Manuale d’uso / di manutenzione del prodotto AJ65BT-D75P2-S3 del fabbricante Mitsubishi Electronics
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AJ65BT -D75P2-S3 Positioning Module User's Manual.
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A - 1 SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual a nd the relevant manuals carefully and pay full attention to safety to handle the product correctl y. The precautions given in t his manual are concerned wi th this product only .
A - 2 [Design Precauti ons] WARNING Failure to observe t his could lead to accidents for incorrect outputs or malfunctioning. Configure safety circuits exte rnal to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external pow er supply or the programmable controller.
A - 3 [Installation Prec autions] CAUT ION Use the programmable controller in an environment that meets the general specif ications in this manual. Failure to do so may result in electric shock, fire, malfunct ion, or damage to or deterioration of the product.
A - 4 [Startup and Mainten ance Precau tions] ! CAUT ION Do not touch any terminal w hile power is on. Doing so w ill cause electri c shock or malfun ction. Never disassemble or modify the module. Failure to observe t his could lead to trouble, malfuncti oning, injuries or fires.
A - 5 CONDITIONS OF USE FOR THE PRODUCT (1) Mitsubishi progra mmable controller ("the PRODU CT") shall be used in conditions; i) where any problem, fault or failure occurring in t he PRODU C.
A - 6 REVI SIO NS * The manual number is given on the bottom left of the back cover . Print Date * Manu al Num ber Revis ion Apr., 19 98 IB (NA)- 6682 4-A First pri nting Ap r., 200 3 I B (N A) -668 24 -B Co mpl ete rev iew Oct., 2003 IB (NA) -66 824-C Complet e re vie w Feb .
A - 7 MEM O.
A - 8 INTRODUCT ION Thank you f or purch asing th e Mits ub ishi gener al- purpos e pr ogram m able c ontr oller ME LSEC- A Ser ies. Alw ays read throu gh thi s manual , and fully comprehe nd th e func tions an d perfo rman ce of th e A Serie s PLC before star ting use t o ens ure c orr ect us age of th is pr od uct.
A - 9 3. SPEC IFICAT ION S AN D FUNCT IONS 3- 1 to 3- 44 3.1 Ge neral sp ec ific ations .................................................................................................... ........................ 3- 2 3.2 Per for m ance sp ecif icat ions .
A - 10 5. D ATA U SED FOR POS ITIO NING CO NTRO L (Lis t of buf fer m em or y address es) 5- 1 to 5-1 12 5.1 Ty pes of da ta ..............................................................................................................................
A - 11 7. MEMORY CONF IGURATI ON A ND DA T A P ROCESS 7- 1 to 7- 1 6 7.1 C onfigur at ion a nd r o les of D75P 2 m emor y ................................................................................... ........ 7- 2 7.1.1 Co nfig urati on a nd ro les of D75P 2 mem or y .
A - 12 10. AD VANCE D POSIT ION ING CONT ROL 10- 1 to 10- 22 10.1 O utli ne of a dva nce d po sit ioning con trol .................................................................................. .......... 10- 2 10.1. 1 Dat a re quir ed for a dv ance d pos itio ni n g contr ol .
A - 13 12.3.3 N ear pass m ode func tion ................................................................................................ ............. 12- 18 12.4 F uncti ons to lim it the c ontr ol ...................................................
A - 14 Append ix 5 Con nec tion exam ples with ser vo am plif iers m anuf acture d by MITSU BISHI El ectric Co porati on ............................................................................ Ap pend ix- 16 Append ix 5. 1 Connec ti on exam ple of D75P2 an d MR-H A (Diff erenti al dr iver (O pen c ollect or)) .
A - 15 ABOUT MAN UALS The f ollow ing m anua ls are a lso r elat ed to this pro duc t. In nec essar y, order them by qu otin g th e det ails in t he ta bles b elo w.
A - 16 COMPLIANC E W ITH EMC AND LOW VOLTAGE DI RECT IVES (1) Met hod of ens uri ng c omplia nce To ens ure that Mits ub ishi progr am m able c ontro ller s m aint ain EMC and Lo w Volt age D irec tives whe n inc orpor ated into other m achi ner y or e quipm ent, c ert ain meas ures m a y be nec ess ary.
A - 17 US ING TH IS MAN UAL (1 ) The s ymbols us ed in this m anual ar e sho wn be low. Unless ot herwis e specif ie d, the "buff er mem or y" indicat es the buff er m emory of the D75P2. M ....... Symbol ind icating m as ter m odule buff er m emor y address.
A - 18 US ING TH IS MAN UAL (2 ) The m ethods f or reading t his manual ar e sho wn belo w. 5.1 Types of dat a 5.2 List of parame ters 5.3 List of positioning d ata 5.4 List of st art block data 5.5 List of condition da t a 5.6 List of monitor data 5.
A - 19 US ING TH IS MAN UAL (3 ) The c ontents of eac h chapt er are s hown b elow. SECTION 1 PRODUCT SPECIF I CAT IONS AND HANDLING 1 PR ODU CT OU TLI NE The basic c ontents for understanding po sitioning control using D 75P2 are described. 1 2 SY STEM CONFIGURATION The devices req uired for pos itioning co ntrol using D75P2 are described.
A - 20 GENE RIC TE RMS AND A BBREVIA TION S Unless speci all y noted, th e follow ing gen eric term s and abbr eviat ions are use d in this manual . Generic term/abbreviation Details of generic term/abbrevi ation D75P2 Generic term for positioning m odule AJ65BT-D 75P2-S3 type.
A - 21 ENCL O SED PA RTS The D7 5P2 produc t co nfig ur atio n is sho wn bel ow. Part name Quantity External dev ice connection co nnector (10136-300 0VE, Sumitomo 3M ) 2 Connector cover (10336- 56 F0.
A - 22 MEM O.
SECTION 1 APPEN- DI CES SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING SECTION 1 is con figur ed fo r the f ollow ing pur poses (1) to (5). (1) To u nder stand the outli ne of position ing c ontrol, an.
MEM O.
1 - 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 APPEN- DI CES Chapter 1 PRODUCT OUTLINE The purpo se and outli ne of pos itionin g control using D75P2 are ex plained in this chap ter. By unders tandin g "What can be done", and "Which procedur es to use" beforehan d, the positioni ng sys tem can be str ucture d smoothl y.
1 - 2 MELSEC- A 1 PRODUCT OUT LINE 1.1 Positioning control 1.1.1 Features of D75P 2 The f eatures of the D 75P 2 are s ho wn be low. (1) Compatibility with distributed system The D7 5P2 c an b e ins tal led ne ar distr ibut ed ser vo am pl if iers a nd s tepp ing motor s.
1 - 3 MELSEC- A 1 PRODUCT OUT LINE (d) The zero point return control has been strengthe ned. 1) The near-p oint dog m eth od ( one m etho d), st opper sto p m ethod ( thre e types), and c ou nt m ethod (two types ) ze ro point r et urn m ethods ha ve been pre pared as the "m ac hine zer o poi nt retur n" zer o poin t retur n method.
1 - 4 MELSEC- A 1 PRODUCT OUT LINE 1.1.2 Purpose and ap plications of positioni ng control "Pos itio ning " ref ers to m ovin g a m ovi ng b od y, such as a work piec e or too l (h erei naft er, gener ica lly cal led "work piec e") at a desi gnate d spe ed, a nd ac cura tel y stop ping it at t he target pos itio n.
1 - 5 MELSEC- A 1 PRODUCT OUT LINE Li fter (Stora ge of Br aun tube s onto agi ng rack) Servo ampli fier Servomotor B co nveyor Unloade r Loader/u nload er Aging rack Lifter C conv eyor Counter- weigh.
1 - 6 MELSEC- A 1 PRODUCT OUT LINE 1.1.3 Mechanism of positioni ng control Posit ionin g co ntro l us ing t he D7 5P2 is car ri ed ou t wit h " pulse s igna ls ". (The D 75P2 is a module that gen erat es pu ls es). I n the pos ition ing s yst em using the D 75P 2, v arious softwar e a nd d evices are us ed for the f oll owin g r oles.
1 - 7 MELSEC- A 1 PRODUCT OUT LINE The pr inc iple of "posit ion c o ntrol " an d "sp ee d contr ol " oper ati on is sh own b elo w. Position control The to tal N o. of puls es r equ ired to m ove the d esign ated dis tanc e is obt aine d in t he follo win g m anner.
1 - 8 MELSEC- A 1 PRODUCT OUT LINE 1.1.4 Outline desig n of positioning system The ou tline of th e pos it ion ing s ystem op erati on an d des ign, us ing t he D 75P2 , is s ho wn belo w.
1 - 9 MELSEC- A 1 PRODUCT OUT LINE Speed V Pulse droop amount Pulse distribution Servomotor speed Accel- eration Decel- eration Ti me t Stop settl ing ti me Pulse train Rough Dense Rough Fig.
1 - 10 MELSEC- A 1 PRODUCT OUT LINE 1.1.5 Communicating signals between D75P2 and each module The ou tline of th e s ignal c om m unication bet ween t he D 75P2 and PLC C PU, p eriph era l device an d driv e unit, etc.
1 - 11 MELSEC- A 1 PRODUCT OUT LINE D75P2 Peripheral device The D75 P2 and per ipher a l device c omm unic ate the follo wing dat a via th e perip her al device c on nect ion c onnect or .
1 - 12 MELSEC- A 1 PRODUCT OUT LINE 1.2 Flow of sy stem operation 1.2.1 Flow of all pr ocesses The pos it ionin g co ntrol proc esses , usi ng th e D7 5P2, are s ho wn be low.
1 - 13 MELSEC- A 1 PRODUCT OUT LINE The fo llowin g wor k is carried out wit h the pr ocesses show n on the left page. Details R eference 1) Understand the product functions and usag e methods, the configuration devices and specification s required for positioni ng control, and desig n the system.
1 - 14 MELSEC- A 1 PRODUCT OUT LINE 1.2.2 Outline of starti ng The ou tline f or start ing each con tro l is s ho wn wit h the fol lowi ng f lowchar t. * It is as sum ed th at eac h m od ule is ins tall ed, a nd th e r equir ed s ystem conf igur at ion, etc.
1 - 15 MELSEC- A 1 PRODUCT OUT LINE D75P2 Setting method : Indi cates the sequence program that must be created. <AD75 so ftware package> Set with AD75 software package * Set the parameter and data for executing this function, and the auxiliary functions that need t o be set beforeh and.
1 - 16 MELSEC- A 1 PRODUCT OUT LINE 1.2.3 Outline of stoppi ng Each c ontr ol is sto pped in t he f ollo wing c as es. (1) W hen each c on trol is c om pleted norm al ly. (2) W hen the dri ve unit READ Y signa l is turn ed OFF . (3) W hen the data link of CC- Li nk s tops.
1 - 17 MELSEC- A 1 PRODUCT OUT LINE 1.2.4 Outline for r estarting W hen a sto p ca use h as oc cur red d uri ng o perat ion with pos itio n co ntrol caus ing the axis to sto p, pos it ioni ng t o the end poin t of the pos iti oning data can be r estart ed f ro m the sto pped posi tion by us ing r estar t com m and [R Y(n+2 )5, R Y(n+4) 5].
1 - 18 MELSEC- A 1 PRODUCT OUT LINE 1.3 Outline of communi cation For com m unica tion b etw een t he D75P2 and m as ter m odule , the tw o dif feren t transm iss ion form ats, c yclic transm iss ion and tr ansie nt tr ansm issio n, are use d.
1 - 19 MELSEC- A 1 PRODUCT OUT LINE 1.3.1 Cycli c transmission This sect ion ex p lains c yc lic t ransm is sion b etwee n th e D75 P2 a nd m aster m odule.
1 - 20 MELSEC- A 1 PRODUCT OUT LINE 1.3.2 Transient transmission This sect ion ex pla ins tr ansi ent tr ansm iss ion bet ween t he D7 5P2 and m aster m odule.
2 - 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 Appen - di ces Chapter 2 SYSTEM CONFIGURATION In this chapter, the general ima ge of the sy stem configuration of the pos itioning control using D75P2, the configuration devices, appl icable CPU module and the precautions of configuring the system are explained.
2 - 2 MELSEC- A 2 SYST EM CONFIGURA TION 2.1 General imag e of sy stem The ge nera l im age of th e s ystem , inc ludi ng t he D7 5P2, PLC C PU a nd p eriph era l device s is shown bel ow. (The Nos . i n th e illus tr ation r ef er to t he "No." in s ect ion " 2.
2 - 3 MELSEC- A 2 SYST EM CONFIGURA TION 7 9 8 10 Drive unit Motor Cable Manual pulse generator Machine system input (s witch) · Near-point do g · Limit switch · External start signal · Speed/ pos.
2 - 4 MELSEC- A 2 SYST EM CONFIGURA TION 2.2 List of configur ation devi ces The pos it ion ing s ystem usi ng t he D7 5P2 is c onfigur ed of the fo llowi ng de vices .
2 - 5 MELSEC- A 2 SYST EM CONFIGURA TION Specific at ions lis t of rec omm ended m a nua l pu lse g ene rator Item Specifications Model name MR-HDP01 Pulse resolution 25pulse/rev (100 pulse/rev after magnification by 4) Output method Voltage-output (power supply voltage -1V or more), Output current = M ax.
2 - 6 MELSEC- A 2 SYST EM CONFIGURA TION 2.3 Applicable sy stem This sect ion ex pla ins th e C C-Link s ystem m aster m odu les th at c an use the D75 P2 an d the PLC CPUs th at can use the CC- Link de dicat ed c omm ands.
2 - 7 MELSEC- A 2 SYST EM CONFIGURA TION PLC CPUs that can use the CC-Link dedicat ed commands The PLC C PUs that c an us e the CC- Link dedicat ed com mands are the fol lowing m odels.
2 - 8 MELSEC- A 2 SYST EM CONFIGURA TION 2.4 Precautions for use Precautions for use of D75P2 (1) Necessity of AD75 Software Package W hen usin g the D75 P2, pres et the pos ition ing data to th e D75 P2 us ing the AD75 Soft ware P ack age.
2 - 9 MELSEC- A 2 SYST EM CONFIGURA TION * 1 Limite d to the cas e wher e " Cd. 21 Speed/ positio n change ove r control movem ent am oun t ch ange reg ister " an d " Cd. 36 Speed/posi tion chan geo ver contr ol (AB S m ode) fu nct ion vali d flag " is n ot s et.
2 - 10 MELSEC- A 2 SYST EM CONFIGURA TION Function Data for use of transient trans mission Reference Main functions Main positioning control Speed/position changeover control When the following v alues are set Cd. 21 Speed/po sition changeover control movement amount ch ange register Cd.
2 - 11 MELSEC- A 2 SYST EM CONFIGURA TION Precaut ions for using stepping motor W hen configur ing the pos iti oning s ystem using a s tepp ing m otor, the f ollo wing points m ust be observed. R efer to section "12.7 .6 Ste ppin g m otor mode f unctions " for detai ls.
2 - 12 MELSEC- A 2 SYST EM CONFIGURA TION MEM O.
3 - 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 APPEN- DI CES Chapter 3 SPECIFICATIONS AND FUNCTIONS The var ious spec ificati ons of the D75 P2 are expl ained i n this c hap ter.
3 - 2 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS 3.1 General specificati ons The ge nera l sp ecif icat ions of the D7 5P2 are g ive n be low. Item Specifications Operating ambient temperature 0 to 55 .
3 - 3 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS Item Speci fic ations Operating am bient tem perature 0 to 45 C Storage am bient t emperature Not wired (ind ividual pro duct ) -20 to 65 C Wired.
3 - 4 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS 3.2 Performance sp ecifications Item Specifications No. of control ax es 2 axes Interpolation function 2-axis linear interpolation 2-axis circular interp.
3 - 5 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS Item CC-Link station type Inte lli gen t devi ce st ati on Number of occupied stations 4 stations (RX /RY 128 points each, R W r/R W w 16 point s each) External power supply (V) 24VD C ( 20 .4 to 26 .4 VDC ) Applicable conductor size (mm 2 ) 0.
3 - 6 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS 3.3 List of functions 3.3.1 D75P2 control functions The D7 5P2 has s ever al f unctio ns. In th is m anua l, the D75 P2 f unct ions are c ategor ize d and ex pla ined as fo llo ws.
3 - 7 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS Posi tion control Speed contr ol Speed/ position cha ngeove r control Other cont rol Parameter initialization function Execution data backup function LED.
3 - 8 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS 3.3.2 D75P2 main functions The ou tline of th e m ain f unc tions f or pos it ion ing co ntro l wit h th e D75 P2 ar e des crib ed below. ( Ref er t o "SE CTIO N 2" for d etai ls on eac h func tion.
3 - 9 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS Main functions Details Reference section Advanced positioning control Block start (Normal start) W ith one start, ex ecutes the positioning data in a random bloc k with the set order.
3 - 10 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS 3.3.3 D75P2 aux iliary functions and common functions Auxiliary functions The f unctions that ass ist po sitio ning c ontrol using the D75P2 are descr ibed b elow. (Refer to "SECT ION 2" f or deta ils on each f unctio n.
3 - 11 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS Auxiliary function Details Reference section Other functions Step function This function temporarily stop s the operation to confirm the positioning operation during de bugging, etc. The operation can be stopp ed at each "automatic d eceleration" or "positioning data".
3 - 12 MELSEC- A 3 SPECIFICATIONS AND FUN CTIONS 3.3.4 Comb ination of D75P 2 main functio ns and auxilia ry fu nctions W ith positi onin g contr ol us in g the D75 P2, t he mai n func t ions a nd a uxil iar y functi ons can be com bin ed and use d as neces sar y.
3 - 13 MELSEC- A 3 SPECIFICATIONS AND FUN CTIONS Functions that compensate control Functions that limit control Functions that change control details Other functions Backlash compensation function Ele.
3 - 14 MELSEC- A 3 SPECIFICATIONS AND FUN CTIONS 3.4 Specifications o f input/output signal s for master module 3.4.1 List of input/outpu t signals The D75 P2 uses 12 8 inpu t poin ts and 128 ou tput po int s for excha ngi ng data with the mas ter m odule .
3 - 15 MELSEC- A 3 SPECIFICATIONS AND FUN CTIONS Signal direction: D75P2 master module Signal direction: M aster module D75P2 Device No. Signal name Device No.
3 - 16 MELSEC- A 3 SPECIFICATIONS AND FUN CTIONS Signal direction: D75P2 master module Signal direction: M aster module D75P2 Device No. Signal name Device No.
3 - 17 MELSEC- A 3 SPECIFICATIONS AND FUN CTIONS 3.4.2 Details of inp ut signals (D 75P2 Master module) The O N/OFF tim ing and co ndit ions , etc ., of the input si gnals are show n b elow.
3 - 18 MELSEC- A 3 SPECIFICATIONS AND FUN CTIONS Device No. S ignal nam e Details RX (n+1 )2 RX (n+4 )2 Axis 1 Axis 2 Drive unit READY OFF: Drive unit R EADY signal OFF ON: Drive unit READY signal ON This signal t urns ON when the driv e unit is normal and is ready to accept feed pulses .
3 - 19 MELSEC- A 3 SPECIFICATIONS AND FUN CTIONS Device No. S ignal nam e Details RX (n+1 )E RX (n+4 )E Axis 1 Axis 2 Command in-posit ion signal OFF: Outs ide i n-p ositi on rang e ON: Within in-position rang e This signal t urns ON when the remai ning dist ance fall s within the "comm and in-posit ion range" set in the param eter.
3 - 20 MELSEC- A 3 SPECIFICATIONS AND FUN CTIONS Device No. S ignal nam e Details RX (n+7 )9 Initial data set ting comple te OFF: Initial data setting incomplete ON: Initia l data setting complete This signal t urns ON at complet ion of initi al data set ting after I nitial data setti ng request (RY (n+7)9) has t urned ON.
3 - 21 MELSEC- A 3 SPECIFICATIONS AND FUN CTIONS 3.4.3 Details of output signals (Master module D75P2) The ON /OFF tim ing and co ndit ions , etc. , of t he out put s igna ls ar e sho wn be low.
3 - 22 MELSEC- A 3 SPECIFICATIONS AND FUN CTIONS Device No. S ignal nam e Details RY(n+2)7 RY(n+4)7 Axis 1 Axis 2 Speed change request OFF : No speed change request ON : Speed change requested W hen changing the s peed during pos itioni ng operation, t urn this signal ON after s etting a new speed val ue.
3 - 23 MELSEC- A 3 SPECIFICATIONS AN D FUNCTIONS 3.5 Remote regi sters The D7 5P2 has r emote r eg ister s for trans fer of da ta to/f rom the t he m as ter m odule. This sect ion ex pla ins th e as signm ent a nd d ata s truc tur e of the r em ote re gister s.
3 - 24 MELSEC- A 3 SPECIFICATIONS AN D FUNCTIONS (2) Rem ote re giste r deta ils Setting item Setting details Positioning start No. • Set the start No. for positioning. Positioning operation speed ov erride Set the "override" value when overriding the speed durin g positioning operation.
3 - 25 MELSEC- A 3 SPECIFICATIONS AN D FUNCTIONS Setting value Default value Addresses Ax is 1 Ax is 2 Set with a decimal. K Positioning data No. Setting value : Positioning data No.
3 - 26 MELSEC- A 3 SPECIFICATIONS AN D FUNCTIONS Setting item Setting details JOG speed • Set the JOG speed for JO G operation. • The setting v alue should be within the follow ing range.
3 - 27 MELSEC- A 3 SPECIFICATIONS AN D FUNCTIONS Setting value Default value Addresses Ax is 1 Ax is 2 Set with a decimal. R Unit conversion table (JOG speed) Example) n 2 mm/mi n 3 inch/min 3 degree/m in 0 pulse/s Unit Actual value 10 n Conversi on into i nteger S etting value (Decimal) When setting "20000.
3 - 28 MELSEC- A 3 SPECIFICATIONS AN D FUNCTIONS Storage item Storage details Current feed value The currently commanded addr ess is stored. (Differs from the actual motor positio n during operation.) The address of the current po sition is stored. • Update timing : 56.
3 - 29 MELSEC- A 3 SPECIFICATIONS AN D FUNCTIONS Monitor value definition Factory setting Addresses Ax is 1 Ax is 2 Monitor with a hexadecimal di splay.
3 - 30 MELSEC- A 3 SPECIFICATIONS AN D FUNCTIONS Storage item Storage details Axis w arning No. A t axis warning detection, the warning code corresponding to the warning definition is stored. • The latest warning code is al ways stored. (When a new axis warning occurs, the warning code is ov erwritten.
3 - 31 MELSEC- A 3 SPECIFICATIONS AN D FUNCTIONS Monitor value definition Factory setting Addresses Ax is 1 Ax is 2 Set with a decimal. Monitor value Warning No. For details of the warning No. (warning code), re fer to s ection "14.4 List of warnings" i n thi s manual.
3 - 32 MELSEC- A 3 SPECIFICATIONS AND FUN CTIONS 3.6 Transmissi on delay time This sect ion indic ates th e tr ansm iss ion d ela y tim e (tim e req uir ed u ntil d at a is transm itted) .
3 - 33 MELSEC- A 3 SPECIFICATIONS AND FUN CTIONS Transient tr ansm iss ion (1) W he n master mo dule is AJ61BT11, A1SJ61 BT11, AJ61QBT11 or A1SJ61QBT11 (a) Calc ulat ion expr essio n Details Calculati.
3 - 34 MELSEC- A 3 SPECIFICATIONS AND FUN CTIONS (2) W he n master module is QJ61BT11N (a) Calc ulat ion expr essio n Details Calculation expression (Unit: m s) Master module D75P2 (write (RIW T comm and)) OT + LS {BC + (number of w rite points *1 + 16)/72 *2 1.
3 - 35 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS 3.7 Specifications of i nput/output interfaces w ith exter nal devices 3.7.1 Electrical specifications of input/out put signals Input specifications Sig.
3 - 36 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS Output specifications Signal name Rated lo ad voltage Operating load voltage range Max. l oad current/inrush current Max. voltage drop at ON Leakage current at OFF Response time Deviation c ounter c lear (CLEAR ) 5 to 24VDC 4.
3 - 37 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS POINT Set th e paramete rs, " Pr.5 P ulse ou tput mode" and " Pr. 24 Logi c selection for pulse ou tput to the d r ive unit ", in ac c ordanc e with t he spec if icat ions of a c on nect ed ser vo am pl ifier .
3 - 38 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS 3.7.2 Signal l ayout for ex ternal device connection connector The s pecif icat ions of th e c onn ector s ec tio n, wh ich is th e in put/ outp ut in terfac e f or th e D75P2 and exte rnal device , are show n below.
3 - 39 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS 3.7.3 List of input/outpu t signal details The de tai ls of e ach D 75 P2 ex terna l de vice c onnec ti on conn ect or (f or 1 axis ) si gnal are shown be low. Signal name Pin No. Signal details Common 36 35 Signal that indicates that transmissio n data is ready in the ABS transfer mode.
3 - 40 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS Signal name Pin No. Signal details Pulse sign common Pulse output common (Open collector) 20 19 Output the positioning pulses a nd pulse sign for the open colle ctor compatible drive unit.
3 - 41 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS Signal name Pin No. Signal details Deviation counter clear 5 Output during machine zero point return. (Note that this sign al is not output during the count method 2).) (Example) W hen carry out machine zero p oint return with stopper stop metohd 2) CLEAR 10ms Pr.
3 - 42 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS 3.7.4 Input/output i nterface internal ci rcuit The ou tline dia gram of th e inter na l circ uit for the D75P 2 ex terna l dev ice c onn ection interf ace is show n belo w. : W iring i s neces sary in position i ng.
3 - 43 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS : W iring i s neces sary in position i ng. : Perf orm wi ring when ne cess ar y. Input/ out -put cla ss Exter nal wi ring Pin No.
3 - 44 MELSEC- A 3 SPECIFICATIONS AND FUNCTIONS MEM O.
4 - 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 APPEN- DI CES Chapter 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT The installati on, wiring and maintenance of the D75P2 are explained in this chapter.
4 - 2 MELSEC- A 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT 4.1 Outline of instal lation, w iring and maintenance 4.1.1 Installation, w iring and maintenance procedures The outl ine and pr oced ures f or D75P 2 insta llat ion, wir in g and m ainten ance ar e shown belo w.
4 - 3 MELSEC- A 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT 4.1.2 Names of each p art The nam es of eac h D7 5P2 part are s ho wn be low. *1: Sinc e a hard ware v ersi on L or later , or ser ial num ber (firs t five dig its) of "1604 1" or lat er, the in dic ator com ponents have bee n ch ang ed to LED m odul es.
4 - 4 MELSEC- A 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT 7) Exter nal de vice connec tion connec tors (AX1, AX 2) Connec tors f or c onnec tio n o f the driv e unit, m echan ica l s ystem in put and m anu al pulse ge ner ator.
4 - 5 MELSEC- A 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT 4.1.3 Handling precautions Handle the D 75P 2 an d cabl e whi le obs erv ing t he f ollowi ng pr ecaut ions . (1) Handl ing precautions ! WARNING Use the PLC within t he general specifications enviro nment given in this manual .
4 - 6 MELSEC- A 4 INSTALLATION, WIRING AND MAINTENANCE OF T HE PRODUCT (2) Other pr ecautions (a) Mai n body The m ain bod y case is made of pl ast ic. T ake c are no t to dro p or a ppl y stron g im pacts onto the c as e. (b) Install ation environment Do not inst all th e modu le in the f ollowi ng t ype of envir onm ent.
4 - 7 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT 4.2 Installation 4.2.1 Precautions for installation This sect ion ex p lains the insta llat ion of th e D75 P2. The D75P2 is instal led in ei the r of t he fol lowing tw o method s.
4 - 8 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT (2) Pr ecautions for installation i nto control box • Con tro l box ho le The d iam eter of a c ontro l bo x ho le sh ould be 1 0cm or l es s. If th e ho le is m ore than 10c m , rad io wav es m ay le ak.
4 - 9 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT 4.2.2 Installation/r emoval of modul e This sect ion ex p lains the proced ures f or insta llin g and r em oving the D7 5P2.
4 - 10 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT Removal procedure (1) Confirm if all p has es of the exter na lly su ppli ed p ower fo r the s y s tem are s wi tched off or not.
4 - 11 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT [2] Installation (remov al) to (from) enclosure surface Installation procedure (1) Confirm if all p has es of the exter na lly su ppli ed p ower fo r the s y s tem are s wi tched off or not.
4 - 12 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT 4.3 Connection of CC -Link dedicated cable Connec t the D75 P2 with t he m aster modul e b y the "CC- Link dedic ate d cab le". Mak e connec tio n in the f ollo wing pr ocedur e.
4 - 13 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT [2] Advice The term ina l b lock can be r em oved f rom the m odu le. W hen rem oval of t he term in al block mak es connect ion easier, loos en the sc rew in the follo wing f igur e, r em ove t he term inal block , and c onn ect the ca ble.
4 - 14 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT 4.4 Module setting This sect ion ex pla ins th e se tti ng of the D75P2. 4.4.1 Station numb er setting of module Set th e station numbe r of the D7 5P2. *The defau lt valu e (f act ory s ettin g) is st atio n N o.
4 - 15 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT 4.4.2 Transmissi on speed setting of module Set t he tra nsm iss ion sp eed of th e D75 P2. *The def ault va lue (fac tor y sett ing) is "0". [1] Setting bases 1) The number th at can b e set is wit hin th e rang e "0" to "4 ".
4 - 16 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT 4.5 W iri ng/connection This sectio n exp lains th e wir ing and co nnec tio n of the D75 P2.
4 - 17 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT (10) Do no t pu ll the c able whe n r emovi ng th e cab le f rom the D75 P2 or dr ive u nit. Hold and pu ll th e con nect or co nnecte d to t he D 75P 2 or dr ive unit. If th e cab le connec ted to the D75P 2 or drive unit is pu lled , a malf unc tion m ay be caus ed.
4 - 18 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT (14) Route the c ables c on necte d to the D 75P 2, in a duc t, or f ix them .
4 - 19 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT c) Cable clam p f ittin g pos it ion and sh iel ded c ab le gro und ing m etho d D75P2 20 to 30cm Inside control box AD75CK For det ails , ref er t o th e AD75C K C able C lam p Ins truct io n Man ual < IB-68 682 >.
4 - 20 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT 4.5.2 Wiring the ex ternal dev ice connection connector pi ns The pins for the ex terna l devic e connec tio n connec tor are wire d in the f ollo wing manner .
4 - 21 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT (2) Connecting the connector and wir e * Refer to sec ti on "3. 7 Sp ecif icati ons of inp ut/o utput int erf aces with exter nal device s" when connecti ng. (a) Loosen the cable fix ture screw B, pass the cable throug h, and then tighten screw B.
4 - 22 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT (c) After connection, the state w ill be as shown below ..
4 - 23 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT (3) Assembling the connector section (a) Fit the soldered connector and cabl e fixtur e into the connector cover . * The c able fixtur e ac ts as a s topper to pr ot ect the sign al wire c onn ectio n sectio n when th e cable i s pulled on.
4 - 24 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT 4.5.3 Connecting the c onnector The D7 5P2 is c onnect ed to the dr ive un it or per ipher al d evice wit h the con nector .
4 - 25 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT 4.6 Confirmi ng the install ation and wir ing 4.6.1 Items to confir m w hen installation and wi ring are compl eted Che ck the (1 ) and (2 ) points whe n completed wi th the D75P 2 install ation and wir ing.
4 - 26 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT 4.7 Single modul e test W hether th e D7 5P2 is oper at ing cor rec tl y is c onfirm ed with the L ED d ispl ays o n th e D75P2 m ain bo dy. The "s in gle m odul e tes t" m etho ds are des cr ibed bel ow.
4 - 27 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT (Step 3) Operation monitor 2 1) The axis disp la y LED f or e ac h axis wi ll tur n ON sequ ent ial ly at a n ap prox.
4 - 28 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT (Step 5) Internal information 2 monitor 1) T he D7 5P2 O S ver sion wil l appe ar o n the 1 7-se gm ent LE D for r efer enc e. Versio n [V000] 2) The axis disp la y LED f or e ac h ax is wi ll tur n OFF .
4 - 29 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT POINT (1) The op era tion m onit or descr ib ed i n th is sec tio n is a f unctio n tha t allows the D75P2 s tate , contr ol s tate of each axis and s tate of th e i nput/ outp ut sig nals t o be confir m ed.
4 - 30 MELSEC- A 4 INSTAL LATION, W IRING AND MAINT ENANCE OF T HE PRO DUCT 4.8 Maintenance 4.8.1 Precautions for maintenance The prec au tions f or ser vic ing t he D7 5P2 are g ive n be low. R efer to t his sect ion as well as sectio n "4.1 .3 Hand lin g prec autions " wh en carr ying out the work .
5 - 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 APPEN- DI CES Chapter 5 DATA USED FOR POSITIONING CONTROL The parame ters and d ata used to ca rry out po sitionin g contro l with the D75P 2 are explai ned in this ch apter. With the posit ioning s ystem usin g the D75P2, the var ious paramet ers and data exp lained in this ch apter are used for control.
5 - 2 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL 5.1 Types of data 5.1.1 Parameters and data requi red for control The par am eters a nd d ata r equir ed t o carr y o ut contr ol with t he D 75P2 inc lude th e "setti ng dat a", "m onit or da ta" an d "co ntrol da ta" s hown b elo w.
5 - 3 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL ◊ E ven when t he rem ote sta tion RE AD Y sign al [RX (n+ 7)B] is O N, the va lues or c ont ents of th e follo win g can be ch ange d: bas ic par ameter s 2 *1 , detai led param eters 2 *2 , pos itio ning d ata an d posit ioni ng s tart info rm ation.
5 - 4 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL 5.1.2 Setting items f or positioning parameters The s etting it ems for the "p osit ioni ng p aram eters " ar e sh own b elo w. The "pos itio ning param eters " are c om m only s et for each ax is for al l contr ol us in g the D75 P2.
5 - 5 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Control Positioni ng paramet er Zero point retur n control Main positioni ng control Manual control Related auxiliary fun ction Posit ion control S.
5 - 6 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL 5.1.3 Setting items f or zero poi nt return parameters W hen carr ying o ut " zero point r etur n c ontrol ", t he "ze ro po int r etur n param eter s" m us t be set. T he sett ing item s for the "zer o po int r eturn par am eters " are s ho wn be low.
5 - 7 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL 5.1.4 Setting items f or positioning data The " posit ioni ng d ata" m ust be s et wh en c arr ying o ut "m ai n pos itio ning co ntrol ". The settin g it em s f or the "posi tio ning data " are sh own b elo w.
5 - 8 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Checking the posit ioning data Da.1 to Da.9 ar e check ed with the fol lowing tim ing. (1) Star tup of a posit ioning ope ration (2) W hen the test .
5 - 9 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL 5.1.5 Setting items f or start block data The "s tart block dat a" m ust be s et wh en car r ying out "a dvanc ed p ositi onin g c ontrol ". The s etting item s for the "st art block dat a" ar e sh own bel ow.
5 - 10 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL 5.1.6 Setting items f or condition data W hen carr ying o ut " advanc ed p osition ing c on trol " or us ing t he J UMP c omm and i n th e "main pos itio nin g co ntrol ", t he "c ond ition data " m ust be s et as requ ire d.
5 - 11 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL 5.1.7 Types and r oles of monitor data Data t hat indic ates the pos ition ing s y stem 's op erat ion s tate is stor ed in t he b uff er mem or y 's m onitor data area rem ote re gistor (RW r).
5 - 12 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Monitoring the posit ioning system operation hist ory Monitor details Corresponding item Monitor whether the system is i n the test mode Md.1 In test mode flag Monitor the history of the data that has been started Start a xis Md.
5 - 13 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Monitoring the speed Monitor details Corresponding item Monitor the current speed During independent ax is control Indicates the speed of each ax is Feedrate (R W rn+2 to 3, RWrn+10 to 11) During interpola- tion control When "0: Composite speed" i s set for " Pr.
5 - 14 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL 5.1.8 Types and r oles of control data Sever al co ntr ols are c arr ied out as nec ess ar y when usin g the pos iti onin g s ystem . (W hen the power is turne d ON , the def ault v alues of t he d ata used for c ontro l ar e s et.
5 - 15 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL (2) Contr olling the oper ation Controlli ng the oper ation Control details Corresponding item Set which positioning to ex ecute (start No .) Positioning start No. (R W rm, R W rm+8) Clear (reset) the "Axis error N o.
5 - 16 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Making setting s related to operation Control details Corresponding item Turn M code ON signal O FF M code OFF request (RY(n+2)6, RY (n+4)6) Set ne.
5 - 17 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL MEM O.
5 - 18 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL 5.2 List of parameter s 5.2.1 Basic paramet ers 1 Item Setting value, setting range Default value Setting value buffer memory address Value set with peripheral device Value set with sequence program Ax is 1 Axi s 2 Pr.
5 - 19 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Pr.2 to Pr.4 Movement am ount per pulse Set the m ovem ent am ount per pulse c ount when out putti ng a pu lse tra in from the D75P2. T he setting is m ade with Pr.2 to Pr. 4 . (The cas e for the " Pr.
5 - 20 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Pr.3 Movement amount per rotat ion (Al), Pr.4 Unit m agnif ication (Am) The am ount ho w the work piece m oves with one m otor rotation is deter m ined by the me chanica l struc ture.
5 - 21 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Item Setting value, setting range Default value Setting value buffer memory address Value set with peripheral device Value set with sequence program Ax is 1 Axi s 2 Pr.
5 - 22 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL (2) CW / CCW mode During f orward run, the for war d run fee d puls e (PUL SE F) will be output. During rev erse run, the r everse r un feed pulse ( PULSE R) will be output.
5 - 23 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Pr.6 Rotation direct ion setting Set the re latio n of the m oto r rotation d irecti on and c urr ent value addr ess increm ent/decr ement. [Settin g proc edure] 1) Se t "0" in Pr. 6 , and c arr y out f orwar d ru n JOG oper ati on.
5 - 24 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL 5.2.2 Basic paramet ers 2 Item Setting value, setting range Default value Setting value buffer memory address Value set with peripheral device Value set with sequence program Ax is 1 Axi s 2 Pr.7 Speed limit value The setting value range differs depending on the " Pr.
5 - 25 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL 1) If the posi tioni ng speed s ett ing is s lower tha n the p ara m eter speed lim it, th e actual ac celera tion/d eceler ation t ime will be re lativel y shor t.
5 - 26 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Pr.1 1 St epping mot or mode selection The t ype of m otor c ontrolled with the D7 5P2 is set wit h the "s tepping m otor m ode sele ction". 1 : Stepp ing m otor m ode ............... W hen using a step ping m otor 0 : Standar d m ode .
5 - 27 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL MEM O.
5 - 28 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL 5.2.3 Detailed par ameters 1 Item Setting value, setting range Default value Setting value buffer memory address Value set with peripheral dev ice Value set w ith sequence program Ax is 1 Axis 2 Pr.
5 - 29 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL 1) T he back lash c ompensatio n is valid af ter com pleted th e m achine zero p oint return. T hus, if the back lash c om pensation am ount is set or changed , al ways carr y out machine zer o point r eturn onc e.
5 - 30 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL 1) Gener all y, the zero point is set at th e lo wer lim it or upp er lim it of the s trok e lim it. 2) B y setting t he upp er lim it valu e or l ower lim it v alue of the s oftwar e strok e lim it, overrun c an be pr evente d in the s oftware .
5 - 31 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Pr.1 8 T orq ue limit set ting value W ith this functio n, the tor qu e generat ed b y the m otor is lim ited to within t he set range. * T he torque exc eeding the lim it is r educed to the spec ifi ed torque lim it.
5 - 32 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Pr.1 9 M code ON signal out put timing Set the t iming to output t he M code O N s ignal. The W ITH m ode and AFT ER m ode can be used f or the M c ode ON signa l outp ut timing.
5 - 33 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Item Setting value, setting range Default value Setting value buffer memory address Value set with peripheral dev ice Value set with sequence program Axi s 1 Axis 2 Pr.20 Speed changeover mode 0 : Standard speed c hangeover mode 0 0 26 176 1 : Front-loading speed chan geover mode 1 Pr.
5 - 34 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Pr.2 1 I nterpolat ion speed designat ion method W hen carr ying out line ar inter polation, s et whether to d esign ate the com pos ite speed or refer ence axis speed. 0: Compos ite sp eed ........
5 - 35 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Pr.2 3 Manual pu lse generat or selection Set which m anua l puls e ge nerator t o use f or contro l fo r eac h axis (m otor ). 0 : Ignore m anua l pulse gener ator oper atio n ...... Manual puls e genera tor op eration is not carr ied out.
5 - 36 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL 5.2.4 Detailed par ameters 2 Item Setting value, setting range Default value Setting value buffer memory address Value set with peripheral dev ice Value set w ith sequence program Ax is 1 Ax is 2 Pr.
5 - 37 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL [Table 1] Pr.25 setting value Value set with peripheral dev ice (ms) Value set with sequence progr am (ms) 0 : 1-word type 1 to 65535 1 to 65535* 1 : 2-word type 1 to 8388608 1 to 8388608 * 1 to 32767 : Set as a decimal 32768 to 65535 : Convert into hexadecimal and set [Table 2] Pr.
5 - 38 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Item Setting value, setting range Default value Setting value buffer memory address Value set with peripheral dev ice Value set w ith sequence program Ax is 1 Ax is 2 Pr.
5 - 39 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Pr.3 6 S-curve rati o Set the S- curve ratio (1 t o 100%) for c arr ying out the S- cur ve accelerat ion/dec elerat ion p roces s. The S-c urve rat io ind icates where to dr aw the acceler ation/dec elerat ion c urve using the s ine cur ve as show n below.
5 - 40 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Pr.3 7 Sudden st op deceleratio n time Set the t ime to r each spe ed 0 f rom " Pr.7 Speed lim it valu e" durin g the sudd en stop. T he setting value si ze is det erm ined b y " Pr.
5 - 41 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Pr.3 8 St op group 1 sudden stop selection to Pr.4 0 St op group 3 sudden stop selection Set the m ethod to s top when the stop ca uses in the fol lo wing stop gr oups oc cur. Stop group 1 ....
5 - 42 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Item Setting value, setting range Default value Setting value buffer memory address Value set with peripheral device Value set with sequence program Ax is 1 Axi s 2 Pr.
5 - 43 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL [Table 1] Pr.11 setting value Pr.1 setting value Value set with peripheral dev ice (unit) Value set with sequence progr am (unit) 0 : Standard mode 0 : mm 0 to 10000.0 ( m) 0 to 100000 ( 10 -1 m) 1 : inch 0 to 1.
5 - 44 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Pr.4 3 Exter nal start f unction selection Set which f unct ion to use the ex ternal star t sign al with . 0 : Exter nal pos itioning s tart ............... Carr y out pos itioning opera tion with external s tart sig nal input .
5 - 45 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL 5.2.5 Zero point retur n basic parameter s Item Setting value, setting range Default value Setting value buffer memory address Value set with peripheral device Value set with sequence program Ax is 1 Axi s 2 Pr.
5 - 46 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL 1 : Stopper stop method 1) (1) Start machine zero point return. (Start movement at the " Pr.4 8 Zero point return speed" in the " Pr.46 Zero point return di rection".) (2) Detect the near-point dog ON, and start dece leration.
5 - 47 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL 4 : Count method 1) (1) Start machine zero point return. (Start movement at the " Pr.4 8 Zero point return speed" in the " Pr.46 Zero point return di rection".) (2) Detect the near-point dog ON, and start dece leration.
5 - 48 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Item Setting value, setting range Default value Setting value buffer memory address Value set with peripheral dev ice Value set with sequence program Ax is 1 Ax is 2 Pr.
5 - 49 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL [Table 1] Pr.11 setting value Pr.1 setting value Value set with peripheral dev ice (unit) Value set with sequence progr am (unit) 0 : Standard mode 0 : mm –214748364.8 to 214748364.7 ( m) –2147483648 to 2147483647 ( 10 -1 m) 1 : inch –21474.
5 - 50 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Item Setting value, setting range Default value Setting value buffer memory address Value set with peripheral device Value set with sequence program Ax is 1 Axi s 2 Pr.49 Creep speed The setting value range differs depending on the " Pr.
5 - 51 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL [Table 1] Pr.11 setting value Pr.1 setting value Value set with peripheral dev ice (unit) Value set with sequence progr am (unit) 0 : Standard mode 0 : mm 0.01 to 6000000.00 (mm/min) 1 to 600000000 ( 10 -2 mm/min) 1 : inch 0.
5 - 52 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL 5.2.6 Zero point retur n detailed par ameters Item Setting value, setting range Default value Setting value buffer memory address Value set with peripheral dev ice Value set w ith sequence program Axi s 1 Axis 2 Pr.
5 - 53 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL [Table 1] Pr.11 setting value Pr.1 setting value Value set with peripheral dev ice (unit) Value set with sequence progr am (unit) 0 : Standard mode 0 : mm 0 to 214748364.7 ( m) 0 to 2147483647 ( 10 -1 m) 1 : inch 0 to 21474.
5 - 54 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Item Setting value, setting range Default value Setting value buffer memory address Value set with peripheral device Value set with sequence program Ax is 1 Axi s 2 Pr.55 Zero point shift amount The setting value range differs depending on the " Pr.
5 - 55 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL [Table 1] Pr.11 setting value Pr.1 setting value Value set with peripheral dev ice (unit) Value set with sequence progr am (unit) 0 : Standard mode 0 : mm –214748364.8 to 214748364.7 ( m) –2147483648 to 214748364 7 ( 10 -1 m) 1 : inch –21474.
5 - 56 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL MEM O.
5 - 57 MELSEC- A 5 DATA USED FOR POSIT IONING CONTROL 5.3 List of positioni ng data Befo r e explai ning the po sitionin g data se tting it ems Da.1 to D a. 9 , th e config ura tion of t he p ositi oni ng data wil l be shown bel ow. The pos it ion ing dat a st ore d in t he D75P2 buf fer mem or y has the f oll owin g t ype of config ura tion .
5 - 58 MELSEC- A 5 DATA USED FOR POSIT IONING CONTROL Item Setting v alue Default value Setti ng value buffer memory addres s Value set with peripheral devic e Value s et with sequenc e program Axis 1 Ax is 2 Posit ioning identi fier Da.
5 - 59 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Da.1 O peration pat tern The operat ion patt ern d esignates wheth er pos itioning of a certain d ata No. is to be ended with j ust t hat data , or wheth er the positio ning f or the n ext dat a No.
5 - 60 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Item Setting value, setting range Default value Setting value buffer memory address Value set with peripheral device Value set with sequence program Ax is 1 Axi s 2 Da.5 Positioning address/ movement amount The setting value range differs according to the " Da .
5 - 61 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL [Table 1] W hen " Pr . 1 Unit s ettin g" is "m m" Da.2 setting value Value set with peripheral dev ice ( m) Value set with sequence progr am * 1 ( 10 -1 m) ABS Linear 1 : 01 H ABS Linear 2 : 04 H Current value change : 11 H Set the address –214748364.
5 - 62 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL W hen " Pr . 1 Unit s ettin g" is "d egr ee" Da.2 setting value Value set with peripheral dev ice (degree) Value set with sequence progr am * 1 ( 10 -5 degree) ABS Linear 1 : 01 H ABS Linear 2 : 04 H Current value change : 11 H Set the address 0 to 359.
5 - 63 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL W hen " Pr . 1 Unit s ettin g" is "i nc h" Da.2 setting value Value set with peripheral dev ice (inch) Value set with sequence progr am * 1 ( 10 -5 inch) ABS Linear 1 : 01 H ABS Linear 2 : 04 H Current value change : 11 H Set the address –21474.
5 - 64 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Item Setting value, setting range Default value Setting value buffer memory address Value set with peripheral device Value set with sequence program Ax is 1 Axi s 2 Da.6 Arc address The setting value range differs according to the " Da .
5 - 65 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL [Table 1] W hen " Pr . 1 Unit s ettin g" is "m m" Da.2 setting value Value set with peripheral dev ice ( m) Value set with .
5 - 66 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL W hen " Pr . 1 Unit s ettin g" is "p ulse" Da.2 setting value Value set with peripheral dev ice (pulse) Value set with sequence.
5 - 67 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL W hen " Pr . 1 Unit s ettin g" is "i nc h" Da.2 setting value Value set with peripheral dev ice (inch) Value set with sequence progr am * 1 ( 10 -5 inch ) ABS Circular interpolation : 07 H ABS Circular right : 09 H ABS Circular left : 0A H Set the address –21474.
5 - 68 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Item Setting value, setting range Default value Setting value buffer memory address Value set with peripheral device Value set with sequence program Ax is 1 Axi s 2 Da.7 Command speed The setting value range differs depending on the " Pr.
5 - 69 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL [Table 1] Pr.11 setting value Pr.1 setting value Value set with peripheral dev ice (unit) Value set with sequence progr am (unit) 0 : Standard mode 0 : mm 0.01 to 6000000.0 0 (mm/min) 1 to 600000000 ( 10 -2 mm/min) 1 : inch 0.
5 - 70 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Da.8 Dwel l time/ JUMP designat ion positio ning data No. Set the "dwell t im e" or "pos ition ing data N o." c orres pondin g to the " Da.2 Contro l method". W hen a m ethod ot her than "JUM P comm and" is set fo r " Da.
5 - 71 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL 5.4 List of start block data Befor e ex plain ing t he star t b lock data s etti ng it em s Da. 1 to D a .1 3 , t he conf igur at ion of th e star t bloc k data will b e sho wn be low. The st art b lock data stor ed i n the D75 P2 buf fer m em or y has th e fo llowin g t ype of config ura tion .
5 - 72 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Item Setting value Default value Setting value buffer memory address Value set with peripheral device Value set with sequence program Axis 1 Axis 2 Da.10 Shape 0 : End 0 b15 b0 b3 b7 b11 000 Start data No.
5 - 73 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Da.10 Shape Set whet her to c arry out o nly the l ocal "start block data" and the n end contr ol, or to execute t he "star t block data" set in the next p oint.
5 - 74 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Da.13 Paramete r Set the value as req uired for " Da.12 Spec ial star t comm and". Da.12 Special start command Setting value Setting details Block start (Normal start) – No t used. (There is no need to set.
5 - 75 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL MEM O.
5 - 76 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL 5.5 List of condition dat a Befor e ex plain ing t he co ndit ion data set ting i tem s Da.14 to Da . 18 , t he c onf igur ati on of the cond itio n data wi ll be sho wn belo w. The con diti on d ata st ore d in the D 75P2 b uff er m em ory has the f oll owin g t ype of config ura tion .
5 - 77 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Item Setting value Default value Setting value buffer memory address Value set with peripheral device Value set with sequence program Axis 1 Axis 2 Condition identifier Da.
5 - 78 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Da.14 Condition tar get Set the co nditi on target as requ ired f or each c ontro l. Setting value Setting details 01 H : Device X Set the input/output signal ON/OFF as the conditions. 02 H : Device Y 03 H : Buffer memory (1-w ord) Set the value stored in the buffer memory as the condition.
5 - 79 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Da.17 Paramete r 1 Set the param eters as requir ed for the " Da .15 Con dition operator ". Da.15 Condition operator Setting value Setting details 01 H : =P1 Value Set the "P1" value.
5 - 80 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL 5.6 List of moni tor data 5.6.1 System monitor data Storage item Storage details Md. 1 In test mode flag Whether the mode is the te st mode from the peripheral dev ice or not is stored. W hen not in test mode : OFF W hen in test m ode : ON Md.
5 - 81 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Reading the monitor v alue Default value Storage buff er memory addres s (comm on for axis 1 to ax is 2 ) Monitoring is carried out w ith a decimal. Storage value 0: Not in test mode 1: In tes t mode Monitor val ue 0 450 Monitoring is carried out w ith a decimal.
5 - 82 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Storage item Storage details Reading the monitor value Starting history (up to 16 items can be stored) Md.7 Start axis The No. of the ax is that started is stored. Monitoring is carried ou t with a decimal.
5 - 83 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Default value Storage buffer memory address (commo n for axis 1 to axis 2) 0 537 15 538 539 540 541 14 532 533 534 535 536 13 527 528 529 530 531 .
5 - 84 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Storage item Storage details Reading the monitor value Error at start history (up to 16 items can be stored) Md.13 Start axis The No. of the ax is for which an error was detected w hen starting is stored.
5 - 85 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Default value Storage buffer memory address (commo n for axis 1 to axis 2) 0 A "po inter No ." is assign ed to ea ch bl ock of buffe r memory that confi gures one st art his tor y. Exam ple) Poi nter N o .
5 - 86 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Storage item Storage details Reading the monitor value Error history (up to 16 items can be stored) Md.19 A xis in w hich the error occurred The axis N o. for which an error was detected is stored.
5 - 87 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Default value Storage buffer memory address (commo n for axis 1 to axis 2) 0 15 684 685 686 687 14 680 681 682 683 13 676 677 678 679 12 672 673 6.
5 - 88 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Storage item Storage details Reading the mon i tor value Warning history (up to 16 ite ms can be stored) Md.24 Axis in w hich the warning occurred The axis N o. for which a warning w as detected is stored.
5 - 89 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Default value Storage buffer memory address (commo n for axis 1 to axis 2) 0 15 749 750 751 752 14 745 746 747 748 13 741 742 743 744 12 737 738 7.
5 - 90 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL 5.6.2 Axis monitor data Storage item Storage details Md.29 System-used area Md. 30 Machine feed value The address of the current po sition obtained w ith the machine coordinates is stored.
5 - 91 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Reading the monitor v alue Default value Storage buffer memory address Ax is 1 Ax is 2 Use prohibited 800 801 900 901 Monitoring is carried out w ith a hexadecimal.
5 - 92 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Storage item Storage details Md. 37 A xis feedrate The output speed commanded by the D75P2 to each ax is is stored. (May be different from the actu al motor speed.) "0" is stored when the ax is is stopped.
5 - 93 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Reading the monitor v alue Default value Storage buffer memory address Ax is 1 Ax is 2 Monitoring is carried out w ith a hexadecimal.
5 - 94 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Storage item Storage details Md. 42 Target speed During operation with positionin g data : T he actual target speed, considering the override and speed limit v alue, etc., is stored. "0" is stored w hen positioning is co mpleted.
5 - 95 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Reading the monitor v alue Default value Storage buffer memory address Ax is 1 Ax is 2 Monitoring is carried out w ith a hexadecimal display .
5 - 96 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Storage item Storage details Md. 46 Special start data command code setting value The "command code" use d with special start and in dicated by the start data pointer currently being ex ecuted is stored.
5 - 97 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Reading the monitor v alue Default value Storage buffer memory address Ax is 1 Ax is 2 Monitoring is carried out w ith a decimal display.
5 - 98 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Storage item Storage details Md. 51 Start data pointer being executed The point No. (1 to 50) of the start data currently being ex ecuted is stored. "0" is stored when positioning i s completed.
5 - 99 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Reading the monitor v alue Default value Storage buffer memory address Ax is 1 Ax is 2 Monitoring is carried out w ith a decimal display. Storage value 1 to 5 0 Monitor value 0 832 932 Monitoring is carried out w ith a decimal display.
5 - 10 0 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL 5.7 List of control data 5.7.1 System control data Setting item Setting details Cd.1 Clock data setting (hour) The clock data (hour) from the PLC CPU is set after the D75P2 pow er is turned ON.
5 - 10 1 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Setting value Default value Storage buff er memory addres s (comm on for axis 1 to ax is 2) Set with a BCD code. 00000 00000000 00 b15 b0 b4 b8 b12 0 0 1 0 00 to 23 (hour) 0 to 2 0 to 9 0 Setting value Buffer memor y No setting 0000 1100 Set with a BCD code.
5 - 10 2 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Setting item Setting details Cd.5 Positioning data No. Set the positioning data No. targeted for reading or wr iting. Cd.6 Write pattern W hen writing the pos itioning data stored in the Cd.
5 - 10 3 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Setting value Default value Storage buff er memory addres s (comm on for axis 1 to ax is 2) Set with a decimal.
5 - 10 4 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Setting item Setting details Cd.8 Read/write positioning data I/F* 1 Store the data when reading or w riting. Cd.9 Flash ROM w rite request* 2 Write the OS memory contents into the flash ROM .
5 - 10 5 MELSEC- A 5 DATA USED FOR POSITIONING CONT ROL Setting value Default value Storage buff er memory addres s (comm on for axis 1 to ax is 2) Each stored item is stored in th e following storage address.
5 - 10 6 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL 5.7.2 Axis control data Setting item Setting details Cd.11 to Cd.20 System-used area Cd.21 Speed/position changeover control movement amount chan.
5 - 10 7 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Setting value Default value Storage buffer memory address Ax is 1 Ax is 2 Use prohibited 1150 to 1163 1200 to 1213 Set with a decimal.
5 - 10 8 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Setting item Setting details Cd.27 Step mode W hen using step operatio n, set w hich unit to step with. Cd.28 Step start information W hen using step operatio n, set w hether to continue or restart operation.
5 - 10 9 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Setting value Default value Storage buffer memory address Ax is 1 Ax is 2 Set with a decimal. K Step mode Setting value 0: Carry out step operation with deceleration unit 1: Carr y out step operation with data No.
5 - 11 0 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Setting item Setting details Cd.32 Interrupt request during continuous operation To interrupt the operation during continuous operation, set "1".
5 - 11 1 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL Setting value Default value Storage buffer memory address Ax is 1 Ax is 2 Set with a decimal. K 1 Continuous opera tion interrup t requ est Setting value After the control interrupt request is accepted, "0" is stored by the OS.
5 - 11 2 MELSEC- A 5 DATA USED FOR POSITIONING CONTROL MEM O.
6 - 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 APPEN- DI CES Chapter 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL The progr ams requir ed to car ry out position ing cont rol with the D75P2 are explai ned in this chapter.
6 - 2 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.1 Information necess ary for program creation 6.1.1 When ACPU/QCPU (A mode) is used [1] S ystem used in t his c hap ter An exam pl e of the se quenc e pr ogr am explai ned in t his c hapter f or use of t he ACPU /QC PU (A m ode) is desc rib ed f or the f ol lowi ng s ystem .
6 - 3 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL [2] About bank ch anging W hen usin g the D75 P2, t he m aster s tatio n's a utom atic trans m ission/r ec eption buf fer is used.
6 - 4 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL [3] Pr ogram bas ic f orm at The bas ic f orm at f or crea tin g a pr ogr am is sho wn be lo w.
6 - 5 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (5) Crea te the fo llo wing pr ogra m and write Y1 00 to Y17 F into RYn0 t o RY(n +7)F.
6 - 6 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL [4] Initializ ing the mast er statio n Create the f oll owin g pro gra m to init ial ize (s et th e par ameter s, star t the dat a li nk) the ma ster s tatio n. Refer t o sec tion 6.1. 1 for de tails on t he pr ogram c ondi tions .
6 - 7 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (2) Station i nformation ( M 20 H (1st mod ule) t o M 5F H (64th m odu le)) Set t he t ype of rem ote I /O st atio n, r em ote de vice s tat ion, inte llige nt d evice sta tio n and loc al s tat ion c onnec te d to t he m as ter st atio n.
6 - 8 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL [5] Readi ng and wri ting the D75 P2 buf fer m emor y This sect ion ex pla ins the m ethod of read ing and writi ng th e D75 P2 b uff er m em ory using tra nsien t transm is sion .
6 - 9 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (2) About control data W hen transm itting dat a us ing t he tra nsien t tr ansm issio n, th e contr ol d ata m ust be added t o the tra nsm ission data bef ore tr ansm itti ng. W hen recei vin g dat a, th e co ntrol data wil l be a dded to th e hea d of the rec ep tion data.
6 - 10 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (b) W hen using the TO command This is used on ly when wr iti ng to the D7 5P2-d esign ated buffer mem ory. W hen usin g the TO comm and, t he m aster m odule buff er m em ory wil l be used as th e trans m ission buf fer for the c ontr ol d ata a nd write data.
6 - 11 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL * 1 W hen writ ing data to th e D7 5P2 buff er m emor y usin g th e TO com m and, the contr ol data and wr ite d ata are des ig nate d in th e tr ansm is sion buf fer of th e corres pon ding m aster m odu le.
6 - 12 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (c) W hen using the RI RD command This is used onl y wh en readi ng to the D7 5P2-d esigna ted bu ffer memory .
6 - 13 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (d) Using the FROM command This is us ed t o r ead t he D7 5P2- des igna ted b uff er m emor y.
6 - 14 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL * 1 W hen read ing da ta fr om the D7 5P2 buf f er m emor y usin g the FRO M com m and, the contr ol da ta is des igna ted in th e transm iss ion buf fer of the corr espo nding mas ter m odule .
6 - 15 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.1.2 When QCPU ( Q mode)/QnACPU is used [1] S ystem used in t his c hap ter An exam pl e of the se quenc e pr ogr am explai ned in t his c hapter f or use of t he QC PU ( Q mode) /QnAC PU is desc rib ed f or t he f ollowi ng s ystem .
6 - 16 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (b) Remote registers (RWw, RW r) The con tents of RW rn to R W rn+15 ar e re ad to D20 0 to D215 , and t he conten ts of D10 0 to D115 are writt en t o RW wm to RW wm +15 and us ed.
6 - 17 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL * If the d edica ted com m ands (RIRD , RIW T) are us ed when t he Qn ACPU is used, RY(n+ 7)E, RY(n +7)F are us ed with th e de dic ated c omm ands , so t he us er m ust mak e sure tha t this si gnal inf orm ation is not re writ ten.
6 - 18 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (2) About control data W hen transm itting dat a us ing t he tra nsien t tr ansm issio n, th e contr ol d ata m ust be added t o the tra nsm ission data bef ore tr ansm itti ng. W hen recei vin g dat a, th e co ntrol data wil l be a dded to th e hea d of the rec ep tion data.
6 - 19 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (b) When using the TO command (Unusable w he n QCPU (Q mode) is used) This is used on ly when wr iti ng to the D7 5P2-d esign ated buffer mem ory.
6 - 20 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (c) When using th e RIRD com mand This is used onl y wh en readi ng to the D7 5P2-d esigna ted bu ffer memory .
6 - 21 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (d) W he n using the FROM command (U nusable w h en QCPU (Q mode) is used) This is used onl y wh en readi ng from the s peci fied bu ffer memory of the D75P2.
6 - 22 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.2 Precautions for creating progr am (1) R estrictions to speed chang e execution interval Prov ide an inter val of 1 00m s or m ore when c han ging t he s pee d wit h th e D75 P2.
6 - 23 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.3 List of devi ces used The ap plic at ion of the input / outpu t Nos. [X] [ Y], inter na l rel a y s [ M] an d dat a r egist ers [D] used in this cha pter are sho wn belo w.
6 - 24 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Device name Device Application Details when ON Program example that uses device A Ad Q/QnA D75P2 Output Y12A A xis 1 z ero point retur.
6 - 25 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Device name Device Application Details when ON Program example that uses device A Ad Q/QnA Internal relay M0 Initial setting flag Init.
6 - 26 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Device name Device Application Storage details Program example that uses device A Ad Q/QnA Data register D0 Number of connected module.
6 - 27 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Device name Device Application Storage details Program example that uses device A Ad Q/QnA Data register D33 Access target D75P2 buffe.
6 - 28 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Device name Device Application Storage details Program example that uses device A Ad Q/QnA Data register D65 Read data (axis 1 machine.
6 - 29 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.4 Creating a program The " posit ioni ng c ontro l op er ation progr am " act ua lly us ed is ex plaine d in this c hapt er .
6 - 30 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.4.2 Positioning control operati on program The v arious pr ogram s th at c onfigur e t he " posit ion ing c ontro l op era tion pr ogr am " are shown belo w. W hen creatin g the pro gram , ref er t o th e expl anat ion of eac h pr ogr am and sec ti on "6.
6 - 31 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Continued from previous p age No.7 Positioning start No. setting p rogram No.10 JOG operation program No.11 Manual pulse generator operation program No.8 Po si tio ni ng s ta rt sig nal in put pr o gra m No.
6 - 32 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL * Pr og ra m ad ded ac cord ing t o con tro l de t ail s. (Cre ate as requ ir ed.) No.12 No.18 Stop program Speed change program No.13 No.14 No.15 No.16 Override program Error reset program Absolute position restoration program Restart program Refer to sect ion 12 .
6 - 33 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.5 Positioning program ex amples 6.5.1 When using FR OM/TO command wi th ACPU/QCPU- A (A mode) An exam pl e of the pr ogram f or us ing th e F ROM/T O co mm and wit h th e AC PU/QC PU- A (A m ode) wh en us in g the bu ff er mem or y autom atic u pda te fu nction is shown bel ow.
6 - 34 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL * *D75 P2 data li nk s tatus check ing progr am * Read D 75P2 dat a link state (SW008 0) * *No.
6 - 35 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL * *No. 3 Ini tial s etting p rogram * * *(1) At pow er on * * *(2) At paramete r change * Turn O N Initia l data process comp lete * *No. 4 S ervo ON e xecution progra m * * *No. 5 Zer o point re turn re quest OF F progra m * * *No.
6 - 36 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL * *(5) Po sitionin g data No . 1-ba sed pos itioning (speed /positi on change over co ntrol) * * *(6) Ad vanced po sitio ning contr ol * * *(7) Hi gh-speed zero po int ret urn com mand st orage OFF *(Not re quired when hi gh-speed zero point ret urn is not use d) * * *No.
6 - 37 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL * *No. 10 JOG ope ration pr ogram * Set JOG ope ration speed * *No. 11 Manual puls e gener ator op eration progr am * * *No. 12 Speed ch ange pr ogram * * *No. 13 Override prog ram * * *No.
6 - 38 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL * *No. 15 Absolu te position res toration pro gram * Write abs olute positio n restor ation (99 00) * *No.
6 - 39 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL * *No. 18 St op pro gram * Convert St op command into pulse * *Remot e output (RY) writ ing * * *Change t o bank 0 * P0 * *Change t o .
6 - 40 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.5.2 When using dedi cated commands with AC PU/QCPU-A (A mode) An exam pl e of the pr ogram f or us ing th e de dic ated c omm ands with th e AC PU /QCP U- A (A m ode) when us ing t he buff er m emor y autom atic up date f uncti on is sho wn b elo w.
6 - 41 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL * *No. 1 P aramete r setting progr am * Convert Spee d limit value wr iting command into puls e * *No. 3 Initial setting program * * *(1) A t powe r on * * *(2) A t par amet er chan ge * * *No.
6 - 42 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL * *No. 7 Positio ning st art nu mber s ettin g progr am * * *(1) Machine zero po int return * * *(2) Data setting method ze ro point r.
6 - 43 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL * *No. 9 Rese t, M co de OFF prog ram * Turn OFF Positi oning st art signal Convert M code OFF request into puls e * *No. 10 JOG op eration progra m * Set J OG op eration speed * *No. 11 Manu al pulse g enerato r operat i on p rogram * * *No.
6 - 44 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL * *No. 14 Restart progr am * Convert Restart comma nd in to pu lse Read axis status Turn ON Rest art comm and duri ng st op Turn O FF Resta rt comma nd * *No. 15 Absolu te position res toration pro gram * Write ab solute po sition restorati on (9 900) * *No.
6 - 45 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Write latest RYn0 to RY(n+7)F * *Remote outpu t (RY) writi ng * * *Change to ba nk 0 * P0 Chang e to bank 0 Get RY(n +7)E, RY(n +7)F C.
6 - 46 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.5.3 When using dedi cated commands wi th QCPU (Q mode)/QnAC PU An exam pl e of the pr ogram f or us ing th e de dic ated c omm ands with th e QC PU ( Q mode) /QnAC PU is sho wn bel ow.
6 - 47 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Set int er lock s in the progra ms accor din g to t he us ed s yst em . [No. 1] to [ No. 2] para meter and data setting progr am * When setting the param e ters or data with the seque nce program, set them in the D75 P2 using the transient t ransmission.
6 - 48 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL * *No. 5 Zer o poi nt return reques t OFF pr ogra m * * *No. 6 E xternal sta rt functi on vali d setting p rogram * Turn O N Axis 1 zer o point re turn reque st OFF request Axis 1 extern al start valid Axis 1 extern al start invalid * *No.
6 - 49 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL * *No. 8 P ositi oning star t signal input program *(When h igh-spee d zero poin t return i s not performed, contacts X 11F an d M103 .
6 - 50 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL * *No. 14 Resta rt pr ogram * Turn ON Rest art command du ring sto p Turn O FF Resta rt command * *No. 15 Absol ute posi tion re storati on pr ogram * Write absolute position restorati on (9 900) * *No.
6 - 51 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.6 Progr am details 6.6.1 Initiali zation prog ram (1) Zero point r eturn request OFF progr am This progr am forc ibl y turns OFF the "zer o po int re turn r eq uest flag" (RX (n+1)F , RX(n+4)F) which i s ON.
6 - 52 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.6.2 Start detai ls setting program This progr am sets which c o ntrol, o ut of "zero poi nt co ntrol ", "m ain p os itioni ng c ontro l" or "a dvanc ed p osit ionin g c ontr ol" t o ex ecut e.
6 - 53 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.6.3 Start prog ram This progr am is us ed t o st art the c on trol with s tar t com man ds.
6 - 54 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (1) Starti ng by inputting posi tioning start sig nal Operation when start ing (1) W hen the positioning s tart signal tur ns ON, the s tart c om plete signal and BUSY signa l tur n ON, a nd the p osition ing opera tion s tarts .
6 - 55 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Starting time chart The tim e c hart for starting e ach contr ol is shown b elo w. (1) T ime c hart f or star ting "m achine zero.
6 - 56 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (2) Time char t for s tarting "dat a setti ng m ethod zero point return" Positioning sta rt signal [RY (n+1)0] Remote sta ti.
6 - 57 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (4) Time c hart for starting "m ain pos itio ning con trol " 1 V t Positioning da ta No.
6 - 58 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Machine zero point retur n operation tim ing and process time Positioni ng start signal BUSY signal Start complete signa l Waiting I n.
6 - 59 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL Position control oper ation t iming and process time M code ON signal (WITH mode ) M code OFF request t1 t2 t3 t4 t5 t2 t6 M code OFF .
6 - 60 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (2) Starti ng by inputting ex ternal start signal W hen starti ng p osit ionin g co ntrol b y input ting t he ex ter nal s tart sign al, t he star t comm and c an b e direc tl y in put int o t he D 75P2 .
6 - 61 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.6.4 Restart prog ram W hen a sto p fac tor occurs d uring pos itio n c ontro l and th e oper at ion st ops, the posit ioni ng c an b.
6 - 62 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (3) Contr ol data requiri ng setting Set th e following da ta to execute r estar t. Setting item Setting value Setting details Remote input/output Ax is 1 Ax is 2 Restart command 1 Set "1: restarts ".
6 - 63 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (5) Time chart for r estarting 0 V t Dwel l time 81 8 0 Posi tion in g start si g nal A xis stop si g nal D75P2 R EADY si g nal Start comp lete si g nal BUS Y si g nal Erro r de tection si g nal Positi onin g star t No.
6 - 64 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL 6.6.5 Stop prog ram The ax is s top s igna l [R Y(n +1)3, RY(n +1) 4] or a st op s igna l fr om an exter na l sourc e is used t o st op th e contr ol. Cr eate a pr ogram to turn t he ax is stop sign al [R Y(n+ 1)3, RY(n+1) 4] ON as the s top program .
6 - 65 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (2) Types of stop proc esses The op erati on c an b e stop ped with dece lera tion s top, sud den st op or im m ediate stop. (1) Decele ration stop The op erat ion s tops wit h "d eceler ation tim e 0 t o 3" ( Pr.
6 - 66 MELSEC- A 6 SEQUENCE PROGRAM USED FOR POSITIONING CONT ROL (3) Order of priority for stop process The ord er of pri orit y for the D75 P2 st op pr oces s is as f oll ows.
7 - 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 APPEN- DI CES Chapter 7 MEMORY CONFIGURATION AND DATA PROCESS The D7 5P2 m emor y con figur atio n and data tr ansm issio n are exp lained in th is c hapter .
7 - 2 MELSEC- A 7 MEMORY CONFIGURATION AND DATA PROC ESS 7.1 Config uration and rol es of D75P2 memor y 7.1.1 Config uration and rol es of D75P2 memory The D7 5P2 is c onfi gured of the f ollow ing t hre e m em ories. Memo ry configuration Role Area configuration Backup Parameter area Positioning data area (No.
7 - 3 MELSEC- A 7 MEMORY CONFIGURATION AND DATA PROC ESS Details of areas Param eter ar ea Area wher e par am eters, su ch as pos itio nin g param eter s and zer o poin t retur n param eters, re quire d for po sitio ning contr ol are s et an d stor ed.
7 - 4 MELSEC- A 7 MEMORY CONFIGURATION AND DATA PROC ESS Positioning data area (No. 1 to 100) Positioning data a rea (No. 1 to 100) Posit ionin g start infor matio n are a (N o. 7000 ) PLC CPU memory area Bloc k transmiss ion area Monitor data area Control data area Positioning data area (No.
7 - 5 MELSEC- A 7 MEMORY CONFIGURATION AND DATA PROC ESS 7.1.2 Buffer mem ory area con f iguration The D7 5P2 buff er m em ory is confi gured of th e fo llo wing types of ar eas.
7 - 6 MELSEC- A 7 MEMORY CONFIGURATION AND DATA PROC ESS 7.2 Data transmission pr ocess The da ta is tra nsm itted b etwee n the D75 P2 m em ories with st eps ( 1) t o (10) sho wn below. T he data trans m ission patt erns num bered ( 1) t o (10) on the r igh t page c orr espon d to the numbers (1) to (10) on the left page.
7 - 7 MELSEC- A 7 MEMORY CONFIGURATION AND DATA PROC ESS (1) Transmitti ng data w hen power is tur ned ON or D75P2 is reset ( ) W hen the po wer is tur ned O N or th e D75 P2 is res et, th e " pa.
7 - 8 MELSEC- A 7 MEMORY CONFIGURATION AND DATA PROC ESS (4) Data r ead from D75P2 ( ) (a) Read from D75P2 bu ffer memory Using the R IRD c omm and* 2 (trans ie nt trans m ission) , rea d dat a fr om the bu ffer me mory to th e PLC CP U.
7 - 9 MELSEC- A 7 MEMORY CONFIGURATION AND DATA PROC ESS MEM O.
7 - 10 MELSEC- A 7 MEMORY CONFIGURATION AND DATA PROC ESS (6) Block transmission request (6) Block transmission reques t (S et dat a in b ufer memory [5100] to [6109] using RIWT command (tra nsient transmission)] (7) Flash ROM writ e (S et "1" in Cd.
7 - 11 MELSEC- A 7 MEMORY CONFIGURATION AND DATA PROC ESS (6) Transmitti ng blocks from PLC CPU ( ) W hen setting data in pos itio ning data No. 10 1 to 600 us ing the se quenc e program , f irst th e da ta is set in t he " block trans m ission a rea " (buf fer m emor y addr ess [510 0] to [6109] ).
7 - 12 MELSEC- A 7 MEMORY CONFIGURATION AND DATA PROC ESS (10) Data wri te (9) Data r ead PLC CPU + master module Buff er memo ry, remo te regist er Parameter area (a) Pa ra me te r ar ea (b ) Positioning data area (No.1 to 100) Position ing start informa tion area (No.
7 - 13 MELSEC- A 7 MEMORY CONFIGURATION AND DATA PROC ESS (9) Readi ng data from bu ffer memory or OS memory to peripheral devic e ( ) The f ollow ing tr ansm is sion pr ocess es ar e car rie d out wi th th e [AD 75 re ad] f rom the pe riphe ral devi ce.
7 - 14 MELSEC- A 7 MEMORY CONFIGURATION AND DATA PROC ESS The da ta tra nsm is sion is car rie d out as s ho wn in the pre vious pag es, but t he m ain method of us ing this data pr ocess is s ho wn bel ow. (A) Co rrecting the ex ecution data (OS memor y) The f ollowi ng m ethods can be used t o c orrect the O S m em or y.
7 - 15 MELSEC- A 7 MEMORY CONFIGURATION AND DATA PROC ESS (B) Setting posit ioning data No. 101 t o 600 data The pos it ion ing dat a is se t wit h th e foll owin g proc edur es .
7 - 16 MELSEC- A 7 MEMORY CONFIGURATION AND DATA PROC ESS (Exam ple) W hen sett in g the pos itio nin g dat a No. 101 to 300 of ax is 1 to the O S me mory (The num ber of data that can b e s et for block trans m issi on at one tim e is u p to 100 pieces.
SECTION 1 SECTION 2 APPEN- DI CES SECTION 2 CONTROL DE TAILS AND SETTING SECTION 2 is con figur ed fo r the f ollow ing pur poses shown in (1 ) to ( 3).
MEM O.
8 - 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 APPEN- DI CES Chapter 8 ZERO POINT RETURN CONTROL Zer o point return cont rol i ncludes "m achi ne zero poin t retur ns" that e stablis h a m achi ne z.
8 - 2 MELSEC- A 8 ZERO POINT RETURN CONT ROL 8.1 Outline of z ero point return contr ol 8.1.1 Three ty pes of zero point return contr ol In "zer o po int r etur n co ntrol " a posit ion is e.
8 - 3 MELSEC- A 8 ZERO POINT RETURN CONT ROL Zero point ret urn auxiliary f unctions Refer to s ection " 3.3.4 Com bin ation of D75P2 main f unctions and a uxiliar y functions " for details on "a uxili ar y functions" that c an be c om bined with zero po int return control.
8 - 4 MELSEC- A 8 ZERO POINT RETURN CONT ROL 8.2 Machine z ero point return 8.2.1 Outline of th e machine z ero point retur n operation Important Use the zer o p oint r etur n ret r y functi on when t.
8 - 5 MELSEC- A 8 ZERO POINT RETURN CONT ROL 8.2.2 Machine z ero point retur n method The m ethod b y which the m ac hin e zer o po int is est abl ishe d (m ethod f or j udg ing the ze ro point po sit.
8 - 6 MELSEC- A 8 ZERO POINT RETURN CONT ROL 8.2.3 Zero point retur n method ( 1): Near- point dog method The f ollow ing s hows an ope ration out line of t he "ne ar- point dog m eth od" zero poin t return m etho d. Operation char t 1) The machine starts a machine z ero point return.
8 - 7 MELSEC- A 8 ZERO POINT RETURN CONT ROL Restrictions A pulse g ener ator with a ze ro point s igna l is re quir ed. W hen the pulse generator is not pro vided with a zer o point sign al, cr eate a zero poin t signal with an ext ernal sign al.
8 - 8 MELSEC- A 8 ZERO POINT RETURN CONT ROL 8.2.4 Zero point retur n method ( 2): Stopper stop met hod 1) The fo llowin g show s an operat ion outl ine of the " stopper st op method 1)" z ero poin t return m etho d. Operation char t 1) The machine starts a machine z ero point return.
8 - 9 MELSEC- A 8 ZERO POINT RETURN CONT ROL Restrictions (1) Mak e s ure to lim it the tor que f or the serv om otor after starting th e dece leratio n to " Pr.4 9 Creep s peed". If the tor que is not lim ited, the servom otor may fail when the m achine press es agains t the st opper.
8 - 10 MELSEC- A 8 ZERO POINT RETURN CONT ROL (3) If the " Pr.51 Zero point retur n d well tim e" elaps es bef ore the stop at the stopper, t he wor kpiec e will stop at that posi tion, a nd th at pos ition wil l be regarded as the zero poi nt.
8 - 11 MELSEC- A 8 ZERO POINT RETURN CONT ROL 8.2.5 Zero point retur n method ( 3): Stopper stop met hod 2) The fo llowin g show s an operat ion outl ine of the " stopper st op method 2)" z ero poin t return m etho d. Operation char t 1) The machine starts a machine z ero point return.
8 - 12 MELSEC- A 8 ZERO POINT RETURN CONT ROL Restrictions (1) Mak e sur e to lim it the torqu e for the servom otor after star ting th e decelera tion to " Pr. 49 Creep s peed". If the t or que is not lim ited, the s erv omotor ma y fail when the m achine press es agains t the st opper.
8 - 13 MELSEC- A 8 ZERO POINT RETURN CONT ROL (3) If the zero po int s ignal is in put bef ore the wor kpiec e st ops at the s topper , the work piece will sto p at that pos ition, and that pos ition will be regard ed as the zero point.
8 - 14 MELSEC- A 8 ZERO POINT RETURN CONT ROL 8.2.6 Zero point retur n method ( 4): Stopper stop met hod 3) The fo llowin g show s an operat ion outl ine of the " stopper st op method 3)" z ero poin t return m etho d. The "st opper stop m ethod 3 )" is eff ecti ve when a ne ar-p oint do g has no t been ins tal led.
8 - 15 MELSEC- A 8 ZERO POINT RETURN CONT ROL Restrictions (1) Al ways lim it the s ervom otor tor que af ter the " Pr.49 Cr eep sp eed" is r eac hed. If the torqu e is not lim ited, t he serv om otor ma y fail when the m achine pres ses against th e stop per.
8 - 16 MELSEC- A 8 ZERO POINT RETURN CONT ROL 8.2.7 Zero point retur n method ( 5): Count met hod 1) The f ollow ing s hows an ope ration out line of the "c ount m ethod 1)" zer o po int ret urn method. Operation char t 1) The machine starts a machine z ero point return.
8 - 17 MELSEC- A 8 ZERO POINT RETURN CONT ROL Restrictions A pulse g ener ator with a ze ro point s igna l is re quir ed. W hen the pulse generator is not pro vided with a zer o point sign al, cr eate a zero poin t signal with an ext ernal sign al. Precautions during operation (1) If “ Pr .
8 - 18 MELSEC- A 8 ZERO POINT RETURN CONT ROL 8.2.8 Zero point retur n method ( 6): Count met hod 2) The f ollow ing s hows an ope ration out line of the "c ount m ethod 2)" zer o po int ret urn method. The "c ount m ethod 2) " meth od is ef fecti ve when a "zero po int sign al" can not be receiv ed.
8 - 19 MELSEC- A 8 ZERO POINT RETURN CONT ROL Restrictions As the im port of near- point dog O N has a n error of abo ut 1m s, this zero point return m ethod wil l var y in stop p osition ( zero poi nt) as com pared to the other methods . Precautions during operation (1) If “ Pr .
8 - 20 MELSEC- A 8 ZERO POINT RETURN CONT ROL 8.3 Data setting method z ero point return The da ta s etting m ethod zer o po int ret urn is a m eth od i n which the posit ion r eac hed b y manual oper at ion (J OG o per ation /m anual puls e g enerat or o per atio n) in an a bso lute posit ion d ete ctio n s ystem is defi ned as th e zer o po int.
8 - 21 MELSEC- A 8 ZERO POINT RETURN CONT ROL 8.4 High- speed zero point retur n 8.4.1 Outline of th e high-speed z ero point return operation High-speed zero point return oper ation In a high- speed zero p oint r eturn, pos ition ing is c arrie d out b y a m achine zero point retur n to the " Md.
8 - 22 MELSEC- A 8 ZERO POINT RETURN CONT ROL Operation t iming and processing time of high-speed zero point ret urns The f ollowing s hows det ails about th e operat ion tim ing and tim e during high.
8 - 23 MELSEC- A 8 ZERO POINT RETURN CONT ROL 8.5 Positioning to the zero point Po sition ing to th e zero po int i s explai ned in thi s section. To carr y out posi tioni ng to the ze ro po int, "1-ax is line ar contr ol (AB S) pos itio ning data " is cr eate d in whic h t he " M d.
8 - 24 MELSEC- A 8 ZERO POINT RETURN CONT ROL Start time cha rt Zero point absolute posit ion underflow flag [ RX(n+2)4 ] Zero point absolute po sition overflow fla g [ RX(n+2)3 ] OFF OFF ON ON ON ON .
9 - 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 APPEN- DI CES Chapter 9 MAIN POSITIONING CONTROL The de tails a nd us age of the main posit ionin g contr ols (c ontrol f unctio ns usi ng the "posi tioni ng data" ) are expl ained in thi s chapt er.
9 - 2 MELSEC- A 9 MAIN POSITIONING CONTROL 9.1 Outline of mai n positioni ng controls "Ma in pos itio nin g co ntr ols" ar e carr ie d out us ing t he " posit io ning d at a" stor ed in t he D75P2.
9 - 3 MELSEC- A 9 MAIN POSITIONING CONTROL 9.1.1 Data requi red for main posi tioning contr ol The fo llowin g table s how s an outline of the "posi tioning data" con figuratio n and set ting deta ils r equ ired t o car r y out the "m ai n pos it ioning co ntro ls".
9 - 4 MELSEC- A 9 MAIN POSITIONING CONTROL 9.1.2 Operation patter ns of main posit ioning contr ols In "m ain posit ion ing c ontr ol" (ad vance d pos it ion ing c ontr ol), " Da.1 Operat ion patter n" ca n be s et to des ignat e wh ether to c ont inue execut ing pos itio nin g dat a af ter the star ted p osi tioni ng d ata.
9 - 5 MELSEC- A 9 MAIN POSITIONING CONTROL (1) Independent positioning control (Posi tioning complete) This contro l is set whe n exe cuting onl y one desi gnate d data it em of position ing. If a dwe ll t ime is des ig nate d, t he pos itio nin g wi ll com ple te af ter t he d esi gnat ed tim e elaps es.
9 - 6 MELSEC- A 9 MAIN POSITIONING CONTROL (2) Conti nuous positioning control (a) T he m ach ine al wa ys aut omat icall y dec eler ates eac h tim e t he p osit ionin g is com pleted. Acc eler ation is the n carr ied out af ter the D75P 2 com m and speed r eac hes 0 to c arr y ou t the next p ositi oni ng da ta o perati on.
9 - 7 MELSEC- A 9 MAIN POSITIONING CONTROL (3) Conti nuous path control (a) Conti nuous path control 1) The sp eed is ch anged be tween the spee d of the position ing data curren tl y being pos iti oned a nd the spee d of the pos it ioni ng data that will be pos it ione d next .
9 - 8 MELSEC- A 9 MAIN POSITIONING CONTROL (b) Deceler ation stop conditions during continuous path control Decel eration sto ps are no t carrie d out in co ntinuou s path con trol, but the mac hine wi ll c arr y out a dec elerat ion s top t o s peed "0" in t he f ollo wing cases 1) to 4).
9 - 9 MELSEC- A 9 MAIN POSITIONING CONTROL POINT (3) For sudden reversal of rotation, the command pul ses from the D75P2 are output as shown bel ow. Forward run com mand Reverse run command t1 t2 Supposing that the command fr equency is f[pps], calcul ate t1 and t2 w ith the following expression.
9 - 10 MELSEC- A 9 MAIN POSITIONING CONTROL (c) Speed handl ing 1) Con tinu ous path c ontro l c om m and speeds are s et with each posit ioni ng d ata. The D75 P2 then carries out the positi oning at th e spee d des ignat ed with eac h p ositi oning data .
9 - 11 MELSEC- A 9 MAIN POSITIONING CONTROL (d) Speed chang eover (Refer to " Pr.2 0 Speed changeov er mode".) 1) Standar d sp eed ch ang eove r m ode (1) W hen the "pos it ioning data .
9 - 12 MELSEC- A 9 MAIN POSITIONING CONTROL [W hen the s pee d cann ot c han ge o ver i n P2 ] W hen the r elati on of the s pe eds is P1 = P4, P 2 = P3, P1 < P2.
9 - 13 MELSEC- A 9 MAIN POSITIONING CONTROL (3) S peed chan geove r conditi on If the movem ent am ount is sm all in r egard to th e tar get spee d, th e curren t sp eed m a y not re ach t he tar ge t spee d e ven if accele rati on/d eceler atio n is c arried ou t.
9 - 14 MELSEC- A 9 MAIN POSITIONI NG CONTROL 9.1.3 Designati ng the positioni ng address The f ollo wing show s the t wo m ethods for com m anding the posit ion in c ontr ol using posit ioni ng d ata. Absolute system Position ing is c arri ed out t o a des igna ted posi tion (abs olut e addres s) ha ving t he zero poi nt as a r eferenc e.
9 - 15 MELSEC- A 9 MAIN POSITIONI NG CONTROL 9.1.4 Confirmi ng the curr ent value Values showing t he current value The f ollowing t wo t ypes of address es are used as valu es to s how the positio n in the D75P2.
9 - 16 MELSEC- A 9 MAIN POSITIONI NG CONTROL Restrictions (1) A 56 .8m s err or will oc cur in the curr ent val ue upda te ti m ing when the st ored "current f eed va lue" and "m ac hine f eed va lue" ar e use d in the contr ol.
9 - 17 MELSEC- A 9 MAIN POSITIONI NG CONTROL 9.1.5 Control uni t "degree" han dling W hen the c ontr ol unit is s et to "degr ee", the f o llowi ng i tem s dif fer f rom when ot her contr ol uni ts ar e set.
9 - 18 MELSEC- A 9 MAIN POSITIONI NG CONTROL 2) W hen the so ftware stroke l imit is vali d The pos it ion ing is car rie d ou t in a cloc kw ise/c ount erc lock wise d irec tion depend ing on th e sof twar e strok e lim it ran ge se ttin g m ethod. Be cause of th is, positi oning wi th "sho rtcut con trol" may not be possib le.
9 - 19 MELSEC- A 9 MAIN POSITIONI NG CONTROL 9.1.6 Interpolation co ntrol Meaning of interpolat ion cont rol In "2-axis linear interp olatio n contro l", "2-ax is fix ed-dim ensio n fee.
9 - 20 MELSEC- A 9 MAIN POSITIONI NG CONTROL Star ting the int erpolation contr ol The pos itioning data Nos . o f the ref erenc e axis ( axis in which inter polat ion contr ol was set in " Da.2 Contro l method") are st arted when star ting the inter polat ion control.
9 - 21 MELSEC- A 9 MAIN POSITIONI NG CONTROL Limit s to inter polation contr ol There ar e lim its to the inter pol ation con trol that can b e exec uted an d speed ( Pr.21 Interpolati on speed desig nation m ethod) t hat ca n be set, depen ding o n the " Pr.
9 - 22 MELSEC- A 9 MAIN POSITIONING CONTROL 9.2 Setting the posit ioning data 9.2.1 Relation betw een each control and positioni ng data The s etting r eq uirem ents and d etai ls for th e sett ing item s of the p osit ioning data to b e set diffe r acc ordin g to the " Da.
9 - 23 MELSEC- A 9 MAIN POSITIONING CONTROL 9.2.2 1-axi s linear control In "1- axis linear co ntro l" (" D a. 2 Contr ol m etho d" = ABS lin ear 1, INC line ar 1) , on e motor is us ed t o carr y out posit ion c ont rol in a s et ax is direc tio n.
9 - 24 MELSEC- A 9 MAIN POSITIONING CONTROL (2) 1-ax is linear control ( INC linear 1) Operation char t In increm ent s ystem 1-axis lin ear c ontrol, addr esses establis hed b y a mac hine zero poi nt retur n are us ed.
9 - 25 MELSEC- A 9 MAIN POSITIONING CONTROL 9.2.3 2-axi s linear i nterpolation control In "2- axis lin ear i nter polat ion con tro l" (" Da.
9 - 26 MELSEC- A 9 MAIN POSITIONING CONTROL Restrictions An error will occ ur and t he pos ition ing will not start i n the f ollowing c ases . The machine will imm ediatel y stop if the err or is d etect ed during a pos itioning contr ol.
9 - 27 MELSEC- A 9 MAIN POSITIONING CONTROL (2) 2-axi s linear inter polation control (INC linear 2) Operation char t In increm ent s ystem 2-axis lin ear interpol ation co ntrol, addres ses es tabl ished b y a machine zero point re turn o n a 2-ax is c oordinat e plan e are us ed.
9 - 28 MELSEC- A 9 MAIN POSITIONING CONTROL Restrictions An error will occ ur and t he pos ition ing will not start i n the f ollowing c ases . The machine will imm ediatel y stop if the er ror is d etect ed dur ing a pos ition ing operatio n.
9 - 29 MELSEC- A 9 MAIN POSITIONING CONTROL 9.2.4 1-axi s fixed-dimension fe ed control In "1- axis fix ed-d im ensio n fe ed co ntro l" (" D a. 2 Contro l m ethod" = fix ed-d im ensio n feed 1), on e m otor is us ed t o carr y ou t fixe d-d imens ion f ee d contr ol in a set ax is direc tion .
9 - 30 MELSEC- A 9 MAIN POSITIONING CONTROL Restrictions (1) An error "Co ntinuo us path control not pos sible " (error code: 516) will occur and the operat ion c annot star t if "cont inuous p ath co ntro l" is set in " Da.1 Operation p atter n".
9 - 31 MELSEC- A 9 MAIN POSITIONING CONTROL 9.2.5 2-axi s fixed-dimensi on feed control (inter polation) In "2- axis fix ed-d im ensio n fe ed co ntro l" (" D a.
9 - 32 MELSEC- A 9 MAIN POSITIONING CONTROL Restrictions (1) An error "Co ntinuo us path control not pos sible " (error code: 516) will occur and the oper a tio n cann ot s tar t if "c ont inu ous pa th c ontr ol" is set in " D a.
9 - 33 MELSEC- A 9 MAIN POSITIONI NG CONTROL 9.2.6 2-axi s circul ar interpolation control with auxili ary point desig nation In "2- axis circ ular int erpol ati on con tro l" (" Da.
9 - 34 MELSEC- A 9 MAIN POSITIONI NG CONTROL Restrictions (1) 2- axis c ircular inter polat ion contr ol canno t be s et in th e f ollowing cases . W hen "degre e" is set in " Pr. 1 Unit se ttin g" W hen the units set in " Pr.
9 - 35 MELSEC- A 9 MAIN POSITIONI NG CONTROL Positioning data sett ing example The f ollowing t able s hows s etting exam ples when "2-ax is cir cular interpol ation control with aux iliar y po int desig nation ( AB S circu lar inter polat ion)" is s et in position ing dat a No.
9 - 36 MELSEC- A 9 MAIN POSITIONI NG CONTROL (2) 2-axis circular interpolation contr ol with aux iliary poi nt designation (INC cir cular interpol ation) In the inc rem ent s y stem , 2-ax is circ ula.
9 - 37 MELSEC- A 9 MAIN POSITIONI NG CONTROL Restrictions (1) 2- axis c ircular inter polat ion contr ol canno t be s et in th e f ollowing cases . W hen "degre e" is set in " Pr. 1 Unit se ttin g" W hen the units set in " Pr.
9 - 38 MELSEC- A 9 MAIN POSITIONI NG CONTROL Positioning data sett ing example The f ollowing t able s hows s etting exam ples when "2-ax is cir cular interpol ation control with aux iliar y point desig nation ( INC cir cular interpol ation) " is se t in position ing dat a No.
9 - 39 MELSEC- A 9 MAIN POSITIONI NG CONTROL 9.2.7 2-axi s circular interpolati on control with center poi nt designation In "2- axis circ ular int erpol ati on con tro l" (" D a.
9 - 40 MELSEC- A 9 MAIN POSITIONI NG CONTROL Circular interpolat ion err or compensat ion In circular int erpolat ion c ontrol with ce nter poin t des ignatio n, the ar c path calcula ted from the s tart po int addres s and t he cen ter poi nt addres s m a y devia te from the position of the e nd poi nt addres s set in " Da.
9 - 41 MELSEC- A 9 MAIN POSITIONI NG CONTROL (1) 2-axis circular interpolation control with center point desig nation (ABS right ar c, ABS left arc) Operation chart In the abso lute s ystem , 2-ax is .
9 - 42 MELSEC- A 9 MAIN POSITIONI NG CONTROL Restrictions (1) 2- axis c ircular inter polat ion contr ol canno t be s et in th e f ollowing cases . W hen "degre e" is set in " Pr. 1 Unit se ttin g" W hen the units set in " Pr.
9 - 43 MELSEC- A 9 MAIN POSITIONI NG CONTROL POINT Set a va lue in " D a. 7 Comm and s peed " so th at th e spe ed of eac h ax is does n ot exceed the " Pr. 7 Speed l im it val ue". (T he s pee d lim it does n ot fu nction for the speed c alc ulat ed b y the D7 5P2 dur ing in ter pola tion cont rol.
9 - 44 MELSEC- A 9 MAIN POSITIONI NG CONTROL In circ ular inter pol atio n co ntrol with center p oint desi gnat ion, an a ngul ar v eloci ty is calcu lated on th e as sum ptio n tha t oper at ion is .
9 - 45 MELSEC- A 9 MAIN POSITIONI NG CONTROL Ax is Setting item Ax is 1 (reference axis) setting example Ax is 2 (interpolation axis) setting example Setting details Axis 1 Positioning data No. 1 Da.1 Operation pattern Positioning complete – Set "Positioning complete" assuming the nex t positioning data will not be ex ecuted.
9 - 46 MELSEC- A 9 MAIN POSITIONI NG CONTROL 9.2.8 Speed control In " speed con trol"(" Da. 2 Cont rol m ethod" = For war d run : sp eed c ont rol, Rev erse run: spe ed co ntrol) ,.
9 - 47 MELSEC- A 9 MAIN POSITIONI NG CONTROL Curr ent feed value durin g speed contr ol The f ollowing t able s hows the "C urrent f eed value (RW r n + 0 to 1, RW rn + 8 to 9) " during s peed co ntrol c orres pond ing to the " Pr.22 Cur rent feed value dur ing speed co ntrol" sett ings .
9 - 48 MELSEC- A 9 MAIN POSITIONING CONTROL 9.2.9 Speed/positi on changeov er control In "sp eed/ pos itio n ch ange ov er co ntrol " (" Da.2 Contr ol m eth od" = For war d run: speed/ pos itio n, Re verse r un : spee d/pos ition) , t he p ulse of th e sp eed se t t o " Da.
9 - 49 MELSEC- A 9 MAIN POSITIONING CONTROL t V Positioning start signal OFF ON BUSY signal OFF ON Positioning complete signal OF F ON Speed/position changeover signal ON Speed control Position control Dwell time In speed control flag Speed/position changeover enable flag Da.
9 - 50 MELSEC- A 9 MAIN POSITIONING CONTROL Operation t iming and processing time dur ing speed/position chang eover control (Com mon to INC mode and ABS m ode) Positioning start signal [RY(n+1) 0, RY.
9 - 51 MELSEC- A 9 MAIN POSITIONING CONTROL Current f eed value during speed/position chang eover control (Common to I NC mode and ABS mode) The f ollowing t able s hows t he "Curr ent fee d value ( RW rn + 0 to 1, RW r n + 8 to 9)" during s peed/p osition ch angeo ver contr ol cor respo ndi ng to the " Pr.
9 - 52 MELSEC- A 9 MAIN POSITIONING CONTROL Changing the position contr ol movement am ount (INC mode only) In "speed/ posit ion c hangeover contr ol", th e positi on contr ol m ovem ent am ount can be change d dur ing the sp eed c ontrol s ection.
9 - 53 MELSEC- A 9 MAIN POSITIONING CONTROL Restrictions <Common to I NC mode and ABS mode> (1) If “continuo us pat h contro l” is spec ified f or “ Da.1 Oper ation pattern”, an err or “continu ous path c ontrol not poss ible” (er ror code : 516 ) occ urs, res ulting in a failure t o star t.
9 - 54 MELSEC- A 9 MAIN POSITIONING CONTROL <ABS mode only> (8) W hen the positioning addre ss is reached m idwa y durin g deceler ation if automatic dece leration is st arted a t the input of the spe ed/pos ition ch angeo ver signal, t he m achine wil l not stop imm ediate ly at t he positi oning addr ess.
9 - 55 MELSEC- A 9 MAIN POSITIONING CONTROL Positioning data sett ing examples The f ollowing t able sho ws s etting exam ples when "spe ed/positi on ch angeo ver control (f orward run: s peed/ posit ion)" is set in posit ioni ng data N o. 1 of axis 1.
9 - 56 MELSEC- A 9 MAIN POSITIONING CONTROL 9.2.10 Current v alue change W hen the curre nt valu e is cha nged to a new val ue, co ntrol is carr ied out in which the "Curr ent f eed val ue (RW rn + 0 to 1, RW rn + 8 to 9)" of t he sto pp ed axis is cha nged to a rand om addres s set b y the us er.
9 - 57 MELSEC- A 9 MAIN POSITIONING CONTROL Positioning data sett ing examples The f ollowing t able s hows s etting ex am ples wh en "cur rent va lue ch ange" is set in position ing dat a No. 1 of ax is 1. Setting item Setting example Setting details Positioning data No.
9 - 58 MELSEC- A 9 MAIN POSITIONING CONTROL (2) Curr ent value change using the start No. (No. 9003) for a curr ent value chang e Operation char t The c urrent va lue is c hang ed b y setting th e new c urre nt value "Current valu e change ( RW wm+2 to 3, R W wm+10 to 11)" , sett ing "9003 " in th e " Cd.
9 - 59 MELSEC- A 9 MAIN POSITIONING CONTROL Setting method for the current value change function The f ollowing s hows an exam ple of a seque nce pro gram and data se tting t o change the curr ent va lue to a ne w val ue with the posit ioni ng start si gnal.
9 - 60 MELSEC- A 9 MAIN POSITIONING CONTROL 9.2.11 JUMP comman d The J UMP c omm and is use d t o contr ol th e op era tion so it jum ps to a posit ioni ng d ata No. set in t he p osi tionin g da ta dur in g "co ntin uous posi tio ning c ontr ol" or "c onti nuous path c ontrol ".
9 - 61 MELSEC- A 9 MAIN POSITIONING CONTROL (3) Pos itionin g contro l suc h as loo ps c annot be execute d by JUM P com m ands alone u ntil the c ondit ions have been es tabl ishe d. To the J UMP ins truct ion de stinat ion, s pecif y the pos itio ning da ta whos e control m ethod is other tha n the JU MP instr uction.
9 - 62 MELSEC- A 9 MAIN POSITIONING CONTROL MEM O.
10 - 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 APPEN- DI CES Chapter 10 ADVANCED POSITIONING CONTROL The detail s and usage of adva nced pos itioning c ontrol (contr ol functi ons usi ng the "start b lock data ") a re expla ined in thi s chapte r.
10 - 2 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL 10.1 Outline of a dvanced positi oning control In "ad vanc ed posit ioni ng c ontro l" t he ex ecut ion order an d ex ecuti on c onditi ons of t he "posi tion ing da ta" are set to carr y out m or e app lied pos iti onin g.
10 - 3 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL 10.1.1 Data requi red for adv anced positioning control "Adva nce d posit io ning co ntr ol" is ex ecu ted b y setti ng th e requ ired it em s in the "s tart block data" and "c onditi on d ata", the n st artin g tha t "star t block dat a".
10 - 4 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL 10.1.2 "Start bl ock data" and "conditi on data" config uration The "s tart bloc k dat a" and "condi tion data " cor res pond ing t o "bloc k No. 7 000 " can be store d in the buff er m emor y.
10 - 5 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL Set in D75 P2 the "s tart bl oc k data" an d "co nditio n data " corr espon ding to the fol lowing "block Nos. 7 001 t o 70 10" usin g the AD7 5 sof twar e p ack age. (T he fo llo wing drawi ng shows an exam ple for ax is 1.
10 - 6 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL 10.2 Advanced positi oning control execution procedur e Advanc ed posit ion ing c ontr ol is car ried out using the f ol lowi ng pr oced ure. STEP 1 Pr epa r ati on Starting the control Monitoring the control Refer to Chapter 9 Carry out the "main pos itioning control" setting.
10 - 7 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL 10.3 Setting the start bl ock data 10.3.1 Relation betw een various controls and start bl ock data The "s tart block dat a" m ust be s et to c arr y out "adv anc ed p ositi oning c on trol ".
10 - 8 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL 10.3.2 Block start (nor mal start) In a "b lock st art ( norm al s tar t)", th e pos it ion ing d ata grou ps of a b lock are co ntin uousl y execu ted in a s et seque nce s tartin g from the posit ion ing dat a set in " Da.
10 - 9 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL (2) Control e xamples The f ollow ing s hows the contr ol execu ted when the "st art bl ock data" of t he 1s t poin t of axis 1 is set as s hown in s ectio n ( 1) a nd star te d. <1> T he posit ion ing dat a is ex ecute d in t he follo wing or der b ef ore stop pin g.
10 - 1 0 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL 10.3.3 Condition star t In a "conditi on start" , the "con diti on da ta" conditio nal ju dgm ent desig nated in " Da .13 Param eter" is c arried out f or th e pos itio ning d ata s et in " Da .
10 - 1 1 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL 10.3.4 W ait start In a "wait st art", th e "co ndit ion data " con dition al ju dgm ent desig nate d in " Da .13 Param eter" is c arried out f or th e pos itio ning d ata s et in " Da .
10 - 1 2 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL 10.3.5 Simultaneous st art In a "sim ultan eous start ", the pos ition ing da ta *1 s et in th e " Da.
10 - 1 3 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL "Erro r". <4> After the ex ecuti on of the ax is 1 " pos itio nin g dat a No. 50 " is c om pleted, sto p the co ntro l. 10.3.6 Stop In a "stop ", the contr ol is stopp ed with the "star t block data " set in "4: st op".
10 - 1 4 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL 10.3.7 Repeated star t (FOR loop) In a "repe ated s tart (F OR loop) ", th e data be tween the "s tart bloc k data " in whic h "5: FOR loo p" is se t in " D a .
10 - 1 5 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL 10.3.8 Repeated star t (FOR conditi on) In a "r epe ated s tart (F OR c ond itio n)", the dat a bet ween the "st art block dat a" in wh ich "6: FO R c ond itio n" is se t in " Da .
10 - 1 6 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL 10.3.9 Restrictions w hen using the NEX T start The "N EXT sta rt" is a co m mand indi c ati ng the en d of the re petition s when exe cuting section "10 .3.7 Repe ated s t art (FOR loo p) " and s ecti on "1 0.
10 - 1 7 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL 10.4 Setting the conditi on data 10.4.1 Relation betw een various controls and the condi tion data "Con dition dat a" is set in t he f ollow ing c ases. (1) W hen setting c ond itio ns d urin g exec uti on of sect ion "9.
10 - 1 8 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL The s etting r eq uirem ents an d det ails of th e fo llo wing "co ndit ion dat a" Da.15 to Da . 18 sett ing item s dif fer accor ding to th e " Da.14 Condi tion tar get" se tting .
10 - 1 9 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL 10.4.2 Condition dat a setting examples The f ollo wing show s se ttin g ex am ples f or "c on diti on d ata" . (1) Setting the device ON/OFF as a condi tion [Con diti on] Devi ce "RXn0" (=D75P 2 READY) is ON Da.
10 - 2 0 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL 10.5 Starting advanced positi oning control 10.5.1 Starting advanced positi oning control To ex ecute adv anced pos iti oning c ontr ol, a sequ enc e progr am m ust be cre ated to s tar t the co ntro l in the s am e m anner as fo r m ain p ositi onin g c ontrol .
10 - 2 1 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL 10.5.2 Example o f a start prog ram f or advanced posi tioning contr ol The f ollo wing show s an exa m ple of a star t pr ogram f or ad vanc ed posit ioni ng c ontro l in which the 1s t p oint "star t b lock data" of ax is 1 is s tarte d.
10 - 2 2 MELSEC- A 10 ADVANCE D PO SITIONING CONTROL Star t time chart The f ollowing c hart s hows a tim e chart in whic h the po sitionin g data 1, 2, 10, 11, and 12 of axis 1 are co ntinuous l y executed as an ex am ple. (a) Start bloc k data s etti ng exam ple Axis 1 start block data Da.
11 - 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 APPEN- DI CES Chapter 11 MANUAL CONTROL The de tails a nd us age of manua l contr ol are expla ined in this c hapte r.
11 - 2 MELSEC- A 11 MANUAL CONTROL 11.1 Outline of manual control 11.1.1 Two manual control methods "Man ual con tro l" refer s to c ontro l in whic h posi tion ing da ta is n ot used, an d a posit ioni ng o perati on is car ried out in r espons e t o s ignal inpu t fr om an ex ter na l sourc e.
11 - 3 MELSEC- A 11 MANUAL CONTROL Manual control auxil iary funct ions Refer to s ection " 3.3.4 Com bin ation of D75P2 main f unctions and a uxiliar y functions " for details on "a uxili ar y functions" that c an be c om bined with m anua l control.
11 - 4 MELSEC- A 11 MANUAL CONTROL 11.2 JOG operation 11.2.1 Outline of JOG oper ation Important Use th e hardware st roke li mit functi on when car rying ou t JOG operat ion nea r the upper or lo wer l imits.
11 - 5 MELSEC- A 11 MANUAL CONTROL Precautions during operation The f ollowing d etails m ust be under stoo d bef ore car rying ou t JOG oper atio n. (1) For saf ety, first s et "JOG speed ( RW w m +6 to 7, RW wm+14 to 15) " to a smaller value a nd ch eck the m ovem ent.
11 - 6 MELSEC- A 11 MANUAL CONTROL JOG operation t iming and processing t ime The f ollowing dr awing s hows d etails of th e JOG operatio n tim ing and process ing time.
11 - 7 MELSEC- A 11 MANUAL CONTROL 11.2.2 JOG operati on executi on procedure The J OG o perat ion is c arr ied o ut b y th e foll owin g pr ocedur e. STEP 1 Preparat ion Refer to Chapter 5 and section 11.2.3. End of c ontrol Se t th e pa ra me te rs STEP 2 Refer to section 11.
11 - 8 MELSEC- A 11 MANUAL CONTROL 11.2.3 Setting the req uired parameters for JOG operati on The " Param eters " m ust be set to c arr y out J OG opera tio n. The f ollow ing ta ble s hows the s ett ing item s of th e re quir ed par am eters for c arr ying o ut JOG op erat ion.
11 - 9 MELSEC- A 11 MANUAL CONTROL Setting item Setting requirement Factory-set initial value (setting details) Parameters Pr.26 Acceleration time 1 (Unit: ms) 1000 Pr.27 Acceleration time 2 (Unit: ms) 1000 Pr.28 Acceleration time 3 (Unit: ms) 1000 Pr.
11 - 1 0 MELSEC- A 11 MANUAL CONTROL 11.2.4 Creating start progr ams for JOG operation A sequ enc e pro gram m ust be cr eated to ex ec ute a JO G oper ati on.
11 - 1 1 MELSEC- A 11 MANUAL CONTROL Start time cha rt t Forward run JOG start signal Forward JOG run BUSY signal Error detection signal OFF OFF OFF OFF OFF ON ON ON ON ON OFF [RXnA] [RXn4] Remote station READY signal D75P2 READY signal Reverse run JOG start signal Reverse JOG run [RY(n+1)6)] [RY(n+1)7] [RXn0] [RX(n+7)B] Fig.
11 - 1 2 MELSEC- A 11 MANUAL CONTROL 11.2.5 JOG operati on exampl e When the "stop sig nal" is tur ned ON during JOG operat ion W hen the "stop s ignal" is tu rned ON d uring JOG oper ation , the J OG oper atio n will stop b y the "dece leration stop" m ethod .
11 - 1 3 MELSEC- A 11 MANUAL CONTROL W hen both the "forward run JOG star t signal" and "reverse run JO G start signal" ar e turned ON simultaneousl y for one axis W hen both the &.
11 - 1 4 MELSEC- A 11 MANUAL CONTROL W hen the "JOG start signal" is t urned ON again during decelerat ion caused by the ON OFF of the "JOG start signal" W hen the "JOG s tart.
11 - 1 5 MELSEC- A 11 MANUAL CONTROL W hen the "JOG start sig nal" is turned ON im mediately af ter the stop sig nal OFF (within 56.8ms) W hen the "JOG s tart si gnal" is turned ON im m ediatel y after the s top sign al OFF (within 5 6.
11 - 1 6 MELSEC- A 11 MANUAL CONTROL 11.3 Manual pulse g e nerator operation 11.3.1 Outline o f manual pulse generator operation Important Create the se quenc e progr am so that "Manu al p ulse g.
11 - 1 7 MELSEC- A 11 MANUAL CONTROL Restricted it ems A manual pulse gener ator i s require d to car r y out m anual puls e gener ator operation . Precautions during operation The f ollowing d etails m ust be u nderstoo d bef ore car rying o ut m anual pulse generator operat ion.
11 - 1 8 MELSEC- A 11 MANUAL CONTROL Manual pulse gener ator operation tim ing and processing t ime The f ollowing dr awing s hows d etails of the m anual p uls e generat or op eration timing and proces sing tim e.
11 - 1 9 MELSEC- A 11 MANUAL CONTROL 11.3.2 Manual p ulse generator operation ex ecution procedure The m anua l pu lse ge ner ator oper ati on is c arr ied out b y the f ol lowi ng proc ed ure. * Write the sequence program creat ed in STEP 1 and STEP 2 to the PLC C PU.
11 - 2 0 MELSEC- A 11 MANUAL CONTROL 11.3.3 Setting the r equired par ameters for manual pulse gener ator operation The " Param eters " m ust be set t o car ry o ut m anual p ulse gener at or oper at ion.
11 - 2 1 MELSEC- A 11 MANUAL CONTROL 11.3.4 Starting the manual pul se generator operation A sequ enc e pro gram m ust be cr eated to ex ec ute a m anual p uls e gen erator op erati on.
11 - 2 2 MELSEC- A 11 MANUAL CONTROL Start time cha rt Pulse input A ph a se OFF ON ON OFF OFF OFF t OFF 1 Forward run Re ve rse ru n ON Pulse input B ph a se BUSY signal D75P 2 REA DY sig n al Remoto station READY signal Start complete signal Error detection signal [RXn0] Manual pulse generator enable flag Cd.
12 - 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 APPEN- DI CES Chapter 12 CONTROL AUXILIARY FUNCTIONS The det ails an d usage o f the "a uxili ary func tions " added an d use d in co mbinat ion wi th the main functio ns are e xpla ined in this chapter .
12 - 2 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12.1 Outline o f auxili ary functions "Aux iliar y func tio ns" are fun ctio ns t hat com pens at e, lim it, a dd f uncti ons, etc.
12 - 3 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS Auxiliary function Details Absolute position restoration fu nction * 2 This function restores the abso lute position of the spe c ified axis. Other functions Step function This function temporarily stops the operation to confirm the positioning operation during debugging, et c.
12 - 4 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12.2 A uxiliary f unction s specifica lly for ma chine zero po int return s The aux ili ar y funct ions s pec if icall y for m ac hine zero poi nt ret urns inc lud e the "zer o point r etr y func tio n" and " zero p oint shif t func tio n".
12 - 5 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (b) Z ero po int r eturn r etr y op erati on wh en th e work piec e is outsi de t he ran ge between the upper and lo wer lim its. 1) W hen the dir ectio n fr om the work piec e to t he zer o po int is the sam e as th e " Pr.
12 - 6 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (c) Sett ing t he d well tim e f or a z ero po int r etur n r etr y W ith the ze ro po int r etur n re tr y funct ion, the d well t im e can be set for.
12 - 7 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (2) Precauti on during control (a) T he f ollowi ng ta ble s hows whet her th e ze ro po int r etur n retr y funct ion m a y be exec uted b y the " Pr .
12 - 8 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12.2.2 Zero point shi ft function W hen a m achin e zer o poin t retur n is car rie d out , the zer o p oint is n orm all y esta blis hed using th e near- point do g, st opper , and ze ro poi nt signa l.
12 - 9 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (2) Setting range for the zero poi nt shift amount Set t he zero p oint sh ift am ount wit hin t he ra nge f rom the d etect ed zero poin t sign al to the upper/l ower limit switche s.
12 - 1 0 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (b) Zero po int shif t oper ati on at the " Pr .4 9 Cr eep sp eed" (W hen " Pr . 57 S peed des ignat io n dur ing zer o poin t sh ift" is 1) When the " Pr. 55 Zero point shift amount" is negative When the " Pr.
12 - 1 1 MELSEC- A 12 CONT ROL AU XI LIARY FUNCTIONS 12.3 Functions for compensating the control The aux ili ar y functi ons f or c om pensati ng th e contr ol incl ude t he "bac klas h com pensat ion f unc tion", "e lec tro nic ge ar f uncti on" , and "n ear p ass m ode func tion ".
12 - 1 2 MELSEC- A 12 CONT ROL AU XI LIARY FUNCTIONS (2) Precautions during control (a) T he f eed p ulses of t he b ack lash c om pensat ion am ount ar e no t add ed t o the "Curr ent f eed val ue (RW rn+0 to 1, RW r n+8 to 9)" or " Md.
12 - 1 3 MELSEC- A 12 CONT ROL AU XI LIARY FUNCTIONS 12.3.2 Electronic g ear function The " electro nic gear func tio n" adj usts t he p osi tion a nd s peed c omm ands calc ula ted and out put acc ordin g to the param eters set in t he D 75P 2 wit h the act ual m ach ine movem ent am oun t.
12 - 1 4 MELSEC- A 12 CONT ROL AU XI LIARY FUNCTIONS (1) Error compensation method W hen posi tion cont rol is c arr ied o ut b y th e "m ovem ent a m ount p er pu lse " set in the D 75P2 p aram eters, an error som etim es oc curs b etw een th e com m and movem ent am oun t (L) and the actua l m ovem ent am ount (L') .
12 - 1 5 MELSEC- A 12 CONT ROL AU XI LIARY FUNCTIONS Calculation ex ample (Conditions) Movement amount per pulse No. of pulses per rotation Unit magnification : 500 ( m/rev) : 12000 (pulse/rev) : .
12 - 1 6 MELSEC- A 12 CONT ROL AU XI LIARY FUNCTIONS (2) Relati on between the mov ement amount per pul se and speed The f ollow ing s hows the rel ation of t he "m ovem ent am ount p er pu lse ( A)" t o the comm and s peed and actua l s peed .
12 - 1 7 MELSEC- A 12 CONT ROL AU XI LIARY FUNCTIONS (3) Precautions during control It is r ecom m ended th at th e " m ovem ent am ount per pu ls e (A)" be s et t o a valu e clo se to "1" for the follow ing reason s. “1” set in the “ m ovem ent am ou nt per puls e” i ndic ates the m inim um va lue of “ Pr.
12 - 1 8 MELSEC- A 12 CONT ROL AU XI LIARY FUNCTIONS 12.3.3 Near pass mode function W hen carr ying o ut c onti nuo us pat h co ntro l us ing inter po lation con tro l, eit her the "posi tion ing ad dres s pas s m ode" or the "n ear pas s m ode" c an b e sel ecte d b y sett ing the " P r.
12 - 1 9 MELSEC- A 12 CONT ROL AU XI LIARY FUNCTIONS (1) Control details The fo llowin g drawing shows the paths o f the "po sitioni ng add ress pass mode" and "n ear pass m od e". [Posit ion ing ad dress pass m ode p ath] [Near pass m ode pa th] Da.
12 - 2 0 MELSEC- A 12 CONT ROL AU XI LIARY FUNCTIONS (2) Precautions during control (a) If the m ovem ent am ount desig nated by the pos it ioning data is sm all when the co ntin uous pat h contr ol i s exec ute d in the near pass m ode, the outp ut speed m a y not r each t he de sig nated spee d.
12 - 2 1 MELSEC- A 12 CONT ROL AU XI LIARY FUNCTIONS (c) W hen contin uous path c ont rol of a c ircul ar inter polatio n is b eing c arrie d out in the near p ass m ode, an ad dress in which t he ex .
12 - 2 2 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12.4 Functions to limit t he control Funct ions t o l imit th e c ontro l i nclud e the "spe ed l im it func tion ", "t orque lim it func ti on", "soft ware s trok e lim it" , an d "har dwar e str ok e lim it".
12 - 2 3 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (2) Precauti ons during control During int erpol ati on con tro l, spee d l im iting is carr ie d ou t at t he ref er ence ax is side set ting val ue. (The sp eed li mit will no t functi on on the inte rpolatio n side.
12 - 2 4 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12.4.2 Torque l imit function The "t orque lim it f uncti on" lim its the ge nerat ed tor qu e to a val ue within t he " tor que lim it value " sett ing r an ge wh en t he tor que g ener ate d in the s ervom otor exc eeds the "tor que lim it val ue".
12 - 2 5 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (2) Contr ol details The f ollowi ng dr awin g sh ows the o perat ion of th e tor que l im it funct ion. 50% 0% 100% 0% 100% 50% Torque limited at the parameter torque li mit sett ing value (100%) Variou s operations Remote stat ion READY si gnal [RX( n+7 )B] Pr.
12 - 2 6 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (4) Setting the torque limit function (a) T o use the "tor que l imit func ti on", set th e "tor que lim it va lue" in th e param eters s ho wn in t he f oll owin g tab le, and wr ite t hem to th e D75 P2.
12 - 2 7 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12.4.3 Software str oke limit function In th e "sof twar e str ok e lim it funct ion " the addr ess estab li shed b y a m achi ne zero p oi nt return is us ed to set the upp er a nd lo wer lim its of the m ove abl e rang e of the work piec e.
12 - 2 8 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS The f ollow ing dr awi ng sh ows the d iff erences in t he o per atio n whe n "C urre nt fe ed value ( RW rn+0 to 1 , RW rn+8 to 9)" a nd " Md . 3 0 Machin e feed va lue " are use d in the m oveab le r ang e lim it c hec k .
12 - 2 9 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (2) Sof tware stro ke li mit ch eck deta ils Check details Processing when an error occurs 1) An error shall occur if the current v alue* 1 is outside the software stroke limit range* 2 . (Check "Current feed value (RWrn+0 to 1, R W r n+8 to 9)" or " Md.
12 - 3 0 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (4) Precautions dur ing software stroke li mit check (a) A m ac hine zero poi nt ret urn m ust be execu ted befor eha nd for the "sof twar e strok e lim it func tion " to f unct ion pr oper ly.
12 - 3 1 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (5) Setting the softw are stroke limit function To us e the "sof twar e str ok e lim it fu nction ", s et t he req uir ed v alues in t he param eters s ho wn in t he f oll owin g tab le, and wr ite t hem to th e D75 P2.
12 - 3 2 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (7) Setting when the control uni t is "degr ee" Current value address The "Curr ent fee d value ( RW rn+0 to 1, RWr n+8 to 9)" address is ri ng addres ses between 0 and 3 59.999 99 ° .
12 - 3 3 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12.4.4 Hardw are stroke limit function In the "h ardwar e strok e lim it funct ion", lim it s witc hes are set at the upper /lo wer lim it of the phy sical move able ra nge, and the cont rol is stopped (by decelerati on stop) by the input of a s ign al fr om the lim it swi tch.
12 - 3 4 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (2) W iring the har dware str oke limit W hen usin g the hard war e str ok e limit f unc tio n, wir e the ter m inals of the D75 P2 upper/ lower lim it s trok e lim it as sh ow n in the f oll owin g dr aw ing.
12 - 3 5 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12. 5 Fun ctio ns to change the con trol d eta ils Funct ions t o c hang e the co ntrol deta ils incl ude t he "spe ed ch ang e func tion ", " overr i de functi on", "acc eler at ion/dec el erati on tim e c han ge f uncti on" and "tor que c hang e functi on".
12 - 3 6 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (1) Contr ol details The f ollow ing dr awi ng sh ow s the o per atio n dur ing a sp eed c hang e. V V1 V2 V3 t Speed changes to V2. Operation during positioning by V1. Speed changes t o V3. In speed change processing flag ( RX ( n+1 ) 1, RX ( n+4 ) 1 ) Fig.
12 - 3 7 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (c) W hen the s peed is c ha nged by se ttin g "N ew s peed valu e (RW wm+4 to 5 , RW wm+12 to 13) " to "0 ", the oper at ion is car rie d out as follows . A deceler ation stop is ca rried ou t, and the sp eed chan ge 0 flag (RX(n+2)2, RX(n+5)2) turns ON.
12 - 3 8 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (3) Setting the speed change function from the PLC CPU The f ollow ing s hows the dat a sett ings and seq uence pr ogram exam ple for chang ing t he con tro l sp eed of axis 1 f rom the P LC C PU. ( In t his ex am ple, the contr ol spe ed is ch ang ed t o "1 0000 .
12 - 3 9 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (4) Setting the speed change function using an external start sig nal The sp eed can al so be change d usin g an "exte rnal sta rt signa l". The f ollow ing s hows the dat a sett ings for chan ging the c ontr ol sp eed of ax is 1 using an " exter nal start sign al".
12 - 4 0 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12.5.2 Overr ide function The o verrid e func tion cha nges t he c omm and sp eed b y a desi gnat ed p ercen tage ( 1 to 300%) for all contr ol t o be exec uted.
12 - 4 1 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (2) Precauti on during control (a) W hen changing the s pe ed dur ing c onti nuous path con trol , the speed ch ange will b e ig nored if t her e is not enou gh d istanc e rem ain ing to c arr y out the change .
12 - 4 2 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12.5.3 Acceleration/de celeration time chang e f unction The " acce lerat ion/d ece lerat ion tim e c han ge f unct ion" is us ed t o ch an.
12 - 4 3 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (2) Precauti ons during control (a) W hen "0 " is set in " Cd.33 New accele ration time val ue" and " Cd .3 4 New decel erat ion tim e valu e", th e acc eler ati on/d eceler at ion t ime wi ll not be change d e ven if the s pee d i s cha nged.
12 - 4 4 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (d) If the " new accel era tion/d ec elerat ion tim e" is set to " 0" and th e sp eed is change d after the "n ew acc elerat.
12 - 4 5 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12.5.4 Torque chang e function The "t orq ue ch ange func tio n" is us ed to chan ge th e tor que lim it valu e dur in g torq ue lim itin g. The tor que lim it val ue dur in g torque l im iting is nor m all y the valu e set in the " Pr .
12 - 4 6 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (2) Precauti ons during control (a) If a value bes id es "0" is set i n the " Cd.30 New torque v alue", th e torq ue gene rated by the se rvomot or will be limited by that valu e. To limit th e torque with th e valu e set in " Pr .
12 - 4 7 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12.6 Absolute positi on restoration function CAUTION W hen abso lute posit io n res torat ion is perf orm ed, the ser vo O N s ignal m a y turn O FF (th e servo may swit ch off) for about 20ms, sta rting the mo tor.
12 - 4 8 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (2) Prepar ation Note t he d etai ls in the f oll owin g tab le f or pr epar atio n of the absol ute pos itio n detect ion s ystem . System component Details 1) Servo amplifier (MR-H-A, MR-J2-A, MR-J2S-A) Fit the battery (MR-BAT, A6BAT) to the servo amplifier.
12 - 4 9 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS [3] Abso lute pos it ion sig nal t ransf er proc edur e (1) The o utline of the absolute posi tion signal transfer procedure between the ser vo amplifier and D75P2 is sho wn in Fig.
12 - 5 0 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS Condition 1: N umber of output pulses (a) T his is th e num ber of pu lses that c an be o utpu t to t he s ervo am plifier wh en posit ioni ng is perf orm ed f rom the zero point in t he a bso lute p osi tion detect ion s ystem .
12 - 5 1 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS Example 1 (1) T he condit ions f or calc ulati on of the posit ioning a ddre ss are ind icate d belo w.
12 - 5 2 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS Example 3 (1) T he c onditions f or calc ulat ion of the posi tioni ng addre ss ar e indicate d belo w.
12 - 5 3 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12.7 Other functions Other funct ions inc lude the "step func tion" , "s kip f unc tion", "M c ode out put f unctio n",.
12 - 5 4 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (2) Step mode In step oper at ions, t he t im ing f or st oppi ng th e c ontro l ca n be s et. T his is c alled the "s tep m ode ". (T he "ste p m ode" is se t in the c ontr ol data " Cd.
12 - 5 5 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (4) Using the step operation The f ollow ing s hows the proc edure f or c heck ing p ositi onin g dat a us ing th e st ep operat ion. (a) Turn ON the step valid flag before starting the positioning data.
12 - 5 6 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (5) Contr ol details (a) T he f ollow ing dr awi ng sh ows a st ep o perati on d uring a " dece lerat ion unit step". Positi onin g Positioning data No. No .10 11 No.11 01 No positioning data No.
12 - 5 7 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (6) Precauti ons during control (a) W hen step op erat ion is c arried ou t usi ng inter pola tion contro l posit ioni ng data, the st ep f unct ion s ettin gs ar e car rie d out for the refer enc e axis .
12 - 5 8 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12.7.2 Skip function The "s kip f unc tio n" is use d to st op ( dec elera tion stop) th e co ntrol of th e pos it ioni ng d ata being exec ute d at t he t im e of th e sk ip sig nal inpu t, an d exec ute the next p osit ion ing data.
12 - 5 9 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (3) Setting the skip function from the PLC CPU The f ollow ing s hows the s ett ings a nd s equ ence pr ogr am ex am ple f or sk ipp ing the co ntro l be ing ex ecu ted in ax is 1 wit h a com m and fr om the P LC C PU.
12 - 6 0 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12.7.3 M code output function The " M code out put f unct ion " is us ed to com m and aux ili ary work (c lam ping , dri ll rotati on, too l rep lac em ent, etc .) re late d to the p osition ing data being exec uted.
12 - 6 1 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (b) AFT ER mo de The M c ode O N si gnal [RXn D, RX nE] is tur ned O N at the p ositi oning com pletio n, an d the M c ode is st ore d in "V alid M co de (RW r n+4, RW rn+12) ".
12 - 6 2 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS Da. 1 Operation pattern Valid M code M code OF F request 11 00 11 Warni n g occur s at this timi ng. t m1 m3 m2 * V OFF ON OFF OFF ON ON Positioning start signal BUSY signal M code ON signal Positioning * : m1 and m3 in dicate set M codes.
12 - 6 3 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (4) Setting the M code output functi on The f ollow ing s hows the s ettin gs t o us e th e "M code out put f unct ion ". (a) Se t the M c ode No. i n th e posit ion ing data " Da.9 M code ".
12 - 6 4 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12.7.4 Teaching function POINT It is r ecom m ended to use t he AD75 s of twar e pack age to ex ecut e th is f uncti on.
12 - 6 5 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (2) Precauti ons during control (a) Bef or e teac hing , a "m ac hin e zer o po int r etur n" m ust be c arri ed ou t to establ ish the zero poi nt. (W hen a curr ent va lue ch ange f uncti on, e tc.
12 - 6 6 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (4) Teaching procedure The f ollow ing s hows the proc edure f or a teac hing oper at ion. (a) W hen teaching to th e " Da.5 Positi oning ad dres s/m ovem ent am ount " Start Carry out a m achine zero point return .
12 - 6 7 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (b) W hen teaching to th e " D a. 6 Arc addr ess" , the n te achin g to t he " Da.5 Posit ioni ng a ddres s/m ovem ent am oun t" I II Set 2 in buf fer memory address [11 06] Star t Carry out a machine zero point return.
12 - 6 8 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS NO YES I II End Confirm th e completio n of the wr iting. Turn O FF the re mote s tatio n READY signal. [RX(n+7)B] Carry out a writin g request to the flash ROM. End teaching? Confirm the completion of the writing.
12 - 6 9 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12.7.5 Command i n-posit ion function The "c om mand i n-p ositi on f unct ion" c heck s the rem ain ing dista nce to th e stop pos it ion durin g the autom at ic dec ele ration of p ositi oni ng con tro l, an d turns O N the sign al.
12 - 7 0 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (2) Precauti ons during control (a) T he ran ge c heck of the c omm and in- posit ion is not p erfo rm ed duri ng s pee d contr ol and that of s peed /po sit ion c han geover contr o l.
12 - 7 1 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (3) Setting the command in-position function To us e the "com m and in- po sit ion f uncti on", s et the r equi red value in t he param eter s hown in t he f ollowi ng ta ble, a nd wr ite it t o th e D75 P2.
12 - 7 2 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12.7.6 Stepping motor mode function The "s tep ping m otor m ode f unctio n" is us ed to carr y out the s ett ings when c ontr oll ing a steppi ng m otor with the D75 P2.
12 - 7 3 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (e) Restricti ons during continuous path contr ol Con tinu ous p ath c ontro l c an on l y be use d in the c on trol of 1 axis at a tim e. Continuo us path con trol cannot be used in 2-a x is inte rpolation co ntrol.
12 - 7 4 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (2) Setting the stepping motor mode function To us e the "s tepp ing m otor m ode func tio n", se t th e re quir ed valu es in the param eters s ho wn in t he f oll owin g tab le, and wr ite t hem to th e D75 P2.
12 - 7 5 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12.7.7 Acceleration/de celeration processing f unction The " acce lerati on/d eceler ati on proc es sing f unc tion" adju sts the accel erati on/d eceler at ion whe n eac h c ontro l is ex ecute d.
12 - 7 6 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (2) "Acceler ation/deceleration ti me 0 to 3" control detail s and setting In th e D75 P2, f our t ypes eac h of ac cel erati on tim e a nd decel erat ion tim e c an b e set.
12 - 7 7 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (b) S-curv e accele ration/decelerati on processi ng method In th is m ethod, the m otor bur den is re duced dur ing s tart ing and st opp ing.
12 - 7 8 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS 12.7.8 Indirectly specification function The " indir ect ly sp ecif icat ion func tion " s pecif ies ind irect l y and st arts the pos ition ing data No. The " indir ectl y sp ecific at ion func tion" is execu ted b y s ett ing t he p ositi onin g da ta No .
12 - 7 9 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (2) "Indir ectly specification data" c onfigurati on The f ollow ing D7 5P2 buff er m emor y can stor e t he "in dir ectl y spec if icati on d ata (positi oni ng da ta No . 1 t o 600) " cor res pond ing to the "in direc tl y spec ifica tion No.
12 - 8 0 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (3) Contr ol details and setting The f ollow ing s hows the c ontr ol deta ils a nd s etti ng wh en t he ind irect l y specif ic atio n data s et to the in direc tl y specif ica tion No. 800 1 of axis 1 is star ted.
12 - 8 1 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (a) Data that requir es setting The f ollo wing da ta m us t be set t o ex ecute the ind irect l y specif ic atio n functi on. Setting item Setting value Setting details Remote register Ax is 1 Axi s 2 Positioning start No.
12 - 8 2 MELSEC- A 12 CONTROL AUXILIA RY FUNCTIONS (c) Start time char t The f ollow ing tim e c hart assum es that t he pos it ion ing da ta No. 1, 2 , 3, 4 and 5 of ax is 1 are exec ute d co nsecu tivel y b y "in dir ectl y spec if icat ion " as an exam ple.
13 - 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 APPEN- DI CES Chapter 13 COMMON FUNCTIO NS The detai ls and usag e of the "c ommo n func tions" e xecuted acco rding t o the us er's requir ements are ex plai ned in th is ch apter .
13 - 2 MELSEC- A 13 COMMON FUNCT IONS 13.1 Outline of commo n functions "Com m on functi ons " are ex ecuted acc ordi ng t o the use r's req uir em ents, r egard less of the co ntro l meth od, e tc.
13 - 3 MELSEC- A 13 COMMON FUNCT IONS 13.2 Parameter i nitialization function POINT It is r ecom m ended to use t he AD75 s of twar e pack age to ex ecut e th is f uncti on.
13 - 4 MELSEC- A 13 COMMON FUNCT IONS (2) Precautions during control (a) Par am eter in itia lizat ion is on l y execut ed when t he rem ote st atio n RE ADY signal [RX(n+7)B] i s OF F. (A warnin g "I n rem ote stat ion RE ADY" (war ning co de: 1 11) wi ll occu r if exe cuted wh en the r emote station READY signal [RX(n+ 7)B] is ON.
13 - 5 MELSEC- A 13 COMMON FUNCT IONS 13.3 Execution data ba ckup f unction POINT It is r ecom m ended to use t he AD75 s of twar e pack age to ex ecut e th is f uncti on.
13 - 6 MELSEC- A 13 COMMON FUNCT IONS (2) Precautions during control (a) Dat a ca n onl y be writt en to the f lash ROM when t he r emote sta tion R EAD Y signal [RX(n+7)B] i s OF F. (b) W riting to t he flas h RO M ca n be execu ted up to 100, 000 t imes .
13 - 7 MELSEC- A 13 COMMON FUNCT IONS 13.4 LED display f unction The D7 5P2 s tatus , c ontro l s tatus of eac h ax is, inpu t/out put s ignal sta tus, etc., c an be confir m ed usin g the LED dis pl a y on the f ront of t he D7 5P2 m ain un it. Monitor the op erati on con ditio n as re quire d when th e D75P 2 is not operat ing nor m ally, etc.
13 - 8 MELSEC- A 13 COMMON FUNCT IONS (2) D ispla y deta ils Press ing the "Mode switc h" chan ges the "m ode" of the data dis pla yed in the LED displ a y area in the f oll owin g order .
13 - 9 MELSEC- A 13 COMMON FUNCT IONS (1) "Module status" display details "Mo dule sta t us" di splays t he operat ion stat us of the D75P2. 17-segment LED Axis indicator LED Details RUN Operating axis flickers. During axis operation TEST All axes turn on.
13 - 1 0 MELSEC- A 13 COMMON FUNCT IONS 13.5 Clock data functio n "The clock dat a functi on" utilizes the PLC CPU clo ck data in the D75P2 . This clock data is use d to m on itor Md.7 to Md. 12 , Md .1 3 to Md.18 , Md .19 to Md.23 , Md . 24 to Md .
14 - 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 APPEN- DI CES Chapter 14 TROUBLESHOOTING The "er rors" and "w arnin gs" detected by the D7 5P2 are expla ined in this chapter. Errors a nd warnings can be confirmed with the D7 5P2 LED di splay an d periph eral devi ces.
14 - 2 MELSEC- A 14 TROUBLESHOOTING 14.1 Troubleshooti ng when the "ER R" LED on the M aster Module i s Flashing To the nex t pag e The "ERR" LED on the master st ation is f lashin.
14 - 3 MELSEC- A 14 TROUBLESHOOTING Complete From the pr evious pa ge From the pr evious page From th e previous pag e Is the "L RUN" LED on? Is the "SD" LED on (flashin g)? Y N Is.
14 - 4 MELSEC- A 14 TROUBLESHOOTING 14.2 Error and w arning details (1) E rrors Types of error s Errors detected b y the D 75P2 inc lude param eter setti ng rang e error s and er rors at the operat ion s tart or during op eration.
14 - 5 MELSEC- A 14 TROUBLESHOOTING Er ro r st or ag e W hen an error occ urs, the err or detect ion sign al turns ON, and the er ror code corres ponding t o the err or deta ils is stor ed in t he "Ax is err or No. (RW rn+5, RWr n+13)". Note t hat ther e is a d ela y of up to 56.
14 - 6 MELSEC- A 14 TROUBLESHOOTING W arning st orage (1) W hen an axis warning oc cu rs, the warning c ode c orrespond ing to the war ning details is s tored in t he "Ax is war ning N o. (RW rn+6, RWrn+14) " f or axis warning N o. storag e.
14 - 7 MELSEC- A 14 TROUBLESHOOTING MEM O.
14 - 8 MELSEC- A 14 TROUBLESHOOTING 14.3 List of error s Descrip tion of the e rrors and remedi es are sh own below. Divisi on of error Error code Error nam e Des cripti on Act ion at occu rrence of error 000 (Normal) Fatal error 001 Fault Hardware erro r The s ystem is stopped.
14 - 9 MELSEC- A 14 TROUBLESHOOTING Relevant buf fer m emory address remot e input/out put devic e, or remot e register Sett ing range Rem edy Axis 1 Axis 2 Check if there are eff ects of noise or the lik e. Check for hardware err ors. Refer to s ections 5.
14 - 1 0 MELSEC- A 14 TROUBLESHOOTING Divisi on of error Error code Error nam e Des cripti on Act ion at occu rrence of error Common 103 Test mode fault during operati on Communi cation bet ween the personal computer and D75P 2 is int errupted in test mode.
14 - 1 1 MELSEC- A 14 TROUBLESHOOTING Relevant buf fer m emory address remot e input/out put devic e, or remot e register Setti ng range Rem edy Axis 1 Axis 2 Check the I/ F on the PC side of c able connect ion for errors. After m aking an axis erro r reset (refer t o [3] i n Section 14.
14 - 1 2 MELSEC- A 14 TROUBLESHOOTING Divisi on of error Error code Error nam e Des cripti on Act ion at occu rrence of error 206 Count m ethod mov eme nt amount fault The “Setti ng for the movem en.
14 - 1 3 MELSEC- A 14 TROUBLESHOOTING Relevant buf fer m emory address remot e input/out put devic e, or remot e register Set ting range Rem edy Axis 1 Axis 2 80 81 230 231 <Setti ng for the movem .
14 - 1 4 MELSEC- A 14 TROUBLESHOOTING Divisi on of error Error code Error nam e Des cripti on Act ion at occu rrence of error Posit ioning operation 500 Il legal condi tion data No.
14 - 1 5 MELSEC- A 14 TROUBLESHOOTING Relevant buf fer m emory address remot e input/out put devic e, or remot e register Set ting range Rem edy Axis 1 Axis 2 Refer to section “5.4 List of star t block dat a.” <Condition data N o.> 1 to 10 Examine the c ondition dat a number.
14 - 1 6 MELSEC- A 14 TROUBLESHOOTING Divisi on of error Error code Error nam e Des cripti on Act ion at occu rrence of error Posit ioning operation 504 Outside l inear mov eme nt amount range The.
14 - 1 7 MELSEC- A 14 TROUBLESHOOTING Relevant buf fer m emory address remot e input/out put devic e, or remot e register Set ting range Rem edy Axis 1 Axis 2 Refer to section "5.
14 - 1 8 MELSEC- A 14 TROUBLESHOOTING Divisi on of error Error code Error nam e Des cripti on Act ion at occu rrence of error Posit ioning operation 507 St art outs ide strok e limi t (+) Posit ioning is started at a pos ition outs ide the upper soft ware stroke lim it.
14 - 1 9 MELSEC- A 14 TROUBLESHOOTING Relevant buf fer m emory address remot e input/out put devic e, or remot e register Set ting range Rem edy Axis 1 Axis 2 Software st roke lim it upper lim it valu.
14 - 2 0 MELSEC- A 14 TROUBLESHOOTING Divisi on of error Error code Error nam e Des cripti on Act ion at occu rrence of error Posit ioning operation 518 Outside operation pat tern range The operation pat tern set ting is “2.” At start : Operati on does not start .
14 - 2 1 MELSEC- A 14 TROUBLESHOOTING Relevant buf fer m emory address remot e input/out put devic e, or remot e register Set ting range Rem edy Axis 1 Axis 2 <Operation pat tern>00, 01, 11 00: Pos itioning c omplet e 01: Continuous posit ioning cont rol 11: Continuous path c ontrol Correct the operation pat tern.
14 - 2 2 MELSEC- A 14 TROUBLESHOOTING Divisi on of error Error code Error nam e Des cripti on Act ion at occu rrence of error Posit ioning operation 527 Center poi nt sett ing error Circular int erpor.
14 - 2 3 MELSEC- A 14 TROUBLESHOOTING Relevant buf fer m emory address remot e input/out put devic e, or remot e register Set ting range Rem edy Axis 1 Axis 2 Refe r to sectio n “5.
14 - 2 4 MELSEC- A 14 TROUBLESHOOTING Divisi on of error Error code Error nam e Des cripti on Act ion at occu rrence of error Param eter 900 Outs ide unit setti ng range The setti ng range of “unit s etti ng” in basic paramet er 1 is out of the setti ng range.
14 - 2 5 MELSEC- A 14 TROUBLESHOOTING Relevant buf fer m emory address remot e input/out put devic e, or remot e register Set ting range Rem edy Axis 1 Axis 2 0 150 0, 1, 2, 3 Change the s etting t o within the s etting range and t urn OFF then ON the rem ote stati on READY signal [RX (n+7)B].
14 - 2 6 MELSEC- A 14 TROUBLESHOOTING Divisi on of error Error code Error nam e Des cripti on Act ion at occu rrence of error Param eter 922 Sof tware strok e limit lower limit The “software s troke l imit lower limit value” setti ng in detail paramet er 1 is out of the setti ng range with “deg ree” unit .
14 - 2 7 MELSEC- A 14 TROUBLESHOOTING Relevant buf fer m emory address remot e input/out put devic e, or rem ote register S etting range Rem edy Axis 1 Axis 2 18 19 168 169 (In st andard mode) [mm.
14 - 2 8 MELSEC- A 14 TROUBLESHOOTING Divisi on of error Error code Error nam e Des cripti on Act ion at occu rrence of error Param eter 932 Pul se logic selecti on e rro r The “logic s electi on for pulse out put to t he drive unit” set ting in det ail param eter 1 is out of the setti ng range.
14 - 2 9 MELSEC- A 14 TROUBLESHOOTING Relevant buf fer m emory address remot e input/out put devic e, or rem ote register S etting range Rem edy Axis 1 Axis 2 30 180 0: Pos iti ve logic 1: Negative logi c Change t he sett ing to within t he setting range an d turn OFF then ON the rem ote stati on READY signal [RX (n+7)B].
14 - 3 0 MELSEC- A 14 TROUBLESHOOTING Divisi on of error Error code Error nam e Des cripti on Act ion at occu rrence of error Param eter 958 JOG decelerat ion selecti on set ting error The setti ng range of “JOG dec elerat ion time select ion” in detai l paramet er 2 is out of t he setti ng range.
14 - 3 1 MELSEC- A 14 TROUBLESHOOTING Relevant buf fer m emory address remot e input/out put devic e, or rem ote register S etting range Rem edy Axis 1 Axis 2 51 201 0, 1, 2 ,3 Change the s etting t o within the s etting range and t urn OFF then ON the rem ote stati on READY signal [RX (n+7)B].
14 - 3 2 MELSEC- A 14 TROUBLESHOOTING Divisi on of error Error code Error nam e Des cripti on Act ion at occu rrence of error Param eter 983 Zero point return speed error The setti ng range of the “zer o point return speed” zero poi nt retu rn basic param eter is out of the set ting range.
14 - 3 3 MELSEC- A 14 TROUBLESHOOTING Relevant buf fer m emory address remot e input/out put devic e, or rem ote register S etting range Rem edy Axis 1 Axis 2 74 75 224 225 (In st andard mode) 1 to 1000000 [puls e/s] 1 to 600000000 [ mm/m in, etc.] (In st epping mot or mode) 1 to 62500 [puls e/s] 1 to 37500000 [ mm/m in, etc.
14 - 3 4 MELSEC- A 14 TROUBLESHOOTING 14.4 List of war nings The f ollowi ng ta ble s hows the warni ng d etai ls an d rem edies wh en warnin gs occ ur.
14 - 3 5 MELSEC- A 14 TROUBLESHOOTING Relevant buf fer m emory address remot e input/out put devic e, or rem ote register S etting range Rem edy Axis 1 Axis 2 1164 1165 1214 1215 <In standard m ode> 0 to 2147483647 [ pulses, etc.] <In steppi ng motor mode> 0 to 134217727 [ pulses , etc.
14 - 3 6 MELSEC- A 14 TROUBLESHOOTING Divisi on of wa rni ng Warni ng code Warni ng name Des cripti on Act ion at occurrenc e of warning Common 112 Illegal over ride value A value outs ide the range from 1 to 300 is specif ied as an override v alue. Setting “0”: Controll ed to 100.
14 - 3 7 MELSEC- A 14 TROUBLESHOOTING Relevant buf fer m emory address remot e input/out put devic e, or rem ote register S etting range Rem edy Axis 1 Axis 2 RW wm + 1 RW wm+ 9 <Posit ioning operation s peed ove rride> 1 to 300 Set a value withi n the s etting range .
14 - 3 8 MELSEC- A 14 TROUBLESHOOTING Divisi on of wa rni ng Warni ng code W arning nam e Des cript ion Action at occurrence of warning Posit ioning operation 500 Decelerati on and stop s peed change A speed c hange request is issued during decelerati on and st op.
14 - 3 9 MELSEC- A 14 TROUBLESHOOTING Relevant buf fer m emory address remot e input/out put devic e, or rem ote register S etting range Rem edy Axis 1 Axis 2 RY(n+2)7 RY (n+4)7 <Speed change re qu.
14 - 4 0 MELSEC- A 14 TROUBLESHOOTING 14.5 Start during error history If an er ror occurs wh en star tin g, all the data i n the buf fer m em ory star t hist or y area (addres s: 46 2 to 541) is cop ied to th e start dur ing er ror hist or y area (a ddres ses: 54 3 to 622).
Appe ndix - 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 APPEN- DI CES APPENDICES Appe ndix 1 Cha nge wi th Upgr ade ....................................................................................... Appe ndix - 2 Appe ndix 2 Ex ter nal Dim en s ion Dr a wing .
Appe ndix - 2 MELSEC- A APPENDICES Appendix 1 C hange wi th Upgrade (1) Add iti onal f unct ion The fo llowin g table indica tes the fu nctio n added to the D75P 2 per softw are version.
Appe ndix - 3 MELSEC- A APPENDICES Appendix 2 Ex ternal Dimension Drawing NP 161 170 80 71 63.5 9.5 2- 4.5 mountin g hole (Uni t: mm) Since a har dwar e v ersi on L or l ater, or s eri al n umber (f irst f ive di gits) of "160 41" or l ater , the indic ator com ponen ts h ave been c ha nged to L ED m odu les.
Appe ndix - 4 MELSEC- A APPENDICES Appendix 3 For mat sheets Appendix 3.1 Posi tioning modul e operation c hart Axis address mm , inch , de g ree , p ulse Axis ad dress mm , inch, degr ee, pu lse.
Appe ndix - 5 MELSEC- A APPENDICES Axis address mm, inch, degree, pulse Axis ad dress mm , inch, degr ee, pu lse.
Appe ndix - 6 MELSEC- A APPENDICES Appendix 3.2 Par ameter setti ng value entry ta ble Item Setting range mm inch degree pulse Basic parameters 1 Pr. 1 Unit setting 0 1 2 3 Pr.
Appe ndix - 7 MELSEC- A APPENDICES Initial value Axis 1 Axis 2 Remarks 3 20000 20000 1 1 0 200000 1000 1000 0 0 0 2147483647 –2147483648 0 0 100 300 0 0 0 0.
Appe ndix - 8 MELSEC- A APPENDICES Item Setting range mm inch degree pulse Detailed parameters 1 Pr.23 Manual pulse generator selecti on 0: Ignore manual pulse generat or operation 1: Use manual pulse.
Appe ndix - 9 MELSEC- A APPENDICES Initial value Axis 1 Axis 2 Remarks Axis 1: 1, Axis 2: 2 0 0 1000 1000 1000 1000 1000 1000 20000 0 0 0 100 1000 0 0 0 300 100 0 0.
Appe ndix - 10 MELSEC- A APPENDICES Item Setting range mm inch degree pulse Zero pint return basic parameters Pr.45 Zero point return method 0: Near-point dog method, 1: Stopper stop meth od 1) 2: Stopper stop method 2), 3: S topper stop method 3) 4: Count method 1), 5: Count method 2) Pr.
Appe ndix - 11 MELSEC- A APPENDICES Initial value Axis 1 Axis 2 Remarks 0 0 0 1 1 0 0 0 0 0 0 300 0 0.
Appe ndix - 12 MELSEC- A APPENDICES Appendix 3.3 Posi tioning data setti ng value entry table [data No. to ] Ax is Data Da.1 Operation pattern Da.2 Control method Da.3 Accelera- tion time No. Da.4 Decel era - tion time No. Da.5 Positioning address/ movement amount Da.
Appe ndix - 13 MELSEC- A APPENDICES Appendix 4 Positioning data (No. 1 to 100) List of buffer me mory addresses (1) For a xis 1 Data No. Posi- tioning identi- fier M code Dwe ll time Comman d speed Pos itionin g addres s Arc data Data No.
Appe ndix - 14 MELSEC- A APPENDICES (2) For a xis 2 Data No. Posi- tioning identi- fier M code Dwe ll time Comman d speed Pos itionin g addres s Arc data Data No.
Appe ndix - 15 MELSEC- A APPENDICES MEM O.
Appe ndix - 16 MELSEC- A APPENDICES Appendix 5 C onnection exampl es with serv o amplifiers manufactured by MITSUBISHI Electric C oporation For co nnec tio n to a ser vo am plif ier, ded icated ca bles are a vail able. For wiri ng of the dedic ated c ab les, r efer to th e m anual of e ach de dic ated cable .
Appe ndix - 17 MELSEC- A APPENDICES Example of connecti on for absolute posi tion restorati on.
Appe ndix - 18 MELSEC- A APPENDICES Appendix 5.2 C onnection exampl e of D75P2 and M R-J2/J2S- A (Differential dr iver (Open collector)) * 5 In the following dia gram, con nection fo r absol ute posi tion re storatio n has not been made. W hen mak ing the c onn ection for a bso lute posit io n rest orati on, ref er to t he foll owin g page.
Appe ndix - 19 MELSEC- A APPENDICES Example of connecti on for absolute posi tion restorati on.
Appe ndix - 20 MELSEC- A APPENDICES Appendix 5.3 C onnection exampl e of D75P2 and M R-C A (Differential driv er (Open collector)) * 5 *1 Assignment of the pin numbers of the connector of the D75P2 is the sa me for axis 1 and axis 2. *2 The upper limit (FLS) and lower limit (R LS) of the D75P 2 are used for the zero point return retry function.
Appe ndix - 21 MELSEC- A APPENDICES Appendix 6 Connection examples wi th stepping motors manufactured by ORIENTALMOTOR Co., Ltd. Appendix 6.1 C onnection exampl e of D75P2 and VEX TA UPD (Open coll ector) * 4 *1 Assignment of the pin numbers of the connector of the D75P2 is the sa me for axis 1 and axis 2.
Appe ndix - 22 MELSEC- A APPENDICES Appendix 7 C onnection exampl es with serv o amplifiers manufactured by Panasonic C o., Ltd. Appendix 7.1 C onnection exampl e of D75P2 and M INAS-A seri es (Differential dri ver) * 4 *1 Assignment of the pin numbers of the connector of the D75P2 is the sa me for axis 1 and axis 2.
Appe ndix - 23 MELSEC- A APPENDICES Appendix 8 C onnection exampl es with serv o amplifiers manufactured by SANYO DENKI Co., Ltd. Appendix 8.1 C onnection exampl e of D75P2 and PY O series (Di fferential driv er) * 4 *1 Assignment of the pin numbers of the connector of the D75P2 is the sa me for axis 1 and axis 2.
Appe ndix - 24 MELSEC- A APPENDICES Appendix 9 Connection examples wi th servo ampli fiers manufactured by YASKA W A Electric Corporation Appendix 9.1 C onnection exampl e of D75P2 and - series (Dif f eren tial drive r) * 4 *1 Assignment of the pin numbers of the connector of the D75P2 is the sa me for axis 1 and axis 2.
Appe ndix - 25 MELSEC- A APPENDICES Appendix 10 C omparisons w ith A1SD75P -S3 and AD75P -S3 modules (1) The f ollowi ng f unct ions h av e bee n adde d. • Data setti ng m etho d zer o poin t re turn .............. Refer t o sec tion 8.3 • Speed /pos ition ch ange over contr ol f uncti on (A BS m od e) .
Appe ndix - 26 MELSEC- A APPENDICES A1SD75P -S3, AD75P -S3 AJ65BT-D75P2-S3 Name Buffer memory addresses Remote input/output, remote register Symbol Axis 1 Axis 2 Axis 1 A xis 2 Md.
Appe ndix - 27 MELSEC- A APPENDICES Appendix 11 M ELSEC Expl anation of positioning ter ms 1-2 PHASE EXCITATION SYST EM This is one s ystem for ex citing eac h ste pping motor coil in a determ ined order. In this system , one phas e and t wo phas es are alternate ly excite d.
Appe ndix - 28 MELSEC- A APPENDICES ABSOLUTE ENCODER This is a detec tor that e nables the an gle data within 1 m otor rotati on to be out put to a n external des tina tion.
Appe ndix - 29 MELSEC- A APPENDICES AUT O T U NI NG ( Aut om ati c T u ning ) Propert ies such as r espons iveness and stabilit y of m achines drive n with a serv om otor are aff ected b y changes in the inert ia mom ent and rigidit y due to cha nges in t he m achine load, etc.
Appe ndix - 30 MELSEC- A APPENDICES BIAS SPEED AT START A large am ount of torque is requir ed when the machine s tarts m ovin g, but the torque m a y be unstable at speed 0 with s tepp ing m otors. Theref ore, m ovem ent can be sm oothl y carried out by start ing the m ovem ent at a given sp eed from the beginn ing.
Appe ndix - 31 MELSEC- A APPENDICES CP CONTRO L (Continuous Pat h Control) Continu ous path is a c on trol m ethod in whic h a path is fo llo wed with out int er ruptin g suc h as in unif orm speed con tro l. CREEP SPEED A spee d at whic h t he m achine m ov es ver y slowly .
Appe ndix - 32 MELSEC- A APPENDICES DECELERATIO N TIME The param eter decelera tion tim e is the sam e value as the ac celer ation t im e. Decelerati on time ref ers to the tim e f rom the spe ed lim it value to a stopp ed sta te, so it becom es proportion ally sh orter as t he s etting sp eed decreases .
Appe ndix - 33 MELSEC- A APPENDICES DROOP PUL SE Because of inert ia in t he m achin e, it will la g behind and not be able t o tr ack if the position ing m odule s peed c omm ands are issued in their norm al state.
Appe ndix - 34 MELSEC- A APPENDICES ERROR CORRECTI ON If a dim ension er ror occ urs in the m ac hine, and that error is actual ly sm aller or larger than 1m in s pite of a 1m comm and being is sued from the D75P2, that er ror am ount will be compens ated.
Appe ndix - 35 MELSEC- A APPENDICES HIGH- SPEED MACHINE ZERO POI NT RETURN In this zero po int retur n m ethod the near-po int dog is not detec ted. T he pos itionin g data address is rep laced with t.
Appe ndix - 36 MELSEC- A APPENDICES INPU T TERM INAL This is a pin c onnector wire d b y the user f or inputting data to t he D75 P2 f rom an ex ternal source. It is co nnected t o the m otor drive un it or m achine side. This terminal is used to out put t he follo wing.
Appe ndix - 37 MELSEC- A APPENDICES LINEAR INTERPO LATION This autom atic operat ion s im ultaneousl y operates the la titudina l (X ) feed and longit udinal ( Y) feed m otor s to m ove the machine in a diag onal lin e when posit ioning.
Appe ndix - 38 MELSEC- A APPENDICES MOVEMENT AMOUNT PER PULSE W hen using mm , inch, or angl e units, t he movem ent am ount is c alcul ated and output from the mac hine side sho wing how m uch the motor shaf t moves per pulse. P osition ing accurac y in sm aller units is not p ossibl e.
Appe ndix - 39 MELSEC- A APPENDICES OPERATIO N PATTERN The kind of oper ation to be c arried out af ter executin g the p osition ing d ata is det erm ined. 1) If "POSIT IONING CO MPL ET E" is select ed, the operat ion will st op af ter the pos itioning is com plete.
Appe ndix - 40 MELSEC- A APPENDICES POSIT ION CONTROL This is ma inly the c ontrol of pos ition and dimens ion, suc h as in fix ed-dim ens ion feed, position ing, num er ical co ntrol, etc. T his is always contr ol led with f eed puls es. T here is also spe ed contr ol.
Appe ndix - 41 MELSEC- A APPENDICES POSIT IONING DATA This is data for the user to carr y out position ing. T he No. of poin ts to which pos itio ning is ca rried out (the N o. of addresses ) is des ignate d by th e user. I n the D75P2, this is a m aximum of 600 poin ts.
Appe ndix - 42 MELSEC- A APPENDICES REFERENCE AXIS SPEED This is the spe ed of the ref erence ax is dur ing interpol ation opera tions . Y axis speed (interpolation axis) X axis speed (reference axis) Reference ax is spee d REGENERATI VE BRAKE OPTION This function is an o ption.
Appe ndix - 43 MELSEC- A APPENDICES SERVO LOCK In positi oning us ing a s ervo m otor, stepping motor , etc., work ing po wer is r equired to hold the mac hine at th e stop positio n. (T he position will b e lost if the m achine is move d by exte rnal pow er.
Appe ndix - 44 MELSEC- A APPENDICES SPEED CHANGEOVER CO NTROL W ith this control, p osition ing is c arried ou t to the end poi nt of th e m ovement am ount while changing the sp eed at t he speed c hang eover point dur ing pos itioning c on trol. SPEED CONTROL Speed co ntrol is m ainl y carried o ut with the servom otor.
Appe ndix - 45 MELSEC- A APPENDICES STEP OUT Stepping m otors rotate in pr oportion t o the No. of pulses (fr equency), but t he m otor's r otation will dev iate if the lo ad is to o lar ge f or the motor. T his is c alled ste p out. If step o ut occurs , the m otor mus t be replac ed by one with a lar ger tor que.
Appe ndix - 46 MELSEC- A APPENDICES STROKE LIMIT This is the ran ge in which a pos ition ing operatio n is p ossible, or the range in whic h the machine c an be m oved wit hout dam age occurr ing. (Movem ent outsid e this range is poss ible in the manual oper ation.
Appe ndix - 47 MELSEC- A APPENDICES TURNT ABLE A rotatin g tabl e, which is tu rned usi ng po wer. The table is use d divid ed f rom one 360 ° rotation into the requ ired loc ations for work.
Appe ndix - 48 MELSEC- A APPENDICES ZERO POINT RET URN METHOD The zero p oint ret urn m ethods ar e show n below. T he m ethod used d epends on the machin e structure, st oppi ng accura cy, etc. Machine zero po int returns can be carried out when the zero point return param eters are written.
Appe ndix - 49 MELSEC- A APPENDICES Appendix 12 Posi tioning contr ol troubleshooting Trouble ty pe Questions/Trouble Remedy No. Parameter Display reads "FFFF H " when a parameter is read with a AD75 software package. The PLC CPU power was turned OFF or the PLC C PU was reset, etc.
Appe ndix - 50 MELSEC- A APPENDICES Trouble ty pe Questions/Trouble Remedy No. Acceleration/decelerat ion time How can the deceleration stop time during stopping be shortened using the hardware stroke li mit? Set "1: Sudden stop" in the " Pr.
Appe ndix - 51 MELSEC- A APPENDICES Trouble ty pe Questions/Trouble Remedy No. Error compensation The machine only moves to "10081230", alth ough positioni ng with a co mmand valu e of "10081234" carri ed out. How can the error be compensate d? The follow ing values are currently set.
Appe ndix - 52 MELSEC- A APPENDICES Trouble ty pe Questions/Trouble Remedy No. Start The positioning start signal [RY(n+1)0] is kept ON until the BUSY signal is OFF, but is ther e any problem w ith tu.
Appe ndix - 53 MELSEC- A APPENDICES Trouble ty pe Questions/Trouble Remedy No. Manual pulse generator operation Is it possible to count the pul ses when the B phase is set to "1", and only A phase pulses are input? Not possible. (The D75P2 counts 1, 0, 1, 0.
Appe ndix - 54 MELSEC- A APPENDICES Trouble ty pe Questions/Trouble Remedy No. Error/warning Error 997 (speed selection at zero point shift error) occurred. W hat does "OPR" mean? "OPR" stands for "Original Posi tion Return", or in other words, a zero point return.
Appe ndix - 55 MELSEC- A APPENDICES Appendix 13 Li st of buffer memory addresses The f ollowing s hows the r el ation b etween t he buf fer memo ry addresse s and the various item s. (Any addr ess not g iven in t he list m ust not be used. If used, t he s ystem ma y not operate corr ectl y.
Appe ndix - 56 MELSEC- A APPENDICES Buffer memory address Item M emo ry area Ax is 1 Axi s 2 44 45 194 195 Pr.3 0 Deceleration time 2 Detailed parameters 2 Positioning parameters 46 47 196 197 Pr.3 1 Deceleration time 3 48 49 198 199 Pr.32 JOG speed limit v alue 50 200 Pr .
Appe ndix - 57 MELSEC- A APPENDICES Buffer memory address Item M emo ry area Common for ax is 1 and axis 2 450 Md.1 In test mode flag System monitor data Monitor data 451 Md .2 Module name 452 453 454 455 Md.3 OS type 456 457 Md.4 OS ve rsi on 460 Md.
Appe ndix - 58 MELSEC- A APPENDICES Buffer memory address Item M emo ry area Ax is 1 Axi s 2 800 801 900 901 Md.29 System area (use prohibite d) Axis monitor data Monitor data 802 803 902 903 Md.30 Machine feed v alue 804 to 809 904 to 909 Md.31 to Md.
Appe ndix - 59 MELSEC- A APPENDICES Buffer memory address Item M emo ry area Ax is 1 Axi s 2 1100 Cd.1 Clock data setting (hour) System control data Control data 1101 Cd.2 Clock data setting (minute, sec ond) 1102 Cd.3 Clock data writing 1103 Cd.4 Target axis 1104 Cd.
Appe ndix - 60 MELSEC- A APPENDICES Buffer memory address Item Me mo ry area Ax is 1 Axi s 2 1300 2300 Da.1 Operation pattern No.1 Positioning data Positionin g data Da. 2 Control method Da.3 Acceleration time No. Da.4 Deceleration time No. 1301 2301 Da.
Appe ndix - 61 MELSEC- A APPENDICES Buffer memory address Item Me mo ry area Ax is 1 Axi s 2 4500 5750 Start No. 8001 Indirec tly sp ecific ati on data Pos itionin g start info rmatio n Posit ioning data 4501 4751 Start No.
Appe ndix - 62 MELSEC- A APPENDICES MEM O.
Inde x - 1 INDEX [Number] 1-2 phas e excita tion system (explan ati on of term s) ...................... Ap pend ix-2 7 1-axis fix ed-d im ension f eed contr ol .............. 9-29 1-axis line ar co ntrol ....................................... 9-23 2-axis circu lar int erp olati on contr ol with auxil iar y point d esign atio n .
Inde x - 2 Buff er m emor y area c onf igur ation ................. 7- 5 Bu ffer me mory r ead/w rite when AC PU /QCPU (A m ode) is used ....... 6- 8 when Q CPU ( Q m ode)/Q nA CPU is use d .............................................................
Inde x - 3 Data tr ansm issio n proces s............................. 7- 6 Deceler at ion r atio ( exp lana tion of term s) .......................................................... Append ix-3 1 Deceler at ion tim e (expl anat ion of terms ) .......
Inde x - 4 [I] In test m od e flag ( Md . 1 ) ............................. 5-80 Increm ent s ystem ( explan ation of ter m s) .......................................................... Append ix-3 5 Increm ent s ystem ................................
Inde x - 5 Manual pulse ge ner ator ....................... A-20, 2- 4 Master axis ( expla nati on of ter m s) .. Ap pend ix-3 7 Master m odu le ................................................ 2- 6 init ial izat io n .................................
Inde x - 6 Po sition ing data No . ( Cd. 5 ) ..................... 5-102 Po sition ing data No. being exec uted ( Md. 5 4 ) ....................................................................... 5-98 Posit ionin g dat a sett ing .....................
Inde x - 7 Sett ing item condit ion data ............................................ 5-10 posit ioni ng d ata........................................... 5- 7 posit ioni ng p ara m eter ................................. 5- 4 start bl ock data ........
Inde x - 8 Step function ( explana tion of terms) .......................................................... Append ix-4 4 Step f unct ion ................................................ 12-5 3 Step m od e ( Cd. 27 ) .................................
Inde x - 9 Zero point ret urn accelerati on time selecti on ( Pr.53 ) ......................................................... 5- 53 Zero po int r eturn c ontr ol ................................. 8- 2 Zero po int r etur n dec eler ati on t ime s elect ion ( Pr.
Index - 10 MEM O.
WARRANTY Please confirm the follow ing product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Rang e If any faults or defects (hereinaf ter "Failure".
Microsof t, W indows, W indows Vista, W indows NT , W indows XP, W indows Ser ver, Vis io, Ex cel, PowerPo int, Vis ual Bas ic, Vis ual C ++, a nd Acc ess are ei ther re gistere d trad emark s or tradem arks of Microsof t Corporat ion i n the Un ited St ates, Ja pan, an d other c ountries .
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IB(NA)-66824-H(1 504 )MEE MODEL: AJ65BT - D75P2-U-E MODEL CODE: 13JL46 Specifications subject to change without notice. When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.
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In una situazione in cui hai già il Mitsubishi Electronics AJ65BT-D75P2-S3, ma non hai ancora letto il manuale d’uso, dovresti farlo per le ragioni sopra descritte. Saprai quindi se hai correttamente usato le funzioni disponibili, e se hai commesso errori che possono ridurre la durata di vita del Mitsubishi Electronics AJ65BT-D75P2-S3.
Tuttavia, uno dei ruoli più importanti per l’utente svolti dal manuale d’uso è quello di aiutare a risolvere i problemi con il Mitsubishi Electronics AJ65BT-D75P2-S3. Quasi sempre, ci troverai Troubleshooting, cioè i guasti più frequenti e malfunzionamenti del dispositivo Mitsubishi Electronics AJ65BT-D75P2-S3 insieme con le istruzioni su come risolverli. Anche se non si riesci a risolvere il problema, il manuale d’uso ti mostrerà il percorso di ulteriori procedimenti – il contatto con il centro servizio clienti o il servizio più vicino.
