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1. Single axis home position return request OFF request Dual axis home position return request OFF request OFF No home position return request OFF request ON Home position retum request OFF requested e Turns off the home position return request flags RX n 1 F RX n 4 F e The home position return request flag turns off at rise OFF External start invalid ON External start valid e When the signai is turned on external start becomes valid OFF initial data processing incomplete ON Initial data processing complete e When initial data setting is performed after power on or when the initial data setting request RY n 7 9 is turned on after hardware reset this signal turns on after the setting is completed OFF No initial data setting request ON Initial data setting requested e Turns on when setting or changing initial data Single axis external start valid Dual axis extemal start valid RY n 7 8 Initial data processing complete RY n 7 9 Initial data setting request flag n The address assigned to the master module via station number setting 73 Ghecked by the OS every 30 0 ms 3 21 3 Specification MELSEC A Figure 3 1 shows the timing of the initial data processing request initial data processing complete and other I O signals for the D75P2 1 When setting initial data Executed by the D75P2 Executed by the sequence
2. 5 V TZ Manual PULSER A 9 A gt 1 pulse PULSER A g igenerator PULSER B 10 MR HDPO1 PULSER B 28 Doe 14 ms 3 srop i4 star i6 cow T cow 36 1 The connector pin numbers of the D75P2 indicate the same applications for axes 1 and 2 2 The high limit FLS and low limit RLS of the D75P2 are used in the home position return retry function 3 For wiring on the stepping motor drive side other than above and shielding of respective signal lines see the manual for the stepping motor drive 4 1 The default pulse output logic to the D75P2 drive module is positive logic 5 2 Indicates the distance between the D75P2 and VEXTA UDX2107 A 15 Appendix ELEC Appendix 6 2 Connection example of D75P2 and VEXTA UPD differential driver positive logic Connect as necessary 1 The connector pin numbers of the D75P2 indicate the same applications for axes 1 and 2 2 The high limit FLS and low limit RLS of the D75P2 are used in the home position return retry function 3 For wiring on the stepping motor drive side other than above and shielding of respective signal lines see the manual for the stepping motor drive 4 1 The default pulse output logic to the D75P2 drive module is positive logic 5 2 Indicates the distance between the D75P2 and VEXTA UPD A 16 Appendix MELSEC A Mt a a
3. eee rP 11 1 11 2 1 Operation pattern M M A 11 4 vr Merci Erin HASEEREE 11 4 11 2 3 Acceleration time number eseesseseeseeeee eene nennen nennen nenne nnne ense nnn tense nnns nnne en enne te nnns tanen 11 4 11 2 4 Deceleration time number eese enema nn nnne etn ntn nen rnnt nn nnne e entente nens 11 4 11 2 5 Positioning address travel increment esee enne eeeeeenent nente nennen nane nntnt nenne tenentes 11 5 EAE UT 13 4 RR 11 6 11 2 7 Command speed eeeseeseesees seste ee sene stn tenens snnt nns tnnt tn sata sens tint tn setenta tnnt ne etn etna ne nennt 11 6 11 2 8 Dwelltime erede ionem ree se RA esce Dre ee eng dcus 11 7 11 2 9 Jump destination data number nennen nnne nnne nnne ente ente e sns tnn nennen 11 7 11 2 10 M Code eei vta seeS rere reve ivo re Pres re bea gesat vato Na ema T 11 7 11 2 11 Condition data number Le cccecceeesseetssnsonenvensnsnesecssnseeeeserecuenecereusersesnsoaueceseseuaasensnanserseeageaoeers 11 7 11 3 Positioning Start Information eese esee eee eene nennen ener ennt ennn trennt nnns t ns senes tn stus nne tnter nene tn etos etna 11 8 11 3 1 Positioning start data eene ee enenntn enne tnnt nn tnt tn ttn tns trente neta theta ta insta th atetn ote 11 8 IKE ECIDr c AM 11 9 11 4 Co
4. 10 20 Read write of buffer memory esses 12 4 Reading and writing data cesses 8 3 Reference axis speed esses 10 16 Remote I O station esee 1 21 Remote input RX sese 1 18 Remote output RY cccscsccssesesessssseesrsenssessasees 1 18 Remote resister eese tenen 3 23 Remote register for speed change 7 9 Remote resister RWr eese 1 18 Remote resister RWW eese 1 18 Reset switch eccessssseesesssseeesesesssssessucssscersetecsens 9 1 Riestart ise eei aio decet 1 14 6 63 LEE 7 21 Rotation direction setting 10 8 RS 422 cable erectae s atenta ne ri i 2 3 RS 422 peripheral connector sess 9 1 nm 1 21 RWW oie sc ccdacnccdenseshharans natin AS 1 21 FX saves E ame ege EIS ES ENDE E Deor tado 1 21 Lie E A EE 1 21 s IW pP TME 1 21 S curve acceleration deceleration method 1 12 S curve acceleration deceleration processing 7 40 Securve ralio oco ced orte etit eor oe aa Tian 10 19 Send data a rice iere cnet tact ed atre da 12 7 Ro ER 3 9 Servo ON OFF aaraa iiaia AAEE 7 67 Setting main module sess 9 17 Setting station number of main module 9 18 Fd 9 1 Simultaneous operation
5. e Stores the positioning data number of the axis for which JOG operation manual pulse generator operation or positioning operation was started e Whether the start was initiated from the PC CPU external start signal or peripheral device is stored at the start source The restart flag is turned on upon restart during stop Positioning operation Home position retum 8051 H1F73 Block positioning 1 7000 H1B58 High speed home position return 8052 H1F74 operation to 7010 H1B62 Present value change 8053 H1F75 JOG operation 8060 H1F7C Data set type home position return 8190 H1FFE Manual pulse generator 8061 H1F7D Absolute position BIST HTFFF operation restoration Start source 00 PC CPU 01 extemal signal 10 peripheral device Restart flag Start history Start hour minute The hour and minute of start execution are stored as shown below Locus stores 00 to 59 in BCD Hour stores 00 to 23 in BCD The second and 100 ms unit value of start execution are stored as shown below Start history Start second 100 ms b15 bo eS a a 100 ms stores 00 to 09 in BCD Second stores 00 to 59 in BCD Start history Error judgment The error judgment result at start is stored e If start could not be made because an error occurred at start the error flag is turned on and an error number is stored e For star
6. eese 10 25 10 4 Home Position Return Extended Parameters eee eese esee esee enne nannte tonnes n nn nn nasse snis enne nennen nnn 10 26 10 4 1 Home position return dwell time ceeseeseseeeseeeersecsenececessrscecsesssecsssrsvsssssuesesssesesessnesoesnenseneacenes 10 26 10 4 2 Travel increment setting after near point dog ON csscesseseesseenenestenseesseneeenseenseeseseesseesaneseesanens 10 26 10 4 3 Home position return acceleration time selection esseeeeseeeesseeeeeee eene eene nennt tn nter 10 26 10 4 4 Home position return deceleration time selection csscceseccssccesssessssesescesseesssseesecsseneeserssceeeneess 10 26 10 4 5 Home position shift AMOUNL cesesscessesssecesecssssccssscscsessesseeeseeeneestenseestecsreeseeensecesseersntetecsuenesane 10 26 10 4 6 Home position return torque limit value e eese eesesee ente ena tna nns tha tne tttm tratan tna don 10 28 10 4 7 Home position shift speed specification 10 4 8 Dwell time at home position return retry c cssscscssssssssecsessssacenesecesceseuseesessessresnsnsessensessanateseeaeens 10 28 11 Setting Positioning Data 11 1 to 11 13 11 1 What is Positioning Data sccsssssssssssssensnsssseseseesnesrersnseessesssessesssenseenscrensoneessasessenssasdanessusoneasensensensoets 11 1 11 2 Positioning Data
7. 1 1 The contents set using home position return basic parameters and home position return extended parameters become valid when the remote station ready signal switches from off to on If the setting contents of home position return basic parameters and home position return extended parameters are rewritten while the remote station ready signal is on turn the signal off then on again 2 The upper row indicates setting ranges in the standard mode while the lower row indicates those in the stepping motor mode 2 For data set type home position return there is no need to set home position return basic parameters or home position return extended parameters 8 11 8 Buffer Memory MELSEC A 8 6 Monitor Area The initial values are stored in the monitor area at power on 8 6 1 System monitor area The system monitor data can be monitored using the monitor function of a peripheral device Buffer memory address Remarks setting range Initial common to axis 1 and value axis 2 Test mode flag The flag to judge whether or not the system is in the test mode from a peripheral device Turns on during the test mode from a peripheral device and tums off when the System becomes no longer in the test mode Not in the test mode In the test mode Module model Stores the module model name of the D75P2 main module at power on or when Module name a remote station ready signal is turned on model 0 AD75P1
8. 7 25 7 Other Functions MELSEC A f Present value change and software stroke limit range check When the present value is changed even if the address after a change is outside the software stroke limit range no error occurs An operation start from outside the software stroke limit range error occurs at the operation start 7 26 7 Other Functions MELSEC A 7 5 Confirmation and Change of Present Value This section describes the confirmation of a present value of D75P2 as well as the change method of a present value 7 5 1 Confirmation of present value 1 Present value of D75P2 The D75P2 includes two types of present values present feed value and machine feed value a What is the present feed value The present feed value is an address based on the home position address that is established by the machine home position return However if the present value is changed this address is replaced by the address after a change b What is the machine feed value The machine feed value is an address based on the home position address that is established by the machine home position return Changing the present value will not change the address of machine feed value V The present value is changed to 20000 Home position t The address after the present value change is stored Present feed value Machine feed value 0 X ito 10000 i No change in address even if the present valu
9. A start during operation warning occurs when the positioning start signal is turned on during BUSY OFF No axis stop request ON Axis stop requested e When the axis stop signal is turned on home position return operation positioning operation JOG operation or manual pulse generator operation stops e When the axis stop signal is turned on the M code ON signal turns off e Whether the axis undergoes deceleration stop or rapid stop when the axis stop signal turns on can be selected using the parameter for stop signal rapid stop selection setting When using interpolation control during positioning operation if the axis stop signal for either axis tums on both axes decelerate and stop OFF JOG not started i ON JOG started While the forward JOG start signal is on forward JOG operation is performed at the JOG speed and when the forward JOG start signal turns off the axis decelerates and stops OFF JOG not started ON JOG started While the reverse JOG start signal is on reverse JOG operation is performed at the JOG speed and when the reverse JOG start signal turns off the axis decelerates and stops OFF Servo off ON Servo on e Turns on when the servo is turned on OFF Non ABS transfer mode ON ABS transfer mode e Turns on when the mode is changed to ABS transfer OFF ABS data request acknowledge complete ON ABS data being requested e inthe ABS transfer mode this signal tums on when ABS
10. Appendix 6 3 Connection example of D75P2 and VEXTA FX differential driver PULSEF 3 positive logic 2m 6 6 ft max D75P2 VEXTA FX 12 Forward pulse input PULSE F 21 PULSE R 10 Reverse pulse input PULSE R 22 9 Reverse pulse input CLEAR 5j 22 Counter clear input CLEAR COM 23 24 Counter clear input PGO 6 i Hold off input Paocom 25 ae Hold off input READY INP 8 E Encoder phase B output EET A KNEE MR 29 Positioning completion output PULSER A 27 emet Alarm output MR HDPO1 E Encoder phase A output PULSER B 28 ee Encoder phase B output Doe 5G lt t24 Encoder phase Z output rs t2 pour pm Positioning completion output j S mamouput STOP 2 Grounding CHG 15 P5 V lt Commoninut STAT 16 D P24 V gt 24G EVE 1 The connector pin numbers of the D75P2 indicate the same applications for axes 1 and 2 2 The high limit FLS and low limit RLS of the D75P2 are used in the home position return retry function 3 For wiring on the stepping motor drive side other than above and shielding of respective signal lines see the manual for the stepping motor drive 4 i The default pulse output logic to the D75P2 drive module is positive logic 5 2 Indicates the distance between the D75P2 and VEXTA FX A 17 Appendix MELSEC A Appendix 6 4 Connectio
11. Axis 1 Positioning Operation pattern End of positioning identifier Control method Circular interpolation control with the ABS circular right specified center point Acceleration time 1 Deceleration time 0 6000 00 mm 236 2 in min 1 Positioning Setting not necessary identifier Setting not necessary Setting not necessary Setting not necessary Peripheral device setting data 80000 0 o dE 5 55 30000 0 um Setting not necessary Setting not necessary Setting not necessary No relationship with the control The initial value or any other value can be used 8 8 EIE TII 1 1 See Section 11 2 for details on the positioning data 2 With the absolute system the positioning address is set 2 Start positioning on the reference axis only When positioning of the reference axis is started circular interpolation control is performed using the reference and interpolation axes 6 22 6 Positioning Function MELSEC A 2 Circular interpolation control with the specified center point increment system a Circular interpolation control is performed on the circular whose radius is the distance between the starting point address current stop position and the specified center point address circular address Positive direction Movement by circular interpolation Starting point address gt current stop position Endpoint address positioning address Radius Negativ
12. 7 3 4 Torque limit function 1 What is the torque limit function a The torque limit function limits the torque generated by a servo motor within the setting range b If the torque required for control exceeds the torque limit value control is performed with the set torque limit value 2 Operation overview during torque limit a The torque limit setting value of extended parameter 1 is used for the torque limit value When controlling using a torque limit setting value of extended parameter 1 set the new torque value of the axis control data to O When a value other than 0 is set for the new toque value control is performed with the new torque value See Torque Change Function on the new torque value 7 17 7 Other Functions MELSEC A b The torque limit value of extended parameter 1 can be changed while the remote station ready signal is off The torque limit value after a change becomes valid when the remote station ready signal turns on Various operations Torque limit setting value 100 50 96 New torque value 0 96 X 0 96 Perform torque control with the torque limit setting value 100 96 of extended Perform torque control with the torque limit setting parameter 1 value 50 of extended parameter 1 Torque limit for drive module 100 96 X 50 Remote station ready See Section 3 3 on how to turn on the remote station ready c The relationship between operations and torque limit val
13. Flash memory write request set via a sequence program 1108 1109 1110 1111 1118 1119 1120 1121 1122 1123 1124 1125 1126 1127 Flash memory write request Parameter initialization request Parameter initialization non executed or parameter initialization complete Parameter initialization request 10 Write allowed X eee Write prohibited 1 The positioning data I F enables use of the teaching function in combining with manual operation 2 Since writing to the flash memory is somewhat restricted do not write to the flash memory if data is being set via a sequence program every time 8 25 8 Buffer Memo MELSEC A Speed position switch control travel increment change register 11521202 1167 1217 Use prohibited oo 1154 1204 1155 1205 1168 1218 Pulse input scale for manual 1169 1219 pulse generator 1 8 7 2 Axis control data area Butter memory address memory address Setting range Initial 1156 1206 1157 1207 1170 1220 System use area Use prohibited 1171 1221 1172 1222 Step valid flag e Used to contirm each action during positioning operation 0 Performs step operation 1 Does not perform step operation 1150 1200 System use area Use prohibited ust 1201 1160 1210 1 ET ERE eum 211 Used when changing the travel increment of position contro in
14. Number of write points words Specifies the number number of words of the data to be Data to be written Among the data mentioned above the contents of the following data are same as when using the RIWT instruction dedicated instruction 1 Control data e Complete status e Station number e Access code attribute e Buffer memory address e Number of write points words 2 Data to be written 3 The receive buffer of the master module stores the control data shown below Specified data Complete status Setting side The status when the instruction is completed is stored 0 Completion Other than O Error error code See the master module user s manual Detail Volume Station number request Station number specified by the upper bytes bits 8 to 15 System The station number of the intelligent device station that is the access destination is stored ae Request code specified by the lower bytes bits O to 7 System The code for a write request 12H is stored 12 11 12 Building a System MELSEC A 2 Reading the buffer memory Perform read using the dedicated instruction RIRD or application instruction FROM a When using the RIRD instruction QnA dedicated instruction This is used when only reading from the specified buffer memory of the D75P2 When using the RIRD instruction the send buffer buffer memory of the master module area correspondin
15. ae decre A1SD75 AD75 CN1A bu melt PULSE F Bgm d PULSE COM Her 927 we 2 Analog torque limit ee Pusen 2 mass cow zs H 10 V maximum current so Blade 2 m 6 6 ft or less 1 1 The connector pin numbers of the D75P2 indicate the same applications for axes 1 and 2 2 2 The high limit FLS and low limit RLS of the D75P2 are used in the home position return retry function Set them inside the servo limit switches 3 3 Limit switches for the servo for stopping 4 4 Indicates the distance between the controller and amplifier The distance is 2 m 6 6 ft or less when an open collector is used 5 5 For the D75P2 set the pulse output logic selection to drive module in the extended parameter 1 to negative logic A 12 Appendix MELSEC A Appendix 4 4 Connection example of D75P2 and MR C L1 A differential driver open collector negative logic Configure a sequence that disconnects the MC by an alarm or emergency stop b O L1 Power supply 1 phase 200 V AC type A 1 O or 1 phase 100 V AC type A1 10 m 32 8 ft or less 2 m 6 6 ft or less D75P2 L4cesemmesecesesceccczzca CN1 bil t toy user HEEL dH eusen E TTE ECCE M eusen 12567171 S e oean 183131 M ascom i 3171 2 tsa fe uw m oe e E pes a a HIH eeen ee oe a READY 7 Heti pe 2 a oz femme P x ios ie
16. 1 5 Single axis linear control eese 6 5 Skip function eeeeesceseeeeeeeeeee tenens 7 41 Skip signal eicraiice cie cien reote nhi 7 41 Software package for AD75 sss 2 3 Software stroke limit function eseeessssss 7 22 Software stroke limit eese 10 14 Software stroke limit range check 7 24 Special start aicut meet tete D pedit 6 51 Special start data 8 32 11 9 Special start data area seen 8 32 Speed change function eese 7T 9 Speed change request sess 7 9 7 11 Speed control forward rotation reverse rotation 6 25 Speed limit value csset 7 39 10 8 Speed switch type 10 15 Ret cu Speed position switch control forward rotation reverse rotation 6 27 Speed position switch positioning function 1 8 Speed position switch signal ees 3 8 Speed control positioning function 1 8 Spiral interpolation eese 10 21 Standard speed switch mode sssss 6 38 Stai io ene E E iro org 1 13 6 43 Start Mtono 13 12 Start method eere eeeeeeesees ene reines 6 49 Start number e eeeeeseeeeeeeeeeeeeee ee aeta tnnnan 1 13 Start pater occ een
17. 13 2 2 Warnings 1 Overview of warnings a There are two types of warnings detected system warnings and axis warnings 1 System warnings include the following e System control data setting error Axis 1 will generate an axis warning e Positioning data setting error Each axis will generate an axis waming However when it is an interpolation specification or axis setting error the following axis will generate a warning e During interpolation control of axes 1 and2 axis 1 2 Axis warnings are generated during operation such as positioning operation JOG operation manual pulse generator operation and home position return operation or by setting warnings due to system errors and may be reset by turning on the axis error reset However there are warnings that may not be canceled until the warning factor is removed The axis operation status will not change even when axis warnings are generated 13 4 13 Troubleshooting MELSEC A 2 Processing when warnings are generated a When an axis warning is generated the warning code corresponding to the content of the warning will be stored in the buffer memory address for storing the axis warning number as shown below Barer memory aren 908 The most recent warning code will be stored in buffer memory address for string the axis warning number every time an axis warning is generated b When an axis warning is generated during positioning operation b
18. A device that generates pulses For example a pulse generator is installed to the motor axis and generates pulses using axis rotations A digital device The 1 phase type has one pulse chain while the 2 phase type outputs two pulse chains with a phase difference The number of pulses per axis rotation varies from 600 to one million The type with zero signal is capable of outputting one pulse or two pulses per axis rotation Referred to as PLG See Encoder in the glossary Appendix MELSEC A IMSBEMMHA a e e LLL a eue Tue a mr rie ti Pulse output mode Two types of methods are available to specify forward or reverse rotation when issuing a command to the servo motor and which method is used depends on individual manufacturers Type A outputs the forward and reverse pulses from separate terminals In type B the forward and reverse pulses are output from the same terminal and a signal to identify forward reverse rotation is output from another terminal Forward Reverse Forward Reverse SS Type A Type B Terminal Rapid stop To bring movement to a stop in a time shorter than the deceleration time set by a parameter Full speed Rapid stop Time Deceleration time READY Preparation being complete Ready Real time auto tuning See Auto tuning Reduction ratio The ratio of deceleration when gears are used It is always a number larger than 1 Biaducti n elio Number of input
19. A signal generated when positioning has ended The set timer is started at this point and operation is stopped until the time elapses The purpose of this signal is to start different operation after positioning The next positioning is not started while the complete signal remains on Dwell time Positioning complete signal Positioning Different operation Time Positioning completion See Positioning pattern in the glossary Positioning continued See Positioning pattern in the glossary Positioning data Data used by the user to perform positioning Specified for the number of points number of addresses used for positioning Up to 600 points can be specified with the D75P2 As a rule positioning is executed in order of the data number Positioning parameter Data used as a basis of positioning control Positioning parameters indicate various data including control unit travel increment per pulse speed limit value stroke high iow limit values acceleration deceleration time and positioning method Since parameters are set to their initial values change these values according to the control condition Positioning start To start positioning by specifying a target data number Action to take place after positioning to the data number is completed is determined by the positioning pattern of the data number A 36 MELSEC A Present feed value Stores the home position address upon co
20. Error history Extended parameter 1 S W stroke high limit 922 S W stroke low limit 923 S W stroke limit selection 924 S W stroke limit valid Torque limit setting value invalid 926 Command in position range M code ON timing error 928 Speed switch mode error Interpolation speed specification method 930 Present value update request error 931 Manual pulse generator selection error Pulse logic selection error Acceleration deceleration time At power on or when the remote station ready signal switches from off on At the start of operation The D75P2 ready complete flag Set a value within the setting range does not turn off at power on or when the remote station ready signal switches from off on When starting operation operation is not started When the remote station ready signal switches from off on The D75P2 ready complete Set a value within the setting range does not turn off When the remote station ready The D75P2 ready complete Signal switches from off on does not tum off Set a value within the setting range Size error When a reserved error code is displayed it means that an unnecessary data is stored in a buffer memory not listed in the manual When a reserved error is generated write the following data to the specified buffer memory Error code Setting d
21. Output speed of axis 1 a Positioning address passing mode b Adjacent passing mode V V Positioning data number 1 Output reverses abruptly Positioning data number 2 Positioning data number 2 Output speed of axis 2 a Positioning address passing mode b Adjacent passing mode V V Positioning data number 1 Positioning Positioni um data number 1 data number 2 Positioning data number 2 6 41 6 Positioning Function MELSEC A 3 During the continuous locus control of circular interpolation in the adjacent passing mode the positioning address number currently being executed minus the remainder of travel increment replaces the starting point address of the next positioning data number Therefore circular interpolation control cannot be performed using the increment system Also because the starting point address is replaced a large circular error gap error code 506 may occur In this case adjust the allowable circular error range setting Starting point address Address specified by positioning of positioning data A data number 1 number 2 in adjacent 7 UT passing mode Positioning data ss number 2 Positioning data number 1 Locus of dd positioning address Locus of adjacent passing mode passing mode In the adjacent passing mode if the circular interpolation control with the specified center point is p
22. a This function checks upon each automatic deceleration whether the remaining distance of D75P2 is equal to or less than the value set in the buffer memory for storing command in position range and stores 1 ONP in the remote register for storing command in position flag if it is equal to or less than the set vaiue b When the command in position range is checked 1 ON is stored in the remote register for storing command in position flag if the relationship remaining distance lt command in position range is satisfied Positioning n ON TON S OFF Command in position o E MN LL Command in position set value Fig 7 12 ON and OFF timing of command in position flag 2 Control contents a The range check for command in position is performed at the timing of 56 8 ms during position control and deceleration stop via the step function However the range check for command in position is not performed in the following cases Upon deceleration stop via the stop command or rapid stop command Upon deceleration stop during the speed control and the speed control of speed position Switch control m Switch from speed Command in position set value to position i rJ Command in position Position Speed position N control start switch control a V set value Command in position flag OF Execution of range check for Execution of range check for command in position command in position Fig 7 13 Ran
23. a difference mechanical system error may occur between the command travel increment and the actual travel increment Using the D75P2 this error can be compensated by changing the values of number of pulses per rotation travel increment per rotation and unit multiplier The error compensation method on the D75P2 is shown below a Set the command travel increment L mm and perform positioning b After positioning measure the actual travel increment L mm c From the command travel increment and actual travel increment calculate the number of pulses per rotation and travel increment per rotation to be compensated using the expression below 1 2 3 r Travel increment per pulse A mm pulse to command travel increment L mm _ Travel increment per rotation AL x Unit multiplier Am Number of pulses per rotation AP Number of pulses needed P pulse is P pulse pulse A p Superficial travel increment per pulse A to actual travel increment L mm L A ae mm pulse aP cu A E SAGA L Travel increment per rotation AL x Unit multiplier AM Actual travel increment L Number of pulses per rotation AP Command travel increment L vel i tation f tion A At x L Travel increment per rotation for compensation AL L X Unit multiplier Av Number of pulses per rotation for compensation AP AP x L Calculate AL Ae as a reduced fraction using the above e
24. cccescssscesssseesereeesersesseesseesses 2 8 Connection cable converter sceesssessees 2 3 Connector COnnection cccsccccsseeesseceeeeeessnseeeres 9 14 Connector for connecting external devices 3 7 Continuous locus control esses 6 35 Continuous positioning control 6 34 Continuous operation interrupt function 6 61 Control data 2 0 2 0 ssssssssscesessessetsessessesenssscesereneeess 12 7 Control data area essere 8 1 8 23 Control method esses 6 2 11 4 Conversion cable eese tenente 2 3 Corrective action for errors eese 13 6 Corrective actions for warning 13 10 Corresponding axis display LED 9 1 9 20 Count typ8 e ceseere cei eco cora se Fe saa Ur eade aula saga a 1 15 Count type 1 eerie eene nannten 1 15 Count type 2 escessssesssecessesseeesseceeseenssneeesseenas 1 15 Count type 1 home position return 5 10 Count type 2 home position return 5 12 Creep speed cheer dtes cci erige 10 24 Current speed eese neenntnas 11 6 Cyclic transmission eese 1 18 1 21 D D75P2 uid eee cette buco tee TRES 1 21 Data for positioning ceesccscesseeseessenesesssas
25. oe 1 No 1 EN 1 i No 1 Center point Eee imer nca pct X X Circular interpolation by specifying Circular interpolation by specifying an auxiliary point the center point 1 6 1 Overview MELSEC A 1 44 Overview of Positioning Control This section describes the data that needs to be set for positioning along with the types of positioning controls and operation patterns available 1 4 1 Data setting required for positioning control In order to perform positioning using the D75P2 several data items listed below must be set Data for which setting is required Parameters for positioning Basic parameter 1 Basic parameter 2 Extended parameter 1 Extended parameter 2 These are set according to the system configuration and mechanical equipment Parameters for Basic parameter h ition m Ome position retu Extended parameter Data for positioning Dp Positioning data y This sets how to control and operate a machine Positioning start This is set when a special start such as block start information simultaneous start repeated start or start by condition testing is performed Positioning start data This sets which positioning data to start with and whether to end or continue positioning for the next biock Special start data This sets the start type Condition data This sets the conditions for special positioning 1 Overview MELSEC A 1 4 2 Positioning control methods The following positioning functions
26. on When any of the parameter setting contents is incorrect an error is generated When this error is generated the D75P2 ready complete signal will not turn off To cancel this error correct the value of the incorrectly set parameter then turn on the remote station ready signal 2 Errors at operation start during operation These errors are generated when starting or during positioning control JOG operetion manual pulse generator operation etc When an axis error is generated during interpolation operation the error number will be stored both in the reference axis and the counter party axis of interpolation However if either of the following conditions exists during analysis of the positioning data set for each point on the positioning start data table then the axis error number is stored only in the reference axis e The other party axis is BUSY or e When an error is generated in data not related to interpolation among positioning data and parameters Se When an error is generated at the simultaneous start of positioning operation the storage contents of the axis error will differ depending on when the error was generated before or after the simultaneous start e When the error is generated before the simultaneous start axis number invalid other axis BUSY etc the pre simultaneous start error will be stored in the start axis e When the error is generated after the simultaneous start positioning data error softw
27. 2 2 2 RY n 1 0 RXn1 RXn4 2 RST RY n 1 0 2 RXnA d See Sections 11 3 11 4 and 8 9 for the instruction codes and condition data for special start 1 Setting contents of condition identifier b15 to bO 010 10 011i10 110 0 10 0101 0 11107 1 Se Oe M as Target of the condition positioning data number Condition operator simultaneous start 4400 2 Set this so that it matches the I O number of the D75P2 loading position 3 When positioning is started during the scan immediately following the scan that completed positioning enter RXn1 as the interlock so that positioning starts when RXn1 is turned off after Remote station ready signal has been turned off 6 53 s oe 6 Positioning Function MELSEC A 6 3 4 Setting the bias speed at start 1 Bias speed at start a The bias speed at start is the minimum start speed which can be used to start motor rotation smoothly when using stepping motors etc b With the D75P2 the bias speed at start can be set in the buffer memory c The set bias speed at start is valid for positioning home position return and JOG operation Speed limit value SSS c quein it mine AT Positioning speed home position return speed JOG speed Operation when the bias Speed at start is not set Operation when the bias speed at start is set Start bias speed Acceleration time j Deceleration time 2 Setting method a The bias speed at start is se
28. 3 4 Set the ACPU to STOP status Set the master station to STOP status when the D75P2 is installed at a remote station Power on the ACPU the installed station and master station when the D75P2 is installed at a remote station and the drive module and motor connected to the D75P2 The OS type of the D75P2 S003 is the same as the display of 4 is displayed on the 17 segment LED for one second After one second has elapsed the display changes to the status of operation monitor 1 described in 2 Operation monitor 1 1 2 Depending on the status of the D75P2 one of the following is displayed on the 17 segment LED and axis display LED Confirm whether the display matches the D75P2 status Error in occurrence ERR LED of the axis of error in ocourrence is it Pressing the mode switch changes the display to the status of operation monitor 2 described in 3 9 22 9 Setup Standby During stop 3 During JOG operation During manual pulse During home position return During position control During speed control Error occurrence 4 5 generator operation MELSEC A Operation monitor 2 1 The axis display LED of each axis lights up in sequence in approximately 0 5 second intervals Also the status of the axis whose axis display LED is lit is displayed on the 17 segment LED as one of the following Confirm whether the display matches the D75P2 status Ax
29. 40H Complete status Station number Bank 1 41H request code Bank switching is performed automatically by the system 12 9 12 Building a System MELSEC A c When using the TO instruction application instruction This is used when only writing to the specified buffer memory of the D75P2 When using the TO instruction the send buffer buffer memory of the master module area corresponding to the control data and data to be written to the buffer memory of the D75P2 will be used The receive buffer stores the control data The data specified by the send buffer is written to the D75P2 buffer memory via the intelligent device station access request signal and complete signal RY n 1 E RX n 1 E Example Writing the single axis speed limit value of the D75P2 Address Master module send buffer 2 D75P2 Bank 1 0H Dummy area Bank 1 1H pend patel ah pese Control Bank 1 3H data Bank 1 4H Bank 1 5H Number of write points Add Bank 1 6H Words ress Bank 1 7H Single axis speed Data to Single axis speed limit value Bank 1 8H be written limit value Bank 1 9H receive buffer 3 1 Bank 1 40H Complete status Control Bank2441H dete Station number request code Write request Write TO instruction to the D75P2 processing Intelligent device station execution buffer memory complete access request signal RY n 1 E Write to the D75P2 buffer memory complete I
30. Appendix A 1 to A 42 Appendix 1 External Dimensions Diagram eere A 1 Appendix 2 Format Sheet cisake ccd cuceiansvectecsenvsanvensssonsecsacsseatdabasstncnedoscedcsuees ce sGeicusucielauvusssdacdensasdesGaiviacleeat A 2 Appendix 2 1 Positioning module operation diagram ssscessscesssssssssssscscsesceseecsessecateesevareneess A 2 Appendix 2 2 Parameters home position return data esses reete eneteserenra that A 3 Appendix 2 3 Positioning data data number to tree tenee A 7 Appendix 3 Positioning Data Number and Buffer Memory Address Conversion Table eren A 8 Appendix 4 Connection Examples of D75P2 and Servo Amplifier ccccccscssssssesececcsssssssssessesecsesesseresesteseassescseses A 10 Appendix 4 1 Connection example of D75P2 and MR H O A differential driver open collector negative logic A 10 Appendix 4 2 Connection example of D75P2 and MR J OA differential driver open collector negative logic eere nenne A 11 Appendix 4 3 Connection example of D75P2 and MR J2 O A differential driver open collector negative logic erret A 12 Appendix 4 4 Connection example of D75P2 and MR C O A differential driver open collector negative logic ccccsscssssesesssssseesesceeceneceeses A 13 Appendix 5 Connection Example with Servo Amplifier by Yasukawa ccccsscsscscscssseessesssscsvscess
31. Are communication cables connected correctly 1 Correct the wiring of communication cables Corresponding module failure transmission speed switch is the station number switch set correctly not duplicated with other station Set the station number correctly Restart the power supply turn on the reset switch Corresponding module failuro station number switch Is the station number switch set correctly not duplicated with other station Set the station number correctly Y Corresponding module Restart the power supply failure station number switch turn on the reset switch Compieted 1 Check for short circuits reversed connection wire breakage terminal resistor FC connection overall distance and station to station distance 13 2 MELSEC A 13 Troubleshooting MELSEC A 13 2 Errors Warnings of D75P2 This section explains the contents of and corrective actions for the various errors and warnings generated when using the D75P2 Parameter setting range errors Errors at operation start or during operation System warnings Axis warnings 13 2 1 Errors 1 Overview of errors a There are two types of error detected by the D75P2 parameter setting range errors and errors at operation start or during operation ue 1 Parameter setting range errors Parameter checking is conducted when power is turned on or when the remote station ready signal rises off
32. VP switch ON during When the speed position switch Operation continues Do not tum on the speed position switch signal acceleration Signal tums on during acceleration Remaining distance insufficient When speed is changed Speed change is performed Change the speed so that the feed speed gets with the exception of operation closer to the new speed value pattern 11 External start function invalid When the external start signal No action in response to Change the parameters to within the setting turns on external start signal ON range 513 Insufficient travel increment During positioning operation Operation stops immediately Correct the positioning data and parameter after the positioning address is reached When the speed position switch Position control is performed signal turns on without using the change register The command speed is cramped at the speed limit value lt System control data gt When the clock data is set Perform setting again using the correct clock Clock data setting invalid data Out of speed position control travel increment change register range Set a travel increment within the setting range Out of command speed range During analysis Set a command speed within the setting range 13 11 13 Troubleshooting MELSEC A 13 5 Error Start History When an error is generated at start the entire contents of the start hi
33. e M194 06 M207 Single axis manual pulse generator enable flag RY29 Dual axis manual pulse generator enable flag RY 49 j M248 to M263 Output signal storage device RY70 to RY7F N Q A 12 19 NU 12 Building a System MELSEC A Table 12 1 Devices used in the program examples 3 Application M2560 Initial data processing complete RY78 M257 initial data setting request RY79 CC HN ene ERN RMNDNMNNNRNEUN weno Partalreresh spenen poo Register tor soting tne number of moau comected poo Register tor seting tho number ot rres semg SS po fregi C Doos Regstertorsetigtesendbuferszo _ 0 poro Register for storing the parameter setting status o o oo oso Register for storing the dummy area rea D051 posa Register tor storing the number ot data written rea Dosa Register for storing the access code attribute ead o poss Register tor storing the buffer memory head address read pose Register tor storing the number of read points S Pointer for D75P2 program execution 12 20 12 Building a System MELSEC A Table 12 2 Buffer memories used in the program examples Buffer address Hexadecimal Application Q03H OH 082H OEOH to OE2H OE4H to OE5H For storing the input signal RX40 to RX5F OE7H For storing the input signal RX70 to RX7F 161816 1628 1ETH 1E4H TESH 1E9
34. feed value Bank switching is performed automatically by the system 12 13 12 Building a System MELSEC A c When using the FROM instruction application instruction This is used when only reading from the specified buffer memory of the D75P2 When using the FROM instruction the send buffer buffer memory of the master module area corresponding to the control data and the receive buffer buffer memory of the master module area corresponding to the control data and number of data read will be used The data specified by the send buffer is read from the D75P2 buffer memory via the intelligent device station access request signal and complete signal RY n 1 E RX n 1 E Example Reading the single axis machine feed value of the D75P2 Address Master module send buffer 2 D75P2 Bank 1 0H Dummy area Bank 1 4 1H Bank 1 2H Control Bank 1 3H data Bank 1 4H Bank 1 5H Bank 1 6H 1 Bank 1 40H Control Station number Bank 1 41H data request code Number of data read Bank 1 42H bytes Address Bank 1 43H Single axis machine Single axis machine feed value feed value Data read Bank 1 44H FROM Read request Read instruction from the D75P2 processing execution buffer memory complete Intelligent device station access request signal RY n 1 E Read of the D75P2 buffer memory complete Intelligent device station access complete signal RX n 1 E 1 See Points in Sec
35. once cek esacvensinetsacs vedtadacoceees 10 26 Home position return direction 10 22 Home position return dwell time ss 10 26 Home position return extended parameter eese eene 8 1 8 11 10 26 Home position return function esses 5 1 Home position return method 5 8 10 22 Home position return request flag OFF request 5 31 Home position return retry eesseeesseee 10 25 Home position return retry function 5 1 5 24 Home position return speed sssseesseses 10 23 Home position return start method Home position return torque limit value 10 28 Home position shift amount Home position shift function Home position shift speed specification 10 28 le aces 1 21 VO interface specification esses 3 4 Immediate stop eese cene ener 6 58 Increment method sees eene eene 1 9 indirect specification area esse 8 35 Individual data one block start 6 43 Individual operation eese 1 5 Individual positioning control 1 10 6 33 Initial data 2 cette nerui STT 3 22 initialization function eseeeeeeeeeeeeeeeeee 7 64 IN POSH
36. 2 Servo amplifier Servo amplifier Fig 2 1 System configuration when using the D75P2 1 The software packages listed below are required in order to use the D75P2 e For DOS V personal computer SW1IVD AD75P or later 2 Use software version D or later for the DA75TU 2 System Configuration MELSEC A 2 2 Applicable System This section describes the CC Link system master module that can be used with the D75P2 and PC CPUs that can be used with CC Link dedicated instructions 1 Master modules that can be used with the D75P2 To use the D75P2 use a module with the following symbol 9707B and later inscribed in the date column of the rated plate MITSUBISHI MODEL DATE 9707 B aM onitsuBISHIELECYMRIC Manufactured date Manufactured date Function version Function version 2 PC CPUs that can be used with CC Link dedicated instructions The PC CPU models listed below can be used with the CC Link dedicated instructions e A1SHCPU e A1SJHCPU e A2SHCPU e Q2ACPU function version B or later e Q2ACPU S1 function version B or later e Q3ACPU function version B or later e Q4ACPU function version B or later e Q2ASCPU function version B or later e Q2ASCPU S1 function version B or later e Q2ASHCPU function version B or later e Q2ASHCPU S1 function version B or later 2 System Configuration MELSEC A List of Equipment Table 2 1 lists the products that can be used for a positioning
37. 207 Home position return request At the start of high speed home Home position return is not ON position retum E Out of creep speed range At the start of home position retum 13 6 13 Troubleshooting l MELSEC A Error Error name Detection timing Operation status when Corrective action code error is generated Home position retum restart not When requesting restart after Home position return does not Restart the home position retum possible home position return stops restart 213 ABS transfer time out During absolute position Absolute position restoration is Check the cable 214 ABS transfer checksum restoration not performed Check the wiring Joa At the start of JOG operation JOG operation is not performed Set a value within the setting range Out of JOG speed range if the setting value is O or out of However except 0 the setting range at the start of JOG operation lt Positioning operation gt During analysis of special start Operation is terminated Condition data number invalid data 501 Pre simultaneous start error Start data number invalid During analysis of positioning Positioning data is not executed Correct the positioning data data No command speed During analysis of the first Operation is not started positioning data at start Out of linear travel increment During analysis of positioning Review the positioning address range data Circular interpolation contro b
38. 7 Other Functions MELSEC A 3 Relationship between the command speed and actual speed When the electronic gear is set the relationship between the command speed the command speed set by positioning data and actual speed actual feed speed will be as follows a When electronic gear setting 1 command speed actual speed b When electronic gear setting 1 command speed lt actual speed c When electronic gear setting gt 1 command speed gt actual speed a When electronic gear setting 1 b When electronic gear setting 1 c When electronic gear setting 1 Speed limit value 7 7777 7 WOULD UE Sa qo Command speed t Actual acceleration time Actual deceleration time a 1 1 1 H 1 1 t 1 1 1 1 Set acceleration Set deceleration time time D 1 1 g 1 1 1 r A ee i The speed limit value acceleration time and deceleration time will be the data specified by the basic parameter 2 Fig 7 3 Relationship between the command speed and actual speed 4 Note a Please be reminded that if the electronic gear setting is small the actual speed may exceed the speed limit value thus overspending the servo motor b if the electronic gear value is large vibration may occur Therefore use a smaller value for the electronic gear it is recommended that 1 is used for the value of electronic gear c When set
39. Change the new present value to within the setting range Do not specify present value change for the next positioning data in continuous locus control Do not specify fixed dimension feed for the next positioning data in continuous locus control Do not perform fixed dimension feed speed control or speed position control while in the operation pattern of continuous locus control Operation is not started Correct the operation pattern Operation decelerates to stop Operation is not started Correct the control method Operation stops Operation is not started e Correct the positioning data or change the Operation decelerates to stop parameter Operation is not started Correct the positioning address Operation decelerates to stop Operation is terminated Correct the speciai start data or positioning data Set the special start data again During analysis of positioning data Operation is not started During analysis of positioning data mm Out of operation pattern range SR Interpolation with counter party axis BUSY Unit group mismatch During analysis of positioning data Interpolation description instruction invalid Command speed setting error Control method setting error Auxiliary point setting error Endpoint setting error 527 Center point setting error 5m Out of address range 532 Simultaneous start not possible At simultaneous start
40. Deceleration time 0 1 to 65535 ms 1 to 8388608 ms 11 161 162 Bias speed at start 1to 600000000 1 to 600000000 1 to 600000000 1 to 1000000 163 x10 mm mi x10 inches min x10 degrees min pulses sec 1to 37900000 1 to 37500000 1 to 37500000 1 to 62500 x10 mm mi x10 inches min x10 degrees min pulses sec Stepping motor mode selection 0 ee mode ee motor mode 8 5 8 Buffer Memory MELSEC A 1 The basic parameter 2 is used to determine the inclination of acceleration deceleration processing Set the most appropriate values according to the system Operation can be performed using the initial values 2 1 Write indicates writing data from the PC CPU of the D75P2 to the buffer memory e 1 The data written from the PC CPU becomes valid when the remote station ready signal rises OFF ON If setting contents are rewritten while the remote station ready signal is on switch the signal off then on again e 2 The data becomes valid at the point when it is written from the PC CPU However data change will be delayed by three data at most from the positioning data number that is being executed when data is written Also during JOG operation or manual pulse generator operation the written data will not be reflected Therefore perform write when positioning control is not in operation 8 Buffer Memory MELSEC A 8 5 3 Extended parameter 1 Buffer memory address Setting range Initial
41. Early switch b Standard switch See Section 6 2 3 for the speed switch parameters used at acceleration deceleration nindicates a positioning data number 10 15 10 Setting Positioning Parameter MELSEC A 10 2 9 Interpolation speed specification 1t When performing linear interpolation circular interpolation control whether to specify the synthesized speed or reference axis speed is set e Synthesized speed Specifies the travel speed of the controlled system The D75P2 calculates the speed of each axis e Reference axis speed Specifies the speed of the axis being set as a reference axis The D75P2 calculates the speed of the other axis used for interpolation Y axis Y axis Synthesized speed is specified Calculated by the D75P2 X axis X axis Speed of the reference axis is specified Calculated by the D75P2 PS pia P a When the synthesized speed is specified b When the reference axis is specified When X axis is the reference axis 2 In circular interpolation operation an error occurs when specified unit groups do not match and positioning using the specified positioning data will not be performed l Execution of positionin ae ere Sarah uae Unit groups match Unit groups mismatch Linear interpolation control Synthesized speed lowe Not allowed specification Reference axis speed Not allowed specification Circular interpotation control Synthesized speed specification Refer
42. See Encoder Fixed slit Slit disk Photo transistor pie Feeds runs E D AE c ME aen E Rotating 2 JASS L shaft oot LIL LLL LL k Binary code Absolute position system A system that retains the current position even when the power is turned off since the machine position is stored in the positioning module as long as home position return was performed once when the device was started up Mechanical errors if any will be compensated Thus there is no need to perform home position return after power restart A motor with absolute position detector a servo amplifier supporting absolute position systems and a positioning module are required to configure this system Absolute system A method to indicate the positioning address The absolute address system A system in which distances are indicated relative to 0 The direction is automatically determined and need not be specified C f increment system 0 No 1 No 2 No 3 A 24 Acceleration time The acceleration time parameter refers to the time needed for the speed to reach the speed limit value from home position stopped status Thus the acceleration time decreases proportionally as the set speed is lowered Determined by machine inertia motor torque and load resistance torque Speed limit value Set speed Speed 0 Time L I Acceleration time Address 1 A numeric value used to indicate a position in positioning Specified in mm
43. Servo motor S curve acceleration deceleration A motor es rotates faithfully as specified by the i command Smooth acceleration and deceleration movements along Highly responsive and able to perform starts and stops a Sine curve are obtained frequently at high speed and high accuracy The S curve ratio can be set between 1 and 100 There are DC and AC types as well as those designed to handle large capacities They are equipped with a pulse generator that detects the number of rotations often used for feedback control Acceleration Deceleration Servo on The servo module does not operate unless the drive Scroll monitor module is functioning normally and this servo on is When positioning operation is monitored with the GPP turned on this monitor displays the address and error of the data number currently executed for positioning as well as the most recent five data numbers Sequence control A type of movement control that performs actions in sequence by detecting the end of an action via a switch and starting the next action using that signal etc Synonymous with sequence program Setting unit A setting item among the positioning basic parameters Specify either mm inch degree or pulse Servo amplifier See Drive module in the glossary servo lock SFC Sequential Function Chart eet i apes e UL ae BER The sequential function chart is the most ideal structured y pPy y programming method for performi
44. manual pulse generator operation 1 OFF Speed position switch not executed ON Speed position switch executed e This flag turns on when speed control is switched to position control during speed position switch control and is used for the travel increment change enable interlock during position control Turns off upon execution of the next positioning data or during JOG No operation and manual pulse generator operation 1 OFF Out of in position range ON Within in position range e The signal turns on when the remaining distance falls below the command in position range set by the parameter e Turns off when the axis moves during each operation The command in position check is performed every 56 8 ms during position control The command in position check is not performed during speed control or during speed control of speed position switch control 1 OFF Home position return complete ON Home position retum being requested e Turns on when any of the following conditions occurs and tums off when home position return is completed 1 a The D75P2 s power is tumed on b When the drive module ready signal turns off c When the remote station ready signal turns on d Atthe time of home position return start OFF Before home position return complete ON After home position return complete No Turns on after home position return is completed normally Turns off at home position return start posit
45. short circuits or malfunction quem TT TT Module installation screws M4 screws 78 to 118 N cm 8 to 12 kg cm e Do not directly touch the conducted part of the module or electronic parts This may cause malfunction or breakdown of the module e Confirm that drive module and peripheral device connectors are installed firmly on the module s connectors until a click sound is heard If connectors are not installed properly it may cause mis input and mis output due to contact failure e Be sure to replace the cover for the connectors when the drive module and peripheral devices are not connected This may cause malfunction 9 5 9 Setup MELSEC A 9 3 1 DIN rail installation removal installation procedure 1 Confirm the external power supply for the D75P2 main module is disconnected at all phases If it is not disconnected disconnect it externally at all phases 2 Contact the DIN rail groove on the module base to the upper side of the DIN rail 3 Press the module against the DIN rail to fix it Module DIN rail How to install the module 4 Confirm the module is fixed to the DIN rail Post installation confirmation Confirm the following after installation O The module is securely fixed and has no play O The DIN rail is securely fixed and has no play 9 6 9 Setup MELSEC A Removal procedure 1 Confirm the external power supply for the D75P2 main module is disconnected at
46. to the right of number 1 synthesized to draw lines and circles Types of interpolation operation include linear interpolation and Incremental encoder circular interpolation A device that simply outputs on off pulses according to axis rotations The 1 phase type uses A pulses only Inverter and the axis rotation direction cannot be determined A device that converts direct current to alternating The 2 pulse type uses two pulse chains of A and B and current In reality it refers to an entity that controls the the rotation direction is determined forward if B turns on motor rotation speed by converting the commercial while A is on and reverse if A umns on while Bis en A frequency of 50 Hz or 60 Hz to a direct current then to type that uses the home position signal is also available an alternating current of 5 to 120 Hz thereby changing Incremental encoders can output 100 to 100 000 pulses per axis rotation and are a type of encoder most commonly used the number of motor rotations A signal slit Light emitting diode JOG Slit disk 4 Photo NAB Jogging Stop and go movements at small increments transistor iti i i Inching Rotating 2 1 pitch Parameter setting is necessary to perform JOG e operation However if the operation remains on for a FE T1 1 long duration of time it is turned off at the stroke high lot i P P TALI limit Hoem position signai 4 Signal por ais rotation Output waveform 2 phases hom
47. 1 2 What is the step function This is used to check each individual action in the positioning operation Step execution a After setting the step valid flag to ON in advance a positioning start signal is turned on b When one step of the positioning completes normally the status of the axis operation becomes during step standby c When the stop signal stops the step operation the status becomes during step stop d If an error occurs during the step operation and decelerates the operation to stop the status becomes during step error occurrence e If 01H is set for the step start information while the status of an axis operation is during step standby the step execution of the next positioning is performed f If 01H or 02H is set for the step start information while the status of an axis operation is during step stop the halted positioning data is restarted Even if 02H is set for the step start information while the status of an axis operation is other than during step stop no positioning is performed 7 43 n 7 Other Functions MELSEC A g Ifthe status of an axis operation is not appropriate when setting the step start information the warnings listed in the table below occur Warnings are output only when the step valid flag is ON Axis operation status Start information x During operation start warning O Normal processing Step start information inval
48. 1000000 6000000 00 600000 00 6000000 000 mm min inches min degrees min pulses sec Stepping motor mode e 0 Standard mode Selection See Sections 8 5 1 and 8 5 2 for the buffer memory address and setting range of the basic parameter 1 and basic parameter 2 Use the extended parameter 1 to select 1 to 65535 ms and 1 to 8388608 ms for the acceleration time 0 and deceleration time O See Section 10 2 for setting 10 2 10 Setting Positioning Parameter MELSEC A Stepping motor mode Lom om m mm ji ich sd degree 3 pulse 0 1 t0 6553 5 00001 to 00001 to 1 to 65535 o 65535 o 65535 inch degree pulses 0 01 to 375000 00 0 001 to 0 001 to 1 to 62500 37500 000 37500 000 mm min inches min degrees min pulses sec 0 01 to 375000 00 0 001 to 0 001 to 1 to 62500 37500 000 37500 000 mm min inches min degrees min pulses e 1 Stepping motor mode 10 3 10 Setting PositioningParameter MELSECA 10 1 1 Unit setting 1 The command unit during positioning control is set 2 Changing the unit setting does not change the values of the currently set parameters and positioning data When the unit setting is changed set the currently set parameters and positioning data again The D75P2 generates an error when data outside the setting range is detected 10 1 2 Travel increment per pulse The travel increment per pulse is a value indicating the am
49. 12 16 12 5 2 Notes on creating programs iseseeseeseseee rennen nennen nennen ente tnnn annee ennt netten ens tn enne nnne tentent 12 17 12 5 3 Creating programs eeseeeeeeeneeeeeeeetene renean nnne enne nnne nnn nh enn nnne nnne nn enennenenn emen 12 18 12 5 4 Parameter setting data link start program ceeeeeeneenneneneenn nennen nennen 12 22 12 5 5 Communication positioning programs eeeeeeeeene enne enne nennen entrate ene nn enne nnns eren ennennn nen 12 25 13 1 Troubleshooting Flow when ERR LED of Master Station is Flickering eene 13 1 13 2 Errors Warnings of D75P2 eeeeisesisseeeeeeeene nennen enne tenete nnne tete tente nne nnne ete te tnter eene tenere nennen nnne 13 3 KS E e i m M a 13 3 13 2 2 Warnings RNMRRR M 13 4 13 2 3 Resetting the LLURRRRR 13 5 13 2 4 invalid operations eeeeeeeeeeen nennen entente ennt neennen enne ente ennt nate nene nennen nnne nennen 13 5 13 3 Corrective Actions for ETTOrS esee eese eese enne nen enne nne nnne nnne et enne nnne nnn tantis stent nnsa enne enn nennen nenne nnn nnen 13 6 13 4 Corrective Actions for Warnings eeeeeeeeneen enne nene tnennennenn ttn tten nennen nn enn senten enne tenere ne nenne nennen enn ene nnne 19 10 13 5 Error Start History RR D E 13 12
50. 2 Actual rapid stop 3 Actual deceleration time deceleration time time M n The set The set rapid stop i acceleration time deceleration time The Set _ deceleration time 1 Actual acceleration time Time required to reach the command speed set by the positioning data 2 Actual rapid stop deceleration time Time required to stop rapidly from the command speed set by the positioning data 3 Actual deceleration time Time required to stop from the command speed set by the positioning data Fig 7 7 Relationship among speed limit value acceleration time celeration time and rapid stop deceleration time 7 39 7 Other Functions MELSEC A 7 9 2 Acceleration deceleration processing 1 The acceleration deceleration processings include two types trapezoid acceleration deceleration processing and S curve acceleration deceleration processing Sin curve ga Acceleration time Deceleration time Fig 7 8 S curve acceleration and deceleration processing 1 The S curve acceleration deceleration processing cannot be used in the stepping motor mode 2 When performing the S curve acceleration deceleration processing set the acceleration deceleration processing selection to S curve acceleration deceleration processing with extended parameter 2 and set the S curve ratio 2 When the S curve acceleration deceleration processing is selected set the S curve ra
51. 214740000 0 26843545 5 However the actual range will be from 187896454 4 u m to 2147483647 u m Home position address 187896454 4 u m 214740000 0 um 214748364 7 u m 241583545 5 u m i Setting not allowed i Setting range Valid range is reduced for this amount 7 66 7 Other Functions MELSEC A c When electronic gear lt 1 When the electronic gear is set to electronic gear travel increment per pulse lt 1 the movable distance centering around the home position becomes 1 electronic gear For example if electronic gear 1 2 and home position address 1000 pulse the range will be 134217228 pulse 268435456 1000 2 to 134218227 pulse 268435455 1000 2 However if electronic gear gt 1 it will be within the range of a and b Home position address 268434456 pulse 134217228 pulse 1000 pulse 134218227 pulse 268436455 pulse Setting range when the electronic gear is 1 2 d During positioning in the same direction Perform positioning in the same direction so that the present value is within the range of positioning addresses indicated in a to c If the value exceeds the range of a to c the present value cannot be restored properly when the power is turned on 7 21 Servo ON OFF This sets ON OFF the servo amplifier connected to the D75P2 using the D75P2 By setting the servo to ON the servo becomes operable 1 Servo ON The servo b
52. 36 Allowable circular interpolation error range 10 21 Applicable system eeeese esee esee ener nennt 2 2 Area for block transfer eeesssssss 8 2 8 37 Assemble the connector area sese 9 13 Automatic trapezoid acceleration deceleration method eeeseesessss 1 12 Auxiliary point eeeeeeeeee eese eene 6 15 Axis error number eese eres nennneia 3 26 AXIS MONOT T M m 8 1 Axis monitor area eeeeeseeseseeseseeeee eerte 8 19 Axis operation status eeeeeceecssseeeeeeenne 3 26 Axis warning number eeeesseseesseeee seen 3 26 Axis control data eecesccecesceessesesseenesessecessneeeees 8 1 Axis control data area eese 8 26 Backlash compensation esses 10 14 Backlash compensation function 7 34 I e E 12 7 Basic parameter esses 8 1 10 1 Basic parameter 1 eese 8 5 10 1 Basic parameter 2 sss 8 5 10 1 Bias speed at start eeeeessessss 6 54 10 9 Block positioning cessent 1 11 Block positioning control ssssss 1 11 Block statt ba teni aste the ledexeliedeceed 6 44 Buffer memories for setting positioning start point 11 8 Buf
53. 4 Step error The command speed specified by positioning data becomes the current speed during operation using positioning data When the command speed is omitted the previous current speed is retained Also if the speed is changed the new speed becomes the current speed e Inthe case of axis 1 and axis 2 interpolation the synthesized speed or reference axis speed at the time is stored and O is stored at the interpolation axes Becomes 0 upon termination of positioning data operation If another axis warming occurs after a warning code has been stored the speed position switch control control and position control is switched on is stored tO ce Write allowed X een Write prohibited 1 The same value is stored in the remote register RWr During monitoring the same result can be obtained even if the remote register RWr is used 8 19 8 Buffer Memory MELSEC A Buffer memory address Setting range Initial 816 i Extemal I O signal e indicates on off statuses of extemal I O signals Description indicates the on off status of the drive modula ready Indicates the aofi status of the zero signal Indicates the orvat status of the in pesiion signal Let TTT Peer TT Speed control in operation flag Speediposition switch latch flag Commend in position flag Description Speed control in A flag that tums on during speed control and is used operation flag to judge whether speed control or positio
54. 7 2 8 Acceleration deceleration time setting for speed change eere estaba di ades 7 15 7 3 Torque Limit FUNCtion eprore ien a AA EAE A a aA 7 17 7 3 4 Torque limit TUDetion os eene Dono e ee Ebbene elg eS GO pu denne ose pe aa rrara 7 17 7 8 2 Torque change function scscssessecssssssserssesscenesesssececeusessssseseecscsaceaseucstverscsacaeraacansonsutasseceusecnese 7 19 7 4 Stroke Limit FUNCTION REEEEMEENMMMMMMMMMAKNHPKWOM 7 20 7 4 1 Stroke limit function via external input ttem 7 20 7 4 2 Software stroke limit function eese eese esee eetn entente ternera treni enata tpa te tane bab UP RsUE 7 22 7 5 Confirmation and Change of Present Value ccccssssssssessssesssesescsssssssesssssessscssesesecescesaesseatscetacguerstessercaveeens 7 27 7 5 1 Confirmation of present value oo eeeeccsseesssessssseccsceseeossnsssensausesesenssavessaussesstatesecescossessecaccsesucceseee 7 27 7 5 2 Present value change eee i eee eesseeenee teen ttt tn tetas tret bens stasera cas AEE 7 29 EE undc e a a aa aa er aaa a a a a AT 7 32 7 7 Backlash Compensation Function ccscsssessssscssssscsssavetcessccsessascsasacssssessessesessestucesssesseaecsseuseesenacseeasee 7 34 TB Moode FUNGON pm eeto eaaa aea aoaaa Tena eaea aaa raae kadaa aan ate a iae AGAS 7 35 7 9 Acceleration Deceleration Processing ccccssssssscsssscsessssessccsscscsescescseesiescecessusacsarscsacesc
55. A 3 3 2 Functions of I O signals Table 3 4 shows details of each I O signal for the D75P2 Table 3 4 Details of O signals 1 D75P2 ready complete OFF Ready complete ON Ready incomplete e When the remote station ready RX n 7 B switches from off on RXn1 RXn2 RXn4 RXn5 the parameter setting range is checked and if there are no errors the D75P2 ready complete turns off RXn7 RXn8 When the remote station ready turns off the D75P2 ready complete turns on Used in the interlock for the sequence program OFF Start incomplete ON Start complete e When the D75P2 starts positioning processing after the positioning start RY n 1 0 RY n 1 1 turns on the start complete turns on The start complete also turns on at the time of home position return operat on e When the positioning start turns off the start complete also turns off Single axis start complete Dual axis start complete Positioning start RY n 1 0 RY n 1 1 Start complete RXn1 RXn2 Single axis BUSY Dual axis BUSY OFF Not BUSY ON BUSY Tums on at the time of positioning start home position return start or JOG start and turns off when the dwell time has elapsed after positioning was stopped Remains on while positioning is continued Tums off during stop by step execution e Inthe case of manual pulse generator operation this signal turns on while the manual puls
56. A eocrr erdt 11 9 Start Signal oerte eene TERR 6 49 Station number setting switch sssse 9 1 Step function erecto totu Savai 7 43 Step mode eei onis eie eee use ei tse 7 45 Stepping motor eese enhn nnnee 2 4 Stepping motor mode cessent 2 4 Stepping motor mode selection 10 9 Stop command esent ette 6 55 Stop factors 5 iecore et taie sve cos eFe vcio 6 55 Stop group 1 ssscsccssccensersessscsnsnnavenssseens 6 55 10 20 Stop group 2 ee 6 55 10 20 Stop group 3 esee 6 55 10 20 Stop processing eeesseesesscseeee eene 6 58 Stop signal dee dte ere Leica 3 8 Stopper stop type 1 15 Stopper stop type 1 essent 1 15 Stopper stop type 2 seen 1 15 Stopper stop type 3 eene 1 15 Stopper stop type 1 home position return 5 14 Stopper stop type 2 home position return 5 18 Stopper stop type 3 home position return 5 21 Stroke limit function eese 7 20 Synthesized speed eseeeessseeee 10 16 System configuration esee 2 1 System control data eese 8 1 System control data area sess 8 23 System monitor eese 8 1 System monitor area e
57. Condition data error During analysis of special start Special start instruction error data Operation is not started Operation stops immediately 13 7 Se 13 Troubleshooting MELSEC A Error Error name Detection timing Operation status when Corrective action code error is generated IE M code ON signal ON start At the start of positioning Operation is not started Perform start after the M code ON signal is tumed off 537 Remote station ready OFF start Perform start after the remote station ready signal is turned on Ready complete ON start Perform start after D75P2 ready complete OFF is confirmed Out of start number range Set the positioning start numbers again Out of radius range During analysis of positioning Operation is not started Correct the positioning data data Operation stops immediately lt Error history gt At power on or when the The D75P2 ready complete flag Set a value within the setting range Basic parameter 1 remote station ready signal does not tum off Out of unit setting range switches from off on 901 Number of pulses per rotation setting error Travel increment per rotation setting error 903 Unit multiplier setting error 904 Pulse output mode error 905 Rotation direction setting error Error history Basic parameter 2 Out of speed limit value range feni Out of acceleration time range Our of deceleration time range Out of bias speed range
58. ES qa Highiimit al Rovers stoke erd o S Her ag Fate Pall Taw 2 rue p HERI ose COM 35 Start cow 95 4 MISSE UE i 5vVr e i PULSER A ERE EK PULSER B 10 HO Ceursere 281 ovi LC uc Manual pulse generator MR HDP01 24 V 0 2 A or more 24V power supply L 1 1 71 Optional extemal regenerative brake resistor gest HC PQ d series motor O O Pe a C P Gere Via rectore u TE1 Ue v9 vO O p 47 MR COA O Q 1 Li L L t 1 t i V or d gt EMG 11 Wises MR CBA1 n Z6 i 24V DC F Electro 1 Servo on signal off magnetic praks Disconnected by an alam i signal H CN2 i i t 1 8 l g a i I Li BEES AE 4 When connecting using an open collector use the wiring below for the section indicated by A1SD75 AD75 CN1 case px p mn EIU AS NEM PULSER Awe 7 7 PULSE COM EB The connector pin numbers of the D75P2 indicate the same applications for axes 1 and 2 2 2 The high limit FLS and low limit RLS of the D75P2 are used in the home position return retry function Set them inside the servo limit switches 3 3 Limit switches for the servo for stopping 4 4 Indicates the distance between the controller and amplifier The distance is 2 m 6 6 ft or less when an open collector is used 5 5 For the D75P2 set the pulse output logic selection to drive module in the extended parameter 1 to nega
59. Extended parameter 1 s 8 7 10 11 Extended parameter 2 esses 8 9 10 11 External positioning operation start 6 50 External Statt 4 5 oodedodtesseteee sees rovesei sess a cia AS QE 3 7 External start function selection 10 21 Feed speed 1 oie coetu eset aS 3 26 Fixed dimension feed 1 eese 6 11 Fixed dimension feed 2 eese 6 13 Fixed dimension feed control 6 11 Fixed dimension feed positioning function 1 8 Flash memorty ccceceeerececesseneesceeeseececcesnsaaeeetsnes 7 62 ELS cco aeons denti Rf E LEE ENS cides 7 21 Function list 4 eoe eere eniin orte renti 4 1 General specification eese 3 1 PAW LC 1 21 Handy graphic programmer eeeeeseesssss 2 3 PON pe f 3 8 High speed home position return start 5 1 High speed mechanical home position return 5 6 High speed mechanical home position return start 5 1 Home position address eeeeeeeeeeseesee 10 23 Home position return ueesseeeseee eene 1 15 Home position retum acceleration time selection EEEE teet toi ro E 10 26 Home position return basic parameter 8 1 8 10 10 22 Home position return deceleration time Selection
60. L t point address 2 07 ee l meee C0 E ET Operation 200 1 f 200 43 d ud 1 i Starting point address Wren Starting Ter i i positioning Axis 1 Axis 1 100 300 700 300 900 1 14 1 Overview MELSEC A 1 4 9 Overview of home position return The home position return is to confirm mechanical home position at power on or other times The following seven types of home position returns are available 1 Near point dog type one type This type stops by a zero signal after the near point dog switches from on to off 2 Stopper type three types 3 a Stopper 1 due to the elapse of the dwell timer The home position return of this type completes when the dwell time has elapsed after being decelerated by the near point dog switching on and stopped by a stopper b Stopper 2 due to a zero signal when coming in contact with a stopper The home position return of this type is completed by a zero signal after decelerated by near point dog on and stopped by a stopper c Stopper 3 no near point dog method The home position return of this type is completed by a zero signal after it has moved at the creep speed and stopped by a stopper Count type two types a Count type 1 using the zero signal The home position return of this type is stopped by the zero signal once after moving for the specified travel increment once the near point dog has been turned on b Count type 2 without using the zer
61. ON Speed change processing The signa turns on during speed change processing The signal turns off when deceleration starts due to a stop signal during speed change processing or when speed change processing is completed 1 OFF Drive module ready signal OFF ON Drive module ready signal ON e The signal turns on when the drive module is normal and is in a feed pulse acknowledge enable state 1 OFF Zero signal OFF ON Zero signal ON e Indicates the home position signal at the time of home position return Generally the zero grid signal from a pulse encoder is used 1 OFF In position signal OFF ON In position signal ON e indicates whether the in position signal from the drive module is on or off C1 OFF Near point dog signal OFF ON Near point dog signal ON Indicates whether the near point dog signal is on or off at the time of home position return Cn OFF Stop signal OFF ON Stop signal ON e Indicates whether the stop signal is on or off OFF High limit signal OFF ON High limit signal ON e Indicates whether the high limit signal is on or off OFF Low limit signal OFF ON Low limit signal ON e Indicates whether the low limit signal is on or off OFF External start signal OFF ON Extemal start signal ON Indicates whether the external start signal is on or off OFF Speed position switch signal OFF ON Speed position switch signal ON e Indicates whether the speed position switch signal is
62. Positioning speed 0 01 to 0 01 to 0 001 to 0 001 to 6000000 00 mm min 375000 00 mm min 600000 000 inches min 37500 000 inches min Bias speed upon start 0 01 to 0 001 to 375000 00 mm min 37500 000 inches min Stroke high limit 214748364 8 to 13421772 8 to 21474 83648 to 1342 17728 to 214748364 7 u m 3421772 7 u m 21474 83647 inches 1342 17727 inches 4 i Speed position switch O to 0to 0 to Oto control 2 4 13421772 7 u m 21474 83647 inches 1342 17727 inches Stroke low limit 214748364 8 to 13421772 8 to 21474 83648 to 1342 17728 to 214748364 7 u m 13421772 7 um 21474 83647 inches 1342 17727 inches Backlash compensation 0 0to 0 to Oto 6553 5 um 409 5 um 0 65535 inches 0 04095 inches 1fo JOG speed limit value 0 01 to 0 01 to 0 001 to 0 001 to 6000000 00 mm min 375000 00 mm min 600000 000 inches min 37500 000 inches min Circular interpolation error allowable Oto 0 1 to Oto 0 00001 to range 10000 0u m 625 0um 1 00000 inch 0 06250 inch Home position address 214748364 8 to 13421772 8 to 21474 83648 to 1342 17728 to 214748364 7 u m 134211772 7 u m 21474 83647 inches 1342 17727 inches Home position return speed 0 01 to 0 01 to 0 001 to 0 001 to 6000000 00 mm min 375000 00 mm min 600000 000 inches min 37500 000 inches min Creep speed 0 01 to 0 01 to 0 001 to 0 001 to 6000000 00 mm min 375000 00 mm min 600000 000 inches min 37500 000 inches min Travel increment after n
63. Precautions This section describes handling of the D75P2 and cables Always take the following cautions when handling the product Precautionary items regarding the main module Ac AUTION e Use the PC in the environment given in the general specifications of this manual Using the PC outside the range of the general specifications may result in electric shook fire or malfunction or may damage or degrade the product e Do not directly touch the conducted part of the module or electronic parts This may cause malfunction or breakdown of the module e Be sure to attach the cover for the connectors when the drive module and peripheral devices are not connected Failing to do so may cause malfunction e Be careful not to let foreign matter such as filings or wire chips get inside the module These can cause fire breakdowns and malfunction e Do not disassemble or modify the module This may cause breakdowns malfunction injury and fire 9 3 9 Setup MELSEC A Other precautionary items Main module e The main module case is made of plastic Do not drop or apply strong shock to it Cable e Do not apply pressure to the cable with sharp objects e Do not unduly twist the cable e Do not unduly pull on the cable e Do not step on the cable e Do not place objects on the cable e Do not cut or pierce the cover of the cable Setting environment Avoid the following conditions for the installation location of the
64. Re i a READY S i a aC ou oo d ILL wes See puro NT eed ES ENG PGOCOM 28 t x m SEI corer Yy 39 PULSER A 9 4 10 detect g O t i zse 28 PULSER A 37 5 eria pS RAL Dau 27 PULSER B 10 H EEG i sa 16 PULSER B 28 ovi O Manual pulse generator When connecting using an open MR HDPO1 3 CN1 collector use the wiring below for Analog torque limit command 4 emm qii t the section indicated by 10 V maximum current ecc ET IRAE 9 A1SD75 AD75 CN1 Monitor MAX 1mA meter CEA 4 imo 4 i y Swings to one direction Ls Da 7 18 2 m 6 6 ft or less 1 1 The connector pin numbers of the D75P2 indicate the same applications for axes 1 and 2 2 2 The high limit FLS and low limit RLS of the D75P2 are used in the home position return retry function Set them inside the servo limit switches 3 3 Limit switches for the servo for stopping 4 4 Indicates the distance between the controller and amplifier The distance is 2 m 6 6 ft or less when an open collector is used 5 5 For the D75P2 set the pulse output logic selection to drive module in the extended parameter 1 to negative logic A 11 Appendix MELSEC A Appendix 4 3 Connection example of D75P2 and MR J2 L1 A differential driver open collector negative logic Configure a sequence that disconnects the MC by an alarm or emergency stop HC MF HA
65. S3 A1SD75P1 S3 name is 1 AD75P2 S3 A1SD75P2 S3 AJ65BT D75P2 S3 stored 2 AD75P3 S3 A1SD75P3 S3 Stores the OS type of the D75P2 main module at power on or when a remote OS type station ready signal is turned on is stored The data is stored using 8 characters in ASCII code OS version Stores the OS version of the D75P2 main module at power on or when a remote station ready signal is turned on The data is stored using 4 characters in ASCII code Clock data hour The software clock data that keeps time by periodic interruptions of the system minute inside the D75P2 e Used to store the occurrence time of errors wamings in the error warning history e The clock data needs to be set from the PC CPU at power on Use the control data area 1100 to 1102 of the buffer memory for setting The clocks of the PC CPU and D75P2 do not necessarily agree If agreement is required reset time periodically from the PC CPU Minute stores 00 to 59 in BCD Hour stores 00 to 23 in BCD Clock data second 100msec 100 ms stores 00 to 09 in BCD Second stores 00 to 59 in BCD 0 Write allowed X e Write prohibited 8 12 8 Buffer Memory MELSEC A Buffer memory address common to axis 1 and axis 2 Start history EREHEEEZEEESEUNEUNES 8 13 icd LZ 8 Buffer Memory MELSEC A ae naa T mE Start history The axis number of start execution is stored Start axis Start history Operation type
66. Section 3 4 8 RWrn 3 Section 3 4 2 2 2 2 3 2 1212 2 sisis 3 313 3 3 3 F F JE F T olo xl A Remote master AWmrd Single axis valid M code fo Section 3 4 9 RWm 5 Singeaxserornumbe Section 3 4 10__ RWm 6 _ Single axis waming number 0 Section 3 4 11 FWm 7 Section 3 4 7 RWm 9 RWm 10 Dual axis feed speed Section 3 4 8 RWm 11 RWm 8 Dual axis present feed value mix m D S S S S 33 BlE 3 a RWm 12 Section 3 4 9 RWin 13 RWm 14 RWm 15 m n The address assigned to the master module via station number setting Dual axis operation status 3 23 3 Specification 3 4 2 Positioning start number Set the start number used to execute positioning Positioning data number specification Block start specification indirect specification Mechanical home position return specification High speed home position return specification Present value change Absolute position restoration Data set type home position return 3 4 3 Override Used when executing override in the speed range of 1 to 300 unit 1 relative to the speed of positioning operation current speed When the override value is 100 the speed of positioning operation does not change 3 4 4 New present value 1 to 600 7000 to 7010 8000 to 8049 9001 9002 9003 9900 9901 MELSEC A When changing the present feed value using positioning data number 9003 set the pr
67. Set a value within the setting range Operation decelerates to stop When the remote station ready The D75P2 ready complete signal switches from off on does not tum off Set a value within the setting range 984 Creep speed error Home position return retry error 991 Error history Home position retum extended parameter Home position retum torque limit value 992 Near point dog travel increment error 993 Home position acceleration selection error Home position deceleration selection error j 997 Speed selection error during home position shift Flash memory sum check error When writing to the flash Write to the flash memory again If the same error occurs again replace the module with a new one The D75P2 ready complete does not turn off 13 9 13 Troubleshooting MELSEC A 13 4 Corrective Actions for Warnings This section explains the contents of warnings as well as corrective actions to be taken when they are generated i Error name Detection timing Operation status when Corrective action error is generated Normal status BERE aes De SERE Travel increment change When the speed position Operates using the positioning Change the setting value of the register for invalid during speed position Switch signal is input address travel increment of changing speed position switch control travel switch control the positionin
68. Start positioning on the reference axis only When positioning of the reference axis is started circular interpolation control is performed using the reference and interpolation axes 5 6 24 6 Positioning Function MELSEC A 6 1 8 Speed control forward rotation reverse rotation 1 What is speed control a The speed control executes the acceleration set in the direction of a specified axis and keeps operating at the set speed until a stop command is input b The speed control can be started in the direction of either forward rotation or reverse rotation 2 Operation timing The operation timing of speed control is shown in Figure 6 1 Specified speed Positioning start Positioning complete Stop command M Fig 6 1 Operation timing of speed control 3 Updating the present feed value The present feed value changes as follows depending on the update request specification of present feed value during speed control setting in extended parameter 1 see Section 10 2 10 a When 0 is set do not update the present feed value No change is made in the present feed value before or after speed control execution b When 1 is set update the present feed value The present feed value is changed during speed control execution c When 2 is set clear the present feed value with 0 The present feed value is cleared with O upon speed control startup and no change is made to the present
69. acceleration deceleration and drive module used are set Set the most appropriate values at system start up Operation is possible without changing the initial values set in the extended parameter 2 e The values can be changed from the PC CPU regardless of the remote station ready signal being on or off and become valid immediately after the change 10 1 10 Setting Positioning Parameter MELSEC A Table 10 1 List of basic parameters Basic Initial value Setting range parameter Standard mode number mm mm degree pulse EL omm t inch 2 degre 93 pulse Number of 20000 e 1 to 65535 pulses pulses per rotation Ap Travel m w e o 0 1 to 6553 5 0 00001 to 0 00001 to 1 to 65535 increment per 0 65535 0 65535 rotation Al um inch degree pulses Unit e x1 multiplier e x 10 Am e x 100 e x 1000 Pulse output mode 0 PLS SIGN mode 1 CW CCW mode 2 Phase A B mode multiplication by 4 3 Phase A B mode multiplication by 1 e 0 Present value increase by forward pulse output Rotation method e 1 Present value increase by reverse pulse output Speed limit 200000 0 01 to 0 001 to 0 001 to 1 to 1000000 6000000 00 600000 000 600000 000 mm min inches min degrees min pulses sec Acceleration time 0 e 1 to 65535 ms 1 to 8388608 ms Deceleration time 0 1000 e 1 to 65535 ms 1 to 8388608 ms Bias speed at start 0 01 to 0 001 to 0 001 to 1 to
70. acceleration time deceleration time change i Process with the acceleration deceleration time of basic parameter 2 extended parameter 2 Selecting the acceleration deceleration time change Disable X Enable enable disable deceleration time change i f During continuous operation continuous locus operation even if the speed is changed with a value in the buffer memory for acceleration deceleration time change the processing is performed with the acceleration deceleration time of the basic parameter 2 extended parameter 2 upon switching to the next positioning data number 7 16 7 Other Functions MELSEC A 7 3 Torque Limit Function The torque limit functions of D75P2 include the torque limit function and torque change function Notes when performing torque limit with the D75P2 a When performing torque limit with the D75P2 wiring between the D A converter module and the drive module as well as D A converter module is required b A drive module that can accept the torque limit command by the analog voltage is required c Since the set torque limit setting value is set to the torque limit storage value of an axis monitor transfer the torque limit storage value to the D A converter module using the sequence program Drive module Read by FROM Positioning control instruction D A converter module Write by TO instruction Torque limit mama a
71. all phases If itis not disconnected disconnect it externally at all phases 2 Insert a plain screwdriver into area A lever it outward slightly 1 and remove the module 2 Module DIN rail Driver How to remove the module 9 7 9 Setup MELSEC A 9 3 2 Installation to removal from the panel Installation procedure 1 Confirm the external power supply for the D75P2 main module is disconnected at all phases If it is not disconnected disconnect it externally at ali phases 2 Fix the module to the panel with screws Torque the module installation screws to 78 to 118 N cm 8 to 12 kg cm Post installation confirmation Confirm the following after installation O The module is securely fixed and has no play Removal procedure 1 Confirm the external power supply for the D75P2 main module is disconnected at all phases If it is not disconnected disconnect it externally at all phases 2 Loosen the screws to remove the module 9 8 9 Setup MELSEC A 9 4 Wiring Connections This section describes wiring and connections for the D75P2 To operate the D75P2 to its full potential and with high reliability the external wiring must be highly resistant to noise interference and must be properly connected To avoid malfunctions caused by noise as well as errors and accidents due to false connections attend to the following items as well as the handling precautions when
72. an external input Therefore since an external input starts the operation when the external positioning operation start is used variation in start times due to the PC s scan time can be eliminated The buffer memory addresses for selecting external start function and enabling external start are listed below Buffer memory ee ee ee 6 50 6 Positioning Function MELSEC A 6 3 3 Special start 1 Special start The following controls are feasible when using the special start e Initiate positioning control after positioning has been started when the specified condition is satisfied e Repeat processing for the specified point by a single start e Simultaneous start maximum 2 axes 2 Setting the special start a Use positioning special start data area and condition data area of the buffer memory to set special start conditions The positioning special start data area and condition data area have the areas that correspond to the 1st to 50th points of the positioning start data area for block start The special start data and condition data can be set in the edit mode of a peripheral device Positioning start data area Positioning special start data area Condition data 10th point 4348 49th point 4480 to 4489 4349 50th point 4490 to 4499 The above indicates the addresses of axis 1 b If the instruction code for special start is set in the positioning special start data area in the buffer memory
73. and stop factors for which stop after deceleration or rapid stop can be selected are classified into stop groups 1 to 3 Use an extended parameter to set stop after deceleration or rapid stop for each stop group a Stop group 1 Fatal stop factors MV b Stop group 2 Emergency or equivalent c Stop group 3 Intentional stops and relatively safe errors 6 55 6 Positioning Function MELSEC A Table 6 1 A list of stop processing by stop factors and operation status Stop factor Positioning Home JOG Manual pulse Stop axis Axis operation M code on il position operation generator status after stop signal status return 5 operation Drive module ready off immediate stop Immediate Individual No change servo ready off stop axis Error occurrence during continuous locus operation 2 Stop group 1 External high limit switch Stop after deceleration rapid stop Immediate Individual No change on stop axis External Low limit switch on Stop group 2 Software stroke limit out of Stop after deceleration rapid stop Immediate Individual No change range stop axis Stop key input from All axes Remote station ready Turns off signal off Stop group 3 External stop signal ON Stop after deceleration rapid stop Immediate Individual Stopped standby No change Stop axis Axis stop signal ON Axis error occurrence other than stop group 1 and 2 Remark 1 This is a hardware stop processing of the drive module operation select using
74. area 1 The special start data area is used to set special start for the D75P2 The special start area corresponds to the positioning start data area point by point Positioning start data area Special start data area 1st point eng point 3rd point ara point wp epu DU sSohpomt 2 Set the instruction code for special start and parameter in the special start data area See Section 11 3 for the instruction code for special start and parameter a Forthe instruction code for special start set an instruction code for the start condition of the special start 00H to 07H b Forthe parameter set a condition data number or number of repetitions A INmasan loH 1 Conditional start Wait start 02H Condition data number 1 to 10 Simultaneous start 03H Sopsan OM Condition data number 1 to 10 xr OH jj Dos For the condition data number set which of the condition data in 3 is used 8 32 8 Buffer Memory MELSEC A 4 The positioning special start data area has the configuration as shown below 2nd point 3rd point t 49th point 50th point MM M L Parameter Condition data number number of repetitions Instruction code for special start 00H to 07H 8 9 3 Condition data area 1 The condition data area is used to set conditions that are specified by the parameters in the posit
75. at a specified high speed by executing the positioning data after replacing the mechanical home position address with positioning data address without detecting the near point dog Valid after home position return using the near point dog has been performed at least once Command speed for the positioning data Home position 2 h A Dog switch High speed home position return Returns to mechanical home position at the home position return speed without detecting the near point dog Valid after home position return using the near point dog has been performed at least once Home position return speed Home position 7 g Z HOLD For the AD71 this is a status where the module itself is in error Holding Home position A position used as the reference of positioning Positioning cannot be started unless a reference point is set Usually home position is set at the low or high stroke limit a is used as reference Home position A 31 MELSEC A Home position return data Data necessary to return the current position to home position Determined during the designing stage of a machine and changing this data later requires a design change for the machine Since home position is the reference point of positioning it is better to perform home position return following the power failure occurred during positioning or when the position has been moved manually by switching off the power since the present
76. at the limit value of JOG speed At this time the during speed limit flag turns on 1 The JOG speed is in the unit set by the basic parameter 1 2 Write the JOG speed in two word units 8 The remote register for JOG speed setting is not backed up When the power of a PC is turned off or a PC CPU is reset set the speed again 1 A JOG start signal is established for each axis Memmi ei ez Forward JOG start RY n 1 6 RY n 1 8 RY n 1 7 RY n 1 9 2 The JOG speed during the JOG operation is set in the remote register for JOG speed setting listed below Remote register address RWwm 6 RWwm 7 RWwm 14 RWwm 15 7 1 7 Other Functions MELSEC A 3 Actions during JOG operation When starting the JOG operation the following actions will take place a When the forward reverse rotation JOG start signal turns on the acceleration processing is performed in the specified direction at a specified JOG speed b When the JOG start signal turns off the operation decelerates to stop JOG speed Acceleration processing Deceleration processing stop Forward JOG operation Remote station ready OFF D75P2 ready complete Forward JOG Reverse JOG BUSY See Section 3 3 on how to turn on the remote station ready 7 2 7 Other Functions MELSEC A 4 Actions during stop signal ON input a b c Remote station ready D75P2 ready complete Forward JOG Stop signal
77. attesa ssa tense ese a esses eee esses sse g atat 1 19 1 6 General Procedure before Operation ccccessccseeesssscseceecscsseeesencessececsesssaceceeseucusnssesasscceseeeusovausenasanseeatans 1 20 1 7 Abbreviations General Names and Terms Used in this Manual cccccssscsecesssessestesseesetetenteasesscsscansnere 1 21 1 8 Parts Supplied with the Module l leise cesses eeeese eene ates se tna satanas as enss s sese das an sa tp sete a eer tn se tnaE 1 22 2 1 System Configuration when Using the D75P2 scccscsssssssscssesssessecsescesscsscrsseecscesecesensseaenseseessesassuvanesaeanes 2 1 2 2 orc cm C as 2 2 2 3 List OF EQUIPMENE e E 2 3 2 4 Precautions when Using a Stepping MOtor csssssesssessssecsssssesecesesssceesescecsceescsneeeccesescessesenesestetaearensesseaveusseees 2 40 3 Specification 3 1 to 3 28 39 1 General Specifications csset ciscsandecestevesccncsdasslnucevsasnsdesdcandoussdesebsndadcsendadessstarsedadssdavecvediobiouvastectecsvececees 3 1 3 2 Performance Specifications ccecscssesssseessssecessssecsecsssersecssssesensesseseseseuenanssnesereasessenesats TR 3 2 9 2 1 Performance specifications essetis entente tenete tetntnsnsntath se thse testate sese ta san 3 2 3 2 2 Specifications for I O interface with external devices ctr 3 4 3 3 I O Signals for t
78. b Software stroke limit range check at operation start 1 At the operation start the following software stroke limit range checks are performed e Operation start from outside the software stroke limit range e Operation start when the positioning address is set outside the software stroke limit range 2 During the interpolation control of positioning operation if one of the axes is outside the software stroke limit range an axis error occurs and the operation will not be started 3 With the simultaneous start of positioning operation if the operation cannot be started because either of the axes is outside the software stroke limit range an axis error occurs and the operation will not be started on either axis Table 7 1 List of software stroke limit range check at the start of each operation pe o Com ion Remrs Positioning Position N A 1 When the present feed value and machine feed value control contro are outside the software stroke limit range at the start of positioning control an error occurs and positioning control will not start 2 When the positioning address is the positioning control outside the software stroke limit range the operation will not start 3 During the circular interpolation control the circular address is also checked Speed When the limit of Present value change unexecuted 1 Software stroke limit range check is not performed control machine feed value Present
79. been stopped Using the home position shift function the location of the home position can be shifted between a zero point and a zero point or to a position away from the detected zero point e When the home position shift amount is Shift operation is executed in the address increase positive direction e When the home position shift amount is Shift operation is executed in the address decrease negative direction Home position return direction OP Home position return start Shift operation is performed after the error counter clear is cleared Near point dog ZZZ Zero signal 2 Set the home position shift amount within the range to the high low limit switches from the detected zero signal Setting range for a positive home position 1 Shift amount 1 Setting range for a negative home position shift amount E M M a M P Address increase direction t t i decrease 1 direction Low limit switch High limit switch f i Home position return direction Zero signal I i x ZZ E ear point dog Wy i t 1 5 28 3 4 5 6 7 5 Home Position Return Function MELSEC A The following data should be set after shift operation is executed using the home position shift function e Home position return request flag Home position return complete flag e Axis operation status e Travel increment after near point dog ON e
80. below shows how the area looks like after connection 9 12 9 Setup MELSEC A Assemble the connector area 1 Place the soldered connector and cable fixing bracket inside the connector cover The cable fixing bracket is used as a stopper to protect the connected section of signal cables when the cables are pulled If the cable is not securely held by the cable fixing bracket use insulation tape to adjust the tightness 2 Sandwich the cable between the connector covers and tighten the A screws A Nae 9 13 MELSEC A 9 Setup 9 4 2 Connector connection removal The D75P2 is connected via connectors to the drive module and peripheral devices The connection procedure is as shown below Connection procedure 1 Confirm the external power supply for the D75P2 main module is disconnected at all phases If itis not disconnected disconnect it externally at all phases 2 Confirm the shapes of the module s connector area and the connector for proper orientation 3 Insert the connector horizontally into the module until a click sound is heard Work confirmation Confirm the following after cable connection O The connector is securely fixed and has no play Removal procedure 1 Contirm the external power supply for the D75P2 main module is disconnected at all phases If itis not disconnected disconnect it externally at all phases 2 While pressing together both sides of the connect
81. connecting to the D75P2 before it can be used Model name AD75TU A simplified version of the GPP Torque control A limit is set to the resistance torque applied to the positioning motor so that the power is turned off when the applied torque reaches or exceeds the limit When excess torque is applied to the motor current increases suddenly causing the motor to deteriorate or shortening its service life as a result of stress received Atthe time of home position return this sudden increase in torque is used as a motor stop command Torque loop mode Also called current loop mode See Position loop mode Torque ripple A range of changes in torque Variation Tracking function A function to perform positioning at a speed relative to the moving target by inputting a travel increment from an extemal encoder and adding the travel increment to the servo command value Travel increment per pulse Data in mm inches or angles calculated by the machine to indicate how much the motor axis travels per pulse Corresponds to the position detection unit Positioning accuracy cannot be higher than this value Since the motor is usually designed based on the travel increment per axis rotation the following expression can be established Travel increment per pulse P rate Travel increment a a lego eli MEN Number of pulses per encoder rotation per rotation MR RN UN V Movement per one pulse A 41 Turntable A plate that
82. dada 8 10 8 5 6 Home position return extended parameters eese eee ee eeeee eene en entente nnns st enne tenen sss sen tna 8 11 8 6 Monitor Alea ains iiia iai 8 12 8 6 1 System monitor arei oi atopinar esonera aaee npa opea Vn EN EE eae AKESE EESE ESEA ER quen eeu seustaaiveniualess 8 12 8 6 2 VC MONON ALO RARE 8 19 8 7 Control Data Aroa 5d te ia tse tee tete E A eR RU cet ceu ne sep eve Des EE 8 23 8 7 1 System control data area eee eee sees esee eene in states tne oa san sent aat aa sanae Ee sa seen sene tasa 8 23 8 7 2 Axis control dala arBa erento rin e ete ae np i Sev doanas UE gen ee Tees ek dione DER NR e LEE Ta 8 26 8 8 Positioning Data Area TESA E S 8 28 8 9 Positioning Start Information Area ccc cscssessesssseeeoneesssssssaseseesesaesesesensasaessssaceassaeeesensseseeaseneacoeseesaseceeensees 8 30 8 9 1 Positioning start data ar a ceseccssscsscssesccssccsessesseccccessesecescecsececesecescesacearscensestacensssscesetsnesseeaseaes 8 31 8 9 2 Special start data area nette eene reta tbi ront enn Fart iN a Ia rianais oesau cV dea aa EN EENE 8 32 8 9 3 Condition data area aca eet aaaeaii rer isine ein use e etai inner neasi soetada aiioa sai 8 33 8 10 indir ct Specification Area iniiaiee rasta eanne ranea sa aaneen siaaa akeyan nana unteosebeausvescecssedtadsddesdusessdasta
83. data is requested Single axis positioning start Dual axis positioning start Single axis stop Dual axis stop Single axis forward JOG start Dual axis forward JOG start Single axis reverse JOG start Dual axis reverse JOG start Single axis servo ON Dual axis servo ON Single axis ABS transfer mode Dual axis ABS transfer mode Single axis ABS request flag Dual axis ABS request flag C3 n The address assigned to the master module via station number setting 3 Used for maintenance of an absolute position detection system Cannot be used during normal operation 4 Used when running an absolute position detection system 3 20 M 3 Specification MELSEC A Table 3 4 Details of O signals 6 Single axis error counter clear OFF Error counter clear request acknowledge complete Dual axis error counter clear ON Error counter clear being requested e Turns on when the error counter for the servo amplifier is cleared 3 Single axis error reset OFF No error reset request Dual axis error reset ON Error reset requested Clears the axis error detection axis error number axis warning detection and axis warning number Tums on in the ABS transfer mode when ABS data is requested e Changes the axis operation status from error to standby No
84. deceleration time setting size selection in extended parameter 1 e Acceleration time The time elapses before the speed of 0 reaches the limit value Deceleration time The time elapses before the speed at the limit value reaches 0 b The rapid stop deceleration time 1 to 65535 ms or 1 to 8388608 ms is set using the acceleration deceleration time setting size selection of extended parameter 1 The selection of 1 to 65535 ms or 1 to 8388608 ms for the acceleration time deceleration time and rapid stop deceleration time is set for each axis 1 12 1 Overview MELSEC A NS BL bd aoi c A ECCE E CER RNC 1 4 Overview of start With the positioning control operation is started in the following flow after the necessary parameters and data have been set e Seta start number A start number can be set within the range of 1 to 600 7000 to 7010 9001 to 9003 9900 and 9901 The start contents at the time the start signal is turned on are determined by the set number For single axis RY n 1 0 is turned on For dual axis RY n 1 1 is turned on Start number 9900 Start number 9901 Start number 9901 Start number 9902 Start number 9903 Start number 7000 to 7010 Start number 1 to 600 1 13 1 Overview MELSEC A 1 4 8 Overview of restart If the operation stops due to the generation of a stop factor during the positioning operation the positioning of stopped positioning data c
85. desired tens digit Example Point the arrow to 2 when setting the station number to 24 9 18 9 Setup MELSEC A 9 5 2 Setting the transmission speed of the main module Set the D75P2 s transmission speed The default setting factory set value is 0 Setting standards 1 The setting number should be between 0 and 4 2 Seta number according to the following table 10 Mbps Setting numbers 5 to 9 cannot be used if a number in the range 5 to 9 is set the CC Link status display LED will show L ERR during data communication Setting method Insert a plain screwdriver into the arrow shaped groove and turn the arrow to the desired number Point the arrow at the number to be set Example When the communication speed is 5 Mbps the setting value is 3 9 19 9 Setu MELSEC A 9 6 Display Viewpoint 9 6 1 _17 segment corresponding axis display LEDs in the LED display area the type of OS is displayed for one second when the power of the PC is turned on then the display changes to operation monitor 1 in the table below Further when the mode switch is pressed the display shows the specified mode message and status Mode 17 segment LED Axis display LED Operation monitor 1 One of the following is displayed RUN during operation The axis in operation is lit TEST in the test mode All axes are fit IDLE standby Off When error exists The
86. device 9 23 Nino am 9 Setup MELSEC A 6 Monitor of O information n 1 2 Each time the mode switch is pressed the following I O signal names are displayed on the 17 segment LED in sequence The signal status of each axis indicated by the 17 segment LED is displayed on the axis display LED of each axis Verify whether the display matches each signal status e When the signal is on the axis display LED is on e When the signal is off 71 the axis display LED is off Switches in sequence as the mode zow Zero point signal Switch is pressed Doe Nearpontsgnal 7 Monitor of stepping motor mode 1 2 3 STMM is displayed on the 17 segment LED As for the axis display LED of each axis the axis that is set to the stepping motor mode is lit Pressing the mode switch changes the display to the status of monitor of stepping motor mode described in 7 8 Change to operation monitor 1 termination of operation monitor 1 2 0 2 3 Pressing the mode switch returns the status to the operation monitor 1 described in 2 Each time the mode switch is pressed the operation monitor status repeats changing from 2 through 7 When terminating the operation monitor leave it in any monitor status between 2 and 7 as required by the user The operation monitor described in this section is a function used to verify the D75P2 status control status of ea
87. during interpolation operation both of the two axes decelerate and stop then their statuses become error a Unit groups of an axis are classified as follows C mgo a o Groupi mminh b Whether or not the interpolation operation is executable is as follows interpolation Speed specification Unit groups match Unit groups mismatch Linear interpolation Synthesized speed Reference axis speed Circular interpolation Synthesized speed Not executable Reference anis speed 1 mm and inch can be mixed and are considered the same group 2 Circular interpolation cannot be performed if the unit is degree If the circular interpolation is set as the control method when the unit is degree a control method setting error error code 524 is generated and positioning will not start If this happens during positioning control the operation stops immediately 6 3 6 Positioning Function MELSEC A c Speed unit used when the units vary When performing the interpolation operation in a condition in which mm and inch are mixed or when performing reference axis mode interpolation while the unit groups mismatch the monitored speed will be as follows Monitored speed Subject axis for display Speed unit Synthesized speed linear interpolation circular interpolation Unit set for axis 1 mixture of mm and inch Reference axis speed linear interpolation Axis 1 Unit set for axis 1 mix
88. during the stopper stop type 1 home position return When the stopper stop type 1 home position return is started the following actions are performed e The movement occurs in the specified home position return direction at the specified home position return speed When the near point dog is turned on the movement decelerates to the creep speed e The moving point hits the stopper at the creep speed and stops e Home position return is completed upon time out of dwell time measured from near point dog ON After the creep speed is reached it is necessary to perform torque limit to the servo motor If torque limit is not performed to the servo motor there is a risk of damage to the servo motor upon hitting the stopper 5 14 Home position return start Home position return request flag Home position return complete flag Error counter clear output Operation status Travel increment after near point dog ON 5 Home Position Return Function MELSEC A Home position Travel increment after near point dog ON return speed Creep speed 1 t The range during which rotation of the servo motor is forcibly stopped using the stopper Effective range of torque limit a Torque limit Near point dog OFF Fig 5 8 Home position return of stopper stop type 1 5 15 5 Home Position Return Function MELSEC A 3 Restrictions e Set the dwell time equal to or greater than the trav
89. e 1053009 ewou UO 394 OU sey uoisioeJd o1uoo ay mojaq apurwa eu eyep Buiuonisod OU ui peuroeds JUSWAIOU BALI BY 10 jueisisuoo 3ndino esind jo junouje eui exeui oj 1 p10 ut uoisi2eJd orjuoo BY oJeq Jepureuie1 eui sojeounjg Jo3uoo peo uoisueuiip poxi ou e pee uoisueuuip pexy sixe jenp pue Pee uorsueuuip poxy sixe ojBuis sepnjoui j04ju09 peo uoisueulip pexil eu p sixe payloads eui Aq p uy p ssouppe 1urod Burniejs uonisod dois puana SY uioJj JoAeJ jo JUsWAIDU peyioeds eui 10 Buruonisod suuopned jo1uoo poe UOISUSWIP pexy 9u rp 0443u05 P92 ucisueuiyip poexi q LUo V O3S TSN uonounJ Duiuonisog 9 6 Positioning Function MELSEC A c Setting example of positioning data Positioning data is set for positioning data number 1 of axis 1 under the conditions shown below Single axis fixed dimension feed Acceleration time selection Acceterationtime 1 ho o Deceleration time selection Decelerationimeo fo Circular address Setingnotnecessay Dwelimo oo oms fc Wed coea a oU o o 42 7 5 o 2 2 o oO o a 2 E D 3 1 See Section 11 2 for details on the positioning data 2 With fixed dimension feed control the travel increment is set 6 12 6 Positioning Function MELSEC A 2 Duat axis fixed dimension feed control fixed dimension feed 2 a With dual axis fixed dimension feed control the stop addresses of the two axes are set to 0
90. e tet nente teen enen ntn tnnnn 10 6 10 1 4 Rotation direction setting ceeeeee eee eene eene tenerent nnne nsns nett natns innu een etate enne enne nennen 10 8 10 1 5 Speed limit c T 10 8 10 1 6 Acceleration time LERRRRRRRRRRRRRRRRRRRRRRRRRRRR 10 9 10 1 7 Deceleration time O leeesesessseessseee eese enet nett snnt nne n staat th aetas enne tasa sa stus sas ases e ens as ths sinas ense ne ann 10 9 10 1 8 Bias speed at RESCUE 10 9 10 1 9 Stepping motor mode selection entente nnne tnntenn tenente tentent enne 10 9 10 2 Extended Parameters cccccccccssssssssssscceseesscecesceeseesesssersscsssesestsseacarecseeeasseseceneansenseseesoseeeeesreessceresentseneaeaees 10 11 10 2 1 Backlash compensation sscsssscsseseeseceesnencersenserssseseseseneneeensenneesesssnereneuensenseaeeeeneeaeenenareareneeas 10 14 10 2 2 Software stroke limit cccsssessccsseescesssneescacssensenseussssssssaeesaeerseeseesaesseesauersusseeneneesssaceneccnsersueoasonss 10 14 10 2 3 Software stroke limit selection eee esee enitn tentent tenta testet than etus tna n stunt tn ernannt 10 14 10 2 4 Software stroke limit valid invalid setting cecinere nennen nennen nnne nennen ennt nnns 10 14 10 2 5 Command in position range eese nenne nnne enne ne ettet tene tnnt nennen nennen anta ene nene en nte nn
91. enable disable 2 Setting method e When changing the speed set the acceleration deceleration time in the AD75P e The written data becomes valid when the speed is changed When changing the acceleration deceleration time while changing the speed set the new acceleration time value and deceleration time value before the speed change then enable the acceleration deceleration time change For changing acceleration speed 0 to 65535 ms O to 8388608 ms lo sd For changing deceleration speed 0 to 65535 ms O to 8388608 ms change enable disable during Speed change Selecting the d Acceleration deceteration time change enable acceleration deceleration time e Other than 1 Acceleration deceleration time change disable 7 15 7 Other Functions MELSEC A 3 Note a If the acceleration deceleration time change enable is set the values in the buffer memory for changing the acceleration time and the buffer memory for changing the deceleration time become valid when the speed is changed b If the speed is changed by the acceleration deceleration time change enable the acceleration deceleration processing of the positioning data number for which the speed is changed is performed using the value in the buffer memory used to change the acceleration deceleration time The automatic deceleration processing upon completion of the positioning is also performed using the value in the buffer memory used to change the deceleration
92. feed value during speed control execution 6 25 6 Positioning Function MELSEC A 4 Checks performed during speed control When the currently operating positioning is performing a speed control the speed control in operation flag becomes 1 During speed position switch control During speed control During position control Speed position switch control signal Speed position switch control start Speed control start Position control start 5 T 6 i Speed Position control control Fig 6 2 Timing diagram of the speed control in operation flag Limitations a The speed control cannot be used for the continuous locus control If the operation pattern of positioning data is the speed control of continuous locus control a continuous locus control disabled error error code 516 is generated and positioning will not start b The setting for dwell time is ignored c When using the M code only the WITH mode can be used if the AFTER mode is used the M code is not output nor the M code on signal is not turned on Setting example of positioning data Positioning data is set for positioning data number 1 of axes 1 and 2 under the conditions listed below mem Positioning control Peripheral device setting data Positioning Operation pattern End of positioning Ena 1 j identifier Acceleration time selection Deceleration time 0 EG oe Postionmgaddresstave increment Seting not n
93. first then positioning is performed to the position obtained by synthesizing the travel increment and direction of travel specified for each axis Y axis Set address of each axis to O upon startup of positioning Specified travel ii nd 0 0 f X axis i Specified travel i increment 3 b The sign of the travel increment of each axis determines the direction of travel along each axis 1 For positive travel increment Positioning in the positive direction direction of address increase 2 For negative travel increment Positioning in the negative direction direction of address decrease Positive direction Y axis Stop address X1 Y1 Travel increment along the Y axis Movement due to linear interpolation of X and Y axes Negative direction Positive direction X axis X2 Travel increment along the X axis c The maximum travel increment allowed for fixed dimension feed along each axis is 2 If the travel increment exceeds the above range an out of linear travel increment range error error code 504 is generated when the positioning starts and positioning will not start Negative direction 6 13 Kuss WY 6 Positioning Function MELSEC A d Setting example of positioning data Positioning data is set for positioning data number 1 of axes 1 and 2 under the conditions listed below For the interpolation between axes 1 and 2 axis 1 serves as the refe
94. following is displayed The LED of the axis in which the error has Display ERR occurred flashes Operation monitor 2 Indicates the operation status of the axis The AXn indicator light changes every 0 5 whose axis display LED is turned on second see 9 6 2 Internal information 1 The OS type information is displayed Display S003 Internal information 2 The OS version is displayed Display V V O information n Displays the signal name switched using the The selected signal indicator is lit when in mode switch see 9 6 3 the on status Stepping motor mode Displays STMM The indicator for the stepping motor mode axis is lit 9 20 9 Setup MELSEC A 9 6 2 Message descriptions for operation monitor 2 lt Message gt lt Description gt IDLE 788 Standby starts from the initial state if start is input STOP HeHHeHmHHHH During stop restarts if start is input JOG Bemepsesessosonecsaososcosssossesus During JOG operation MANP Hmmm mH During manual pulse generator operation 6 gt eee During home position return POS HMM MMIRRRRSRMeSeMHMmKe During position control VELO RIRRSereeeeee During speed control VAP eene nnn During speed control of the speed position control MeB sitet see During position control of the speed position control BUSY HMM Waiting fora condition etc f amp eesesecussosssossesssepsoscosnecosne Error OCCUITence Error number display ns When an error has occurred at an axis the error number occurri
95. for positioning are output to the drive module that corresponds to the open collector External start Pin number 16 e Used as an input signal for external positioning start speed change request or skip request e The selection of external start function in extended parameter 2 determines in which function the external start is used 3 7 3 Specification 10 11 12 13 14 15 16 MELSEC A Speed position switch signal Pin number 15 e Input control switch signals during speed position switch control Stop signal Pin number 14 e Input when positioning is stopped 2 e When this signal turns on the D75P2 stops the positioning currently executed and turns off the start signal After that the D75P2 will not start operating even if this signal is switched from on to off Low limit Pin number 13 e Input from the limit switch provided at the low limit of stroke When this signal turns off positioning stops e Become the low limit of search for the near point signal when automatic home position return is enabled High limit Pin number 12 e Input from the limit switch provided at the high limit of stroke e When this signal turns off positioning stops Become the high limit of search for the near point signal when automatic home position return is enabled Near point signal Pin number 11 e Used for near point dog detection during home position return e Detect
96. for the deceleration time during JOG operation is set e Deceleration time 0 Set by a basic parameter See Section 10 1 7 e Deceleration time 1 to 3 Set by an extended parameter See Section 10 2 15 10 2 19 Acceleration deceleration processing selection For acceleration deceleration processing whether to use trapezoid acceleration deceleration processing or S curve acceleration deceleration processing is set 10 2 20 S curve ratio The S curve ratio used to perform S curve acceleration deceleration processing is set Setting the S curve ratio makes the acceleration deceleration processing gradual Setting a small S curve ratio makes the curve closer to a straight line The S curve acceleration deceleration graph forms a Sin curve as shown in the figure below Sin curve r Acceleration time Deceleration time The S curve ratio sets which part of the Sin curve is used to draw an acceleration deceleration curve as shown in the figure below E l Example v Positioning speed When S curve ratio is 100 Positioning speed S curve ratio B A x 100 10 19 10 Setting Positioning Parameter MELSEC A 10 2 21 Rapid stop deceleration time 1 The time that takes to reach speed 0 from the speed limit value at rapid stop is set 2 Selecting an acceleration deceleration time setting size determines whether the setting range is 1 word type 1 to 65535 ms or 2 word type 1 to 8388608 ms 10 2 22 Rapi
97. gear rotations Number of output gear rotations The speed transmission ratio A 37 Reference axis speed The speed of an axis used as reference during l interpolation operation Y axis speed auxiliary axis X axis speed reference axis Reference axis speed Regenerative brake option An optional product used when acceleration deceleration is performed at high frequencies See External regenerative brake resistor Resolver A device that detects an angle by dividing input into two analog voltages Also called 2 phase synchronizer since the axis rotation angle of a 1 phase voltage input is converted to a 2 phase voltage analog voltage and output Travel distance per resolver rotation po Position detection value ee Ada Recibe Resolver addresses 0 to 4095 converted to digital values Motor Return pulse See Feedback pulse in the glossary RLS Reverse Limit Switch signal Input signal XnC which indicates that the low limit switch having a contact b configuration and carrying current in a normal state located outside the movement range of positioning control was activated Positioning operation stops when the external RLS signal contact b is turned off becomes non conductive Rotary table A round table that carries work placed on it rotating within the range of 360 degrees to perform positioning control Appendix MELSEC A Umm M MELSEC A
98. generator operation 2 The positioning data includes positioning identifier M code dwell time command speed positioning address and circular address The positioning data is set for each axis 3 The range check of each set value of positioning data is performed at execution of each positioning When the value is out of the range an error occurs and positioning will not be executed See Section 6 1 for positioning data settings by positioning control method 11 1 11 Setting Positioning Data MELSEC A Table 11 1 Positioning data 5 Initial value i Setting range Standard mode mm inch degree puse Positioning Operation pattern 00 Positioning complete identifier 01 Continuous positioning control 11 Continuous locus control Present value Present value change change Control method Display on Set data instruction peripheral device code JUMP instruction e JUMP instruction LINC line1_____ _Single axis linear control increment method ____ 024 number number feed 1 e Dual axis linear interpolation control absolute method Dual axis linear interpolation control increment method e Fixed dimension feed control by dual axis linear er al feed 2 interpolation interpolation specification absolute method interpolation specification increment method Eu Smeaton 9 clockwise Specification absolute method clockwise counterclockwise Specification absolute method counterclockwise Abs
99. home position retum with no near point dog Travel increment after near point dog ON Torque limit storage value The torque limit setting value or a new torque value is stored The torque limit value is stored at positioning start JOG start and manual pulse generator operation start fa value other than O is set in the buffer memory 1176 1226 for storing new torque value during operation the torque value after change is stored When performing torque limiting of a drive module the torque limit storage value is output to the drive module via a D A converter 1O ce Write allowed X e Write prohibited 1 The same value is stored in the remote input signal RX During monitoring the same result can be obtained even if the remote input signal RX is used 8 21 8 Buffer Memory MELSEC A Butter TTC TA address Setting range Initial value Lei m start data instruction e The special start data instruction code specified by the start data pointer being code set value executed is stored The content is retained until the start data pointer is updated The special start data instruction parameter specified by the start data pointer being executed is stored The content is retained until the start data pointer is updated The positioning data number specified by the start data pointer being executed is stored The indirect specification number is stored in the case of indirect specific
100. ignores the remaining dwell time and performs the next positioning d The following will occur during interpolation operation If the skip signal to axis 1 is turned on the movement decelerates to stop along both axes and the next positioning for axis 1 reference axis axis 1 starts e When the M code output is in AFTER mode the M code ON signal will not turn on The M code will not be stored in the buffer memory for M code storage f Askip signal during home position return operation is ignored Positioning start BUSY Positioning Skip signal Fig 7 9 Processing when the skip signal is input during positioning control 7 41 7 Other Functions MELSEC A 1 As the external start signal is used for the following applications it is necessary to set the function selection of external start input to the skip function when using the skip function Use the AD75P to set the function selection of external start input External positioning start e External speed change request e Skip request input signal Also when using the external start signal it is necessary to set the external start valid 2 Use the buffer memory addresses and remote register addresses listed below for setting skip commands and external start valid Buffer memory address for Remote register address for setting skip command external start valid 1175 RY n 2 B 1225 RY n 4 B 7 42 7 Other Functions MELSEC A 7 11 Step Function
101. in each of 3 directions X Y Z Operating ambience Under continuous vibration ovrvagecmegay im S 2 max 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 the premises Category ll applies to equipment for which electrical power is supplied from fixed facilities The surge voltage withstand level for up to the rated voltage of 300 V is 2500 V 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 condensation must be expected occasionally 3 1 3 Specification MELSEC A 3 2 Performance Specifications Performance specifications for the D75P2 are shown in the table below 3 2 1 Performance specifications Table 3 2 Performance specifications 1 Number of control axes Interpolation function Dual axis linear interpolation dual axis circular interpolation 1 Control method PTP Point to Point control locus control linear and circular settings possible speed control speed position switch control Control unit mm inch degree pulse Positioning data 600 data positioning data number 1 to 600 axis setting possible Peripheral device
102. in the remote register and buffer memory for control an error in the update timing 56 8 ms of a present value occurs 7 28 7 Other Functions MELSEC A 7 5 2 Present value change 1 What is the present value change a This is to change the present feed value of an axis which is not used for the movement to a specified address However the machine feed value will not be changed To change the present value it is necessary to set the positioning start number and turn on the positioning start signal b The present value changing methods include two types a method using the positioning data and that using the remote register for present value change 1 The present value change via the positioning data uses the present value change of the positioning data control method 2 The present value change using the remote register for present value change sets the address after a change in the remote register that is allocated for present value change 9003 is used for the positioning start number 2 Present value change via the positioning data a The present value change via the positioning data is performed in the following steps Create a positioning data for present value change Set the present value change for the control method Set the present value after a change in the positioning address Set the positioning data number for present value change for the positioning start number Turn on the p
103. input scale range e Tum off the manual pulse generator enable flag e Set the setting value for manual pulse generator selection to 1 to 3 e Tum the remote station ready signal off gt on Speed chanos is not performed Do not change speed during deceleration or stop due to a stop command or during automatic deceleration in positioning control Manual pulse generator When the start of operation Operation does not start selection setting O lt Positioning opcration Deceleration stop speed change When speed change 13 10 13 Troubleshooting MELSEC A Error Detection timing Operation status when Corrective action code error is generated 501 Speed limit value exceeded When speed is changed The speed cramps to the Set the speed after change within the range of speed limit value 0 to speed control value Remainder dispersion speed When in the remainder The applicable axis generates a No processing drop dispersion mode during position waming control M code ON signal ON When execution of positioning Execution of positioning data is Correct the on off timing of the M code OFF data continued signal No operation complete setting When the 50th point is updated Operation is terminated Set operation completion at the 50th point FOR to NEXT nest structure During analysis of the FOR Operation continues Limit the FOR to NEXT nesting structures to 1 instruction
104. input signal RX is used 8 20 8 Buffer Memory MELSEC A Buffer Par address Setting range Initial value E Description UEM E position retum Tums on when home position retum completes complete flag normally e Tums off at home position retum start positioning operation start JOG operation start or manual pulse generator operation start and when the drive module ready signal tums off peer nauem S r1 e Tums off by axis error reset ON Speed change O flag Tums on when a speed change request is made with the new speed value being 0 Tums off when a speed change request is made with the new speed value being other than O ji e Tums on when the location of the absolute home iti position overflows due to present value change i e Tums on when the location of the absolute home iti position underflows due to present value change ME The following set values are stored in connection with positioning operation 819 919 e During position control a set value is stored based on the specified positioning address travel increment Set speed Bol Location of absolute home 924 The above set value is stored at start of position control es position 824 825 925 O is stored at completion of positioning in position control 826 e Ois stored during speed control and at home position retum e As for speed position control switching O is stored at start and the travel increment is stored as the
105. is completed normally 12 Building a System MELSEC A X0007 H H K M 0000 0668 D10 1 When data link Start by the buffer Y0006 memory parameter is completed abnormally M2 Data link start X0000 X000F X0001 H H Kl K Reads the D75P2 I 34 1 data link status SWO080 CALL pjo H D75P2 data link in progress EL Quo D75P2 data link error 12 24 12 Building a System 12 5 5 Communication positioning programs MELSEC A This section shows programs for remote I O read write communication as well as for positioning such as home position return start and positioning start P10 M9036 H H K4 K Remote input read D75P2 initial processing Servo on 0000 00E0 MI00 3 K4 M148 2 H H FROM 0000 00E4 H H K4 ROM 0000 00E7 M180 i M188 ib M188 SET 257 X005D M188 X005D M257 M24 M216 M232 12 25 Reads RXOO to RX2F to M100 to M147 Reads RX40 to RX5F to M148 to M179 Reads RX70 to RX7F to M180 to M195 Turns on the initial data processing complete flag Initial data setting request Turns on the servo ON command flag Sets the single axis servo ON signal Sets the dual axis L servo ON signal 12 Building a System MELSEC A XOO6E M200 M100 Turns on the single 3A A Sm axis home position return start request flag M22 H H K K Writes 9001 to the 0 0000 O0IEO 9001 1 single axis positioning
106. limit and lower stroke limit for the mechanical system input of D75P2 s external input connectors High limit Lower limit i Controllable range of D75P2 Mechanical stopper Direction of Start Start movement Li Direction of Mechanical stopper movement 1 Deceleration stop by Deceleration stop by detecting the upper detecting the lower limit switch limit switch Drive module 3 If the D75P2 has stopped outside its controllable range positioning cannot be started If it has stopped by detecting a stroke limit by external input move it to a position within the D75P2 controllable range using the JOG operation 4 The stroke limit via external input can also be used by the home position return retry function See Section 5 6 for the Home Position Return Retry Function 7 20 7 Other Functions MELSEC A 5 Wire the stroke limit via external input as shown in the figure a below If the stroke limit via external input is not used wire the high low stroke limit terminals of D75P2 as shown in the figure b below D75P2 a Wiring the stroke limit D75P2 b Wiring when the stroke limit is not used If it is open between FLS and COM as well as RLS and COM including when not wired the high low stroke limit of D75P2 turns off and positioning cannot be started When not using the high limit switch low limit switch wire as shown above FLS and RLS indicates the hi
107. limit value of software stroke limit is 0 and its high limit value is 345 i i i I 1 I I gt t 345 00000 0 i 315 00000 i t l l I I I l Positioning is performed clockwise The positioning address should be within the range of 0 to 359 99999 Use the increment method to perform positioning of one rotation or more 7 55 M 7 Other Functions MELSEC A 2 Increment method When using the increment method positioning is performed for a specified travel increment in the specified direction The sign of travel increment determines the travel direction e When the travel direction is positive Clockwise e When the travel direction is negative Counterclockwise With the increment method positioning of 360 or more can be performed To do this set low limit value of software stroke limit high limit value of software stroke limit and set the software stroke limit to invalid 7 56 7 Other Functions MELSEC A 7 15 Setting the Stepping Motor Mode 1 Whatis the stepping motor mode a b The stepping motor mode performs prevention of out of step acceleration deceleration and reduction of machine vibration due to decreased frequency variation when using the stepping motor with D75P2 By selecting the stepping motor mode the stepping motor can be used without getting out of step Also machine vibration due to frequency variation during operation
108. limitation as to the number of Start Switching signal changes performed Upon qe ed eee RN hr aE IOS High speed incremental positioning Speed switching control During positioning control positioning to the endpoint of travel increment is performed while the speed is changed at speed switching points 1 1 1 M M M LS1 LS2 LS3 Speed change using a limit switch external signal i L L H LU L Start complete The reply signal issued by the D75P2 immediately after Speed control pee receiving a start command to indicate that the module is NEA functioning normally and ready to begin positioning It is different from positioning complete A type of speed control performed mainly by the servo motor Sample applications include grinding wheel rotation welding speed and feed speed Unlike position control the present value address is not controlled In Starting axis some cases a different drive module may be used for ifie same motor Specify axis 1 or axis 2 of the two axis systems of the D75P2 or the reference axis of interpolation operation Speed integral compensation The hat kem of senio parameters relating to positioning Data indicating a status A collective name for signals data and is used to improve the frequency response that tu h ba Sealy g and transient characteristic during speed control w MANN ot dau VO UC ied ila Increasing this value is effective when overshootin
109. memory Stores parameters and positioning data and backs them up without using batteries Since no battery is used battery maintenance is not required Floppy disk A disk shaped magnetic storage device A flexible disk Depending on the size 5 inch and 3 5 inch disks are available Information is stored along concentric circles Used commonly since the memory capacity is large and the write read time is short Abbreviated as FD Concentric circles represent tracks Tracks are partitioned into fan shaped sections called sectors Sector a unit of capacity Floppy disk drive module A device that reads and writes the contents of a floppy disk Read write is performed by rotating a floppy disk using a motor Abbreviated as FDD FLS Forward Limit Switch signal Input signal XnB which indicates that the high limit switch having a contact b configuration and carrying current in a normal status located outside the movement range of positioning control was activated Positioning operation stops when the external FLS signal contact b is turned off becomes non conductive Formatting To initialize a disk An operation to write rules and indexes to a disk Thus the memory capacity of the disk is reduced by the amount required for the rules and indexes A 30 Gain To change the ratio of two values that are in direct proportion to each other in a graph to change the slope of characteristic m4 4 f Gain is i
110. method 1 Reference axis speed interpolation mode Present value update request command during speed control Does not update the present feed value during speed control Updates the present feed value during speed control Performs 0 clear on the present feed value during speed control Manual pulse generator selection ignores manual pulse generator operation Uses manual pulse generator 1 Uses manual pulse generator 2 Ny OJN o 3 Uses manual pulse generator 3 Acceleration deceleration time O 1 word type 1 to 65535 ms size selection 1 2 word type 1 to 8388608 ms tO e Write allowed X eM Write prohibited 8 7 8 Buffer Memory MELSEC A The contents set by the extended parameter 1 become valid when the remote station ready signal switches from off to on If setting contents in the extended parameter 1 are rewritten while the remote station ready signal is on switch the signal off then on again The upper row indicates setting ranges in the standard mode while the lower row indicates those in the stepping motor mode 8 Buffer Memory MELSEC A 8 5 4 Extended parameter 2 186 Acceleration time 1 1 to 65535 ms 1 to 8388608 ms AME Ci M 189 191 42 Hes pessimum id 1 to 65535 ms 1 to 8388608 ms 43 194 Deceleration time 2 d joe ae 197 4 198 JOG speed control value 1 to 600000000 20000 4 199 x107 mm min x10 inches min x10 degrees min pulses se
111. mode is set certain restrictions apply to items such as the control method and positioning address Use the module after verifying the restrictions that apply to the stepping motor mode in Section 7 15 2 Use of bias speed at start While the stepping motor is used the motor rotation can be started smoothly by selecting the stepping motor mode and setting the bias speed at start 3 The use of S curve acceleration deceleration is not allowed While the stepping motor is used S curve acceleration deceleration cannot be performed 4 Circular interpolation control is not allowed While the stepping motor is used circular interpolation control cannot be performed 2 4 MEMO 2 5 3 Specification MELSEC A 3 Specification This chapter explains the general specifications performance specifications and I O interface with external devices for the D75P2 3 4 General Specifications General specifications for the D75P2 are shown in the table below Table 3 1 General specification tem Specifications Ambient operating 0 to 55 C temperature Vibration resistance Conformingto Frequency Acceleration Amplitude JIS B 3501 Under intermittent 10 to 57 Hz 0 075 mm 10 times each in IEC 1131 2 vibration 0 003 in X Y Z 57 to 150 Hz 9 8 m s 1G directions 10 to 57 Hz 0 035 mm 0 001 in for 80 min 4 9 m s 0 5G Shock resistance Conforming to JIS B3501 IEC 1131 2 147 m s 15G 3 times
112. module e Location where the ambient temperature exceeds the range of 0 to 55 C e Location where the ambient humidity exceeds the range of 10 to 90 RH e Location where condensation occurs due to a sudden temperature change e Location where corrosive gas or flammable gas exists e Location where a lot of conductive powdery substance such as dust and iron filing oil mist salt or organic solvent exists e Location exposed to direct sunlight e Location where strong electric fields or magnetic fields form e Location where vibration or impact is directly applied to the main module 9 4 9 Setup MELSEC A 9 3 Module Installation This section describes installation of the D75P2 There are two types of installation of the D75P2 as described below e DIN rail installation e Control panel installation During installation attend to the following points as well as the handling precautions Precautions when installing the module Ac AUTION e Use the PC in the environment given in the general specifications of this manual Using the PC outside the range of the general specifications may result in electric shook fire or malfunction or may damage or degrade the product e Tighten the module installation screws with the specified torque If module installation screws are loose it may cause short circuits fire or malfunction If module installation screws are tightened too much it may cause dropping of the Screws and module
113. not start If this occurs during positioning control the operation stops immediately after the error is detected See Section 10 2 24 for the spiral interpolation 6 23 6 Positioning Function MELSEC A d Circular interpolation control with the specified center point can be performed even when the operation pattern is continuous locus control e If the used unit is degree circular interpolation control with the specified center point cannot be performed f The maximum radius allowed for circular interpolation control is 2 If the calculated radius exceeds the above range a radius setting error error code 544 is generated upon startup of positioning and positioning will not start If this occurs during positioning control the operation stops immediately after the error is detected g If the calculated endpoint address positioning address or center point address circular address is outside the range of 2 to 2 1 the errors listed below are generated and positioning will not start If this occurs during positioning control the operation stops immediately after the error is detected 1 Foran endpoint address Endpoint setting error error code 526 2 Foracenter point address Center point setting error error code 527 h In the following cases a center point setting error error code 527 is generated upon startup of positioning and positioning will not start If this occurs dur
114. of positioning control functions is provided in Section 1 4 e Amaximum of 600 data items per axis can be set for positioning data including the positioning address control method operation pattern etc e Linear control two axis simultaneous execution is allowed can be performed for the positioning of each axis independent positioning using one positioning data item or continuous positioning via the continuous execution of multiple data items e Linear interpolation control with two axes as well as circular interpolation control can be done for the positioning of multiple axes independent positioning using one positioning data item or continuous positioning via the continuous execution of multiple data items b The control methods specified by positioning data include the position control speed control and speed position switch control c Depending upon the operation pattern set by the user using positioning data continuous positioning can be performed for multiple axes or each axis using multiple positioning data items Continuous positioning can also be performed for multiple blocks each of which consisting of multiple positioning data items d The home position return control has been extended e Seven types of home position return methods are available the near point dog method one type stopper stop method three types count method two types and data set method one type However the data set method is avai
115. of the connector for connecting external devices to the D75P2 for one axis is shown below Axis 1 and 2 use the same signal layout for connecting external devices Common Common Common ABS IN 19 Common ABS OUT 20 ABS request 21 ABS transfer mode 22 Servo on 23 Manual pulse ome 2 Manual pulse generator Common 3 Zero signal common 5 Zero signal 5 V 6 Error counter clear common 4 Pulse sign differential n Pulse output differential Pulse sign common Open collector Pulse output common Open collector ABS data bit 1 24 ABS data bit O External start 9 Speed position switch signal 10 Stop signal 11 Low limit 12 High limit 13 Near point signal 14 Manual pulse wd 2 Manual pulse generator In position 15 Drive module ready 16 Zero signal 24 V 6 Error counter clear 17 Pulse sign differential Pulse output differential Pulsa sign open collector Puise output open oy 8 ak N Oo ew we en yooh OO NOoOATOAN WO ST 1 to 24 beside signal names are numbers corresponding to the explanations in b Description of connector signals ABS transmission data ready complete 18 Pin sie Signal name Signal direction Connection destination AD75 external External device Extemal device Drive module Drive module Drive module Drive module Drive module Drive module Man
116. output Operation status Standby X During home position return Standby Travel increment after near point dog ON Inconsistent x 0 Mo Present feed value machine feed value Inconsistent X The value of travel is stored Home position return address Fig 5 13 When dwell time elapses before stopper stop 5 20 5 Home Position Return Function MELSEC A 5 5 6 Stopper stop type 3 home position return no near point dog method 1 What is the stopper stop type 3 home position return In this method home position return starts at the creep speed and is completed when the zero signal is input to the zero signal terminal using an external switch when the stopper is hit 2 Actions during the stopper stop type 3 home position return When the stopper stop type 3 home position return is started the following actions are performed e The movement occurs in the specified home position return direction at the specified creep speed e The moving point hits the stopper at the creep speed and stops e Home position return is completed when the zero signal is input Creep speed Stopped by stopper Zero signal Torque limit Home position return start Home position return request flag Home position return complete flag Error counter clear output V Operation status Standby During home position return x Standby Travel increment after near point dog ON Inconsistent X 0 i Present feed value machine feed value Inconsistent x The va
117. performs stop via the zero signal which is received after the specified distance from near point dog ON travel increment after near point dog e The travel increment after near point dog is set by the home position return parameter e The pulse generator PG must be of type with the zero signal function 2 Actions during the count type 1 home position return When the count type 1 home position return is started the following actions are performed e The movement occurs in the specified home position return direction at the specified home position return speed e When the near point dog is turned on the movement decelerates to the creep speed e The movement stops by the zero signal received after having moved for the specified travel increment from near point dog ON At this time an error counter clear output is output to the drive module Home position Travel increment after near point return speed dog ON Creep speed t Allow an ample distance from the location of the home position for near point dog OFF The first zero point after movement by the travel increment after near point dog ON Home position return start Home position return request flag Buffer memory bit 3 b3 of 817 917 Home position return complete flag Buffer memory bit 4 b4 of 817 917 Error counter clear output Operation status bei feed value machine Inconsistent The vaiue of travel is stored Home position return address eed va
118. point 6 20 6 1 8 Speed control forward rotation reverse rotation sesenta 6 25 6 1 9 Speed position switch control forward rotation reverse rotation essere 6 27 6 4 10 JUMP INSEUCHION mec Lm 6 31 6 2 Operation Pattern of Positioning Control ccccecssssesssssesescssseescsstesssssesecesssecasasseseuseseacacsestssescacasseseaseeses 6 33 6 2 1 Individual positioning control operation pattern 00 ccscsscssscsssessssesssccessceereccereccnceteees EUR 6 33 6 2 2 Continuous positioning control operation pattern 01 ccscsccssssecsssssscssssescsersasecseeteeescereeseeees 6 34 6 2 3 Continuous locus control operation pattern 11 eeeeeeeseseeseeseee seen eren ret rnettttatretes 6 35 6 3 Starting Positioning Control eee eee ee eesesseseeses entes ense sten ttt tne tata inest sew ash e spen b sre spes ss esses ess sp spas spin 6 43 6 3 1 OVORVIOW gc m 6 43 6 3 2 Stat Method ete 6 49 6 9 9 Special stat iii E RAA AAEE N NANA a 6 51 6 3 4 Setting the bias speed at Start esscsseseesesesseessecssecseseeteoescesensensacsssaceaceasensesessesesseatsctecaesntares 6 54 6 4 Stop of Positioning Control RRRREENNMMMMMEMAN 6 55 6 4 1 Stop command and Stop factOrs cceccessesescssesessecseesscesssnsscesessssceasossesescnsacsauenacancassassusasesenessentsass 6 55 6 4 2 Stop processing and priority ecsssscsessssescescssssessessusesasssce
119. program RX n 7 8 Initial data processing request RY n 7 8 initial data processing complete RX n 7 9 Initial data setting complete RY n 7 9 Initial data setting request RX n 7 B Remote station ready 2 When changing parameters Executed by the D75P2 Executed by the sequence program RX n 7 9 Initial data setting complete RY n 7 9 initial data setting request RX n 7 B Remote station ready Parameter setting is performed Fig 3 1 Timing of I O signals Se 3 22 3 Specification MELSEC A 3 4 Remote Register The D75P2 has a remote register used for data communication with the master module This section explains the assignment and data configuration for the remote register 3 4 44 Remote register assignment Table 3 5 shows the assignment for the remote register Table 3 5 Remote register assignment Address Description Default value RWwm Single axis positioning start number o RWwm 1 Single axis override Section 3 4 3 RWwm42 Single axis new present value Section 3 4 4 RWwm 3 Communication direction Master remote Reference section Single axis new speed value RWwm45 Single axis JOG speed MK Section 3 4 6 Dual axis positioning start number RWwm 410 Dual axis new present value o Section 3 4 4 RWwm 12 Dual axis new speed value Section 3 4 5 m 13 RWwm 14 Dualaxis JOG speed ONE Section 3 4 6 RWm Single axis present feed value Bc Section 3 4 7 Single axis feed speed
120. s Manual c AJ65B T D 75P2 S3 Positioning Module User MITSUBISHI AJ6BBT D75P2 S3 Positioning Module User s Manual MELSE Mitsubishi Programmable Controller SAFETY PRECAUTIONS 6 Read these precautions before using When using Mitsubishi equipment thoroughly read this manual and the associated manuals introduced in this manual Also pay careful attention to safety and handle the module properly These precautions apply only to Mitsubishi equipment Refer to the CPU module user s manual for a description of the PC system safety precautions These 6 SAFETY PRECAUTIONS G classify the safety precautions into two categories DANGER and CAUTION i Procedures which may lead to a dangerous condition and cause death or DANGER serious injury if not carried out properly Procedures which may lead to a dangerous condition and cause superficial i CAUTION to medium injury or physical damage only if not carried out properly Depending on circumstances procedures indicated by NCAUTION may also be linked to serious results In any case it is important to follow the directions for usage Store this manual in a safe place so that you can take it out and read it whenever necessary Always forward it to the end user Design Precautions e Configure a safety circuit outside the PC so that the safety of the overall system is always maintained even if the external powe
121. scan time See Section 5 2 of the Master Module User s Manual RS D75P2 internal processing time See Section 3 5 1 Data Flow PC CPU SM Master station buffer memory remote input RY remote register RWw Link scan LS D75P2 MELSEC A RYn input signal RWw remote register 3 28 4 Function List MELSEC A 4 Function List 4 1 Function List Table 4 1 shows the functions of the A1SD75P1 S3 P2 S3 P3 S3 and AD75P1 S3 P2 S3 P3 S3 Table 4 1 Function list Pp Fumton O O Description Position control Independent A single specified positioning is executed completed then operation stops mode positioning Continuous A single specified positioning is executed completed then operation pauses after which positioning positioning for the next number is executed continuously This action is repeated until a positioning with the positioning complete operation pattern is executed Continuous A single specified positioning is executed completed and without pausing positioning for the locus next number is executed continuously This action is repeated until a positioning with the positioning positioning complete operation pattem is executed Interpolation positioning Two axes are controlled simultaneously and positioning toward the specified address is executed along a linear or circular locus Block positioning The next positioning is executed by treating as one blo
122. software stroke limit valid invalid at JOG operation and manual pulse generator operation of the axis control data in the buffer memory 3 Operation is normally performed up to the positioning data immediately preceding the positioning data in which the following errors occur then stops immediately peripheral device 3 2 For the software stroke limit valid invalid at JOG operation and manual pulse generator e Out of linear travel increment range error code 504 Dn e Large circular error gap error code 506 e Travel outside stroke limit error code 511 e Travel outside stroke limit error code 512 e Auxiliary point setting error error code 525 e Endpoint setting error error code 526 e Center point setting error error code 527 e Radius out of range error code 544 4 Indicates positioning during positioning control using positioning data speed control or speed position switch control 5 Indicates home position return that is travelling at the home position return speed or creep speed 6 Even if an external stop signal or axis stop signal is turned off while the start signal is on it will not start abruptly the start signal is valid only when it rises off to on 6 56 6 Positioning Function MELSEC A The operation stops as soon as the set positioning address is reached while decelerating to stop Positioning speed 6 57 Stop factor Processin
123. source LED E Collimating lens Pe Light receiving element photo diode Index scale Linear encoder Error correction When the machine has a dimensional error and sending a command of 1 m from the D75P2 has resulted in an actual dimension being shorter or longer than 1 m the error is compensated For example if the actual dimension is smaller than 1 m an extra dimension corresponding to the difference is fed so that positioning is performed correctly for 1 m Error counter Provides two functions shown below 1 Counts command pulses sent from the D75P2 and sends their count value to the D A converter Subtracts feedback pulses from command pulses and drives the motor using the error of command pulses from feedback pulses droop pulses The motor is operated until the number of command pulses becomes 0 2 Command pulse Error counter D A converter Feedback pulse Encoder A 29 MELSEC A Error reset Resets all errors concerning both axes If the cause of any error has not been removed upon reset an error occurs again d External regenerative brake resistor Called regenerative brake When a machine is driven by a motor power is normally supplied to the motor from the amplifier However the rotational energy of the motor and machine flows back to the amplifier regenerates when the motor decelerates or decreasing load is applied The external regenerative brake resisto
124. the high low limit switch OFF is ignored The manual pulse generator can be operated by the pulse input in the direction of high low limit switch ON Manual pulse generator s operation t Manual pulse generator s operation disable LI Manual pulse generator s operation enable 1 t L t po od High low limit switch 7 8 7 Other Functions MELSEC A 7 2 Speed Change Function during the Positioning Operation 1 What is the speed change function a The speed change function changes the speed to a specified speed at an arbitrary timing during the following positioning operations Positioning control Speed control Speed positioning switch control e JOG operations b The speed changes during the positioning operation include the speed change via the remote register for speed change and the speed change via the override function 7 2 1 Speed change via the remote register for speed change 1 Speed change via the remote register for speed change The speed can be changed by setting the speed after a change in the remote register for speed change and making a speed change request a The addresses of the remote register for speed change are as follows omsmme s A2 Remote register address for speed change RWwm 4 RWwm 5 RWwm 12 RWwm 13 b The speed change can be requested by either writing 1 to the device for speed change request or turning on the external speed chang
125. the home position cannot be performed via the absolute positioning that uses the location of the absolute home position 5 6 5 Home Position Return Function MELSEC A 5 4 5 Data set type home position return 1 2 What is the data set type home position return The data set type is a home position return method that does not use near point dog It can be performed when an absolute position detection system is used The present value when home position return is executed becomes the home position address The address when home position return is executed is registered as the home position address t Home position return start Precautions Items that should be noted when performing the data set type home position return are given below 1 If the system is not an absolute position detection system when the data set type home position return is started the same function as when the present value is changed is obtained 2 The only home position return data used in the data set type is the home position address For home position return data other than the home position address set desired values within the setting range 5 7 5 Home Position Return Function MELSEC A 5 5 Home Position Return Method 5 5 1 Near point dog type home position return 1 What is the near point dog type home position return The near point dog type home position return stops using the zero signal after the near point dog cha
126. the master module area corresponding to the control data and data to be written to the buffer memory of the D75P2 will be used The receive buffer stores the control data Example Writing the single axis speed limit value of the D75P2 Device PC CPU Master module send buffer D75P2 D250 Dummy area D251 D252 Control data Address D253 Number of write points words 1000H to 103FH Address D254 D260 Data to Single axis speed x E Single axis speed limit value be written limit value 9 p D261 Address receive buffer 1040H Complete status Station number 1041H request code 12 8 12 Building a System MELSEC A b When using the RIWT instruction AnSH dedicated instruction This is used when only writing to the specified buffer memory of the D75P2 When using the RIWT instruction the send buffer buffer memory of the master module area corresponding to the control data and data to be written to the buffer memory of the D75P2 will be used The receive buffer stores the control data Example Writing the single axis speed limit value of the D75P2 Device PC CPU Master module send buffer D75P2 D350 Dummy area Number of write points words D351 D352 Address D353 Buffer memory address Bank 1 OH to 3FH Number of received data D354 Data to specification be written Receiving time out specification Single axis speed limit value D355 Address receive buffer Bank 1
127. the positioning data number of the counter party axis that performs simultaneous start is set See Section 11 4 5 11 4 4 Parameter 2 1 Parameter 2 is used to set data necessary for the conditional operator 2 Only numeric value data can be set in the parameter 2 When the conditional operator is for simultaneous start the positioning data number of the counter party axis that performs simultaneous start is set See Section 11 4 5 11 4 5 Parameter 1 and parameter 2 settings for simultaneous start 1 When the conditional operator is for simultaneous start the positioning data number of the axis that performs simultaneous start is set using parameter 1 and parameter 2 2 Set positioning data numbers for axis 1 and axis 2 as shown below The area used by axis 1 and axis 2 are fixed Positioning data number for axis 1 lower 16 bits of parameter 1 Parameter 1 Positioning data number for axis 2 upper 16 bits of parameter 1 Parameter 2 Not used upper 16 bits of parameter 2 11 13 12 Building a System MELSEC A 12 Building a System 12 1 Overview Assume a system consisting of a master station and the D75P2 being connected Master station A62P A4UCPU La e AX42 AY41 Ld X20 X40 Y80 YAO to to to to X Y1F X3F X7F Y9F YBF Terminal register Occupies 4 terminals intelligent device station station number 1 AJ65BT D75P2 S3 O00 000 Positioning mo
128. to detection of high low limit switches and for home position return execution after stop following near point dog OFF 2 The dwell time set at home position retry becomes valid when the movement stops at position A or B shown in the figure below The same value is used for dwell time at positions A and B Home position return direction Stop due to limit Switch detection Re execution of home position return P een Stop due to near Home position Home position return start point dog OFF Reverse operation after limit switch detection Near point dog Limit switch OFF NUE Zero signal 3 The dwell time for home position return retry is set in the buffer memory shown below 4 The dwell time written to the buffer memory below becomes valid when the remote station ready signal rises off on Buffer memory oe Setting range initial value home position return retry 0 to 65535 ms dwell time Fora value of 32768 ms or greater convert it to a hexadecimal value and set the converted value Example For 32768 and 65534 set the following data e 32768 H8000 e 65534 HFFFE 5 27 5 Home Position Return Function MELSEC A 5 7 Home Position Shift Function 5 7 1 What is the home position shift function 1 The home position shift function is used to adjust the location of the home position at which the mechanical home position return has
129. to 600 is stored Start data pointer in execution Last executed positioning data number Hu un Positioning data number in execution x Axis 1 Axis2 838 938 839 939 840 940 841 941 842 942 843 943 844 944 945 946 947 Positioning identifier Command speed Positioning address tO es Write allowed X ee Write prohibited 1 The same value is stored in the remote input signal RX During monitoring the same result can be obtained even if the remote input signal RX is used 8 22 8 Buffer Memory MELSEC A 8 7 Control Data Area This section explains the control data area of the buffer memory The initial values are stored in the control data area at power on The control data area is divided into the following two areas e System control data area e Axis control data area 8 7 34 System control data area Buffer memory address Remarks setting range common to axis 1 and axis 2 Clock data setting Sets clock data inside the D75P2 from a PC CPU after the D75P2 is powered hour on The hour setting is as follows Hour stores 00 to 23 in BCD Date data is ignored even when set Clock data setting minute second bo Second stores 00 to 59 in BCD Minute stores 00 to 23 in BCD Clock data write Clock data write acknowledge complete set by the OS 1 Clock data write request set using a sequence program Positionin
130. turns Turned by power and used in operations in which one rotation or 360 degrees is divided at necessary points The control unit of positioning should be degree Turned by the motor 2 phase excitation system A system in which the stepping motor coils are excited in a fixed order In this system current flows constantly into two phases to perform step feed Putse input FULL PALA FL 2 phase pulse Dual chain pulses of phase A and phase B Using a phase difference between the two phases addition and subtraction can be performed automatically A standard phase difference is 90 degrees in electric angle If phase B delays from phase A during forward rotation phase B turns on after phase A has turned on phase A delays from phase B during reverse rotation phase A turns on after phase B has turned on Using this forward reverse rotations addition subtraction can be performed automatically 1 aod 90 I FE i 1 1 Li t t 1 i t LI t 1 a Phase B 1 1 i 1 t I i LI i LI LI I 12345 6 7 8 910111213141516 Count gt Forward Reverse lt Number rotation rotation addition subtraction Appendix Appendix MEL SECA 2 speed trapezoid control A type of positioning control in which the positioning pattern positioning addresses P1 P2 and positioning speeds V1 V2 are set using a sequence program and after the first positioning start command is i
131. upon contact with the stopper Home position Home position retum Stopper Stroke The distance traveled after operation is started from the Stopped status until it stops again The amount of change in operation Stroke limit A range within which positioning operation can be performed or outside which the machine will be damaged During JOG operation movement beyond this range is possible When a feed screw is used this range is determined by the length of the Screw In fixed dimension feed it is the maximum cutting dimension Although high and low limits are set using parameters it is recommended to create an emergency stop circuit outside the PC by providing a separate limit switch See Limit switch in the glossary Limit switch for emergency stop Low limit High limit L Positioning can be performed within the range of 3m Synthesized speed The moving speed of the controlled system during interpolation Synthesized speed Y axis speed X axis speed Appendix MELSEC A Teaching A function to manually find and teach a position to the module when the positioning address is not clear or alignment need to be done using an actual object For example complicated addresses of graphics are taught by tracing the model so that positioning operation can be repeated Teaching module A device that performs writing reading of data operation and monitoring Must be
132. value change executed 1 When the present feed value is outside the software is set stroke limit range at the start of speed control an error occurs and the speed control will not start 1 When the machine feed value is outside the software stroke limit range at the start of speed control an error occurs and the speed control will not start When the limit of a Present value change unexecuted 1 Software stroke limit range check is not performed present feed value Present value change executed 1 When the present feed value is outside the software is set stroke limit range at the start of speed position control an error occurs and the speed position control will not start At the limit of the machine feed value 1 When the machine feed value is outside the software stroke limit range at the start of speed position control an error occurs and the speed control will not start When the limit of a machine feed value is set 1 Software stroke limit range check is not performed JOG operation When invalid 1 Software stroke limit range check is not performed When valid 1 When the present feed value is outside the software stroke limit range at the start of JOG operation the JOG operation starts in the direction within the software stroke limit range When invalid t Software stroke limit range check is not performed When valid 1 When the prese
133. value of the positioning module is not correct When home position return is performed movement occurs in search of the near point dog regardless of the present value and stops at home position At this time the present value is rewritten by the home position address Data cannot be written during positioning For the D75P2 data must be written for both axes See Near point dog in the glossary Home position return method The following home position return methods are available depending on the structure and stopping accuracy of the machine Home position return can be performed by writing the parameters and home position return data i 1 The method that uses the zero signal 2 The method to stop the movement using a stopper and the motor based on dwell time 3 The method to stop the movement using a stopper and the motor by limiting the torque 4 The method to stop the movement based on the travel increment after near point dog turned on Home position return request A signal that turns on when abnormality affecting the D75P2 is detected This signal turns on under the following conditions 1 At power on 2 When a stop command is issued during positioning 3 When the PC ready is turned off 4 When a parameter or home position return data is changed 5 When test operation for the following is selected from a peripheral device Home position return Positioning JOG Manual pulse generator 6 At home position return st
134. when the remote station ready signal is off When the remote station ready signal is on the warning 111 occurs and parameter initialization cannot be performed b To initialize parameters write 1 to the buffer memory address 1139 Upon completing parameter initialization OS sets the buffer memory address 1139 to 0 It takes approximately 10 seconds to complete initializing the parameters as the parameter area is written to the flash memory 3 Note a Parameter initialization is performed for the OS area of D75P2 and flash memory Data in the buffer memory of D75P2 will not be initialized Therefore data in the buffer memory does not match the data in the OS area of D75P2 flash memory upon completion of parameter initialization b When parameter initialization is performed reset the CPU or restart the power to the PC CPU If the CPU is reset or the power to the PC CPU is restarted the contents of flash memory are transferred to the OS area and buffer memory thus initialization of the data in the buffer memory is performed 7 64 7 Other Functions MELSEC A 7 20 When Consiructing the Absolute Position Detection System Using the D75P2 The D75P2 can construct the absolute position detection system by installing the absolute position detection system The following describes precautions when constructing the absolute position detection system Battery Servo motor Position command Control command R
135. 0 pulse sec 1 to 62500 pulse sec Acceleration decelera Automatic trapezoid acceleration deceleration automatic S curve acceleration deceleration 4 tion processing Acceleration decelera Switching between 1 to 65535 ms and 1 to 8388608 ms is possible tion time 4 patterns of acceleration and deceleration time setting are possible Rapid stop Switching between 1 to 65535 ms and 1 to 8388608 ms is possible Specification Speed command 3 deceleration time same range as acceleration deceleration time 20 ms or less except link scan time Electronic gear or backlash compensation available Near point dog type 1 type count types 2 types stopper types 3 types data set type 1 type 5 Compatible with absolute position detection systems using MR H and MR J2 JOG operation function Available Manual pulse generator operation Available function vailable either WITH mode or AFTER mode can be selected 7 segment display 7 segment display and LED display 1 Circular interpolation cannot be used while the stepping motor is used 2 DOS V is a registered trademark of IBM Japan 3 Indicates the setting ranges of the standard mode stepping motor mode 4 While the stepping motor is in use automatic S curve acceleration deceleration cannot be used 5 Valid only with an absolute position detection system 3 2 3 Specific
136. 0 37500 000 mm min inches min degrees min pulses sec 0 to 625 0 0 to 0 06250 0 to 0 06250 0 to 6250 pm inch degree pulses 10 13 10 Setting Positioning Parameter MELSEC A 10 2 1 Backlash compensation 1 This sets the backlash amount play of the machine Worm gear Work Backlash compensation 2 Set the backlash compensation within the range of the following expression Backlash compensation 0 Travel increment per pulse IIA lt 255 rounded down below the decimal point 3 if the backlash compensation is set backlash compensation by the set amount is performed every time the positioning direction changes at positioning start 10 2 2 Software stroke limit 1 The software stroke limit is the limit value of the machine s travel range set on the software a Software stroke high limit value High limit value of machine s travel range b Software stroke low limit value Low limit value of machine s travel range 2 When a command that exceeds the software stroke limit setting range is issued positioning will not be performed in response to the command 3 Control using initial values is not possible when the stepping motor mode is set Change the values to those within the stepping motor mode setting range 4 To disable the software stroke limit set as software stroke high limit value software stroke low limit value 10 2 3 Software stroke limit selection Whether to apply t
137. 0 in the basic Secr M parameter 2 See Section 10 1 6 for the acceleration time 0 10 2 15 Deceleration time 1 to 3 The time that takes to reach speed 0 from the speed limit value during positioning operation is set The operation at deceleration time 1 to 3 is the same as that at deceleration time 0 in the basic parameter 2 j See Section 10 1 7 for the deceleration time 0 2 10 2 16 JOG speed limit value 1 The maximum speed during JOG operation is set 2 Seta JOG speed limit value equal to or lower than the speed limit value If the JOG speed limit value exceeds the speed limit value a setting range error occurs 3 Ma value larger than the JOG speed limit value is set for JOG speed the speed is limited by the X JOG speed limit value The speed control in operation flag of the axis monitor is turned on while the speed is limited by the JOG speed limit value ae e At the point when the JOG speed is limited a JOG speed limit exceeded warning occurs SK 10 2 17 JOG operation acceleration deceleration time selection Which acceleration time between 0 and 3 is used for the acceleration time during JOG operation is set e Acceleration time 0 Set by a basic parameter See Section 10 1 6 e Acceleration time 1 to 3 Set by an extended parameter See Section 10 2 14 E 10 18 10 Setting Positioning Parameter MELSEC A 10 2 18 JOG operation deceleration time selection Which deceleration time between 0 and 3 is used
138. 0 to 65535 pm inch degree pulses 214748364 7 pm 214748364 7 p m 21474 83648 to O to 359 99999 2147483648 to 21474 83647 2147483647 inches degrees pulses 21474 83648 to 0 to 359 99999 2147483648 to 21474 83647 2147483647 inches degrees pulses e 0 Applies software stroke limit to the present feed value e 1 Applies software stroke limit to the machine feed value e 0 Software stroke limit invalid during JOG operation and manual pulse generator operation e 1 Software stroke limit valid during JOG operation and manual pulse generator operation 0 00001 to 327 67000 degrees 1 to 32767 pulses WITH mode AFTER mode Standard speed switch mode Early speed switch mode Synthesized speed Reference axis speed Does not update the present feed value during speed control Updates the present feed value during speed control Performs 0 clear on the present feed value during speed control Manual pulse generator operation disabled Uses manual pulse generator 2 Positive logic Negative logic 1 word type 1 to 65535 ms 2 word type 1 to 8388608 ms Acceleration time 1to3 1000 1 to 65535 ms Deceleration time 1to3 1000 1 to 65535 msec JOG speed limit value 20000 0 01 to 0 001 to 0 001 to 1 to 1000000 6000000 00 600000 000 600000 000 mm min inches min degrees min pulses sec JOG operation 0to3 acceleration time select JOG operation es 0103 deceleration time select e 0 Trapezoid acceler
139. 1 60 To Power supply s heat S phase 200 V AC Ts iag CN2 D75P2 5 aes E lear point dog 1 D 11 a ES qz High limit RLS 13 Ei a i STOP 14 OP ___o 50 m 164 tt or less b 4 CHG 15 Speed position switch Start STRT 16 o COM 35 Few 9 ee oon eleanor CLEAR COM 23 PULSE COM 20 a aE PULSEFs 3 CN3 xay enr e mase 121 171 5 rr 8 moe meter swings to ease es re EL ses 56 1 Twos bath directions PUER 7 M M d STI 2m 66h or loss ug 1 m Lines 531 T 4 EH Puit cmo mes d ru ed REOR en 763 3 TE d a a Pao com 3T d 1 93 PULSE COM E m iia 3 PH A did ERE eae vao 217 27 N n U cy Zeespeed nay PULSER A 9 SVO i Q tag detection PULSER A 271 Faut 0 1 AM 48 HO RA2 a 1 1 ae ze UN Manual pulse generator When connecting using an open MR HDPO1 C3 oe collector use the wiring below for SR COPs the section indicated by Analog torque limit command D fiii 10 V maximum current E ELE M A1SD75 AD75 CN1 47 LG Sch HH nasal 729 Puser 1 H Pro 18 Analog toque limit command gt Qo tt tt 10 V maximum current er man a Purse com e gt se 47 defe a rusen e Hino o sp 50 BE Fuse cow 2 2 m 6 6 ft or less 1 1 The connector pin numbers of the D75P2 indicate the same applications for axes 1 and 2 2 2 Th
140. 1 Relationship among speed limit value JOG speed limit value acceleration time deceleration time and rapid stop deceleration time 1 The following describes the speed limit value JOG speed limit value acceleration time deceleration time and rapid stop deceleration time a The speed limit value is the highest speed during the positioning operation manual pulse generator operation and home position return operation b The JOG speed limit value is the highest speed during the JOG operation Set the JOG speed limit value at or below the speed limit value c The acceleration time is the time required to reach the set speed limit value from speed 0 d The deceleration time and rapid stop deceleration time are the times required to reach speed 0 from the set speed limit value 2 When the command speed setting is lower than the speed limit value of a parameter the acceleration deceleration time shortens accordingly Therefore the maximum value of a command speed should be equal or close to the speed limit value of a parameter 3 Parameters are used to set the speed limit value acceleration time deceleration time and rapid stop deceleration time 4 Parameters for the axis indicated below are used during interpolation control During interpolation of axes 1 and 2 Parameter of axis 1 Speed limit value When the factor of rapid stop has occurred Command speed set by the positioning data t 1 Actual acceleration
141. 1165 1215 eene Switch control e Sets the new travel increment during speed control in speed position switch control e The content in the speed position switch control travel increment register becomes the travel increment of position control when the speed position switch control signal tums on Sets the travel increment set by positioning data at start of the next speed position switch control E 1 to 2147483647 1 to 2147483647 1 to 2147483647 1 to 2147483647 x10 um x10 inches x10 degrees pulses 1 to 134217727 1 to 134217727 1 to 134217727 1 to 134217727 x10 uuu e T m x10 inches x10 degrees pulses 1173 1223 Step mode _Sets in which positioning unit the step i is performed eem eee 0 Deceleration unit step 1 Data number unit een 1174 1224 Step start information OOH Step start request acknowledge complete 01H Step continue 02H_ Restart tO ce Write allowed XM Write prohibited 8 26 8 Buffer Memory MELSEC A 1175 1176 1178 1181 1185 1186 1187 1188 Buffer memory address Setting range Initial 1225 Skip command Performs the next positioning upon automatic deceleration stop when the step command is tumed on during positioning operation 0 Skip start request acknowledge complete set by the OS 1 Skip request set via a sequence program 1231 Continuous operation stop e Issues a stop request for continuous operation and
142. 119 aT 2520 10 5aF 1312113483 tea to 167 45 580 to 50F 140819 1488 17615178 MENU CRANE 24 0 1 17 8 1 7 2 I 49600 to 61 153619 1567 50 62010 63F 156811599 796 t0 198 52 53 54 55 57 si ed toa 100010 1681 200 w 200 82660 to 7F 1632 t0 1663 20410 207 C s 68010 69F 1604101695 20810 211 4 en to BF 1606101787 212 218 s cot6DrF 172810 1769 2160210 P86 O eoor 176001791 22010203 9 707 1798 101828 2241227 58 7201973F 3824161855 88740 10 75F 1856191887 60760 to 77F 188811919 61 780 10 79F 199001951 2401243 62 7A0078F 1952101983 24410247 ee ta 77 7C0 to 7DF 1984 to 2015 248 to 251 Enor 201610 2047 2521255 A 23 NP Appendix MELSEC A Appendix 10 MELSEC Glossary of Positioning Terms Absolute encoder A detector that can externally output angle data within one motor rotation and generally retrieves 360 degrees in 8 to 12 bits While incremental encoders have a drawback that the axis position is lost upon power failure absolute encoders retain the axis position even when power failure occurs Absolute encoders are classified into various types depending on output such as binary code and BCD code types These encoders are more expensive more accurate and larger than the incremental type
143. 16 32 bit e e parameters ote ls nspammeer fog z n gt parameter tn Range specification 1 parameter 1 lt n parameter 1 los Buffer memory 16 32 bit Range specification 2 ea e ee Device RX OFF ae eee Positioning data number Axis 2 specification ow Axes 1 and 2 specification Simultaneous start Axis specification 1 With range specification 1 an error occurs when parameter 1 gt parameter 2 11 12 s om 11 Setting Positioning Data MELSEC A 11 4 2 Address 1 The address specifies the buffer memory address used when the conditional operator is a normal operator or range operator Condition judgment uses the value in the buffer memory specified by the address and values of parameter 1 and parameter 2 2 The address is not used when the condition target is device RX device RY or positioning data number 11 4 3 Parameter 1 1 Parameter 1 is data which is set when the conditional operator is a normal operator range operator bit operator or positioning data number 2 The data to be set varies depending on the operator used Condition target Normal operator range operator Bit operator eice Rx Bitnumber O DeviceRY jJ o o Btnumber Buffer memory 16 bit Numeric value of eet el Butfer memory 32 bi Numeric vave When the conditional operator is for simultaneous start
144. 2 Wait start 3 Simultaneous start 4 Stop stat Pd 7 NExT stat o ooo j Parameter 11 3 1 Positioning start data 1 Type Set whether to terminate positioning start control at a specified point or to perform positioning start for the next pointer Any data number that is set after the point for which termination is set will not be executed End Positioning ends when the execution of positioning control for the specified point is completed Continue Positioning control for the next point is performed when the execution of positioning control for the specified point is completed 2 Data number positioning data number Set the data number used to perform positioning control When data numbers are set at multiple points positioning control is performed in the order the points have been specified in the buffer memory used for setting positioning start point numbers The addresses of the buffer memories for setting positioning start point numbers are as follows Buffer memory for setting positioning start point number 1178 1228 11 8 11 Setting Positioning Data MELSEC A 11 3 2 Special start data 1 Start pattern Set the start pattern used at positioning start The start pattern is selected from the eight patterns of a through h listed below Start pattern Overview of start a Normal start e Executes the positioning data number of the same point b Conditional star
145. 2 14 10 4 4 Home position return deceleration time selection This parameter sets which of the set deceleration time O to 3 is used as the deceleration time at home position return e Deceleration time 0 Set by a basic parameter See Section 10 1 7 for details e Acceleration time 1 to 3 Set by an extended parameter See Section 10 2 15 10 4 5 Home position shift amount This parameter sets the amount of shift from the detected zero signal to the location of the home position See Section 5 7 for details on the home position shift function 10 26 ud 10 Setting Positioning Parameter MELSEC A Remarks Stepping motor mode m wm sm 0 to 13421772 7 0 to 1342 17727 0 to 1342 17727 0 to 134217727 um inches degrees pulses 13421772 8 to 1342 17728 to 0 to 359 99999 134217728 to 13421772 7 1342 17727 134217727 um inches degrees pulses p Example lt When the speed limit value is set at 200 kpulses s home position return speed at 10 kpulses s creep speed at 1 kpulse s and deceleration time at 300 ms the travel increment after near point dog is calculated as shown below Home position return operation Deceleration Set 75 or a higher value for the travel to o increment after near point dog ON t i l i l l
146. 3648 to 0 to 35999999 to 2147483648 to 2147483647 x10 degree 2147483647 x10 um x10 inch pulse Home position return torque 0 to 300 limit value Speed at home position shift 0 Home position return speed epevifisation 1 Creep speed Dwell time at retry IDITITTID ns eee A 5 o t N m a x Ss E CF Appendix Initial value Remarks A 6 A MELSEC Appendix Positioning data data number to Appendix 2 3 x gx Nl Address Speed Control method Pattern be 2 E 3 amp E Qa Appendix MELSEC A Appendix 3 Positioning Data Number and Buffer Memory Address Conversion Table 1 For axis 1 Dwell Command Positioning Circular data iti Dwell ginis 7 Circular data code time speed address i time Lower Upper Lower Upper Lower Upper i Lower oT Lower Upper Lower Upper level level level level level level level level level level level A 8 Appendix MELSEC A 2 For axis 2 Command Positioning Circular data iti Dweil Command Positioning Circular data speed address time speed address Lower Upper Lower Upper Lower Upper Lower Upper Lower Upper Lower Upper level level level level level level level level level level level level 2304 2308 2309 2316 2317 2814 2815 2817 2818 2824 2825 2336 2337 2356 2357 2854 2855 2857 2858 2366 23
147. 6 MELSEC A Buffer memory A memory in which data is stored temporarily External data is stored here temporarily and used for program operation before being input to the CPU s data memory Since the buffer memory enables write and read of the latest data it is used by positioning modules CPU Positioning moduie Buffer memory External data Data moves via instructions Write TO Read FROM BUSY Operation is in progress Busy During positioning operation or dwell time CCW Counter Clockwise Rotations in the counter clockwise direction The rotation direction of a motor is determined as seen from the shaft end See also CW RT CHANGE signal The change signal is an external signal used to start position control when speed control of speed position control is currently performed Circular interpolation An automatic operation as if to draw a circular during positioning in which two motors that respectively perform horizontal feed and vertical feed are operated simultaneously Usually circular interpolation is performed in units of 90 degrees being used to create a circle or avoid an obstacle along the way See Interpolation operation and Linear interpolation in the glossary Collision Command pulse See Feed pulse in the glossary Control unit A basic data item used for positioning Specify either mm inch degree or pulse Appendix MELSEC A COPY
148. 6 500 PH H K K DTO 0000 0IEE 1000 1 X0056 M207 08 JOG operation X0057 206 E nmot X0058 M209 E MM M w08 X0059 M208 E W A i X0069 25 Manual pulse generator enable specification 41 X0070 M104 PH H K K emi Htto 0000 OIE 200 1 Override X0071 M105 PH H 6K K IL ETM J ro 0000 O1E9 50 1 12 28 12 Building a System MELSEC A Sets the single axis JOG speed to 500 Sets the dual axis JOG speed to 1000 Turns on the single axis forward JOG start signal Turns on the single axis reverse JOG start signal Turns on the dual axis forward JOG start signal Turns on the dual axis reverse JOG start signal Turns on the single axis manual pulse generator enable flag Turns on the dual axis manual pulse generator enable flag Sets the single axis override value to 200 96 Sets the dual axis override value to 50 96 12 Building a System X0072 M200 M101 LS H H K TO 0000 01E2 1000 H H K 0000 O1E0 9003 Present value change X0073 M201 M102 I ZL 7 W T IRLS M26 H H K 0 0000 O1EA 2000 H H K 0 0000 O1E8 9003 SET X0074 M104 PH H K n TO 0000 OIE4 2000 LS Speed change M27 A
149. 67 2864 2865 2867 2868 2376 2377 2874 2875 2386 2387 2884 2885 2894 2895 2897 2898 2406 2407 2904 2905 2416 2417 2914 2915 2917 2918 2426 2427 2927 2928 2436 2437 2446 2447 2456 2457 2466 2467 2974 2975 2987 2988 2496 2497 2994 2995 2997 2998 2506 2507 3004 3005 3007 3008 2516 2517 3014 3015 3017 3018 2526 2527 3024 3025 3034 3035 3037 3038 3044 3045 3047 3048 3077 3078 2596 2597 80 3094 3095 3097 3098 2606 2607 3104 3105 3107 3108 2616 2617 82 3114 3115 3117 3118 2626 2627 3124 3125 3134 3135 3144 3145 3147 3148 2656 2657 86 3154 3155 3164 3165 2676 2677 3174 3175 3177 3178 2686 2687 3184 3185 3187 3188 3194 3195 3197 3198 3204 3205 3207 3208 2716 2717 3214 3215 3217 3218 2726 2727 3224 3225 3227 3228 2736 2737 3237 3238 2746 2747 3244 3245 2756 2757 3254 3255 2766 2767 3264 3265 3267 3268 2776 2777 3274 3275 3277 3278 2786 2787 3284 3285 3287 3288 2796 2797 3294 3295 A 9 Appendix MELSEC A Appendix 4 Connection Examples of D75P2 and Servo Amplifier Appendix 4 1 Connection example of D75P2 and MR H O A differential driver open collector negative logic Configure a sequence that disconnects the MC by an i 3 alarm or emergency stop PU Qu Regenerative brake option l 1 s4 Servo motor EN INIcIe E NF MC
150. 9 99999 0 to 359 99999 b When the home position address is set to other than O 268435456 to 268435455 536870912 to 536870911 1 The positioning address can be set within the range of values obtained by adding the home position address to the values listed in the previous section a For example if the home position address is set at 1000 0 u m the positioning address will be in the range of 26842545 6 u m 26843545 6 1000 0 to 26844545 5 u m 26843545 5 1000 0 However when the unit is in degrees it remains within O to 359 99999 26843545 6 u m 0 0 u m 26843545 5 u m 26842545 6 p m 1000 0 u m 26844545 5 u m 1 1 1 1 H i MM MM A T n B A Home position address Setting range at 0 0 u m B Home position address Setting range at 1000 0 fu m 2 Ifthe value obtained by adding the home position address to the value listed in a exceeds the valid range indicated below the range is reduced for the excess amount um soang anaran Imm 2147483648102147483647 inches Pulses 21474 83648 to 21474 83647 2147483648 to 2147483647 For example if the home position address is set at 214740000 0 n m the valid range is from 187896454 4 m 26843545 6 21474000 0 to 241583545 5 u m
151. 999 degrees Oto 327 67000 degrees 0 001 to degrees min 37500 000 degrees min 0 00001 to 0 06250 degrees ojgelgojg ojoo 3gs 2 slgs 9 e 8 a o i i o o m S8 S 0 to 359 99999 degrees 359 99999 degrees 0 001 to degrees min 37500 000 degrees min 0 001 to 000 degrees min 37500 000 degrees min 21474 83647 degrees 1342 17727 degrees 21474 83648 to 1342 17728 to 21474 83647 degrees 1342 17727 degrees o eol o ge JEK Bele ie 8 2 olas sigs S z oo o b o _ o o o o o eo o 359 99999 degrees 359 99999 degrees 0 001 to 0 001 to rees min 37500 000 degrees min 0 001 to 0 001 to in 37500 000 degrees min 0 00001 to 0 00001 to 359 99999 degrees 859 99999 degrees i i 8 Pulse Standard mode 2147483648 to 2147483647 pulses 2147483648 to 2147483647 pulses 2147483647 pulses 1000000 pulses sec 1000000 pulses sec 65535 pulses 2147483648 to 2147483647 pulses 2147483648 to 2147483647 pulses o jno roy S Sja s 32767 pulses 1to 1000000 pulses sec 100000 pulses 2147483648 to 2147483647 pulses 1000000 pulses sec 1000000 pulses sec 0 to to 2147483647 pulses 2147483648 to 2147483647 pulses 2147483648 to 2147483647 pulses o 1000000 pulses sec 1000000 pulses sec 1 to 2147483647 pulses 7 60 Stepping motor mode 134217728 to 134217727 pu
152. Address direction Speed Positioning start OFF Start complete BUSY i ON Positioning complete DE Loon cum Nro 2 cf duc cs as Fig 6 7 Operation during continuous locus control With the D75P2 speed variation can be eliminated by setting to the adjacent passing mode see Section 6 2 3 5 6 35 6 Positioning Function MELSEC A 2 Conditions of stopping after decelerating during continuous locus control The continuous locus control normally does not decelerate to stop However it does decelerate before stopping and the speed once reaches 0 in the following cases a When the operation pattern of the positioning data currently being executed is continuous locus control 11 and the travel directions of the positioning data currently being executed and that of the next positioning data are different see Points V Positioning data number 1 Operation pattern 11 Positioning data Number 2 Operation pattern 00 b When the operation pattern of the positioning data currently being executed is continuous locus control 11 and the travel increment of the next positioning data is O c When step operation is being executed see Section 7 11 d When there is an error in the positioning data to be operated next 1 Checks are performed only in the direction of travel along the reference axis during interpolation operation Therefore automatic deceleration is not performed when there has be
153. C A Buffer memory address 1300 Setting range initial value Positioning identifier i tion field Acceleration Controi nstruction field deceleration field figlg Operation pattern Not used Acceleration time number Deceleration time number Control method instruction code M code field M code 0 to 32767 1302 0 to 65535ms m e o 1303 es 1304 2304 Command speed 1 omits the command speed setting 1305 2305 1 to 600000000 1 to 600000000 1 to 1 to 1000000 x10 mm min x10 inches min 60000000 000 min pulses sec ABS 2147483648 to 2147483648 to 0 to 35999999 2147483648 to 42147483647 M 42147483647 j i pulses 2306 2307 Positioning address E 2147483648 to 2147483648 to 0 to 35999999 2147483648 to 2147483647 1 x10 degrees 42147483647 2147483648 to 2147483647 to 2147483648 to 42147483647 42147483648 12147483647 x10 inches x10 degrees pulses Speed position switch control 0 to 214748364 0 to 2147483647 0 to 2147483647 0 to 2147483647 x10 pm x10 inches x10 degrees pulses 8 29 uA 8 Buffer Memory MELSEC A 8 9 Positioning Start Information Area This section explains the positioning start information area of the buffer memory In this section the buffer memory for axis 1 and axis 2 are described See Section 11 3 for details of the setting contents an a el ues mm om Due e
154. Circular interpolation control with a specified auxiliary point absolute system a b c d e t Circular interpolation is performed from the starting point address current stop position to the endpoint address positioning address passing through the specified auxiliary point address circular address The center of the circular for the circular interpolation is the intersection of the perpendicular bisectors of the line segments that connect the starting point address current stop position and the auxiliary point address circular address and the auxiliary point address circular address and the endpoint address positioning address Positive direction Movement of circular interpolation Endpoint address Vol positioning address Auxiliary point address circular address Center point of circular Starting point address DES current stop position Negative direction f ER Positive direction Home position Negative direction The circular interpolation control with a specified auxiliary point can be used even when the Operation pattern is the continuous locus control If the used unit is degree circular interpolation control with a specified auxiliary point cannot be used The maximum radius allowed for circular interpolation control is 2 If the calculated radius exceeds the above range a radius setting error error code 544 is generated upon startup of position
155. D of Master Station is Flickering The ERR LED of the master station flickers Do the parameter setting and loading system contiguration match ls the master station link special register SWO080 to SWO083 other Station link special register SW0098 to SW009B duplicate Y Check the module whose Check the module whose Check on the master side SWO098 to SWOO9B is on SWO080 to SW0083 is on Check on the slave station side ls the station number switch set correctly Y Set the station number switch correctly Restart the power supply turn on the reset switch Corresponding module failure is power supply turned on Turn the power on ts the POWER LED lit Is the supply voltage within the specified range Set the supply voltage within the specified range Corresponding module failure Is the RD LED lit Are communication cables connected correctly 1 Correct the wiring of Y communication cables Corresponding module failure To 1 in the next page To 2 in the next page To 3 in the next page 13 1 13 Troubleshooting 1 2 3 Is the L RUN LED lit Is the SD LEO lit flickering Is the SD LED lit flickering is the transmission speed setting correct Correct the transmission speed setting Restart the power supply turn on the reset switch Corresponding module failure
156. Data number To copy means to transfer a section of the editorial screen to another location CP Continuous Pass control The continuous pass is a type of control in which operation follows an uninterrupted path such as uniform speed control Creep speed A very slow speed of movement Since it is difficult for the machine to move at high speed then come to a complete stop very quickly the speed must be switched to creep speed first See Near point dog in the glossary Current loop mode A servo control mode used in positioning This mode is used to control torque using current Also called torque loop mode See Position loop mode Cursor A point on the display screen of a peripheral device or CHT used to attract attention of the user Display screen Cursor CW Clockwise The same rotation direction as the hands of a clock The clockwise rotation seen from the end of the motor shaft D A Digital to Analog converter A device capable of converting the number of pulses which is a digital value to an analog voltage or current value Number of pulses 0 to 80 000 pulses sec D A Voltage Oto x 10 V A 27 When positioning involves two or more points respective positions are specified as number 1 number 2 number 3 and so on and positioning is performed in order of the number Up to number 600 can be specified with the D75P2 No 4 No 2 No 1 No 5 Deceleration time The decelerati
157. EUINN TE 1 Backlash compensation 0 to 65535 0 to 65535 0 to 65535 0 to 65535 pulses x10 pm x10 inches x10 degrees 5 16 1166 Software stroke high limit value 1 2147483648 to 2147483648 to 0 to 35999999 21 47483648 to 21474 17 167 2147483647 x10 degrees 2147483647 83647 y x10 inches pulses 134217728 to 0 to 35999999 134217728 to 134217727 x10 degrees 134217727 J x10 inches pulses 18 168 Software stroke low limit value 2147483648 to 2147483648 to 0 to 35999999 2147483648 to 21474 19 169 42147483647 2147483647 x10 degrees 42147483647 83648 10 inches pulses 13421772810 0 to 35999999 134217728 to 194217727 x10 degrees 134217727 x10 inches pulses 170 Software stroke limit selection Applies software stroke limit to the present feed value Applies software stroke limit to the machine feed value 71 1 Software stroke limit valid for Software stroke limit invalid during JOG operation and manual pulse JOG operation and manual generator operation pulse generator operation Software stroke limit valid during JOG operation and manual pulse generator operation Command in position range 1 to 32767 100 x10 pm x10 inches x10 degrees pulses 1 to 2047937 1 to 2047937 x10 pm x10 inches x10 degrees 1 AFTER mode wm Speed switch mode speed 0 Standard speed switch mode change type 1 Early speed switch mode interpolation speed O Synthesized speed specification
158. FF series motor eee ey m t mw eH MENS DA I e 2 r Power supply elo T ti TEI uot ve 3 phase 200 V AC ane ae 12 vo e 90 0 O O 13 eee ennaa as a WG Q Q t par d Perg l Li t rOL21 PE O 2 EMG __ BY Ar AUI eT T ie ee t3 OD 1 24V DC B2 Eiectrom H ire Qa Po Servo on signal off agnetic brake Bs gee Disconnected by an alarm CNIA signal i H T 10 m 32 8 ft or less 2 m 6 6 ft or less CN2 i 1 OEA e 311 m d eS ee H i purse T2 fee 38 euse S e i pum pu oe oe o goo MISERE 0 t SORES ET MEE a 2E M Louean cout e i e 2 E E meaw E TE deus peou ACE EL Z4 3418 HNIC ELM ons roca 24 3 f 3 foo i Leeocow 217 oe te com 5 avc EX 31 i6 HH Fen Personal computer oom anie 99 ns aaah on o eo market 35 je E ooa 11i Near point dog m High limit 2 Les 172 ao 357 Mar Stop 34 Lc wow HOM Mme Specapoaton ssi s ie meter swings to cuo 15 97v 8 1 Moz poa SIE O both directions smr 27 8 HN emp Dep 172 L Tie c8 tok Pusan As 31 5 Q 18 Biede sb PULSER A 27 PULSER B 10 HO CPuLseR B 28 ig ss 29 2m 66 ft or iess Manual pulse generator 3 MR HDPO1 oom Fault O e aim 18 ut Trad Zero speed detection zsp 19 When connecting using an open collector Torque control in operation a use the wiring below for the section indicated by
159. H EAH 1ECH 1EEH 668H 680H 00H bank 1 01H bank 1 02H bank 1 03H bank 1 O04H bank 1 05H bank 1 06H bank 1 400H bank 1 403H 404H bank 1 For storing the machine feed value See Points in Section 12 4 3 for bank switching 12 21 12 Building a System MELSEC A 12 5 4 Parameter setting data link start program This section shows a program for setting CC Link parameters and start data link X0000 X000F PLS o Turns the module ready fiag on Sets the parameter setting flag Sets the number of DO modules connected to 1 module m p K Sets the number of EE D1 retries to 7 times pos Parameter setting k y i D2 Sets the number of automatic return modules to 1 module Sets the operation oV o0 D3 specification when CPU is down to stop 12 22 12 Building a System Parameter setting Data link start M M9038 MOV H H 0 0000 0020 MO oV OV H H 0 0000 0080 D5 SET eT s e _lit X0006 12 23 RST D7 M Y0000 Y0006 Y0006 MELSEC A Sets D75P2 station information Sets the send buffer size to 40H words Sets the receive buffer size to 40H words Sets the automatic communication buffer size to OH word Resets the parameter setting flag Refresh command Sets the data link start flag Data link start request by the buffer memory parameter When data link start by the buffer memory parameter
160. I l l Home position return speed x Vz TbxVz I L X SR l I l i l 1 l Actual deceleration time t Tb x Mz I Vp I Speed limit value Vp 200 kpulse s distance gt x 359g xt cer MA e E Converted to the speed per 1 msec N Vz 10 kpulse s zi 2000 VP 10 x 10 3000 x 10 x 10 d 2000 2000 x 10 iv gi C d Vo 1 kpulse reep spee c pul Ss 75 10 27 10 Setting Positioning Parameter MELSEC A 10 4 6 Home position return torque limit value 1 This parameter sets the value used to limit the torque of the servo motor at home position return after the creep speed is reached f 2 For all home position return methods torque control is performed using the set home position return torque limit value after the creep speed is reached 1 A D A converter module is required to perform torque control 2 When performing home position return by stopper stop 1 2 or 3 be sure to set the home position return torque limit value 3 When torque control is not performed setting different values does not make any difference as long as they are within the setting range 10 4 7 Home position shift speed specification This parameter selects whether the home position return speed or creep speed is used as the operation speed at home position shift e Home position return speed Set by the home position return basic parameter See Section 10 3 i e Creep speed Set by the home position retu
161. ION E 3 8 Installation to removal from panel 9 8 Intelligent device station esee 1 21 Internal circuits eeeceeeeeeeeeeee rierien 3 10 Interpolation control eee 6 3 Interpolation speed specification 10 16 JOG operation 1 ics ect reiecit n 7 1 JOG operation acceleration time selection 10 18 JOG operation deceleration time selection 10 19 JOG speed i eee en Au 3 25 7 1 JOG speed limit value 7 39 10 18 Jump destination data number 11 7 JUMP function eeeeecescescesessee teen nete 1 8 JUMP instruction eere 6 31 Layout of connector signals eese 3 6 LED display mode select switch 9 1 Linear interpolation operation esee 1 5 Linear positioning function sceessssess 1 8 List of equipment e eeeeseeeeeeeeeeeseseeeeseeante 2 3 List of VO signal eee 3 12 List of stop processing ccecessseesessetsrseseeesees 6 56 L ocal Station rester tiere sitis 1 21 LOW lune atarit 3 8 m Machine feed value cesses 7 27 Maintenance connector for manufacturer 9 1 Manual op
162. P instruction 1 What is JUMP instruction The JUMP instruction performs unconditional JUMP or conditional JUMP to the specified positioning data number during continuous locus control or continuous operation e Unconditional JUMP executed when no condition is set for the JUMP instruction e Conditional JUMP executed when a condition is set for the JUMP instruction The condition data for a block start is used as the conditions for the JUMP instruction execution With the JUMP instruction tasks such as repeating the same positioning control and selecting the positioning data number by specifying conditions can be performed during the continuous locus control or continuous operation 2 Action of the JUMP instruction a For unconditional JUMP The JUMP instruction is executed unconditionally and jumps to the specified positioning data number b For conditional JUMP If the execution condition specified by the JUMP instruction is satisfied the JUMP instruction is executed and jumps to the specified positioning data number If the execution condition specified by the JUMP instruction is not satisfied the positioning data number following the JUMP instruction is executed 3 Limitations a During continuous locus control or continuous operation calculation is performed with respect to the positioning data of the fourth positioning data number after the current positioning data number When using a conditional JUMP inst
163. Phase A Forward rotation e When Phase B is 90 ahead of Phase A Reverse rotation 1 Setat multiplication by 4 Forward rotation 2 Forward rotation Phase A A4 f Phase B B4 When Phase B is 90 behind Phase A Set at multiplication by 1 Forward rotation Phase A A4 Phase B B4 When Phase B is 90 behind Phase A 10 7 Reverse rotation Phase A Ao Phase B B4 When Phase B is 90 ahead of Phase A Reverse rotation Phase A A9 Phase B B When Phase B is 90 ahead of Phase A 10 Setting Positioning Parameter l MELSEC A 10 1 4 Rotation direction setting The rotation direction of a motor forward rotation reverse rotation at the present value increase is set The D75P2 uses the limit of present value in increase direction as the high limit and the limit in decrease direction as the low limit to perform an on off check of the limit switch Therefore the relationships of the motor s actual rotation directions and the locations of high low limit switches are as shown in the figure below Rotation direction setting Motor rotations and locations of external hardware stroke limits Forward rotation Reverse Forward Present value gt Reverse Forward Rotation direction of the motor lt lt Ll D75P2 s low limit switch D75P2 s high limit switch Reverse rotation Reverse Forward Present value WE poetic ase he E Fo
164. Present feed value e Machine feed value The set home position shift amount is not added to the travel increment after near point dog ON With the home position shift function shift operation is performed at the home position retum speed regardless of the home position return method used When the present feed value overflows or underflows positioning to the home position will not be performed correctly even if the high speed mechanical home position return is executed If the location of the absolute home position is in the status of overflow or underflow positioning to the home position will not be performed correctly even if the high speed home position retum is executed 5 29 5 Home Position Retum Function MELSEC A 5 7 2 Specifying speed during home position shift 1 With the D75P2 either home position return speed or creep speed can be selected as the operation speed during home position shift The figure below shows the home position shift operation when the near point dog type home position return is executed Home position shift operation at the home position return speed Home position Home position V return direction return speed o Home position Near point dog Zero signal Home position shift operation at the creep speed M Home position return direction TE Home position Home position fount speed t pnra STARA S Home position Home position return start Near point
165. SEC A 2 Dual axis linear interpolation control increment system a This performs positioning from the starting point address current stop position to the position determined by synthesizing the direction and increment of travel specified for each axis l b The sign of the travel increment determines the direction of travel 1 For positive travel increment Positioning in the positive direction direction of address increase 2 For negative travel increment Positioning in the negative direction direction of address decrease Positive direction Y axis Starting point address X1 Y1 current stop position Y2 Movement due to linear interpolation positioning of X and Y axes Travel increment along the Y axis Negative direction Y Positive direction X axis Negative direction r Example MMMM i The following shows the case in which the travel increment along the X axis is 9000 and that along the Y axis is 3000 Starting point address current stop position Travel increment along the Y axis 3000 Stop address after positioning control 5000 Travel increment along the X axis 9000 c The maximum travel increment allowed for linear interpolation control along each axis is 2 If the travel increment exceeds the above range an out of linear travel increment range error error code 504 is generated
166. When a stop signal turns on during JOG start the operation decelerates to stop The JOG start signal is ignored while a stop signal is on By turning a stop signal off and a JOG start signal from OFF to ON the operation can be restarted Ignores the JOG start signal OFF to ON while a stop signal is on See Section 3 3 on how to turn on the remote station ready 7 Other Functions MELSEC A 5 Restrictions in JOG operation a If on one axis both the forward rotation JOG signal and the reverse rotation JOG signal turn on simultaneously the forward rotation JOG operation is performed If the forward rotation JOG signal turns off and the operation stops the reverse rotation JOG operation is performed when the reverse rotation JOG signal is on The reverse rotation signal is validated when the BUSY signal turns off Forward JOG signal Reverse JOG operation Forward JOG start signal OFF Ignores the reverse rotation JOG signal b During deceleration triggered by the JOG start signal OFF if an identical JOG start signal is turned on again the JOG operation is performed at the moment the signal turns on JOG operation 7 4 7 Other Functions MELSEC A Pu UL a he tS OE c The JOG operation via the JOG start signal is not performed during a test mode caused by a peripheral device Once the test mode of a peripheral device is canceled the JOG operation is performed at the startup OFF to ON of a JOG star
167. X Data set type home position return The data set type home position return starts with start number 9901 See Section 5 4 5 for details 5 23 5 Home Position Return Function MELSEC A 5 6 Home Position Return Retry Function 5 6 1 What is the home position return retry function During home position return this function retries home position return using the high low limit switch connected to the D75P2 Home position return is possible during JOG operation etc without returning to the position before the near point dog 5 6 2 Actions of the home position return retry function 1 When the home position return retry function is enabled and home position return start is executed movement in the home position return direction occurs If the high low limit switch is turned off before the near point dog is detected the movement decelerates to a stop then resumes in the direction opposite to the home position return direction If the near point dog OFF is detected during movement in the opposite direction the movement decelerates to a stop and home position return is performed Eu 4 ON Limit switch OFF status Zero signal Actions of the home position return retry function 1 Movement in the home position return direction is started upon home position return start 2 The movement decelerates upon detection of the limit switch 3 The movement stops upon limit switch detection then moves in the direc
168. able differed from the other shield cable wiring to wire from a pulse chain output pin of the D75P2 9 10 9 Setu 9 4 1 Pin connection to the drive module connector MELSEC A The pin connection to the drive module connector is performed in the steps shown below Disassemble the connector area Disassemble the connector area and remove the connector Connect the connector and cable Solder the cable onto the connector pins Assemble the connector area eese Assemble the connector area Disassembling the connector area 1 Loosen and pull out the A screws Be careful not to lose screws and nuts 2 Open the connector cover from the connector side 3 Remove the connector and cable fixing bracket Connector area Cable fixing bracket Connector cover a Connector 9 11 9 Setup MELSEC A Connect the connector and cable Follow the instructions in VO interface Section 3 2 2 when connecting 1 Loosen the B screws on the cable fixing bracket guide the cable through and tighten the B screws The B screws can be removed and tightened back again after guiding the cable through Be careful not to lose screws and nuts Guide the cable through i Cable fixing bracket E ce Connector 2 Solder the connector and cable Pin connection The applicable size of cables to be connected is AWG 24 to 430 approximately 2 to 0 05SQ 3 The illustration
169. acacceeseseveuuvassesavesenes 7 38 7 9 1 Relationship among speed limit value JOG speed limit value acceleration time deceleration time and rapid stop deceleration time cccsssssesesssssssecsesecssseeceescsaceesccsacssvsesessesesses 7 39 7 9 2 Acceleration deceleration processing scsssscsccsssessssssssssscsssssesssecssscesessssscssssessscescsssenenessssseseecseees 7 40 7 10 SkIip F nction neci ee eden ore pe eic brote ee ete cut deed tea dee E adco ee Chee once oed 7 41 DOREM 7 43 7 12 Command In position Function eccssssssseccsssssecsssessssssssseesssscscesseasaressesesssesscsssasstessesuesscrassensesectarsesssesseeeeee 7 47 TAS Teaching FUNCHON e E 7 49 7 14 Handling when the Control Unit is in Degree 0 0 csecsessessesessssesssssssesascatssscatsrsecaessesesssassesscssssesecsveccsnccneees 7 53 7 14 1 Address of present feed value and machine feed value esee 7 53 7 14 2 Setting valid invalid of software stroke limit 7 53 7 14 3 Positioning CORIO ccu 7 55 7 16 Present Feed Value Clear Function at the Start of Speed Control and Speed Position Switch Control 7 61 TA Wite to the EE BU ure RREEEEEEEEEEEEEEEEEEEMEEMEMMMM 7 62 7 18 Pulse Output Logic Switch ccccsssscsssssescesssssseseseesesenssesseetececessecssesseeeeessesseseesessseeesessesesseesaecasecseseesnercecsueats 7 63 7 19 Parameter Initialization FUnction
170. acceleration processing and deceleration processing performed when starting the positioning operation JOG operation and home position return operation as well as when changing the speed b Setting ranges of acceleration and deceleration times Use extended parameter 1 to select the setting range of acceleration time and deceleration time from 1 to 65535 ms or 1 to 8388608 ms c Selecting the acceleration time and deceleration time 1 Four patterns can be set for both the acceleration time and the deceleration time for positioning operation 2 With home position return JOG operation use the extended parameter for home position return extended parameter 2 to specify the acceleration time deceleration time to be used Four patterns can be used by selecting for both the acceleration time and deceleration time If four or more patterns of acceleration deceleration time are needed rewrite the time for the acceleration time 0 to 3 and deceleration time O to 3 of the buffer memory listed below from a PC CPU before turning on the positioning start signal E Buffer memory address emm _ Buffer memory address memory address Acceleration time 0 e o 158159 e Deceleration time 0 10 11 heo 161 Acceleration time 1 36 37 186 187 Deceleration time 1 Acceleration time 2 38 39 t88 189 Deceleration time 2 194 195 Acceleration time 3 40 41 190 191 Deceleration time 3 46 47 196 197 7 38 7 Other Functions MELSEC A 7 9
171. address l I 1 l i l l l l l 1900 8900 Positioning control travel increment 7000 Setting example of positioning data Positioning data is set for positioning data number 1 of axis 1 under the conditions shown below em eating convoi Peripher devico soting di Positioning Operation pattem Endofpostionng End 1 1 O Deceleration time selection Decelerationtimeo o Dwelltime soms so J DU Cf ee No relationship with the control The initial value or any other value can be used r identifier 1 See Section 11 2 for details on the positioning data 2 With the absolute system the positioning address is set 6 5 6 Positioning Function MELSEC A 2 Single axis linear contro increment system a This performs positioning for the specified travel increment from the starting point address current stop position b The sign of the travel increment determines the direction of travel 1 For positive travel increment Positioning in the positive direction direction of address increase 2 For negative travel increment Positioning in the negative direction direction of address decrease Starting point address current stop position Negative direction Positive direction Direction of travel when Direction of travel when travel increment is negative travel inc
172. an axis warning will be generated and the JOG operation is performed at the JOG speed limit value At this time the during speed limit flag turns on 1 To change the JOG speed use the remote register and device listed below enr e 2 Remote register address Speed change value RWwm 4 RWwm 45 RWwm 12 RWwm 13 Speed change request RY n 2 7 RY n 4 7 2 The during speed change processing flag is set in the device listed below AX n 1 1 RX ne41 7 6 7 Other Functions MELSEC A 7 1 2 Manual pulse generator operation 1 What is the manual pulse generator operation a This operation is to perform positioning control using pulses entered from the manual pulse generator This is used to perform precise positioning manually b A maximum of three manual pulse generators can be connected to the D75P2 A single manual pulse generator can operate a couple of axes simultaneously 2 Executing the operation of a manual pulse generator a Setting the manual pulse generator operation enable flag to 1 enable will turn on the BUSY signal entering the state of manual pulse generator operation enable The positioning control can be performed using pulses entered from the manual pulse generator b Setting the manual pulse generator enable flag to O disable will turn off the BUSY signal returning to the state of manual pulse generator operation disable uc Stop the manual pulse Axis mov
173. an be performed to the endpoint using the restart command 1 When the remote I O generates a restart command 1 If the axis operation is in the stop state positioning from the stopped position to the end of the stopped positioning data is performed regardless of the absolute method or increment method used 2 Ifthe axis operation is in other than the stop state a restart disabled warning warning code 104 occurs and the restart command is ignored For the increment method When the travel increment along axis 1 is 600 and that along axis 2 is 300 m Axis 2 Axis 2 Stop position by a stop factor Stop position by a stop factor 400p7 79 42 2 292 rn Specified position 400r oS Se oss eter ss Stop position Starting 2 1 point address Restart after restart i 200r77777 v Operation upon restart Axis 1 Axis 1 2 When the positioning start signal or external start signal is turned on If the axis operation is in standby or the stop state positioning is performed from the head of the positioning start data regardless of the absolute method or increment method used as with normal positioning For the increment method When the travel increment along axis 1 is 600 and that along axis 2 is 300 Axis 2 Axis 2 Stop position by a stop factor Stop position L after start t Stop position by a stop factor 500 a ASS 7 Specified position Starting ae Positioning start 400
174. an those specified in this section 3 The buffer memory of the master module AJ61BT11 A1SJ61BT11 is divided into three banks each starting from address O e Bank 0 Parameter information area to link special register SW e Bank 1 Area used for reading or writing of the buffer memory of the intelligent device station using the send buffer receive buffer e Bank 2 Use prohibited with the D75P2 Switch to the applicable bank using the output signals Y1C Y1D before read write of the buffer memory is performed For details see the master module user s manual Bank switching is not necessary for the master module AJ61QBT11 A1SJ61QBT11 since there is only one area The following are assumed in the explanations e The send buffer and receive buffer assignments are 64 words 40H each e The send buffer and receive buffer on the master module side for reading writing to the D75P2 buffer memory are in the following range Send buffer address OOH to 3FH of bank 1 for 64 words 40H Receive buffer address 40H to 7FH of bank 1 for 64 words 40H 12 7 12 Building a System MELSEC A 1 Writing to the buffer memory Data is written using dedicated instruction RIWT or application instruction TO a When using the RIWT instruction QnA dedicated instruction This is used when only writing to the specified buffer memory of the D75P2 When using the RIWT instruction the send buffer buffer memory of
175. ange is 0 to the torque limit setting value of extended parameter 1 e When controlling with the torque limit setting value of extended parameter 1 set 0 as a new torque value e When the new torque value is other than 0 the control is performed with the new torque value set 3 Torque control is performed with the torque limit setting value of extended parameter 1 at the start of positioning operation JOG operation and manual pulse generator operation b When a new torque value is out of the setting range an axis warning occurs Various operations Remote station ready OFF s aes Torque limit setting value 499 X 50 Lu Perform torque control with the Perform torque control with the torque limit setting value 50 torque change value 25 of of extended parameter 1 axis control data qt M eT A a I l See Section 3 3 on how to turn on the remote station ready 7 19 7 Other Functions l MELSEC A 7 4 Stroke Limit Function The D75P2 includes the stroke limit function via external input and software stroke limit function 7 4 1 Stroke limit function via external input 1 With the stroke limit function via external input by placing the stroke limit of D75P2 inside the stroke limit stroke end on the drive module side the D75P2 decelerates to stop before reaching the stroke limit stroke end of the drive module 2 The stroke limits via external input include the upper stroke
176. are available for the D75P2 and they are controlled by contro methods of 1 through 8 Use positioning data to set the control method 1 to 6 Control of positioning locus and operation 7 to 8 Control of positioning data Linear positioning function 1 Linear control of single axis 2 Linear interpolation control p seses of dual axes Fixed dimension feed positioning function 3 Fixed dimension feed control Circular positioning function 4 Circular interpolation control Speed control positioning function 5 Speed control 3 MMIHRMMRRRR Speed position switch positioning function 6 Speed position switch control Present value change function 7 Present value change n 9 JUMP function 8 JUMP instruction 8 This performs positioning along a straight locus from the current stop position toward the specified position This performs positioning for the specified travel along a straight locus from the current stop position This performs positioning along a circular locus from the current stop position towards the specified position This moves at the specified speed from the current stop position toward the specified position The operation continues until a stop command is input This moves at the specified speed from the current stop position toward the specified position and performs positioning for the specified travel from the moment a speed posi
177. are stroke limit error etc the corresponding error code will be stored in the axis that generated the error As a result the simultaneous start will not be completed and all axes that do not have any error will store the simultaneous start not possible error The operation status of the axis that generated the error will change to error When an error is generated during operation the movement along the traveling axis will decelerate to a stop and the axis operation status becomes error During interpolation operation both axes will decelerate to a stop when one of the axes generates an error 13 3 13 Troubleshooting MELSEC A 2 Processing when error is generated When error is generated the error detection input will turn on and the corresponding error code will be stored in the buffer memory address for storing the axis error number as shown below However there is a maximum delay of 56 8 ms until storing of the error code is completed after the error detection input turns on Error detection input Buffer memory address eee fea C The most recent error code will be stored in the buffer memory address for storing the axis error every time an error is generated 3 Error code classification Error codes are generally classified into the following categories 001 to 009 010 to 099 100 to 199 200 to 299 300 to 399 400 to 499 500 to 599 900 to 999 Error during range checking of parameter settings
178. art It is up to the user s choice whether or not to perform home position return in these cases Appendix ME LSEC A Home position shift function Input terminal The position of home position can be shifted in the An external input to the D75P2 provided in the form of positive or negative direction after executing home pin connector wired by the user position return by specifying a shift amount from the Connected to the motor drive module or machine home position position e Drive module ready signal A position other than the zero position or outside the dog g e Stop signal switch range can be set as home position Since input terminals have no direct relation to the program input number Xn is not used Interlock A condition that blocks the next action until the action currently in progress is completed Used to prevent damage to or malfunction of the device Increment system A system in which positions are indicated by the specified direction and travel distance by assuming the present value as 0 Relative address system Used for fixed dimension feed etc C f absolute system Forward rotation Reverse rotation Stop No 1 No 2 No 3 0 Interpolation operation Left To operate two motors simultaneously to produce M 0 synthesized movement The positioning distance Right Right acceleration deceleration time and speed can be set Number 2 is positioned at O mm freely for the two motors and these settings are
179. at the time of block start positioning starts using the conditions set in the condition data area If the instruction code is not set in the positioning special start data area in the buffer memory a normal start is performed control is initiated when positioning starts 6 51 P 6 Positioning Function MELSEC A Se eee eee MELOEFC A c When axis 1 is started the simultaneous start of axes 1 and 2 is performed in the following flow 1 Outline of operation Start Positioning special Condition RWwo 4350 Startdataarea 4400 to 4409 data area 7000 Set simultaneous Setthe positioning start and condition data number data number of axis 2 Set the biock start Check the instruction code for Check the axes that perform special start and condition simultaneous start data number to be used 2 Sequence program setting e The set data and the D75P2 buffer memory PC CPU D75P2 buffer memory Condition identifier Positioning data number of axis 1 Positioning data number of axis 2 MICI A Lu 4408 Vacant The user can arbitrarily set 1st point address of the condition data 6 52 6 Positioning Function MELSEC A e Sequence program Simultaneous 2 2 3 start setting RY n 1 0 RXn1 RXnO Set 7000 in the buffer memory at 1150 Set 0301H in the buffer memory at 4350 MOVP HAO05 DO FMOVP KO D1 K3 MOVP KO D4 MOVP K20 D5 memory at 4400 to 4405 2 SET RY n 1 0
180. ata Related buffer memory 13 Troubleshooting MELSEC A Error Error name Detection timing Operation status when Corrective action error is generated code 934 Reseved 935 Reseve o96 Reseve signal switches from off on does not turn off Error history During data analysis Atstart Operation does not Seta value within the setting range Extended parameter 2 Start Acceleration time 1 setting error During Operation Acceleration time 2 setting error decelerates to stop 52 Acceleration time 3 setting error Deceleration time 1 setting error 954 Deceleration time 2 setting error Deceleration time 3 setting error JOG speed limit value error 957 JOG acceleration selection setting error JOG deceleration selection setting error Acceleration deceleration selection setting error S curve ratio setting error Rapid stop deceleration time invalid Stop group 1 selection error 964 Stop group 2 selection error Stop group 3 selection error 966 Out of allowable circular error range 67 External start selection error 971 Locus control mode error 980 Error history Home position return basic parameter Home position return method error 981 Home position retum direction error 982 Home position address setting error 983 Home position return speed error During data analysis Operation does not start
181. ation The content is retained until the start data pointer is updated Tums on when operation is controlled by the speed limit value after the new speed has exceeded the speed limit value by speed change or positioning operation override _Tums off when the above condition no longer exists or when the axis stops Speed control not in operation Speed control in operation Tums on during speed change where the speed is changed Tums off at deceleration start by a stop signal during speed change Special start data instruction parameter set value Start positioning data number set value Speed control in operation flag Speed change processing flag Speed change processing complete Speed change processing Specifies the point of start data currently executed The pointer value becomes 1 at positioning start if it is not a restart The pointer value becomes 0 when positioning terminates The positioning data number executed last is stored The value is retained until the next positioning data is executed The remaining number of repetitions is stored e The value decreases by 1 at the end of repeat loop e The loop is terminated when 0 is reached O is stored from the beginning in the case of an infinite loop The positioning data number currently executed is stored e For the positioning data number specified indirectly a data number changed to 1
182. ation MELSEC A a te ee EE Table 3 2 Performance specifications 2 ptm Speciticztion n 2 Ps Applicable conductor size mm 0 75 to 2 00 Module installation screws mm M4 x 0 7 x 16 or above Installation with DIN rail is also possible TH35 7 5Fe TH35 7 5Al TH35 15Fe complies with JIS C2B12 eee NR consumption A Noise resistance Noise voltage 500 Vp p noise width 1 us based on a noise simulator with noise frequency of 25 to 60 Hz Dielectric withstand voltage Power supply communication system batch external I O batch 500 V AC for 1 minute Insulation resistance Power supply communication system batch external O batch 10 MQ or more based on a 500 V DC insulation resistance tester External dimensions mm in 63 5 2 5 H x 170 6 7 W x 80 3 1 D ght kg DICTURUM MERE NES RCM ee 3 Specification MELSEC A 3 2 2 Specifications for I O interface with external devices This section explains the 1 O interface of the D75P2 with respect to external devices 1 Electrical specifications of the D75P2 The table below shows the electrical specifications for D75P2 I O signals with respect to external devices a input specifications Signal name Rated input Range of ON voltage OFF voltage Input Response voltage current voltage used current current resistance time Drive module ready READY 24 V DC 5 mA 19 2 to 26 4 V DC 17 5 V DC or 7 V DC or less Approx In position signal mo
183. ation deceleration processing Acceleration deceleration processing selection e 1 S curve acceleration deceleration processing 100 1 to 100 Rapid stop deceleration j 1000 1 to 65535 ms time Stop groups 1 to 3 rapid e 0 Normal deceleration stop stop selection e 1 Rapid stop Positioning complete 0 to 65535 ms signal output time Allowable circular O to 10000 0 O to 1 00000 O to 1 00000 0 to 100000 interpolation error range um inch degree pulses External positioning start 0 External positioning start Selection e 1 External speed change request e 2 Skip request See Sections 8 5 3 and 8 5 4 for the buffer memory address and setting range of the extended parameter 1 and extended parameter 2 Remark Control using initial values is not possible when the stepping motor mode is set Change the values to those within the stepping motor mode setting range 10 12 10 Setting Positioning Parameter MELSEC A Remarks Stepping motor mode O om mm e w 0 to 409 5 0 to 0 4095 0 to 0 04095 0 to 4095 um inch degrees pulses 13421772 8 to 1342 17728 to 0 to 359 99999 134217728 to 13421772 7 1342 17727 134217727 um inches degrees pulses 13421772 8 to 1342 17728 to 0 359 99999 134217728 to 13421772 7 1342 17727 134217727 pm inches degrees pulses 0 1 to 204793 7 0 0001 to 0 00001 to 1 to 2047 20 47937 20 47937 pm inches degrees pulses 0 01 to 375000 00 0 001 to 0 001 to 1 to 62500 37500 00
184. bers 10 9 e Inputs the phase A B pulse signal of the manual pulse generator and rotary encoder e When phase A is ahead of phase B the positioning address increases e When phase B is ahead of phase A the positioning address decreases when increasing when decreasing Phase A Phase A Phase B Phase B Positioning Positioning address 1 425 ees address 1 SA ome Common Pin number 26 e A common for the drive module ready and in position Error counter clear common Pin number 23 e A common for the error counter clear Zero signal common Pin number 25 A common for the zero signal 5 V and zero signal 24 V Zero signal 5 V zero signal 24 V Pin numbers 24 6 e inputs the home position signal at the time of home position return Generally the home position grid signal of a pulse encoder is used e This signal is also used when the home position return method is stopper stop and the home position return complete is input externally e The zero point is detected at fall Pulse sign pulse output differential Pin numbers 22 21 Pulse sign pulse output differential Pin numbers 4 3 e The pulse and pulse sign for positioning are output to the drive module that corresponds to the differential driver Pulse sign common pulse output common open collector Pin numbers 20 19 Pulse sign pulse output open collector Pin numbers 2 1 e The pulse and pulse sign
185. c x10 mm min x10 inches min x10 degrees min pulses sec MH AE cem E Acceleration time selection B ome os JOG operation 0 to3 E Deceleration time selection Acceleration deceleration O Trapezoid acceleration deceleration processing ELI processing selection 1 S curve acceleration deceleration processing z soos 100 _ Initial value 36 37 40 41 44 45 46 47 8 9 Scuveratio 4 10 100 AS ae Ld Stop group 1 rapid stop O Normal deceleration stop BE selection 1 Rapid stop 57 207 Stop group 2 rapid stop O Normal deceleration stop Ea SA VE e REALI Stop group 3 rapid stop O Normal deceleration stop selection 1 Rapid stop Positioning complete signal 0 to 65535 ms poems sce 60 210 Allowable circular interpolation O to 100000 O to 100000 O to 100000 0 to 100000 0 to 6250 0 to 6250 0 to 6250 0 to 6250 162 212 External start function selection 0 External positioning start 1 External speed change request 2 Skip request Locus control adjacent passing 0 Positioning address passing mode L 1 Jule ues t oos oe O Write allowed x Write prohibited 1 The data becomes valid at the point when it is written from the PC CPU However data change will be delayed by three data at most from the positioning data number that is being executed when data is written Also during JOG operation or manual pulse generator operation the written
186. called PG zero See Home position signal Zero signal The pulse that generates by one unit or two units per rotation of the pulse generator s axis Used for zeroing in positioning Also called Z signal or PGO UW peedback pulse b uec One axis rotation Index 17 segment LED eese 1 21 9 1 A ABS d lt ies o s RE eis A ede usen ere 3 9 DIEI n 3 9 ABS transfer MOdE cccceeeeeecereeeeeeceeeeereeeeeeeees 3 9 ABS transmission data ready complete 3 9 Absolute method e eeeeeeeeeeeeeeeeeeeeene enter 1 9 Absolute position detection system 7 65 Acceleration time cccscsccsesssereeseeeeesens 1 12 7 39 Acceleration time O ccscsscceescecseseeceseeeeeeeeenes 10 9 Acceleration time 1 to 3 eeesesesuus 10 18 Acceleration time number secessus 11 4 Acceleration deceleration method 1 12 Acceleration deceleration processing S 1 12 7 1 7 38 7 40 Acceleration deceleration processing selection 10 19 Acceleration deceleration time size selection 10 18 Actual speed Ski sicsccdclecsssecticcadelesecdscinsesecosecdaddavteerene 7 33 y Dy Ems 1 21 Address eee erret 11 13 Adjacent passing mode s eesessssss 6 40 AFTER rode nettement itr 7
187. can be performed in the direction within the software stroke limit range The JOG operation input in the direction outside the software stroke limit range and input pulses from the manual pulse generator are ignored r Example e When the positioning address of positioning data number 13 is outside the software stroke limit range the operation decelerates to stop upon completion of positioning data number 12 execution Positioning data immediately stops when an error is detected Operation status During position control During error occurrence d To cancel the software stroke limit To cancel the software stroke limit set as the low software stroke limit value high software stroke limit value Control can be performed regardless of the software stroke limit setting e The software stroke limit valid invalid at JOG operation and manual pulse generator operation can be selected by setting the software limit valid selection of JOG operation and manual pulse generator operation of the software stroke limit valid invalid selection parameter of JOG operation and manual pulse generator However even if the JOG operation and manual pulse generator operation software stroke limit valid invalid selection are set to valid the software stroke limit check will not be performed when the unit is in degree
188. can be reduced When using the stepping motor the rotation of a motor can be started smoothly by selecting the stepping motor mode and setting the bias speed at start 2 Setting method a Use basic parameter 2 to set the stepping motor mode b c When setting the stepping motor mode set 1 stepping motor mode in basic parameter 2 The stepping motor mode 1 becomes valid at the startup of remote station ready signal v OFF to ON When setting the stepping motor mode in the peripheral device use the software packages listed below DOS V personal computers SW1 IVD AD75P and later 3 Restrictions The stepping motor can be controlled normally in the stepping motor mode except for the following restrictions Control the axes set in the stepping motor mode in consideration of the following restrictions a Restriction on a positioning command range and speed command range In the stepping motor mode the position command range and speed command range are 1 16 of those in the standard mode When using the stepping motor mode control should be performed within the range indicated in Table 7 2 NP 7 57 7 Other Functions b c d e f 9 h MELSEC A Circular interpolation control not used The circular interpolation control cannot be specified in the stepping motor mode the circular interpolation control cannot be performed when using a servo motor in the stepping motor m
189. cation ccce 1 17 Parameter 1 cescsssscsssssccssesererssessectsseescessnsanssseae 11 13 Parameter 2 scssccssesccsscssseesessceenscesscssessorees 11 13 Parameter area eese 8 1 8 5 Parameter initialization function 7 64 Parameter setting eese 12 22 Parts supplied with module 1 22 PO CPU niece rere ara CARE RS 2 2 PC CPU MOMOD eccecscseresseesseceeestesneateneseeneeees 8 2 PC CPU memory area qu eecceneesseeseesrtssssesseseees 8 36 Performance specifications cesses 3 2 Peripheral devices eese 1 21 Peripheral device for AD75P sess 2 3 Peripheral device for GPP esee 1 21 Pin connection esses eee nennen 9 11 9 12 Plasma handy graphic programmer 2 3 Positioning 5 3 cernerent nca car oia eerie ask inso 1 4 Positioning address travel increment 11 5 Positioning control methods sess 1 8 Positioning data cee cseeceseeceeesssneesessectenenaesees 11 1 Positioning data area eene 8 1 8 28 Positioning function eeeeeeeeeeeseeeeen enne 6 1 Positioning identifier 8 29 11 2 Positioning parameter ccss
190. cce seeceeereseececeesseseneaseaceseseeeceeensseececesecsesceseessesseeseceeseeeseeeneseneanene 7 64 7 20 When Constructing the Absolute Position Detection System Using the D75P2 sese 7 65 Ts VASOIVO ONIOFF mec E A E E E ES ATA EE E 7 67 8 1 Outline of Buffer Memaoly i inciicisccsessscdcckcccsscdeccssceccusscsoncendecesscncsssecgoccsscsdecsccedueusn scdducbondcateousscceauedesderteed neccevtnes 8 1 8 2 Classification of Buffer Memory Areas cccccccssssessseesencessscseceseessseeceessersaessaeosaeessesseeaseaesscescesaseenersasenenates 8 1 8 3 Reading and Writing Data in the Buffer MOMOry ccecececseceeneecsceeeesseessseesencensensetsauevseeessessaeeeseesneacenees 8 3 8 4 Configuration of Buffer Memory seeseeseeeseeesee eene nene nene enat tnn nennen tine entia sense sne tha tassa sinit ena sa sisse nes 8 4 8 5 LCCuaLIcN m 8 5 8 54 Basic paramelter 1 eec emere eese tenerte eiae ice Do cete e S epe need dence de Oe E Ron 8 5 8 5 2 Basic parameter 2 cau oui E 2 Sea O etnies ETENEE oce etse rag 8 5 8 5 3 Extended parameter 1 ee ree iei eate irre te e p tr tee Re er vir PESO II Ne AERIENE Ya EINE 8 7 8 5 4 Extended parameter 2 oerte neri eee e ae E iaseaceansbucketesaneueiaae ced euren ea eE e NER R Y 8 9 8 5 5 Home position return basic parameters eese esee eese eene nn eere netta sentent aera asa aora estan ss sata
191. ce point Point A Point B Point C Within the stroke limit range Fig 1 6 Positioning by increment method 1 Overview MELSEC A 1 4 4 Operation pattern The foliowing types of operation patterns are available e Individual positioning Individual positioning control operation pattern 00 ends positioning e Continuous positioning Continuous positioning control operation pattern 01 continues positioning Continuous locus control operation pattern 11 1 individual positioning control operation pattern 00 ends positioning The operation is completed with positioning for the specified positioning data alone The positioning completion of this operation pattern is also used as the operation pattern for the last positioning data of continuous positioning and continuous locus positioning 2 Continuous positioning control operation pattern 01 continues positioning The operation stops temporarily upon the completion of positioning for the specified positioning data then continues with the next positioning data number This is specified when performing positioning in which the direction changes because of multiple positioning data items having consecutive positioning data numbers 3 Continuous locus control operation pattern 11 continues positioning After executing positioning using the specified positioning data the operation changes its speed to that of the next positioning data number an
192. celeration time selection Settingnotnecessary Positioning address travel increment Setting not necessary Circularaddress Setting not necessary 0 Command speed Setmgmtneesay Hei Dwell time JUMP destination positioning data number M code execution condition E EET No relationship with the control The initial value or any other value can be used 1 See Section 11 2 for details on the positioning data 2 The value inside indicates the data when the JUMP instruction is executed 6 32 6 Positioning Function 6 2 Operation Pattern of Positioning Control The operation pattern is used to control the type of operation to be performed among the plural positioning data The operation pattern includes the following types e Individual positioning Individual positioning control operation pattern 00 positioning completes e Continuous positioning I Continuous positioning control operation pattern 01 positioning continues Continuous locus control operation pattern 11 By using the continuous locus control operation pattern the function almost equivalent to the uniform speed control can be realized 6 2 1 Individual positioning control operation pattern 00 This is set when executing positioning of a single data item only If the dwell time is specified positioning is completed a
193. ch axis and I O signal status and it can be operated at any time Perform the operation monitor as necessary such as when the D75P2 does not operate continually Other than those listed above FALT is displayed on the 17 segment LED when a watchdog timer error occurs on the D75P2 When a watchdog timer error occurs on the D75P2 ACPU reset operation is needed If the watchdog timer error persists on the D75P2 even after the ACPU has been reset the D75P2 module needs to be replaced Contact the nearest representative or branch 9 24 MEMO SS Nl 9 25 Setting Volume Part 3 describes setting information necessary when using this product how to create a system and programs and actions to be taken when troubles occur lt Overview of contents gt Chapter 10 Setting Positioning Parameters Chapter 11 Setting Positioning Data Chapter 12 Building a System Chapter 13 Troubleshooting 10 Setting Positioning Parameter MELSEC A 10 Setting Positioning Parameters 1 The positioning parameters set on the D75P2 include four types as listed below e Basic parameters e Extended parameters e Basic parameters for home position return e Extended parameters for home position return 2 The positioning parameters of the D75P2 are set for each axis 3 The initial values default values of the D75P2 s positioning parameters are aiready determined and set at the time of shipment When all clear is performed on the memory f
194. changed to the specified value e Present feed value address that can be changed via present value change e Machine feed value address from the mechanical home position based on the home position address Override function The current speed of positioning is changed within a range of 1 to 300 96 Near path function When the unit is in degree positioning is performed in the direction closer to the specified address ADsolute position detection function Ei Receives information of the absoluto position from the servo amplifier and changes the present valus Teaching function This is a manual operation via JOG operation and manual pulse generator operation by which the aligned positioning address is set again as the positioning data for the specified number Stops operation after every positioning action in order to confirm the positioning action Skip function Stops the positioning currently executed and executes the next positioning 1 Valid only when MR H or MR J2 is used for the servo amplifier Compensation functions Error compensation M code output function Acceleration deceleration control function Present value change function 4 1 MEMO No Secun 4 2 5 Home Position Return Function MELSEC A 5 Home Position Return Function 5 1 What is the Home Position Return Function Th
195. chine has inertia GD it is subject to delays and cannot follow a speed command if the command is transmitted directly from the positioning module Thus when using a servo motor speed command pulses are kept in the deviation counter so that their transmission is delayed Droop pulses refer to the pulses kept in the counter When stopping the error counter releases all pulses and the count becomes 0 1 000 200 puises 800 pulses are kept pulses Voltage counter Drive module Commands such as pulses issued from the positioning module are low in voltage and current and thus lacking the level of energy needed to drive the motor This device is used to increase the pulse width so that the motor can be driven An auxiliary component of the servo motor or stepping motor Also called servo amplifier Positioning module Drive module Power supply Drive module ready A signal indicating that the motor drive module is in a ready complete status it remains off while the drive module power is off or during fault Dwell time The time required to clear droop pulses in the error counter immediately upon completion of positioning If the dwell time is too short the position becomes _ inaccurate A 28 MELSEC A Dynamic brake Used to stop the motor rapidly without causing it to run freely when a protection circuit such as for the power failure or emergency stop EMG signal is activated b
196. ck all positioning data up to the one with the positioning complete operation pattem Positioning for specified multiple blocks is executed continuously e Positioning for a desired block is repeated until the condition specified by the user is satisfied e Positioning for a desired block is repeated for the number of times specified by the user Speed control After acceleration to the specified speed operation is performed at the same speed until a stop command is input Travel increment and address are not specified Speed position switch control Initially operation is performed at the same specified speed same status as during speed control and with input of a speed position switch stop signal positioning for the specified travel increment is executed completed and operation stops Manual pulse generator operation function Pulses are input from the manual pulse generator and positioning is executed manually JOG operation function A JOG operation command is input from the PC or peripheral device and while the command remains on speed contro is executed in the specified direction at the specified speed Home position retum function With a home position retum command from the PC or peripheral device positioning to the mechanical home position is performed and when positioning is complete the present address present feed value machine feed value is corrected to the home position address There is a home position return ret
197. complete signal ON time is set to O e When the positioning complete signal ON time elapses the positioning complete signal is turned off 2 When the next positioning is required e f a dwell time has been set it waits until the set wait time has elapsed e When the set dwell time has elapsed the next positioning starts 6 49 6 Positioning Function MELSEC A Dwell time Positioning Positioning start Start complete Positioning complete Fig 6 11 ON OFF timing of each signal upon startup of positioning It does not turn ON when started by an external start signal 2 External positioning operation start a Positioning operation can be started by turning ON the external start signal The same processing as the positioning operation start by the positioning start signal can be performed See 1 in Section 6 3 2 b When performing positioning operation by an external start signal the following settings are required 1 External start function selection External positioning start 0 pe 2 External start valid setting Set to enable external start 1 The operation cannot be started by the external start signal with the initial set value 0 disable external start c Start complete signal does not turn ON when started by an external start signal When using external positioning operation start write the start data number beforehand using a sequence program then start the operation via
198. continuous locus request control See Section 8 4 5 1 Continuous operation stop request set via a sequence program For changing acceleration time 0 to 65535ms 0 to 8388608 ms e 1235 1226 Torque change value e Sets a new torque value O Continuous operation stop request acknowledge complete set by the 1236 For changing deceleration time e 0 to 65535ms 0 to 8388608 ms 1237 Acceleration deceleration time fe 1 Acceleration deceleration time change enable change enable disable Other than 1 Acceleration deceleration time change disable 1228 Positioning start point number 1 to 50 Start from the specified point number Other than the above Start from the first point OS selection at speed change FIO sees Write allowed X Write prohibited 8 27 8 Buffer Memory MELSEC A 8 8 Positioning Data Area This section explains the positioning data area of the buffer memory In this section the buffer memory addresses and setting ranges of the parameters for axis 1 and axis 2 are described See Section 11 2 for details of the setting contents lt Details of the positioning data area of the buffer memory gt Operation pattern Control method Acceleration time Deceleration time Positioning identifier Command speed Positioning address Circular address See Appendix 3 for details of the buffer memory address of the positioning data numbers 1 to 100 8 28 8 Buffer Memory MELSE
199. control method for interpolation is set in the positioning data for the reference axis The start of positioning is executed only on the reference axis side For data items such as positioning identifier for interpolation M code dwell time command speed and parameters the data set on the reference axis is used For the positioning address and circular data however the data set for the same positioning data number of each axis is used When performing interpolation under continuous positioning control or continuous locus control interpolate all data starting with the first positioning data number since the beginning of interpolation until the positioning data number for operation pattern 00 If the positioning data set via block start for each point of the positioning start data is specified as interpolation set the points so that all of them are interpolated If the above is not true the D75P2 may malfunction There are two types of specification methods interpolation modes to specify the interpolation speed the synthesized speed default and the reference axis speed These include ones that can be applicable only to linear interpolation control or that cannot be specified if the unit groups of the axes are different The axis operation status of the interpolation axis becomes during interpolation during the interpolation operation and returns to standby when the interpolation operation is completed If an error occurs
200. cssecsesearssceusatenseacsesacecenseeesesseseates 6 58 6 4 3 Stop processing during deceleration ssccsssssscsssessssscssesesesassecssssectacseessccstescssesceaesereseacsessucesenss 6 60 6 4 4 Stop processing during interpolation operation ccccssssscscesscessccescesescsccsasscactcatesserecetscesssavecsuses 6 60 6 4 5 Continuous operation interrupt function c ccccccecesssacescsesesececsensscesesecasseesacenesacseestveceuesesssacaveese 6 61 6 5 Restarting Positioning Control sessscesssesesscscessessesssesescsccecsesecsesesccsescsssesscausssesesenesacessasensessacatseacacseessececs 6 63 6 5 1 Whatis restart after a stop 2 2 ces cecssessencerccuseuscesusnsscsaeseusesesscsasacecesuesscaucaeceesesssessesecacsusascavessaces 6 63 6 5 2 Specifying the restart after a StOP ee eccessssccssssessssssssceescsesescscssscssecsessssseessaseesescsacaveseeerscanacavenees 6 63 6 5 3 PVOCAULONS p 6 64 7 Other Functions 7 1 to 7 68 NE Ca e pl EE 7 1 TAD SOG OPS AHN EE 7 1 7 1 2 Manual pulse generator operation ssscsscsccsssesssssssssesssscssersceccaeacceueecsssvsuaussestsstsrsanseersseaesceansuessnse 7 7 7 2 Speed Change Function during the Positioning Operation reete 7 9 7 2 4 Speed change via the remote register for speed change 7 9 7 2 2 Speed change by the override FUNCTION csscssssesesesessssssscssessecescsseterecesssnssetecenssessacsracaceusuessvences 7 13
201. ction when the direction into the travel range differs from the home position retum direction Home position return start High limit switch Near point dog E Zero signal Travel range Fig 5 17 Home position return retry function with high low limit switch in off status 5 25 5 Home Position Return Function MELSEC A 5 6 3 Home position return methods and execution of the home position return retry function Nearpointdogtype 09 J 1 J Counttypet TO Counttype2 CO O Ec eee RR ERREUR O Executable X Not executable Home position return retry may not be performed depending on the mechanical stopper 5 6 4 Conditions when executing the home position return retry function 1 Always install limit switches to be connected to the D75P2 at the high low limit positions of the machine When the home position return retry function is enabled and home position return start is executed either home position return is completed or the motor keeps rotating until a limit switch connected to the D75P2 is detected 2 Do not make it impossible to continue the operation by turning off the power for the drive module using the high low limit switch connected to the D75P2 etc 5 26 5 Home Position Return Function MELSEC A 5 6 5 Dwell time setting at home position retry 1 At the time of home position return retry dwell time can be set for reverse operation due
202. d code is overwritten with the new error code Axis waming number 810 910 Current speed The current speed before stop is retained during stop by a stop command Ois stored during JOG operation and manuai pulse generator operation e The axis error number is cleared when the axis error reset is tumed on Axis feed speed The actual speed of each axis at the time is stored e Ois stored when the axis stops e The corresponding waming code is stored at occurrence of an axis waming Travel increment after e The travel increment until positioning is completed after the speed position 3 s Switching on the Switch signal is tumed on during speed control of speed position switch Stored code is overwritten with the new waming code The axis waming number becomes 0 when the axis error reset is tumed on The operation status of an axis is stored 0 Standby 1 During stop 2 During interpolation 3 During JOG operation 4 During manual pulse generator operation 5 During analysis 6 Special standby 7 During home position retum 8 Position control in operation 9 Speed control in operation 10 Speed control of speed position control in operation Axis operation status 11 Position control of speed position control in operation 12 During absolute position restoration 13 During data set type home position retum 1 Emor 2 Stepstandby 3 Step stop
203. d continues positioning This is specified when continuously executing multiple positioning data items having consecutive positioning data numbers at a specified speed 1 10 1 Overview l MELSEC A 1 4 5 Block positioning control Block positioning is a control that continuously executes the positioning of specified blocks One block is equivalent to a series of positioning data up to the completion of positioning operation pattern 00 by individual or continuous positioning control A maximum of 50 blocks per axis can be specified Using a one time start command from the PC CPU or external complex positioning control can be performed The block positioning control can be performed by specifying the positioning start number and positioning start information in the buffer memory Speed Positioning continued 01 Positioning completed 00 Dwell time Address direction Positioning completed 00 L Address direction Positioning continued 11 Positioning continued 11 i 1 1 1 1 1 1 1 t 1 1 1 1 n One block One bloc Positioning start Start completed BUSY ses o a SS e 33 d Positioning completed 1 11 RA 1 Overview 1 4 6 MELSEC A Overview of acceleration deceleration processing Acceleration deceleration processing for the positioning operation manual pulse generator operation home position return operation and JOG operation is performed usin
204. d for maintenance of an absolute position detection system Cannot be used during normal operation OFF Overflow not occurred ON Overflow occurred e Turns on when the location of the absolute home position 2 has overflowed due to a change in the present value 0 OFF Underflow not occurred ON Underflow occurred Turns on when the location of the absolute home position has underflowed due to a change in the present value OFF Bit OFF ON Bit ON e Indicates the lower bit of ABS data OFF Bit OFF ON Bit ON e Indicates the upper bit of ABS data OFF Transmission data in ready ON Transmission data ready complete e Inthe ABS transfer mode this signal indicates the status of transmission data preparation OFF No restart acknowledged ON Restart acknowledged Indicates the restart acknowledgment status OFF Initial data processing not requested ON Initial data processing being requested After power on or hardware reset the DS75P2 turns on the initial data request in order to request initial data setting Further this request turns off when the initial data processing complete RY n 7 8 is turned on OFF initial data setting incomplete ON Initial data setting complete e When the initial data setting request RY n 7 9 is turned on this signal turns on when initial data setting is completed Further when the initial data request RX n 7 8 is turned off upon completion of initial data settin
205. d stop selection Stop groups 1 to 3 1 Whether to perform normal deceleration stop or rapid stop is selected when a stop factor occurs This setting is valid during positioning operation home position return and JOG operation 2 Selecting the rapid stop performs rapid stop deceleration when stop signals of stop groups 1 to 3 that correspond to the stop factors listed below is input e Stop group 1 Stop due to the hardware stroke limit e Stop group 2 Stop due to the software stroke limit Stop due to a peripheral device Stop due to a remote ready signal being turned off e Stop group 3 Stop due to an external stop signal Stop due to a stop signal from the PC Stop due to an error other than stop groups 1 and 2 3 Even if the rapid stop selection setting is changed during rapid stop or deceleration the rapid stop deceleration stop is continued using the setting at the time of stop signal input 4 During linear interpolation circular interpolation stop or rapid stop is performed according to the rapid stop selection setting of the axis at which a stop factor has occurred 10 2 23 Positioning complete signal output time The output time of a positioning complete signal that is output from the D75P2 is set V Dwell time ON Positioning start OFF BUSY OFF ON Positioning complete signal OFF Positioning complete signal output fime 10 20 10 Setting Positioning Parameter MELSEC A 10 2 24 Allowable c
206. data will not be reflected Therefore perform write when positioning control is not in operation 2 The upper row indicates setting ranges in the standard mode while the lower row indicates those in the stepping motor mode 8 The data becomes valid when the remote station ready signal is switched from off to on If setting contents are rewritten while the remote station ready signal is on switch the signal off then on again d 8 Buffer Memory MELSEC A 8 5 5 Home position return basic parameters Buffer ee eee address Setting range Initial value ER position return type 0 Near point dog type 1 Stopper stop 1 by time out from the dwell timer 2 Stopper stop 2 by zero signal at the time of contacting the stopper 3 Stopper stop 3 no near point dog method 4 Count type 1 use zero signal 5 Count type 2 does not use zero signal 0 1 Positive direction direction of address increase Negative direction direction of address decrease 0 to 35999999 134217728 to x10 degrees 134217727 pulses Home position return speed f1 to 600000000 1 to 600000000 110600000000 1 to 1000000 x10 mm min x10 inches min x10 degrees min pulses sec 1 to 37500000 1 to 37500000 1 to 37500000 1 to 62500 x10 mm min 10 inches min x10 degrees min pulses sec 76 226 Creep speed 110600000000 1t0 600000000 1t0 600000000 1 to 1000000 1 77 227 x10 mm min x10 inches min
207. data written to send buffer to 8 bytes fixed Sets the quantity to 1 fixed Sets the access code attribute to 4H fixed Sets the buffer Neco memory head address to 802 single axis machine feed value Sets the number of read points to 2 words Writes the contro data to the master Station send buffer Sets the intelligent device station access request signal Vo M9036 ST K4 SEG Y0018 M9036 H H K4 FROM 0000 00E7 M180 K4 H H TO 0000 0167 248 9036 Transient transmission ST K4 SEG Y0018 M194 H H FROM 0000 0040 D57 H H D57 Dro 0000 0043 12 34 M9052 Yoo1C YOOID K4 B0001 M9052 YOOIC Y001D K4 B0001 Y0080 12 Building a System MELSEC A Switches to bank 0 Reads RX70 to RX7F to M180 to M195 Writes M248 to M263 to RY70 to RY7F Switches to bank 1 Reads the complete status Stores the single axis machine feed value upon normal completion of intelligent device Station access Sets the intelligent device station access abnormal completion signal Resets the intelligent device Station access request signal 12 Building a System Transient transmission M31 12 35 K MOV 0 H MOV 0112 K MO 12 K 0 1 H MOV 0004 H 0V 0006 K oV 2 K DMOV 50000 H H 0000 0000 D70 SET D70 D71 D72 D73 D74 D75 D76 D77 M262 MELSEC A Sets the dummy area to 0 S
208. de is E used to perform speed control See Position loop mode A 39 Appendix MELSEC A Stepping motor A motor that rotates by certain degrees e g 0 15 when a pulse is given Thus rotations proportional to the number of pulses can be obtained 2 phase through 5 phase types are available and in the 3 phase type the rotor rotates when voltage is applied to A B and C in this order Often found in small motors and able to provide accurate rotations without feedback Be careful of step out during overload 1 Phase A is excited by the pulse 2 Next a force is applied in the direction of arrow when phase B is excited 3 The gear closest to phase B is attracted and stopped 4 The rotor rotates clockwise as the excitation phase is changed successively Stop setting time See Dwell time in the glossary STOP signal Input signal X which externally and directly stops the action during positioning control Action stops when the external STOP signal contact a turns on conductive and X is turned on A 40 Stopper stop A method of home position return by which a stopper is provided at home position and movement is stopped by Contact with the stopper The motor may deteriorate or get damaged if no cautionary measures are taken The available methods include providing a timer to turn off the motor after a specified time and stopping the motor by suppressing a sudden increase in motor torque
209. dog 1 H Nee Zero signal 2 The speed specification during home position shift is set in the buffer memory shown below 3 When using the creep speed as the operation speed during home position shift write 1 creep speed in the buffer memory shown below 4 The operation speed written to the buffer memory below becomes valid when the remote station ready signal rises off on Buffer peace E ERE Setting range Initial value Select the home position return speed or creep speed tor the operation speed specification during during home position shift home position shift e 0 home position return speed e 1 creep speed 5 30 5 Home Position Return Function MELSEC A 5 8 Home Position Return Request Flag OFF Request The home position return request flag OFF request is a function that forcibly switches the status of home position return request flag on to off in a system that does not require home position return 5 9 Combining Home Position Return with Other Functions 5 9 1 Home position return start after home position return operation stops Home position return starts again if a positioning start is input while the movement is stopped due to an external stop signal or axis stop during home position return However when the home position return retry function is not enabled an error may occur depending on the stop position When executing restart after a stop during home position return execute posi
210. ds are specified P Pulse rate A factor to double or triple the number of feedback pulses per motor axis rotation or reduce it to a half or one third The ratio of feed pulses and feedback pulses For example when there are 2 400 pulses per rotation the P rate setting of 2 corresponds to 1 200 pulses While the axis rotation per pulse is 0 15 at 2 400 pulses it becomes 0 3 at 1 200 pulses Positioning accuracy drops as the P rate increases Pancake motor Compared to the standard type the dimension in axial direction is shorter by around 100 mm Used when only a small installation space is available for the servo motor Parameter A basic data item used in positioning Determined during the design stage of a machine and changing it later requires a design change for the machine Data cannot be written during positioning Parameters are set to their initial values by the manufacturer Pattern See Positioning pattern in the glossary PGO Pulse Generator Zero See Home position signal UU TT Feedback pulse ele se en Pe Pe a c PGO One axis rotation A 35 Position control A type of control with main focus on positions and dimensions such as fixed dimension control positioning control and numerical control This control always uses feed pulses C f speed control In some cases position control uses the same motor but a different drive module Position detection module Performs a sim
211. dule Terminal register 12 1 12 Building a System MELSEC A 12 2 Master Station Settings Settings of master station switches are shown below AJ61BT11 RUN Station number setting switch O x 10 B 7 i j Master station must be set to 0 Mode setting switch 0 online Transmission speed setting switch 9 ONUNE AR S 0 156 kbps Condition setting switch Master station a T1 T1 Ira I imi ss m Invalid when master station intelligent mode 12 2 12 Building a System MELSEC A 12 3 D75P2 Settings Settings of D75P2 switches are shown below Transmission speed setting switch 0 156 kbps x 10 0 x 1 1 Station number setting switch MITSUBISHI MELSEG Jeser D75P2 sa BRATE STATION NO w O x10 TN PAR AR RUN N2 n N 8 0 0 eet 654 654 x1 Lrun O so O MODE RESET TD COO O 12 3 12 Building a System MELSEC A 12 4 Concept of Transient Transmission This section explains reading writing to the buffer memory of the D75P2 using transient transmission 12 4 1 Read write of the buffer memory Read write of the D75P2 buffer memory is performed from the PC CPU using the following buffer memory and RX RY signals e The send buffer and receive buffer of the buffer memory of the master module e RX RY signals RX n 1 E RY n 1 E between the D75P2 and the master module PC CPU Master module D75P2 first station Buff
212. e Common COM e I O voltage 24 V DC 24 V side Servo on SON e The signal for tuming on power to the servo base circuit and changing the status to operation enable e Changes the mode to ABS transfer e While on the ABS data bit 0 D01 ABS data bit 1 ZSP and ABS transmission data ready TLC Signals become valid e The signal to request ABS data in the ABS transfer mode During torque limitation TL Common COM Common COM e I O voltage 24 V DC 24 G side 1 indicates signals in the ABS transfer mode 2 Indicates signals in a normal state not in the ABS transfer mode See the specification and instruction manual for each servo amplifier for details 3 11 3 Specification MELSEC A 3 3 I O Signals for the Master Module This section explains the assignment and respective functions of the I O signals 3 83 1 List of VO signals The D75P2 uses 128 input points and 128 output points for data communication with the master module Table 3 3 shows the assignment and name of each I O signal Device RX indicates input signals from the D75P2 to the master module while device RY indicates output signals from the master module to the D75P2 Table 3 3 List of O signals 1 Signal direction D75P2 master module Signal direction master module D75P2 D75P2 ready complete RYnO Use prohibited Single axis start complete Dual axes start complete Use prohibited Single axis BUSY i to
213. e LILLE Speed V lt A7PHP ATHGP PC9800 7 Servo motor speed i DOEN f Pulse standing amount personal computer AD75TU Pulse distribution Fig 1 1 Overview of positioning control 1 Overview MELSEC A 1 1 Features The features of the D75P2 are listed below 1 2 3 4 Compatible with distributed systems The D75P2 can be placed near a distributedly allocated servo amplifier or stepping motor Easily adaptable to an absolute position detection system a By connecting a servo system that supports absolute positions the D75P2 can be used with an absolute position detection system l b Once the location of the home position has been determined the D75P2 can return to the address prior to power up using the absolute position restoration function c With the absolute position detection system the location of the home position can be determined by means of the data set type home position return Therefore wiring to items such as a near point dog is required Control via mechanica system input is possible With external inputs such as external start stop and speed position switch the positioning control can be performed without using a sequence program Various positioning control functions are available a Various functions required of a positioning system are included such as positioning control to any position fixed dimension feed control and uniform speed control An overview
214. e The position of positioning currently being executed is stored Update timing 56 8 ms cycle The present feed value becomes the coordinate value in the case of absolute positioning The home position return address is set when home position return is completed The present feed value is changed via the present value change function It is possible to apply software stroke limit using the present feed value via parameter setting 3 25 3 Specification MELSEC A 3 4 8 Feed speed In all operations the actual speed at the time of operation is stored During interpolation operation the synthesized speed at the time of operation or reference axis speed is stored in axis 1 and 0 is stored in axis 2 If the axis stops 0 is stored 3 4 9 Valid M code An M code is stored 0 is stored when the remote station ready signal turns off 3 4 10 Axis error number When an axis error occurs the corresponding error code is stored If another axis error occurs after an error code has been stored the old code is overwritten and the new error code is stored The axis error number is cleared when the axis error reset is turned on 3 4 11 Axis warning number When an axis warning occurs the corresponding warning code is stored If another axis warning occurs after a warning code has been stored the old code is overwritten and the new warning code is stored The axis warning number is cleared when the axis error reset is turned
215. e Positive direction address increase direction When the travel increment is negative Negative direction address decrease direction Stop position positioning start address Travel increment 30000 Travel increment 30000 Moves in the Moves in the negative direction positive direction 3 Speed position switch control e Set the travel increment applied after switching from speed control to position control Speed Travel increment setting Speed control EPosition contro Time Speed position switch 11 5 11 Setting Positioning Data MELSEC A 11 2 6 Circular address The circular address is data needed only when circular interpolation control is performed e Auxiliary point specification Set the auxiliary point passing point for circular interpolation e Center point specification Set the center point of the circular for circular interpolation Auxiliary point passing point Endpoint Endpoint Positioning address Positioning address Circular address Center point Starting point address Starting point address Circular address a Circular interpolation by auxiliary point specification b Circular interpolation by center point specification 11 2 7 Command speed 1 Set the command speed at execution of positioning 2 If the set command speed exceeds the speed limit value positioning is performed using the speed limit value 3 If 1 is set for the co
216. e axis positioning start number Sets the single axis positioning start signal Turns on the dual axis absolute position restoration command flag Writes 9900 to the dual axis positioning start number Sets the dual axis positioning start signal 12 Building a System Absolute position specification XOO7E M200 M101 M100 is Q H H K 0 0000 01E0 9901 SET XOO7F M201 M102 M100 is pda aa a y aS M43 H H K 0 0000 O1E8 9901 12 31 M43 M201 MELSEC A Turns on the single axis absolute position specification command flag Writes 9901 to the single axis positioning start number Sets the single axis positioning start signal Turns on the dual axis absolute position specification command flag Writes 9901 to the dual axis positioning start number Sets the dual axis positioning start signal 12 Building a System MELSEC A X0040 M262 M194 LS M30 Turns on the transient read flag poe ep gy Turns on the transient write flag M9036 SET 9052 Transient transmission SET Y001C Switches to bank 1 ST Y001D K4 K4 SEG Y0018 B0001 12 32 12 Building a System M30 Transient transmission 12 33 H 0000 K oV 0 oV 0000 p D50 SET D50 D51 D52 D53 D54 D55 D56 M262 MELSEC A Sets the dummy area to 0 Sets the station number to 1 and the request code to 10H read Sets the number of
217. e direction Positive direction Center point of circular Na Negative direction circular address b By setting the travel increment to 0 positioning of a complete round whose radius is the distance between the center point of the circular and the starting point address can be performed Positive direction Center point of circular circular address Starting point address Endpoint address current stop position gt positioning address Negative direction Positive direction Negative direction ae c When performing the circular interpolation control with the specified center point the positions of the circular locus calculated from the starting point address current stop position and center point address circular address and the set endpoint address positioning address may not match e If the error of the calculated circular locus against the endpoint address positioning address is within the allowable range for circular interpolation errors set by extended parameter 2 circular interpolation is performed to the set endpoint address positioning address while performing error compensation via spiral interpolation e Ifthe error of the calculated circular locus against the endpoint address positioning address exceeds the allowable range for circular interpolation errors an out of allowable circular interpolation error range error error code 506 is generated upon startup of positioning and positioning will
218. e end of each positioning data to the next positioning data so that position adjustment is not executed which prevents output speed drops and mechanical vibrations due to speed changes However because it carries over the remainder of travel increment produced at the end of each positioning data to the next positioning data the locus passes the area adjacent to the specified positioning address Locus of adjacent passing mode Locus of positioning data number 4 Speed positioning address Locus of positioning data number 3 Locus of positioning data number 4 Speed drops Speed does not drop Positioning data number 4 Positioning data number 4 Positioning data number 3 6 40 6 Positioning Function MELSEC A 6 Positioning Function 0 b Precautions 1 When performing continuous locus control in the adjacent passing mode output abruptly reverses if the travel direction of the reference axis changes when processing moves on to the next positioning data number from the current positioning data number If the sudden reversal of output affects the mechanical system perform control using the continuous positioning control In the case of the positioning address passing mode a change in the travel direction of reference axis triggers an automatic deceleration Locus of continuous focus control Axis 2 Positioning data number 2 Positioning data number 1 Axis 1 reference axis
219. e generator enable flag RY n 2 9 RY n 4 9 is on e Turns off by error termination and stop OFF Positioning incomplete ON Positioning complete e Tums on for the period of time set by the parameter for positioning complete output time starting from the point when positioning for each positioning data number is completed When the parameter for positioning complete output time is set to O the signal does not tum on When the positioning operation including home position return JOG operation or manual pulse generator operation is started while this signal is on the psignal tums off e If speed control or positioning is stopped in the middle the signal does not turn on OFF Error has not occurred ON Error has occurred e Turns on when an error occurs and turns off upon error reset Single axis positioning complete Dual axis positioning complete Single axis error detection Duai axis error detection RXnA RXnB n The address assigned to the master module via station number setting 3 16 NERY 3 Specification MELSEC A Table 3 4 Details of O signals 2 Single axis M code ON Dual axis M code ON Single axis speed limit in operation flag Dual axis speed limit in operation flag Single axis speed change processing flag Duat axis speed change processing flag Single axis drive module ready Dual axis drive module ready Single axis zero signa
220. e high limit FLS and low limit RLS of the D75P2 are used in the home position return retry function Set them inside the servo limit switches 3 3 Limit switches for the servo for stopping 4 4 For details on connection see the specification and instruction manual for the MR H servo amplifier 5 5 Indicates the distance between the controller and amplifier The distance is 2 m 6 6 ft or less when an open collector is used 6 6 For the D75P2 set the pulse output logic selection to drive module in the extended parameter 1 to negative logic A 10 Appendix MELSEC A Appendix 4 2 Connection example of D75P2 and MR J O A a 5 5 differential driver open collector negative logic Configure a sequence that disconnects ri 7 Regenerative brake option the MC by an alarm or emergency stop 1 r777 Sano molo NCTE p Senam 1 NF w MC H i 6i 2990 To U H Power supply Aaa eoo ee oe t sols TEN 3 phase 200 V AC Ss iag m wW i i l D L f t t 1 V t V t t 4 t s D pepe 10 m 32 8 ft or less 2 m 6 6 ft or less CNI B o 13 v FS yo Han im SON 28 RIS RES t L C RARI Sop He 35 30 m 98 4 ft or less YN DM j sron Speed position switch LSP 3 Nn STAT S NEC isn 31 COM 35 c vw 35 COM i oe eee sues cceesecucsy voo 35 CLEAR 5 m epe er 32 CLEAR COM 23 isc 15 TT ome o RR e purse 21 pea 9 Paene Te Puuse
221. e home position return function refers to the following two types of functions 1 Establishing the mechanical home position at the time power is turned on This is an operation to set a home position in the coordinates in which the machine operates 2 Returning to the home position that has been set This is an operation to return to the home position set in 1 from the position to which the machine has moved for example the stop position after positioning from the home position The following functions are also available in addition to the home position return function described above Home position return m Depending on the present value there are occasions when retry function home position return is not performed correctly In such a case this function will automatically perform home position return again See Section 5 6 Home position shift function This function is used to perform minor adjustments to the location of the home position by compensating the stop position given by the home position return function See Section 5 7 5 2 Types of Home Position Return The following types of home position return are available 1 Establishing the mechanical home position at the time power is turned on Mechanical home position return start See Section 5 4 2 for details There are seven types of methods to perform mechanical home position return start as shown below Home position return method See Section 5 5 for d
222. e is changed 1 See Chapter 5 for the machine feed home position return 2 Use extended parameter 1 to select whether to set the software stroke limit to the present feed value or machine feed value See Section 10 2 3 7 27 7 Other Functions MELSEC A 2 Confirmation of the present value a The present feed value and machine feed value are stored in the remote register and buffer memory listed below Present feed value remote register address RWm RWrn 1 RWm 8 RWm 9 Machine feed value buffer memory address 802 803 902 903 b The remote register for present feed value and the buffer memory for machine feed value use two word 32 bits configuration Therefore the present feed value and machine feed value can be read into a PC CPU using the DFRO P instruction from the PC CPU c When the electronic gear setting is not 1 the present feed value and machine feed value may not be the specified address travel increment Therefore it is recommended to set 1 for the electronic gear 3 Update of the present value a With D75P2 the present value is updated every 56 8 ms The present feed value and machine feed value that are stored in the remote register and buffer memory are updated every 56 8 ms b Use the present feed value and machine feed value of D75P2 as monitors to display a present value and such When using the present feed value and machine feed value that are stored
223. e nnns 10 15 IDEE GU AL NRRRRRRRRRRR 10 15 10 2 7 M code ON signal output timing eeeee eene nnne nennen nennen nnne ennt enn neant nne nenne nennt 10 15 10 2 8 Speed switch type RR M 10 15 10 2 9 Interpolation speed specification esee eee eene eene enne nennen tnam n nennen nene nne nenne nne nnt 10 16 10 2 10 Present feed value during speed control eeeeeeeseeeessee eene eterne nint nnnne nennen annees 10 17 10 2 11 Manual pulse generator selection sess ese esses nennen tenete tenente tn enean nnne nne nene teneant 10 17 10 2 12 Selection for pulse output logic to drive module eene 10 17 10 2 13 Acceleration deceleration time setting size selection easet 10 18 10 2 14 Acceleration time MB OEC RR X 10 18 10 2 15 Deceleration time 1 to 3 lieieieseieeseeee eee ennen nnam atento nnn enn sse nn stereo nnns tennis etnia nennen 10 18 10 2 16 JOG speed limit value eese eene en enn tn tenete nn entente nnn ntnt nennen tenent suites insueta tnentntnennn 10 18 10 2 17 JOG operation acceleration deceleration time selection eeeeen ener 10 18 10 2 18 JOG operation deceleration time selection erret 10 19 10 2 19 Acceleration deceleration processing selection eene 10 19 10 2 20 S CUIVE rati
224. e parameter 3 When the present value is changed the value of the location of the absolute home position is also changed When home position return is completed home position address 300 Home position is stored in the location of the absolute home position Home position retum 300 Positioning to the position of address 100 is performed Home position Ne Positioning o 100 300 If the present value is changed to 100 at this position the location Present value change of the absolute home position becomes 100 FOIS poson From this position positioning to the location of the home position is performed by using the location of the absolute home position value High speed mechanical home position return and executing a positioning program to the location of the absolute FOIS poston home position ABS linear 1 The present value is changed to the home position address if T necessary The home position return request flag OFF request is turned on if necessary Fig 5 1 Positioning to home position and the location of the absolute home position value When the following control is performed the value of the location of the absolute home position does not change e 0 clear of the present feed value at start of fixed dimension feed e Turning off of the present feed value communication request instruction during speed control Thus after the above operations are performed positioning to
225. e position output Inertia KPPS A characteristic of an object to try to retain the current status unless external forces are applied Inertial moment Abbreviation for kilopulses per second The number of pulses per second 80 KPPS corresponds to 80 000 pulses per second A 32 Appendix Limit switch A switch provided for safety reasons at both ends of a movement device to stop the moving object A circuit is created that forcibly turns off the power when the contact is activated by the moving object itself as it pushes the switch When the actuator shown in the figure is pushed the micro switch located inside is activated Various other types are available Rubber cap Lead wire Case a Micro switch Limit switch output An external limit switch is made unnecessary by outputting the same signal as the on off of the limit switch Based on the data set in advance for each axis the on off signal of the limit switch data corresponding to the actual current value address of each axis is output externally Linear interpolation An automatic operation to obtain diagonal linear movement during positioning in which two motors that respectively perform horizontal feed X and vertical feed Y are used simultaneously With the D75P2 interpolation combining axes 1 and 2 is possible but the same positioning number must always be used See Interpolation operation in the glossary No 9 Vertical
226. e positioning data number used to perform positioning start in the buffer memory for indirect specification 4500 to 4549 4750 to 4799 b Setting 8001 to 8050 in the buffer memory for setting the positioning start number 1150 1120 enables starting of the positioning data number set in the corresponding buffer memory for indirect specification 8 35 8 Buffer Memory MELSEC A 8 11 PC CPU Memory Area The PC CPU memory area is an area where read and write can be performed freely Since this area is used as condition targets of the condition data for positioning start information positioning start can be controlled by setting condition judgment values used at wait judgment The values written to the PC CPU memory area erased when the D75P2 is powered off and the area is cleared to 0 at power on Address 5050 5051 5052 to 5097 5098 5099 8 36 8 Buffer Memo MELSEC A 8 12 Area for Block Transfer This area is used for batch read write up to 100 data items when positioning data written from the PC CPU exceeds 100 data items per axis Initial value Target axis Sets the axis to perform read write for 1 Axis 1 2 Axis 2 5101 Head positioning e Sets the head data number to perform read write from block number Buffer memory address common to axis 1 and axis 2 Remarks setting range 1 to 600 Sets the number of read write data items 1 to 100 5102 Number of
227. e register address for present value change RWwm 2 RWwm 3 RWwm 10 RWwm 11 Remote register address for the positioning start 7 31 7 Other Functions MELSEC A 7 6 Electronic Gear 1 Whatis the electronic gear a The electronic gear freely changes the machine travel increment per command pulse by setting the travel increment per pulse b Setthe travel increment per pulse by selecting from the number of pulses per rotation of the basic parameter 1 travel increment per rotation and unit multiplier c By setting the travel increment per pulse positioning can be performed flexibly since it is no longer necessary to select a detector encoder or servo motor depending on the mechanical system d The electronic gear function is valid for positioning control JOG operation manual pulse generator and home position return 2 Electronic gear processing a The electronic gear function accumulates values that are smaller than the travel increment per pulse that was not output by pulse during mechanical movement inside the D75P2 When the amount of these accumulated values reaches the travel increment per pulse they are output by pulse b The accumulated values smaller than the travel increment per pulse is cleared to 0 when the fixed dimension feed execution is completed Therefore even if the fixed dimension feed is performed repeatedly the mechanical movement will be the same for each feed 7 32
228. e request of an external signal Device number for speed change RY n 2 7 RY n 4 7 When using an external speed change request it is necessary to set the external start function selection of extended parameter 2 to the external speed change request 1 Also it is necessary to set valid 1 for the external start valid of an axis control data in the device used to set the external start valid listed below OOO Awemmbe dC Cid Device number for setting the external start valid RY n 2 B RY n 4 B 7 9 7 Other Functions MELSEC A 2 Control contents a Inthe following cases a warning will occur and the speed cannot be changed e During deceleration due to a stop command During automatic deceleration by position control b Ifthe value set in the remote register for speed change exceeds the speed limit value a warning occurs and the speed limit value is used c When changing the speed during position control and the position control of the speed position switch control if the remaining distance is not sufficient to change the speed control is performed so that the feed speed during the next control approximates to the new speed value 1 When the speed is not specified for the next control data current speed The feed speed becomes the new speed value 2 When the speed is set for the next control data The speed change is canceled and the operation is performed at the set speed Control when a
229. ear point 0 0 to Oto 0 to 0 to dog ON 214748364 7 u m 13421772 7 u m 21474 83647 inches 1342 17727 inches Home position shift amount 214748364 8 to 13421772 8 to 21474 83648 to 1342 17728 to 214748364 7 u m 13421772 7 u m 21474 83647 inches 1342 17727 inches Present value change amount 214748364 8 to 13421772 8 to 21474 83648 to 1342 17728 to 214748364 7 u m 13421772 7 u m 21474 83647 inches 1342 17727 inches Speed change value 0 01 to 0to 0 001 to 0to 6000000 00 mm min j 375000 00 mm min 600000 000 inches min 37500 000 inches min JOG speed 0 01 to 0 01 to 0 001 to 0 001 to f 6000000 00 mm min 375000 00 mm min 600000 000 inches min 37500 000 inches min Speed position switch control travel Oto 0 1 to 0 00001 to 0 00001 to increment register 214748364 7 u m 13421772 7 um 21474 83647 inches 1342 17727 inches Command in position 0 1 to 0 0 00001 to 0 00001 to 3276700 0 u m 204793 7 u m 327 67000 inches 20 47937 inches 7 59 Degree Standard mode Stepping motor mode Oto 359 99999 degrees 1342 17728 to 1342 17727 degrees Ot 1342 17727 degrees 0 001 to 0 001 to 000 degrees min 1 37500 000 degrees min 001 0 001 to 000 degrees min 37500 000 degrees min Nolni fry BROJaANIAN s xSIRS o 8 25 z 22 SEINE a 3 a g grs i g J o Ss o 0 001 to 37500 000 degrees min 0to 0 04095 degrees Oto 359 99999 degrees 359 99999 degrees 0 to 359 99999 degrees 359 99
230. ecessary oo Omwaraddess Semngnotnecossay 00 0 weim amp om fs moa AO ee THREE 1 The speed control in operation flag is bit 0 of the status in the axis monitor of the buffer memory See Section 8 6 2 for details 2 See Section 11 2 for details on the positioning data 6 26 6 Positioning Function MELSEC A 6 1 9 Speed position switch control forward rotation reverse rotation 1 What is speed position switch control a This performs speed control along the specified axis switches from the speed control to position control according to the input speed position switch signal and performs positioning for the specified travel increment D The speed position switch control can be started in the direction of either forward rotation or reverse rotation 2 Switching from speed control to positioning control a Switching from speed control to positioning control is executed using the speed position Switch signal b The speed position switch signal is valid only while the speed position switch permission flag of the axis control data is on see Section 8 7 2 If the speed position switch valid flag turns on after the speed position switch signal has been turned on switching from the speed control to position control is not executed but the speed control continues 3 Operation timing The operation timing of speed position
231. ecomes operable Single axis servo ON RY n 2 0 Double axis servo ON RY n 4 0 2 Servo OFF The servo becomes inoperable 1 If the servo motor is turned on due to an external force when the servo is off perform absolute position restoration 2 Setthe servo to ON OFF while the motor is stopped A servo OFF request during positioning will be ignored 7 67 IND Sa MEMO 7 68 8 Buffer Memory MELSEC A 8 Buffer Memory 8 1 Outline of Buffer Memory The D75P2 contains a PC CPU and the buffer memory for data communication Various data such as those listed below are stored in the buffer memory and the D75P2 uses this data to perform positioning control e Parameter area to set parameters for the D75P2 e Monitor area to check the control status of the D75P2 e Control data area to set the control status of the D75P2 e Positioning data area to set positioning data e Positioning start information area to set positioning start information e PC CPU memory area to be used for condition data for block start 8 2 Classification of Buffer Memory Areas 1 Parameter area e Basic parameter M This is the area to set parameters used as bases of positioning control such as command unit travel increment per pulse pulse output mode and rotation direction e Extended parameter MI This is the area to set detailed contents required for positioning control such as backslash compensation st
232. ecseteneaeesuseeseseasssassseaeencecesaeenssntenesaussucsessesuseusasesenssases 1 7 1 4 1 Data setting required for positioning CONtrOl ccscescseceseeessssssesceeseeeeceseesousescuseeneseseasevsseteseaseeass 1 7 1 4 2 Positioning control Methods eese eee seeeeee senes ata tenetur raten anis ases senes tasa ense sns sa s sU sap Dit 1 8 1 4 8 Specification of positioning address cssssssesessessessescesesseeseesersacseusetsestecccscarseeseeseseseasseseseceecenses 1 9 1 4 4 Operation pattern asec 25 ooze scecaiessuenodSucsdsancunagh recaccto c eee o invicta eer aco eoe stor de Ee ER UR a eoe tee eee eoa eT 1 10 1 4 5 Block positioning control eeeeseseeeeeeeee esee eene ne tette tne nn ernst tasse tastes nts rs ette sess sn stesse ses sensa sana 1 11 1 4 6 Overview of acceleration deceleration processing sesssssssssesescessesesessceceecessenrsseseesesseususseneasaes 1 12 TAMEO UR Esc e En 1 13 DL ME QU Of restart me E 1 14 1 4 9 Overview of home position return cscecsseesssseesssersscsesseseeeseresessesescesseeeescesesasscescevetetseceessnescceenens 1 15 1 5 Overview of Communication cscsssesscesnssescsssssesseeseasasecsecsnesuesseosseueatetececaaseasecsncssacseessuacssenseesceverseaseuceess 1 17 15 1 Eo III 1 18 1 5 2 Transient transmission eee ecc eee essere eese essere teat rna thea essen
233. ecutes the positioning data number of the same point f FOR loop 1 AFOR to NEXT loop is repeated for the number of repetitions set by a parameter The start data number of the same point is started at the beginning of repeat processing 2 When 0 is set for the number of repetitions an infinite loop will be created 3 If there is no NEXT after FOR repeat processing will not be performed although no error occurs g FOR condition 1 Performs condition judgment for the condition data number specified by a parameter and repeatedly executes FOR to NEXT until the condition is satisfied 2 If there is no NEXT after FOR repeat processing will not be performed although no error occurs 1 Represents the end of repetition 2 Returns to the beginning of the FOR to NEXT loop 3 Inthe case of FOR count the number of repetitions is reduced at a decrement and when the count becomes 0 the loop is terminated after positioning of the same point has been executed 4 If NEXT is executed before FOR is executed the same processing as normal start is performed The range check of start conditions set for special start and of each parameter are performed when the specified data number is executed If any start condition or parameter is out of its setting range positioning control will not be performed 11 9 11 Setting Positioning Data MELSEC A 2 Parameter The start condition parameter is set whe
234. egrees pulses 0 001 to 0 001 to 0 001 to37500 000 1 to 62500 37500 000 37500 000 inches min degrees min degrees min pulses sec 0 01 to 375000 00 10 001 to 0 001 to 1 to 62500 37500 000 37500 000 mm min inches min degrees min pulses sec 10 3 3 Home position address 1 This address sets the present value of home position when home position return is completed 2 The home position addresses set at the present feed value and machine feed value are stored when home position return is completed successfully 3 Evenif the set home position address value is outside the software stroke limit range no setting error warning will occur For the home position address verify the setting of the software stroke limit in the extended parameter 1 and set a value within the software stroke limit range 10 3 4 Home position return speed 1 This parameter sets the speed at home position return 2 Seta value equal to or lower than the speed limit value specified in the basic parameter 2 10 23 10 Setting Positioning Parameter MELSEC A 10 3 5 Creep speed 1 This parameter sets the creep speed low speed immediately before the decelerated stop from the home position return speed after the near point dog is turned on V Home position return speed Home position return start P Creep speed Near point dog Zero signal 2 Seta value equal to or lower than the home position return speed 3 The creep speed is r
235. el time to the stopper after near point dog ON When the dwell time elapses time out during decelerating from the home position return speed deceleration stop occurs Home position return speed d Creep speed Dwell time setting Home position return start Home position return request flag Home position return complete flag Operation status Travel increment after near point dog ON Present feed value machine feed value Fig 5 9 When dwell time elapses during decelerating from home position return speed 5 16 5 Home Position Return Function MELSEC A e When the dwell time elapses before stopper stop the movement stops at that moment and the position becomes the home position Home position return starts at the creep speed during near point dog ON Home position Travel increment after near point dog ON return speed Creep speed i 1 i Li Effective range of torque limit i 1 LI Torque limit NearpointdogOFF T a Dwell time Time out of dwell time measurement y Home position return start Home position return request flag Home position return complete flag Error counter clear output Operation status Standby X During home position return Standby Present feed value machine feed value Inconsistent X The value of travel is stored Home position return address D D s 5 0 D D 1 1 Fig 5 10 When dwell time elapses before stopper stop 5 17 5 Home Position Return F
236. elated to the detection error in the home position return method using zero signal and the size of impact in the home position return method using stopper stop Therefore set the creep speed in consideration of the error range or size of impact 10 24 NY ee 10 Setting Positioning Parameter MELSEC A 10 3 6 Home position return retry 1 This parameter sets whether or not to perform home position return retry using the high low limit switch 2 If the home position return retry function is used home position return can be initiated regardless of the machine position See Section 5 6 for details on the home position return retry function To use the home position return retry function an input to the D75P2 from the high low limit switch is required 10 25 10 Setting Positioning Parameter MELSEC A 10 4 Home Position Return Extended Parameters Tabie 10 4 Home position return extended parameters initial value Setting range Standard mode m wm d Home position return 0 to 65535 ms dwell time Travel increment setting O to 214748364 7 0t021474 83647 01021474 83647 0t02147483647 after near point dog ON um inches degrees pulses Home position return Oto3 acceleration time selection Home position return 0to3 deceleration time selection Home position shift 214748364 8 to 21474 83648 to 0 to 359 99999 2147483648 to amount 214748364 7 21474 8364 7 2147483647 um inches degrees p
237. eld specify which positioning data is set among those written to the positioning data I F area 1108 to 1137 for read write other than the positioning address and arc auxiliary point 0 Sets applicable data for the bit written 1 Sets no applicable data for the bit not written ONN O O Write allowed X een Write prohibited 8 24 8 Buffer Memory MELSEC A Initial value Buffer memory address common to axis 1 and axis 2 Remarks setting range Read write request e Performs write or read of positioning data e Performs read and write simultaneously for interpolation axes e Data flow with read and write is as follows Present feed value Positioning OS area data I F GERNE Buffer memory positioning data A read or write request is performed when the remote ready signal is off e When the present feed value is set in the write pattern address field the present feed value is stored in the positioning data I F via write then set in the 0 Write read complete set by the OS 1 Read request set via a sequence program 2 Write request set via a sequence program Positioning data I F for write read Axis 1 Command speed 1114 Positioning Axis 2 Command speed Positioning address address The contents in the OS area are written to the flash memory Hash memory write complete set by the OS
238. ement generator operation Manual pulse generator enable orr flag BUSY Manual pulse generator input 9 Start complete OFF 1 i Manual pulse generator operation enable status a n8 1 No When there is no more input from the manual pulse generator the last pulse is output from the D75P2 one control cycle time 100 ms behind 3 During the manual pulse generator operation the start complete signal will not turn on 1 Use the device listed below to set the manual pulse generator enable flag RY n 2 9 RY n 4 9 7 7 7 Other Functions MELSEC A 3 Control contents a The travel increment and output speed of the positioning control via the manual pulse generator operation are as follows e Use the following expression to calculate the travel increment by the pulses inputted from the manual pulse generator input pulses ne pulse input scale settin Travel increment Number 2 x k Manual pulse generators J x Travel increment per one pulse e With the manual pulse generator operation positioning is performed at the speed that corresponds to the number of input pulses per unit time The speed during the manual pulse generator operation is not limited by the speed limit value Output speed be pulse per a k Manual pulse generators i p control cycle time ne pulse input scale settin per one pulse 4 N
239. en connecting to a negative logic drive module set the pulse output logic to negative logic 2 Pulse output logic switch a Use the AD75P to set the pulse output of D75P2 0 Positive logic 1 Negative logic 3 Note a The pulse output logic switch becomes valid at the startup OFF to ON of the remote station ready signal Set this before setting the remote station ready signal to ON 7 63 7 Other Functions MELSEC A 7 19 Parameter Initialization Function 1 What is the parameter initialization function a The parameter initialization function restores the parameters set in the D75P2 to the factory set default values initial values 1 The parameter initialization function initializes the following parameters e Basic parameters 1 and 2 e Extended parameters 1 and 2 e Home position return basic parameter e Home position return extended parameter 2 The parameter initialization function does not initialize the positioning data start block information or condition data b If parameter errors occur frequently and the D75P2 will not start up initialize parameters using this function to reset them If the set parameters are found abnormal when the initial data setting request flag is set from On to OFF the D75P2 will not be able to perform positioning control because the remote station ready signal will not turn on 2 Parameter initialization setting a Parameter initialization can be performed
240. en no change in the direction of travel along the reference axis This may cause the counter party axis of interpolation to reverse abruptly To prevent the counter party axis of interpolation from reversing the rotation abruptly do not set the passing point to continuous locus control 11 but to continuous positioning control 01 Positioning by interpolation Operation of reference axis Operation of the counter party axis of interpolation Positioning Positioning data number 2 The counter party axis Reference axis Positioning data number 1 continuous locus control Positioning Positioning data number 1 data number 2 Positioning data number 1 data number 2 Positioning 2 If either the travel direction of the positioning data number currently being operated or that of the next positioning data number is undergoing the circular interpolation control automatic deceleration is not performed 6 36 6 Positioning Function MELSEC A 3 Handling the speed a Use each positioning data to set the command speed for continuous locus control With the D75P2 positioning is performed at the speed specified by each positioning data b 1 can be set for the command speed of continuous locus control By setting 1 for the command speed control is performed at the speed used for the previous positioning data number When the positioning data is set via a peripheral device 1 is displayed for
241. ence axis speed No allowed B i specification When the speed calculated by the D75P2 exceeds the speed limit value during interpolation control control is performed ignoring the speed limit value Therefore when specifying an interpolation speed pay attention to the items described below e When specifying the synthesized speed specify the speed of each axis not to exceed the speed limit value e When specifying the reference axis speed set the longer axis as the reference axis If the shorter axis is set as the reference axis the speed of the longer axis may exceed the speed limit value The unit groups are as follows e Group 1 mm inch e Group 2 degree e Group 3 pulse 10 16 10 Setting Positioning Parameter MELSEC A 10 2 10 Present feed value during speed control The update pattern of the present feed value at execution of speed control and speed position switch control is set Present feed value is retained Present feed value is retained Present feed value is updated Present feed value is updated starting with 0 Present feed value is updated starting with O Present feed value is Present updated starting with 0 feed value Present feed value is fixed at 0 Present feed value is fixed at O 10 2 11 Manual puise generator selection Which one of the manual pulse generators connected to axis 1 and axis 2 is used for control is set e Manual pulse generator of axis 1 Manual pul
242. ence program Continuous operation interrupt request RY n 1 0 po Set 1 in the buffer memory at 1181 c Wheh a continuous operation interrupt request is made the D75P2 turns off the continuous operation interrupt request upon completion of acknowledgment Set 0 in the buffer memory at 1181 for axis 1 6 Positioning Function MELSEC A 3 Precautions a When a continuous operation interrupt request is made the positioning is completed Therefore positioning cannot be restarted once it is stopped If a restart request is made it generates a warning warning code 104 restart disabled b Evenif the stop command is turned on after a continuous operation interrupt request has been made the continuous operation interrupt request will not be canceled Therefore if positioning is restarted after it has been stopped by turning on the stop command the operation stops upon completion of the positioning data number to which a continuous operation interrupt request is made Axis 1 Continuation of za Ositioning data 2 ber 14 by restart X Positioning for the PM positioning data number 12 will not be executed Stop by turning on the stop command Positioning by the positioning data number 11 Axis 2 Positioning by the positioning data number 10 c If stop after deceleration cannot be performed due to insufficient remaining distance when a continuous operation interrupt request i
243. enne nnnn nna 5 8 5 5 2 Count type 1 home position return using the zero signal eere 5 10 5 5 3 Count type 2 home position return not using the zero signal eere 5 12 5 5 4 Stopper stop type 1 home position return using time out of dwell time eene 5 14 5 5 5 Stopper stop type 2 home position return using the zero signal upon hitting the stopper 5 18 5 5 6 Stopper stop type 3 home position return no near point dog method eese 5 21 5 5 7 Data set type home position return eeeeeeeeeee eene enne enne nn enn tenn ente n tenete nennt tenentes 5 23 5 6 Home Position Return Retry Function eei sese eene neenon thon anna the tn etn tn entente nnne ennt 5 24 5 6 1 What is the home position return retry function sisse enne nenne ntn 5 24 5 6 2 Actions of the home position return retry function esseseeeeeeee nente enne nnt 5 24 5 6 3 Home position return methods and execution of the home position return retry function 5 26 5 6 4 Conditions when executing the home position return retry function seeseereneenenennn 5 26 5 6 5 Dwell time setting at home position return retry ussseseeeseeeneeeeeeneenenn entnehmen nnne 5 27 5 7 Home Position Shift Function eeeeeeeeeeeeeeee reete eene een enn nennen nan
244. enscauanenenssenss 3 27 4 Function List 4 1 to 4 2 AlY Puinctions E AASE SEE E AE E E T TT 4 1 5 1 What is the Home Position Return Function cecccessccseseenescesseeseseessassccseensesseeesansceenaneesaseeteneeeneceseres 5 1 5 2 Types of Home Position Return esee eese eene enn eene n nnne nnne nennen ennt entente anten statt tates nent 5 1 5 3 Precautions when Performing Home Position Return eese iei eene ee entne nnn tnter nnn nnns 5 2 5 4 Home Position Return Start Method eessesseeseseeeeeeeeee nennen eene ennt th nene nates sten st ense nnatens testen ese tnee n 5 3 BiB Start OW PERIERE M ME RENE 5 3 5 4 2 Mechanical home position return start cccecccssseessesesnsssesecseessesssesseansesnasaetreseseessacensseesenensaeesneee 5 4 5 4 8 High speed home position return Start eeseeee eese eee eeenen entente ennt nnne nnnm nnns 5 4 5 4 4 High speed mechanical home position return esee enne ennt entente ntn nnne 5 6 5 4 5 Data set type home position return cseseereseceeeesneerenseseseeeteneenessensenensseassesseneessanuseseneesennsentes 5 7 5 5 Home Position Return Method essei eene enne en entente nenne tarnen stat tne tnn enn nnne nnt tnt nta tne nnne antreten 5 8 5 5 1 Near point dog type home position return esses essen eee enne nenenenene nente n
245. ensenes 11 1 Data link start program sess 12 22 Data link system 0 cece cseecssssceserssessessenserseeensenes 1 21 Data set type sesssscesesssscssessecceseeseensusenseeseess 1 16 Data set type home position return 5 7 5 23 Deceleration stop Deceleration time esese eesasvseenssssoneqeesossotesesevos Description of connector signals 3 7 Details of 1 0 Signal ccccccccccessssesssessseseesecseeeeees 3 16 DIN rail installation removal scss 9 6 Display viewpoint 9 20 Drive module servo amplifier 1 21 Drive module connector sss 9 1 9 11 Drive module ready ccssssessssscssessseseseceessesseceecees 3 8 Dual axis linear interpolation control 6 7 Dwell timo siias eii teen 11 7 Dwell time at home position return retry 10 28 Early speed switch mode ss 6 39 ElectrohiC Gear eee erint enero e erae EEU einst 7 32 dire PRSETER 13 3 Error code classification eese 13 4 Error compensation eese eee eene eerte tne 10 5 Error counter clear 0 scsesstescsesosccewveseredetecectucestacce 3 9 Error counter clear common eeeseeeeeeess 3 7 Extended parameter eeesseessss 8 1 10 11
246. er M223 M117 M srt 12 29 M25 p M200 M26 p M201 bone pA M27 M223 M223 MELSEC A Turns on the single axis present value change command fiag Sets the single axis new present value to 1000 Writes 9003 to the single axis positioning start number Sets the single axis positioning start signal Turns on the dual axis present value change command flag Sets the dual axis new present value to 2000 Writes 9003 to the dual axis positioning start number Sets the dual axis positioning start signal Sets the single axis new speed value to 2000 Turns on the single axis speed change command flag Sets the single axis speed change request Resets the single axis speed change request 12 Building a System Speed change Absolute position restoration X0075 M105 PH H K I 0 0000 O1EC 3000 LS M28 SET M239 M149 n A UST X007C M200 MIO1 M100 is H H K TO 0000 01E0 9900 SET X007D M201 M102 M100 is M at H M 341 M41 H H K 0 0000 01E8 9900 SET 12 30 M239 M239 m M41 MELSEC A Sets the dual axis new speed value to 3000 Turns on the dual axis speed change command flag Sets the dual axis speed change request Resets the dual axis speed change request Turns on the single axis absolute position restoration command flag Writes 9900 to the singl
247. er memory Send buffer Receive buffer Buffer memory TO RIWT H FROM RIRD H 1 Area for the first station Area for the second station intelligent device station RY n 1 E access request Intelligent device station RX n 1 E access complete When performing read write of the send buffer receive buffer of the master module from the PC CPU it is necessary to switch the bank bank 1 of the buffer memory of the master module However when using dedicated instructions RIWT RIRD bank switching is performed automatically via the dedicated instruction For details on dedicated instructions see the ANSHCPU AnACPU AnUCPU Programming Manual Dedicated Instruction Volume or the QnACPU Programming Manual Special Function Module Volume 12 4 12 Building a System MELSEC A Before starting data link it is possible to read from or write to the buffer memory of the D75P2 by assigning a send buffer or receive buffer to the buffer memory of the master module See Section 12 4 3 for details on buffer memory assignment There are no assignments for the D75P2 side Data is read and written using the send and receive buffers in the following manner When writing data to the D75P2 buffer memory The control data for write request and data to be written to the buffer memory of the D75P2 are specified from the PC CPU to the send receive area of the master module By turning on the intelligent device s
248. er memory and write conditions Write condition Write allowed at any time However depending on the type of parameter change may or may not be reflected immediately Monitor area Read only Control data area Write allowed at any time Positioning data area Write allowed at any time Positioning start Positioning start data However write must be performed before turning on the information Positioning special start data positioning start for the corresponding axis Condition data Indirect specification Parameter area Write allowed at any time Write allowed at any time PC CPU memo area Transfer F area between PC CPU and D75P2 Do not write to missing number addresses and the areas that are indicated as write prohibited in the buffer memory lists shown in Section 8 4 and later This may cause malfunction The dedicated instruction compliant models can read and write using CC Link dedicated instructions Use FROM TO instructions to perform read and write for models not compliant with dedicated instructions 8 3 8 Buffer Memory MELSEC A Data in the buffer memory is not backed up using batteries At power on the D75P2 performs the following processing to the buffer memory Parameter area Transfers parameter values in the flash memory e Monitor area control data area Performs initialization Positioning data area Transfers data in the flash memory PC CPU memory area Performs ini
249. eration eeeeeecceesessesseeee eee 7 1 Manual pulse generator 1 21 2 3 3 7 Manual pulse generator enable flag 7 7 7 8 Manual pulse generator operation 7 7 Manual pulse generator selection 10 17 Master Module eee eeeeeecseseeeetteeeeseeeerses 1 21 2 2 Master station ceccesscececeeeseeceseseesseeeenseeees 1 21 Master station setting 12 2 MeCode CD 11 7 M code function oo eee ees cececescetsereseeeeneessseenres 7 35 M code ON signal output timing 10 15 Mechanical home position return start 5 1 5 4 Module installation eere 9 5 Monitor area ceeeeeeeeseeeee nennen enne nennen 8 1 8 12 N Name of each part 0 cee cee eesneeensceeeseseneaeenees 9 1 Near point dog type ec csseeseeeesessssneeeessensersenenes 1 15 Near point dog type home position return 5 8 Near point signal ecce cessere eee eere 3 8 Network system uesessseee eee eee ee enn senten eene 1 21 New present value eee 3 24 New speed value eeeeeseeeeee eren een nennen 3 25 Operation monitor 2 eese 9 21 Operation pattern 6 33 11 4 Override function eese 7 13 ien REM 3 24 Overview of communi
250. eration interrupt function 1 Continuous operation interrupt function a Ifa stop command is turned on while executing continuous operation or continuous locus control immediate stop processing is executed The continuous operation interrupt function is the function that terminates operation at the positioning data number being executed When a continuous operation interrupt request is made the operation is terminated at the point the processing for the positioning data number being executed is terminated b The status for each signal is as follows when the operation is stopped by the continuous operation interrupt function e Positioning complete signal OFF e BUSY signal OFF e M code on signal ON if M code has been set OFF if M code has not been set e Error detection OFF Stop processing when stop command is on oy Stop processing at a continuous Stop command turned roce operation interrupt request on or a continuous operation interrupt request Positioning data number 10 Positioning data number 11 Positioning data number 12 2 Continuous operation interrupt request a The following buffer memory is used to set a continuous operation interrupt request Axis 1 1181 0 Continuous operation interrupt request acknowledgment complete set by the OS Axis 2 1231 1 Continuous operation interrupt request b Use the following program to issue a continuous operation interrupt request set by a sequ
251. erformed by specifying continuous locus and if the starting point and positioning addresses are set at the same position two data numbers form a round This is because the starting point address of the second data is shifted for the remainder of travel increment produced by the first data Positioning address passing mode Adjacent passing mode Locus of positioning Starting point address of data number 2 positioning data number 1 Starting point address of positioning data number2 Locus of positioning data number 1 It goes around twice since the starting point address of positioning data numbers 1 and 2 are the same 4 If the travel increment specified by a positioning data number is small when performing continuous locus control in the adjacent passing mode output speed may not reach the command speed 6 Positioning Function 6 3 Starting Positioning Control MELSEC A This section describes the start method of positioning control and the start input 6 3 1 Overview of start The start methods of positioning control include the individual data one block start and block start With block start start from the first point or start from the nth point can be selected 1 Individual data one block start a This performs positioning from the positioning data number at which positioning was started to the positioning data number whose positioning pattern is set to positioning complet
252. erformed using a phase difference between Phase A A4 and Phase B B4 e When Phase B is 90 behind Phase A Forward rotation When Phase B is 90 ahead of Phase A Reverse rotation 1 Setat multiplication by 4 Forward rotation Reverse rotation Phase A A4 f f Phase A Ad Phase B Bd Phase B B When Phase B is 90 When Phase B is 90 behind Phase A ahead of Phase A 2 Setat multiplication by 1 Forward rotation Reverse rotation Phase A Ad Phase A A9 l Phase B Bd Phase B Bo When Phase B is 90 When Phase B is 90 behind Phase A ahead of Phase A 10 6 10 Setting Positioning Parameter MELSEC A 2 When the pulse output logic is a negative logic a PLS SIGN mode Control of forward rotation reverse rotation is performed using on off of the direction sign SIGN e When the direction sign is LOW Forward rotation e When the direction sign is HIGH Reverse rotation rotation Travels in the direction rotation Travels in the direction um b CW CCW mode A forward rotation field pulse PULSE F is output during forward rotation Similarly a reverse rotation field pulse PULSE R is output during reverse rotation PULSE R Reverse rotation c Phase A B mode Control of forward rotation reverse rotation is performed using a phase difference between Phase A A and Phase B B4 e When Phase B is 90 behind
253. es b 00 When performing individual data start set the positioning data number to be started in the buffer memory for setting positioning start number as shown below then start positioning Drive module Control by positioning data number 1 When positioning is started during the next scan of the scan that completed positioning enter RXn1 as the interlock so that positioning starts when RXn1 is turned OFF after RY n 1 0 has been turned OFF D75P2 Buffer memory ani RWw PC CPU ON I O signal o gt RY n 1 0 Sequence program Start a command RY n 1 0 RXn1 RXnO Positioning Positioning start start Signal complete of axis 1 signal of axis 1 RY n 1 0 RXn1 RXn4 BUSY signal of axis 1 RXnA Error detection of axis 1 D75P2 ready Setting of TOP HO RWwm KI KI positioning data number 1 Positioning SET RY n 1 0 start RST RY n 1 0 Positioning compiete 6 Positioning Function MELSEC A 2 Block start a With block start multiple consecutive blocks are automatically started at one time b Block start method 1 2 When performing block start set 7000 or 7001 to 7010 in the buffer memory for setting the positioning start number then start positioning If 7000 or 7001 to 7010 is set in the buffer memory for setting the positioning start number operation starts using the positioning data number set in the buffer memory f
254. es nd ee1Bop sseJppe sixy A 2 Appendix MELSEC A Appendix 2 2 Parameters home position return data 1 Parameters Setting range degree Basic i parameter 1 Number of pulses per rotation 1 to 65535 pulse Travel increment per rotation 1 to 65535 1 to 65535 1 to 65535 t 1 to 65535 x10 pm x10 inch x10 degree pulse Multiple of travel increment per 1 x1 10 x10 100 x100 1000 x1000 0 PLS SIG mode 1 CW CCW mode 2 Phase A B mode multiplication by 4 3 Phase A B mode multiplication by 1 Rotation direction setting O The present value increases by forward pulse output x10 mm min x10 inch min x10 degree min pulse s Basic parameter 2 gt elg S zje 9 amp o 3 Ed 5 Q amp Acceleration time 1 to 65535 ms 1 to 8388608 ms Deceleration time Start bias speed 1 to 600000000 1 to 600000000 1 to 600000000 1 to 1000000 x10 mm min x10 inch min x10 degree min pulse s Stepping motor mode selection O Standard mode 1 Stepping motor mode Backlash compensation 1 to 65535 1 to 65535 1 to 65535 1 to 65535 x10 um x10 inch x10 degree pulse Software stroke high limit 2147483648 to 2147483648 to 0 to 35999999 2147483648 to Software stroke low limit 2147483647 2147483647 x10 degree 2147483647 x10 um x10 inch pulse O Applies software stroke limit to the present feed value 1 Applies software stroke limit to the machine feed value So
255. esent feed value after change No error occurs even if the set value is outside the software stroke limit range The setting ranges are shown below 1 2 in the standard mode 2147483648 to 2147483647 x 10 um 2147483648 to 2147483647 x 10 inches 0 to 35999999 x 10 degrees 2147483648 to 2147483648 pulses In the stepping motor mode 134217728 to 134217727 x 107 um 134217728 to 134217727 x 10 inches 0 to 35999999 x 10 degrees 134217728 to 134217727 pulses 3 24 3 Specification MELSEC A 3 4 5 New speed value When changing the speed during positioning operation or JOG operation set the speed after change When 0 is set the operation stops The setting ranges are shown below 1 In the standard mode 0 to 600000000 x 10 mm min 0 to 600000000 x 10 inches min 0 to 600000000 x 10 degrees min 0 to 100000000 pulses sec 2 In the stepping motor mode 0 to 37500000 x 10 mm min 0 to 37500000 x 10 inches min 0 to 37500000 x 10 degrees min 0 to 62500 pulses sec 3 4 5 JOG speed Set the speed for JOG operation The setting ranges are shown below 1 Inthe standard mode 0 to 600000000 x 10 mm min 0 to 600000000 x 10 inches min 0 to 600000000 x 10 degrees min O to 100000000 pulses sec 2 In the stepping motor mode 0 to 37500000 x 10 mm min 0 to 37500000 x 10 inches min 0 to 37500000 x 10 degrees min 0 to 62500 pulses sec 3 4 7 Present feed valu
256. esnssssacserenestes A 14 Appendix 5 1 Connection example of D75P2 and CACR R series differential driver negative logic eerte A 14 Appendix 6 Connection Examples with Stepping Motors by Oriental cessere A 15 Appendix 6 1 Connection example of D75P2 and VEXTA UDX2107 differential driver positive logic eee teeceseeeseseeseesesecsesceseseeseseeatveceerscecsassaesenee A 15 Appendix 6 2 Connection example of D75P2 and VEXTA UPD differential driver positive logic csssscssssssessrssssesesssscseesessssessecetsssecenssssecssaseasees A 16 Appendix 6 3 Connection example of D75P2 and VEXTA FX differential driver positive logic esee nennen nnns A 17 Appendix 6 4 Connection example of D75P2 and VEXTA UDX2107 open collector method negative logic eese eerte tnn nenetne A 18 Appendix 6 5 Connection example of D75P2 and VEXTA UPD open collector method negative logic ccccsscssesssesessesseceveesssescssessseasesearsscacenes A 19 Appendix 6 6 Connection example of D75P2 and VEXTA FX open collector method negative logic reete A 20 Appendix 7 Connection Example with Servo Amplifier by Toei Electric cessere A 21 Appendix 7 1 Connection example of D75P2 and VLASE 010P differential driver positive logic cssssscesessceserssssosssevscsssscsssessessnssassccacsesesecsrsees A 21 Appendix 8 Connection Example with Servo Amplifier by Matsushita Electr
257. estoration of present value Position command Control command PC CPU Servo amplifier Absolute position detector 1 Home position return The absolute position detection system can establish the location of the home position using the data set type home position return In the data set type home position return system the location to which the location of the home position is moved by manual operation JOG operation manual pulse generator operation is treated as the home position Machine movement range Moved to this position by manual operation The stop position during home position return execution is stored as the home position Buffer memory for setting positioning data number 9901 Home position return specification Positioning start 7 65 7 Other Functions MELSEC A 2 Precautions during the absolute position detection system When constructing the absolute position detection system there are restrictions on the positioning address and the high limit low limit values of software stroke limit that can be used a Positioning address The positioning addresses that can be used in the absolute position detection system vary depending on the feedback pulse of the servo motor to be used Setting range Feedback pulses 8192 Feedback pulses 16384 26843545 6 to 26843545 5 53687091 2 to 53687091 1 inches 2684 35456 to 2684 35455 5368 70912 to 5368 70911 0 to 35
258. etails e Near point dog type Count type 1 Count type 2 Stopper stop type 1 Stopper stop type 2 Stopper stop type 3 Data set type The home position return method is set using the home position return parameter e 9 e 09 9 o 2 Returning to the home position that has been set High speed home position return start See Section 5 4 3 for details A home position return is made by calculating the travel increment to the home position from the travel increment stored in the D75P2 High speed mechanical home position return start See Section 5 4 4 for details Positioning is performed to the location of the absolute home position address which is monitored constantly The home position return parameters include home position return basic parameters and home position return extended parameters e Home position return basic parameters See Section 10 3 e Home position return extended parameters See Section 10 4 5 1 5 Home Position Retum Function MELSEC A 5 3 Precautions when Performing Home Position Return The following explains points to be noted when performing home position return with the D75P2 1 2 3 4 5 6 When performing home position return it is necessary to set home position return parameters for each axis See Sections 10 3 and 10 4 for home position return parameters Home position return cannot be used when the operation pattern is continuous l
259. ets the station number to 1 and the request code to 12H write Sets the number of data written to send buffer to 12 bytes 2 words Sets the quantity to 1 fixed Sets the access code attribute to 4H fixed Sets the buffer A memory head address to 6H single axis speed limit value Sets the number of write points to 2 words Sets the speed limit value to 50000 Writes the control data to the master station send buffer Sets the intelligent device station access request signal Ro 12 Building a System MELSEC A M9036 SET M9052 T YOOIC Switches to bank 70 T YOOID K4 K4 SEG YOO18 80001 M9036 H H K4 K Reads RX70 to FROM 0000 00E7 M180 1 RX7F to M180 to M195 Transient H H K4 K Writes M248 to transmission TO 0000 0167 M248 1 M263 to RY70 to RY7F M9036 SET M9052 Y001C Switches to bank 1 T YOOID K4 K4 SEG Y0018 B0001 12 36 12 Building a System Transient transmission 12 37 H H 0000 0040 D79 MELSEC A Reads the complete status Turns on the intelligent device station access normal completion signal Turns on the intelligent device station access abnormal completion signal Switches to bank 0 Writes M200 to M231 to RY10 to RY2F Writes M232 to M247 to RY40 to RY4F Writes M248 to M263 to RY70 to RY7F MEMO 12 38 13 Troubleshooting MELSEC A 13 Troubleshooting 13 1 Troubleshooting Flow when ERR LE
260. f a peripheral device The control method is one of these setting items for positioning data and specifies what kind of positioning control is executed read Chapter 11 for the other setting items Setting item Setting item name on the peripheral device Operation pattern Acceleration time number Deceleration time number me Positioning address travel increment Circular address Circular address Command speed Command speed 6 1 ae 6 Positioning Function MELSEC A 6 1 1 Control method There are following types of control methods Positioning control Control method Control overview Reference name section 1 Single axis linear Single axis linear control ABS This performs positioning from the current stop 6 1 3 control position starting point address defined on the Single axis linear control INC specified axis to the specified position positioning address travel increment on the same axis Dual axis linear interpolation control ABS Dual axis linear interpolation contro INC Single axis fixed dimension feed contro fixed dimension feed 1 This performs interpolation control along linear locus from the current stop position starting point address defined by two axes to the specified position positioning address travel increment t 2 Dual axis linear 6 1 4 interpolation control 2 This performs positioning for the specified tra
261. fault setting is stop after deceleration 2 See Section 7 9 1 for the actual deceleration time set deceleration time actual rapid stop deceleration time and set rapid stop deceleration time 6 58 6 Positioning Function MELSEC A 2 Stop processing priority The following shows the stop processing priority of the D75P2 Stop after deceleration Rapid stop Immediate stop a While in deceleration including automatic deceleration the operation will stop from the deceleration speed even if the deceleration stop command becomes on or there is a deceleration stop factor b When the stop signal specified for a rapid stop is turned on or there is a rapid stop factor while in deceleration the rapid stop processing is executed from that point on However if the rapid stop deceleration time is longer than the deceleration time the deceleration stop processing continues even if a rapid stop factor is encountered while in the deceleration stop processing r Example The processing when a rapid stop factor is encountered while in the deceleration stop processing is as follows Positioning speed Deceleration Positioning speed Processing for stop Stop processing after deceleration Rapid stop factor Rapid stop factor Rapid stop deceleration processing Continuation of processing Processing for for s
262. feed No 8 Horizontal faad Load inertia ratio GD bav See GD A 33 MELSEC A Low inertia motor Used when acceleration deceleration needs to be repeated frequently The rotor diameter is reduced so that the inertial moment drops to around one third of that of a standard motor while the dimension in longitudinal direction is extended to make up for the torque The load inertia ration should ideally be 1 or less M Machine code An auxiliary function to perform drill change clamping loosening raising lowering of the welding electrode and various displays such as ganged operation during positioning Two modes AFTER and WITH used depending on when the code is turned on ed While the M code remains turned on the next Positioning is not started The code is turned off using a sequence program When using the M code the user assigns a code number between 1 and 255 1 clamping 2 loosening etc Comments can be attached to 19 M codes to be monitored by a peripheral device or displayed externally See AFTER mode See WITH mode Machine feed value Stores the home position address upon completion of home position return Stores the current position in machine coordinates specified by the machine based on the home position return address Does not change even when the present value is changed Machine name A code of up to eight characters in the file name that the user can freely s
263. fer memory eeessesseessressceteseecesseseescnseerssees 8 1 Buffer memory area oes eeeseeceescesseescesessreseessensaess 8 1 CC Lihk aes eni eer TER 1 21 CC Link status display LED esee 9 1 Center point eeeeeeeeee etii pansinan iiiaae 6 20 Changing the JOG speed eee 7 6 Circular address cce erre inees 11 6 Circular interpolation control eese 6 15 Circular interpolation operation 1 6 Circular positioning function Clock data eee Command in position function s 7 47 Command in position range eee 10 15 Command speed 2 ccccsescessesecessseeeees 7 33 11 6 Common ABS IN eeeeeeeeeeeee ener 3 9 Common ABS OUT esses nennen 3 9 Communication program eene 12 25 Condition data cceceeeeee esee 8 2 11 11 Condition data area i ees e etel EOT 8 33 Condition data number e seeeeeeeeeeeeen 11 7 Conditional identifier 8 35 11 11 Conditional operator eeeeeee eene 11 12 Conditions of deceleration stop 6 36 Configuration of buffer memory 8 4 Connection cable
264. from the home position return speed If the near point dog is turned off during deceleration from the home position return speed deceleration stop occurs Home position return speed 2 Creep speed Home position return start Home position return request flag Home position return complete flag Operation status Standby During home position retum Travel increment after near point dog ON Inconsistent KO Present feed value machine feed value Inconsistent The value of travel is stored K Address during stop D t Dt D L 4 t D t D Fig 5 3 Near point dog turned off during deceleration from home position return speed 2 When the home position return retry function is disabled and home position return is executed again after a home position return is completed an error occurs and home position return will not be performed In JOG operation perform home position return after first returning to the position prior to near point dog ON 3 Home position return during near point dog ON starts at the creep speed The zero signal from PG is a signal that generates one pulse per one rotation i 1 PG rotation 1 i i PG zero signal j L PG generated pulse TULIT NES JUUWUL 5 Home Position Return Function MELSEC A 5 5 2 Count type 1 home position return using the zero signal 1 What is the count type 1 home position return e The count type 1 home position return is a method that
265. from the starting point address current stop position to the endpoint address positioning address passing through the specified auxiliary point address circular address b The center of the circular for the circular interpolation is the intersection of the perpendicular bisectors of the line segments that connect the starting point address current stop position and the auxiliary point address circular address calculated from the travel increment to the auxiliary point and the auxiliary point address circular address and the endpoint address positioning address calculated from the travel increment to the endpoint Positive direction Auxiliary point address Movement by circular interpolation circular address Endpoint address positioning address Travel increment to Travel increment the auxiliary point to the endpoint Center of circular Negative direction Positive direction Trave increment to the auxiliary int Travel increment to the endpoint c The circular interpolation control with a specified auxiliary point can be used even when the operation pattern is the continuous locus control Negative direction d If the used unit is degree circular interpolation control with a specified auxiliary point cannot be used e The maximum radius allowed for circular interpolation control is 2 If the calculated radius exceeds the above range a radius setting e
266. fter the specified time has elapsed Positioning completes 00 Dwell time Time Positioning start Start complete BUSY Positioning complete Fig 6 5 Operation during individual positioning control For block positioning this data is the last data of a block the operation stops after this data is processed 6 33 MELSEC A bw 6 Positioning Function MELSEC A 6 2 2 Continuous positioning control operation pattern 01 1 The operation always decelerates each time positioning of one positioning data is completed and begins to accelerate for processing the next positioning data after the command speed of the D75P2 reaches O If a dwell time is specified acceleration is performed after the specified time has elapsed 2 With the operation by continuous positioning control 01 positioning of the next number is automatically executed Be sure to set the operation pattern 00 for the last positioning data to complete positioning if the operation pattern is positioning continues 01 or 11 the operation continues until the operation pattern OO is found Therefore if the operation pattern 00 is not found the operation can be executed up to data number 600 Dwell time Positioning continues 01 Positioning continues 01 Address direction Address direction Positioning completes 00 Positioning start Start complete BUSY Positioning complete DRE noon fe fL fL Fig 6 6 O
267. ftware stroke limit selection Software stroke limit validity during JOG operation manual pulse generator operation Command in position range 1 to 32767000 1 to 32767000 1 to 32767000 1 to 32767 x10 pm x10 inch x10 degree pulse Torque limit setting value 1 to 500 M code ON signal output timing O WITH mode 1 AFTER mode Speed change type in speed 0 Standard speed switch mode 1 Early speed switch mode Switching mode Interpolation speed 0 Composite speed 1 Reference axis speed specification method interpolation mode Present feed value update request instruction during speed control 0 Software stroke limit invalid during JOG operation manual pulse generator operation 1 Software stroke limit valid during JOG operation manual pulse generator operation O Does not update the present feed value during speed control 1 Updates the present feed value during speed control 2 Clears the present feed value with 0 during speed control Manual pulse generator 0 Ignores manual puise generator operation 1 Uses manual pulse generator 1 2 Uses manual pulse generator 2 3 Uses manual pulse generator 3 Pulse output logic selection to O Positive logic 1 Negative logic Selection of the acceleration O t word type 0 to 65535 ms deceleration time setting size 1 2 word type 0 to B388608 ms Acceleration time 1 1 to 65535 ms 1 to 8388608 ms Acceleration time 2 Acceleration time 3 Dece
268. g identifier Present value change Deceleration time selection 10000 0 This value is irrelevant to control An initial value or any other value may be used See Section 11 2 for details on positioning data 7 30 7 Other Functions MELSEC A 3 Present value change using the remote register for present value change a The present value change using the remote register for present value change is performed as follows Set the present value after a change to the remote register for present value change Write 9003 in the remote register for positioning start number Turn on the positioning start signal b Change timing Tuning on the positioning start signal changes the present feed value to a specified value ON Positioning start signal OFF t 1 1 1 Present feed value 50000 X 0 i Change to the positioning address specified by the remote register for present value change The above figure shows the positioning address 0 c Error detection 1 Ifthe value specified in degree units is outside the setting range an axis error occurs 2 Even if the specified value is outside the software stroke limit range no error occurs However an operation start from outside the software stroke limit range error occurs at the positioning start Du A The addresses of the remote register for present value change and the one for the positioning start are as follows Remot
269. g the initial data setting complete also turns off n The address assigned to the master module via station number setting 3 19 3 Specification MELSEC A Table 3 4 Details of I O signals 5 RX n 7 B Remote station ready OFF Positioning operation disable ON Positioning operation enable 8 This signal indicates whether or not the D75P2 is able to perform positioning operation e Turns on depending on whether the initial data processing complete RY n 7 8 and initial data setting request RY n 7 9 are on or off e Turns on when positioning operation home position retum JOG operation or manual pulse generator operation is performed in the peripheral device test mode b When changing the positioning parameters it may be necessary to turn this signal off depending on the item to be changed c When the remote station ready switches from off to on the following processing is executed e Checking of parameter ranges e The D75P2 ready complete signal RXn0 is turned off d When the remote station ready switches from on to off the following processing is executed I e The D75P2 ready complete signal RXnO is turned on e The axis currently in operation is stopped e The M code ON signal for each axis is turned off and the M code Storage area is cleared OFF No positioning start request ON Positioning start requested e Starts positioning operation e The positioning start signal becomes valid at rise
270. g data increment to within the setting range New speed value invalid When speed change during Cramps at the maximum value Change the new speed value to within the JOG operation of the setting range setting range 100 Common When the start request is on Operation continues Correct the start request ON timing Start during operation Present value change during When present value change The present value change The present value is not changed during axis BUSY request request is ignored operation Test mode 102 Error counter clear request When error counter clear The error counter request is The error counter is not cleared during axis request ignored operation 104 Restart not possible When restart command request Correct the start request ON timing 105 When read write request Set the correct value then perform read write waming request again i waming 108 Flash write invalid When read write request Axis 1generatesawaming No processing S n 109 Write during BUSY When write request The applicable axis generates a Perform read write request when the axis is not waming BUSY Remote station ready in When writing to the flash Axis 1 generates a warming Tum the remote station ready signal on off progress memory Override value invalid During analysis When the setting value is 0 Set a value within the setting range contro at 100 e When the setting value is 301 or more control at 300 O
271. g data number 1 Clock data is set in the start history error start history error history warning history inside the system monitor Times set in the start history and error history can be referenced when obtaining a tact time summary or determining the cause of failure upon error occurrence 2 When clock data is not set the clock count starts from 0 00 00 00 as the time of D75P2 power on At power on to the D75P2 synchronize its clock data with the clock data of the PC CPU 8 23 8 Buffer Memory MELSEC A initial value Buffer memory address common to axis 1 and axis 2 Remarks setting range Write pattem Read is performed unconditionally Positioning Address field data field bO Positioning identifier M code Dwell time Command speed 1 Inthe address field specify address data to be used when setting the positioning address arc auxiliary point The specification values in the address field 8 bits and their descriptions are as follows Sets the positioning address arc auxiliary point value of positioning data Sets the positioning address value of positioning data Sets the arc auxiliary point value of positioning data Sets the present feed value as the positioning address Sets the present feed value as the arc auxiliary point 7 Sets neither positioning address nor arc auxiliary point 2 In the positioning data fi
272. g for stop after deceleration Stopped at the positioning address Actual deceleration time Net 6 Positioning Function MELSEC A 6 4 2 Stop processing and priority 1 Stop processing There are three types of stops during operation stop after deceleration rapid stop and immediate stop a Stop after deceleration This is the stop by deceleration times 1 to 4 of the base and extended parameters Use the positioning data to set which of the deceleration times 1 to 4 is to be used b Rapid stop 1 This is the stop by the rapid stop deceleration time of the extended parameter c Immediate stop This is the stop that does not perform deceleration processing The D75P2 immediately stops pulse output but it does not completely stop until the processing for the pulse standing in the drive module error counter is finished Speed limit value Speed limit value rapid stop factor Stop factor Positioning speed Positioning speed Positioning speed Actual deceleration Actual rapid stop time deceleration time Completely stops after the processing Set deceleration Set rapia stop e for the pulse standing in the drive time deceleration time module error counter is finished a Stop after deceleration b Rapid stop c Immediate stop Fig 6 12 Outline of stop processing 1 To select stop after deceleration or rapid stop use the rapid stop selection for stop groups 1 to 3 of the extended parameter the de
273. g operation signal turns off during operation or abruptly stops Drive module ready OFF When the drive module ready Operation stops immediately Cancel the error using axis error reset signal turns off during operation Test mode error during In the test mode Operation decelerates to stop Investigate the cause and tum off the power for e sj sj s as a w vies WT At the start of operation Verify the axis operation status buffer memory 808 908 and avoid issuing a start request during the status listed below e Standby During stop Step standby e During step stop Enable the home position retum retry function Perform home position retum after moving the position from the present position using JOG operation or manual pulse generator operation Correct the home position retum speed Correct the home position retum speed Input the extemal zero signal during movement at the creep speed Correct the home position return speed e Extend the dwell time e Calculate the travel distance with the speed limit value home position retam speed and deceleration time and set the travel increment after near point dog at a value equal to or greater than the deceleration distance e Reduce the home position return speed e Adjust the near point dog position so that the travel increment after near point dog becomes longer Execute the
274. g posttion rerum s requested dung dwell Une eto during acceleration deceleration cannot be reduced by adjusting the speed loop gain Status Step function Unit is ms Test operations can be performed for each data item when continuous operation is enabled for multiple Speed limit value positioning data numbers The maximum speed of positioning When this value is set by a parameter any higher speed mistakenly set to Step out ard other data will revert to the speed limit value The The stepping motor rotates in proportion to the number i acceleration deceleration time refers to a time to from of pulses frequency but the rotation timing may M the speed limit value become out of sync if load applied to the motor is too large This is called step out and it is necessary to Speed loop gain increase motor torque to prevent step out Step out The first item of the servo parameters relating to IDetsasee the positioning error positioning data it indicates the speed of control response during speed control When the load inertial moment ratio increases and the speed response of the control system drops the declining stability of operation can be improved by increasing the set value If the value is increased too much however overshooting during acceleration will increase and motor vibration noise will be generated during operation or when operation stops Speed loop mode A servo control mode used in positioning This mo
275. g the user specified method acceleration time and deceleration time 1 Acceleration deceleration method There are two types of acceleration and deceleration processing the automatic trapezoid acceleration deceleration method and the S curve acceleration deceleration method An extended parameter is used to set which method is used The specified acceleration deceleration method is applied to all accelerations and decelerations when starting and completing the positioning operation home position return operation and JOG operation as well as when changing the speed 1 2 Automatic trapezoid acceleration deceleration method This method accelerates and decelerates in a linear fashion based on the speed limit value and user specified acceleration time deceleration time Speed Distance S curve acceleration deceleration method This method reduces the load on the motor when starting and stopping This method gradually accelerates or decelerates based on the user specified acceleration time and deceleration time S curve ratio 1 to 100 and speed limit value Speed Distance 2 Acceleration time deceleration time rapid stop deceleration time a Four types each of the acceleration time and deceleration time for positioning control can be set using basic parameter 2 and extended parameter 2 Also the acceleration time and deceleration time can be selected from 1 to 65535 ms or 1 to 8388608 ms using the acceleration
276. g to the control data and the receive buffer buffer memory of the master module area corresponding to the control data and number of data read will be used Example Reading the single axis machine feed value of the D75P2 Device PC CPU Master module send buffer D75P2 D240 Dummy area D241 D242 Address D243 1000H to 103FH Number of read points D244 words Address receive buffer Complete status Station number request code D110 Single axis machine Single axis machine feed value 803 teed value D111 12 12 12 Building a System MELSEC A Device D340 D341 D342 D343 D210 D211 Control data b When using the RIRD instruction AnSH dedicated instruction This is used when only reading from the specified buffer memory of the D75P2 When using the RIRD instruction the send buffer buffer memory of the master module area corresponding to the control data and the receive buffer buffer memory of the master module area corresponding to the control data and number of data read will be used Example Reading the single axis machine feed value of the D75P2 PC CPU Master module send buffer D75P2 Dummy area Number of read points words Address Buffer memory address Bank 1 OH to 3FH Address receive buffer Bank 1 40H Complete status Station number Bank 1 41H request code Bank 1 42H Bank 1 43H Single axis machine Single axis machine Bank 1 4 44H feed value
277. ge check for command in position b O OFF is stored in the remote register for storing command in position flag in the following cases e Atthe start of positioning control e Atthe start of home position return e At the start of speed control Atthe start of JOG operation When the manual pulse generator operation is enabled 7 47 7 Other Functions MELSEC A c During interpolation control the remote register for storing command in position flag of the axis reference axis indicated below is used Use the AD75P to set the command in position range Interpolation axis Reference axis Remote register for storing command in position flag During interpolation control of axes 1 and 2 RX n 1 E 7 48 7 Other Functions MELSEC A 7 13 Teaching Function 1 What is the teaching function a This function changes the positioning address of the positioning data number specified to the address positioned by the manual operation JOG operation manual pulse generator operation b For the circular interpolation of auxiliary point specification the circular auxiliary point address and positioning address can be changed For the circular interpolation of center point specification the positioning address can be changed 2 Positioning address a The positioning address and circular auxiliary point address to write are absolute addresses based on the home position address b The travel increment of the
278. gh limit switch and the low limit switch respectively 7 21 pA 7 Other Functions MELSEC A 7 4 2 Software stroke limit function 1 What is the software stroke limit function a The software stroke limit function disables the positioning in response to a command given to outside the setting range of the set high low stroke limit b Using a parameter whether the limit is placed on the present feed value or machine feed value is selected However when the unit setting is in degree do not select the machine feed value c The range check of a software stroke limit is performed at operation start Mechanical movement range Software stroke limit low limit Software stroke limit high limit During the circular interpolation control the software stroke limit check is performed on the starting point end point and circular addresses Therefore the software stroke limit may be exceeded in the middle of control In this case deceleration stop will not be performed Therefore set up an external limit switch when the software stroke limit may possibly be exceeded Axis 1 Will not decelerate to stop Stroke limit _ for axis 1 7 22 7 Other Functions MELSEC A 2 Control contents a Difference between the travel enable range of the present feed value and machine feed value When the limit is posed on the machine feed value the stroke is absolute When the limit is posed on the present feed val
279. h control reverse specified travel increment from the moment a speed position switch signal is input 7 Present value Present value change This changes the present feed value to the specified 7 5 2 change value 8 JUMP instruction JUMP instruction This executes a jump to the specified positioning 6 1 10 data number during continuous locus contro or continuous operation 6 1 7 This executes the acceleration set toward the specified direction of an axis and continues running at the set speed until the stop command is input 6 1 8 This performs speed control with respect to the 6 Speed position specified axis and performs positioning for the switch control ABS Absolute system INC Increment system 1 For absolute system Positioning address is specified For increment system Travel increment is specified 9 Interpolation eontrol Thie defines each of the two axes as the reference and interpolation axes and performs positioning while controlling the interpolation axis along with the movement of the reference axis or the set value see Section 6 1 2 6 2 6 Positioning Function MELSEC A 6 1 2 interpolation control 1 2 3 4 5 Dual axis are used for interpolation control With the D75P2 the dual axis performing interpolation are classified into the reference axis and the interpolation axis Interpolation axis The
280. he CC Link system Remote I O station The remote station that handles bit data only AJeSBTBLI LILJ AJ65BTCO OD Local station A station having a CPU and the ability to communicate with the master and other local stations Intelligent device station Aslave station on the CC Link system that can perform transient transmission such as the D75P2 Master module The general name for AJ61QBT11 A1SJ61QBT AJ61BT11 and A1SJ61BT11 when they are used as master stations Cyclic transmission A transmission method that periodically updates the remote I O and contents of remote registers Transient transmission A function that updates data with respect to the specified station when an access is Peripheral device requested from a PC CPU The general name for the A7PHP A7HGP PC9801 and DOS V personal computers This is listed separately from the peripheral devices for GPP as listed below Drive module An abbreviation for the pulse input compatible drive module servo amplifier Servo amplifier Data link system An abbreviation for the MELSECNET II or MELSECNET B data link system Network system An abbreviation for the MELSECNET 10 network system SWLIIVD AD75P O indicates a numeral greater than 1 which corresponds to the software package An abbreviation for hardware An abbreviation for interface and others to which the software package for the GPP function for creating sequence programs etc is insta
281. he Master Module eee e ssseeeeeee tns tnt these etin teas tasa sre sD ase p setas esa we asas s pagan 3 12 3 3 1 Listot VO signals p 3 12 3 3 2 Functions of VO signals cccsscscsseessscssteseessnevecsensssseesececcessenanenaars Sese sace evisos ii eens Ope CoL eun 3 16 3 4 Remote Register RR 3 23 3 4 1 Remote register assignent sssesssessssesssessccsssevsesesssesssscsesssesssssnsessssenssssacseseassesers rm 3 23 3 4 2 Positioning start NUMDEL seccsssssseeseessestessessesssssessesssssssssesssssesuesussetarsutsscetarsaseresersesesesseseesesseseses 3 24 aaO o M cc eC 3 24 3 4 4 New DISSODEVAIDS Son odbosceuminatihnt ote de cot e AK cde uii die 3 24 3 4 5 New speed value ET EE CK I MMUL 3 25 34 7 Presentfeed value I eic eec tine eee SITAME E E EEE 3 25 3 4 8 Feed Speed XO M 3 26 3 4 9 Valid M Fon ARRRRRRRRRRRRRRRRRRR 3 26 8 4 10 Axis error NUMDEL PERERRRRRRRRRRRERRRRRRR 3 26 3 4 11 Axis warning NUMDET csc ceseceseneseeensesneeneeaenenssecsecensenetnnanencensenseesansenusngneesorsanssscearererassereetent 3 26 3 4 12 Axis operation status cc ceessseesseesesessssenensenesesnenstersenscssetersensenarsseseneenseustensensesseaeeanasacestasesaeotens 3 26 3 5 Transmission Delay Time ccssscssssssessssserseeeesessenesenensenessscnecsesenerssnseseseessanseseassusssneseassaseesesos
282. he Y contact is turned on the M code ON signal will be turned off If the M code ON signal is not turned off the processing will be as follows depending on the operation pattern 1 When the operation pattern is either positioning complete 00 or continuous positioning control 01 the next positioning will not be performed until the M code ON signal is tumed off 2 When the operation pattern is continuous locus control 11 The next positioning is performed However a warning warning code 503 occurs If the M code ON signal is on at the positioning start an error error code 536 occurs and the operation is not started If the remote station ready signal turns off the M code ON signal is turned off and 0 is output to the M code In continuous locus control 11 a warning warning code 503 may occur when the positioning operation time is short If a sufficient time cannot be secured to turn off the M code ON signal 0 is set to M code for that section only Positioning start BUSY Device for M code OFF request Remote register for M code storage Positioning Operation pattern 11 00 m1 through m3 indicate the set M codes L A warning occur at this timing Fig 7 6 When a warning occurs in WITH mode 7 37 7 Other Functions MELSEC A 7 9 Acceleration Deceleration Processing 1 What is the acceleration deceleration processing a The acceleration deceleration processing refers to the
283. he feed speed is switched to creep speed Thus the duration of time during which the switch remains on must be longer than the time needed for the feed speed to decelerate to the creep speed Feed speed Creep speed gt JU Time ON OFF Near point dog Numerical control A device that performs positioning of a higher level Three axes or more can be controlled with high accuracy at high speed Complex curved lines and planes can be controlled 1 2 phase excitation system A method to excite stepping motor coils in a fixed order In this system the first phase and second phase are excited alternatively Operation pattern Determines the action to take place following the execution of positioning data 1 If end is selected movement stops upon completion of positioning If continue is selected the next data number is executed automatically upon completion of current positioning If locus is selected the next data number is executed automatically by changing the speed but without completing current positioning 2 3 Appendix MELSEC A a NE ENN Appendix 7 Connection Example with Servo Amplifier by Toei Electric lr cdi I L hit label rt lan E LLL lhl o Lr ar ELO Appendix 7 1 X Connection example of D75P2 and VLASE 010P differential driver D75P2 PULSEF 3 D PuLsEF 21 L4 PULSER B 16 l PuLsER g 28 oo 5 positive logic 2 m 6 6 ft ma
284. he software stroke limit to the present feed value or machine feed value is set 10 2 4 Software stroke limit valid invalid setting Whether the software stroke limit becomes valid or invalid during JOG operation and manual pulse generator operation is set See Section 7 4 2 for the software stroke limit 10 14 Neu 10 Setting Positioning Parameter MELSEC A 10 2 5 Command in position range The position positioning address present value at which the command in position signal is turned on is set 10 2 6 Torque limit The torque limit value is set 10 2 7 M code ON signal output timing Whether to output the M code ON signal in the WITH mode or AFTER mode is set e WITH mode Sets the M code at positioning start then turns on the M code ON signal e AFTER mode Sets the M code at positioning complete then turns on the M code ON signal 10 2 8 Speed switch type 1 Whether to perform a speed switch in the speed switch mode using the standard switch or early switch is set e Early switch Switches the speed at the end of positioning data currently executed e Standard switch Switches the speed at execution of the next positioning data 2 The speed switch at execution of positioning data number n is shown below Switches to the specified speed of the next positioning at the end of Speed Switches the speed at execution positioning data currently executed of the next positioning data Speed a
285. he speed set when making such start Full speed Bias speed Speed 0 A 25 NEX Appendix BIN Binary 1 Binary number or binary code to be precise PC s and similar devices indicate electrical on and off using binary numbers of 1 and 0 respectively The figure below shows the significance of bits Since MELSEC uses the most significant bit B15 to distinguish a positive number 0 from negative number 1 15 bits up to B14 are valid 128 324 44 2 1 167 815Bi4B13B12B11B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 BO 0 0 0 0 0 0 0 0 110 1110 0 11 1 1 167 215 gu 2u 2 21 20 29 2s 27 2 25 24 23 22 21 29 n oon nw wu Wow uw u ou tTN O DO tA o om 8192 409 2048 102 512 256 128 1 1t e e oO T 32768 2 The BIN instruction converts a binary coded decimal BCD code to a BIN code It is used to input to the PC the data indicated by digital switches The figure below shows an example of 16 bit conversion BCD code 167 Q on cose ororo aa oro ro eeir T N o st B23 8 gegegzsaer bond on c o ota oa ac Bipolar drive constant current system A stepping motor drive system In this system the direction of excitation current applied to the stator coils is reversed between two directions of positive and negative The motor coils are used effectively so that a large output torque can be obtained at low speed Phase A 00 Basic bipolar drive circuit bridge system A 2
286. hen the relationships among the Since the increment of travel necessary for automatic speeds are P1 P4 P2 P3 P1 P2 deceieration cannot be secured the operation immediately stops when the speed 0 P1 P2 P3 P4 3 Y 1 1 Positioning address 6 38 6 Positioning Function MELSEC A 9 Posiuoning PUNCUST 0o LLLL b Early speed switch mode 1 If the command speeds of the positioning data number currently being operated and the positioning data number to be operated next are different speed is changed at the end of current positioning to the speed specified by the next positioning data number 2 When acceleration or deceleration is performed to reach the command speed specified by the positioning data number to be operated next the parameter of the positioning data number following the positioning data number that executes acceleration deceleration is used Note that the speed is not switched if command speeds are the same Positioning Operation pattern Positioning start Start complete BUSY Positioning complete Fig 6 9 Operation for early speed switch mode 3 Speed switch condition When travel increment is less than required for the set speed and the set speed is not reached even if acceleration or deceleration is performed acceleration or deceleration is performed so that the speed approaches the set speed value Also if the
287. home position retum Set a creep speed within the home position retum speed At the start of home position retum Home position retum is not performed operation the D75P2 main module and peripheral devices in the opposite direction to the limit switch Stop signal ON at start At the start of operation Operation does not start Cancel the error using axis error reset Operation does not start Dog detection timing error then tum it back on HM stroke limit At the start of operation Operation does not start After canceling the error start JOG During operation Operation decelerates to stop operation or manua pulse generator operation 105 HW stroke limit At the start of operation Operation does not start After canceling the error start JOG During operation Operation decelerates to stop operation or manual pulse generator operation in the opposite direction to the limit switch 107 Ready off on while BUSY When the remote station ready The D75P2 ready complete Tum the remote station ready signal off on signal rises Signal tums on The next operation does not start i Start not possible E Home position start Zero detection timing error m Dwell time error 206 Count type travel increment During deceleration from the home position retum speed Operation decelerates to stop Atthe start of count type home position retum Home position retum is not performed
288. hour and minute of axis error detection are stored as shown below Axis error occurrence hour minute m F Minute stores 00 to 59 in BCD Hour stores 00 to 23 in BCD Error history The second and 100 ms unit value of axis error detection are stored as shown Axis error occurrence second below 100 ms ju _ M L 100 ms stores 00 to 09 in BCD Hour stores 00 to 59 in BCD Error history pointer Specifies the next pointer to the latest axis error using a value between 0 and 15 Becomes 0 at power on Warming history The waming occurrence axis is stored Warming occurrence axis Waming history e The axis warning number is stored Axis waming number Waming history e The hour and minute of axis warning detection are stored as shown below Waming occurrence axis hour time i E BERTIE stores 00 to 59 in BCD Hour stores 00 to 23 in BCD Warming history The second and 100 ms unit value of axis warning detection are stored as Axis waming occurrence second shown below 100 ms 100 ms stores 00 to 09 in BCD Hour stores 00 to 59 in BCD Waming history Specifies the next pointer to the latest axis waming using a value between 0 Pointer and 15 Becomes 0 at power on tO vee Write allowed X Write prohibited 8 18 8 Buffer Memory MELSEC A 8 6 2 Axis monitor area Buffer memory address Setting range Initial value Presen
289. ibi RYnF Single axis positioning complete RC AXN Dual axis BUSY Dual axis positioning complete Use prohibited Singie axis speed limit in operation flag RY n 1 0 Single axis positioning start Use prohibited RXnA Single axis error detection Single axis speed change processing flag RY n 1 1 Dual axis positioning start Single axis drive module ready RY n 1 2 Use prohibited Single axis zero signal RY n 1 3 Singie axis stop Single axis in position signal RY n 1 4 Dual axis stop RX n 1 5 Single axis near point signal RY n 1 5 Use prohibited Single axis stop signal RY n 1 6 Single axis forward JOG start Single axis reverse JOG start Single axis low limit RY n 1 8 Dual axis forward JOG start RX n 1 9 Single axis extemal start signal RY n 1 9 Dual axis reverse JOG start RX n 1 E Single axis command in position signal RY ne 1 A Use prohibited RX n 1 F Single axis home position return request flag RY n 1 F n The address assigned to the master module via station number setting RX n 1 A RX n 1 B Single axis error counter clear status RX n 1 C RX n 1 D to D J a S RIS S S S S S x x z 2 2 2 2 2 2 2 2 E e h M h f ee ee 3 x s e x w s x 8 3 12 3 Specification MELSEC A Table 3 3 List of O signals 2 RX n 2 3 Single axis location of the absolute home position RY n 2 3 Single axis error counter clear overflow flag RX n 2 4 Single axis location
290. ic Industries eeeeee A 22 Appendix 8 1 Connection example of D75P2 and MSD5A3A1X differential driver positive logic eee A 22 Appendix 9 Station Numbers Remote I O and Remote Register Conversion Table cccsccccscscsessenssseeessecenses A 23 Appendix 10 MELSEC Glossary of Positioning Terms cssssssscssssssssssscsssessussssecsucsasessecsassessessuessucssecsseeecenevesaessssee A 24 a Function Explanation Volume Part 1 describes the basic topics relating to the AJ65BT D75P S3 positioning module product as well as the information the user should know when operating the product Overview of contents Chapter 1 Chapter 2 Chapter 3 Chapter 4 Chapter 5 Chapter 6 Chapter 7 Chapter 8 Overview System Configuration Specification Function List Home Position Return Function Positioning Function Other Functions Buffer Memory 1 Overview MELSEC A 1 Overview This users manual describes the specifications handling and programming method for the AU65BT D75P2 S3 positioning module hereinafter referred to as the D75P2 which can be used as an intelligent device station for the CC Link system An overview of the D75P2 s positioning control is shown in Figure 1 1 Master module D75P2 Drive module Forward pulse Servo motor Speed command Error value D A Servo Counter Converter Amplifier Reverse pulse a eg Interface Feedback puls
291. id warning Waiting for special start During home position return During speed control During speed control of the speed position switch control During position control of the speed position switch control d During step standby During step stop During step error occurrence During error occurrence During position control h if the positioning start signal is turned on again during step standby while the step valid signal is on during step stop or during step error occurrence the positioning step execution of the positioning start data number specified by the positioning start number is performed 7 Other Functions MELSEC A 3 Step mode a The step functions include two types deceleration unit step and data number unit step 1 Deceleration unit step The normal operation will be performed until the positioning data number that requires an automatic deceleration is found When a positioning data number requiring an automatic deceleration is found the operation automatically decelerates to stop after executing the positioning data Step valid Positioning start BUSY Positioning Positioning data number 01 Step by the automatic deceleration unit not by the unit of positioning data number Operation pattern Fig 7 10 Operation during step execution with the deceleration unit step 7 45 7 Other Functions MELSEC A 2 Data number unit step Regardless
292. ide function 2 a b This is the function used to change the speed command speed during positioning control within the range of 1 to 300 When using the override function write an override value 1 to 300 in the remote register for positioning speed override setting Control contents a b c d e f When the speed is changed the override function is enabled for the changed speed as well When the override value is 100 the current speed will not change The override function does not work during acceleration deceleration The override function is enabled after a deceleration stop If the speed specified by an override value exceeds the speed limit value the speed limit value is used A warning warning number 501 occurs at this time and the during speed limit flag of the axis monitor turns on If during positioning control a sufficient distance cannot be secured to change the speed to that specified by an override value the operation is performed at an available speed However when the operation pattern is 11 continuous locus control the speed will not change During interpolation use the remote register the address below for setting the positioning operation speed override of the reference axis Interpolation axis Remote register address During the interpolation control by axes1 and 2 7 13 7 Other Functions MELSEC A g The value of the remote register for sto
293. ignal Speed position switch latch flag ims 6 28 6 Positioning Function MELSEC A 6 Changing the travel increment a The travel increment for the position control can be changed during the speed control of speed position switch control If a request for changing travel increment is made while not in the speed control of speed position switch control the request is ignored b By using a sequence program during the speed control the travel increment after the change is stored in the travel increment change register for speed position switch control see Section 8 7 2 The content in the travel increment change register for speed position switch control will become the travel increment for position control when the speed position switch signal is turned on c The travel increment after the control has been switched to the position control by the input of an external speed position switch signal is stored in the travel increment area after the speed position switch signal in the axis monitor area has been turned on see Section 8 6 2 Position Speed control control Speed position switch control start Position control start H Travel increment can be changed Speed position switch signal The setting made after the speed position switch signal has been turned on is ignored Travel increment new value register P2 becomes the travel increment for the position control Speed position switch latch s
294. ignal 5 sce serica cep edes 3 7 Zero signal common esee 3 7 AJ65BT D75P2 S3 Positioning Module User s Manual AJ65BT D75P2 U E 13JL46 IB NA 66824 A 9804 MEE ate MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 0005 TELEX J24532 CABLE MELCO TOKYO NAGOYA WORKS 1 14 YADA MINAMI 5 HIGASHI KU NAGOYA JAPAN When exported from Japan this manual does not require application to the Ministry of international Trade and Industry for service transaction permission Specifications subject to change without notice m
295. ignal Fig 6 4 Travel increment change timing of position control 1 The issuance of a request for changing the travel increment can be notified only by writing data into the travel increment change register using a sequence program 2 The changed travel increment is valid until the speed position switch signal is input by the execution of speed position switch control 3 The speed position switch latch flag in the axis monitor area can be used as the interlock for enabling and disabling of travel increment changes during position control see Section 8 6 2 6 29 6 Positioning Function MELSEC A 7 8 Limitations a When using a pulse chain output motor turn on the speed position switch signal within the speed stabilized range constant speed state Turning on this signal while accelerating produces a warning since the variation of the standing pulse amount is too large b The speed position switch control cannot be used in the continuous locus control 1 If the operation pattern of positioning data is the speed position switch control of the continuous locus control an axis error is generated and positioning will not start 2 Also when the operation pattern of positioning data is continuous locus control the speed position switch control cannot be specified for the next positioning data If the positioning data immediately following the continuous locus control is the speed position switch cont
296. imit 90 00000 High limit value of software stroke limit 315 00000 7 53 7 Other Functions MELSEC A 2 Setting the software stroke limit to invalid Set the software stroke limit to invalid as follows Low limit value of software stroke limit High limit value of software stroke limit Control can be performed regardless of the software stroke limit setting 7 54 7 Other Functions MELSEC A 7 14 3 Positioning control This section describes the positioning control method when the control unit is in degrees 1 Absolute method a When the stroke limit is invalid Positioning is performed in the direction closer to the specified address based on the present value shortcut control 1 When moving from the present value at the position of 315 to the position of 45 positioning is performed in the clockwise direction 2 When moving from the present value at the position of 45 to the position of 315 positioning is performed in the counterclockwise direction From 315 to 45 From 45 to 315 315 45 315 45 b When the stroke limit is valid The positioning direction clockwise or counterclockwise is determined by the setting method of software stroke limit range Therefore positioning via the shortcut control may not be allowed When moving from the present value at the position of 0 to the position of 315 positioning is performed in the clockwise direction if the low
297. inches degrees or pulses 2 A memory address The memory has many addresses and write read is performed by first specifying some of these addresses AFTER mode A mode in which the M code is output after positioning is completed stopped For example clamping or drill dimension selection is possible in this mode No 10 Positioning No 11 a Mcode 8 ON OFF Clamp command Auto tuning The responsiveness and stability of machines driven by a servo motor are influenced by changes in inertial moment and rigidity that occur as a result of changes in machine load This function automatically adjusts the speed loop gain and position loop gain in accordance with the machine condition to retain optimum machine characteristics It is desirable that a real time auto tuning function is provided for machines subject to significant load changes MELSEC A Appendix Output terminal An external output from the D75P2 provided in the form of pin connector Connected to the motor drive module e Feed pulses for forward and reverse rotations Start e Error counter clear Terminal numbers are determined for each axis Since output terminals have no direct relation to the program output number Yn is not used Override function Function to change the speed current speed during positioning operation within the range of 1 to 300 The same variable ratio is applied to continuous positioning operations for which different spee
298. independent control of each axis and interpolation control excluding circular interpolation of auxiliary point specification e By JOG operation and manual pulse generator operation Move to the aimed position by manual operation Set the subject axis Set the subject axis at the address 1103 of the buffer memory anenesesees Set the positioning data number at th ress 1104 of th fferm Set the positioning data e positioning u t the addres of the buffer memory number to perform teaching sensasesten Set 500H at the address 1105 of the buffer memory Set the present feed value and positioning address using the write pattern Make a write request B Set 2 at the address 1106 of the buffer memory e A Check whether the address 1106 of the buffer memory becomes 0 Confirm write complete End teaching Set the remote station ready signal to OFF S Dawe Lolcaz Set 1 at the address 1138 of the buffer memory Make a write request to the flash memory A NM EL Check whether the address 1138 of the buffer memory becomes 0 Write complete confirmation Write to the flash memory is allowed up to 100 000 times When the number of write to the flash memory exceeds 100 000 write to the flash memory may no longer be performed normally 7 50 7 Other Functions 11 MELSEC A b For circular interpolation control of auxiliary point specification With circular interpolation con
299. ing and positioning will not start d If this occurs during positioning control the operation stops immediately after the error is detected If the calculated center point address exceeds the range of 2 to 2 1 an auxiliary point setting error error code 525 is generated and positioning will not start If this occurs during positioning control the operation stops immediately after the error is detected k Circular interpolation with a specified auxiliary point cannot be performed during the stepping motor mode or while using a servo motor in the stepping motor mode 6 15 6 Positioning Function MELSEC A g In the following cases errors are generated and positioning will not start If any one of these cases occurs during positioning control the operation stops immediately after the error is detected 1 Starting point address Endpoint address eH Endpoint setting error error code 526 2 Starting point address Auxiliary point address teen Auxiliary point setting error error code 525 3 Endpoint address Auxiliary point address eM P Auxiliary point setting error error code 525 4 When the starting point auxiliary point and endpoint addresses are on a straight line teHMeHHI Auxiliary point setting error error code 525 h Setting example of positioning data Positioning data is set for positioning data number 1 of axes 1 and 2 under the conditions listed below For the interpolation betwee
300. ing may be one pulse more than the command pulse Restriction on electronic gear If the value of electronic gear is large in the stepping motor mode it may cause vibration Therefore use a smaller value for the electronic gear It is recommended that 1 1 is used for the electronic gear value in the stepping motor mode Switching control of standard mode and stepping motor mode not used The position command range and speed command range differ between the stepping motor mode and standard mode Therefore the stepping motor mode and standard mode cannot be switched for use If the stepping motor mode and standard mode are switched for use normal controls can no longer be performed Restriction on speed When using the stepping motor mode control may be performed 10 pulse s lower than the set positioning speed 7 58 7 Other Functions MELSEC A Table 7 2 Setting ranges for the stepping motor mode ae Standard mode Stepping motor mode Standard mode Stepping motor mode Positioning 214748364 8 to 13421772 8 to 21474 83648 to 1342 17728 to address 214748364 7 u m 13421772 7 um 21474 83647 inches 1342 17727 inches INC 214748364 8 to 13421772 8 to 21474 83648 to 1342 17728 to 214748364 7 um 13421772 7 u m 21474 83647 inches 1342 17727 inches 14748364 7 u m i to Speed limit value 0 01 to 0 01 to 0 001 to 0 001 to 6000000 00 mm min 375000 00 mm min 600000 000 inches min 37500 000 inches min
301. ing of remote output Section 12 5 5 12 16 12 Building a System MELSEC A 12 5 2 Notes on creating programs The following must be noted when creating programs Set the parameters and positioning data beforehand using the AD75P The communication time may be delayed or the sequence program may get complicated if the buffer memory is read or written using the sequence program 12 17 12 Building a System MELSEC A 12 5 3 Creating programs Tables 12 1 and 12 2 show lists of devices and buffer memories used in the programs explained in Section 12 5 4 and thereinafter Table 12 1 Devices used in the program examples 1 007 00 X050 Single axis positioning start request signal X053 X057 ET X059 XO5D 069 06E Xo6F Dual axis home position retum start request signal X070 X071 X072 X073 X074 Single axis absolute position restoration command Dual axis absolute position restoration command 000 Device number 00 a x x x lt Xx a lt x X lt 1x x lt 81218 SS mimjoc ojo 3 8 sl ls ls Oloje 2 ojoljo Xx oio co oo n w 12 18 12 Building a System MELSEC A Table 12 1 Devices used in the program examples 2 Device number M022 MO23 MO24 M027 M100 to M147 TIT Ms Input signal storage device RX70 to RX7F Initial data processing request RX78 Remote station ready RX7B zE 8 8 8 8 3 S S o 3 e
302. ing performed Positioning control by the increment system Continuous operation control l Continuous locus control e Block start 6 5 2 Specifying the restart after a stop 1 2 Use the following remote O to specify a restart RY n 2 5 0 No restart RY n 4 5 1 Restart request set by a sequence program After a restart confirm the restart acknowledgment complete flag and reset RY n 2 5 and RY n 4 5 Example For one axis RY n 2 5 Reetart request RX n 2 8 Single axis restart acknowledgment complete flag OS Sequence program 6 Positioning Function MELSEC A 6 5 3 Precautions 1 2 3 4 Restart can only be executed while the operating status of the axis is STOP Restart cannot be executed when the operation status of the axis is other than STOP Do not restart while a stop command is on If restart is executed while stopped an error error code 106 Started during stop command on is generated and the operating status of the axis becomes ERR Therefore restart cannot be performed even if the error is reset Restart can also be executed while the positioning start signal is on However do not set the positioning start signal from off to on while stopped If the positioning start signal switches on from off positioning is performed from the positioning data number set in the buffer memory at 1150 or from the positioning data numbe
303. ing positioning control the operation stops immediately after the error is detected 1 Starting point address Center point address 2 Endpoint address Center point address i Setting example of positioning data Positioning data is set for positioning data number 1 of axes 1 and 2 under the conditions listed below For the interpolation between axes 1 and 2 axis 1 serves as the reference axis and axis 2 serves as the interpolation axis AxeNo Mem ooo Positioning control Peripheral device setting data Axis 1 Positioning End of positioning Ens ee identifier Control method Circular interpolation control with the INC circular right specified center point Acceleration time 1 Deceleration time 0 Orn te eee 8000 0 pm 6000 00 mm 236 2 in min S 8 POO a Moods Axis 2 Positioning Setting not necessary ree een identifier Setting not necessary Ee ee Lr Setting not necessary a USERS BEEN ee Deceleration time selection Setting not necessary Positioning address travel increment 60000 0 um 0 Circular address 30000 0 um Command speed Setting not necessary eue er ee Dwell time Setting not necessa REESE MUNI M code e Setting not necessary uq CNET No relationship with the control The initial value or any other value can be used 1 1 See Section 11 2 for details on the positioning data 2 With the increment system the travel increment is set 2
304. ion 1 17 E 1 Overview 1 Overview ELSE 1 5 1 The following explains the cyclic transmission between the D75P2 and master module 1 2 3 4 Cyclic transmission PC CPU Master station D75P2 Buffer memory 1 Remote input Remote input RX RX K ex Link scan RX 3 4 Remote output Remote output RY RY Link scan Remote register 6 eio RWw E Link scan RWw 8 Remote register 7 Remote register RW RWO Link scan RWr Fig 1 8 Cyclic transmission Remote input RX 1 The information in the remote input RX of the D75P2 is stored in the buffer memory of the master station during each link scan 2 The input information stored in the master module is captured by the PC CPU using a FROM instruction Remote output RY 3 The information in the remote output RY of the D75P2 is written to the buffer memory of the master station by a TO instruction 4 The output information stored in the master module is transmitted to the D75P2 during each link scan Remote register RWw 5 6 The information in the remote register RWw of the D75P2 is written to the buffer memory of the master station by a TO instruction The transmission data information stored in the master module is transmitted to the D75P2 during each link scan Remote register RWr 7 8 The information in the remote register RWr of the D75P2 is stored in the buffer memory of the master s
305. ion the time it takes to reach speed 0 from the speed limit value is set See Section 7 9 1 for the relationships among the speed limit value acceleration time and deceleration time 10 1 8 Bias speed at start This is to set the minimum start speed needed to start the rotation of the motor smoothly when using a stepping motor etc See Section 6 3 4 for the bias speed at start 10 1 9 Stepping motor mode selection The stepping motor mode is selected when controlling a stepping motor with the D75P2 Also this mode is selected for both of the two axes when performing interpolation control using a stepping motor and a servo motor See Section 7 15 for restrictions when the stepping motor mode has been selected 10 9 10 Setting Positioning Parameter 1 MELSECA 10 10 10 Setting Positioning Parameter MELSEC A 10 2 Extended Parameters The extended parameters include those in the extended parameter 1 and the extended parameter 2 Extended parameters Extended parameter 1 e Inthe extended parameter 1 data such as backlash compensation and software stroke limit are set Set the parameters at system start up according to the system that uses the D75P2 e The values can be changed from the PC CPU regardless of the remote station ready signal being on or off However the changed data can only become valid when the remote station ready signal rises OFF ON If the setting conten
306. ion MELSEC A 4 Switching the speed a Standard speed switch mode 1 If command speeds of the positioning data number currently being operated and the positioning data number to be operated next are different first the positioning point of the previous operation is reached then the speed is switched to the specified speed by performing acceleration or deceleration 2 When acceleration or deceleration is performed to reach the command speed specified by the positioning data to be operated next the parameter of the positioning data number that executes acceleration deceleration is used Note that the speed is not switched if command speeds are the same Positioning Operation pattern Positioning start Start complete Positioning complete Fig 6 8 Operation for standard speed switch mode 3 Speed switch condition When travel increment is less than required for the set speed and the set speed is not reached even if acceleration or deceleration is performed acceleration or deceleration is performed so that the speed approaches the set speed value Also if the speed exceeds the travel increment when automatic deceleration is necessary for example when the operation pattern is 00 or 01 the operation immediately stops at the positioning address and a travel distance shortage warning warning code 513 is generated When speed cannot be switched in P2 When travel increment is small during automatic deceleration W
307. ion control the present feed value is updated from O If positioning is started with the position control as the speed position switch signal is on at the start of positioning the present feed value is not cleared but updated from the LA present value at stop c Even if Clear the present feed value during speed control is selected the machine feed value will not be cleared to 0 Speed Position control control Start of speed position switch control Present feed value update request instruction during 0 Clears the present feed value to 0 during speed control speed contro d Present feed value wees x X Update the 0 m O clear at the start of speed control speed position switch control 2 Setting method To clear the present feed value at the start of speed control and speed position switch control set 2 Clear the present feed value to O during speed control in the buffer memory for present feed value update request instruction during speed control of extended parameter 1 feed value update Does not update the present feed value during speed request instruction during control speed control Updates the present feed value during speed control Clears the present feed value to 0 during speed control 7 61 7 Other Functions MELSEC A 7 17 Write to the Flash Memory This section describes how the D75P2 parameters and positioning data are written into the flash memory 1 Method
308. ioning operation start JOG operation start or manual pulse generator operation start or when the drive module ready turns off OFF No axis warning ON Axis waming exists Turns on when an axis warning has occurred e Turns off upon axis error reset OFF When the new speed value is other than 0 ON When the new speed value is O e Turns on when the new speed value is 0 and the speed change request RY n 2 7 RY n 4 7 is turned on Tums off when the new speed value is other than O and the speed change request is turned on 1 n The address assigned to the master module via station number setting 3 18 wn 3 Specification RX n 7 8 RX n 7 9 MELSEC A Table 3 4 Detaiis of I O signals 4 Signal name Description Single axis absolute home Position position overflow flag Dual axis absolute home position position overflow flag Single axis absolute home position position underflow flag Dual axis absolute home position position underflow flag Single axis ABS data bit 0 Dual axis ABS data bit 0 Single axis ABS data bit 1 Dual axis ABS data bit 1 Single axis transmission data ready complete flag Dual axis transmission data ready complete flag Single axis restart acknowledge complete flag Dual axis restart acknowledge complete flag Initial data processing request Initial data setting complete 1 Updated every 56 8 ms 2 See Section 8 6 2 for the location of the absolute home position 3 Use
309. ioning special start data area The condition data area includes areas for 1 to 10 items 8 33 8 Buffer Memory MELSEC A 2 Configuration of condition data Condition data for axis 1 Condition data for axis 2 Address Address 4400 4650 4401 4651 4403 4653 4404 Parameter 1 5 4654 Parameter 1 S 4406 Parameter 2 em 4656 Parameter 2 e 2 a s d No 4408 Vacant 4658 Vacant 3 EU OOO 4410 4660 an 4661 4412 Address 4662 Address 4414 Parameter 1 4664 Parameter 1 5 4416 Parameter 2 2 4666 Parameter 2 NR RN d NEL cC 4418 Vacant 4668 Vacant g i 4489 4739 4490 4740 4401 aa 4493 4743 E 4494 Parameter 1 g 4744 Parameter 1 Sg eE WELT I 4497 4747 4499 4749 8 34 8 Buffer Memory MELSEC A 3 Set the data described below for each item in the condition data area a For the condition identifier set an instruction code for condition target and instruction code for conditional operator See 11 4 1 for the instruction code for condition target and the instruction code for conditional operator b15 to b12bii to b8 b7 to bo Condition identifier mmm Instruction code for condition target 01H to 05H e Instruction code for conditional operator 01H to OEH b See Sections 11 4 2 through 11 4 5 for the address parameter 1 and parameter 2 8 10 Indirect Specification Area This area is used to perform indirect specification of positioning start data a Setth
310. ircular interpolation error range 1 In circular interpolation control by center specification the locus of circular calculated from the starting point address current stop position and center point circular address may be different from the endpoint address positioning address 2 For the allowable circular interpolation range an allowable range for error between the calculated circular locus and endpoint address positioning address is set When the error between the calculated circular and endpoint address positioning address is within the setting range circular interpolation to the set endpoint address positioning address is performed by error compensation using spiral interpolation 3 Set the allowable circular interpolation range in axis 1 s extended parameter 2 Locus by spiral interpolation Error Calculated endpoint address Endpoint address specified by the program Starting point address Center point 10 2 25 External start function selection With which function an external start signal is used is set a Atexternal positioning start setting e Positioning operation is started when an external start signal is input b Atexternal speed change request setting e The speed of the positioning operation currently executed is changed when an external start signal is input e When performing an external speed change set a new speed value in the new speed value of axis control data c Atskip re
311. is 2 Indirect specification for axis 2 Vacant use prohibited Vacant use prohibited PC CPU memory area Block transfer area Reserved Reserved 8 Buffer Memory MELSEC A 8 5 Parameter Area This section explains the parameter area of the buffer memory In this section the buffer memory addresses and setting ranges of the parameters for axis 1 and axis 2 are described See Sections 10 1 and 10 2 for details of the setting contents 8 5 1 Basic parameter 1 Setting range Initia Write Unit sening Omm tih 2 degree 3 puse o s 9 pulses per rotation das per rotation A x10 um x10 inches x10 degrees pulses 1 X1 10 x10 100 x100 1000 x1000 Am Pulse output mode 0 PLS SIGN mode 1 CW COW mode IR 2 Phase A B mode multiplication by 4 3 Phase A B mode multiplication by 1 155 Rotation direction setting O Present value increase by forward pulse output 1 Present value increase by reverse pulse output 8 5 2 Basic parameter 2 Buffer memory address ETHIC address Setting range Initial value EINNN Speed control value 110600000000 1 to 600000000 110600000000 1to 1000000 200000 2 157 x10 mm min x10 inches min x10 degrees min pulses sec 1 to 37500000 1 to 37500000 1 to 37500000 110 62500 x10 mm min x10 inches min x10 degrees min pulses sec 158 Acceleration time 0 1 to 65535 ms 1 to 8388608 ms 159
312. is is 2 If the calculated travel increment exceeds the above range an out of linear travel increment range error error code 504 is generated and positioning will not start 6 7 6 Positioning Function MELSEC A d Setting example of positioning data 1 Positioning data is set for positioning data number 1 of axes 1 and 2 under the conditions listed below For the interpolation between axes 1 and 2 axis 1 serves as the reference axis and axis 2 serves as the interpolation axis Positioning control Positioning End of positioning identifier ABS line 2 Acceleration time 1 Deceleration time 0 Peripheral device setting data Positioning address travel increment Circular address Setting not necessary Command speed 6000 00 mm 236 2 in min Axis 2 Positioning Setting not necessary identifier Setting not necessary Setting not necessary Setting not necessary Setting not necessary Setting not necessary Setting not necessary No relationship with the control The initial value or any other value can be used Setting not necessary 1 1 See Section 11 2 for details on the positioning data 2 With the absolute system the positioning address is set 2 Start positioning on the reference axis only When positioning of the reference axis is started linear interpolation control is performed using the reference and interpolation axes 6 8 6 Positioning Function MEL
313. is satus Tesmemito Remws IDLE e Status at power on operation end STOP e Pause status during positioning operation JOG VELO During speed control of the speed positioning switch control V P During position control of the speed positioning switch control V P BUSY e Waiting for an execution by condition specification e Displays an error code in the area See Chapter 13 for the error code 2 Pressing the mode switch changes the display to the status of monitor of internal information 1 described in 4 Monitor of internal information 1 1 The OS type S003 of the D75P2 is displayed on the 17 segment LED Use this information as reference 2 The axis display LED of each axis is turned off 3 Pressing the mode switch changes the display to the status of monitor of internal information 2 described in 5 Monitor of internal information 2 1 The OS version of the D75P2 is displayed on the 17 segment LED Use this information as reference V000 qc Version 2 The axis display LED of each axis is turned off 3 Pressing the mode switch changes the display to the status of monitor of I O information n described in 6 No error code is displayed on the 17 sagment LED even if there is a parameter error when a remote station ready signal is turned on if no error code is displayed on the 17 segment LED verify the error code in the buffer memory for storing the error code of the D75P2 or peripheral
314. it 10 b10 in the buffer memory address for storing the status will be set to 1 as shown below Axis number Buffer memory address 3 Warning code classification Warning codes are generally classified into the following categories Warning code 100 to 199 200 to 299 300 to 399 400 to 499 500 to 599 900 to 999 Warning classification Common warning Warming during home position return Warning during JOG operation Warning during manual pulse generator operation Warning during positioning operation Warning during range checking of system control data 13 2 3 Resetting the error The error status is canceled when the buffer memory addresses for axis error reset 1151 for axis 1 and 1201 for axis 2 are set to 1 after the following actions take place e The axis error detection signal is turned off e The axis error number is cleared e The axis warning detection signal is turned off e The axis warning number is cleared The operation status is changed from error to standby e The operation status is changed from step error to standby 13 2 4 Invalid operations When the following operations are performed the setting contents will become invalid and no error warning will be generated e Speed change during home position return e Speed change when operation is not in progress e Axis stop when the axis is stopped e Rapid axis stop when the axis is stopped e Axis stop when the axis i
315. ith respect to the buffer memory on the D75P2 side and executes the dedicated instruction then writes the setting value to the D75P2 buffer memory When using application instructions Writes the setting value and control data with respect to the buffer memory of the D75P2 to the send buffer area of the master module The setting value is written to the buffer memory of the D75P2 via the intelligent device station access request signal RY n 1 E and intelligent device station access complete signal RX n 1 E 2 D75P2 init al setting complete 1 f Remote station ready RX n 1 B Writes the initialization data to the master module Intelligent device station access request signal RY n 1 E Write for one cycle The initialization data is written to the AJ65BT R2 Intelligent device station access complete signal RX n 1 E The on off of the RY n 1 E and RX n 1 E is performed automatically when dedicated instructions are used 12 6 12 Building a System MELSEC A 12 BuildingaSystem EET 12 4 3 Control data send data setting procedures This section explains the procedures for setting control data and send data when reading writing the D75P2 buffer memory 1 This example illustrates reading from and write to the CPU with respect to a certain portion of the D75P2 buffer memory 2 Change the applicable address when performing read and write with respect to the buffer memory area other th
316. ition return on the absolute position detection system there is no need to change the initial values of the home position return parameters as long as they are within the setting range See Section 8 5 5 for the buffer memory address and setting range of the home position return basic parameters 10 3 1 Home position return method This parameter sets the home position return method used when performing home position return See Section 5 5 for details on the home position return method 10 3 2 Home position return direction This parameter sets the direction in which home position return is performed When home position return start is performed the machine moves in the specified direction 1 Home position return operation is controlled by two data home position return direction and home position return speed and deceleration is initiated when the near point dog is turned on Therefore be careful when setting the home position return direction since a wrong direction causes malfunction 2 When the home position return direction is not consistent every time use the home position return retry function See Section 5 6 for details on the home position return retry function 10 22 10 Setting Positioning Parameter MELSEC A Remarks Stepping motor mode omm mh degree puse 13421772 8 to 1342 17728 to 0 to 359 99999 134217728 to 13421772 7 1342 17727 134217727 pm inches d
317. l Dual axis zero signal Single axis in position signa Dual axis in position signal Single axis near point signal Dual axis near point signal Single axis stop signal Dual axis stop signal Single axis high limit Dual axis high limit Single axis low limit Dual axis low limit Single axis external start signal Dual axis external start signal Single axis speed position switch signal Dual axis speed position switch signal 1 Updated every 56 8 ms OFF M code set ON M code not set e Inthe WITH mode the signal turns on when positioning starts while in the AFTER mode it tums on when positioning is completed Tums off when the M code OFF request RY n 2 6 RY n 4 6 rises The signal remains off when there is no M code specification M code 0 During operation by continuous locus control even if the M code ON signal does not turn off the M code is set and positioning continues However a warning occurs When the remote station ready signal RX n 7 B turns on the M code ON signal turns off e Starting with the M code ON causes an error OFF Speed not limited ON Speed limited e The signal turns on during operation at the speed limit value after the speed has exceeded the speed limit value due to speed change or positioning operation override e The signal turns off when the speed becomes within the speed limit value or when the movement along the axis stops 1 OFF Speed change processing complete
318. l name e Am26LS31 equivalent differential driver open collector e CW CCW type PULSE SIGN type and phase A B type are selected using the D75P2 and drive module parameters e The relationships between the pulse output mode set by the parameter and the pulse output based on positive logic negative logic selection are shown below Negative logic Pulse output CW PULSE phase A Pulse sign CCW SIGN phase B Positive logic 5 to 24 V DC 4 7510 30 VDC 50 mA one point 0 5 V DC TYP 200 mA 10 ms or less 5 to 24 V DC 4 25 to 30 V DC 0 1 A one point Pulse rise fali time unit tr tf us duty 96 in the D75P2 when the ambient temperature is normal temperature 0 4 A 10 ms or less Load voltage V Cebelngnimmp 1 029 o 369 Pulse Duty tr rise Badii current speed mA x 2 04 2 0 1 mA or less 2 ms or less resistive load 2 ms or less resistive load Error counter clear CLEAR 1 V DC TYP 2 5 V DC MAX Servo on ABS data transmission mode ABS data request 0 1 A one point 0 4 A 10 ms or less 1 V DC TYP 2 5 V DC MAX 3 3 Specification MELSEC A 2 Specifications for O interface with external devices Specifications for I O interface of the D75P2 with respect to external devices are shown in the table below a Layout of connector signals The signal layout
319. lable only when using an absolute position System e The home position return retry function is now available in order to realize positioning control from any position relative to the home position of a machine e Two acceleration deceleration methods are available the automatic trapezoid acceleration deceleration and S curve acceleration deceleration The user can select from the automatic trapezoid acceleration deceleration or S curve acceleration deceleration 1 Overview 5 6 MELSEC A Faster pulse output and longer distance to the drive module a The D75P2 is equipped with puise output interfaces for a differential driver and an open collector f b By connecting to the differentia driver higher speed and longer distance can be achieved e When connecting to a differential driver 400 kpps 10 m 32 8 ft maximum e When connecting to an open collector 200 kpps 2 m 6 6 ft maximum Easy maintenance The D75P2 has achieved improved maintainability as in the following a Various data such as positioning data and parameters are stored internally in the flash memory of the D75P2 Therefore data can be retained without a battery b Error display and the status of mechanical system input and zero input can be checked on the 17 segment monitor c Errors are subdivided in order to improve first time diagnostics d Confirmation of the contents of errors and warnings is done easier than the way i
320. lag 917 bit 3 b3 917 bit 4 b4 924 925 900 901 902 903 For storing positioning start number 1200 5 4 5 Home Position Return Function MELSEC A 2 Action at the time of high speed home position return The following actions occur when the high speed home position return is started 1 2 The movement occurs in the direction of mechanical home position at the specified home position return speed The direction of travel varies depending on the machine value used to execute the high speed home position return start The movement decelerates and stops at the position of mechanical home position Home position return speed Mechanical home position the location of the home position High speed home position DA IMEEM NER return start Axis operation status Standby Position control in operation Standby 3 Restrictions 1 2 3 4 5 6 If the mechanical home position is not established via mechanical home position retum the high speed home position return cannot be performed Thus the high speed home position return cannot be performed while the home position return request flag is on Perform the high speed home position return start after confirming that the home position return request flag is off During the high speed home position return the speed set by the parameter becomes the home position return speed The home position address set value is not stored in the p
321. lansadecests 8 35 8 11 PC CPU Memory Area ceessessssccsecssssrscssesessseuenesenacseessseneceeensessecesasensasaceneaeaneatenses M M 8 36 8 12 Area for Block Transfer itte erben Leere sccssatesvascensdssvscessenasdnncadesabacdodssdacebiceobeedebedesdeagleadsste 8 37 Part2 Setup Volume 9 Setup 9 1 to 9 25 9 1 Name of Each Part eter race ie n enaba eorr ta oce nre Pe kien Pe arae cue eee HUS NR eA dad E 9 1 9 2 Handling Precautions isses snenie tren erret oo teas eee oa e ridere ve a eat leva cedes dece VEN eUn a e ata darn ga a 9 3 9 3 Module Installation MT aa 9 5 9 8 1 DIN rail installation removal es ssscescseeecessesrenceceecscssetsesseesnessecssesesnesueeesersensevesseusessaesasnsaaeens 9 6 9 3 2 Installation to removal from the panel ee eeseceecseeeeseessesessnsssseesseessnsessessesesesessnseseesaseusessssseee 9 8 9 4 Wirnng Gonhections 2 ort rero ee titer ve Ld c b pa YR RERO Te Ur ap Fee alos des FUR E a cues a va desadi cadens 9 9 9 4 4 Pin connection to the drive module connector ssscccesssscescsseessesssesssestecsessacsesseseeecsuseentscsescenssons 9 11 9 4 2 Connector connection removal ccsscsessessscssssecseecssecseeeessececscccenseenscuscevscsesssuceesseseesueetecersuenseess 9 14 9 4 8 Twisted cable connection 0 0 eee eeeeeeecceecececeeeceececescesneseeacecnsascesseseeseanesgeseeseesenae
322. leration time 1 Deceleration time 2 Deceleration time 3 JOG speed limit value 1 to 600000000 1 to 600000000 1 to 600000000 1 to 1000000 2 x10 mm min x10 inch min x10 degree min pulse s Selection of the JOG operation 0 to 3 acceleration time Selection of the JOG operation deceleration time Selection of the acceleration O Trapezoidal acceleration deceleration processing deceleration processing a o ze o EIE HE HE amp e o 1 S pattern acceleration deceleration processing A 3 RP MELSEC A Appendix Remarks Initial vaiue 2147483647 2147483648 Axis 1 Axis2 2 Axis3 3 20000 Appendix MELSEC A Setting range a T m S curve ratio 1 to 100 Rapid stop deceleration time 1 to 65535 ms 1 to 8388608 ms Stop group 1 rapid stop Q Normal deceleration stop selection 1 Rapid stop Extended parameter 2 Stop group 2 rapid stop selection Stop group 3 rapid stop selection Positioning completion signal 0 to 65535 ms output time Allowable circular interpolation O to 100000 O to 100000 0 to 100000 0 to 100000 error range xi0 um x10 inch x10 degree pulse Extemal start function selection O External positioning start 1 External speed change request 2 Skip request Adjacent passing mode 0 Positioning address passing mode selection in locus control 1 Adjacent passing mode 2 Home position return data P lo
323. limit RLS of the D75P2 are used in the home position return retry function For wiring on the stepping motor drive side other than above and shielding of respective signal lines see the manual for the stepping motor drive 1 For the D75P2 set the pulse output logic selection to drive module in the extended parameter 1 to negative logic 2 Indicates the distance between the D75P2 and VEXTA UPD A 19 A ppendix MELSEC A Appendix 6 6 Connection example of D75P2 and VEXTA FX open collector method negative logic ues 2 m 6 6 ft max pucr emer m VEXTA FX PULSEF 12 Forward pulse input PULSE COM cma E mE I Im eran 8 ee ee AR ee Pao COM _ 25 Hold off input READY 7 15 Encoder phase A output P 8 13 Encoder phase B output E s Eede piese output P ER A 1 Positioning completion output PuLsER a 27 pecie 25 Alarm output PULSER B MR HDPO1 p gt 16 Encoder phase A output PULSERB f Pa uo e DOG dis 24 Encoder phase Z output as CS eR Peel p 39 Pratienng completion output RLS 13 Q_o ae Alarm output STOP o 2 Groundng CHG o 1 Common input ro COM 36 The connector pin numbers of the D75P2 indicate the same applications for axes 1 and 2 The high limit FLS and low limit RLS of the D75P2 are used in the home position return retry function For wiring
324. llation screws M4 screws 78 to 118 N cm 8to 12 kg cm e Before beginning any installation or wiring work make sure all phases of the power supply have been disconnected externally Failure to completely disconnect the power supply phases may cause electric shock and or damage to the product e Properly solder the external connectors incorrect connection may cause short circuits or malfunction 9 9 9 Setup MELSEC A Other precautionary items Use separate cables for AC and D75P2 external input signals to eliminate the effects of AC surges and induction Do not bundle or put in the same vicinity as the main circuit line high voltage cables or load carrying wires leading to other than the programmable controller PC since the module will become susceptible to noise surge and induction Ground the tube firmly after pipe wiring If placing AC and D75P2 external input signals in the same vicinity is unavoidable separate the duct or perform pipe wiring If bundling AC and D75P2 external input signals is unavoidable use the batch shield cable and ground on the PC side The maximum length of a connection cable between the D75P2 and the drive module is as shown below depending on the interface of the drive module Open connector method Maximum 2 m 6 6 ft Differential driver method Maximum 10 m 32 8 ft When wiring between the D75P2 and the servo amplifier in a noisy environment use a twisted pair shield c
325. lled SAN 17 segment LED The 17 segment indicator mounted in the upper area of the D75P2 RX Remote input RY Remote register read area Remote register write area that can execute the AD75P given below An abbreviation for the manual pulse generator supplied by the user The general name for the software packages SWEIRX AD75P SWDINX AD75P and function Peripheral device for GPP The general name for the A7PHP AGGPP PC9801 and DOSN personal computers sw An abbreviation for software package iTsegmenlED L MERCED mv o Remote output ww o RW 1 21 1 Overview MEL SEC A 1 8 Parts Supplied with the Module When unpacking check that all of the parts listed below are included Also check whether there is any damage to the parts after unpacking IMainmodule AJSBT D75P2 _ OOOO Poo o y Extemal wiring connector 10136 3000v6 2 Connector cover ao336 52F0 008 2 1 22 2 System Configuration MELSEC A 2 System Configuration This chapter describes the system configuration using the D75P2 2 1 System Configuration when Using the D75P2 The Figure below shows the system configuration when using the D75P2 A maximum of 16 D75P2 modules can be connected to a single master station AJ65BT D75P2 S3 AJ65BT D75P2 S3 AC30R4 A1SD75C01HA RS 422 RS 232 m conversion cable see imponan n AD75TU f Coa Manual pulse zs Manual pulse generator generator See important
326. lses 134217728 to 134217727 pulses o S 134217727 pulses 62500 pulses sec 62500 pulses sec 62500 pulses sec 4095 pulses 134217728 to 134217727 pulses 134217728 to 134217727 pulses 2047 pulses 62500 pulses sec 6250 pulses 134217728 to 134217727 pulses o Sja s jE S8 S8 Sja s 62500 pulses sec 1to 62500 pulses sec Oto 134217727 pulses 134217728 to 134217727 pulses 134217728 to 134217727 pulses Oto 62500 pulses sec 1 to 62500 pulses sec 134217727 pulses MELSEC A 7 Other Functions MELSEC A 7 16 Present Feed Value Clear Function at the Start of Speed Control and Speed Position Switch Control 1 Present feed value clear function at the start of speed control and speed position switch contro a Whether or not to update the present feed value at the start of speed control and speed position switch control can be set Also the present feed value can be cleared to O at the start of speed control and speed position switch control using the present feed value update request instruction during speed contro of extended parameter 1 b if Clear the present feed value during speed control is selected the present feed value in the buffer memory will be as follows 1 Forspeed control the present feed value remains O 2 Forspeed position switch control the present feed value during speed control remains O Upon switching to posit
327. lue Fig 5 4 Home position return of count type 1 5 10 5 Home Position Return Function MELSEC A 3 Actions at home position return and continuous home position return start along near point dog ON With the count type 1 home position return home position return during near point dog ON and continuous home position return start can be performed When home position return during near point dog ON and continuous home position return start are executed home position return is performed after the axis returns to the position of near point dog OFF Actions at home position return start along near point dog ON 1 Home position return start is executed 2 The movement occurs at the home position return speed in the direction opposite to the home position return direction 3 When near point dog OFF is detected deceleration processing is executed 4 After stopping home position return in the direction of home position return is executed 5 When the first zero point after movement by the travel increment after near point dog ON is detected home position return is complete Near point dog OFF Zero signal Fig 5 5 Count type 1 home position return along the near point dog 4 Restrictions If the travel increment setting after near point dog is less than the distance of deceleration from the home position return speed an error occurs and home position return is not performed See the example of travel increme
328. lue of travel is stored t LI Home position return address Fig 5 14 Home position return of stopper stop type 3 It is necessary to perform torque limit to the servo motor If torque limit is not performed to the servo motor there is a risk of damage to the servo motor upon hitting the stopper 5 21 5 Home Position Return Function MELSEC A 3 Restrictions e When the zero signal is input before stopper stop the movement stops at that moment and the position becomes the home position e With the stopper stop type 3 home position return the home position return retry function cannot be used e When the limit switch is turned off deceleration stop occurs Home position return speed Creep speed Zero signal Torque limit Home position return start Home position return request flag Home position return complete flag Error counter clear output Operation status Standby During home position return Standby f gt Travel increment after near point dog ON Inconsistent X 0 Present feed value machine feed value Inconsistent The value of travel is stored Home position return address Fig 5 15 When dwell time elapses before stopper stop In the stopper stop type 3 home position return it takes time to complete home position return because the creep speed is used from the start but it is an effective method when the near point dog cannot be used 5 Home Position Return Function MELSEC A 5 5 7
329. m om 50th point 4399 4649 srm so aeo Positioning start data Offset 0 1 Special start data 2 3 4 5 Condition data 7 8 9 indirect specification 8 30 8 Buffer Memory MELSEC A 8 9 1 Positioning start data area 1 The positioning start data area is used when performing block positioning The positioning start data area includes areas corresponding to the first through 50th points 2 Use the buffer memory for setting the positioning start point number to specify at which point in the positioning start data area the positioning is started If start is performed without setting anything in the buffer memory for setting the positioning start point number the positioning will be started from the first point 3 Set the type and positioning data number as positioning start data See Section 11 3 for the type and positioning data number a Set either End 0 or Continue 1 for the type b Set a positioning data number between 1 and 600 for the positioning data number 4 The positioning start data area has the configuration as shown below b15b14 49th point 50th point E Positioning data number 1 to 600 Type End 0 Continue 1 For the positioning data number set the data number to perform positioning control 8 31 8 Buffer Memory MELSEC A 8 9 2 Special start data
330. manual Using the PC outside the range of the general specifications may result in electric shock fire or malfunction or may damage or degrade the module e Tighten the module installation screws with the specified torque If the screws are loose it may result in short circuits malfunction or cause the module to fall out If the screws are tightened too much it may damage the screws and the module may result in short circuits malfunction or cause the module to fall out e Do not directly touch the conducted part of the module or electric parts This may cause malfunction or breakdowns e Make sure connectors for the drive module and peripheral devices are installed securely in the connectors of the module Make sure the connectors make a clicking sound when attached Defective contact may cause malfunction or false input output e When the drive module or peripheral devices are not connected to the module be sure to attach the cover to the connector area Failure to attach the cover may result in malfunction Wiring Precautions e The FG terminal should always be grounded using the class 3 or higher grounding designed specially for PC Failure to ground the terminal may cause malfunction e When wiring the PC check the rated voltage and terminal layout of the wiring and make sure the wiring is done correctly Connecting a power supply that differs from the rated voltage or wiring it incorrectly may cause fire or breakd
331. me position return start methods as shown below e Mechanical home position return start High speed home position return start High speed mechanical home position return start Data set type home position return only when an absolute position system is used 5 4 1 Start flow B Preparation Home position return parameters Start number E Start For single axis turn on RY n 1 0 For dual axis turn on RY n 1 1 Start number 9001 Start number 9002 Start number 9003 Start number 9901 5 3 5 Home Position Return Function MELSEC A 5 4 2 Mechanical home position return start 1 What is the mechanical home position return 1 The mechanical home position return establishes the mechanical home position using the home position retum method described in Section 5 5 2 The mechanical home position return start specifies 9001 in the buffer memory for storing the positioning start number and turns the positioning start signal on 1 Atthe time of mechanical home position return start the home position return request flag turns on When the mechanical home position return completes normally the home position retum request flag turns off and the home position return complete flag turns on Also depending on the home position return method a value is stored in the travel increment after near point dog ON When the mechanical home position return is comple
332. med in the horizontal direction X then in the vertical direction Y No 2 2 Simultaneous operation This is a method that designates one of the two motors to perform positioning in the X direction and the other in the Y direction driving them simultaneously to reach the intended position Since each of the acceleration deceleration time speed and travel distances for the two motors is independent this operation moves along a curve No 1 3 Linear interpolation operation This is a method that operates two motors simultaneously to move along a straight diagonal line To move along a straight line calculation is performed v a the positioning module equipped with an interpolation function and the resultant pulse is distributed to the two motors for control because the acceleration deceleration times and speeds of the two motors generally vary No 2 No 1 1 Overview MELSEC A 4 Circular interpolation operation This is a method that operates two motors simultaneously to execute the interpolation operation for the circular locus To move along a circular line calculation is performed for the positioning module equipped with a circular interpolation function that controls the acceleration deceleration times and speeds of the two motors and the resultant pulse is distributed to the two motors for control Auxiliary point H 1 t H 1 H 1 3 1 1 t t ei 1 i D H Yi Yi i i i C 1 E d No 2 i 1
333. mmand speed positioning control is performed using the current speed same speed as the immediately preceding positioning speed However if at positioning start speed 1 is set for the first positioning data subject to positioning control no speed setting error occurs and positioning will not start The current speed is used when uniform speed control is performed When the current speed is specified for uniform speed control if the speed of the positioning data number specified at positioning start is changed any positioning data number being specified to the current speed can be controlled at the specified speed 11 6 11 Setting Positioning Data MELSEC A 11 2 8 Dwell time 1 When the operation pattern is positioning complete set the delay time until a positioning complete signal is output The specified dwell time has elapsed L V 1 Dwell time paaa t 1 ON Positioning complete signal OFF f 2 When the operation pattern is continuous positioning set the delay time until the next positioning control is performed after positioning is completed 3 When the operation pattern is continuous locus control control is performed using 0 ms even if a dwell time is set 11 2 9 Jump destination data number 1 Setthe jump destination positioning data number used when executing a JUMP instruction 2 Asthe jump destination data number set a positioning data number other than itself For exam
334. mory e Axis 1 Buffer memory address 4400 to 4499 e Axis 2 Buffer memory address 4650 to 4749 3 One condition data is comprised of a condition identifier and three parameters address parameter 1 and parameter 2 Configuration of condition data Target of condition Conditional operator 4 The range check for each parameter of condition data is performed at execution of the positioning data number When any parameter setting of condition data is out of range an error occurs and positioning will not be executed 11 4 1 Condition identifier The condition identifier includes a condition target and a conditional operator used to perform condition judgment 1 Condition target The target to perform condition judgment is set in the condition target The condition targets include five types listed below rt code Device RX RXn0 to RXi nE Device RY RY n 1 0 to RY n 7 E oH Buffer memory 16 bit Buffer memory 32 bit Positioning data number Device RX RY uses remote I O signals of the D75P2 excluding the use prohibited area Any remote I O signals not belonging to the D75P2 cannot be used 11 11 11 Setting Positioning Data MELSEC A 2 Conditional operator The operation method by the condition target is set in the conditional operator The conditional operators include 14 types listed below IA f and parameter code Normal operator n parameter ft Butter memory
335. mp destination positioning data number and execution condition of the JUMP instruction are set in the dwell time and M code a Jump destination positioning data number With the JUMP instruction the dwell time area is used for setting jump destination positioning data numbers 1 through 600 The jump destination positioning data number can be used to set the positioning data number of other than itself For example if a JUMP instruction is set in positioning data number 5 positioning data numbers other than 5 can be set b Execution conditions 1 With JUMP instructions the M code area is set as the condition data numbers for which execution conditions are set e Ois the setting for an unconditional JUMP e 1to 1O are the setting for condition data numbers 2 The condition data of the JUMP instruction uses the condition data of the block start Set the condition data of the JUMP instruction for the condition data of the block start and specify the set condition data number using the JUMP instruction 3 Among the condition data of block start simultaneous start cannot be set as the execution condition of the JUMP instruction Setting example of positioning data Positioning data is set for positioning data number 1 of axis 1 under the conditions listed below ftom Postioningconto Peripheral device setting data Positioning identifier Acceleration time selection _ Setting not necessary 1 De
336. mpletion of home position return Stores the position currently executed Changed when the present value is changed Present value The current address position at which the movement is stopped or positioning is performed Present value change present value rewrite When a machine is assembled and connected to the positioning module a dummy approximate value is taught to the D75P2 since it has no way of knowing the present value In addition this function allows writing of a dummy present value when the present value is lost due to an accident etc If home position return is performed subsequently the positioning module recognizes the home position To set the accumulated value not to hit the stroke high limit during fixed dimension feed etc rewrite the present value to O upon completion of fixed dimension feed The present value can be changed while positioning is stopped PTP Point to Point control Synonymous with positioning control A type of control in which the specified passing points along the path are scattered and non continuous The only requirement is to reach the given target position and control along the traveling path from a given position to the next value is not necessary PU Programming Unit Abbreviation for programming unit Pulse To turn on or off current voltage for a short period of time A pulse chain is a series of pulses The D75P2 is a module that generates pulses Pulse generator
337. n axes 1 and 2 axis 1 serves as the reference axis and axis 2 serves as the interpolation axis Axis 1 Positioning Operation pattern End of positioning IEd O OE identifier Control method Circular interpolation with a specified ABS circular interpolation auxiliary point Acceleration time selection Acceleration time 1 aae e Deceleration time selection Deceleration time 0 We eee OE Positioning address travel increment j 800000 Circular address 40000 0 80000 0 6000 00 mm 236 2 in min mo Axis 2 Positioning Setting not necessary i identifier Setting not necessary pee eee a Setting not necessary aS 2 Mi Setting not necessary PERSE CREE dr dE Positioning address travel increment 60000 0 um 60000 0 Circular address 30000 0 um 30000 0 Command speed Setting not necessary Setting not necessary Setting not necessary No relationship with the control The initial value or any other value can be used 1 1 See Section 11 2 for details on the positioning data 2 With the absolute system the positioning address is set 2 Start positioning on the reference axis only When positioning of the reference axis is started circular interpolation control is performed using the reference and interpolation axes 6 16 6 Positioning Function MELSEC A 2 Circular interpolation control with a specified auxiliary point increment system a Circular interpolation is performed
338. n control is in operation During speed position switch control the flag remains on until a speed position switch is executed via an extemal speed position switch signal Tums off at power on as well as during positioning control JOG operation and manual pulse generator operation Speed position switch A flag that tums on when control is switched to latch flag position control during speed position control and is used for the travel increment change enable disable interlock for position control Tums off at execution of the next positioning data or start of JOG operation or manual pulse generator operation Command in position Tums on when the remaining distance decreases to flag or below the command in position range set by a parameter Tums off when the axis moves during each operation A command in position check is performed every 56 8 ms during position control No command in position check is performed during speed control or during speed control of speed position control Home position retum Turns on when any one of the conditions listed request flag below occurs and tums off at home position retum completion Atpower on of the D75P2 module When the drive module ready signal tums off When a remote ready flag tums on At home position retum start f Quee Write allowed Xe Write prohibited 1 The same value is stored in the remote input signal RX During monitoring the same result can be obtained even if the remote
339. n example of D75P2 and VEXTA UDX2107 open collector method negative logic 2 m 6 6 ft max 2 D75P2 VEXTA UDX2107 purser 1 cw es d 2 BV PULSER A E eT a nib Connect as necessary PULSER A Eiz F generator 10 MR HDPO1 gt 24G gt P24V 1 The connector pin numbers of the D75P2 indicate the same applications for axes 1 and 2 2 The high limit FLS and low limit RLS of the D75P2 are used in the home position return retry function 3 For wiring on the stepping motor drive side other than above and shielding of respective signal lines see the manual for the stepping motor drive 4 1 For the D75P2 set the pulse output logic selection to drive module in the extended parameter 1 to negative logic 5 2 Indicates the distance between the D75P2 and VEXTA UDX2107 A 18 Appendix Appendix 6 5 MELSEC A Connection example of D75P2 and VEXTA UPD open collector method negative logic 2 m 6 6 ft max D75P2 Im VEXTA UPD INPS LcoM PULSER A PULSER A PULSER B L1 pu eee plis uem c H 3 pn 7 mum Gee o ner oo Connect as necessary i generator MR HDP01 gt 24G gt P24 V 1 2 3 4 5 The connector pin numbers of the D75P2 indicate the same applications for axes 1 and 2 The high limit FLS and low
340. n setting conditional start wait start simultaneous start FOR loop and FOR condition as the start pattern for special start See Section 11 3 2 Start pattern Setting parameter GNomaset 1 Condition data number 10 10 1 Conditional start 2 Wait start 3 Simultaneous start Meee ee E d a Condition data number Specify the condition data number with which the condition data used by conditional start wait start simultaneous start or FOR i condition was set ud e See Section 11 4 for the condition data b Number of repetitions Set the number of repetitions of the FOR loop to NEXT instruction FOR to NEXT loop processing Nesting is not allowed in a FOR to NEXT loop If nesting is performed in a FOR to NEXT loop a warning occurs Special start setting Normal start Normal start Normal start The jump destination of NEXT specified by A Normal start points 7 and 9 is FOR at point 4 When NEXT specified by point 9 is executed a warning will occur i Normal start 9 11 10 11 Setting Positioning Data MELSEC A 11 4 Condition Data 1 The condition data includes the following applications e Condition judgment when performing a special start of block start e Condition judgment of a JUMP instruction execution 2 Using condition data ten items of data corresponding to condition data numbers 1 to 10 can be created in the buffer me
341. nal include WITH mode and AFTER mode e WITH mode e M code ON signal is turned on at the start of positioning Positioning start BUSY M code ON signal Device for M code OFF request Remote register for M code storage Positioning Operation pattern m1 m2 indicate the set M codes Fig 7 4 M code ON OFF timing WITH mode The addresses for the setting of M code output timing M code OFF request and buffer memory for M code storage are as follows M code output timing setting Device number for M code Resister address for M OFF request code storage mes SIT R2 7 35 7 Other Functions MELSEC A e AFTER mode The M code ON signal is turned on upon positioning complete However the M code is stored in the remote register for M code storage as soon as the M code ON signal turns on Read an M code using the during ON execution instruction instead of the startup instruction Positioning start BUSY M code ON signal Device for M code OFF request Remote register for M code storage Positioning Operation pattern m1 m2 indicate the set M codes Fig 7 5 M code ON OFF timing AFTER mode 7 36 7 Other Functions MELSEC A b When in AFTER mode during speed control the M code ON signal will not be turned on The M code ON signal will not be stored in the remote register for M code storage c When the M code ON signal is on if the M code OFF request of t
342. nal to OFF Make awrite request tothe B Set 1 at the address 1138 of the buffer memory flash memory Sep teniesss The address 1138 of the buffer memory becomes 0 Confirm write complete Write to the flash memory is allowed up to 100 000 times When the number of write to the flash memory exceeds 100 000 write to the flash memory may no longer be performed normally 7 52 7 Other Functions l MELSEC A 7 14 Handling when the Control Unit is in Degree When the control unit is in degree the items below are different from other control units 7 14 1 Address of present feed value and machine feed value The addresses of present feed values and machine feed values are ring addresses between 0 and 359 99999 359 99999 359 99999 Pd dr 0 0 0 7 14 2 Setting valid invalid of software stroke limit Not The high limit low limit values of a software stroke limit are between 0 and 359 99999 1 Setting the software stroke limit to valid To set the software stroke limit to valid set the low limit value and high limit value of the software stroke limit in the clockwise direction 315 l Set clockwise Zone A Ss i Zone B a Setthe travel range of zone A as follows Low limit value of software stroke limit 315 00000 High limit value of software stroke limit 90 00000 iud b Setthe travel range of zone B as follows Low limit value of software stroke l
343. ncreased 13 10 Output e lt o Gain is decreased Input When 10 is output for the input of 10 the output can be changed to 12 or 5 by changing the gain G code A coded 2 digit numeric value 00 to 99 used to specify the control function for the axis of an NC device Also called G function Examples G01 Linear interpolation G02 Circular interpolation CW clockwise G04 Dwell G28 Home position return G50 Master axis maximum rotation setting GD Inertial moment The total sum of the mass dm of each very small section constituting an object being multiplied by the square of distance r between the section anda fixed straight line 1 f dm The relationship with GD is given as 4gl where g is gravitational acceleration Guidance An explanatory text Hard disk memory A disk shaped magnetic storage device While the floppy disk is soft and flexible this disk is hard thus called the hard disk Available sizes include 5 inch 3 5 inch and 2 5 inch Hard disks have larger memory capacities and are more expensive than floppy disks Read write is performed by rotating the disk Although it is in many cases impossible to change hard disks as can be done for floppy disks hard disks comprise a stack of many disks each with a head Appendix HD Abbreviation for hard disk See Hard disk memory High speed mechanical home position return Positioning to home position is performed
344. ndition Data RENTE E II 11 11 11 4 1 Condition identifier ccssssssccccsesssceesseeetceresssreessssesenseesenseseesneeeseesseeeneesseesensesensneessneenenseeeeseeeeses 11 11 11 4 2 Address RRRR 11 13 11 4 3 C CuI A m X 11 13 IPTE Iu IECGRERREEI 11 13 11 4 5 Parameter 1 and parameter 2 settings for simultaneous start een 11 13 12 Building a System 12 1 to 12 38 1294 DUMVIUW cuit Goose citt trei telo ave Loup tchat PCR qo eL CURRUS 12 1 12 2 Master Station Settings eese eene te tenete tenente tette ene tenete tenete nene ten eene en tntn tete ta teinte intet 12 2 12 3 D75P2 Settings ERRRR 12 3 12 4 Concept of Transient Transmission sesessssesssssenessersiseeeenteensensaseensseeresesseersessenseereesensesersseensesenesneasenenes 12 4 12 4 1 Read write of the buffer memory eese eee nennen nennen nenne nennen nnns ntn nn tenente nnne teen ene 12 4 12 4 2 Transient transmission ccsesesssesseesesesesnensessesnessneeseessasensasenaseaceestsoneneneesosesosesensesneransensaeanetecet 12 6 12 4 3 Control data send data setting procedures esee nennen enne ennt nnne nnne 12 7 12 5 Programming B H T 12 16 12 5 1 Programming procedure eeseeeeseseseese eene tenete nnne enn eene nene tete nnt nate nn tete tne seen ta tnnt
345. nersnsesentessnessssars 9 15 9 5 Setting the Main Module 0 ccsssceceessssnssseteeseoceeneceneesceatensssaessncessseseucssersseeenesuausseseeneucauesscesevanessasenees 9 17 9 5 1 Setting the station number of the main module eee eeseseeeeeneessesenscssesceneeeesersenecesneteceenersssecaeer 9 18 9 5 2 Setting the transmission speed of the main module sees esee nennen then 9 19 9 6 Display Viewpoint nennen ntn enne tnra nta ED 9 20 9 6 1 17 segment corresponding axis display LEDS eeeeeee eee eese eee eeeeee ee sne esee rn nnne ns tasca 9 20 9 6 2 Message descriptions for operation monitor 2 oo ete ceeeeeseneeenenerecersnsansessenseneessasseceeneneeeauenees 9 21 9 6 3 Signal names of I O information 1 eee esses eecesereseneecennenseaensensccsaeasesaeetecesesensessteneeeseeasearens 9 21 9 6 4 Descriptions of other messages isessssssseseeseseesesene nennen etenim tes nnet torte nenne satin een enn inten 9 21 97 System VOSt o eM ME 9 22 10 Setting Positioning Parameters 10 1 to 10 28 10 1 Basic cuis ICRRRRRRRRRRRRRRRRRRRRRRRRRRRRR 10 1 10 1 1 Unit setting RR 10 4 10 1 2 Travel increment per Pulse eee cccsssseeeseeesseseaessesesrestesesenansceenacsceseesesseseneuseussuaauasananseusensenenes 10 4 10 1 3 Pulse output mode eese retener nenne tn tnete tein etes n nan en tete sns e te tn sensn
346. ng at the axis is displayed for 0 5 second then the display changes to the next axis 9 6 3 Signal names of I O information n The message switches in the following order each time the mode switch is pressed Message Description SVON mn C nn Servo ON L yA Pe Zero point signal 4 ULMT nessosasusoseanosaneseonasonnesss High limit signal 4 LLMT nansosasonnponoosusesrrosovpoanae Low timit signal 4 ee V P menueseussasceseeceovooseereoenseee Speed position switch signal L DOG Oe oconeccaueenreeneeanrnarssecsnre Near point dog ON 9 6 4 Descriptions of other messages The following error messages are displayed on the 17 segment LED regardless of the mode Message Description FALT MMH HMM When exceptions such as zero division invalid instruction or watch dog occur the display shows the message occurred cause and the IP address at which it occurred 9 21 9 Setup MELSEC A 9 7 System Test This section describes the method to check on the D75P2 main module whether or not the D75P2 is operating normally The test can be executed even when no sequence program or data is stored in the ACPU or D75P2 or when the D75P2 is in operation Operate the system after completing the connections between the D75P2 drive module motor and external devices The mode switch 17 segment LED and axis display LED being described here indicate the D75P2 s switch LEDs Procedure 1 Power on 2 1 2
347. ng automatic control the stopped position operation of a machine in sequence using a PC The position becomes incorrect if a shift is caused by P g external forces Start preparation The status under such force is called servo lock or P Start ready servo lock torque Advancing action Execution of a servo program Positioning completion Push out action Execution of a servo program Positioning completion C Backing up action Execution of a servo program Positioning completion Held at the stopped 7 position T Skip function A function to stop the positioning currently executed decelerate to a stop then perform the next positioning when a skip signal is input Slave axis The side whose positioning data is partially ignored during interpolation operation Moves according to the data of the master axis A 38 Appendix i MELSEC A CEN PS en mE URL ei i er E rer Speed change Speed position control switching mode The positioning speed can be changed between low and A method used in positioning This mode can be used high speeds for example for high speed movement to a certain point 1 Pattern specification is allowed for up to nine which has nothing to do with positioning followed by a successive points and the feed direction must be movement by a fixed dimension from the action point of same the limit switch 2 The speed can be changed using an external signal and there is no
348. nges from on to off The pulse generator PG must be of type with the zero signal function 2 Actions during the near point dog type home position return When the near point dog type home position return is started the following actions are performed 1 The movement occurs in the specified home position return direction at the specified home position return speed 2 When the near point dog is turned on the movement decelerates to the creep speed 3 The movement stops by the zero signal after the near point dog changes from on to off At this time an error counter clear output is output to the drive module SY Home position Deceleration upon near point dog ON return speed Creep speed t x1 Travel increment after near point dog ON 1 1 rotation of the servo motor 1 PG rotation 1 Home position return start VLA Home position return request flag Buffer memory bit 3 b3 of 817 917 Home position return complete flag Buffer memory bit 4 b4 of 817 917 Error counter clear output Operation status Standby X During home position return Standby Travel increment after near point Inconsistent 1 value dog ON co feed value machine Inconsistent X The value of travel is stored Home position return address eed value Fig 5 2 Home position return of near point dog type 5 8 5 Home Position Return Function MELSEC A 3 Restrictions 1 Leave the near point dog on until the speed decelerates to the creep speed
349. nnot be secured Operation timing during the processing of positioning operation speed change V Speed change to V2 Speed change to V3 Positioning operation by V1 Dd During speed change processing flag 3 Speed change request with the new speed value at 0 a When a speed change request is made with the new speed value at 0 during operation excluding the manual pulse generator operation the operation decelerates to stop and the device s speed change 0 flag is turned on b During the interpolation control the speed change O flag the device below of the axis reference axis indicated blow turns on Mo During the interpolation control by axes 1 and 2 RX n 2 2 c Setting the new speed value to a value other than 0 changes the speed change 0 flag to 0 thus continuing the operation d When requesting the speed change to the new speed value 0 even if the speed becomes 0 the BUSY signal will remain on At this time the axis stops However there are no changes in the axis operation status 7 11 PEN 7 Other Functions MELSEC A e Inputting a stop signal turns off the BUSY signal switching the axis operation status to during stop Positioning start BUSY I L I Positioning operation AX N LON 1 Speed change 0 flag OFF 0 Fig 7 2 Timing of speed change 0 7 12 7 Other Functions 7 2 2 MELSEC A Speed change by the override function 1 What is the overr
350. nt feed value is outside the software stroke limit range at the start of manual pulse generator operation the manual pulse generator operation starts in the direction within the software stroke limit range Software stroke limit of JOG operation manual pulse generator operation Software stroke limit of JOG operation manual pulse generator operation Set whether or not to update the present feed value during speed control by using the parameter s update request command of present feed value during speed control 2 When the unit is in degrees the software stroke limit check is not performed even if the software stroke limit of JOG operation and manual pulse generator operation is valid 7 24 7 Other Functions MELSEC A c Software stroke limit range check during operation 1 An error occurs when the positioning address of positioning data is out of range 2 During interpolation operation an axis error occurs whichever axis is outside the software stroke limit range 3 When the operation pattern is continuos locus control the positioning data number whose positioning address is out of range will not be executed Instead the operation will instantly stop at the positioning address immediately before 4 The JOG operation or manual pulse generator operation decelerates to stop upon exceeding the software stroke limit range After the stop the JOG operation or manual pulse generator operation
351. nt setting after near point dog in the home position return parameters and set a value equal to or greater than the distance of deceleration from the home position return speed 5 11 5 Home Position Return Function FC MEL SEC A 5 5 3 Count type 2 home position return not using the zero signal 1 What is the count type 2 home position return e The count type 2 home position return is a method that uses the point of specified distance after near point dog ON travel increment after near point dog as the home position e The travel increment after near point dog is set by the home position return parameter The pulse generator PG must be of type with the zero signal function Unlike other home position return methods in this method an error of about 1ms which generates upon near point dog ON occurs as a distance error at the home position 2 Actions during the count type 2 home position return When the count type 2 home position return is started the following actions are performed e The movement occurs in the specified home position return direction at the specified home position return speed e When the near point dog is turned on the movement decelerates to the creep speed e The movement stops after having moved for the specified travel increment from near point dog ON Home position Travel increment after near point return speed dog ON Creep speed t Travel increment after near point dog ON 1
352. ntelligent device station access complete signal RX n 1 E 1 See Points in Section 12 4 3 for details on bank switching 12 10 12 Building a System MELSEC A 2 When writing data to the buffer memory of the D75P2 using the TO instruction set the following control data and data to be written in the send buffer of the corresponding station of the master module Control data Station number request Station number specified by the upper bytes bits 8 to 15 1 to 64 Specifies the station number of the intelligent device station that is the access destination Request code specified by the lower bytes bits 0 to 7 12H Number of data written Specifies the total bytes of the specified data after the 8 Number of to the send buffer quantity item described below write points x 2 bytes e Control data Quantity to number of write points e Data to be written Data to be written to the D75P2 buffer memory Qumiy tried value rd Access code attribute Fixed value 0004H Buffer memory address Specifies the buffer memory head address 0H and above OH to 17D4H 1 to 480 written as described below in a manner not to exceed the buffer memory address 17DDH of the D75P2 Specifies the data written to the D75P2 buffer memory which is specified via the buffer memory address item and the number of write points item of control data for the number of write points of control data
353. nten test tantas esten a neon en eterni nenne nte ene ta nene ann 5 28 5 7 1 What is the home position shift function escis seeeeee nennen nennen ennt nttnen nennen ntn nnnnnna 5 28 5 7 2 Specifying speed during home position shift nnne nnne 5 30 5 8 Home Position Return Request Flag OFF Request ressent tetenn tnter 5 81 5 9 Combining Home Position Return with Other Functions eene nennen nennen 5 31 5 9 1 Home position return start after home position return operation Stops eere 5 31 5 9 2 Changing the speed during home position return eerte nennen 5 31 6 Positioning Function 6 1 to 6 64 6 1 Positioning Control Methods sessisssesseeeeeneeneeeneeetntenn enti tn ttn nnnnte tete nnn ente nn nete ntn tn tenete nete tenen 6 1 6 1 1 Control method RR 6 2 6 1 2 Interpolation Ero I o MANENE EEE EE A E E TET 6 3 6 1 3 Single axis linear control eene enne enennene netten nennen neta ente tenente terna ent nte tnennenen 6 5 6 1 4 Dual axis linear interpolation Control eeeeeee nee ener nennen nnne nennen nent enne eene enne 6 7 6 1 5 Fixed dimension feed control 1 sees eee eene nennen nennt nn nnne enne nennen nennen enn tinn natn nena 6 11 6 1 6 Circular interpolation control with a specified auxiliary point nennen 6 15 6 1 7 Circular interpolation control with the specified center
354. o RR 10 19 10 2 21 Rapid stop deceleration time cessisse eeeeeee teen nette ennt tn en enn th teas status intus tns ontratntrenenn tnt enn 10 20 10 2 22 Rapid stop selection Stop groups 1 to 3 usssseeeeeeneneneeenennennnnnnnennnennnnnnne nennen 10 20 10 2 23 Positioning complete signal output time censes eene nnne nnne nnne tenerent 10 20 10 2 24 Allowable circular interpolation error range seen eeene nennt nee enne nnne nennen 10 21 10 2 25 External start function selection eeeeeesee esee eene nennen eene nennen nennen nt nhenn nenne netta nennen ene nennt nn nentes 10 21 10 3 Home Position Return Basic Parameters esses e eeeeee senes en nane nn nns n ennt nenn nnne eese t tenue inane eaae 10 22 10 3 1 Home position return method eesseseeseeeeeeee nennen enne nennen tne nnena tns tn atta enn nenne nenne nnennenne 10 22 10 3 2 Home position return direction eeeeeeseeeeseeseeee ee eenene entente ennt entente annee tente nenne nennen enin 10 22 10 3 3 Home position address eese sees eese ne tenente tne tnnt nntn nne en etntns nete senes tne tenes te tenete anne 10 23 10 3 4 Home position return speed sese esee enne nnn nette tnnt ene tne thee enn ann s enn een s enn nnn innen 10 23 Ue O 10 24 10 3 6 Home position return retry
355. o signal The home position return of this type is stopped by moving for the specified increment of travel after the near point dog has been turned on Near point dog type Speed Current position Stopper type 1 Speed Time Count type 1 Speed Zero signal 1 15 1 Overview MELSEC A 4 Data set type one type The home position return of this type sets the home position address to the present value during the home position return execution This can be used for the absolute position system 1 Home position return can also be performed via the home position return retry function using the high and tow limit switches 2 After the home position has been determined by the home position return operation the positioning operation can be used until the machine s feed value reaches the home position address without using the home position detection signal This equates to positioning to the home position position 1 16 1 Overview MELSEC A 1 5 Overview of Communication Communication between the D75P2 and a master module uses two types of transmission formats cyclic transmission and transient transmission An overview of communication using the D75P2 is shown in Figure 1 7 Master station TO instruction write Hn Remote I O Cyclic transmission Remote register FROM instruction read Buffer memory Transient transmission Fig 1 7 Overview of communicat
356. ocus control or continuous positioning control For home position return set the acceleration time and deceleration time for the mechanical home position return of positioning data number 9001 and the high speed home position return of positioning data number 9002 When the location of the home position is not set at the high limit or low limit position of the machine use the home position return retry function When the home position return retry function is used the point moves in the reverse direction when the high or low limit switch wired to the D75P2 turns off and home position return is ND performed once again See Section 5 6 for the home position return retry function When using the home position return retry function an on off signal from the limit switch in the home position return direction is required Provide an external limit switch and wire it to the high ow limit switch of the D75P2 In a system that does not perform home position return control can be performed even without turning off the home position return request However the home position return parameters for each axis must be set to the default value or a value that will not cause an error When any home position return parameter is in error the ready complete flag will not turn off even when the remote station ready signal is turned on 5 2 5 Home Position Return Function MELSEC A 5 4 Home Position Return Start Method There are three types of ho
357. od by the user Manual pulse generator Supplied by the user Recommended MR HDPO1 manufactured by Mitsubishi Electric Absolute position AD75C20SH The cable for the connection between the D75P2 and detection servo amplifier MR H A function AD75C20SJ2 The cable for the connection between the D75P2 and compatible servo amplifier MR J2 A Absolute position AD75C20SJ The cable for the connection between the D75P2 and detection servo amplifier MR J A l AD75C20SC The cable for the connection between the D75P2 and servo amplifier MR C A function Connection cable 4 The cable for connecting the D75P2 to the mechanical noncompatible system input signal or manual pulse generator supplied by Remark the user For the connector cover on the D75P2 side use the one supplied with the product Supplied by the user Refer to the AD75P operating manual for details Connection cable Refer to the manual for details on the connection device 2 3 2 System Configuration MELSEC A 2 4 Precautions when Using a Stepping Motor This section describes the precautions when using a stepping motor 1 When setting the stepping motor mode a When using a stepping motor with the D75P2 it is necessary to set the stepping motor mode If the stepping motor mode is not set the stepping motor cannot be controlled normally b When the stepping motor
358. ode If the circular interpolation is started when the stepping motor mode is set the control method setting error error code 524 occurs Restriction on linear interpolation control Use the linear interpolation control when both axes are set in the standard mode or stepping motor mode When the standard mode is used together with stepping motor mode for linear interpolation control control cannot be performed at the command speed When performing linear interpolation control for the stepping motor and servo motor set both axes to the stepping motor mode Restriction on continuous locus control e The continuous locus control can only be used for a single axis The continuous locus control cannot be used for double axis interpolation control Performing continuous locus control with the double axis interpolation control may result in a positional dislocation e The continuous locus control can only be used for controls in the same direction Using locus control for controls whose direction reverses may result in a positional dislocation When performing controls whose direction reverses in the stepping motor mode use the continuous operation Restriction on the INC instruction After stopping the JOG operation or positioning do not perform positioning in the opposite direction by the INC instruction If positioning is performed in the opposite direction by the INC instruction after stopping the JOG operation or positioning position
359. of the absolute home position RY n 2 4 Single axis error reset underfiow flag RY n42 7 Use prohibited RY n 2 A Single axis home position return request OFF request Use prohibited RY n 3 F n The address assigned to the master module via station number setting 3 13 3 Specification MELSEC A Table 3 3 List of O signals 3 Signal direction D75P2 master module Signal direction master module D75P2 Dual axis speed limit in operation flag RY n 4 3 RY n 4 4 Use prohibited Dual axis home position return request flag n The address assigned to the master module via station number setting RX n 5 3 Dual axis location of the absolute home position overflow flag RX n 5 4 Dual axis location of the absolute home position underflow flag Dual axis restart acknowledge complete flag Use prohibited 3 14 SR 3 Specification MELSEC A Table 3 3 List of O signals 4 Signal direction D75P2 master module Signal direction master module D75P2 Signal name Use prohibited Use prohibited RY n 7 7 Use prohibited n The address assigned to the master module via station number setting Do not output turn on signals whose use is prohibited among the output signals transmitted from the master module to the D75P2 If signals whose use is prohibited are output the PC system may malfunction 3 15 3 Specification MELSEC
360. of whether or not the automatic deceleration is necessary the operation automatically decelerates to stop after executing the specified positioning data Even when the operation pattern is continuous locus control 11 the operation forcefully and automatically decelerates to stop the operation is the same as continuous positioning control 01 Therefore if the positioning data consists of the operation patterns 00 and 01 when performing continuous operation the operation will be the same as that of data number unit step even if the deceleration unit step is performed Step valid Positioning start BUSY The step will be in the positioning data number unit even though the operation pattern is continuous locus control 11 Fig 7 11 Operation during step execution with the step in positioning data number units b During interpolation of the axes 1 and 2 the step is performed in the axis 1 s step mode 4 Steps during the operation of continuous locus control 11 When performing the positioning data number unit step during continuous locus control 11 the operation will be pattern 01 The axis operation status at this time becomes during step standby If 01 is set for the step start information the step operation is continued from the data following the positioning data for which an error has occurred 7 46 7 Other Functions MELSEC A 7 12 Command In position Function 1 What is the command in position function
361. oint address positioning address Positioning control is executed based on the address specified by home position return b The starting point address current stop position and the endpoint address positioning address determine the direction of travel e Starting point address endpoint address positioning in the positive direction e Starting point address gt endpoint address positioning in the negative direction Positive direction Y axis Starting point address X1 Y1 current stop position Endpoint address X2 Y2 1 positioning address Y2 Travel increment along the Y axis Movement of X and Y axes via linear interpolation Negative direction Positive direction X axis Travel increment along the X axis Negative direction p Example The following shows when the starting point address current stop position is 1000 4000 and endpoint address positioning address is 10000 1000 Y axis 4000 Sing pont address current stop position Travel increment along the Y axis 1000 4000 3000 Endpoint address put D LA DUCI LII EE positioning address X axis 5000 Travel increment along the X axis 10000 1000 9000 p 2 c The maximum travel increment allowed for linear interpolation control along each ax
362. olute md 214748364 8 to 21474 83648 to 0 to 359 99999 214748364 7 um 21474 83647 inches degrees 2147483647 pulses D 214748364 8 to 21474 83648 to 21474 83648 to 2147483648 to 214748364 7 21474 83647 21474 83647 2147483647 um inches degrees pulses Speed position switch DERE 0 to 214748364 7 0 to 21474 83647 0 to 2147483647 control um inches degrees pulses Absolute 214748364 8 to 21474 83648 to 2147483648 to 214748364 7 um 21474 83647 inches degrees 2147483647 pulses 21474 83648 to 21474 83647 CNN MIN 1 Current speed The same speed as the immediately preceding positioning data number Dwelltime 0 to 65535 ms iid number INC circular e Circular interpolation control by center point clockwise degrees 0 to 32767 Condition data Oto 10 number specification increment method clockwise 0 01 to 600000 00 0 001 to 600000 00 0 001 to 600000 000 1 to 1000000 11 2 e pese R7 speed control Speed control reverse rotation Speed control speed position e Speed position switch control reverse rotation speed position i Positioning address travel increment increment other than speed position switch control Circular address INC circular e Circular interpolation control by center point OCH counterclockwise specification increment method counterclockwise mnvmin inches min degrees min pulse
363. om the current stop position starting point address defined by two axes to the specified position positioning address travel increment The direction of rotation controllable angle of circular and positioning path are shown below Rotation direction Controllable angle of Positioning path circular ABS circular right Clockwise 0 lt 8 lt 360 Positioning path Starting Endpoint A point 0 0x360 positioning INC circular right current in E address stop position Center point ABS circular left Counter clockwise Center point eee Q 0 360 s INC circular left Sox Starting Endpoint point positioning current address stop position Positioning path Circular interpolation with a specified auxiliary point cannot be performed during the stepping motor mode or while using a servo motor in the stepping motor mode 6 20 6 Positioning Function MELSEC A 1 Circular interpolation control with the specified center point absolute system a Circular interpolation is performed to the endpoint address positioning address on the circular whose radius is the distance between the starting point address current stop position and the specified center point address circular address Positive direction Movement by circular interpolation Starting point address current stop position Endpoint address positioning address Radius Negative direction Positive direc
364. omplete appears However the point can be updated until it reaches 50 When the point exceeds 50 operation is terminated and a no operation complete setting warning warning code 505 is generated Positioning start data setting Positioning Point Positioning start data data number Operation pattern Operation pattern Li 2 00 Positioning completes 01 Continuous positioning control 11 Continuous locus control 50 points 10 Error Positioning data number Continue operation 1 Complete operation 0 Fig 6 10 Block positioning process 1 S 6 47 MELSEC A 6 Positioning Function 8 3 2 uo ae 2 D Q Q E 2 c oO S oO o D c 9 pi fo a UO o o o o o g Qa 2 o o eo c Qo 3 io o a o B e di oD E o o g o a wo o E im o iL 3 Q 5 o9 c 9 S o Q Q T e e T N T X T N T N T S e Process sequence Dwell time Positioning Operation pattern Data number Point number Point complete continue setting Complete Continue Positioning complete Positioning start Start complete Fig 6 10 Block positioning process 2 6 48 6 Positioning Function MELSEC A 6 3 2 Start method This section describes the start method for positioning Start positioning for interpolation control on the reference axis only By starting positioning of the reference axis interpolation control is performed u
365. ompleted is stored 0 completion System Other than O error error code Station number request Station number specified by the upper bytes bits 8 to 15 System code The station number of the intelligent device station that is the access destination is stored M Request code specified by the lower bytes bits O to 7 System easter 0 0 P bytes Data read The data in the D75P2 buffer memory specified via the buffer memory address item and the System number of read points item of control data is stored 12 15 12 Building a System MELSEC A 12 5 Programming This section explains the programming procedure notes on programming as well as program creation 12 5 1 Programming procedure ELSE bd Dunn a Create a program to execute positioning using the master station and D75P2 following the procedure below Parameter setting data link start Section 12 5 4 Reading of remote input Section 12 5 5 Initial processing of the D75P2 Section 12 5 5 Servo on Section 12 5 5 Home position return start Section 12 5 5 Positioning start stop Section 12 5 5 JOG operation manual pulse generator enable specification Section 12 5 5 Override present value change Speed change Section 12 5 5 Absolute position restoration absolute position specification Section 12 5 5 Reading writing of the buffer memory transient transmission Section 12 5 5 Writ
366. on 3 4 12 Axis operation status The axis operation statuses shown below are stored z Standby During stop During interpolation During JOG operation During manual pulse generator operation During analysis Waiting for special start N During home position return Position control in operation 2 Speed control in operation Speed control of speed position switch control in operation Position control of speed position switch control in operation During absolute position restoration During data set type home position return Error Step standby Step stopped Step error has occurred ee e o 20 ON ODORWN O O e h h CQ m hone 3 Specification 3 5 MELSEC A Transmission Delay Time The transmission delay time time until the data is transmitted is described below 1 Master station RX RWr D75P2 RX RWTr Expression SM LS x 3 RS ms SM Scan time of the master station sequence program LS Link scan time See Section 5 2 of the Master Module User s Manual RS 1 6 ms Data Flow PC CPU SM Master station buffer memory remote input RX remote register RWr Link scan LS D75P2 RXn input signal RWr remote register 1 1 3 27 3 Specification 2 Master station RY RWw D75P2 RY RWw Expression SM LS x 3 RS ms SM Scan time of the master station sequence program LS Link
367. on or off C10 n The address assigned to the master module via station number setting 3 17 3 Specification MELSEC A Table 3 4 Details of I O signals 3 OFF Error counter clear signal OFF ON Error counter clear signal ON e Indicates whether the error counter clear signal is on or off 1 Single axis error counter clear status Dual axis error counter clear status Single axis speed control in operation flag Dual axis speed control in operation flag RX n 1 D Single axis speed position RX n 4 D switch latch flag 1 Dual axis speed position switch latch flag Single axis command in position signal Dual axis command in position signal Single axis home position return request flag Dual axis home position return request flag Single axis home position return complete flag Dual axis home position return complete flag Single axis warning detection Dual axis warning detection Single axis speed change 0 flag Dual axis speed change 0 flag Updated every 56 8 ms OFF Position control in operation ON Speed control in operation e This flag turns on during speed control and is used to indicate whether speed control or position control is in operation During speed position Switch control the flag remains on until speed control is switched to position control by an external speed position switch signal e Turns off at power on or during position control JOG operation and
368. on parameter is the time identical to the acceleration time Since it refers to the time needed to stop the movement from the speed limit value the deceleration time decreases proportionally as the set speed is lowered Speed limit value Set speed Speed 0 Time Deceleration speed Differential output type A type of feedback pulse output from an encoder Instead of outputting only one signal a pair of signals namely the target signal and another signal having the opposite polarity are output simultaneously This type is used for high speed signal transmission including O of pulse chains since it provides such advantages as high frequency transmission and noise resistance Generally the transmitting side is called the driver while the receiving side is called the receiver A dedicated IC is used Command device 1Servo amplifier Driver Receiver Appendix Digital bus connection Generally pulse chains are used for commands that are output from the positioning module to servo amplifier in recent years however digitization of various devices has given rise to a method in which bus lines of CPUs of the positioning module and servo amplifier are connected Using this method a highly accurate system can now be configured The MELSEC AD70D AD774M A171SCPU and A273UCPU modules use this digital bus connection Dog signal The near point dog used in home position return Droop pulse Since the ma
369. on the stepping motor drive side other than above and shielding of respective signal lines see the manual for the stepping motor drive 1 For the D75P2 set the pulse output logic selection to drive module in the extended parameter 1 to negative logic 2 Indicates the distance between the D75P2 and VEXTA FX 1 2 3 4 5 A 20 Appendix MELSEC A Ball screw A type of screw that has balls lined up in the engaging section just like a ball bearing Produces no backlash and can be rotated with a small force Automatic trapezoid acceleration deceleration An operation whose diagram of time and speed forms a trapezoid Acceleration Female thread Deceleration Male thread BARRE sped Time Backlash compensation When the rotation direction is changed from forward to BCD Binary Coded Decimal 1 An abbreviation for binary coded decimal or BCD reverse a play backlash may be created between the engaged gears The same goes with screws In positioning a leftward feed by 1 m is not sufficient to return to the original position following a rightward feed by 1 m but returning to the original position requires an extra feed corresponding to the amount of play This code to be precise BCD codes are binary numbers representing decimal numbers since binary numbers such as on 1 and off 0 used by calculators and PC s are difficult to understand for people Digital
370. oning Start 1150 7000 2 Positioning can be started with any point number by setting the desired pointer number in the buffer memory for the positioning pointer number storage prior to starting A maximum of 50 points of positioning data numbers can be preset for block start and positioning can be performed by switching the point number Buffer memory for the positioning pointer number storage 1150 7000 Start 6 Positioning Function MELSEC A r Example 4 l i The following shows a program that performs block start of the 5th point of axis 1 i I Positioning MW i start RY n 1 0 RXn1 mon 4 RAO Set 5 in the buffer Block start 1 ee and memory 1178 point setting 1 Positioning Positioning D75P2 i I start start ready i i agoa a jolies e Set 7000 in the buffer Block start 1 axis 1 memory 1150 setting l i I I Positioning SET RY n 1 0 star l l l RY n 1 0 RXn1 RXn4 m i I RST RY n 1 0 PEE i BUSY signal l l of axis 1 l RXnA i I 1 Error detection I 1 of axis 1 I I 2 d Block positioning operation 1 When the positioning start signal is turned on positioning starts with the positioning data number set in the first point of the buffer memory for setting positioning start data in the following conditions Buffer memory for positioning start numbe
371. or block start Axis number Buffer memory address for block start 4300 to 4349 Axs2 455010 4599 Set the complete continue setting and the positioning data number for start in the buffer memory for block start b15 bo sof o o o o o o o o o 1 1 ojoj 1 o o Positioning data number 1 to 600 Complete continue setting Complete 0 Continue 1 e When setting the complete continue and the positioning data number for start in the buffer memory for block start use hexadecimal values Positioning data number 100 is converted to 64H in hexadecimal Set to H64 when setting to complete and H8064 to continue RY n 1 0 Set 8064H at the buffer Ser poskioning memory 4300 ata number 100 to continue Command 6 44 6 Positioning Function MELSEC A c With block start start from the first point or start from the nth point can be selected To select start from the first point or start from the nth point use the buffer memory for storing positioning pointer number as shown below Axis number Buffer memory address for the Setting range positioning pointer number storage 1178 e 1 to 50 Start from the specified point Other than the above Start from the first point 1 If start is executed without setting the pointer number that performs start in the buffer memory for the positioning pointer number storage positioning from the first point can be performed Buffer memory for the positi
372. or in the indicated position remove it by pulling straight back 9 14 9 Setup MELSEC A 9 4 3 Twisted cable connection The D75P2 is connected to the master module via a twisted cable The connection procedure is as shown below Connection procedure 1 Confirm that power of the master module and peripheral devices is externally disconnected at all phases If itis not disconnected disconnect it externally at all phases 2 Connect the D75P2 and the master module as shown below Master module side AJ65BT D75P2 S3 1 0 module side Terminal resistor 9 15 9 Setup MELSEC A Tip The terminal block can be removed from the module If connection can be made easier without the terminal block remove it from the module by loosening the screw to connect the cables as shown below Terminal block Terminal block layout diagram 1 ERU 22 MMA SLD FG Work confirmation Confirm the following after cable connection D The cable is securely fixed and has no play part that may become loose E Terminal layout and connection are correct 9 16 9 Setup MELSEC A 9 5 Setting the Main Module This section describes the settings for the D75P2 Some settings are necessary on the D75P2 for the connected servo motor Settings are required in the following cases A Station number of the main module setting area mandatory See Section 9 5 1 Setting the station numbe
373. or start history e The hour and minute of error detection are stored as shown below Start hour minute y jn bo SSO OO comers stores 00 to 59 in BCD Hour stores 00 to 23 in BCD Error start history The second and 100 ms unit value of error detection are stored as shown Start second 100 ms below 100 ms stores 00 to 09 in BCD Second stores 00 to 59 in BCD Error start history The error judgment result at start is stored Error judgment if start could not be made because an error occurred at start the error flag is turned on and an error number is stored For start during operation while the BUSY signal is on the BUSY waming flag is turned on onarpe Error number Error flag Warning flag for start during BUSY Error start history Specifies the next pointer to the latest axis warning using a vaiue between 0 Pointer and 15 Becomes 0 at power on 0 c Write allowed X e Write prohibited 8 16 8 Buffer Memory MELSEC A Buffer memory address common to axis 1 and axis 2 EX Tw start ET 688 bd d ct a ind bd ial d el d dud d al d ind Ed ind nd al i i d d 8 17 D i st 4 4 7 i 8 Buffer Memory MELSEC A Remarks setting range initial value p Error history e The error occurrence axis is stored Error occurrence axis Error history axis e The axis error number is stored Error number Error history The
374. ositioning start signal b Change timing Tuning on the positioning start number changes the present feed value to a specified value ON Positioning start signal OFF U Present feed value 50000 X 0 i Change to the positioning address specified by the positioning data of present value change The above figure shows the positioning address 0 The addresses of remote registers for positioning start are as follows Remote register for the positioning start Remote register for the present value change RWwn 2 RWwm 3 RWwn 10 RWwm 11 7 29 7 Other Functions c d MELSEC A Error detection 1 Ifthe value specified in degree units is outside the setting range an axis error occurs 2 Evenifthe specified value is outside the software stroke limit range no error occurs However an operation start from outside the software stroke limit range error occurs at the positioning start 3 When the positioning data subsequent to the positioning data of continuous locus control is present value change an axis error occurs Also even when the operation pattern of the positioning data describing the present value change is continuous locus control an axis error occurs Setting example of positioning data and present value change program Use the conditions below to set positioning data at the positioning data number 1 of axis 1 em Pesltioning conver Set data ot peripheral device Positionin
375. ote a When the manual pulse generator operation is terminated be sure to set the manual pulse generator s enable flag to O disable If the manual pulse generator is operated while the flag is set to 1 enable an erroneous positioning may be performed b if the manual pulse generator s enable flag turns on during the BUSY state caused by the positioning control home position return or JOG operation the during operation start warning occurs c During the manual pulse generator operation the torque limit value is controlled by the parameter s setting value or a new torque value d The manual pulse generator s one pulse input scale is operated using the value of a corresponding axis Use the following values if it is out of the setting range e Operate at 100 when the manual pulse generator s one pulse input scale is 101 or more e Operate at 1 when the manual pulse generator s one pulse input scale is 0 or less e When the manual pulse generator operation is interrupted by a stop factor the status of axis operation after the stop enters during stop or during an error thus turning off the BUSY Signal If the manual pulse generator s enable flag is changed from 0 to 1 after turning off the stop factor the manual pulse generator s operation enable status begins f When the high low limit switch turns off the operation decelerates to stop After the stop the pulse input in the direction of
376. ount of travel increment by the mechanical system that the D75P2 uses to perform positioning control it is set by the number of pulses per one motor rotation travel increment per one motor rotation and multiplier for travel increment per pulse of the mechanical system used 1 Calculating the travel increment per pulse a Specifications of the mechanical system The items necessary to calculate the travel increment per pulse are assumed as follows 1 Worm gear pitch m Ps mm rev ML 2 Number of motor axis gear teeth Z1 3 Number of worm gear axis gear teeth Z2 aoe ratio Z5 a gear ratio 4 Number of pulses per rotation Pf pulse rev b In the case of the above mechanical system specifications the number of pulses per rotation travel increment per rotation and unit multiplier are as follows 1 Number of pulses per rotation Pr 2 Travel increment per rotation Ps x I n x 10 3 Unit multiplier M c The D75P2 uses the following expression to calculate the travel increment per pulse A ter ae eg Ut mula exon x M um pulse r Calculation example i ii i 1 I Condition Expression Kee 0 PB 5 mm rev asama i e 12000 pulse rev 0 4167 um pulse i e 10 Setting Positioning Parameter MELSEC A 2 Error compensation When positioning is performed using the set travel increment per pulse
377. own e Correctly perform wiring to the module after confirming the terminal layout e Be careful not to let foreign matter such as filings or wire chips get inside the module These can cause fire breakdowns and malfunction e Tighten the terminal screws with the specified torque If the terminal screws are loose it may result in short circuits fire or malfunction If the terminal screws are tightened too much it may damage the screws and the module may result in short circuits malfunction or cause the module to fall out e Before beginning any installation or wiring work make sure all phases of the power supply have been obstructed from the outside Failure to completely shut off the power supply phases may cause electric shock and or damage to the module Wiring Precautions e When turning on the power or operating the module after installation or wiring work be sure the module s terminal covers are correctly attached Failure to attach the terminal covers may result in electric shock e Correctly perform soldering for connectors for the outside Incorrect connection may cause short circuits or malfunction Setup and Maintenance Precautions e Do not touch the terminals while the power is on Doing so may cause electric shock or malfunction e Never disassemble or modify the module This may cause breakdowns malfunction injury and fire e Before cleaning the module or retightening the screws make sure all phases of
378. pecifications functions handling wiring and troubleshooting of the AJ61BT11 and A1SJ61BT11 sold separately AJ61QBT11 A1SJ61QBT11 Control amp Communication Link System Master Local Module USER S MANUAL This manual describes the system configuration performance specifications functions handling wiring and troubleshooting of the AJ61QBT11 and A1SJ61QBT11 sold separately Positioning module software package type SW11IVD AD75P Operating Manual This manual describes how to create data such as parameters and positioning data and the operations to transfer data to the module monitor positioning and conduct tests using the above software package supplied with each software package product IB NA 66722 13J873 IB NA 66714 13915 Introduction Thank you for purchasing the Mitsubishi MELSEC A series Before using the equipment please read this manual carefully to develop full familiarity with the functions and performance of MELSEC A series you have purchased so as to ensure correct use Please forward a copy of this manual to the end user Table of Contents Part 1 Function Explanation Volume 1 1 a e I E E E E E A AE E EEE de eee ses ee Cus Peppe 1 2 1 2 Purpose of Positioning 1 4 1 3 Types of Positioning eC 1 5 1 4 Overview of Positioning Control esecseseseesseeas
379. pecify Alphabetical characters capital E letters numbers and a sign can be used The first character must be from the alphabet As long as identifiers are different the same machine name can be assigned to multiple items on the same floppy disk For example the sequence program and positioning data may have the same machine name Soc File name Appendix MELSEC A Manual pulse generator A device that is turned manuaily to generate pulses Used when performing precise positioning manually Model by Mitsubishi Electric mode name HD52B Master axis The side whose positioning data is given priority for execution during interpolation operation For example either the X or Y axis whichever has the longer travel distance becomes the master axis during positioning and the speed of the master axis is used while that of the slave axis is ignored Multi pulse phase A combination of two or more pulses of different phases Examples include a 2 phase pulse mei ted ee d Phase B Phase difference Phase Z zero signal Multiplying rate setting Same as P rate See P rate in the glossary NC Numerical Control language The code punched on paper tape to give processing instructions to an NC device NC languages include EIA code EIA language ISO code ISO standard and JIS code JIS standard A 34 Near point dog A limit switch placed before home position When this turns on t
380. peration during continuous positioning control 6 34 6 Positioning Function MELSEC A 6 2 3 Continuous locus control operation pattern 11 1 Continuous locus control a Speed is changed between the speed of positioning data currently being positioned and that of positioning data to be positioned next The speed is not changed if the current speed and next speed are equal b When the command speed setting is 71 the speed used in the previous positioning operation is used c The dwell time is ignored even if it is set d With the operation by continuous locus control 01 positioning of the next number is automatically executed Be sure to set the operation pattern 00 for the last positioning data to complete positioning If the operation pattern is positioning continues 01 or 11 the operation continues until the operation pattern 00 is found Therefore if the operation pattern OO is not found the operation can be executed up to data number 600 e The patterns for speed switching include the early speed switch pattern in which speed is changed at the end of the current positioning and the standard speed switch pattern in V4 which speed is changed at the beginning of the next positioning Continuous locus control ES Standard speed switch mode Early speed switch mode Positioning continues 11 Dwell t well time Positioning continues 11 Positioning Address direction completes 00
381. performing external wiring and connections for the D75P2 There are three ways to wire the D75P2 e Pin connection to the drive module connector e Connector connection removal e Twisted cable connection Precautionary items on wiring connection Ac AUTION e The FG terminals should always be grounded using the class 3 or higher grounding designed specially for the PC Failure to ground these terminals may cause malfunction e When wiring the PC check the rated voltage and terminal layout of the product and make sure the wiring is done correctly Connecting a power supply that differs from the rated voltage or wiring it incorrectly may cause fire or breakdown e Verify the terminal layout and correctly wire to the module e Be careful not to let foreign matter such as filings or wire chips get inside the module These can cause fire breakdowns and malfunction e When turning on the power or operating the module after installation or wiring work be sure the module s terminal covers are correctly attached Failure to attach the terminal covers may result in electric shock e Tighten the terminal screws with the specified torque If the terminal screws are loose it may cause short circuits fire or malfunction If the terminal screws are tightened too much it may cause dropping of the screws and module short circuits or malfunction Terminal block terminal screws M3 5 screws 59 to 88 N cm 6 to 9 kg cm Terminal block insta
382. ple when setting a JUMP instruction at positioning data number 6 any number other than positioning data number 6 can be specified as the jump destination data number 11 2 10 M code 1 Setthe M code to be stored in the buffer memory for storing M code during positioning control During interpolation operation the M code is stored only in the reference axis 2 Set O if outputting no M code 8 To set the M code output timing use the extended parameter M code ON signal output timing See Section 10 2 7 for M code ON signal output timing 11 2 11 Condition data number 1 Set conditions to execute a JUMP instruction e Ospecifies an unconditional JUMP instruction e 1to 10 indicates the condition data number to be used for block start 2 For JUMP instructions all but simultaneous start can be specified among the condition data that can be specified with block start See Section 11 4 11 7 11 Setting Positioning Data MELSEC A 11 3 Positioning Start Information As positioning start information positioning start data special start data and parameters are specified Up to 50 points 1 to 50 of positioning start information can be set for each axis Table 11 2 List of positioning start information Positioning start data Type e 0 End End e 1 Continue Datanumber e o S S Start pattern Special start data Normal start 1 Conditional start Condition data number 1to 10
383. ple version of positioning The modules available from MELSEC include the A61LS and A62LS The positioning function and limit switch function are provided and a total of 16 channels can be used The figure below shows an example of a 5 channel module A resolver is used to detect positions 0 4095 Pn Seo ee umm seem o Limit switch LS2 Limit switch LS3 Position loop gain A ratio of the command pulse frequency to the droop pulses in the error counter Command pulse frequency sec Position loop gain Droop pulses Can be set with the drive module Stopping accuracy can be improved by increasing the gain but increasing it too much can cause instability due to overshooting exceeding the allowable range If the gain is lowered too much stopping becomes smooth while the stop error increases Position loop mode A servo contro mode used in positioning This mode is used for position control Other servo control modes include the speed loop mode used for speed control and the torque loop mode used for torque control current control Pulse chain Nut Appendix Positioning To move an object in a precise manner from a given point to a scheduled point To accomplish this the distance direction and speed of movement are specified Examples include cutting of sheets drilling of plates installation of parts to printed wiring boards and welding Robots also perform positioning Positioning complete signal
384. position retum The zero grid signal of an encoder is generally used Common Input voltage 24 15 5 V DC Pin numbers 6 25 24 15 V DC Pin numbers 24 25 5 V DC 3 10 3 Specification MELSEC A O Wiring required A Wire as necessary vo Wiri clessif External wiring internal circuit Signal name Description Bl cation not required Error counter CLEAR The signal that resets the standing pulse for the error clear counter on the drive module side Output by the OS of the D75P2 upon completion of home position return Output by the user is not allowed Common LEAR COM Load voltage 5 to 24 V DC cw Open collector output 5 24 V DC Differential output Am261s31 equivalent differential driver E pus Select and use the open collector output or differential output according to the drive module to be used Do the wiring as shown below when building an absolute position detection system Description when ABS transfer mode is on Lower row nl The signal that indicates the lower bit of the ABS data 2 bit transmitted to the D75P2 from the servo in the ABS Positioning transfer mode complete DO1 Zero speed ZSP The signal that indicates the upper bit of the ABS data 2 bit transmitted to the D75P2 from the servo in the ABS transfer mode During torque The signal that indicates completion of transmission data control TLC preparation in the ABS transfer mod
385. positioning using the increment method cannot be set 3 Axes subject to teaching Teaching may be performed for each axis or for interpolation axis The subject of teaching is set according to the table below setting t 1 a O 4 Restrictions a The teaching function is performed on the stopped axes using the sequence program Even when the error warning occurs during the manual operation teaching can be performed unless the axis is in BUSY status 1 When executing teaching the positioning identifier M code dwell time and command speed can also be changed 2 When performing teaching use the control data area of a buffer memory In the control data area set the data listed below Setting data Buffer memory address Subject axis Positioning data number Write pattern Write request Write positioning data 1108 to 1127 Flash memory write request 1138 See Section 8 7 for details on the control data area The positioning identifier is the general term for positioning operation pattern acceleration time number deceleration time number and control method 7 A9 7 Other Functions MELSEC A 5 Teaching procedure The following shows the procedure for performing teaching by using a sequence program a When controlling each axis independently and during interpolation excluding circular interpolation of auxiliary point specification positioning addresses can be changed for
386. positioning will not start If this occurs during positioning control the operation stops immediately after the error is detected ke See Section 10 2 24 for the spiral interpolation 6 21 6 Positioning Function MELSEC A d Circular interpolation control with the specified center point can be performed even when the operation pattern is continuous locus control e If the used unit is degree circular interpolation control with the specified center point cannot be performed f The maximum radius allowed for circular interpolation control is 2 If the calculated radius exceeds the above range a radius setting error error code 544 is generated upon startup of positioning and positioning will not start If this occurs during positioning control the operation stops immediately after the error is detected g In the following cases a center point setting error error code 527 is generated upon startup of positioning and positioning will not start If this occurs during positioning control the operation stops immediately after the error is detected 1 Starting point address Center point address 2 Endpoint address Center point address h Setting example of positioning data Positioning data is set for positioning data number 1 of axes 1 and 2 under the conditions listed below For the interpolation between axes 1 and 2 axis 1 serves as the reference axis and axis 2 serves as the interpolation axis
387. quest setting Skip operation for the positioning operation currently executed is performed when an external start signal is input 10 21 10 Setting Positioning Parameter MELSEC A 10 3 Home Position Return Basic Parameters Table 10 3 Home position return basic parameters Home position return method Setting range Standard mode en comes Near point dog type Stopper stop 1 by time out from the dwell timer Stopper stop 2 by zero signal at the time of contacting the stopper Stopper stop 3 no near point dog method Count type 1 uses zero signal Count type 2 does not use zero signal Positive direction address increase direction Negative direction address decrease direction Home position address 214748364 8 to 21474 83648 to 0 to 359 99999 2147483648 to 214748364 7 21474 83647 2147483647 pi inches degrees pulses Home position return 1 0 01 to 0 001 to 0 001 to 1 to 1000000 speed 6000000 00 600000 000 600000 000 mm min inches min degrees min pulses sec Creep speed 0 01 to 0 001 to 0 001 to 1 to 1000000 6000000 00 600000 000 600000 000 mm min inches min degrees min pulses sec OJN A OUN O e ojo o o 6 Home position return direction Home position return 0 Does not perform home position return retry using the high low limit switch retry e 1 Performs home position return retry using the high low limit switch When performing data set type home pos
388. r is used to provide a regenerative braking ability at stopping by consuming the regenerative energy via a resistor and producing regenerative brake torque Used when acceleration deceleration is performed at high frequencies VL Feed puise i The pulses given from the positioning module to the servo motor or stepping motor Also called command pulse Feed screw The base screw used in a mechanism that performs positioning by rotating a screw In many cases a ball screw is used to minimize backlash and dimensional errors Positioning Peed screw 1 rotation by motor xi Lead feed per screw rotation Feedback pulse A method to confirm by returning the pulse chain whether or not action took place according to the command issued during automatic control If the action differs from the command a correction command is issued When 10 000 pulses are output as commands and 10 000 pulses are returned the difference is 0 Also called return pulse See Error counter FD x Abbreviation for floppy disk See Floppy disk FDD Abbreviation for floppy disk drive module See Floppy disk drive module Appendix MELSEC A Fixed dimension feed To feed fixed dimensions in order to cut sheets bars etc to the specified dimensions Often performed using the increment system The present value will not be accumulated even when feed actions are repeated Flash
389. r of the specified point If positioning is terminated by a continuous operation interrupt request restart cannot be performed If a restart request is made a warning warning code 104 Restart disabled is generated 6 64 7 Other Functions MELSEC A 7 Other Functions 7 1 Manual Operation The manual operations of D75P2 include JOG operation and manual pulse generator operation 7 1 1 JOG operation 1 What is JOG operation a The JOG operation is to perform positioning control with a JOG start signal The JOG operation is performed at the JOG speed of an axis control data when the JOG start signal turns on while the operation decelerates to stop when the JOG start signal tums off b When using a peripheral device the JOG operation can be performed in test mode 2 Acceleration deceleration processing and JOG speed a Acceleration deceleration processing is controlled based on the JOG operation acceleration deceleration time selection setting of an extended parameter and the JOG speed limit value of an extended parameter D When performing the JOG operation set the JOG speed in the remote register for JOG speed setting c If the JOG speed is out of the setting range or O at the start of JOG operation an axis error will occur and thus the operation will not start d When the JOG speed exceeds the limit value of JOG speed an axis warning will be generated and the JOG operation is performed
390. r of the main module B Main module transmission speed setting area mandatory See Section 9 5 2 Setting the transmission speed of the main module C When the servo motor uses the negative logic pulse output The default setting is positive logic Switching of positive logic negative logic pulse output must be performed See Section 7 18 D When the stepping motor is used The default setting is standard mode Setting of the stepping motor mode must be performed See Section 7 15 9 17 9 Setup MELSEC A 9 5 1 Setting the station number of the main module Set the D75P2 s station number The default station number setting factory set value is O1 Setting standards 1 The setting number should be between 01 and 61 The D75P2 occupies four stations after the setting number 2 The setting number should be any number that is successive from but is not overlapping with other station numbers The station number can be set regardless of the order of device connection f 62 or a higher number is set the CC Link status display LED will show L ERR during data communication Setting method Insert a plain screwdriver into the arrow shaped groove and turn the arrow to the desired number Point the arrow at the desired ones digit Example Point the arrow to 4 when setting the station number to 24 Point the arrow at the
391. r storage 7000 to 7010 2 Buffer memory for setting positioning point number Other than 1 to 50 2 When the operation pattern of the positioning data is positioning continues operation with respect to the current positioning data is performed first followed by the operation with respect to the next positioning data number The next positioning data number of the positioning data previously operated will be processed next For example if the data number operated previously is 10 positioning data number 11 will be processed next 3 When the operation pattern of the positioning data is positioning completes the operation with respect to the positioning data is performed first then the processing of the first point is performed If the complete continue setting of the first point is set to complete at this time the operation is terminated BUSY signal turns off If the operation pattern of the first point is continue the points are updated and operation starts with the second point 1 When positioning is started during the next scan of the scan that completed positioning enter RXn1 as the interlock so that positioning starts when RXn1 is turned off after RY n 1 0 has been turned off 2 When using 7001 to 7010 the positioning start data positioning special start data and condition data can only be set using a peripheral device SW11VD AD75P 6 46 6 Positioning Function MELSEC A 4 Points are updated until c
392. r supply or the PC breakdown occurs Accidents may occur due to output error or malfunction 1 For machine damage prevention configure protective circuits such as an emergency stop circuit and interlocking circuit for positioning upper lower limit outside the PC 2 The home position return operation is controlled by two kinds of data home position return direction and home position return speed and begins to decelerate when the near point dog is turned on Therefore if the home position direction is set incorrectly the module will continue to run without decelerating To measure this provide a means to prevent damage to the machine e When the data link generates a communication error the action of the faulty station will vary depending on the type of data link used Configure an interlocking circuit in the sequence program using the communication status information so that safety of the entire system is maintained Refer to the manual for each data link for details on confirmation methods regarding a faulty station and operating status during a communication error e Do not bunch the control wires or communication cables with the main circuit or power wires or install them close to each other They should be installed 100 mm 3 9 in or more from each other Failure to do so may result in noise that would cause malfunction Installation Precautions e Use the PC in the environment given in the general specifications of this
393. re 3 5 mA or 1 7 mA or less 4 7 KQ 3 more Zero signal PGO 5 V DC 5mA 4 5 to6 1 VDC 2 5 V DC or more 0 5 V DC or less Approx 0 8 ms or 2 mA or more 0 5 mA or less 0 5 KQ less 24 V DC 7 mA 12 to 26 4 V DC 10 V DC or more 3 V DC or less Approx 0 8 ms or 3 mA or more 0 2 mA or less 3 5 kQ less Li 3 us or less i meri te 3 us or less 1 ms or more Manual pulse generator phase A PULSER A Manual pulse generator phase B PULSER B 1 Pulse width 2 ms or more 1 ms or more mor Fi Duty ratio 50 2 Phase difference T L Lr L When phase A is ahead of phase B the Phase A positioning address present value increases Phase B 0 5 ms or more 24 V DC 5 mA 24 V DC 5 mA Near point signal DOG Stop signal STOP High limit FLS Low limit RLS External start STRT Speed position switch signal CHG ABS transmission data ready complete ABS data bit 0 ABS data bit 1 19 2 to 26 4 V DC 17 5 V DC or more 3 5 mA or 19 2 to 26 4 V DC 7 V DC or less 1 7 mA or less more 17 5 V DC or more 3 5 mA or more 7VDCor more 1 7 mA or more Approx 4 7 KQ VL 3 Specification MELSEC A b Output specifications Rated load Maximum load Maximum voltage current voltage drop current rush current during on during off Signa
394. read write data items Read write request 5103 Sets read or write of the positioning block Data flow of read write Positioning data block transfer area OS area Read write complete set by the OS Read request set via a sequence program Write request set via a sequence program Each positioning data item that is read written has a 10 word configuration as shown in the figure below See Section 8 5 for the setting range of each data Read write block Positioning identifier Reserved Command speed Positioning address for the first axis Circular data for the first axis tO ee Write allowed X Write prohibited 8 37 E P Setup Volume Part 2 describes information relating to setup which is performed prior to using this product such as identification nomenclature and handling of parts installation of the main module and wiring lt Overview of contents gt Chapter9 Setup 9 1 9 2 9 3 9 4 9 5 9 6 9 7 Name of Each Part Handling Precautions Module Installation Wiring Connections Setting the Main Module Display Viewpoint System Test 9 Setup MELSEC A 9 Setup 9 1 Name of Each Part This section describes name of each part of the D75P2 11 Maintenance connector for manufacturer 2 CC Link status display LED 3 Transmission speed setting switch 1 Corresponding axis display LED 4 Station number setting
395. rement is positive If the starting point address is 5000 and travel increment is 7000 positioning is performed to the position of 2000 3000 2000 1000 0 1000 2000 3000 4000 5000 6000 Positioning control to the negative direction travel increment 7000 I l l I Address after the positioning control Starting point address rd y current stop position i 1 I 1 I l l c Setting example of positioning data Positioning data is set for positioning data number 1 of axis 1 under the conditions shown below wem Positioning control Peripheral device setting data Positioning Operation pattern End of positioning identifier INC line 1 70000 0 6000 00 Dwel mo soms Moode ft t No relationship with the control The initial value or any other value can be used 1 See Section 11 2 for details on the positioning data 2 With the increment system the travel increment is set 6 6 6 Positioning Function MELSEC A 6 1 4 Dual axis linear interpolation control This controls interpolation along a linear locus from the current stop position starting point address defined by two axes to the specified position positioning address travel increment 1 Dual axis linear interpolation control absolute system a This performs linear interpolation positioning using two axis from the starting point address current stop position to the endp
396. rence axis and axis 2 serves as the interpolation axis Positioning contro identifier Dual axis fixed dimension feed Deceleration time selection Deceleration tme 0 Ore QUEEN Setting not necessary are Command speed 6000 00 mm 2362 in ymin soo Mmes 0o Oe ee es peas ee Axis 2 Positioning Operation pattern Setting not necessary identifier Control method Setting not necessary IEEE ee Peat Acceleration time selection Setting not necessary NONI CE 5 Deceleration time selection Setting not necessary a eee Setting not necessary Setting not necessary M code Setting not necessary Setting not necessary 5 No relationship with the control The initial value or any other value can be used 1 1 See Section 11 2 for details on the positioning data 2 With fixed dimension feed control the travel increment is set 2 Start positioning on the reference axis only When positioning of the reference axis is started dual axis linear interpolation contro is performed using the reference and interpolation axes 6 14 6 Positioning Function MELSEC A 6 1 6 Circular interpolation control with a specified auxiliary point This performs interpolation control along a circular locus that passes through the specified auxiliary point from the current stop position starting point address defined by the two axes to the specified position positioning address travel increment 1
397. resent feed value machine feed value at the time high speed return is completed During home position return the axis operation status of the axis monitor changes to position control in operation In the high speed home position return the following data values do not change e Home position return request flag Home position return complete flag e Travel increment after near point dog ON If the machine feed value has overflowed or underflowed even once as a result of infinite length positioning performed during speed control an error will occur when the high speed home position return is executed The high speed home position return cannot be performed unless mechanical home position return is executed and the home position is established The present machine feed value will always be updated whenever there is movement regardless of the type of operation Also even if the present value is changed the machine feed value will not change 5 5 5 Home Position Return Function MELSEC A 5 4 4 High speed mechanical home position return 1 Positioning to the location of the absolute home position can be performed by executing a positioning program to the location of the absolute home position using the location of the absolute home position value of the buffer memory axis monitor 2 When home position return is complete the location of the absolute home position becomes the home position address value of th
398. rforming backlash compensation be sure to perform home position return If home position return is not performed the backlash compensation cannot be performed properly for the mechanical system c The backlash compensation can be changed when the remote station ready signal is off However when the backlash compensation is changed home position return must be performed If backlash compensation is changed after the remote station ready signal turns on 2 Tesis position return request of an axis monitor will turn on d When the travel direction is changed the backlash compensation outputs the amount of travel increment as well as backlash compensation 7 34 7 Other Functions MELSEC A 7 8 M code Function 1 What is the M code function a A number between 0 and 32767 can be set for each positioning control b By reading the M code via the sequence program the data number currently being executed can be confirmed and a supplementary work for example cramp drill rotation tool exchange etc can be commanded 2 Control contents a If the M code is set to 0 the M code is not output and the previously output M code is retained The M code ON signal will not turn on b The M code ON signal the device number below of the reference axis turns on during interpolation operation During interpolation by axes 1 and 2 3 Output timing of M code ON signal a The output timings of an M code and M code ON sig
399. ring the feed speed of an axis monitor changes depending on the override value h When setting the override at 100 or below if the feed speed is 1 or less the operation is performed at 1 in the speed unit used at that time i When the set override value is out of the setting range the operation is performed at the values listed blow e When 0 Operation at 100 96 e When 301 Operation at 300 Feed speed 50 LI 1 25 75 50 1 75 t No effects from the override Operate at the possible value during deceleration VA speed as a sufficient remaining distance cannot be secured A i 1 1 1 1 1 1 I Y n 1 1 1 l 1 1 Y 7 14 7 Other Functions MELSEC A 7 2 3 Acceleration deceleration time setting for speed change 1 Acceleration deceleration time setting for speed change e The acceleration deceleration during positioning operation is performed according to the acceleration deceleration time set by the basic parameter 2 extended parameter 2 When the acceleration deceleration time change disable is set V Operation with the acceleration deceleration time set by a parameter Speed change request When the acceleration deceleration time change enable is set V Operation with the acceleration deceleration time set in the buffer memory Speed change request Selecting the acceleration deceleration time change Disable Enable
400. rn basic parameter See Section 10 3 10 4 8 Dwell time at home position return retry This parameter sets the dwell time at stop by high low limit detection using the home position return retry function and stop by near point dog OFF after reverse operation See Section 5 6 10 28 11 Setting Positioning Data MELSEC A 11 Setting Positioning Data 11 1 What iis Positioning Data The positioning data data necessary to perform positioning control includes the following Data for eo ale Positioning data See Section 11 2 Positioning start information Positioning start data See Section 11 3 1 E Special start data See Section 11 3 2 Condition data See Section 11 4 1t What is positioning data The positioning data is used to set the contents of individual positioning operations such as the operation pattern or operation locus of positioning operation Up to 600 items of positioning data can be set per axis See Section 11 2 Positioning data 2 Whatis positioning start information The positioning start information is used to set the start order of block positioning special starts such as conditional start simultaneous start and repeat as well as conditions for these settings See Section 11 3 Positioning start information 11 2 Positioning Data 1 The positioning data is used inside the D75P2 when it performs positioning operation excluding home position return JOG operation and manual pulse
401. roke limit M code output timing acceleration deceleration time and rapid stop selection e Home position return This is the area to set parameters used as bases of basic parameter home position return such as home position return method direction address and speed e Home position return This is the area to set detailed contents required for extended parameter home position return such as home position return dwell time and home position return acceleration deceleration time 2 Monitor area e System monitor This is the area in which information related to the control status that is common within the system is stored e Axis monitor AM This is the area in which information related the control status of each axis is stored 3 Control data area e System control data eee eeeeee This is the area to read and write the clock data and positioning data e Axis control data 1 cee reser eeeeeeerees This is the area to set the control status of each axis 4 Positioning data This is the positioning data area to set positioning data 8 1 a 8 Buffer Memory MELSEC A 5 Positioning start information area 6 7 e Positioning start data 0o This is the area to set the positioning data number e Positioning special start data This area is set when adding special operations such as condition judgment simultaneous start stop and repeat to the normal posi
402. rol an axis error is generated and the speed decelerates then stops c If both the speed position switch valid signal and speed position switch signal are on upon startup only the position control is executed d If the travel increment by position control is less than the deceleration distance at the speed being in control deceleration processing is performed as soon as the speed position switch signal is input e The software stroke limit check performs checking of the software stroke limit range upon startup only if the present feed value update request during speed control is set to 1 Setting example of positioning data Positioning data is set for positioning data number 1 of axis 1 under the conditions shown below ftom Positioning control Peripheral device setting data Positioning Operation pattern End of positioning En SY identifier Control method Forward rotation speed position Forward rotation speed position switch control Acceleration time selection _ Acceleration time1 ho Deceleration time selection _ Deceleration timeo JO Circular address Setting notnecessay 0000 Dwentime ooo o eoms o a eee No relationship with the control The initial value or any other value can be used 1 See Section 11 2 for details on the positioning data 2 With the speed position switch control the travel increment is set 6 30 6 Positioning Function MELSEC A 6 1 10 JUM
403. rom a peripheral device initial values are set to the parameters Also the parameters can be initialized by performing parameter initialization setting using a sequence program 4 The methods to set positioning parameters include the following e Setting in the peripheral device edit mode See the AD75P Operating Manual for the setting method 10 1 Basic Parameters The basic parameters include those in the basic parameter 1 and the basic parameter 2 Basic parameters Basic parameter 1 e Inthe basic parameter 1 control unit travel increment per pulse pulse output mode and rotation direction which are necessary for the D75P2 to perform control are set Set the parameters at system start up in accordance with the mechanical system and applicable motor e Not setting the basic parameter 1 correctly may cause the rotation direction to reverse or the D75P2 to stop operating completely Therefore be sure to set the basic parameter 1 according to the system that uses the D75P2 e The values can be changed from the PC CPU regardless of the remote station ready signal being on or off However the changed data can only become valid when the remote station ready signal rises OFF ON If the setting contents are rewritten while the remote station ready signal is on turn the remote station ready signal on again after turning it off first Basic parameter 2 e Inthe basic parameter 2 speed limit value inclination at
404. rror error code 544 is generated upon startup of positioning and positioning will not start If this occurs during positioning control the operation stops immediately after the error is detected f If the calculated center point address circular address exceeds the range of 2 to 2 1 an auxiliary point setting error error code 525 is generated and positioning will not Start If this occurs during positioning control the operation stops immediately after the error is detected 6 17 6 Positioning Function MELSEC A g In the following cases errors are generated and positioning will not start If any one of these cases occurs during positioning control the operation stops immediately after the error is detected 1 Starting point address Endpoint address eMe Endpoint setting error error code 526 2 Starting point address Auxiliary point address eM Auxiliary point setting error error code 525 3 Endpoint address Auxiliary point address eM Auxiliary point setting error error code 525 4 When the starting point auxiliary point and endpoint addresses are on a straight line eH Auxiliary point setting error error code 525 h Setting example of positioning data Positioning data is set for positioning data number 1 of axes 1 and 2 under the conditions listed below For the interpolation of axes 1 and 2 axis 1 serves as the reference axis and axis 2 serves as the interpolation axis Po
405. ruction be sure the execution condition of the JUMP instruction is satisfied before executing the fourth positioning data number before the positioning data number of the JUMP instruction If the execution condition of the JUMP instruction has not been satisfied prior to performing the fourth positioning control before the JUMP instruction the execution is processed as if the execution condition of JUMP instruction is not satisfied b Setthe JUMP instruction in the positioning data number whose operation pattern is either continuous operation or continuous locus It cannot be set in the positioning data number whose operation pattern is complete Even when setting it at the end of continuous locus control or continuous operation set to continuous operation or continuous locus c When setting a JUMP instruction at the end of continuous locus control or continuous operation use an unconditional JUMP instruction If a conditional JUMP instruction is set at the end of continuous locus control or continuous operation positioning of the next positioning data number is executed when the execution condition is not satisfied d Itis not allowed to use a positioning control that enters a loop and the loop can only be escaped by a conditional JUMP instruction alone when the condition is satisfied 6 31 6 Positioning Function MELSEC A 4 5 Jump destination positioning data number and execution condition The ju
406. rvo amplifier side other than above and shielding of respective signal lines see the manual for the servo amplifier 1 The default pulse output logic to the D75P2 drive module is positive logic 2 Indicates the distance between the D75P2 and MSD5A3A1X 3 lt 4 5 A 22 Appendix MELSEC A Appendix 9 Station Numbers Remote I O and Remote Register Conversion Table Staton number mxm mWwRmw Refreshing device edema Decimal CS wir 003 ows 2 T E a 407 ps oo 49 805 4 807r 390127 12018 8 ater 1200159 16019 86 Ato 16019 20123 8 to FF 2240255 28131 8 100 to HF 25 28 32 35 19 mti 28810319 351039 Piao to tr 32 35 40143 32 60 to rr 39 038 44047 sta to oF 394 416 a ost O 3 ato BF 41610 447 521555 5 cot oF 4481479 561059 36 te0t FF 4000511 60063 37 ooa sosa 80087 38 20 to 2aF 5415875 stort 39 240025F 5761060 72175 20 260 to 27F 6081839 76178 Eo px ICT ap em WINE EET fey T 9 IER DEREN a a ca aw re aE 3 Oa 3 7 88 PRESS NAA c a er MEE ae RE 1 1 14 1 2010 2FF 7360767 2 0 95 38010 30F __s06 0 927 12 15 aos 92810959 11610
407. rward Reverse Rotation direction of the motor D75P2 s low limit switch D75P2 s high limit switch 10 1 5 Speed limit value 1 The maximum speeds of positioning operation including home position return and of manual pulse generator operation are set 2 Even if the command speed and home position return speed in positioning operation are set to larger values than the speed limit value the operation is still limited at the set speed limit value 3 Even if a speed change or override during positioning operation causes the set speed to be larger than the speed limit value the operation is still limited at the set speed limit value The speed control in operation flag of the axis monitor is turned on while the speed is limited by the speed limit value 4 Atthe point when the speed is limited a speed limit value exceeded warning occurs 5 The speed during manual pulse generator operation is not limited by the speed limit value 6 The speed limit value of the reference axis is used to limit the speed during linear interpolation or circular interpolation operation ed During interpolation of axis 1 and axis 2 the speed is limited at the speed limit value of axis 1 10 8 10 Setting Positioning Parameter MELSEC A 10 1 6 Acceleration time 0 For positioning operation the time that takes to reach the speed limit value from speed 0 is set 10 1 7 Deceleration time 0 For positioning operat
408. ry function Electronic gear Adjusts the travel increment per pulse according to the mechanical system Backlash compensation During positioning operation JOG operation manual pulse generator operation or home position return operation extra feed pulses are output for the set backlash compensation amount to adjust the travel increment for the mechanical system When an error mechanical system error between the specified travel increment and actual travel increment occurs the pulse output for the error portion is corrected by adjusting the electronic gear setting Calls the number referred to as M code which is set for each positioning data confirms the positioning data currently executed and commands auxiliary operations clamp drill rotation tool replacement etc Acceleration deceleration during positioning also at the time of speed change during positioning and JOG operation or at home position retum start and finish is executed as the specified trapezoidal acceleration deceleration or S curve acceleration deceteration Software limit function Any positioning command exceeding the high or low limit of the specified machine movement range is not executed Torque control function The torque generated by the servo motor is limited so that is does not exceed the specified torque control value The torque is controlled with the changed limit value when the torque control value is changed during positioing The present feed value is
409. s made during continuous locus control the interruption to the continuous operation is deferred until the positioning data indicated below is processed e Positioning data number that can secure a remaining distance e Positioning data number with positioning completes pattern 00 e Positioning data number with continuous positioning control pattern 01 Even though a continuous operation interrupt request is made the operation cannot stop at the positioning data number that is being executed due to insufficient remaining distance Continuous operation Stop processing when the operation interrupt request could not stop at positioning data number 10 Start Positioning data number 10 Positioning data number 11 Positioning data number 12 6 62 6 Positioning Function MELSEC A 6 5 Restarting Positioning Control 6 5 1 What is restart after a stop 1 Restart after a stop is the function that once stops the operation by turning on a stop signal then 2 resumes positioning from the position it was stopped Axis 1 Positioning by positioning data number 11 Continuation of positioning data number 11 by restart Positioning by positioning data number 1 Stopped by a stop command Positioning by positioning data number 10 Axis 2 Using restart after a stop enables continuous operation from the position where the operation was stopped by a stop command even if the following controls are be
410. s not operating e Rapid axis stop when the axis is not operating Writing to the buffer memory monitor area 13 5 13 Troubleshooting MELSEC A 13 3 Corrective Actions for Errors This section explains the contents of errors as well as corrective actions to be taken when they are generated Error name Detection timing Operation status when Corrective action error is generated lt Fatal error gt System stops Check for interference such as noise Fault Zero divide Overflow Underflow e Check for hardware error Position command range When the remote station ready The D75P2 ready complete flag Correct the positioning address so that it is exceeded signal is switched from off on does not tum off within the range of performance specifications At the start of positioning Positioning does not start Speed command range When the remote station ready The D75P2 ready flag does not Correct the command speed so that it is within exceeded signal is switched from off on tum off the range of performance specifications At the start of positioning Positioning does not start Common When the stop key is input Operation decelerates to stop Cancel the error using axis error reset Peripheral devices stop during from a peripheral device during or abruptly stops operation operation Remote station ready OFF When the remote station ready Operation decelerates to stop Cancel the error using axis error reset durin
411. s sec Shows the setting data for the JUMP instruction 11 Setting Positioning Data MELSEC A Remarks Stepping motor mode men degree puse 13421772 8 to 1342 17728 to 0 to 359 99999 134217728 to 13421772 7 um 1342 17727 inches degrees 134217727 pulses 13421772 8 to 1342 17728 to 1342 17728 to 134217728 to 13421772 7 1342 17727 1342 17727 134217727 um inches degrees pulses 0 to 13421772 7 0 to 1342 17727 O to 1342 17727 0 to 134217727 um inches degrees pulses 13421772 8 to 1342 17728 to O to 359 99999 134217728 to 13421772 7 um 1342 17727 inches degrees 134217727 pulses 1342 17728 to 1342 17727 degrees 0 01 to 375000 00 0 001 to 37500 000 0 001 to 37500 000 1 to 62500 mm min inches min degrees min pulses sec 11 3 11 Setting Positioning Data MELSEC A 11 2 1 Operation pattern Set the pattern of positioning operation e Positioning complete individua positioning After positioning using the specified positioning data is executed completed operation stops e Continuous positioning After positioning using the specified positioning data is executed completed operation is paused then positioning is continued using the next positioning data number control After positioning using the specified positioning data is executed completed positioning is continued without pause using the nex
412. s software DOSN personal computer SW1IVD AD75P or later 2 packages Teaching module AD75TU software version D or later Backup Parameters and positioning data are stored in the flash memory no battery Positioning Positioning method PTP control Increment system absolute system Speed position switch control Increment system Locus control Increment system absolute system Positioning range 3 Absolute system e 214748364 8 to 214748364 7 um 13421772 8 to 13421772 7 um e 21474 83648 to 21474 83647 inches 1342 17728 to 1342 17727 inches e 0 to 359 99999 degrees 0 to 359 99999 degrees e 2147483648 to 2147483647 pulses 134217728 to 134217727 pulses Increment system e 214748364 8 to 214748364 7 umy 13421772 8 to 13421772 7 um e 21474 83648 to 21474 83647 inches 1342 17728 to 1342 17727 inches e 21474 83648 to 21474 83647 degrees 1342 17728 to 1342 17727 degrees e 2147483648 to 2147483647 pulses 134217728 to 134217727 pulses Speed position switch control 0 to 214748364 7 um O to 13421772 7 um e O to 21474 83647 inches 0 to 1342 17727 inches Oto 21474 83647 degrees 0 to 1342 17727 degrees 0 to 2147483647 pulses 0 to 134217727 pulses e 0 01 to 6000000 00 mm min 0 01 to 375000 00 mm min 0 001 to 600000 000 inches min 0 001 to 37500 000 inches min e 0 001 to 600000 000 degrees min 0 001 to 37500 000 degrees min 1 to 100000
413. s the change in near point dog from off on at rise e Detects the change in near point dog from on off at fall In position Pin number 8 e The in position signal from the drive module is input gt Drive module ready Pin number 7 e Turn on when the drive module is normal and is in a feed pulse acknowledge enable state The D75P2 checks the drive module ready signal and outputs a home position E return request if it is not in a ready status e This signal is turned off when the drive module becomes malfunction for example when an error occurs in the control power supply of the drive module e If this signal is turned off during positioning positioning stops Operation does not l start even if the signal is turned on again sd e When this signal turns off the home position return complete signal also turns off 3 8 3 Specification MELSEC A 17 Error counter clear Pin number 5 e Turns on after pulse output stops when home position return is performed using the stopper stop method 1 or 2 Example Home position return using the stopper stop method 2 Speed Home position return speed Stopper Creep speed Time Near point dog Zero detection signal 10 ms CLEAR EET C DCN eed Dd After feed pulse output stops H e The error counter clear is output for approximately 10 ms e As for the drive module use one that can reset the standing pulse amount for the internal error co
414. sce 8 12 System te6t unen cire e essen neuer eR IO 9 22 Teaching function eseeeeeeeeee eese 7 49 Teaching module esee 2 3 Terminal block eee enenee 9 1 Torque change function esee 7 19 Torque limit 5 eere treten TT 10 15 Torque limit function esses 7 17 Transient transmission 1 19 1 21 12 4 12 6 Transmission delay time essesessse 3 27 Transmission speed setting 9 19 Transmission peed setting switch 9 1 Trapezoid acceleration deceleration processing sssss 7 40 Travel increment per pulse essesssuuuu 10 4 Travel increment setting after near point dog ON seen 10 26 Troubleshooting eese 13 1 Twisted cable connection eccsssss 9 15 Types of home position return sssees 5 1 Types of positioning cccccccssscesscsssecsssesesseaseees 1 5 Bam C PE 10 16 Unit setling certet rettet ete 10 4 Valid M code 3 26 En MER 13 3 13 4 Warning code classification uses 13 5 Wiring connections eeeeeceeceeeeeeeee eret 9 9 WITH mode eiie eret oer oor crines 7 35 Zero S
415. se generator 1 e Manual pulse generator of axis 2 Manual pulse generator 2 10 2 12 Selection for pulse output logic to drive module The logic that is appropriate for the pulse input logic of the drive module connected to the D75P2 is set 10 17 10 Setting Positioning Parameter MELSEC A 10 2 13 Acceleration deceleration time setting size selection 1 Whether to use the 1 word type or 2 word type for the acceleration deceleration time is set e 1 word type Acceleration deceleration time 1 to 65535 ms e 2 word type Acceleration deceleration time 1 to 8388608 ms 2 Setting the acceleration deceleration time size causes the acceleration time 0 to 3 deceleration time 0 to 3 and rapid stop deceleration time to be same as the acceleration deceleration time size 3 When the acceleration deceleration time setting size is changed from the 2 word type to 1 word type verify whether the acceleration time 0 to 3 deceleration time 0 to 3 and rapid stop deceleration time are within the setting range of the 1 word type 4 Use the 2 word type only when a sufficient travel increment can be provided and constant speed travel is possible Do not use this type if the travel increment is extremely small or when the speed is slow 10 2 14 Acceleration time 1 to 3 The time that takes to reach the speed limit value from speed O during positioning operation is set The operation at acceleration time 1 to 3 is the same as that at acceleration time
416. set value upon switching to position control Ois stored atthe JOG operation manual pulse generator operation and home position retum operation start During operation using positioning data the actual set speed which is the current speed that takes into consideration override and the speed limit value is input Becomes 0 as each movement completes Inthe case of axis 1 and axis 2 interpolation the set synthesized speed or reference axis speed is stored and 0 is stored at the interpolation axes e For JOG operation the actual set speed which is the JOG speed that takes into consideration the JOG speed limit value is stored 0 is stored when JOG operation is stopped Q is stored for manual pulse generator operation The location of the absolute home position used at positioning to the location of the home position is stored The value stored at power on is inconsistent The home position address value of home position retum basic parameters is stored for the location of the absolute home position at completion of home position retum When the present value changes the value of the location of the absolute home position also changes Q is stored at start of home position retum After completion of home position retum the travel increment no sign from near point dog ON to completion of home position retum is stored However the vaiue remains 0 in the case of stopper stop
417. sing the reference and auxiliary axes If positioning is started on both the reference axis and interpolation axis the errors listed below occur and positioning will not start e Reference axis BUSY interpolation on the counter party axis error code 519 e Interpolation axis Control method setting error error code 524 Started during operation warning code 100 1 Start by positioning start signals a Upon positioning start signal becoming on the start complete signal and BUSY signal are turned on then positioning operation is started The BUSY signal being turned on tells that the axis is in operation b When the positioning start signal turns off the start complete signal also turns off If the positioning start signal is on even after positioning has been terminated the start complete signal also remains on c If the positioning start signal is turned on again while the BUSY signal is on a started during operation warning warning code 100 is generated d When the axis operation reaches the final phase of positioning the processing varies depending on whether or not the next positioning is required 1 When the next positioning is not required e If a dwell time has been set positioning is completed after the set wait time has elapsed e Upon completion of positioning the BUSY signal turns off then the positioning complete signal turns on However it does not turn on during speed control or when the positioning
418. sitioning control Axis No Peripheral device setting data Positioning Operation pattern End of positioning lEnd S O O Axis 1 identifier Contro method Circular interpolation with a specified INC circular interpolation Acceleration time selection Acceleration time 1 Wine eee ee Deceleration time selection Deceleration time 0 C o e ES 5 2 2 6000 00 mm 236 2 in min Setting not necessary Control method Setting not necessary GERNE OMEN Positioning identifier 515 Acceleration time selection Setting not necessary Deceleration time selection Setting not necessary Axis 2 Positioning address travel increment Circular address 30000 0 um 30000 0 Command speed Setting not necessary ee eee Dwelltime Setting not necessary ae ein M code Setting not necessary 7 No relationship with the control The initial value or any other value can be used Ili 1 1 See Section 11 2 for details on the positioning data 2 With the increment system the travel increment is set 2 Start positioning on the reference axis only When positioning of the reference axis is started circular interpolation contro is performed using the reference and interpolation axes 6 18 MEMO 6 19 6 Positioning Function MELSEC A 6 1 7 Circular interpolation control with the specified center point This performs interpolation control along a circular locus with the specified center point fr
419. speed exceeds the travel increment when automatic deceleration is necessary for example when the operation pattern is 00 or 01 the operation immediately stops at the positioning address and a travel distance shortage warning warning code 513 is generated When speed cannot be switched to the P2 speed in P1 When travel increment is small during automatic When the relationships among the speeds deceleration are P1 P4 P2 P3 P1 P2 Since the increment of travel necessary for automatic deceleration cannot be secured the operation immediately stops when the speed 0 Positioning address 6 39 6 Positioning Function ME g LSEC A 5 Adjacent passing mode of interpolation operation during locus control a Positioning address passing mode and adjacent passing mode 1 2 Speed positioning address Locus of positioning data number 3 am Positioning data number 3 Locus of positioning address passing mode Positioning address passing mode default The positioning address passing mode performs control so that the specified positioning address is always passed through when completing each positioning data Therefore the output speed may drop during each positioning address passing and this may cause a problem for the control Adjacent passing mode set 1 in the buffer memory at 66 and 216 The adjacent passing mode carries over the remainder of travel increment produced at th
420. sscecssesscessseeenenes 10 1 Positioning program ececessessssssseeeee 12 25 Positioning special start data 8 2 Positioning start data 8 2 8 31 11 8 Positioning start data area ssss 8 31 Positioning start information 11 1 11 8 Positioning start information area 8 2 8 30 Positioning start number eec 3 24 Positioning complete signal output time 10 20 Present feed Value eeccssesessseeseeerseeeees 3 25 7 27 Present feed value clear function 7 61 Present value aneron Ea TA Present value change Present value change function 1 8 Programming eese 12 16 Programming procedure Pulse output eeeeeeeeeee esee eese teet tenentem anne 3 7 Pulse output common ceeeeeeees esee nennen 3 7 Pulse output logic switch eese 7 63 Pulse output MOde cc esecsceectcseseeeeseeeseesesseeenee 10 6 Pulse SIOM snsssrcesescccesocutuncvavseeecarestesectdevestetevaiedcedeen 3 7 Pulse sign common cssssscecnseseseenseseeeteneteeeneeeeeee 3 7 R Rapid Stopera Eiai inet eto e ii A TRECE 6 58 Rapid stop deceleration time 1 12 7 39 10 20 Rapid stop selection Stop groups 1 to 3
421. ssued and address P1 is reached the positioning speed is automatically changed to V2 and positioning is performed Positioning speed V1 Positioning speed V2 Speed Positioning address P2 Positioning address P1 Unit setting To set the unit of the actual address or travel increment used for positioning The units of mm inch degree and pulse can be set The parameter initial value is pulse Warning A warning code is issued when a minor error is detected that does not require positioning operation to be paused or stopped and is differentiated from an error code WDT Watchdog Timer error Stands for watch dog timer error and indicates a maifunction of the PCPU Window A selection menu displayed on the screen when the AD75P is started up Menu selection window e Mode function selection window e Sub function selection window e Execution setting selection window WITH mode A mode in which the M code is output at the start of positioning Since the code tuns on upon start voltage can be applied to the welding electrode or the positioning speed can be displayed See AFTER mode in the glossary A 42 XY table A device that moves a table in two directions of X horizontal and Y vertical to facilitate positioning Commercial products are also available Y table X table Ball screw X table Stepping motor Base table Y axis Stepping motor X axis Z phase Also
422. start number Sets the single axis SET M200 positioning start Home signal position return start XOO6F M201 M100 Tums on the dual E RAS 23 axis home position return start request flag H H K K Writes 9001 to the 0 0000 01E8 9001 1 dual axis positioning start number Sets the dual axis SET 201 positioning start signal X0050 M200 M101 4100 Turns on the single tS SOO axis positioning start request flag H H K K Writes 1 to the single 0 0000 OIEO0 1 1 axis positioning start number Sets the single axis Positioning SET 200 positioning start start signal M200 M101 M104 Resets the single RST 200 axis positioning start signal M110 12 26 12 Building a System MELSEC A X0051 M201 M102 M100 is 21 H H K 0 0000 O1E8 i Positioning start SET M201 M102 M105 ST Mill X0053 SET M203 M104 ST Stop X SET M204 M105 E IRST 12 27 M21 mr M201 M201 M203 M203 M204 M204 Turns on the dual axis positioning start request flag Writes 1 to the dual axis positioning start number Sets the dual axis positioning start signal Resets the dual axis positioning start signal Sets the single axis stop signal Resets the single axis stop signal Sets the dual axis stop signal Resets the dual axis stop signal PH H K 0 0000 0lE
423. story area in the buffer memory address 462 to 541 are copied to the error start history area address 543 to 622 The contents stored in the error start history area will be erased when the power of the D75P2 is turned off When the D75P2 is powered on 0 is stored in the error start history area The error start history area stores a maximum of 16 errors occurred after the D75P2 was powered on The error start history may be monitored using peripheral devices See the following manual for operation using peripheral devices e SW D RX NX IVD AD75P type positioning module software package operation manual IB NA 68709 Display example on a peripheral device Start Type Time Judgment External 100 21 34 56 7 OK PC Manual pulse 21 43 12 3 OK generator PC JOG 21 43 34 4 201 External Restart 100 21 43 54 8 OK Peripheral 101 10 18 08 7 201 13 12 Appendix MELSEC A Appendix Appendix 1 External Dimensions Diagram 1 AJ65BT D75P2 S3 63 5 2 50 2 4 5 installation hole B RATE STATION NO MITSUBISHI MELSEC acsssr o7se2sa rae DERI eO eO 29 28 2 wo QOO OTe See eA MODE RESET 161 6 34 170 6 69 MELSEC A Appendix Appendix 2 Format Sheet Positioning module operation diagram Appendix 2 1 es nd eeiBep yout ww SseJppe sixy NE ne NN Li EE da I
424. sufficient remaining distance cannot be secured to change the speed gt Positioning control Next control P1 P2 New speed value 1 When the speed is not specified current speed Specified speed at P2 2 When the speed is specified Specified speed at P1 The speed change request at the timing of 1 is temporarily suspended due to insufficient remaining distance The request is processed at the timing of 2 d During the interpolation control use the device for speed change request setting and the remote register for speed change of the axis reference axis indicated below Interpolation axis Reference Remote register address for Device number for the setting axis speed change of a speed change request During interpolation control Axis 1 RWwm 4 RWwm 5 RY n 2 7 by axes 1 and 2 e The unit of reference axis is used for the unit of speed change when the control units vary during interpolation See d above 7 10 7 Other Functions MELSEC A f During the speed change processing 1 is stored in the during speed change flag the device below Upon completion of the speed change processing the flag becomes 0 Luereme Devico number RX n 1 1 RX n 4 1 g Even when the operation pattern is continuous locus control 11 the operation speed can be changed as soon as the speed change request is made However the speed will not be changed if a distance required to change the speed to the specified speed ca
425. switch control is shown in Figure 6 3 Specified speed Speed control Position control Dwell time T 1 1 1 1 1 1 1 D 1 1 D 1 1 i 1 rc o Positioning start Positioning complete Speed position switch Speed position switch valid ore _ Fig 6 3 Operation timing of speed position switch control 6 27 NS 6 Positioning Function MELSEC A 4 Updating the present feed value The present feed value changes as follows depending on the update request specification for present feed value during speed control setting in extended parameter 1 see Section 10 2 10 a When 0 is set do not update the present feed value e No change is made in present feed value before or after speed control execution e The present feed value is updated as soon as it is switched to the position control b When 1 is set update the present feed value The present feed value is changed even during speed control execution and position control execution c When 2 is set clear the present feed value with 0 The present feed value is cleared with O upon startup of speed position switch control and no changes are made during speed control execution 5 Switching time from speed control to position control The time required from the moment the speed position switch signal turns on until the speed position switch latch flag turns on is 1 ms ON Speed position switch s
426. switches 5 LED display mode select switch S 6 Reset switch 7 Drive module connectors AX1 AX2 8 17 segment LED 10 Terminal block 9 RS 422 peripheral connector _ Corresponding axis display LED Indicates the axis for the 8 17 segment LED message 2 CC Link status display LED Shows the power supply and data communication conditions 3 Transmission speed setting switch Sets the data communication speed 4 Station number setting switch Sets the D75P2 station number 5 LED display mode select switch Information displayed by 1 corresponding axis display LED and 8 17 segment LED is switched each time the switch is pressed Reset switch When pressed it initializes input signals remote registers and operation processing a 9 1 9 Setup MELSEC A 7 Drive module connectors AX1 AX2 For connection to the drive module machine system input and manual pulse generator 8 17 segment LED Displays messages indicating the operation status according to the mode 9 RS 422 peripheral connector For connection to peripheral devices 10 Terminal block For connection to the master module See Section 9 4 3 for the terminal layout 11 Maintenance connector for manufacturer A connector for loading programs to the D75P2 This connector is for manufacturer use only Do not open the cover 9 2 9 Setup MELSEC A 9 2 Handling
427. switches and displays operated by people often use BCD codes The figure below shows the significance play is compensated of bits A 16 bit code and 32 bit code can represent a number between 0 and 9 999 and 0 and t 99 999 999 respectively Forward rotation P 4000 1000 800 40 20 10 2 5 872 B15B14B13B12B11B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 BO 388888888 N 40 20 10 8 4 2 Backlash 2 The BCD instruction converts a binary number BIN to a binary coded decimal BCD It is used to display the data output from the PC ona 1 m rightward The machine does digital display not move A 1m leftward The figure below shows an example of 16 bit Backlash gt conversion leftward feed Backup function 1 The function to retain sequence programs and device statuses stored in the RAM memory of the PC CPU even during power failure 2 The function of an absolute position system to retain the present value even during power failure 3 Data in the CPU sequence programs parameters positioning data etc are read via a peripheral device when changing the CPU module and loaded after the change has been completed Bias speed at start Although a large torque is required when the machine starts operating torque is often unstable at speed 0 when a stepping motor is used Starting can be smoothly done if it is made at a specific speed from the beginning This is t
428. system using the D75P2 Table 2 1 List of equipment roana Wem comms Posiloning modus e Software package for AD7S SWIIVD AD7SP or later _ Sofware package for DOSIV personal computer Plasma handy graphic programmer e A7PHP main module e SW _IRX DOS Basic software package e SW _ SRXV GPPA GPP function boot floppy disk for A series e SWOS USER User floppy disk 2HD CUR op Oe in on TG SES AC30R4 RS 422 cable 3 m 9 8 ft in length Handy graphic programmer A7HGP SET A7PHP main module e SW LIHX DOS Basic software package SW HX GPPA GPP function boot floppy disk for A series e SWOS USER User floppy disk 2HD e AC30R4 RS 422 cable 3 m 9 8 ft in length Shoulder strap Peripheral device for AD75P PC9800 series DOSN personal computer Teaching module AD75TU Ver D or later This sets parameters and positioning data monitors and conducts tests for AD75P2 RS 422 cable Length 3 m 9 8 ft The cable for connecting the Length 10 m 32 8 ft D75P2 and A7PHP or A7HGP Length 30 m 98 4 ft Conversion cable A1SD75 CO1H Length 10 cm 3 94 in The cable for connecting the A1SD75 CO1HA AC R4 cable and D75P Connection cable converter The RS 232C cable that connects the AD75 and the PC9801 or DOS V personal computer and the RS232C RS422 converter supplied by the user Refer to the appendix for details Drivemodule Suppli
429. t Allow an ample distance 1 from the location of the Near point dog OFF home position for near point dog OFF Home position return start Home position return request flag Buffer memory bit 3 b3 of 817 917 OFF 0 Sale Home position return complete flag Buffer memory bit 4 b4 of 817 917 Operation status Standby X During home position return Standby i a Li Travel increment after near point Inconsistent 1 value dog ON 1 4 Present feed value machine Inconsistent X The value of travel is stored K Home position return address feed value 1 i OFF 0 Fig 5 6 Home position return of count type 2 5 12 5 Home Position Return Function MELSEC A 3 Actions at home position return and continuous home position return start along near point dog ON With the count type 2 home position return home position return during near point dog ON and continuous home position return start can be performed When home position return during near point dog ON and continuous home position return start are executed home position return is performed after the axis returns to the position of near point dog OFF Actions at home position return start along near point dog ON 1 Home position return start is executed 2 The movement occurs at the home position return speed in the direction opposite to the home position return direction 3 When near point dog OFF is detected deceleration processing is exec
430. t 1 Performs condition judgment for the specified condition data number and executes start only when the condition is satisfied c Wait start When the condition is satisfied Starts the start data number of the same point d Simuitaneous start e When the condition is not satisfied Performs condition judgment for the next point 2 When the condition data number setting is out of range an error occurs at execution of the positioning data number and positioning control will not be performed 1 Performs condition judgment for the specified condition data number and will not start the start data number of the same point until the condition is satisfied 2 When the condition is satisfied the start data number of the same point is started 3 When the condition data number setting is out of range an error occurs at execution of the positioning data number and positioning control will not be performed 1 Simultaneous start of 2 axes is performed at a pulse output level The axes to perform simultaneous start for are set in the condition data number specified by a parameter 2 Atsimultaneous start an error occurs and the positioning data number will not be executed if any of the following cases exists e The counter party axis is busy BUSY e The same axis is set in a parameter e No counter party axis is set in a parameter e Stop start 1 Stops positioning operation 2 Restarting ex
431. t during operation while the BUSY signal is on the BUSY warning flag is turned on Error number Error flag Warning flag for start during BUSY e Specifies the next pointer to the latest axis error using a value between 0 and 15 Becomes 0 at power on Start history Pointer trO sees Write allowed X eM Write prohibited 8 14 8 Buffer Memory MELSEC A Buffer memory address common to axis 1 and axis 2 Pea start EAKA 8 15 8 Buffer Memory MELSEC A Remarks setting range Initial value Error start history e The axis number that detected an error at start is stored Start axis Error start history Stores the positioning data number of the axis for which JOG operation Operation type manual pulse generator operation or positioning operation was started Whether the start was initiated from the PC CPU extemal start signal or peripheral device is stored at the start source e The restart flag is tumed on upon restart during stop Positioning operation 1 to 600 Horne position return 8051 H1F73 Block positioning 7000 H1B58 High speed home position retum 8082 H1F74 operation to 7010 H1B62 Present value change B053 H1F75 JOG operation 8060 H1F7C Data set type home position return 8190 H1FFE Manual pulse generator 8061 H1F7D Absolute position 8191 H1FFF operation restoration Star source 00 PC CPU 01 external signal 10 peripheral device Restart fiag Err
432. t feed value e The position currently executed is stored Update timing 56 8 ms cycle e The present feed value becomes the coordinates value if the positioning method is absolute e The home position retum address is set at home position retum completion The present feed value is changed using the present value change function e Software stroke limit can be applied using the present feed value via parameter setting e The present position where home position is a specific position defined by the machine machine coordinate is stored Update timing 56 8 ms cycle e The home position retum address is set at home position retum completion e The machine value cannot be changed using the present value change function e Software stroke limit can be applied using the machine value via parameter setting e Forall operations the actual speed of operation at the time is stored e Inthe case of axis 1 and axis 2 interpolation the synthesized speed or reference axis speed at the time is stored and 0 is stored at the interpolation axes 802 902 Machine feed value 803 903 804 904 Feed speed 805 905 Qis stored when the axis stops Valid M code e AnM code is stored Qis stored when the remote ready signal turns off Axis error number The corresponding error code is stored at occurrence of an axis error If another axis error occurs after an error code has been stored the store
433. t has been conventionally done since 16 items each of history data such as errors and warnings can be retained 1 3 1 Overview 1 2 Purpose of Positioning MELSEC A The positioning refers to moving a movable object processed materials tools etc at a fixed speed and stopping it accurately at the intended position Typical usage examples are shown below 1 Fixed dimension feed Feed a sheet for a fixed dimension and cut it Feed motor Fig 1 2 Fixed dimension feed 2 Tapping To perform thread chasing to a fixed depth for processed material repeat the following steps 1 Fast forward 2 Process feed thread chasing 3 Fast rewind Thread chasing motor Fast rewind Fig 1 3 Tapping 3 Steel plate drilling X Y table movement Drill a hole at the fixed position using two motors one motor each for vertical and horizontal Horizontal feed motor Fig 1 4 Steel plate drilling 1 4 Fast forward Process feed Vertical feed motor 1 Overview MELSEC A 1 3 Types of Positioning Each of the two axes can be used independently for positioning or the two axes can be used for the positioning of orthogonal axes The following methods as shown in the figures are available when positioning from address number 1 to number 2 1 Individual operation This is a method by which each of the vertical and horizontal directions is positioned individually First positioning is perfor
434. t in the buffer memory listed below b When using bias speed at start write the bias speed at start into the buffer memory listed below When not using bias speed at start set the buffer memory listed below to 0 c The data for bias speed at start that has been written to the buffer memory listed below becomes valid at the rise of the remote station ready signal off to on Setting range Initial value mm degree puse Bias speed at start 1 to 37500000 x 1 to 37500000 x 1 to 37500000 x 1 to 62500 10 mm min 10 inches min 10 degrees min pulse sec 6 54 6 Positioning Function MELSEC A 6 4 Stop of Positioning Control This section describes possible factors that stop an axis during positioning 6 4 1 Stop command and stop factors 1 The stop command and stop factors are listed in Table 6 1 They are classified into stop of individual axis and simultaneous stop of all axes a For the stop command and stop factors for individual axis only the axis whose stop command is turned on or for which a stop factor occurs stops However if a stop command or stop factor arises for either one of the axes undergoing an interpolation control execution both of the axes performing the interpolation control stop b Forthe simultaneous stop command and stop factors with respect to all axes all axes stop when the stop command turns on or when the stop factor occurs 2 The stop commands
435. t positioning data e Continuous locus number See Section 6 2 for details on operation patterns 11 2 2 Control method Ss Set the control method used when performing positioning control See Section 6 1 for details on each control method 11 2 3 Acceleration time number Set which of the acceleration time 0 to 3 set by a basic parameter or extended parameter is used as the acceleration time e Acceleration time 0 Set by a basic parameter See Section 10 1 6 e Acceleration time 1 to 3 Set by an extended parameter See Section 10 2 14 11 24 Deceleration time number Set which of the deceleration time 0 to 3 set by a basic parameter or extended parameter is used as the deceleration time Deceleration time 0 Set by a basic parameter See Section 10 1 7 e Deceleration time 1 to 3 Set by an extended parameter See Section 10 2 15 11 4 11 Setting Positioning Data MELSEC A 11 2 5 Positioning address travel increment 1 Absolute ABS method Set the positioning address endpoint address for the ABS method using the absolute address address from home position Stop position positioning start address Endpoint address 1000 Endpoint address 1000 3000 Travel increment Travel increment 2000 2000 2 Increment INC method e Setthe travel increment for the INC method e The travel direction is specified using a sign When the travel increment is positiv
436. t signal Execute JOG operation JOG operation disabled JOG operation disabled during test mode asitis not a startup of start error a JOG start signal During test mode on JOG start signal OFF uA d Ignores the JOG signal OFF to ON for 56 8 ms the link scan time after a stop signal turns off JOG operation ON Forward JOG start sma i do oo Stop signal RN Ignores the JOG start signal startup 7 5 7 Other Functions MELSEC A 6 Changing the JOG speed a During the JOG operation the JOG speed can be changed within the setting range of the JOG speed limit value of the basic parameter 2 b When changing the JOG speed turn on the request for positioning operation speed change of an axis control data or the external speed change of an external signal The during speed change processing flag of an axis monitor turns on during the speed change processing Speed change to V2 Positioning action by V1 Speed change to V3 1 LI L 1 1 Li LI LI Speed change processing TORNEO NES Fig 7 1 Operation timing of the during speed change processing flag c The JOG speed can be changed even while the during speed change processing flag is on d Even if the speed is changed during deceleration caused by the JOG start signal OFF the deceleration processing continues A warning is generated at this time e When the speed change value exceeds the JOG speed limit value
437. tation access request signal RY n 1 E the data is written to the specified buffer memory of the corresponding intelligent device station When write is complete the intelligent device station access complete signal RX n 1 E will turn on When reading data from the D75P2 buffer memory The control data for read request is specified from the PC CPU to the send receive area of the master module By turning on the intelligent device station access request signal RY n 1 E the data is read to the send receive area of the buffer memory of the master module from the specified buffer memory of the corresponding intelligent device station When read is complete the intelligent device station access complete signal RX n 1 E will turn on 12 5 12 Building a System MELSEC A a MEL OEC A 12 4 2 Transient transmission The initial setting procedure for the D75P2 when performing transient transmission is shown below Perform the following settings before data link is started l 1 Master module side i enough send buffer area and receive buffer area in the master module buffer memory or the data to be used for read write instructions with res pect to the D75P2 buffer memory a controi data send data etc MSS 2 D75P2 side There are no settings Procedure Start data link Link normal The remote station ready signal RX n 1 B turns on ee When using dedicated instructions Specifies the setting value and control data w
438. tation during each link scan The reception data information stored in the master module is captured by the PC CPU using a FROM instruction during each link scan 1 18 1 Overview MELSEC A 1 5 2 Transient transmission The following explains the transient transmission between the D75P2 and master module PC CPU Master station D75P2 Buffer memory Transient transmission Transient transmission area Buffer memory Fig 1 9 Transient transmission 1 Sets data in the send buffer on the master module 2 Setsanintelligent device station access request signal 3 The transient data is transmitted from the master module to the D75P2 4 Aresponse is returned from the D75P2 to the master module 5 Theintelligent device station access complete signal is turned on bu 1 19 amm 1 Overview 1 6 General Procedure before Operation The following shows the general flowchart for positioning using the D75P2 Start operation Covered in this manual See the AD75P operating manual 1 20 MELSEC A 1 Overview MELSEC A 1 7 Abbreviations General Names and Terms Used in this Manual Abbreviations general Description names terms D75P2 An abbreviation for the AJ65BT D75P2 S3 positioning module CC Link An abbreviation for the Control amp Communication Link system Master station The station that controls remote stations local stations and intelligent device stations on t
439. ted normally the home position address set by the home position return basic parameter is stored in the present feed value machine feed value a During the mechanical home position return the axis operation status of the axis monitor changes to during home position return The home position return request flag also turns on in the following cases e When power for the D75P2 module is turned on e When the drive module ready flag turns off e When the remote station ready signal turns on 5 4 3 High speed home position return start 1 What is the high speed home position return start 1 This is a function to perform high speed return to the location of the home position without using a home position detection signal at positioning start after the location of the home position has been established via mechanical home position return Movement to the home position is performed by calculating the amount of travel using the home position return address which is stored in the D75P2 upon completion of mechanical home position retum and the machine feed value at the time of high speed home position return start 2 The high speed home position return start specifies 9002 in the buffer memory for storing the positioning start number and turns the positioning start signal on The addresses of the buffer memory for data relating to home position return are as follows EE MN at ee a Aisi a Home position return request f
440. the command speed 1 By setting the command speed to 1 when performing uniform speed control it is no longer necessary to set speed for each positioning data 2 When 1 is set as the command speed if the speed is changed while the previous positioning data number is processed the control can be continued at the speed that was set during the speed change 3 When 1 is set for the command speed of the first positioning data at start a no command speed error error code 503 is generated and positioning will not start Relationship between command speed and current speed Speed P1 P2 P3 P4 P5 5 1 1 i i 5 4 Li L t i t t E i i Command speed 1000 3000 1 MALES Current speed 1000 13000 3000 3000 13000 26s The current speed is changed even if it does not reach the new speed value after change in P2 LU With the D75P2 speed variation can be eliminated by setting to the adjacent passing mode see l Section 6 2 3 5 1 With the D75P2 the latest value of the command speed set by the positioning data number and that of the speed set by a speed change request are retained as the current speed and the current speed is used for control when 1 current speed is set as the command speed 2 Depending on the relationship between travel increment and change speed the feed speed may not reach the new speed value Even in such a case the current speed is updated 6 37 6 Positioning Funct
441. the power supply have been obstructed from the outside Failure to completely shut off the power supply phases may cause breakdowns and malfunction e Before attaching or detaching the module make sure all phases of the power supply have been obstructed from the outside Failure to completely shut off the power supply phases may cause module breakdowns and malfunction e When conducting a test operation set the speed limit parameter at low speed and prepare to stop immediately if any dangerous situation should occur Disposal Precautions DANGER e When disposing of this product treat it as industrial waste Revisions The manual number is noted at the lower left of the back cover C pam aaie Wamamume Rein O UUO Apr 1998 BINA GGEDEA This manual does not imply guarantee or implementation right for industrial ownership or implementation of other rights Mitsubishi Electric Corporation is not responsible for industrial ownership problems caused by use of the contents of this manual O 1998 Mitsubishi Electric Corporation Ne St About This Manuals The following manuals are available regarding this product Please order desired manuals using this chart Related Manuals Manual name Manual No Type code Control amp Communication Link System Master Local module type AJ61BT11 A1SJ61BT11 IB NA 66721 Users Manual 135872 This manual describes the system configuration performance s
442. thing happens during starting Error reset is executed at rise OFF No restart command ON Restart command issued e if this signal turns on while axis operation is stopped positioning is performed from the stop position to the endpoint of the stopped positioning data e Restart is executed at rise OFF No M code OFF request ON M code OFF requested The M code OFF request turns off the M code ON signal RXnD RXnE e M code OFF is executed at rise OFF No speed change request ON Speed change requested When changing the speed during positioning operation this signal turns on after the new speed value is set Speed change is executed at rise Single axis speed position OFF Speed position switching disable switch enable flag ON Speed position switching enable Dual axis speed position e When the speed position switch enable flag turns on the Switch enable flag speed position switch signals RX n 1 A RX n 4 A become valid Single axis manual pulse OFF Manual pulse generator operation disable generator enable flag ON Manual pulse generator operation enable Dual axis manual pulse e Sets whether manual pulse generator operation is enable or disable generator enable flag Single axis restart command Dual axis restart command C5 Single axis M code OFF request Dual axis M code OFF request C5 Single axis speed change request Dual axis speed change request
443. tialization 8 4 Configuration of Buffer Memory The overall configuration of the buffer memory is shown below Address Oto14 Basic parameter 15to 66 Extended parameter 67 to 69 ibi 70to89 Home position return ane Forexe 2 Parameter area 90 to 149 150 to 164 165 to 216 217 to 219 220 to 239 240 to 299 300 to 449 450 to 799 800 to 899 900 to 999 1000 to 1099 1100 to 1149 115010 1199 1200 to 1249 1250 to 1299 1300 to 2299 2300 to 3299 3300 to 4299 4300 to 4499 4500 to 4549 4550 to 4749 4750 to 4799 4800 to 4999 5000 to 5049 5050 to 5099 5100 to 6109 6110 to 7167 Basic parameter Extended parameter Vacant use prohibited Home position return parameter lt lt m m o o9 I 9 3 3 z 2 c c G o o o v v lt 9 fe 2 Ex g g a a Vacant use prohibited Vacant use prohibited System monitor System monitor area Axis monitor for axis 1 Axis monitor for axis 2 Axis monitor area Vacant use prohibited Monitor area System contro data System control data area Axis control data for axis 1 Control data area Buffer memory positioning data area PC CPU memory area Block transfer area Axis control data for axis 2 Axis contro data area Vacant use prohibited Buffer memory positioning data for axis 1 Buffer memory positioning data for axis 2 Vacant use prohibited Start block for axis 1 Indirect specification for axis 1 Start block for ax
444. time c Even if the acceleration deceleration time change is set to disable after changing the speed the acceleration deceleration processing of the positioning data number for which the speed is changed is performed using the value in the buffer memory used to change the acceleration decelerations time However when executing the next positioning data number control is performed with the acceleration deceleration time setting of the basic parameter 2 extended parameter 2 V Speed change Speed change Positioning start f Process with the value in the buffer memory for acceleration time i deceleration time change m T 2 1 a Selecting the acceleration deceleration time change Disable K Enable X Disable enable disable 1 d Fora speed change after the positioning start if the value in the buffer memory for acceleration time deceleration time change is 0 processing is performed with the acceleration deceleration time set in the basic parameter 2 extended parameter 2 e When the speed is changed by setting O for the value in the buffer memory for acceleration time deceleration time change after the speed has been changed with the value in the buffer memory for acceleration deceleration time change the same acceleration deceleration processing as that of the previous speed change is performed p 2 2 2 2 4 Process with the buffer memory i for
445. ting the electronic gear set a value so that the frequency of pulse output to the drive module is 400 kpps or less If the electronic gear is set so that the frequency of pulse output to the drive module exceeds 400 kpps misoperation may occur 7 33 7 Other Functions MELSEC A 7 7 Backlash Compensation Function 1 What is the backlash compensation function a When the backlash compensation is set the backlash compensation function outputs an extra feed pulse for the set amount of backlash each time the travel direction changes during positioning control JOG operation manual pulse generator operation or home position return Backlash compensation b The backlash compensation is to perform compensation for the mechanical system s backlash play amount c The backlash compensation is performed with a value obtained by dividing the set backlash compensation by the travel increment per pulse The setting range of backlash compensation is 0 to 65535 Set the backlash compensation so that the value obtained by dividing the set backlash compensation by the travel increment per pulse is 255 or less If it exceeds 255 a setting error occurs Also decimals are omitted Backlash compensation O amp 255 Travel increment per pulse Decimals are omitted 2 Note a The feed pulse of backlash compensation will not be added to the present machine feed values b When pe
446. tio See Section 10 2 20 on the S curve ratio The S curve acceleration deceleration processing is performed for each acceleration deceleration when starting or completing the positioning operation JOG operation and home position retum operation or changing the speed 3 The speed change during S curve acceleration deceleration the S curve acceleration deceleration is performed from the moment the speed change request is made Command speed Speed change request Speed change 7 40 7 Other Functions MELSEC A 7 10 Skip Function 1 What is the skip function When the skip signal is input this function ignores the remaining travel increment of the positioning currently being executed to decelerate the operation to stop and perform the next positioning 2 Skip signal a The skip signal is input from a skip command of the axis control data in the buffer memory or an external start signal 3 Processing when the skip signal is input a When the skip signal is turned on an automatic deceleration occurs and the next positioning is performed If the skip signal is turned on at the end of an operation the operation is terminated b When the positioning currently executed is skipped the positioning complete signal via the positioning data number unit or automatic deceleration unit is not turned on the same applies when the skip signal is turned on during automatic deceleration c Askip during dwell
447. tion Center point of circular Negative direction circular address b By making the endpoint address positioning address and starting point address the same positioning of a complete round whose radius is the distance between the center point of the circular and starting point address can be performed Positive direction Center point of circular circular address Starting point address Endpoint address current stop position positioning address Negative direction Positive direction Negative direction c When performing the circular interpolation contro with the specified center point the positions of the circular locus calculated from the starting point address current stop position and center point address circular address and the set endpoint address positioning address may not match e Ifthe error of the calculated circular locus against the endpoint address positioning address is within the allowable range for circular interpolation errors set by extended parameter 2 circular interpolation is performed to the set endpoint address positioning address while performing error compensation via spiral interpolation e If the error of the calculated circular locus against the endpoint address positioning address exceeds the allowable range for circular interpolation errors an out of allowable circular interpolation error range error error code 506 is generated upon startup of positioning and
448. tion signal during home position return When the high limit switch High limit LS The signal for the limit switch provided at the high limit of stroke Also used in the home position When the low return retry function limi Sea isnot used Low limit LS e The signal for the limit switch provided at the low limit of stroke e Also used in the home position return retry function e The signal to stop positioning externally e When stopping positioning tum this signal on for 4 ms or longer Once this signal is tumed on switching it back to off does not resume operation The signal that switches speed control to position control during speed position switch control Extemal start STRT The signal that executes external positioning start speed change and SKIP request To make external start valid tum this signal on for 4 ms or longer Set which function to use via an The terminal for connecting the manual pulse generator Reference product MR HDPO1 Mitsubishi Electric PULSER B g MR HDPO1 For MR J2 A Drive module READY The signal for identifying whether the drive module is normal or in error ON The drive module is normal Positioning control is possible The drive module is in error Positioning control is not possible inputs the in position signal from the drive module Common feom vo vonage 24 v DG Zero signal The home position signal at the time of home
449. tion 12 4 3 for details on bank switching 12 14 12 Building a System MELSEC A 2 When reading data from the buffer memory of the D75P2 using the FROM instruction set the control data in the send buffer of the corresponding station of the master module in the following manner Control data Fixed value Station number request Station number specified by the upper bytes bit 8 to 15 Specifies the station number of the intelligent device station that is the access destination Request code specified by the lower bytes bits O to 7 Specifies the read request code Number of data written Fixed value to the send buffer bytes 11064 Fixed value Access code attribute Fixed value 0004H Buffer memory address Specifies the buffer memory head address OH and above OHto 17D4H Fi 1 to 480 Number of read points words Specifies the number number of words of data to be read in a manner not to exceed the buffer memory address 17DDH of the D75P2 Among the data mentioned above the contents of the following data are same as when using the RIRD instruction dedicated instruction e Complete status e Station number e Access code attribute e Buffer memory address Number of read points words 3 The receive buffer of the master module stores the control data shown below Specified data Complete status The status when the instruction is c
450. tion opposite to the home position return direction at the home position return speed 4 The movement decelerates when the near point dog turns off 5 The movement stops when the near point dog turns off and home position return is performed in the home position return direction Fig 5 16 Home position return retry using high low limit switch Even if the home position return retry function is disabled be sure to wire the high low limit Switch for the D75P2 If the high low limit switch for the D75P2 is not wired JOG operation home position return and positioning control cannot be performed using the D75P2 5 24 5 Home Position Return Function MELSEC A 2 Even if the high low limit switch is in an off status home position return can be performed as long as the home position return retry function is enabled e When the direction into the travel range is same as the home position return direction normal home position return is performed e When the direction into the travel range differs from the home position return direction home position return is performed in the home position return direction after deceleration stop upon near point dog OFF 1 Action when the direction into the travel range is same as the home position return direction Home position return start Home position return direction High limit switch Near point dog p Zero signal ier scr Travel range 2 A
451. tion return of stopper stop type 2 5 18 5 Home Position Return Function MELSEC A After the creep speed is reached it is necessary to perform torque limit to the servo motor If torque limit is not performed to the servo motor there is a risk of damage to the servo motor upon hitting the stopper 3 Restrictions e Input the external zero signal after the stopper is hit When the zero signal is input before deceleration to the creep speed is completed deceleration stop occurs Home position return speed Zero signal l Near point dog OFF Home position return start Home position return request flag Home position return complete flag Operation status Travel increment after near point dog ON Inconsistent X 0 5 t 1 1 1 1 1 1 U 1 1 4 Q 1 E Present feed value machine feed value Fig 5 12 When zero signal is input before creep speed is reached 5 19 5 Home Position Return Function MELSEC A e When the zero signal is input before stopper stop the movement stops at that moment and the position becomes the home position Home position return during near point dog ON starts at the creep speed Home position return speed Creep speed Effective range of torque limit A Home position return start Home position return request flag Buffer memory bit 3 i b3 of 817 917 i Home position return complete flag Buffer memory bit 4 b4 of 817 917 Error counter clear
452. tion switch signal is input This changes the present feed value to the specified value This jumps the control point to the specified positioning data number while in the continuous locus contro operation pattern 02 Specification of unconditional or execution condition is made 1 See Section 6 1 for details on control methods 1 8 1 Overview a MELSEC A 1 4 3 Specification of positioning address For positioning control there are two methods used to designate a position 1 Absolute method This method performs positioning by specifying the position relative to home position absolute address This address is used as the positioning address the starting point can be positioned at any location Starting point Address Endpoint f 100 Address 150 gt 7 Address 100 re Address 150 1 1 1 rT I Home position 100 150 reference point Point A Point B Point C Within the stroke limit range Fig 1 5 Positioning by absolute method 2 Increment method This method performs positioning by specifying the direction and increment of travel using the currently stopped position as the starting point Travel increment Starting point Travel increment 100 Endpoint 100 Travel increment 100 Travel increment 1 4100 i Travel increment 15 Travel increment 100 Travel increment 50 Home position 100 150 300 referen
453. tioning operation e Condition data rss seeeeeeeeeree ree eeees This area is set when performing condition judgment using an instruction that performs the special operation being set with positioning special start data e Indirect specification This is the area to specify positioning data number indirectly PC CPU memory This is the area to control positioning start by setting values for condition judgment and wait judgment i Area for block transfer This is the area to set positioning data by block transfer 8 2 8 Buffer Memory MELSEC A 8 3 Reading and Writing Data in the Buffer Memory The following indicates the methods to read and write each data in the buffer memory 1 Read Method using a peripheral device Read can be performed in accordance with each data mode of the peripheral device e Method using a sequence program Read can be performed in units of 1 word 16 bits or 2 words by specifying an address of the buffer memory and using transient transmission 2 Write e Method using a peripheral device Write is performed by storing data in the peripheral device then using block transfer to write the data to the buffer memory inside the D75P2 from the peripheral device e Method using a sequence program Read can be performed in units of 1 word 16 bits or 2 words by specifying an address of the buffer memory and using transient transmission Contents of buff
454. tioning start after moving the point from the stopped position by enabling the home position return retry function or by using JOG operation or manual pulse generator operation 5 9 2 Changing the speed during home position return The speed cannot be changed once the creep speed has been reached 5 31 6 Positioning Function MELSEC A 6 6 1 Positioning Function This chapter describes the following items in the positioning function which is the primary function of the D75P2 Positioning control methods Describes methods of control interpolation control etc Operation pattern of positioning control Describes the operation pattern Starting the positioning control Describes start methods special starts etc Stopping the positioning control Describes the stop command stop factors etc Restarting the positioning control Describes the restarting When executing various functions described in this chapter it may be necessary to write via transient transmission to the D75P2 buffer memory See the master module manual and Section 12 4 for details on the transient method Positioning Control Methods In order to perform positioning control data must be set on each axis at the positioning data address 600 axis The setting items for positioning data include the ones listed below and the setting is performed via the edit positioning data in the edit mode o
455. tive logic A 13 Appendix MELSEC A Appendix 5 Connection Example with Servo Amplifier by Yasukawa Appendix 5 1 Connection example of D75P2 and CACR R series differential driver negative logic 2 m 6 6 ft max CACR R series D75P2 s servo pack Cruiser 3 Porse 2i aj eus Pusen 4 22 sen Louise 2 Ho seN Fog 5 afe orean GOM 23 eov Hoe LEGOCOM E eee 5 d I E VLL s cou a i Ss og Near t d 12 O_O Pioni 2 94 KH gt 24G HOM o s SV gt 424V PULSER A 7 46 10 Manual pulse MR HDPO1 1 The connector pin numbers of the D75P2 indicate the same applications for axes 1 and 2 2 The high limit FLS and low limit RLS of the D75P2 are used in the home position return retry function Set them inside the servo limit switches 8 For wiring on the servo amplifier side other than above and shielding of respective signal lines see the manual for the servo amplifier 4 1 Forthe D75P2 set the pulse output logic selection to drive module in the extended parameter 1 to negative logic 5 Indicates the distance between the D75P2 and CACR R series servo pack A 14 Appendix MELSEC A Appendix 6 Connection Examples with Stepping Motors by Oriental Appendix 6 1 Connection example of D75P2 and VEXTA UDX2107 differential driver positive logic 2 m 6 6 ft max D75P2 VEXTA UDX2107
456. top after deceleration rapid stop 1 When stop after deceleration time rapid 2 When stop after deceleration time rapid stop deceleration time stop deceleration time l I i I I i 1 l 1 i 1 l 1 l I l i l I l l i I 6 59 6 Positioning Function MELSEC A 6 4 3 Stop processing during deceleration 1 During deceleration including automatic deceleration the operation stops from the deceleration speed even if a stop is input 2 When a stop is input while decelerating for home position return the operation stops from the deceleration speed The operation stops immediately in the case of the creep speed 3 If a stop factor that is specified as a rapid stop factor occurs while decelerating the rapid stop processing is executed from that point on The rapid stop processing during deceleration is executed only when the rapid stop time is shorter than the stop time 6 4 4 Stop processing during interpolation operation 1 While in the interpolation operation a stop signal to either of the axes in use stops the both axes 2 When a restart is performed while the operation is stopped if positioning is being executed i e the operating status of the axis is stopped the operation resumes continuing the positioning If it was waiting for a condition to be satisfied it will wait again See Section 6 5 for restart 6 60 6 Positioning Function MELSEC A 6 4 5 Continuous op
457. trol of auxiliary point specification the auxiliary point address and the last address can be changed For circular interpolation control of center point specification the endpoint address can ii changed See a for the teaching procedure Move to the auxiliary point of circular interpolation by manual operation Set the subject axis Set the positioning data number to perform teaching Set the present feed value and circular auxiliary point using the write pattern Make a write request Confirm write complete Move to the endpoint of circular interpolation by manual operation Set the present feed value and positioning address using the write pattern Make a write request 1 By JOG operation and manual pulse generator operation Set the subject axis at the address 1103 of the buffer memory Set the positioning data number at the address 1104 of the buffer memory Set 600H at the address 1105 of the buffer memory Set 2 at the address 1106 of the buffer memory Check whether the address 1106 of the buffer memory becomes 0 By JOG operation and manual pulse generator operation Set 500H at the address 1105 of the buffer memory Set 2 at the address 1106 of the buffer memory 7 51 NA 7 Other Functions MELSEC A 11 1 Confirm write complete o tm Check whether the address 1106 of the buffer memory contains O End teaching Set the remote station ready sig
458. ts are rewritten while the remote station ready signal is on turn the remote station ready signal on again after turning it off first e Inthe extended parameter 2 data needed to make full use of the D75P2 s functions are set Set the parameters as necessary e Operation is possible without changing the initial values set in the extended parameter 2 e The values can be changed from the PC CPU regardless of the remote station ready signal being on or off and become valid immediately after the change 10 11 10 Setting Positioning Parameter MELSEC A Table 10 2 List of extended parameters Extended parameter D ME Initial value Backlash compensation number Software stroke limit selection Software stroke limit valid invalid setting for manual pulse generator operation Torque limit setting value 300 M code ON signal output timing Speed change type Interpolation speed specification Present feed value update request specification during speed control Manual pulse generator selection Selection for pulse output logic to drive module Acceleration deceleration time setting size selection e 1 29 29 29 29 29 29 79 Axis 1 1 Axis 2 2 ele eje eje e ojo o Command in position 100 0 1 to 3276700 0 0 00001 to pm 327 67000 inches to 500 96 Setting range Standard mode mm inn degree puse 0 to 6553 5 0 to 0 65535 0 to 0 65535
459. ture of any units See Section 10 2 9 for the synthesized speed and reference axis speed 6 4 6 Positioning Function MELSEC A 6 1 3 Single axis linear control This performs positioning from the current stop position starting point address defined on the specified axis to another specified position positioning address travel increment on the same axis 1 Single axis linear control absolute system a b c This performs positioning from the starting point address current stop position to the endpoint address positioning address Positioning control is executed based on the address home position address specified by home position return The starting point address current stop position and the endpoint address positioning address determine the direction of travel e Starting point address lt endpoint address positioning in the positive direction e Starting point address gt endpoint address positioning in the negative direction p Example If the starting point address current stop position is 1000 and the endpoint address positioning address is 8000 positioning is performed with a travel increment of 7000 8000 1000 in the positive direction Starting point address 1 l l l i Endpoint position l current stop position p positioning
460. ual pulse generator Manual pulse generator Drive module Drive module Drive module Drive module Drive module Drive module Drive module ee TLC COM COM ABSR ABSM SON PULSER B PULSER A COM PGO COM PGO 5 V CLEAR COM PULSE R PULSE F PULSE COM TLLTITTTTITTLT PULSE COM Drive module ZSP D01 STRT CHG STOP RLS FLS DOG PULSE B PULSE A Drive module Drive module External device External device External device Limit switch Limit switch Near point dog Manual pulse generator Manual pulse generator INPS Drive module READY Drive module PGO 24 V Drive module CLEAR Drive module pulse R Drive module pulse F Drive module DULCE n Brive module ve seed PF oTOT DA OPE Pee tobe dt PULSE F Drive module 3 Specification MELSEC A b Description of connector signals The description of each signal for the connector for connecting external devices to the D75P2 for one axis is explained below 1 2 3 5 6 7 8 9 Common Pin numbers 36 35 e A common for the near point signal high low limit stop signal control switch signal and external start Manual pulse generator phase B manual pulse generator phase A Pin numbers 28 27 Manual pulse generator phase B manual pulse generator phase A Pin num
461. ue the value is relative to the present feed value at that time Condition Assume that the current stop position is 2000 and the high stroke limit is set to 5000 Movable range Present feed value 2000 5000 Machine feed value 2000 5000 Stop position High stroke limit Changing the present value If the present value is changed from 2000 to 1000 the present feed value is changed to 1000 while the machine feed value remains 2000 1 When the machine feed value is set to the limit The machine feed value 5000 present feed value 4000 becomes the high stroke limit Movable range Present feed value 1000 4000 5000 Machine feed value 2000 5000 6000 High stroke limit 2 When the present feed value is set to the limit The present feed value 5000 machine feed value 6000 becomes the high stroke limit Movable range t SUMMUM 8 Present feed value 1000 4000 5000 Machine feed value 2000 5000 6000 High stroke limit Upon home position return completion the home position address of a home position return parameter is set for the present feed value and machine feed value e If positioning control etc is performed after home position return completion both the present feed value and machine feed value change When the present value is changed only the present feed vaiue is changed e The machine feed value always indicates a value from the location of the home position 7 23 7 Other Functions MELSEC A
462. ues is shown below Operation status Torque limit value During positioning operation e Controlled with a new torque value or the torque limit setting value of extended parameter 1 During home position return e Controlled with a new torque value or the torque limit setting value of extended parameter 1 However it is controlled with the torque limit value of a home position retum parameter after reaching the creep speed During JOG operation e Controlled with a new torque value or the torque limit setting value of extended parameter 1 During manual pulse generator operation e Controlled with a new torque value or the torque limit setting value of extended parameter 1 7 18 7 Other Functions MELSEC A 7 3 2 Torque change function 1 What is the torque change function a This function changes the torque limit value during the positioning operation JOG operation and manual pulse generator operation By setting a torque limit value to be changed to the new torque value of an axis control data the torque generated by a servo motor can be limited to the new torque value specified b The torque change is performed by writing to the buffer memory using the sequence program 2 Control contents a Operation overview of torque change 1 The new torque value of axis control data is always changeable The torque limit is performed with the new value upon writing the new torque value 2 The setting r
463. ulses Dwell time setting at home position return retry e 1 Creep speed 0 to 65535 ms torque limit value speed specification 10 4 1 Home position return dwell time 1 This parameter sets the time after the near point dog is turned on until home position return is completed when home position return by stopper stop 1 is used Set a value equal to or longer than the time of travel from near point dog ON to stopper stop 2 When setting other than stopper stop 1 is used setting different values does not make any difference as long as they are within the setting range 10 4 2 Travel increment setting after near point dog ON 1 This parameter sets the travel increment till home position after the near point dog is turned on when count type home position return is set 2 After the near point dog is turned on the first zero point after travel increment by the set travel increment becomes the location of the home position 3 For the travel increment after near point dog ON set a value equal to or more than the distance of deceleration from the home position return speed to the creep speed 10 4 3 Home position return acceleration time selection This parameter sets which of the set acceleration time O to 3 is used as the acceleration time at home position return e Acceleration time 0 Set by a basic parameter See Section 10 1 6 for details e Acceleration time 1 to 3 Set by an extended parameter See Section 10
464. unction MELSEC A 5 5 5 Stopper stop type 2 home position return using the zero signal upon hitting the stopper 1 What is the stopper stop type 2 home position return In this method home position return is completed when the zero signal is input to the zero signal terminal using an external switch when the stopper is hit When the zero signal is input it does not matter whether the near point dog is on or off 2 Actions during the stopper stop type 2 home position return When the stopper stop type 2 home position return is started the following actions are performed e The movement occurs in the specified home position return direction at the specified home position return speed e When the near point dog is turned on the movement decelerates to the creep speed e The moving point hits the stopper at the creep speed and stops e Home position return is completed when the zero signal is input Home position return speed Greep spasd Stopped by stopper Home position return start Home position return request flag Buffer memory bit 3 b3 of 817 917 Home position return complete flag OFF 0 Buffer memory bit 4 b4 of 817 917 Error counter clear output Operation status Standby X During home position return Standby Travel increment after near point dog ON Inconsistent XK 0 Present feed value machine feed value Inconsistent X The value of travel is stored Home position return address Fig 5 11 Home posi
465. unter when the D75P2 turns this signal on 18 ABS transmission data ready complete Pin number 34 e This signal indicates that preparation of transmission data is complete during the ABS transfer mode 19 Common ABS IN Pin number 33 e Acommon for the ABS data bit 0 ABS data bit 1 and ABS transmission data ready complete 20 Common ABS OUT Pin number 32 e A common for the servo ON ABS transfer mode and ABS request 21 ABS request Pin number 31 e This is the signal for requesting ABS data in the ABS transfer mode 22 ABS transfer mode Pin number 30 e Changes the mode to ABS transfer e While this is on the ABS data bit 0 DO1 ABS data bit 1 ZSP and ABS transmission data ready complete TLC signals become valid Servo ON Pin number 29 e This signal turns on power to the servo base circuit and changes the status to operation enable ABS data bit 0 bit 1 Pin numbers 17 18 e ABS data transferred to the D75P2 from the servo during the ABS operation mode bit 0 indicates the lower bit while bit 1 indicates the upper bit 23 lt 24 3 Specification MELSEC A c Internal circuits The internal circuits of interface for connecting external devices to the D75P2 are shown by the schematic diagrams below O Wiring required A Wire as necessary External wiring Internal circuit Signal name Description Near point The signal for near point detec
466. using the peripheral device a The peripheral device for which Automatic write to the flash memory is set writes to the flash memory while writing to the D75P2 b if a peripheral device makes a flash memory write request the D75P2 parameters and positioning data are written to the flash memory 2 Method using the PC CPU The PC CPU writes the D75P2 parameters and positioning data to the flash memory by writing 1 to 1138 of the buffer memory Upon completion of write to the flash memory the buffer memory 1138 becomes 0 However the D75P2 parameters and positioning data can be written to the flash memory only when the remote station ready signal is off Fiash memo Parameter Positioning data number 1 to 100 Positioning data number 1 to 100 Write to the 2 flash memory PC GPU TO instruction 1 OFF request Positioning data number 1 to 100 Positioning data number 1 to 100 Write to the flash memory in the order of 1 and 2 e When writing to the flash memory consecutively be sure to take a 10 or more second interval Do not perform a transient transmission immediately after writing to the flash memory This may make the link status of CC link unstable or shorten the life of a module 7 62 7 Other Functions MELSEC A 7 18 Pulse Output Logic Switch 1 Pulse output logic of D75P2 The positive logic is set as D75P2 s default Wh
467. ut of torque change value During operation Torque change is not range performed 114 Under bias speed During analysis Operation is performed at the bias speed gom A amp d 9 Set the command speed bias speed again so that command speed z bias speed is satisfied 115 Number of read write data When read write The applicable axis generates a Write the correct setting value then perform invalid warning read write request again lt JOG gt When change of the JOG Speed change is not performed Do not change the JOG speed during Speed change during operation speed deceleration due to JOG start signal off deceleration JOG speed limit value e Perform JOG operation at the JOG speed limit value when the JOG speed limit value is exceeded e The speed control in operation flag will turn on while speed is being limited by the JOG speed limit If the input scale is set to 101 or Change the pulse input scale for the manual above the value is cramped to pulse generator 1 to within the setting range 100 When 0 is set it is considered that the scale is set to 1 When change of the JOG operation speed Change the setting value to within the setting range When the manual pulse generator input scale is changed Manual pulse generator Out of manual pulse generator
468. uted 4 After stopping home position return in the direction of home position return is executed 5 When the travel increment after near point dog ON has been moved home position return is complete Near point dog Fig 5 7 Count type 2 home position return along the near point dog ON 4 Restrictions If the travel increment setting after near point dog ON is less than the distance of deceleration from the home position return speed an error occurs and home position return is not performed See the example of travel increment setting after near point dog ON in the home position return parameters and set a value equal to or greater than the distance of deceleration from the home position return speed Compared to the count type 1 home position return the count type 2 home position return is subject to variations in the stop position at home position return but it is an effective method in cases where a zero point signal cannot be received by the D75P2 5 13 5 Home Position Return Function MELSEC A 5 5 4 Stopper stop type 1 home position return using time out of dwell time 1 2 What is the stopper stop type 1 home position return After the near point dog turns ON and the dwell time has elapsed home position return is complete In the stopper stop type 1 home position return is not completed until the dwell time has elapsed even if the near point dog turns off in the middle Actions
469. vel increment from the current stop position starting point address defined on the specified axis This performs interpolation control along a linear locus for the specified travel increment from the current stop position starting point address defined by two axes This performs interpolation control from the current stop position starting point address defined by two axes to the specified position positioning address travel increment along a circular locus that passes through the specified point 3 Fixed dimension 6 1 5 feed control Dual axis fixed dimension feed control fixed dimension feed 2 4 Circular interpolation Circular interpolation control with a specified control auxiliary point ABS Circular interpolation control with a specified auxiliary point INC This performs interpolation control from the current center point ABS clockwise stop position starting point address defined by two Circular interpolation control with the specified axes to the specified position positioning address travel increment along a circular locus Circular interpolation control with the specified whose center point is the specified point center point INC clockwise Circular interpolation control with the specified center point INC counter clockwise 5 Speed control Speed control forward Speed control reverse Speed position switch control forward Speed position switc
470. when the positioning starts and positioning will not start 6 9 6 Positioning Function MELSEC A d Setting example of positioning data Positioning data is set for positioning data number 1 of axes 1 and 2 under the conditions listed below For the interpolation between axes 1 and 2 axis 1 serves as the reference axis and axis 2 serves as the interpolation axis Positioning control Postioning Operation patiom End of positioning ed identifier INC iine 2 Acceleration time 1 Deceleration time selection Deceleration time 0 Setting not necessary 6000 00 mm 236 2 in min 500 Ho aor c rl Positioning Setting not necessary aa Saas fe eee REED PC i Control method Setting not necessary Acceleration time selection Setting not necessary Deceleration time selection Setting not necessary Axis 2 Positioning address travel increment ae Circular address Setting not necessary Command speed Setting not necessary identifier i 3 5 Dwell time Setting not necessary Setting not necessary No relationship with the control The initial value or any other value can be used 1 1 See Section 11 2 for details on the positioning data 2 With the increment system the travel increment is set 2 Start positioning on the reference axis only When positioning of the reference axis is started interpolation control is performed using the reference and interpolation a
471. x T 9 Home position Home position return method O Near point dog type retum basic 1 Stopper stop 1 by time out from the dwell timer parameter 2 Stopper stop 2 by home position signal at the time of contacting the stopper 3 Stopper stop 3 no near point dog method 4 5 Count type 1 uses home position signal Count type 2 does not use home position signal Positive direction address increase direction Negative direction address decrease direction 2147483648 to 2147483648 to 0 to 35999999 2147483648 to 2147483647 2147483647 x1O degree 2147483647 x10 um x10 inch pulse Home position return speed 1 to 600000000 1 to 600000000 1 to 600000000 1 to 1000000 Creep speed x10 mm min x10 inch min x10 degree min pulse s Home position return retry O Does not perform home position retum retry using the high low limit switch 1 Perform home position return retry using the high low limit switch Home position retum dwell time 0 to 65535 ms Travel increment after near 0 to 2147483647 O to 2147483647 0 to 2147483647 0 to 2147483647 point dog setting x10 um x10 inch x10 degree pulse Home position return Oto3 acceleration time selection Home position return deceleration time selection Home position shift amount Home position return direction Home position address Home position 214748
472. x 2 ore ii cy cani aM VLASE 010P i8 8 e o B a ol of 213 N w m m N z w lO m mim m Vic R j iv lv Na P24V Manual pulse generator O MR HDPO1 gt 24 G gt P24 V pA 1 The connector pin numbers of the D75P2 indicate the same applications for axes 1 and 2 2 The high limit FLS and low limit RLS of the D75P2 are used in the home position return retry function Set them inside the servo limit switches 3 For wiring on the servo amplifier side other than above and shielding of respective signal lines See the manual for the servo amplifier 4 1 The default pulse output logic to the D75P2 drive module is positive logic 5 2 Indicates the distance between the D75P2 and VLASE 010P A 21 Appendix MELSEC A LA ha al Ce Du VL 0 0 Y c Appendix 8 Connection Example with Servo Amplifier by Matsushita Electric Industries T e a M M Appendix 8 1 Connection example of D75P2 and MSD5A3A1X differential driver positive logic 2 m 6 6 ft max 2 MSD5A3A1X SS ee rel Pus el sien 9 CWL generator MR HDPO1 amp 1 The connector pin numbers of the D75P2 indicate the same applications for axes 1 and 2 2 The high limit FLS and low limit RLS of the D75P2 are used in the home position return retry function Set them inside the servo limit switches For wiring on the se
473. x10 degrees min pulses sec 1 to 37500000 1 to 37500000 1 to 37500000 1 to 62500 x10 mm min x10 inches min x10 degrees min pulses sec Bo eM n ii T 0 Does not retry home position return using the high low limit switch 1 Retries home position retum using the high low limit switch 10 Write allowed X Write prohibited 8 10 8 Buffer Memory MELSEC A 8 5 6 Home position return extended parameters Buffer memory address c RIT address Setting range Initial value NR position return dwell nno O to 65536 ms time Travel setting after near point jO to 2147483647 O to 2147483647 0 to ur MEER 0 to A ie pl dog ON x10 um 10 inches x10 degrees pulses O to 134217727 O to 134217727 0 to 134217727 O to 134217727 x10 um x10 inches x10 degrees pulses Home position return Oto3 acceleration time selection Home position retum 0to3 deceleration time selection 2147483648 to 2147483648 to 2147483648 to 42147483647 42147483647 42147483647 x10 inches x10 degrees pulses 134217728 to 13421772810 134217728 to 1342117727 1942117727 1342117727 1342117727 x10 pm x10 inches x10 degrees pulses Home position return torque 1 to 300 26 limit value Home position shift speed 0 Home position retum speed specification Creep speed Dwell time setting at home 0 to 65535 ms position return retry eH Write allowed Xe Write prohibited
474. xes 6 10 LL 9 AMSOd si JuUeWaLOU eAneBau si juswa1ut I9 eJi USUA UOROAIIP SALL L JOAL USUM LOKOOLIP OAe1 L uonoeip eAnisoq gt uoioeiip anqeton uonisod dois esee1oep ssejppe jo uonosup uonoeurp eAneGoeu y ui furuonisog jueujeJoui jonen eAneBeu 104 Z GseeJout ssoJppe Jo uonooip uonoeuip eAnisod OY ur Buruonisog ee jueujeJ2ur o eJ eAnisod 104 4 G eA Jo UONDAJIP eui seuiuJejep 1ueujoJoul 2AL1 OY jo UBIs eu q jueure1oui pes lanen payloads Buiuogisog 0 0 0 0 0 Buiuonisod jo dnyeys uodn 0 0 anea juesaud eu eBueyD 0 0 dnueis ye poyoeds sixe oui Jo sseJppe dois eui Humes aye uonoeiip payloads eui peo oAeJ jo queujaJoul peyioeds eui 10J peuuoged si Buiuonisod Jouoo pee uorsueuiip poxij sxe uts uM 2 L paa uoisueuiip pexy 04u09 pee uoisueuuip pexu sixe ajGuis 1 Ayjeoneuiojne sejelo ooop peeds eui pue po1ejouo si 10110 sixe ue jouoo paap uoisueuiip pexi y sr jo3uo9 SNIO snonuguoo eui Buiworo rereipeujuui ejep Buiuonisod eui JI ejep Buiuonisod 1xeu y 10 payloads eq 10uugo ouoo pee uorsueullp pexi ou 033u09 snoo snonunuoo eui si ejep Buruonisod jo ureged uoneiado 9y UBM OS y e HEIS JOU IM 043009 pue poje1oueB SI 40416 SIX UB Jojuoo snoo snonumuoo 104 porroeds si jo3uoo pee uorsueuiip pexiy OU ji payloads eq 10uuceo 041009 P99 uorsueuup pexy y Jornuoo snoo snonunuoo eui si eyep Buiuonisod jo usayed uonejedo y ueuM
475. xpression and rewrite to this value Calculation example I Condition Travel increment per rotation 5000 pm rev i Number of pulses per rotation 12000 pulse rev Unit multiplier 1 I Positioning result Command travel increment 100mm 1 Actual travel increment 101mm i I Compensation value Aar 5x10 101x105 5050 _ 101 i AP 12000 100x10 12000 240 l I Travel increment per rotation is 101 um rev 1 Number of pulses per rotation is 240 pulse rev i pM HERD l 10 5 10 Setting Positioning Parameter MELSEC A 10 1 3 Pulse output mode The pulse output mode that is appropriate for the drive module used is set 1 When the pulse output logic is a positive logic a PLS SIGN mode Control of forward rotation reverse rotation is performed using on off of the direction sign SIGN e When the direction sign is LOW Reverse rotation e When the direction sign is HIGH Forward rotation rotation rotation Travels in Travels in the direction the direction D CW CCW mode A forward rotation field pulse PULSE F is output during forward rotation Similarly a reverse rotation field pulse PULSE R is output during reverse rotation PULSEF dH HUI PULSE R Forward rotation Reverse rotation c Phase A B mode Control of forward rotation reverse rotation is p
476. y e Correct the center point address endpoint Large circular error When calculating the locus of circular interpolation control by center point specification is not address e Correct the values of the allowable circular center point specification interpolation error range Change the present feed value to within the software stroke limit range using JOG operation or manual pulse generator operation in the case of positioning operation change the positioning address to within the software stroke limit setting range e inthe case of starting JOG operation or manual pulse generator operation perform operation so that the value becomes within the software stroke limit setting range Correct the positioning data Correct the special start data Start outside of stroke limit LE Start outside of stroke limit Travel outside of stroke limit At the start of operation Operation is not started Travel outside of stroke limit Travel outside of stroke limit 512 Travel outside of stroke limit Out of present value change range Present value change not possible During operation Operation abruptly stops at positioning data immediately prior to the positioning data number at which the stroke limit is exceeded The present value is not changed During analysis of the present value change
477. y inducing a short circuit between servo motor terminals via a resistor and consuming the rotational energy as heat Since braking power is generated only while a motor that generates a large brake torque by the use of an electromagnetic brake is rotating and there is no retaining power during stopping use a mechanical brake in conjunction with the dynamic brake to prevent the upper and lower axes from falling down Electromagnetic brake Equipped in motors with electromagnetic brake it is used to prevent slipping due to power failure or fault that may occur while axes are driven up and down or for protection in the stopped state Non excitation operation brake Electronic gear A function to electronically reduce or increase command pulses sent from the pulse command module by multiplying them by an integer or inverse number 1 50 to 50 Therefore the speed and travel increment of positioning can be controlled using the electronic gear ratio Emergency stop Since the D75P2 does not have this capability considerations are necessary such as turning off the servo power from outside the PC Appendix Encoder A device that converts input data to binary signals of on and off A type of pulse generator An encoding device For main signals For the zero signal Ball bearing Code disk Input shaft Light receiving element Index scale photo transistor Light source light emitting diode Rotary encoder Light

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