type 0106 d registration code Contents R At setting of 7983 Mark detection data axis number 1 to ge 9 Note 2 registration code 7986 2147483648 to Latch data upper limit Operation cycle e 7987 Lach an mm DZ EE M Latch data lower limit ER O ti eration cycle 7989 2147483647 P y 7990 Mark detection mode 0 to 32 Operation cycle 9136 2147483648 to Mark detection data current monitor Operation cycle Note 9137 2147483647 Upon detection 9138 Number of marks detected 0 to 655359 P of mark signals Setting device Mark detection settings verification f Oto1 Main cycle flag 9072 9073 to 9134 9135 Note 1 Refer to e Mark detection data axis number Note 2 It depends on the axis to which data is latched x 10 u m x 10 degree x 10 inch PLS Note 3 It depends on Mark detection mode 7930 20m Monitor device 13 AUXILIARY FUNCTION Data setting 1 Mark detection device settings Up to 4 mark detection functions can be set a Registration code 7912 7913 7914 7915 7916 791 7 7918 7919 When the specified data are set to 7912 to 7919 the mark detection functions become valid If anything other than the specified data is set the mark detection functions are invalid and at next power on this incorrect data in 7912 to 7919 is cleared Below is an example of motion SFC 7912L H414D434D 7914L H45444B52 7916L H54434554
238. ting system software s version The operating system software s version of connected Motion controller is displayed on the Operating system type item of the Read from CPU screen in MT Developer2 Operating system software S V12121QJW V EJRI S3 0 0 C lt gt Version 2 SYSTEM CONFIGURATION 2 SYSTEM CONFIGURATION This section describes MR MQ100 system configurations and usage precautions 2 1 Motion System Configuration Equipment configuration for MR MQ100 system 2 B exi Motion controller MR MQ100 CONSE i SSCNETII cable i MR J3BUSCIM A B i Note 3 Battery Q6BAT Large capacity battery holder Q1 70MBAT SET B i I Oo g E T Servo amplifier Extension 10 unit MR J3 0B MR J3 D01 E It is possible to select the best according to the system Note 1 Be sure to install the Battery Q6BAT to the Battery holder It is packed together with MR MQ100 Note 2 Large capacity battery use Q7BAT is included sold separately Note 3 The extension I0 unit has the limitation of the servo amplifier that can be used Refer to section 13 5 for details 2 SYSTEM CONFIGURATION 2 Peripheral device configuration for the MR MQ100 system Peripheral connection options are shown below
239. tion amount x AP AL lt 65535 Set the upper limit for the 214748364 8 21474 83648 2147483648 Upper stroke e i inch 0 to degree i Dip EY machine travel range The limit Net 9 9 359 99999 9 expression below shows the 214748364 7 21474 83647 2147483647 setting range Set the lower limit for the machine travel range The to i expression below shows the 2147483647 setting range Set the position at which the command in position signal M2403 20n turns on ito positioning address current value 2147483647 The expression below shows the setting range 1 command in position e x AP AL 32767 Speed control When the control unit is set to E degrees set whether the 10xmultiplier SN Invalid Valid Invalid positioning control is executed setting for based on a 10x multiplier of degree axis the command speed setting Note The display of the possible setting range changes according to the electronic gear value 214748364 8 21474 83648 Lower stroke 0 to it Not e ix 359 99999 214748364 7 21474 83647 i 2147483648 limi Command in position range Note 0 1 to 0 00001 to 0 00001 to 214748364 7 21474 83647 359 99999 8 PARAMETERS FOR POSITIONING CONTROL 8 2 Parameter Block 1 Parameter blocks allow for easy setting changes by allowing data such as acceleration deceleration control to be set once and then reused for multiple positioning processes A maximum of
240. tion controller SV13 SV22 Programming Manual VIRTUAL MODE for details Signal name Refresh Signal M E m direction Operation S value Se E Monitor error code device immadatoy SES error code g Gees value after synchronous encoder i Operation Monitor DH axis main shaft s differential gear Backup cycle device D Error search output axis No o unusable o 7 3 6 Cam axis monitor device list Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual VIRTUAL MODE for details Signal name D1240 to D1249 der Signal Signal name Virtual Fetch cycle ii eS Unusable 1 ExecutecamNo O Execute cam No 2 execute stoke amount Execute snoke amot stroke amount Operation Monitor Backup Current value within 1 cam shaft D revolution O Valid 1 Axes 1 to 8 can be set as a virtual servo motor axis Up to 3 axes can be used 7 POSITIONING DEDICATED SIGNALS 7 3 7 Common device list Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE for details Device Signal name Refresh cycle Fetch cycle Signal Device Signal name Refresh cycle Fetch cycle Signal No direction No direction Manual pulse generator 1 At the manual pulse Command PLC ready flag request D752 smoothing magnification quem flag setting register NE rune ons a 9 n d iain cule Command Unusable ii icis ME request D707 Real mode virual mode D755 Manual pulse
241. tion mode Any setting Except C Installation mode 0 Mode operated by RAM _ 0 1 6 JModeopraedbyROM 0 EtemetiPaddressdispaymode Note The programs parameters absolute position data and latch data built in Motion controller are cleared b Operation mode overview Operation mode 7 segment LED remains flashing in the first digit of 7 segment LED Mode operated by RAM Operates based on the user program and parameters stored in the SRAM of the Motion controller remains flashing in the first digit and steady display in the second digit of 7 segment LED Operation starts after the user programs and parameters stored in the Motion controllers FLASH ROM are read to the SRAM built in Motion controller at power supply on or reset of the Motion controller If the ROM writing is not executed even if the user programs and parameters are changed using the MT Developer2 during mode operated by ROM operation starts with the contents of the FLASH ROM at next power supply on or reset Also If the ROM writing is not executed even if the auto tuning data are reflected on the servo parameter of the Motion controller by operation in the auto tuning setting operation starts with the contents of the FLASH ROM at next power on or reset Mode operated by ROM Ethernet IP address Refer to next page c Ethernet IP address display mode overview display mode Digit
242. tion module I O number and request executed in the Motion controller destination module station number Correct the read write request data 12 Coen The request data is incorrect ex incorrect Correct the request data and resend the data to the specification of data for bit devices Motion controller Correct the text data or the request data length of the The request data length does not match the data size C061H header data and resend the data to the Motion of the character area a part of text data controller 14 CO70H The device memory extension cannot be specified for Read Write data to the device memory without the target station specifying the extension 15 COBSH Data that cannot communicate in the Motion controller Check the request data or Ethernet module is specified Stop the current request 13 14 13 AUXILIARY FUNCTION 13 4 Synchronous encoder for drive module The synchronous encoder is used to operate the virtual axis virtual main shaft virtual auxiliary input axis with the external input pulse MR MQ100 The current value immediately before power supply OFF is Power cycle stored Current value storage register The travel value is not added in power supply OFF D1120 D1121 Real mode Updated Updated Virtual mode Updated with clutch ON and stopped with clutch OFF Current value after synchronous Power cycle 0 is stored encoder axis main shaft s Real mode differential
243. tion of the extension IO unit MR J3 D01 April 2011 IB NA 0300150 D Additional correction partial correction Postscript of MR Configurator2 Dec 2011 IB NA 0300150 E Partial correction Section 4 2 1 Partial change of sentence 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 2008 MITSUBISHI ELECTRIC CORPORATION A 11 INTRODUCTION Thank you for choosing the Mitsubishi Motion controller MR MQ1 00 Before using the equipment please read this manual carefully to develop full familiarity with the functions and performance of the Motion controller you have purchased so as to ensure correct use CONTENTS Safety Te EE A 1 EE A 11 Pletsch ee e eru m dete ence e tits A 12 About IERI A 16 IESU AINT 1 1 1 2 Differences between MR MQ100 and Q173DCPU Q172DCPU seen 1 3 1 3 Combination of software version and a FUNCTION nennen 1 4 2 1 Motion System Configuration esses eene nennen ethernet stent enn nnn 2 1 2 1 1 MR MQ100 System overall configuration sesssssssssssseeseseeeeee nennen 2 3 2 1 2 Function explanation of the MR MQ100 Motion controller eee 2 4 2 1 3 Restrictio
244. tion program Motion controller in execution RUN status Check that the automatic operation works Check that the machine operation stops immediately by the emergency stop or Automatic forced stop operation Check that the module or equipment alarm causes an immediate stop or cycle stop Check that restoring operations can be performed after an alarm stop Make other checks in compliance with control specifications specific to system and equipment Check that the acceleration deceleration torque is maximum torque or less Torque check Check that the continuous effective load torque is rated torque or less 5 TRIAL OPERATION AND ADJUSTMENT MEMO 6 INSPECTION AND MAINTENANCE 6 INSPECTION AND MAINTENANCE In order that you can use the motion controller in normal and optimal conditions at all times this section describes those items that must be maintained or inspected daily or at regular intervals NDANGER Q Do not touch the terminals while power is on Doing so could cause electric shock Correctly connect the battery Also do not charge disassemble heat place in fire short circuit or solder the battery Mishandling of a battery may cause overheating cracks or ignition which could result in injury and fire Switch off all phases of the externally supplied power used in the system when cleaning the module or retightening the terminal or Moti
245. tions to use the synchronous control by virtual main shaft mechanical system program create mechanical module servo parameters positioning instructions device E E Ge lists error lists and others Optional Motion Controller Setup Guidance for MR MQ100 MT Developer Version IE CeNSIopane version IB 0300152 This manual describes those items related to the setup of the Motion controller programming software MT Developer2 for MR MQ100 2 Servo amplifier Manual Name Manual Number Model Code SSCNETI Compatible MR J3 L B Servo amplifier Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others for SH 030051 MR J3 LIB Servo amplifier 1CW202 Optional SSCNETII interface 2 axis AC Servo Amplifier MR J3W DLIB Servo amplifier Instruction Manual SH 030073 This manual explains the UO signals parts names parameters start up procedure and others for 2 axis 1CW604 AC Servo Amplifier MR J3W L 1B Servo amplifier Optional SSCNETII Compatible Linear Servo MR J3 L1B RJ004 Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others for Linear SH 030054 Servo MR J3 CIB RJ004 Servo amplifier 1CW943 Optional SSCNETI Compatible Fully Closed Loop Control MR J3 L1B RJ006 Servo amplifier Instruction Manual SH 030056 This manual explains the I O signals parts n
246. tive resistor with the correct combinations listed in the instruction manual Other combinations may lead to fire or faults If safety standards ex robot safety rules etc apply to the system using the Motion controller servo amplifier and servomotor make sure that the safety standards are satisfied Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system In systems where coasting of the servomotor will be a problem during the forced stop the emergency stop servo OFF or when the power is shut OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes In systems where perpendicular shaft dropping may be a problem during the forced stop the emergency stop servo OFF or when the power is shut OFF use both dynamic brakes and electromagnetic brakes The dynamic brakes must be used only during the forced stop the emergency stop and errors where servo OFF occurs These brakes must not be used for normal braking The brakes electromagnetic brakes assembled into the servomotor are for holding applications and must not be used for normal braking The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max speed Use wires and cables that h
247. to the specified pointer Pn PO to P16383 Jump Jump JMP Pn ee contained within the same program 14 Indicates a jump destination pointer label This pointer can be set at a step transition branch Pn e e e point or coupling point Pointer Pointer Pn 8 PO to P16383 can be set in one program The same number may also be reused in other programs without causing any conflicts 10 5 Series transition Corresponding symbol size Selective branch Number of branches 2 x 10 Parallel branch Number of branches x 22 number of coupling points x 2 12 Parallel coupling 8 Jump transition Corresponding symbol size 10 MOTION SFC PROGRAMS 10 3 Branch and Coupling Chart List Branch and coupling patterns which specify step and transition sequences in the Motion SFC charts are shown below Name List lt Normal jump gt lt Coupling jump gt List representation corresponding to the Motion SFC chart symbols shown in Section 4 2 CALL Kn IFBm IFT1 SFT Gn CALL Fn JMP IFEm IFT2 SFT Gn CALL Fn JMP IFEm IFEm CALL Fn CALL Kn PABm PAT1 CALL Fn SFT Gn JMP PAEm PAT2 CALL Fn SFT Gn JMP PAEm PAEm CALL Fn CALL Fn JMP Pn CALL Fn Pn CALL Kn Steps and transiti
248. tor Incremental synchronous encoder Specifications Signal input form Phase A Phase B 1Mpps After magnification by 4 up to 4Mpps Pulse width Leading edge trailing edge time Phase difference High voltage Maximum input pulse frequency Low voltage 0 to 0 8 VDC Differential output Differential voltage 0 2 to 0 2 V type Adjustment type Differential output type 26L S31 or equivalent 26LS31 or Cable length 30m 98 43ft equivalent Example of waveform Phase B N 2545 25 16 Duty ratio 50 Maximum input pulse frequenc 200kpps E After magnification by 4 up to 800kpps Pulse width Leading edge trailing edge time 1 2us or less Phase difference High voltage 3 0 to 5 25 VDC Low voltage 0to 1 VDC Adjustment type Voltage output Open collector type 5VDC Voltage output Cable length 10m 32 8ft Open collector type Example of waveform Phase B 245 1 245 Duty ratio 509 Use a manual pulse generator or an incremental synchronous encoder that consumes less than 0 2 A of current 2 19 2 SYSTEM CONFIGURATION b Interface between Manual pulse generator Differential output type Incremental synchronous encoder Input on gt e E E Ge Signal name Pin No Wiring example Internal circuit Specification Description li A e Rated input voltage For connection poss HAH 2
249. ts for reading writin 4 C051H to CO54H P SURE P T outside the allowable range and resend the data to the Motion controller Correct the start address or the number of device 5 CO56H The read write request data exceeds the allowable points for reading writing and resend the data to the address range Motion controller Do not exceed the allowable address range The request data length after the ASCII to binary Correct the text data or the request data length of the C058H conversion does not match the data size of the header data and resend the data to the Motion character area a part of text data controller The command and or subcommand are specified in irecti P Check the request data I 7 C059H y Use commands and or subcommands supported in The command and or subcommand not supported in P the Motion controller the Motion controller are specified The Motion controller cannot read write data from to CO5BH Check the device for reading writing data the specified device The request data is incorrect ex specifying data in Correct INe request data Such as subcommand I C05CH q db correction and resend the data to the Motion units of bits for reading writing of word devices controller Perform the monitor registration before monitor CO5DH Monitor registration is not performed operation Correct the network number PC number request 11 COSFH The external device sent a request that cannot be destina
250. uired Must be set Note 1 Only reference axis speed specification Note 2 B indicates a bit device 9 11 9 SERVO PROGRAMS FOR POSITIONING CONTROL Table 9 2 Servo Instruction List continued Positioning data Arc Helical Dwell time Central point CIS CEET eet e Auxiliary point Instruction symbol Command speed Processing Torque limit value Parameter block No Address travel value Positioning control Virtual enable Number of steps Number of indirect words C lt EE INC lt a Constant speed conte passing point incremental specification INC C Constant speed control passing point helical incremental specification INH Va CPEND Constant speed control o o o 9 SERVO PROGRAMS FOR POSITIONING CONTROL Positioning data Parameter block Others Note 2 O 10 Starting angle Amplitude Frequency Control un Speed limit value Acceleration time Deceleration time Torque limit value at stop input interpolation S curve rat Repeat condition Program No Command speed WAIT ON OFF deceleration time Fixed position stop Number of steps Deceleration processing FIN acceleration deceleration Reference axis No Note 1 Rapid stop deceleration time EE EE EET EE ESTER ES ELS eed ea Ec ERES ca Bead Rew ES E 2 2 2 1 1 2 1 1 1 1 1 2 1 M 2 Note
251. unding Incorrect example 4 Precautions for static electricity There are weak points to static electricity on a surface of modules Before touching the modules always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the modules to fail or malfunction And do not directly touch the module s conductive parts and electronic components Touching them could cause an operation failure or give damage to the module 15 4 15 EMC DIRECTIVES 15 1 3 Parts of measure against noise 1 Ferrite core A ferrite core has the effect of reducing noise in the 30MHz to 100MHz band It is not required to fit ferrite cores to cables but it is recommended to fit ferrite cores if shield cables pulled out of the enclosure do not provide sufficient shielding effects Note that the ferrite cores must be fitted to the cables in the position immediately before they are pulled out of the enclosure If the fitting position is improper the ferrite will not produce any effect Ferrite core Recommended product TDK ZCAT3035 1330 2 Noise filter power supply line filter A noise filter is a component which has an effect on conducted noise The attachment of the noise filter to the power supply line of the servo amplifier or the controller is effective for the reducing noise The noise filter has the effect of reducing conducted noise of 10 MHz or less The precautions required when installing a noise filt
252. unit Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields etc Electromagnetic obstacles may affect the electronic devices used near the Motion controller or servo amplifier When using the CE Mark compliant equipment refer to this manual for the Motion controllers and refer to the corresponding EMC guideline information for the servo amplifiers inverters and other equipment Use the units with the following conditions 7 Corrective actions for errors NCAUTION If an error occurs in the self diagnosis of the Motion controller or servo amplifier confirm the check details according to the instruction manual and restore the operation if a dangerous state is predicted in case of a power failure or product failure use a servomotor with electromagnetic brakes or install a brake mechanism externally Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally Shut off with the Shut off with servo ON signal OFF emergency stop alarm electromagnetic brake signal signal EMG Servomotor RA1 EMG o o Y o Electromagnetic brakes If an error occurs remove the cause secure the safety and then resume operation after alarm release The unit may suddenly resume operation after a power failure is restored so do not go near the machine Design the machine so t
253. val 3 A failure which may be regarded as avoidable if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry 4 A failure which may be regarded as avoidable if consumable parts designated in the instruction manual etc are duly maintained and replaced 5 Any replacement of consumable parts battery fan etc 6 A failure caused by external factors such as inevitable accidents including without limitation fire and abnormal fluctuation of voltage and acts of God including without limitation earthquake lightning and natural disasters 7 A failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company 8 Any other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Onerous Repair Term after Discontinuation of Production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of production 3 Service in overseas countries Our regional FA Center in overseas countries will accept the repair
254. ve branch point can be the same Note that in the Motion SFC chart this type is displayed in order of a selective coupling selective branch as shown on the left In this case a pointer Pn cannot be set between the selective coupling point IFEm and the selective branch point IFBm 1 The parallel coupling point and parallel branch point can be the same Note that in the Motion SFC chart this type is displayed in order of a parallel coupling gt parallel branch as shown on the left Execution waits at the parallel coupling point and shifts to the parallel branch In this case a pointer Pn cannot be set between the parallel coupling point PAEm and the parallel branch point PABm 1 10 MOTION SFC PROGRAMS 10 4 Operation Transition Control Specifications 1 Table of Operation Transition Control Specifications Returns a numeric result Calculation expression Expressions for calculating indirectly specified data using constants D100 1 SIN D100 etc and word devices Expression Bit conditional Returns a true or false result Mo MO M1 MO Conditional expression Expression for judging ON or OFF of bit device M1 M2 IM3 M4 etc Comparison expression Expressions for comparing indirectly specified data and calculation D100 100 nditional xn ST S expressions using constants and word devices D10 lt D102 D10 etc expression The input X output Y are Description written with the actual input
255. veloper2 When this relay is ON the error content is stored in the TEST mode request error register SD510 SD51 1 Turns ON when a watchdog timer error is detected by the Motion controller self diagnosis function When the Motion CPU detects a WDT error it executes an immediate stop without deceleration of the operating axes The error cause is stored in the Motion controller WDT error cause SD512 Judges whether the register for the manual pulse generator axis setting D714 to D715 is normal abnormal When this relay is ON the error content is stored in the manual pulse generator axis setting error register SD513 to SD514 Judges whether the positioning data of servo program K specified with the Motion SFC program is normal abnormal and if an error is detected turns ON The content of a servo program setting error is stored at SD516 SD517 Turns ON when the temperature of Motion controller becomes specified value 85 C 185 F or more Remains ON even if normal status is restored Turn ON when the temperature of Motion controller becomes specified value 85 C 185 F or more Turn OFF when the temperature of Motion controller returns to normal EL oq SD213 is written to the clock element P cg SD213 as BCD values S Occur an error 7 POSITIONING DEDICATED SIGNALS 7 5 2 Special registers Special registers are internal registers whose applications are fixed in the Motion cont
256. vent any of these abnormal operations from leading to the abnormal operation of the whole system areas which can result in machine breakdown and accidents due to abnormal operations e g emergency stop protective and interlock circuits should be constructed outside the Motion controller in a fail safe method 2 Emergency stop circuit The circuit should be constructed outside of the Motion controller or servo amplifier Shutting off the power supply to the external servo amplifier using this circuit should turn on the electromagnetic brakes of the servomotor 3 Forced stop circuit It is also possible to use the forced stop signal of the servo amplifier Refer to manual of the servo amplifier for detail Operation of Item i Remark the signal ON Shut off the power supply of the servo amplifier using an emergency sop stop ee external circuit and make the servomotor stop Servo OFF the Forced stop signal causes the servomotor to stop Forced stop Refer to the instruction manual of the servo amplifier for further details 3 DESIGN o C Gx K kG ii S E EEELLLLLLLLLLALLLGLLZE ZG CL LLLLLLLLLLLLLLLLLILILLLLLLLLETT AI Z LLLLLLLLLNLLLhLiLEL GL LTLEZLLLLZZZZZZJ 3 3 Control Panel Layout Design 3 3 1 Mounting environment Mount the Motion controller system in the following environment conditions 1 Ambient temperature within the range of 0 to 55 C 32 to 131 F 2 Ambient humidity within th
257. w command in the current program The start source and destination programs are executed simultaneously and the call destination program ends at END execution Scan execution type operation control step Stops and ends the specified running program After an end the program is started from its initial start step upon a program restart When the specified program is in a subroutine call the subroutine program s execution is also stopped CLR program name When the specified program is after a subroutine start the subroutine program is not stopped When clearing a subroutine call the specified subroutine s execution is stopped the program returns to the call source program and then transitions to the next step CERT nul Program name Clear step 10 3 10 MOTION SFC PROGRAMS Symbol Classification Name T List representation Function Code size byte f preceded by a motion control step transitions to the next step after meeting transition condition Gn GO to G4095 without waiting for the motion operating completion Shift If preceded by an operation control step transitions to Pre read EE the next step after meeting the transition condition and transition completing the operation execution If preceded by a subroutine call or starting step transitions to the next step after meeting transition condition without waiting for the completion of subrou
258. w unit settings correctly After maintenance and inspections are completed confirm that the position detection of the absolute position detector function is correct 6 INSPECTION AND MAINTENANCE NCAUTION Do not short circuit charge overheat incinerate or disassemble the batteries The electrolytic capacitor will generate gas during a fault so do not place your face near the Motion controller or servo amplifier The electrolytic capacitor and fan will deteriorate Periodically change these to prevent secondary damage from faults Replacements can be made by our sales representative If an error occurs in the self diagnosis of the Motion controller or servo amplifier confirm the check details according to the instruction manual and restore the operation If a dangerous state is predicted in case of a power failure or product failure in order to prevent that state use a servomotor with electromagnetic brakes for maintenance or mount a brake mechanism externally Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally Shut off with the Shut off with servo ON signal OFF emergency stop alarm electromagnetic brake signal signal EMG Servomotor RA1 EMG o o Y o Electromagnetic brakes If an error occurs remove the cause secure the safety and then resume operation after alarm release The unit may
259. ween enclosure s inside walls other structures and modules and heats generated by modules within the control panel 3 DESIGN MEMO 4 INSTALLATION AND WIRING 4 INSTALLATION AND WIRING 4 1 Motion Controller Installation 4 1 1 Handling Instructions NCAUTION Use the Motion controller in an environment that meets the general specifications contained in this manual Using this Motion controller in an environment outside the range of the general specifications could result in electric shock fire operation failure and damage to or deterioration of the product Install the motion controller to the control panel with screws The tightening torque should be within the specified range If the screws are loose the motion controller may drop or malfunction Or if the screws are too tight they may break causing the motion controller to drop or malfunction Lock the control panel and prevent access to those who are not certified to handle or install electric equipment Do not touch the heat radiating fins of controller or servo amplifier s regenerative resistor and servo motor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Remove the modules while paying attention This section describes instructions for handling the motion controller 1 Motion controller is made of resin do not drop or subject to strong impact
260. whole range 7 4 1 Motion registers list 0 User devices to 7912 points 7912 Mark detection setting devices to 88 points Monitor devices2 20 points x 1 axis Not available 620 points Motion error history devices 96 points Analog output devices for extension IO unit 2 points x 1 axis Not available 62 points Analog input devices for extension IO unit 2 points x 1 axis Not available 94 points Mark detection monitor devices 320 points Not available 3072 points 7 POSITIONING DEDICATED SIGNALS 7 4 2 Axis monitor device 2 Axis 8000 to 8019 Information for the axis is stored in the monitor devices Refer to Q173DCPU Q172DCPU Motion controller SV13 SV22 Programming Manual REAL MODE for details Device No Signal name o N ignal Signal name signal description Refresh cycle Signa direction 0 Unused 256 MR J3 B 257 MR J3 B Fully When the servo amplifier closed loop control 258 MR J3 B Linear eee Xoara Operation cycle 1 7 ms or Monitor less Operation cycle device ERIS speed X0 1 r min Operation cycle 3 5 ms or Command speed PLS s Operation cycle 6 Home position return re travel At home position return re value Real mode only travel Servo amplifier type cl ET Eg 7 POSITIONING DEDICATED SIGNALS 7 4 3 Motion error history devices The Motion error history devices are shown below Refer to Q173DCPU Q172DCPU
261. work of the Product However the terms and conditions of the repair work may differ depending on each FA Center Please ask your local FA center for details 4 Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability Whether under or after the term of warranty we assume no responsibility for any damages arisen from causes for which we are not responsible any losses of opportunity and or profit incurred by you due to a failure of the Product any damages secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company any damages to products other than the Product and also compensation for any replacement work readjustment start up test run of local machines and the Product and any other operations conducted by you 5 Change of Product specifications Specifications listed in our catalogs manuals or technical documents may be changed without notice 6 Precautions for Choosing the Products 1 For the use of our Motion controller its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Motion controller and a backup or fail safe function should operate on an external system to Motion controller when any failure or malfunction occurs 2 Our Motion controller is designed and manufactured as a general purpose product for use at general industries Therefore applications substantially influential o
262. ydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated For disposal of optical fiber request for specialized industrial waste disposal services which have an incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas f Wiring process of SSCNETIII cable Put the SSCNETII cable in the duct or fix the cable to the closest part of the Motion controller with bundle material in order to prevent the SSCNETII cable from putting its own weight on SSCNETII connector Leave the following space for wiring Putting in the duct Top of control panel or wiring duct YY E 40mm 1 57 inch 135mm 5 31 inch or more e 135mm 5 31inch n E A ali m Servo DL Uta amplifier D o 100m 94inch Motion al B A K or more Door control ler y Extension M e ol fo 10 unit ill j 5 L e XY i Gai 40mm 1 57inch a or more P Vi 30mm 1 18inch Ge A d 30mm 1 18inch or more LOISIR imm 0 04 inch or more Install the MR MQ100 to the left of the servo amplifier Separate the interval between MR MQ100 and the servo amplifier by 1mm 0 04inch or more Leave at least
263. ys take heat measure such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is mounted and for the wires used Failing to do so may lead to fires 5 TRIAL OPERATION AND ADJUSTMENT 1 Turn ON power supply again Cycle the power of the Motion Controller Check external inputs Check the wiring of the external signal inputs by the device monitoring of MT Developer2 1 Check the wiring of FLS Upper stroke limit input RLS Lower stroke limit input 2 Check the wiring of proximity DOG signal when you use home position return of proximity DOG type Check pulse inputs Check the wiring of the external inputs by the device monitor of MT Developer2 1 Check that the current value device D1120 D1121 counts when a manual pulse genarator or a synchronous encoder are used i Check UO signal Motion controller Check the wiring of the UO signal by the device monitor of MT Developer2 Servo data setting Positioning parameters setting Set the following positioning parameters using MT Developer 1 Fixed parameters 2 Home position return data 3 Jog parameters 4 Servo parameters 4 5 Parameter block 6 Limit switch 2 Note An error may occur if the power is turned on before system setting In the case reset the Multiple CPU system after system setting Refer to the Q1

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